firmware: implement the new bootloader.

artiq/firmware/Cargo.lock

@@ -42,6 +42,17 @@ dependencies = [
  "log 0.3.8 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
+[[package]]
+name = "bootloader"
+version = "0.0.0"
+dependencies = [
+ "board 0.0.0",
+ "build_misoc 0.0.0",
+ "byteorder 1.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "crc 1.6.0 (git+git://github.com/whitequark/crc-rs?rev=51cd356)",
+ "rlibc 1.0.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
 [[package]]
 name = "build_artiq"
 version = "0.0.0"
@@ -49,6 +60,11 @@ dependencies = [
  "walkdir 1.0.7 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
+[[package]]
+name = "build_const"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
 [[package]]
 name = "build_misoc"
 version = "0.0.0"
@@ -77,6 +93,14 @@ name = "compiler_builtins"
 version = "0.1.0"
 source = "git+https://github.com/m-labs/compiler-builtins?rev=97916b1#97916b17ca542eac0524b8570c7d05913891a0dc"
 
+[[package]]
+name = "crc"
+version = "1.6.0"
+source = "git+git://github.com/whitequark/crc-rs?rev=51cd356#51cd3560aa9d3823061f2bb46797d8c61f4cfa9e"
+dependencies = [
+ "build_const 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
 [[package]]
 name = "cslice"
 version = "0.3.0"
@@ -175,6 +199,11 @@ dependencies = [
  "std_artiq 0.0.0",
 ]
 
+[[package]]
+name = "rlibc"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
 [[package]]
 name = "runtime"
 version = "0.0.0"
@@ -220,6 +249,7 @@ dependencies = [
  "board 0.0.0",
  "board_artiq 0.0.0",
  "build_artiq 0.0.0",
+ "build_misoc 0.0.0",
  "compiler_builtins 0.1.0 (git+https://github.com/rust-lang-nursery/compiler-builtins?rev=631b568)",
  "drtioaux 0.0.0",
  "log 0.3.8 (registry+https://github.com/rust-lang/crates.io-index)",
@@ -263,10 +293,12 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [metadata]
 "checksum bitflags 1.0.1 (registry+https://github.com/rust-lang/crates.io-index)" = "b3c30d3802dfb7281680d6285f2ccdaa8c2d8fee41f93805dba5c4cf50dc23cf"
+"checksum build_const 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "e90dc84f5e62d2ebe7676b83c22d33b6db8bd27340fb6ffbff0a364efa0cb9c9"
 "checksum byteorder 1.2.1 (registry+https://github.com/rust-lang/crates.io-index)" = "652805b7e73fada9d85e9a6682a4abd490cb52d96aeecc12e33a0de34dfd0d23"
 "checksum cc 1.0.3 (registry+https://github.com/rust-lang/crates.io-index)" = "a9b13a57efd6b30ecd6598ebdb302cca617930b5470647570468a65d12ef9719"
 "checksum compiler_builtins 0.1.0 (git+https://github.com/m-labs/compiler-builtins?rev=97916b1)" = "<none>"
 "checksum compiler_builtins 0.1.0 (git+https://github.com/rust-lang-nursery/compiler-builtins?rev=631b568)" = "<none>"
+"checksum crc 1.6.0 (git+git://github.com/whitequark/crc-rs?rev=51cd356)" = "<none>"
 "checksum cslice 0.3.0 (registry+https://github.com/rust-lang/crates.io-index)" = "0f8cb7306107e4b10e64994de6d3274bd08996a7c1322a27b86482392f96be0a"
 "checksum fringe 1.1.0 (git+https://github.com/m-labs/libfringe?rev=bd23494)" = "<none>"
 "checksum gcc 0.3.54 (registry+https://github.com/rust-lang/crates.io-index)" = "5e33ec290da0d127825013597dbdfc28bee4964690c7ce1166cbc2a7bd08b1bb"
@@ -275,6 +307,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 "checksum log 0.3.8 (registry+https://github.com/rust-lang/crates.io-index)" = "880f77541efa6e5cc74e76910c9884d9859683118839d6a1dc3b11e63512565b"
 "checksum log_buffer 1.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "ec57723b84bbe7bdf76aa93169c9b59e67473317c6de3a83cb2a0f8ccb2aa493"
 "checksum managed 0.4.0 (git+https://github.com/m-labs/rust-managed.git?rev=629a6786a1cf1692015f464ed16c04eafa5cb8d1)" = "<none>"
+"checksum rlibc 1.0.0 (registry+https://github.com/rust-lang/crates.io-index)" = "fc874b127765f014d792f16763a81245ab80500e2ad921ed4ee9e82481ee08fe"
 "checksum rustc-cfg 0.3.0 (registry+https://github.com/rust-lang/crates.io-index)" = "56a596b5718bf5e059d59a30af12f7f462a152de147aa462b70892849ee18704"
 "checksum same-file 0.1.3 (registry+https://github.com/rust-lang/crates.io-index)" = "d931a44fdaa43b8637009e7632a02adc4f2b2e0733c08caa4cf00e8da4a117a7"
 "checksum smoltcp 0.4.0 (git+https://github.com/m-labs/smoltcp?rev=507d2fe)" = "<none>"

