diff options
author | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2007-03-14 18:58:21 +0000 |
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committer | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2007-03-14 18:58:21 +0000 |
commit | 78cbcfd2a16c0cf3763173ce0a14d656bede0135 (patch) | |
tree | 5fd6d76721ba77adb12c7fc265befb5cf264329f | |
parent | 9daf318dc8fbefa6d41c739fa53baa155b31887f (diff) | |
download | px4-nuttx-78cbcfd2a16c0cf3763173ce0a14d656bede0135.tar.gz px4-nuttx-78cbcfd2a16c0cf3763173ce0a14d656bede0135.tar.bz2 px4-nuttx-78cbcfd2a16c0cf3763173ce0a14d656bede0135.zip |
Add 8052 IRQ test; Fix places where IDLE task could try to wait on semaphoresnuttx-1.1
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@61 42af7a65-404d-4744-a932-0658087f49c3
-rw-r--r-- | nuttx/ChangeLog | 13 | ||||
-rw-r--r-- | nuttx/Documentation/NuttX.html | 88 | ||||
-rw-r--r-- | nuttx/Documentation/codesize-070301.xls | bin | 104448 -> 0 bytes | |||
-rw-r--r-- | nuttx/ReleaseNotes | 23 | ||||
-rw-r--r-- | nuttx/arch/c5471/src/up_serial.c | 12 | ||||
-rw-r--r-- | nuttx/arch/pjrc-8051/defconfig | 4 | ||||
-rw-r--r-- | nuttx/arch/pjrc-8051/include/irq.h | 6 | ||||
-rw-r--r-- | nuttx/arch/pjrc-8051/src/Makefile | 16 | ||||
-rw-r--r-- | nuttx/arch/pjrc-8051/src/up_irqtest.c | 269 | ||||
-rw-r--r-- | nuttx/arch/pjrc-8051/src/up_savecontext.c | 2 | ||||
-rw-r--r-- | nuttx/arch/pjrc-8051/src/up_timerisr.c | 1 | ||||
-rw-r--r-- | nuttx/fs/fs_files.c | 28 | ||||
-rw-r--r-- | nuttx/include/nuttx/os_external.h | 5 | ||||
-rw-r--r-- | nuttx/lib/lib_init.c | 28 | ||||
-rw-r--r-- | nuttx/mm/mm_sem.c | 74 | ||||
-rw-r--r-- | nuttx/sched/getpid.c | 2 | ||||
-rw-r--r-- | nuttx/sched/os_internal.h | 22 | ||||
-rw-r--r-- | nuttx/sched/os_start.c | 63 | ||||
-rw-r--r-- | nuttx/sched/sched_free.c | 7 |
19 files changed, 570 insertions, 93 deletions
diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog index 9678148ca..a14dc11e2 100644 --- a/nuttx/ChangeLog +++ b/nuttx/ChangeLog @@ -4,13 +4,16 @@ * Support for Linux user mode simulation and TI TMS320C5471 (Arm7) provided -0.1.1 2007-xx-xx Gregory Nutt <spudmonkey@racsa.co.cr> +0.1.1 2007-03-14 Gregory Nutt <spudmonkey@racsa.co.cr> * Corrected an error in interrupt level context switching for C5471 * Added fgets() and gets() logic; verified c5471 console read. - * Corrected error in reading from serial port. Improper - use of semaphore can cause deadlock. + * Corrected error in reading from the C5471 serial port: + Improper use of semaphore can cause deadlock. + * Fixed an error in the memory cleanup: The idle task + cannot take sempahores (because it must always be ready + to run). * Tasks can now accept a configurable maximum number of input parameters (argc) * _task_init() was divided into separate functions that @@ -24,5 +27,7 @@ were calling printf-like functions. * Added strtok() and strtok_r() * Added a simple shell called nsh (see examples/nsh). - * Many changes as part of 8052 bringup + * Platform support for 8052 is complete but not stable + when the timer interrupt is enabled. Seems to be an + issue when SP enters indirect address space. * Documentation updates diff --git a/nuttx/Documentation/NuttX.html b/nuttx/Documentation/NuttX.html index c048fe472..99753437e 100644 --- a/nuttx/Documentation/NuttX.html +++ b/nuttx/Documentation/NuttX.html @@ -3,12 +3,22 @@ <title>NuttX</title> </head> <body background="backgd.gif"> -<hr> -<hr> -<center><h1><i>Under Construction</i></h1></center> -<hr> -<hr> -<h1>Overview</h1> +<center> + <hr><hr> + <h1><big><i>NuttX RTOS</i></big></h1> + <p>Last Updated: March 14, 2007</p> + <hr><hr> + <h1>Table of Contents</h1> +</center> +<li><a href="#overview">Overview</a></li> +<li><a href="#downloads">Downloads</a></li> +<li><a href="#platforms">Supported Platforms</a></li> +<li><a href="#footprint">Memory Footprint</a></li> +<li><a href="#licensing">Licensing</a></li> +<li><a href="#history">Release History</a></li> +<li><a