mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-06 12:11:36 +08:00
Completes coding of the PWM module
git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4200 7fd9a85b-ad96-42d3-883c-3090e2eb8679
This commit is contained in:
@@ -0,0 +1,469 @@
|
||||
/**********************************************************************
|
||||
* plsym.c
|
||||
* Symbol management for the P-Code Linker
|
||||
*
|
||||
* Copyright (C) 2008-2009 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
||||
*
|
||||
* 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 <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include "keywords.h"
|
||||
#include "pdefs.h"
|
||||
#include "podefs.h"
|
||||
#include "pedefs.h"
|
||||
|
||||
#include "pofflib.h"
|
||||
#include "paslib.h"
|
||||
#include "perr.h"
|
||||
#include "plsym.h"
|
||||
|
||||
/**********************************************************************
|
||||
* Pre-processor Definitions
|
||||
**********************************************************************/
|
||||
|
||||
#define INITIAL_SYMBOL_LIST_SIZE (1024*sizeof(symContainer_t*))
|
||||
#define SYMBOL_LIST_INCREMENT (256*sizeof(symContainer_t*))
|
||||
|
||||
/**********************************************************************
|
||||
* Private Types
|
||||
**********************************************************************/
|
||||
|
||||
/* This structure just contains a POFF library symbol */
|
||||
|
||||
struct symContainer_s
|
||||
{
|
||||
struct symContainer_s *next;
|
||||
struct symContainer_s *prev;
|
||||
poffLibSymbol_t s;
|
||||
};
|
||||
typedef struct symContainer_s symContainer_t;
|
||||
|
||||
/**********************************************************************
|
||||
* Private Variables
|
||||
**********************************************************************/
|
||||
|
||||
static symContainer_t *symHead = NULL;
|
||||
static symContainer_t *symTail = NULL;
|
||||
static symContainer_t **symList = NULL;
|
||||
static uint32_t symListAlloc = 0;
|
||||
|
||||
static int nUndefined = 0;
|
||||
static int nMultiplyDefined = 0;
|
||||
|
||||
/**********************************************************************
|
||||
* Private Function Prototypes
|
||||
|
||||
**********************************************************************/
|
||||
|
||||
static void offsetSymbolValue(poffLibSymbol_t *sym,
|
||||
uint32_t pcOffset);
|
||||
static symContainer_t *insertSymbol(poffLibSymbol_t *sym);
|
||||
static void addSymbolToList(symContainer_t *symbol,
|
||||
uint32_t index);
|
||||
|
||||
/**********************************************************************
|
||||
* Public Functions
|
||||
**********************************************************************/
|
||||
|
||||
uint32_t mergeSymbols(poffHandle_t inHandle, uint32_t pcOffset, uint32_t symOffset)
|
||||
{
|
||||
poffLibSymbol_t symbol;
|
||||
symContainer_t *container;
|
||||
int32_t inIndex;
|
||||
uint32_t outIndex;
|
||||
|
||||
do
|
||||
{
|
||||
/* Read each symbol from the input File */
|
||||
|
||||
inIndex = poffGetSymbol(inHandle, &symbol);
|
||||
if (inIndex >= 0)
|
||||
{
|
||||
/* If the symbol carries a "payload" that is a program
|
||||
* section offset, then apply the pcOffset value to
|
||||
* that "payload"
|
||||
*/
|
||||
|
||||
offsetSymbolValue(&symbol, pcOffset);
|
||||
|
||||
/* Create a container for the symbol information */
|
||||
|
||||
container = insertSymbol(&symbol);
|
||||
|
||||
/* Add the symbol to the linearly indexed list */
|
||||
|
||||
outIndex = inIndex + symOffset;
|
||||
addSymbolToList(container, outIndex);
|
||||
}
|
||||
}
|
||||
while (inIndex >= 0);
|
||||
|
||||
/* Return the offset to the last symbol inserted */
|
||||
|
||||
return outIndex;
|
||||
}
|
||||
|
||||
/***********************************************************************/
|
||||
|
||||
void verifySymbols(void)
|
||||
{
|
||||
symContainer_t *sym;
|
||||
|
||||
/* At the conclusion the link, there should be no undefined symbols.
|
||||
* This function simply asserts that condition. It traverses the
|
||||
* symbol container list and if any undefined symbol is found, it
|
||||
* errors out.
