Adding BOOTLOADER option to support Robotis bootloader different ROM

Signed-off-by: Grégoire Passault <g.passault@gmail.com>

7 files changed, 34 insertions, 1 deletions

diff --git a/Makefile b/Makefile
index 1f19f37..80653a7 100644
--- a/Makefile
+++ b/Makefile
@@ -32,6 +32,9 @@ BOARD_INCLUDE_DIR := $(MAKEDIR)/board-includes
 BOARD ?= maple
 MEMORY_TARGET ?= flash
 
+# Chooses the bootloader, available: maple and robotis
+BOOTLOADER ?= maple
+
 # $(BOARD)- and $(MEMORY_TARGET)-specific configuration
 include $(MAKEDIR)/target-config.mk
 
@@ -56,7 +59,8 @@ TARGET_FLAGS    += -I$(LIBMAPLE_PATH)/include/libmaple                       \
 TARGET_FLAGS += -I$(LIBRARIES_PATH) # for internal lib. includes, e.g. <Wire/WireBase.h>
 GLOBAL_CFLAGS   := -Os -g3 -gdwarf-2 -nostdlib \
                    -ffunction-sections -fdata-sections \
-		   -Wl,--gc-sections $(TARGET_FLAGS)
+		   -Wl,--gc-sections $(TARGET_FLAGS) \
+		   -DBOOTLOADER_$(BOOTLOADER)
 GLOBAL_CXXFLAGS := -fno-rtti -fno-exceptions -Wall $(TARGET_FLAGS)
 GLOBAL_ASFLAGS  := -x assembler-with-cpp $(TARGET_FLAGS)
 LDFLAGS  = $(TARGET_LDFLAGS) $(TOOLCHAIN_LDFLAGS) -mcpu=cortex-m3 -mthumb \
diff --git a/support/ld/stm32/mem/sram_20k_flash_128k_robotis/mem-flash.inc b/support/ld/stm32/mem/sram_20k_flash_128k_robotis/mem-flash.inc
new file mode 100644
index 0000000..2c03ea9
--- /dev/null
+++ b/support/ld/stm32/mem/sram_20k_flash_128k_robotis/mem-flash.inc
@@ -0,0 +1,5 @@
+MEMORY
+{
+  ram (rwx) : ORIGIN = 0x20000C00, LENGTH = 17K
+  rom (rx)  : ORIGIN = 0x08003000, LENGTH = 108K
+}
diff --git a/support/ld/stm32/mem/sram_20k_flash_128k_robotis/mem-jtag.inc b/support/ld/stm32/mem/sram_20k_flash_128k_robotis/mem-jtag.inc
new file mode 100644
index 0000000..20fbec0
--- /dev/null
+++ b/support/ld/stm32/mem/sram_20k_flash_128k_robotis/mem-jtag.inc
@@ -0,0 +1,5 @@
+MEMORY
+{
+  ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+  rom (rx)  : ORIGIN = 0x08000000, LENGTH = 128K
+}
diff --git a/support/ld/stm32/mem/sram_20k_flash_128k_robotis/mem-ram.inc b/support/ld/stm32/mem/sram_20k_flash_128k_robotis/mem-ram.inc
new file mode 100644
index 0000000..f02453b
--- /dev/null
+++ b/support/ld/stm32/mem/sram_20k_flash_128k_robotis/mem-ram.inc
@@ -0,0 +1,5 @@
+MEMORY
+{
+  ram (rwx) : ORIGIN = 0x20000C00, LENGTH = 17K
+  rom (rx)  : ORIGIN = 0x08005000, LENGTH = 0K
+}
diff --git a/support/make/board-includes/cm900.mk b/support/make/board-includes/cm900.mk
index f9a09ac..9f70a1b 100644
--- a/support/make/board-includes/cm900.mk
+++ b/support/make/board-includes/cm900.mk
@@ -7,4 +7,9 @@ MCU_F1_LINE := performance
 # This crap is due to ld-script limitations. If you know of a better
 # way to go about this (like some magic ld switches to specify MEMORY
 # at the command line), please tell us!
+ifeq ($(BOOTLOADER),maple)
 LD_MEM_DIR := sram_20k_flash_128k
+endif
+ifeq ($(BOOTLOADER),robotis)
+LD_MEM_DIR := sram_20k_flash_128k_robotis
+endif
diff --git a/support/make/board-includes/opencm904.mk b/support/make/board-includes/opencm904.mk
index f3a4aa7..64d3351 100644
--- a/support/make/board-includes/opencm904.mk
+++ b/support/make/board-includes/opencm904.mk
@@ -7,4 +7,9 @@ MCU_F1_LINE := performance
 # This crap is due to ld-script limitations. If you know of a better
 # way to go about this (like some magic ld switches to specify MEMORY
 # at the command line), please tell us!
+ifeq ($(BOOTLOADER),maple)
 LD_MEM_DIR := sram_20k_flash_128k
+endif
+ifeq ($(BOOTLOADER),robotis)
+LD_MEM_DIR := sram_20k_flash_128k_robotis
+endif
diff --git a/wirish/boards.cpp b/wirish/boards.cpp
index a693fa6..77a05de 100644
--- a/wirish/boards.cpp
+++ b/wirish/boards.cpp
@@ -144,7 +144,11 @@ static void setup_clocks(void) {
  * present. If no bootloader is present, the user NVIC usually starts
  * at the Flash base address, 0x08000000.
  */
+#if defined(BOOTLOADER_maple)
 #define USER_ADDR_ROM 0x08005000
+#elif defined(BOOTLOADER_robotis)
+#define USER_ADDR_ROM 0x08003000
+#endif
 #define USER_ADDR_RAM 0x20000C00
 extern char __text_start__;