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Merge Nuttx r5554

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This commit is contained in:
px4dev
2013-01-23 23:56:24 -08:00
parent b60a744b77 63f8c0a954
commit 35febbe844
89 changed files with 3647 additions and 734 deletions
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apps/ChangeLog.txt
+7
View File
@@ -485,3 +485,10 @@
argument is now optional. Many files systems do not need
a source and it is really stupid to have to enter a bogus
source parameter.
* apps/nshlib/nsh_fileapp.c: Add the ability to execute a file
from a file system using posix_spawn().
* apps/builtin/: Extensions from Mike Smith.
* apps/examples/ftpd/Makefile: Name ftpd_start is not the name of
the entrypoint. Should be ftpd_main (from Yan T.)
* apps/netutils/telnetd/telnetd_driver: Was stuck in a loop if
recv[from]() ever returned a value <= 0.
apps/builtin/Makefile
+1 -1
View File
@@ -39,7 +39,7 @@ include $(APPDIR)/Make.defs
# Source and object files
ASRCS =
CSRCS = builtin.c exec_builtin.c
CSRCS = builtin.c builtin_list.c exec_builtin.c
AOBJS = $(ASRCS:.S=$(OBJEXT))
COBJS = $(CSRCS:.c=$(OBJEXT))
apps/builtin/builtin.c
+8 -25
View File
@@ -55,27 +55,8 @@
* Public Data
****************************************************************************/
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
#include "builtin_proto.h"
const struct builtin_s g_builtins[] =
{
# include "builtin_list.h"
{ NULL, 0, 0, 0 }
};
#undef EXTERN
#if defined(__cplusplus)
}
#endif
extern const struct builtin_s g_builtins[];
extern const int g_builtin_count;
/****************************************************************************
* Private Data
@@ -89,9 +70,11 @@ const struct builtin_s g_builtins[] =
* Public Functions
****************************************************************************/
int number_builtins(void)
FAR const struct builtin_s *builtin_for_index(int index)
{
return sizeof(g_builtins)/sizeof(struct builtin_s) - 1;
if (index < g_builtin_count)
{
return &g_builtins[index];
}
return NULL;
}
apps/builtin/builtin_list.c
+79
View File
@@ -0,0 +1,79 @@
/****************************************************************************
* apps/builtin/builtin_list.c
*
* Copyright (C) 2011 Uros Platise. All rights reserved.
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Authors: Uros Platise <uros.platise@isotel.eu>
* 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/binfmt/builtin.h>
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
#include "builtin_proto.h"
const struct builtin_s g_builtins[] =
{
# include "builtin_list.h"
{ NULL, 0, 0, 0 }
};
const int g_builtin_count = sizeof(g_builtins) / sizeof(g_builtins[0]);
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
apps/builtin/exec_builtin.c
+58 -14
View File
@@ -46,6 +46,7 @@
#include <nuttx/config.h>
#include <sys/wait.h>
#include <sched.h>
#include <string.h>
#include <fcntl.h>
@@ -92,7 +93,9 @@ struct builtin_parms_s
****************************************************************************/
static sem_t g_builtin_parmsem = SEM_INITIALIZER(1);
#ifndef CONFIG_SCHED_WAITPID
static sem_t g_builtin_execsem = SEM_INITIALIZER(0);
#endif
static struct builtin_parms_s g_builtin_parms;
/****************************************************************************
@@ -121,7 +124,7 @@ static void bultin_semtake(FAR sem_t *sem)
do
{
ret = sem_wait(sem);
ASSERT(ret == 0 || errno == EINTR);
ASSERT(ret == 0 || get_errno() == EINTR);
}
while (ret != 0);
}
@@ -142,8 +145,17 @@ static void bultin_semtake(FAR sem_t *sem)
static int builtin_taskcreate(int index, FAR const char **argv)
{
FAR const struct builtin_s *b;
int ret;
b = builtin_for_index(index);
if (b == NULL)
{
set_errno(ENOENT);
return ERROR;
}
/* Disable pre-emption. This means that although we start the builtin
* application here, it will not actually run until pre-emption is
* re-enabled below.
@@ -153,8 +165,7 @@ static int builtin_taskcreate(int index, FAR const char **argv)
/* Start the builtin application task */
ret = TASK_CREATE(g_builtins[index].name, g_builtins[index].priority,
g_builtins[index].stacksize, g_builtins[index].main,
ret = TASK_CREATE(b->name, b->priority, b->stacksize, b->main,
(argv) ? &argv[1] : (FAR const char **)NULL);
/* If robin robin scheduling is enabled, then set the scheduling policy
@@ -171,7 +182,7 @@ static int builtin_taskcreate(int index, FAR const char **argv)
* new task cannot yet have changed from its initial value.
*/
param.sched_priority = g_builtins[index].priority;
param.sched_priority = b->priority;
(void)sched_setscheduler(ret, SCHED_RR, &param);
}
#endif
@@ -217,7 +228,7 @@ static int builtin_proxy(int argc, char *argv[])
{
/* Remember the errno value. ret is already set to ERROR */
g_builtin_parms.errcode = errno;
g_builtin_parms.errcode = get_errno();
sdbg("ERROR: open of %s failed: %d\n",
g_builtin_parms.redirfile, g_builtin_parms.errcode);
}
@@ -235,7 +246,7 @@ static int builtin_proxy(int argc, char *argv[])
ret = dup2(fd, 1);
if (ret < 0)
{
g_builtin_parms.errcode = errno;
g_builtin_parms.errcode = get_errno();
sdbg("ERROR: dup2 failed: %d\n", g_builtin_parms.errcode);
}
@@ -255,18 +266,26 @@ static int builtin_proxy(int argc, char *argv[])
ret = builtin_taskcreate(g_builtin_parms.index, g_builtin_parms.argv);
if (ret < 0)
{
g_builtin_parms.errcode = errno;
g_builtin_parms.errcode = get_errno();
sdbg("ERROR: builtin_taskcreate failed: %d\n",
g_builtin_parms.errcode);
}
}
/* NOTE: There is a logical error here if CONFIG_SCHED_HAVE_PARENT is
* defined: The new task is the child of this proxy task, not the
* original caller. As a consequence, operations like waitpid() will
* fail on the caller's thread.
*/
/* Post the semaphore to inform the parent task that we have completed
* what we need to do.
*/
g_builtin_parms.result = ret;
#ifndef CONFIG_SCHED_WAITPID
builtin_semgive(&g_builtin_execsem);
#endif
return 0;
}
@@ -291,10 +310,11 @@ static inline int builtin_startproxy(int index, FAR const char **argv,
struct sched_param param;
pid_t proxy;
int errcode;
#ifdef CONFIG_SCHED_WAITPID
int status;
#endif
int ret;
// DEBUGASSERT(path);
svdbg("index=%d argv=%p redirfile=%s oflags=%04x\n",
index, argv, redirfile, oflags);
@@ -326,11 +346,21 @@ static inline int builtin_startproxy(int index, FAR const char **argv,
ret = sched_getparam(0, &param);
if (ret < 0)
{
errcode = errno;
errcode = get_errno();
sdbg("ERROR: sched_getparam failed: %d\n", errcode);
goto errout;
goto errout_with_sem;
}
/* Disable pre-emption so that the proxy does not run until we waitpid
* is called. This is probably unnecessary since the builtin_proxy has
* the same priority as this thread; it should be schedule behind this
* task in the ready-to-run list.
*/
#ifdef CONFIG_SCHED_WAITPID
sched_lock();
#endif
/* Start the intermediary/proxy task at the same priority as the parent task. */
proxy = TASK_CREATE("builtin_proxy", param.sched_priority,
@@ -338,16 +368,25 @@ static inline int builtin_startproxy(int index, FAR const char **argv,
(FAR const char **)NULL);
if (proxy < 0)
{
errcode = errno;
errcode = get_errno();
sdbg("ERROR: Failed to start builtin_proxy: %d\n", errcode);
goto errout;
goto errout_with_lock;
}
/* Wait for the proxy to complete its job. We could use waitpid()
* for this.
