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author | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2012-12-19 17:54:26 +0000 |
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committer | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2012-12-19 17:54:26 +0000 |
commit | 56a650461894d8ab541277010e93fd5ca75f9f0d (patch) | |
tree | 1587afb37a0e1b5a87f007f452e147ff3c2dcc04 /nuttx/include | |
parent | 8ae8d43ae254c55a8eaa9c48d38ca8dfa63987be (diff) | |
download | px4-firmware-56a650461894d8ab541277010e93fd5ca75f9f0d.tar.gz px4-firmware-56a650461894d8ab541277010e93fd5ca75f9f0d.tar.bz2 px4-firmware-56a650461894d8ab541277010e93fd5ca75f9f0d.zip |
Incorporate address environment interfaces in binfmt/ logic
git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5443 42af7a65-404d-4744-a932-0658087f49c3
Diffstat (limited to 'nuttx/include')
-rw-r--r-- | nuttx/include/nuttx/binfmt/binfmt.h | 17 | ||||
-rw-r--r-- | nuttx/include/nuttx/binfmt/elf.h | 46 | ||||
-rw-r--r-- | nuttx/include/nuttx/binfmt/nxflat.h | 39 | ||||
-rw-r--r-- | nuttx/include/nuttx/sched.h | 32 |
4 files changed, 114 insertions, 20 deletions
diff --git a/nuttx/include/nuttx/binfmt/binfmt.h b/nuttx/include/nuttx/binfmt/binfmt.h index 2e2c6dda8..6df5190d2 100644 --- a/nuttx/include/nuttx/binfmt/binfmt.h +++ b/nuttx/include/nuttx/binfmt/binfmt.h @@ -41,8 +41,11 @@ ****************************************************************************/ #include <nuttx/config.h> + #include <sys/types.h> #include <nxflat.h> + +#include <nuttx/arch.h> #include <nuttx/sched.h> /**************************************************************************** @@ -93,12 +96,26 @@ struct binary_s main_t entrypt; /* Entry point into a program module */ FAR void *mapped; /* Memory-mapped, address space */ FAR void *alloc[BINFMT_NALLOC]; /* Allocated address spaces */ + + /* Constructors/destructors */ + #ifdef CONFIG_BINFMT_CONSTRUCTORS FAR binfmt_ctor_t *ctors; /* Pointer to a list of constructors */ FAR binfmt_dtor_t *dtors; /* Pointer to a list of destructors */ uint16_t nctors; /* Number of constructors in the list */ uint16_t ndtors; /* Number of destructors in the list */ #endif + + /* Address environment. + * + * addrenv - This is the handle created by up_addrenv_create() that can be + * used to manage the tasks address space. + */ + +#ifdef CONFIG_ADDRENV + task_addrenv_t addrenv; /* Task address environment */ +#endif + size_t mapsize; /* Size of the mapped address region (needed for munmap) */ size_t stacksize; /* Size of the stack in bytes (unallocated) */ }; diff --git a/nuttx/include/nuttx/binfmt/elf.h b/nuttx/include/nuttx/binfmt/elf.h index 432e57f0f..6b6851934 100644 --- a/nuttx/include/nuttx/binfmt/elf.h +++ b/nuttx/include/nuttx/binfmt/elf.h @@ -59,6 +59,18 @@ # define CONFIG_ELF_ALIGN_LOG2 2 #endif +#ifndef CONFIG_ELF_STACKSIZE +# define CONFIG_ELF_STACKSIZE 2048 +#endif + +#ifndef CONFIG_ELF_BUFFERSIZE +# define CONFIG_ELF_BUFFERSIZE 128 +#endif + +#ifndef CONFIG_ELF_BUFFERINCR +# define CONFIG_ELF_BUFFERINCR 32 +#endif + /* Allocation array size and indices */ #define LIBELF_ELF_ALLOC 0 @@ -80,8 +92,16 @@ struct elf_loadinfo_s { - /* The alloc[] array holds memory that persists after the ELF module has - * been loaded. + /* elfalloc is the base address of the memory that is allocated to hold the + * ELF program image. + * + * If CONFIG_ADDRENV=n, elfalloc will be allocated using kmalloc() (or + * kzalloc()). If CONFIG_ADDRENV-y, then elfalloc will be allocated using + * up_addrenv_create(). In either case, there will be a unique instance + * of elfalloc (and stack) for each instance of a process. + * + * The alloc[] array in struct binary_s will hold memory that persists after + * the ELF module has been loaded. */ uintptr_t elfalloc; /* Memory allocated when ELF file was loaded */ @@ -90,6 +110,9 @@ struct elf_loadinfo_s Elf32_Ehdr ehdr; /* Buffered ELF file header */ FAR Elf32_Shdr *shdr; /* Buffered ELF section headers */ uint8_t *iobuffer; /* File I/O buffer */ + + /* Constructors and destructors */ + #ifdef CONFIG_BINFMT_CONSTRUCTORS FAR void *ctoralloc; /* Memory allocated for ctors */ FAR void *dtoralloc; /* Memory allocated dtors */ @@ -98,6 +121,20 @@ struct elf_loadinfo_s uint16_t nctors; /* Number of constructors */ uint16_t ndtors; /* Number of destructors */ #endif + + /* Address environment. + * + * addrenv - This is the handle created by up_addrenv_create() that can be + * used to manage the tasks address space. + * oldenv - This is a value returned by up_addrenv_select() that must be + * used to restore the current hardware address environment. + */ + +#ifdef CONFIG_ADDRENV + task_addrenv_t addrenv; /* Task address environment */ + hw_addrenv_t oldenv; /* Saved hardware address environment */ +#endif + uint16_t symtabidx; /* Symbol table section index */ uint16_t strtabidx; /* String table section index */ uint16_t buflen; /* size of iobuffer[] */ @@ -187,8 +224,9 @@ EXTERN int elf_bind(FAR struct elf_loadinfo_s *loadinfo, * Name: elf_unload * * Description: - * This function unloads the object from memory. This essentially - * undoes the actions of elf_load. + * This function unloads the object from memory. This