Implement bootloader

.vscode/settings.json

@@ -41,14 +41,22 @@
         "charge_mode.h": "c",
         "http_rest.h": "c",
         "motors.h": "c",
-        "eeprom.h": "c",
-        "stdbool.h": "c",
-        "configuration.h": "c",
-        "uart.h": "c",
-        "common.h": "c",
-        "clocks.h": "c",
-        "pwm.h": "c",
-        "servo_gate.h": "c",
-        "semphr.h": "c"
+        "defs.h": "c",
+        "code.h": "c",
+        "binary_info.h": "c",
+        "structure.h": "c",
+        "stepper.pio.h": "c",
+        "app_header.h": "c",
+        "pico.h": "c",
+        "critical_section.h": "c",
+        "*.in": "c",
+        "vreg.h": "c",
+        "resets.h": "c",
+        "address_mapped.h": "c",
+        "m0plus.h": "c",
+        "stdint.h": "c",
+        "rp2040_config.h": "c",
+        "rp2040.h": "c",
+        "core_cm0plus.h": "c"
     }
 }

CMakeLists.txt

@@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 3.25)
 
 # Set project data
 set(PROJECT_NAME "OpenTricklerController")
-set(TARGET_NAME "app")
 
 message("CMAKE_SOURCE_DIR: ${CMAKE_SOURCE_DIR}")
 
@@ -41,14 +40,10 @@ set(PICO_BOARD_HEADER_DIRS "${CMAKE_SOURCE_DIR}/targets")
 # Append compiler flags
 SET(CMAKE_C_FLAGS  "${CMAKE_C_FLAGS} -fdata-sections -ffunction-sections -Wall -Werror")
 SET(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -fdata-sections -ffunction-sections -Wall -Werror")
-# SET(CMAKE_EXE_LINKER_FLAGS  "${CMAKE_EXE_LINKER_FLAGS} -Wl,--gc-sections")
 
 
-# Application
-add_executable("${TARGET_NAME}")
-
-# Include source
-include_directories(${SRC_DIRECTORY})
+# Add definitions
+add_definitions(-DPICO_NO_BINARY_INFO)  # remove binary info from pico-sdk. We will implement our own
 
 # Pull in FreeRTOS
 include(${FREERTOS_SRC_DIRECTORY}/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake)
@@ -67,8 +62,6 @@ target_sources(trinamic INTERFACE
 )
 target_include_directories(trinamic INTERFACE ${TMC_SRC_DIRECTORY})
 
-
-
 # Pull in u8g2 mui
 add_library(u8g2_mui
     ${U8G2_MUI_DIRECTORY}/mui_u8g2.c
@@ -78,47 +71,115 @@ add_library(u8g2_mui
 )
 target_link_libraries(u8g2_mui u8g2)
 
-# Pull in src
-add_subdirectory(${SRC_DIRECTORY})
-
 # Collect all source files
 file(GLOB SRC ${SRC_DIRECTORY}/*.c 
               ${SRC_DIRECTORY}/*.cpp)
 
-# Include application source file
-target_sources("${TARGET_NAME}" PUBLIC
-    ${SRC}
-)
 
-# Include additional headers
-target_include_directories("${TARGET_NAME}" PUBLIC ${CMAKE_SOURCE_DIR}/targets)
-
-# Include libraries1
-target_link_libraries("${TARGET_NAME}"
-    pico_stdlib
-    hardware_pio
-    hardware_spi
-    hardware_i2c
-    hardware_pwm
+# Pull in source code as library
+add_library(app_base 
+    # ${SRC}
+    "${SRC_DIRECTORY}/app.cpp"
+    "${SRC_DIRECTORY}/freertos_hooks.c"
+)
+target_include_directories(app_base PUBLIC 
+    ${SRC_DIRECTORY}
+    ${SRC_DIRECTORY}/generated
+    ${PICO_BOARD_HEADER_DIRS}
+)
+target_link_libraries(app_base
     FreeRTOS-Kernel
     FreeRTOS-Kernel-Heap4
     u8g2
     u8g2_mui
     trinamic
-    app_version
+    pico_stdlib
+    hardware_pio
+    hardware_spi
+    hardware_i2c
+    hardware_pwm
+    pico_cyw43_arch_lwip_sys_freertos
+    pico_lwip_freertos
+    cmsis_core
+
+    # Source libraries
+    access_point_mode
+    button
+    charge_mode
+    cleanup_mode
+    common
+    http_server
+    rest_server
+    eeprom
+    menu
+    display
+    motors
+    neopixel
+    wireless
+    profile
+    and_scale
+    steinberg_scale
+    gng_scale
+    ussolid_scale
+    scale
+    servo_gate
 )
 
-if (PICO_BOARD STREQUAL "pico_w" )
-    message("Using PICO_W board, link cyw43")
-    target_link_libraries("${TARGET_NAME}" 
-        pico_cyw43_arch_lwip_sys_freertos
-        pico_lwip_freertos
-        # pico_lwip_http
-        )
-endif()
+# Pull in src to generate extra files
+add_subdirectory(${SRC_DIRECTORY})
+
+# ####################################################
+#           Build Deployment Application             #
+######################################################
+add_executable(initial_deployment)
 
