wip: linked build

Author: facchinm

boards.txt

@@ -1,15 +1,15 @@
-menu.debug=Mode
+menu.mode=Mode
 
 giga.name=Arduino Giga R1
 giga.build.core=arduino
 giga.build.crossprefix=arm-zephyr-eabi-
 giga.build.compiler_path={runtime.tools.arm-zephyr-eabi-0.16.8.path}/bin/
 
-giga.menu.debug.false=Standard
-giga.menu.debug.true=Debug
+giga.menu.mode.llext=llext
+giga.menu.mode.linked=linked
 
-giga.menu.debug.false.post_build_arg=
-giga.menu.debug.true.post_build_arg=debug
+giga.menu.mode.false.post_build_arg=
+giga.menu.mode.true.post_build_arg=debug
 
 giga.build.variant=arduino_giga_r1_m7
 giga.build.mcu=cortex-m7
@@ -64,12 +64,12 @@ giga.bootloader.interface=0
 giga.bootloader.file=zephyr-arduino_giga_r1_m7.bin
 giga.bootloader.address=0x08040000
 
-giga.debug.tool=gdb
-giga.debug.server.openocd.scripts.0=interface/{programmer.protocol}.cfg
-giga.debug.server.openocd.scripts.1={programmer.transport_script}
-giga.debug.server.openocd.scripts.2=target/stm32h7x_dual_bank.cfg
-giga.debug.cortex-debug.custom.request=attach
-giga.debug.svd_file={runtime.platform.path}/svd/STM32H747_CM7.svd
+giga.mode.tool=gdb
+giga.mode.server.openocd.scripts.0=interface/{programmer.protocol}.cfg
+giga.mode.server.openocd.scripts.1={programmer.transport_script}
+giga.mode.server.openocd.scripts.2=target/stm32h7x_dual_bank.cfg
+giga.mode.cortex-debug.custom.request=attach
+giga.mode.svd_file={runtime.platform.path}/svd/STM32H747_CM7.svd
 
 ##########################################################################################
 
@@ -78,11 +78,11 @@ nano33ble.build.core=arduino
 nano33ble.build.crossprefix=arm-zephyr-eabi-
 nano33ble.build.compiler_path={runtime.tools.arm-zephyr-eabi-0.16.8.path}/bin/
 
-nano33ble.menu.debug.false=Standard
-nano33ble.menu.debug.true=Debug
+nano33ble.menu.mode.false=Standard
+nano33ble.menu.mode.true=Debug
 
-nano33ble.menu.debug.false.post_build_arg=
-nano33ble.menu.debug.true.post_build_arg=debug
+nano33ble.menu.mode.false.post_build_arg=
+nano33ble.menu.mode.true.post_build_arg=debug
 
 nano33ble.build.variant=arduino_nano_33_ble_sense
 nano33ble.build.mcu=cortex-m4
@@ -135,11 +135,11 @@ nano33ble.bootloader.interface=0
 nano33ble.bootloader.file=zephyr-arduino_nano_33_ble_sense.bin
 nano33ble.bootloader.address=0x0000
 
-nano33ble.debug.tool=gdb
-nano33ble.debug.server.openocd.scripts.0=interface/{programmer.protocol}.cfg
-nano33ble.debug.server.openocd.scripts.1={programmer.transport_script}
-nano33ble.debug.server.openocd.scripts.2=target/nrf52.cfg
-nano33ble.debug.cortex-debug.custom.request=attach
+nano33ble.mode.tool=gdb
+nano33ble.mode.server.openocd.scripts.0=interface/{programmer.protocol}.cfg
+nano33ble.mode.server.openocd.scripts.1={programmer.transport_script}
+nano33ble.mode.server.openocd.scripts.2=target/nrf52.cfg
+nano33ble.mode.cortex-debug.custom.request=attach
 
 ##############################################################################################################
 
@@ -148,11 +148,11 @@ ek_ra8d1.build.core=arduino
 ek_ra8d1.build.crossprefix=arm-zephyr-eabi-
 ek_ra8d1.build.compiler_path={runtime.tools.arm-zephyr-eabi-0.16.8.path}/bin/
 