*/
#ifdef CONFIG_SCHED_WAITPID
ret = waitpid(proxy, &status, 0);
if (ret < 0)
{
sdbg("ERROR: waitpid() failed: %d\n", get_errno());
goto errout_with_lock;
}
#else
bultin_semtake(&g_builtin_execsem);
#endif
/* Get the result and relinquish our access to the parameter structure */
@@ -355,7 +394,12 @@ static inline int builtin_startproxy(int index, FAR const char **argv,
builtin_semgive(&g_builtin_parmsem);
return g_builtin_parms.result;
errout:
errout_with_lock:
#ifdef CONFIG_SCHED_WAITPID
sched_unlock();
#endif
errout_with_sem:
set_errno(errcode);
builtin_semgive(&g_builtin_parmsem);
return ERROR;
apps/examples/nsh/nsh_main.c
+38
View File
@@ -46,6 +46,12 @@
#include <errno.h>
#include <nuttx/arch.h>
#if defined(CONFIG_FS_BINFS) && (CONFIG_BUILTIN)
#include <nuttx/binfmt/builtin.h>
#endif
#if defined(CONFIG_LIBC_EXECFUNCS) && defined(CONFIG_EXECFUNCS_SYMTAB)
#include <nuttx/binfmt/symtab.h>
#endif
#include <apps/nsh.h>
@@ -75,6 +81,21 @@
* Public Data
****************************************************************************/
/* If posix_spawn() is enabled as required for CONFIG_NSH_FILE_APPS, then
* a symbol table is needed by the internals of posix_spawn(). The symbol
* table is needed to support ELF and NXFLAT binaries to dynamically link to
* the base code. However, if only the BINFS file system is supported, then
* no Makefile is needed.
*
* This is a kludge to plug the missing file system in the case where BINFS
* is used. REVISIT: This will, of course, be in the way if you want to
* support ELF or NXFLAT binaries!
*/
#if defined(CONFIG_LIBC_EXECFUNCS) && defined(CONFIG_EXECFUNCS_SYMTAB)
const struct symtab_s CONFIG_EXECFUNCS_SYMTAB[1];
#endif
/****************************************************************************
* Private Functions
****************************************************************************/
@@ -98,6 +119,23 @@ int nsh_main(int argc, char *argv[])
up_cxxinitialize();
#endif
/* Make sure that we are using our symbol take */
#if defined(CONFIG_LIBC_EXECFUNCS) && defined(CONFIG_EXECFUNCS_SYMTAB)
exec_setsymtab(CONFIG_EXECFUNCS_SYMTAB, 0);
#endif
/* Register the BINFS file system */
#if defined(CONFIG_FS_BINFS) && (CONFIG_BUILTIN)
ret = builtin_initialize();
if (ret < 0)
{
fprintf(stderr, "ERROR: builtin_initialize failed: %d\n", ret);
exitval = 1;
}
#endif
/* Initialize the NSH library */
nsh_initialize();
apps/nshlib/Kconfig
+10 -1
View File
@@ -14,7 +14,7 @@ config NSH_LIBRARY
if NSH_LIBRARY
config NSH_BUILTIN_APPS
bool "Enable built-in applications"
default y
default n
depends on BUILTIN
---help---
Support external registered, "built-in" applications that can be
@@ -22,6 +22,15 @@ config NSH_BUILTIN_APPS
more information). This options requires support for builtin
applications (BUILTIN).
config NSH_FILE_APPS
bool "Enable execution of program files"
default n
depends on LIBC_EXECFUNCS
---help---
Support execution of program files residing within a file
system. This options requires support for the posix_spawn()
interface (LIBC_EXECFUNCS).
menu "Disable Individual commands"
config NSH_DISABLE_BASE64DEC
apps/nshlib/Makefile
+4
View File
@@ -47,6 +47,10 @@ ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
CSRCS += nsh_builtin.c
endif
ifeq ($(CONFIG_NSH_FILE_APPS),y)
CSRCS += nsh_fileapps.c
endif
ifeq ($(CONFIG_NSH_ROMFSETC),y)
CSRCS += nsh_romfsetc.c
endif
apps/nshlib/nsh.h
+5
View File
@@ -495,6 +495,11 @@ int nsh_builtin(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
FAR char **argv, FAR const char *redirfile, int oflags);
#endif
#ifdef CONFIG_NSH_FILE_APPS
int nsh_fileapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
FAR char **argv, FAR const char *redirfile, int oflags);
#endif
/* Working directory support */
#if CONFIG_NFILE_DESCRIPTORS > 0 && !defined(CONFIG_DISABLE_ENVIRON)
apps/nshlib/nsh_builtin.c
+49 -14
View File
@@ -116,8 +116,8 @@ int nsh_builtin(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
{
int ret = OK;
/* Lock the scheduler to prevent the application from running until the
* waitpid() has been called.
/* Lock the scheduler in an attempt to prevent the application from
* running until waitpid() has been called.
*/
sched_lock();
@@ -129,16 +129,20 @@ int nsh_builtin(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
ret = exec_builtin(cmd, (FAR const char **)argv, redirfile, oflags);
if (ret >= 0)
{
/* The application was successfully started (but still blocked because
* the scheduler is locked). If the application was not backgrounded,
* then we need to wait here for the application to exit. These really
* only works works with the following options:
/* The application was successfully started with pre-emption disabled.
* In the simplest cases, the application will not have run because the
* the scheduler is locked. But in the case where I/O was redirected, a
* proxy task ran and broke our lock. As result, the application may
* have aso ran if its priority was higher than than the priority of
* this thread.
*
* If the application did not run to completion and if the application
* was not backgrounded, then we need to wait here for the application
* to exit. This only works works with the following options:
*
* - CONFIG_NSH_DISABLEBG - Do not run commands in background
* - CONFIG_SCHED_WAITPID - Required to run external commands in
* foreground
*
* These concepts do not apply cleanly to the external applications.
*/
#ifdef CONFIG_SCHED_WAITPID
@@ -154,15 +158,46 @@ int nsh_builtin(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
{
int rc = 0;
/* Wait for the application to exit. Since we have locked the
* scheduler above, we know that the application has not yet
* started and there is no possibility that it has already exited.
* The scheduler will be unlocked while waitpid is waiting and the
* application will be able to run.
/* Wait for the application to exit. We did lock the scheduler
* above, but that does not guarantee that the application did not
* already run to completion in the case where I/O was redirected.
* Here the scheduler will be unlocked while waitpid is waiting
* and if the application has not yet run, it will now be able to
* do so.
*
* Also, if CONFIG_SCHED_HAVE_PARENT is defined waitpid() might fail
* even if task is still active: If the I/O was re-directed by a
* proxy task, then the ask is a child of the proxy, and not this
* task. waitpid() fails with ECHILD in either case.
*/
ret = waitpid(ret, &rc, 0);
if (ret >= 0)
if (ret < 0)
{
/* If the child thread does not exist, waitpid() will return
* the error ECHLD. Since we know that the task was successfully
* started, this must be one of the cases described above; we
* have to assume that the task already exit'ed. In this case,
* we have no idea if the application ran successfully or not
* (because NuttX does not retain exit status of child tasks).
* Let's assume that is did run successfully.
*/
int errcode = errno;
if (errcode == ECHILD)
{
ret = OK;
}
else
{
nsh_output(vtbl, g_fmtcmdfailed, cmd, "waitpid",
NSH_ERRNO_OF(errcode));
}
}
/* Waitpid completed the wait successfully */
else
{
/* We can't return the exact status (nsh has nowhere to put it)
* so just pass back zero/nonzero in a fashion that doesn't look
apps/nshlib/nsh_fileapps.c
+314
View File
@@ -0,0 +1,314 @@
/****************************************************************************
* apps/nshlib/nsh_fileapps.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>
#ifdef CONFIG_SCHED_WAITPID
# include <sys/wait.h>
#endif
#include <stdbool.h>
#include <spawn.h>
#include <errno.h>
#include <string.h>
#include "nsh.h"
#include "nsh_console.h"
#ifdef CONFIG_NSH_FILE_APPS
/****************************************************************************
* Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: nsh_fileapp
*
* Description:
* Attempt to execute the application task whose name is 'cmd'
*
* Returned Value:
* <0 If exec_builtin() fails, then the negated errno value
* is returned.
* -1 (ERROR) if the application task corresponding to 'cmd' could not
* be started (possibly because it doesn not exist).
* 0 (OK) if the application task corresponding to 'cmd' was
* and successfully started. If CONFIG_SCHED_WAITPID is
* defined, this return value also indicates that the
* application returned successful status (EXIT_SUCCESS)
* 1 If CONFIG_SCHED_WAITPID is defined, then this return value
* indicates that the application task was spawned successfully
* but returned failure exit status.
*
****************************************************************************/
int nsh_fileapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
FAR char **argv, FAR const char *redirfile, int oflags)
{
posix_spawn_file_actions_t file_actions;
posix_spawnattr_t attr;
pid_t pid;
int ret;
/* Initialize the attributes file actions structure */
ret = posix_spawn_file_actions_init(&file_actions);
if (ret != 0)
{
/* posix_spawn_file_actions_init returns a positive errno value on
* failure.
