diff options
Diffstat (limited to 'nuttx')
-rw-r--r-- | nuttx/ChangeLog | 8 | ||||
-rw-r--r-- | nuttx/arch/arm/src/armv6-m/svcall.h | 13 | ||||
-rw-r--r-- | nuttx/arch/arm/src/armv6-m/up_initialstate.c | 23 | ||||
-rw-r--r-- | nuttx/arch/arm/src/armv6-m/up_svcall.c | 55 | ||||
-rw-r--r-- | nuttx/arch/arm/src/armv7-m/svcall.h | 13 | ||||
-rw-r--r-- | nuttx/arch/arm/src/armv7-m/up_initialstate.c | 57 | ||||
-rw-r--r-- | nuttx/arch/arm/src/armv7-m/up_svcall.c | 59 | ||||
-rw-r--r-- | nuttx/arch/arm/src/common/up_task_start.c | 96 | ||||
-rw-r--r-- | nuttx/arch/arm/src/lpc17xx/Make.defs | 2 | ||||
-rw-r--r-- | nuttx/arch/arm/src/sam3u/Make.defs | 40 | ||||
-rw-r--r-- | nuttx/configs/open1788/kernel/up_userspace.c | 5 | ||||
-rwxr-xr-x | nuttx/configs/open1788/knsh/defconfig | 2 | ||||
-rwxr-xr-x | nuttx/configs/sam3u-ek/knsh/defconfig | 2 | ||||
-rw-r--r-- | nuttx/include/nuttx/arch.h | 29 | ||||
-rw-r--r-- | nuttx/include/nuttx/sched.h | 68 | ||||
-rw-r--r-- | nuttx/include/nuttx/userspace.h | 4 | ||||
-rw-r--r-- | nuttx/libc/sched/Make.defs | 4 | ||||
-rw-r--r-- | nuttx/libc/sched/task_startup.c | 104 | ||||
-rw-r--r-- | nuttx/sched/pthread_create.c | 9 | ||||
-rw-r--r-- | nuttx/sched/task_start.c | 27 |
20 files changed, 476 insertions, 144 deletions
diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog index 67c45a41a..9cb94e79e 100644 --- a/nuttx/ChangeLog +++ b/nuttx/ChangeLog @@ -4322,3 +4322,11 @@ configuration for the WaveShare Open1788 board. (2013-03-11) * arch/arm/src/armv7-m/up_mpu.c: Several fixes to MPU logic. (2013-03-12). + * arch/arm, configs/sam3u-ek, configs/open1788: Fix memory map for + kernel mode build; Some regions were overlapping. (2013-03-13). + * arch/: Rename g_heapbase to g_idle_topstack. This is the same value + however: The top of the IDLE stack is the same as the base of the + heap in the flat build. But not in the kernel build: The base of + the heap is elsewhere so the naming was wrong. (2013-03-13). + * libc/stdlib/lib_itoa.c: Implementation of itoa() contributed by + Ryan Sundberg. (2013-03-14).
\ No newline at end of file diff --git a/nuttx/arch/arm/src/armv6-m/svcall.h b/nuttx/arch/arm/src/armv6-m/svcall.h index 46a385631..f453cad55 100644 --- a/nuttx/arch/arm/src/armv6-m/svcall.h +++ b/nuttx/arch/arm/src/armv6-m/svcall.h @@ -57,9 +57,9 @@ #ifdef CONFIG_NUTTX_KERNEL # ifndef CONFIG_SYS_RESERVED -# error "CONFIG_SYS_RESERVED must be defined to the value 4" -# elif CONFIG_SYS_RESERVED != 4 -# error "CONFIG_SYS_RESERVED must have the value 4" +# error "CONFIG_SYS_RESERVED must be defined to the value 5" +# elif CONFIG_SYS_RESERVED != 5 +# error "CONFIG_SYS_RESERVED must have the value 5" # endif #endif @@ -93,6 +93,13 @@ */ #define SYS_syscall_return (3) + +/* SYS call 3: + * + * void up_task_start(main_t taskentry, int argc, FAR char *argv[]) noreturn_function; + */ + +#define SYS_task_start (4) #endif /************************************************************************************ diff --git a/nuttx/arch/arm/src/armv6-m/up_initialstate.c b/nuttx/arch/arm/src/armv6-m/up_initialstate.c index 3e7e3a48f..646d148c1 100644 --- a/nuttx/arch/arm/src/armv6-m/up_initialstate.c +++ b/nuttx/arch/arm/src/armv6-m/up_initialstate.c @@ -126,26 +126,13 @@ void up_initial_state(struct tcb_s *tcb) #endif #endif /* CONFIG_PIC */ - /* Set privileged- or unprivileged-mode, depending on how NuttX is - * configured and what kind of thread is being started. + /* All tasks start via a stub function in kernel space. So all + * tasks must start in privileged thread mode. If CONFIG_NUTTX_KERNEL + * is defined, then that stub function will switch to unprivileged + * mode before transferring control to the user task. */ -#ifdef CONFIG_NUTTX_KERNEL - if ((tcb->flags & TCB_FLAG_TTYPE_MASK) != TCB_FLAG_TTYPE_KERNEL) - { - /* It