feat: embassy-boot for rp2040

Add embassy-boot support for RP2040, with examples for the Raspberry Pi
Pico.

Co-authored-by: Mathias Koch <mk@blackbird.online>
This commit is contained in:
Ulf Lilleengen 2022-12-01 18:26:22 +01:00
parent eb010fbe33
commit bb89a2341c
Failed to extract signature
21 changed files with 779 additions and 0 deletions

3
ci.sh
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@ -81,6 +81,7 @@ cargo batch \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f103re,defmt,exti,time-driver-any,unstable-traits \
--- build --release --manifest-path embassy-stm32/Cargo.toml --target thumbv7m-none-eabi --features nightly,stm32f100c4,defmt,exti,time-driver-any,unstable-traits \
--- build --release --manifest-path embassy-boot/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840 \
--- build --release --manifest-path embassy-boot/rp/Cargo.toml --target thumbv6m-none-eabi \
--- build --release --manifest-path embassy-boot/stm32/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32wl55jc-cm4 \
--- build --release --manifest-path docs/modules/ROOT/examples/basic/Cargo.toml --target thumbv7em-none-eabi \
--- build --release --manifest-path docs/modules/ROOT/examples/layer-by-layer/blinky-pac/Cargo.toml --target thumbv7em-none-eabi \
@ -106,6 +107,7 @@ cargo batch \
--- build --release --manifest-path examples/stm32wb/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/stm32wb \
--- build --release --manifest-path examples/stm32wl/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/stm32wl \
--- build --release --manifest-path examples/boot/application/nrf/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/boot/nrf --bin b \
--- build --release --manifest-path examples/boot/application/rp/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/boot/rp --bin b \
--- build --release --manifest-path examples/boot/application/stm32f3/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/boot/stm32f3 --bin b \
--- build --release --manifest-path examples/boot/application/stm32f7/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/boot/stm32f7 --bin b \
--- build --release --manifest-path examples/boot/application/stm32h7/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/boot/stm32h7 --bin b \
@ -114,6 +116,7 @@ cargo batch \
--- build --release --manifest-path examples/boot/application/stm32l4/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/boot/stm32l4 --bin b \
--- build --release --manifest-path examples/boot/application/stm32wl/Cargo.toml --target thumbv7em-none-eabihf --out-dir out/examples/boot/stm32wl --bin b \
--- build --release --manifest-path examples/boot/bootloader/nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840 \
--- build --release --manifest-path examples/boot/bootloader/rp/Cargo.toml --target thumbv6m-none-eabi \
--- build --release --manifest-path examples/boot/bootloader/stm32/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32wl55jc-cm4 \
--- build --release --manifest-path examples/wasm/Cargo.toml --target wasm32-unknown-unknown --out-dir out/examples/wasm \
--- build --release --manifest-path tests/stm32/Cargo.toml --target thumbv7m-none-eabi --features stm32f103c8 --out-dir out/tests/bluepill-stm32f103c8 \

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@ -15,6 +15,7 @@ The bootloader supports
* nRF52 with and without softdevice
* STM32 L4, WB, WL, L1, L0, F3, F7 and H7
* Raspberry Pi: RP2040
In general, the bootloader works on any platform that implements the `embedded-storage` traits for its internal flash, but may require custom initialization code to work.