|
||||
*/
|
||||
|
||||
for (sym = symHead; (sym); sym = sym->next)
|
||||
{
|
||||
if ((sym->s.flags & STF_UNDEFINED) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Undefined symbol '%s'\n",
|
||||
sym->s.name);
|
||||
nUndefined++;
|
||||
}
|
||||
}
|
||||
|
||||
if (nUndefined) fatal(eUNDEFINEDSYMBOL);
|
||||
if (nMultiplyDefined) fatal(eMULTIDEFSYMBOL);
|
||||
}
|
||||
|
||||
/***********************************************************************/
|
||||
|
||||
void writeSymbols(poffHandle_t outHandle)
|
||||
{
|
||||
symContainer_t *sym;
|
||||
|
||||
/* Transfer all buffered symbol information to the output file */
|
||||
|
||||
for (sym = symHead; (sym); sym = sym->next)
|
||||
{
|
||||
(void)poffAddSymbol(outHandle, &sym->s);
|
||||
}
|
||||
}
|
||||
|
||||
/***********************************************************************/
|
||||
|
||||
poffLibSymbol_t *getSymbolByIndex(uint32_t symIndex)
|
||||
{
|
||||
if (symIndex * sizeof(symContainer_t*) >= symListAlloc)
|
||||
fatal(ePOFFCONFUSION);
|
||||
return &symList[symIndex]->s;
|
||||
}
|
||||
|
||||
/***********************************************************************/
|
||||
|
||||
void releaseSymbols(void)
|
||||
{
|
||||
static symContainer_t *curr;
|
||||
static symContainer_t *next;
|
||||
|
||||
for (curr = symHead; (curr); curr = next)
|
||||
{
|
||||
/* Get the next pointer from the container -- we are going
|
||||
* to deallocate the container!
|
||||
*/
|
||||
|
||||
next = curr->next;
|
||||
|
||||
/* Deallocate the name string copy */
|
||||
|
||||
if (curr->s.name) free((void*)curr->s.name);
|
||||
|
||||
/* Free the container */
|
||||
|
||||
free(curr);
|
||||
}
|
||||
|
||||
/* Free the index-able symbol list */
|
||||
|
||||
if (symList) free((void*)symList);
|
||||
|
||||
symHead = NULL;
|
||||
symTail = NULL;
|
||||
symList = NULL;
|
||||
}
|
||||
|
||||
/**********************************************************************/
|
||||
|
||||
static void offsetSymbolValue(poffLibSymbol_t *sym, uint32_t pcOffset)
|
||||
{
|
||||
/* Don't do anything with undefined symbols. By definition, these
|
||||
* cannot cannot any meaning values.
|
||||
*/
|
||||
|
||||
if ((sym->flags & STF_UNDEFINED) == 0)
|
||||
{
|
||||
switch (sym->type)
|
||||
{
|
||||
case STT_PROC:
|
||||
case STT_FUNC:
|
||||
sym->value += pcOffset;
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**********************************************************************/
|
||||
|
||||
static inline symContainer_t *makeSymContainer(poffLibSymbol_t *psym)
|
||||
{
|
||||
symContainer_t *sym;
|
||||
sym = (symContainer_t*)malloc(sizeof(symContainer_t));
|
||||
if (sym == NULL)
|
||||
{
|
||||
fatal(eNOMEMORY);
|
||||
}
|
||||
|
||||
/* The next container is not linked to anything yet */
|
||||
|
||||
sym->next = NULL;
|
||||
sym->prev = NULL;
|
||||
|
||||
/* Copy the whole symbol record */
|
||||
|
||||
sym->s = *psym;
|
||||
|
||||
/* Duplicate the symbol name -- the reference in the symbol entry
|
||||
* belongs to the input file and will be lost if/when the input file
|
||||
* is released.
|
||||
*/
|
||||
|
||||
if (psym->name)
|
||||
{
|
||||
sym->s.name = strdup(psym->name);
|
||||
}
|
||||
return sym;
|
||||
}
|
||||
|
||||
static symContainer_t *insertSymbol(poffLibSymbol_t *sym)
|
||||
{
|
||||
symContainer_t *prev;
|
||||
symContainer_t *curr;
|
||||
symContainer_t *newsym;
|
||||
int compare;
|
||||
|
||||
/* Find where to insert the symbol */
|
||||
|
||||
for (prev = NULL, curr = symHead; (curr); prev = curr, curr = curr->next)
|
||||
{
|
||||
/* Compare the names of the symbols */
|
||||
|
||||
compare = strcmp(curr->s.name, sym->name);
|
||||
|
||||
/* Break out of the loop if curr->name > sym_name or
|
||||
* if curr->name == sym_name AND the types of the
|
||||
* symbols are the same.
|
||||
*/
|
||||
|
||||
if (compare > 0)
|
||||
{
|
||||
/* Break out... curr refers to a symbol AFTER the position
|
||||
* where we want to put the new symbol.
|
||||
*/
|
||||
|
||||
break;
|
||||
}
|
||||
else if (compare == 0)
|
||||
{
|
||||
/* The symbols are the same. break out only if the types
|
||||
* are the same or this is where we need to insert the new
|
||||
* symbol (same name different type)
|
||||
*/
|
||||
|
||||
if (curr->s.type > sym->type)
|
||||
{
|
||||
compare = 1;
|
||||
break;
|
||||
}
|
||||
else if (curr->s.type == sym->type)
|
||||
{
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* We get here if:
|
||||
* a. curr == NULL meaning that the symbol goes at the end of the
|
||||
* list. (special case, prev == NULL as well. This happens when
|
||||
* the list is empty).
