Fix some ARMv7-M syscall logic

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@5736 42af7a65-404d-4744-a932-0658087f49c3

11 files changed, 78 insertions, 55 deletions

diff --git a/nuttx/Makefile.unix b/nuttx/Makefile.unix
index 38cfc2222..ac5b7dbec 100644
--- a/nuttx/Makefile.unix
+++ b/nuttx/Makefile.unix
@@ -699,10 +699,10 @@ endif
 clean: subdir_clean
 	$(call DELFILE, $(BIN))
 	$(call DELFILE, nuttx.*)
-	$(call DELFILE, mm_test)
 	$(call DELFILE, *.map)
 	$(call DELFILE, _SAVED_APPS_config)
 	$(call DELFILE, nuttx-export*)
+	$(call DELFILE, nuttx_user*)
 	$(call CLEAN)
 
 subdir_distclean:
diff --git a/nuttx/Makefile.win b/nuttx/Makefile.win
index b8f371d8b..e82194491 100644
--- a/nuttx/Makefile.win
+++ b/nuttx/Makefile.win
@@ -704,10 +704,10 @@ endif
 clean: subdir_clean
 	$(call DELFILE, $(BIN))
 	$(call DELFILE, nuttx.*)
-	$(call DELFILE, mm_test)
 	$(call DELFILE, *.map)
 	$(call DELFILE, _SAVED_APPS_config)
 	$(call DELFILE, nuttx-export*)
+	$(call DELFILE, nuttx_user*)
 	$(call CLEAN)
 
 subdir_distclean:
diff --git a/nuttx/arch/arm/include/armv7-m/irq.h b/nuttx/arch/arm/include/armv7-m/irq.h
index d815aba30..72318aac8 100644
--- a/nuttx/arch/arm/include/armv7-m/irq.h
+++ b/nuttx/arch/arm/include/armv7-m/irq.h
@@ -127,8 +127,11 @@ struct xcptcontext
 #endif
 
 #ifdef CONFIG_NUTTX_KERNEL
-  /* The following holds the return address from a system call */
+  /* The following holds the return address and the exc_return value needed
+   * return from a system call.
+   */
 
+  uint32_t excreturn;
   uint32_t sysreturn;
 #endif
 
diff --git a/nuttx/arch/arm/src/armv7-m/up_svcall.c b/nuttx/arch/arm/src/armv7-m/up_svcall.c
index 5b56797a9..13cce36ef 100644
--- a/nuttx/arch/arm/src/armv7-m/up_svcall.c
+++ b/nuttx/arch/arm/src/armv7-m/up_svcall.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * arch/arm/src/armv7-m/up_svcall.c
  *
- *   Copyright (C) 2009, 2011-2012 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2009, 2011-2013 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -151,7 +151,11 @@ int up_svcall(int irq, FAR void *context)
   svcdbg("  R8: %08x %08x %08x %08x %08x %08x %08x %08x\n",
          regs[REG_R8],  regs[REG_R9],  regs[REG_R10], regs[REG_R11],
          regs[REG_R12], regs[REG_R13], regs[REG_R14], regs[REG_R15]);
-  svcdbg("  PSR=%08x\n", regs[REG_XPSR]);
+#ifdef REG_EXC_RETURN
+  svcdbg("  PSR: %08x LR: %08x\n", regs[REG_XPSR], current_regs[REG_EXC_RETURN]);
+#else
+  svcdbg("  PSR: %08x\n", regs[REG_XPSR]);
+#endif
 
   /* Handle the SVCall according to the command in R0 */
 
@@ -246,23 +250,22 @@ int up_svcall(int irq, FAR void *context)
         {
           struct tcb_s *rtcb = sched_self();
 
-          /* Make sure that we got here from a privileged thread and
-           * that there is a saved syscall return address.
-           */
+          /* Make sure that there is a saved syscall return address. */
 
-          DEBUGASSERT(rtcb->xcp.sysreturn != 0 &&
-                      regs[REG_EXC_RETURN] == EXC_RETURN_PRIVTHR);
+          svcdbg("sysreturn: %08x excreturn: %08x\n",
+                 rtcb->xcp.sysreturn, rtcb->xcp.excreturn);
+          DEBUGASSERT(rtcb->xcp.sysreturn != 0);
 
