diff options
Diffstat (limited to 'nuttx/arch/arm')
| -rw-r--r-- | nuttx/arch/arm/src/lpc17xx/lpc17_mpuinit.c | 2 | ||||
| -rw-r--r-- | nuttx/arch/arm/src/lpc17xx/lpc17_start.c | 2 | ||||
| -rw-r--r-- | nuttx/arch/arm/src/lpc17xx/lpc17_userspace.h | 1 | ||||
| -rw-r--r-- | nuttx/arch/arm/src/lpc17xx/lpc17_vectors.S | 6 | ||||
| -rw-r--r-- | nuttx/arch/arm/src/stm32/Make.defs | 11 | ||||
| -rw-r--r-- | nuttx/arch/arm/src/stm32/stm32_allocateheap.c | 133 | ||||
| -rw-r--r-- | nuttx/arch/arm/src/stm32/stm32_mpuinit.c | 124 | ||||
| -rw-r--r-- | nuttx/arch/arm/src/stm32/stm32_mpuinit.h | 90 | ||||
| -rw-r--r-- | nuttx/arch/arm/src/stm32/stm32_start.c | 16 | ||||
| -rw-r--r-- | nuttx/arch/arm/src/stm32/stm32_userspace.c | 119 | ||||
| -rw-r--r-- | nuttx/arch/arm/src/stm32/stm32_userspace.h | 76 | ||||
| -rw-r--r-- | nuttx/arch/arm/src/stm32/stm32_vectors.S | 37 |
12 files changed, 587 insertions, 30 deletions
diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_mpuinit.c b/nuttx/arch/arm/src/lpc17xx/lpc17_mpuinit.c index c5d1ab11c..046f6e703 100644 --- a/nuttx/arch/arm/src/lpc17xx/lpc17_mpuinit.c +++ b/nuttx/arch/arm/src/lpc17xx/lpc17_mpuinit.c @@ -1,5 +1,5 @@ /**************************************************************************** - * arch/arm/src/common/lpc17_mpuinit.c + * arch/arm/src/lpc17xx/lpc17_mpuinit.c * * Copyright (C) 2011, 2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt <gnutt@nuttx.org> diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_start.c b/nuttx/arch/arm/src/lpc17xx/lpc17_start.c index 57496ab2a..f5af4c913 100644 --- a/nuttx/arch/arm/src/lpc17xx/lpc17_start.c +++ b/nuttx/arch/arm/src/lpc17xx/lpc17_start.c @@ -236,7 +236,7 @@ void __start(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. */ #ifdef CONFIG_NUTTX_KERNEL diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_userspace.h b/nuttx/arch/arm/src/lpc17xx/lpc17_userspace.h index c4d265cc0..7f9c75dd4 100644 --- a/nuttx/arch/arm/src/lpc17xx/lpc17_userspace.h +++ b/nuttx/arch/arm/src/lpc17xx/lpc17_userspace.h @@ -41,7 +41,6 @@ ************************************************************************************/ #include <nuttx/config.h> -#include "chip/lpc17_qei.h" /************************************************************************************ * Pre-processor Definitions diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_vectors.S b/nuttx/arch/arm/src/lpc17xx/lpc17_vectors.S index 9575e1f3e..06b6afdf6 100644 --- a/nuttx/arch/arm/src/lpc17xx/lpc17_vectors.S +++ b/nuttx/arch/arm/src/lpc17xx/lpc17_vectors.S @@ -61,7 +61,7 @@ * 0x1000:7fff - End of CPU SRAM and end of heap (1st region) */ -#define IDLE_STACK (_ebss+CONFIG_IDLETHREAD_STACKSIZE) +#define IDLE_STACK (_ebss+CONFIG_IDLETHREAD_STACKSIZE-4) #define HEAP_BASE (_ebss+CONFIG_IDLETHREAD_STACKSIZE) /* The Cortex-M3 return from interrupt is unusual. We provide the following special @@ -306,8 +306,8 @@ lpc17_common: #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 + * because in this case, the register save structure does not lie in the + * stack but, rather, within a TCB structure. We'll have to copy some * values to the stack. */ diff --git a/nuttx/arch/arm/src/stm32/Make.defs b/nuttx/arch/arm/src/stm32/Make.defs index d51c360fe..c26843039 100644 --- a/nuttx/arch/arm/src/stm32/Make.defs +++ b/nuttx/arch/arm/src/stm32/Make.defs @@ -64,6 +64,13 @@ ifeq ($(CONFIG_ARCH_MEMCPY),y) CMN_ASRCS += up_memcpy.S endif +ifeq ($(CONFIG_NUTTX_KERNEL),y) +CMN_CSRCS += up_mpu.c up_task_start.c up_pthread_start.c up_stackframe.c +ifneq ($(CONFIG_DISABLE_SIGNALS),y) +CMN_CSRCS += up_signal_handler.c +endif +endif + ifeq ($(CONFIG_DEBUG_STACK),y) CMN_CSRCS += up_checkstack.c endif @@ -87,6 +94,10 @@ ifeq ($(CONFIG_ARMV7M_CMNVECTOR),y) CHIP_ASRCS += stm32_vectors.S endif +ifeq ($(CONFIG_NUTTX_KERNEL),y) +CHIP_CSRCS += stm32_userspace.c stm32_mpuinit.c +endif + ifeq ($(CONFIG_USBDEV),y) ifeq ($(CONFIG_STM32_USB),y) CHIP_CSRCS += stm32_usbdev.c diff --git a/nuttx/arch/arm/src/stm32/stm32_allocateheap.c b/nuttx/arch/arm/src/stm32/stm32_allocateheap.c index 6a29fb16c..3eed90dd4 100644 --- a/nuttx/arch/arm/src/stm32/stm32_allocateheap.c +++ b/nuttx/arch/arm/src/stm32/stm32_allocateheap.c @@ -58,7 +58,7 @@ * following definitions must be provided to specify the size and * location of internal(system) SRAM: * - * CONFIG_DRAM_END : End address (+1) of SRAM (F1 family only, the + * SRAM1_END : End address (+1) of SRAM (F1 family only, the * : F4 family uses the a priori end of SRAM) * * The F4 family also contains internal CCM SRAM. This SRAM is different @@ -88,7 +88,7 @@ #endif /* For the STM312F10xxx family, all internal SRAM is in one contiguous block - * starting at g_idle_topstack and extending through CONFIG_DRAM_END (my apologies for + * starting at g_idle_topstack and extending through SRAM1_END (my apologies for * the bad naming). In addition, external FSMC SRAM may be available. */ @@ -96,7 +96,7 @@ /* Set the end of system SRAM */ -# define SRAM1_END CONFIG_DRAM_END +# define SRAM1_END SRAM1_END /* Check if external FSMC SRAM is provided */ @@ -130,7 +130,7 @@ /* Set the end of system SRAM */ -# define SRAM1_END CONFIG_DRAM_END +# define SRAM1_END SRAM1_END /* Set the range of CCM SRAM as well (although we may not use it) */ @@ -365,14 +365,113 @@ * If a protected kernel-space heap is provided, the kernel heap must be * allocated (and protected) by an analogous up_allocate_kheap(). * + * The following memory map is assumed for the flat build: + * + * .data region. Size determined at link time. + * .bss region Size determined at link time. + * IDLE thread stack. Size determined by CONFIG_IDLETHREAD_STACKSIZE. + * Heap. Extends to the end of SRAM. + * + * The following memory map is assumed for the kernel build: + * + * Kernel .data region. Size determined at link time. + * Kernel .bss region Size determined at link time. + * Kernel IDLE thread stack. Size determined by CONFIG_IDLETHREAD_STACKSIZE. + * Padding for alignment + * User .data region. Size determined at link time. + * User .bss region Size determined at link time. + * Kernel heap. Size determined by CONFIG_MM_KERNEL_HEAPSIZE. + * User heap. Extends to the end of SRAM. + * ****************************************************************************/ void up_allocate_heap(FAR void **heap_start, size_t *heap_size) { +#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_MM_KERNEL_HEAP) + /* Get the unaligned size and position of the user-space heap. + * This heap begins after the user-space .bss section at an offset + * of CONFIG_MM_KERNEL_HEAPSIZE (subject to alignment). + */ + + uintptr_t ubase = (uintptr_t)USERSPACE->us_bssend + CONFIG_MM_KERNEL_HEAPSIZE; + size_t usize = SRAM1_END - ubase; + int log2; + + DEBUGASSERT(ubase < (uintptr_t)SRAM1_END); + + /* Adjust that size to account for MPU alignment requirements. + * NOTE that there is an implicit assumption that the SRAM1_END + * is aligned to the MPU requirement. + */ + + log2 = (int)mpu_log2regionfloor(usize); + DEBUGASSERT((SRAM1_END & ((1 << log2) - 1)) == 0); + + usize = (1 << log2); + ubase = SRAM1_END - usize; + + /* Return the