essentially undoes + * the actions of elf_load. It is called only under certain error + * conditions after the the module has been loaded but not yet started. * * Returned Value: * 0 (OK) is returned on success and a negated errno is returned on diff --git a/nuttx/include/nuttx/binfmt/nxflat.h b/nuttx/include/nuttx/binfmt/nxflat.h index 89e28fbcc..db396771b 100644 --- a/nuttx/include/nuttx/binfmt/nxflat.h +++ b/nuttx/include/nuttx/binfmt/nxflat.h @@ -44,7 +44,9 @@ #include <stdint.h> #include <nxflat.h> + #include <nuttx/sched.h> +#include <nuttx/arch.h> /**************************************************************************** * Pre-processor Definitions @@ -61,17 +63,24 @@ struct nxflat_loadinfo_s { /* Instruction Space (ISpace): This region contains the nxflat file header - * plus everything from the text section. Ideally, will have only one mmap'ed - * text section instance in the system for each module. + * plus everything from the text section. + * + * The ISpace region is allocated using mmap() and, thus, can be shared by + * multiple tasks. Ideally, will have only one mmap'ed text section + * instance in the system for each module. */ - uint32_t ispace; /* Address where hdr/text is loaded */ + uintptr_t ispace; /* Address where hdr/text is loaded */ uint32_t entryoffs; /* Offset from ispace to entry point */ uint32_t isize; /* Size of ispace. */ - /* Data Space (DSpace): This region contains all information that in referenced - * as data (other than the stack which is separately allocated). There will be - * a unique instance of DSpace (and stack) for each instance of a process. + /* Data Space (DSpace): This region contains all information that is + * referenced as data (other than the stack which is separately allocated). + * + * If CONFIG_ADDRENV=n, DSpace will be allocated using kmalloc() (or + * kzalloc()). If CONFIG_ADDRENV-y, then DSpace will be allocated using + * up_addrenv_create(). In either case, there will be a unique instance + * of DSpace (and stack) for each instance of a process. */ struct dspace_s *dspace; /* Allocated D-Space (data/bss/etc) */ @@ -85,6 +94,19 @@ struct nxflat_loadinfo_s uint32_t relocstart; /* Start of array of struct flat_reloc */ uint16_t reloccount; /* Number of elements in reloc array */ + /* Address environment. + * + * addrenv - This is the handle created by up_addrenv_create() that can be + * used to manage the tasks address space. + * oldenv - This is a value returned by up_addrenv_select() that must be + * used to restore the current hardware address environment. + */ + +#ifdef CONFIG_ADDRENV + task_addrenv_t addrenv; /* Task address environment */ + hw_addrenv_t oldenv; /* Saved hardware address environment */ +#endif + /* File descriptors */ int filfd; /* Descriptor for the file being loaded */ @@ -212,8 +234,9 @@ EXTERN int nxflat_bind(FAR struct nxflat_loadinfo_s *loadinfo, * Name: nxflat_unload * * Description: - * This function unloads the object from memory. This essentially - * undoes the actions of nxflat_load. + * This function unloads the object from memory. This essentially undoes + * the actions of nxflat_load. It is called only under certain error + * conditions after the the module has been loaded but not yet started. * * Returned Value: * 0 (OK) is returned on success and a negated errno is returned on diff --git a/nuttx/include/nuttx/sched.h b/nuttx/include/nuttx/sched.h index 172f46901..6eaba6e9c 100644 --- a/nuttx/include/nuttx/sched.h +++ b/nuttx/include/nuttx/sched.h @@ -163,24 +163,40 @@ typedef struct environ_s environ_t; # define SIZEOF_ENVIRON_T(alloc) (sizeof(environ_t) + alloc - 1) #endif -/* This structure describes a reference counted D-Space region */ +/* This structure describes a reference counted D-Space region. This must be a + * separately allocated "break-away" structure that can be owned by a task and + * any pthreads created by the task. + */ +#ifdef CONFIG_PIC struct dspace_s { - uint32_t crefs; /* This is the number of pthreads that shared the - * the same D-Space */ - uint8_t region[1]; /* Beginning of the allocated region */ -}; + /* The life of the structure allocation is determined by this reference + * count. This count is number of threads that shared the the same D-Space. + * This includes the parent task as well as any pthreads created by the + * parent task or any of its child threads. + */ + + uint16_t crefs; -#define SIZEOF_DSPACE_S(n) (sizeof(struct dspace_s) - 1 + (n)) + /* This is the allocated D-Space memory region. This may be a physical + * address allocated with kmalloc(), or it may be virtual address associated + * with an address environment (if CONFIG_ADDRENV=y). + */ -/* This is the task control block (TCB) */ + FAR uint8_t *region; +}; +#endif + +/* This is the task control block (TCB). Each task or thread is represented by + * a TCB. The TCB is the heart of the NuttX task-control logic. + */ struct _TCB { /* Fields used to support list management *************************************/ - FAR struct _TCB *flink; /* link in DQ of TCBs */ + FAR struct _TCB *flink; /* Doubly linked list */ FAR struct _TCB *blink; /* Task Management Fields *****************************************************/ |