is a normal task or a pthread. Set user mode */ - - xcp->regs[REG_EXC_RETURN] = EXC_RETURN_UNPRIVTHR; - } - else - { - /* If the kernel build is not selected -OR- if this is a kernel - * thread, then start it in privileged thread mode. - */ - - xcp->regs[REG_EXC_RETURN] = EXC_RETURN_PRIVTHR; - } -#endif /* CONFIG_NUTTX_KERNEL */ + xcp->regs[REG_EXC_RETURN] = EXC_RETURN_PRIVTHR; /* Enable or disable interrupts, based on user configuration */ diff --git a/nuttx/arch/arm/src/armv6-m/up_svcall.c b/nuttx/arch/arm/src/armv6-m/up_svcall.c index b1bf1e4ec..f36e92297 100644 --- a/nuttx/arch/arm/src/armv6-m/up_svcall.c +++ b/nuttx/arch/arm/src/armv6-m/up_svcall.c @@ -232,9 +232,9 @@ int up_svcall(int irq, FAR void *context) } break; - /* R0=SYS_syscall_return: This a switch context command: + /* R0=SYS_syscall_return: This a syscall return command: * - * void up_sycall_return(void); + * void up_syscall_return(void); * * At this point, the following values are saved in context: * @@ -260,15 +260,48 @@ int up_svcall(int irq, FAR void *context) * unprivileged mode. */ - current_regs[REG_PC] = rtcb->xcp.sysreturn; - current_regs[REG_EXC_RETURN] = EXC_RETURN_UNPRIVTHR; - rtcb->xcp.sysreturn = 0; + regs[REG_PC] = rtcb->xcp.sysreturn; + regs[REG_EXC_RETURN] = EXC_RETURN_UNPRIVTHR; + rtcb->xcp.sysreturn = 0; /* The return value must be in R0-R1. dispatch_syscall() temporarily * moved the value to R2. */ - current_regs[REG_R0] = current_regs[REG_R2]; + regs[REG_R0] = regs[REG_R2]; + } + break; +#endif + + /* R0=SYS_task_start: This a user task start + * + * void up_task_start(main_t taskentry, int argc, FAR char *argv[]) noreturn_function; + * + * At this point, the following values are saved in context: + * + * R0 = SYS_task_start + * R1 = taskentry + * R2 = argc + * R3 = argv + */ + +#ifdef CONFIG_NUTTX_KERNEL + case SYS_task_start: + { + /* Set up to return to the user-space task start-up function in + * unprivileged mode. + */ + + regs[REG_PC] = (uint32_t)USERSPACE->task_startup; + regs[REG_EXC_RETURN] = EXC_RETURN_UNPRIVTHR; + + /* Change the paramter ordering to match the expection of struct + * userpace_s task_startup: + */ + + regs[REG_R0] = regs[REG_R1]; /* Task entry */ + regs[REG_R1] = regs[REG_R2]; /* argc */ + regs[REG_R2] = regs[REG_R3]; /* argv */ } break; #endif @@ -285,7 +318,7 @@ int up_svcall(int irq, FAR void *context) /* Verify the the SYS call number is within range */ - DEBUGASSERT(current_regs[REG_R0] < SYS_maxsyscall); + DEBUGASSERT(regs[REG_R0] < SYS_maxsyscall); /* Make sure that we got here from an unprivileged thread and that * there is a no saved syscall return address. @@ -296,13 +329,13 @@ int up_svcall(int irq, FAR void *context) /* Setup to return to dispatch_syscall in privileged mode. */ - rtcb->xcp.sysreturn = regs[REG_PC]; - regs[REG_PC] = (uint32_t)dispatch_syscall; - current_regs[REG_EXC_RETURN] = EXC_RETURN_PRIVTHR; + rtcb->xcp.sysreturn = regs[REG_PC]; + regs[REG_PC] = (uint32_t)dispatch_syscall; + regs[REG_EXC_RETURN] = EXC_RETURN_PRIVTHR; /* Offset R0 to account for the reserved values */ - current_regs[REG_R0] -= CONFIG_SYS_RESERVED; + regs[REG_R0] -= CONFIG_SYS_RESERVED; #else slldbg("ERROR: Bad SYS call: %d\n", regs[REG_R0]); #endif diff --git a/nuttx/arch/arm/src/armv7-m/svcall.h b/nuttx/arch/arm/src/armv7-m/svcall.h index 13b9935a0..f6b068f86 100644 --- a/nuttx/arch/arm/src/armv7-m/svcall.h +++ b/nuttx/arch/arm/src/armv7-m/svcall.h @@ -57,9 +57,9 @@ #ifdef CONFIG_NUTTX_KERNEL # ifndef CONFIG_SYS_RESERVED -# error "CONFIG_SYS_RESERVED must be defined to the value 4" -# elif CONFIG_SYS_RESERVED != 4 -# error "CONFIG_SYS_RESERVED must have the value 4" +# error "CONFIG_SYS_RESERVED must be defined to the value 5" +# elif CONFIG_SYS_RESERVED != 5 +# error "CONFIG_SYS_RESERVED must have the value 