diff options
90 files changed, 789 insertions, 348 deletions
diff --git a/nuttx/Documentation/NuttxUserGuide.html b/nuttx/Documentation/NuttxUserGuide.html index 213f75d75..8396651c6 100644 --- a/nuttx/Documentation/NuttxUserGuide.html +++ b/nuttx/Documentation/NuttxUserGuide.html @@ -1806,7 +1806,7 @@ initialization time). <B>Function Prototype:</B> <PRE> #include <wdog.h> - STATUS wd_delete (WDOG_ID wdId); + STATUS wd_delete (WDOG_ID wdog); </PRE> <P> @@ -1816,7 +1816,7 @@ has been started. <P> <B>Input Parameters:</B> <UL> -<LI><I>wdId</I>. The watchdog ID to delete. This is actually a +<LI><I>wdog</I>. The watchdog ID to delete. This is actually a pointer to a watchdog structure. </UL> @@ -1834,7 +1834,7 @@ it. <B> POSIX Compatibility:</B> This is a NON-POSIX interface. VxWorks provides the following comparable interface: <PRE> - STATUS wdDelete (WDOG_ID wdId); + STATUS wdDelete (WDOG_ID wdog); </PRE> <P> @@ -1850,8 +1850,8 @@ before de-allocating it (i.e., never returns ERROR). <B>Function Prototype:</B> <PRE> #include <wdog.h> - STATUS wd_start( WDOG_ID wdId, int delay, wdentry_t wdentry, - int parm1, int parm2, int parm3, int parm4 ); + STATUS wd_start( WDOG_ID wdog, int delay, wdentry_t wdentry, + intt argc, ....); </PRE> <P> @@ -1867,15 +1867,16 @@ was called. Watchdog timers execute only once. <P> To replace either the timeout delay or the function to be executed, -call wd_start again with the same wdId; only the most recent +call wd_start again with the same wdog; only the most recent wd_start() on a given watchdog ID has any effect. <P> <B>Input Parameters:</B> <UL> -<LI><I>wdId</I>. Watchdog ID +<LI><I>wdog</I>. Watchdog ID <LI><I>delay</I>. Delay count in clock ticks <LI><I>wdentry</I>. Function to call on timeout -<LI><I>parm1..4</I>. Parameters to pass to wdentry +<LI><I>argc</I>. The number of uint32 parameters to pass to wdentry. +<LI><I>...</I>. uint32 size parameters to pass to wdentry </UL> <P> @@ -1892,14 +1893,15 @@ restrictions. <B> POSIX Compatibility:</B> This is a NON-POSIX interface. VxWorks provides the following comparable interface: <PRE> - STATUS wdStart (WDOG_ID wdId, int delay, FUNCPTR wdentry, int parameter); + STATUS wdStart (WDOG_ID wdog, int delay, FUNCPTR wdentry, int parameter); </PRE> <P> Differences from the VxWorks interface include: <UL> -<LI>The present implementation supports four parameters passed -to wdentry; VxWorks supports only a single parameter. +<LI>The present implementation supports multiple parameters passed +to wdentry; VxWorks supports only a single parameter. The maximum +number of parameters is determined by </UL> <H3>2.6.4 wd_cancel</H3> @@ -1908,7 +1910,7 @@ to wdentry; VxWorks supports only a single parameter. <B>Function Prototype:</B> <PRE> #include <wdog.h> - STATUS wd_cancel (WDOG_ID wdId); + STATUS wd_cancel (WDOG_ID wdog); </PRE> <P> @@ -1918,7 +1920,7 @@ level. <P> <B>Input Parameters:</B> <UL> -<LI><I>wdId</I>. ID of the watchdog to cancel. +<LI><I>wdog</I>. ID of the watchdog to cancel. </UL> <P> @@ -1933,7 +1935,7 @@ level. <B> POSIX Compatibility:</B> This is a NON-POSIX interface. VxWorks provides the following comparable interface: <PRE> - STATUS wdCancel (WDOG_ID wdId); + STATUS wdCancel (WDOG_ID wdog); </PRE> <HR> @@ -4073,6 +4075,39 @@ notify a task when a message is available on a queue. int sigev_notify; }; </PRE> + +<H3>3.4.9 Watchdog Data Types</H3> + +<p> + When a watchdog expires, the callback function with this + type is called: +</p> +<pre> + typedef void (*wdentry_t)(int argc, ...); +</pre> +<p> + Where argc is the number of uint32 type arguments that follow. +</p> + The arguments are passed as uint32 values. + For systems where the sizeof(pointer) < sizeof(uint32), the + following union defines the alignment of the pointer within the + uint32. For example, the SDCC MCS51 general pointer is + 24-bits, but uint32 is 32-bits (of course). +</p> +<pre> + union wdparm_u + { + void *pvarg; + uint32 *dwarg; + }; + typedef union wdparm_u wdparm_t; +</pre> +<p> + For most 32-bit systems, pointers and uint32 are the same size + For systems where sizeof(pointer) > sizeof(uint32), we will + have to do some redesign. +</p> + <HR> <H1>4.0 <A NAME="Problems">Known Problems</A></H1> diff --git a/nuttx/Makefile b/nuttx/Makefile index 48fab7bda..af2121ab2 100644 --- a/nuttx/Makefile +++ b/nuttx/Makefile @@ -44,9 +44,9 @@ SUBDIRS = sched lib $(ARCH_SRC) mm fs drivers examples/$(CONFIG_EXAMPLE) OBJS = $(ARCH_SRC)/up_head.o LIBGCC = ${shell $(CC) -print-libgcc-file-name} -LIBS = sched/libsched.a $(ARCH_SRC)/libarch.a mm/libmm.a \ - fs/libfs.a drivers/libdrivers.a lib/liblib.a \ - examples/$(CONFIG_EXAMPLE)/lib$(CONFIG_EXAMPLE).a +LIBS = sched/libsched$(LIBEXT) $(ARCH_SRC)/libarch$(LIBEXT) mm/libmm$(LIBEXT) \ + fs/libfs$(LIBEXT) drivers/libdrivers$(LIBEXT) lib/liblib$(LIBEXT) \ + examples/$(CONFIG_EXAMPLE)/lib$(CONFIG_EXAMPLE)$(LIBEXT) LDLIBS = -lsched -larch -lmm -lfs -ldrivers -llib -l$(CONFIG_EXAMPLE) $(LIBGCC) $(EXTRA_LIBS) BIN = nuttx @@ -78,29 +78,29 @@ check_context: exit 1 ; \ fi -sched/libsched.a: context - $(MAKE) -C sched TOPDIR=$(TOPDIR) libsched.a +sched/libsched$(LIBEXT): context + $(MAKE) -C sched TOPDIR=$(TOPDIR) libsched$(LIBEXT) -lib/liblib.a: context - $(MAKE) -C lib TOPDIR=$(TOPDIR) liblib.a +lib/liblib$(LIBEXT): context + $(MAKE) -C lib TOPDIR=$(TOPDIR) liblib$(LIBEXT) -$(ARCH_SRC)/libarch.a: context - $(MAKE) -C $(ARCH_SRC) TOPDIR=$(TOPDIR) libarch.a +$(ARCH_SRC)/libarch$(LIBEXT): context + $(MAKE) -C $(ARCH_SRC) TOPDIR=$(TOPDIR) libarch$(LIBEXT) $(ARCH_SRC)/up_head.o: context $(MAKE) -C $(ARCH_SRC) TOPDIR=$(TOPDIR) up_head.o -mm/libmm.a: context - $(MAKE) -C mm TOPDIR=$(TOPDIR) libmm.a +mm/libmm$(LIBEXT): context + $(MAKE) -C mm TOPDIR=$(TOPDIR) libmm$(LIBEXT) -fs/libfs.a: context - $(MAKE) -C fs TOPDIR=$(TOPDIR) libfs.a +fs/libfs$(LIBEXT): context + $(MAKE) -C fs TOPDIR=$(TOPDIR) libfs$(LIBEXT) -drivers/libdrivers.a: context - $(MAKE) -C drivers TOPDIR=$(TOPDIR) libdrivers.a +drivers/libdrivers$(LIBEXT): context + $(MAKE) -C drivers TOPDIR=$(TOPDIR) libdrivers$(LIBEXT) -examples/$(CONFIG_EXAMPLE)/lib$(CONFIG_EXAMPLE).a: context - $(MAKE) -C examples/$(CONFIG_EXAMPLE) TOPDIR=$(TOPDIR) lib$(CONFIG_EXAMPLE).a +examples/$(CONFIG_EXAMPLE)/lib$(CONFIG_EXAMPLE)$(LIBEXT): context + $(MAKE) -C examples/$(CONFIG_EXAMPLE) TOPDIR=$(TOPDIR) lib$(CONFIG_EXAMPLE)$(LIBEXT) $(BIN): context depend $(OBJS) $(LIBS) ifeq ($(CONFIG_ARCH),sim) diff --git a/nuttx/arch/README.txt b/nuttx/arch/README.txt index ff0fd4f00..0c7e19536 100644 --- a/nuttx/arch/README.txt +++ b/nuttx/arch/README.txt @@ -142,7 +142,18 @@ include/types.h This provides architecture/toolchain-specific definitions for standard types. This file should typedef: - sbyte, ubyte, uint8, boolean, sint16, uint16, sint32, uint32, sint64, uint64 + sbyte, ubyte, uint8, boolean, sint16, uint16, sint32, uint32 + + and + + sint64, uint64 + + if the architecture supports 64-bit integers. + + irqstate_t + + Must be defined to the be the size required to hold the interrupt + enable/disable state. This file will be included by include/sys/types.h and be made available to all files. @@ -154,9 +165,9 @@ include/irq.h - struct xcptcontext. This structures represents the saved context of a thread. - - uint32 irqsave(void) -- Used to disable all interrupts. + - irqstate_t irqsave(void) -- Used to disable all interrupts. - - void irqrestore(uint32 flags) -- Used to restore interrupt + - void irqrestore(irqstate_t flags) -- Used to restore interrupt enables to the same state as before irqsave was called. This file must also define NR_IRQS, the total number of IRQs supported diff --git a/nuttx/arch/c5471/Make.defs b/nuttx/arch/c5471/Make.defs index 7e68d8e56..8f0013670 100644 --- a/nuttx/arch/c5471/Make.defs +++ b/nuttx/arch/c5471/Make.defs @@ -52,7 +52,7 @@ ARCHSCRIPT = -T$(TOPDIR)/arch/$(CONFIG_ARCH)/ld.script CROSSDEV = arm-elf- CC = $(CROSSDEV)gcc LD = $(CROSSDEV)ld -AR = $(CROSSDEV)ar +AR = $(CROSSDEV)ar rcs NM = $(CROSSDEV)nm OBJCOPY = $(CROSSDEV)objcopy OBJDUMP = $(CROSSDEV)objdump @@ -62,6 +62,7 @@ CFLAGS = $(ARCHWARNINGS) $(ARCHOPTIMIZATION) \ LDFLAGS = $(ARCHSCRIPT) EXTRA_LIBS = +LIBEXT = .a ifeq ("${CONFIG_DEBUG}","y") LDFLAGS += -g diff --git a/nuttx/arch/c5471/defconfig b/nuttx/arch/c5471/defconfig index 3871d7e14..2dd38f014 100644 --- a/nuttx/arch/c5471/defconfig +++ b/nuttx/arch/c5471/defconfig @@ -132,6 +132,8 @@ CONFIG_ARCH_KFREE=n # # General Compile environment setup # +# CONFIG_SMALL_MEMORY - enable if your processor supports +# 16-bit addressing; disable if it supports 32-bit. # CONFIG_HAVE_INLINE - enable if your compiler supports # inline functions # CONFIG_HAVE_DOUBLE - enable if your compiler supports type @@ -139,21 +141,26 @@ CONFIG_ARCH_KFREE=n # CONFIG_HAVE_LONG_LONG - enable if your architecture supports # long long types and if you plan to use them # CONFIG_CAN_PASS_STRUCTS - enable if your compiler supports -# passing structures and unions as values +# passing and assiging structures and unions as values +# CONFIG_CAN_CAST_POINTERS - enable if you can cast between +# integers and pointer. # CONFIG_HAVE_WEAKFUNCTIONS - enable if you compiler supports # weak functions (see include/nuttx/comp # +CONFIG_SMALL_MEMORY=n CONFIG_HAVE_INLINE=y CONFIG_HAVE_DOUBLE=y CONFIG_HAVE_LONG_LONG=n CONFIG_CAN_PASS_STRUCTS=y +CONFIG_CAN_CAST_POINTERS=y CONFIG_HAVE_WEAKFUNCTIONS=y # # General build options # -# CONFIG_RRLOAD_BINY - make the rrload binary format used with +# CONFIG_RRLOAD_BINARY - make the rrload binary format used with # BSPs from www.ridgerun.com +# CONFIG_RRLOAD_BINARY=y # @@ -175,6 +182,8 @@ CONFIG_RRLOAD_BINARY=y # CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with # a fixed payload size given by this settin (does not include # other message structure overhead. +# CONFIG_MAX_WDOGPARMS - Maximum number of parameters that +# can be passed to a watchdog handler # CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog # structures. The system manages a pool of preallocated # watchdog structures to minimize dynamic allocations @@ -186,6 +195,7 @@ CONFIG_STDIO_BUFFER_SIZE=1024 CONFIG_NUNGET_CHARS=2 CONFIG_PREALLOC_MQ_MSGS=32 CONFIG_MQ_MAXMSGSIZE=32 +CONFIG_MAX_WDOGPARMS=4 CONFIG_PREALLOC_WDOGS=32 # diff --git a/nuttx/arch/c5471/include/irq.h b/nuttx/arch/c5471/include/irq.h index 0745ba6aa..c6a89e951 100644 --- a/nuttx/arch/c5471/include/irq.h +++ b/nuttx/arch/c5471/include/irq.h @@ -177,10 +177,10 @@ struct xcptcontext /* Save the current interrupt enable state & disable IRQs */ -static