Merge pull request tock#4169 from tock/kernel-linker-apps2

boards: linker: do not load .apps section by default
YoeDistro · Sep 25, 2024 · b6a54d4 · b6a54d4
2 parents fe99a8a + d6ae7fa
commit b6a54d4
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Showing 17 changed files with 29 additions and 140 deletions.
diff --git a/boards/esp32-c3-devkitM-1/Makefile b/boards/esp32-c3-devkitM-1/Makefile
@@ -20,7 +20,7 @@ flash-app: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).elf
 ifeq ($(APP),)
 	$(error "Please specify an APP to be flashed")
 endif
-	$(RISC_PREFIX)-objcopy --update-section .apps=$(APP) $^ $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.elf
+	$(RISC_PREFIX)-objcopy --set-section-flags .apps=LOAD --update-section .apps=$(APP) $^ $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.elf
 	esptool.py --port /dev/ttyUSB0 --chip esp32c3 elf2image --use_segments --output binary.hex $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.elf --dont-append-digest
 	esptool.py --port /dev/ttyUSB0 --chip esp32c3 write_flash --flash_mode dio --flash_size detect --flash_freq 80m 0x0 binary.hex
 

diff --git a/boards/imxrt1050-evkb/Makefile b/boards/imxrt1050-evkb/Makefile
@@ -20,7 +20,7 @@ flash: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).elf
 .PHONY: flash-app
 flash-app: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).elf
 	@: $(if $(value APP),,$(error Please set APP to the path of a TBF file to program applications))
-	arm-none-eabi-objcopy --update-section .apps=$(APP) $< \
+	arm-none-eabi-objcopy --set-section-flags .apps=LOAD --update-section .apps=$(APP) $< \
 		$(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-apps.elf
 	crt_emu_cm_redlink \
 		--flash-load-exec "$(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-apps.elf" \

diff --git a/boards/imxrt1050-evkb/README.md b/boards/imxrt1050-evkb/README.md
@@ -49,6 +49,7 @@ with your app(s) included.
 
 ```bash
 $ arm-none-eabi-objcopy  \
+    --set-section-flags .apps=LOAD \
     --update-section .apps=../../../libtock-c/examples/c_hello/build/cortex-m7/cortex-m7.tbf \
     target/thumbv7em-none-eabi/debug/imxrt1050-evkb.elf \
     target/thumbv7em-none-eabi/debug/imxrt1050-evkb-app.axf

diff --git a/boards/kernel_layout.ld b/boards/kernel_layout.ld
@@ -227,9 +227,13 @@ SECTIONS
      * This section is put into the "prog" memory, which is reserved for
      * applications. This section is not used for the kernel, but including it
      * in the .elf file allows for concatenating application binaries with the
-     * kernel.
+     * kernel. By default the loader will not include this section in the
+     * flashed binary. For boards that wish to use this section, it can be set
+     * to load with `objcopy` similar to:
+     *
+     *     arm-none-eabi-objcopy --set-section-flags .apps=LOAD <elf>
      */
-    .apps :
+    .apps (NOLOAD) :
     {
         /* _sapps symbol used by Tock to look for first application. */
         . = ALIGN(4);

diff --git a/boards/nano_rp2040_connect/Makefile b/boards/nano_rp2040_connect/Makefile
@@ -26,9 +26,9 @@ flash: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).elf
 .PHONY: flash-app
 flash-app: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).bin
 ifeq ($(APP),)
-	$(error Please define the APP variable with the TBF file to flash an application) 
-endif 
-	arm-none-eabi-objcopy --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
+	$(error Please define the APP variable with the TBF file to flash an application)
+endif
+	arm-none-eabi-objcopy --set-section-flags .apps=LOAD --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
 	elf2uf2-rs $(KERNEL_WITH_APP) $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.uf2
 	@if [ -d $(BOOTSEL_FOLDER) ]; then cp $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.uf2 "$(BOOTSEL_FOLDER)"; else echo; echo Please edit the BOOTSEL_FOLDER variable to point to you Nano RP2040 Flash Drive Folder; fi
 

diff --git a/boards/nucleo_f429zi/README.md b/boards/nucleo_f429zi/README.md
@@ -30,6 +30,7 @@ apps included.
 
 ```bash
 $ arm-none-eabi-objcopy  \
+    --set-section-flags .apps=LOAD \
     --update-section .apps=../../../libtock-c/examples/c_hello/build/cortex-m4/cortex-m4.tbf \
     target/thumbv7em-none-eabi/debug/nucleo_f429zi.elf \
     target/thumbv7em-none-eabi/debug/nucleo_f429zi-app.elf
@@ -44,7 +45,7 @@ KERNEL_WITH_APP=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/debug/$(PLATFORM)-app.el
 
 .PHONY: program
 program: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/debug/$(PLATFORM).elf
-	arm-none-eabi-objcopy --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
+	arm-none-eabi-objcopy --set-section-flags .apps=LOAD --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
 	$(OPENOCD) $(OPENOCD_OPTIONS) -c "init; reset halt; flash write_image erase $(KERNEL_WITH_APP); verify_image $(KERNEL_WITH_APP); reset; shutdown"
 ```
 

diff --git a/boards/nucleo_f446re/README.md b/boards/nucleo_f446re/README.md
@@ -30,6 +30,7 @@ apps included.
 
