Introduce Rust FSBL

scripts/memory_ddr.x

@@ -0,0 +1,22 @@
+MEMORY
+{
+  /* Zedboard: 512 MB DDR3. Only use 63 MB for now, should be plenty for a bare-metal app.
+  Leave 1 MB of memory which will be configured as uncached device memory by the MMU. This is
+  recommended for something like DMA descriptors. */
+  CODE(rx) : ORIGIN = 0x00100000, LENGTH = 63M
+  UNCACHED(rx): ORIGIN = 0x4000000, LENGTH = 1M
+}
+
+REGION_ALIAS("DATA", CODE);
+
+SECTIONS
+{
+  /* Uncached memory */
+  .uncached (NOLOAD) : ALIGN(4) {
+    . = ALIGN(4);
+    _sbss_uncached = .;
+    *(.uncached .uncached.*);
+    . = ALIGN(4);
+    _ebss_uncached = .;
+  } > UNCACHED
+}

scripts/memory_ocm.x

@@ -0,0 +1,24 @@
+MEMORY
+{
+  /* The Zynq7000 has 192 kB of OCM memory which can be used for the FSBL */
+  CODE(rx) : ORIGIN = 0x00000000, LENGTH = 192K
+  OCM_UPPER(rx): ORIGIN = 0xFFFF0000, LENGTH = 64K
+  /* Leave 1 MB of memory which will be configured as uncached device memory by the MMU. This can
+  be used for something like DMA descriptors, but the DDR needs to be set up first in addition
+  to configuring the page at address 0x400_0000 accordingly */
+  UNCACHED(rx): ORIGIN = 0x4000000, LENGTH = 1M
+}
+
+REGION_ALIAS("DATA", CODE);
+
+SECTIONS
+{
+  /* Uncached memory */
+  .uncached (NOLOAD) : ALIGN(4) {
+    . = ALIGN(4);
+    _sbss_uncached = .;
+    *(.uncached .uncached.*);
+    . = ALIGN(4);
+    _ebss_uncached = .;
+  } > UNCACHED
+}

