From d27a58798955bad789da8f89acadf8c4341c2ecb Mon Sep 17 00:00:00 2001 From: patacongo Date: Fri, 22 Mar 2013 14:49:21 +0000 Subject: Add kernel build support to the STM32 family and to the STM32F4Discovery board git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@5774 42af7a65-404d-4744-a932-0658087f49c3 --- nuttx/ChangeLog | 10 ++ nuttx/arch/arm/src/lpc17xx/lpc17_mpuinit.c | 2 +- nuttx/arch/arm/src/lpc17xx/lpc17_start.c | 2 +- nuttx/arch/arm/src/lpc17xx/lpc17_userspace.h | 1 - nuttx/arch/arm/src/lpc17xx/lpc17_vectors.S | 6 +- nuttx/arch/arm/src/stm32/Make.defs | 11 ++ nuttx/arch/arm/src/stm32/stm32_allocateheap.c | 133 +++++++++++++- nuttx/arch/arm/src/stm32/stm32_mpuinit.c | 124 +++++++++++++ nuttx/arch/arm/src/stm32/stm32_mpuinit.h | 90 ++++++++++ nuttx/arch/arm/src/stm32/stm32_start.c | 16 +- nuttx/arch/arm/src/stm32/stm32_userspace.c | 119 +++++++++++++ nuttx/arch/arm/src/stm32/stm32_userspace.h | 76 ++++++++ nuttx/arch/arm/src/stm32/stm32_vectors.S | 37 ++-- nuttx/configs/open1788/kernel/up_userspace.c | 2 +- nuttx/configs/open1788/scripts/memory.ld | 2 +- nuttx/configs/stm32f4discovery/kernel/Makefile | 116 ++++++++++++ .../configs/stm32f4discovery/kernel/up_userspace.c | 142 +++++++++++++++ .../stm32f4discovery/scripts/kernel-space.ld | 109 ++++++++++++ nuttx/configs/stm32f4discovery/scripts/memory.ld | 78 +++++++++ .../configs/stm32f4discovery/scripts/user-space.ld | 126 +++++++++++++ nuttx/configs/zkit-arm-1769/src/up_lcd.c | 195 +++++++++++++++++++++ 21 files changed, 1365 insertions(+), 32 deletions(-) create mode 100644 nuttx/arch/arm/src/stm32/stm32_mpuinit.c create mode 100644 nuttx/arch/arm/src/stm32/stm32_mpuinit.h create mode 100644 nuttx/arch/arm/src/stm32/stm32_userspace.c create mode 100644 nuttx/arch/arm/src/stm32/stm32_userspace.h create mode 100644 nuttx/configs/stm32f4discovery/kernel/Makefile create mode 100644 nuttx/configs/stm32f4discovery/kernel/up_userspace.c create mode 100755 nuttx/configs/stm32f4discovery/scripts/kernel-space.ld create mode 100644 nuttx/configs/stm32f4discovery/scripts/memory.ld create mode 100644 nuttx/configs/stm32f4discovery/scripts/user-space.ld create mode 100644 nuttx/configs/zkit-arm-1769/src/up_lcd.c diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog index 5d454cda3..d8452d106 100644 --- a/nuttx/ChangeLog +++ b/nuttx/ChangeLog @@ -4416,3 +4416,13 @@ is allocated from kernel memory; however, the current stack is the user's stack and the user code will be able to access the signinfo_t data from the stack copy (2013-03-21). + * arch/arm/src/stm32: Added support for the kernel mode build + (cloned from the lpc17xx). (2013-03-21). + * configs/stme32f4discovery/kernel and scripts: Add support for + the kernel mode build on the STM32F4Discovery (2013-03-21). + * drivers/st7567.c/h and include/nuttx/lcd/st7567.h: Driver for + the the ST7567 LCD Display Module from Univision Technology Inc. + contributed by Manikandan.S (2013-03-22). + * configs/zkit-arm-1769: Now supports the ST7567 LCD display\ + module. Added an nxhello configurtion for testing (Manikandan.S, + 2013-03-22). diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_mpuinit.c b/nuttx/arch/arm/src/lpc17xx/lpc17_mpuinit.c index c5d1ab11c..046f6e703 100644 --- a/nuttx/arch/arm/src/lpc17xx/lpc17_mpuinit.c +++ b/nuttx/arch/arm/src/lpc17xx/lpc17_mpuinit.c @@ -1,5 +1,5 @@ /**************************************************************************** - * arch/arm/src/common/lpc17_mpuinit.c + * arch/arm/src/lpc17xx/lpc17_mpuinit.c * * Copyright (C) 2011, 2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_start.c b/nuttx/arch/arm/src/lpc17xx/lpc17_start.c index 57496ab2a..f5af4c913 100644 --- a/nuttx/arch/arm/src/lpc17xx/lpc17_start.c +++ b/nuttx/arch/arm/src/lpc17xx/lpc17_start.c @@ -236,7 +236,7 @@ void __start(void) /* For the case of the separate user-/kernel-space build, perform whatever * platform specific initialization of the user memory is required. * Normally this just means initializing the user space .data and .bss - * segements. + * segments. */ #ifdef CONFIG_NUTTX_KERNEL diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_userspace.h b/nuttx/arch/arm/src/lpc17xx/lpc17_userspace.h index c4d265cc0..7f9c75dd4 100644 --- a/nuttx/arch/arm/src/lpc17xx/lpc17_userspace.h +++ b/nuttx/arch/arm/src/lpc17xx/lpc17_userspace.h @@ -41,7 +41,6 @@ ************************************************************************************/ #include -#include "chip/lpc17_qei.h" /************************************************************************************ * Pre-processor Definitions diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_vectors.S b/nuttx/arch/arm/src/lpc17xx/lpc17_vectors.S index 9575e1f3e..06b6afdf6 100644 --- a/nuttx/arch/arm/src/lpc17xx/lpc17_vectors.S +++ b/nuttx/arch/arm/src/lpc17xx/lpc17_vectors.S @@ -61,7 +61,7 @@ * 0x1000:7fff - End of CPU SRAM and end of heap (1st region) */ -#define IDLE_STACK (_ebss+CONFIG_IDLETHREAD_STACKSIZE) +#define IDLE_STACK (_ebss+CONFIG_IDLETHREAD_STACKSIZE-4) #define HEAP_BASE (_ebss+CONFIG_IDLETHREAD_STACKSIZE) /* The Cortex-M3 return from interrupt is unusual. We provide the following special @@ -306,8 +306,8 @@ lpc17_common: #endif /* We