artiq/firmware/Cargo.toml

@@ -1,2 +1,2 @@
 [workspace]
-members = ["runtime", "ksupport", "satman"]
+members = ["bootloader", "runtime", "ksupport", "satman"]

artiq/firmware/bootloader/Cargo.toml

@@ -0,0 +1,19 @@
+[package]
+authors = ["M-Labs"]
+name = "bootloader"
+version = "0.0.0"
+build = "build.rs"
+
+[lib]
+name = "bootloader"
+crate-type = ["staticlib"]
+path = "main.rs"
+
+[build-dependencies]
+build_misoc = { path = "../libbuild_misoc" }
+
+[dependencies]
+rlibc = "1.0"
+byteorder = { version = "1.0", default-features = false }
+crc = { git = "git://github.com/whitequark/crc-rs", rev = "51cd356", default-features = false }
+board = { path = "../libboard", features = ["uart_console"] }

artiq/firmware/bootloader/Makefile

@@ -0,0 +1,18 @@
+include ../include/generated/variables.mak
+include $(MISOC_DIRECTORY)/software/common.mak
+
+RUSTFLAGS += -Cpanic=abort
+
+all:: bootloader.bin
+
+.PHONY: $(RUSTOUT)/libbootloader.a
+$(RUSTOUT)/libbootloader.a:
+	$(cargo) --manifest-path $(BOOTLOADER_DIRECTORY)/Cargo.toml -- \
+		-Clto
+
+bootloader.elf: $(RUSTOUT)/libbootloader.a
+	$(link) -T $(BOOTLOADER_DIRECTORY)/bootloader.ld
+
+%.bin: %.elf
+	$(objcopy) -O binary
+	$(MSCIMG) $@

artiq/firmware/bootloader/bootloader.ld

@@ -0,0 +1,46 @@
+INCLUDE generated/output_format.ld
+INCLUDE generated/regions.ld
+ENTRY(_reset_handler)
+
+SECTIONS
+{
+  .vectors :
+  {
+    _begin = .;
+    *(.vectors)
+  } > rom
+
+  .text :
+  {
+    *(.text .text.*)
+  } > rom
+
+  .rodata :
+  {
+    *(.rodata.*)
+    . = ALIGN(4);
+    _end = .;
+  } > rom
+
+  .crc ALIGN(4) :
+  {
+    _crc = .;
+    . += 4;
+  }
+
+  .bss ALIGN(4) :
+  {
+    _fbss = .;
+    *(.bss .bss.*)
+    . = ALIGN(4);
+    _ebss = .;
+  } > sram
+
+  .stack :
+  {
+    /* Ensure we have a certain amount of space available for stack. */
+    . = ORIGIN(sram) + LENGTH(sram) - 0x800;
+    . = ORIGIN(sram) + LENGTH(sram) - 4;
+    _fstack = .;
+  } > sram
+}

