I've got the following linker script that is supposed to link code to run on a flash based micrcontroller. The uC has flash at address 0x0, and RAM at 0x40000000. I want to put the data section into flash, but link the program so that access to the data section is done in RAM. The point being, I'll manually copy it out of flash into the proper RAM location when the controller starts.
MEMORY
{
flash : ORIGIN = 0x00000000, LENGTH = 512K
ram : ORIGIN = 0x40000000, LENGTH = 32K
usbram : ORIGIN = 0x7FD00000, LENGTH = 8K
ethram : ORIGIN = 0x7FE00000, LENGTH = 16K
}
SECTIONS
{
.text : { *(.text) } >flash
__end_of_text__ = .;
.data :
{
__data_beg__ = .;
__data_beg_src__ = __end_of_text__;
*(.data)
__data_end__ = .;
} >ram AT>flash
.bss :
{
__bss_beg__ = .;
*(.bss)
} >ram
}
The code as shown above generates the following output:
40000000 <__data_beg__>:
40000000: 00000001 andeq r0, r0, r1
40000004: 00000002 andeq r0, r0, r2
40000008: 00000003 andeq r0, r0, r3
4000000c: 00000004 andeq r0, r0, r4
40000010: 00000005 andeq r0, r0, r5
40000014: 00000006 andeq r0, r0, r6
which represents an array of the form
int foo[] = {1,2,3,4,5,6};
Problem is that it's linked to 0x40000000, and not the flash region as I wanted. I expected the AT>flash part of the linker script to specify linking into flash, as explained in the LD manual.
http://sourceware.org/binutils/docs/ld/Output-Section-Attributes.html#Output-Section-Attributes
and here is my ld invocation:
arm-elf-ld -T ./lpc2368.ld entry.o main.o -o binary.elf
Thanks.
Your linker script LINKS .data to RAM and LOADS .data into FLASH. This is due to AT command.
Why do you want to link volatile data to flash? Data and Bss must ALWAYS be linked to RAM. Your linker script is quite correct. You would only link text and constand data into flash.
Please look at your map file. It would necessarily have assigned a RAM address to data variables.
The program loader code then copies copies (data_end - data_beg) bytes from data_beg_src to data_beg.
So the first data which is the array is copied into the begining of SRAM.
If you need to link data to flash:
Data :
{
*(.data);
} > flash
Linker will now LINK and LOAD .data into flash. But if I were you, I wouldnt do that.
Your .data virtual address = 0x40000000
Your .data logical address = 0x00000000
This can be seen with command
objdump -h file.elf
Sections:
Idx Name Size VMA LMA File off Algn
8 .data 00000014 40000000 00000000 00001000 2**2
CONTENTS, ALLOC, LOAD, DATA
Related
I am trying to execute a simple code from RAM, but for some reason the program halts/throws hard fault. I am using CCMRAM for my data, heap and stack while SRAM1 for executing code. Here is my linker script and startup file.