href="#documentation">Other Documentation</a></li> + +<a name="overview"><h1>Overview</h1></a> <p> <b>Goals</b>. Nuttx is a real timed embedded operating system (RTOS). @@ -60,7 +70,7 @@ </p> </ol> -<h1>Downloads</h1> +<a name="downloads"><h1>Downloads</h1></a> <p> The initial release of NuttX (nuttx-0.1.0) is avalable for download @@ -68,7 +78,7 @@ website. </p> -<h1>Supported Platforms</h1> +<a name="platforms"><h1>Supported Platforms</h1></a> <ul> <li><b>Linux User Mode</b></li> @@ -95,7 +105,9 @@ and the <a href="http://sdcc.sourceforge.net/">SDCC</a> toolchain. </p> <p> - STATUS: This port will require a few more weeks before it is ready for prime time. + STATUS: This port is complete but not stable with timer interrupts enabled. + There seems to be some issue when the stack pointer enters into the indirect IRAM + address space during interrupt handling. </p> <li><b>Other ports</b></li> <p> @@ -106,7 +118,7 @@ <blockquote>* A highly modified <a href="http://buildroot.uclibc.org/">buildroot</a> is available that be used to build a NuttX-compatible arm-elf toolchain.</blockquote> -<h1>Memory Footprint</h1> +<a name="footprint"><h1>Memory Footprint</h1></a> <p><b>C5471 (Arm7)</b> The build for this ARM7 target that includes most of the OS features and @@ -118,11 +130,21 @@ is available that be used to build a NuttX-compatible arm-elf toolchain.</blockq 53272 428 3568 57268 dfb4 nuttx </pre> <p><b>87C52</b> - A reduced functionality OS test for the 8051 target requires only - about 18Kb (see <a href="codesize-070301.xls">spreadsheet</a> for details). + A reduced functionality OS test for the 8052 target requires only + about 18-19Kb: </p> +<pre> +Stack starts at: 0x21 (sp set to 0x20) with 223 bytes available. + +Other memory: + Name Start End Size Max + ---------------- -------- -------- -------- -------- + PAGED EXT. RAM 0 256 + EXTERNAL RAM 0x0100 0x02fd 510 7936 + ROM/EPROM/FLASH 0x2100 0x6e55 19798 24384 +</pre> -<h1>Licensing</h1> +<a name="licensing"><h1>Licensing</h1></a> <p>NuttX is available under the highly permissive <a href="http://en.wikipedia.org/wiki/BSD_license">BSD license</a>. @@ -131,7 +153,45 @@ is available that be used to build a NuttX-compatible arm-elf toolchain.</blockq without any concern for jeopardizing any proprietary software that you may link with it.</p> -<h1>Other Documentation</h1> +<a name="history"><h1>Release History</h1></a> + +<pre> +0.1.0 2007-03-09 Gregory Nutt <spudmonkey@racsa.co.cr> + + * Initial Release + * Support for Linux user mode simulation and TI + TMS320C5471 (Arm7) provided + +0.1.1 2007-03-14 Gregory Nutt <spudmonkey@racsa.co.cr> + + * Corrected an error in interrupt level context switching + for C5471 + * Added fgets() and gets() logic; verified c5471 console read. + * Corrected error in reading from the C5471 serial port: + Improper use of semaphore can cause deadlock. + * Fixed an error in the memory cleanup: The idle task + cannot take sempahores (because it must always be ready + to run). + * Tasks can now accept a configurable maximum number of + input parameters (argc) + * _task_init() was divided into separate functions that + require fewer parameters. This was necessary to keep + the stack usage down for the 8051/2 (which has only + 256 bytes of stack). + * Attempts to use C5471 console from interrupt handlers + can casue errors. Added a special path for this case. + * Refuse calls to sem_wait and sem_trywait from interrupt + handlers. This was happening because interrupt handlers + were calling printf-like functions. + * Added strtok() and strtok_r() + * Added a simple shell called nsh (see examples/nsh). + * Platform support for 8052 is complete but not stable + when the timer interrupt is enabled. Seems to be an + issue when SP enters indirect address space. + * Documentation updates +</pre> + +<a name="documentation"><h1>Other Documentation</h1></a> <li><a href="NuttxUserGuide.html">User Guide</li> <li><a href="NuttxPortingGuide.html">Porting