artiq/firmware/bootloader/build.rs

@@ -0,0 +1,5 @@
+extern crate build_misoc;
+
+fn main() {
+    build_misoc::cfg();
+}

artiq/firmware/bootloader/main.rs

@@ -0,0 +1,171 @@
+#![no_std]
+#![feature(lang_items)]
+
+extern crate rlibc;
+extern crate crc;
+extern crate byteorder;
+#[macro_use]
+extern crate board;
+
+use core::{ptr, slice};
+use crc::crc32;
+use byteorder::{ByteOrder, BigEndian};
+use board::{boot, cache};
+use board::uart_console::Console;
+
+fn check_integrity() -> bool {
+    extern {
+        static _begin: u8;
+        static _end: u8;
+        static _crc: u32;
+    }
+
+    unsafe {
+        let length = &_end   as *const u8 as usize -
+                     &_begin as *const u8 as usize;
+        let bootloader = slice::from_raw_parts(&_begin as *const u8, length);
+        crc32::checksum_ieee(bootloader) == _crc
+    }
+}
+
+unsafe fn memory_test(total: &mut usize, wrong: &mut usize) -> bool {
+    const MEMORY: *mut u32 = board::mem::MAIN_RAM_BASE as *mut u32;
+
+    *total = 0;
+    *wrong = 0;
+
+    macro_rules! test {
+        (
+            $prepare:stmt;
+            for $i:ident in ($range:expr) {
+                MEMORY[$index:expr] = $data:expr
+            }
+        ) => ({
+            $prepare;
+            for $i in $range {
+                ptr::write_volatile(MEMORY.offset($index as isize), $data);
+                *total += 1;
+            }
+
+            cache::flush_cpu_dcache();
+            cache::flush_l2_cache();
+
+            $prepare;
+            for $i in $range {
+                if ptr::read_volatile(MEMORY.offset($index as isize)) != $data {
+                    *wrong += 1;
+                }
+            }
+        })
+    }
+
+    fn prng32(seed: &mut u32) -> u32 { *seed = 1664525 * *seed + 1013904223; *seed }
+    fn prng16(seed: &mut u16) -> u16 { *seed = 25173 * *seed + 13849; *seed }
+
+    // Test data bus
+    test!((); for i in (0..0x100) { MEMORY[i] = 0xAAAAAAAA });
+    test!((); for i in (0..0x100) { MEMORY[i] = 0x55555555 });
+
+    // Test counter addressing with random data
+    test!(let mut seed = 0;
+          for i in (0..0x100000) { MEMORY[i] = prng32(&mut seed) });
+
+    // Test random addressing with counter data
+    test!(let mut seed = 0;
+          for i in (0..0x10000) { MEMORY[prng16(&mut seed)] = i });
+
+    *wrong == 0
+}
+
+fn startup() -> bool {
+    if check_integrity() {
+        println!("Bootloader CRC passed");
+    } else {
+        println!("Bootloader CRC failed");
+        return false
+    }
+
+    println!("Initializing SDRAM...");
+
+    if unsafe { board::sdram::init(Some(&mut Console)) } {
+        println!("SDRAM initialized");
+    } else {
+        println!("SDRAM initialization failed");
+        return false
+    }
+
+    let (mut total, mut wrong) = (0, 0);
+    if unsafe { memory_test(&mut total, &mut wrong) } {
+        println!("Memory test passed");
+    } else {
+        println!("Memory test failed ({}/{} words incorrect)", wrong, total);
+        return false
+    }
+
+    true
+}
+
+unsafe fn flash_boot() {
+    const FIRMWARE: *mut u8 = board::mem::FLASH_BOOT_ADDRESS as *mut u8;
+    const MAIN_RAM: *mut u8 = board::mem::MAIN_RAM_BASE as *mut u8;
+
+    println!("Booting from flash...");
+
+    let header = slice::from_raw_parts(FIRMWARE, 8);
+    let length = BigEndian::read_u32(&header[0..]) as usize;
+    let expected_crc = BigEndian::read_u32(&header[4..]);
+
+    if length == 0xffffffff {
+        println!("No firmware present");
+        return
+    }
+
+    let firmware_in_flash = slice::from_raw_parts(FIRMWARE.offset(8), length);
+    let actual_crc = crc32::checksum_ieee(firmware_in_flash);
+
+    if actual_crc == expected_crc {
+        let firmware_in_sdram = slice::from_raw_parts_mut(MAIN_RAM, length);
+        firmware_in_sdram.copy_from_slice(firmware_in_flash);
+
+        println!("Starting firmware.");
+        boot::jump(MAIN_RAM as usize);
+    } else {
+        println!("Firmware CRC failed (actual {:08x}, expected {:08x}",
+                 actual_crc, expected_crc);
+    }
+}
+
+#[no_mangle]
+pub extern fn main() -> i32 {
+    println!("");
+    println!(r" __  __ _ ____         ____ ");
+    println!(r"|  \/  (_) ___|  ___  / ___|");
+    println!(r"| |\/| | \___ \ / _ \| |    ");
+    println!(r"| |  | | |___) | (_) | |___ ");
+    println!(r"|_|  |_|_|____/ \___/ \____|");
+    println!("");
+    println!("MiSoC Bootloader");
+    println!("Copyright (c) 2017 M-Labs Limited");
+    println!("");
+
+    if startup() {
+        println!("");
+        unsafe { flash_boot() };
+    } else {
+        println!("Halting.");
+    }
+
+    loop {}
+}
+
+#[no_mangle]
+pub extern fn exception(vect: u32, _regs: *const u32, pc: u32, ea: u32) {
+    panic!("exception {} at PC {:#08x}, EA {:#08x}", vect, pc, ea)
+}
+
+#[no_mangle]
+#[lang = "panic_fmt"]
+pub extern fn panic_fmt(args: core::fmt::Arguments, file: &'static str, line: u32) -> ! {
+    println!("panic at {}:{}: {}", file, line, args);
+    loop {}
+}