inline uint32 irqsave(void) +static inline irqstate_t irqsave(void) { - unsigned long flags; - unsigned long temp; + unsigned int flags; + unsigned int temp; __asm__ __volatile__ ( "\tmrs %0, cpsr\n" @@ -194,7 +194,7 @@ static inline uint32 irqsave(void) /* Restore saved IRQ & FIQ state */ -static inline void irqrestore(uint32 flags) +static inline void irqrestore(irqstate_t flags) { __asm__ __volatile__ ( @@ -204,8 +204,8 @@ static inline void irqrestore(uint32 flags) : "memory"); } -static inline void system_call(swint_t func, uint32 parm1, - uint32 parm2, uint32 parm3) +static inline void system_call(swint_t func, int parm1, + int parm2, int parm3) { __asm__ __volatile__ ( diff --git a/nuttx/arch/c5471/include/types.h b/nuttx/arch/c5471/include/types.h index 7b39302f0..5ec6e81e1 100644 --- a/nuttx/arch/c5471/include/types.h +++ b/nuttx/arch/c5471/include/types.h @@ -52,6 +52,10 @@ * Type Declarations ************************************************************/ +#ifndef __ASSEMBLY__ + +/* These are the sizes of the standard GNU types */ + typedef char sbyte; typedef unsigned char ubyte; typedef unsigned char uint8; @@ -63,6 +67,14 @@ typedef unsigned int uint32; typedef long long sint64; typedef unsigned long long uint64; +/* This is the size of the interrupt state save returned by + * irqsave() + */ + +typedef unsigned int irqstate_t; + +#endif /* __ASSEMBLY__ */ + /************************************************************ * Global Function Prototypes ************************************************************/ diff --git a/nuttx/arch/c5471/src/Makefile b/nuttx/arch/c5471/src/Makefile index a4f953c6f..57d741aaa 100644 --- a/nuttx/arch/c5471/src/Makefile +++ b/nuttx/arch/c5471/src/Makefile @@ -56,7 +56,7 @@ COBJS = $(CSRCS:.c=.o) SRCS = $(ASRCS) $(CSRCS) OBJS = $(AOBJS) $(COBJS) -all: up_head.o libarch.a +all: up_head.o libarch$(LIBEXT) $(AOBJS) up_head.o: %.o: %.S $(CC) -c $(CFLAGS) -D__ASSEMBLY__ $< -o $@ @@ -64,8 +64,11 @@ $(AOBJS) up_head.o: %.o: %.S $(COBJS): %.o: %.c $(CC) -c $(CFLAGS) $< -o $@ -libarch.a: $(OBJS) - $(AR) rcs $@ $(OBJS) +libarch$(LIBEXT): $(OBJS) + ( for obj in $(OBJS) ; do \ + $(AR) $@ $${obj} || \ + { echo "$(AR) $@ $obj FAILED!" ; exit 1 ; } ; \ + done ; ) .depend: Makefile $(SRCS) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep @@ -74,7 +77,7 @@ libarch.a: $(OBJS) depend: .depend clean: - rm -f libarch.a *.o *~ + rm -f libarch$(LIBEXT) *.o *~ distclean: clean rm -f Make.dep .depend diff --git a/nuttx/arch/c5471/src/up_assert.c b/nuttx/arch/c5471/src/up_assert.c index eaddc7c8e..8b70349f4 100644 --- a/nuttx/arch/c5471/src/up_assert.c +++ b/nuttx/arch/c5471/src/up_assert.c @@ -63,7 +63,7 @@ * Name: up_assert ************************************************************/ -void up_assert(const ubyte *filename, uint32 lineno) +void up_assert(const ubyte *filename, int lineno) { dbg("Assertion failed at file:%s line: %d\n", filename, lineno); @@ -74,7 +74,7 @@ void up_assert(const ubyte *filename, uint32 lineno) * Name: up_assert_code ************************************************************/ -void up_assert_code(const ubyte *filename, uint32 lineno, uint16 errorcode) +void up_assert_code(const ubyte *filename, int lineno, int errorcode) { dbg("Assertion failed at file:%s line: %d error code: %d\n", filename, lineno, errorcode); diff --git a/nuttx/arch/c5471/src/up_createstack.c b/nuttx/arch/c5471/src/up_createstack.c index 90919e265..0e1f0690a 100644 --- a/nuttx/arch/c5471/src/up_createstack.c +++ b/nuttx/arch/c5471/src/up_createstack.c @@ -78,7 +78,7 @@ * must be allocated. ************************************************************/ -STATUS up_create_stack(_TCB *tcb, uint32 stack_size) +STATUS up_create_stack(_TCB *tcb, size_t stack_size) { if (tcb->stack_alloc_ptr && tcb->adj_stack_size != stack_size) @@ -94,8 +94,8 @@ STATUS up_create_stack(_TCB *tcb, uint32 stack_size) if (tcb->stack_alloc_ptr) { - uint32 top_of_stack; - uint32 size_of_stack; + size_t top_of_stack; + size_t size_of_stack; /* The Arm7Tdmi uses a push-down stack: the stack grows * toward loweraddresses in memory. The stack pointer diff --git a/nuttx/arch/c5471/src/up_schedulesigaction.c b/nuttx/arch/c5471/src/up_schedulesigaction.c index 4ea39bec2..3f4e32ec9 100644 --- a/nuttx/arch/c5471/src/up_schedulesigaction.c +++ b/nuttx/arch/c5471/src/up_schedulesigaction.c @@ -101,7 +101,7 @@ void up_schedule_sigaction(_TCB *tcb, sig_deliver_t sigdeliver) if (!tcb->xcp.sigdeliver) { - uint32 flags; + irqstate_t flags; /* Make sure that interrupts are disabled */ diff --git a/nuttx/arch/c5471/src/up_serial.c b/nuttx/arch/c5471/src/up_serial.c index df4927660..b11bfc070 100644 --- a/nuttx/arch/c5471/src/up_serial.c +++ b/nuttx/arch/c5471/src/up_serial.c @@ -721,7 +721,7 @@ static void up_uartsetup(up_dev_t *dev) static void shutdown(up_dev_t * dev) { - uint32 flags; + irqstate_t flags; uint16 msr; /* Free the IRQ */ @@ -878,7 +878,7 @@ static int up_ioctl(struct file *filep, int cmd, unsigned long arg) case TIOCSBRK: /* BSD compatibility: Turn break on, unconditionally */ { - uint32 flags = irqsave(); + irqstate_t flags = irqsave(); up_enablebreaks(dev); irqrestore(flags); } @@ -886,7 +886,7 @@ static int up_ioctl(struct file *filep, int cmd, unsigned long arg) case TIOCCBRK: /* BSD compatibility: Turn break off, unconditionally */ { - uint32 flags; + irqstate_t flags; flags = irqsave(); up_disablebreaks(dev); irqrestore(flags); @@ -973,7 +973,7 @@ static int up_open(struct file *filep) if (++dev->open_count == 1) { - int flags = irqsave(); + irqstate_t flags = irqsave(); /* If this is the console, then the UART has already * been initialized. diff --git a/nuttx/arch/c5471/src/up_usestack.c b/nuttx/arch/c5471/src/up_usestack.c index 4cab9209f..315314569 100644 --- a/nuttx/arch/c5471/src/up_usestack.c +++ b/nuttx/arch/c5471/src/up_usestack.c @@ -78,10 +78,10 @@ * ************************************************************/ -STATUS up_use_stack(_TCB *tcb, uint32 *stack, uint32 stack_size) +STATUS up_use_stack(_TCB *tcb, void *stack, size_t stack_size) { - uint32 top_of_stack; - uint32 size_of_stack; + size_t top_of_stack; + size_t size_of_stack; if (tcb->stack_alloc_ptr) { diff --git a/nuttx/arch/sim/Make.defs b/nuttx/arch/sim/Make.defs index 12e288a57..19c2b5db6 100644 --- a/nuttx/arch/sim/Make.defs +++ b/nuttx/arch/sim/Make.defs @@ -51,7 +51,7 @@ ARCHSCRIPT = CROSSDEV = CC = $(CROSSDEV)gcc LD = $(CROSSDEV)ld -AR = $(CROSSDEV)ar +AR = $(CROSSDEV)ar rcs NM = $(CROSSDEV)nm OBJCOPY = $(CROSSDEV)objcopy OBJDUMP = $(CROSSDEV)objdump @@ -61,6 +61,7 @@ CFLAGS = $(ARCHWARNINGS) $(ARCHOPTIMIZATION) \ LDFLAGS = $(ARCHSCRIPT) EXTRA_LIBS = -lc +LIBEXT = .a ifeq ("${CONFIG_DEBUG}","y") LDFLAGS += -g diff --git a/nuttx/arch/sim/defconfig b/nuttx/arch/sim/defconfig index 80de3cbdc..5b6f2ae6f 100644 --- a/nuttx/arch/sim/defconfig +++ b/nuttx/arch/sim/defconfig @@ -99,6 +99,8 @@ CONFIG_ARCH_KFREE=n # # General Compile environment setup # +# CONFIG_SMALL_MEMORY - enable if your processor supports +# 16-bit addressing; disable if it supports 32-bit. # CONFIG_HAVE_INLINE - enable if your compiler supports # inline functions # CONFIG_HAVE_DOUBLE - enable if your compiler supports type @@ -106,21 +108,26 @@ CONFIG_ARCH_KFREE=n # CONFIG_HAVE_LONG_LONG - enable if your architecture supports # long long types and if you plan to use them # CONFIG_CAN_PASS_STRUCTS - enable if your compiler supports -# passing structures and unions as values +# passing and assiging structures and unions as values +# CONFIG_CAN_CAST_POINTERS - enable if you can cast between +# integers and pointer. # CONFIG_HAVE_WEAKFUNCTIONS - enable if you compiler supports # weak functions (see include/nuttx/comp # +CONFIG_SMALL_MEMORY=n CONFIG_HAVE_INLINE=y CONFIG_HAVE_DOUBLE=y CONFIG_HAVE_LONG_LONG=n CONFIG_CAN_PASS_STRUCTS=y +CONFIG_CAN_CAST_POINTERS=y CONFIG_HAVE_WEAKFUNCTIONS=y # # General build options # -# CONFIG_RRLOAD_BINY - make the rrload binary format used with +# CONFIG_RRLOAD_BINARY - make the rrload binary format used with # BSPs from www.ridgerun.com +# CONFIG_RRLOAD_BINARY=n # @@ -142,6 +149,8 @@ CONFIG_RRLOAD_BINARY=n # CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with # a fixed payload size given by this settin (does not include # other message structure overhead. +# CONFIG_MAX_WDOGPARMS - Maximum number of parameters that +# can be passed to a watchdog handler # CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog # structures. The system manages a pool of preallocated # watchdog structures to minimize dynamic allocations @@ -153,6 +162,7 @@ CONFIG_STDIO_BUFFER_SIZE=1024 CONFIG_NUNGET_CHARS=2 CONFIG_PREALLOC_MQ_MSGS=32 CONFIG_MQ_MAXMSGSIZE=32 +CONFIG_MAX_WDOGPARMS=4 CONFIG_PREALLOC_WDOGS=32 # diff --git a/nuttx/arch/sim/include/irq.h b/nuttx/arch/sim/include/irq.h index 3ae46aa42..f866da50d 100644 --- a/nuttx/arch/sim/include/irq.h +++ b/nuttx/arch/sim/include/irq.h @@ -44,6 +44,8 @@ * Included Files ************************************************************/ +#include <sys/types.h> + /************************************************************ * Definitions ************************************************************/ @@ -72,12 +74,12 @@ struct xcptcontext ************************************************************/ #ifndef __ASSEMBLY__ -static inline uint32 irqsave(void) +static inline irqstate_t irqsave(void) { return 0; } -static inline void irqrestore(uint32 flags) +static inline void irqrestore(irqstate_t flags) { } #endif diff --git a/nuttx/arch/sim/include/types.h b/nuttx/arch/sim/include/types.h index 39232af7d..1c7636886 100644 --- a/nuttx/arch/sim/include/types.h +++ b/nuttx/arch/sim/include/types.h @@ -52,6 +52,10 @@ * Type Declarations ************************************************************/ +#ifndef __ASSEMBLY__ + +/* These are the sizes of the standard GNU types */ + typedef char sbyte; typedef unsigned char ubyte; typedef unsigned char uint8; @@ -63,6 +67,14 @@ typedef unsigned int uint32; typedef long long sint64; typedef unsigned long long uint64; +/* This is the size of the interrupt state save returned by + * irqsave() + */ + +typedef unsigned int irqstate_t; + +#endif /* __ASSEMBLY__ */ + /************************************************************ * Global Function Prototypes ************************************************************/ diff --git a/nuttx/arch/sim/src/Makefile b/nuttx/arch/sim/src/Makefile index 780cff596..53b4c6a7e 100644 --- a/nuttx/arch/sim/src/Makefile +++ b/nuttx/arch/sim/src/Makefile @@ -49,7 +49,7 @@ COBJS = $(CSRCS:.c=.o) SRCS = $(ASRCS) $(CSRCS) OBJS = $(AOBJS) $(COBJS) -all: up_head.o libarch.a +all: up_head.o libarch$(LIBEXT) $(AOBJS): %.o: %.S $(CC) -c $(CFLAGS) -D__ASSEMBLY__ $< -o $@ @@ -57,8 +57,11 @@ $(AOBJS): %.o: %.S $(COBJS) up_head.o: %.o: %.c $(CC) -c $(CFLAGS) $< -o $@ -libarch.a: $(OBJS) - $(AR) rcs $@ $(OBJS) +libarch$(LIBEXT): $(OBJS) + ( for obj in $(OBJS) ; do \ + $(AR) $@ $${obj} || \ + { echo "$(AR) $@ $obj FAILED!" ; exit 1 ; } ; \ + done ; ) .depend: Makefile $(SRCS) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep @@ -67,7 +70,7 @@ libarch.a: $(OBJS) depend: .depend clean: - rm -f libarch.a *.o *~ + rm -f libarch$(LIBEXT) *.o *~ distclean: clean rm -f Make.dep .depend diff --git a/nuttx/arch/sim/src/up_createstack.c b/nuttx/arch/sim/src/up_createstack.c index 0e2c63e4d..845c76661 100644 --- a/nuttx/arch/sim/src/up_createstack.c +++ b/nuttx/arch/sim/src/up_createstack.c @@ -81,14 +81,14 @@ * ************************************************************/ -STATUS up_create_stack(_TCB *tcb, uint32 stack_size) +STATUS up_create_stack(_TCB *tcb, size_t stack_size) { STATUS ret = ERROR; /* Move up to next even word boundary if necessary */ - uint32 adj_stack_size = (stack_size + 3) & ~3; - uint32 adj_stack_words = adj_stack_size >> 2; + size_t adj_stack_size = (stack_size + 3) & ~3; + size_t adj_stack_words = adj_stack_size >> 2; /* Allocate the memory for the stack */ @@ -97,9 +97,10 @@ STATUS up_create_stack(_TCB *tcb, uint32 stack_size) { /* This is the address of the last word in the allocation */ - uint32 *adj_stack_ptr = &stack_alloc_ptr[adj_stack_words - 1]; + size_t *adj_stack_ptr = &stack_alloc_ptr[adj_stack_words - 1]; /* Save the values in the TCB */ + tcb->adj_stack_size = adj_stack_size; tcb->stack_alloc_ptr = stack_alloc_ptr; tcb->adj_stack_ptr = adj_stack_ptr; diff --git a/nuttx/arch/sim/src/up_head.c b/nuttx/arch/sim/src/up_head.c index 9d1ccf153..1fc705b5b 100644 --- a/nuttx/arch/sim/src/up_head.c +++ b/nuttx/arch/sim/src/up_head.c @@ -64,13 +64,13 @@ int main(int argc, char **argv, char **envp) return 0; } -void up_assert(const ubyte *filename, uint32 line) +void up_assert(const ubyte *filename, int line) { fprintf(stderr, "Assertion failed at file:%s line: %d\n", filename, line); longjmp(sim_abort, 1); } -void up_assert_code(const ubyte *filename, uint32 line, uint16 code) +void up_assert_code(const ubyte *filename, int line, int code) { fprintf(stderr, "Assertion failed at file:%s line: %d error code: %d\n", filename, line, code); longjmp(sim_abort, 1); diff --git a/nuttx/arch/sim/src/up_usestack.c b/nuttx/arch/sim/src/up_usestack.c index 26bf14b21..0c6e7650f 100644 --- a/nuttx/arch/sim/src/up_usestack.c +++ b/nuttx/arch/sim/src/up_usestack.c @@ -81,18 +81,19 @@ * ************************************************************/ -STATUS up_use_stack(_TCB *tcb, uint32 *stack, uint32 stack_size) +STATUS up_use_stack(_TCB *tcb, void *stack, size_t stack_size) { /* Move up to next even word boundary if necessary */ - uint32 adj_stack_size = stack_size & ~3; - uint32 adj_stack_words = adj_stack_size >> 2; + size_t adj_stack_size = stack_size & ~3; + size_t adj_stack_words = adj_stack_size >> 2; /* This is the address of the last word in the allocation */ - uint32 *adj_stack_ptr = &stack[adj_stack_words - 1]; + size_t *adj_stack_ptr = &stack[adj_stack_words - 1]; /* Save the values in the TCB */ + tcb->adj_stack_size = adj_stack_size; tcb->stack_alloc_ptr = stack; tcb->adj_stack_ptr = adj_stack_ptr; diff --git a/nuttx/drivers/Makefile b/nuttx/drivers/Makefile index dcd4dec62..695dd806a 100644 --- a/nuttx/drivers/Makefile +++ b/nuttx/drivers/Makefile @@ -46,7 +46,7 @@ COBJS = $(CSRCS:.c=.o) SRCS = $(ASRCS) $(CSRCS) OBJS = $(AOBJS) $(COBJS) -BIN = libdrivers.a +BIN = libdrivers$(LIBEXT) all: $(BIN) @@ -57,7 +57,10 @@ $(cOBJS): %.o: %.c $(CC) -c $(CFLAGS) $< -o $@ $(BIN): $(OBJS) - $(AR) rcs $@ $(OBJS) + ( for obj in $(OBJS) ; do \ + $(AR) $@ $${obj} || \ + { echo "$(AR) $@ $obj FAILED!" ; exit 1 ; } ; \ + done ; ) .depend: Makefile $(SRCS) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep diff --git a/nuttx/examples/ostest/Makefile b/nuttx/examples/ostest/Makefile index 85612a992..df30ca841 100644 --- a/nuttx/examples/ostest/Makefile +++ b/nuttx/examples/ostest/Makefile @@ -47,7 +47,7 @@ COBJS = $(CSRCS:.c=.o) SRCS = $(ASRCS) $(CSRCS) OBJS = $(AOBJS) $(COBJS) -BIN = lib$(CONFIG_EXAMPLE).a +BIN = lib$(CONFIG_EXAMPLE)$(LIBEXT) all: $(BIN) @@ -58,7 +58,10 @@ $(COBJS): %.o: %.c $(CC) -c $(CFLAGS) $< -o $@ $(BIN): $(OBJS) - $(AR) rcs $@ $(OBJS) + ( for obj in $(OBJS) ; do \ + $(AR) $@ $${obj} || \ + { echo "$(AR) $@ $obj FAILED!" ; exit 1 ; } ; \ + done ; ) .depend: Makefile $(SRCS) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep diff --git a/nuttx/examples/ostest/timedwait.c b/nuttx/examples/ostest/timedwait.c index b01b352ff..af2fd2551 100644 --- a/nuttx/examples/ostest/timedwait.c +++ b/nuttx/examples/ostest/timedwait.c @@ -37,6 +37,7 @@ #include <time.h> #include <pthread.h> #include <unistd.h> +#include <errno.h> #include "ostest.h" static pthread_mutex_t mutex; @@ -70,7 +71,18 @@ static void *thread_waiter(void *parameter) status = pthread_cond_timedwait(&cond, &mutex, &time); if (status != 0) { - printf("thread_waiter: ERROR pthread_cond_timedwait failed, status=%d\n", status); + if (status == ETIMEDOUT) + { + printf("thread_waiter: pthread_cond_timedwait timed out\n"); + } + else + { + printf("thread_waiter: ERROR pthread_cond_timedwait failed, status=%d\n", status); + } + } + else + { + printf("thread_waiter: ERROR pthread_cond_timedwait returned without timeout, status=%d\n", status); } /* Release the mutex */ @@ -102,32 +114,32 @@ void timedwait_test(void) status = pthread_mutex_init(&mutex, NULL); if (status != 0) { - printf("timedwait_test: ERROR pthread_mutex_init failed, status=%d\n", status); + printf("timedwait_test: ERROR pthread_mutex_init failed, status=%d\n", status); } /* Initialize the condition variable */ - printf("timedwait_test: Initializing cond\n"); + printf("timedwait_test: Initializing cond\n"); status = pthread_cond_init(&cond, NULL); if (status != 0) { - printf("timedwait_test: ERROR pthread_condinit failed, status=%d\n", status); + printf("timedwait_test: ERROR pthread_condinit failed, status=%d\n", status); } /* Start the waiter thread at higher priority */ - printf("timedwait_test: Starting waiter\n"); + printf("timedwait_test: Starting waiter\n"); status = pthread_attr_init(&attr); if (status != 0) { - printf("timedwait_test: pthread_attr_init failed, status=%d\n", status); + printf("timedwait_test: pthread_attr_init failed, status=%d\n", status); } prio_max = sched_get_priority_max(SCHED_FIFO); status = sched_getparam (getpid(), &sparam); if (status != 0) { - printf("timedwait_test: sched_getparam failed\n"); + printf("timedwait_test: sched_getparam failed\n"); sparam.sched_priority = PTHREAD_DEFAULT_PRIORITY; } @@ -135,27 +147,27 @@ void timedwait_test(void) status = pthread_attr_setschedparam(&attr,&sparam); if (status != OK) { - printf("timedwait_test: pthread_attr_setschedparam failed, status=%d\n", status); + printf("timedwait_test: pthread_attr_setschedparam failed, status=%d\n", status); } else { - printf("timedwait_test: Set thread 2 priority to %d\n", sparam.sched_priority); + printf("timedwait_test: Set thread 2 priority to %d\n", sparam.sched_priority); } status = pthread_create(&waiter, &attr, thread_waiter, NULL); if (status != 0) { - printf("timedwait_test: pthread_create failed, status=%d\n", status); + printf("timedwait_test: pthread_create failed, status=%d\n", status); } - printf("timedwait_test: Joining\n"); + printf("timedwait_test: Joining\n"); status = pthread_join(waiter, &result); if (status != 0) { - printf("timedwait_test: ERROR pthread_join failed, status=%d\n", status); + printf("timedwait_test: ERROR pthread_join failed, status=%d\n", status); } else { - printf("timedwait_test: waiter exited with result=%p\n", result); + printf("timedwait_test: waiter exited with result=%p\n", result); } } diff --git a/nuttx/fs/Makefile b/nuttx/fs/Makefile index fa69e2b4b..36b651739 100644 --- a/nuttx/fs/Makefile +++ b/nuttx/fs/Makefile @@ -47,7 +47,7 @@ COBJS = $(CSRCS:.c=.o) SRCS = $(ASRCS) $(CSRCS) OBJS = $(AOBJS) $(COBJS) -BIN = libfs.a +BIN = libfs$(LIBEXT) all: $(BIN) @@ -58,7 +58,10 @@ $(cOBJS): %.o: %.c $(CC) -c $(CFLAGS) $< -o $@ $(BIN): $(OBJS) - $(AR) rcs $@ $(OBJS) + ( for obj in $(OBJS) ; do \ + $(AR) $@ $${obj} || \ + { echo "$(AR) $@ $obj FAILED!" ; exit 1 ; } ; \ + done ; ) .depend: Makefile $(SRCS) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep diff --git a/nuttx/include/assert.h b/nuttx/include/assert.h index 831b57485..022e343ca 100644 --- a/nuttx/include/assert.h +++ b/nuttx/include/assert.h @@ -53,21 +53,42 @@ #undef ASSERTCODE #undef DEBUGASSERT -#define ASSERT(f) \ - { if (!(f)) up_assert((const ubyte *)__FILE__, (uint32)__LINE__); } +#ifdef __GNUC__ -#define ASSERTCODE(f, errCode) \ - { if (!(f)) up_assert_code((const ubyte *)__FILE__, (uint32)__LINE__, errCode); } +# define ASSERT(f) \ + { if (!(f)) up_assert((const ubyte *)__FILE__, (int)__LINE__); } + +# define ASSERTCODE(f, errCode) \ + { if (!(f)) up_assert_code((const ubyte *)__FILE__, (int)__LINE__, errCode); } + +# ifdef CONFIG_DEBUG +# define DEBUGASSERT(f) \ + { if (!(f)) up_assert((const ubyte *)__FILE__, (int)__LINE__); } +# else +# define DEBUGASSERT(f) +# endif /* CONFIG_DEBUG */ + +# define PANIC(errCode) \ + up_assert_code((const ubyte *)__FILE__, (int)__LINE__, (errCode)|0x8000) -#ifdef CONFIG_DEBUG -#define DEBUGASSERT(f) \ - { if (!(f)) up_assert((const ubyte *)__FILE__, (uint32)__LINE__); } #else -#define DEBUGASSERT(f) -#endif /* CONFIG_DEBUG */ +# define ASSERT(f) \ + { if (!(f)) up_assert(); } + +# define ASSERTCODE(f, errCode) \ + { if (!(f)) up_assert_code(errCode); } + +# ifdef CONFIG_DEBUG +# define DEBUGASSERT(f) \ + { if (!