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Merge NuttX r5527

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This commit is contained in:
px4dev
2013-01-17 01:00:46 -08:00
parent 7d7c352fb4 caeef71797
commit 1a532d16dd
228 changed files with 15512 additions and 1913 deletions
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nuttx/arch/arm/src/armv7-m/Kconfig
+8
View File
@@ -49,3 +49,11 @@ config ARMV7M_TOOLCHAIN_RAISONANCE
depends on HOST_WINDOWS
endchoice
config ARMV7M_OABI_TOOLCHAIN
bool "OABI (vs EABI)"
default y
depends on ARMV7M_TOOLCHAIN_BUILDROOT
---help---
Most of the older buildroot toolchains are OABI and are named arm-nuttx-elf- vs. arm-nuttx-eabi-
nuttx/arch/arm/src/armv7-m/Toolchain.defs
+10 -9
View File
@@ -53,7 +53,7 @@ ifeq ($(filter y, \
endif
ifeq ($(filter y, \
$(CONFIG_KINETIS_BUILDROOT) \
$(CONFIG_LM3S_BUILDROOT) \
$(CONFIG_LM_BUILDROOT) \
$(CONFIG_LPC17_BUILDROOT) \
$(CONFIG_LPC43_BUILDROOT) \
$(CONFIG_SAM3U_BUILDROOT) \
@@ -77,7 +77,7 @@ ifeq ($(filter y, \
endif
ifeq ($(filter y, \
$(CONFIG_KINETIS_CODESOURCERYL) \
$(CONFIG_LM3S_CODESOURCERYL) \
$(CONFIG_LM_CODESOURCERYL) \
$(CONFIG_LPC17_CODESOURCERYL) \
$(CONFIG_LPC43_CODESOURCERYL) \
$(CONFIG_SAM3U_CODESOURCERYL) \
@@ -88,7 +88,7 @@ ifeq ($(filter y, \
endif
ifeq ($(filter y, \
$(CONFIG_KINETIS_CODESOURCERYW) \
$(CONFIG_LM3S_CODESOURCERYW) \
$(CONFIG_LM_CODESOURCERYW) \
$(CONFIG_LPC17_CODESOURCERYW) \
$(CONFIG_LPC43_CODESOURCERYW) \
$(CONFIG_SAM3U_CODESOURCERYW) \
@@ -99,7 +99,7 @@ ifeq ($(filter y, \
endif
ifeq ($(filter y, \
$(CONFIG_KINETIS_DEVKITARM) \
$(CONFIG_LM3S_DEVKITARM) \
$(CONFIG_LM_DEVKITARM) \
$(CONFIG_LPC17_DEVKITARM) \
$(CONFIG_LPC43_DEVKITARM) \
$(CONFIG_SAM3U_DEVKITARM) \
@@ -160,14 +160,15 @@ endif
# NuttX buildroot under Linux or Cygwin
ifeq ($(CONFIG_ARMV7M_TOOLCHAIN),BUILDROOT)
# OABI
# CROSSDEV = arm-nuttx-elf-
# ARCROSSDEV = arm-nuttx-elf-
# ARCHCPUFLAGS = -mtune=cortex-m3 -march=armv7-m -mfloat-abi=soft
# EABI
ifeq ($(CONFIG_ARMV7M_OABI_TOOLCHAIN),y)
CROSSDEV = arm-nuttx-elf-
ARCROSSDEV = arm-nuttx-elf-
ARCHCPUFLAGS = -mtune=cortex-m3 -march=armv7-m -mfloat-abi=soft
else
CROSSDEV = arm-nuttx-eabi-
ARCROSSDEV = arm-nuttx-eabi-
ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
endif
MAXOPTIMIZATION = -Os
endif
nuttx/arch/arm/src/armv7-m/up_doirq.c
+5 -3
View File
@@ -79,9 +79,11 @@ uint32_t *up_doirq(int irq, uint32_t *regs)
uint32_t *savestate;
/* Nested interrupts are not supported in this implementation. If you want
* implemented nested interrupts, you would have to (1) change the way that
* current regs is handled and (2) the design associated with
* CONFIG_ARCH_INTERRUPTSTACK.
* to implement nested interrupts, you would have to (1) change the way that
* current_regs is handled and (2) the design associated with
* CONFIG_ARCH_INTERRUPTSTACK. The savestate variable will not work for
* that purpose as implemented here because only the outermost nested
* interrupt can result in a context switch (it can probably be deleted).