|
||||
* b. curr != NULL mean that the symbol goes between prev and curr
|
||||
* (special cases: (i) compare == 0 meaning that the symbol is
|
||||
* already in the list, or (ii) compare > 0 with prev == NULL
|
||||
* meaning that the new entry goes at the beginning of the list).
|
||||
*/
|
||||
|
||||
if (curr == NULL)
|
||||
{
|
||||
/* The symbol goes at the end of the list */
|
||||
|
||||
newsym = makeSymContainer(sym);
|
||||
newsym->next = NULL;
|
||||
newsym->prev = prev;
|
||||
symTail = newsym;
|
||||
|
||||
if (prev)
|
||||
prev->next = newsym;
|
||||
else
|
||||
symHead = newsym;
|
||||
}
|
||||
else if (compare == 0)
|
||||
{
|
||||
/* curr is non-NULL and refers to the same symbol (of the same
|
||||
* type). If both are undefined, then just discard the new
|
||||
* symbol.
|
||||
*/
|
||||
|
||||
if ((curr->s.flags & STF_UNDEFINED) != 0)
|
||||
{
|
||||
/* The symbol in the table is undefined */
|
||||
|
||||
if ((sym->flags & STF_UNDEFINED) != 0)
|
||||
{
|
||||
/* Both symbols are undefined. Just ignore the new one */
|
||||
}
|
||||
else
|
||||
{
|
||||
/* The symbol in the table is undefined, but the new
|
||||
* one is defined. Replace the one in the table (retaining
|
||||
* the allocated symbol name).
|
||||
*/
|
||||
const char *save = curr->s.name;
|
||||
curr->s = *sym;
|
||||
curr->s.name = save;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/* The symbol in the table is defined */
|
||||
|
||||
if ((sym->flags & STF_UNDEFINED) != 0)
|
||||
{
|
||||
/* But the new symbol is undefined. Just ignore the
|
||||
* new symbol
|
||||
*/
|
||||
}
|
||||
else
|
||||
{
|
||||
/* OOPS! both symbols are defined */
|
||||
|
||||
fprintf(stderr,
|
||||
"ERROR: Multiply defined symbol: '%s'\n",
|
||||
sym->name);
|
||||
nMultiplyDefined++;
|
||||
}
|
||||
|
||||
/* In any case, return the pointer to the old container */
|
||||
|
||||
newsym = curr;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/* curr is non-NULL and the symbol goes between prev and curr */
|
||||
|
||||
newsym = makeSymContainer(sym);
|
||||
newsym->next = curr;
|
||||
newsym->prev = prev;
|
||||
|
||||
if (prev)
|
||||
prev->next = newsym;
|
||||
else
|
||||
symHead = newsym;
|
||||
}
|
||||
|
||||
return newsym;
|
||||
}
|
||||
|
||||
/***********************************************************************/
|
||||
/* Add a symbol to the linear symbol table list. This list is necessary
|
||||
* to quickly mapped a symbol index value (as might be found in the
|
||||
* relocation data) to the unique representation of the symbol as
|
||||
* deterimed by insertSymbol().
|
||||
*/
|
||||
|
||||
static void addSymbolToList(symContainer_t *symbol, uint32_t index)
|
||||
{
|
||||
/* Check if we have allocated a symbol table buffer yet */
|
||||
|
||||
if (!symList)
|
||||
{
|
||||
/* No, allocate it now */
|
||||
|
||||
symList = (symContainer_t**)malloc(INITIAL_SYMBOL_LIST_SIZE);
|
||||
if (!symList)
|
||||
{
|
||||
fatal(eNOMEMORY);
|
||||
}
|
||||
symListAlloc = INITIAL_SYMBOL_LIST_SIZE;
|
||||
}
|
||||
|
||||
/* Check if there is room for a new symbol */
|
||||
|
||||
if ((index + 1) * sizeof(symContainer_t*) > symListAlloc)
|
||||
{
|
||||
uint32_t newAlloc = symListAlloc + SYMBOL_LIST_INCREMENT;
|
||||
symContainer_t **tmp;
|
||||
|
||||
/* Reallocate the file name buffer */
|
||||
|
||||
tmp = (symContainer_t**)realloc(symList, newAlloc);
|
||||
if (!tmp)
|
||||
{
|
||||
fatal(eNOMEMORY);
|
||||
}
|
||||
|
||||
/* And set the new size */
|
||||
|
||||
symListAlloc = newAlloc;
|
||||
symList = tmp;
|
||||
}
|
||||
|
||||
/* Save the new symbol information in the symbol table data */
|
||||
|
||||
symList[index] = symbol;
|
||||
}
|
||||
|
||||
/***********************************************************************/
|
||||
|
||||
Reference in New Issue
Block a user