Enable OTA support for RP2350 (#2472)

The RP2350 has a different blob header requirement to identify a working
image.  Ensure that header is present in the OTA loader.

Update the PicoOTA examples for the 2350

docs/ota.rst

@@ -1,8 +1,6 @@
 OTA Updates
 ===========
 
-**NOTE:** OTA is not yet supported on the RP2350.  PRs gladly accepted!
-
 Introduction
 ------------
 

docs/rp2350.rst

@@ -7,7 +7,6 @@ is supported by the core with some minor caveats:
 * PSRAM is supported via a new ``pmalloc`` call and ``PSRAM`` variable decorator.
 * Both RP2350A and RP2350B (48 GPIOs) are supported.
 * Only ARM mode is available.  For RISC-V (Hazard3), please use the raw SDK.
-* OTA is not yet supported.
 
 P2350-E9 Errata ("Increased leakage current on Bank 0 GPIO when pad input is enabled")
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

lib/rp2350/memmap_default.ld

@@ -21,6 +21,9 @@
     __stack (== StackTop)
 */
 
+
+
+
 MEMORY
 {
     FLASH(rx) : ORIGIN = 0x10000000, LENGTH = __FLASH_LENGTH__
@@ -42,6 +45,20 @@ SECTIONS
         __flash_binary_start = .;
     } > FLASH
 
+    .ota : {
+        /* Start image with OTA */
+        KEEP (*(.OTA))
+        *ota.o
+    } > FLASH
+
+    .partition : {
+        . = __flash_binary_start + 0x2ff0;
+        LONG(__FS_START__)
+        LONG(__FS_END__)
+        LONG(__EEPROM_START__)
+        LONG(__FLASH_LENGTH__)
+    } > FLASH
+
     /* The bootrom will enter the image at the point indicated in your
        IMAGE_DEF, which is usually the reset handler of your vector table.
 
@@ -53,8 +70,8 @@ SECTIONS
     */
 
     .text : {
-        __logical_binary_start = .;
         KEEP (*(.vectors))
+        __logical_binary_start = .;
         KEEP (*(.binary_info_header))
         __binary_info_header_end = .;
         KEEP (*(.embedded_block))

libraries/PicoOTA/examples/OTAfromFile-Compressed/OTAfromFile-Compressed.ino

@@ -12,7 +12,8 @@
 
 #include <PicoOTA.h>
 #include <LittleFS.h>
-#include "blink_100_1000.h"
+#include "blink_100_1000_rp2040.h"
+#include "blink_500_500_rp2350.h"
 
 void setup() {
   Serial.begin(115200);

libraries/PicoOTA/examples/OTAfromFile-Compressed/blink_100_1000_rp2040.h

@@ -1,3 +1,4 @@
+#ifdef PICO_RP2040
 const unsigned char blink_gz[] = {
     0x1f, 0x8b, 0x08, 0x08, 0x86, 0x7e, 0xf3, 0x62, 0x02, 0x03, 0x73, 0x6b,
     0x65, 0x74, 0x63, 0x68, 0x5f, 0x61, 0x75, 0x67, 0x31, 0x30, 0x61, 0x2e,
@@ -3896,3 +3897,4 @@ const unsigned char blink_gz[] = {
     0x03, 0xeb, 0x79, 0x7c, 0xf6, 0x3f, 0x01, 0xa8, 0x7b, 0x69, 0xf7, 0x10,
     0x11, 0x01, 0x00
 };
+#endif

libraries/PicoOTA/examples/OTAfromFile/OTAfromFile.ino

@@ -9,7 +9,8 @@
 
 #include <PicoOTA.h>
 #include <LittleFS.h>
-#include "blink_100_1000.h"
+#include "blink_100_1000_rp2040.h"
+#include "blink_500_500_rp2350.h"
 
 void setup() {
   Serial.begin(115200);