*/
/* Current regs non-zero indicates that we are processing an interrupt;
nuttx/arch/arm/src/armv7-m/vfork.S
+142
View File
@@ -0,0 +1,142 @@
/************************************************************************************
* arch/arm/src/armv7-m/vfork.S
*
* Copyright (C) 2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include "up_vfork.h"
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/************************************************************************************
* Global Symbols
************************************************************************************/
.syntax unified
.thumb
.file "vfork.S"
.globl up_vfork
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: vfork
*
* Description:
* The vfork() function has the same effect as fork(), except that the behavior is
* undefined if the process created by vfork() either modifies any data other than
* a variable of type pid_t used to store the return value from vfork(), or returns
* from the function in which vfork() was called, or calls any other function before
* successfully calling _exit() or one of the exec family of functions.
*
* This thin layer implements vfork by simply calling up_vfork() with the vfork()
* context as an argument. The overall sequence is:
*
* 1) User code calls vfork(). vfork() collects context information and
* transfers control up up_vfork().
* 2) up_vfork()and calls task_vforksetup().
* 3) task_vforksetup() allocates and configures the child task's TCB. This
* consists of:
* - Allocation of the child task's TCB.
* - Initialization of file descriptors and streams
* - Configuration of environment variables
* - Setup the intput parameters for the task.
* - Initialization of the TCB (including call to up_initial_state()
* 4) up_vfork() provides any additional operating context. up_vfork must:
* - Allocate and initialize the stack
* - Initialize special values in any CPU registers that were not
* already configured by up_initial_state()
* 5) up_vfork() then calls task_vforkstart()
* 6) task_vforkstart() then executes the child thread.
*
* Input Paremeters:
* None
*
* Return:
* Upon successful completion, vfork() returns 0 to the child process and returns
* the process ID of the child process to the parent process. Otherwise, -1 is
* returned to the parent, no child process is created, and errno is set to
* indicate the error.
*
************************************************************************************/
.thumb_func
.globl vfork
.type vfork, function
vfork:
/* Create a stack frame */
mov r0, sp /* Save the value of the stack on entry */
sub sp, sp, #VFORK_SIZEOF /* Allocate the structure on the stack */
/* CPU registers */
/* Save the volatile registers */
str r4, [sp, #VFORK_R4_OFFSET]
str r5, [sp, #VFORK_R5_OFFSET]
str r6, [sp, #VFORK_R6_OFFSET]
str r7, [sp, #VFORK_R7_OFFSET]
str r8, [sp, #VFORK_R8_OFFSET]
str r9, [sp, #VFORK_R9_OFFSET]
str r10, [sp, #VFORK_R10_OFFSET]
/* Save the frame pointer, stack pointer, and return address */
str fp, [sp, #VFORK_FP_OFFSET]
str r0, [sp, #VFORK_SP_OFFSET]
str lr, [sp, #VFORK_LR_OFFSET]
/* Floating point registers (not yet) */
/* Then, call up_vfork(), passing it a pointer to the stack structure */
mov r0, sp
bl up_vfork
/* Release the stack data and return the value returned by up_vfork */
ldr lr, [sp, #VFORK_LR_OFFSET]
add sp, sp, #VFORK_SIZEOF
bx lr
.size vfork, .-vfork
.end
nuttx/arch/arm/src/common/up_internal.h
+2 -2
View File
@@ -188,7 +188,7 @@ extern uint32_t _ebss; /* End+1 of .bss */
* will create a function named foo that will execute from RAM.
*/
#ifdef CONFIG_BOOT_RAMFUNCS
#ifdef CONFIG_ARCH_RAMFUNCS
# define __ramfunc__ __attribute__ ((section(".ramfunc")))
@@ -204,7 +204,7 @@ extern const uint32_t _framfuncs; /* Copy source address in FLASH */
extern uint32_t _sramfuncs; /* Copy destination start address in RAM */
extern uint32_t _eramfuncs; /* Copy destination start address in RAM */
#endif /* CONFIG_BOOT_RAMFUNCS */
#endif /* CONFIG_ARCH_RAMFUNCS */
#endif /* __ASSEMBLY__ */
/****************************************************************************
nuttx/arch/arm/src/common/up_vfork.c
+233
View File
@@ -0,0 +1,233 @@
/****************************************************************************
* arch/arm/src/common/up_vfork.c
*
* Copyright (C) 2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <string.h>
#include <assert.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/sched.h>
#include <nuttx/arch.h>
#include <arch/irq.h>
#include "up_vfork.h"
#include "os_internal.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* ARM requires at least a 4-byte stack alignment. For use with EABI and
* floating point, the stack must be aligned to 8-byte addresses.
