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Feat/improve linker scripts #640

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4a50acd
feat(Linker Script): Reorganize + Small improvements to the FLASH.ld
FoniksFox May 2, 2026
da9ba24
feat(Linker Scripts): Add .dtcm_rodata section
FoniksFox May 2, 2026
8ff88b0
feat(Linker Script)!: Apply all use cases + macros
FoniksFox May 3, 2026
a573632
feat(Reset_Handler): Call extern BoardInit() function for early hardw…
FoniksFox May 3, 2026
9e7670b
fix(LinkerScript): Provide needed symbols
FoniksFox May 4, 2026
8cedb99
feat(System): Move System.c to ST-LIB
FoniksFox May 4, 2026
5570659
style(BoardInit): Comments
FoniksFox May 4, 2026
219a5db
feat(ST-LIB): Add constexpr to instance_of()
FoniksFox May 4, 2026
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1 change: 1 addition & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -414,6 +414,7 @@ add_library(${STLIB_LIBRARY} OBJECT
$<$<AND:$<BOOL:${CMAKE_CROSSCOMPILING}>,$<BOOL:${USE_ETHERNET}>>:${HALAL_C_ETH_PHY}>


$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${CMAKE_CURRENT_LIST_DIR}/System.c>
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${CPP_UTILITIES_C}>
$<$<BOOL:${CMAKE_CROSSCOMPILING}>:${CPP_UTILITIES_CPP}>

Expand Down
164 changes: 102 additions & 62 deletions Inc/HALAL/Models/MPU.hpp
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Expand Up @@ -42,41 +42,81 @@
#include "HALAL/Models/MPUManager/MPUManager.hpp"

// Defines for attributes
// Note1: Variables declared with these attributes will likely not be initialized by the startup
// Note2: These attributes can only be used for static/global variables
#define D1_NC __attribute__((section(".mpu_ram_d1_nc.user")))
#define D2_NC __attribute__((section(".mpu_ram_d2_nc.user")))
#define D3_NC __attribute__((section(".mpu_ram_d3_nc.user")))
#define D1_C __attribute__((section(".ram_d1.user")))
#define D2_C __attribute__((section(".ram_d2.user")))
#define D3_C __attribute__((section(".ram_d3.user")))

// Define for RAM code

// Initialized data in non-cached D1 RAM
#define D1_NC_DATA __attribute__((section(".ram_d1_nc.user.data")))
// Uninitialized data in non-cached D1 RAM
#define D1_NC_BSS __attribute__((section(".ram_d1_nc.user.bss")))
// Read-only data in non-cached D1 RAM (mainly for rx buffers) @note Not protected by MPU
#define D1_NC_RODATA __attribute__((section(".ram_d1_nc.user.rodata"))) const
// Initialized data in non-cached D2 RAM
#define D2_NC_DATA __attribute__((section(".ram_d2_nc.user.data")))
// Uninitialized data in non-cached D2 RAM
#define D2_NC_BSS __attribute__((section(".ram_d2_nc.user.bss")))
// Read-only data in non-cached D2 RAM (mainly for rx buffers) @note Not protected by MPU
#define D2_NC_RODATA __attribute__((section(".ram_d2_nc.user.rodata"))) const
// Initialized data in non-cached D3 RAM
#define D3_NC_DATA __attribute__((section(".ram_d3_nc.user.data")))
// Uninitialized data in non-cached D3 RAM
#define D3_NC_BSS __attribute__((section(".ram_d3_nc.user.bss")))
// Read-only data in non-cached D3 RAM (mainly for rx buffers) @note Not protected by MPU
#define D3_NC_RODATA __attribute__((section(".ram_d3_nc.user.rodata"))) const
// Initialized data in cached D1 RAM
#define D1_C_DATA __attribute__((section(".ram_d1.user.data")))
// Uninitialized data in cached D1 RAM
#define D1_C_BSS __attribute__((section(".ram_d1.user.bss")))
// Read-only data in cached D1 RAM (mainly for rx buffers) @note Not protected by MPU
#define D1_C_RODATA __attribute__((section(".ram_d1.user.rodata"))) const
// Initialized data in cached D2 RAM
#define D2_C_DATA __attribute__((section(".ram_d2.user.data")))
// Uninitialized data in cached D2 RAM
#define D2_C_BSS __attribute__((section(".ram_d2.user.bss")))
// Read-only data in cached D2 RAM (mainly for rx buffers) @note Not protected by MPU
#define D2_C_RODATA __attribute__((section(".ram_d2.user.rodata"))) const
// Initialized data in cached D3 RAM
#define D3_C_DATA __attribute__((section(".ram_d3.user.data")))
// Uninitialized data in cached D3 RAM
#define D3_C_BSS __attribute__((section(".ram_d3.user.bss")))
// Read-only data in cached D3 RAM (mainly for rx buffers) @note Not protected by MPU
#define D3_C_RODATA __attribute__((section(".ram_d3.user.rodata"))) const