libraries/PicoOTA/examples/OTAfromFile/blink_100_1000_rp2040.h

@@ -1,3 +1,4 @@
+#ifdef PICO_RP2040
 const unsigned char blink[] = {
     0x00, 0xb5, 0x32, 0x4b, 0x21, 0x20, 0x58, 0x60, 0x98, 0x68, 0x02, 0x21,
     0x88, 0x43, 0x98, 0x60, 0xd8, 0x60, 0x18, 0x61, 0x58, 0x61, 0x2e, 0x4b,
@@ -5826,3 +5827,4 @@ const unsigned char blink[] = {
     0xc1, 0x45, 0x00, 0x10, 0x9d, 0x48, 0x00, 0x10, 0xad, 0x4b, 0x00, 0x10,
     0xed, 0x63, 0x00, 0x10
 };
+#endif

ota/CMakeLists.txt

@@ -7,10 +7,14 @@ if (${cpu} MATCHES "rp2040")
     set(PICO_BOARD pico)
     set(PICO_PLATFORM rp2040)
     set(PICO_CYW43_SUPPORTED 0)
+    set(OBJARCH armv6-m)
+    set(WRAP -Wl,--wrap=clocks_init)
 elseif(${cpu} MATCHES "rp2350")
     set(PICO_BOARD pico2)
     set(PICO_PLATFORM rp2350)
     set(PICO_CYW43_SUPPORTED 0)
+    set(OBJARCH armv8-m)
+    set(WRAP )
 else()
     message(FATAL_ERROR "Unknown CPU, '${cpu}'")
 endif()
@@ -71,7 +75,7 @@ target_compile_options(ota PUBLIC
 )
 
 target_link_options(ota PUBLIC
-        -Wl,--wrap=clocks_init
+        ${WRAP}
         -Wl,--wrap=exit
         -Wl,--wrap=atexit
         -Wl,--wrap=panic_unsupported
@@ -97,7 +101,7 @@ target_link_libraries(ota
 )
 
 add_custom_command(TARGET ota POST_BUILD
-        COMMAND ../../system/arm-none-eabi/bin/arm-none-eabi-ld -r -A armv6-m -b binary -o ota.o ota.bin
+        COMMAND ../../system/arm-none-eabi/bin/arm-none-eabi-ld -r -A ${OBJARCH} -b binary -o ota.o ota.bin
         COMMAND ../../system/arm-none-eabi/bin/arm-none-eabi-objcopy --rename-section .data=.OTA ota.o ../../lib/${cpu}/ota.o
         COMMAND cp ../ota_command.h ../../include/${cpu}/pico_base/pico/.
 )

ota/memmap_ota_rp2350.ld

@@ -23,19 +23,17 @@
 
 MEMORY
 {
-    FLASH(rx) :      ORIGIN = 0x10000100, LENGTH = 16384k
+    INCLUDE "pico_flash_region.ld"
     RAM(rwx) : ORIGIN =  0x20000000, LENGTH = 212k
-    /* We split RAM into main (where the flash->ram code will be copied) and GLOBALS which has all large arrays */
-    /* By placing those arrays at the end of RAM we can avoid overwriting uninitialize_ram from the main app as */
-    /* long as those vars are stored after 12K by using an alignment value in the main app linker file. */
     GLOBALS(rwx) :   ORIGIN = 0x20035000, LENGTH = 44k
-    SCRATCH_X(rwx) : ORIGIN = 0x20040000, LENGTH = 4k
-    SCRATCH_Y(rwx) : ORIGIN = 0x20041000, LENGTH = 4k
+    SCRATCH_X(rwx) : ORIGIN = 0x20080000, LENGTH = 4k
+    SCRATCH_Y(rwx) : ORIGIN = 0x20081000, LENGTH = 4k
 }
 
 ENTRY(_entry_point)
 
-SECTIONS {
+SECTIONS
+{
     /* Second stage bootloader is prepended to the image. It must be 256 bytes big
        and checksummed. It is usually built by the boot_stage2 target
        in the Raspberry Pi Pico SDK
@@ -45,24 +43,19 @@ SECTIONS {
     .globals (NOLOAD) : {
     } > GLOBALS
 