*/
nsh_output(vtbl, g_fmtcmdfailed, cmd, "posix_spawn_file_actions_init",
NSH_ERRNO_OF(ret));
goto errout;
}
ret = posix_spawnattr_init(&attr);
if (ret != 0)
{
/* posix_spawnattr_init returns a positive errno value on failure. */
nsh_output(vtbl, g_fmtcmdfailed, cmd, "posix_spawnattr_init",
NSH_ERRNO);
goto errout_with_actions;
}
/* Handle re-direction of output */
if (redirfile)
{
ret = posix_spawn_file_actions_addopen(&file_actions, 1, redirfile,
oflags, 0644);
if (ret != 0)
{
/* posix_spawn_file_actions_addopen returns a positive errno
* value on failure.
*/
nsh_output(vtbl, g_fmtcmdfailed, cmd,
"posix_spawn_file_actions_addopen",
NSH_ERRNO);
goto errout_with_attrs;
}
}
/* Lock the scheduler in an attempt to prevent the application from
* running until waitpid() has been called.
*/
sched_lock();
/* Execute the program. posix_spawnp returns a positive errno value on
* failure.
*/
ret = posix_spawnp(&pid, cmd, &file_actions, &attr, &argv[1], NULL);
if (ret == OK)
{
/* The application was successfully started with pre-emption disabled.
* In the simplest cases, the application will not have run because the
* the scheduler is locked. But in the case where I/O was redirected, a
* proxy task ran and broke our lock. As result, the application may
* have aso ran if its priority was higher than than the priority of
* this thread.
*
* If the application did not run to completion and if the application
* was not backgrounded, then we need to wait here for the application
* to exit. This only works works with the following options:
*
* - CONFIG_NSH_DISABLEBG - Do not run commands in background
* - CONFIG_SCHED_WAITPID - Required to run external commands in
* foreground
*/
#ifdef CONFIG_SCHED_WAITPID
/* CONFIG_SCHED_WAITPID is selected, so we may run the command in
* foreground unless we were specifically requested to run the command
* in background (and running commands in background is enabled).
*/
# ifndef CONFIG_NSH_DISABLEBG
if (vtbl->np.np_bg == false)
# endif /* CONFIG_NSH_DISABLEBG */
{
int rc = 0;
/* Wait for the application to exit. We did lock the scheduler
* above, but that does not guarantee that the application did not
* already run to completion in the case where I/O was redirected.
* Here the scheduler will be unlocked while waitpid is waiting
* and if the application has not yet run, it will now be able to
* do so.
*/
ret = waitpid(pid, &rc, 0);
if (ret < 0)
{
/* If the child thread does not exist, waitpid() will return
* the error ECHLD. Since we know that the task was successfully
* started, this must be one of the cases described above; we
* have to assume that the task already exit'ed. In this case,
* we have no idea if the application ran successfully or not
* (because NuttX does not retain exit status of child tasks).
* Let's assume that is did run successfully.
*/
int errcode = errno;
if (errcode == ECHILD)
{
ret = OK;
}
else
{
nsh_output(vtbl, g_fmtcmdfailed, cmd, "waitpid",
NSH_ERRNO_OF(errcode));
}
}
/* Waitpid completed the wait successfully */
else
{
/* We can't return the exact status (nsh has nowhere to put it)
* so just pass back zero/nonzero in a fashion that doesn't look
* like an error.
*/
ret = (rc == 0) ? OK : 1;
/* TODO: Set the environment variable '?' to a string corresponding
* to WEXITSTATUS(rc) so that $? will expand to the exit status of
* the most recently executed task.
*/
}
}
# ifndef CONFIG_NSH_DISABLEBG
else
# endif /* CONFIG_NSH_DISABLEBG */
#endif /* CONFIG_SCHED_WAITPID */
/* We get here if either:
*
* - CONFIG_SCHED_WAITPID is not selected meaning that all commands
* have to be run in background, or
* - CONFIG_SCHED_WAITPID and CONFIG_NSH_DISABLEBG are both selected, but the
* user requested to run the command in background.
*
* NOTE that the case of a) CONFIG_SCHED_WAITPID is not selected and
* b) CONFIG_NSH_DISABLEBG selected cannot be supported. In that event, all
* commands will have to run in background. The waitpid() API must be
* available to support running the command in foreground.
*/
#if !defined(CONFIG_SCHED_WAITPID) || !defined(CONFIG_NSH_DISABLEBG)
{
struct sched_param param;
sched_getparam(ret, &param);
nsh_output(vtbl, "%s [%d:%d]\n", cmd, ret, param.sched_priority);
/* Backgrounded commands always 'succeed' as long as we can start
* them.
*/
ret = OK;
}
#endif /* !CONFIG_SCHED_WAITPID || !CONFIG_NSH_DISABLEBG */
}
sched_unlock();
/* Free attibutes and file actions. Ignoring return values in the case
* of an error.
*/
errout_with_actions:
(void)posix_spawn_file_actions_destroy(&file_actions);
errout_with_attrs:
(void)posix_spawnattr_destroy(&attr);
errout:
/* Most posix_spawn interfaces return a positive errno value on failure
* and do not set the errno variable.
*/
if (ret > 0)
{
/* Set the errno value and return -1 */
set_errno(ret);
ret = ERROR;
}
else if (ret < 0)
{
/* Return -1 on failure. errno should have been set. */
ret = ERROR;
}
return ret;
}
#endif /* CONFIG_NSH_FILE_APPS */
apps/nshlib/nsh_netcmds.c
+3 -2
View File
@@ -53,12 +53,13 @@
#include <errno.h>
#include <debug.h>
#include <net/ethernet.h>
#include <netinet/ether.h>
#include <nuttx/net/net.h>
#include <nuttx/clock.h>
#include <net/ethernet.h>
#include <nuttx/net/uip/uip.h>
#include <nuttx/net/uip/uip-arch.h>
#include <netinet/ether.h>
#ifdef CONFIG_NET_STATISTICS
# include <nuttx/net/uip/uip.h>
apps/nshlib/nsh_parse.c
+36 -1
View File
@@ -61,6 +61,7 @@
#ifdef CONFIG_NSH_BUILTIN_APPS
# include <nuttx/binfmt/builtin.h>
#endif
#include <apps/nsh.h>
#include "nsh.h"
@@ -1398,6 +1399,40 @@ int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline)
nsh_output(vtbl, g_fmttoomanyargs, cmd);
}
/* Does this command correspond to an application filename?
* nsh_fileapp() returns:
*
* -1 (ERROR) if the application task corresponding to 'argv[0]' could not
* be started (possibly because it doesn not exist).
* 0 (OK) if the application task corresponding to 'argv[0]' was
* and successfully started. If CONFIG_SCHED_WAITPID is
* defined, this return value also indicates that the
* application returned successful status (EXIT_SUCCESS)
* 1 If CONFIG_SCHED_WAITPID is defined, then this return value
* indicates that the application task was spawned successfully
* but returned failure exit status.
*
* Note the priority if not effected by nice-ness.
*/
#ifdef CONFIG_NSH_FILE_APPS
ret = nsh_fileapp(vtbl, argv[0], argv, redirfile, oflags);
if (ret >= 0)
{
/* nsh_fileapp() returned 0 or 1. This means that the builtin
* command was successfully started (although it may not have ran
* successfully). So certainly it is not an NSH command.
*/
return nsh_saveresult(vtbl, ret != OK);
}
/* No, not a built in command (or, at least, we were unable to start a
* builtin command of that name). Treat it like an NSH command.
*/
#endif
/* Does this command correspond to a builtin command?
* nsh_builtin() returns:
*
@@ -1414,7 +1449,7 @@ int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline)
* Note the priority if not effected by nice-ness.
*/
#ifdef CONFIG_NSH_BUILTIN_APPS
#if defined(CONFIG_NSH_BUILTIN_APPS) && (!defined(CONFIG_NSH_FILE_APPS) || !defined(CONFIG_FS_BINFS))
ret = nsh_builtin(vtbl, argv[0], argv, redirfile, oflags);
if (ret >= 0)
{
nuttx/ChangeLog
+51
View File
@@ -3967,4 +3967,55 @@
file system.
* configs/sim/nsh: Convert to use kconfig-frontends configuration
tool.
* binfmt/binfmt_schedunload.c: Add logic based on SIGCHLD to
automatically unload and clean-up after running a task that
was loaded into memory.
* binfmt/libbuiltin: Extensions from Mike Smith
* sched/task_reparent.c: Add internal interface to change the
parent task.