5" # endif #endif @@ -93,6 +93,13 @@ */ #define SYS_syscall_return (3) + +/* SYS call 3: + * + * void up_task_start(main_t taskentry, int argc, FAR char *argv[]) noreturn_function; + */ + +#define SYS_task_start (4) #endif /************************************************************************************ diff --git a/nuttx/arch/arm/src/armv7-m/up_initialstate.c b/nuttx/arch/arm/src/armv7-m/up_initialstate.c index 6f9abcd31..41828af5b 100644 --- a/nuttx/arch/arm/src/armv7-m/up_initialstate.c +++ b/nuttx/arch/arm/src/armv7-m/up_initialstate.c @@ -126,63 +126,20 @@ void up_initial_state(struct tcb_s *tcb) #endif #endif /* CONFIG_PIC */ -#ifdef CONFIG_ARMV7M_CMNVECTOR - /* Set privileged- or unprivileged-mode, depending on how NuttX is - * configured and what kind of thread is being started. - * - * If the kernel build is not selected, then all threads run in - * privileged thread mode. - * - * If FPU support is not configured, set the bit that indicates that - * the context does not include the volatile FP registers. + /* All tasks start via a stub function in kernel space. So all + * tasks must start in privileged thread mode. If CONFIG_NUTTX_KERNEL + * is defined, then that stub function will switch to unprivileged + * mode before transferring control to the user task. */ - xcp->regs[REG_EXC_RETURN] = EXC_RETURN_BASE | EXC_RETURN_THREAD_MODE; + xcp->regs[REG_EXC_RETURN] = EXC_RETURN_PRIVTHR; -#ifndef CONFIG_ARCH_FPU - - xcp->regs[REG_EXC_RETURN] |= EXC_RETURN_STD_CONTEXT; - -#else +#if defined(CONFIG_ARMV7M_CMNVECTOR) && defined(CONFIG_ARCH_FPU) xcp->regs[REG_FPSCR] = 0; // XXX initial FPSCR should be configurable xcp->regs[REG_FPReserved] = 0; -#endif /* CONFIG_ARCH_FPU */ - -#ifdef CONFIG_NUTTX_KERNEL - if ((tcb->flags & TCB_FLAG_TTYPE_MASK) != TCB_FLAG_TTYPE_KERNEL) - { - /* It is a normal task or a pthread. Set user mode */ - - xcp->regs[REG_EXC_RETURN] |= EXC_RETURN_PROCESS_STACK; - } -#endif /* CONFIG_NUTTX_KERNEL */ - -#else /* CONFIG_ARMV7M_CMNVECTOR */ - - /* Set privileged- or unprivileged-mode, depending on how NuttX is - * configured and what kind of thread is being started. - * - * If the kernel build is not selected, then all threads run in - * privileged thread mode. - */ - -#ifdef CONFIG_NUTTX_KERNEL - if ((tcb->flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_KERNEL) - { - /* It is a kernel thread.. set privileged thread mode */ - - xcp->regs[REG_EXC_RETURN] = EXC_RETURN_PRIVTHR; - } - else - { - /* It is a normal task or a pthread. Set user mode */ - - xcp->regs[REG_EXC_RETURN] = EXC_RETURN_UNPRIVTHR; - } -#endif /* CONFIG_NUTTX_KERNEL */ -#endif /* CONFIG_ARMV7M_CMNVECTOR */ +#endif /* CONFIG_ARMV7M_CMNVECTOR && CONFIG_ARCH_FPU */ /* Enable or disable interrupts, based on user configuration */ diff --git a/nuttx/arch/arm/src/armv7-m/up_svcall.c b/nuttx/arch/arm/src/armv7-m/up_svcall.c index 8321cd3bb..8f7efc1da 100644 --- a/nuttx/arch/arm/src/armv7-m/up_svcall.c +++ b/nuttx/arch/arm/src/armv7-m/up_svcall.c @@ -237,9 +237,9 @@ int up_svcall(int irq, FAR void *context) } break; - /* R0=SYS_syscall_return: This a switch context command: + /* R0=SYS_syscall_return: This a syscall return command: * - * void up_sycall_return(void); + * void up_syscall_return(void); * * At this point, the following values are saved in context: * @@ -256,23 +256,54 @@ int up_svcall(int irq, FAR void *context) /* Make sure that there is a saved syscall return address. */ - svcdbg("sysreturn: %08x excreturn: %08x\n", - rtcb->xcp.sysreturn, rtcb->xcp.excreturn); DEBUGASSERT(rtcb->xcp.sysreturn != 0); /* Setup to return to the saved syscall return address in * the original mode. */ - current_regs[REG_PC] = rtcb->xcp.sysreturn; - current_regs[REG_EXC_RETURN] = rtcb->xcp.excreturn; - rtcb->xcp.sysreturn = 