artiq/firmware/libboard/lib.rs

@@ -12,6 +12,7 @@ pub use arch::*;
 include!(concat!(env!("BUILDINC_DIRECTORY"), "/generated/mem.rs"));
 include!(concat!(env!("BUILDINC_DIRECTORY"), "/generated/csr.rs"));
 include!(concat!(env!("BUILDINC_DIRECTORY"), "/generated/sdram_phy.rs"));
+pub mod sdram;
 pub mod ident;
 pub mod clock;
 pub mod uart;

artiq/firmware/libboard/or1k/boot.rs

@@ -1,18 +1,26 @@
-use board::irq;
+use super::{irq, cache};
 
-pub unsafe fn reboot() -> ! {
+pub unsafe fn reset() -> ! {
     irq::set_ie(false);
-    #[cfg(target_arch="or1k")]
     asm!(r#"
-        l.j        _reset_handler
+        l.j     _reset_handler
-        l.nop
+         l.nop
     "# : : : : "volatile");
     loop {}
 }
 
-pub unsafe fn hotswap(new_code: &[u8]) -> ! {
+pub unsafe fn jump(addr: usize) -> ! {
+    irq::set_ie(false);
+    cache::flush_cpu_icache();
+    asm!(r#"
+        l.jr    $0
+         l.nop
+    "# : : "r"(addr) : : "volatile");
+    loop {}
+}
+
+pub unsafe fn hotswap(firmware: &[u8]) -> ! {
     irq::set_ie(false);
-    #[cfg(target_arch="or1k")]
     asm!(r#"
         # This loop overwrites itself, but it's structured in such a way
         # that before that happens, it loads itself into I$$ fully.
@@ -21,20 +29,20 @@ pub unsafe fn hotswap(new_code: &[u8]) -> ! {
         l.or       r7, r4, r0
     0:  l.sfnei    r5, 0
         l.bf       1f
-        l.nop
+         l.nop
         l.jr       r7
-        l.nop
+         l.nop
     1:  l.lwz      r6, 0(r3)
         l.sw       0(r4), r6
         l.addi     r3, r3, 4
         l.addi     r4, r4, 4
         l.addi     r5, r5, -4
         l.bf       0b
-        l.nop
+         l.nop
     "#
     :
-    : "{r3}"(new_code.as_ptr() as usize),
+    : "{r3}"(firmware.as_ptr() as usize),
-      "{r5}"(new_code.len())
+      "{r5}"(firmware.len())
     :
     : "volatile");
     loop {}

