Add kernel build support for Stellaris, Kinetis, LPC43, and NUC1xx MCUs

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@5781 42af7a65-404d-4744-a932-0658087f49c3

9 files changed, 744 insertions, 34 deletions

diff --git a/nuttx/arch/arm/src/lm/Make.defs b/nuttx/arch/arm/src/lm/Make.defs
index cb367e879..8884554d9 100644
--- a/nuttx/arch/arm/src/lm/Make.defs
+++ b/nuttx/arch/arm/src/lm/Make.defs
@@ -33,35 +33,50 @@
 #
 ############################################################################
 
-HEAD_ASRC	= lm_vectors.S
+HEAD_ASRC  = lm_vectors.S
 
-CMN_ASRCS	= up_saveusercontext.S up_fullcontextrestore.S up_switchcontext.S \
-			  vfork.S
-CMN_CSRCS	= up_allocateheap.c up_assert.c up_blocktask.c up_copystate.c \
-			  up_createstack.c up_mdelay.c up_udelay.c up_exit.c \
-			  up_idle.c up_initialize.c up_initialstate.c up_interruptcontext.c \
-			  up_memfault.c up_modifyreg8.c up_modifyreg16.c up_modifyreg32.c \
-			  up_releasepending.c up_releasestack.c up_reprioritizertr.c \
-			  up_schedulesigaction.c up_sigdeliver.c up_unblocktask.c \
-			  up_usestack.c up_doirq.c up_hardfault.c up_svcall.c \
-			  up_vfork.c
+CMN_ASRCS  = up_saveusercontext.S up_fullcontextrestore.S up_switchcontext.S
+CMN_ASRCS += vfork.S
+
+CMN_CSRCS  = up_assert.c up_blocktask.c up_copystate.c up_createstack.c
+CMN_CSRCS += up_mdelay.c up_udelay.c up_exit.c up_idle.c up_initialize.c
+CMN_CSRCS += up_initialstate.c up_interruptcontext.c up_memfault.c
+CMN_CSRCS += up_modifyreg8.c up_modifyreg16.c up_modifyreg32.c
+CMN_CSRCS += up_releasepending.c up_releasestack.c up_reprioritizertr.c
+CMN_CSRCS += up_schedulesigaction.c up_sigdeliver.c up_unblocktask.c
+CMN_CSRCS += up_usestack.c up_doirq.c up_hardfault.c up_svcall.c up_vfork.c
 
 ifeq ($(CONFIG_ARCH_RAMVECTORS),y)
 CMN_CSRCS += up_ramvec_initialize.c up_ramvec_attach.c
 endif
 
 ifeq ($(CONFIG_ARCH_MEMCPY),y)
-CMN_ASRCS	+= up_memcpy.S
+CMN_ASRCS += up_memcpy.S
+endif
+
+ifeq ($(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_dispatch.c
+CMN_UASRCS += up_signal_handler.S
+endif
+else
+CMN_CSRCS += up_allocateheap.c
 endif
 
 ifeq ($(CONFIG_ELF),y)
 CMN_CSRCS += up_elf.c
 endif
 
-CHIP_ASRCS	= 
-CHIP_CSRCS	= lm_start.c lm_syscontrol.c lm_irq.c lm_gpio.c lm_gpioirq.c \
-			  lm_timerisr.c lm_lowputc.c lm_serial.c lm_ssi.c lm_dumpgpio.c
+CHIP_ASRCS  = 
+CHIP_CSRCS  = lm_allocateheap.c lm_start.c lm_syscontrol.c lm_irq.c
+CHIP_CSRCS += lm_gpio.c lm_gpioirq.c lm_timerisr.c lm_lowputc.c lm_serial.c
+CHIP_CSRCS += lm_ssi.c lm_dumpgpio.c
+
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+CHIP_CSRCS += lm_userspace.c lm_mpuinit.c
+endif
 