are returning with a pending context switch. This case is different - * because in this case, the register save structure does not lie on the - * stack but, rather, are within a TCB structure. We'll have to copy some + * because in this case, the register save structure does not lie in the + * stack but, rather, within a TCB structure. We'll have to copy some * values to the stack. */ diff --git a/nuttx/arch/arm/src/stm32/Make.defs b/nuttx/arch/arm/src/stm32/Make.defs index d51c360fe..c26843039 100644 --- a/nuttx/arch/arm/src/stm32/Make.defs +++ b/nuttx/arch/arm/src/stm32/Make.defs @@ -64,6 +64,13 @@ ifeq ($(CONFIG_ARCH_MEMCPY),y) CMN_ASRCS += up_memcpy.S endif +ifeq ($(CONFIG_NUTTX_KERNEL),y) +CMN_CSRCS += up_mpu.c up_task_start.c up_pthread_start.c up_stackframe.c +ifneq ($(CONFIG_DISABLE_SIGNALS),y) +CMN_CSRCS += up_signal_handler.c +endif +endif + ifeq ($(CONFIG_DEBUG_STACK),y) CMN_CSRCS += up_checkstack.c endif @@ -87,6 +94,10 @@ ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y) CHIP_ASRCS += stm32_vectors.S endif +ifeq ($(CONFIG_NUTTX_KERNEL),y) +CHIP_CSRCS += stm32_userspace.c stm32_mpuinit.c +endif + ifeq ($(CONFIG_USBDEV),y) ifeq ($(CONFIG_STM32_USB),y) CHIP_CSRCS += stm32_usbdev.c diff --git a/nuttx/arch/arm/src/stm32/stm32_allocateheap.c b/nuttx/arch/arm/src/stm32/stm32_allocateheap.c index 6a29fb16c..3eed90dd4 100644 --- a/nuttx/arch/arm/src/stm32/stm32_allocateheap.c +++ b/nuttx/arch/arm/src/stm32/stm32_allocateheap.c @@ -58,7 +58,7 @@ * following definitions must be provided to specify the size and * location of internal(system) SRAM: * - * CONFIG_DRAM_END : End address (+1) of SRAM (F1 family only, the + * SRAM1_END : End address (+1) of SRAM (F1 family only, the * : F4 family uses the a priori end of SRAM) * * The F4 family also contains internal CCM SRAM. This SRAM is different @@ -88,7 +88,7 @@ #endif /* For the STM312F10xxx family, all internal SRAM is in one contiguous block - * starting at g_idle_topstack and extending through CONFIG_DRAM_END (my apologies for + * starting at g_idle_topstack and extending through SRAM1_END (my apologies for * the bad naming). In addition, external FSMC SRAM may be available. */ @@ -96,7 +96,7 @@ /* Set the end of system SRAM */ -# define SRAM1_END CONFIG_DRAM_END +# define SRAM1_END SRAM1_END /* Check if external FSMC SRAM is provided */ @@ -130,7 +130,7 @@ /* Set the end of system SRAM */ -# define SRAM1_END CONFIG_DRAM_END +# define SRAM1_END SRAM1_END /* Set the range of CCM SRAM as well (although we may not use it) */ @@ -365,14 +365,113 @@ * If a protected kernel-space heap is provided, the kernel heap must be * allocated (and protected) by an analogous up_allocate_kheap(). * + * The following memory map is assumed for the flat build: + * + * .data region. Size determined at link time. + * .bss region Size determined at link time. + * IDLE thread stack. Size determined by CONFIG_IDLETHREAD_STACKSIZE. + * Heap. Extends to the end of SRAM. + * + * The following memory map is assumed for the kernel build: + * + * Kernel .data region. Size determined at link time. + * Kernel .bss region Size determined at link time. + * Kernel IDLE thread stack. Size determined by CONFIG_IDLETHREAD_STACKSIZE. + * Padding for alignment + * User .data region. Size determined at link time. + * User .bss region Size determined at link time. + * Kernel heap. Size determined by CONFIG_MM_KERNEL_HEAPSIZE. + * User heap. Extends to the end of SRAM. + * ****************************************************************************/ void up_allocate_heap(FAR void **heap_start, size_t *heap_size) { +#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_MM_KERNEL_HEAP) + /* Get the unaligned size and position of the user-space heap. + * This heap begins after the user-space .bss section at an offset + * of CONFIG_MM_KERNEL_HEAPSIZE (subject to alignment). + */ + + uintptr_t ubase = (uintptr_t)USERSPACE->us_bssend + CONFIG_MM_KERNEL_HEAPSIZE; + size_t usize = SRAM1_END - ubase; + int log2; + + DEBUGASSERT(ubase < (uintptr_t)SRAM1_END); + + /* Adjust that size to account for MPU alignment requirements. + * NOTE that there is an implicit assumption that the SRAM1_END + * is aligned to the MPU requirement. + */ + + log2 = (int)mpu_log2regionfloor(usize); + DEBUGASSERT((SRAM1_END & ((1 << log2) - 1)) == 0); + + usize = (1 << log2); + ubase = SRAM1_END - usize; + + /* Return the user-space heap settings */ + + up_ledon(LED_HEAPALLOCATE); + *heap_start = (FAR void*)ubase; + *heap_size = usize; + + /* Allow user-mode access to the user heap memory */ + + stm32_mpu_uheap((uintptr_t)ubase, usize); +#else + + /* Return the heap settings */ + up_ledon(LED_HEAPALLOCATE); *heap_start = (FAR void*)g_idle_topstack; *heap_size = SRAM1_END - g_idle_topstack; +#endif +} + +/**************************************************************************** + * Name: up_allocate_kheap + * + * Description: + * For the kernel build (CONFIG_NUTTX_KERNEL=y) with both kernel- and + * user-space heaps (CONFIG_MM_KERNEL_HEAP=y), this function allocates + * (and protects) the kernel-space heap. + * + ****************************************************************************/ + +#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_MM_KERNEL_HEAP) +void up_allocate_kheap(FAR void **heap_start, size_t *heap_size) +{ + /* Get the unaligned size and position of the user-space heap. + * This heap begins after the user-space .bss section at an offset + * of CONFIG_MM_KERNEL_HEAPSIZE (subject to alignment). + */ + + uintptr_t ubase = (uintptr_t)USERSPACE->us_bssend + CONFIG_MM_KERNEL_HEAPSIZE; + size_t usize = SRAM1_END - ubase; + int log2; + + DEBUGASSERT(ubase < (uintptr_t)SRAM1_END); + + /* Adjust that size to account for MPU alignment requirements. + * NOTE that there is an implicit assumption that the SRAM1_END + * is aligned to the MPU requirement. + */ + + log2 = (int)mpu_log2regionfloor(usize); + DEBUGASSERT((SRAM1_END & ((1 << log2) - 1)) == 0); + + usize = (1 << log2); + ubase = SRAM1_END - usize; + + /* Return the kernel heap settings (i.e., the part of the heap region + * that was not dedicated to the user heap). + */ + + *heap_start = (FAR void*)USERSPACE->us_bssend; + *heap_size = ubase - (uintptr_t)USERSPACE->us_bssend; } +#endif /**************************************************************************** * Name: up_addregion @@ -386,16 +485,32 @@ void up_allocate_heap(FAR void **heap_start, size_t *heap_size) #if CONFIG_MM_REGIONS > 1 void up_addregion(void) { - /* Add the STM32F20xxx/STM32F40xxx CCM SRAM heap region. */ - #ifndef CONFIG_STM32_CCMEXCLUDE - kmm_addregion((FAR void*)SRAM2_START, SRAM2_END-SRAM2_START); +#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_MM_KERNEL_HEAP) + + /* Allow user-mode access to the STM32F20xxx/STM32F40xxx CCM SRAM heap */ + + stm32_mpu_uheap((uintptr_t)SRAM2_START, SRAM2_END-SRAM2_START); + #endif - /* Add the external FSMC SRAM heap region. */ + /* Add the STM32F20xxx/STM32F40xxx CCM SRAM user heap region. */ + + kumm_addregion((FAR void*)SRAM2_START, SRAM2_END-SRAM2_START); +#endif #ifdef CONFIG_STM32_FSMC_SRAM - kmm_addregion((FAR void*)CONFIG_HEAP2_BASE, CONFIG_HEAP2_SIZE); +#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_MM_KERNEL_HEAP) + + /* Allow user-mode access to the FSMC SRAM user heap memory */ + + stm32_mpu_uheap((uintptr_t)CONFIG_HEAP2_BASE, CONFIG_HEAP2_SIZE); + +#endif + + /* Add the external FSMC SRAM user heap region. */ + + kumm_addregion((FAR void*)CONFIG_HEAP2_BASE, CONFIG_HEAP2_SIZE); #endif } #endif diff --git a/nuttx/arch/arm/src/stm32/stm32_mpuinit.c b/nuttx/arch/arm/src/stm32/stm32_mpuinit.c new file mode 100644 index 000000000..0b44a32cc --- /dev/null +++ b/nuttx/arch/arm/src/stm32/stm32_mpuinit.c @@ -0,0 +1,124 @@ +/**************************************************************************** + * arch/arm/src/stm32/stm32_mpuinit.c + * + * Copyright (C) 2011, 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 + +#include + +#include + +#include "mpu.h" +#include "stm32_mpuinit.h" + +#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_ARMV7M_MPU) + +/**************************************************************************** + * Private Definitions + ****************************************************************************/ + +#ifndef MAX +# define MAX(a,b) a > b ? a : b +#endif + +#ifndef MIN +# define MIN(a,b) a < b ? a : b +#endif + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_mpuinitialize + * + * Description: + * Configure the MPU to permit user-space access to only restricted SAM3U + * resources. + * + ****************************************************************************/ + +void stm32_mpuinitialize(void) +{ + uintptr_t datastart = MIN(USERSPACE->us_datastart, USERSPACE->us_bssstart); + uintptr_t dataend = MAX(USERSPACE->us_dataend, USERSPACE->us_bssend); + + DEBUGASSERT(USERSPACE->us_textend >= USERSPACE->us_textstart && + dataend >= datastart); + + /* Show MPU information */ + + mpu_showtype(); + + /* Configure user flash and SRAM space */ + + mpu_userflash(USERSPACE->us_textstart, + USERSPACE->us_textend - USERSPACE->us_textstart); + + mpu_userintsram(datastart, dataend - datastart); + + /* Then enable the MPU */ + + mpu_control(true, false, true); +} + +/**************************************************************************** + * Name: stm32_mpu_uheap + * + * Description: + * Map the user-heap region. + * + * This logic may need an extension to handle external SDRAM). + * + ****************************************************************************/ + +void stm32_mpu_uheap(uintptr_t start, size_t size) +{ + mpu_userintsram(start, size); +} + +#endif /* CONFIG_NUTTX_KERNEL && CONFIG_ARMV7M_MPU */ + diff --git a/nuttx/arch/arm/src/stm32/stm32_mpuinit.h b/nuttx/arch/arm/src/stm32/stm32_mpuinit.h new file mode 100644 index 000000000..009306947 --- /dev/null +++ b/nuttx/arch/arm/src/stm32/stm32_mpuinit.h @@ -0,0 +1,90 @@ +/************************************************************************************ + * arch/arm/src/stm32/stm32_mpuinit.h + * + * Copyright (C) 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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_STM32_STM32_MPUINIT_H +#define __ARCH_ARM_SRC_STM32_STM32_MPUINIT_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ + +/************************************************************************************ + * Public Types + ************************************************************************************/ + +/************************************************************************************ + * Public Data + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/**************************************************************************** + * Name: stm32_mpuinitialize + * + * Description: + * Configure the MPU to permit user-space access to only unrestricted MCU + * resources. + * + ****************************************************************************/ + +#ifdef CONFIG_NUTTX_KERNEL +void stm32_mpuinitialize(void); +#else +# define stm32_mpuinitialize() +#endif + +/**************************************************************************** + * Name: stm32_mpu_uheap + * + * Description: + * Map the user heap region. + * + ****************************************************************************/ + +#ifdef CONFIG_NUTTX_KERNEL +void stm32_mpu_uheap(uintptr_t start, size_t size); +#else +# define stm32_mpu_uheap(start,size) +#endif + +#endif /* __ARCH_ARM_SRC_STM32_STM32_MPUINIT_H */ diff --git a/nuttx/arch/arm/src/stm32/stm32_start.c b/nuttx/arch/arm/src/stm32/stm32_start.c index b90beeb16..a2f82f7b2 100644 --- a/nuttx/arch/arm/src/stm32/stm32_start.c +++ b/nuttx/arch/arm/src/stm32/stm32_start.c @@ -52,6 +52,7 @@ #include "stm32.h" #include "stm32_gpio.h" +#include "stm32_userspace.h" #ifdef CONFIG_ARCH_FPU # include "nvic.h" @@ -198,6 +199,7 @@ void __start(void) { *dest++ = 0; } + showprogress('B'); /* Move the intialized data section from his temporary holding spot in @@ -210,6 +212,7 @@ void __start(void) { *dest++ = *src++; } + showprogress('C'); /* Perform early serial initialization */ @@ -219,10 +222,21 @@ void __start(void) #endif showprogress('D'); + /* For the case of the separate user-/kernel-space build, perform whatever + * platform specific initialization of the user memory is required. + * Normally this just means initializing the user space .data and .bss + * segments. + */ + +#ifdef CONFIG_NUTTX_KERNEL + stm32_userspace(); + showprogress('E'); +#endif + /* Initialize onboard resources */ stm32_boardinitialize(); - showprogress('E'); + showprogress('F'); /* Then start NuttX */ diff --git a/nuttx/arch/arm/src/stm32/stm32_userspace.c b/nuttx/arch/arm/src/stm32/stm32_userspace.c new file mode 100644 index 000000000..c51e9e725 --- /dev/null +++ b/nuttx/arch/arm/src/stm32/stm32_userspace.c @@ -0,0 +1,119 @@ +/**************************************************************************** + * arch/arm/src/stm32/stm32_userspace.c + * + * Copyright (C) 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 + +#include +#include + +#include + +#include "stm32_mpuinit.h" +#include "stm32_userspace.h" + +#ifdef CONFIG_NUTTX_KERNEL + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_userspace + * + * Description: + * For the case of the separate user-/kernel-space build, perform whatever + * platform specific initialization of the user memory is required. + * Normally this just means initializing the user space .data and .bss + * segments. + * + ****************************************************************************/ + +void stm32_userspace(void) +{ + uint8_t *src; + uint8_t *dest; + uint8_t *end; + + /* Clear all of user-space .bss */ + + DEBUGASSERT(USERSPACE->us_bssstart != 0 && USERSPACE->us_bssend != 0 && + USERSPACE->us_bssstart <= USERSPACE->us_bssend); + + dest = (uint8_t*)USERSPACE->us_bssstart; + end = (uint8_t*)USERSPACE->us_bssend; + + while (dest != end) + { + *dest++ = 0; + } + + /* Initialize all of user-space .data */ + + DEBUGASSERT(USERSPACE->us_datasource != 0 && + USERSPACE->us_datastart != 0 && USERSPACE->us_dataend != 0 && + USERSPACE->us_datastart <= USERSPACE->us_dataend); + + src = (uint8_t*)USERSPACE->us_datasource; + dest = (uint8_t*)USERSPACE->us_datastart; + end = (uint8_t*)USERSPACE->us_dataend; + + while (dest != end) + { + *dest++ = *src++; + } + + /* Configure the MPU to permit user-space access to its FLASH and RAM */ + + stm32_mpuinitialize(); +} + +#endif /* CONFIG_NUTTX_KERNEL */ + diff --git a/nuttx/arch/arm/src/stm32/stm32_userspace.h b/nuttx/arch/arm/src/stm32/stm32_userspace.h new file mode 100644 index 000000000..16cd3c8e2 --- /dev/null +++ b/nuttx/arch/arm/src/stm32/stm32_userspace.h @@ -0,0 +1,76 @@ +/************************************************************************************ + * arch/arm/src/stm32/stm32_qei.h + * + * Copyright (C) 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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_STM32_STM32_USERSPACE_H +#define __ARCH_ARM_SRC_STM32_STM32_USERSPACE_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ + +/************************************************************************************ + * Public Types + ************************************************************************************/ + +/************************************************************************************ + * Public Data + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/**************************************************************************** + * Name: stm32_userspace + * + * Description: + * For the case of the separate