// Functions living in ITCM for maximum performance (default is FLASH)
#define RAM_CODE __attribute__((section(".ram_code")))

// Constants in DTCM (default is FLASH because DTCM is small) @note Not protected by MPU
#define DTCM_RODATA __attribute__((section(".dtcm.rodata"))) const

// Retrocompatibility macros
#define D1_NC D1_NC_BSS
#define D2_NC D2_NC_BSS
#define D3_NC D3_NC_BSS
#define D1_C D1_C_BSS
#define D2_C D2_C_BSS
#define D3_C D3_C_BSS

// Memory Bank Symbols from Linker
extern "C" const char __itcm_base;
extern "C" const char __itcm_size;
extern "C" const char __dtcm_base;
extern "C" const char __dtcm_size;
extern "C" const char __flash_base;
extern "C" const char __flash_size;
extern "C" const char __ram_d1_base;
extern "C" const char __ram_d1_size;
extern "C" const char __ram_d2_base;
extern "C" const char __ram_d2_size;
extern "C" const char __ram_d3_base;
extern "C" const char __ram_d3_size;
extern "C" const char __peripheral_base;
extern "C" const char __peripheral_size;
extern "C" const char _itcm_base;
extern "C" const char _itcm_size;
extern "C" const char _dtcm_base;
extern "C" const char _dtcm_size;
extern "C" const char _flash_base;
extern "C" const char _flash_size;
extern "C" const char _ram_d1_base;
extern "C" const char _ram_d1_size;
extern "C" const char _ram_d2_base;
extern "C" const char _ram_d2_size;
extern "C" const char _ram_d3_base;
extern "C" const char _ram_d3_size;
extern "C" const char _peripheral_base;
extern "C" const char _peripheral_size;

// MPU Non-Cached Section Symbols from Linker
extern "C" const char __mpu_d1_nc_start;
extern "C" const char __mpu_d1_nc_end;
extern "C" const char __mpu_d2_nc_start;
extern "C" const char __mpu_d2_nc_end;
extern "C" const char __mpu_d3_nc_start;
extern "C" const char __mpu_d3_nc_end;
extern "C" const char _ram_d1_nc_start;
extern "C" const char _ram_d1_nc_end;
extern "C" const char _ram_d2_nc_start;
extern "C" const char _ram_d2_nc_end;
extern "C" const char _ram_d3_nc_start;
extern "C" const char _ram_d3_nc_end;

template <typename T>
concept mpu_buffer_request = requires(typename T::domain d) {
Expand Down Expand Up @@ -289,39 +329,39 @@ struct MPUDomain {
static constexpr auto Sizes = calculate_total_sizes(cfgs);

// Sections defined in Linker Script (aligned to 32 bytes just in case)
__attribute__((section(".mpu_ram_d1_nc.buffer"))) alignas(32
) static inline uint8_t d1_nc_buffer[Sizes.d1_nc_total > 0 ? Sizes.d1_nc_total : 1];
__attribute__((section(".ram_d1.buffer"))) alignas(32
) static inline uint8_t d1_c_buffer[Sizes.d1_c_total > 0 ? Sizes.d1_c_total : 1];
__attribute__((section(".ram_d1_nc.buffer"))) alignas(32)
static inline uint8_t d1_nc_buffer[Sizes.d1_nc_total > 0 ? Sizes.d1_nc_total : 1];
__attribute__((section(".ram_d1.buffer"))) alignas(32)
static inline uint8_t d1_c_buffer[Sizes.d1_c_total > 0 ? Sizes.d1_c_total : 1];