 ifdef CONFIG_NET
-CHIP_CSRCS	+= lm_ethernet.c
+CHIP_CSRCS += lm_ethernet.c
 endif
diff --git a/nuttx/arch/arm/src/lm/chip/lm4f_pinmap.h b/nuttx/arch/arm/src/lm/chip/lm4f_pinmap.h
index 567ca4c1c..771eb9d2c 100644
--- a/nuttx/arch/arm/src/lm/chip/lm4f_pinmap.h
+++ b/nuttx/arch/arm/src/lm/chip/lm4f_pinmap.h
@@ -162,7 +162,7 @@
 #  define GPIO_UART1_CTS_1  (GPIO_FUNC_PFINPUT | GPIO_ALT_1 | GPIO_PORTF | GPIO_PIN_1)
 #  define GPIO_UART1_CTS_2  (GPIO_FUNC_PFINPUT | GPIO_ALT_8 | GPIO_PORTC | GPIO_PIN_5)
 #  define GPIO_UART1_RTS_1  (GPIO_FUNC_PFOUTPUT | GPIO_ALT_1 | GPIO_PORTF | GPIO_PIN_0)
-#  define GPIO_UART1_RTS_1  (GPIO_FUNC_PFOUTPUT | GPIO_ALT_8 | GPIO_PORTC | GPIO_PIN_4)
+#  define GPIO_UART1_RTS_2  (GPIO_FUNC_PFOUTPUT | GPIO_ALT_8 | GPIO_PORTC | GPIO_PIN_4)
 #  define GPIO_UART1_RX_1   (GPIO_FUNC_PFINPUT | GPIO_ALT_1 | GPIO_PORTB | GPIO_PIN_0)
 #  define GPIO_UART1_RX_2   (GPIO_FUNC_PFINPUT | GPIO_ALT_2 | GPIO_PORTC | GPIO_PIN_4)
 #  define GPIO_UART1_TX_1   (GPIO_FUNC_PFOUTPUT | GPIO_ALT_1 | GPIO_PORTB | GPIO_PIN_1)
diff --git a/nuttx/arch/arm/src/lm/lm_allocateheap.c b/nuttx/arch/arm/src/lm/lm_allocateheap.c
new file mode 100644
index 000000000..1ac064f0f
--- /dev/null
+++ b/nuttx/arch/arm/src/lm/lm_allocateheap.c
@@ -0,0 +1,192 @@
+/****************************************************************************
+ * arch/arm/src/lm/lm_allocateheap.c
+ *
+ *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <assert.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/userspace.h>
+
+#include <arch/board/board.h>
+
+#include "mpu.h"
+#include "up_arch.h"
+#include "up_internal.h"
+#include "lm_mpuinit.h"
+
+/****************************************************************************
+ * Private Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: up_allocate_heap
+ *
+ * Description:
+ *   This function will be called to dynamically set aside the heap region.
+ *
+ *   For the kernel build (CONFIG_NUTTX_KERNEL=y) with both kernel- and
+ *   user-space heaps (CONFIG_MM_KERNEL_HEAP=y), this function provides the
+ *   size of the unprotected, user-space heap.
+ *
+ *   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 = CONFIG_DRAM_END - ubase;
+  int       log2;
+
+  DEBUGASSERT(ubase < (uintptr_t)CONFIG_DRAM_END);
+
+  /* Adjust that size to account for MPU alignment requirements.
+   * NOTE that there is an implicit assumption that the CONFIG_DRAM_END
+   * is aligned to the MPU requirement.
+   */
+
+  log2  = (int)mpu_log2regionfloor(usize);
+  DEBUGASSERT((CONFIG_DRAM_END & ((1 << log2) - 1)) == 0);
+
+  usize = (1 << log2);
+  ubase = CONFIG_DRAM_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 */
+
+   lm_mpu_uheap((uintptr_t)ubase, usize);
+#else
+
+  /* Return the heap settings */
+
+  up_ledon(LED_HEAPALLOCATE);
+  *heap_start = (FAR void*)g_idle_topstack;
+  *heap_size  = CONFIG_DRAM_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 = CONFIG_DRAM_END - ubase;
+  int       log2;
+
+  DEBUGASSERT(ubase < (uintptr_t)CONFIG_DRAM_END);
+
