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author | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2009-06-16 13:26:07 +0000 |
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committer | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2009-06-16 13:26:07 +0000 |
commit | 3fe80d8f04e88a7972131dad5babc5c1429fddfd (patch) | |
tree | 5711385e037e1113f541db35a8e775a5a2f6ac68 /nuttx/include | |
parent | 7ab326bbb406504d0ae528af8a06b8456201b6a6 (diff) | |
download | px4-nuttx-3fe80d8f04e88a7972131dad5babc5c1429fddfd.tar.gz px4-nuttx-3fe80d8f04e88a7972131dad5babc5c1429fddfd.tar.bz2 px4-nuttx-3fe80d8f04e88a7972131dad5babc5c1429fddfd.zip |
Adding basic framework for NXFLAT
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@1887 42af7a65-404d-4744-a932-0658087f49c3
Diffstat (limited to 'nuttx/include')
-rw-r--r-- | nuttx/include/nuttx/sched.h | 8 | ||||
-rw-r--r-- | nuttx/include/nxflat.h | 209 | ||||
-rw-r--r-- | nuttx/include/unistd.h | 24 |
3 files changed, 237 insertions, 4 deletions
diff --git a/nuttx/include/nuttx/sched.h b/nuttx/include/nuttx/sched.h index 74b420bfc..21feb7db0 100644 --- a/nuttx/include/nuttx/sched.h +++ b/nuttx/include/nuttx/sched.h @@ -214,7 +214,13 @@ struct _TCB /* The initial stack pointer value */ #endif - /* POSIX thread Specific Data *************************************************/ + /* External Module Support ****************************************************/ + +#ifdef CONFIG_NXFLAT + FAR void *picbase; /* Allocated area for .bss and .data */ +#endif + + /* POSIX Thread Specific Data *************************************************/ #if !defined(CONFIG_DISABLE_PTHREAD) && CONFIG_NPTHREAD_KEYS > 0 FAR void *pthread_data[CONFIG_NPTHREAD_KEYS]; diff --git a/nuttx/include/nxflat.h b/nuttx/include/nxflat.h new file mode 100644 index 000000000..59f158dd4 --- /dev/null +++ b/nuttx/include/nxflat.h @@ -0,0 +1,209 @@ +/**************************************************************************** + * include/nxflat.h + * + * Copyright (C) 2009 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. + * + ****************************************************************************/ + +#ifndef __INCLUDE_NXFLAT_H +#define __INCLUDE_NXFLAT_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <sys/types.h> + +/**************************************************************************** + * Maximum Sizes + ****************************************************************************/ + +#define NXFLAT_MAX_STRING_SIZE 64 /* Largest size of string (w/zterminator) */ + +/**************************************************************************** + * The NXFLAT file header + * + * The elements within this structure are stored in network order (i.e., + * ntohs() and ntohl() should be used to access fields within the + * header. + ****************************************************************************/ + +struct nxflat_hdr_s +{ + /* The "magic number identifying the file type. This field should contain + * "NxFT" + */ + + char h_magic[4]; + + /* NXFLAT revision number number. */ + + uint16 h_rev; + uint16 h_pad; + + /* The following fields provide the memory map for the nxflat binary. + * + * h_entry - Offset to the the first executable insruction from + * the beginning of the file. + * h_datastart - Offset to the beginning of the data segment from + * the beginning of the file. This field can also + * interpreted as the size of the ISpace segment. + * h_dataend - Offset to the end of the data segment from the + * beginning of the file. + * h_bssend - Offset to the end of bss segment from the beginning + * of the file. + * + * The text segment can be considered to be the contiguous (unrelocated) + * address space range from address zero through (but not including) + * h_datastart. + * + * The size of the data/bss segment includes (as a minimum) the data + * and bss regions (bss_end - data_start) as well as the size of the + * stack. At run time, this region will also include program arguments + * and environement variables. + * + * The bss segment is data_end through bss_end. + */ + + uint32 h_entry; + uint32 h_datastart; + uint32 h_dataend; + uint32 h_bssend; + + /* Size of stack, in bytes */ + + uint32 h_stacksize; + + /* Relocation entries + * h_relocstart - Offset to the beginning of an array of relocation + * records (struct nxflat_reloc). The offset is + * relative to the start of the file + * h_reloccount - The number of relocation records in the arry + */ + + uint32 h_relocstart; /* Offset of relocation records */ + uint32 h_reloccount; /* Number of relocation records */ + + /* Imported and exported symbol tables + * + * h_importsymbols - Offset to the beginning of an array of imported + * symbol structures (struct nxflat_import). The + * h_importsymbols offset is relative to the + * beginning of the file. Each entry of the + * array contains an uint32 offset (again from + * the beginning of the file) to the name of + * a symbol string. This string is null-terminated. + * h_importcount - The number of records in