0; + regs[REG_PC] = rtcb->xcp.sysreturn; + regs[REG_EXC_RETURN] = rtcb->xcp.excreturn; + rtcb->xcp.sysreturn = 0; /* The return value must be in R0-R1. dispatch_syscall() temporarily * moved the value for R0 into R2. */ - current_regs[REG_R0] = current_regs[REG_R2]; + regs[REG_R0] = regs[REG_R2]; + } + break; +#endif + + /* R0=SYS_task_start: This a user task start + * + * void up_task_start(main_t taskentry, int argc, FAR char *argv[]) noreturn_function; + * + * At this point, the following values are saved in context: + * + * R0 = SYS_task_start + * R1 = taskentry + * R2 = argc + * R3 = argv + */ + +#ifdef CONFIG_NUTTX_KERNEL + case SYS_task_start: + { + /* Set up to return to the user-space task start-up function in + * unprivileged mode. + */ + + regs[REG_PC] = (uint32_t)USERSPACE->task_startup; + regs[REG_EXC_RETURN] = EXC_RETURN_UNPRIVTHR; + + /* Change the paramter ordering to match the expection of struct + * userpace_s task_startup: + */ + + regs[REG_R0] = regs[REG_R1]; /* Task entry */ + regs[REG_R1] = regs[REG_R2]; /* argc */ + regs[REG_R2] = regs[REG_R3]; /* argv */ } break; #endif @@ -289,7 +320,7 @@ int up_svcall(int irq, FAR void *context) /* Verify that the SYS call number is within range */ - DEBUGASSERT(current_regs[REG_R0] < SYS_maxsyscall); + DEBUGASSERT(regs[REG_R0] < SYS_maxsyscall); /* Make sure that we got here that there is a no saved syscall * return address. We cannot yet handle nested system calls. @@ -299,15 +330,15 @@ int up_svcall(int irq, FAR void *context) /* Setup to return to dispatch_syscall in privileged mode. */ - rtcb->xcp.sysreturn = regs[REG_PC]; - rtcb->xcp.excreturn = current_regs[REG_EXC_RETURN]; + rtcb->xcp.sysreturn = regs[REG_PC]; + rtcb->xcp.excreturn = regs[REG_EXC_RETURN]; - current_regs[REG_PC] = (uint32_t)dispatch_syscall; - current_regs[REG_EXC_RETURN] = EXC_RETURN_PRIVTHR; + regs[REG_PC] = (uint32_t)dispatch_syscall; + regs[REG_EXC_RETURN] = EXC_RETURN_PRIVTHR; /* Offset R0 to account for the reserved values */ - current_regs[REG_R0] -= CONFIG_SYS_RESERVED; + regs[REG_R0] -= CONFIG_SYS_RESERVED; #else slldbg("ERROR: Bad SYS call: %d\n", regs[REG_R0]); #endif diff --git a/nuttx/arch/arm/src/common/up_task_start.c b/nuttx/arch/arm/src/common/up_task_start.c new file mode 100644 index 000000000..c006f9595 --- /dev/null +++ b/nuttx/arch/arm/src/common/up_task_start.c @@ -0,0 +1,96 @@ +/**************************************************************************** + * arch/arm/src/common/up_task_start.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 <nuttx/arch.h> + +#include "svcall.h" +#include "up_internal.h" + +#ifdef CONFIG_NUTTX_KERNEL + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: up_task_start + * + * Description: + * In this kernel mode build, this function will be called to execute a + * task in user-space. When the task is first started, a kernel-mode + * stub will first run to perform some housekeeping functions. This + * kernel-mode stub will then be called transfer control to the user-mode + * task. + * + * Normally the a user-mode start-up stub will also execute before the + * task actually starts. See libc/sched/task_startup.c + * + * Input Parameters: + * taskentry - The user-space entry point of the task. + * argc - The number of parameters being passed. + * argv - The parameters being passed. These lie in kernel-space memory + * and will have to be reallocated in user-space memory. + * + * Returned Value: + * This function should not return. It should call the user-mode start-up + * stub and that stub should call exit if/when the user task terminates. + * + ****************************************************************************/ + +void up_task_start(main_t taskentry, int argc, FAR char *argv[]) +{ + /* Let sys_call3() do all of the work */ + + sys_call3(SYS_task_start, (uintptr_t)taskentry, (uintptr_t)argc, (uintptr_t)argv); +} + +#endif /* CONFIG_NUTTX_KERNEL */ diff --git a/nuttx/arch/arm/src/lpc17xx/Make.defs b/nuttx/arch/arm/src/lpc17xx/Make.defs index 679e51a5f..82ce2c4b6 100644 --- a/nuttx/arch/arm/src/lpc17xx/Make.defs +++ b/nuttx/arch/arm/src/lpc17xx/Make.defs @@ -64,7 +64,7 @@ CMN_ASRCS += up_memcpy.S endif ifeq ($(CONFIG_NUTTX_KERNEL),y) -CMN_CSRCS += up_mpu.c +CMN_CSRCS += up_mpu.c up_task_start.c endif ifeq ($(CONFIG_NET),y) diff --git a/nuttx/arch/arm/src/sam3u/Make.defs b/nuttx/arch/arm/src/sam3u/Make.defs index 1255af237..918d40148 100644 --- a/nuttx/arch/arm/src/sam3u/Make.defs +++ b/nuttx/arch/arm/src/sam3u/Make.defs @@ -35,28 +35,28 @@ # The start-up, "head", file -HEAD_ASRC = sam3u_vectors.S +HEAD_ASRC = sam3u_vectors.S # Common ARM and Cortex-M3 files -CMN_ASRCS = up_saveusercontext.S up_fullcontextrestore.S up_switchcontext.S \ - vfork.S -CMN_CSRCS = up_assert.c up_blocktask.c up_copystate.c up_createstack.c \ - up_mdelay.c up_udelay.c up_exit.c up_idle.c up_initialize.c \ - up_initialstate.c up_interruptcontext.c up_memfault.c up_modifyreg8.c \ - up_modifyreg16.c up_modifyreg32.c up_releasepending.c \ - up_releasestack.c up_reprioritizertr.c up_schedulesigaction.c \ - up_sigdeliver.c up_unblocktask.c up_usestack.c up_doirq.c \ - up_hardfault.c up_svcall.c up_vfork.c +CMN_ASRCS = up_saveusercontext.S up_fullcontextrestore.S up_switchcontext.S +CMN_ASRCS += vfork.S +CMN_CSRCS = up_assert.c up_blocktask.c up_copystate.c up_createstack.c +CMN_CSRCS += up_mdelay.c up_udelay.c up_exit.c up_idle.c up_initialize.c +CMN_CSRCS += up_initialstate.c up_interruptcontext.c up_memfault.c up_modifyreg8.c +CMN_CSRCS += up_modifyreg16.c up_modifyreg32.c up_releasepending.c +CMN_CSRCS += up_releasestack.c up_reprioritizertr.c up_schedulesigaction.c +CMN_CSRCS += up_sigdeliver.c up_unblocktask.c up_usestack.c up_doirq.c +CMN_CSRCS += up_hardfault.c up_svcall.c up_vfork.c # Configuration-dependent common files ifeq ($(CONFIG_ARCH_MEMCPY),y) -CMN_ASRCS += up_memcpy.S +CMN_ASRCS += up_memcpy.S endif ifeq ($(CONFIG_NUTTX_KERNEL),y) -CMN_CSRCS += up_mpu.c +CMN_CSRCS += up_mpu.c up_task_start.c endif ifeq ($(CONFIG_ELF),y) @@ -65,25 +65,25 @@ endif # Required SAM3U files -CHIP_ASRCS = -CHIP_CSRCS = sam3u_allocateheap.c sam3u_clockconfig.c sam3u_gpioirq.c \ - sam3u_irq.c sam3u_lowputc.c sam3u_pio.c sam3u_serial.c \ - sam3u_start.c sam3u_timerisr.c +CHIP_ASRCS = +CHIP_CSRCS = sam3u_allocateheap.c sam3u_clockconfig.c sam3u_gpioirq.c +CHIP_CSRCS += sam3u_irq.c sam3u_lowputc.c sam3u_pio.c sam3u_serial.c +CHIP_CSRCS += sam3u_start.c sam3u_timerisr.c # Configuration-dependent SAM3U files ifeq ($(CONFIG_NUTTX_KERNEL),y) -CHIP_CSRCS += sam3u_userspace.c sam3u_mpuinit.c +CHIP_CSRCS += sam3u_userspace.c sam3u_mpuinit.c endif ifeq ($(CONFIG_SAM3U_DMA),y) -CHIP_CSRCS += sam3u_dmac.c +CHIP_CSRCS += sam3u_dmac.c endif ifeq ($(CONFIG_SAM3U_HSMCI),y) -CHIP_CSRCS += sam3u_hsmci.c +CHIP_CSRCS += sam3u_hsmci.c endif ifeq ($(CONFIG_SAM3U_SPI),y) -CHIP_CSRCS += sam3u_spi.c +CHIP_CSRCS += sam3u_spi.c endif diff --git a/nuttx/configs/open1788/kernel/up_userspace.c b/nuttx/configs/open1788/kernel/up_userspace.c index 62c83e735..e2cb8c013 100644 --- a/nuttx/configs/open1788/kernel/up_userspace.c +++ b/nuttx/configs/open1788/kernel/up_userspace.c @@ -44,6 +44,7 @@ #include <nuttx/userspace.h> #include <nuttx/wqueue.h> #include <nuttx/mm.h> +#include <nuttx/sched.h> #if defined(CONFIG_NUTTX_KERNEL) && !defined(__KERNEL__) @@ -101,6 +102,10 @@ const struct userspace_s userspace __attribute__ ((section (".userspace"))) = .us_bssstart = (uintptr_t)&_sbss, .us_bssend = (uintptr_t)&_ebss, + /* Task/thread startup stubs */ + + .task_startup = task_startup, + /* Memory manager entry points (declared in include/nuttx/mm.h) */ .mm_initialize = umm_initialize, diff --git a/nuttx/configs/open1788/knsh/defconfig b/nuttx/configs/open1788/knsh/defconfig index 22042073c..50b4e3d6d 100755 --- a/nuttx/configs/open1788/knsh/defconfig +++ b/nuttx/configs/open1788/knsh/defconfig @@ -344,7 +344,7 @@ CONFIG_IDLETHREAD_STACKSIZE=1024 CONFIG_USERMAIN_STACKSIZE=2048 CONFIG_PTHREAD_STACK_MIN=256 CONFIG_PTHREAD_STACK_DEFAULT=2048 -CONFIG_SYS_RESERVED=4 +CONFIG_SYS_RESERVED=5 # # Device Drivers diff --git a/nuttx/configs/sam3u-ek/knsh/defconfig b/nuttx/configs/sam3u-ek/knsh/defconfig index 93d436e54..7146ef6bf 100755 --- a/nuttx/configs/sam3u-ek/knsh/defconfig +++ b/nuttx/configs/sam3u-ek/knsh/defconfig @@ -249,7 +249,7 @@ CONFIG_IDLETHREAD_STACKSIZE=1024 CONFIG_USERMAIN_STACKSIZE=2048 CONFIG_PTHREAD_STACK_MIN=256 CONFIG_PTHREAD_STACK_DEFAULT=2048 -CONFIG_SYS_RESERVED=4 +CONFIG_SYS_RESERVED=5 # # Device Drivers diff --git a/nuttx/include/nuttx/arch.h b/nuttx/include/nuttx/arch.h index 8f3a906bb..7bdd90ade 100644 --- a/nuttx/include/nuttx/arch.h +++ b/nuttx/include/nuttx/arch.h @@ -366,6 +366,35 @@ void up_schedule_sigaction(FAR struct tcb_s *tcb, sig_deliver_t sigdeliver); #endif /**************************************************************************** + * Name: up_task_start + * + * Description: + * In this kernel mode build, this function will be called to execute a + * task in user-space. When the task is first started, a kernel-mode + * stub will first run to perform some housekeeping functions. This + * kernel-mode stub will then be called transfer control to the user-mode + * task. + * + * Normally the a user-mode start-up stub will also execute before the + * task actually starts. See libc/sched/task_startup.c + * + * Input Parameters: + * taskentry - The user-space entry point of the task. + * argc - The number of parameters being passed. + * argv - The parameters being passed. These lie in kernel-space memory + * and will have to be reallocated in user-space memory. + * + * Returned Value: + * This function should not return. It should call the user-mode start-up + * stub and that stub should call exit if/when the user task terminates. + * + ****************************************************************************/ + +#ifdef CONFIG_NUTTX_KERNEL +void up_task_start(main_t taskentry, int argc, FAR char *argv[]) noreturn_function; +#endif + +/**************************************************************************** * Name: up_allocate_heap * * Description: diff --git a/nuttx/include/nuttx/sched.h b/nuttx/include/nuttx/sched.h index 62ad1cc47..f707e8269 100644 --- a/nuttx/include/nuttx/sched.h +++ b/nuttx/include/nuttx/sched.h @@ -600,11 +600,24 @@ extern "C" * Public Function Prototypes ********************************************************************************/ -/* TCB helpers */ +/* TCB helpers ******************************************************************/ +/* sched_self() returns the TCB of the currently running task (i.e., the + * caller) + */ FAR struct tcb_s *sched_self(void); -/* File system helpers */ +/* sched_foreach will enumerate over each task and provide the TCB of each task + * or thread to a callback function. Interrupts will be disabled throughout + * this enumeration! + */ + +void sched_foreach(sched_foreach_t handler, FAR void *arg); + +/* File system helpers **********************************************************/ +/* These functions all extract lists from the group structure assocated with the + * currently executing task. + */ #if CONFIG_NFILE_DESCRIPTORS > 0 FAR struct filelist *sched_getfiles(void); @@ -617,13 +630,32 @@ FAR struct streamlist *sched_getstreams(void); FAR struct socketlist *sched_getsockets(void); #endif /* CONFIG_NSOCKET_DESCRIPTORS */ -/* Setup up a start hook */ +/******************************************************************************** + * Name: task_starthook + * + * Description: + * Configure a start hook... a function that will be called on the thread + * of the new task before the new task's main entry point is called. + * The start hook is useful, for example, for setting up automatic + * configuration of C++ constructors. + * + * Inputs: + * tcb - The new, unstarted task task that needs the start hook + * starthook - The pointer to the start hook function + * arg - The argument to pass to the start hook function. + * + * Return: + * None + * + ********************************************************************************/ #ifdef CONFIG_SCHED_STARTHOOK -void task_starthook(FAR struct task_tcb_s *tcb, starthook_t starthook, FAR void *arg); +void task_starthook(FAR struct task_tcb_s *tcb, starthook_t starthook, + FAR void *arg); #endif -/* Internal vfork support.The overall sequence is: +/******************************************************************************** + * Internal vfork support. The overall sequence is: * * 1) User code calls vfork(). vfork() is provided in architecture-specific * code. @@ -643,18 +675,32 @@ void task_starthook(FAR struct task_tcb_s *tcb, starthook_t starthook, FAR void * 6) task_vforkstart() then executes the child thread. * * task_vforkabort() may be called if an error occurs between steps 3 and 6. - */ + * + ********************************************************************************/ FAR struct task_tcb_s *task_vforksetup(start_t retaddr); pid_t task_vforkstart(FAR struct task_tcb_s *child); void task_vforkabort(FAR struct task_tcb_s *child, int errcode); -/* sched_foreach will enumerate over each task and provide the - * TCB of each task to a user callback functions. Interrupts - * will be disabled throughout this enumeration! - */ +/**************************************************************************** + * Name: task_startup + * + * Description: + * This function is the user-space, task startup function. It is called + * from up_task_start() in user-mode. + * + * Inputs: + * entrypt - The user-space address of the task entry point + * argc and argv - Standard arguments for the task entry point + * + * Return: + * None. This function does not return. + * + ****************************************************************************/ -void sched_foreach(sched_foreach_t handler, FAR void *arg); +#if defined(CONFIG_NUTTX_KERNEL) && !defined(__KERNEL__) +void task_startup(main_t entrypt, int argc, FAR char *argv[]); +#endif #undef EXTERN #if defined(__cplusplus) diff --git a/nuttx/include/nuttx/userspace.h b/nuttx/include/nuttx/userspace.h index d2192fe5f..40fe656b0 100644 --- a/nuttx/include/nuttx/userspace.h +++ b/nuttx/include/nuttx/userspace.h @@ -111,6 +111,10 @@ struct userspace_s uintptr_t us_bssstart; uintptr_t us_bssend; + /* Task/thread startup stubs */ + + void (*task_startup)(main_t entrypt, int argc, FAR char *argv[]) noreturn_function; + /* Memory manager entry points */ void (*mm_initialize)(FAR void *heap_start, size_t heap_size); diff --git a/nuttx/libc/sched/Make.defs b/nuttx/libc/sched/Make.defs index d2356db0f..310a6259b 100644 --- a/nuttx/libc/sched/Make.defs +++ b/nuttx/libc/sched/Make.defs @@ -37,6 +37,10 @@ CSRCS += sched_getprioritymax.c sched_getprioritymin.c +ifeq ($(CONFIG_NUTTX_KERNEL),y) +CSRCS += task_startup.c +endif + # Add the sched directory to the build DEPPATH += --dep-path sched diff --git a/nuttx/libc/sched/task_startup.c b/nuttx/libc/sched/task_startup.c new file mode 100644 index 000000000..8795faa7a --- /dev/null +++ b/nuttx/libc/sched/task_startup.c @@ -0,0 +1,104 @@ +/**************************************************************************** + * libc/sched/task_startup.c + * + * Copyright (C) 2013 