scripts/xsct-flasher.tcl

@@ -0,0 +1,144 @@
+if {[info exists env(ip_address_hw_server)]} {
+  set ip $env(ip_address_hw_server)
+} else {
+  set ip "localhost"
+}
+
+# Defaults
+set init_tcl ""
+set app ""
+set bitstream ""
+
+# Usage helper
+proc usage {} {
+  puts "Usage: xsct xsct-helper.tcl <init.tcl> \[-a|--app app.elf\] \[-b|--bit design.bit]"
+  puts "Options:"
+  puts "  -a, --app    Path to application ELF to download"
+  puts "  -b, --bit    Path to FPGA bitstream (.bit) to program"
+  puts "  -h, --help   Show this help"
+}
+
+# Compact, robust parser
+set expecting ""
+set endopts 0
+foreach arg $argv {
+  # If previous option expects a value, take this arg
+  if {$expecting ne ""} {
+    set $expecting $arg
+    set expecting ""
+    continue
+  }
+
+  # Option handling (until we see --)
+  if {!$endopts && [string match "-*" $arg]} {
+    if {$arg eq "--"} { set endopts 1; continue }
+    if {$arg eq "-h" || $arg eq "--help"} { usage; exit 0 }
+    if {$arg eq "-a" || $arg eq "--app"} { set expecting app; continue }
+    if {$arg eq "-b" || $arg eq "--bit"} { set expecting bitstream; continue }
+    puts "error: unknown option: $arg"; usage; exit 1
+  }
+
+  # Positional: expect only <init.tcl>
+  if {$init_tcl eq ""} {
+    set init_tcl $arg
+  } else {
+    puts "error: unexpected positional argument: $arg"
+    usage
+    exit 1
+  }
+}
+
+# Validate required init script
+if {$init_tcl eq ""} {
+  puts "error: missing required first argument pointing to initialization TCL script"
+  usage
+  exit 1
+}
+if {![file exists $init_tcl]} {
+  puts "error: the PS init tcl script '$init_tcl' does not exist"
+  exit 1
+}
+
+# Resolve app: CLI takes precedence over env(APP)
+if {$app ne ""} {
+  if {![file exists $app]} {
+    puts "error: the app file '$app' does not exist"
+    exit 1
+  }
+} elseif {[info exists env(APP)]} {
+  if {[file exists $env(APP)]} {
+    set app $env(APP)
+  } else {
+    puts "warning: APP environment variable is set but file does not exist: $env(APP)"
+  }
+}
+
+# Validate bitstream if provided
+if {$bitstream ne "" && ![file exists $bitstream]} {
+  puts "error: the bitstream file '$bitstream' does not exist"
+  exit 1
+}
+
+puts "Hardware server IP address: $ip"
+connect -url tcp:$ip:3121
+
+set devices [targets]
+
+set apu_line [string trim [targets -nocase -filter {name =~ "APU"}]]
+set arm_core_0_line [string trim [targets -nocase -filter {name =~ "ARM Cortex-A9 MPCore #0"}]]
+set fpga_line [string trim [targets -nocase -filter {name =~ "xc7z020"}]]
+
+set apu_device_num [string index $apu_line 0]
+set arm_core_0_num [string index $arm_core_0_line 0]
+set fpga_device_num [string index $fpga_line 0]
+
+puts "Select ps target with number: $apu_device_num"
+
+# Select the target
+target $apu_device_num
+
+# Resetting the target involved problems when an image is stored on the flash.
+# It has turned out that it is not essential to reset the system before loading
+# the software components into the device.
+puts "Reset target"
+# TODO: Make the reset optional/configurable via input argument.
+# Reset the target
+rst
+
+# Check if bitstream is set and the file exists before programming FPGA
+if {$bitstream eq ""} {
+    puts "Skipping bitstream programming (bitstream argument not set)"
+} elseif {![file exists $bitstream]} {
+    puts "Error: The bitstream file '$bitstream' does not exist"
+} else {
+    puts "Set FPGA target with number: $fpga_device_num"
+    target $fpga_device_num
+
+    # Without this delay, the FPGA programming may fail
+    after 1500
+
+    puts "Programming FPGA with bitstream: $bitstream"
+    fpga -f $bitstream
+}
+
+puts "Set ps target with device number: $arm_core_0_num"
+targets $arm_core_0_num
+
+puts "Initialize processing system"
+# Init processing system
+source $init_tcl
+
+ps7_init
+ps7_post_config
+
+puts "Set arm core 0 target with number: $arm_core_0_num"
+target $arm_core_0_num
+
+if {$app ne ""} {
+  puts "Download app $app to target"
+  dow $app
+  puts "Starting app"
+  con
+}
+
+puts "Success"