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@ -0,0 +1,71 @@
[package]
edition = "2021"
name = "embassy-boot-rp"
version = "0.1.0"
description = "Bootloader lib for RP2040 chips"
license = "MIT OR Apache-2.0"
[package.metadata.embassy_docs]
src_base = "https://github.com/embassy-rs/embassy/blob/embassy-boot-rp-v$VERSION/src/"
src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-boot/rp/src/"
target = "thumbv6m-none-eabi"
[lib]
[dependencies]
defmt = { version = "0.3", optional = true }
defmt-rtt = { version = "0.4", optional = true }
log = { version = "0.4", optional = true }
embassy-sync = { path = "../../embassy-sync" }
embassy-rp = { path = "../../embassy-rp", default-features = false, features = ["nightly"] }
embassy-boot = { path = "../boot", default-features = false }
cortex-m = { version = "0.7.6" }
cortex-m-rt = { version = "0.7" }
embedded-storage = "0.3.0"
embedded-storage-async = "0.3.0"
cfg-if = "1.0.0"
[features]
defmt = [
"dep:defmt",
"embassy-boot/defmt",
"embassy-rp/defmt",
]
log = [
"dep:log",
"embassy-boot/log",
"embassy-rp/log",
]
debug = ["defmt-rtt"]
[profile.dev]
debug = 2
debug-assertions = true
incremental = false
opt-level = 'z'
overflow-checks = true
[profile.release]
codegen-units = 1
debug = 2
debug-assertions = false
incremental = false
lto = 'fat'
opt-level = 'z'
overflow-checks = false
# do not optimize proc-macro crates = faster builds from scratch
[profile.dev.build-override]
codegen-units = 8
debug = false
debug-assertions = false
opt-level = 0
overflow-checks = false
[profile.release.build-override]
codegen-units = 8
debug = false
debug-assertions = false
opt-level = 0
overflow-checks = false

26
embassy-boot/rp/README.md Normal file
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@ -0,0 +1,26 @@
# embassy-boot-rp
An [Embassy](https://embassy.dev) project.
An adaptation of `embassy-boot` for RP2040.
NOTE: The applications using this bootloader should not link with the `link-rp.x` linker script.
## Features
* Configure bootloader partitions based on linker script.
* Load applications from active partition.
## Minimum supported Rust version (MSRV)
`embassy-boot-rp` requires Rust nightly to compile as it relies on async traits for interacting with the flash peripherals.
## License
This work is licensed under either of
- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
<http://www.apache.org/licenses/LICENSE-2.0>)
- MIT license ([LICENSE-MIT](LICENSE-MIT) or <http://opensource.org/licenses/MIT>)
at your option.

8
embassy-boot/rp/build.rs Normal file
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@ -0,0 +1,8 @@
use std::env;
fn main() {
let target = env::var("TARGET").unwrap();
if target.starts_with("thumbv6m-") {
println!("cargo:rustc-cfg=armv6m");
}
}