* sched/task_posixspawn(): Move libc/spawn/lib_ps.c to
sched/task_posixspawn() now it requires internal, reparenting
interfaces
* include/nuttx/spawn(): Move libc/spawn.h to include/nuttx/spawn.h
* arch/arm/include/lpc17xx/chip.h, irq178x.h: Integrate Marcelo
Rommel's LPC1788 definitions into the base LPC17xx.
* configs/olimex-lpc1766stk/nsh: Convert configuration to use
the kconfig-frontends tools.
* sched/task_reparent.c: Simplify reparenting interface.
* arch/arm/src/[many]: More LPC1788 definitions from Rommel
Marcelo incorporated.
* configs/open1788: Board configuration for the Wave Share
Open1788 board. Still fragmentary (contribnuted by Rommel
Marcelo, adapted to use kconfig-frontends.
* net/send(): Add logic to work around delayed ACKs by splitting
packets (contributed by Yan T.).
* net/recvfrom(): Fix a bug. When the host closes a connection
(gracefully). recv[from]() returned success and the closure
was never detected. Hmmm.. I don't know why the network monitor
did not catch this event. This is an important bug fix.
* net/recvfrom(): Fix a introduced with the last bugfix. If
the peer does an orderly closure of the socket, report 0 not
-ENOTCONN
* configs/lm3s6965-ek/README.txt and tools/: Add an OpenOCD
configuration for the LM3S (from Jose Pablo Carballo).
* nuttx/lcd/hd4478ou.h and configs/pcblogic-pic32mx/src/up_lcd1602:
Start of support of LCD1602 alphanumeric LCD. I need a few
more parts before I can finish integrating this one.
* arch/arm/src/*/chip.h and arch/arm/include/*/chip.h: Move all
priority ranges from the src to the include chip.h header file.
* arch/arm/include/armv7-m/irq.h: Add inline functions to enable
and disable interrupts via the BASEPRI register.
* arch/arm/Kconfig: Add new option CONFIG_ARM7VM_USEBASEI
* arch/arm/src/*/*_irq.c: Set the priority of the SVCALL exception
to the highest possible value.
* arch/armv7-m/up_hardfault.c: Fail if a hardfault occurs
while CONFIG_ARM7VM_USEBASEPRI=y.
* arch/arm/src/stm32/stm32_serial.c: Add support for USART
single wire more (Contributed by the PX4 team).
* sched/: Implement support for retaining child task status after
the child task exists. This is behavior required by POSIX.
But in NuttX is only enabled with CONFIG_SCHED_HAVE_PARENT and
CONFIG_SCHED_CHILD_STATUS
* Add support for keyboard encode to the keypad test (from
Denis Carikli).
nuttx/TODO
+98 -69
View File
@@ -1,4 +1,4 @@
NuttX TODO List (Last updated January 14, 2013)
NuttX TODO List (Last updated January 23, 2013)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This file summarizes known NuttX bugs, limitations, inconsistencies with
@@ -6,7 +6,7 @@ standards, things that could be improved, and ideas for enhancements.
nuttx/
(10) Task/Scheduler (sched/)
(11) Task/Scheduler (sched/)
(1) Memory Managment (mm/)
(3) Signals (sched/, arch/)
(2) pthreads (sched/)
@@ -21,7 +21,7 @@ nuttx/
(1) Documentation (Documentation/)
(7) Build system / Toolchains
(5) Linux/Cywgin simulation (arch/sim)
(6) ARM (arch/arm/)
(5) ARM (arch/arm/)
(1) ARM/C5471 (arch/arm/src/c5471/)
(3) ARM/DM320 (arch/arm/src/dm320/)
(2) ARM/i.MX (arch/arm/src/imx/)
@@ -38,14 +38,14 @@ nuttx/
(3) MIPS/PIC32 (arch/mips)
(1) Hitachi/Renesas SH-1 (arch/sh/src/sh1)
(4) Renesas M16C/26 (arch/sh/src/m16c)
(10) z80/z8/ez80 (arch/z80/)
(11) z80/z8/ez80/z180 (arch/z80/)
(9) z16 (arch/z16/)
(1) mc68hc1x (arch/hc)
apps/
(5) Network Utilities (apps/netutils/)
(4) NuttShell (NSH) (apps/nshlib)
(5) NuttShell (NSH) (apps/nshlib)
(1) System libraries apps/system (apps/system)
(5) Other Applications & Tests (apps/examples/)
@@ -161,39 +161,8 @@ o Task/Scheduler (sched/)
Status: Open
Priority: Medium Low for now
Title: RETAINING TASK EXIT STATUS
Description: When a task exists, its exit status should be retained in
so data structure until it is reaped (via waitpid(), or
similar interface) or until the parent thread exists.
You would think that this should be a clone of the existing
pthread join logic. Howver there is no need for zombies
in NuttX so no need to keep the status if the parent has
already exit'ed. Other simplifications:
1. Keep the array/list of return status in the parent
tasks TCB.
2. Use a fixed size array of return status (perhaps the
the enire array is allocated so that that is con
penalty for tasks that have no childre.
At present, exit status is not retained. If waitpid()
is called after the child task has exit'ed it simpley
returns with the ECHLD error. That is not too bad, but
does not tell you what the exit status was.
A work-around is to:
1) Call sched_lock() to disable pre-emption.
2) Start the task (it cannot run because pre-emption is
disbled.
3) Call waitpid();
4) Call sched_unlock() to re-enable pre-emption.
Status: Open
Priority: Low
Title: IMPROVED TASK CONTROL BLOCK STRUCTURE
All task resources that are shared amongst threads have
Description: All task resources that are shared amongst threads have
their own "break-away", reference-counted structure. The
Task Control Block (TCB) of each thread holds a reference
to each breakaway structure (see include/nuttx/sched.h).
@@ -206,11 +175,43 @@ o Task/Scheduler (sched/)
- File descriptors (struct filelist)
- FILE streams (struct streamlist)
- Sockets (struct socketlist)
Status: Open
Priority: Low. This is an enhancement. It would slight reduce
Status: Open
Priority: Low. This is an enhancement. It would slight reduce
memory usage but would also increase coupling. These
resources are nicely modular now.
Title: ISSUES WITH atexit() AND on_exit()
Description: These functions execute with the following bad properties:
1. They run with interrupts disabled,
2. They run in supervisor mode (if applicable), and
3. They do not obey any setup of PIC or address
environments. Do they need to?
The fix for all of these issues it to have the callbacks
run on the caller's thread (as with signal handlers).
Status: Open
Priority: Medium Low. This is an important change to some less
important interfaces. For the average user, these
functions are just fine the way they are.
Title: execv() AND vfork()
Description: There is a problem when vfork() calls execv() (or execl()) to
start a new appliction: When the parent thread calls vfork()
it receives and gets the pid of the vforked task, and *not*
the pid of the desired execv'ed application.
The same tasking arrangement is used by the standard function
posix_spawn(). However, posix_spawn uses the non-standard, internal
NuttX interface task_reparent() to replace the childs parent task
with the caller of posix_spawn(). That cannot be done with vfork()
because we don't know what vfor() is going to do.
Any solution to this is either very difficult or impossible with
an MMU.
Status: Open
Priority: Low (it might as well be low since it isn't going to be fixed).
o Memory Managment (mm/)
^^^^^^^^^^^^^^^^^^^^^^
@@ -516,7 +517,7 @@ o Network (net/, drivers/net)
Status: Open. No changes are planned.
Priority: Low
Tile: MULTIPLE NETWORK INTERFACE SUPPORT
Title: MULTIPLE NETWORK INTERFACE SUPPORT
Description: uIP polling issues / Multiple network interface support:
(1) Current logic will not support multiple ethernet drivers.
@@ -666,6 +667,21 @@ o Network (net/, drivers/net)
Status: Open
Priority: Low... fix defconfig files as necessary.
Title: net_poll() DOES NOT HANDLE LOSS-OF-CONNECTION CORRECTLY
Description: When a loss of connection is detected by any logic waiting on the
networking events, the function net_lostconnection() must be called.
That function just sets some bits in the socket structure so that
it remembers that the connection is lost.
That is currently done in recvfrom(), send(), and net_monitor.c. But
it is not done in the net_poll() logic; that logic correctly sets
the POLLHUP status, but it does not call net_lostconnection(). As a
result, if recv() is called after the poll() or select(), the system
will hang because the recv() does not know that the connection has
been lost.
Status: Open
Priority: High
o USB (drivers/usbdev, drivers/usbhost)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -1059,13 +1075,13 @@ o Build system
Priority: Low -- the kernel build configuration is not fully fielded
yet.