*/
#ifndef CONFIG_STACK_ALIGNMENT
/* The symbol __ARM_EABI__ is defined by GCC if EABI is being used. If you
* are not using GCC, make sure that CONFIG_STACK_ALIGNMENT is set correctly!
*/
# ifdef __ARM_EABI__
# define CONFIG_STACK_ALIGNMENT 8
# else
# define CONFIG_STACK_ALIGNMENT 4
# endif
#endif
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: up_vfork
*
* Description:
* The vfork() function has the same effect as fork(), except that the
* behavior is undefined if the process created by vfork() either modifies
* any data other than a variable of type pid_t used to store the return
* value from vfork(), or returns from the function in which vfork() was
* called, or calls any other function before successfully calling _exit()
* or one of the exec family of functions.
*
* The overall sequence is:
*
* 1) User code calls vfork(). vfork() collects context information and
* transfers control up up_vfork().
* 2) up_vfork()and calls task_vforksetup().
* 3) task_vforksetup() allocates and configures the child task's TCB. This
* consists of:
* - Allocation of the child task's TCB.
* - Initialization of file descriptors and streams
* - Configuration of environment variables
* - Setup the intput parameters for the task.
* - Initialization of the TCB (including call to up_initial_state()
* 4) up_vfork() provides any additional operating context. up_vfork must:
* - Allocate and initialize the stack
* - Initialize special values in any CPU registers that were not
* already configured by up_initial_state()
* 5) up_vfork() then calls task_vforkstart()
* 6) task_vforkstart() then executes the child thread.
*
* task_vforkabort() may be called if an error occurs between steps 3 and 6.
*
* Input Paremeters:
* context - Caller context information saved by vfork()
*
* Return:
* Upon successful completion, vfork() returns 0 to the child process and
* returns the process ID of the child process to the parent process.
* Otherwise, -1 is returned to the parent, no child process is created,
* and errno is set to indicate the error.
*
****************************************************************************/
pid_t up_vfork(const struct vfork_s *context)
{
_TCB *parent = (FAR _TCB *)g_readytorun.head;
_TCB *child;
size_t stacksize;
uint32_t newsp;
uint32_t newfp;
uint32_t stackutil;
int ret;
svdbg("r4:%08x r5:%08x r6:%08x r7:%08x\n",
context->r4, context->r5, context->r6, context->r7);
svdbg("r8:%08x r9:%08x r10:%08x\n",
context->r8, context->r9, context->r10);
svdbg("fp:%08x sp:%08x lr:%08x\n",
context->fp, context->sp, context->lr);
/* Allocate and initialize a TCB for the child task. */
child = task_vforksetup((start_t)(context->lr & ~1));
if (!child)
{
sdbg("task_vforksetup failed\n");
return (pid_t)ERROR;
}
svdbg("Parent=%p Child=%p\n", parent, child);
/* Get the size of the parent task's stack. Due to alignment operations,
* the adjusted stack size may be smaller than the stack size originally
* requrested.
*/
stacksize = parent->adj_stack_size + CONFIG_STACK_ALIGNMENT - 1;
/* Allocate the stack for the TCB */
ret = up_create_stack(child, stacksize);
if (ret != OK)
{
sdbg("up_create_stack failed: %d\n", ret);
task_vforkabort(child, -ret);
return (pid_t)ERROR;
}
/* How much of the parent's stack was utilized? The ARM uses
* a push-down stack so that the current stack pointer should
* be lower than the initial, adjusted stack pointer. The
* stack usage should be the difference between those two.
*/
DEBUGASSERT((uint32_t)parent->adj_stack_ptr > context->sp);
stackutil = (uint32_t)parent->adj_stack_ptr - context->sp;
svdbg("stacksize:%d stackutil:%d\n", stacksize, stackutil);
/* Make some feeble effort to perserve the stack contents. This is
* feeble because the stack surely contains invalid pointers and other
* content that will not work in the child context. However, if the
* user follows all of the caveats of vfor() usage, even this feeble
* effort is overkill.