           /* Setup to return to the saved syscall return address in
-           * unprivileged mode.
+           * the original mode.
            */
 
           current_regs[REG_PC]         = rtcb->xcp.sysreturn;
-          current_regs[REG_EXC_RETURN] = EXC_RETURN_UNPRIVTHR;
+          current_regs[REG_EXC_RETURN] = rtcb->xcp.excreturn;
           rtcb->xcp.sysreturn          = 0;
 
           /* The return value must be in R0-R1.  dispatch_syscall() temporarily
-           * moved the value to R2.
+           * moved the value for R0 to R2.
            */
 
           current_regs[REG_R0]         = current_regs[REG_R2];
@@ -280,21 +283,22 @@ int up_svcall(int irq, FAR void *context)
 #ifdef CONFIG_NUTTX_KERNEL
           FAR struct tcb_s *rtcb = sched_self();
 
-          /* Verify the the SYS call number is within range */
+          /* Verify that the SYS call number is within range */
 
           DEBUGASSERT(current_regs[REG_R0] < SYS_maxsyscall);
 
-          /* Make sure that we got here from a unprivileged thread and that
-           * there is a no saved syscall return address.
+          /* Make sure that we got here that there is a no saved syscall
+           * return address.  We cannot yet handle nested system calls.
            */
 
-          DEBUGASSERT(rtcb->xcp.sysreturn == 0 &&
-                      regs[REG_EXC_RETURN] == EXC_RETURN_UNPRIVTHR);
+          DEBUGASSERT(rtcb->xcp.sysreturn == 0);
 
           /* Setup to return to dispatch_syscall in privileged mode. */
 
           rtcb->xcp.sysreturn          = regs[REG_PC];
-          regs[REG_PC]                 = (uint32_t)dispatch_syscall;
+          rtcb->xcp.excreturn          = current_regs[REG_EXC_RETURN];
+
+          current_regs[REG_PC]         = (uint32_t)dispatch_syscall;
           current_regs[REG_EXC_RETURN] = EXC_RETURN_PRIVTHR;
 
           /* Offset R0 to account for the reserved values */
diff --git a/nuttx/arch/mips/src/mips32/up_swint0.c b/nuttx/arch/mips/src/mips32/up_swint0.c
index 4a172fe2a..9f7081fd3 100644
--- a/nuttx/arch/mips/src/mips32/up_swint0.c
+++ b/nuttx/arch/mips/src/mips32/up_swint0.c
@@ -239,19 +239,16 @@ int up_swint0(int irq, FAR void *context)
         {
           struct tcb_s *rtcb = sched_self();
 
-          /* Make sure that we got here from a privileged thread and
-           * that there is a saved syscall return address.
-           */
+          /* Make sure that there is a saved syscall return address. */
 
-#error "Missing logic -- need to test for privileged mode"
-          DEBUGASSERT(rtcb->xcp.sysreturn != 0 && ???);
+          DEBUGASSERT(rtcb->xcp.sysreturn != 0);
 
           /* Setup to return to the saved syscall return address in
-           * unprivileged mode.
+           * the original mode.
            */
 
           current_regs[REG_EPC] = rtcb->xcp.sysreturn;
-#error "Missing logic -- need to set for unprivileged mode"
+#error "Missing logic -- need to restore the original mode"
           rtcb->sysreturn       = 0;
         }
         break;
@@ -267,20 +264,19 @@ int up_swint0(int irq, FAR void *context)
 #ifdef CONFIG_NUTTX_KERNEL
           FAR struct tcb_s *rtcb = sched_self();
 
-          /* Verify the the SYS call number is within range */
+          /* Verify that the SYS call number is within range */
 
           DEBUGASSERT(current_regs[REG_A0] < SYS_maxsyscall);
 
-          /* Make sure that we got here from an unprivileged thread and that
-           * there is a no saved syscall return address.
+          /* Make sure that we got here that there is a no saved syscall
+           * return address.  We cannot yet handle nested system calls.
            */
 
-#error "Missing logic -- Need to set unprivileged mode"
-          DEBUGASSERT(rtcb->xcp.sysreturn == 0 && ???);
+          DEBUGASSERT(rtcb->xcp.sysreturn == 0);
 