user-space heap settings */ + + up_ledon(LED_HEAPALLOCATE); + *heap_start = (FAR void*)ubase; + *heap_size = usize; + + /* Allow user-mode access to the user heap memory */ + + stm32_mpu_uheap((uintptr_t)ubase, usize); +#else + + /* Return the heap settings */ + up_ledon(LED_HEAPALLOCATE); *heap_start = (FAR void*)g_idle_topstack; *heap_size = SRAM1_END - g_idle_topstack; +#endif +} + +/**************************************************************************** + * Name: up_allocate_kheap + * + * Description: + * For the kernel build (CONFIG_NUTTX_KERNEL=y) with both kernel- and + * user-space heaps (CONFIG_MM_KERNEL_HEAP=y), this function allocates + * (and protects) the kernel-space heap. + * + ****************************************************************************/ + +#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_MM_KERNEL_HEAP) +void up_allocate_kheap(FAR void **heap_start, size_t *heap_size) +{ + /* Get the unaligned size and position of the user-space heap. + * This heap begins after the user-space .bss section at an offset + * of CONFIG_MM_KERNEL_HEAPSIZE (subject to alignment). + */ + + uintptr_t ubase = (uintptr_t)USERSPACE->us_bssend + CONFIG_MM_KERNEL_HEAPSIZE; + size_t usize = SRAM1_END - ubase; + int log2; + + DEBUGASSERT(ubase < (uintptr_t)SRAM1_END); + + /* Adjust that size to account for MPU alignment requirements. + * NOTE that there is an implicit assumption that the SRAM1_END + * is aligned to the MPU requirement. + */ + + log2 = (int)mpu_log2regionfloor(usize); + DEBUGASSERT((SRAM1_END & ((1 << log2) - 1)) == 0); + + usize = (1 << log2); + ubase = SRAM1_END - usize; + + /* Return the kernel heap settings (i.e., the part of the heap region + * that was not dedicated to the user heap). + */ + + *heap_start = (FAR void*)USERSPACE->us_bssend; + *heap_size = ubase - (uintptr_t)USERSPACE->us_bssend; } +#endif /**************************************************************************** * Name: up_addregion @@ -386,16 +485,32 @@ void up_allocate_heap(FAR void **heap_start, size_t *heap_size) #if CONFIG_MM_REGIONS > 1 void up_addregion(void) { - /* Add the STM32F20xxx/STM32F40xxx CCM SRAM heap region. */ - #ifndef CONFIG_STM32_CCMEXCLUDE - kmm_addregion((FAR void*)SRAM2_START, SRAM2_END-SRAM2_START); +#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_MM_KERNEL_HEAP) + + /* Allow user-mode access to the STM32F20xxx/STM32F40xxx CCM SRAM heap */ + + stm32_mpu_uheap((uintptr_t)SRAM2_START, SRAM2_END-SRAM2_START); + #endif - /* Add the external FSMC SRAM heap region. */ + /* Add the STM32F20xxx/STM32F40xxx CCM SRAM user heap region. */ + + kumm_addregion((FAR void*)SRAM2_START, SRAM2_END-SRAM2_START); +#endif #ifdef CONFIG_STM32_FSMC_SRAM - kmm_addregion((FAR void*)CONFIG_HEAP2_BASE, CONFIG_HEAP2_SIZE); +#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_MM_KERNEL_HEAP) + + /* Allow user-mode access to the FSMC SRAM user heap memory */ + + stm32_mpu_uheap((uintptr_t)CONFIG_HEAP2_BASE, CONFIG_HEAP2_SIZE); + +#endif + + /* Add the external FSMC SRAM user heap region. */ + + kumm_addregion((FAR void*)CONFIG_HEAP2_BASE, CONFIG_HEAP2_SIZE); #endif } #endif diff --git a/nuttx/arch/arm/src/stm32/stm32_mpuinit.c b/nuttx/arch/arm/src/stm32/stm32_mpuinit.c new file mode 100644 index 000000000..0b44a32cc --- /dev/null +++ b/nuttx/arch/arm/src/stm32/stm32_mpuinit.c @@ -0,0 +1,124 @@ +/**************************************************************************** + * arch/arm/src/stm32/stm32_mpuinit.c + * + * Copyright (C) 2011, 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <assert.h> + +#include <nuttx/userspace.h> + +#include "mpu.h" +#include "stm32_mpuinit.h" + +#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_ARMV7M_MPU) + +/**************************************************************************** + * Private Definitions + ****************************************************************************/ + +#ifndef MAX +# define MAX(a,b) a > b ? a : b +#endif + +#ifndef MIN +# define MIN(a,b) a < b ? a : b +#endif + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_mpuinitialize + * + * Description: + * Configure the MPU to permit user-space access to only restricted SAM3U + * resources. + * + ****************************************************************************/ + +void stm32_mpuinitialize(void) +{ + uintptr_t datastart = MIN(USERSPACE->us_datastart, USERSPACE->us_bssstart); + uintptr_t dataend = MAX(USERSPACE->us_dataend, USERSPACE->us_bssend); + + DEBUGASSERT(USERSPACE->us_textend >= USERSPACE->us_textstart && + dataend >= datastart); + + /* Show MPU information */ + + mpu_showtype(); + + /* Configure user flash and SRAM space */ + + mpu_userflash(USERSPACE->us_textstart, + USERSPACE->us_textend - USERSPACE->us_textstart); + + mpu_userintsram(datastart, dataend - datastart); + + /* Then enable the MPU */ + + mpu_control(true, false, true); +} + +/**************************************************************************** + * Name: stm32_mpu_uheap + * + * Description: + * Map the user-heap region. + * + * This logic may need an extension to handle external SDRAM). + * + ****************************************************************************/ + +void stm32_mpu_uheap(uintptr_t start, size_t size) +{ + mpu_userintsram(start, size); +} + +#endif /* CONFIG_NUTTX_KERNEL && CONFIG_ARMV7M_MPU */ + diff --git a/nuttx/arch/arm/src/stm32/stm32_mpuinit.h b/nuttx/arch/arm/src/stm32/stm32_mpuinit.h new file mode 100644 index 000000000..009306947 --- /dev/null +++ b/nuttx/arch/arm/src/stm32/stm32_mpuinit.h @@ -0,0 +1,90 @@ +/************************************************************************************ + * arch/arm/src/stm32/stm32_mpuinit.h + * + * Copyright (C) 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************************/ + +#ifndef __ARCH_ARM_SRC_STM32_STM32_MPUINIT_H +#define __ARCH_ARM_SRC_STM32_STM32_MPUINIT_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include <nuttx/config.h> + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ + +/************************************************************************************ + * Public Types + ************************************************************************************/ + +/************************************************************************************ + * Public Data + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/**************************************************************************** + * Name: stm32_mpuinitialize + * + * Description: + * Configure the MPU to permit user-space access to only unrestricted MCU + * resources. + * + ****************************************************************************/ + +#ifdef CONFIG_NUTTX_KERNEL +void stm32_mpuinitialize(void); +#else +# define stm32_mpuinitialize() +#endif + +/**************************************************************************** + * Name: stm32_mpu_uheap + * + * Description: + * Map the user heap region. + * + ****************************************************************************/ + +#ifdef CONFIG_NUTTX_KERNEL +void stm32_mpu_uheap(uintptr_t start, size_t size); +#else +# define