Title: mconf NOT AVAILABLE IN NATIVE WINDOWS BUILD
Description: NuttX is migrating to the use of the kconfig-frontends mconf
Title: kconfig-mconf NOT AVAILABLE IN NATIVE WINDOWS BUILD
Description: NuttX is migrating to the use of the kconfig-frontends kconfig-mconf
tool for all configurations. In NuttX 6.24, support for native
Windows builds was added. However, the mconf tool does not
Windows builds was added. However, thekconfig- mconf tool does not
build to run natively under Windows.
Some effort was spent trying to get a clean mconf build under
Some effort was spent trying to get a clean kconfig-mconf build under
Windows. This is documented in the message thread beginning
here: http://tech.groups.yahoo.com/group/nuttx/message/2900.
The build was successfully completed using: MinGW-GCC, MSYS,
@@ -1077,8 +1093,8 @@ o Build system
was considered a show stopper and the changs were not checked
in.
Options: (1) Use conf (not mconf). confis the text-only
configuration tool, (2) fix mconf, (3) write another variant
Options: (1) Use kconfigs-conf (not kconfig-mconf). confis the text-only
configuration tool, (2) fix kconfig-mconf, (3) write another variant
of the configuration tool for windows, or (4) do all configuration
under Cygwin or MSYS. I am doing (4) now, but this is very
awkward because I have to set the apps path to ../apps (vs
@@ -1161,27 +1177,6 @@ o ARM (arch/arm/)
Status: Open
Priority: Low
Title: SVCALLS AND HARDFAULTS
Description: The Cortex-M3 user context switch logic uses SVCall instructions.
This user context switching time could be improved by eliminating
the SVCalls and developing assembly language implementations
of the context save and restore logic.
Also, because interrupts are always disabled when the SVCall is
executed, the SVC goes to the hard fault handler where it must
be handled as a special case. I recall seeing some controls
somewhere that will allow to suppress one hard fault. I don't
recall the control, but something like this should be used before
executing the SVCall so that it vectors directly to the SVC
handler.
Another, more standard option would be to use interrupt priority
levels to control interrupts. In that case, (1) The SVC would
be the highest priority interrupt (0), (2) irqsave() would set
the interrupt mask level to just above that, and (2) irqrestore
would restore the interrupt level. This would not be diffult,
but does affect a lot of files!
Status: Open
Priority: Low
Title: ARM INTERRUPTS AND USER MODE
Description: The ARM interrupt handling (arch/arm/src/arm/up_vectors.S) returns
using 'ldmia sp, {r0-r15}^' My understanding is that this works
@@ -1769,8 +1764,8 @@ o Renesas M16C/26 (arch/sh/src/m16c)
Status: Open
Priority: Medium
o z80/z8/ez80 (arch/z80)
^^^^^^^^^^^^^^^^^^^^^^^
o z80/z8/ez80/z180 (arch/z80)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Title: SDCC INTEGER OVERFLOWS
Description: The SDCC version the same problems with integer overflow during
@@ -1860,6 +1855,14 @@ o z80/z8/ez80 (arch/z80)
Status: Open
Priority: Med
Title: UNFINISHED Z180 LOGIC NEEDED BY THE P112 BOARD
Description: 1) Need to revist the start-up logic. Looking at the P112 Bios
(Bios.mcd), I see that quite of bit of register setup is done
there.
2) Finish ESCC driver logic.
Status: Open
Priority: Low (at least until I get P112 hardware)
o z16 (arch/z16)
^^^^^^^^^^^^^^^^
@@ -2051,6 +2054,32 @@ o NuttShell (NSH) (apps/nshlib)
Status: Open
Priority: Low (enhancement)
Title: RE-DIRECTION OF BUILTIN APPLICATONS
Description: There is a problem with the re-direction of output form built-in
applications in NSH. When output is re-directed, exec_builtin()
spawns a tiny trampoline task that re-directs the output as
requested, starts the built-in task and then exit.
The problem is that when exec_builtin() starts the trampoline task,
it receives and returns the pid of the trampoline task, and *not*
the pid of the desired builtin application. This bad pid is returned
to NSH and when NSH tries to use that pid in the waitpid() call, it
fails because the trampoline task no longer exists.
The same tasking arrangement is used by the standard function
posix_spawn(). However, posix_spawn uses the non-standard, internal
NuttX interface task_reparent() to replace the childs parent task
with the caller of posix_spawn().
exec_builtin() should not use this internal interface, however,
since it resides in the application space. The suggested solution
is (1) move the exec_builtin() logic into nuttx/sched, (2) make it
a semi-standard interface renamed to task_spawn() and prototyped
in nuttx/include/sched.h, and then (2) use task_reparent to solve
the parental problem in the same way that posix_spawn does.
Status: Open
Priority: Medium
o System libraries apps/system (apps/system)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
nuttx/arch/Kconfig
+125
View File
@@ -103,6 +103,131 @@ source arch/x86/Kconfig
source arch/z16/Kconfig
source arch/z80/Kconfig
comment "External Memory Configuration"
config ARCH_HAVE_EXTNAND
bool
config ARCH_HAVE_EXTNOR
bool
config ARCH_HAVE_EXTDRAM
bool
config ARCH_HAVE_EXTSRAM0
bool
config ARCH_HAVE_EXTSRAM1
bool
config ARCH_EXTNAND
bool "Configure external NAND"
default n
depends on ARCH_HAVE_EXTNAND
---help---
Configure external NAND memory and, if applicable, map then external
NAND into the memory map.
if ARCH_EXTNAND
config ARCH_EXTNANDSIZE
int "External NAND size"
default 0
---help---
Size of the external NAND in bytes.
endif
config ARCH_EXTNOR
bool "Configure external NOR memory"
default n
depends on ARCH_HAVE_EXTNOR
---help---
Configure external NOR memory and, if applicable, map then external
NOR into the memory map.
if ARCH_EXTNOR
config ARCH_EXTNORSIZE
int "External NOR size"
default 0
---help---
Size of the external NOR in bytes.
endif
config ARCH_EXTDRAM
bool "Configure external DRAM"
default n
depends on ARCH_HAVE_EXTDRAM
---help---
Configure external DRAM memory and, if applicable, map then external
DRAM into the memory map.
if ARCH_EXTDRAM
config ARCH_EXTDRAMSIZE
int "External SDRAM size"
default 0
---help---
Size of the external SDRAM in bytes.
config ARCH_EXTDRAMHEAP
bool "Add external SDRAM to the heap"
default y
---help---
Add the external SDRAM into the heap.
endif
config ARCH_EXTSRAM0
bool "Configure external SRAM (Bank 0)"
default n
depends on ARCH_HAVE_EXTSRAM0
---help---
Configure external SRAM Bank 0 memory and, if applicable, map then
external SRAM Bank 0 into the memory map.
if ARCH_EXTSRAM0
config ARCH_EXTSRAM0SIZE
int "External SRAM size"
default 0
---help---
Size of the external SRAM Bank 0 in bytes.
config ARCH_EXTSRAM0HEAP
bool "Add external SRAM (Bank 0) to the heap"
default y
---help---
Add external SRAM Bank 0 into the heap.
endif
config ARCH_EXTSRAM1
bool "Configure external SRAM (Bank 1)"
default n
depends on ARCH_HAVE_EXTSRAM1
---help---
Configure external SRAM Bank 1 memory and, if applicable, map then
external SRAM Bank 1 into the memory map.
if ARCH_EXTSRAM1
config ARCH_EXTSRAM1SIZE
int "External SRAM1 size"
default 0
---help---
Size of the external SRAM Bank 1 in bytes.
config ARCH_EXTSRAM1HEAP
bool "Add external SRAM (Bank 1) to the heap"
default y
---help---
Add external SRAM Bank 1 into the heap.
endif
comment "Architecture Options"
config ARCH_NOINTC
nuttx/arch/arm/Kconfig
+13 -6
View File
@@ -46,7 +46,6 @@ config ARCH_CHIP_KINETIS
bool "Freescale Kinetis"
select ARCH_CORTEXM4
select ARCH_HAVE_MPU
select ARCH_IRQPRIO
select ARCH_HAVE_RAMFUNCS
select ARCH_RAMFUNCS
---help---
@@ -55,7 +54,6 @@ config ARCH_CHIP_KINETIS
config ARCH_CHIP_LM
bool "TI Stellaris"
select ARCH_HAVE_MPU
select ARCH_IRQPRIO
---help---
TI Stellaris LMS3 architecutres (ARM Cortex-M3)
@@ -63,7 +61,6 @@ config ARCH_CHIP_LPC17XX
bool "NXP LPC17xx"
select ARCH_CORTEXM3
select ARCH_HAVE_MPU
select ARCH_IRQPRIO
---help---
NXP LPC17xx architectures (ARM Cortex-M3)
@@ -95,7 +92,6 @@ config ARCH_CHIP_LPC43XX
select ARCH_HAVE_CMNVECTOR
select ARMV7M_CMNVECTOR
select ARCH_HAVE_MPU
select ARCH_IRQPRIO
---help---
NPX LPC43XX architectures (ARM Cortex-M4).