225
embassy-boot/rp/src/fmt.rs Normal file
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@ -0,0 +1,225 @@
#![macro_use]
#![allow(unused_macros)]
#[cfg(all(feature = "defmt", feature = "log"))]
compile_error!("You may not enable both `defmt` and `log` features.");
macro_rules! assert {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::assert!($($x)*);
#[cfg(feature = "defmt")]
::defmt::assert!($($x)*);
}
};
}
macro_rules! assert_eq {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::assert_eq!($($x)*);
#[cfg(feature = "defmt")]
::defmt::assert_eq!($($x)*);
}
};
}
macro_rules! assert_ne {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::assert_ne!($($x)*);
#[cfg(feature = "defmt")]
::defmt::assert_ne!($($x)*);
}
};
}
macro_rules! debug_assert {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::debug_assert!($($x)*);
#[cfg(feature = "defmt")]
::defmt::debug_assert!($($x)*);
}
};
}
macro_rules! debug_assert_eq {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::debug_assert_eq!($($x)*);
#[cfg(feature = "defmt")]
::defmt::debug_assert_eq!($($x)*);
}
};
}
macro_rules! debug_assert_ne {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::debug_assert_ne!($($x)*);
#[cfg(feature = "defmt")]
::defmt::debug_assert_ne!($($x)*);
}
};
}
macro_rules! todo {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::todo!($($x)*);
#[cfg(feature = "defmt")]
::defmt::todo!($($x)*);
}
};
}
macro_rules! unreachable {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::unreachable!($($x)*);
#[cfg(feature = "defmt")]
::defmt::unreachable!($($x)*);
}
};
}
macro_rules! panic {
($($x:tt)*) => {
{
#[cfg(not(feature = "defmt"))]
::core::panic!($($x)*);
#[cfg(feature = "defmt")]
::defmt::panic!($($x)*);
}
};
}
macro_rules! trace {
($s:literal $(, $x:expr)* $(,)?) => {
{
#[cfg(feature = "log")]
::log::trace!($s $(, $x)*);
#[cfg(feature = "defmt")]
::defmt::trace!($s $(, $x)*);
#[cfg(not(any(feature = "log", feature="defmt")))]
let _ = ($( & $x ),*);
}
};
}
macro_rules! debug {
($s:literal $(, $x:expr)* $(,)?) => {
{
#[cfg(feature = "log")]
::log::debug!($s $(, $x)*);
#[cfg(feature = "defmt")]
::defmt::debug!($s $(, $x)*);
#[cfg(not(any(feature = "log", feature="defmt")))]
let _ = ($( & $x ),*);
}
};
}
macro_rules! info {
($s:literal $(, $x:expr)* $(,)?) => {
{
#[cfg(feature = "log")]
::log::info!($s $(, $x)*);
#[cfg(feature = "defmt")]
::defmt::info!($s $(, $x)*);
#[cfg(not(any(feature = "log", feature="defmt")))]
let _ = ($( & $x ),*);
}
};
}
macro_rules! warn {
($s:literal $(, $x:expr)* $(,)?) => {
{
#[cfg(feature = "log")]
::log::warn!($s $(, $x)*);
#[cfg(feature = "defmt")]
::defmt::warn!($s $(, $x)*);
#[cfg(not(any(feature = "log", feature="defmt")))]
let _ = ($( & $x ),*);
}
};
}
macro_rules! error {
($s:literal $(, $x:expr)* $(,)?) => {
{
#[cfg(feature = "log")]
::log::error!($s $(, $x)*);
#[cfg(feature = "defmt")]
::defmt::error!($s $(, $x)*);
#[cfg(not(any(feature = "log", feature="defmt")))]
let _ = ($( & $x ),*);
}
};
}
#[cfg(feature = "defmt")]
macro_rules! unwrap {
($($x:tt)*) => {
::defmt::unwrap!($($x)*)
};
}
#[cfg(not(feature = "defmt"))]
macro_rules! unwrap {
($arg:expr) => {
match $crate::fmt::Try::into_result($arg) {
::core::result::Result::Ok(t) => t,
::core::result::Result::Err(e) => {
::core::panic!("unwrap of `{}` failed: {:?}", ::core::stringify!($arg), e);
}
}
};
($arg:expr, $($msg:expr),+ $(,)? ) => {
match $crate::fmt::Try::into_result($arg) {
::core::result::Result::Ok(t) => t,
::core::result::Result::Err(e) => {
::core::panic!("unwrap of `{}` failed: {}: {:?}", ::core::stringify!($arg), ::core::format_args!($($msg,)*), e);
}
}
}
}
#[derive(Debug, Copy, Clone, Eq, PartialEq)]
pub struct NoneError;
pub trait Try {
type Ok;
type Error;
fn into_result(self) -> Result<Self::Ok, Self::Error>;
}
impl<T> Try for Option<T> {
type Ok = T;
type Error = NoneError;
#[inline]
fn into_result(self) -> Result<T, NoneError> {
self.ok_or(NoneError)
}
}
impl<T, E> Try for Result<T, E> {
type Ok = T;
type Error = E;
#[inline]
fn into_result(self) -> Self {
self
}
}