LinkerScript.ld
/*
******************************************************************************
**
** File : LinkerScript.ld
**
** Author : Auto-generated by Ac6 System Workbench
**
** Abstract : Linker script for STM32F407ZETx Device from STM32F4 series
** 112Kbytes SRAM1
** 16Kbytes SRAM2
** 64Kbytes CCMRAM
** 512Kbytes ROM
**
** Set heap size, stack size and stack location according
** to application requirements.
**
** Set memory bank area and size if external memory is used.
**
** Target : STMicroelectronics STM32
**
** Distribution: The file is distributed �as is,� without any warranty
** of any kind.
**
*****************************************************************************
** #attention
**
** <h2><center>© COPYRIGHT(c) 2019 Ac6</center></h2>
**
** Redistribution and use in source and binary forms, with or without modification,
** are permitted provided that the following conditions are met:
** 1. Redistributions of source code must retain the above copyright notice,
** this list of conditions and the following disclaimer.
** 2. Redistributions in binary form must reproduce the above copyright notice,
** this list of conditions and the following disclaimer in the documentation
** and/or other materials provided with the distribution.
** 3. Neither the name of Ac6 nor the names of its contributors
** may be used to endorse or promote products derived from this software
** without specific prior written permission.
**
** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
** DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
** FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
** DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
** SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
** CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
** OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
/*_estack = 0x2001C000; /* start of SRAM2 */
_estack = 0x10010000; /* end of CCMRAM */
_Min_Heap_Size = 0; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
/* Memories definition */
MEMORY
{
SRAM1 (xrw) : ORIGIN = 0x20000000, LENGTH = 112K
SRAM2 (xrw) : ORIGIN = 0x2001C000, LENGTH = 16K
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 512K
CCMRAM (rw) : ORIGIN = 0x10000000, LENGTH = 64K
}
/* Sections */
SECTIONS
{
/* The startup code into ROM memory */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/*sram1 section for code and data*/
_sisram1 = LOADADDR(.sram1);
.sram1 :
{
. = ALIGN(4);
_s_sram1 = .;
*(.sram1);
*(.sram1*);
. = ALIGN(4);
_e_sram1 = .;
} > SRAM1 AT >FLASH
/*sram2 section for code and data*/
_sisram2 = LOADADDR(.sram2);
.sram2 :
{
. = ALIGN(4);
_s_sram2 = .;
*(.sram2);
*(.sram2*);
. = ALIGN(4);
_e_sram2 = .;
} > SRAM2 AT >FLASH
/* The program code and other data into FLASH memory */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
} >FLASH
/* Constant data into FLASH memory*/
.rodata :
{
. = ALIGN(4);
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
. = ALIGN(4);
} >FLASH
.ARM.extab : {
. = ALIGN(4);
*(.ARM.extab* .gnu.linkonce.armextab.*)
. = ALIGN(4);
} > FLASH
.ARM : {
. = ALIGN(4);
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
. = ALIGN(4);
} >FLASH
.preinit_array :
{
. = ALIGN(4);
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
. = ALIGN(4);
} >FLASH
.init_array :
{
. = ALIGN(4);
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
. = ALIGN(4);
} >FLASH
.fini_array :
{
. = ALIGN(4);
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(SORT(.fini_array.*)))
KEEP (*(.fini_array*))
PROVIDE_HIDDEN (__fini_array_end = .);
. = ALIGN(4);
} >FLASH
/* Used by the startup to initialize data */
_sidata = LOADADDR(.data);
/* Initialized data sections into RAM memory */
.data :
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >CCMRAM AT> FLASH
/* Uninitialized data section into RAM memory */
. = ALIGN(4);
.bss :
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >CCMRAM
/* User_heap_stack section, used to check that there is enough RAM left */
._user_heap_stack :
{
. = ALIGN(8);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(8);
} >CCMRAM
/* Remove information from the compiler libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}
And here is part of my startup file
/**
******************************************************************************
* #file startup_stm32.s dedicated to STM32F407ZETx device
* #author Ac6
* #version V1.0.0
* #date 2019-03-30
******************************************************************************
*/
.syntax unified
.cpu cortex-m4
.fpu softvfp
.thumb
.global g_pfnVectors
.global Default_Handler
/* start address for the initialization values of the .data section.
defined in linker script */
.word _sidata
/* start address for the .data section. defined in linker script */
.word _sdata
/* end address for the .data section. defined in linker script */
.word _edata
/* start address for the .bss section. defined in linker script */
.word _sbss
/* end address for the .bss section. defined in linker script */
.word _ebss
/**
* #brief This is the code that gets called when the processor first
* starts execution following a reset event. Only the absolutely
* necessary set is performed, after which the application
* supplied main() routine is called.
* #param None
* #retval : None
*/
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
ldr r0, =_estack
mov sp, r0 /* set stack pointer */
/* Copy the data segment initializers from flash to SRAM */
ldr r0, =_sdata
ldr r1, =_edata
ldr r2, =_sidata
movs r3, #0
b LoopCopyDataInit
CopyDataInit:
ldr r4, [r2, r3]
str r4, [r0, r3]
adds r3, r3, #4
LoopCopyDataInit:
adds r4, r0, r3
cmp r4, r1
bcc CopyDataInit
/* Zero fill the bss segment. */
ldr r2, =_sbss
ldr r4, =_ebss
movs r3, #0
b LoopFillZerobss
FillZerobss:
str r3, [r2]
adds r2, r2, #4
LoopFillZerobss:
cmp r2, r4
bcc FillZerobss
///////////// Following blocks are for SRAM1 /////////////////////
// Copy from flash to SRAM1
ldr r0, =_s_sram1
ldr r1, =_e_sram1
ldr r2, =_sisram1
movs r3, #0
b LoopCopySRAM1Init
CopySRAM1Init:
ldr r4, [r2, r3]
str r4, [r0, r3]
adds r3, r3, #4
LoopCopySRAM1Init:
adds r4, r0, r3
cmp r4, r1
bcc CopySRAM1Init
// End of data copy from Flash to SRAM1
// Zero fill the SRAM1 segment.
