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author | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2011-06-09 21:40:21 +0000 |
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committer | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2011-06-09 21:40:21 +0000 |
commit | ab6d662a0d84dfb96eb966470cd91fc2bacc5a2b (patch) | |
tree | 53a6747f65ad27379bc9fbcd438b2fc1515d6d77 /nuttx/arch | |
parent | d8249796c804f056363cf9dc0fa588a1f718de0b (diff) | |
download | px4-nuttx-ab6d662a0d84dfb96eb966470cd91fc2bacc5a2b.tar.gz px4-nuttx-ab6d662a0d84dfb96eb966470cd91fc2bacc5a2b.tar.bz2 px4-nuttx-ab6d662a0d84dfb96eb966470cd91fc2bacc5a2b.zip |
Handle differences between AVR and AVR32 stacks
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@3690 42af7a65-404d-4744-a932-0658087f49c3
Diffstat (limited to 'nuttx/arch')
-rw-r--r-- | nuttx/arch/avr/src/avr/up_createstack.c | 134 | ||||
-rw-r--r-- | nuttx/arch/avr/src/avr/up_doirq.c | 4 | ||||
-rw-r--r-- | nuttx/arch/avr/src/avr/up_usestack.c | 117 | ||||
-rw-r--r-- | nuttx/arch/avr/src/avr32/up_createstack.c (renamed from nuttx/arch/avr/src/common/up_createstack.c) | 36 | ||||
-rw-r--r-- | nuttx/arch/avr/src/avr32/up_usestack.c (renamed from nuttx/arch/avr/src/common/up_usestack.c) | 8 |
5 files changed, 274 insertions, 25 deletions
diff --git a/nuttx/arch/avr/src/avr/up_createstack.c b/nuttx/arch/avr/src/avr/up_createstack.c new file mode 100644 index 000000000..dcd8ecd76 --- /dev/null +++ b/nuttx/arch/avr/src/avr/up_createstack.c @@ -0,0 +1,134 @@ +/**************************************************************************** + * arch/avr/src/avr/up_createstack.c + * + * Copyright (C) 2011 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 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 <nuttx/compiler.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdlib.h> +#include <sched.h> +#include <debug.h> + +#include <nuttx/kmalloc.h> +#include <nuttx/arch.h> +#include <arch/board/board.h> + +#include "up_arch.h" +#include "up_internal.h" + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Global Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: up_create_stack + * + * Description: + * Allocate a stack for a new thread and setup up stack-related + * information in the TCB. + * + * The following TCB fields must be initialized: + * adj_stack_size: Stack size after adjustment for hardware, processor, + * etc. This value is retained only for debug purposes. + * stack_alloc_ptr: Pointer to allocated stack + * adj_stack_ptr: Adjusted stack_alloc_ptr for HW. The initial value of + * the stack pointer. + * + * Input Parameters: + * tcb: The TCB of new task + * stack_size: The requested stack size. At least this how much must be + * allocated. + * + ****************************************************************************/ + +int up_create_stack(_TCB *tcb, size_t stack_size) +{ + if (tcb->stack_alloc_ptr && + tcb->adj_stack_size != stack_size) + { + sched_free(tcb->stack_alloc_ptr); + tcb->stack_alloc_ptr = NULL; + } + + if (!tcb->stack_alloc_ptr) + { +#ifdef CONFIG_DEBUG + tcb->stack_alloc_ptr = (FAR void *)zalloc(stack_size); +#else + tcb->stack_alloc_ptr = (FAR void *)malloc(stack_size); +#endif + } + + if (tcb->stack_alloc_ptr) + { + size_t top_of_stack; + size_t size_of_stack; + + /* The AVR uses a push-down stack: the stack grows toward lower + * addresses in memory. The stack pointer register, points to the + * lowest, valid work address (the "top" of the stack). Items on the + * stack are referenced as positive word offsets from sp. + */ + + top_of_stack = (size_t)tcb->stack_alloc_ptr + stack_size - 1; + + /* The AVR stack does