*/
newsp = (uint32_t)child->adj_stack_ptr - stackutil;
memcpy((void *)newsp, (const void *)context->sp, stackutil);
/* Was there a frame pointer in place before? */
if (context->fp <= (uint32_t)parent->adj_stack_ptr &&
context->fp >= (uint32_t)parent->adj_stack_ptr - stacksize)
{
uint32_t frameutil = (uint32_t)parent->adj_stack_ptr - context->fp;
newfp = (uint32_t)child->adj_stack_ptr - frameutil;
}
else
{
newfp = context->fp;
}
svdbg("Old stack base:%08x SP:%08x FP:%08x\n",
parent->adj_stack_ptr, context->sp, context->fp);
svdbg("New stack base:%08x SP:%08x FP:%08x\n",
child->adj_stack_ptr, newsp, newfp);
/* Update the stack pointer, frame pointer, and volatile registers. When
* the child TCB was initialized, all of the values were set to zero.
* up_initial_state() altered a few values, but the return value in R0
* should be cleared to zero, providing the indication to the newly started
* child thread.
*/
child->xcp.regs[REG_R4] = context->r4; /* Volatile register r4 */
child->xcp.regs[REG_R5] = context->r5; /* Volatile register r5 */
child->xcp.regs[REG_R6] = context->r6; /* Volatile register r6 */
child->xcp.regs[REG_R7] = context->r7; /* Volatile register r7 */
child->xcp.regs[REG_R8] = context->r8; /* Volatile register r8 */
child->xcp.regs[REG_R9] = context->r9; /* Volatile register r9 */
child->xcp.regs[REG_R10] = context->r10; /* Volatile register r10 */
child->xcp.regs[REG_FP] = newfp; /* Frame pointer */
child->xcp.regs[REG_SP] = newsp; /* Stack pointer */
/* And, finally, start the child task. On a failure, task_vforkstart()
* will discard the TCB by calling task_vforkabort().
*/
return task_vforkstart(child);
}
nuttx/arch/arm/src/common/up_vfork.h
+88
View File
@@ -0,0 +1,88 @@
/****************************************************************************
* arch/arm/src/common/up_vfork.h
*
* Copyright (C) 2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef __ARCH_ARM_SRC_ARM_VFORK_H
#define __ARCH_ARM_SRC_ARM_VFORK_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define VFORK_R4_OFFSET (0*4) /* Volatile register r4 */
#define VFORK_R5_OFFSET (1*4) /* Volatile register r5 */
#define VFORK_R6_OFFSET (2*4) /* Volatile register r6 */
#define VFORK_R7_OFFSET (3*4) /* Volatile register r7 */
#define VFORK_R8_OFFSET (4*4) /* Volatile register r8 */
#define VFORK_R9_OFFSET (5*4) /* Volatile register r9 */
#define VFORK_R10_OFFSET (6*4) /* Volatile register r10 */
#define VFORK_FP_OFFSET (7*4) /* Frame pointer */
#define VFORK_SP_OFFSET (8*4) /* Stack pointer*/
#define VFORK_LR_OFFSET (9*4) /* Return address*/
#define VFORK_SIZEOF (10*4)
/****************************************************************************
* Public Types
****************************************************************************/
#ifndef __ASSEMBLY__
struct vfork_s
{
/* CPU registers */
uint32_t r4; /* Volatile register r4 */
uint32_t r5; /* Volatile register r5 */
uint32_t r6; /* Volatile register r6 */
uint32_t r7; /* Volatile register r7 */
uint32_t r8; /* Volatile register r8 */
uint32_t r9; /* Volatile register r9 */
uint32_t r10; /* Volatile register r10 */
uint32_t fp; /* Frame pointer */
uint32_t sp; /* Stack pointer*/
uint32_t lr; /* Return address*/
/* Floating point registers (not yet) */
};