ldr r2, =_s_sram1
b LoopFillZeroSRAM1
FillZeroSRAM1:
movs r3, #0
str r3, [r2]
adds r2, r2, #4
LoopFillZeroSRAM1:
ldr r3, = _e_sram1
cmp r2, r3
bcc FillZeroSRAM1
//////////////// End of SRAM1 Blocks /////////////////
///////////// Following blocks are for SRAM2 /////////////////////
// Copy from flash to SRAM2
ldr r0, =_s_sram2
ldr r1, =_e_sram2
ldr r2, =_sisram2
movs r3, #0
b LoopCopySRAM2Init
CopySRAM2Init:
ldr r4, [r2, r3]
str r4, [r0, r3]
adds r3, r3, #4
LoopCopySRAM2Init:
adds r4, r0, r3
cmp r4, r1
bcc CopySRAM2Init
// End of data copy from Flash to SRAM2
// Zero fill the SRAM2 segment.
ldr r2, =_s_sram2
b LoopFillZeroSRAM2
FillZeroSRAM2:
movs r3, #0
str r3, [r2]
adds r2, r2, #4
LoopFillZeroSRAM2:
ldr r3, = _e_sram2
cmp r2, r3
bcc FillZeroSRAM2
//////////////// End of SRAM2 Blocks /////////////////
/* Call the clock system intitialization function.*/
bl SystemInit
/* Call static constructors */
bl __libc_init_array
/* Call the application's entry point.*/
bl main
LoopForever:
b LoopForever
Can anybody please help me if there is any bug here. Lets say, for now we are only trying to run code from SRAM1 since that is the one which is connected to I-bus and D-bus ports of the Cortex M4 on this MCU. With respect to the picture below, I would expect bl to be jumping to beginning of SRAM1.. Can you please shed some light on it:
According to the screen captures, your code is jumping to SRAM (as expected) but there is no code in SRAM (MOV R0 R0 indicates the memory is filled with 0s) hence the hardFault.
You have to copy from Flash to RAM the code that you want to execute in RAM.
I'm currently writing a program on STM32 that uses a simple bootloader and two sub-applications. The sub-applications are located in flash memory and the bootloader loads one of them (both code and data) into the RAM memory and then starts executing it. The copying is done simply by iterating over the addresses in flash and copying data from these addresses to RAM.
Recently I've encountered some strange bug. I was trying to read some data from a globally defined array. I was getting back wrong values, e.g. when I tried to read array[0] I was getting back the value of array[1].
I did some debugging and disassembly of the .elf and .hex files and I think I've found the cause of this bug. It turned out that there is an empty space between the .ARM section of the .elf file of this project.
Surprisingly, this empty space is not present in the .hex file (which I use for flashing the STM32 board).
This is what I am talking about:
.elf file:
2000ee70: 469e mov lr, r3
2000ee72: 4770 bx lr
Disassembly of section .ARM:
2000ee74 <__exidx_start>:
2000ee74: 7fff267c svcvc 0x00ff267c
2000ee78: 00000001 andeq r0, r0, r1
Disassembly of section .data:
2000ee80 <evnames.5255>:
2000ee80: 00000000 andeq r0, r0, r0
2000ee84: 08030104 stmdaeq r3, {r2, r8}
.hex file:
802de70: 4770469e
802de74: 7fff267c svcvc 0x00ff267c
802de78: 00000001 andeq r0, r0, r1
802de7c: 00000000 andeq r0, r0, r0
802de80: 08030104 stmdaeq r3, {r2, r8}
Obviously, the addresses are different because the addresses in the .elf file are VMA and the addresses in the .hex file are LMA.