@@ -103,7 +99,6 @@ config ARCH_CHIP_SAM3U
bool "Atmel AT91SAM3U"
select ARCH_CORTEXM3
select ARCH_HAVE_MPU
select ARCH_IRQPRIO
---help---
Atmel AT91SAM3U architectures (ARM Cortex-M3)
@@ -112,7 +107,6 @@ config ARCH_CHIP_STM32
select ARCH_HAVE_CMNVECTOR
select ARCH_HAVE_MPU
select ARCH_HAVE_I2CRESET
select ARCH_IRQPRIO
---help---
STMicro STM32 architectures (ARM Cortex-M3/4).
@@ -136,9 +130,11 @@ config ARCH_ARM920T
config ARCH_CORTEXM3
bool
select ARCH_IRQPRIO
config ARCH_CORTEXM4
bool
select ARCH_IRQPRIO
config ARCH_FAMILY
string
@@ -162,6 +158,17 @@ config ARCH_CHIP
default "stm32" if ARCH_CHIP_STM32
default "str71x" if ARCH_CHIP_STR71X
config ARMV7M_USEBASEPRI
bool "Use BASEPRI Register"
default n
depends on ARCH_CORTEXM3 || ARCH_CORTEXM4
---help---
Use the BASEPRI register to enable and disable able interrupts. By
default, the PRIMASK register is used for this purpose. This
usually results in hardfaults that are properly handling by the
RTOS. Using the BASEPRI register will avoid these hardfault.
That is needed primarily for integration with some toolchains.
config ARCH_HAVE_CMNVECTOR
bool
nuttx/arch/arm/include/armv7-m/irq.h
+90 -60
View File
@@ -60,6 +60,10 @@
# include <arch/armv7-m/irq_lazyfpu.h>
#endif
#ifdef CONFIG_ARMV7M_USEBASEPRI
# include <arch/chip/chip.h>
#endif
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
@@ -114,7 +118,11 @@ struct xcptcontext
*/
uint32_t saved_pc;
#ifdef CONFIG_ARMV7M_USEBASEPRI
uint32_t saved_basepri;
#else
uint32_t saved_primask;
#endif
uint32_t saved_xpsr;
#endif
@@ -130,65 +138,7 @@ struct xcptcontext
#ifndef __ASSEMBLY__
/* Disable IRQs */
static inline void irqdisable(void) inline_function;
static inline void irqdisable(void)
{
__asm__ __volatile__ ("\tcpsid i\n");
}
/* Save the current primask state & disable IRQs */
static inline irqstate_t irqsave(void) inline_function;
static inline irqstate_t irqsave(void)
{
unsigned short primask;
/* Return the current value of primask register and set
* bit 0 of the primask register to disable interrupts
*/
__asm__ __volatile__
(
"\tmrs %0, primask\n"
"\tcpsid i\n"
: "=r" (primask)
:
: "memory");
return primask;
}
/* Enable IRQs */
static inline void irqenable(void) inline_function;
static inline void irqenable(void)
{
__asm__ __volatile__ ("\tcpsie i\n");
}
/* Restore saved primask state */
static inline void irqrestore(irqstate_t primask) inline_function;
static inline void irqrestore(irqstate_t primask)
{
/* If bit 0 of the primask is 0, then we need to restore
* interupts.
*/
__asm__ __volatile__
(
"\ttst %0, #1\n"
"\tbne 1f\n"
"\tcpsie i\n"
"1:\n"
:
: "r" (primask)
: "memory");
}
/* Get/set the primask register */
/* Get/set the PRIMASK register */
static inline uint8_t getprimask(void) inline_function;
static inline uint8_t getprimask(void)
@@ -215,7 +165,11 @@ static inline void setprimask(uint32_t primask)
: "memory");
}
/* Get/set the basepri register */
/* Get/set the BASEPRI register. The BASEPRI register defines the minimum
* priority for exception processing. When BASEPRI is set to a nonzero
* value, it prevents the activation of all exceptions with the same or
* lower priority level as the BASEPRI value.
*/
static inline uint8_t getbasepri(void) inline_function;
static inline uint8_t getbasepri(void)
@@ -243,6 +197,82 @@ static inline void setbasepri(uint32_t basepri)
: "memory");
}
/* Disable IRQs */
static inline void irqdisable(void) inline_function;
static inline void irqdisable(void)
{
#ifdef CONFIG_ARMV7M_USEBASEPRI
setbasepri(NVIC_SYSH_DISABLE_PRIORITY);
#else
__asm__ __volatile__ ("\tcpsid i\n");
#endif
}
/* Save the current primask state & disable IRQs */
static inline irqstate_t irqsave(void) inline_function;
static inline irqstate_t irqsave(void)
{
#ifdef CONFIG_ARMV7M_USEBASEPRI
uint8_t basepri = getbasepri();
setbasepri(NVIC_SYSH_DISABLE_PRIORITY);
return (irqstate_t)basepri;
#else
unsigned short primask;
/* Return the current value of primask register and set
* bit 0 of the primask register to disable interrupts
*/
__asm__ __volatile__
(
"\tmrs %0, primask\n"
"\tcpsid i\n"
: "=r" (primask)
:
: "memory");
return primask;
#endif
}
/* Enable IRQs */
static inline void irqenable(void) inline_function;
static inline void irqenable(void)
{
setbasepri(0);
__asm__ __volatile__ ("\tcpsie i\n");
}
/* Restore saved primask state */
static inline void irqrestore(irqstate_t flags) inline_function;
static inline void irqrestore(irqstate_t flags)
{
#ifdef CONFIG_ARMV7M_USEBASEPRI
setbasepri((uint32_t)flags);
#else
/* If bit 0 of the primask is 0, then we need to restore
* interupts.
*/
__asm__ __volatile__
(
"\ttst %0, #1\n"
"\tbne 1f\n"
"\tcpsie i\n"
"1:\n"
:
: "r" (flags)
: "memory");
#endif
}
/* Get/set IPSR */
static inline uint32_t getipsr(void) inline_function;
nuttx/arch/arm/include/armv7-m/irq_cmnvector.h
+5 -1
View File
@@ -51,7 +51,11 @@
*/
#define REG_R13 (0) /* R13 = SP at time of interrupt */
#define REG_PRIMASK (1) /* PRIMASK */
#ifdef CONFIG_ARMV7M_USEBASEPRI
# define REG_BASEPRI (1) /* BASEPRI */
#else
# define REG_PRIMASK (1) /* PRIMASK */
#endif
#define REG_R4 (2) /* R4 */
#define REG_R5 (3) /* R5 */
#define REG_R6 (4) /* R6 */
nuttx/arch/arm/include/armv7-m/irq_lazyfpu.h
+5 -1
View File
@@ -51,7 +51,11 @@
*/
#define REG_R13 (0) /* R13 = SP at time of interrupt */
#define REG_PRIMASK (1) /* PRIMASK */
#ifdef CONFIG_ARMV7M_USEBASEPRI
# define REG_BASEPRI (1) /* BASEPRI */
#else
# define REG_PRIMASK (1) /* PRIMASK */
#endif
#define REG_R4 (2) /* R4 */
#define REG_R5 (3) /* R5 */
#define REG_R6 (4) /* R6 */
nuttx/arch/arm/include/stm32/chip.h
+46 -2
View File
@@ -183,9 +183,43 @@
# define STM32_NRNG 0 /* No random number generator (RNG) */
# define STM32_NDCMI 0 /* No digital camera interface (DCMI) */
/* STM32 F103 Medium Density Family *************************************************/
/* STM32F103RB is in the Medium-density performance line and is provided in 64 pin
* packages with 128K Flash, USB, CAN, 7 timers, 2 ADCs, 9 com. interfaces
*/
#elif defined(CONFIG_ARCH_CHIP_STM32F103RBT6)
# define CONFIG_STM32_STM32F10XX 1 /* STM32F10xxx family */
# undef CONFIG_STM32_LOWDENSITY /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
# define CONFIG_STM32_MEDIUMDENSITY 1 /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
# undef CONFIG_STM32_HIGHDENSITY /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
# undef CONFIG_STM32_VALUELINE /* STM32F100x */
# undef CONFIG_STM32_CONNECTIVITYLINE /* STM32F105x and STM32F107x */
# undef CONFIG_STM32_STM32F20XX /* STM32F205x and STM32F207x */
# undef CONFIG_STM32_STM32F40XX /* STM32F405xx and STM32407xx families */
# define STM32_NFSMC 0 /* FSMC */
# define STM32_NATIM 1 /* One advanced timer TIM1 */
# define STM32_NGTIM 3 /* General timers TIM2,3,4 */
# define STM32_NBTIM 0 /* Two basic timers TIM6 and TIM7 */
# define STM32_NDMA 1 /* DMA1 */
# define STM32_NSPI 2 /* SPI1-2 */
# define STM32_NI2S 0 /* No I2S (?) */
# define STM32_NUSART 3 /* USART1-3 */
# define STM32_NI2C 2 /* I2C1-2 */
# define STM32_NCAN 1 /* bxCAN1 */
# define STM32_NSDIO 0 /* No SDIO */
# define STM32_NUSBOTG 0 /* No USB OTG FS/HS */
# define STM32_NGPIO 51 /* GPIOA-E */
# define STM32_NADC 2 /* ADC1-2 */
# define STM32_NDAC 0 /* No DAC */
# define STM32_NCRC 1 /* CRC */
# define STM32_NTHERNET 0 /* No ethernet */
# define STM32_NRNG 0 /* No random number generator (RNG) */
# define STM32_NDCMI 0 /* No digital camera interface (DCMI) */
/* STM32 F103 High Density Family ***************************************************/
/* STM32F103RC, STM32F103RD, and STM32F103RE are all provided in 64 pin packages and differ
* only in the available FLASH and SRAM.