(f)) up_assert(); } +# else +# define DEBUGASSERT(f) +# endif /* CONFIG_DEBUG */ -#define PANIC(errCode) \ - up_assert_code((const ubyte *)__FILE__, (uint32)__LINE__, ((errCode)|(0x8000))) +# define PANIC(errCode) \ + up_assert_code((errCode)|0x8000) + +#endif /************************************************************ * Included Files @@ -84,9 +105,14 @@ extern "C" { #define EXTERN extern #endif -EXTERN void up_assert(const ubyte *fileName, uint32 lineNum); -EXTERN void up_assert_code(const ubyte *fileName, uint32 lineNum, - uint16 errorCode); +#ifdef __GNUC__ +EXTERN void up_assert(const ubyte *fileName, int lineNum); +EXTERN void up_assert_code(const ubyte *fileName, int lineNum, + int error_code); +#else +EXTERN void up_assert(void); +EXTERN void up_assert_code(int error_code); +#endif #undef EXTERN #ifdef __cplusplus diff --git a/nuttx/include/errno.h b/nuttx/include/errno.h index 50fddfc9f..d189ccaa0 100644 --- a/nuttx/include/errno.h +++ b/nuttx/include/errno.h @@ -188,8 +188,16 @@ extern "C" { #define EXTERN extern #endif +/* Return a pointer to the thread specifid errno */ + extern int *get_errno_ptr(void); +#ifndef CONFIG_CAN_CAST_POINTERS +/* Return the value ERROR cast to (void*) */ + +extern void *get_errorptr(void); +#endif + #undef EXTERN #if defined(__cplusplus) } diff --git a/nuttx/include/nuttx/arch.h b/nuttx/include/nuttx/arch.h index cc5ad3560..5ccba7c20 100644 --- a/nuttx/include/nuttx/arch.h +++ b/nuttx/include/nuttx/arch.h @@ -150,7 +150,7 @@ EXTERN void up_initial_state(_TCB *tcb); * must be allocated. ************************************************************/ -EXTERN STATUS up_create_stack(_TCB *tcb, uint32 stack_size); +EXTERN STATUS up_create_stack(_TCB *tcb, size_t stack_size); /************************************************************ * Name: up_use_stack @@ -173,7 +173,7 @@ EXTERN STATUS up_create_stack(_TCB *tcb, uint32 stack_size); * ************************************************************/ -EXTERN STATUS up_use_stack(_TCB *tcb, uint32 *stack, uint32 stack_size); +EXTERN STATUS up_use_stack(_TCB *tcb, void *stack, size_t stack_size); /************************************************************ * Name: up_release_stack diff --git a/nuttx/include/nuttx/compiler.h b/nuttx/include/nuttx/compiler.h index 6f4e68baf..b5eafe8d9 100644 --- a/nuttx/include/nuttx/compiler.h +++ b/nuttx/include/nuttx/compiler.h @@ -52,6 +52,7 @@ # define noreturn_function __attribute__ ((noreturn)) # define reentrant_function #elif defined(__SDCC__) +# pragma disable_warning 85 # define weak_alias(name, aliasname) # define weak_function # define weak_const_function diff --git a/nuttx/include/nuttx/irq.h b/nuttx/include/nuttx/irq.h index ce3543404..82a34c760 100644 --- a/nuttx/include/nuttx/irq.h +++ b/nuttx/include/nuttx/irq.h @@ -61,7 +61,7 @@ #ifndef __ASSEMBLY__ typedef int (*xcpt_t)(int irq, void *context); -typedef int (*swint_t)(uint32 code, uint32 parm2, uint32 parm3, +typedef int (*swint_t)(int code, int parm2, int parm3, void *context); #endif diff --git a/nuttx/include/pthread.h b/nuttx/include/pthread.h index c03e2a5fa..12f0d5365 100644 --- a/nuttx/include/pthread.h +++ b/nuttx/include/pthread.h @@ -63,29 +63,33 @@ * Definitions ************************************************************/ -#define PTHREAD_PROCESS_PRIVATE 0 -#define PTHREAD_PROCESS_SHARED 1 +#define PTHREAD_PROCESS_PRIVATE 0 +#define PTHREAD_PROCESS_SHARED 1 -#define PTHREAD_STACK_MIN CONFIG_PTHREAD_STACK_MIN -#define PTHREAD_STACK_DEFAULT CONFIG_PTHREAD_STACK_DEFAULT +#define PTHREAD_STACK_MIN CONFIG_PTHREAD_STACK_MIN +#define PTHREAD_STACK_DEFAULT CONFIG_PTHREAD_STACK_DEFAULT -#define PTHREAD_INHERIT_SCHED 0 -#define PTHREAD_EXPLICIT_SCHED 1 +#define PTHREAD_INHERIT_SCHED 0 +#define PTHREAD_EXPLICIT_SCHED 1 -#define PTHREAD_PRIO_NONE 0 -#define PTHREAD_PRIO_INHERIT 1 -#define PTHREAD_PRIO_PROTECT 2 +#define PTHREAD_PRIO_NONE 0 +#define PTHREAD_PRIO_INHERIT 1 +#define PTHREAD_PRIO_PROTECT 2 #define PTHREAD_DEFAULT_PRIORITY 100 /* Cancellation states returned by pthread_cancelstate() */ -#define PTHREAD_CANCEL_ENABLE (0) -#define PTHREAD_CANCEL_DISABLE (1) +#define PTHREAD_CANCEL_ENABLE (0) +#define PTHREAD_CANCEL_DISABLE (1) /* Thread return value when a pthread is canceled */ -#define PTHREAD_CANCELED ((void*)-1) +#ifdef CONFIG_CAN_CAST_POINTERS +# define PTHREAD_CANCELED ((void*)ERROR) +#else +# define PTHREAD_CANCELED ((void*)pthread_create) +#endif /************************************************************ * Global Type Declarations diff --git a/nuttx/include/sched.h b/nuttx/include/sched.h index c5d7e1163..4266eb9c0 100644 --- a/nuttx/include/sched.h +++ b/nuttx/include/sched.h @@ -171,17 +171,19 @@ struct _TCB /* Stack-Related Fields *********************************************/ - uint32 adj_stack_size; /* Stack size after adjustment */ + size_t adj_stack_size; /* Stack size after adjustment */ /* for hardware, processor, etc. */ /* (for debug purposes only) */ - uint32 *stack_alloc_ptr; /* Pointer to allocated stack */ + void *stack_alloc_ptr; /* Pointer to allocated stack */ /* Need to deallocate stack */ - uint32 *adj_stack_ptr; /* Adjusted StatckAllocPtr for HW */ + void *adj_stack_ptr; /* Adjusted StatckAllocPtr for HW */ /* The initial stack pointer value */ /* POSIX thread Specific Data ***************************************/ +#if CONFIG_NPTHREAD_KEYS > 0 void *pthread_data[CONFIG_NPTHREAD_KEYS]; +#endif /* POSIX Semaphore Control Fields ***********************************/ diff --git a/nuttx/include/sys/types.h b/nuttx/include/sys/types.h index 37b206ee1..45971e4fd 100644 --- a/nuttx/include/sys/types.h +++ b/nuttx/include/sys/types.h @@ -112,6 +112,7 @@ * Type Declarations ************************************************************/ +#ifndef __ASSEMBLY__ #ifndef CONFIG_HAVE_DOUBLE typedef float double_t; #else @@ -120,15 +121,21 @@ typedef double double_t; /* Misc. scalar types */ -typedef uint32 mode_t; +typedef unsigned int mode_t; +#ifdef CONFIG_SMALL_MEMORY +typedef uint16 size_t; +typedef sint16 ssize_t; +typedef sint16 off_t; +#else typedef uint32 size_t; typedef sint32 ssize_t; -//typedef sint32 time_t; typedef sint32 off_t; -typedef sint32 uid_t; -typedef sint32 gid_t; -typedef uint32 dev_t; -typedef uint32 ino_t; +#endif +//typedef sint32 time_t; +typedef sint16 uid_t; +typedef sint16 gid_t; +typedef uint16 dev_t; +typedef uint16 ino_t; typedef unsigned int sig_atomic_t; typedef int pid_t; typedef int STATUS; @@ -143,6 +150,7 @@ struct sched_param { int sched_priority; }; +#endif /************************************************************ * Global Function Prototypes diff --git a/nuttx/include/wdog.h b/nuttx/include/wdog.h index 9ef16256c..a1065eaae 100644 --- a/nuttx/include/wdog.h +++ b/nuttx/include/wdog.h @@ -55,11 +55,28 @@ * Global Type Declarations ************************************************************/ +/* The arguments are passed as uint32 values. For systems + * where the sizeof(pointer) < sizeof(uint32), the following + * union defines the alignment of the pointer within the + * uint32. For example, the SDCC MCS51 general pointer is + * 24-bits, but uint32 is 32-bits (of course). + * + * For systems where sizeof(pointer) > sizeof(uint32), we will + * have to do some redesign. + */ + +union wdparm_u +{ + void *pvarg; + uint32 *dwarg; +}; +typedef union wdparm_u wdparm_t; + /* This is the form of the function that is called when the * watchdog function expires. Up to four parameters may be passed. */ -typedef void (*wdentry_t)(int arg1, ...); +typedef void (*wdentry_t)(int argc, uint32 arg1, ...); /* Watchdog 'handle' */ @@ -81,10 +98,10 @@ extern "C" { #endif EXTERN WDOG_ID wd_create(void); -EXTERN STATUS wd_delete(WDOG_ID wdId); -EXTERN STATUS wd_start(WDOG_ID wdId, int delay, wdentry_t wdentry, - int parm1, int parm2, int parm3, int parm4); -EXTERN STATUS wd_cancel(WDOG_ID wdId); +EXTERN STATUS wd_delete(WDOG_ID wdog); +EXTERN STATUS wd_start(WDOG_ID wdog, int delay, wdentry_t wdentry, + int argc, ...); +EXTERN STATUS wd_cancel(WDOG_ID wdog); #undef EXTERN #ifdef __cplusplus diff --git a/nuttx/lib/Makefile b/nuttx/lib/Makefile index 2dfda7e81..361c0bb63 100644 --- a/nuttx/lib/Makefile +++ b/nuttx/lib/Makefile @@ -68,7 +68,7 @@ COBJS = $(CSRCS:.c=.o) SRCS = $(ASRCS) $(CSRCS) OBJS = $(AOBJS) $(COBJS) -BIN = liblib.a +BIN = liblib$(LIBEXT) all: $(BIN) @@ -79,7 +79,10 @@ $(COBJS): %.o: %.c $(CC) -c $(CFLAGS) $< -o $@ $(BIN): $(OBJS) - $(AR) rcs $@ $(OBJS) + ( for obj in $(OBJS) ; do \ + $(AR) $@ $${obj} || \ + { echo "$(AR) $@ $obj FAILED!" ; exit 1 ; } ; \ + done ; ) .depend: Makefile $(SRCS) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep diff --git a/nuttx/mm/Makefile b/nuttx/mm/Makefile index 79460a34a..ce32beea5 100644 --- a/nuttx/mm/Makefile +++ b/nuttx/mm/Makefile @@ -47,7 +47,7 @@ COBJS = $(CSRCS:.c=.o) SRCS = $(ASRCS) $(CSRCS) OBJS = $(AOBJS) $(COBJS) -BIN = libmm.a +BIN = libmm$(LIBEXT) all: $(BIN) @@ -58,7 +58,10 @@ $(COBJS): %.o: %.c $(CC) -c $(CFLAGS) $< -o $@ $(BIN): $(OBJS) - $(AR) rcs $@ $(OBJS) + ( for obj in $(OBJS) ; do \ + $(AR) $@ $${obj} || \ + { echo "$(AR) $@ $obj FAILED!" ; exit 1 ; } ; \ + done ; ) .depend: Makefile $(SRCS) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep diff --git a/nuttx/mm/mm_environment.h b/nuttx/mm/mm_environment.h index 15f692486..8d4816bd0 100644 --- a/nuttx/mm/mm_environment.h +++ b/nuttx/mm/mm_environment.h @@ -69,10 +69,6 @@ #ifdef MM_TEST -/* Standard types */ - -typedef unsigned int uint32; - /* Use the real system errno */ # define mm_errno errno diff --git a/nuttx/mm/mm_initialize.c b/nuttx/mm/mm_initialize.c index a16ac9b0e..4bf24a70b 100644 --- a/nuttx/mm/mm_initialize.c +++ b/nuttx/mm/mm_initialize.c @@ -50,7 +50,7 @@ /* This is the size of the heap provided to mm */ -uint32 g_heapsize; +size_t g_heapsize; /* This is the first and last nodes of the heap */ @@ -97,8 +97,8 @@ void mm_initialize(void *heapstart, size_t heapsize) * both aligned with the MM_MIN_CHUNK size. */ - uint32 heapbase = MM_ALIGN_UP((uint32)heapstart); - uint32 heapend = MM_ALIGN_DOWN((uint32)heapstart + (uint32)heapsize); + size_t heapbase = MM_ALIGN_UP((size_t)heapstart); + size_t heapend = MM_ALIGN_DOWN((size_t)heapstart + (size_t)heapsize); /* Save the size of the heap */ diff --git a/nuttx/mm/mm_internal.h b/nuttx/mm/mm_internal.h index fe519ab2e..27c9f1f3b 100644 --- a/nuttx/mm/mm_internal.h +++ b/nuttx/mm/mm_internal.h @@ -61,8 +61,13 @@ * losses. */ -#define MM_MIN_SHIFT 4 /* 16 bytes */ -#define MM_MAX_SHIFT 22 /* 4 Mb */ +#ifdef CONFIG_SMALL_MEMORY +# define MM_MIN_SHIFT 4 /* 16 bytes */ +# define MM_MAX_SHIFT 15 /* 32 Kb */ +#else +# define MM_MIN_SHIFT 4 /* 16 bytes */ +# define MM_MAX_SHIFT 22 /* 4 Mb */ +#endif /* All other definitions derive from these two */ @@ -79,7 +84,11 @@ * an allocated chunk. */ -#define MM_ALLOC_BIT 0x80000000 +#ifdef CONFIG_SMALL_MEMORY +# define MM_ALLOC_BIT 0x8000 +#else +# define MM_ALLOC_BIT 0x80000000 +#endif #define MM_IS_ALLOCATED(n) \ ((int)((struct mm_allocnode_s*)(n)->preceding) < 0)) @@ -94,11 +103,16 @@ struct mm_allocnode_s { - uint32 size; /* Size of this chunk */ - uint32 preceding; /* Size of the preceding chunk */ + size_t size; /* Size of this chunk */ + size_t preceding; /* Size of the preceding chunk */ }; -#define SIZEOF_MM_ALLOCNODE 8 +#ifdef CONFIG_SMALL_MEMORY +# define SIZEOF_MM_ALLOCNODE 4 +#else +# define SIZEOF_MM_ALLOCNODE 8 +#endif + #define CHECK_ALLOCNODE_SIZE \ DEBUGASSERT(sizeof(struct mm_allocnode_s) == SIZEOF_MM_ALLOCNODE) @@ -106,13 +120,17 @@ struct mm_allocnode_s struct mm_freenode_s { - uint32 size; /* Size of this chunk */ - uint32 preceding; /* Size of the preceding chunk */ + size_t size; /* Size of this chunk */ + size_t preceding; /* Size of the preceding chunk */ struct mm_freenode_s *flink; /* Supports a doubly linked list */ struct mm_freenode_s *blink; }; -#define SIZEOF_MM_FREENODE 16 +#ifdef CONFIG_SMALL_MEMORY +# define SIZEOF_MM_FREENODE 10 +#else +# define SIZEOF_MM_FREENODE 16 +#endif #define CHECK_FREENODE_SIZE \ DEBUGASSERT(sizeof(struct mm_freenode_s) == SIZEOF_MM_FREENODE) @@ -138,7 +156,7 @@ struct mallinfo /* This is the size of the heap provided to mm */ -extern uint32 g_heapsize; +extern size_t g_heapsize; /* This is the first and last nodes of the heap */ @@ -168,9 +186,9 @@ extern struct mm_freenode_s g_nodelist[MM_NNODES]; extern struct mallinfo mallinfo(void); #endif -extern void mm_shrinkchunk(struct mm_allocnode_s *node, uint32 size); +extern void mm_shrinkchunk(struct mm_allocnode_s *node, size_t size); extern void mm_addfreechunk(struct mm_freenode_s *node); -extern int mm_size2ndx(uint32 size); +extern int mm_size2ndx(size_t size); extern void mm_seminitialize(void); extern void mm_takesemaphore(void); extern void mm_givesemaphore(void); diff --git a/nuttx/mm/mm_mallinfo.c b/nuttx/mm/mm_mallinfo.c index 7b242b4ea..4aba9770c 100644 --- a/nuttx/mm/mm_mallinfo.c +++ b/nuttx/mm/mm_mallinfo.c @@ -69,10 +69,10 @@ struct mallinfo mallinfo(void) { static struct mallinfo stats; struct mm_allocnode_s *node; - uint32 mxordblk = 0; + size_t mxordblk = 0; int ordblks = 0; /* Number of non-inuse chunks */ - uint32 uordblks = 0; /* Total allocated space */ - uint32 fordblks = 0; /* Total non-inuse space */ + size_t uordblks = 0; /* Total allocated space */ + size_t fordblks = 0; /* Total non-inuse space */ /* Visit each node in physical memory */ diff --git a/nuttx/mm/mm_malloc.c b/nuttx/mm/mm_malloc.c index 222aca3b2..80a89222b 100644 --- a/nuttx/mm/mm_malloc.c +++ b/nuttx/mm/mm_malloc.c @@ -144,7 +144,7 @@ void *malloc(size_t size) { struct mm_freenode_s *remainder; struct mm_freenode_s *next; - uint32 remaining; + size_t remaining; /* Remove the node. There must be a predecessor, but there may * not be a successor node. diff --git a/nuttx/mm/mm_memalign.c b/nuttx/mm/mm_memalign.c index 18f3b295a..1f5c07727 100644 --- a/nuttx/mm/mm_memalign.c +++ b/nuttx/mm/mm_memalign.c @@ -66,10 +66,10 @@ void *memalign(size_t alignment, size_t size) { struct mm_allocnode_s *node; - uint32 rawchunk; - uint32 alignedchunk; - uint32 mask = (uint32)(alignment - 1); - uint32 allocsize; + size_t rawchunk; + size_t alignedchunk; + size_t mask = (size_t)(alignment - 1); + size_t allocsize; /* If this requested alignement less than or equal to the * natural alignment of malloc, then just let malloc do the @@ -99,7 +99,7 @@ void *memalign(size_t alignment, size_t size) /* Then malloc that size */ - rawchunk = (uint32)malloc(allocsize); + rawchunk = (size_t)malloc(allocsize); if (!rawchunk) { return NULL; @@ -127,7 +127,7 @@ void *memalign(size_t alignment, size_t size) { struct mm_allocnode_s *newnode; struct mm_allocnode_s *next; - uint32 precedingsize; + size_t precedingsize; /* Get the node the next node after the allocation. */ @@ -145,7 +145,7 @@ void *memalign(size_t alignment, size_t size) * SIZEOF_MM_ALLOCNODE */ - precedingsize = (uint32)newnode - (uint32)node; + precedingsize = (size_t)newnode - (size_t)node; /* If we were unlucky, then the alignedchunk can lie in such * a position that precedingsize < SIZEOF_NODE_FREENODE. We @@ -159,12 +159,12 @@ void *memalign(size_t alignment, size_t size) { alignedchunk += alignment; newnode = (struct mm_allocnode_s*)(alignedchunk - SIZEOF_MM_ALLOCNODE); - precedingsize = (uint32)newnode - (uint32)node; + precedingsize = (size_t)newnode - (size_t)node; } /* Set up the size of the new node */ - newnode->size = (uint32)next - (uint32)newnode; + newnode->size = (size_t)next - (size_t)newnode; newnode->preceding = precedingsize | MM_ALLOC_BIT; /* Reduce the size of the original chunk and mark it not allocated, */ diff --git a/nuttx/mm/mm_realloc.c b/nuttx/mm/mm_realloc.c index 01836de60..b288e880a 100644 --- a/nuttx/mm/mm_realloc.c +++ b/nuttx/mm/mm_realloc.c @@ -78,9 +78,9 @@ void *realloc(void *oldmem, size_t size) struct mm_allocnode_s *oldnode; struct mm_freenode_s *prev; struct mm_freenode_s *next; - uint32 oldsize; - uint32 prevsize = 0; - uint32 nextsize = 0; + size_t oldsize; + size_t prevsize = 0; + size_t nextsize = 0; /* If oldmem is NULL, then realloc is equivalent to malloc */ @@ -145,9 +145,9 @@ void *realloc(void *oldmem, size_t size) if (nextsize + prevsize + oldsize >= size) { - uint32 needed = size - oldsize; - uint32 takeprev; - uint32 takenext; + size_t needed = size - oldsize; + size_t takeprev; + size_t takenext; /* Check if we can extend into the previous chunk and if the * previous chunk is smaller than the next chunk. diff --git a/nuttx/mm/mm_shrinkchunk.c b/nuttx/mm/mm_shrinkchunk.c index daf57c707..8869f045c 100644 --- a/nuttx/mm/mm_shrinkchunk.c +++ b/nuttx/mm/mm_shrinkchunk.c @@ -64,7 +64,7 @@ * ************************************************************/ -void mm_shrinkchunk(struct mm_allocnode_s *node, uint32 size) +void mm_shrinkchunk(struct mm_allocnode_s *node, size_t size) { struct mm_freenode_s *next; diff --git a/nuttx/mm/mm_size2ndx.c b/nuttx/mm/mm_size2ndx.c index 271e3e221..416652e03 100644 --- a/nuttx/mm/mm_size2ndx.c +++ b/nuttx/mm/mm_size2ndx.c @@ -50,7 +50,7 @@ /* Convert the size to a nodelist index */ -int mm_size2ndx(uint32 size) +int mm_size2ndx(size_t size) { int ndx = 0; diff --git a/nuttx/mm/mm_test.c b/nuttx/mm/mm_test.c index 86861121a..779fd607c 100644 --- a/nuttx/mm/mm_test.c +++ b/nuttx/mm/mm_test.c @@ -37,7 +37,6 @@ #include <stdlib.h> #include <string.h> -typedef unsigned int uint32; #include "mm_internal.h" /* Definitions */ diff --git a/nuttx/sched/Makefile b/nuttx/sched/Makefile index bc144b797..5efa4a6f0 100644 --- a/nuttx/sched/Makefile +++ b/nuttx/sched/Makefile @@ -40,7 +40,7 @@ MKDEP = $(TOPDIR)/tools/mkdeps.sh ASRCS = AOBJS = $(ASRCS:.S=.o) -MISC_SRCS = os_start.c get_errno_ptr.c \ +MISC_SRCS = os_start.c get_errno_ptr.c get_errorptr.c \ sched_setupstreams.c sched_getfiles.c sched_getstreams.c \ sched_setupidlefiles.c sched_setuptaskfiles.c sched_setuppthreadfiles.c \ sched_releasefiles.c @@ -101,7 +101,7 @@ COBJS = $(CSRCS:.c=.o) SRCS = $(ASRCS) $(CSRCS) OBJS = $(AOBJS) $(COBJS) -BIN = libsched.a +BIN = libsched$(LIBEXT) all: $(BIN) @@ -112,7 +112,10 @@ $(COBJS): %.o: %.c $(CC) -c $(CFLAGS) $< -o $@ $(BIN): $(OBJS) - $(AR) rcs $@ $(OBJS) + ( for obj in $(OBJS) ; do \ + $(AR) $@ $${obj} || \ + { echo "$(AR) $@ $obj FAILED!" ; exit 1 ; } ; \ + done ; ) .depend: Makefile $(SRCS) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep diff --git a/nuttx/sched/get_errorptr.c b/nuttx/sched/get_errorptr.c new file mode 100644 index 000000000..7cfad6cb1 --- /dev/null +++ b/nuttx/sched/get_errorptr.c @@ -0,0 +1,83 @@ +/************************************************************ + * get_errorptr.c + * + * Copyright (C) 2007 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 Gregory Nutt 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 <sys/types.h> +#include <errno.h> + +/************************************************************ + * Global Functions + ************************************************************/ + +/************************************************************ + * Function: get_errorptr + * + * Description: + * Return a pointer that is just ERROR cast to void *. + * most fully performing processors don't need anything + * like this. Hoever, this little of nonsense is necessary + * for some processors where sizeof(pointer) < sizeof(uint32) + * and which do not support casts of integers to pointers. + * + * Parameters: + * None + * + * Return Value: + * ERROR cast as a pointer value + * + * Assumptions: + * + ************************************************************/ + +void *get_errnorptr(void) +{ +#ifdef CONFIG_CAN_CAST_POINTERS + return (void*)ERROR; +#else + union + { + void *verror; + sint32 ierror; + } u; + + u.ierror = ERROR; + return u.verror; +#endif +} + + diff --git a/nuttx/sched/irq_attach.c b/nuttx/sched/irq_attach.c index 2c669071d..d67a04a49 100644 --- a/nuttx/sched/irq_attach.c +++ b/nuttx/sched/irq_attach.c @@ -80,7 +80,7 @@ int irq_attach(int irq, xcpt_t isr) if ((unsigned)irq < NR_IRQS) { - int state; + irqstate_t state; /* If the new ISR is NULL, then the ISR is being detached. * In this case, disable the ISR and direct any interrupts diff --git a/nuttx/sched/mq_close.c b/nuttx/sched/mq_close.c index c9817f994..88fe0e043 100644 --- a/nuttx/sched/mq_close.c +++ b/nuttx/sched/mq_close.c @@ -113,10 +113,10 @@ int mq_close(mqd_t mqdes) { - _TCB *rtcb = (_TCB*)g_readytorun.head; - msgq_t *msgq; - uint32 saved_state; - int ret = ERROR; + _TCB *rtcb = (_TCB*)g_readytorun.head; + msgq_t *msgq; + irqstate_t saved_state; + int ret = ERROR; /* Verify the inputs */ diff --git a/nuttx/sched/mq_msgfree.c b/nuttx/sched/mq_msgfree.c index 9c5f12af5..f9246d8fc 100644 --- a/nuttx/sched/mq_msgfree.c +++ b/nuttx/sched/mq_msgfree.c @@ -86,7 +86,7 @@ void mq_msgfree(mqmsg_t * mqmsg) { - uint32 saved_state; + irqstate_t saved_state; /* If this is a generally available pre-allocated message, * then just put it back in the free list. diff --git a/nuttx/sched/mq_notify.c b/nuttx/sched/mq_notify.c index aaed2e45b..3632c7636 100644 --- a/nuttx/sched/mq_notify.c +++ b/nuttx/sched/mq_notify.c @@ -141,11 +141,11 @@ int mq_notify(mqd_t mqdes, const struct sigevent *notification) { /* Yes... Assign it to the current task. */ - msgq->ntvalue = notification->sigev_value; - msgq->ntsigno = notification->sigev_signo; - msgq->ntpid = rtcb->pid; - msgq->ntmqdes = mqdes; - ret = OK; + msgq->ntvalue.sival_ptr = notification->sigev_value.sival_ptr; + msgq->ntsigno = notification->sigev_signo; + msgq->ntpid = rtcb->pid; + msgq->ntmqdes = mqdes; + ret = OK; } } @@ -159,7 +159,7 @@ int mq_notify(mqd_t mqdes, const struct sigevent *notification) msgq->ntpid = INVALID_PROCESS_ID; msgq->ntsigno = 0; - msgq->ntvalue.sival_int = 0; + msgq->ntvalue.sival_ptr = NULL; msgq->ntmqdes = NULL; ret = OK; } diff --git a/nuttx/sched/mq_open.c b/nuttx/sched/mq_open.c index 97b2af121..d4ad2a322 100644 --- a/nuttx/sched/mq_open.c +++ b/nuttx/sched/mq_open.c @@ -42,6 +42,7 @@ #include <mqueue.h> #include <string.h> #include <sched.h> +#include <errno.h> #include <debug.h> #include <nuttx/kmalloc.h> #include "os_internal.h" @@ -217,7 +218,11 @@ mqd_t mq_open(const char *mq_name, int oflags, ...) if (mqdes == NULL) { +#ifdef CONFIG_CAN_CAST_POINTERS return (mqd_t)ERROR; +#else + return get_errorptr(); +#endif } else { diff --git a/nuttx/sched/mq_receive.c b/nuttx/sched/mq_receive.c index 3dbe662c2..4e7555e13 100644 --- a/nuttx/sched/mq_receive.c +++ b/nuttx/sched/mq_receive.c @@ -114,13 +114,13 @@ int mq_receive(mqd_t mqdes, void *msg, size_t msglen, int *prio) { - _TCB *rtcb; - _TCB *btcb; - msgq_t *msgq; - mqmsg_t *curr; - uint32 saved_state; - ubyte rcvmsglen; - int ret = ERROR; + _TCB *rtcb; + _TCB *btcb; + msgq_t *msgq; + mqmsg_t *curr; + irqstate_t saved_state; + ubyte rcvmsglen; + int ret = ERROR; /* Verify the input parameters */ diff --git a/nuttx/sched/mq_send.c b/nuttx/sched/mq_send.c index 431d8613c..0a9a12515 100644 --- a/nuttx/sched/mq_send.c +++ b/nuttx/sched/mq_send.c @@ -94,8 +94,8 @@ mqmsg_t *mq_msgalloc(void) { - mqmsg_t *mqmsg; - uint32 saved_state; + mqmsg_t *mqmsg; + irqstate_t saved_state; /* If we were called from an interrupt handler, then try to * get the message from generally available list of messages. @@ -202,14 +202,14 @@ mqmsg_t *mq_msgalloc(void) int mq_send(mqd_t mqdes, const void *msg, size_t msglen, int prio) { - _TCB *rtcb; - _TCB *btcb; - msgq_t *msgq; - mqmsg_t *curr; - mqmsg_t *next; - mqmsg_t *prev; - uint32 saved_state; - int ret = ERROR; + _TCB *rtcb; + _TCB *btcb; + msgq_t *msgq; + mqmsg_t *curr; + mqmsg_t *next; + mqmsg_t *prev; + irqstate_t saved_state; + int ret = ERROR; /* Verify the input parameters */ @@ -343,7 +343,11 @@ int mq_send(mqd_t mqdes, const void *msg, size_t msglen, int prio) { /* Remove the message notification data from the message queue. */ +#ifdef CONFIG_CAN_PASS_STRUCTS union sigval value = msgq->ntvalue; +#else + void *sival_ptr = msgq->ntvalue.sival_ptr; +#endif int signo = msgq->ntsigno; int pid = msgq->ntpid; @@ -356,7 +360,11 @@ int mq_send(mqd_t mqdes, const void *msg, size_t msglen, int prio) /* Queue the signal -- What if this returns an error? */ +#ifdef CONFIG_CAN_PASS_STRUCTS sig_mqnotempty(pid, signo, value); +#else + sig_mqnotempty(pid, signo, sival_ptr); +#endif } /* Check if any tasks are waiting for the MQ not empty event. */ diff --git a/nuttx/sched/mq_unlink.c b/nuttx/sched/mq_unlink.c index dc1f95140..066bcacab 100644 --- a/nuttx/sched/mq_unlink.c +++ b/nuttx/sched/mq_unlink.c @@ -89,9 +89,9 @@ int mq_unlink(const char *mq_name) { - msgq_t *msgq; - uint32 saved_state; - int ret = ERROR; + msgq_t *msgq; + irqstate_t saved_state; + int ret = ERROR; /* Verify the input values */ diff --git a/nuttx/sched/os_start.c b/nuttx/sched/os_start.c index 638180082..09de22ce3 100644 --- a/nuttx/sched/os_start.c +++ b/nuttx/sched/os_start.c @@ -386,7 +386,7 @@ void os_start(void) { /* Remove the first delayed deallocation. */ - uint32 saved_state = irqsave(); + irqstate_t saved_state = irqsave(); void *address = (void*)sq_remfirst(&g_delayeddeallocations); irqrestore(saved_state); diff --git a/nuttx/sched/pthread_condtimedwait.c b/nuttx/sched/pthread_condtimedwait.c index 59d92921e..9ebaf6917 100644 --- a/nuttx/sched/pthread_condtimedwait.c +++ b/nuttx/sched/pthread_condtimedwait.c @@ -71,14 +71,18 @@ * Private Functions ************************************************************/ -static void pthread_condtimedout(int pid, int signo, int arg3, int arg4) +static void pthread_condtimedout(int argc, uint32 pid, uint32 signo, ...) { +#ifdef CONFIG_CAN_PASS_STRUCTS union sigval value; /* Send the specified signal to the specified task. */ - value.sival_ptr = 0; - (void)sigqueue(pid, signo, value); + value.sival_ptr = NULL; + (void)sigqueue((int)pid, (int)signo, value); +#else + (void)sigqueue((int)pid, (int)signo, NULL); +#endif } /************************************************************ @@ -112,8 +116,8 @@ int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex, sint32 relusec; sint32 ticks; int mypid = (int)getpid(); + irqstate_t int_state; int ret = OK; - int int_state; int status; dbg("cond=0x%p mutex=0x%p abstime=0x%p\n", cond, mutex, abstime); @@ -240,7 +244,7 @@ int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex, /* Start the watchdog */ wd_start(wdog, ticks, (wdentry_t)pthread_condtimedout, - mypid, ECHO_COND_WAIT_SIGNO, 0, 0); + 2, (uint32)mypid, (uint32)ECHO_COND_WAIT_SIGNO); /* Take the condition semaphore. Do not restore interrupts * until we return from the wait. This is necessary to diff --git a/nuttx/sched/pthread_create.c b/nuttx/sched/pthread_create.c index 5d9104c75..a369f0b49 100644 --- a/nuttx/sched/pthread_create.c +++ b/nuttx/sched/pthread_create.c @@ -65,10 +65,10 @@ pthread_attr_t g_default_pthread_attr = { - .stacksize = PTHREAD_STACK_DEFAULT, - .priority = PTHREAD_DEFAULT_PRIORITY, - .policy = SCHED_RR, - .inheritsched = PTHREAD_EXPLICIT_SCHED, + PTHREAD_STACK_DEFAULT, /* stacksize */ + PTHREAD_DEFAULT_PRIORITY, /* priority */ + SCHED_RR, /* policy */ + PTHREAD_EXPLICIT_SCHED, /* inheritsched */ }; /************************************************************ diff --git a/nuttx/sched/pthread_getspecific.c b/nuttx/sched/pthread_getspecific.c index 886557f38..afcfba55c 100644 --- a/nuttx/sched/pthread_getspecific.c +++ b/nuttx/sched/pthread_getspecific.c @@ -37,6 +37,8 @@ * Included Files ************************************************************/ +#include <nuttx/config.h> + #include <sys/types.h> #include <sched.h> #include <errno.h> @@ -103,6 +105,7 @@ void *pthread_getspecific(pthread_key_t key) { +#if CONFIG_NPTHREAD_KEYS > 0 _TCB *rtcb = (_TCB*)g_readytorun.head; void *ret = NULL; @@ -116,4 +119,7 @@ void *pthread_getspecific(pthread_key_t key) } return ret; +#else + return NULL; +#endif } diff --git a/nuttx/sched/pthread_keycreate.c b/nuttx/sched/pthread_keycreate.c index bda51e53a..00d127160 100644 --- a/nuttx/sched/pthread_keycreate.c +++ b/nuttx/sched/pthread_keycreate.c @@ -37,6 +37,8 @@ * Included Files ************************************************************/ +#include <nuttx/config.h> + #include <sys/types.h> #include <sched.h> #include <errno.h> @@ -112,6 +114,7 @@ int pthread_key_create(pthread_key_t *key, void (*destructor)(void*)) { +#if CONFIG_NPTHREAD_KEYS > 0 int ret = EAGAIN; /* Check if we have exceeded the system-defined number of keys. */ @@ -132,4 +135,7 @@ int pthread_key_create(pthread_key_t *key, void (*destructor)(void*)) } return ret; +#else + return ENOSYS; +#endif } diff --git a/nuttx/sched/pthread_keydelete.c b/nuttx/sched/pthread_keydelete.c index 486de00d8..9a53a5e5e 100644 --- a/nuttx/sched/pthread_keydelete.c +++ b/nuttx/sched/pthread_keydelete.c @@ -37,6 +37,8 @@ * Included Files ************************************************************/ +#include <nuttx/config.h> + #include <sys/types.h> #include <sched.h> #include <errno.h> @@ -91,3 +93,4 @@ int pthread_key_delete(pthread_key_t key) { return ENOSYS; } + diff --git a/nuttx/sched/pthread_setspecific.c b/nuttx/sched/pthread_setspecific.c index c08a18190..5e9ba7fb6 100644 --- a/nuttx/sched/pthread_setspecific.c +++ b/nuttx/sched/pthread_setspecific.c @@ -37,6 +37,8 @@ * Included Files ************************************************************/ +#include <nuttx/config.h> + #include <sys/types.h> #include <sched.h> #include <errno.h> @@ -111,6 +113,7 @@ int pthread_setspecific(pthread_key_t key, void *value) { +#if CONFIG_NPTHREAD_KEYS > 0 _TCB *rtcb = (_TCB*)g_readytorun.head; int ret = EINVAL; @@ -128,4 +131,9 @@ int pthread_setspecific(pthread_key_t key, void *value) } return ret; +#else + return ENOSYS; +#endif } + + diff --git a/nuttx/sched/sched_free.c b/nuttx/sched/sched_free.c index 9fc2a261d..dc1d34789 100644 --- a/nuttx/sched/sched_free.c +++ b/nuttx/sched/sched_free.c @@ -90,7 +90,7 @@ void sched_free(void *address) { /* Yes.. Delay the deallocation until a more appropriate time. */ - uint32 saved_state = irqsave(); + irqstate_t saved_state = irqsave(); sq_addlast((sq_entry_t*)address, &g_delayeddeallocations); irqrestore(saved_state); } diff --git a/nuttx/sched/sched_setparam.c b/nuttx/sched/sched_setparam.c index 482b62ddb..a1e5af97f 100644 --- a/nuttx/sched/sched_setparam.c +++ b/nuttx/sched/sched_setparam.c @@ -105,12 +105,12 @@ int sched_setparam(pid_t pid, const struct sched_param *param) { - _TCB *rtcb; - _TCB *tcb; - tstate_t task_state; - uint32 saved_state; - int sched_priority = param->sched_priority; - int ret = 0; + _TCB *rtcb; + _TCB *tcb; + tstate_t task_state; + irqstate_t saved_state; + int sched_priority = param->sched_priority; + int ret = 0; /* Verify that the requested priority is in the valid range */ diff --git a/nuttx/sched/sched_setscheduler.c b/nuttx/sched/sched_setscheduler.c index 29c0d0c98..7d1b11ba4 100644 --- a/nuttx/sched/sched_setscheduler.c +++ b/nuttx/sched/sched_setscheduler.c @@ -112,7 +112,7 @@ int sched_setscheduler(pid_t pid, int policy, { _TCB *tcb; #if CONFIG_RR_INTERVAL > 0 - uint32 saved_state; + irqstate_t saved_state; #endif int ret; diff --git a/nuttx/sched/sem_open.c b/nuttx/sched/sem_open.c index f6139ec5e..6a8c38a4c 100644 --- a/nuttx/sched/sem_open.c +++ b/nuttx/sched/sem_open.c @@ -41,6 +41,7 @@ #include <stdarg.h> #include <string.h> #include <semaphore.h> +#include <errno.h> #include <nuttx/kmalloc.h> #include "sem_internal.h" @@ -117,7 +118,11 @@ sem_t *sem_open (const char *name, int oflag, ...) { int namelen; nsem_t *psem; +#ifdef CONFIG_CAN_CAST_POINTERS sem_t *sem = (sem_t*)ERROR; +#else + sem_t *sem = get_errorptr(); +#endif va_list arg; /* Points to each un-named argument */ mode_t mode; /* Creation mode parameter (ignored) */ unsigned int value; /* Semaphore value parameter */ diff --git a/nuttx/sched/sem_post.c b/nuttx/sched/sem_post.c index c07b1d534..348e88c80 100644 --- a/nuttx/sched/sem_post.c +++ b/nuttx/sched/sem_post.c @@ -106,9 +106,9 @@ int sem_post (sem_t *sem) { - _TCB *stcb; - STATUS ret = ERROR; - uint32 saved_state; + _TCB *stcb; + STATUS ret = ERROR; + irqstate_t saved_state; /* Make sure we were supplied with a valid semaphore. */ diff --git a/nuttx/sched/sem_trywait.c b/nuttx/sched/sem_trywait.c index 561ba0b44..384eff0a0 100644 --- a/nuttx/sched/sem_trywait.c +++ b/nuttx/sched/sem_trywait.c @@ -98,9 +98,9 @@ int sem_trywait(sem_t *sem) { - _TCB *rtcb = (_TCB*)g_readytorun.head; - uint32 saved_state; - int ret = ERROR; + _TCB *rtcb = (_TCB*)g_readytorun.head; + irqstate_t saved_state; + int ret = ERROR; /* Assume any errors reported are due to invalid arguments. */ diff --git a/nuttx/sched/sem_wait.c b/nuttx/sched/sem_wait.c index 006c55960..78aa7d5e9 100644 --- a/nuttx/sched/sem_wait.c +++ b/nuttx/sched/sem_wait.c @@ -99,9 +99,9 @@ int sem_wait (sem_t *sem) { - _TCB *rtcb = (_TCB*)g_readytorun.head; - int ret = ERROR; - uint32 saved_state; + _TCB *rtcb = (_TCB*)g_readytorun.head; + int ret = ERROR; + irqstate_t saved_state; /* Assume any errors reported are due to invalid arguments. */ diff --git a/nuttx/sched/sem_waitirq.c b/nuttx/sched/sem_waitirq.c index 96ab61f44..810663732 100644 --- a/nuttx/sched/sem_waitirq.c +++ b/nuttx/sched/sem_waitirq.c @@ -94,7 +94,7 @@ void sem_waitirq (_TCB *wtcb) { - uint32 saved_state; + irqstate_t saved_state; /* Disable interrupts. This is necessary (unfortunately) because an * interrupt handler may attempt to post the semaphore while we are diff --git a/nuttx/sched/sig_allocatependingsigaction.c b/nuttx/sched/sig_allocatependingsigaction.c index a6304e205..610596457 100644 --- a/nuttx/sched/sig_allocatependingsigaction.c +++ b/nuttx/sched/sig_allocatependingsigaction.c @@ -77,8 +77,8 @@ sigq_t *sig_allocatependingsigaction(void) { - sigq_t *sigq; - uint32 saved_state; + sigq_t *sigq; + irqstate_t saved_state; /* Check if we were called from an interrupt handler. */ diff --git a/nuttx/sched/sig_deliver.c b/nuttx/sched/sig_deliver.c index dfbbc1092..c10633797 100644 --- a/nuttx/sched/sig_deliver.c +++ b/nuttx/sched/sig_deliver.c @@ -83,12 +83,12 @@ void sig_deliver(_TCB *stcb) { - pid_t rpid; - sigq_t *sigq; - sigq_t *next; - sigset_t savesigprocmask; - uint32 saved_state; - int saved_errno; + pid_t rpid; + sigq_t *sigq; + sigq_t *next; + sigset_t savesigprocmask; + irqstate_t saved_state; + int saved_errno; sched_lock(); diff --git a/nuttx/sched/sig_mqnotempty.c b/nuttx/sched/sig_mqnotempty.c index cc5a064f6..ab395db2e 100644 --- a/nuttx/sched/sig_mqnotempty.c +++ b/nuttx/sched/sig_mqnotempty.c @@ -80,7 +80,11 @@ * ************************************************************/ +#ifdef CONFIG_CAN_PASS_STRUCTS int sig_mqnotempty (int pid, int signo, const union sigval value) +#else +int sig_mqnotempty (int pid, int signo, void *sival_ptr) +#endif { _TCB *stcb; siginfo_t info; @@ -91,14 +95,22 @@ int sig_mqnotempty (int pid, int signo, const union sigval value) /* Get the TCB of the receiving task */ stcb = sched_gettcb(pid); - dbg("sig_mqnotempty: TCB=0x%08x signo=%d value=%d\n", - stcb, signo, value.sival_int); + +#ifdef CONFIG_CAN_PASS_STRUCTS + dbg("TCB=%p signo=%d value=%d\n", stcb, signo, value.sival_int); +#else + dbg("TCB=%p signo=%d sival_ptr=%p\n", stcb, signo, sival_ptr); +#endif /* Create the siginfo structure */ - info.si_signo = signo; - info.si_code = SI_MESGQ; - info.si_value = value; + info.si_signo = signo; + info.si_code = SI_MESGQ; +#ifdef CONFIG_CAN_PASS_STRUCTS + info.si_value = value; +#else + info.si_value.sival_ptr = sival_ptr; +#endif /* Verify that we can perform the signalling operation */ diff --git a/nuttx/sched/sig_pending.c b/nuttx/sched/sig_pending.c index 3600c6d94..62b98f3ca 100644 --- a/nuttx/sched/sig_pending.c +++ b/nuttx/sched/sig_pending.c @@ -110,7 +110,7 @@ sigset_t sig_pendingset(_TCB *stcb) { sigset_t sigpendset; sigpendq_t *sigpend; - uint32 saved_state; + irqstate_t saved_state; sigpendset = NULL_SIGNAL_SET; diff --git a/nuttx/sched/sig_procmask.c b/nuttx/sched/sig_procmask.c index b733bac0e..dd5dd9eb8 100644 --- a/nuttx/sched/sig_procmask.c +++ b/nuttx/sched/sig_procmask.c @@ -114,10 +114,10 @@ int sigprocmask(int how, const sigset_t *set, sigset_t *oset) { - _TCB *rtcb = (_TCB*)g_readytorun.head; - sigset_t oldsigprocmask; - uint32 saved_state; - int ret = OK; + _TCB *rtcb = (_TCB*)g_readytorun.head; + sigset_t oldsigprocmask; + irqstate_t saved_state; + int ret = OK; sched_lock(); diff --git a/nuttx/sched/sig_received.c b/nuttx/sched/sig_received.c index 8a2c3928d..922d4b778 100644 --- a/nuttx/sched/sig_received.c +++ b/nuttx/sched/sig_received.c @@ -38,6 +38,7 @@ ************************************************************/ #include <sys/types.h> +#include <string.h> #include <signal.h> #include <unistd.h> #include <sched.h> @@ -79,7 +80,7 @@ static int sig_queueaction(_TCB *stcb, siginfo_t *info) { sigactq_t *sigact; sigq_t *sigq; - uint32 saved_state; + irqstate_t saved_state; int ret = OK; sched_lock(); @@ -106,7 +107,7 @@ static int sig_queueaction(_TCB *stcb, siginfo_t *info) sigq->action.sighandler = sigact->act.sa_u._sa_sigaction; sigq->mask = sigact->act.sa_mask; - sigq->info = *info; + memcpy(&sigq->info, info, sizeof(siginfo_t)); /* Put it at the end of the pending signals list */ @@ -131,7 +132,7 @@ static int sig_queueaction(_TCB *stcb, siginfo_t *info) static sigpendq_t *sig_findpendingsignal(_TCB *stcb, int signo) { sigpendq_t *sigpend = NULL; - uint32 saved_state; + irqstate_t saved_state; /* Verify the caller's sanity */ @@ -163,7 +164,7 @@ static sigpendq_t *sig_findpendingsignal(_TCB *stcb, int signo) static sigpendq_t *sig_allocatependingsignal(void) { sigpendq_t *sigpend; - uint32 saved_state; + irqstate_t saved_state; /* Check if we were called from an interrupt handler. */ @@ -227,7 +228,7 @@ static sigpendq_t *sig_allocatependingsignal(void) static sigpendq_t *sig_addpendingsignal(_TCB *stcb, siginfo_t *info) { sigpendq_t *sigpend; - uint32 saved_state; + irqstate_t saved_state; /* Check if the signal is already pending */ @@ -236,7 +237,7 @@ static sigpendq_t *sig_addpendingsignal(_TCB *stcb, siginfo_t *info) { /* The signal is already pending... retain only one copy */ - sigpend->info = *info; + memcpy(&sigpend->info, info, sizeof(siginfo_t)); } /* No... There is nothing pending for this signo */ @@ -250,7 +251,7 @@ static sigpendq_t *sig_addpendingsignal(_TCB *stcb, siginfo_t *info) { /* Put the signal information into the allocated structure */ - sigpend->info = *info; + memcpy(&sigpend->info, info, sizeof(siginfo_t)); /* Add the structure to the pending signal list */ @@ -284,8 +285,8 @@ static sigpendq_t *sig_addpendingsignal(_TCB *stcb, siginfo_t *info) int sig_received(_TCB *stcb, siginfo_t *info) { - int ret = ERROR; - uint32 saved_state; + irqstate_t saved_state; + int ret = ERROR; dbg("sig_received: TCB=0x%08x signo=%d code=%d value=%d\n", stcb, info->si_signo, info->si_code, info->si_value.sival_int); @@ -310,7 +311,7 @@ int sig_received(_TCB *stcb, siginfo_t *info) if (stcb->task_state == TSTATE_WAIT_SIG && sigismember(&stcb->sigwaitmask, info->si_signo)) { - stcb->sigunbinfo = *info; + memcpy(&stcb->sigunbinfo, info, sizeof(siginfo_t)); stcb->sigwaitmask = NULL_SIGNAL_SET; up_unblock_task(stcb); irqrestore(saved_state); @@ -352,7 +353,7 @@ int sig_received(_TCB *stcb, siginfo_t *info) saved_state = irqsave(); if (stcb->task_state == TSTATE_WAIT_SIG) { - stcb->sigunbinfo = *info; + memcpy(&stcb->sigunbinfo, info, sizeof(siginfo_t)); stcb->sigwaitmask = NULL_SIGNAL_SET; up_unblock_task(stcb); } diff --git a/nuttx/sched/sig_releasependingsigaction.c b/nuttx/sched/sig_releasependingsigaction.c index 7187c03c7..b25ee79e3 100644 --- a/nuttx/sched/sig_releasependingsigaction.c +++ b/nuttx/sched/sig_releasependingsigaction.c @@ -76,7 +76,7 @@ void sig_releasependingsigaction(sigq_t *sigq) { - uint32 saved_state; + irqstate_t saved_state; /* If this is a generally available pre-allocated structyre, * then just put it back in the free list. diff --git a/nuttx/sched/sig_releasependingsignal.c b/nuttx/sched/sig_releasependingsignal.c index 453118fb4..43601d7db 100644 --- a/nuttx/sched/sig_releasependingsignal.c +++ b/nuttx/sched/sig_releasependingsignal.c @@ -84,7 +84,7 @@ void sig_releasependingsignal(sigpendq_t *sigpend) { - uint32 saved_state; + irqstate_t saved_state; /* If this is a generally available pre-allocated structyre, * then just put it back in the free list. diff --git a/nuttx/sched/sig_removependingsignal.c b/nuttx/sched/sig_removependingsignal.c index 4163f13f0..917d6d7e1 100644 --- a/nuttx/sched/sig_removependingsignal.c +++ b/nuttx/sched/sig_removependingsignal.c @@ -84,8 +84,9 @@ sigpendq_t *sig_removependingsignal(_TCB *stcb, int signo) { - sigpendq_t *currsig, *prevsig; - uint32 saved_state; + sigpendq_t *currsig; + sigpendq_t *prevsig; + irqstate_t saved_state; saved_state = irqsave(); for (prevsig = NULL, currsig = (sigpendq_t*)stcb->sigpendingq.head; diff --git a/nuttx/sched/sig_suspend.c b/nuttx/sched/sig_suspend.c index d0167b226..92771578f 100644 --- a/nuttx/sched/sig_suspend.c +++ b/nuttx/sched/sig_suspend.c @@ -115,7 +115,7 @@ int sigsuspend(const sigset_t *set) sigset_t intersection; sigset_t saved_sigprocmask; sigpendq_t *sigpend; - uint32 saved_state; + irqstate_t saved_state; int unblocksigno; /* Several operations must be performed below: We must determine if any diff --git a/nuttx/sched/sig_timedwait.c b/nuttx/sched/sig_timedwait.c index 842f68c2f..bba138fa7 100644 --- a/nuttx/sched/sig_timedwait.c +++ b/nuttx/sched/sig_timedwait.c @@ -38,6 +38,7 @@ ************************************************************/ #include <sys/types.h> +#include <string.h> #include <signal.h> #include <time.h> #include <wdog.h> @@ -76,11 +77,24 @@ * A timeout elapsed while waiting for signals to be queued. ************************************************************/ -static void sig_timeout(int itcb, int parm2, int parm3, int parm4) +static void sig_timeout(int argc, uint32 itcb, ...) { - _TCB *wtcb = (_TCB*)itcb; + /* On many small machines, pointers are encoded and cannot + * be simply cast from uint32 to _TCB*. The following + * union works around this (see wdogparm_t). This odd + * logic could be conditioned on CONFIG_CAN_CAST_POINTERS, + * but it is not too bad in any case. + */ - if (!wtcb) + union + { + _TCB *wtcb; + uint32 itcb; + } u; + + u.itcb = itcb; + + if (!u.wtcb) { PANIC(OSERR_TIMEOUTNOTCB); } @@ -89,12 +103,12 @@ static void sig_timeout(int itcb, int parm2, int parm3, int parm4) * still waiting for a signal */ - if (wtcb->task_state == TSTATE_WAIT_SIG) + if (u.wtcb->task_state == TSTATE_WAIT_SIG) { - wtcb->sigunbinfo.si_signo = ERROR; - wtcb->sigunbinfo.si_code = SI_TIMEOUT; - wtcb->sigunbinfo.si_value.sival_int = 0; - up_unblock_task(wtcb); + u.wtcb->sigunbinfo.si_signo = ERROR; + u.wtcb->sigunbinfo.si_code = SI_TIMEOUT; + u.wtcb->sigunbinfo.si_value.sival_int = 