What I've noticed here is that after the .ARM section, the next memory address should be 2000ee7C but from unknown reasons, the .data section begins at 2000ee80. So there is one unexplained, empty word between them. But this empty word is not present in the .hex file. The 00000001 is immediately followed by 00000000.
So basically, I think the disassembly of the .hex file should output the following result:
802de70: 4770469e
802de74: 7fff267c svcvc 0x00ff267c
802de78: 00000001 andeq r0, r0, r1
802de7c: <something here>
802de80: 00000000 andeq r0, r0, r0
802de84: 08030104 stmdaeq r3, {r2, r8}
Because of this empty memory space, which disappears in the .hex file, when my bootloader loads the data to RAM, the array[0] which LMA is 2000eec8 ends up being at the address 2000eec4.
This is the troubling snippet of the linker script that I use:
/* ARM specific sections, they also go to FLASH and are copied to RAM */
.ARM.extab : {
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > RAMAPP AT> FLASH_APP
.ARM : {
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} > RAMAPP AT> FLASH_APP
/* Initialized data sections - variables etc. */
.data :
{
. = ALIGN(4);
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
} >RAMAPP AT> FLASH_APP /* Data section is placed in FLASH_APP but its Virtual Memory Address is in RAM_APP */
I use the following command to link the .o files into one .elf file:
arm-none-eabi-gcc -Wl,--gc-sections -mthumb -mthumb-interwork -mcpu=cortex-m4 --specs=nosys.specs -L[path_to_library_files] -T[path_to_ld_file] [long_list_of_object_files] -o [output_elf_file]
I use the following command to convert the .elf file into the .hex file:
arm-none-eabi-objcopy -O ihex [elf_file] [output_hex_file]
I've tried to experiment with the parameters I give to the arm-none-eabi-objcopy and arm-none-eabi-gcc to get rid of this padding, for example --file-alignment or --gap-fill but to no success so far.
Does anyone have an idea about where does this empty space come from and how to get rid of it (or include it in the .hex file)?
EDIT: According to the suggestions from the first two comments, I've tried:
* using the newest versions of arm-none-eabi-gcc and arm-none-eabi-objcopy in my toolchain,
* ALIGN(4) of the .ARM section,
* not copying the .ARM section to RAM.
Unfortunately, none of these solutions fixed this problem.
What I've noticed recently is that sometimes the data is aligned correctly in the .elf file (the first address of the .data section is the address that immediately follows the end of the .ARM section). It depends on the address where the .ARM section happens to end. I can manipulate that by adding some extra function invocations in the code (resulting in the larger .text area), for example:
2000ee84: 469e mov lr, r3
2000ee86: 4770 bx lr
Disassembly of section .ARM:
2000ee88 <__exidx_start>:
2000ee88: 7fff2668 svcvc 0x00ff2668
2000ee8c: 00000001 andeq r0, r0, r1
Disassembly of section .data:
2000ee90 <evnames.5255>:
2000ee90: 00000000 andeq r0, r0, r0
2000ee94: 2001111c andcs r1, r1, ip, lsl r1
This way, I've estabilished that:
* when .ARM section ends at address 0x*******0 the .data section incorrectly starts at 0x*******8 (should be 0x*******4)
* when .ARM section ends at address 0x*******8 the .data section incorrectly starts at 0x*******0 (should be 0x*******C)
* when .ARM section ends at address 0x*******4 the .data section CORRECTLY starts at 0x*******8
* when .ARM section ends at address 0x*******C the .data section CORRECTLY starts at 0x*******0
Okay, It turned out I had to add ALIGN_WITH_INPUT to the .data section in the linker script. Like this:
.data : ALIGN_WITH_INPUT
{
. = ALIGN(4);
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
} >RAMAPP AT> FLASH_APP
This parameter causes the LMAs of the section to be aligned in the same way the VMAs are.
Now the alignment in the .hex file is identical to the one in the .elf file.
Shout out to reddit user FreddieChopin who helped me to resolve this issue.
