Moved the bootloader out of the pico_p1 project

.cargo/config.toml

@@ -0,0 +1,6 @@
+[build]
+target = "thumbv6m-none-eabi"
+
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# This needs to be put in a seperate script because the log arguments do not get parsed properly
+runner = ".cargo/runner.sh"

.cargo/runner.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+probe-run --chip RP2040 --log-format="{L} {s}
+└─ [{t}] {m} @ {F}:{l}" $@

.gitignore

@@ -0,0 +1 @@
+target/

bootloader/.cargo/config.toml

@@ -0,0 +1,6 @@
+[unstable]
+build-std = ["core"]
+build-std-features = ["panic_immediate_abort"]
+
+[build]
+target = "thumbv6m-none-eabi"

bootloader/Cargo.toml

@@ -0,0 +1,37 @@
+[package]
+name = "bootloader"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+defmt = { version = "0.3", optional = true }
+defmt-rtt = { version = "0.4", optional = true }
+
+embassy-boot = { version = "0.1", features = ["nightly"] }
+embassy-boot-rp = { version = "0.1", features = ["nightly"] }
+embassy-rp = { version = "0.1", features = ["nightly"] }
+embassy-sync = { version = "0.3", features = ["nightly"] }
+
+cortex-m = { version = "0.7", features = [
+	"inline-asm",
+	"critical-section-single-core",
+] }
+cortex-m-rt = { version = "0.7" }
+embedded-storage = "0.3.0"
+
+[patch.crates-io]
+# This is needed as embassy-rp is not on crates.io
+embassy-boot = { git = "https://github.com/embassy-rs/embassy" }
+embassy-boot-rp = { git = "https://github.com/embassy-rs/embassy" }
+embassy-rp = { git = "https://github.com/embassy-rs/embassy" }
+embassy-sync = { git = "https://github.com/embassy-rs/embassy" }
+
+[features]
+defmt = ["dep:defmt", "embassy-boot/defmt", "embassy-boot-rp/defmt", "embassy-rp/defmt", "embassy-sync/defmt"]
+debug = ["defmt-rtt", "defmt"]
+
+[profile.release]
+debug = true
+opt-level = 's'
+codegen-units = 1
+lto = true

bootloader/Embed.toml

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+[default.general]
+chip = "rp2040"

bootloader/build.rs

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+use std::env;
+use std::fs::File;
+use std::io::Write;
+use std::path::PathBuf;
+
+fn main() {
+    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+
+    // By default cortex-m-rt expects memory.x, however this causes issues with workspaces as it
+    // will pick the first file that is found.
+    // In order to get around this we make a dummy memory.x file
+    File::create(out.join("memory.x")).unwrap();
+
+    // Use memory.x.in as a template for the actual memory.x
+    let memory = include_str!("memory.x.in")
+        .replace("{BOOTLOADER}", "FLASH")
+        .replace("{ACTIVE}", "ACTIVE");
+
+    // And then include it with a unique name
+    File::create(out.join("memory_boot.x"))
+        .unwrap()
+        .write_all(memory.as_bytes())
+        .unwrap();
+    println!("cargo:rustc-link-search={}", out.display());
+    println!("cargo:rerun-if-changed=../memory.x.in");
+
+    // And link with that one
+    println!("cargo:rustc-link-arg-bins=-Tmemory_boot.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");
+    }
+}

bootloader/memory.x.in

@@ -0,0 +1,22 @@
+MEMORY {
+	BOOT2            : ORIGIN = 0x10000000, LENGTH = 0x100
+	{BOOTLOADER}          : ORIGIN = 0x10000100, LENGTH = 24k - 0x100
+	BOOTLOADER_STATE : ORIGIN = 0x10006000, LENGTH = 4k
+	{ACTIVE}         : ORIGIN = 0x10007000, LENGTH = 876k
+	DFU              : ORIGIN = 0x100E2000, LENGTH = 880k
+	FW               : ORIGIN = 0x101BE000, LENGTH = 256k
+	CLM              : ORIGIN = 0x101FE000, LENGTH = 8k
+	RAM              : ORIGIN = 0x20000000, LENGTH = 264K
+}
+
+__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);
+
+__fw_start = ORIGIN(FW);
+__clm_start = ORIGIN(CLM);

bootloader/src/main.rs

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+#![no_std]
+#![no_main]
+
+use core::cell::RefCell;
+
+use cortex_m_rt::{entry, exception};
+#[cfg(feature = "defmt")]
+use defmt_rtt as _;
+use embassy_boot_rp::*;
+use embassy_rp::flash::{Blocking, Flash};
+use embassy_sync::blocking_mutex::Mutex;
+
+const FLASH_SIZE: usize = 2 * 1024 * 1024;
+
+#[entry]
+fn main() -> ! {
+    let p = embassy_rp::init(Default::default());
+
+    let flash = Flash::<_, Blocking, FLASH_SIZE>::new_blocking(p.FLASH);
+    let flash = Mutex::new(RefCell::new(flash));
+
+    let config = BootLoaderConfig::from_linkerfile_blocking(&flash);
+    let active_offset = config.active.offset();
+    let bl: BootLoader = BootLoader::prepare(config);
+
+    unsafe { bl.load(embassy_rp::flash::FLASH_BASE as u32 + active_offset) }
+}
+
+#[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();
+}

rust-toolchain.toml

@@ -0,0 +1,3 @@
+[toolchain]
+channel = "nightly"
+targets = ["thumbv6m-none-eabi"]