/* STM32F103RC, STM32F103RD, and STM32F103RE are all provided in 64 pin packages and
* differ only in the available FLASH and SRAM.
*/
#elif defined(CONFIG_ARCH_CHIP_STM32F103RET6)
@@ -658,5 +692,15 @@
# error "Unsupported STM32 chip"
#endif
/* NVIC priority levels *************************************************************/
#define NVIC_SYSH_PRIORITY_MIN 0xf0 /* All bits set in minimum priority */
#define NVIC_SYSH_PRIORITY_DEFAULT 0x80 /* Midpoint is the default */
#define NVIC_SYSH_PRIORITY_MAX 0x00 /* Zero is maximum priority */
#define NVIC_SYSH_PRIORITY_STEP 0x10 /* Four bits of interrupt priority used */
#define NVIC_SYSH_DISABLE_PRIORITY (NVIC_SYSH_PRIORITY_MAX + NVIC_SYSH_PRIORITY_STEP)
#define NVIC_SYSH_SVCALL_PRIORITY NVIC_SYSH_PRIORITY_MAX
#endif /* __ARCH_ARM_INCLUDE_STM32_CHIP_H */
nuttx/arch/arm/include/types.h
+6
View File
@@ -44,6 +44,8 @@
* Included Files
****************************************************************************/
#include <nuttx/config.h>
/****************************************************************************
* Definitions
****************************************************************************/
@@ -87,7 +89,11 @@ typedef unsigned int _uintptr_t;
*/
#ifdef __thumb2__
#ifdef CONFIG_ARMV7M_USEBASEPRI
typedef unsigned char irqstate_t;
#else
typedef unsigned short irqstate_t;
#endif
#else /* __thumb2__ */
typedef unsigned int irqstate_t;
#endif /* __thumb2__ */
nuttx/arch/arm/src/armv7-m/up_assert.c
+6 -1
View File
@@ -1,7 +1,7 @@
/****************************************************************************
* arch/arm/src/armv7-m/up_assert.c
*
* Copyright (C) 2009-2010, 2012 Gregory Nutt. All rights reserved.
* Copyright (C) 2009-2010, 2012-2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@@ -147,8 +147,13 @@ static inline void up_registerdump(void)
current_regs[REG_R10], current_regs[REG_R11],
current_regs[REG_R12], current_regs[REG_R13],
current_regs[REG_R14], current_regs[REG_R15]);
#ifdef CONFIG_ARMV7M_USEBASEPRI
lldbg("xPSR: %08x BASEPRI: %08x\n",
current_regs[REG_XPSR], current_regs[REG_BASEPRI]);
#else
lldbg("xPSR: %08x PRIMASK: %08x\n",
current_regs[REG_XPSR], current_regs[REG_PRIMASK]);
#endif
}
}
#else
nuttx/arch/arm/src/armv7-m/up_exception.S
+10 -1
View File
@@ -2,7 +2,7 @@
* arch/arm/src/stm32/up_exception.S
* arch/arm/src/chip/up_exception.S
*
* Copyright (C) 2009-2012 Gregory Nutt. All rights reserved.
* Copyright (C) 2009-2013 Gregory Nutt. All rights reserved.
* Copyright (C) 2012 Michael Smith. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
@@ -100,7 +100,11 @@ exception_common:
mov r2, r1 /* R2=Copy of the main/process stack pointer */
add r2, #HW_XCPT_SIZE /* R2=MSP/PSP before the interrupt was taken */
/* (ignoring the xPSR[9] alignment bit) */
#ifdef CONFIG_ARMV7M_USEBASEPRI
mrs r3, basepri /* R3=Current BASEPRI setting */
#else
mrs r3, primask /* R3=Current PRIMASK setting */
#endif
#ifdef CONFIG_ARCH_FPU
@@ -205,7 +209,12 @@ exception_common:
/* Restore the interrupt state */
#ifdef CONFIG_ARMV7M_USEBASEPRI
msr basepri, r3 /* Restore interrupts priority masking*/
cpsie i /* Re-enable interrupts */
#else
msr primask, r3 /* Restore interrupts */
#endif
/* Always return with R14 containing the special value that will: (1)
* return to thread mode, and (2) select the correct stack.
nuttx/arch/arm/src/armv7-m/up_hardfault.c
+17 -7
View File
@@ -1,7 +1,7 @@
/****************************************************************************
* arch/arm/src/armv7-m/up_hardfault.c
*
* Copyright (C) 2009 Gregory Nutt. All rights reserved.
* Copyright (C) 2009, 2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@@ -55,7 +55,9 @@
* Pre-processor Definitions
****************************************************************************/
/* Debug output from this file may interfere with context switching! */
/* If CONFIG_ARMV7M_USEBASEPRI=n, then debug output from this file may
* interfere with context switching!
*/
#ifdef CONFIG_DEBUG_HARDFAULT
# define hfdbg(format, arg...) lldbg(format, ##arg)
@@ -92,18 +94,19 @@
int up_hardfault(int irq, FAR void *context)
{
#if defined(CONFIG_DEBUG_HARDFAULT) || !defined(CONFIG_ARMV7M_USEBASEPRI)
uint32_t *regs = (uint32_t*)context;
uint16_t *pc;
uint16_t insn;
#endif
/* Get the value of the program counter where the fault occurred */
pc = (uint16_t*)regs[REG_PC] - 1;
#ifndef CONFIG_ARMV7M_USEBASEPRI
uint16_t *pc = (uint16_t*)regs[REG_PC] - 1;
if ((void*)pc >= (void*)&_stext && (void*)pc < (void*)&_etext)
{
/* Fetch the instruction that caused the Hard fault */
insn = *pc;
uint16_t insn = *pc;
hfdbg(" PC: %p INSN: %04x\n", pc, insn);
/* If this was the instruction 'svc 0', then forward processing
@@ -116,6 +119,7 @@ int up_hardfault(int irq, FAR void *context)
return up_svcall(irq, context);
}
}
#endif
/* Dump some hard fault info */
@@ -133,7 +137,13 @@ int up_hardfault(int irq, FAR void *context)
hfdbg(" R8: %08x %08x %08x %08x %08x %08x %08x %08x\n",
regs[REG_R8], regs[REG_R9], regs[REG_R10], regs[REG_R11],
regs[REG_R12], regs[REG_R13], regs[REG_R14], regs[REG_R15]);
hfdbg(" PSR=%08x\n", regs[REG_XPSR]);
#ifdef CONFIG_ARMV7M_USEBASEPRI
hfdbg(" xPSR: %08x BASEPRI: %08x (saved)\n",
current_regs[REG_XPSR], current_regs[REG_BASEPRI]);
#else
hfdbg(" xPSR: %08x PRIMASK: %08x (saved)\n",
current_regs[REG_XPSR], current_regs[REG_PRIMASK]);
#endif
(void)irqsave();
lldbg("PANIC!!! Hard fault: %08x\n", getreg32(NVIC_HFAULTS));
nuttx/arch/arm/src/armv7-m/up_initialstate.c
+8 -4
View File
@@ -1,7 +1,7 @@
/****************************************************************************
* arch/arm/src/armv7-m/up_initialstate.c
*
* Copyright (C) 2009, 2011-2 Gregory Nutt. All rights reserved.