__attribute__((section(".mpu_ram_d2_nc.buffer"))) alignas(32
) static inline uint8_t d2_nc_buffer[Sizes.d2_nc_total > 0 ? Sizes.d2_nc_total : 1];
__attribute__((section(".ram_d2.buffer"))) alignas(32
) static inline uint8_t d2_c_buffer[Sizes.d2_c_total > 0 ? Sizes.d2_c_total : 1];
__attribute__((section(".ram_d2_nc.buffer"))) alignas(32)
static inline uint8_t d2_nc_buffer[Sizes.d2_nc_total > 0 ? Sizes.d2_nc_total : 1];
__attribute__((section(".ram_d2.buffer"))) alignas(32)
static inline uint8_t d2_c_buffer[Sizes.d2_c_total > 0 ? Sizes.d2_c_total : 1];

__attribute__((section(".mpu_ram_d3_nc.buffer"))) alignas(32
) static inline uint8_t d3_nc_buffer[Sizes.d3_nc_total > 0 ? Sizes.d3_nc_total : 1];
__attribute__((section(".ram_d3.buffer"))) alignas(32
) static inline uint8_t d3_c_buffer[Sizes.d3_c_total > 0 ? Sizes.d3_c_total : 1];
__attribute__((section(".ram_d3_nc.buffer"))) alignas(32)
static inline uint8_t d3_nc_buffer[Sizes.d3_nc_total > 0 ? Sizes.d3_nc_total : 1];
__attribute__((section(".ram_d3.buffer"))) alignas(32)
static inline uint8_t d3_c_buffer[Sizes.d3_c_total > 0 ? Sizes.d3_c_total : 1];

static void init() {
HAL_MPU_Disable();
configure_static_regions();

// Dynamic Configuration based on Linker Symbols
configure_dynamic_region(
reinterpret_cast<uintptr_t>(&__mpu_d1_nc_start),
reinterpret_cast<uintptr_t>(&__mpu_d1_nc_end),
reinterpret_cast<uintptr_t>(&_ram_d1_nc_start),
reinterpret_cast<uintptr_t>(&_ram_d1_nc_end),
MPU_REGION_NUMBER3
);
configure_dynamic_region(
reinterpret_cast<uintptr_t>(&__mpu_d2_nc_start),
reinterpret_cast<uintptr_t>(&__mpu_d2_nc_end),
reinterpret_cast<uintptr_t>(&_ram_d2_nc_start),
reinterpret_cast<uintptr_t>(&_ram_d2_nc_end),
MPU_REGION_NUMBER5
);
configure_dynamic_region(
reinterpret_cast<uintptr_t>(&__mpu_d3_nc_start),
reinterpret_cast<uintptr_t>(&__mpu_d3_nc_end),
reinterpret_cast<uintptr_t>(&_ram_d3_nc_start),
reinterpret_cast<uintptr_t>(&_ram_d3_nc_end),
MPU_REGION_NUMBER7
);

