From 54ac97990ddcc63fafe9f7a8185ead4ee8f95fce Mon Sep 17 00:00:00 2001 From: barner Date: Fri, 22 Dec 2006 17:10:54 +0000 Subject: [PATCH] - Fix / enhence AVR specific part of the ELF relocator. Some relocation types are still unsupported and will write warings on the second serial port. - Fix elfloader_arch_write_rom (), which has to reside in a special bootloader section of flash rom. The code is heavly inspired from avr-libc's documentation. - Prelimiary implementation of elfloader_arch_allocate_rom: Code is flashed to fixed address 0x8000. Note that on the AVR, flash rom is adressed word (16bit)-wise, not byte wise! - Preliminary implementation of elfloader_arch_allocate_ram using the mmem module. Current code does not free the memory. --- core/loader/elfloader-avr.c | 254 ++++++++++++++++++++++-------------- 1 file changed, 156 insertions(+), 98 deletions(-) diff --git a/core/loader/elfloader-avr.c b/core/loader/elfloader-avr.c index b17f38019..ec41ca4bb 100644 --- a/core/loader/elfloader-avr.c +++ b/core/loader/elfloader-avr.c @@ -28,11 +28,16 @@ * * This file is part of the Contiki operating system. * - * @(#)$Id: elfloader-avr.c,v 1.3 2006/12/18 14:54:04 fros4943 Exp $ + * @(#)$Id: elfloader-avr.c,v 1.4 2006/12/22 17:10:54 barner Exp $ */ -#include "elfloader-arch.h" -/*#include "dev/flash.h"*/ +#include +#include +#include +#include +#include "dev/rs232.h" +#include "elfloader-arch.h" +#include "lib/mmem.h" #define R_AVR_NONE 0 #define R_AVR_32 1 @@ -56,73 +61,94 @@ #define ELF32_R_TYPE(info) ((unsigned char)(info)) -static char datamemory[ELFLOADER_DATAMEMORY_SIZE]; -static const char textmemory[ELFLOADER_TEXTMEMORY_SIZE]; +static struct mmem module_heap; /*---------------------------------------------------------------------------*/ -void * +void* elfloader_arch_allocate_ram(int size) { - return datamemory; + /* Allocate RAM for module (TODO: we leak the memory) */ + if (mmem_alloc (&module_heap, size) == 0) { + return NULL; + } + + return (char*)MMEM_PTR(&module_heap); } + /*---------------------------------------------------------------------------*/ -void * +/* TODO: Currently, modules are written to the fixed address 0x10000. Since + * flash rom uses word addresses on the AVR, we return 0x8000 here + */ +void* elfloader_arch_allocate_rom(int size) { - /* Return an 512-byte aligned pointer. */ - return (char *) - ((unsigned long)&textmemory[0] & 0xfffffe00) + - (((unsigned long)&textmemory[0] & 0x1ff) == 0? 0: 0x200); + return 0x8000; } + /*---------------------------------------------------------------------------*/ -#define READSIZE 32 -void + +BOOTLOADER_SECTION void elfloader_arch_write_rom(int fd, unsigned short textoff, unsigned int size, char *mem) { -#if 0 - int i; - unsigned int ptr; - unsigned short *flashptr; + unsigned char buf[SPM_PAGESIZE]; + unsigned short* flashptr = mem; - flash_setup(); - flashptr = (unsigned short *)elfloader_arch_textmemory; + // Sanity-check size of loadable module + if (size <= 0) + return; + - cfs_seek(fd, textoff); - for(ptr = 0; ptr < size; ptr += READSIZE) { - - /* Read data from file into RAM. */ - cfs_read(fd, (unsigned char *)elfloader_arch_datamemory, READSIZE); + // Seek to patched module and burn it to flash (in chunks of + // size SPM_PAGESIZE, i.e. 256 bytes on the ATmega128) + cfs_seek(fd, textoff); + for (flashptr=mem; flashptr < mem + size; flashptr += SPM_PAGESIZE) { + memset (buf, 0, SPM_PAGESIZE); + cfs_read(fd, buf, SPM_PAGESIZE); - /* Clear flash page on 512 byte boundary. */ - if((((unsigned short)flashptr) & 0x01ff) == 0) { - flash_clear(flashptr); - } - - /* Burn data from RAM into flash ROM. Flash is burned one 16-bit - word at a time, so we need to be careful when incrementing - pointers. The flashptr is already a short pointer, so - incrementing it by one will actually increment the address by - two. */ - for(i = 0; i < READSIZE / 2; ++i) { - flash_write(flashptr, ((unsigned short *)elfloader_arch_datamemory)[i]); - ++flashptr; - } - } + // Disable interrupts + uint8_t sreg; + sreg = SREG; + cli (); + + // Erase flash page + boot_page_erase (flashptr); + boot_spm_busy_wait (); + + unsigned short *origptr = flashptr; - flash_done(); -#endif + int i; + // Store data into page buffer + for(i = 0; i < SPM_PAGESIZE; i+=2) { + boot_page_fill (flashptr, (uint16_t)((buf[i+1] << 8) | buf[i])); + PORTB = 0xff - 7; + ++flashptr; + } + + // Burn page + boot_page_write (origptr); + boot_spm_busy_wait(); + + // Reenable RWW sectin + boot_rww_enable (); + boot_spm_busy_wait (); + + // Restore original interrupt settings + SREG = sreg; + } } + /*---------------------------------------------------------------------------*/ static void write_ldi(int fd, unsigned char *instr, unsigned char byte) { instr[0] = (instr[0] & 0xf0) | (byte & 0x0f); - instr[1] = (instr[0] & 0xf0) | (byte >> 4); - cfs_write(fd, instr, 2); + instr[1] = (instr[1] & 0xf0) | (byte >> 4); + cfs_write (fd, instr, 2); } /*---------------------------------------------------------------------------*/ void elfloader_arch_relocate(int fd, unsigned int sectionoffset, + // struct elf32_rela *rela, elf32_addr addr) char *sectionaddr, struct elf32_rela *rela, char *addr) { @@ -133,84 +159,116 @@ elfloader_arch_relocate(int fd, unsigned int sectionoffset, cfs_read(fd, instr, 4); cfs_seek(fd, sectionoffset + rela->r_offset); - addr += rela->r_addend; - type = ELF32_R_TYPE(rela->r_info); - printf("elfloader_arch_relocate: type %d\n", type); - + addr += rela->r_addend; + switch(type) { case R_AVR_NONE: case R_AVR_32: - case R_AVR_7_PCREL: /* >> 1 */ - case R_AVR_13_PCREL: /* >> 1 */ - printf("elfloader-avr.c: unsupported relocation type %d\n", type); - break; - - case R_AVR_16: - cfs_write(fd, (char *)addr, 2); - break; - case R_AVR_16_PM: - addr = (char *)((unsigned long)addr >> 1); - cfs_write(fd, (char *)addr, 2); + rs232_print_p (RS232_PORT_1, PSTR ("elfloader-avr.c: unsupported relocation type: ")); + rs232_printf (RS232_PORT_1, "%d\n", type); break; - case R_AVR_LO8_LDI: - write_ldi(fd, instr, (unsigned long)addr); + case R_AVR_7_PCREL: { /* 4 */ + /* + * Relocation is relative to PC. -2: branch instructions add 2 to PC. + * Do not use >> 1 for division because branch instructions use + * signed offsets. + */ + int16_t a = (((int16_t)addr - rela->r_offset -2) / 2); + instr[0] |= (a << 3) & 0xf8; + instr[1] |= (a >> 5) & 0x03; + cfs_write(fd, instr, 2); + } break; - case R_AVR_HI8_LDI: - write_ldi(fd, instr, (unsigned long)addr >> 8); - break; - case R_AVR_HH8_LDI: - write_ldi(fd, instr, (unsigned long)addr >> 16); + case R_AVR_13_PCREL: { /* 3 */ + /* + * Relocation is relative to PC. -2: RJMP adds 2 to PC. + * Do