+
     .flash_begin : {
         __flash_binary_start = .;
     } > FLASH
-/*
-    .boot2 : {
-        __boot2_start__ = .;
-        KEEP (*(.boot2))
-        __boot2_end__ = .;
-    } > FLASH
 
-    ASSERT(__boot2_end__ - __boot2_start__ == 256,
-        "ERROR: Pico second stage bootloader must be 256 bytes in size")
-*/
-    /* The second stage will always enter the image at the start of .text.
+    /* The bootrom will enter the image at the point indicated in your
+       IMAGE_DEF, which is usually the reset handler of your vector table.
+
        The debugger will use the ELF entry point, which is the _entry_point
-       symbol if present, otherwise defaults to start of .text.
-       This can be used to transfer control back to the bootrom on debugger
-       launches only, to perform proper flash setup.
+       symbol, and in our case is *different from the bootrom's entry point.*
+       This is used to go back through the bootrom on debugger launches only,
+       to perform the same initial flash setup that would be performed on a
+       cold boot.
     */
 
     .flashtext : {
@@ -70,8 +63,11 @@ SECTIONS {
         KEEP (*(.vectors))
         KEEP (*(.binary_info_header))
         __binary_info_header_end = .;
+        KEEP (*(.embedded_block))
+        __embedded_block_end = .;
         KEEP (*(.reset))
-    }
+        . = ALIGN(4);
+    } > FLASH
 
     .rodata : {
         /* segments not marked as .flashdata are instead pulled into .data (in RAM) to avoid accidental flash accesses */
@@ -79,23 +75,39 @@ SECTIONS {
         . = ALIGN(4);
     } > FLASH
 
-    .ARM.extab : {
+    .ARM.extab :
+    {
         *(.ARM.extab* .gnu.linkonce.armextab.*)
     } > FLASH
 
     __exidx_start = .;
-    .ARM.exidx : {
+    .ARM.exidx :
+    {
         *(.ARM.exidx* .gnu.linkonce.armexidx.*)
     } > FLASH
     __exidx_end = .;
 
+    /* Machine inspectable binary information */
+    . = ALIGN(4);
+    __binary_info_start = .;
+    .binary_info :
+    {
+        KEEP(*(.binary_info.keep.*))
+        *(.binary_info.*)
+    } > FLASH
+    __binary_info_end = .;
     . = ALIGN(4);
 
     /* Vector table goes first in RAM, to avoid large alignment hole */
-   .ram_vector_table (COPY): {
+    .ram_vector_table (NOLOAD): {
         *(.ram_vector_table)
     } > RAM
 
+    .uninitialized_data (NOLOAD): {
+        . = ALIGN(4);
+        *(.uninitialized_data*)
+    } > RAM
+
     .text : {
         __ram_text_start__ = .;
         *(.init)
@@ -119,7 +131,7 @@ SECTIONS {
         __ram_text_end__ = .;
     } > RAM AT> FLASH
     __ram_text_source__ = LOADADDR(.text);
-
+    . = ALIGN(4);
 
     .data : {
         __data_start__ = .;
@@ -176,6 +188,50 @@ SECTIONS {
         *(.uninitialized_data*)
     } > RAM
 