I am new to visualGDB. Recently I new a stm32 stand-alone project, any .cpp and .c files could be compiled correctly, but when i migrated µC/OS-II into the project, I found os_cpu_a.s file couldn't be assembled correctly.
Error logs are shown as follows:
And my Makefile flags setting is:
Please give me some suggestions! Any help will be appreciated!
os_cpu_a.s files content is shown below:
;/*********************** (C) COPYRIGHT 2010 Libraworks *************************
;* File Name : os_cpu_a.asm
;* Author : Librae
;* Version : V1.0
;* Date : 06/10/2010
;* Description : μCOS-II asm port for STM32
;*******************************************************************************/
IMPORT OSRunning ; External references
IMPORT OSPrioCur
IMPORT OSPrioHighRdy
IMPORT OSTCBCur
IMPORT OSTCBHighRdy
IMPORT OSIntNesting
IMPORT OSIntExit
IMPORT OSTaskSwHook
EXPORT OSStartHighRdy
EXPORT OSCtxSw
EXPORT OSIntCtxSw
EXPORT OS_CPU_SR_Save ; Functions declared in this file
EXPORT OS_CPU_SR_Restore
EXPORT PendSV_Handler
NVIC_INT_CTRL EQU 0xE000ED04
NVIC_SYSPRI2 EQU 0xE000ED20
NVIC_PENDSV_PRI EQU 0xFFFF0000
NVIC_PENDSVSET EQU 0x10000000
PRESERVE8
AREA |.text|, CODE, READONLY
THUMB
;********************************************************************************************************
; CRITICAL SECTION METHOD 3 FUNCTIONS
;
; Description: Disable/Enable interrupts by preserving the state of interrupts. Generally speaking you
; would store the state of the interrupt disable flag in the local variable 'cpu_sr' and then
; disable interrupts. 'cpu_sr' is allocated in all of uC/OS-II's functions that need to
; disable interrupts. You would restore the interrupt disable state by copying back 'cpu_sr'
; into the CPU's status register.
;
; Prototypes : OS_CPU_SR OS_CPU_SR_Save(void);
; void OS_CPU_SR_Restore(OS_CPU_SR cpu_sr);
;
;
; Note(s) : 1) These functions are used in general like this:
;
; void Task (void *p_arg)
; {
; #if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
; OS_CPU_SR cpu_sr;
; #endif
;
; :
; :
; OS_ENTER_CRITICAL(); /* cpu_sr = OS_CPU_SaveSR(); */
; :
; :
; OS_EXIT_CRITICAL(); /* OS_CPU_RestoreSR(cpu_sr); */
; :
; :
; }
;********************************************************************************************************
OS_CPU_SR_Save
MRS R0, PRIMASK
CPSID I
BX LR
OS_CPU_SR_Restore
MSR PRIMASK, R0
BX LR
OSStartHighRdy
LDR R4, =NVIC_SYSPRI2 ; set the PendSV exception priority
LDR R5, =NVIC_PENDSV_PRI
STR R5, [R4]
MOV R4, #0 ; set the PSP to 0 for initial context switch call
MSR PSP, R4
LDR R4, =OSRunning ; OSRunning = TRUE
MOV R5, #1
STRB R5, [R4]
LDR R4, =NVIC_INT_CTRL ;rigger the PendSV exception (causes context switch)
LDR R5, =NVIC_PENDSVSET
STR R5, [R4]
CPSIE I ;enable interrupts at processor level
OSStartHang
B OSStartHang ;should never get here
OSCtxSw
PUSH {R4, R5}
LDR R4, =NVIC_INT_CTRL
LDR R5, =NVIC_PENDSVSET
STR R5, [R4]
POP {R4, R5}
BX LR
OSIntCtxSw
PUSH {R4, R5}