artiq/firmware/libboard/or1k/mod.rs

@@ -1,3 +1,4 @@
 pub mod spr;
 pub mod irq;
 pub mod cache;
+pub mod boot;

artiq/firmware/libboard/sdram.rs

@@ -0,0 +1,271 @@
+#[cfg(has_ddrphy)]
+mod ddr {
+    use core::{ptr, fmt};
+    use core::cell::Cell;
+    use csr::{dfii, ddrphy};
+    use sdram_phy::{self, spin_cycles};
+    use sdram_phy::{DFII_COMMAND_CS, DFII_COMMAND_WE, DFII_COMMAND_CAS, DFII_COMMAND_RAS,
+                    DFII_COMMAND_WRDATA, DFII_COMMAND_RDDATA};
+    use sdram_phy::{DFII_NPHASES, DFII_PIX_DATA_SIZE, DFII_PIX_WRDATA_ADDR, DFII_PIX_RDDATA_ADDR};
+
+    unsafe fn enable_write_leveling(enabled: bool) {
+        dfii::pi0_address_write(sdram_phy::DDR3_MR1 as u16 | ((enabled as u16) << 7));
+        dfii::pi0_baddress_write(1);
+        sdram_phy::command_p0(DFII_COMMAND_RAS|DFII_COMMAND_CAS|DFII_COMMAND_WE|DFII_COMMAND_CS);
+        ddrphy::wlevel_en_write(enabled as u8);
+    }
+
+    #[cfg(kusddrphy)]
+    const DDRPHY_MAX_DELAY: u16 = 512;
+    #[cfg(not(kusddrphy))]
+    const DDRPHY_MAX_DELAY: u16 = 32;
+
+    const DQS_SIGNAL_COUNT: usize = DFII_PIX_DATA_SIZE / 2;
+
+    macro_rules! log {
+        ($logger:expr, $( $arg:expr ),+) => (
+            if let &mut Some(ref mut f) = $logger {
+                let _ = write!(f, $( $arg ),+);
+            }
+        )
+    }
+
+    unsafe fn write_level(logger: &mut Option<&mut fmt::Write>,
+                          delay: &mut [u16; DQS_SIGNAL_COUNT],
+                          high_skew: &mut [bool; DQS_SIGNAL_COUNT]) -> bool {
+        log!(logger, "Write leveling: ");
+
+        enable_write_leveling(true);
+        spin_cycles(100);
+
+        let mut failed = false;
+        for n in 0..DQS_SIGNAL_COUNT {
+            let dq_addr = dfii::PI0_RDDATA_ADDR
+                               .offset((DQS_SIGNAL_COUNT - 1 - n) as isize);
+
+            delay[n] = 0;
+            high_skew[n] = false;
+
+            ddrphy::dly_sel_write(1 << n);
+
+            ddrphy::wdly_dq_rst_write(1);
+            ddrphy::wdly_dqs_rst_write(1);
+            ddrphy::wlevel_strobe_write(1);
+            spin_cycles(10);
+
+            let mut incr_delay = || {
+                delay[n] += 1;
+                if delay[n] >= DDRPHY_MAX_DELAY {
+                    failed = true;
+                    return false
+                }
+
+                ddrphy::wdly_dq_inc_write(1);
+                ddrphy::wdly_dqs_inc_write(1);
+                ddrphy::wlevel_strobe_write(1);
+                spin_cycles(10);
+
+                true
+            };
+
+            let mut dq = ptr::read_volatile(dq_addr);
+
+            if dq != 0 {
+                // Assume this DQ group has between 1 and 2 bit times of skew.
+                // Bring DQS into the CK=0 zone before continuing leveling.
+                high_skew[n] = true;
+
+                while dq != 0 {
+                    if !incr_delay() { break }
+                    dq = ptr::read_volatile(dq_addr);
+                }
+            }
+
