├── .cargo └── config.toml ├── .github └── workflows │ └── ci.yml ├── .gitignore ├── .vscode └── settings.json ├── CODE_OF_CONDUCT.md ├── Cargo.toml ├── LICENSE-APACHE ├── LICENSE-MIT ├── README.md ├── build.rs ├── build.sh ├── link.x ├── rust-toolchain.toml └── src └── main.rs /.cargo/config.toml: -------------------------------------------------------------------------------- 1 | [target.'cfg(all(target_arch = "arm", target_os = "none"))'] 2 | 3 | rustflags = [ 4 | "-C", "link-arg=--nmagic", 5 | "-C", "link-arg=-Tlink.x", 6 | 7 | # Code-size optimizations. 8 | "-Cllvm-args=--inline-threshold=5", 9 | "-C", "no-vectorize-loops", 10 | "-C", "force-frame-pointers=no", 11 | 12 | # We don't know where the flash loader will be 13 | # placed in memory, so we need to create 14 | # position independent code (pic). 15 | "-C", "relocation-model=pic", 16 | ] 17 | 18 | [build] 19 | target = "thumbv6m-none-eabi" # Cortex-M0 and Cortex-M0+ 20 | # target = "thumbv7m-none-eabi" # Cortex-M3 21 | # target = "thumbv7em-none-eabi" # Cortex-M4 and Cortex-M7 (no FPU) 22 | # target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU) 23 | # target = "thumbv8m.base-none-eabi" # Cortex-M23 24 | # target = "thumbv8m.main-none-eabi" # Cortex-M33 (no FPU) 25 | # target = "thumbv8m.main-none-eabihf" # Cortex-M33 (with FPU) 26 | -------------------------------------------------------------------------------- /.github/workflows/ci.yml: -------------------------------------------------------------------------------- 1 | name: Rust 2 | 3 | on: 4 | push: 5 | branches: [ main ] 6 | pull_request: 7 | branches: [ main ] 8 | 9 | env: 10 | CARGO_TERM_COLOR: always 11 | 12 | jobs: 13 | build: 14 | runs-on: ubuntu-latest 15 | steps: 16 | - uses: actions/checkout@v2 17 | - name: Install Dependencies 18 | run: | 19 | cargo install cargo-binutils 20 | - name: Build 21 | run: | 22 | ./build.sh 23 | - name: Run tests 24 | run: cargo test --verbose 25 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | **/*.rs.bk 2 | .#* 3 | .gdb_history 4 | Cargo.lock 5 | target/ 6 | 7 | # editor files 8 | .vscode/* 9 | !.vscode/*.md 10 | !.vscode/*.svd 11 | !.vscode/launch.json 12 | !.vscode/tasks.json 13 | !.vscode/extensions.json 14 | !.vscode/settings.json -------------------------------------------------------------------------------- /.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "editor.formatOnSave": true 3 | } -------------------------------------------------------------------------------- /CODE_OF_CONDUCT.md: -------------------------------------------------------------------------------- 1 | Contribution to these projects is organized under the terms of the [Rust Code of Conduct](https://www.rust-lang.org/policies/code-of-conduct) 2 | -------------------------------------------------------------------------------- /Cargo.toml: -------------------------------------------------------------------------------- 1 | [package] 2 | authors = ["Dario Nieuwenhuis "] 3 | edition = "2018" 4 | readme = "README.md" 5 | name = "flash-algo" 6 | version = "0.1.0" 7 | 8 | [dependencies] 9 | cortex-m = "0.7.0" 10 | flash-algorithm = { version = "0.5.0", default-features = false, features = [ 11 | "panic-handler", 12 | ] } 13 | 14 | # this lets you use `cargo fix`! 15 | [[bin]] 16 | name = "flash-algo" 17 | test = false 18 | bench = false 19 | 20 | [profile.dev] 21 | codegen-units = 1 22 | debug = 2 23 | debug-assertions = true 24 | incremental = false 25 | opt-level = 3 26 | overflow-checks = true 27 | 28 | [profile.release] 29 | codegen-units = 1 30 | debug = 2 31 | debug-assertions = false 32 | incremental = false 33 | lto = "fat" 34 | opt-level = 's' 35 | overflow-checks = false 36 | 37 | # do not optimize proc-macro crates = faster builds from scratch 38 | [profile.dev.build-override] 39 | codegen-units = 8 40 | debug = false 41 | debug-assertions = false 42 | opt-level = 0 43 | overflow-checks = false 44 | 45 | [profile.release.build-override] 46 | codegen-units = 8 47 | debug = false 48 | debug-assertions = false 49 | opt-level = 0 50 | overflow-checks = false 51 | -------------------------------------------------------------------------------- /LICENSE-APACHE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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IN NO EVENT 19 | SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY 20 | CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 21 | OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR 22 | IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER 23 | DEALINGS IN THE SOFTWARE. 