user-/kernel-space build, perform whatever + * platform specific initialization of the user memory is required. + * Normally this just means initializing the user space .data and .bss + * segments. + * + ****************************************************************************/ + +#ifdef CONFIG_NUTTX_KERNEL +void stm32_userspace(void); +#endif + +#endif /* __ARCH_ARM_SRC_STM32_STM32_USERSPACE_H */ diff --git a/nuttx/arch/arm/src/stm32/stm32_vectors.S b/nuttx/arch/arm/src/stm32/stm32_vectors.S index 6b9c0affe..c81ae74f5 100644 --- a/nuttx/arch/arm/src/stm32/stm32_vectors.S +++ b/nuttx/arch/arm/src/stm32/stm32_vectors.S @@ -69,8 +69,8 @@ * 0x2000:ffff - End of SRAM and end of heap */ -#define IDLE_STACK (_ebss+CONFIG_IDLETHREAD_STACKSIZE-4) -#define HEAP_BASE (_ebss+CONFIG_IDLETHREAD_STACKSIZE-4) +#define IDLE_STACK (_ebss+CONFIG_IDLETHREAD_STACKSIZE-4) +#define HEAP_BASE (_ebss+CONFIG_IDLETHREAD_STACKSIZE) /* The Cortex-M3 return from interrupt is unusual. We provide the following special * address to the BX instruction. The particular value also forces a return to @@ -219,7 +219,7 @@ stm32_common: #ifdef CONFIG_NUTTX_KERNEL /* The EXC_RETURN value will be 0xfffffff9 (privileged thread) or 0xfffffff1 - * (handler mode) if the state is on the MSP. It can only be on the PSP if + * (handler mode) if the stack is on the MSP. It can only be on the PSP if * EXC_RETURN is 0xfffffffd (unprivileged thread) */ @@ -314,10 +314,10 @@ stm32_common: bl up_restorefpu /* Restore the FPU registers */ #endif - /* Returning with a pending context switch is different from the normal - * return because in this case, the register save structure does not lie - * on the stack but, rather, are within a TCB structure. We'll have to - * copy somevalues to the new stack. + /* We are returning with a pending context switch. This case is different + * because in this case, the register save structure does not lie in the + * stack but, rather, within a TCB structure. We'll have to copy some + * values to the stack. */ add r1, r0, #SW_XCPT_SIZE /* R1=Address of HW save area in reg array */ @@ -343,6 +343,7 @@ stm32_common: #else ldmia r1!, {r2-r11} /* Recover R4-R11 + 2 temp values */ #endif + #ifdef CONFIG_ARCH_FPU /* Skip over the block of memory reserved for floating pointer register * save. Then R1 is the address of the HW save area @@ -360,16 +361,25 @@ stm32_common: * r4-r11 = restored register values */ 2: + #ifdef CONFIG_NUTTX_KERNEL /* The EXC_RETURN value will be 0xfffffff9 (privileged thread) or 0xfffffff1 - * (handler mode) if the state is on the MSP. It can only be on the PSP if + * (handler mode) if the stack is on the MSP. It can only be on the PSP if * EXC_RETURN is 0xfffffffd (unprivileged thread) */ - adds r0, r14, #3 /* If R14=0xfffffffd, then r0 == 0 */ - ite ne /* Next two instructions are condition */ - msrne msp, r1 /* R1=The main stack pointer */ - msreq psp, r1 /* R1=The process stack pointer */ + mrs r2, control /* R2=Contents of the control register */ + tst r14, #EXC_RETURN_PROCESS_STACK /* nonzero if context on process stack */ + beq 3f /* Branch if privileged */ + + orr r2, r2, #1 /* Unprivileged mode */ + msr psp, r1 /* R1=The process stack pointer */ + b 4f +3: + bic r2, r2, #1 /* Privileged mode */ + msr msp, r1 /* R1=The main stack pointer */ +4: + msr control, r2 /* Save the updated control register */ #else msr msp, r1 /* Recover the return MSP value */ @@ -432,8 +442,7 @@ g_intstackbase: .globl g_idle_topstack .type g_idle_topstack, object g_idle_topstack: - .long _ebss+CONFIG_IDLETHREAD_STACKSIZE + .word HEAP_BASE .size g_idle_topstack, .-g_idle_topstack .end - diff --git a/nuttx/configs/open1788/kernel/up_userspace.c b/nuttx/configs/open1788/kernel/up_userspace.c index 2263bc3f5..b6a9e3df6 100644 --- a/nuttx/configs/open1788/kernel/up_userspace.c +++ b/nuttx/configs/open1788/kernel/up_userspace.c @@ -57,7 +57,7 @@ #endif #if CONFIG_NUTTX_USERSPACE != 0x00010000 -# error "CONFIG_NUTTX_USERSPACE must be 0x00010000 to match user-space.ld" +# error "CONFIG_NUTTX_USERSPACE must be 0x00010000 to match memory.ld" #endif /**************************************************************************** diff --git a/nuttx/configs/open1788/scripts/memory.ld b/nuttx/configs/open1788/scripts/memory.ld index 4f301dcfb..5f23145d4 100644 --- a/nuttx/configs/open1788/scripts/memory.ld +++ b/nuttx/configs/open1788/scripts/memory.ld @@ -1,5 +1,5 @@ /**************************************************************************** - * configs/open1788/knsh/memory.ld + * configs/open1788/scripts/memory.ld * * Copyright (C) 2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt diff --git a/nuttx/configs/stm32f4discovery/kernel/Makefile b/nuttx/configs/stm32f4discovery/kernel/Makefile new file mode 100644 index 000000000..9d65efde2 --- /dev/null +++ b/nuttx/configs/stm32f4discovery/kernel/Makefile @@ -0,0 +1,116 @@ +############################################################################ +# configs/stm32f4discovery/kernel/Makefile +# +# Copyright (C) 2013 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# +############################################################################ + +-include $(TOPDIR)/Make.defs + +# This is the directory for the board-specific header files + +BOARD_INCLUDE = $(TOPDIR)$(DELIM)configs$(DELIM)$(CONFIG_ARCH_BOARD)$(DELIM)include + +# The entry point name (if none is provided in the .config file) + +CONFIG_USER_ENTRYPOINT ?