Guide</li> diff --git a/nuttx/Documentation/codesize-070301.xls b/nuttx/Documentation/codesize-070301.xls Binary files differdeleted file mode 100644 index 22fed5abf..000000000 --- a/nuttx/Documentation/codesize-070301.xls +++ /dev/null diff --git a/nuttx/ReleaseNotes b/nuttx/ReleaseNotes index 9dec8b03e..1ae536fb3 100644 --- a/nuttx/ReleaseNotes +++ b/nuttx/ReleaseNotes @@ -1,12 +1,19 @@ -Nuttx-0.1.0 +Nuttx-0.1.1 ^^^^^^^^^^^ -This is the initial. This initial includes the complete NuttX RTOS -with support for the Linux user mode simulation and the TI TMS320C5471 -(Arm7) processor. Partial support for the 87C52 is included. +This is the second release of NuttX. This release includes the +following. See the ChangeLog for more detailed description of +the changes. -This release has been verified on both the Linux user-mode and C5471 -platforms using the test program under examples/ostest. Test results -for the C5471 can be found in arch/c5471/doc/test-results.txt. +(1) General OS bugfixes (see the ChangeLog for details), +(2) bugfixes for the TI TMS320C5471 (Arm7) platform (see the + ChangeLog) +(3) Complete support for the 87C52. (However, the 87C52 release + is not stable enough for general usage). +(4) Added the beginning of a shell call NuttShell (nsh) -This tarball contains a complete CVS snapshot from March 9,2007. +This release has been verified on the Linux user-mode platform, +the Spectrum Digital TMS320C5471 EVM, and the PJRC 87C52 development +board using the test program under examples/ostest. + +This tarball contains a complete CVS snapshot from March 14, 2007. diff --git a/nuttx/arch/c5471/src/up_serial.c b/nuttx/arch/c5471/src/up_serial.c index 022befd38..4b70ca4e2 100644 --- a/nuttx/arch/c5471/src/up_serial.c +++ b/nuttx/arch/c5471/src/up_serial.c @@ -837,15 +837,19 @@ static ssize_t up_write(struct file *filep, const char *buffer, size_t buflen) ssize_t ret = buflen; /* We may receive console writes through this path from - * interrupt handlers! In this case, we will need to do - * things a little differently. + * interrupt handlers and from debug output in the IDLE task! + * In these cases, we will need to do things a little + * differently. */ - if (up_interrupt_context()) + if (up_interrupt_context() || getpid() == 0) { if (dev->isconsole) { - return up_irqwrite(dev, buffer, buflen); + irqstate_t flags = irqsave(); + ret = up_irqwrite(dev, buffer, buflen); + irqrestore(flags); + return ret; } else { diff --git a/nuttx/arch/pjrc-8051/defconfig b/nuttx/arch/pjrc-8051/defconfig index 8e122c065..789bd79c9 100644 --- a/nuttx/arch/pjrc-8051/defconfig +++ b/nuttx/arch/pjrc-8051/defconfig @@ -68,10 +68,10 @@ CONFIG_ARCH_LEDS=y CONFIG_8052_TIMER2=y CONFIG_ARCH_BRINGUP=y -CONFIG_FRAME_DUMP=y +CONFIG_FRAME_DUMP=n CONFIG_FRAME_DUMP_SHORT=n CONFIG_SUPPRESS_INTERRUPTS=y -CONFIG_SWITCH_FRAME_DUMP=y +CONFIG_SWITCH_FRAME_DUMP=n CONFIG_INTERRUPT_FRAME_DUMP=n CONFIG_LED_DEBUG=n diff --git a/nuttx/arch/pjrc-8051/include/irq.h b/nuttx/arch/pjrc-8051/include/irq.h index 45891986a..e41ba9687 100644 --- a/nuttx/arch/pjrc-8051/include/irq.h +++ b/nuttx/arch/pjrc-8051/include/irq.h @@ -65,7 +65,11 @@ */ #define IRAM_BASE 0x0000 -#define IRAM_SIZE 0x0100 +#ifdef CONFIG_ARCH_8052 +# define IRAM_SIZE 0x0100 +#else +# define IRAM_SIZE 0x0080 +#endif #define STACK_BASE 0x0024 #define STACK_SIZE (IRAM_SIZE - STACK_BASE) diff --git a/nuttx/arch/pjrc-8051/src/Makefile b/nuttx/arch/pjrc-8051/src/Makefile index 628d239a2..51eaf269b 100644 --- a/nuttx/arch/pjrc-8051/src/Makefile +++ b/nuttx/arch/pjrc-8051/src/Makefile @@ -65,6 +65,11 @@ LINKLIBS = LDPATHES = $(addprefix -L$(TOPDIR)/,$(dir $(LINKLIBS))) LDLIBS = $(addprefix -l,$(notdir $(LINKLIBS))) +TESTSRCS = up_irqtest.c +TESTOBJS = $(TESTSRCS:.c=$(OBJEXT)) +TESTLINKOBJS = up_head$(OBJEXT) +TESTEXTRAOBJS = up_savecontext$(OBJEXT) up_restorecontext$(OBJEXT) + IRAM_SIZE = 0x100 DEF_STACK_BASE = 0x24 LDFLAGS = --model-large --nostdlib \ @@ -108,7 +113,7 @@ $(ASRCS) $(LINKASRCS): %$(ASMEXT): %.S $(AOBJS) $(LINKOBJS): $(ASRCS) $(LINKASRCS) $(AS) $(ASFLAGS) $< -$(COBJS): %$(OBJEXT): %.c +$(COBJS) $(TESTOBJS): %$(OBJEXT): %.c $(CC) -c $(CFLAGS) $< -o $@ # Create a header file that contains addressing information needed by the code @@ -174,6 +179,15 @@ nuttx$(EXEEXT): pass1.ihx nuttx.ihx packihx nuttx.ihx > $(TOPDIR)/nuttx$(EXEEXT) @cp -f nuttx.map $(TOPDIR)/. +# This target builds a test program to verify interrupt context switching. irqtest is +# a PHONY target that just sets upt the up_irqtest build correctly + +up_irqtest.ihx: $(TESTOBJS) + $(CC) $(LDFLAGS) -L. $(SDCCPATH) $(TESTLINKOBJS) $(TESTOBJS) $(TESTEXTRAOBJS) $(SDCCLIBS) -o $@ + +irqtest: + $(MAKE) TOPDIR=../../.. up_irqtest.ihx + # Build dependencies .depend: Makefile up_mem.h $(DEPSRCS) diff --git a/nuttx/arch/pjrc-8051/src/up_irqtest.c b/nuttx/arch/pjrc-8051/src/up_irqtest.c new file mode 100644 index 000000000..944e70594 --- /dev/null +++ b/nuttx/arch/pjrc-8051/src/up_irqtest.c @@ -0,0 +1,269 @@ +/************************************************************ + * up_putc.c + * + * Copyright (C) 2007 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name Gregory Nutt 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 <nuttx/config.h> +#include <sys/types.h> +#include <nuttx/arch.h> +#include <8052.h> +#include "up_internal.h" + +/************************************************************ + * Definitions + ************************************************************/ + +#define up_extint0 ((vector_t)PM2_VECTOR_EXTINT0) +#define up_timer0 ((vector_t)PM2_VECTOR_TIMER0) +#define up_extint1 ((vector_t)PM2_VECTOR_EXTINT1) +#define up_timer1 ((vector_t)PM2_VECTOR_TIMER1) +#define up_uart ((vector_t)PM2_VECTOR_UART) +#define up_timer2 ((vector_t)PM2_VECTOR_TIMER2) + +/************************************************************ + * Private Types + ************************************************************/ + +typedef void (*vector_t)(void); + +/************************************************************ + * Public Variables + ************************************************************/ + +boolean g_irqtest; +ubyte g_irqtos; +ubyte g_irqregs[REGS_SIZE]; +int g_nirqs; +FAR struct xcptcontext *g_irqcontext; + +/************************************************************ + * Private Functions + ************************************************************/ + +/************************************************************ + * Name: utility functions + ************************************************************/ + +static void _up_putc(ubyte ch) __naked +{ + ch; /* To avoid unreferenced argument warning */ + _asm + mov a, dpl + ljmp PM2_ENTRY_COUT + _endasm; +} + +void _up_puthex(ubyte hex) __naked +{ + hex; /* To avoid unreferenced argument warning */ + _asm + mov a, dpl + ljmp PM2_ENTRY_PHEX + _endasm; +} + +void _up_puthex16(int hex) __naked +{ + hex; /* To avoid unreferenced argument warning */ + _asm + ljmp PM2_ENTRY_PHEX16 + _endasm; +} + +void _up_putnl(void) __naked +{ + _asm + ljmp PM2_ENTRY_NEWLINE + _endasm; +} + +void _up_puts(__code char *ptr) +{ + for (; *ptr; ptr++) + { + _up_putc(*ptr); + } +} + +void _up_delay(ubyte milliseconds) __naked +{ + _asm + mov r0, dpl +00001$: mov r1, #230 +00002$: nop + nop + nop + nop + nop + nop + djnz r1, 00002$ + djnz r0, 00001$ + ret + _endasm; +} + +/************************************************************ + * Public Functions + ************************************************************/ + +/************************************************************ + * Name: os_start + * + * Description: + * "Fake" OS entry point. + * + ************************************************************/ + +void os_start(void) +{ + int i; + + /* Disable all interrupts */ + + IE = 0; + + /* Then verify all of the interrupt */ + + g_irqtest = FALSE; + + up_extint0(); + up_timer0(); +#ifndef CONFIG_8052_TIMER2 + up_timer0(); +#endif + up_extint1(); + up_timer1(); + up_uart(); + up_timer2(); + + /* Now