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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Adding esc35-v1 board and bootloader
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
d09cd77777
commit
cd8b759fed
@@ -0,0 +1,100 @@
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############################################################################
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#
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# Copyright (C) 2015 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <gnutt@nuttx.org>
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# David Sidrane <david_s5@nscdg.com>
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name NuttX nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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-include $(TOPDIR)/Make.defs
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CFLAGS += -I$(TOPDIR)/sched
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ASRCS =
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AOBJS = $(ASRCS:.S=$(OBJEXT))
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ifeq ($(CONFIG_BOOTLOADER),)
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CSRCS = empty.c
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endif
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ifeq ($(CONFIG_BOOTLOADER),y)
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SRC_SEARCH = bootloader/can bootloader/src bootloader/common bootloader/uavcan
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CSRCS = ostubs.c
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CFLAGS += $(addprefix -I,$(SRC_SEARCH))
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DEPOPTS = $(addprefix --dep-path ,$(SRC_SEARCH))
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VPATH= $(SRC_SEARCH)
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endif
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COBJS = $(CSRCS:.c=$(OBJEXT))
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SRCS = $(ASRCS) $(CSRCS)
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OBJS = $(AOBJS) $(COBJS)
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ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
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ifeq ($(WINTOOL),y)
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CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
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-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
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-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
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else
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CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
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endif
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all: libboard$(LIBEXT)
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$(AOBJS): %$(OBJEXT): %.S
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$(call ASSEMBLE, $<, $@)
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$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
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$(call COMPILE, $<, $@)
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libboard$(LIBEXT): $(OBJS)
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$(call ARCHIVE, $@, $(OBJS))
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.depend: Makefile $(SRCS)
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@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
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@touch $@
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depend: .depend
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clean:
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$(call DELFILE, libboard$(LIBEXT))
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$(call CLEAN)
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distclean: clean
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$(call DELFILE, Make.dep)
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$(call DELFILE, .depend)
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ifneq ($(BOARD_CONTEXT),y)
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context:
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endif
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-include Make.dep
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@@ -0,0 +1,4 @@
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/*
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* There are no source files here, but libboard.a can't be empty, so
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* we have this empty source file to keep it company.
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*/
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@@ -0,0 +1,215 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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* Author: David Sidrane <david_s5@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/init.h>
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#include <nuttx/arch.h>
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#include <nuttx/kmalloc.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <syslog.h>
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#include <errno.h>
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#include <nuttx/board.h>
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#include "up_internal.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/****************************************************************************
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* Public Data
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****************************************************************************/
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volatile dq_queue_t g_readytorun;
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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void timer_init(void);
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int __wrap_up_svcall(int irq, FAR void *context);
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/****************************************************************************
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* Name: os_start
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*
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* Description:
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* This function hijacks the entry point of the OS. Normally called by the
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* statup code for a given architecture
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*
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****************************************************************************/
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#ifdef CONFIG_STACK_COLORATION
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inline static void irq_stack_collor(void *pv, unsigned int nwords)
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{
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#ifdef CONFIG_ARCH_INTERRUPTSTACK
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/* Set the Interrupt stack to the stack coloration value then jump to
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* os_start(). We take extreme care here because were currently
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* executing on this stack.
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*
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* We want to avoid sneak stack access generated by the compiler.
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*/
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__asm__ __volatile__
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(
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"\tmov r0, %[addr]\n" /* R0 = Address */
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"\tmovs r1, %[nwords]\n" /* R1 = nbyts*/
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"\tbeq 2f\n" /* (should not happen) */
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"\tbic r0, r0, #3\n" /* R0 = Aligned stackptr */
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"\tmovw r2, #0xbeef\n" /* R2 = STACK_COLOR = 0xdeadbeef */
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"\tmovt r2, #0xdead\n"
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"1:\n" /* Top of the loop */
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"\tsub r1, r1, #1\n" /* R1 nwords-- */
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"\tcmp r1, #0\n" /* Check (nwords == 0) */
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"\tstr r2, [r0], #4\n" /* Save stack color word, increment stackptr */
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"\tbne 1b\n" /* Bottom of the loop */
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"2:\n"
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:
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: [addr]"r" (pv), [nwords]"r" (nwords) /* Address*/
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: /* No clobbers */
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);
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#endif
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}
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#endif
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void os_start(void)
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{
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/* Color the irq stack */
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#ifdef CONFIG_STACK_COLORATION
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irq_stack_collor((void *)&g_intstackalloc, CONFIG_ARCH_INTERRUPTSTACK/sizeof(uint32_t));
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#endif
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/* Initialize the timer software subsystem */
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timer_init();
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/* Initialize the interrupt subsystem */
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up_irqinitialize();
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/* Initialize the OS's timer subsystem */
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#if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \
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!defined(CONFIG_SYSTEMTICK_EXTCLK)
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up_timer_initialize();
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#endif
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/* Keep the compiler happy for a no return function */
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while (1)
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{
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main(0, 0);
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}
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}
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/****************************************************************************
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* Name: malloc
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*
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* Description:
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* This function hijacks the OS's malloc and provides no allocation
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*
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****************************************************************************/
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FAR void *malloc(size_t size)
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{
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return NULL;
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}
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/****************************************************************************
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* Name: malloc
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*
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* Description:
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* This function hijacks the systems exit
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*
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****************************************************************************/
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void exit(int status)
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{
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while (1);
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}
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/****************************************************************************
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* Name: sched_ufree
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*
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* Description:
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* This function hijacks the systems sched_ufree that my be called during
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* exception processing.
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*
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****************************************************************************/
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void sched_ufree(FAR void *address)
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{
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}
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/****************************************************************************
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* Name: up_svcall
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*
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* Description:
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* This function hijacks by the way of a compile time wrapper the systems
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* up_svcall
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*
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****************************************************************************/
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int __wrap_up_svcall(int irq, FAR void *context)
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{
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return 0;
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}
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