24 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # RaspberryPi Pico RP2 flash algorithm 2 | 3 | This is a flash algorithm for the RP2040 and RP2350 chips, used in the Raspberry Pi Pico board. 4 | It implements the CMSIS-Pack ABI, so it's compatible with any tools that use it, including probe-rs. 5 | 6 | ## Dependencies 7 | 8 | Run the following to install the requirements: 9 | 10 | ```bash 11 | cargo install cargo-binutils 12 | ``` 13 | 14 | The `rust-toolchain` file will get you the targets and components you need. 15 | 16 | ## Building 17 | 18 | Just run `build.sh`. It spits out the flash algo in the probe-rs YAML format: 19 | 20 | ```console 21 | flash-algo$ ./build.sh 22 | instructions: sLUUIACIGUoBRguI...wRwAgcEc= 23 | pc_init: 0x00000000 24 | pc_uninit: 0x0000007c 25 | pc_program_page: 0x00000088 26 | pc_erase_sector: 0x00000084 27 | pc_erase_all: 0x00000080 28 | ``` 29 | 30 | ## Hacking 31 | 32 | The `algo` module contains the FlashAlgo trait, and an `algo!` macro to generate 33 | the glue functions for a given struct implementing it. This is generic for all chips, so feel free to reuse it! 34 | 35 | `main.rs` has the actual implementation for RP2040 and RP2350. 36 | 37 | ## License 38 | 39 | This thingy is licensed under either of 40 | 41 | - Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or 42 | http://www.apache.org/licenses/LICENSE-2.0) 43 | 44 | - MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT) 45 | 46 | at your option. 47 | -------------------------------------------------------------------------------- /build.rs: -------------------------------------------------------------------------------- 1 | use std::env; 2 | use std::fs::File; 3 | use std::io::Write; 4 | use std::path::PathBuf; 5 | 6 | fn main() { 7 | // Put `link.x` in our output directory and ensure it's 8 | // on the linker search path. 9 | let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap()); 10 | File::create(out.join("link.x")) 11 | .unwrap() 12 | .write_all(include_bytes!("link.x")) 13 | .unwrap(); 14 | println!("cargo:rustc-link-search={}", out.display()); 15 | 16 | // By default, Cargo will re-run a build script whenever 17 | // any file in the project changes. By specifying `link.x` 18 | // here, we ensure the build script is only re-run when 19 | // `link.x` is changed. 20 | println!("cargo:rerun-if-changed=link.x"); 21 | } 22 | -------------------------------------------------------------------------------- /build.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | set -euo pipefail 4 | 5 | # macOS base64 doesn't take -w argument and defaults to a single line. 6 | if [[ $(uname) = "Darwin" ]]; then 7 | BASE64_FLAGS="" 8 | else 9 | BASE64_FLAGS="-w0" 10 | fi 11 | 12 | cargo build --release 13 | ELF=target/thumbv6m-none-eabi/release/flash-algo 14 | 15 | rust-objdump --disassemble $ELF > target/disassembly.s 16 | rust-objdump -x $ELF > target/dump.txt 17 | rust-nm $ELF -n > target/nm.txt 18 | 19 | function bin { 20 | rust-objcopy $ELF -O binary - | base64 $BASE64_FLAGS 21 | } 22 | 23 | function sym { 24 | echo $((0x$(rust-nm $ELF | grep -w $1 | cut -d ' ' -f 1) + 1)) 25 | } 26 | 27 | cat < usize { 54 | type RomTableLookupFn = unsafe extern "C" fn(table: *const u16, code: u32) -> usize; 55 | 56 | /// This location in ROM holds a 16-bit truncated pointer for the ROM lookup function for 57 | /// RP2040 ROMs. 58 | const ROM_TABLE_LOOKUP_PTR: *const u16 = 0x0000_0018 as _; 59 | 60 | /// This location in ROM holds a 16-bit truncated pointer for the ROM function table 61 | /// (there's also a ROM data table which we don't need) 62 | const FUNC_TABLE: *const u16 = 0x0000_0014 as _; 63 | 64 | let lookup_func = ROM_TABLE_LOOKUP_PTR.read() as usize; 65 | let lookup_func: RomTableLookupFn = core::mem::transmute(lookup_func); 66 | let table = FUNC_TABLE.read() as usize; 67 | lookup_func(table as *const u16, tag) 68 | } 69 | 70 | unsafe fn lookup_func_235x(tag: u32) -> usize { 71 | type RomTableLookupFn = unsafe extern "C" fn(code: u32, mask: u32) -> usize; 72 | 73 | /// This location in ROM holds a 16-bit truncated pointer for the ROM lookup function for 74 | /// RP235x ROMs. 75 | const ROM_TABLE_LOOKUP_PTR: *const u16 = 0x0000_0016 as _; 76 | 77 | /// The flash-algo needs to run in secure mode so we need too look up 78 | /// functions in that context 79 | const RT_FLAG_FUNC_ARM_SEC: u32 = 0x0004; 80 | 81 | // The RCP (redundancy coprocessor) must be enabled in order to call ROM functions. 82 | init_rcp(); 83 | 84 | let lookup_func = ROM_TABLE_LOOKUP_PTR.read() as usize; 85 | let lookup_func: RomTableLookupFn = core::mem::transmute(lookup_func); 86 | lookup_func(tag, RT_FLAG_FUNC_ARM_SEC) 87 | } 88 | 89 | fn find_func(tag: [u8; 2]) -> Result { 90 | let tag = u16::from_le_bytes(tag) as u32; 91 | 92 | /// This location in ROM holds a 3 byte magic value that confirms the validity of the 93 | /// ROM as well as identifying different interfaces for the RP2040 and RP235x. 94 | const BOOTROM_MAGIC: *const [u8; 3] = 0x0000_0010 as _; 95 | 96 | /// Magic value for RP2040 ROMs. 97 | const RP2040_BOOTROM_MAGIC: &[u8; 3] = b"Mu\x01"; 98 | 99 | /// Magic value for RP235X ROMs. 100 | const RP235X_BOOTROM_MAGIC: &[u8; 3] = b"Mu\x02"; 101 | 102 | unsafe { 103 | let result = match &*BOOTROM_MAGIC { 104 | RP2040_BOOTROM_MAGIC => lookup_func_rp2040(tag), 105 | RP235X_BOOTROM_MAGIC => lookup_func_235x(tag), 106 | _ => return Err(ErrorCode::new(0x1000_0000 | tag).unwrap()), 107 | }; 108 | if result == 0 { 109 | return Err(ErrorCode::new(0x2000_0000 | tag).unwrap()); 110 | } 111 | Ok(core::mem::transmute_copy(&result)) 112 | } 113 | } 114 | 115 | struct ROMFuncs { 116 | connect_internal_flash: extern "C" fn(), 117 | flash_exit_xip: extern "C" fn(), 118 | flash_range_erase: extern "C" fn(addr: u32, count: u32, block_size: u32, block_cmd: u8), 119 | flash_range_program: extern "C" fn(addr: u32, data: *const u8, count: u32), 120 | flash_flush_cache: extern "C" fn(), 121 | flash_enter_cmd_xip: extern "C" fn(), 122 | } 123 | 124 | impl ROMFuncs { 125 | fn load() -> Result { 126 | Ok(ROMFuncs { 127 | connect_internal_flash: find_func(*b"IF")?, 128 | flash_exit_xip: find_func(*b"EX")?, 129 | flash_range_erase: find_func(*b"RE")?, 130 | flash_range_program: find_func(*b"RP")?, 131 | flash_flush_cache: find_func(*b"FC")?, 132 | flash_enter_cmd_xip: find_func(*b"CX")?, 133 | }) 134 | } 135 | } 136 | 137 | struct RP2Algo { 138 | funcs: ROMFuncs, 139 | } 140 | 141 | algorithm!(RP2Algo, { 142 | device_name: "Raspberry Pi RP2", 143 | device_type: DeviceType::ExtSpi, 144 | flash_address: 0x1000_0000, 145 | flash_size: 0x0100_0000, 146 | page_size: 0x100, 147 | empty_value: 0xFF, 148 | program_time_out: 500, // 500 ms 149 | erase_time_out: 5000, // 5 s 150 | sectors: [{ 151 | size: 0x1000, 152 | address: 0x10000000, 153 | }] 154 | }); 155 | 156 | const BLOCK_SIZE: u32 = 65536; 157 | const SECTOR_SIZE: u32 = 4096; 158 | const BLOCK_ERASE_CMD: u8 = 0xd8; 159 | 160 | impl FlashAlgorithm for RP2Algo { 161 | fn new(_address: u32, _clock: u32, _function: Function) -> Result { 162 | let funcs = ROMFuncs::load()?; 163 | (funcs.connect_internal_flash)(); 164 | (funcs.flash_exit_xip)(); 165 | Ok(Self { funcs }) 166 | } 167 | 168 | fn erase_sector(&mut self, addr: u32) -> Result<(), ErrorCode> { 169 | (self.funcs.flash_range_erase)( 170 | addr - FlashDevice.dev_addr, 171 | SECTOR_SIZE, 172 | BLOCK_SIZE, 173 | BLOCK_ERASE_CMD, 174 | ); 175 | Ok(()) 176 | } 177 | 178 | fn program_page(&mut self, addr: u32, data: &[u8]) -> Result<(), ErrorCode> { 179 | (self.funcs.flash_range_program)( 180 | addr - FlashDevice.dev_addr, 181 | data.as_ptr(), 182 | data.len() as u32, 183 | ); 184 | Ok(()) 185 | } 186 | } 187 | 188 | impl Drop for RP2Algo { 189 | fn drop(&mut self) { 190 | (self.funcs.flash_flush_cache)(); 191 | (self.funcs.flash_enter_cmd_xip)(); 192 | } 193 | } 194 | --------------------------------------------------------------------------------