+  /* Adjust that size to account for MPU alignment requirements.
+   * NOTE that there is an implicit assumption that the CONFIG_DRAM_END
+   * is aligned to the MPU requirement.
+   */
+
+  log2  = (int)mpu_log2regionfloor(usize);
+  DEBUGASSERT((CONFIG_DRAM_END & ((1 << log2) - 1)) == 0);
+
+  usize = (1 << log2);
+  ubase = CONFIG_DRAM_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
diff --git a/nuttx/arch/arm/src/lm/lm_mpuinit.c b/nuttx/arch/arm/src/lm/lm_mpuinit.c
new file mode 100644
index 000000000..db06de1c1
--- /dev/null
+++ b/nuttx/arch/arm/src/lm/lm_mpuinit.c
@@ -0,0 +1,124 @@
+/****************************************************************************
+ * arch/arm/src/lm/lm_mpuinit.c
+ *
+ *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 <nuttx/config.h>
+
+#include <assert.h>
+
+#include <nuttx/userspace.h>
+
+#include "mpu.h"
+#include "lm_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: lm_mpuinitialize
+ *
+ * Description:
+ *   Configure the MPU to permit user-space access to only restricted SAM3U
+ *   resources.
+ *
+ ****************************************************************************/
+
+void lm_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: lm_mpu_uheap
+ *
+ * Description:
+ *  Map the user-heap region.
+ *
+ *  This logic may need an extension to handle external SDRAM).
+ *
+ ****************************************************************************/
+
+void lm_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/lm/lm_mpuinit.h b/nuttx/arch/arm/src/lm/lm_mpuinit.h
new file mode 100644
index 000000000..3c9a06c21
--- /dev/null
+++ b/nuttx/arch/arm/src/lm/lm_mpuinit.h
@@ -0,0 +1,90 @@
+/************************************************************************************
+ * arch/arm/src/lm/lm_mpuinit.h
+ *
+ *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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_LM_LM_MPUINIT_H
+#define __ARCH_ARM_SRC_LM_LM_MPUINIT_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Types
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Data
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/****************************************************************************
+ * Name: lm_mpuinitialize
+ *
+ * Description:
+ *   Configure the MPU to permit user-space access to only unrestricted MCU
+ *   resources.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_NUTTX_KERNEL
+void lm_mpuinitialize(void);
+#else
+#  define lm_mpuinitialize()
+#endif
+
+/****************************************************************************
+ * Name: lm_mpu_uheap
+ *
+ * Description:
+ *  Map the user heap region.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_NUTTX_KERNEL
+void lm_mpu_uheap(uintptr_t start, size_t size);
+#else
+#  define lm_mpu_uheap(start,size)
+#endif
+
+#endif /* __ARCH_ARM_SRC_LM_LM_MPUINIT_H */
diff --git a/nuttx/arch/arm/src/lm/lm_start.c b/nuttx/arch/arm/src/lm/lm_start.c
index f4985709e..5ab07684c 100644
--- a/nuttx/arch/arm/src/lm/lm_start.c
+++ b/nuttx/arch/arm/src/lm/lm_start.c
@@ -52,6 +52,7 @@
 