-ek_ra8d1.menu.debug.false=Standard
-ek_ra8d1.menu.debug.true=Debug
+ek_ra8d1.menu.mode.false=Standard
+ek_ra8d1.menu.mode.true=Debug
 
-ek_ra8d1.menu.debug.false.post_build_arg=
-ek_ra8d1.menu.debug.true.post_build_arg=debug
+ek_ra8d1.menu.mode.false.post_build_arg=
+ek_ra8d1.menu.mode.true.post_build_arg=debug
 
 ek_ra8d1.build.variant=ek_ra8d1
 ek_ra8d1.build.mcu=cortex-m85+nomve
@@ -214,11 +214,11 @@ frdm_mcxn947.build.core=arduino
 frdm_mcxn947.build.crossprefix=arm-zephyr-eabi-
 frdm_mcxn947.build.compiler_path={runtime.tools.arm-zephyr-eabi-0.16.8.path}/bin/
 
-frdm_mcxn947.menu.debug.false=Standard
-frdm_mcxn947.menu.debug.true=Debug
+frdm_mcxn947.menu.mode.false=Standard
+frdm_mcxn947.menu.mode.true=Debug
 
-frdm_mcxn947.menu.debug.false.post_build_arg=
-frdm_mcxn947.menu.debug.true.post_build_arg=debug
+frdm_mcxn947.menu.mode.false.post_build_arg=
+frdm_mcxn947.menu.mode.true.post_build_arg=debug
 
 frdm_mcxn947.build.variant=frdm_mcxn947_mcxn947_cpu0
 frdm_mcxn947.build.mcu=cortex-m33
@@ -274,11 +274,11 @@ portentah7.build.core=arduino
 portentah7.build.crossprefix=arm-zephyr-eabi-
 portentah7.build.compiler_path={runtime.tools.arm-zephyr-eabi-0.16.8.path}/bin/
 
-portentah7.menu.debug.false=Standard
-portentah7.menu.debug.true=Debug
+portentah7.menu.mode.false=Standard
+portentah7.menu.mode.true=Debug
 
-portentah7.menu.debug.false.post_build_arg=
-portentah7.menu.debug.true.post_build_arg=debug
+portentah7.menu.mode.false.post_build_arg=
+portentah7.menu.mode.true.post_build_arg=debug
 
 portentah7.build.variant=arduino_portenta_h7
 portentah7.build.mcu=cortex-m7
@@ -332,12 +332,12 @@ portentah7.bootloader.interface=0
 portentah7.bootloader.file=zephyr-arduino_portenta_h7.bin
 portentah7.bootloader.address=0x08040000
 
-portentah7.debug.tool=gdb
-portentah7.debug.server.openocd.scripts.0=interface/{programmer.protocol}.cfg
-portentah7.debug.server.openocd.scripts.1={programmer.transport_script}
-portentah7.debug.server.openocd.scripts.2=target/stm32h7x_dual_bank.cfg
-portentah7.debug.cortex-debug.custom.request=attach
-portentah7.debug.svd_file={runtime.platform.path}/svd/STM32H747_CM7.svd
+portentah7.mode.tool=gdb
+portentah7.mode.server.openocd.scripts.0=interface/{programmer.protocol}.cfg
+portentah7.mode.server.openocd.scripts.1={programmer.transport_script}
+portentah7.mode.server.openocd.scripts.2=target/stm32h7x_dual_bank.cfg
+portentah7.mode.cortex-debug.custom.request=attach
+portentah7.mode.svd_file={runtime.platform.path}/svd/STM32H747_CM7.svd
 
 ##############################################################################################################
 
@@ -346,11 +346,11 @@ frdm_rw612.build.core=arduino
 frdm_rw612.build.crossprefix=arm-zephyr-eabi-
 frdm_rw612.build.compiler_path={runtime.tools.arm-zephyr-eabi-0.16.8.path}/bin/
 
-frdm_rw612.menu.debug.false=Standard
-frdm_rw612.menu.debug.true=Debug
+frdm_rw612.menu.mode.false=Standard
+frdm_rw612.menu.mode.true=Debug
 