#endif
#endif /* __ARCH_ARM_SRC_ARM_VFORK_H */
nuttx/arch/arm/src/stm32/Make.defs
+5 -4
View File
@@ -1,7 +1,7 @@
############################################################################
# arch/arm/src/stm32/Make.defs
#
# Copyright (C) 2009, 2011-2012 Gregory Nutt. All rights reserved.
# Copyright (C) 2009, 2011-2013 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# Redistribution and use in source and binary forms, with or without
@@ -39,15 +39,16 @@ else
HEAD_ASRC = stm32_vectors.S
endif
CMN_ASRCS = up_saveusercontext.S up_fullcontextrestore.S up_switchcontext.S
CMN_ASRCS = up_saveusercontext.S up_fullcontextrestore.S up_switchcontext.S \
vfork.S
CMN_CSRCS = up_assert.c up_blocktask.c up_copystate.c \
up_createstack.c up_mdelay.c up_udelay.c up_exit.c \
up_initialize.c up_initialstate.c up_interruptcontext.c \
up_memfault.c up_modifyreg8.c up_modifyreg16.c up_modifyreg32.c \
up_releasepending.c up_releasestack.c up_reprioritizertr.c \
up_schedulesigaction.c up_sigdeliver.c up_systemreset.c \
up_unblocktask.c up_usestack.c up_doirq.c up_hardfault.c up_svcall.c \
up_stackcheck.c
up_unblocktask.c up_usestack.c up_doirq.c up_hardfault.c \
up_svcall.c up_stackcheck.c up_vfork.c
ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y)
CMN_ASRCS += up_exception.S
nuttx/arch/arm/src/stm32/stm32_flash.c
+23 -14
View File
@@ -35,7 +35,7 @@
/* Provides standard flash access functions, to be used by the flash mtd driver.
* The interface is defined in the include/nuttx/progmem.h
*
*
* Requirements during write/erase operations on FLASH:
* - HSI must be ON.
* - Low Power Modes are not permitted during write/erase
@@ -80,7 +80,7 @@ void stm32_flash_unlock(void)
if (getreg32(STM32_FLASH_CR) & FLASH_CR_LOCK)
{
/* Unlock sequence */
putreg32(FLASH_KEY1, STM32_FLASH_KEYR);
putreg32(FLASH_KEY2, STM32_FLASH_KEYR);
}
@@ -112,6 +112,11 @@ uint16_t up_progmem_pagesize(uint16_t page)
int up_progmem_getpage(uint32_t addr)
{
if (addr >= STM32_FLASH_BASE)
{
addr -= STM32_FLASH_BASE;
}
if (addr >= STM32_FLASH_SIZE)
{
return -EFAULT;
@@ -131,14 +136,14 @@ int up_progmem_erasepage(uint16_t page)
}
/* Get flash ready and begin erasing single page */
if (!(getreg32(STM32_RCC_CR) & RCC_CR_HSION))
{
return -EPERM;
}
stm32_flash_unlock();
modifyreg32(STM32_FLASH_CR, 0, FLASH_CR_PER);
putreg32(page * STM32_FLASH_PAGESIZE, STM32_FLASH_AR);
modifyreg32(STM32_FLASH_CR, 0, FLASH_CR_STRT);
@@ -146,10 +151,10 @@ int up_progmem_erasepage(uint16_t page)
while(getreg32(STM32_FLASH_SR) & FLASH_SR_BSY) up_waste();
modifyreg32(STM32_FLASH_CR, FLASH_CR_PER, 0);
/* Verify */
for (addr = page * STM32_FLASH_PAGESIZE + STM32_FLASH_BASE, count = STM32_FLASH_PAGESIZE;
for (addr = page * STM32_FLASH_PAGESIZE + STM32_FLASH_BASE, count = STM32_FLASH_PAGESIZE;
count; count-=4, addr += 4)
{
if (getreg32(addr) != 0xffffffff)
@@ -173,8 +178,8 @@ int up_progmem_ispageerased(uint16_t page)
}
/* Verify */
for (addr = page * STM32_FLASH_PAGESIZE + STM32_FLASH_BASE, count = STM32_FLASH_PAGESIZE;
for (addr = page * STM32_FLASH_PAGESIZE + STM32_FLASH_BASE, count = STM32_FLASH_PAGESIZE;
count; count--, addr++)
{
if (getreg8(addr) != 0xff)
@@ -200,6 +205,11 @@ int up_progmem_write(uint32_t addr, const void *buf, size_t count)
/* Check for valid address range */
if (addr >= STM32_FLASH_BASE)
{
addr -= STM32_FLASH_BASE;
}
if ((addr+count) >= STM32_FLASH_SIZE)
{
return -EFAULT;
@@ -213,10 +223,10 @@ int up_progmem_write(uint32_t addr, const void *buf, size_t count)
}
stm32_flash_unlock();
modifyreg32(STM32_FLASH_CR, 0, FLASH_CR_PG);
for (addr += STM32_FLASH_BASE; count; count--, hword++, addr+=2)
for (addr += STM32_FLASH_BASE; count; count-=2, hword++, addr+=2)
{
/* Write half-word and wait to complete */
@@ -237,7 +247,6 @@ int up_progmem_write(uint32_t addr, const void *buf, size_t count)
modifyreg32(STM32_FLASH_CR, FLASH_CR_PG, 0);
return -EIO;
}
}
modifyreg32(STM32_FLASH_CR, FLASH_CR_PG, 0);
nuttx/arch/arm/src/stm32/stm32_serial.c
+73 -35
View File
@@ -79,22 +79,22 @@
#if SERIAL_HAVE_DMA
/* Verify that DMA has been enabled an the DMA channel has been defined.