           /* Setup to return to dispatch_syscall in privileged mode. */
 
-          rtcb->sysreturn              = regs[REG_EPC]
+          rtcb->sysreturn              = regs[REG_EPC];
           regs[REG_EPC]                = (uint32_t)dispatch_syscall;
 #error "Missing logic -- Need to set privileged mode"
 
diff --git a/nuttx/configs/open1788/README.txt b/nuttx/configs/open1788/README.txt
index cc23ccb77..29c80822c 100644
--- a/nuttx/configs/open1788/README.txt
+++ b/nuttx/configs/open1788/README.txt
@@ -342,6 +342,10 @@ CONFIGURATION
        in FLASH.  But loading the nuttx ELF does not harm the nuttx_user.elf
        in FLASH.  Conclusion:  Always load nuttx_user.elf before nuttx.
 
+       Just to complicate matters, it is sometimes the case that you need
+       load objects twice to account for write failures.  I have not yet
+       found a simple foolproof way to reliably get the code into FLASH.
+
   nsh
   ---
     Configures the NuttShell (nsh) located at examples/nsh.  The
diff --git a/nuttx/configs/open1788/kernel/Makefile b/nuttx/configs/open1788/kernel/Makefile
index 9cf196375..d3a47e738 100644
--- a/nuttx/configs/open1788/kernel/Makefile
+++ b/nuttx/configs/open1788/kernel/Makefile
@@ -107,7 +107,7 @@ depend: .depend
 
 clean:
 	$(call DELFILE, nuttx_user.elf)
-	$(call DELFILE, "$(TOPDIR)$(DELIM)nuttx_user.elf")
+	$(call DELFILE, "$(TOPDIR)$(DELIM)nuttx_user.*")
 	$(call DELFILE, "$(TOPDIR)$(DELIM)User.map")
 	$(call CLEAN)
 
diff --git a/nuttx/configs/sam3u-ek/kernel/Makefile b/nuttx/configs/sam3u-ek/kernel/Makefile
index b58bb118c..5ce23a539 100644
--- a/nuttx/configs/sam3u-ek/kernel/Makefile
+++ b/nuttx/configs/sam3u-ek/kernel/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
 # configs/sam3u-ek/kernel/Makefile
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011, 2013 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -107,7 +107,7 @@ depend: .depend
 
 clean:
 	$(call DELFILE, nuttx_user.elf)
-	$(call DELFILE, "$(TOPDIR)$(DELIM)nuttx_user.elf")
+	$(call DELFILE, "$(TOPDIR)$(DELIM)nuttx_user.*")
 	$(call DELFILE, "$(TOPDIR)$(DELIM)User.map")
 	$(call CLEAN)
 
diff --git a/nuttx/configs/sim/ostest/defconfig b/nuttx/configs/sim/ostest/defconfig
index 60b1fb5a4..bcfadabd7 100644
--- a/nuttx/configs/sim/ostest/defconfig
+++ b/nuttx/configs/sim/ostest/defconfig
@@ -40,7 +40,6 @@ CONFIG_HOST_LINUX=y
 #
 CONFIG_DEBUG=y
 CONFIG_DEBUG_VERBOSE=y
-# CONFIG_SYSLOG_ENABLE is not set
 
 #
 # Subsystem Debug Options
@@ -74,7 +73,6 @@ CONFIG_ARCH_SIM=y
 # CONFIG_ARCH_Z16 is not set
 # CONFIG_ARCH_Z80 is not set
 CONFIG_ARCH="sim"
-CONFIG_BOARD_LOOPSPERMSEC=100
 
 #
 # Simulation Configuration Options
@@ -103,6 +101,8 @@ CONFIG_BOARD_LOOPSPERMSEC=100
 #
 # Board Settings
 #
+CONFIG_BOARD_LOOPSPERMSEC=100
+# CONFIG_ARCH_CALIBRATION is not set
 CONFIG_DRAM_START=0x00000000
 CONFIG_DRAM_SIZE=0
 
