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author | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2011-04-08 18:36:51 +0000 |
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committer | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2011-04-08 18:36:51 +0000 |
commit | 2e30a3f65595e997fd3a6648b50a1d07815c39c3 (patch) | |
tree | 827f81e6b55b110a382ba12ed866f3c13fafe1f3 /nuttx/arch | |
parent | 6e1fea8b98a48200b12a6e4d304f33d18ba70e89 (diff) | |
download | px4-nuttx-2e30a3f65595e997fd3a6648b50a1d07815c39c3.tar.gz px4-nuttx-2e30a3f65595e997fd3a6648b50a1d07815c39c3.tar.bz2 px4-nuttx-2e30a3f65595e997fd3a6648b50a1d07815c39c3.zip |
Completes implementation of kernel mode build
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@3483 42af7a65-404d-4744-a932-0658087f49c3
Diffstat (limited to 'nuttx/arch')
-rw-r--r-- | nuttx/arch/arm/src/cortexm3/mpu.h | 381 | ||||
-rw-r--r-- | nuttx/arch/arm/src/cortexm3/up_copystate.c | 4 | ||||
-rw-r--r-- | nuttx/arch/arm/src/cortexm3/up_mpu.c | 154 | ||||
-rwxr-xr-x | nuttx/arch/arm/src/sam3u/Make.defs | 6 | ||||
-rwxr-xr-x | nuttx/arch/arm/src/sam3u/sam3u_mpuinit.c | 35 |
5 files changed, 574 insertions, 6 deletions
diff --git a/nuttx/arch/arm/src/cortexm3/mpu.h b/nuttx/arch/arm/src/cortexm3/mpu.h index 63cdabddc..7cb5970d3 100644 --- a/nuttx/arch/arm/src/cortexm3/mpu.h +++ b/nuttx/arch/arm/src/cortexm3/mpu.h @@ -40,6 +40,17 @@ * Included Files ************************************************************************************/ +#include <nuttx/config.h> + +#ifndef __ASSEMBLY__ +# include <sys/types.h> +# include <stdint.h> +# include <stdbool.h> +# include <debug.h> + +# include "up_arch.h" +#endif + /************************************************************************************ * Pre-processor Definitions ************************************************************************************/ @@ -96,8 +107,8 @@ #define MPU_RASR_ATTR_SHIFT (21) /* Bits 19-21: TEX Address Permisson */ #define MPU_RASR_ATTR__MASK (7 << MPU_RASR_ATTR_SHIFT) #define MPU_RASR_S (1 << 18) /* Bit 18: Shareable */ -#define MPU_RASR_C (1 << 17) /* Bit 17: C Address Permission */ -#define MPU_RASR_B (1 << 16) /* Bit 16: B Address Permission */ +#define MPU_RASR_C (1 << 17) /* Bit 17: Cacheable */ +#define MPU_RASR_B (1 << 16) /* Bit 16: Bufferable */ #define MPU_RASR_AP_SHIFT (24) /* Bits 24-26: Access permission */ #define MPU_RASR_AP_MASK (7 << MPU_RASR_AP_SHIFT) # define MPU_RASR_AP_NONO (0 << MPU_RASR_AP_SHIFT) /* P:None U:None */ @@ -105,11 +116,375 @@ # define MPU_RASR_AP_RWRO (2 << MPU_RASR_AP_SHIFT) /* P:RW U:RO */ # define MPU_RASR_AP_RWRW (3 << MPU_RASR_AP_SHIFT) /* P:RW U:RW */ # define MPU_RASR_AP_RONO (5 << MPU_RASR_AP_SHIFT) /* P:RO U:None */ -# define MPU_RASR_AP_RORO (6 << MPU_RASR_AP_SHIFT) /* P:R0 U:RO */ +# define MPU_RASR_AP_RORO (6 << MPU_RASR_AP_SHIFT) /* P:RO U:RO */ #define MPU_RASR_XN (1 << 28) /* Bit 28: Instruction access disable */ /************************************************************************************ + * Global Function Prototypes + ************************************************************************************/ + +#ifndef __ASSEMBLY__ +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +/**************************************************************************** + * Name: mpu_log2regionsize + * + * Description: + * Determine the smallest value of l2size (log base 2 size) such that the + * following is true: + * + * size <= (1 << l2size) + * + ****************************************************************************/ + +EXTERN uint8_t mpu_log2regionsize(size_t size); + +/**************************************************************************** + * Name: mpu_subregion + * + * Description: + * Given the size of the (1) memory to be mapped and (2) the log2 size + * of the mapping to use, determine the minimal sub-region set to span + * that memory