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@ -0,0 +1,90 @@
#![no_std]
#![feature(type_alias_impl_trait)]
#![warn(missing_docs)]
#![doc = include_str!("../README.md")]
mod fmt;
pub use embassy_boot::{AlignedBuffer, BootFlash, FirmwareUpdater, FlashConfig, Partition, SingleFlashConfig, State};
use embassy_rp::flash::{ERASE_SIZE, WRITE_SIZE};
/// A bootloader for RP2040 devices.
pub struct BootLoader {
boot: embassy_boot::BootLoader,
magic: AlignedBuffer<WRITE_SIZE>,
page: AlignedBuffer<ERASE_SIZE>,
}
impl BootLoader {
/// Create a new bootloader instance using the supplied partitions for active, dfu and state.
pub fn new(active: Partition, dfu: Partition, state: Partition) -> Self {
Self {
boot: embassy_boot::BootLoader::new(active, dfu, state),
magic: AlignedBuffer([0; WRITE_SIZE]),
page: AlignedBuffer([0; ERASE_SIZE]),
}
}
/// Inspect the bootloader state and perform actions required before booting, such as swapping
/// firmware.
pub fn prepare<F: FlashConfig>(&mut self, flash: &mut F) -> usize {
match self.boot.prepare_boot(flash, self.magic.as_mut(), self.page.as_mut()) {
Ok(_) => embassy_rp::flash::FLASH_BASE + self.boot.boot_address(),
Err(_) => panic!("boot prepare error!"),
}
}
/// Boots the application.
///
/// # Safety
///
/// This modifies the stack pointer and reset vector and will run code placed in the active partition.
pub unsafe fn load(&mut self, start: usize) -> ! {
trace!("Loading app at 0x{:x}", start);
#[allow(unused_mut)]
let mut p = cortex_m::Peripherals::steal();
#[cfg(not(armv6m))]
p.SCB.invalidate_icache();
p.SCB.vtor.write(start as u32);
cortex_m::asm::bootload(start as *const u32)
}
}
impl Default for BootLoader {
/// Create a new bootloader instance using parameters from linker script
fn default() -> Self {
extern "C" {
static __bootloader_state_start: u32;
static __bootloader_state_end: u32;
static __bootloader_active_start: u32;
static __bootloader_active_end: u32;
static __bootloader_dfu_start: u32;
static __bootloader_dfu_end: u32;
}
let active = unsafe {
Partition::new(
&__bootloader_active_start as *const u32 as usize,
&__bootloader_active_end as *const u32 as usize,
)
};
let dfu = unsafe {
Partition::new(
&__bootloader_dfu_start as *const u32 as usize,
&__bootloader_dfu_end as *const u32 as usize,
)
};
let state = unsafe {
Partition::new(
&__bootloader_state_start as *const u32 as usize,
&__bootloader_state_end as *const u32 as usize,
)
};
trace!("ACTIVE: 0x{:x} - 0x{:x}", active.from, active.to);
trace!("DFU: 0x{:x} - 0x{:x}", dfu.from, dfu.to);
trace!("STATE: 0x{:x} - 0x{:x}", state.from, state.to);
Self::new(active, dfu, state)
}
}

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@ -59,6 +59,11 @@ impl<'d, T: Instance, const FLASH_SIZE: usize> Flash<'d, T, FLASH_SIZE> {
}
pub fn read(&mut self, offset: u32, bytes: &mut [u8]) -> Result<(), Error> {
trace!(
"Reading from 0x{:x} to 0x{:x}",
FLASH_BASE + offset as usize,
FLASH_BASE + offset as usize + bytes.len()
);
check_read(self, offset, bytes.len())?;
let flash_data = unsafe { core::slice::from_raw_parts((FLASH_BASE as u32 + offset) as *const u8, bytes.len()) };

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@ -0,0 +1,12 @@
[unstable]
build-std = ["core"]
build-std-features = ["panic_immediate_abort"]
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
runner = "probe-run --chip RP2040"
[build]
target = "thumbv6m-none-eabi"
[env]
DEFMT_LOG = "trace"