scripts/xsct-init.tcl

@@ -1,86 +0,0 @@
-if {[info exists env(ip_address_hw_server)]} {
-  set ip $env(ip_address_hw_server)
-} else {
-  set ip "localhost"
-}
-
-set init_tcl ""
-if {[llength $argv] >= 1} {
-    set init_tcl [lindex $argv 0]
-} else {
-    puts "error: missing required first argument pointing to initialization TCL script"
-    exit 1
-}
-
-if {![file exists $init_tcl]} {
-  puts "the ps init tcl script '$init_tcl' does not exist"
-  exit 0
-}
-
-# parse command-line arguments
-set bitstream ""
-if {[llength $argv] >= 2} {
-    set bitstream [lindex $argv 1]
-}
-
-puts "Hardware server IP address: $ip"
-connect -url tcp:$ip:3121
-
-set devices [targets]
-
-set apu_line [string trim [targets -nocase -filter {name =~ "APU"}]]
-set arm_core_0_line [string trim [targets -nocase -filter {name =~ "ARM Cortex-A9 MPCore #0"}]]
-set fpga_line [string trim [targets -nocase -filter {name =~ "xc7z020"}]]
-
-set apu_device_num [string index $apu_line 0]
-set arm_core_0_num [string index $arm_core_0_line 0]
-set fpga_device_num [string index $fpga_line 0]
-
-puts "Select ps target with number: $apu_device_num"
-
-# Select the target
-target $apu_device_num
-
-# Resetting the target involved problems when an image is stored on the flash.
-# It has turned out that it is not essential to reset the system before loading
-# the software components into the device.
-puts "Reset target"
-# TODO: Make the reset optional/configurable via input argument.
-# Reset the target
-rst
-
-# Check if bitstream is set and the file exists before programming FPGA
-if {$bitstream eq ""} {
-    puts "Skipping bitstream programming (bitstream argument not set)"
-} elseif {![file exists $bitstream]} {
-    puts "Error: The bitstream file '$bitstream' does not exist"
-} else {
-    puts "Set FPGA target with number: $fpga_device_num"
-    target $fpga_device_num
-
-    # Without this delay, the FPGA programming may fail
-    after 1500
-
-    puts "Programming FPGA with bitstream: $bitstream"
-    fpga -f $bitstream
-}
-
-puts "Set ps target with device number: $arm_core_0_num"
-targets $arm_core_0_num
-
-puts "Initialize processing system"
-# Init processing system
-source $init_tcl
-
-ps7_init
-ps7_post_config
-
-puts "Set arm core 0 target with number: $arm_core_0_num"
-target $arm_core_0_num
-
-if {[info exists env(APP)] && [file exists $env(APP)]} {
-  puts "Download app $env(APP) to target"
-  dow $env(APP)
-}
-
-puts "Successful"

scripts/zynq7000-init.py

@@ -7,7 +7,7 @@ import sys
 from pathlib import Path
 
 # Define the default values
-TCL_SCRIPT_NAME = "xsct-init.tcl"
+TCL_SCRIPT_NAME = "xsct-flasher.tcl"
 SCRIPTS_DIR = "scripts"
 DEFAULT_IP_ADDRESS_HW_SERVER = "localhost"
 
@@ -55,7 +55,7 @@ def main():
         default=os.getenv("TCL_INIT_SCRIPT"),
         help="Path to the ps7 initialization TCL file to prepare the processing system.\n"
         "You can also set the TCL_INIT_SCRIPT env variable to set this.\n"
-        "It is also set implicitely when specifying the SDT folder with --sdt"
+        "It is also set implicitely when specifying the SDT folder with --sdt",
     )
     parser.add_argument(
         "-b",
@@ -63,7 +63,7 @@ def main():
         dest="bit",
         default=os.getenv("ZYNQ_BITSTREAM"),
         help="Optional path to the bitstream which will also be programed to the device. It is"
-        " also searched automatically if the --sdt option is used.\n"
+        " also searched automatically if the --sdt option is used.\n",
     )
 
     args = parser.parse_args()
@@ -91,9 +91,6 @@ def main():
         print(f"The app '{args.app}' does not exist")
         sys.exit(1)
 
-    # Export environment variables
-    if args.app:
-        os.environ["APP"] = args.app
     os.environ["IP_ADDRESS_HW_SERVER"] = args.ip
     init_tcl = None
     bitstream = None
@@ -136,7 +133,11 @@ def main():
     # Prepare tcl_args as a list to avoid manual string concatenation issues
     cmd_list = ["xsct", str(xsct_script), init_tcl]
     if bitstream:
+        cmd_list.append("--bit")
         cmd_list.append(bitstream)
+    if args.app:
+        cmd_list.append("--app")
+        cmd_list.append(args.app)
 
     # Join safely for shell execution
     xsct_cmd = shlex.join(cmd_list)