region. + * + * Assumption: + * l2size has the same properties as the return value from + * mpu_log2regionsize() + * + ****************************************************************************/ + +EXTERN uint32_t mpu_subregion(size_t size, uint8_t l2size); + +/************************************************************************************ * Inline Functions ************************************************************************************/ +/**************************************************************************** + * Name: mpu_showtype + * + * Description: + * Show the characteristics of the MPU + * + ****************************************************************************/ + +static inline void mpu_showtype(void) +{ +#ifdef CONFIG_DEBUG + uint32_t regval = getreg32(MPU_TYPE); + dbg("%s MPU Regions: data=%d instr=%d\n", + (regval & MPU_TYPE_SEPARATE) != 0 ? "Separate" : "Unified", + (regval & MPU_TYPE_DREGION_MASK) >> MPU_TYPE_DREGION_SHIFT, + (regval & MPU_TYPE_IREGION_MASK) >> MPU_TYPE_IREGION_SHIFT, +#endif +} + +/**************************************************************************** + * Name: mpu_control + * + * Description: + * Configure and enable (or disable) the MPU + * + ****************************************************************************/ + +static inline void mpu_control(bool enable, bool hfnmiena, bool privdefena) +{ + uint32_t regval = 0; + + if (enable) + { + regval |= MPU_CTRL_ENABLE; /* Enable the MPU */ + + if (hfnmiena) + { + regval |= MPU_CTRL_HFNMIENA; /* Enable MPU during hard fault, NMI, and FAULTMAS */ + } + + if (privdefena) + { + regval |= MPU_CTRL_PRIVDEFENA; /* Enable privileged access to default memory map */ + } + } + + putreg32(regval, MPU_CTRL); +} + +/**************************************************************************** + * Name: mpu_userflash + * + * Description: + * Configure a region for user program flash + * + ****************************************************************************/ + +static inline void mpu_userflash(int region, uintptr_t base, size_t size) +{ + uint32_t regval; + uint8_t l2size; + uint8_t subregions; + + /* Select the region */ + + putreg32(region, MPU_RNR); + + /* Select the region base address */ + + putreg32((base & MPU_RBAR_ADDR_MASK) | region, MPU_RBAR); + + /* Select the region size and the sub-region map */ + + l2size = mpu_log2regionsize(size); + subregions = mpu_subregion(size, l2size); + + /* The configure the region */ + + regval = MPU_RASR_ENABLE | /* Enable region */ + MPU_RASR_SIZE_LOG2((uint32_t)l2size) | /* Region size */ + ((uint32_t)subregions << MPU_RASR_SRD_SHIFT) | /* Sub-regions */ + MPU_RASR_C | /* Cacheable */ + MPU_RASR_AP_RORO; /* P:RO U:RO */ + putreg32(regval, MPU_RASR); +} + +/**************************************************************************** + * Name: mpu_privflash + * + * Description: + * Configure a region for privileged program flash + * + ****************************************************************************/ + +static inline void mpu_privflash(int region, uintptr_t base, size_t size) +{ + uint32_t regval; + uint8_t l2size; + uint8_t subregions; + + /* Select the region */ + + putreg32(region, MPU_RNR); + + /* Select the region base address */ + + putreg32((base & MPU_RBAR_ADDR_MASK) | region, MPU_RBAR); + + /* Select the region size and the sub-region map */ + + l2size = mpu_log2regionsize(size); + subregions = mpu_subregion(size, l2size); + + /* The configure the region */ + + regval = MPU_RASR_ENABLE | /* Enable region */ + MPU_RASR_SIZE_LOG2((uint32_t)l2size) | /* Region size */ + ((uint32_t)subregions << MPU_RASR_SRD_SHIFT) | /* Sub-regions */ + MPU_RASR_C | /* Cacheable */ + MPU_RASR_AP_RONO; /* P:RO U:None */ + putreg32(regval, MPU_RASR); +} + +/**************************************************************************** + * Name: mpu_userintsram + * + * Description: + * Configure a region as