a real interrupt ... */ + + /* Configure timer 0 */ + + TR0 = 0; /* Make sure timer 0 is stopped */ + TF0 = 0; /* Clear the overflow flag */ + TMOD &= 0xF0; /* Set to mode 0 (without changing timer1) */ + TL0 = 0; /* Clear timer 0 value */ + TH0 = 0; + TR0 = 1; /* Start the timer */ + + /* Start timer interrupts */ + + g_irqtest = TRUE; + g_nirqs = 0; + IE = 0x82; /* Enable interrupts */ + + /* Wait a about 500 MS */ + + _up_delay(500); + + /* Disable the timer */ + + TR0 = 0; /* Stop timer 0 */ + IE = 0; /* Disable interrupts */ + + _up_puts("IRQs in 500 MS="); + _up_puthex16(g_nirqs); + _up_putnl(); + + /* end of test */ + + _up_puts("Test complete"); + _up_putnl(); + for(;;); +} + +/************************************************************ + * Name: irq_dispatch + * + * Description: + * "Fake" IRQ dispatcher + * + ***********************************************************/ + +void irq_dispatch(int irq, FAR void *context) +{ + context; + if (g_irqtest) + { + g_nirqs++; + } + else + { + _up_puts("Dispatch IRQ="); + _up_puthex(irq); + _up_putnl(); + } +} + +/************************************************************ + * Name: up_dumpstack / up_dumpframe + * + * Description: + * "Fake" debug routines if needed. + * + ************************************************************/ + +void up_dumpstack(void) +{ +} + +void up_dumpframe(FAR struct xcptcontext *context) +{ +} + +/************************************************************ + * Name: up_ledinit, up_ledon, up_ledoff + * + * Description: + * "Fake" LED routines if needed + * + ************************************************************/ + +void up_ledinit(void) +{ +} + +void up_ledon(ubyte led) +{ + led; +} + +void up_ledoff(ubyte led) +{ + led; +} diff --git a/nuttx/arch/pjrc-8051/src/up_savecontext.c b/nuttx/arch/pjrc-8051/src/up_savecontext.c index 83310534c..1c4b26898 100644 --- a/nuttx/arch/pjrc-8051/src/up_savecontext.c +++ b/nuttx/arch/pjrc-8051/src/up_savecontext.c @@ -274,7 +274,7 @@ ubyte up_savecontext(FAR struct xcptcontext *context) _naked /* Push the top of frame stack pointer. We need to * decrement the current SP value by three to account - * for dpst+IE on the stack above the end of the frame. + * for dptr+IE on the stack above the end of the frame. */ mov a, sp diff --git a/nuttx/arch/pjrc-8051/src/up_timerisr.c b/nuttx/arch/pjrc-8051/src/up_timerisr.c index 8f139d89a..c4575273b 100644 --- a/nuttx/arch/pjrc-8051/src/up_timerisr.c +++ b/nuttx/arch/pjrc-8051/src/up_timerisr.c @@ -139,7 +139,6 @@ void up_timerinit(void) TR0 = 1; /* Start the timer */ up_enable_irq(TIMER0_IRQ); -# warning "No support for timer 0 as the system timer" #endif } diff --git a/nuttx/fs/fs_files.c b/nuttx/fs/fs_files.c index 8d300b8ce..88f905ef4 100644 --- a/nuttx/fs/fs_files.c +++ b/nuttx/fs/fs_files.c @@ -122,11 +122,17 @@ int files_addreflist(FAR struct filelist *list) { if (list) { - /* Increment the reference count on the list */ + /* Increment the reference count on the list. + * NOTE: that we disable interrupts to do this + * (vs. taking the list semaphore). We do this + * because file cleanup operations often must be + * done from the IDLE task which cannot wait + * on semaphores. + */ - _files_semtake(list); + register irqstate_t flags = irqsave(); list->fl_crefs++; - _files_semgive(list); + irqrestore(flags); } return OK; } @@ -138,14 +144,22 @@ int files_releaselist(FAR struct filelist *list) int crefs; if (list) { - /* Decrement the reference count */ + /* Decrement the reference count on the list. + * NOTE: that we disable interrupts to do this + * (vs. taking the list semaphore). We do this + * because file cleanup operations often must be + * done from the IDLE task which cannot wait + * on semaphores. + */ - _files_semtake(list); + register irqstate_t flags = irqsave(); crefs = --(list->fl_crefs); - _files_semgive(list); + irqrestore(flags); /* If the count decrements to zero, then there is no reference - * to the structure and it