+            while dq == 0 {
+                if !incr_delay() { break }
+                dq = ptr::read_volatile(dq_addr);
+            }
+        }
+
+        enable_write_leveling(false);
+
+        for n in (0..DQS_SIGNAL_COUNT).rev() {
+            log!(logger, "{}{} ", delay[n], if high_skew[n] { "*" } else { "" });
+        }
+
+        if !failed {
+            log!(logger, "done\n")
+        } else {
+            log!(logger, "failed\n")
+        }
+
+        !failed
+    }
+
+    unsafe fn read_bitslip(logger: &mut Option<&mut fmt::Write>,
+                           delay: &[u16; DQS_SIGNAL_COUNT],
+                           high_skew: &[bool; DQS_SIGNAL_COUNT]) {
+        let threshold_opt = delay.iter().zip(high_skew.iter())
+            .filter_map(|(&delay, &high_skew)|
+                if high_skew { Some(delay) } else { None })
+            .min()
+            .map(|threshold| threshold / 2);
+
+        if let Some(threshold) = threshold_opt {
+            log!(logger, "Read bitslip: ");
+
+            for n in (0..DQS_SIGNAL_COUNT).rev() {
+                if delay[n] > threshold {
+                    ddrphy::dly_sel_write(1 << n);
+
+                    #[cfg(kusddrphy)]
+                    ddrphy::rdly_dq_bitslip_write(1);
+                    #[cfg(not(kusddrphy))]
+                    for _ in 0..3 {
+                        ddrphy::rdly_dq_bitslip_write(1);
+                    }
+
+                    log!(logger, "{} ", n);
+                }
+            }
+
+            log!(logger, "\n");
+        }
+    }
+
+    unsafe fn read_delays(logger: &mut Option<&mut fmt::Write>) {
+        log!(logger, "Read delays: ");
+
+        // Generate pseudo-random sequence
+        let mut prs = [0; DFII_NPHASES * DFII_PIX_DATA_SIZE];
+        let mut prv = 42;
+        for b in prs.iter_mut() {
+            prv = 1664525 * prv + 1013904223;
+            *b = prv as u8;
+        }
+
+        // Activate
+        dfii::pi0_address_write(0);
+        dfii::pi0_baddress_write(0);
+        sdram_phy::command_p0(DFII_COMMAND_RAS|DFII_COMMAND_CS);
+        spin_cycles(15);
+
+        // Write test pattern
+        for p in 0..DFII_NPHASES {
+            for offset in 0..DFII_PIX_DATA_SIZE {
+                let addr = DFII_PIX_WRDATA_ADDR[p].offset(offset as isize);
+                let data = prs[DFII_PIX_DATA_SIZE * p + offset];
+                ptr::write_volatile(addr, data as u32);
+            }
+        }
+        sdram_phy::dfii_piwr_address_write(0);
+        sdram_phy::dfii_piwr_baddress_write(0);
+        sdram_phy::command_pwr(DFII_COMMAND_CAS|DFII_COMMAND_WE|DFII_COMMAND_CS|
+                               DFII_COMMAND_WRDATA);
+
+        // Calibrate each DQ in turn
+        sdram_phy::dfii_pird_address_write(0);
+        sdram_phy::dfii_pird_baddress_write(0);
+        for n in 0..DQS_SIGNAL_COUNT {
+            ddrphy::dly_sel_write(1 << (DQS_SIGNAL_COUNT - n - 1));
+
+            ddrphy::rdly_dq_rst_write(1);
+
+            let delay = Cell::new(0);