= user_start +ENTRYPT = $(patsubst "%",%,$(CONFIG_USER_ENTRYPOINT)) + +# Get the paths to the libraries and the links script path in format that +# is appropriate for the host OS + +ifeq ($(WINTOOL),y) + # Windows-native toolchains + USER_LIBPATHS = ${shell for path in $(USERLIBS); do dir=`dirname $(TOPDIR)$(DELIM)$$path`;echo "-L\"`cygpath -w $$dir`\"";done} + USER_LDSCRIPT = -T "${shell cygpath -w $(TOPDIR)$(DELIM)configs$(DELIM)$(CONFIG_ARCH_BOARD)$(DELIM)scripts$(DELIM)memory.ld}" + USER_LDSCRIPT += -T "${shell cygpath -w $(TOPDIR)$(DELIM)configs$(DELIM)$(CONFIG_ARCH_BOARD)$(DELIM)scripts$(DELIM)user-space.ld}" +else + # Linux/Cygwin-native toolchain + USER_LIBPATHS = $(addprefix -L$(TOPDIR)$(DELIM),$(dir $(USERLIBS))) + USER_LDSCRIPT = -T$(TOPDIR)$(DELIM)configs$(DELIM)$(CONFIG_ARCH_BOARD)$(DELIM)scripts$(DELIM)memory.ld + USER_LDSCRIPT += -T$(TOPDIR)$(DELIM)configs$(DELIM)$(CONFIG_ARCH_BOARD)$(DELIM)scripts$(DELIM)user-space.ld +endif + +USER_LDFLAGS = --undefined=$(ENTRYPT) --entry=$(ENTRYPT) $(USER_LDSCRIPT) +USER_LDLIBS = $(patsubst lib%,-l%,$(basename $(notdir $(USERLIBS)))) +USER_LIBGCC = "${shell $(CC) -print-libgcc-file-name}" + +# Source files + +CSRCS = up_userspace.c +COBJS = $(CSRCS:.c=$(OBJEXT)) +OBJS = $(COBJS) + +# Targets: + +all: $(TOPDIR)$(DELIM)nuttx_user.elf $(TOPDIR)$(DELIM)User.map +.PHONY: nuttx_user.elf depend clean distclean + +$(COBJS): %$(OBJEXT): %.c + $(call COMPILE, $<, $@) + +# Create the nuttx_user.elf file containing all of the user-mode code + +nuttx_user.elf: $(OBJS) + $(Q) $(LD) -o $@ $(USER_LDFLAGS) $(USER_LIBPATHS) $(OBJS) --start-group $(USER_LDLIBS) --end-group $(USER_LIBGCC) + +$(TOPDIR)$(DELIM)nuttx_user.elf: nuttx_user.elf + @echo "LD: nuttx_user.elf" + $(Q) cp -a nuttx_user.elf $(TOPDIR)$(DELIM)nuttx_user.elf +ifeq ($(CONFIG_INTELHEX_BINARY),y) + @echo "CP: nuttx_user.hex" + $(Q) $(OBJCOPY) $(OBJCOPYARGS) -O ihex nuttx_user.elf $(TOPDIR)$(DELIM)nuttx_user.hex +endif +ifeq ($(CONFIG_MOTOROLA_SREC),y) + @echo "CP: nuttx_user.srec" + $(Q) $(OBJCOPY) $(OBJCOPYARGS) -O srec nuttx_user.elf $(TOPDIR)$(DELIM)nuttx_user.srec +endif +ifeq ($(CONFIG_RAW_BINARY),y) + @echo "CP: nuttx_user.bin" + $(Q) $(OBJCOPY) $(OBJCOPYARGS) -O binary nuttx_user.elf $(TOPDIR)$(DELIM)nuttx_user.bin +endif + +$(TOPDIR)$(DELIM)User.map: nuttx_user.elf + @echo "MK: User.map" + $(Q) $(NM) nuttx_user.elf >$(TOPDIR)$(DELIM)User.map + $(Q) $(CROSSDEV)size nuttx_user.elf + +.depend: + +depend: .depend + +clean: + $(call DELFILE, nuttx_user.elf) + $(call DELFILE, "$(TOPDIR)$(DELIM)nuttx_user.*") + $(call DELFILE, "$(TOPDIR)$(DELIM)User.map") + $(call CLEAN) + +distclean: clean diff --git a/nuttx/configs/stm32f4discovery/kernel/up_userspace.c b/nuttx/configs/stm32f4discovery/kernel/up_userspace.c new file mode 100644 index 000000000..eb73f8069 --- /dev/null +++ b/nuttx/configs/stm32f4discovery/kernel/up_userspace.c @@ -0,0 +1,142 @@ +/**************************************************************************** + * configs/stm32f4discovery/kernel/up_userspace.c + * + * Copyright (C) 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 + +#include + +#include +#include +#include + +#if defined(CONFIG_NUTTX_KERNEL) && !defined(__KERNEL__) + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ +/* Configuration ************************************************************/ + +#ifndef CONFIG_NUTTX_USERSPACE +# error "CONFIG_NUTTX_USERSPACE not defined" +#endif + +#if CONFIG_NUTTX_USERSPACE != 0x08018000 +# error "CONFIG_NUTTX_USERSPACE must be 0x08018000 to match memory.ld" +#endif + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/* These 'addresses' of these values are setup by the linker script. They are + * not actual uint32_t storage locations! They are only used meaningfully in the + * following way: + * + * - The linker script defines, for example, the symbol_sdata. + * - The declareion extern uint32_t _sdata; makes C happy. C will believe + * that the value _sdata is the address of a uint32_t variable _data (it is + * not!). + * - We can recoved the linker value then by simply taking the address of + * of _data. like: uint32_t *pdata = &_sdata; + */ + +extern uint32_t _stext; /* Start of .text */ +extern uint32_t _etext; /* End_1 of .text + .rodata */ +extern const uint32_t _eronly; /* End+1 of read only section (.text + .rodata) */ +extern uint32_t _sdata; /* Start of .data */ +extern uint32_t _edata; /* End+1 of .data */ +extern uint32_t _sbss; /* Start of .bss */ +extern uint32_t _ebss; /* End+1 of .bss */ + +/* This is the user space entry point */ + +int CONFIG_USER_ENTRYPOINT(int argc, char *argv[]); + +const struct userspace_s userspace __attribute__ ((section (".userspace"))) = +{ + /* General memory map */ + + .us_entrypoint = (main_t)CONFIG_USER_ENTRYPOINT, + .us_textstart = (uintptr_t)&_stext, + .us_textend = (uintptr_t)&_etext, + .us_datasource = (uintptr_t)&_eronly, + .us_datastart = (uintptr_t)&_sdata, + .us_dataend = (uintptr_t)&_edata, + .us_bssstart = (uintptr_t)&_sbss, + .us_bssend = (uintptr_t)&_ebss, + + /* Task/thread startup routines */ + + .task_startup = task_startup, +#ifndef CONFIG_DISABLE_PTHREAD + .pthread_startup = pthread_startup, +#endif + + /* Signal handler trampoline */ + +#ifndef CONFIG_DISABLE_SIGNALS + .signal_handler = signal_handler, +#endif + + /* Memory manager entry points (declared in include/nuttx/mm.h) */ + + .mm_initialize = umm_initialize, + .mm_addregion = umm_addregion, + .mm_trysemaphore = umm_trysemaphore, + .mm_givesemaphore = umm_givesemaphore, + + /* Memory manager entry points (declared in include/stdlib.h) */ + + .mm_malloc = malloc, + .mm_realloc = realloc, + .mm_zalloc = zalloc, + .mm_free = free, + + /* User-space work queue support (declared in include/nuttx/wqueue.h) */ + +#if defined(CONFIG_SCHED_WORKQUEUE) && defined(CONFIG_SCHED_USRWORK) + .work_usrstart = work_usrstart; +#endif +}; + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + + #endif /* CONFIG_NUTTX_KERNEL && !__KERNEL__ */ diff --git a/nuttx/configs/stm32f4discovery/scripts/kernel-space.ld b/nuttx/configs/stm32f4discovery/scripts/kernel-space.ld new file mode 100755 index 000000000..3feb651e6 --- /dev/null +++ b/nuttx/configs/stm32f4discovery/scripts/kernel-space.ld @@ -0,0 +1,109 @@ +/**************************************************************************** + * configs/stm32f4discovery/scripts/kernel-space.ld + * + * Copyright (C) 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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. + * + ****************************************************************************/ + +/* NOTE: This depends on the memory.ld script having been included prior to + * this script. + */ + +OUTPUT_ARCH(arm) +ENTRY(_stext) +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + } > kflash + + .init_section : { + _sinit = ABSOLUTE(.); + *(.init_array .init_array.*) + _einit = ABSOLUTE(.); + } > kflash + + .ARM.extab : { + *(.ARM.extab*) + } > kflash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > kflash + + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > ksram AT > kflash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + _ebss = ABSOLUTE(.); + } > ksram + + /* Stabs debugging sections */ + + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/nuttx/configs/stm32f4discovery/scripts/memory.ld b/nuttx/configs/stm32f4discovery/scripts/memory.ld new file mode 100644 index 000000000..e1d89450e --- /dev/null +++ b/nuttx/configs/stm32f4discovery/scripts/memory.ld @@ -0,0 +1,78 @@ +/**************************************************************************** + * configs/stm32f4discovery/scripts/memory.ld + * + * Copyright (C) 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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. + * + ****************************************************************************/ + +/* The STM32F407VG has 1024Kb of FLASH beginning at address 0x0800:0000 and + * 192Kb of SRAM. SRAM is split up into three blocks: + * + * 1) 112Kb of SRAM beginning at address 0x2000:0000 + * 2) 16Kb of SRAM beginning at address 0x2001:c000 + * 3) 64Kb of CCM SRAM beginning at address 0x1000:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address + * range. + * + * For MPU support, the kernel-mode NuttX section is assumed to be 96Kb of + * FLASH and 4Kb of SRAM. That, of course, can be optimized as needed (See + * also configs/stm32f4discovery/scripts/kernel-space.ld). A detailed memory map + * for the CPU SRAM region is as follows: + * + * 0x20000 0000: Kernel .data region. Typical size: 0.1KB + * ------- ---- Kernel .bss region. Typical size: 1.8KB + * 0x20000 0800: Kernel IDLE thread stack (approximate). Size is + * determined by CONFIG_IDLETHREAD_STACKSIZE and + * adjustments for alignment. Typical is 1KB. + * ------- ---- Padded to 4KB + * 0x20000 1000: User .data region. Size is variable. + * ------- ---- User .bss region Size is variable. + * ------- ---- Beginning of kernel heap. Size determined by + * CONFIG_MM_KERNEL_HEAPSIZE. + * ------- ---- Beginning of user heap. Can vary with other settings. + * 0x20001 c000: End+1 of CPU RAM + */ + +MEMORY +{ + /* 1024Kb FLASH */ + + kflash (rx) : ORIGIN = 0x08000000, LENGTH = 96K + uflash (rx) : ORIGIN = 0x08018000, LENGTH = 928K + + /* 112Kb of contiguous SRAM */ + + ksram (rwx) : ORIGIN = 0x20000000, LENGTH = 4K + usram (rwx) : ORIGIN = 0x20001000, LENGTH = 108K +} diff --git a/nuttx/configs/stm32f4discovery/scripts/user-space.ld b/nuttx/configs/stm32f4discovery/scripts/user-space.ld new file mode 100644 index 000000000..56d30a05f --- /dev/null +++ b/nuttx/configs/stm32f4discovery/scripts/user-space.ld @@ -0,0 +1,126 @@ +/**************************************************************************** + * configs/stm32f4discovery/scripts/user-space.ld + * + * Copyright (C) 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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. + * + ****************************************************************************/ + +/* NOTE: This depends on the memory.ld script having been included prior to + * this script. + */ + +/* Make sure that the critical memory management functions are in user-space. + * the user heap memory manager will reside in user-space but be usable both + * by kernel- and user-space code + */ + +EXTERN(umm_initialize) +EXTERN(umm_addregion) +EXTERN(umm_trysemaphore) +EXTERN(umm_givesemaphore) + +EXTERN(malloc) +EXTERN(realloc) +EXTERN(zalloc) +EXTERN(free) + +OUTPUT_ARCH(arm) +SECTIONS +{ + .userspace : { + *(.userspace) + } > uflash + + .text : { + _stext = ABSOLUTE(.); + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + } > uflash + + .init_section : { + _sinit = ABSOLUTE(.); + *(.init_array .init_array.