* NOTE: These assignments may only be true for the F4.
# if defined(CONFIG_STM32_STM32F20XX) || defined(CONFIG_STM32_STM32F40XX)
/* Verify that DMA has been enabled and the DMA channel has been defined.
*/
# if defined(CONFIG_USART1_RXDMA) || defined(CONFIG_USART6_RXDMA)
# ifndef CONFIG_STM32_DMA2
# error STM32 USART1/6 receive DMA requires CONFIG_STM32_DMA2
# if defined(CONFIG_USART1_RXDMA) || defined(CONFIG_USART6_RXDMA)
# ifndef CONFIG_STM32_DMA2
# error STM32 USART1/6 receive DMA requires CONFIG_STM32_DMA2
# endif
# endif
# endif
# if defined(CONFIG_USART2_RXDMA) || defined(CONFIG_USART3_RXDMA) || \
# if defined(CONFIG_USART2_RXDMA) || defined(CONFIG_USART3_RXDMA) || \
defined(CONFIG_UART4_RXDMA) || defined(CONFIG_UART5_RXDMA)
# ifndef CONFIG_STM32_DMA1
# error STM32 USART2/3/4/5 receive DMA requires CONFIG_STM32_DMA1
# ifndef CONFIG_STM32_DMA1
# error STM32 USART2/3/4/5 receive DMA requires CONFIG_STM32_DMA1
# endif
# endif
# endif
/* Currently RS-485 support cannot be enabled when RXDMA is in use due to lack
* of testing - RS-485 support was developed on STM32F1x
@@ -114,28 +114,52 @@
* the following in the board.h file.
*/
# if defined(CONFIG_USART1_RXDMA) && !defined(DMAMAP_USART1_RX)
# error "USART1 DMA channel not defined (DMAMAP_USART1_RX)"
# endif
# if defined(CONFIG_USART1_RXDMA) && !defined(DMAMAP_USART1_RX)
# error "USART1 DMA channel not defined (DMAMAP_USART1_RX)"
# endif
# if defined(CONFIG_USART2_RXDMA) && !defined(DMAMAP_USART2_RX)
# error "USART2 DMA channel not defined (DMAMAP_USART2_RX)"
# endif
# if defined(CONFIG_USART2_RXDMA) && !defined(DMAMAP_USART2_RX)
# error "USART2 DMA channel not defined (DMAMAP_USART2_RX)"
# endif
# if defined(CONFIG_USART3_RXDMA) && !defined(DMAMAP_USART3_RX)
# error "USART3 DMA channel not defined (DMAMAP_USART3_RX)"
# endif
# if defined(CONFIG_USART3_RXDMA) && !defined(DMAMAP_USART3_RX)
# error "USART3 DMA channel not defined (DMAMAP_USART3_RX)"
# endif
# if defined(CONFIG_UART4_RXDMA) && !defined(DMAMAP_UART4_RX)
# error "UART4 DMA channel not defined (DMAMAP_UART4_RX)"
# endif
# if defined(CONFIG_UART4_RXDMA) && !defined(DMAMAP_UART4_RX)
# error "UART4 DMA channel not defined (DMAMAP_UART4_RX)"
# endif
# if defined(CONFIG_UART5_RXDMA) && !defined(DMAMAP_UART5_RX)
# error "UART5 DMA channel not defined (DMAMAP_UART5_RX)"
# endif
# if defined(CONFIG_UART5_RXDMA) && !defined(DMAMAP_UART5_RX)
# error "UART5 DMA channel not defined (DMAMAP_UART5_RX)"
# endif
# if defined(CONFIG_USART6_RXDMA) && !defined(DMAMAP_USART6_RX)
# error "USART6 DMA channel not defined (DMAMAP_USART6_RX)"
# endif
# elif defined(CONFIG_STM32_STM32F10XX)
# if defined(CONFIG_USART1_RXDMA) || defined(CONFIG_USART2_RXDMA) || \
defined(CONFIG_USART3_RXDMA)
# ifndef CONFIG_STM32_DMA1
# error STM32 USART1/2/3 receive DMA requires CONFIG_STM32_DMA1
# endif
# endif
# if defined(CONFIG_UART4_RXDMA)
# ifndef CONFIG_STM32_DMA2
# error STM32 USART4 receive DMA requires CONFIG_STM32_DMA2
# endif
# endif
/* There are no optional DMA channel assignments for the F1 */
# define DMAMAP_USART1_RX DMACHAN_USART1_RX
# define DMAMAP_USART2_RX DMACHAN_USART2_RX
# define DMAMAP_USART3_RX DMACHAN_USART3_RX
# define DMAMAP_UART4_RX DMACHAN_USART4_RX
# if defined(CONFIG_USART6_RXDMA) && !defined(DMAMAP_USART6_RX)
# error "USART6 DMA channel not defined (DMAMAP_USART6_RX)"
# endif
/* The DMA buffer size when using RX DMA to emulate a FIFO.