-frdm_rw612.menu.debug.false.post_build_arg=
-frdm_rw612.menu.debug.true.post_build_arg=debug
+frdm_rw612.menu.mode.false.post_build_arg=
+frdm_rw612.menu.mode.true.post_build_arg=debug
 
 frdm_rw612.build.variant=frdm_rw612
 frdm_rw612.build.mcu=cortex-m33+nodsp
@@ -405,11 +405,11 @@ niclasense.build.core=arduino
 niclasense.build.crossprefix=arm-zephyr-eabi-
 niclasense.build.compiler_path={runtime.tools.arm-zephyr-eabi-0.16.8.path}/bin/
 
-niclasense.menu.debug.false=Standard
-niclasense.menu.debug.true=Debug
+niclasense.menu.mode.false=Standard
+niclasense.menu.mode.true=Debug
 
-niclasense.menu.debug.false.post_build_arg=
-niclasense.menu.debug.true.post_build_arg=debug
+niclasense.menu.mode.false.post_build_arg=
+niclasense.menu.mode.true.post_build_arg=debug
 
 niclasense.build.variant=arduino_nicla_sense_me
 niclasense.build.mcu=cortex-m4
@@ -467,11 +467,11 @@ niclasense.bootloader.interface=0
 niclasense.bootloader.file=zephyr-arduino_nicla_sense_me.hex
 niclasense.bootloader.target=nrf52
 
-niclasense.debug.tool=gdb
-niclasense.debug.server.openocd.scripts.0=interface/{programmer.protocol}.cfg
-niclasense.debug.server.openocd.scripts.1={programmer.transport_script}
-niclasense.debug.server.openocd.scripts.2=target/nrf52.cfg
-niclasense.debug.cortex-debug.custom.request=attach
+niclasense.mode.tool=gdb
+niclasense.mode.server.openocd.scripts.0=interface/{programmer.protocol}.cfg
+niclasense.mode.server.openocd.scripts.1={programmer.transport_script}
+niclasense.mode.server.openocd.scripts.2=target/nrf52.cfg
+niclasense.mode.cortex-debug.custom.request=attach
 
 
 ##########################################################################################
@@ -481,11 +481,15 @@ portentac33.build.core=arduino
 portentac33.build.crossprefix=arm-zephyr-eabi-
 portentac33.build.compiler_path={runtime.tools.arm-zephyr-eabi-0.16.8.path}/bin/
 
-portentac33.menu.debug.false=Standard
-portentac33.menu.debug.true=Debug
+portentac33.menu.mode.llext=llext
+portentac33.menu.mode.linked=linked
 
-portentac33.menu.debug.false.post_build_arg=
-portentac33.menu.debug.true.post_build_arg=debug
+portentac33.menu.mode.linked.build.extra_extra_ldflags=-lc -lm -lgcc -L{build.variant.path}
+portentac33.menu.mode.linked.build.llext_link_flags=
+portentac33.menu.mode.linked.build.suffix=_linked
+portentac33.menu.mode.linked.build.ldscript={runtime.platform.path}/variants/linked/linker_script.ld
+portentac33.menu.mode.linked.upload.externsion=bin.dfu
+portentac33.menu.mode.linked.post_build_arg=linked
 
 portentac33.build.variant=arduino_portenta_c33
 portentac33.build.mcu=cortex-m33
@@ -506,7 +510,7 @@ portentac33.compiler.zephyr.ldflags=-fno-exceptions -fno-rtti -fno-threadsafe-st
 portentac33.compiler.zephyr.cflags=-fno-strict-aliasing -fno-printf-return-value -fno-common -mthumb -mabi=aapcs -mfp16-format=ieee -mtp=soft -Wall -Wformat -Wformat-security -Wno-format-zero-length -Wdouble-promotion -Wno-pointer-sign -Wpointer-arith -Wexpansion-to-defined -Wno-unused-but-set-variable -Werror=implicit-int -fno-asynchronous-unwind-tables -ftls-model=local-exec -fno-reorder-functions --param=min-pagesize=0 -fno-defer-pop --specs=picolibc.specs -D_POSIX_THREADS -mlong-calls -nodefaultlibs
 portentac33.compiler.zephyr.cxxflags={compiler.zephyr.ldflags} -fdata-sections -ffunction-sections -fno-unwind-tables -fno-strict-aliasing -fno-printf-return-value -fno-common -mthumb -mabi=aapcs -mfp16-format=ieee -mtp=soft -Wall -Wformat -Wformat-security -Wno-format-zero-length -Wdouble-promotion -Wpointer-arith -Wexpansion-to-defined -Wno-unused-but-set-variable -fno-asynchronous-unwind-tables -ftls-model=local-exec -fno-reorder-functions --param=min-pagesize=0 -fno-defer-pop --specs=picolibc.specs -D_POSIX_THREADS -mlong-calls -nodefaultlibs
 portentac33.compiler.zephyr.includes={build.variant.path}/includes.txt
-portentac33.compiler.zephyr.extra_ldflags=-lstdc++ -lsupc++ -lnosys -nostdlib
+portentac33.compiler.zephyr.extra_ldflags=-lstdc++ -lsupc++ -lnosys -nostdlib {build.extra_extra_ldflags}
 portentac33.compiler.zephyr=
 portentac33.vid.0=0x2341
 portentac33.pid.0=0x0068