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@ -0,0 +1,33 @@
[package]
edition = "2021"
name = "embassy-boot-rp-examples"
version = "0.1.0"
license = "MIT OR Apache-2.0"
[dependencies]
embassy-sync = { version = "0.1.0", path = "../../../../embassy-sync" }
embassy-executor = { version = "0.1.0", path = "../../../../embassy-executor", features = ["nightly", "integrated-timers"] }
embassy-time = { version = "0.1.0", path = "../../../../embassy-time", features = ["nightly"] }
embassy-rp = { version = "0.1.0", path = "../../../../embassy-rp", features = ["time-driver", "unstable-traits", "nightly"] }
embassy-boot-rp = { version = "0.1.0", path = "../../../../embassy-boot/rp" }
embassy-embedded-hal = { version = "0.1.0", path = "../../../../embassy-embedded-hal" }
defmt = "0.3"
defmt-rtt = "0.4"
panic-probe = { version = "0.3", features = ["print-defmt"], optional = true }
panic-reset = { version = "0.1.1", optional = true }
embedded-hal = { version = "0.2.6" }
cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7.0"
[features]
default = ["panic-reset"]
debug = [
"embassy-rp/defmt",
"embassy-boot-rp/defmt",
"panic-probe"
]
[profile.release]
debug = true

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@ -0,0 +1,28 @@
# Examples using bootloader
Example for Raspberry Pi Pico demonstrating the bootloader. The example consists of application binaries, 'a'
which waits for 5 seconds before flashing the 'b' binary, which blinks the LED.
NOTE: The 'b' binary does not mark the new binary as active, so if you reset the device, it will roll back to the 'a' binary before automatically updating it again.
## Prerequisites
* `cargo-binutils`
* `cargo-flash`
* `embassy-boot-rp`
## Usage
```
# Flash bootloader
cargo flash --manifest-path ../../bootloader/rp/Cargo.toml --release --chip RP2040
# Build 'b'
cargo build --release --bin b
# Generate binary for 'b'
cargo objcopy --release --bin b -- -O binary b.bin
# Flash `a` (which includes b.bin)
cargo flash --release --bin a --chip RP2040
```

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@ -0,0 +1,35 @@
//! This build script copies the `memory.x` file from the crate root into
//! a directory where the linker can always find it at build time.
//! For many projects this is optional, as the linker always searches the
//! project root directory -- wherever `Cargo.toml` is. However, if you
//! are using a workspace or have a more complicated build setup, this
//! build script becomes required. Additionally, by requesting that
//! Cargo re-run the build script whenever `memory.x` is changed,
//! updating `memory.x` ensures a rebuild of the application with the
//! new memory settings.
use std::env;
use std::fs::File;
use std::io::Write;
use std::path::PathBuf;
fn main() {
// Put `memory.x` in our output directory and ensure it's
// on the linker search path.
let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
File::create(out.join("memory.x"))
.unwrap()
.write_all(include_bytes!("memory.x"))
.unwrap();
println!("cargo:rustc-link-search={}", out.display());
// By default, Cargo will re-run a build script whenever
// any file in the project changes. By specifying `memory.x`
// here, we ensure the build script is only re-run when
// `memory.x` is changed.
println!("cargo:rerun-if-changed=memory.x");
println!("cargo:rustc-link-arg-bins=--nmagic");
println!("cargo:rustc-link-arg-bins=-Tlink.x");
println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
}

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@ -0,0 +1,15 @@
MEMORY
{
/* NOTE 1 K = 1 KiBi = 1024 bytes */
BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
BOOTLOADER_STATE : ORIGIN = 0x10006000, LENGTH = 4K
FLASH : ORIGIN = 0x10007000, LENGTH = 512K
DFU : ORIGIN = 0x10087000, LENGTH = 516K
RAM : ORIGIN = 0x20000000, LENGTH = 256K
}
__bootloader_state_start = ORIGIN(BOOTLOADER_STATE) - ORIGIN(BOOT2);
__bootloader_state_end = ORIGIN(BOOTLOADER_STATE) + LENGTH(BOOTLOADER_STATE) - ORIGIN(BOOT2);
__bootloader_dfu_start = ORIGIN(DFU) - ORIGIN(BOOT2);
__bootloader_dfu_end = ORIGIN(DFU) + LENGTH(DFU) - ORIGIN(BOOT2);