@@ -133,6 +133,7 @@ CONFIG_ARCH_BOARD="sim"
 #
 # RTOS Features
 #
+# CONFIG_BOARD_INITIALIZE is not set
 CONFIG_MSEC_PER_TICK=10
 CONFIG_RR_INTERVAL=0
 # CONFIG_SCHED_INSTRUMENTATION is not set
@@ -149,8 +150,8 @@ CONFIG_MUTEX_TYPES=y
 # CONFIG_FDCLONE_DISABLE is not set
 # CONFIG_FDCLONE_STDIO is not set
 CONFIG_SDCLONE_DISABLE=y
-# CONFIG_SCHED_WORKQUEUE is not set
 CONFIG_SCHED_WAITPID=y
+# CONFIG_SCHED_STARTHOOK is not set
 # CONFIG_SCHED_ATEXIT is not set
 # CONFIG_SCHED_ONEXIT is not set
 CONFIG_USER_ENTRYPOINT="ostest_main"
@@ -160,9 +161,7 @@ CONFIG_DISABLE_OS_API=y
 # CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_DISABLE_SIGNALS is not set
 # CONFIG_DISABLE_MQUEUE is not set
-# CONFIG_DISABLE_MOUNTPOINT is not set
 # CONFIG_DISABLE_ENVIRON is not set
-CONFIG_DISABLE_POLL=y
 
 #
 # Signal Numbers
@@ -199,6 +198,7 @@ CONFIG_PTHREAD_STACK_DEFAULT=8192
 #
 # Device Drivers
 #
+CONFIG_DISABLE_POLL=y
 CONFIG_DEV_NULL=y
 # CONFIG_DEV_ZERO is not set
 # CONFIG_LOOP is not set
@@ -249,6 +249,7 @@ CONFIG_SERIAL=y
 #
 # File system configuration
 #
+# CONFIG_DISABLE_MOUNTPOINT is not set
 # CONFIG_FS_RAMMAP is not set
 # CONFIG_FS_FAT is not set
 # CONFIG_FS_NXFFS is not set
@@ -257,6 +258,7 @@ CONFIG_SERIAL=y
 #
 # System Logging
 #
+# CONFIG_SYSLOG_ENABLE is not set
 # CONFIG_SYSLOG is not set
 
 #
@@ -267,6 +269,7 @@ CONFIG_SERIAL=y
 #
 # Memory Management
 #
+# CONFIG_MM_MULTIHEAP is not set
 # CONFIG_MM_SMALL is not set
 CONFIG_MM_REGIONS=1
 # CONFIG_GRAN is not set
@@ -301,6 +304,8 @@ CONFIG_LIB_HOMEDIR="/"
 # CONFIG_EOL_IS_BOTH_CRLF is not set
 CONFIG_EOL_IS_EITHER_CRLF=y
 # CONFIG_LIBC_EXECFUNCS is not set
+CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024
+CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048
 # CONFIG_LIBC_STRERROR is not set
 # CONFIG_LIBC_PERROR_STDOUT is not set
 CONFIG_ARCH_LOWPUTC=y
@@ -309,8 +314,9 @@ CONFIG_LIB_SENDFILE_BUFSIZE=512
 # CONFIG_ARCH_OPTIMIZED_FUNCTIONS is not set
 
 #
-# Non-standard Helper Functions
+# Non-standard Library Support
 #
+# CONFIG_SCHED_WORKQUEUE is not set
 # CONFIG_LIB_KBDCODEC is not set
 
 #
@@ -332,7 +338,6 @@ CONFIG_LIB_SENDFILE_BUFSIZE=512
 #
 # CONFIG_EXAMPLES_BUTTONS is not set
 # CONFIG_EXAMPLES_CAN is not set
-# CONFIG_EXAMPLES_CDCACM is not set
 # CONFIG_EXAMPLES_COMPOSITE is not set
 # CONFIG_EXAMPLES_DHCPD is not set
 # CONFIG_EXAMPLES_ELF is not set
@@ -348,7 +353,6 @@ CONFIG_LIB_SENDFILE_BUFSIZE=512
 # CONFIG_EXAMPLES_MM is not set
 # CONFIG_EXAMPLES_MOUNT is not set
 # CONFIG_EXAMPLES_MODBUS is not set
-# CONFIG_EXAMPLES_NETTEST is not set
 # CONFIG_EXAMPLES_NSH is not set
 # CONFIG_EXAMPLES_NULL is not set
 # CONFIG_EXAMPLES_NX is not set
@@ -387,8 +391,9 @@ CONFIG_EXAMPLES_OSTEST_RR_RUNS=10
 # CONFIG_EXAMPLES_WATCHDOG is not set
 