cores/arduino/main.cpp

@@ -5,6 +5,7 @@
  */
 
 #include "Arduino.h"
+#include <cstdint>
 #ifdef CONFIG_LLEXT
 #include <zephyr/llext/symbol.h>
 #endif
@@ -36,4 +37,40 @@ int main(void) {
 
 #ifdef CONFIG_LLEXT
 LL_EXTENSION_SYMBOL(main);
-#endif
+#endif
+
+/* These magic symbols are provided by the linker.  */
+extern void (*__preinit_array_start []) (void) __attribute__((weak));
+extern void (*__preinit_array_end []) (void) __attribute__((weak));
+extern void (*__init_array_start []) (void) __attribute__((weak));
+extern void (*__init_array_end []) (void) __attribute__((weak));
+
+static void __libc_init_array (void)
+{
+  size_t count;
+  size_t i;
+
+  count = __preinit_array_end - __preinit_array_start;
+  for (i = 0; i < count; i++)
+    __preinit_array_start[i] ();
+
+  count = __init_array_end - __init_array_start;
+  for (i = 0; i < count; i++)
+    __init_array_start[i] ();
+}
+
+extern "C" __attribute__((section(".entry_point"), used)) void entry_point(k_thread_stack_t* stack, size_t stack_size) {
+  // copy .data in the right place
+  // .bss should already be in the right place
+  // call constructors
+  extern uintptr_t _sidata;
+  extern uintptr_t _sdata;
+  extern uintptr_t _edata;
+  extern uintptr_t _sbss;
+  extern uintptr_t _ebss;
+  //__asm volatile ("cpsie i");
+  memcpy(&_sdata, &_sidata, &_edata - &_sdata);
+  memset(&_sbss, 0, &_ebss - &_sbss);
+  __libc_init_array();
+  main();
+}

extra/build.sh

@@ -6,7 +6,8 @@ set -e
 
 board=$1
 variant=$2
-shield=$3
+third_arg=$3
+extra_args=""
 
 if [[ $# -eq 0 ]]; then
 board=arduino_giga_r1//m7
@@ -15,13 +16,11 @@ fi
 
 source venv/bin/activate
 
-if [ -n "$shield" ]; then
-    shield_arg="--shield $shield"
-else
-    shield_arg=""
+if [ "$third_arg" != "" ]; then
+    extra_args="--shield $shield"
 fi
 
-(west build loader -b $board -p $shield_arg && west build -t llext-edk)
+(west build loader -b $board -p $extra_args && west build -t llext-edk)
 (tar xfp build/zephyr/llext-edk.tar.xz --directory variants/$variant/)
 
 (cp build/zephyr/zephyr.elf firmwares/zephyr-$variant.elf)
@@ -31,3 +30,11 @@ elif [ -f build/zephyr/zephyr.hex ]; then
     cp build/zephyr/zephyr.hex firmwares/zephyr-$variant.hex
 fi
 
