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UNOQ: implement proper "wait for app" mode #369

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ff8b733
unoq: replace flash_mode with wait_for_app
facchinm Feb 17, 2026
165f441
zephyr-sketch-tool: add flag for wait_for_app mode
facchinm Feb 17, 2026
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9 changes: 4 additions & 5 deletions boards.txt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,5 @@
menu.debug=Debug
menu.link_mode=Link mode
menu.flash_mode=Flash mode
menu.wait_linux_boot=Startup mode

##########################################################################################
Expand Down Expand Up @@ -638,13 +637,11 @@ unoq.menu.link_mode.static=Static
unoq.menu.link_mode.static.build.link_mode=static
unoq.menu.link_mode.static.upload.extension=bin-zsk.bin

unoq.menu.flash_mode.flash=Flash
unoq.menu.flash_mode.flash.openocd_cfg=flash_sketch.cfg
unoq.menu.flash_mode.ram=RAM
unoq.menu.flash_mode.ram.openocd_cfg=flash_sketch_ram.cfg
unoq.menu.wait_linux_boot.yes=Wait for Linux
unoq.menu.wait_linux_boot.no=Immediate
unoq.menu.wait_linux_boot.no.build.boot_mode=immediate
unoq.menu.wait_linux_boot.app=Wait for App
unoq.menu.wait_linux_boot.app.build.boot_mode=app

unoq.build.zephyr_target=arduino_uno_q
unoq.build.zephyr_args=
Expand All @@ -656,6 +653,8 @@ unoq.build.fpu=-mfpu=fpv5-sp-d16
unoq.build.architecture=cortex-m33
unoq.compiler.zephyr.arch.define=

unoq.openocd_cfg=flash_sketch.cfg

unoq.build.float-abi=-mfloat-abi=hard
unoq.build.extra_flags=
unoq.build.postbuild.cmd="{tools.imgtool.path}/{tools.imgtool.cmd}" exit
Expand Down
4 changes: 4 additions & 0 deletions extra/zephyr-sketch-tool/main.go
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ func main() {
var output = flag.String("output", "", "Output to a specific file (default: add -zsk.bin suffix)")
var debug = flag.Bool("debug", false, "Enable debugging mode")
var immediate = flag.Bool("immediate", false, "Start sketch immediately [UNO Q]")
var wait_for_app = flag.Bool("wait_for_app", false, "Wait for the app to start [UNO Q]")
var linked = flag.Bool("prelinked", false, "Provided file has already been linked to Zephyr")
var force = flag.Bool("force", false, "Ignore safety checks and overwrite the header")
var add_header = flag.Bool("add_header", false, "Add space for the header to the file")
Expand Down Expand Up @@ -63,6 +64,9 @@ func main() {
if *immediate {
header.flags |= 0x04
}
if *wait_for_app {
header.flags |= 0x08
}

var bytes = make([]byte, 9)
_, err = binary.Encode(bytes, binary.LittleEndian, header)
Expand Down
34 changes: 11 additions & 23 deletions loader/main.c
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Original file line number Diff line number Diff line change
@@ -1,3 +1,3 @@
/*
* Copyright (C) 2024 Arduino SA
*
Expand Down Expand Up @@ -34,9 +34,10 @@
uint8_t flags; // @ 0x0e
} __attribute__((packed));

#define SKETCH_FLAG_DEBUG 0x01
#define SKETCH_FLAG_LINKED 0x02
#define SKETCH_FLAG_IMMEDIATE 0x04
#define SKETCH_FLAG_DEBUG 0x01
#define SKETCH_FLAG_LINKED 0x02
#define SKETCH_FLAG_IMMEDIATE 0x04
#define SKETCH_FLAG_WAIT_FOR_APP 0x08

#define SKETCH_RAM_BUFFER_LEN 131072

Expand Down Expand Up @@ -179,17 +180,6 @@

gpio_pin_configure_dt(&spec, GPIO_INPUT | GPIO_PULL_DOWN);
k_sleep(K_MSEC(200));
uint8_t *ram_firmware = NULL;
uint32_t *ram_start = (uint32_t *)0x20000000;
if (!sketch_valid) {
ram_firmware = (uint8_t *)malloc(SKETCH_RAM_BUFFER_LEN);
if (!ram_firmware) {
printk("Failed to allocate RAM for firmware\n");
return -ENOMEM;
}
memset(ram_firmware, 0, SKETCH_RAM_BUFFER_LEN);
*ram_start = (uint32_t)&ram_firmware[0];
}
if (gpio_pin_get_dt(&spec) == 0) {
matrixBegin();
matrixSetGrayscaleBits(8);
Expand All @@ -202,15 +192,13 @@
k_sleep(K_MSEC(10));
matrixEnd();
}
while (!sketch_valid) {
__asm__("bkpt");
// poll the first bytes, if filled try to use them for booting
sketch_hdr = (struct sketch_header_v1 *)(ram_firmware + 7);
if (sketch_hdr->ver == 0x1 && sketch_hdr->magic == 0x2341) {
// Found valid data, use it for booting
base_addr = (uintptr_t)ram_firmware;
*ram_start = 0;
sketch_valid = true;
if (sketch_hdr->flags & SKETCH_FLAG_WAIT_FOR_APP) {
// wait for another pin toggle
while (gpio_pin_get_dt(&spec) != 0) {
k_sleep(K_MSEC(10));
}
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@lucarin91 lucarin91 Mar 2, 2026

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Maybe we should make this more robust by setting a max length of the LOW state, e.g., 200ms?

while (gpio_pin_get_dt(&spec) != 1) {
k_sleep(K_MSEC(10));
}
}
}
Expand Down
1 change: 1 addition & 0 deletions platform.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,7 @@ build.zsk_args.debug=
build.zsk_args.mode-dynamic=
build.zsk_args.mode-static=-prelinked
build.zsk_args.startup-mode-wait=
build.zsk_args.startup-mode-app=-wait_for_app
build.zsk_args.startup-mode-immediate=-immediate

# These can be overridden in platform.local.txt
Expand Down
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