@@ -169,6 +193,27 @@
# error "Unknown STM32 DMA"
# endif
/* DMA control word */
# if defined(CONFIG_STM32_STM32F20XX) || defined(CONFIG_STM32_STM32F40XX)
# define SERIAL_DMA_CONTROL_WORD \
(DMA_SCR_DIR_P2M | \
DMA_SCR_CIRC | \
DMA_SCR_MINC | \
DMA_SCR_PSIZE_8BITS | \
DMA_SCR_MSIZE_8BITS | \
CONFIG_USART_DMAPRIO | \
DMA_SCR_PBURST_SINGLE | \
DMA_SCR_MBURST_SINGLE)
# else
# define SERIAL_DMA_CONTROL_WORD \
(DMA_CCR_CIRC | \
DMA_CCR_MINC | \
DMA_CCR_PSIZE_8BITS | \
DMA_CCR_MSIZE_8BITS | \
CONFIG_USART_DMAPRIO)
# endif
#endif
/* Power management definitions */
@@ -1115,14 +1160,7 @@ static int up_dma_setup(struct uart_dev_s *dev)
priv->usartbase + STM32_USART_DR_OFFSET,
(uint32_t)priv->rxfifo,
RXDMA_BUFFER_SIZE,
DMA_SCR_DIR_P2M |
DMA_SCR_CIRC |
DMA_SCR_MINC |
DMA_SCR_PSIZE_8BITS |
DMA_SCR_MSIZE_8BITS |
CONFIG_USART_DMAPRIO |
DMA_SCR_PBURST_SINGLE |
DMA_SCR_MBURST_SINGLE);
SERIAL_DMA_CONTROL_WORD);
/* Reset our DMA shadow pointer to match the address just
* programmed above.
nuttx/arch/arm/src/stm32/stm32_uart.h
+2 -5
View File
@@ -140,12 +140,9 @@
# undef HAVE_CONSOLE
#endif
/* DMA support is only provided if CONFIG_ARCH_DMA is in the NuttX configuration.
* Furthermore, DMA support is currently only implemented for the F4 (but could be
* extended to the F1 and F2 with a little effort in the DMA code.
*/
/* DMA support is only provided if CONFIG_ARCH_DMA is in the NuttX configuration */
#if !defined(HAVE_UART) || !defined(CONFIG_ARCH_DMA) || !defined(CONFIG_STM32_STM32F40XX)
#if !defined(HAVE_UART) || !defined(CONFIG_ARCH_DMA)
# undef CONFIG_USART1_RXDMA
# undef CONFIG_USART2_RXDMA
# undef CONFIG_USART3_RXDMA
nuttx/arch/arm/src/stm32/stm32f10xxx_dma.c
+47 -9
View File
@@ -303,13 +303,13 @@ static int stm32_dmainterrupt(int irq, void *context)
}
dmach = &g_dma[chndx];
/* Get the interrupt status (for this channel only) -- not currently used */
/* Get the interrupt status (for this channel only) */
isr = dmabase_getreg(dmach, STM32_DMA_ISR_OFFSET) & DMA_ISR_CHAN_MASK(dmach->chan);
/* Disable the DMA channel */
/* Clear the interrupts we are handling */
stm32_dmachandisable(dmach);
dmabase_putreg(dmach, STM32_DMA_IFCR_OFFSET, isr);
/* Invoke the callback */
@@ -528,14 +528,34 @@ void stm32_dmastart(DMA_HANDLE handle, dma_callback_t callback, void *arg, bool
ccr = dmachan_getreg(dmach, STM32_DMACHAN_CCR_OFFSET);
ccr |= DMA_CCR_EN;
/* Once half of the bytes are transferred, the half-transfer flag (HTIF) is
* set and an interrupt is generated if the Half-Transfer Interrupt Enable
* bit (HTIE) is set. At the end of the transfer, the Transfer Complete Flag
* (TCIF) is set and an interrupt is generated if the Transfer Complete
* Interrupt Enable bit (TCIE) is set.