+            let incr_delay_until = |expected| {
+                while delay.get() < DDRPHY_MAX_DELAY {
+                    sdram_phy::command_prd(DFII_COMMAND_CAS|DFII_COMMAND_CS|
+                                           DFII_COMMAND_RDDATA);
+                    spin_cycles(15);
+
+                    let mut working = true;
+                    for p in 0..DFII_NPHASES {
+                        for &offset in [n, n + DQS_SIGNAL_COUNT].iter() {
+                            let addr = DFII_PIX_RDDATA_ADDR[p].offset(offset as isize);
+                            let data = prs[DFII_PIX_DATA_SIZE * p + offset];
+                            if ptr::read_volatile(addr) as u8 != data {
+                                working = false;
+                            }
+                        }
+                    }
+
+                    if working == expected {
+                        break
+                    }
+
+                    delay.set(delay.get() + 1);
+                    ddrphy::rdly_dq_inc_write(1);
+                }
+            };
+
+            // Find smallest working delay
+            incr_delay_until(true);
+            let min_delay = delay.get();
+
+            // Get a bit further into the working zone
+            #[cfg(kusddrphy)]
+            for _ in 0..8 {
+                delay.set(delay.get() + 1);
+                ddrphy::rdly_dq_inc_write(1);
+            }
+            #[cfg(not(kusddrphy))]
+            {
+                delay.set(delay.get() + 1);
+                ddrphy::rdly_dq_inc_write(1);
+            }
+
+            // Find largest working delay
+            incr_delay_until(false);
+            let max_delay = delay.get();
+
+            log!(logger, "{}:{:02}-{:02} ", DQS_SIGNAL_COUNT - n - 1,
+                 min_delay, max_delay);
+
+            // Set delay to the middle
+            ddrphy::rdly_dq_rst_write(1);
+            for _ in 0..(min_delay + max_delay) / 2 {
+                ddrphy::rdly_dq_inc_write(1);
+            }
+        }
+
+        // Precharge
+        dfii::pi0_address_write(0);
+        dfii::pi0_baddress_write(0);
+        sdram_phy::command_p0(DFII_COMMAND_RAS|DFII_COMMAND_WE|DFII_COMMAND_CS);
+        spin_cycles(15);
+
+        log!(logger, "done\n");
+    }
+
+    pub unsafe fn level(logger: &mut Option<&mut fmt::Write>) -> bool {
+        let mut delay = [0; DQS_SIGNAL_COUNT];
+        let mut high_skew = [false; DQS_SIGNAL_COUNT];
+
+        if !write_level(logger, &mut delay, &mut high_skew) {
+            return false
+        }
+        read_bitslip(logger, &delay, &high_skew);
+        read_delays(logger);
+
+        true
+    }
+}
+
+use core::fmt;
+use csr;
+use sdram_phy;
+
+pub unsafe fn init(mut _logger: Option<&mut fmt::Write>) -> bool {
+    sdram_phy::initialize();
+
+    #[cfg(has_ddrphy)]
+    {
+        if !ddr::level(&mut _logger) {
+            return false
+        }
+    }
+
+    csr::dfii::control_write(sdram_phy::DFII_CONTROL_SEL);
+
+    true
+}