LDR R4, =NVIC_INT_CTRL
LDR R5, =NVIC_PENDSVSET
STR R5, [R4]
POP {R4, R5}
BX LR
NOP
PendSV_Handler
CPSID I ; Prevent interruption during context switch
MRS R0, PSP
CBZ R0, PendSV_Handler_Nosave ; Skip register save the first time
SUBS R0, R0, #0x20 ; Save remaining regs r4-11 on process stack
STM R0, {R4-R11}
LDR R1, =OSTCBCur ; OSTCBCur->OSTCBStkPtr = SP;
LDR R1, [R1]
STR R0, [R1] ; R0 is SP of process being switched out
; At this point, entire context of process has been saved
PendSV_Handler_Nosave
PUSH {R14} ; Save LR exc_return value
LDR R0, =OSTaskSwHook ; OSTaskSwHook();
BLX R0
POP {R14}
LDR R0, =OSPrioCur ; OSPrioCur = OSPrioHighRdy;
LDR R1, =OSPrioHighRdy
LDRB R2, [R1]
STRB R2, [R0]
LDR R0, =OSTCBCur ; OSTCBCur = OSTCBHighRdy;
LDR R1, =OSTCBHighRdy
LDR R2, [R1]
STR R2, [R0]
LDR R0, [R2] ; R0 is new process SP; SP = OSTCBHighRdy->OSTCBStkPtr;
LDM R0, {R4-R11} ; Restore r4-11 from new process stack
ADDS R0, R0, #0x20
MSR PSP, R0 ; Load PSP with new process SP
ORR LR, LR, #0x04 ; Ensure exception return uses process stack
CPSIE I
BX LR ; Exception return will restore remaining context
end
By the way, it seems that any chinese character in edition will be treated as spam as a spam prevention method?So i have to delete all chinese comment in my code.
I am trying to calculate clock cycles of an assembly program consumed during execution through PMU in ARM1176JZF-S.
I am programming rapberry pi model b in assembly using baking-pi tutorials. The code for PMU that I am using is as below:
/* Enable PMU /
mov r0,#1
MCR p15, 0, r0, c15, c12, 0 ; Write Performance Monitor Control Register
/ Reset Cycle Counter /
mov r0,#5
MCR p15, 0, r0, c15, c12, 0 ; Write Performance Monitor Control Register
/ Meaure */
MRC p15, 0, r0, c15, c12, 1 # Read Cycle Counter Register
MRC p15, 0, r1, c15, c12, 1 # Read Cycle Counter Register
sub r0.r1.r0 # Cycle Count of
Is there any way I can save this data in a text or csv file on my SD card (value of r0)? so I can view my results after code execution.
I'm kinda new to the beaglebone black world running on a AM335X Cortex A8 processor and I would like to use the PRU for fast analog read with the maximum sampling rate possible.
I would like to read all 7 inputs in a loop form like:
while( n*7 < sampling_rate){ //initial value for n = 0
read(AIN0); //and store it in shared memory(7*n + 0)
read(AIN1); //and store it in shared memory(7*n + 1)
read(AIN2); //and store it in shared memory(7*n + 2)
read(AIN3); //and store it in shared memory(7*n + 3)
read(AIN4); //and store it in shared memory(7*n + 4)
read(AIN5); //and store it in shared memory(7*n + 5)
read(AIN6); //and store it in shared memory(7*n + 6)
n++;
}
so that I can read them from a host program running on the main processor. Any idea how to do so? I tried using a ready code called ADCCollector.c from a package named AM335x_pru_package but I can't figure out how to get all the addresses and values of the registers used.