not use >> 1 for division because RJMP uses signed offsets. + */ + int16_t a = (int16_t)addr / 2; + a -= rela->r_offset / 2; + a--; + instr[0] |= a & 0xff; + instr[1] |= (a >> 8) & 0x0f; + cfs_write(fd, instr, 2); + } break; - case R_AVR_LO8_LDI_NEG: - addr = (char *)(0 - (unsigned long)addr); - write_ldi(fd, instr, (unsigned long)addr); + case R_AVR_16: /* 4 */ + instr[0] = (int16_t)addr & 0xff; + instr[1] = ((int16_t)addr >> 8) & 0xff; + + cfs_write(fd, instr, 2); break; - case R_AVR_HI8_LDI_NEG: - addr = (char *)(0 - (unsigned long)addr); - write_ldi(fd, instr, (unsigned long)addr >> 8); - break; - case R_AVR_HH8_LDI_NEG: - addr = (char *)(0 - (unsigned long)addr); - write_ldi(fd, instr, (unsigned long)addr >> 16); + case R_AVR_16_PM: /* 5 */ + addr = ((int16_t)addr >> 1); + instr[0] = (int16_t)addr & 0xff; + instr[1] = ((int16_t)addr >> 8) & 0xff; + + cfs_write(fd, instr, 2); break; - case R_AVR_LO8_LDI_PM: - write_ldi(fd, instr, (unsigned long)addr >> 1); + case R_AVR_LO8_LDI: /* 6 */ + write_ldi(fd, instr, (int16_t)addr); break; - case R_AVR_HI8_LDI_PM: - write_ldi(fd, instr, (unsigned long)addr >> 9); + case R_AVR_HI8_LDI: /* 7 */ + write_ldi(fd, instr, (int16_t)addr >> 8); break; - case R_AVR_HH8_LDI_PM: - write_ldi(fd, instr, (unsigned long)addr >> 17); + case R_AVR_HH8_LDI: /* 8 */ + write_ldi(fd, instr, (int16_t)addr >> 16); break; - case R_AVR_LO8_LDI_PM_NEG: - addr = (char *)(0 - (unsigned long)addr); - write_ldi(fd, instr, (unsigned long)addr >> 1); + case R_AVR_LO8_LDI_NEG: /* 9 */ + addr = (0 - (int16_t)addr); + write_ldi(fd, instr, (int16_t)addr); break; - case R_AVR_HI8_LDI_PM_NEG: - addr = (char *)(0 - (unsigned long)addr); - write_ldi(fd, instr, (unsigned long)addr >> 9); + case R_AVR_HI8_LDI_NEG: /* 10 */ + addr = (0 - (int16_t)addr); + write_ldi(fd, instr, (int16_t)addr >> 8); break; - addr = (char *)(0 - (unsigned long)addr); - case R_AVR_HH8_LDI_PM_NEG: - write_ldi(fd, instr, (unsigned long)addr >> 17); + case R_AVR_HH8_LDI_NEG: /* 11 */ + addr = (0 - (int16_t)addr); + write_ldi(fd, instr, (int16_t)addr >> 16); break; - case R_AVR_CALL: - addr = (char *)((unsigned long)addr >> 1); - instr[3] = (unsigned long)addr >> 8; - instr[4] = (unsigned long)addr & 0xff; - printf("R_AVR_CALL:Writing 0x%02x 0x%02x 0x%02x 0x%02x\n", - instr[0], instr[1], instr[2], instr[3]); + case R_AVR_LO8_LDI_PM: /* 12 */ + write_ldi(fd, instr, (int16_t)addr >> 1); + break; + case R_AVR_HI8_LDI_PM: /* 13 */ + write_ldi(fd, instr, (int16_t)addr >> 9); + break; + case R_AVR_HH8_LDI_PM: /* 14 */ + write_ldi(fd, instr, (int16_t)addr >> 17); + break; + + case R_AVR_LO8_LDI_PM_NEG: /* 15 */ + addr = (0 - (int16_t)addr); + write_ldi(fd, instr, (int16_t)addr >> 1); + break; + case R_AVR_HI8_LDI_PM_NEG: /* 16 */ + addr = (0 - (int16_t)addr); + write_ldi(fd, instr, (int16_t)addr >> 9); + break; + case R_AVR_HH8_LDI_PM_NEG: /* 17 */ + addr = (0 - (int16_t)addr); + write_ldi(fd, instr, (int16_t)addr >> 17); + break; + + case R_AVR_CALL: /* 18 */ + addr = ((int16_t)addr >> 1); + instr[2] = (int16_t)addr & 0xff; + instr[3] = (int16_t)addr >> 8; cfs_write(fd, instr, 4); break; + default: + rs232_print_p (RS232_PORT_1, PSTR ("Unknown reloation type!\n")); + break; } - } /*---------------------------------------------------------------------------*/ +void +elfloader_unload(void) { +}