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@ -0,0 +1,52 @@
#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
use defmt_rtt as _;
use embassy_boot_rp::*;
use embassy_executor::Spawner;
use embassy_rp::flash::Flash;
use embassy_rp::gpio::{Level, Output};
use embassy_time::{Duration, Timer};
#[cfg(feature = "panic-probe")]
use panic_probe as _;
#[cfg(feature = "panic-reset")]
use panic_reset as _;
static APP_B: &[u8] = include_bytes!("../../b.bin");
const FLASH_SIZE: usize = 2 * 1024 * 1024;
#[embassy_executor::main]
async fn main(_s: Spawner) {
let p = embassy_rp::init(Default::default());
let mut led = Output::new(p.PIN_25, Level::Low);
let mut flash: Flash<_, FLASH_SIZE> = Flash::new(p.FLASH);
let mut updater = FirmwareUpdater::default();
Timer::after(Duration::from_secs(5)).await;
led.set_high();
let mut offset = 0;
let mut buf: AlignedBuffer<4096> = AlignedBuffer([0; 4096]);
defmt::info!("preparing update");
let mut writer = updater
.prepare_update_blocking(&mut flash)
.map_err(|e| defmt::warn!("E: {:?}", defmt::Debug2Format(&e)))
.unwrap();
defmt::info!("writer created, starting write");
for chunk in APP_B.chunks(4096) {
buf.0[..chunk.len()].copy_from_slice(chunk);
defmt::info!("writing block at offset {}", offset);
writer
.write_block_blocking(offset, &buf.0[..], &mut flash, 256)
.unwrap();
offset += chunk.len();
}
defmt::info!("firmware written, marking update");
updater.mark_updated_blocking(&mut flash, &mut buf.0[..1]).unwrap();
Timer::after(Duration::from_secs(2)).await;
led.set_low();
defmt::info!("update marked, resetting");
cortex_m::peripheral::SCB::sys_reset();
}

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@ -0,0 +1,23 @@
#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
use embassy_executor::Spawner;
use embassy_rp::gpio;
use embassy_time::{Duration, Timer};
use gpio::{Level, Output};
use {defmt_rtt as _, panic_reset as _};
#[embassy_executor::main]
async fn main(_s: Spawner) {
let p = embassy_rp::init(Default::default());
let mut led = Output::new(p.PIN_25, Level::Low);
loop {
led.set_high();
Timer::after(Duration::from_millis(100)).await;
led.set_low();
Timer::after(Duration::from_millis(100)).await;
}
}

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@ -0,0 +1,8 @@
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
runner = "probe-run --chip RP2040"
[build]
target = "thumbv6m-none-eabi"
[env]
DEFMT_LOG = "trace"

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@ -0,0 +1,29 @@
[package]
edition = "2021"
name = "rp-bootloader-example"
version = "0.1.0"
description = "Example bootloader for RP2040 chips"
license = "MIT OR Apache-2.0"
[dependencies]
defmt = { version = "0.3", optional = true }
defmt-rtt = { version = "0.4", optional = true }
embassy-rp = { path = "../../../../embassy-rp", default-features = false, features = ["nightly"] }
embassy-boot-rp = { path = "../../../../embassy-boot/rp", default-features = false }
cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
cortex-m-rt = { version = "0.7" }
embedded-storage = "0.3.0"
embedded-storage-async = "0.3.0"
cfg-if = "1.0.0"
[features]
defmt = [
"dep:defmt",
"embassy-boot-rp/defmt",
"embassy-rp/defmt",
]
debug = ["defmt-rtt", "defmt"]
[profile.release]
debug = true

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# Bootloader for RP2040
The bootloader uses `embassy-boot` to interact with the flash.
# Usage
Flashing the bootloader
```
cargo flash --release --chip RP2040
```
To debug, use `cargo run` and enable the debug feature flag
``` rust
cargo run --release --features debug
```