the h_exportsymbols array. + * h_exportsymbols - Offset to the beginning of an array of export + * symbol structures (struct nxflat_export). The + * h_importsymbols offset is relative to the + * beginning of the file. Each entry of the + * array contains an uint32 offset (again from + * the beginning of the file) to the name of + * a symbol string. This string is null-terminated. + * h_exportcount - The number of records in the h_exportsymbols array. + * + * NOTE: All of the arrays referenced in the header reside in the + * the .text section. This is possible because these arrays are + * read-only and are only referenced by the load. Residing in text + * also guarantees that only one copy of the array is required. + * + * An exception is the h_importsymbols array with will lie + * in .data. This array contains write-able data and must have + * a single instance per process. NOTE: The string offset contained + * within nxflat_import still refers to strings residing in the text + * section. + */ + + uint32 h_importsymbols; /* Offset to list of imported symbols */ + uint32 h_exportsymbols; /* Offset to list of exported symbols */ + uint16 h_importcount; /* Number of imported symbols */ + uint16 h_exportcount; /* Number of imported symbols */ +}; + +/* Legal values for the version field. */ + +#define NXFLAT_VERSION_NONE 0 /* Invalid NXFLAT version */ +#define NXFLAT_VERSION_CURRENT 1 /* Current version */ +#define NXFLAT_VERSION_NUM 2 + +/**************************************************************************** + * NXFLAT Relocation types. + * + * The relocation records are an array of the following type. The fields + * in each element are stored in native machine order. + ****************************************************************************/ + +#define NXFLAT_RELOC_TYPE_NONE 0 /* Invalid relocation type */ +#define NXFLAT_RELOC_TYPE_TEXT 1 /* Symbol lies in .text region */ +#define NXFLAT_RELOC_TYPE_DATA 2 /* Symbol lies in .data region */ +#define NXFLAT_RELOC_TYPE_BSS 3 /* Symbol lies in .bss region */ +#define NXFLAT_RELOC_TYPE_NUM 4 + +struct nxflat_reloc_s +{ +#ifdef CONFIG_ENDIAN_BIG + uint32 r_type : 2; + sint32 r_offset : 30; +#else + sint32 r_offset : 30; + uint32 r_type : 2; +#endif +}; + +/**************************************************************************** + * NXFLAT Imported symbol type + * + * The imported symbols are an array of the following type. The fields + * in each element are stored in native machine order. + ****************************************************************************/ + +struct nxflat_import_s +{ + uint32 i_funcname; /* Offset to name of imported function */ + uint32 i_funcaddress; /* Resolved address of imported function */ +}; + +/**************************************************************************** + * Exported symbol type + * + * The exported symbols are an array of the following type. The fields + * in each element are stored in native machine order. + ****************************************************************************/ + +struct nxflat_export_s +{ + uint32 x_funcname; /* Offset to name of exported function */ + uint32 x_funcaddress; /* Address of exported function */ +}; + +#endif /* __INCLUDE_NXFLAT_H */ diff --git a/nuttx/include/unistd.h b/nuttx/include/unistd.h index 54b9b64c0..3d05dcb99 100644 --- a/nuttx/include/unistd.h +++ b/nuttx/include/unistd.h @@ -1,7 +1,7 @@ /**************************************************************************** - * unistd.h + * include/unistd.h * - * Copyright (C) 2007, 2008 Gregory Nutt. All rights reserved. + * Copyright (C) 2007-2009 Gregory Nutt. All rights reserved. * Author: Gregory Nutt <spudmonkey@racsa.co.cr> * * Redistribution and use in source and binary forms, with or without @@ -108,11 +108,20 @@ extern "C" { #define EXTERN extern #endif -/* Used by getopt (obviously NOT thread safe!) */ +/* Used by getopt (obviously NOT thread safe!). These variables cannot be + * accessed directly by an external NXFLAT module. In that case, accessor + * functions must be used. + */ +#ifndef __NXFLAT__ EXTERN FAR char *optarg; /* Optional argument following option */ EXTERN int optind; /* Index into argv */ EXTERN int optopt; /* unrecognized option character */ +#else +# define optarg (*(getoptargp())) +# define optind (*(getopindgp())) +# define optopt (*(getoptoptp())) +#endif /**************************************************************************** * Global Function Prototypes @@ -153,6 +162,15 @@ EXTERN int rmdir(FAR const char *pathname); EXTERN int getopt(int argc, FAR char *const argv[], FAR const char *optstring); +/* Accessor functions intended for use only by external NXFLAT + * modules. The global variables optarg, optind, and optopt cannot + * be referenced directly from external modules. + */ + +EXTERN FAR char **getoptargp(void); /* Optional argument following option */ +EXTERN int *getopindgp(void); /* Index into argv */ +EXTERN int *getoptoptp(void); /* unrecognized option character */ + #undef EXTERN #if defined(__cplusplus) } |