should be deallocated. + * to the structure and it should be deallocated. Since there + * are references, it would be an error if any task still held + * a reference to the list's semaphore. */ if (crefs <= 0) diff --git a/nuttx/include/nuttx/os_external.h b/nuttx/include/nuttx/os_external.h index 48ee8e440..6c81b9874 100644 --- a/nuttx/include/nuttx/os_external.h +++ b/nuttx/include/nuttx/os_external.h @@ -78,6 +78,11 @@ EXTERN void os_start(void); /* OS entry point called by boot logic */ EXTERN void mm_initialize(FAR void *heap_start, size_t heap_size); EXTERN void mm_addregion(FAR void *heapstart, size_t heapsize); +/* Functions contained in mm_sem.c **************************/ + +EXTERN int mm_trysemaphore(void); +EXTERN void mm_givesemaphore(void); + #undef EXTERN #ifdef __cplusplus } diff --git a/nuttx/lib/lib_init.c b/nuttx/lib/lib_init.c index d6eb5f0a4..0527f921b 100644 --- a/nuttx/lib/lib_init.c +++ b/nuttx/lib/lib_init.c @@ -145,11 +145,17 @@ void lib_addreflist(FAR struct streamlist *list) { if (list) { - /* Increment the reference count on the list */ + /* Increment the reference count on the list. + * NOTE: that we disable interrupts to do this + * (vs. taking the list semaphore). We do this + * because file cleanup operations often must be + * done from the IDLE task which cannot wait + * on semaphores. + */ - _lib_semtake(list); + register irqstate_t flags = irqsave(); list->sl_crefs++; - _lib_semgive(list); + irqrestore(flags); } } @@ -163,14 +169,22 @@ void lib_releaselist(FAR struct streamlist *list) int crefs; if (list) { - /* Decrement the reference count */ + /* Decrement the reference count on the list. + * NOTE: that we disable interrupts to do this + * (vs. taking the list semaphore). We do this + * because file cleanup operations often must be + * done from the IDLE task which cannot wait + * on semaphores. + */ - _lib_semtake(list); + register irqstate_t flags = irqsave(); crefs = --(list->sl_crefs); - _lib_semgive(list); + irqrestore(flags); /* If the count decrements to zero, then there is no reference - * to the structure and it should be deallocated. + * to the structure and it should be deallocated. Since there + * are references, it would be an error if any task still held + * a reference to the list's semaphore. */ if (crefs <= 0) diff --git a/nuttx/mm/mm_sem.c b/nuttx/mm/mm_sem.c index 3a790de1e..66c667061 100644 --- a/nuttx/mm/mm_sem.c +++ b/nuttx/mm/mm_sem.c @@ -78,7 +78,11 @@ static int g_counts_held; ************************************************************/ /************************************************************ - * mm_seminitialize + * Name: mm_seminitialize + * + * Description: + * Initialize the MM mutex + * ************************************************************/ void mm_seminitialize(void) @@ -94,7 +98,56 @@ void mm_seminitialize(void) } /************************************************************ - * mm_takesemaphore + * Name: mm_trysemaphore + * + * Description: + * Try to take the MM mutex. This is called only from the + * OS in certain conditions when it is necessary to have + * exclusive access to the memory manager but it is + * impossible to wait on a semaphore (e.g., the idle process + * when it performs its background memory cleanup). + * + ************************************************************/ + +#ifndef MM_TEST +int mm_trysemaphore(void) +{ + pid_t my_pid = getpid(); + + /* Do I already have the semaphore? */ + + if (g_holder == my_pid) + { + /* Yes, just increment the number of references that I have */ + + g_counts_held++; + return OK; + } + else + { + /* Try to tak the semaphore (perhaps waiting) */ + + if (sem_trywait(&g_mm_semaphore) != 0) + { + return ERROR; + } + + /* We have it. Claim the stak and return */ + + g_holder = my_pid; + g_counts_held = 1; + return OK; + } +} +#endif + +/************************************************************ + * Name: mm_takesemaphore + * + * Description: + * Take the MM mutex. This is