 ```bash
 $ arm-none-eabi-objcopy  \
+    --set-section-flags .apps=LOAD \
     --update-section .apps=../../../libtock-c/examples/c_hello/build/cortex-m4/cortex-m4.tbf \
     target/thumbv7em-none-eabi/debug/nucleo_f446re.elf \
     target/thumbv7em-none-eabi/debug/nucleo_f446re-app.elf
@@ -44,7 +45,7 @@ KERNEL_WITH_APP=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/debug/$(PLATFORM)-app.el
 
 .PHONY: program
 program: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/debug/$(PLATFORM).elf
-	arm-none-eabi-objcopy --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
+	arm-none-eabi-objcopy --set-section-flags .apps=LOAD --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
 	$(OPENOCD) $(OPENOCD_OPTIONS) -c "init; reset halt; flash write_image erase $(KERNEL_WITH_APP); verify_image $(KERNEL_WITH_APP); reset; shutdown"
 ```
 

diff --git a/boards/opentitan/earlgrey-cw310/Makefile b/boards/opentitan/earlgrey-cw310/Makefile
@@ -81,7 +81,7 @@ flash: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).bin
 	$(OPENTITAN_TREE)/bazel-bin/sw/host/opentitantool/opentitantool.runfiles/lowrisc_opentitan/sw/host/opentitantool/opentitantool --interface=cw310 bootstrap $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).bin
 
 flash-app: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).elf
-	$(RISC_PREFIX)-objcopy --update-section .apps=$(APP) $^ $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.elf
+	$(RISC_PREFIX)-objcopy --set-section-flags .apps=LOAD --update-section .apps=$(APP) $^ $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.elf
 	$(RISC_PREFIX)-objcopy --output-target=binary $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.elf $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.bin
 	$(OPENTITAN_TREE)/bazel-bin/sw/host/opentitantool/opentitantool.runfiles/lowrisc_opentitan/sw/host/opentitantool/opentitantool --interface=cw310 bootstrap $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.bin
 
@@ -91,7 +91,7 @@ verilator: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).elf
 	$(RISC_PREFIX)-objcopy $^ $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)_verilator.elf
 ifneq ($(APP),)
 		$(info [CW-130: Verilator]: Linking App)
-		$(RISC_PREFIX)-objcopy --update-section .apps=$(APP) $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)_verilator.elf $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)_verilator.elf
+		$(RISC_PREFIX)-objcopy --set-section-flags .apps=LOAD --update-section .apps=$(APP) $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)_verilator.elf $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)_verilator.elf
 endif
 	$(info [CW-130: Verilator]: Starting)
 	$(RISC_PREFIX)-objcopy --output-target=binary $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)_verilator.elf $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)_verilator.bin

diff --git a/boards/pico_explorer_base/Makefile b/boards/pico_explorer_base/Makefile
@@ -32,9 +32,9 @@ flash: $(KERNEL)
 .PHONY: program
 program: $(KERNEL)
 ifeq ($(APP),)
-	$(error Please define the APP variable with the TBF file to flash an application) 
-endif 
-	arm-none-eabi-objcopy --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
+	$(error Please define the APP variable with the TBF file to flash an application)
+endif
+	arm-none-eabi-objcopy --set-section-flags .apps=LOAD --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
 	elf2uf2-rs $(KERNEL_WITH_APP) $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.uf2
 	@if [ -d $(BOOTSEL_FOLDER) ]; then cp $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.uf2 "$(BOOTSEL_FOLDER)"; else echo; echo Please edit the BOOTSEL_FOLDER variable to point to you Raspberry Pi Pico Flash Drive Folder; echo You can download and flash $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.uf2; fi
 
diff --git a/boards/raspberry_pi_pico/Makefile b/boards/raspberry_pi_pico/Makefile
@@ -32,9 +32,9 @@ flash: $(KERNEL)
 .PHONY: program
 program: $(KERNEL)
 ifeq ($(APP),)
-	$(error Please define the APP variable with the TBF file to flash an application) 
-endif 
-	arm-none-eabi-objcopy --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
+	$(error Please define the APP variable with the TBF file to flash an application)
+endif
+	arm-none-eabi-objcopy --set-section-flags .apps=LOAD --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
 	elf2uf2-rs $(KERNEL_WITH_APP) $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.uf2
 	@if [ -d $(BOOTSEL_FOLDER) ]; then cp $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.uf2 "$(BOOTSEL_FOLDER)"; else echo; echo Please edit the BOOTSEL_FOLDER variable to point to you Raspberry Pi Pico Flash Drive Folder; echo You can download and flash $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.uf2; fi
 
diff --git a/boards/stm32f3discovery/README.md b/boards/stm32f3discovery/README.md
@@ -16,43 +16,3 @@ $ make flash
 
 $ make flash-debug
 ```
-
-> **Note:** Unlike other Tock platforms, the default kernel image for this
-> board will clear flashed apps when the kernel is loaded. This is to support
-> the non-tockloader based app flash procedure below. To preserve loaded apps,
-> comment out the `APP_HACK` variable in `src/main.rs`.
-
-## Flashing app
-
-Apps are built out-of-tree. Once an app is built, you can use
-`arm-none-eabi-objcopy` with `--update-section` to create an ELF image with the
-apps included.
-
-```bash
-$ arm-none-eabi-objcopy  \