artiq/firmware/libboard_artiq/lib.rs

@@ -23,5 +23,3 @@ pub mod hmc830_7043;
 mod ad9154_reg;
 #[cfg(has_ad9154)]
 pub mod ad9154;
-
-pub mod boot;

artiq/firmware/runtime/main.rs

@@ -244,12 +244,12 @@ pub extern fn panic_fmt(args: core::fmt::Arguments, file: &'static str, line: u3
         println!("{:#08x}", ip);
     });
 
-    if config::read_str("panic_reboot", |r| r == Ok("1")) {
+    if config::read_str("panic_reset", |r| r == Ok("1")) {
-        println!("rebooting...");
+        println!("restarting...");
-        unsafe { board_artiq::boot::reboot() }
+        unsafe { board::boot::reset() }
     } else {
         println!("halting.");
-        println!("use `artiq_coreconfig write -s panic_reboot 1` to reboot instead");
+        println!("use `artiq_coreconfig write -s panic_reset 1` to restart instead");
         loop {}
     }
 }

artiq/firmware/runtime/mgmt.rs

@@ -1,4 +1,4 @@
-use board_artiq::boot;
+use board::boot;
 use std::io::{self, Read, Write};
 use log::LogLevelFilter;
 use logger_artiq::BufferLogger;
@@ -92,8 +92,8 @@ fn worker(io: &Io, stream: &mut TcpStream) -> io::Result<()> {
             Request::Reboot => {
                 Reply::RebootImminent.write_to(stream)?;
                 stream.close()?;
-                warn!("rebooting");
+                warn!("restarting");
-                unsafe { boot::reboot() }
+                unsafe { boot::reset() }
             }
         };
     }

artiq/frontend/artiq_flash.py

@@ -259,8 +259,8 @@ def main():
             if opts.srcbuild is None:
                 path = bin_dir
             else:
-                path = os.path.join(opts.srcbuild, "software", "bios")
+                path = os.path.join(opts.srcbuild, "software", "bootloader")
-            programmer.flash_binary(*config["bootloader"], os.path.join(path, "bios.bin"))
+            programmer.flash_binary(*config["bootloader"], os.path.join(path, "bootloader.bin"))
         elif action == "storage":
             programmer.flash_binary(*config["storage"], opts.storage)
         elif action == "runtime":

artiq/gateware/amp/soc.py

@@ -45,11 +45,15 @@ class AMPSoC:
 
 
 def build_artiq_soc(soc, argdict):
+    firmware_dir = os.path.join(artiq_dir, "firmware")
     builder = Builder(soc, **argdict)
+    builder.software_packages = []
     builder.add_software_package("libm")
+    builder.add_software_package("libprintf")
     builder.add_software_package("libunwind")
-    builder.add_software_package("ksupport", os.path.join(artiq_dir, "firmware", "ksupport"))
+    builder.add_software_package("bootloader", os.path.join(firmware_dir, "bootloader"))
-    builder.add_software_package("runtime", os.path.join(artiq_dir, "firmware", "runtime"))
+    builder.add_software_package("ksupport",   os.path.join(firmware_dir, "ksupport"))
+    builder.add_software_package("runtime",    os.path.join(firmware_dir, "runtime"))
     try:
         builder.build()
     except subprocess.CalledProcessError as e:

conda/artiq-kc705-nist_clock/build.sh

@@ -5,5 +5,5 @@ mkdir -p $SOC_PREFIX
 
 V=1 $PYTHON -m artiq.gateware.targets.kc705_dds -H nist_clock
 cp misoc_nist_clock_kc705/gateware/top.bit $SOC_PREFIX
-cp misoc_nist_clock_kc705/software/bios/bios.bin $SOC_PREFIX
+cp misoc_nist_clock_kc705/software/bootloader/bootloader.bin $SOC_PREFIX
 cp misoc_nist_clock_kc705/software/runtime/runtime.{elf,fbi} $SOC_PREFIX

conda/artiq-kc705-nist_qc2/build.sh

@@ -5,5 +5,5 @@ mkdir -p $SOC_PREFIX
 
 V=1 $PYTHON -m artiq.gateware.targets.kc705_dds -H nist_qc2
 cp misoc_nist_qc2_kc705/gateware/top.bit $SOC_PREFIX
-cp misoc_nist_qc2_kc705/software/bios/bios.bin $SOC_PREFIX
+cp misoc_nist_qc2_kc705/software/bootloader/bootloader.bin $SOC_PREFIX
 cp misoc_nist_qc2_kc705/software/runtime/runtime.{elf,fbi} $SOC_PREFIX

conda/artiq-sayma_amc-standalone/build.sh

@@ -5,5 +5,5 @@ mkdir -p $SOC_PREFIX
 
 V=1 $PYTHON -m artiq.gateware.targets.sayma_amc_standalone --rtm-csr-csv $SP_DIR/artiq/binaries/sayma_rtm/sayma_rtm_csr.csv
 cp misoc_standalone_sayma_amc/gateware/top.bit $SOC_PREFIX
-cp misoc_standalone_sayma_amc/software/bios/bios.bin $SOC_PREFIX
+cp misoc_standalone_sayma_amc/software/bootloader/bootloader.bin $SOC_PREFIX
 cp misoc_standalone_sayma_amc/software/runtime/runtime.{elf,fbi} $SOC_PREFIX