 #include "lm_lowputc.h"
 #include "lm_syscontrol.h"
+#include "lm_userspace.h"
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -137,10 +138,21 @@ 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
+  lm_userspace();
+  showprogress('E');
+#endif
+
   /* Initialize onboard resources */
 
   lm_boardinitialize();
-  showprogress('E');
+  showprogress('F');
 
   /* Then start NuttX */
 
diff --git a/nuttx/arch/arm/src/lm/lm_userspace.c b/nuttx/arch/arm/src/lm/lm_userspace.c
new file mode 100644
index 000000000..f198f5c2f
--- /dev/null
+++ b/nuttx/arch/arm/src/lm/lm_userspace.c
@@ -0,0 +1,119 @@
+/****************************************************************************
+ * arch/arm/src/lm/lm_userspace.c
+ *
+ *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 <nuttx/config.h>
+
+#include <stdint.h>
+#include <assert.h>
+
+#include <nuttx/userspace.h>
+
+#include "lm_mpuinit.h"
+#include "lm_userspace.h"
+
+#ifdef CONFIG_NUTTX_KERNEL
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: lm_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 lm_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 */
+
+  lm_mpuinitialize();
+}
+
+#endif /* CONFIG_NUTTX_KERNEL */
+
diff --git a/nuttx/arch/arm/src/lm/lm_userspace.h b/nuttx/arch/arm/src/lm/lm_userspace.h
new file mode 100644
index 000000000..37c0aff31
--- /dev/null
+++ b/nuttx/arch/arm/src/lm/lm_userspace.h
@@ -0,0 +1,76 @@
+/************************************************************************************
+ * arch/arm/src/lm/lm_userspace.h
+ *
+ *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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_LM_LM_USERSPACE_H
+#define __ARCH_ARM_SRC_LM_LM_USERSPACE_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Types
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Data
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/****************************************************************************
+ * Name: lm_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 lm_userspace(void);
+#endif
+
+#endif /* __ARCH_ARM_SRC_LM_LM_USERSPACE_H */
diff --git a/nuttx/arch/arm/src/lm/lm_vectors.S b/nuttx/arch/arm/src/lm/lm_vectors.S
index 4459d49a7..0f5a8e555 100644
--- a/nuttx/arch/arm/src/lm/lm_vectors.S
+++ b/nuttx/arch/arm/src/lm/lm_vectors.S
@@ -39,8 +39,16 @@
  ************************************************************************************/
 
 #include <nuttx/config.h>
+
 #include <arch/irq.h>
 
+#include "chip.h"
+#include "exc_return.h"
+
+/************************************************************************************
+ * Configuration
+ ************************************************************************************/
+
 /************************************************************************************
  * Preprocessor Definitions
  ************************************************************************************/
@@ -58,18 +66,22 @@
  */
 
 #define IDLE_STACK		(_ebss+CONFIG_IDLETHREAD_STACKSIZE-4)
-#define HEAP_BASE		(_ebss+CONFIG_IDLETHREAD_STACKSIZE-4)
+#define HEAP_BASE		(_ebss+CONFIG_IDLETHREAD_STACKSIZE)
 
 /************************************************************************************
  * Global Symbols
  ************************************************************************************/
 
-	.globl		__start
-
 	.syntax		unified
 	.thumb
 	.file		"lm_vectors.S"
 
+/* Check if common ARMv7 interrupt vectoring is used (see arch/arm/src/armv7-m/up_vectors.S) */
+
+#ifndef CONFIG_ARMV7M_CMNVECTOR
+
+	.globl		__start
+
 /************************************************************************************
  * Macros
  ************************************************************************************/
@@ -182,18 +194,23 @@ lm_irqcommon:
 
 #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	r2, r14, #3				/* If R14=0xfffffffd, then r2 == 0 */
-	ite		ne						/* Next two instructions are condition */
+	ite		ne						/* Next two instructions are conditional */
 	mrsne	r1, msp					/* R1=The main stack pointer */
 	mrseq	r1, psp					/* R1=The process stack pointer */
 #else
 	mrs		r1, msp					/* R1=The main stack pointer */
 #endif
 