-    --update-section .apps=../../../libtock-c/examples/c_hello/build/cortex-m4/cortex-m4.tbf \
-    target/thumbv7em-none-eabi/release/stm32f3discovery.elf \
-    target/thumbv7em-none-eabi/release/stm32f3discovery-app.elf
-```
-
-For example, you can update `Makefile` as follows.
-
-```
-APP=../../../libtock-c/examples/c_hello/build/cortex-m4/cortex-m4.tbf
-KERNEL=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/release/$(PLATFORM).elf
-KERNEL_WITH_APP=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/release/$(PLATFORM)-app.elf
-
-.PHONY: program
-program: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).elf
-	arm-none-eabi-objcopy --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
-	$(OPENOCD) $(OPENOCD_OPTIONS) -c "init; reset halt; flash write_image erase $(KERNEL_WITH_APP); verify_image $(KERNEL_WITH_APP); reset; shutdown"
-```
-
-After setting `APP`, `KERNEL`, `KERNEL_WITH_APP`, and `program` target
-dependency, you can do
-
-```bash
-$ make program
-```
-
-to flash the image.
diff --git a/boards/stm32f412gdiscovery/README.md b/boards/stm32f412gdiscovery/README.md
@@ -17,46 +17,6 @@ $ make flash
 $ make flash-debug
 ```
 
-> **Note:** Unlike other Tock platforms, the default kernel image for this
-> board will clear flashed apps when the kernel is loaded. This is to support
-> the non-tockloader based app flash procedure below. To preserve loaded apps,
-> comment out the `APP_HACK` variable in `src/main.rs`.
-
-## Flashing app
-
-Apps are built out-of-tree. Once an app is built, you can use
-`arm-none-eabi-objcopy` with `--update-section` to create an ELF image with the
-apps included.
-
-```bash
-$ arm-none-eabi-objcopy  \
-    --update-section .apps=../../../libtock-c/examples/c_hello/build/cortex-m4/cortex-m4.tbf \
-    target/thumbv7em-none-eabi/release/discovery_f412g.elf \
-    target/thumbv7em-none-eabi/release/discovery_f412g-app.elf
-```
-
-For example, you can update `Makefile` as follows.
-
-```
-APP=../../../libtock-c/examples/c_hello/build/cortex-m4/cortex-m4.tbf
-KERNEL=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/release/$(PLATFORM).elf
-KERNEL_WITH_APP=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/release/$(PLATFORM)-app.elf
-
-.PHONY: program
-program: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).elf
-	arm-none-eabi-objcopy --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
-	$(OPENOCD) $(OPENOCD_OPTIONS) -c "init; reset halt; flash write_image erase $(KERNEL_WITH_APP); verify_image $(KERNEL_WITH_APP); reset; shutdown"
-```
-
-After setting `APP`, `KERNEL`, `KERNEL_WITH_APP`, and `program` target
-dependency, you can do
-
-```bash
-$ make program
-```
-
-to flash the image.
-
 ## OpenOCD Note
 The release version of openocd does not fully support stm32412g discovery kit. Uploading seems to work
 with the setup for nucelo429zi. The openocd.cfg file contains both setups, one being commented.

diff --git a/boards/stm32f429idiscovery/README.md b/boards/stm32f429idiscovery/README.md
@@ -17,43 +17,3 @@ $ make flash
 
 $ make flash-debug
 ```
-
-> **Note:** Unlike other Tock platforms, the default kernel image for this
-> board will clear flashed apps when the kernel is loaded. This is to support
-> the non-tockloader based app flash procedure below. To preserve loaded apps,
-> comment out the `APP_HACK` variable in `src/main.rs`.
-
-## Flashing app
-
-Apps are built out-of-tree. Once an app is built, you can use
-`arm-none-eabi-objcopy` with `--update-section` to create an ELF image with the
-apps included.
-
-```bash
-$ arm-none-eabi-objcopy  \
-    --update-section .apps=../../../libtock-c/examples/c_hello/build/cortex-m4/cortex-m4.tbf \
-    target/thumbv7em-none-eabi/debug/stm32f429idiscovery.elf \
-    target/thumbv7em-none-eabi/debug/stm32f429idiscovery-app.elf
-```
-
-For example, you can update `Makefile` as follows.
-
-```
-APP=../../../libtock-c/examples/c_hello/build/cortex-m4/cortex-m4.tbf
-KERNEL=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/debug/$(PLATFORM).elf
-KERNEL_WITH_APP=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/debug/$(PLATFORM)-app.elf
-
-.PHONY: program
-program: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/debug/$(PLATFORM).elf
-        arm-none-eabi-objcopy --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
-        $(OPENOCD) $(OPENOCD_OPTIONS) -c "init; reset halt; flash write_image erase $(KERNEL_WITH_APP); verify_image $(KERNEL_WITH_APP); reset; shutdown"
-```
-
-After setting `APP`, `KERNEL`, `KERNEL_WITH_APP`, and `program` target
-dependency, you can do
-
-```bash
-$ make program
-```
-
-to flash the image.
diff --git a/boards/teensy40/Makefile b/boards/teensy40/Makefile
@@ -22,7 +22,7 @@ program: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).hex
 .PHONY: program-app
 program-app: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).elf
 	@: $(if $(value APP),,$(error Please set APP to the path of a TBF file to program applications))
-	$(Q)arm-none-eabi-objcopy --update-section .apps=$(APP) $< $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-apps.elf
+	$(Q)arm-none-eabi-objcopy --set-section-flags .apps=LOAD --update-section .apps=$(APP) $< $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-apps.elf
 	$(Q)$(OBJCOPY) -O ihex $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-apps.elf $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-apps.hex
 	teensy_loader_cli --mcu=TEENSY40 -w -v $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-apps.hex
 