+    .tdata : {
+        . = ALIGN(4);
+		*(.tdata .tdata.* .gnu.linkonce.td.*)
+        /* All data end */
+        __tdata_end = .;
+    } > RAM AT> FLASH
+    PROVIDE(__data_end__ = .);
+
+    /* __etext is (for backwards compatibility) the name of the .data init source pointer (...) */
+    __etext = LOADADDR(.data);
+
+    .tbss (NOLOAD) : {
+        . = ALIGN(4);
+        __bss_start__ = .;
+        __tls_base = .;
+        *(.tbss .tbss.* .gnu.linkonce.tb.*)
+        *(.tcommon)
+
+        __tls_end = .;
+    } > RAM
+
+    .bss  : {
+        . = ALIGN(4);
+        __tbss_end = .;
+
+        *(SORT_BY_ALIGNMENT(SORT_BY_NAME(.bss*)))
+        *(COMMON)
+        PROVIDE(__global_pointer$ = . + 2K);
+        *(.sbss*)
+        . = ALIGN(4);
+        __bss_end__ = .;
+    } > RAM
+
+    .heap (NOLOAD):
+    {
+        __end__ = .;
+        end = __end__;
+        KEEP(*(.heap*))
+        /* historically on GCC sbrk was growing past __HeapLimit to __StackLimit, however
+           to be more compatible, we now set __HeapLimit explicitly to where the end of the heap is */
+        . = ORIGIN(RAM) + LENGTH(RAM);
+        __HeapLimit = .;
+    } > RAM
+
     /* Start and end symbols must be word-aligned */
     .scratch_x : {
         __scratch_x_start__ = .;
@@ -193,22 +249,6 @@ SECTIONS {
     } > SCRATCH_Y AT > FLASH
     __scratch_y_source__ = LOADADDR(.scratch_y);
 
-    .bss : {
-        . = ALIGN(4);
-        __bss_start__ = .;
-        *(SORT_BY_ALIGNMENT(SORT_BY_NAME(.bss*)))
-        *(COMMON)
-        . = ALIGN(4);
-        __bss_end__ = .;
-    } > RAM
-
-    .heap (COPY): {
-        __end__ = .;
-        end = __end__;
-        *(.heap*)
-        __HeapLimit = .;
-    } > RAM
-
     /* .stack*_dummy section doesn't contains any symbols. It is only
      * used for linker to calculate size of stack sections, and assign
      * values to stack symbols later
@@ -218,16 +258,19 @@ SECTIONS {
     /* by default we put core 0 stack at the end of scratch Y, so that if core 1
      * stack is not used then all of SCRATCH_X is free.
      */
-    .stack1_dummy (COPY): {
+    .stack1_dummy (NOLOAD):
+    {
         *(.stack1*)
     } > SCRATCH_X
-    .stack_dummy (COPY): {
-        *(.stack*)
+    .stack_dummy (NOLOAD):
+    {
+        KEEP(*(.stack*))
     } > SCRATCH_Y
 
     .flash_end : {
-        __flash_binary_end = .;
-    } > FLASH
+        KEEP(*(.embedded_end_block*))
+        PROVIDE(__flash_binary_end = .);
+    } > FLASH =0xaa
 
     /* stack limit is poorly named, but historically is maximum heap ptr */
     __StackLimit = ORIGIN(RAM) + LENGTH(RAM);
@@ -237,10 +280,23 @@ SECTIONS {
     __StackBottom = __StackTop - SIZEOF(.stack_dummy);
     PROVIDE(__stack = __StackTop);
 
+    /* picolibc and LLVM */
+    PROVIDE (__heap_start = __end__);
+    PROVIDE (__heap_end = __HeapLimit);
+    PROVIDE( __tls_align = MAX(ALIGNOF(.tdata), ALIGNOF(.tbss)) );
+    PROVIDE( __tls_size_align = (__tls_size + __tls_align - 1) & ~(__tls_align - 1));
+    PROVIDE( __arm32_tls_tcb_offset = MAX(8, __tls_align) );
+
+    /* llvm-libc */
+    PROVIDE (_end = __end__);
+    PROVIDE (__llvm_libc_heap_limit = __HeapLimit);
+
     /* Check if data + heap + stack exceeds RAM limit */
     ASSERT(__StackLimit >= __HeapLimit, "region RAM overflowed")
 
-/*    ASSERT( __binary_info_header_end - __logical_binary_start <= 256, "Binary info must be in first 256 bytes of the binary")*/
+    ASSERT( __binary_info_header_end - __logical_binary_start <= 1024, "Binary info must be in first 1024 bytes of the binary")
+    ASSERT( __embedded_block_end - __logical_binary_start <= 4096, "Embedded block must be in first 4096 bytes of the binary")
+
     /* todo assert on extra code */
 }