diff options
Diffstat (limited to 'nuttx/arch/arm/src/sam3u')
-rw-r--r-- | nuttx/arch/arm/src/sam3u/sam3u_allocateheap.c | 117 | ||||
-rw-r--r-- | nuttx/arch/arm/src/sam3u/sam3u_internal.h | 4 | ||||
-rw-r--r-- | nuttx/arch/arm/src/sam3u/sam3u_mpuinit.c | 10 | ||||
-rw-r--r-- | nuttx/arch/arm/src/sam3u/sam3u_start.c | 3 | ||||
-rw-r--r-- | nuttx/arch/arm/src/sam3u/sam3u_userspace.c | 4 | ||||
-rw-r--r-- | nuttx/arch/arm/src/sam3u/sam3u_vectors.S | 71 |
6 files changed, 115 insertions, 94 deletions
diff --git a/nuttx/arch/arm/src/sam3u/sam3u_allocateheap.c b/nuttx/arch/arm/src/sam3u/sam3u_allocateheap.c index 5b5c6b810..249777d69 100644 --- a/nuttx/arch/arm/src/sam3u/sam3u_allocateheap.c +++ b/nuttx/arch/arm/src/sam3u/sam3u_allocateheap.c @@ -78,68 +78,6 @@ # warning "CONFIG_DRAM_END is before end of SRAM0... not all of SRAM0 used" #endif -#ifdef CONFIG_MM_KERNEL_HEAPSIZE -# if CONFIG_MM_KERNEL_HEAPSIZE < (1 << 5) /* Kernel heap size < 2**5 */ -# define KHEAP_SIZE (1 << 4) /* Use size 2**4 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 6) /* Kernel heap size < 2**6 */ -# define KHEAP_SIZE (1 << 5) /* Use size 2**5 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 7) /* Kernel heap size < 2**7 */ -# define KHEAP_SIZE (1 << 6) /* Use size 2**6 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 8) /* Kernel heap size < 2**8 */ -# define KHEAP_SIZE (1 << 7) /* Use size 2**7 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 9) /* Kernel heap size < 2**9 */ -# define KHEAP_SIZE (1 << 8) /* Use size 2**8 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 10) /* Kernel heap size < 2**10 */ -# define KHEAP_SIZE (1 << 9) /* Use size 2**9 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 11) /* Kernel heap size < 2**11 */ -# define KHEAP_SIZE (1 << 10) /* Use size 2**10 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 12) /* Kernel heap size < 2**12 */ -# define KHEAP_SIZE (1 << 11) /* Use size 2**11 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 13) /* Kernel heap size < 2**13 */ -# define KHEAP_SIZE (1 << 12) /* Use size 2**12 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 14) /* Kernel heap size < 2**14 */ -# define KHEAP_SIZE (1 << 13) /* Use size 2**13 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 15) /* Kernel heap size < 2**15 */ -# define KHEAP_SIZE (1 << 14) /* Use size 2**14 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 16) /* Kernel heap size < 2**16 */ -# define KHEAP_SIZE (1 << 15) /* Use size 2**15 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 17) /* Kernel heap size < 2**17 */ -# define KHEAP_SIZE (1 << 16) /* Use size 2**16 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 18) /* Kernel heap size < 2**18 */ -# define KHEAP_SIZE (1 << 17) /* Use size 2**17 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 19) /* Kernel heap size < 2**19 */ -# define KHEAP_SIZE (1 << 18) /* Use size 2**18 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 20) /* Kernel heap size < 2**20 */ -# define KHEAP_SIZE (1 << 19) /* Use size 2**19 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 21) /* Kernel heap size < 2**21 */ -# define KHEAP_SIZE (1 << 20) /* Use size 2**20 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 22) /* Kernel heap size < 2**22 */ -# define KHEAP_SIZE (1 << 21) /* Use size 2**21 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 23) /* Kernel heap size < 2**23 */ -# define KHEAP_SIZE (1 << 22) /* Use size 2**22 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 24) /* Kernel heap size < 2**24 */ -# define KHEAP_SIZE (1 << 23) /* Use size 2**23 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 25) /* Kernel heap size < 2**25 */ -# define KHEAP_SIZE (1 << 24) /* Use size 2**24 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 26) /* Kernel heap size < 2**26 */ -# define KHEAP_SIZE (1 << 25) /* Use size 2**25 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 27) /* Kernel heap size < 2**27 */ -# define KHEAP_SIZE (1 << 26) /* Use size 2**26 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 28) /* Kernel heap size < 2**28 */ -# define KHEAP_SIZE (1 << 27) /* Use size 2**27 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 29) /* Kernel heap size < 2**29 */ -# define KHEAP_SIZE (1 << 28) /* Use size 2**28 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 30) /* Kernel heap size < 2**30 */ -# define KHEAP_SIZE (1 << 29) /* Use size 2**29 */ -# elif CONFIG_MM_KERNEL_HEAPSIZE < (1 << 31) /* Kernel heap size < 2**31 */ -# define KHEAP_SIZE (1 << 30) /* Use size 2**30 */ -# else -# define KHEAP_SIZE (1 << 31) /* Use size 2**31 */ -# endif - -# define KHEAP_MASK (KHEAP_SIZE - 1) -#endif - /**************************************************************************** * Private Data ****************************************************************************/ @@ -170,35 +108,41 @@ void up_allocate_heap(FAR void **heap_start, size_t *heap_size) { #if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_MM_KERNEL_HEAP) - uintptr_t kbase = ((uintptr_t)g_heapbase + KHEAP_MASK) & ~KHEAP_MASK; - uintptr_t ubase = kbase + KHEAP_SIZE; + /* Get the unaligned size of the user-space heap */ + + uintptr_t ubase = (uintptr_t)g_heapbase + CONFIG_MM_KERNEL_HEAPSIZE; size_t usize = CONFIG_DRAM_END - ubase; + int log2; DEBUGASSERT(ubase < (uintptr_t)CONFIG_DRAM_END); - /* Return the heap settings */ + /* Adjust that size to account for MPU alignment requirements. + * NOTE that there is an implicit assumption that the CONFIG_DRAM_END + * is aligned to the MPU requirement. + */ + + log2 = (int)mpu_log2regionsize(usize); + DEBUGASSERT((CONFIG_DRAM_END & ((1 << log2) - 1)) == 0); + + usize = (1 << log2); + ubase = CONFIG_DRAM_END - usize + + /* Return the user-space heap settings */ up_ledon(LED_HEAPALLOCATE); *heap_start = (FAR void*)ubase; *heap_size = usize; - /* Allow access to the heap memory */ + /* Allow user-mode access to the user heap memory */ sam3u_mpu_uheap((uintptr_t)ubase, usize); #else - size_t size = CONFIG_DRAM_END - g_heapbase; - /* Return the heap settings */ up_ledon(LED_HEAPALLOCATE); *heap_start = (FAR void*)g_heapbase; - *heap_size = size; - - /* Allow user access to the user heap memory */ - - sam3u_mpu_uheap((uintptr_t)g_heapbase, size); - + *heap_size = CONFIG_DRAM_END - g_heapbase; #endif } @@ -215,14 +159,29 @@ void up_allocate_heap(FAR void **heap_start, size_t *heap_size) #if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_MM_KERNEL_HEAP) void up_allocate_kheap(FAR void **heap_start, size_t *heap_size) { - uintptr_t kbase = ((uintptr_t)g_heapbase + KHEAP_MASK) & ~KHEAP_MASK; + /* Get the unaligned size of the user-space heap */ - DEBUGASSERT((kbase + KHEAP_SIZE) < (uintptr_t)CONFIG_DRAM_END); + uintptr_t ubase = (uintptr_t)g_heapbase + CONFIG_MM_KERNEL_HEAPSIZE; + size_t usize = CONFIG_DRAM_END - ubase; + int log2; - /* Return the heap settings */ + DEBUGASSERT(ubase < (uintptr_t)CONFIG_DRAM_END); + + /* Adjust that size to account for MPU alignment requirements. + * NOTE that there is an implicit assumption that the CONFIG_DRAM_END + * is aligned to the MPU requirement. + */ - *heap_start = (FAR void*)kbase; - *heap_size = KHEAP_SIZE; + log2 = (int)mpu_log2regionsize(usize); + DEBUGASSERT((CONFIG_DRAM_END & ((1 << log2) - 1)) == 0); + + usize = (1 << log2); + ubase = CONFIG_DRAM_END - usize + + /* Return the kernel heap settings */ + + *heap_start = (FAR void*)g_heapbase; + *heap_size = ubase - (uintptr_t)g_heapbase; } #endif diff --git a/nuttx/arch/arm/src/sam3u/sam3u_internal.h b/nuttx/arch/arm/src/sam3u/sam3u_internal.h index 14857bcf8..8953aa0c6 100644 --- a/nuttx/arch/arm/src/sam3u/sam3u_internal.h +++ b/nuttx/arch/arm/src/sam3u/sam3u_internal.h @@ -453,7 +453,7 @@ void sam3u_lowsetup(void); * For the case of the separate user-/kernel-space build, perform whatever * platform specific initialization of the user memory is required. * Normally this just means initializing the user space .data and .bss - * segements. + * segments. * ****************************************************************************/ @@ -465,7 +465,7 @@ void sam3u_userspace(void); * Name: sam3u_mpuinitialize * * Description: - * Configure the MPU to permit user-space access to only restricted SAM3U + * Configure the MPU to permit user-space access to only unrestricted SAM3U * resources. * ****************************************************************************/ diff --git a/nuttx/arch/arm/src/sam3u/sam3u_mpuinit.c b/nuttx/arch/arm/src/sam3u/sam3u_mpuinit.c index 1e1a564d5..f3e18ad05 100644 --- a/nuttx/arch/arm/src/sam3u/sam3u_mpuinit.c +++ b/nuttx/arch/arm/src/sam3u/sam3u_mpuinit.c @@ -45,7 +45,7 @@ #include "mpu.h" -#ifdef CONFIG_NUTTX_KERNEL +#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_ARMV7M_MPU) /**************************************************************************** * Private Definitions @@ -105,12 +105,12 @@ void sam3u_mpuinitialize(void) } /**************************************************************************** - * Name: sam3u_mpu_uheap and sam3u_mpu_uheap + * Name: sam3u_mpu_uheap * * Description: - * Map a user- or kernel-heap region. + * Map the user-heap region. * - * This logic may need an extension to handle external SRAM). + * This logic may need an extension to handle external SDRAM). * ****************************************************************************/ @@ -119,5 +119,5 @@ void sam3u_mpu_uheap(uintptr_t start, size_t size) mpu_userintsram(start, size); } -#endif /* CONFIG_NUTTX_KERNEL */ +#endif /* CONFIG_NUTTX_KERNEL && CONFIG_ARMV7M_MPU */ diff --git a/nuttx/arch/arm/src/sam3u/sam3u_start.c b/nuttx/arch/arm/src/sam3u/sam3u_start.c index aceda2c46..dceb65ab2 100644 --- a/nuttx/arch/arm/src/sam3u/sam3u_start.c +++ b/nuttx/arch/arm/src/sam3u/sam3u_start.c @@ -142,12 +142,13 @@ void __start(void) #ifdef CONFIG_NUTTX_KERNEL sam3u_userspace(); + showprogress('E'); #endif /* Initialize onboard resources */ sam3u_boardinitialize(); - showprogress('E'); + showprogress('F'); /* Then start NuttX */ diff --git a/nuttx/arch/arm/src/sam3u/sam3u_userspace.c b/nuttx/arch/arm/src/sam3u/sam3u_userspace.c index 89a2a27ed..1450e27a9 100644 --- a/nuttx/arch/arm/src/sam3u/sam3u_userspace.c +++ b/nuttx/arch/arm/src/sam3u/sam3u_userspace.c @@ -1,5 +1,5 @@ /**************************************************************************** - * arch/arm/src/common/sam3u_userspace.c + * arch/arm/src/sam3u/sam3u_userspace.c * * Copyright (C) 2011, 2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt <gnutt@nuttx.org> @@ -71,7 +71,7 @@ * For the case of the separate user-/kernel-space build, perform whatever * platform specific initialization of the user memory is required. * Normally this just means initializing the user space .data and .bss - * segements. + * segments. * ****************************************************************************/ diff --git a/nuttx/arch/arm/src/sam3u/sam3u_vectors.S b/nuttx/arch/arm/src/sam3u/sam3u_vectors.S index 53e2f636c..ec0287e34 100644 --- a/nuttx/arch/arm/src/sam3u/sam3u_vectors.S +++ b/nuttx/arch/arm/src/sam3u/sam3u_vectors.S @@ -39,6 +39,7 @@ ************************************************************************************************/ #include <nuttx/config.h> + #include <arch/irq.h> /************************************************************************************************ @@ -240,13 +241,18 @@ sam3u_common: */ adds r2, r14, #3 /* If R14=0xfffffffd, then r2 == 0 */ - ite ne /* Next two instructions are