user internal SRAM + * + ****************************************************************************/ + +static inline void mpu_userintsram(int region, uintptr_t base, size_t size) +{ + uint32_t regval; + uint8_t l2size; + uint8_t subregions; + + /* Select the region */ + + putreg32(region, MPU_RNR); + + /* Select the region base address */ + + putreg32((base & MPU_RBAR_ADDR_MASK) | region, MPU_RBAR); + + /* Select the region size and the sub-region map */ + + l2size = mpu_log2regionsize(size); + subregions = mpu_subregion(size, l2size); + + /* The configure the region */ + + regval = MPU_RASR_ENABLE | /* Enable region */ + MPU_RASR_SIZE_LOG2((uint32_t)l2size) | /* Region size */ + ((uint32_t)subregions << MPU_RASR_SRD_SHIFT) | /* Sub-regions */ + MPU_RASR_S | /* Shareable */ + MPU_RASR_C | /* Cacheable */ + MPU_RASR_AP_RWRW; /* P:RW U:RW */ + putreg32(regval, MPU_RASR); +} + +/**************************************************************************** + * Name: mpu_privintsram + * + * Description: + * Configure a region as privileged internal SRAM + * + ****************************************************************************/ + +static inline void mpu_privintsram(int region, uintptr_t base, size_t size) +{ + uint32_t regval; + uint8_t l2size; + uint8_t subregions; + + /* Select the region */ + + putreg32(region, MPU_RNR); + + /* Select the region base address */ + + putreg32((base & MPU_RBAR_ADDR_MASK) | region, MPU_RBAR); + + /* Select the region size and the sub-region map */ + + l2size = mpu_log2regionsize(size); + subregions = mpu_subregion(size, l2size); + + /* The configure the region */ + + regval = MPU_RASR_ENABLE | /* Enable region */ + MPU_RASR_SIZE_LOG2((uint32_t)l2size) | /* Region size */ + ((uint32_t)subregions << MPU_RASR_SRD_SHIFT) | /* Sub-regions */ + MPU_RASR_S | /* Shareable */ + MPU_RASR_C | /* Cacheable */ + MPU_RASR_AP_RWNO; /* P:RW U:None */ + putreg32(regval, MPU_RASR); +} + +/**************************************************************************** + * Name: mpu_userextsram + * + * Description: + * Configure a region as user external SRAM + * + ****************************************************************************/ + +static inline void mpu_userextsram(int region, uintptr_t base, size_t size) +{ + uint32_t regval; + uint8_t l2size; + uint8_t subregions; + + /* Select the region */ + + putreg32(region, MPU_RNR); + + /* Select the region base address */ + + putreg32((base & MPU_RBAR_ADDR_MASK) | region, MPU_RBAR); + + /* Select the region size and the sub-region map */ + + l2size = mpu_log2regionsize(size); + subregions = mpu_subregion(size, l2size); + + /* The configure the region */ + + regval = MPU_RASR_ENABLE | /* Enable region */ + MPU_RASR_SIZE_LOG2((uint32_t)l2size) | /* Region size */ + ((uint32_t)subregions << MPU_RASR_SRD_SHIFT) | /* Sub-regions */ + MPU_RASR_S | /* Shareable */ + MPU_RASR_C | /* Cacheable */ + MPU_RASR_B | /* Bufferable */ + MPU_RASR_AP_RWRW; /* P:RW U:RW */ + putreg32(regval, MPU_RASR); +} + +/**************************************************************************** + * Name: mpu_privextsram + * + * Description: + * Configure a region as privileged external SRAM + * + ****************************************************************************/ + +static inline void mpu_privextsram(int region, uintptr_t base, size_t size) +{ + uint32_t regval; + uint8_t l2size; + uint8_t subregions; + + /* Select the region */ + + putreg32(region, MPU_RNR); + + /* Select the region base address */ + + putreg32((base & MPU_RBAR_ADDR_MASK) | region, MPU_RBAR); + + /* Select the region size and the sub-region map */ + + l2size = mpu_log2regionsize(size); + subregions = mpu_subregion(size, l2size); + + /* The configure the region */ + + regval = MPU_RASR_ENABLE | /* Enable region */ + MPU_RASR_SIZE_LOG2((uint32_t)l2size) | /* Region size */ + ((uint32_t)subregions << MPU_RASR_SRD_SHIFT) | /* Sub-regions */ + MPU_RASR_S | /* Shareable */ + MPU_RASR_C | /* Cacheable */ + MPU_RASR_B | /* Bufferable */ + MPU_RASR_AP_RWNO; /* P:RW U:None */ + putreg32(regval, MPU_RASR); +} + +/**************************************************************************** + * Name: mpu_peripheral + * + * Description: + * Configure a region as privileged periperal address space + * + ****************************************************************************/ + +static inline void mpu_peripheral(int region, uintptr_t base, size_t size) +{ + uint32_t regval; + uint8_t l2size; + uint8_t subregions; + + /* Select the region */ + + putreg32(region, MPU_RNR); + + /* Select the region base address */ + + putreg32((base & MPU_RBAR_ADDR_MASK) | region, MPU_RBAR); + + /* Select the region size and the sub-region map */ + + l2size = mpu_log2regionsize(size); + subregions = mpu_subregion(size, l2size); + + /* The configure the region */ + + regval = MPU_RASR_ENABLE | /* Enable region */ + MPU_RASR_SIZE_LOG2((uint32_t)l2size) | /* Region size */ + ((uint32_t)subregions << MPU_RASR_SRD_SHIFT) | /* Sub-regions */ + MPU_RASR_S | /* Shareable */ + MPU_RASR_B | /* Bufferable */ + MPU_RASR_AP_RWNO; /* P:RW U:None */ + putreg32(regval, MPU_RASR); +} + +#undef EXTERN +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ #endif /* __ARCH_ARM_SRC_COMMON_CORTEXM_MPU_H */ + diff --git a/nuttx/arch/arm/src/cortexm3/up_copystate.c b/nuttx/arch/arm/src/cortexm3/up_copystate.c index f5d4ecad2..8704bc106 100644 --- a/nuttx/arch/arm/src/cortexm3/up_copystate.c +++ b/nuttx/arch/arm/src/cortexm3/up_copystate.c @@ -1,7 +1,7 @@ /**************************************************************************** * arch/arm/src/cortexm3/up_copystate.c * - * Copyright (C) 2009 Gregory Nutt. All rights reserved. + * Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved. * Author: Gregory Nutt <spudmonkey@racsa.co.cr> * * Redistribution and use in source and binary forms, with or without @@ -61,7 +61,7 @@ ****************************************************************************/ /**************************************************************************** - * Name: up_undefinedinsn + * Name: up_copystate ****************************************************************************/ /* A little faster than most memcpy's */ diff --git a/nuttx/arch/arm/src/cortexm3/up_mpu.c b/nuttx/arch/arm/src/cortexm3/up_mpu.c new file mode 100644 index 000000000..12edb9263 --- /dev/null +++ b/nuttx/arch/arm/src/cortexm3/up_mpu.c @@ -0,0 +1,154 @@ +/**************************************************************************** + * arch/arm/src/cortexm3/up_mpu.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 <stdint.h> + +#include "mpu.h" +#include "up_internal.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/* This set represents the set of disabled memory sub-regions. A bit set + * corresponds to a disabled sub-region; the LS bit corresponds to the first + * region. The array is indexed by the number of subregions: 0 means no sub- + * regions (0xff), and 0 means all subregions but one (0x00). + */ + +static void uint8_t g_regionmap[9] = +{ + 0xff, 0x7f, 0x3f, 0x1f, 0x0f, 0x07, 0x03, 0x01, 0x00 +}; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: mpu_log2regionsize + * + * Description: + * Determine the smallest value of l2size (log base 2 size) such that the + * following is true: + * + * size <= (1 << l2size) + * + ****************************************************************************/ + +uint8_t mpu_log2regionsize(size_t size) +{ + /* The minimum permitted region size is 16 bytes (log2(16) = 4. */ + + uint32_t l2size; + for (l2size = 4; l2size < 32 && size > (1 << l2size); size++); + return l2size; +} + +/**************************************************************************** + * Name: mpu_subregion + * + * Description: + * Given the size of the (1) memory to be mapped and (2) the log2 