stm32_mpu_uheap(start,size) +#endif + +#endif /* __ARCH_ARM_SRC_STM32_STM32_MPUINIT_H */ diff --git a/nuttx/arch/arm/src/stm32/stm32_start.c b/nuttx/arch/arm/src/stm32/stm32_start.c index b90beeb16..a2f82f7b2 100644 --- a/nuttx/arch/arm/src/stm32/stm32_start.c +++ b/nuttx/arch/arm/src/stm32/stm32_start.c @@ -52,6 +52,7 @@ #include "stm32.h" #include "stm32_gpio.h" +#include "stm32_userspace.h" #ifdef CONFIG_ARCH_FPU # include "nvic.h" @@ -198,6 +199,7 @@ void __start(void) { *dest++ = 0; } + showprogress('B'); /* Move the intialized data section from his temporary holding spot in @@ -210,6 +212,7 @@ void __start(void) { *dest++ = *src++; } + showprogress('C'); /* Perform early serial initialization */ @@ -219,10 +222,21 @@ void __start(void) #endif showprogress('D'); + /* 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 + * segments. + */ + +#ifdef CONFIG_NUTTX_KERNEL + stm32_userspace(); + showprogress('E'); +#endif + /* Initialize onboard resources */ stm32_boardinitialize(); - showprogress('E'); + showprogress('F'); /* Then start NuttX */ diff --git a/nuttx/arch/arm/src/stm32/stm32_userspace.c b/nuttx/arch/arm/src/stm32/stm32_userspace.c new file mode 100644 index 000000000..c51e9e725 --- /dev/null +++ b/nuttx/arch/arm/src/stm32/stm32_userspace.c @@ -0,0 +1,119 @@ +/**************************************************************************** + * arch/arm/src/stm32/stm32_userspace.c + * + * Copyright (C) 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <stdint.h> +#include <assert.h> + +#include <nuttx/userspace.h> + +#include "stm32_mpuinit.h" +#include "stm32_userspace.h" + +#ifdef CONFIG_NUTTX_KERNEL + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_userspace + * + * Description: + * 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 + * segments. + * + ****************************************************************************/ + +void stm32_userspace(void) +{ + uint8_t *src; + uint8_t *dest; + uint8_t *end; + + /* Clear all of user-space .bss */ + + DEBUGASSERT(USERSPACE->us_bssstart != 0 && USERSPACE->us_bssend != 0 && + USERSPACE->us_bssstart <= USERSPACE->us_bssend); + + dest = (uint8_t*)USERSPACE->us_bssstart; + end = (uint8_t*)USERSPACE->us_bssend; + + while (dest != end) + { + *dest++ = 0; + } + + /* Initialize all of user-space .data */ + + DEBUGASSERT(USERSPACE->us_datasource != 0 && + USERSPACE->us_datastart != 0 && USERSPACE->us_dataend != 0 && + USERSPACE->us_datastart <= USERSPACE->us_dataend); + + src = (uint8_t*)USERSPACE->us_datasource; + dest = (uint8_t*)USERSPACE->us_datastart; + end = (uint8_t*)USERSPACE->us_dataend; + + while (dest != end) + { + *dest++ = *src++; + } + + /* Configure the MPU to permit user-space access to its FLASH and RAM */ + + stm32_mpuinitialize(); +} + +#endif /* CONFIG_NUTTX_KERNEL */ + diff --git a/nuttx/arch/arm/src/stm32/stm32_userspace.h b/nuttx/arch/arm/src/stm32/stm32_userspace.h new file mode 100644 index 000000000..16cd3c8e2 --- /dev/null +++ b/nuttx/arch/arm/src/stm32/stm32_userspace.h @@ -0,0 +1,76 @@ +/************************************************************************************ + * arch/arm/src/stm32/stm32_qei.h + * + * Copyright (C) 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************************/ + +#ifndef __ARCH_ARM_SRC_STM32_STM32_USERSPACE_H +#define __ARCH_ARM_SRC_STM32_STM32_USERSPACE_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include <nuttx/config.h> + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ + +/************************************************************************************ + * Public Types + ************************************************************************************/ + +/************************************************************************************ + * Public Data + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/**************************************************************************** + * Name: stm32_userspace + * + * Description: + * 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 + * segments. + * + ****************************************************************************/ + +#ifdef CONFIG_NUTTX_KERNEL +void stm32_userspace(void); +#endif + +#endif /* __ARCH_ARM_SRC_STM32_STM32_USERSPACE_H */ diff --git a/nuttx/arch/arm/src/stm32/stm32_vectors.S b/nuttx/arch/arm/src/stm32/stm32_vectors.S index 6b9c0affe..c81ae74f5 100644 --- a/nuttx/arch/arm/src/stm32/stm32_vectors.S +++ b/nuttx/arch/arm/src/stm32/stm32_vectors.S @@ -69,8 +69,8 @@ * 0x2000:ffff - End of SRAM and end of heap */ -#define IDLE_STACK (_ebss+CONFIG_IDLETHREAD_STACKSIZE-4) -#define HEAP_BASE (_ebss+CONFIG_IDLETHREAD_STACKSIZE-4) +#define IDLE_STACK (_ebss+CONFIG_IDLETHREAD_STACKSIZE-4) +#define HEAP_BASE (_ebss+CONFIG_IDLETHREAD_STACKSIZE) /* The Cortex-M3 return from interrupt is unusual. We provide the following special * address to the BX instruction. The particular value also forces a return to @@ -219,7 +219,7 @@ stm32_common: #ifdef CONFIG_NUTTX_KERNEL /* The EXC_RETURN value will be 0xfffffff9 (privileged thread) or 0xfffffff1 - * (handler mode) if the state is on the MSP. It can only be on the PSP if + * (handler mode) if the stack is on the MSP. It can only be on the PSP if * EXC_RETURN is 0xfffffffd (unprivileged thread) */ @@ -314,10 +314,10 @@ stm32_common: bl up_restorefpu /* Restore the FPU registers */ #endif - /* Returning with a pending context switch is different from the normal - * return 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 somevalues to the new stack. + /* We are returning with a pending context switch. This case is different + * because in this case, the register save structure does not lie in the + * stack but, rather, 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 */ @@ -343,6 +343,7 @@ stm32_common: #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 @@ -360,16 +361,25 @@ stm32_common: * r4-r11 = restored register values */ 2: + #ifdef CONFIG_NUTTX_KERNEL /* The EXC_RETURN value will be 0xfffffff9 (privileged thread) or 0xfffffff1 - * (handler mode) if the state is on the MSP. It can only be on the PSP if + * (handler mode) if the stack is on the MSP. It can only be on the PSP if * EXC_RETURN is 0xfffffffd (unprivileged thread) */ - adds r0, r14, #3 /* If R14=0xfffffffd, then r0 == 0 */ - ite ne /* Next two instructions are condition */ - msrne msp, r1 /* R1=The main stack pointer */ - msreq psp, r1 /* R1=The process stack pointer */ + mrs r2, control /* R2=Contents of the control register */ + tst r14, #EXC_RETURN_PROCESS_STACK /* nonzero if context on process stack */ + beq 3f /* Branch if privileged */ + + orr r2, r2, #1 /* Unprivileged mode */ + msr psp, r1 /* R1=The process stack pointer */ + b 4f +3: + bic r2, r2, #1 /* Privileged mode */ + msr msp, r1 /* R1=The main stack pointer */ +4: + msr control, r2 /* Save the updated control register */ #else msr msp, r1 /* Recover the return MSP value */ @@ -432,8 +442,7 @@ g_intstackbase: .globl g_idle_topstack .type g_idle_topstack, object g_idle_topstack: - .long _ebss+CONFIG_IDLETHREAD_STACKSIZE + .word HEAP_BASE .size g_idle_topstack, .-g_idle_topstack .end - |