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The following commit(s) were added to refs/heads/master by this push:
new 52d1877e2e boards/arm/rp23xx/common: update board reset via BOOTROM
functions
52d1877e2e is described below
commit 52d1877e2e7eea622060855e5806e13c39e6111d
Author: Serg Podtynnyi <s...@podtynnyi.com>
AuthorDate: Thu Aug 28 15:25:32 2025 +0700
boards/arm/rp23xx/common: update board reset via BOOTROM functions
Update board reset with BOOTROM functions calls
- normal reboot
- reboot to bootloader
normal reboot and reboot bootloader now possible from nsh
Port of https://github.com/apache/nuttx/pull/16848
Signed-off-by: Serg Podtynnyi <s...@podtynnyi.com>
---
arch/arm/src/rp23xx/rp23xx_rom.h | 97 ++++++++++++++++++-----------
boards/arm/rp23xx/common/src/rp23xx_reset.c | 22 ++++++-
2 files changed, 82 insertions(+), 37 deletions(-)
diff --git a/arch/arm/src/rp23xx/rp23xx_rom.h b/arch/arm/src/rp23xx/rp23xx_rom.h
index 27eb739c07..0b67668cfe 100644
--- a/arch/arm/src/rp23xx/rp23xx_rom.h
+++ b/arch/arm/src/rp23xx/rp23xx_rom.h
@@ -78,53 +78,78 @@
/* reserved for 32-bit pointer: 0x0008 */
#define RT_FLAG_FUNC_ARM_NONSEC 0x0010
+#define BOOTROM_WELL_KNOWN_PTR_SIZE 2
#define BOOTROM_FUNC_TABLE_OFFSET 0x14
-
-#define BOOTROM_IS_A2() ((*(volatile uint8_t *)0x13) == 2)
-#define BOOTROM_WELL_KNOWN_PTR_SIZE (BOOTROM_IS_A2() ? 2 : 4)
-
-#if defined(__riscv)
-#define BOOTROM_ENTRY_OFFSET 0x7dfc
-#define BOOTROM_TABLE_LOOKUP_ENTRY_OFFSET (BOOTROM_ENTRY_OFFSET -
BOOTROM_WELL_KNOWN_PTR_SIZE)
-#define BOOTROM_TABLE_LOOKUP_OFFSET (BOOTROM_ENTRY_OFFSET -
BOOTROM_WELL_KNOWN_PTR_SIZE*2)
-#else
#define BOOTROM_VTABLE_OFFSET 0x00
#define BOOTROM_TABLE_LOOKUP_OFFSET (BOOTROM_FUNC_TABLE_OFFSET +
BOOTROM_WELL_KNOWN_PTR_SIZE)
-#endif
#define ROM_TABLE_CODE(c1, c2) ((c1) | ((c2) << 8))
+#define REBOOT2_TYPE_MASK 0x0f
+
+/* note these match REBOOT_TYPE */
+
+/* values 0-7 are secure/non-secure */
+#define REBOOT2_FLAG_REBOOT_TYPE_NORMAL 0x0 /* param0 = diagnostic
partition */
+#define REBOOT2_FLAG_REBOOT_TYPE_BOOTSEL 0x2 /* param0 = gpio_pin_number,
param1 = flags */
+#define REBOOT2_FLAG_REBOOT_TYPE_RAM_IMAGE 0x3 /* param0 =
image_region_base, param1 = image_region_size */
+#define REBOOT2_FLAG_REBOOT_TYPE_FLASH_UPDATE 0x4 /* param0 = update_base */
+
+/* values 8-15 are secure only */
+#define REBOOT2_FLAG_REBOOT_TYPE_PC_SP 0xd
+
+#define REBOOT2_FLAG_REBOOT_TO_ARM 0x10
+#define REBOOT2_FLAG_REBOOT_TO_RISCV 0x20
+
+#define REBOOT2_FLAG_NO_RETURN_ON_SUCCESS 0x100
+
+#define BOOTSEL_FLAG_DISABLE_MSD_INTERFACE 0x01
+#define BOOTSEL_FLAG_DISABLE_PICOBOOT_INTERFACE 0x02
+#define BOOTSEL_FLAG_GPIO_PIN_ACTIVE_LOW 0x10
+#define BOOTSEL_FLAG_GPIO_PIN_SPECIFIED 0x20
+
+#define PICOBOOT_GET_INFO_SYS 1
+#define PICOBOOT_GET_INFO_PARTTION_TABLE 2
+#define PICOBOOT_GET_INFO_UF2_TARGET_PARTITION 3