0; + up_unblock_task(u.wtcb); } } @@ -150,7 +164,7 @@ int sigtimedwait(const sigset_t *set, struct siginfo *info, sigset_t intersection; sigpendq_t *sigpend; WDOG_ID wdog; - uint32 saved_state; + irqstate_t saved_state; sint32 waitticks; int ret = ERROR; @@ -184,7 +198,10 @@ int sigtimedwait(const sigset_t *set, struct siginfo *info, /* Return the signal info to the caller if so requested */ - if (info) *info = sigpend->info; + if (info) + { + memcpy(info, &sigpend->info, sizeof(struct siginfo)); + } /* Then dispose of the pending signal structure properly */ @@ -218,10 +235,18 @@ int sigtimedwait(const sigset_t *set, struct siginfo *info, wdog = wd_create(); if (wdog) { + /* This little of nonsense is necessary for some + * processors where sizeof(pointer) < sizeof(uint32). + * see wdog.h. + */ + + wdparm_t wdparm; + wdparm.pvarg = (void*)rtcb; + /* Start the watchdog */ wd_start(wdog, waitticks, (wdentry_t)sig_timeout, - (int)rtcb, 0, 0, 0); + 1, wdparm.dwarg); /* Now wait for either the signal or the watchdog */ @@ -252,7 +277,7 @@ int sigtimedwait(const sigset_t *set, struct siginfo *info, if (info) { - *info = rtcb->sigunbinfo; + memcpy(info, &rtcb->sigunbinfo, sizeof(struct siginfo)); } irqrestore(saved_state); diff --git a/nuttx/sched/task_create.c b/nuttx/sched/task_create.c index c1cf11772..79f487a11 100644 --- a/nuttx/sched/task_create.c +++ b/nuttx/sched/task_create.c @@ -377,11 +377,7 @@ STATUS task_init(_TCB *tcb, char *name, int priority, STATUS task_activate(_TCB *tcb) { #ifdef CONFIG_SCHED_INSTRUMENTATION - uint32 flags; -#endif - -#ifdef CONFIG_SCHED_INSTRUMENTATION - flags = irqsave(); + irqstate_t flags = irqsave(); /* Check if this is really a re-start */ diff --git a/nuttx/sched/task_delete.c b/nuttx/sched/task_delete.c index 5a28c3d42..ed169217d 100644 --- a/nuttx/sched/task_delete.c +++ b/nuttx/sched/task_delete.c @@ -95,10 +95,10 @@ STATUS task_delete(pid_t pid) { - _TCB *rtcb; - _TCB *dtcb; - uint32 saved_state; - STATUS ret = ERROR; + _TCB *rtcb; + _TCB *dtcb; + irqstate_t saved_state; + STATUS ret = ERROR; /* Check if the task to delete is the calling task */ diff --git a/nuttx/sched/task_restart.c b/nuttx/sched/task_restart.c index 6d4b7a83a..60478c258 100644 --- a/nuttx/sched/task_restart.c +++ b/nuttx/sched/task_restart.c @@ -99,10 +99,10 @@ STATUS task_restart(pid_t pid) { - _TCB *rtcb; - _TCB *tcb; - STATUS status; - uint32 state; + _TCB *rtcb; + _TCB *tcb; + STATUS status; + irqstate_t state; /* Make sure this task does not become ready-to-run while * we are futzing with its TCB diff --git a/nuttx/sched/wd_cancel.c b/nuttx/sched/wd_cancel.c index 9a3a223fd..c0181e43b 100644 --- a/nuttx/sched/wd_cancel.c +++ b/nuttx/sched/wd_cancel.c @@ -87,10 +87,10 @@ STATUS wd_cancel (WDOG_ID wdid) { - wdog_t *curr; - wdog_t *prev; - uint32 saved_state; - STATUS ret = ERROR; + wdog_t *curr; + wdog_t *prev; + irqstate_t saved_state; + STATUS ret = ERROR; /* Prohibit timer interactions with the timer queue until the * cancellation is complete diff --git a/nuttx/sched/wd_create.c b/nuttx/sched/wd_create.c index 14a1c5410..0fad7cef9 100644 --- a/nuttx/sched/wd_create.c +++ b/nuttx/sched/wd_create.c @@ -87,8 +87,8 @@ WDOG_ID wd_create (void) { - wdog_t *wdog; - sint32 saved_state; + wdog_t *wdog; + irqstate_t saved_state; saved_state = irqsave(); wdog = (wdog_t*)sq_remfirst(&g_wdfreelist); diff --git a/nuttx/sched/wd_delete.c b/nuttx/sched/wd_delete.c index b4039cce0..96168ec2c 100644 --- a/nuttx/sched/wd_delete.c +++ b/nuttx/sched/wd_delete.c @@ -90,7 +90,7 @@ STATUS wd_delete (WDOG_ID wdId) { - uint32 saved_state; + irqstate_t saved_state; /* Check if the watchdog has been started. */ diff --git a/nuttx/sched/wd_internal.h b/nuttx/sched/wd_internal.h index 212c68619..7794d8c12 100644 --- a/nuttx/sched/wd_internal.h +++ b/nuttx/sched/wd_internal.h @@ -40,6 +40,7 @@ * Included Files ************************************************************/ +#include <nuttx/config.h> #include <sys/types.h> #include <wdog.h> #include <nuttx/compiler.h> @@ -64,11 +65,11 @@ struct wdog_s { struct wdog_s *next; /* Support for singly linked lists. */ wdentry_t func; /* Function to execute when delay expires */ - sint32 lag; /* Timer associated with the delay */ - uint32 parm[4]; /* Four parameters passed to func */ + int lag; /* Timer associated with the delay */ boolean active; /* TRUE if the watchdog is actively timing */ + ubyte argc; /* The number of parameters to pass */ + uint32 parm[CONFIG_MAX_WDOGPARMS]; }; - typedef struct wdog_s wdog_t; /************************************************************ diff --git a/nuttx/sched/wd_start.c b/nuttx/sched/wd_start.c index 04ece3493..b3534593d 100644 --- a/nuttx/sched/wd_start.c +++ b/nuttx/sched/wd_start.c @@ -38,9 +38,12 @@ ************************************************************/ #include <sys/types.h> +#include <stdarg.h> #include <wdog.h> #include <unistd.h> #include <sched.h> +#include <errno.h> +#include "os_internal.h" #include "wd_internal.h" /************************************************************ @@ -51,6 +54,22 @@ * Private Type Declarations ************************************************************/ +typedef void (*wdentry0_t)(int argc); +#if CONFIG_MAX_WDOGPARMS > 0 +typedef void (*wdentry1_t)(int argc, uint32 arg1); +#endif +#if CONFIG_MAX_WDOGPARMS > 1 +typedef void (*wdentry2_t)(int argc, uint32 arg1, uint32 arg2); +#endif +#if CONFIG_MAX_WDOGPARMS > 2 +typedef void (*wdentry3_t)(int argc, uint32 arg1, uint32 arg2, + uint32 arg3); +#endif +#if CONFIG_MAX_WDOGPARMS > 3 +typedef void (*wdentry4_t)(int argc, uint32 arg1, uint32 arg2, + uint32 arg3, uint32 arg4); +#endif + /************************************************************ * Global Variables ************************************************************/ @@ -83,12 +102,12 @@ * Watchdog timers execute only once. * * To replace either the timeout delay or the function to - * be executed, call wd_start again with the same wdId; only + * be executed, call wd_start again with the same wdog; only * the most recent wdStart() on a given watchdog ID has * any effect. * * Parameters: - * wdId = watchdog ID + * wdog = watchdog ID * delay = Delay count in clock ticks * wdentry = function to call on timeout * parm1..4 = parameters to pass to wdentry @@ -102,19 +121,22 @@ * ************************************************************/ -STATUS wd_start(WDOG_ID wdId, int delay, wdentry_t wdentry, - int parm1, int parm2, int parm3, int parm4) +STATUS wd_start(WDOG_ID wdog, int delay, wdentry_t wdentry, + int argc, ...) { - wdog_t *curr; - wdog_t *prev; - wdog_t *next; - sint32 now; - sint32 saved_state; + va_list ap; + wdog_t *curr; + wdog_t *prev; + wdog_t *next; + sint32 now; + irqstate_t saved_state; + int i; - /* Verify the wdId */ + /* Verify the wdog */ - if (!wdId) + if (!wdog || argc > CONFIG_MAX_WDOGPARMS || delay < 0) { + *get_errno_ptr() = EINVAL; return ERROR; } @@ -125,18 +147,28 @@ STATUS wd_start(WDOG_ID wdId, int delay, wdentry_t wdentry, */ saved_state = irqsave(); - if (wdId->active) + if (wdog->active) { - wd_cancel(wdId); + wd_cancel(wdog); } /* Save the data in the watchdog structure */ - wdId->func = wdentry; /* Function to execute when delay expires */ - wdId->parm[0] = parm1; /* Same as the parameter to pass */ - wdId->parm[1] = parm2; /* 2nd parameter not used */ - wdId->parm[2] = parm3; /* 3rd parameter not used */ - wdId->parm[3] = parm4; /* 4th parameter not used */ + wdog->func = wdentry; /* Function to execute when delay expires */ + wdog->argc = argc; + + va_start(ap, argc); + for (i = 0; i < argc; i++) + { + wdog->parm[i] = va_arg(ap, uint32); + } +#ifdef CONFIG_DEBUG + for (; i < CONFIG_MAX_WDOGPARMS; i++) + { + wdog->parm[i] = 0; + } +#endif + va_end(ap); /* Calculate delay+1, forcing the delay into a range that we can handle */ @@ -153,7 +185,7 @@ STATUS wd_start(WDOG_ID wdId, int delay, wdentry_t wdentry, if (g_wdactivelist.head == NULL) { - sq_addlast((sq_entry_t*)wdId,&g_wdactivelist); + sq_addlast((sq_entry_t*)wdog,&g_wdactivelist); } /* There are other active watchdogs in the timer queue */ @@ -180,7 +212,7 @@ STATUS wd_start(WDOG_ID wdId, int delay, wdentry_t wdentry, now += curr->lag; } - /* Check if the new wdId must be inserted before the curr. */ + /* Check if the new wdog must be inserted before the curr. */ if (delay < now) { @@ -196,18 +228,18 @@ STATUS wd_start(WDOG_ID wdId, int delay, wdentry_t wdentry, if (curr == (wdog_t*)g_wdactivelist.head) { - sq_addfirst((sq_entry_t*)wdId, &g_wdactivelist); + sq_addfirst((sq_entry_t*)wdog, &g_wdactivelist); } else { - sq_addafter((sq_entry_t*)prev, (sq_entry_t*)wdId, + sq_addafter((sq_entry_t*)prev, (sq_entry_t*)wdog, &g_wdactivelist); } } /* The new watchdog delay time is greater than the curr delay time, - * so the new wdId must be inserted after the curr. This only occurs - * if the wdId is to be added to the end of the list. + * so the new wdog must be inserted after the curr. This only occurs + * if the wdog is to be added to the end of the list. */ else @@ -215,13 +247,13 @@ STATUS wd_start(WDOG_ID wdId, int delay, wdentry_t wdentry, delay -= now; if (!curr->next) { - sq_addlast((sq_entry_t*)wdId, &g_wdactivelist); + sq_addlast((sq_entry_t*)wdog, &g_wdactivelist); } else { next = curr->next; next->lag -= delay; - sq_addafter((sq_entry_t*)curr, (sq_entry_t*)wdId, + sq_addafter((sq_entry_t*)curr, (sq_entry_t*)wdog, &g_wdactivelist); } } @@ -229,8 +261,8 @@ STATUS wd_start(WDOG_ID wdId, int delay, wdentry_t wdentry, /* Put the lag into the watchdog structure and mark it as active. */ - wdId->lag = delay; - wdId->active = TRUE; + wdog->lag = delay; + wdog->active = TRUE; irqrestore(saved_state); return OK; @@ -304,8 +336,42 @@ void wd_timer(void) /* Execute the watchdog function */ - (*wdog->func)(wdog->parm[0], wdog->parm[1], - wdog->parm[2] ,wdog->parm[3]); + switch (wdog->argc) + { + default: +#ifdef CONFIG_DEBUG + PANIC(OSERR_INTERNAL); +#endif + case 0: + (*((wdentry0_t)(wdog->func)))(0); + break; + +#if CONFIG_MAX_WDOGPARMS > 0 + case 1: + (*((wdentry1_t)(wdog->func)))(1, wdog->parm[0]); + break; +#endif +#if CONFIG_MAX_WDOGPARMS > 1 + case 2: + (*((wdentry2_t)(wdog->func)))(2, + wdog->parm[0], wdog->parm[1]); + break; +#endif +#if CONFIG_MAX_WDOGPARMS > 2 + case 3: + (*((wdentry3_t)(wdog->func)))(3, + wdog->parm[0], wdog->parm[1], + wdog->parm[2]); + break; +#endif +#if CONFIG_MAX_WDOGPARMS > 3 + case 4: + (*((wdentry4_t)(wdog->func)))(4, + wdog->parm[0], wdog->parm[1], + wdog->parm[2] ,wdog->parm[3]); + break; +#endif + } } } } |