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use std::env;
use std::fs::File;
use std::io::Write;
use std::path::PathBuf;
fn main() {
// Put `memory.x` in our output directory and ensure it's
// on the linker search path.
let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
File::create(out.join("memory.x"))
.unwrap()
.write_all(include_bytes!("memory.x"))
.unwrap();
println!("cargo:rustc-link-search={}", out.display());
// By default, Cargo will re-run a build script whenever
// any file in the project changes. By specifying `memory.x`
// here, we ensure the build script is only re-run when
// `memory.x` is changed.
println!("cargo:rerun-if-changed=memory.x");
println!("cargo:rustc-link-arg-bins=--nmagic");
println!("cargo:rustc-link-arg-bins=-Tlink.x");
println!("cargo:rustc-link-arg-bins=-Tlink-rp.x");
if env::var("CARGO_FEATURE_DEFMT").is_ok() {
println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
}
}

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MEMORY
{
/* NOTE 1 K = 1 KiBi = 1024 bytes */
BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
FLASH : ORIGIN = 0x10000100, LENGTH = 24K
BOOTLOADER_STATE : ORIGIN = 0x10006000, LENGTH = 4K
ACTIVE : ORIGIN = 0x10007000, LENGTH = 512K
DFU : ORIGIN = 0x10087000, LENGTH = 516K
RAM : ORIGIN = 0x20000000, LENGTH = 256K
}
__bootloader_state_start = ORIGIN(BOOTLOADER_STATE) - ORIGIN(BOOT2);
__bootloader_state_end = ORIGIN(BOOTLOADER_STATE) + LENGTH(BOOTLOADER_STATE) - ORIGIN(BOOT2);
__bootloader_active_start = ORIGIN(ACTIVE) - ORIGIN(BOOT2);
__bootloader_active_end = ORIGIN(ACTIVE) + LENGTH(ACTIVE) - ORIGIN(BOOT2);
__bootloader_dfu_start = ORIGIN(DFU) - ORIGIN(BOOT2);
__bootloader_dfu_end = ORIGIN(DFU) + LENGTH(DFU) - ORIGIN(BOOT2);

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#![no_std]
#![no_main]
use cortex_m_rt::{entry, exception};
#[cfg(feature = "defmt")]
use defmt_rtt as _;
use embassy_boot_rp::*;
use embassy_rp::flash::{Flash, ERASE_SIZE};
use embassy_rp::peripherals::FLASH;
const FLASH_SIZE: usize = 2 * 1024 * 1024;
#[entry]
fn main() -> ! {
let p = embassy_rp::init(Default::default());
// Uncomment this if you are debugging the bootloader with debugger/RTT attached,
// as it prevents a hard fault when accessing flash 'too early' after boot.
/*
for i in 0..10000000 {
cortex_m::asm::nop();
}
*/
let mut bl: BootLoader = BootLoader::default();
let flash: Flash<'_, FLASH, FLASH_SIZE> = Flash::new(p.FLASH);
let mut flash = BootFlash::<_, ERASE_SIZE>::new(flash);
let start = bl.prepare(&mut SingleFlashConfig::new(&mut flash));
core::mem::drop(flash);
unsafe { bl.load(start) }
}
#[no_mangle]
#[cfg_attr(target_os = "none", link_section = ".HardFault.user")]
unsafe extern "C" fn HardFault() {
cortex_m::peripheral::SCB::sys_reset();
}
#[exception]
unsafe fn DefaultHandler(_: i16) -> ! {
const SCB_ICSR: *const u32 = 0xE000_ED04 as *const u32;
let irqn = core::ptr::read_volatile(SCB_ICSR) as u8 as i16 - 16;
panic!("DefaultHandler #{:?}", irqn);
}
#[panic_handler]
fn panic(_info: &core::panic::PanicInfo) -> ! {
cortex_m::asm::udf();
}