diff --git a/boards/teensy40/README.md b/boards/teensy40/README.md
@@ -42,6 +42,7 @@ with the Teensy 4 Tock kernel.
 
 ```bash
 $ arm-none-eabi-objcopy \
+    --set-section-flags .apps=LOAD \
     --update-section .apps=../../../libtock-c/examples/blink/build/cortex-m7/cortex-m7.tbf \
     ../../target/thumbv7em-none-eabi/release/teensy40.elf \
     ../../target/thumbv7em-none-eabi/release/teensy40-app.elf
@@ -72,7 +73,7 @@ KERNEL_WITH_APP_HEX=$(TOCK_ROOT_DIRECTORY)/target/teensy40/release/teensy40-app.
 
 .PHONY: program
 program: target/thumbv7em-none-eabi/release/teensy40.elf
-	arm-none-eabi-objcopy --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
+	arm-none-eabi-objcopy --set-section-flags .apps=LOAD --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
 	arm-none-eabi-objcopy -O ihex $(KERNEL_WITH_APP) $(KERNEL_WITH_APP_HEX)
     teensy_loader_cli -w -v --mcu=TEENSY40 $(KERNEL_WITH_APP_HEX)
 ```

diff --git a/boards/weact_f401ccu6/Makefile b/boards/weact_f401ccu6/Makefile
@@ -19,5 +19,5 @@ flash: $(KERNEL)
 	$(OPENOCD) $(OPENOCD_OPTIONS) -c "init; reset halt; flash write_image erase $<; verify_image $<; reset; shutdown"
 
 flash-app: $(KERNEL)
-	arm-none-eabi-objcopy --update-section .apps=$(APP) $< $(KERNEL_WITH_APP)
+	arm-none-eabi-objcopy --set-section-flags .apps=LOAD --update-section .apps=$(APP) $< $(KERNEL_WITH_APP)
 	$(OPENOCD) $(OPENOCD_OPTIONS) -c "init; reset halt; flash write_image erase $(KERNEL_WITH_APP); verify_image $(KERNEL_WITH_APP); reset; shutdown"
diff --git a/boards/weact_f401ccu6/README.md b/boards/weact_f401ccu6/README.md
@@ -34,6 +34,7 @@ ELF image with the apps included.
 
 ```bash
 $ arm-none-eabi-objcopy  \
+    --set-section-flags .apps=LOAD \
     --update-section .apps=../../../libtock-c/examples/blink/build/cortex-m4/cortex-m4.tbf \
     ../../target/thumbv7em-none-eabihf/release/weact-f401ccu6.elf \
     ../../target/thumbv7em-none-eabihf/release/weact-f401ccu6-app.elf