Expand Down Expand Up @@ -395,8 +435,8 @@ struct MPUDomain {
// Peripherals (Device, Buffered)
// Guarded against speculative execution and cache
configure_region(
reinterpret_cast<uintptr_t>(&__peripheral_base),
reinterpret_cast<size_t>(&__peripheral_size),
reinterpret_cast<uintptr_t>(&_peripheral_base),
reinterpret_cast<size_t>(&_peripheral_size),
MPU_REGION_NUMBER8,
MPU_TEX_LEVEL0,
MPU_REGION_FULL_ACCESS,
Expand All @@ -410,8 +450,8 @@ struct MPUDomain {
// TEX=0, C=1, B=0: Normal, Write-Through, No Read-Allocate (Read optimized)
// Not Shareable to allow full caching
configure_region(
reinterpret_cast<uintptr_t>(&__flash_base),
reinterpret_cast<size_t>(&__flash_size),
reinterpret_cast<uintptr_t>(&_flash_base),
reinterpret_cast<size_t>(&_flash_size),
MPU_REGION_NUMBER1,
MPU_TEX_LEVEL0,
MPU_REGION_FULL_ACCESS,
Expand All @@ -425,8 +465,8 @@ struct MPUDomain {
// TEX=1, C=1, B=1: Normal, Write-Back, Write and Read Allocate
// TCMs are like Cache, so they are not really cacheable, and the MPU settings are ignored
configure_region(
reinterpret_cast<uintptr_t>(&__dtcm_base),
reinterpret_cast<size_t>(&__dtcm_size),
reinterpret_cast<uintptr_t>(&_dtcm_base),
reinterpret_cast<size_t>(&_dtcm_size),
MPU_REGION_NUMBER10,
MPU_TEX_LEVEL1,
MPU_REGION_FULL_ACCESS,
Expand All @@ -440,8 +480,8 @@ struct MPUDomain {
// TEX=0, C=1, B=0: Normal, Write-Through, No Read-Allocate (Read optimized)
// TCMs are like Cache, so they are not really cacheable, and the MPU settings are ignored
configure_region(
reinterpret_cast<uintptr_t>(&__itcm_base),
reinterpret_cast<size_t>(&__itcm_size),
reinterpret_cast<uintptr_t>(&_itcm_base),
reinterpret_cast<size_t>(&_itcm_size),
MPU_REGION_NUMBER11,
MPU_TEX_LEVEL0,
MPU_REGION_FULL_ACCESS,
Expand All @@ -455,8 +495,8 @@ struct MPUDomain {
// TEX=1, C=1, B=1: Normal, Write-Back, Write-Allocate
// Shareable since it can be accessed by multiple masters (CPU, DMA, etc)
configure_region(
reinterpret_cast<uintptr_t>(&__ram_d1_base),
reinterpret_cast<size_t>(&__ram_d1_size),
reinterpret_cast<uintptr_t>(&_ram_d1_base),
reinterpret_cast<size_t>(&_ram_d1_size),
MPU_REGION_NUMBER2,
MPU_TEX_LEVEL1,
MPU_REGION_FULL_ACCESS,
Expand All @@ -470,8 +510,8 @@ struct MPUDomain {
// TEX=1, C=1, B=1: Normal, Write-Back, Write-Allocate
// Shareable since it can be accessed by multiple masters (CPU, DMA, etc)
configure_region(
reinterpret_cast<uintptr_t>(&__ram_d2_base),
reinterpret_cast<size_t>(&__ram_d2_size),
reinterpret_cast<uintptr_t>(&_ram_d2_base),
reinterpret_cast<size_t>(&_ram_d2_size),
MPU_REGION_NUMBER4,
MPU_TEX_LEVEL1,
MPU_REGION_FULL_ACCESS,
Expand All @@ -485,8 +525,8 @@ struct MPUDomain {
// TEX=1, C=1, B=1: Normal, Write-Back, Write-Allocate
// Shareable since it can be accessed by multiple masters (CPU, DMA, etc)
configure_region(
reinterpret_cast<uintptr_t>(&__ram_d3_base),
reinterpret_cast<size_t>(&__ram_d3_size),
reinterpret_cast<uintptr_t>(&_ram_d3_base),
reinterpret_cast<size_t>(&_ram_d3_size),
MPU_REGION_NUMBER6,
MPU_TEX_LEVEL1,
MPU_REGION_FULL_ACCESS,
Expand Down
17 changes: 16 additions & 1 deletion Inc/ST-LIB.hpp
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Expand Up @@ -321,7 +321,7 @@ template <auto&... devs> struct Board {
}
}

template <auto& Target> static auto& instance_of() {
template <auto& Target> static constexpr auto& instance_of() {
using DevT = std::remove_cvref_t<decltype(Target)>;
using Domain = typename DevT::domain;

Expand All @@ -342,3 +342,18 @@ template <auto&... devs> struct Board {
};

} // namespace ST_LIB

#ifdef __cplusplus
extern "C" {
#endif

/**
* @brief This is a function that gets called early in the startup process,
* before the global constructors and main() are called.
* It is responsible for initializing the hardware and peripherals
*/
void BoardInit(void);

#ifdef __cplusplus
}
#endif
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