 #
-# Interpreters
+# Graphics Support
 #
+# CONFIG_TIFF is not set
 
 #
 # Interpreters
@@ -418,11 +423,7 @@ CONFIG_EXAMPLES_OSTEST_RR_RUNS=10
 # CONFIG_NETUTILS_WEBCLIENT is not set
 
 #
-# ModBus
-#
-
-#
-# FreeModbus
+# FreeModBus
 #
 # CONFIG_MODBUS is not set
 
@@ -477,3 +478,7 @@ CONFIG_EXAMPLES_OSTEST_RR_RUNS=10
 # Sysinfo
 #
 # CONFIG_SYSTEM_SYSINFO is not set
+
+#
+# USB Monitor
+#
diff --git a/nuttx/fs/fs_fdopen.c b/nuttx/fs/fs_fdopen.c
index 0e43876a1..58ea043c5 100644
--- a/nuttx/fs/fs_fdopen.c
+++ b/nuttx/fs/fs_fdopen.c
@@ -144,6 +144,7 @@ FAR struct file_struct *fs_fdopen(int fd, int oflags, FAR struct tcb_s *tcb)
     {
       tcb = sched_self();
     }
+
   DEBUGASSERT(tcb && tcb->group);
 
   /* Verify that this is a valid file/socket descriptor and that the
@@ -192,7 +193,11 @@ FAR struct file_struct *fs_fdopen(int fd, int oflags, FAR struct tcb_s *tcb)
 
   /* Get the stream list from the TCB */
 
+#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_MM_KERNEL_HEAP)
+  slist = tcb->group->tg_streamlist;
+#else
   slist = &tcb->group->tg_streamlist;
+#endif
 
   /* Find an unallocated FILE structure in the stream list */
 
diff --git a/nuttx/sched/os_start.c b/nuttx/sched/os_start.c
index b7c8bb15c..6894ddc1b 100644
--- a/nuttx/sched/os_start.c
+++ b/nuttx/sched/os_start.c
@@ -237,6 +237,7 @@ void os_start(void)
 
   slldbg("Entry\n");
 
+  /* Initialize RTOS Data ***************************************************/
   /* Initialize all task lists */
 
   dq_init(&g_readytorun);
@@ -272,6 +273,7 @@ void os_start(void)
   g_pidhash[ PIDHASH(0)].tcb = &g_idletcb.cmn;
   g_pidhash[ PIDHASH(0)].pid = 0;
 
+  /* Initialize the IDLE task TCB *******************************************/
   /* Initialize a TCB for this thread of execution.  NOTE:  The default
    * value for most components of the g_idletcb are zero.  The entire
    * structure is set to zero.  Then only the (potentially) non-zero
@@ -298,6 +300,7 @@ void os_start(void)
 
   up_initial_state(&g_idletcb.cmn);
 
+  /* Initialize RTOS facilities *********************************************/
   /* Initialize the semaphore facility(if in link).  This has to be done
    * very early because many subsystems depend upon fully functional
    * semaphores.
@@ -344,12 +347,6 @@ void os_start(void)
     }
 #endif
 
-  /* Allocate the IDLE group and suppress child status. */
-
-#ifdef HAVE_TASK_GROUP
-  (void)group_allocate(&g_idletcb);
-#endif
-
   /* Initialize the interrupt handling subsystem (if included) */
 
 #ifdef CONFIG_HAVE_WEAKFUNCTIONS
@@ -462,6 +459,13 @@ void os_start(void)
       lib_initialize();
     }
 
+  /* IDLE Group Initialization **********************************************/
+  /* Allocate the IDLE group and suppress child status. */
+
+#ifdef HAVE_TASK_GROUP
+  (void)group_allocate(&g_idletcb);
+#endif
+
   /* Create stdout, stderr, stdin on the IDLE task.  These will be
    * inherited by all of the threads created by the IDLE task.
    */
@@ -477,10 +481,12 @@ void os_start(void)
   g_idletcb.cmn.group->tg_flags = GROUP_FLAG_NOCLDWAIT;
 #endif
 
+  /* Bring Up the System ****************************************************/
   /* Create initial tasks and bring-up the system */
 
   (void)os_bringup();
 
+  /* The IDLE Loop **********************************************************/
   /* When control is return to this point, the system is idle. */
 
   sdbg("Beginning Idle Loop\n");