This is the code I was trying to modify (ADCCollector.p):
.origin 0 // offset of the start of the code in PRU memory
.entrypoint START // program entry point, used by debugger only
#include "ADCCollector.hp"
#define BUFF_SIZE 0x00000fa0 //Total buff size: 4kbyte(Each buffer has 2kbyte: 500 piece of data
#define HALF_SIZE BUFF_SIZE / 2
#define SAMPLING_RATE 1 //Sampling rate(16khz) //***//16000
#define DELAY_MICRO_SECONDS (1000000 / SAMPLING_RATE) //Delay by sampling rate
#define CLOCK 200000000 // PRU is always clocked at 200MHz
#define CLOCKS_PER_LOOP 2 // loop contains two instructions, one clock each
#define DELAYCOUNT DELAY_MICRO_SECONDS * CLOCK / CLOCKS_PER_LOOP / 1000 / 1000 * 3 //if sampling rate = 98000 --> = 3061.224
.macro DELAY
MOV r10, DELAYCOUNT
DELAY:
SUB r10, r10, 1
QBNE DELAY, r10, 0
.endm
.macro READADC
//Initialize buffer status (0: empty, 1: first buffer is ready, 2: second buffer is ready)
MOV r2, 0
SBCO r2, CONST_PRUSHAREDRAM, 0, 4
INITV:
MOV r5, 0 //Shared RAM address of ADC Saving position
MOV r6, BUFF_SIZE //Counting variable
READ:
//Read ADC from FIFO0DATA
MOV r2, 0x44E0D100
LBBO r3, r2, 0, 4
//Add address counting
ADD r5, r5, 4
//Write ADC to PRU Shared RAM
SBCO r3, CONST_PRUSHAREDRAM, r5, 4
DELAY
SUB r6, r6, 4
MOV r2, HALF_SIZE
QBEQ CHBUFFSTATUS1, r6, r2 //If first buffer is ready
QBEQ CHBUFFSTATUS2, r6, 0 //If second buffer is ready
QBA READ
//Change buffer status to 1
CHBUFFSTATUS1:
MOV r2, 1
SBCO r2, CONST_PRUSHAREDRAM, 0, 4
QBA READ
//Change buffer status to 2
CHBUFFSTATUS2:
MOV r2, 2
SBCO r2, CONST_PRUSHAREDRAM, 0, 4
QBA INITV
//Send event to host program
MOV r31.b0, PRU0_ARM_INTERRUPT+16
HALT
.endm
// Starting point
START:
// Enable OCP master port
LBCO r0, CONST_PRUCFG, 4, 4 //#define CONST_PRUCFG C4 taken from ADCCollector.hp
CLR r0, r0, 4
SBCO r0, CONST_PRUCFG, 4, 4
//C28 will point to 0x00012000 (PRU shared RAM)
MOV r0, 0x00000120
MOV r1, CTPPR_0
ST32 r0, r1
//Init ADC CTRL register
MOV r2, 0x44E0D040
MOV r3, 0x00000005
SBBO r3, r2, 0, 4
//Enable ADC STEPCONFIG 1
MOV r2, 0x44E0D054
MOV r3, 0x00000002
SBBO r3, r2, 0, 4
//Init ADC STEPCONFIG 1
MOV r2, 0x44E0D064
MOV r3, 0x00000001 //continuous mode
SBBO r3, r2, 0, 4
//Read ADC and FIFOCOUNT
READADC
Another question is: if I simply changed the #define Sampling_rate from 16000 to any other number below or equal to 200000 in the (.p) file, I will get that sampling rate? or should I change other things?
Thanks in advance.
I used the c wrappers from libpruio: http://www.freebasic.net/forum/viewtopic.php?f=14&t=22501
and then use this code to get all my ADC values:
#include "stdio.h"
#include "c_wrapper/pruio.h" // include header
#include "sys/time.h"
//! The main function.
int main(int argc, char **argv) {
struct timeval start, now;
long mtime, seconds, useconds;
gettimeofday(&start, NULL);
int i,x;
pruIo *io = pruio_new(PRUIO_DEF_ACTIVE, 0x98, 0, 1); //! create new driver structure
if (pruio_config(io, 1, 0x1FE, 0, 4)){ // upload (default) settings, start IO mode
printf("config failed (%s)\n", io->Errr);}
else {
do {
gettimeofday(&now, NULL);
seconds = now.tv_sec - start.tv_sec;
useconds = now.tv_usec - start.tv_usec;
mtime = ((seconds) * 1000 + useconds/1000.0) + 0.5;
printf("%lu",mtime);
for(i = 1; i < 9; i++) {
printf(",%d", io->Adc->Value[i]); //0-66504 for 0-1.8v
}
printf("\n");
x++;
}while (mtime < 100);
printf("count: %d \n", x);
pruio_destroy(io); /* destroy driver structure */
}
return 0;
}
In your example you use libpruio in IO mode (synchronous) and therefore you have no control over the sampling rate, since the host CPU doesn't work in real-time.
To get the maximum sampling rate (as mentioned in the OP) you have to use either RB or MM mode. In those modes libpruio buffers the samples in memory and the host can access them asynchronously. See example rb_file.c (or triggers.bas) in the libpruio package.