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author | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2013-03-10 23:42:49 +0000 |
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committer | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2013-03-10 23:42:49 +0000 |
commit | 6157a0e4fd667b835dc74d291019dd61840213cd (patch) | |
tree | 029c000a13501c7904b1c5afa38ac99928540dac /nuttx/configs/sam3u-ek | |
parent | f6fffbd5b0a83bd161e8f6417a4d034f72268217 (diff) | |
download | px4-nuttx-6157a0e4fd667b835dc74d291019dd61840213cd.tar.gz px4-nuttx-6157a0e4fd667b835dc74d291019dd61840213cd.tar.bz2 px4-nuttx-6157a0e4fd667b835dc74d291019dd61840213cd.zip |
Remove user_map.h; replace with a header at the beginning of the user-space blob. User work queue no started by os_brinup() on behalf of the application
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@5727 42af7a65-404d-4744-a932-0658087f49c3
Diffstat (limited to 'nuttx/configs/sam3u-ek')
-rw-r--r-- | nuttx/configs/sam3u-ek/kernel/Makefile | 52 | ||||
-rw-r--r-- | nuttx/configs/sam3u-ek/kernel/kernel.ld | 4 | ||||
-rw-r--r-- | nuttx/configs/sam3u-ek/kernel/up_userspace.c | 129 | ||||
-rwxr-xr-x | nuttx/configs/sam3u-ek/knsh/defconfig | 9 | ||||
-rw-r--r-- | nuttx/configs/sam3u-ek/src/up_leds.c | 3 |
5 files changed, 152 insertions, 45 deletions
diff --git a/nuttx/configs/sam3u-ek/kernel/Makefile b/nuttx/configs/sam3u-ek/kernel/Makefile index 6d99c1753..d6349fe99 100644 --- a/nuttx/configs/sam3u-ek/kernel/Makefile +++ b/nuttx/configs/sam3u-ek/kernel/Makefile @@ -61,16 +61,24 @@ USER_LDFLAGS = --undefined=$(ENTRYPT) --entry=$(ENTRYPT) $(USER_LDSCRIPT) USER_LDLIBS = $(patsubst lib%,-l%,$(basename $(notdir $(USERLIBS)))) USER_LIBGCC = "${shell $(CC) -print-libgcc-file-name}" -# Targets: +# Source files + +CSRCS = up_userspace.c +COBJS = $(CSRCS:.c=$(OBJEXT)) +OBJS = $(COBJS) -all: $(TOPDIR)$(DELIM)nuttx_user.elf $(TOPDIR)$(DELIM)User.map $(BOARD_INCLUDE)$(DELIM)user_map.h +# Targets: +all: $(TOPDIR)$(DELIM)nuttx_user.elf $(TOPDIR)$(DELIM)User.map .PHONY: depend clean distclean +$(COBJS): %$(OBJEXT): %.c + $(call COMPILE, $<, $@) + # Create the nuttx_user.elf file containing all of the user-mode code -nuttx_user.elf: - $(Q) $(LD) -o $@ $(USER_LDFLAGS) $(USER_LIBPATHS) --start-group $(USER_LDLIBS) --end-group $(USER_LIBGCC) +nuttx_user.elf: $(OBJS) + $(Q) $(LD) -o $@ $(USER_LDFLAGS) $(USER_LIBPATHS) $(OBJS) --start-group $(USER_LDLIBS) --end-group $(USER_LIBGCC) $(TOPDIR)$(DELIM)nuttx_user.elf: nuttx_user.elf @echo "LD: nuttx_user.elf" @@ -93,41 +101,6 @@ $(TOPDIR)$(DELIM)User.map: nuttx_user.elf $(Q) $(NM) nuttx_user.elf >$(TOPDIR)$(DELIM)User.map $(Q) $(CROSSDEV)size nuttx_user.elf -$(BOARD_INCLUDE)$(DELIM)user_map.h: $(TOPDIR)$(DELIM)User.map - @echo "MK: user_map.h" - $(Q) echo "/* configs$(DELIM)$(CONFIG_ARCH_BOARD)$(DELIM)include$(DELIM)user_map.h" > $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo " *" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo " * This is an auto-generated file.. Do not edit this file!" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo " */" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#ifndef __ARCH_BOARD_USER_MAP_H" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define __ARCH_BOARD_USER_MAP_H" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "/* General memory map */" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_ENTRYPOINT 0x`grep \" $(ENTRYPT)\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_TEXTSTART 0x`grep \" _stext\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_TEXTEND 0x`grep \" _etext$\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_DATASOURCE 0x`grep \" _eronly$\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_DATADESTSTART 0x`grep \" _sdata$\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_DATADESTEND 0x`grep \" _edata$\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_BSSSTART 0x`grep \" _sbss\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_BSSEND 0x`grep \" _ebss$\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "/* Memory manager entry points */" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_MMINIT 0x`grep \" umm_initialize$\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_MMADDREGION 0x`grep \" umm_addregion$\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_MMTRYSEM 0x`grep \" umm_trysemaphore$\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_MMGIVESEM 0x`grep \" umm_givesemaphore$\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_MALLOC 0x`grep \" malloc$\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_REALLOC 0x`grep \" realloc$\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_ZALLOC 0x`grep \" zalloc$\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#define CONFIG_USER_FREE 0x`grep \" free$\" $(TOPDIR)$(DELIM)User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - $(Q) echo "#endif /* __ARCH_BOARD_USER_MAP_H */" >> $(BOARD_INCLUDE)$(DELIM)user_map.h - .depend: depend: .depend @@ -139,4 +112,3 @@ clean: $(call CLEAN) distclean: clean - diff --git a/nuttx/configs/sam3u-ek/kernel/kernel.ld b/nuttx/configs/sam3u-ek/kernel/kernel.ld index e0f2169be..1fadbbf57 100644 --- a/nuttx/configs/sam3u-ek/kernel/kernel.ld +++ b/nuttx/configs/sam3u-ek/kernel/kernel.ld @@ -81,6 +81,10 @@ OUTPUT_ARCH(arm) SECTIONS { + .userspace : { + *(.userspace) + } > uflash + .text : { _stext = ABSOLUTE(.); *(.vectors) diff --git a/nuttx/configs/sam3u-ek/kernel/up_userspace.c b/nuttx/configs/sam3u-ek/kernel/up_userspace.c new file mode 100644 index 000000000..abccd5afc --- /dev/null +++ b/nuttx/configs/sam3u-ek/kernel/up_userspace.c @@ -0,0 +1,129 @@ +/**************************************************************************** + * configs/sam3u-ek/kernel/up_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 <stdlib.h> + +#include <nuttx/userspace.h> +#include <nuttx/wqueue.h> +#include <nuttx/mm.h> + +#if defined(CONFIG_NUTTX_KERNEL) && !defined(__KERNEL__) + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ +/* Configuration ************************************************************/ + +#ifndef CONFIG_NUTTX_USERSPACE +# error "CONFIG_NUTTX_USERSPACE not defined" +#endif + +#if CONFIG_NUTTX_USERSPACE != 0x00090000 +# error "CONFIG_NUTTX_USERSPACE must be 0x00090000 to match kernel.ld" +#endif + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/* These 'addresses' of these values are setup by the linker script. They are + * not actual uint32_t storage locations! They are only used meaningfully in the + * following way: + * + * - The linker script defines, for example, the symbol_sdata. + * - The declareion extern uint32_t _sdata; makes C happy. C will believe + * that the value _sdata is the address of a uint32_t variable _data (it is + * not!). + * - We can recoved the linker value then by simply taking the address of + * of _data. like: uint32_t *pdata = &_sdata; + */ + +extern uint32_t _stext; /* Start of .text */ +extern uint32_t _etext; /* End_1 of .text + .rodata */ +extern const uint32_t _eronly; /* End+1 of read only section (.text + .rodata) */ +extern uint32_t _sdata; /* Start of .data */ +extern uint32_t _edata; /* End+1 of .data */ +extern uint32_t _sbss; /* Start of .bss */ +extern uint32_t _ebss; /* End+1 of .bss */ + +/* This is the user space entry point */ + +int CONFIG_USER_ENTRYPOINT(int argc, char *argv[]); + +const struct userspace_s userspace __attribute__ ((section (".userspace"))) = +{ + /* General memory map */ + + .us_entrypoint = (main_t)CONFIG_USER_ENTRYPOINT, + .us_textstart = (uintptr_t)&_stext, + .us_textend = (uintptr_t)&_etext, + .us_datasource = (uintptr_t)&_eronly, + .us_datastart = (uintptr_t)&_sdata, + .us_dataend = (uintptr_t)&_edata, + .us_bssstart = (uintptr_t)&_sbss, + .us_bssend = (uintptr_t)&_ebss, + + /* Memory manager entry points (declared in include/nuttx/mm.h) */ + + .mm_initialize = umm_initialize, + .mm_addregion = umm_addregion, + .mm_trysemaphore = umm_trysemaphore, + .mm_givesemaphore = umm_givesemaphore, + + /* Memory manager entry points (declared in include/stdlib.h) */ + + .mm_malloc = malloc, + .mm_realloc = realloc, + .mm_zalloc = zalloc, + .mm_free = free, + + /* User-space work queue support (declared in include/nuttx/wqueue.h) */ + +#if defined(CONFIG_SCHED_WORKQUEUE) && defined(CONFIG_SCHED_USRWORK) + .work_usrstart = work_usrstart; +#endif +}; + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + + #endif /* CONFIG_NUTTX_KERNEL && !__KERNEL__ */ diff --git a/nuttx/configs/sam3u-ek/knsh/defconfig b/nuttx/configs/sam3u-ek/knsh/defconfig index 7b0963ce0..93d436e54 100755 --- a/nuttx/configs/sam3u-ek/knsh/defconfig +++ b/nuttx/configs/sam3u-ek/knsh/defconfig @@ -16,18 +16,19 @@ CONFIG_HOST_LINUX=y # # Build Configuration # -CONFIG_APPS_DIR="../apps" +# CONFIG_APPS_DIR="../apps" CONFIG_BUILD_2PASS=y CONFIG_PASS1_TARGET="all" CONFIG_PASS1_BUILDIR="configs/sam3u-ek/kernel" CONFIG_PASS1_OBJECT="" CONFIG_NUTTX_KERNEL=y +CONFIG_NUTTX_USERSPACE=0x00090000 # # Binary Output Formats # # CONFIG_RRLOAD_BINARY is not set -# CONFIG_INTELHEX_BINARY=y +# CONFIG_INTELHEX_BINARY is not set # CONFIG_MOTOROLA_SREC is not set # CONFIG_RAW_BINARY is not set @@ -350,7 +351,9 @@ CONFIG_FS_FAT=y # # Memory Management # -# CONFIG_MM_MULTIHEAP is not set +CONFIG_MM_MULTIHEAP=y +CONFIG_MM_KERNEL_HEAP=y +CONFIG_MM_KERNEL_HEAPSIZE=8192 # CONFIG_MM_SMALL is not set CONFIG_MM_REGIONS=3 # CONFIG_GRAN is not set diff --git a/nuttx/configs/sam3u-ek/src/up_leds.c b/nuttx/configs/sam3u-ek/src/up_leds.c index 72c565bd1..0b02ae20f 100644 --- a/nuttx/configs/sam3u-ek/src/up_leds.c +++ b/nuttx/configs/sam3u-ek/src/up_leds.c @@ -94,7 +94,6 @@ static const uint8_t g_ledon[8] = { - (LED0_OFF |LED1_OFF |LED2_OFF), /* LED_STARTED */ (LED0_ON |LED1_OFF |LED2_ON), /* LED_HEAPALLOCATE */ (LED0_OFF |LED1_ON |LED2_OFF), /* LED_IRQSENABLED */ @@ -108,7 +107,6 @@ static const uint8_t g_ledon[8] = static const uint8_t g_ledoff[8] = { - (LED0_OFF |LED1_OFF |LED2_OFF), /* LED_STARTED (does not happen) */ (LED0_ON |LED1_OFF |LED2_ON), /* LED_HEAPALLOCATE (does not happen) */ (LED0_OFF |LED1_ON |LED2_OFF), /* LED_IRQSENABLED (does not happen) */ @@ -145,6 +143,7 @@ static void up_setled(uint16_t pinset, uint8_t state) default: return; } + sam3u_gpiowrite(pinset, polarity); } |