From f04c522f4f26284ba322122904ee57627ce4ccf7 Mon Sep 17 00:00:00 2001 From: px4dev Date: Sat, 27 Oct 2012 21:42:27 -0700 Subject: Get us a bit closer to having c++ static constructors working. --- apps/systemlib/Makefile | 3 +- apps/systemlib/up_cxxinitialize.c | 153 ++++++++++++++++++++++++++++++++++ nuttx/configs/px4fmu/common/ld.script | 9 ++ nuttx/configs/px4fmu/nsh/defconfig | 4 +- 4 files changed, 166 insertions(+), 3 deletions(-) create mode 100644 apps/systemlib/up_cxxinitialize.c diff --git a/apps/systemlib/Makefile b/apps/systemlib/Makefile index 4bc7033e7..5778c552e 100644 --- a/apps/systemlib/Makefile +++ b/apps/systemlib/Makefile @@ -42,7 +42,8 @@ CSRCS = err.c \ bson/tinybson.c \ conversions.c \ cpuload.c \ - getopt_long.c + getopt_long.c \ + up_cxxinitialize.c # ppm_decode.c \ diff --git a/apps/systemlib/up_cxxinitialize.c b/apps/systemlib/up_cxxinitialize.c new file mode 100644 index 000000000..c500b37e9 --- /dev/null +++ b/apps/systemlib/up_cxxinitialize.c @@ -0,0 +1,153 @@ +/************************************************************************************ + * configs/stm32f4discovery/src/up_cxxinitialize.c + * arch/arm/src/board/up_cxxinitialize.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 "chip.h" + +/************************************************************************************ + * Definitions + ************************************************************************************/ +/* Debug ****************************************************************************/ +/* Non-standard debug that may be enabled just for testing the static constructors */ + +#ifndef CONFIG_DEBUG +# undef CONFIG_DEBUG_CXX +#endif + +#define CONFIG_DEBUG_CXX +#define CONFIG_DEBUG_VERBOSE + +#ifdef CONFIG_DEBUG_CXX +# define cxxdbg dbg +# define cxxlldbg lldbg +# ifdef CONFIG_DEBUG_VERBOSE +# define cxxvdbg vdbg +# define cxxllvdbg llvdbg +# else +# define cxxvdbg(x...) +# define cxxllvdbg(x...) +# endif +#else +# define cxxdbg(x...) +# define cxxlldbg(x...) +# define cxxvdbg(x...) +# define cxxllvdbg(x...) +#endif + +/************************************************************************************ + * Private Types + ************************************************************************************/ +/* This type defines one entry in initialization array */ + +typedef void (*initializer_t)(void); + +/************************************************************************************ + * External references + ************************************************************************************/ +/* _sinit and _einit are symbols exported by the linker script that mark the + * beginning and the end of the C++ initialization section. + */ + +extern initializer_t _sinit; +extern initializer_t _einit; + +/* _stext and _etext are symbols exported by the linker script that mark the + * beginning and the end of text. + */ + +extern uint32_t _stext; +extern uint32_t _etext; + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/**************************************************************************** + * Name: up_cxxinitialize + * + * Description: + * If C++ and C++ static constructors are supported, then this function + * must be provided by board-specific logic in order to perform + * initialization of the static C++ class instances. + * + * This function should then be called in the application-specific + * user_start logic in order to perform the C++ initialization. NOTE + * that no component of the core NuttX RTOS logic is involved; This + * function defintion only provides the 'contract' between application + * specific C++ code and platform-specific toolchain support + * + ***************************************************************************/ + +__EXPORT void up_cxxinitialize(void) +{ + initializer_t *initp; + + cxxdbg("_sinit: %p _einit: %p _stext: %p _etext: %p\n", + &_sinit, &_einit, &_stext, &_etext); + + /* Visit each entry in the initialzation table */ + + for (initp = &_sinit; initp != &_einit; initp++) + { + initializer_t initializer = *initp; + cxxdbg("initp: %p initializer: %p\n", initp, initializer); + + /* Make sure that the address is non-NULL and lies in the text region + * defined by the linker script. Some toolchains may put NULL values + * or counts in the initialization table + */ + + if ((void*)initializer > (void*)&_stext && (void*)initializer < (void*)&_etext) + { + cxxdbg("Calling %p\n", initializer); + initializer(); + } + } +} diff --git a/nuttx/configs/px4fmu/common/ld.script b/nuttx/configs/px4fmu/common/ld.script index b1852b0bd..7f74776c0 100644 --- a/nuttx/configs/px4fmu/common/ld.script +++ b/nuttx/configs/px4fmu/common/ld.script @@ -87,6 +87,15 @@ SECTIONS __errno = get_errno_ptr; } > flash + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + *(.init_array .init_array.*) + _einit = ABSOLUTE(.); + } > flash + /* * Construction data for parameters. */ diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig index c2656217d..91cd0366d 100755 --- a/nuttx/configs/px4fmu/nsh/defconfig +++ b/nuttx/configs/px4fmu/nsh/defconfig @@ -179,7 +179,7 @@ CONFIG_STM32_I2C1=y CONFIG_STM32_I2C2=y CONFIG_STM32_I2C3=y CONFIG_STM32_CAN1=n -CONFIG_STM32_CAN2=y +CONFIG_STM32_CAN2=n CONFIG_STM32_DAC=n CONFIG_STM32_PWR=y # APB2: @@ -542,7 +542,7 @@ CONFIG_DEBUG_I2C=n CONFIG_DEBUG_INPUT=n CONFIG_HAVE_CXX=y -CONFIG_HAVE_CXXINITIALIZE=n +CONFIG_HAVE_CXXINITIALIZE=y CONFIG_MM_REGIONS=2 CONFIG_ARCH_LOWPUTC=y CONFIG_MSEC_PER_TICK=1 -- cgit v1.2.3