+# Generate the provides.ld file for linked builds
+echo "Exporting provides.ld"
+arm-none-eabi-readelf --wide -s build/zephyr/zephyr.elf  | c++filt  | grep FUNC | awk -F' ' '{print "PROVIDE("$8" = 0x"$2");"}' > variants/$variant/provides.ld
+arm-none-eabi-readelf --wide -s build/zephyr/zephyr.elf  | c++filt  | grep llext_stack | awk -F' ' '{print "PROVIDE("$8" = 0x"$2");"}' >> variants/$variant/provides.ld
+arm-none-eabi-readelf --wide -s build/zephyr/zephyr.elf  | c++filt  | grep llext_stack | awk -F' ' '{print "PROVIDE(llext_stack_size = "$3");"}' >> variants/$variant/provides.ld
+cat build/zephyr/zephyr.map | grep __device_dts_ord | grep -v rodata | grep -v llext_const_symbol |  awk -F' ' '{print "PROVIDE("$2" = "$1");"}'  >> variants/$variant/provides.ld
+TEXT_START=`cat loader/boards/$variant.overlay | grep user_sketch: | cut -f2 -d"@" | cut -f1 -d"{"`
+echo "PROVIDE(_sketch_start = 0x$TEXT_START);" >> variants/$variant/provides.ld

extra/post_build_tool/main.go

@@ -13,11 +13,15 @@ func main() {
 
 	filename := os.Args[1]
 	debug := 0
+	linked := 0
 
-	if len(os.Args) == 3 {
+	if len(os.Args) >= 3 {
 		if os.Args[2] == "debug" {
 			debug = 1
 		}
+		if os.Args[2] == "linked" {
+			linked = 1
+		}
 	}
 
 	// Read the file content
@@ -35,7 +39,7 @@ func main() {
 
 	// Create the new content with the length in front
 	len_str := fmt.Sprintf("%d", length)
-	newContent := append([]byte(len_str), 0, byte(debug))
+	newContent := append([]byte(len_str), 0, byte(debug), byte(linked))
 	// make newContent 16 bytes
 	tmp := make([]byte, 16-len(newContent))
 	newContent = append(newContent, tmp...)

loader/CMakeLists.txt

@@ -8,7 +8,7 @@ find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
 
 project(app LANGUAGES C CXX)
 
-include(${CMAKE_CURRENT_SOURCE_DIR}/blobs/CMakeLists.txt)
+add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/blobs)
 
 FILE(GLOB app_sources *.c)
 target_sources(app PRIVATE ${app_sources})

loader/blobs/CMakeLists.txt

@@ -6,7 +6,7 @@ if (CONFIG_BOARD_ARDUINO_PORTENTA_C33)
     set(gen_dir ${gen_inc_dir}/c33_bl_patch)
     generate_inc_file_for_target(
         ${ZEPHYR_CURRENT_LIBRARY}
-        ${CMAKE_CURRENT_SOURCE_DIR}/blobs/c33_bl.bin
+        ${CMAKE_CURRENT_SOURCE_DIR}/c33_bl.bin
         ${gen_dir}/c33_bl.bin.inc
     )
 endif()

loader/boards/arduino_giga_r1_m7.overlay

@@ -331,29 +331,11 @@
 	};
 };
 
-/ {
-	soc {
-		flash-controller@52002000 {
-			flash0: flash@8000000 {
-				compatible = "st,stm32-nv-flash", "soc-nv-flash";
-				write-block-size = <32>;
-				erase-block-size = <DT_SIZE_K(128)>;
-				/* maximum erase time for a 128K sector */
-				max-erase-time = <4000>;
-
-				reg = <0x08000000 DT_SIZE_K(1024)>;
-				status = "okay";
-
-				partitions {
-					compatible = "fixed-partitions";
-					#address-cells = <1>;
-					#size-cells = <1>;
-
-					user_sketch: partition@e0000 {
-						reg = <0x0E0000 0x20000>;
-					};
-				};
-			};
+
+&flash0 {
+	partitions {
+		user_sketch: partition@e0000 {
+			reg = <0x0E0000 0x20000>;
 		};
 	};
 };

loader/boards/arduino_portenta_c33.overlay

@@ -72,7 +72,7 @@
 
 		pwm-pin-gpios =	<&ioport6 0 0>;
 
-		serials = <&cdc_acm_uart0>,<&sci9>;
+		serials = <&cdc_acm_uart0>,<&uart9>;
 		cdc-acm = <&cdc_acm_uart0>;
 		i2cs = <&iic1>;
 		spis = <&spi1>;