-target_link_options("${TARGET_NAME}" PUBLIC -Wl,--gc-sections -Wl,--print-memory-usage)
+# Include libraries1
+target_link_libraries(initial_deployment
+    app_base
+    app_header_0
+)
+
+target_link_options(initial_deployment PUBLIC -Wl,--gc-sections -Wl,--print-memory-usage)
+set_target_properties(initial_deployment PROPERTIES PICO_TARGET_LINKER_SCRIPT ${SCRIPTS_DIRECTORY}/linker_scripts/initial_deployment.ld)
 # set( CMAKE_VERBOSE_MAKEFILE on )
 
 # Generate extra outputs
-pico_add_extra_outputs("${TARGET_NAME}")
+pico_add_extra_outputs(initial_deployment)
+
+
+# ####################################################
+#               Build Bank0 Application              #
+######################################################
+add_executable(fw_bank0)
+
+# Include libraries1
+target_link_libraries(fw_bank0
+    app_base
+    app_header_0
+)
+
+target_link_options(fw_bank0 PUBLIC -Wl,--gc-sections -Wl,--print-memory-usage)
+set_target_properties(fw_bank0 PROPERTIES PICO_TARGET_LINKER_SCRIPT ${SCRIPTS_DIRECTORY}/linker_scripts/bank0.ld)
+# set( CMAKE_VERBOSE_MAKEFILE on )
+
+# Generate extra outputs
+pico_add_extra_outputs(fw_bank0)
+
+
+# ####################################################
+#               Build Bank1 Application              #
+######################################################
+add_executable(fw_bank1)
+
+# Include libraries1
+target_link_libraries(fw_bank1
+    app_base
+    app_header_1
+)
+
+target_link_options(fw_bank1 PUBLIC -Wl,--gc-sections -Wl,--print-memory-usage)
+set_target_properties(fw_bank1 PROPERTIES PICO_TARGET_LINKER_SCRIPT ${SCRIPTS_DIRECTORY}/linker_scripts/bank1.ld)
+
+
+# Generate extra outputs
+pico_add_extra_outputs(fw_bank1)

scripts/gen_app_header.py

@@ -0,0 +1,108 @@
+import argparse
+import logging
+import subprocess
+import sys
+import re
+import os
+
+
+GIT_VERSION_COMMAND = ["git", "describe", "--tags", "--long", "--dirty", "--always"]
+
+GIT_VERSION_PATTERN_REGEX = r'v(?P<major>\d+)\.(?P<minor>\d+)-(?P<patch>\d+)-g(?P<short_hash>[a-f0-9]+)(?P<dirty>-dirty)?'
+
+
+C_SOURCE_TEMPLATE = """// ---------------------------------------------------------------------- //
+// This file is auto-generated by gen_application_header.py; do not edit! //
+// ---------------------------------------------------------------------- //
+#include "app_header.h"
+
+#ifdef __cplusplus
+extern "C"
+{{
+#endif
+
+__attribute__ ((section (".app_header")))
+__attribute__ ((used))
+const app_header_t __app_header = {{
+    .app_header_rev = {app_header_rev},
+    .flash_partition_idx = {flash_partition_idx},
+    .crc = 0,
+    .vcs_hash = "{vcs_hash}",
+    .build_type = "{build_type}",
+    .firmware_version = "{firmware_version}",
+}};
+
+
+const app_header_t * get_app_header(void)
+{{
+    return &__app_header;
+}}
+
+
+#ifdef __cplusplus
+}}
+#endif
+"""
+
+
+def main(output_path, build_type, flash_partition_idx):
+    output = subprocess.check_output(GIT_VERSION_COMMAND, text=True)
+
+    logging.debug(f'Raw output: {output}')
+    match = re.match(GIT_VERSION_PATTERN_REGEX, output)
+
+    version_string = "unknown"
+    hash_string = ""
+
+    if match:
+        groupdict = match.groupdict()
+
+        major = groupdict['major']
+        minor = groupdict['minor']
+        patch = groupdict['patch']
+        short_hash = groupdict['short_hash']
+        dirty = groupdict['dirty']
+
+        dirty_string = ""
+        if dirty:  # In case the dirty is None
+            dirty_string = dirty
+
+        version_string = f"{major}.{minor}.{patch}{dirty_string}"
+        hash_string = short_hash
+
+    c_source_string = C_SOURCE_TEMPLATE.format(
+        app_header_rev=1,
+        flash_partition_idx=flash_partition_idx,
+        vcs_hash=hash_string,
+        build_type=build_type,
+        firmware_version=version_string,
+    )
+
+    c_source_filepath = os.path.join(output_path, f"app_header_{flash_partition_idx}.c")
+    with open(c_source_filepath, "w") as fp:
+        logging.debug(f"Write to {c_source_filepath}")
+        fp.write(c_source_string)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+
+    parser.add_argument('-o', '--output_filepath', help="The output filepath that the C source will be written to", required=True)
+    parser.add_argument('--build-type', help="CMake build type", required=True)
+    parser.add_argument('--flash-partition-idx', help="Flash partition index, it could be either 0 or 1", required=True)
+
+    parser.add_argument('-v', '--verbose', action='count', default=0)
+
+
+    args = parser.parse_args()
+
+    logging_levels = {0: logging.ERROR,
+                      1: logging.DEBUG,
+                      2: logging.INFO,
+                      3: logging.WARNING,
+                      4: logging.ERROR,
+                      5: logging.CRITICAL}
+
+    logging.basicConfig(stream=sys.stdout, level=logging_levels[args.verbose])
+
+    main(args.output_filepath, args.build_type, args.flash_partition_idx)