condition */ + ite ne /* Next two instructions are conditional */ mrsne r1, msp /* R1=The main stack pointer */ mrseq r1, psp /* R1=The process stack pointer */ #else mrs r1, msp /* R1=The main stack pointer */ #endif + /* r1 holds the value of the stack pointer AFTER the excption handling logic + * pushed the various registers onto the stack. Get r2 = the value of the + * stack pointer BEFORE the interrupt modified it. + */ + mov r2, r1 /* R2=Copy of the main/process stack pointer */ add r2, #HW_XCPT_SIZE /* R2=MSP/PSP before the interrupt was taken */ #ifdef CONFIG_ARMV7M_USEBASEPRI @@ -254,6 +260,22 @@ sam3u_common: #else mrs r3, primask /* R3=Current PRIMASK setting */ #endif + +#ifdef CONFIG_ARCH_FPU + /* Skip over the block of memory reserved for floating pointer register save. + * Lazy FPU register saving is used. FPU registers will be saved in this + * block only if a context switch occurs (this means, of course, that the FPU + * cannot be used in interrupt processing). + */ + + sub r1, #(4*SW_FPU_REGS) +#endif + + /* Save the the remaining registers on the stack after the registers pushed + * by the exception handling logic. r2=SP and r3=primask or basepri, r4-r11, + * r14=register values. + */ + #ifdef CONFIG_NUTTX_KERNEL stmdb r1!, {r2-r11,r14} /* Save the remaining registers plus the SP value */ #else @@ -290,17 +312,36 @@ sam3u_common: cmp r0, r1 /* Context switch? */ beq 1f /* Branch if no context switch */ + /* We are returning with a pending context switch. + * + * If the FPU is enabled, then we will need to restore FPU registers. + * This is not done in normal interrupt save/restore because the cost + * is prohibitive. This is only done when switching contexts. A + * consequence of this is that floating point operations may not be + * performed in interrupt handling logic. + * + * Here: + * r0 = Address of the register save area + + * NOTE: It is a requirement that up_restorefpu() preserve the value of + * r0! + */ + +#ifdef CONFIG_ARCH_FPU + bl up_restorefpu /* Restore the FPU registers */ +#endif + /* We are returning with a pending context switch. This case is different * because in this case, the register save structure does not lie on the * stack but, rather, are within a TCB structure. We'll have to copy some * values to the stack. */ - add r1, r0, #SW_XCPT_SIZE /* R1=Address of HW save area in reg array */ + add r1, r0, #SW_XCPT_SIZE /* R1=Address of HW save area in reg array */ ldmia r1, {r4-r11} /* Fetch eight registers in HW save area */ - ldr r1, [r0, #(4*REG_SP)] /* R1=Value of SP before interrupt */ + ldr r1, [r0, #(4*REG_SP)] /* R1=Value of SP before interrupt */ stmdb r1!, {r4-r11} /* Store eight registers in HW save area */ -#ifdef CONFIG_NUTTX_KERNEL +#ifdef CONFIG_NUTTX_KERNEL ldmia r0, {r2-r11,r14} /* Recover R4-R11, r14 + 2 temp values */ #else ldmia r0, {r2-r11} /* Recover R4-R11 + 2 temp values */ @@ -309,13 +350,33 @@ sam3u_common: /* We are returning with no context switch. We simply need to "unwind" * the same stack frame that we created + * + * Here: + * r1 = Address of the return stack (same as r0) */ 1: -#ifdef CONFIG_NUTTX_KERNEL +#ifdef CONFIG_NUTTX_KERNEL ldmia r1!, {r2-r11,r14} /* Recover R4-R11, r14 + 2 temp values */ #else ldmia r1!, {r2-r11} /* Recover R4-R11 + 2 temp values */ #endif + +#ifdef CONFIG_ARCH_FPU + /* Skip over the block of memory reserved for floating pointer register + * save. Then R1 is the address of the HW save area + */ + + add r1, #(4*SW_FPU_REGS) +#endif + + /* Set up to return from the exception + * + * Here: + * r1 = Address on the target thread's stack position at the start of + * the registers saved by hardware + * r3 = primask or basepri + * r4-r11 = restored register values + */ 2: #ifdef CONFIG_NUTTX_KERNEL /* The EXC_RETURN value will be 0xfffffff9 (privileged thread) or 0xfffffff1 |