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <stdlib.h> +#include <assert.h> + +#include <nuttx/sched.h> + +#if defined(CONFIG_NUTTX_KERNEL) && !defined(__KERNEL__) + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Type Declarations + ****************************************************************************/ + +/**************************************************************************** + * Global Variables + ****************************************************************************/ + +/**************************************************************************** + * Private Variables + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: task_startup + * + * Description: + * This function is the user-space, task startup function. It is called + * from up_task_start() in user-mode. + * + * Inputs: + * entrypt - The user-space address of the task entry point + * argc and argv - Standard arguments for the task entry point + * + * Return: + * None. This function does not return. + * + ****************************************************************************/ + +void task_startup(main_t entrypt, int argc, FAR char *argv[]) +{ + DEBUGASSERT(entrypt); + + /* Call the 'main' entry point passing argc and argv, calling exit() + * if/when the task returns. + */ + + exit(entrypt(argc, argv)); +} + +#endif /* CONFIG_NUTTX_KERNEL && !__KERNEL__ */ diff --git a/nuttx/sched/pthread_create.c b/nuttx/sched/pthread_create.c index 346f51411..3fcb7eea1 100644 --- a/nuttx/sched/pthread_create.c +++ b/nuttx/sched/pthread_create.c @@ -174,9 +174,7 @@ static void pthread_start(void) DEBUGASSERT(group && pjoin); - /* Sucessfully spawned, add the pjoin to our data set. - * Don't re-enable pre-emption until this is done. - */ + /* Sucessfully spawned, add the pjoin to our data set. */ (void)pthread_takesemaphore(&group->tg_joinsem); pthread_addjoininfo(group, pjoin); @@ -187,10 +185,7 @@ static void pthread_start(void) pjoin->started = true; (void)pthread_givesemaphore(&pjoin->data_sem); - /* Pass control to the thread entry point. The argument is - * argv[1]. argv[0] (the thread name) and argv[2-4] are not made - * available to the pthread. - */ + /* Pass control to the thread entry point. */ exit_status = (*ptcb->cmn.entry.pthread)(ptcb->arg); diff --git a/nuttx/sched/task_start.c b/nuttx/sched/task_start.c index 8e012b515..e9667d486 100644 --- a/nuttx/sched/task_start.c +++ b/nuttx/sched/task_start.c @@ -43,10 +43,13 @@ #include <sched.h> #include <debug.h> +#include <nuttx/arch.h> +#include <nuttx/sched.h> + #include "os_internal.h" /**************************************************************************** - * Definitions + * Pre-processor Definitions ****************************************************************************/ /**************************************************************************** @@ -92,6 +95,7 @@ void task_start(void) { FAR struct task_tcb_s *tcb = (FAR struct task_tcb_s*)g_readytorun.head; + int exitcode; int argc; DEBUGASSERT((tcb->cmn.flags & TCB_FLAG_TTYPE_MASK) != TCB_FLAG_TTYPE_PTHREAD); @@ -117,9 +121,24 @@ void task_start(void) } } - /* Call the 'main' entry point passing argc and argv. If/when - * the task returns. + /* Call the 'main' entry point passing argc and argv. In the kernel build + * this has to be handled differently if we are starting a user-space task; + * we have to switch to user-mode before calling the task. */ - exit(tcb->cmn.entry.main(argc, tcb->argv)); +#ifdef CONFIG_NUTTX_KERNEL + if ((tcb->cmn.flags & TCB_FLAG_TTYPE_MASK) != TCB_FLAG_TTYPE_KERNEL) + { + up_task_start(tcb->cmn.entry.main, argc, tcb->argv); + exitcode = EXIT_FAILURE; /* Should not get here */ + } + else +#endif + { + exitcode = tcb->cmn.entry.main(argc, tcb->argv); + } + + /* Call exit() if/when the task returns */ + + exit(exitcode); } |