+#define PICOBOOT_GET_INFO_UF2_STATUS 4
+
+#define UF2_STATUS_IGNORED_FAMILY 0x01
+#define UF2_STATUS_ABORT_EXCLUSIVELY_LOCKED 0x10
+#define UF2_STATUS_ABORT_BAD_ADDRESS 0x20
+#define UF2_STATUS_ABORT_WRITE_ERROR 0x40
+#define UF2_STATUS_ABORT_REBOOT_FAILED 0x80
+
/****************************************************************************
* Public Type Definitions
****************************************************************************/
+static bool pico_processor_state_is_nonsecure(void)
+{
+ uint32_t tt;
+ __asm volatile (
+ "movs %0, #0\n"
+ "tt %0, %0\n"
+ : "=r" (tt) : : "cc"
+ );
+ return !(tt & (1u << 22));
+}
+
typedef void *(*rom_table_lookup_fn)(uint32_t code, uint32_t mask);
-static __inline void *rom_func_lookup(uint32_t code)
+typedef int (*rom_reboot_fn)(uint32_t flags, uint32_t delay_ms,
+ uint32_t p0, uint32_t p1);
+
+static void *rom_func_lookup(uint32_t code)
{
-#ifdef __riscv
- uint32_t rom_offset_adjust = rom_size_is_64k() ? 32 * 1024 : 0;
-
- /* on RISC-V the code (a jmp) is actually embedded in the table */
-
- rom_table_lookup_fn rom_table_lookup = (rom_table_lookup_fn) (uintptr_t)
- *(uint16_t *)(BOOTROM_TABLE_LOOKUP_ENTRY_OFFSET + rom_offset_adjust);
-
- return rom_table_lookup(code, RT_FLAG_FUNC_RISCV);
-#else
- /* on ARM the function pointer is stored in the table, so we dereference
- * it via lookup() rather than lookup_entry()
- */
-
- rom_table_lookup_fn rom_table_lookup = (rom_table_lookup_fn) (uintptr_t)
- *(uint16_t *)(BOOTROM_TABLE_LOOKUP_OFFSET);
- if (pico_processor_state_is_nonsecure())
- {
- return rom_table_lookup(code, RT_FLAG_FUNC_ARM_NONSEC);
- }
- else
- {
- return rom_table_lookup(code, RT_FLAG_FUNC_ARM_SEC);
- }
-#endif
+ rom_table_lookup_fn rom_table_lookup = (rom_table_lookup_fn)(uintptr_t)
+ *(uint16_t *)(BOOTROM_TABLE_LOOKUP_OFFSET);
+
+ if (pico_processor_state_is_nonsecure())
+ {
+ return rom_table_lookup(code, RT_FLAG_FUNC_ARM_NONSEC);
+ }
+ else
+ {
+ return rom_table_lookup(code, RT_FLAG_FUNC_ARM_SEC);
+ }
}
diff --git a/boards/arm/rp23xx/common/src/rp23xx_reset.c
b/boards/arm/rp23xx/common/src/rp23xx_reset.c
index f44fdaf02e..6f58121875 100644
--- a/boards/arm/rp23xx/common/src/rp23xx_reset.c
+++ b/boards/arm/rp23xx/common/src/rp23xx_reset.c
@@ -25,6 +25,9 @@
#include <nuttx/config.h>
#include <nuttx/board.h>
#include <nuttx/arch.h>
+#include "debug.h"
+
+#include "rp23xx_rom.h"
#ifdef CONFIG_BOARDCTL_RESET
@@ -54,7 +57,24 @@
int board_reset(int status)
{
- up_systemreset();
+ syslog(LOG_INFO, "reboot status=%d\n", status);
+
+ rom_reboot_fn reboot = (rom_reboot_fn)rom_func_lookup(ROM_FUNC_REBOOT);
+
+ if (status == 3)
+ {
+ reboot(REBOOT2_FLAG_REBOOT_TYPE_BOOTSEL |
+ REBOOT2_FLAG_NO_RETURN_ON_SUCCESS,
+ 10, 0, 0);
+ }
+ else
+ {
+ up_systemreset();
+ }
+
+ /* Wait for the reset */
+
+ for (; ; );
return 0;
}
