waf: create separate image sections for internal and external flash

Tools/ardupilotwaf/boards.py

@@ -322,6 +322,7 @@ def configure_env(self, cfg, env):
             ]
         else:
             env.LINKFLAGS += [
+                '-fno-exceptions',
                 '-Wl,--gc-sections',
             ]
 

Tools/ardupilotwaf/chibios.py

@@ -5,7 +5,7 @@
 Waf tool for ChibiOS build
 """
 
-from waflib import Errors, Logs, Task, Utils
+from waflib import Errors, Logs, Task, Utils, Context
 from waflib.TaskGen import after_method, before_method, feature
 
 import os
@@ -91,10 +91,80 @@ def run(self):
 
 class generate_bin(Task.Task):
     color='CYAN'
-    run_str="${OBJCOPY} -O binary ${SRC} ${TGT}"
+    # run_str="${OBJCOPY} -O binary ${SRC} ${TGT}"
     always_run = True
+    EXTF_MEMORY_START = 0x90000000
+    EXTF_MEMORY_END  = 0x90FFFFFF
+    INTF_MEMORY_START = 0x08000000
+    INTF_MEMORY_END = 0x08FFFFFF
     def keyword(self):
         return "Generating"
+    def run(self):
+        if self.env.HAS_EXTERNAL_FLASH_SECTIONS:
+            ret = self.split_sections()
+            if (ret < 0):
+                return ret
+            return ret
+        else:
+            cmd = "{} -O binary {} {}".format(self.env.get_flat('OBJCOPY'), self.inputs[0], self.outputs[0])
+            self.exec_command(cmd)
+
+    '''list sections and split into two binaries based on section's location in internal, external or in ram'''
+    def split_sections(self):
+        # get a list of sections
+        cmd = "{} -A -x {}".format(self.env.get_flat('SIZE'), self.inputs[0])
+        out = self.generator.bld.cmd_and_log(cmd, quiet=Context.BOTH)
+        extf_sections = []
+        intf_sections = []
+        is_text_in_extf = False
+        found_text_section = False
+        ramsections = []
+        for line in out.splitlines():
+            section_line = line.split()
+            if (len(section_line) < 3):
+                continue
+            try:
+                if int(section_line[2], 0) == 0:
+                    continue
+                else:
+                    addr = int(section_line[2], 0)
+            except ValueError:
+                continue
+            if (addr >= self.EXTF_MEMORY_START) and (addr <= self.EXTF_MEMORY_END):
+                extf_sections.append("--only-section=%s" % section_line[0])
+                if section_line[0] == '.text':
+                    is_text_in_extf = True
+                    found_text_section = True
+            elif (addr >= self.INTF_MEMORY_START) and (addr <= self.INTF_MEMORY_END):
+                intf_sections.append("--only-section=%s" % section_line[0])
+                if section_line[0] == '.text':
+                    is_text_in_extf = False
+                    found_text_section = True
+            else:   # most likely RAM data, we place it in the same bin as text
+                ramsections.append(section_line[0])
+
+        if found_text_section:
+            for section in ramsections:
+                if is_text_in_extf:
+                    extf_sections.append("--only-section=%s" % section)
+                else:
+                    intf_sections.append("--only-section=%s" % section)
+        else:
+            Logs.error("Couldn't find .text section")
+        # create intf binary
+        if len(intf_sections):
+            cmd = "{} {} -O binary {} {}".format(self.env.get_flat('OBJCOPY'),
+                                                ' '.join(intf_sections), self.inputs[0], self.outputs[0])
+        else:
+            cmd = "cp /dev/null {}".format(self.outputs[0])
+        ret = self.exec_command(cmd)
+        if (ret < 0):
+            return ret
+        # create extf binary
+        cmd = "{} {} -O binary {} {}".format(self.env.get_flat('OBJCOPY'),
+                                                ' '.join(extf_sections), self.inputs[0], self.outputs[1])
+        return self.exec_command(cmd)
+
     def __str__(self):
         return self.outputs[0].path_from(self.generator.bld.bldnode)
 
@@ -149,17 +219,25 @@ def keyword(self):
         return "apj_gen"
     def run(self):
         import json, time, base64, zlib
-        img = open(self.inputs[0].abspath(),'rb').read()
+        intf_img = open(self.inputs[0].abspath(),'rb').read()
+        if self.env.HAS_EXTERNAL_FLASH_SECTIONS:
+            extf_img = open(self.inputs[1].abspath(),'rb').read()
+        else:
+            extf_img = b""
         d = {
             "board_id": int(self.env.APJ_BOARD_ID),
             "magic": "APJFWv1",
             "description": "Firmware for a %s board" % self.env.APJ_BOARD_TYPE,
-            "image": base64.b64encode(zlib.compress(img,9)).decode('utf-8'),
+            "image": base64.b64encode(zlib.compress(intf_img,9)).decode('utf-8'),
+            "extf_image": base64.b64encode(zlib.compress(extf_img,9)).decode('utf-8'),
             "summary": self.env.BOARD,
             "version": "0.1",
-            "image_size": len(img),
+            "image_size": len(intf_img),
+            "extf_image_size": len(extf_img),
             "flash_total": int(self.env.FLASH_TOTAL),
-            "flash_free": int(self.env.FLASH_TOTAL) - len(img),
+            "flash_free": int(self.env.FLASH_TOTAL) - len(intf_img),
+            "extflash_total": int(self.env.EXTERNAL_PROG_FLASH_MB * 1024 * 1024),
+            "extflash_free": int(self.env.EXTERNAL_PROG_FLASH_MB * 1024 * 1024) - len(extf_img),
             "git_identity": self.generator.bld.git_head_hash(short=True),
             "board_revision": 0,
             "USBID": self.env.USBID
@@ -201,7 +279,11 @@ def chibios_firmware(self):
     link_output = self.link_task.outputs[0]
     hex_task = None
 
-    bin_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.bin').name)
+    if self.bld.env.HAS_EXTERNAL_FLASH_SECTIONS:
+        bin_target = [self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.bin').name),
+                      self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('_extf.bin').name)]
+    else:
+        bin_target = [self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.bin').name)]
     apj_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.apj').name)
 
     generate_bin_task = self.create_task('generate_bin', src=link_output, tgt=bin_target)
@@ -219,7 +301,7 @@ def chibios_firmware(self):
     if self.bld.env.HAVE_INTEL_HEX:
         if os.path.exists(bootloader_bin.abspath()):
             hex_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.hex').name)
-            hex_task = self.create_task('build_intel_hex', src=[bin_target, bootloader_bin], tgt=hex_target)
+            hex_task = self.create_task('build_intel_hex', src=[bin_target[0], bootloader_bin], tgt=hex_target)
             hex_task.set_run_after(generate_bin_task)
         else:
             print("Not embedding bootloader; %s does not exist" % bootloader_bin)