size + * of the mapping to use, determine the minimal sub-region set to span + * that memory region. + * + * Assumption: + * l2size has the same properties as the return value from + * mpu_log2regionsize() + * + ****************************************************************************/ + +uint32_t mpu_subregion(size_t size, uint8_t l2size) +{ + unsigned int nsrs + uint32_t asize; + uint32_t mask; + + /* Eight subregions are support. The representation is as an 8-bit + * value with the LS bit corresponding to subregion 0. A bit is set + * to disable the sub-region. + * + * l2size: Log2 of the actual region size is <= (1 << l2size); + */ + + DEBUGASSERT(lsize > 3 && size <= (1 << l2size)); + + /* Examples with l2size = 12: + * + * Shifted Adjusted Number Sub-Region + * Size Mask Size Shift Sub-Regions Bitset + * 0x1000 0x01ff 0x1000 9 8 0x00 + * 0x0c00 0x01ff 0x0c00 9 6 0x03 + * 0x0c40 0x01ff 0x0e00 9 7 0x01 + */ + + if (l2size < 32) + { + mask = ((1 << lsize)-1) >> 3; /* Shifted mask */ + } + + /* The 4Gb region size is a special case */ + + else + { + /* NOTE: There is no way to represent a 4Gb region size in the 32-bit + * input. + */ + + mask = 0x1fffffff; /* Shifted mask */ + } + + asize = (size + mask) & ~mask; /* Adjusted size */ + nsrs = asize >> (lsize-3); /* Number of subregions */ + return g_regionmap[nsrs]; +} + + + diff --git a/nuttx/arch/arm/src/sam3u/Make.defs b/nuttx/arch/arm/src/sam3u/Make.defs index 51e134d0b..05b27cb22 100755 --- a/nuttx/arch/arm/src/sam3u/Make.defs +++ b/nuttx/arch/arm/src/sam3u/Make.defs @@ -48,6 +48,12 @@ CMN_CSRCS = up_assert.c up_blocktask.c up_copystate.c up_createstack.c \ up_sigdeliver.c up_unblocktask.c up_usestack.c up_doirq.c \ up_hardfault.c up_svcall.c +# Configuration-dependent common files + +ifeq ($(CONFIG_NUTTX_KERNEL),y) +CHIP_CSRCS += up_mpu.c +endif + # Required SAM3U files CHIP_ASRCS = diff --git a/nuttx/arch/arm/src/sam3u/sam3u_mpuinit.c b/nuttx/arch/arm/src/sam3u/sam3u_mpuinit.c index 411fba9b1..2dacd36c8 100755 --- a/nuttx/arch/arm/src/sam3u/sam3u_mpuinit.c +++ b/nuttx/arch/arm/src/sam3u/sam3u_mpuinit.c @@ -39,6 +39,7 @@ #include <nuttx/config.h> #include <arch/board/user_map.h> +#include "mpu.h" #ifndef CONFIG_NUTTX_KERNEL @@ -46,6 +47,14 @@ * 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 ****************************************************************************/ @@ -69,7 +78,31 @@ void sam3u_mpuinitialize(void) { -# warning "Not implemented" + uintptr_t datastart = MIN(ONFIG_USER_DATADESTSTART, CONFIG_USER_BSSSTART); + uintptr_t dataend = MAX(ONFIG_USER_DATADESTEND, CONFIG_USER_BSSEND); + + DEBUGASSERT(CONFIG_USER_TEXTEND >= CONFIG_USER_TEXTSTART && dataend >= datastart); + + @echo "#define C 0x`grep \" _stext\" $(TOPDIR)/User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)/user_map.h + @echo "#define 0x`grep \" _etext$\" $(TOPDIR)/User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)/user_map.h + @echo "#define CONFIG_USER_DATASOURCE 0x`grep \" _eronly$\" $(TOPDIR)/User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)/user_map.h + @echo "#define C 0x`grep \" _sdata$\" $(TOPDIR)/User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)/user_map.h + @echo "#define CONFIG_USER_ 0x`grep \" _edata$\" $(TOPDIR)/User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)/user_map.h + @echo "#define 0x`grep \" _sbss\" $(TOPDIR)/User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)/user_map.h + @echo "#define CONFIG_USER_ 0x`grep \" _ebss$\" $(TOPDIR)/User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)/user_map.h + + /* Show MPU information */ + + mpu_showtype(); + + /* Configure user flash and SRAM space */ + + mpu_userflash(0, CONFIG_USER_TEXTSTART, CONFIG_USER_TEXTEND - CONFIG_USER_TEXTSTART); + mpu_userintsram(1, datastart, dataend - datastart); + + /* Then enable the MPU */ + + mpu_control(true, false, true); } #endif /* CONFIG_NUTTX_KERNEL */ |