the normal action before all + * memory management actions. + * ************************************************************/ void mm_takesemaphore(void) @@ -134,7 +187,11 @@ void mm_takesemaphore(void) } /************************************************************ - * mm_givesemaphore + * Name: mm_givesemaphore + * + * Description: + * Release the MM mutex when it is not longer needed. + * ************************************************************/ void mm_givesemaphore(void) @@ -160,12 +217,21 @@ void mm_givesemaphore(void) /* Nope, this is the last reference I have */ msemdbg("PID=%d giving\n", my_pid); - g_holder = -1; + g_holder = -1; g_counts_held = 0; ASSERT(sem_post(&g_mm_semaphore) == 0); } } +/************************************************************ + * Name: mm_getsemaphore + * + * Description: + * Return the current value of the MM semaphore (for test + * purposes only) + * + ************************************************************/ + #ifdef MM_TEST int mm_getsemaphore(void) { diff --git a/nuttx/sched/getpid.c b/nuttx/sched/getpid.c index a68ce896a..3bd9495b6 100644 --- a/nuttx/sched/getpid.c +++ b/nuttx/sched/getpid.c @@ -80,5 +80,5 @@ pid_t getpid(void) * ready-to-run task list */ - return ((_TCB*)g_readytorun.head)->pid; + return ((FAR _TCB*)g_readytorun.head)->pid; } diff --git a/nuttx/sched/os_internal.h b/nuttx/sched/os_internal.h index 0fa7172b5..85dda8c96 100644 --- a/nuttx/sched/os_internal.h +++ b/nuttx/sched/os_internal.h @@ -134,8 +134,8 @@ typedef struct pidhash_s pidhash_t; struct tasklist_s { - DSEG dq_queue_t *list; /* Pointer to the task list */ - boolean prioritized; /* TRUE if the list is prioritized */ + DSEG volatile dq_queue_t *list; /* Pointer to the task list */ + boolean prioritized; /* TRUE if the list is prioritized */ }; typedef struct tasklist_s tasklist_t; @@ -159,7 +159,7 @@ typedef struct tasklist_s tasklist_t; * list is always the idle task. */ -extern dq_queue_t g_readytorun; +extern volatile dq_queue_t g_readytorun; /* This is the list of all tasks that are ready-to-run, but * cannot be placed in the g_readytorun list because: (1) They @@ -168,16 +168,16 @@ extern dq_queue_t g_readytorun; * disabled pre-emption. */ -extern dq_queue_t g_pendingtasks; +extern volatile dq_queue_t g_pendingtasks; /* This is the list of all tasks that are blocked waiting for a semaphore */ -extern dq_queue_t g_waitingforsemaphore; +extern volatile dq_queue_t g_waitingforsemaphore; /* This is the list of all tasks that are blocked waiting for a signal */ #ifndef CONFIG_DISABLE_SIGNALS -extern dq_queue_t g_waitingforsignal; +extern volatile dq_queue_t g_waitingforsignal; #endif /* This is the list of all tasks that are blocked waiting for a message @@ -185,7 +185,7 @@ extern dq_queue_t g_waitingforsignal; */ #ifndef CONFIG_DISABLE_MQUEUE -extern dq_queue_t g_waitingformqnotempty; +extern volatile dq_queue_t g_waitingformqnotempty; #endif /* This is the list of all tasks that are blocked waiting for a message @@ -193,14 +193,14 @@ extern dq_queue_t g_waitingformqnotempty; */ #ifndef CONFIG_DISABLE_MQUEUE -extern dq_queue_t g_waitingformqnotfull; +extern volatile dq_queue_t g_waitingformqnotfull; #endif /* This the list of all tasks that have been initialized, but not yet * activated. NOTE: This is the only list that is not prioritized. */ -extern dq_queue_t g_inactivetasks; +extern volatile dq_queue_t g_inactivetasks; /* This is the list of dayed memory deallocations that need to be handled * within the IDLE loop. These deallocations get queued by sched_free() @@ -208,11 +208,11 @@ extern dq_queue_t g_inactivetasks; * handler. */ -extern sq_queue_t g_delayeddeallocations; +extern volatile sq_queue_t g_delayeddeallocations; /* This is the value of the last process ID assigned to a task */ -extern pid_t g_lastpid; +extern volatile pid_t g_lastpid; /* The following hash table is used for two things: * diff --git a/nuttx/sched/os_start.c b/nuttx/sched/os_start.c index 9036f17bd..2c5da51a2 