/* In normal mode, interrupt at either half or full completion. In circular mode,
* always interrupt on buffer wrap, and optionally interrupt at the halfway point.
*/
ccr |= (half ? (DMA_CCR_HTIE|DMA_CCR_TEIE) : (DMA_CCR_TCIE|DMA_CCR_TEIE));
if ((ccr & DMA_CCR_CIRC) == 0)
{
/* Once half of the bytes are transferred, the half-transfer flag (HTIF) is
* set and an interrupt is generated if the Half-Transfer Interrupt Enable
* bit (HTIE) is set. At the end of the transfer, the Transfer Complete Flag
* (TCIF) is set and an interrupt is generated if the Transfer Complete
* Interrupt Enable bit (TCIE) is set.
*/
ccr |= (half ? (DMA_CCR_HTIE|DMA_CCR_TEIE) : (DMA_CCR_TCIE|DMA_CCR_TEIE));
}
else
{
/* In nonstop mode, when the transfer completes it immediately resets
* and starts again. The transfer-complete interrupt is thus always
* enabled, and the half-complete interrupt can be used in circular
* mode to determine when the buffer is half-full, or in double-buffered
* mode to determine when one of the two buffers is full.
*/
ccr |= (half ? DMA_CCR_HTIE : 0) | DMA_CCR_TCIE | DMA_CCR_TEIE;
}
dmachan_putreg(dmach, STM32_DMACHAN_CCR_OFFSET, ccr);
}
@@ -558,6 +578,24 @@ void stm32_dmastop(DMA_HANDLE handle)
stm32_dmachandisable(dmach);
}
/****************************************************************************
* Name: stm32_dmaresidual
*
* Description:
* Returns the number of bytes remaining to be transferred
*
* Assumptions:
* - DMA handle allocated by stm32_dmachannel()
*
****************************************************************************/
size_t stm32_dmaresidual(DMA_HANDLE handle)
{
struct stm32_dma_s *dmach = (struct stm32_dma_s *)handle;
return dmachan_getreg(dmach, STM32_DMACHAN_CNDTR_OFFSET);
}
/****************************************************************************
* Name: stm32_dmasample
*
nuttx/arch/arm/src/stm32/stm32f40xxx_dma.c
+7 -4
View File
@@ -94,7 +94,6 @@ struct stm32_dma_s
uint8_t irq; /* DMA stream IRQ number */
uint8_t shift; /* ISR/IFCR bit shift value */
uint8_t channel; /* DMA channel number (0-7) */
bool nonstop; /* Stream is configured in a non-stopping mode. */
sem_t sem; /* Used to wait for DMA channel to become available */
uint32_t base; /* DMA register channel base address */
dma_callback_t callback; /* Callback invoked when the DMA completes */
@@ -728,7 +727,6 @@ void stm32_dmasetup(DMA_HANDLE handle, uint32_t paddr, uint32_t maddr,
DMA_SCR_DBM|DMA_SCR_CIRC|
DMA_SCR_PBURST_MASK|DMA_SCR_MBURST_MASK);
regval |= scr;
dmast->nonstop = (scr & (DMA_SCR_DBM|DMA_SCR_CIRC)) != 0;
dmast_putreg(dmast, STM32_DMA_SCR_OFFSET, regval);
}
@@ -764,7 +762,12 @@ void stm32_dmastart(DMA_HANDLE handle, dma_callback_t callback, void *arg, bool
scr = dmast_getreg(dmast, STM32_DMA_SCR_OFFSET);
scr |= DMA_SCR_EN;
if (!dmast->nonstop)
/* In normal mode, interrupt at either half or full completion. In circular
* and double-buffered modes, always interrupt on buffer wrap, and optionally
* interrupt at the halfway point.
*/
if ((scr & (DMA_SCR_DBM|DMA_SCR_CIRC)) == 0)
{
/* Once half of the bytes are transferred, the half-transfer flag (HTIF) is
* set and an interrupt is generated if the Half-Transfer Interrupt Enable
@@ -777,7 +780,7 @@ void stm32_dmastart(DMA_HANDLE handle, dma_callback_t callback, void *arg, bool
}
else
{
/* In nonstop mode, when the transfer completes it immediately resets
/* In non-stop modes, when the transfer completes it immediately resets
* and starts again. The transfer-complete interrupt is thus always
* enabled, and the half-complete interrupt can be used in circular
* mode to determine when the buffer is half-full, or in double-buffered