*) + _einit = ABSOLUTE(.); + } > uflash + + .ARM.extab : { + *(.ARM.extab*) + } > uflash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > uflash + + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > usram AT > uflash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + _ebss = ABSOLUTE(.); + } > usram + + /* Stabs debugging sections */ + + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/nuttx/configs/zkit-arm-1769/src/up_lcd.c b/nuttx/configs/zkit-arm-1769/src/up_lcd.c new file mode 100644 index 000000000..d315131ee --- /dev/null +++ b/nuttx/configs/zkit-arm-1769/src/up_lcd.c @@ -0,0 +1,195 @@ +/**************************************************************************** + * configs/zkit-arm-1769/src/up_lcd.c + * arch/arm/src/board/up_lcd.c + * + * Copyright (C) 2013 Zilogic Systems. All rights reserved. + * Author: Manikandan + * + * Based on configs/lm3s6965-ek/src/up_oled.c + * + * Copyright (C) 2012 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 + +#include +#include +#include +#include + +#include +#include +#include + +#include "up_arch.h" +#include "up_internal.h" + +#include "lpc17_gpio.h" +#include "zkitarm_internal.h" + +#ifdef CONFIG_NX_LCDDRIVER + +/**************************************************************************** + * Definitions + ****************************************************************************/ + +/* Enables debug output from this file (needs CONFIG_DEBUG with + * CONFIG_DEBUG_VERBOSE too) + */ + +#undef LCD_DEBUG /* Define to enable debug */ +#undef LCD_VERBOSE /* Define to enable verbose debug */ + +#ifdef LCD_DEBUG +# define leddbg lldbg +# ifdef LCD_VERBOSE +# define ledvdbg lldbg +# else +# define ledvdbg(x...) +# endif +#else +# undef LCD_VERBOSE +# define leddbg(x...) +# define ledvdbg(x...) +#endif +/**************************************************************************** + * Private Data + ****************************************************************************/ + +FAR struct spi_dev_s *spi; +FAR struct lcd_dev_s *dev; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: up_lcdinitialize + ****************************************************************************/ + +int up_lcdinitialize(void) +{ + lpc17_configgpio(ZKITARM_OLED_RST); + lpc17_configgpio(ZKITARM_OLED_CS); + lpc17_configgpio(ZKITARM_OLED_RS); + lpc17_gpiowrite(ZKITARM_OLED_RST, 1); + lpc17_gpiowrite(ZKITARM_OLED_CS, 1); + lpc17_gpiowrite(ZKITARM_OLED_RS, 1); + + spi = up_spiinitialize(0); + if (!spi) + { + glldbg("Failed to initialize SSI port 0\n"); + return 0; + } + lpc17_gpiowrite(ZKITARM_OLED_RST, 0); + up_mdelay(1); + lpc17_gpiowrite(ZKITARM_OLED_RST, 1); + return 1; +} + +/**************************************************************************** + * Name: up_lcdgetdev + ****************************************************************************/ + +FAR struct lcd_dev_s *up_lcdgetdev(int lcddev) +{ + dev = st7567_initialize(spi, lcddev); + if (!dev) + { + glldbg("Failed to bind SSI port 0 to OLCD %d: %d\n", lcddev); + } + else + { + gllvdbg("Bound SSI port 0 to OLCD %d\n", lcddev); + + /* And turn the OLCD on (CONFIG_LCD_MAXPOWER should be 1) */ + (void)dev->setpower(dev, CONFIG_LCD_MAXPOWER); + return dev; + } + return NULL; +} + +/**************************************************************************** + * Name: up_lcduninitialize + ****************************************************************************/ + +void up_lcduninitialize(void) +{ + /* TO-FIX */ +} + +/****************************************************************************** + * Name: lpc17_spicmddata + * + * Description: + * Set or clear the SD1329 D/Cn bit to select data (true) or command + * (false). This function must be provided by platform-specific logic. + * This is an implementation of the cmddata method of the SPI + * interface defined by struct spi_ops_s (see include/nuttx/spi.h). + * + * Input Parameters: + * + * spi - SPI device that controls the bus the device that requires the CMD/ + * DATA selection. + * devid - If there are multiple devices on the bus, this selects which one + * to select cmd or data. NOTE: This design restricts, for example, + * one one SPI display per SPI bus. + * cmd - true: select command; false: select data + * + * Returned Value: + * None + * + ******************************************************************************/ + +int lpc17_ssp0cmddata(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool cmd) +{ + if (devid == SPIDEV_DISPLAY) + { + /* Set GPIO to 1 for data, 0 for command */ + + lpc17_gpiowrite(ZKITARM_OLED_RS, !cmd); + return OK; + } + + return -ENODEV; +} + +#endif /* CONFIG_ARCH_LCDS */ -- cgit v1.2.3