100644 --- a/nuttx/sched/os_start.c +++ b/nuttx/sched/os_start.c @@ -86,7 +86,7 @@ * list is always the idle task. */ -dq_queue_t g_readytorun; +volatile dq_queue_t g_readytorun; /* This is the list of all tasks that are ready-to-run, but * cannot be placed in the g_readytorun list because: (1) They @@ -95,16 +95,16 @@ dq_queue_t g_readytorun; * disabled pre-emption. */ -dq_queue_t g_pendingtasks; +volatile dq_queue_t g_pendingtasks; /* This is the list of all tasks that are blocked waiting for a semaphore */ -dq_queue_t g_waitingforsemaphore; +volatile dq_queue_t g_waitingforsemaphore; /* This is the list of all tasks that are blocked waiting for a signal */ #ifndef CONFIG_DISABLE_SIGNALS -dq_queue_t g_waitingforsignal; +volatile dq_queue_t g_waitingforsignal; #endif /* This is the list of all tasks that are blocked waiting for a message @@ -112,7 +112,7 @@ dq_queue_t g_waitingforsignal; */ #ifndef CONFIG_DISABLE_MQUEUE -dq_queue_t g_waitingformqnotempty; +volatile dq_queue_t g_waitingformqnotempty; #endif /* This is the list of all tasks that are blocked waiting for a message @@ -120,14 +120,14 @@ dq_queue_t g_waitingformqnotempty; */ #ifndef CONFIG_DISABLE_MQUEUE -dq_queue_t g_waitingformqnotfull; +volatile dq_queue_t g_waitingformqnotfull; #endif /* This the list of all tasks that have been initialized, but not yet * activated. NOTE: This is the only list that is not prioritized. */ -dq_queue_t g_inactivetasks; +volatile dq_queue_t g_inactivetasks; /* This is the list of dayed memory deallocations that need to be handled * within the IDLE loop. These deallocations get queued by sched_free() @@ -135,11 +135,11 @@ dq_queue_t g_inactivetasks; * handler. */ -sq_queue_t g_delayeddeallocations; +volatile sq_queue_t g_delayeddeallocations; /* This is the value of the last process ID assigned to a task */ -pid_t g_lastpid; +volatile pid_t g_lastpid; /* The following hash table is used for two things: * @@ -420,22 +420,35 @@ void os_start(void) dbg("Beginning Idle Loop\n"); for (;;) { - /* Check if there is anything in the delayed deallocation list. */ - - while (g_delayeddeallocations.head) - { - /* Remove the first delayed deallocation. */ - - irqstate_t saved_state = irqsave(); - void *address = (void*)sq_remfirst(&g_delayeddeallocations); - irqrestore(saved_state); - - /* Then deallocate it */ - - if (address) sched_free(address); - } - - /* Perform idle state operations */ + /* Check if there is anything in the delayed deallocation list. + * If there is deallocate it now. We must have exclusive access + * to the memory manager to do this BUT the idle task cannot + * wait on a semaphore. So we only do the cleanup now if we + * can get the semaphore -- and this should be possible because + * since we are running, no other task is! + */ + + if (mm_trysemaphore() == 0) + { + while (g_delayeddeallocations.head) + { + /* Remove the first delayed deallocation. */ + + irqstate_t saved_state = irqsave(); + void *address = (void*)sq_remfirst(&g_delayeddeallocations); + irqrestore(saved_state); + + /* Then deallocate it */ + + if (address) + { + sched_free(address); + } + } + mm_givesemaphore(); + } + + /* Perform any processor-specific idle state operations */ up_idle(); } diff --git a/nuttx/sched/sched_free.c b/nuttx/sched/sched_free.c index 96292426e..832e71082 100644 --- a/nuttx/sched/sched_free.c +++ b/nuttx/sched/sched_free.c @@ -83,10 +83,12 @@ void sched_free(FAR void *address) { /* Check if this is an attempt to deallocate memory from - * an exception handler. + * an exception handler. If this function is called from the + * IDLE task, then we must have exclusive access to the memory + * manager to do this. */ - if (up_interrupt_context()) + if (up_interrupt_context() || mm_trysemaphore() != 0) { /* Yes.. Delay the deallocation until a more appropriate time. */ @@ -99,6 +101,7 @@ void sched_free(FAR void *address) /* No.. just deallocate the memory now. */ kfree(address); + mm_givesemaphore(); } } |