+	/* r1 holds the value of the stack pointer AFTER the excption handling logic
+	 * pushed the various registers onto the stack.  Get r2 = the value of the
+	 * stack pointer BEFORE the interrupt modified it.
+	 */
+
 	mov		r2, r1					/* R2=Copy of the main/process stack pointer */
 	add		r2, #HW_XCPT_SIZE		/* R2=MSP/PSP before the interrupt was taken */
 #ifdef CONFIG_ARMV7M_USEBASEPRI
@@ -201,7 +218,23 @@ lm_irqcommon:
 #else
 	mrs		r3, primask				/* R3=Current PRIMASK setting */
 #endif
-#ifdef CONFIG_NUTTX_KERNEL 
+
+#ifdef CONFIG_ARCH_FPU
+	/* Skip over the block of memory reserved for floating pointer register save.
+	 * Lazy FPU register saving is used.  FPU registers will be saved in this
+	 * block only if a context switch occurs (this means, of course, that the FPU
+	 * cannot be used in interrupt processing).
+	 */
+
+	sub		r1, #(4*SW_FPU_REGS)
+#endif
+
+	/* Save the the remaining registers on the stack after the registers pushed
+	 * by the exception handling logic. r2=SP and r3=primask or basepri, r4-r11,
+	 * r14=register values.
+	 */
+
+#ifdef CONFIG_NUTTX_KERNEL
 	stmdb	r1!, {r2-r11,r14}		/* Save the remaining registers plus the SP value */
 #else
 	stmdb	r1!, {r2-r11}			/* Save the remaining registers plus the SP value */
@@ -237,9 +270,28 @@ lm_irqcommon:
 	cmp		r0, r1					/* Context switch? */
 	beq		1f						/* Branch if no context switch */
 
+	/* We are returning with a pending context switch.
+	 *
+	 * If the FPU is enabled, then we will need to restore FPU registers.
+	 * This is not done in normal interrupt save/restore because the cost
+	 * is prohibitive.  This is only done when switching contexts.  A
+	 * consequence of this is that floating point operations may not be
+	 * performed in interrupt handling logic.
+	 *
+	 * Here:
+	 *   r0 = Address of the register save area
+	
+	 * NOTE: It is a requirement that up_restorefpu() preserve the value of
+	 * r0!
+	 */
+
+#ifdef CONFIG_ARCH_FPU
+	bl		up_restorefpu			/* Restore the FPU registers */
+#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.
 	 */
 
@@ -247,7 +299,7 @@ lm_irqcommon:
 	ldmia	r1, {r4-r11}			/* Fetch eight registers in HW save area */
 	ldr		r1, [r0, #(4*REG_SP)]	/* R1=Value of SP before interrupt */
 	stmdb	r1!, {r4-r11}			/* Store eight registers in HW save area */
-#ifdef CONFIG_NUTTX_KERNEL 
+#ifdef CONFIG_NUTTX_KERNEL
 	ldmia	r0, {r2-r11,r14}		/* Recover R4-R11, r14 + 2 temp values */
 #else
 	ldmia	r0, {r2-r11}			/* Recover R4-R11 + 2 temp values */
@@ -256,24 +308,53 @@ lm_irqcommon:
 
 	/* We are returning with no context switch.  We simply need to "unwind"
 	 * the same stack frame that we created
+	 *
+	 * Here:
+	 *   r1 = Address of the return stack (same as r0)
 	 */
 1:
-#ifdef CONFIG_NUTTX_KERNEL 
+#ifdef CONFIG_NUTTX_KERNEL
 	ldmia	r1!, {r2-r11,r14}		/* Recover R4-R11, r14 + 2 temp values */
 #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
+	 */
+
+	add		r1, #(4*SW_FPU_REGS)
+#endif
+
+	/* Set up to return from the exception
+	 *
+	 * Here:
+	 *   r1 = Address on the target thread's stack position at the start of
+	 *        the registers saved by hardware
+	 *   r3 = primask or basepri
+	 *   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 */
 
@@ -317,6 +398,7 @@ up_interruptstack:
 g_intstackbase:
 	.size	up_interruptstack, .-up_interruptstack
 #endif
+#endif /* CONFIG_ARMV7M_CMNVECTOR */
 
 /************************************************************************************
  * .rodata
@@ -335,7 +417,7 @@ 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