not have to be aligned */ + + size_of_stack = top_of_stack - (size_t)tcb->stack_alloc_ptr + 1; + + /* Save the adjusted stack values in the _TCB */ + + tcb->adj_stack_ptr = (FAR void *)top_of_stack; + tcb->adj_stack_size = size_of_stack; + + up_ledon(LED_STACKCREATED); + return OK; + } + + return ERROR; +} diff --git a/nuttx/arch/avr/src/avr/up_doirq.c b/nuttx/arch/avr/src/avr/up_doirq.c index 764117abf..e3d3f1821 100644 --- a/nuttx/arch/avr/src/avr/up_doirq.c +++ b/nuttx/arch/avr/src/avr/up_doirq.c @@ -88,7 +88,7 @@ uint8_t *up_doirq(uint8_t irq, uint8_t *regs) * current_regs is also used to manage interrupt level context switches. */ - savestate = (uint8_t*)current_regs; + savestate = (uint8_t*)current_regs; /* Cast removes volatile attribute */ current_regs = regs; /* Deliver the IRQ */ @@ -101,7 +101,7 @@ uint8_t *up_doirq(uint8_t irq, uint8_t *regs) * switch occurred during interrupt processing. */ - regs = current_regs; + regs = (uint8_t*)current_regs; /* Cast removes volatile attribute */ /* Restore the previous value of current_regs. NULL would indicate that * we are no longer in an interrupt handler. It will be non-NULL if we diff --git a/nuttx/arch/avr/src/avr/up_usestack.c b/nuttx/arch/avr/src/avr/up_usestack.c new file mode 100644 index 000000000..15e13a7a3 --- /dev/null +++ b/nuttx/arch/avr/src/avr/up_usestack.c @@ -0,0 +1,117 @@ +/**************************************************************************** + * arch/avr/src/avr/up_usestack.c + * + * Copyright (C) 2011 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 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 <sched.h> +#include <debug.h> + +#include <nuttx/kmalloc.h> +#include <nuttx/arch.h> + +#include "up_internal.h" + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Global Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: up_use_stack + * + * Description: + * Setup up stack-related information in the TCB using pre-allocated stack + * memory + * + * The following TCB fields must be initialized: + * adj_stack_size: Stack size after adjustment for hardware, processor, + * etc. This value is retained only for debug purposes. + * stack_alloc_ptr: Pointer to allocated stack + * adj_stack_ptr: Adjusted stack_alloc_ptr for HW. The initial value of + * the stack pointer. + * + * Inputs: + * tcb: The TCB of new task + * stack_size: The allocated stack size. + * + ****************************************************************************/ + +int up_use_stack(_TCB *tcb, void *stack, size_t stack_size) +{ + size_t top_of_stack; + size_t size_of_stack; + + if (tcb->stack_alloc_ptr) + { + sched_free(tcb->stack_alloc_ptr); + } + + /* Save the stack allocation */ + + tcb->stack_alloc_ptr = stack; + + /* The AVR uses a push-down stack: the stack grows toward loweraddresses in + * memory. The stack pointer register, points to the lowest, valid work + * address (the "top" of the stack). Items on the stack are referenced as + * positive word offsets from sp. + */ + + top_of_stack = (size_t)tcb->stack_alloc_ptr + stack_size - 1; + + /* The AVR stack does not need to be aligned */ + + size_of_stack = top_of_stack - (size_t)tcb->stack_alloc_ptr + 4; + + /* Save the adjusted stack values in the _TCB */ + + tcb->adj_stack_ptr = (FAR void *)top_of_stack; + tcb->adj_stack_size = size_of_stack; + + return OK; +} + diff --git a/nuttx/arch/avr/src/common/up_createstack.c b/nuttx/arch/avr/src/avr32/up_createstack.c index 15871ebc5..cd72a66ac 100644 --- a/nuttx/arch/avr/src/common/up_createstack.c +++ b/nuttx/arch/avr/src/avr32/up_createstack.c @@ -1,5 +1,5 @@ /**************************************************************************** - * arch/avr/src/common/up_createstack.c + * arch/avr/src/avr32/up_createstack.c * * Copyright (C) 2010-2011 Gregory Nutt. All rights reserved. * Author: Gregory Nutt <spudmonkey@racsa.co.cr> @@ -69,21 +69,21 @@ * Name: up_create_stack * * Description: - * Allocate a stack for a new thread and setup - * up stack-related information in the TCB. + * Allocate a stack for a new thread and setup up stack-related + * information in the TCB. * * The following TCB fields must be initialized: - * adj_stack_size: Stack size after adjustment for hardware, - * processor, etc. This value is retained only for debug - * purposes. + * adj_stack_size: Stack size after adjustment for hardware, processor, + * etc. This value is retained only for debug purposes. * stack_alloc_ptr: Pointer to allocated stack - * adj_stack_ptr: Adjusted stack_alloc_ptr for HW. The - * initial value of the stack pointer. + * adj_stack_ptr: Adjusted stack_alloc_ptr for HW. The initial value of + * the stack pointer. * - * Inputs: + * Input Parameters: * tcb: The TCB of new task - * stack_size: The requested stack size. At least this much - * must be allocated. + * stack_size: The requested stack size. At least this how much must be + * allocated. + * ****************************************************************************/ int up_create_stack(_TCB *tcb, size_t stack_size) @@ -109,18 +109,16 @@ int up_create_stack(_TCB *tcb, size_t stack_size) size_t top_of_stack; size_t size_of_stack; - /* The AVR32 uses a push-down stack: the stack grows - * toward loweraddresses in memory. The stack pointer - * register, points to the lowest, valid work address - * (the "top" of the stack). Items on the stack are - * referenced as positive word offsets from sp. + /* The AVR32 uses a push-down stack: the stack grows toward lower + * addresses in memory. The stack pointer register, points to the + * lowest, valid work address (the "top" of the stack). Items on + * the stack are referenced as positive word offsets from sp. */ top_of_stack = (size_t)tcb->stack_alloc_ptr + stack_size - 4; - /* The AVR32 stack must be aligned at word (4 byte) - * boundaries. If necessary top_of_stack must be rounded - * down to the next boundary + /* The AVR32 stack must be aligned at word (4 byte) boundaries. If + * necessary top_of_stack must be rounded down to the next boundary */ top_of_stack &= ~3; diff --git a/nuttx/arch/avr/src/common/up_usestack.c b/nuttx/arch/avr/src/avr32/up_usestack.c index b2da00cf2..2161ec6dd 100644 --- a/nuttx/arch/avr/src/common/up_usestack.c +++ b/nuttx/arch/avr/src/avr32/up_usestack.c @@ -1,5 +1,5 @@ /**************************************************************************** - * arch/avr/src/common/up_usestack.c + * arch/avr/src/avr32/up_usestack.c * * Copyright (C) 2010 Gregory Nutt. All rights reserved. * Author: Gregory Nutt <spudmonkey@racsa.co.cr> @@ -103,7 +103,7 @@ int up_use_stack(_TCB *tcb, void *stack, size_t stack_size) * referenced as positive word offsets from sp. */ - top_of_stack = (uint32_t)tcb->stack_alloc_ptr + stack_size - 4; + top_of_stack = (size_t)tcb->stack_alloc_ptr + stack_size - 4; /* The AVR32 stack must be aligned at word (4 byte) * boundaries. If necessary top_of_stack must be rounded @@ -111,11 +111,11 @@ int up_use_stack(_TCB *tcb, void *stack, size_t stack_size) */ top_of_stack &= ~3; - size_of_stack = top_of_stack - (uint32_t)tcb->stack_alloc_ptr + 4; + size_of_stack = top_of_stack - (size_t)tcb->stack_alloc_ptr + 4; /* Save the adjusted stack values in the _TCB */ - tcb->adj_stack_ptr = (uint32_t*)top_of_stack; + tcb->adj_stack_ptr = (FAR void *)top_of_stack; tcb->adj_stack_size = size_of_stack; return OK; |