* Copyright (C) 2009, 2011-2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@@ -156,7 +156,7 @@ void up_initial_state(_TCB *tcb)
xcp->regs[REG_FPSCR] = 0; // XXX initial FPSCR should be configurable
xcp->regs[REG_FPReserved] = 0;
#endif
#endif /* CONFIG_ARCH_FPU */
#ifdef CONFIG_NUTTX_KERNEL
if ((tcb->flags & TCB_FLAG_TTYPE_MASK) != TCB_FLAG_TTYPE_KERNEL)
@@ -165,7 +165,7 @@ void up_initial_state(_TCB *tcb)
xcp->regs[REG_EXC_RETURN] = EXC_RETURN_PROCESS_STACK;
}
#endif
#endif /* CONFIG_NUTTX_KERNEL */
#else /* CONFIG_ARMV7M_CMNVECTOR */
@@ -189,12 +189,16 @@ void up_initial_state(_TCB *tcb)
xcp->regs[REG_EXC_RETURN] = EXC_RETURN_UNPRIVTHR;
}
#endif
#endif /* CONFIG_NUTTX_KERNEL */
#endif /* CONFIG_ARMV7M_CMNVECTOR */
/* Enable or disable interrupts, based on user configuration */
#ifdef CONFIG_SUPPRESS_INTERRUPTS
#ifdef CONFIG_ARMV7M_USEBASEPRI
xcp->regs[REG_BASEPRI] = NVIC_SYSH_DISABLE_PRIORITY;
#else
xcp->regs[REG_PRIMASK] = 1;
#endif
#endif /* CONFIG_SUPPRESS_INTERRUPTS */
}
nuttx/arch/arm/src/armv7-m/up_schedulesigaction.c
+17 -1
View File
@@ -1,7 +1,7 @@
/****************************************************************************
* arch/arm/src/armv7-m/up_schedulesigaction.c
*
* Copyright (C) 2009-2012 Gregory Nutt. All rights reserved.
* Copyright (C) 2009-2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@@ -155,7 +155,11 @@ void up_schedule_sigaction(_TCB *tcb, sig_deliver_t sigdeliver)
tcb->xcp.sigdeliver = sigdeliver;
tcb->xcp.saved_pc = current_regs[REG_PC];
#ifdef CONFIG_ARMV7M_USEBASEPRI
tcb->xcp.saved_basepri = current_regs[REG_BASEPRI];
#else
tcb->xcp.saved_primask = current_regs[REG_PRIMASK];
#endif
tcb->xcp.saved_xpsr = current_regs[REG_XPSR];
/* Then set up to vector to the trampoline with interrupts
@@ -163,7 +167,11 @@ void up_schedule_sigaction(_TCB *tcb, sig_deliver_t sigdeliver)
*/
current_regs[REG_PC] = (uint32_t)up_sigdeliver;
#ifdef CONFIG_ARMV7M_USEBASEPRI
current_regs[REG_BASEPRI] = NVIC_SYSH_DISABLE_PRIORITY;
#else
current_regs[REG_PRIMASK] = 1;
#endif
current_regs[REG_XPSR] = ARMV7M_XPSR_T;
/* And make sure that the saved context in the TCB
@@ -189,7 +197,11 @@ void up_schedule_sigaction(_TCB *tcb, sig_deliver_t sigdeliver)
tcb->xcp.sigdeliver = sigdeliver;
tcb->xcp.saved_pc = tcb->xcp.regs[REG_PC];
#ifdef CONFIG_ARMV7M_USEBASEPRI
tcb->xcp.saved_basepri = tcb->xcp.regs[REG_BASEPRI];
#else
tcb->xcp.saved_primask = tcb->xcp.regs[REG_PRIMASK];
#endif
tcb->xcp.saved_xpsr = tcb->xcp.regs[REG_XPSR];
/* Then set up to vector to the trampoline with interrupts
@@ -197,7 +209,11 @@ void up_schedule_sigaction(_TCB *tcb, sig_deliver_t sigdeliver)
*/
tcb->xcp.regs[REG_PC] = (uint32_t)up_sigdeliver;
#ifdef CONFIG_ARMV7M_USEBASEPRI
tcb->xcp.regs[REG_BASEPRI] = NVIC_SYSH_DISABLE_PRIORITY;
#else
tcb->xcp.regs[REG_PRIMASK] = 1;
#endif
tcb->xcp.regs[REG_XPSR] = ARMV7M_XPSR_T;
}
nuttx/arch/arm/src/armv7-m/up_sigdeliver.c
+9 -1
View File
@@ -1,7 +1,7 @@
/****************************************************************************
* arch/arm/src/armv7-m/up_sigdeliver.c
*
* Copyright (C) 2009-2010 Gregory Nutt. All rights reserved.
* Copyright (C) 2009-2010, 2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@@ -102,7 +102,11 @@ void up_sigdeliver(void)
up_copystate(regs, rtcb->xcp.regs);
regs[REG_PC] = rtcb->xcp.saved_pc;
#ifdef CONFIG_ARMV7M_USEBASEPRI
regs[REG_BASEPRI] = rtcb->xcp.saved_basepri;
#else
regs[REG_PRIMASK] = rtcb->xcp.saved_primask;
#endif
regs[REG_XPSR] = rtcb->xcp.saved_xpsr;
/* Get a local copy of the sigdeliver function pointer. We do this so that
@@ -115,7 +119,11 @@ void up_sigdeliver(void)
/* Then restore the task interrupt state */
#ifdef CONFIG_ARMV7M_USEBASEPRI
irqrestore((uint8_t)regs[REG_BASEPRI]);
#else
irqrestore((uint16_t)regs[REG_PRIMASK]);
#endif
/* Deliver the signals */
nuttx/arch/arm/src/stm32/Kconfig
+18 -1
View File
@@ -457,32 +457,38 @@ config STM32_USART1
bool "USART1"
default n
select ARCH_HAVE_USART1
select STM32_USART
config STM32_USART2
bool "USART2"
default n
select ARCH_HAVE_USART2
select STM32_USART
config STM32_USART3
bool "USART3"
default n
select ARCH_HAVE_USART3
select STM32_USART
config STM32_UART4
bool "UART4"
default n
select ARCH_HAVE_UART4
select STM32_USART
config STM32_UART5
bool "UART5"
default n
select ARCH_HAVE_UART5
select STM32_USART
config STM32_USART6
bool "USART6"
default n
depends on STM32_STM32F20XX || STM32_STM32F40XX
select ARCH_HAVE_USART6
select STM32_USART
config STM32_USB
bool "USB Device"
@@ -1804,8 +1810,11 @@ config STM32_TIM14_DAC2
endchoice
config STM32_USART
bool
menu "U[S]ART Configuration"
depends on STM32_USART1 || STM32_USART2 || STM32_USART3 || STM32_USART4 || STM32_USART5 || STM32_USART6
depends on STM32_USART
config USART1_RS485
bool "RS-485 on USART1"
@@ -1968,6 +1977,14 @@ config SERIAL_TERMIOS
endmenu
config STM32_USART_SINGLEWIRE
bool "Single Wire Support"
default n
depends on STM32_USART
---help---
Enable single wire UART support. The option enables support for the
TIOCSSINGLEWIRE ioctl in the STM32 serial driver.
menu "SPI Configuration"
depends on STM32_SPI
nuttx/arch/arm/src/stm32/chip.h
+1 -1
View File
@@ -1,7 +1,7 @@
/************************************************************************************
* arch/arm/src/stm32/chip.h
*
* Copyright (C) 2009, 2011-2012 Gregory Nutt. All rights reserved.
* Copyright (C) 2009, 2011-2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
nuttx/arch/arm/src/stm32/stm32.h
-6
View File
@@ -68,12 +68,6 @@
# undef CONFIG_DEBUG_QENCODER
#endif
/* NVIC priority levels *************************************************************/
#define NVIC_SYSH_PRIORITY_MIN 0xff /* All bits set in minimum priority */
#define NVIC_SYSH_PRIORITY_DEFAULT 0x80 /* Midpoint is the default */
#define NVIC_SYSH_PRIORITY_MAX 0x00 /* Zero is maximum priority */
/* Peripherals **********************************************************************/
#include "chip.h"
nuttx/arch/arm/src/stm32/stm32_irq.c
+43 -5
View File
@@ -2,7 +2,7 @@
* arch/arm/src/stm32/stm32_irq.c
* arch/arm/src/chip/stm32_irq.c
*
* Copyright (C) 2009-2012 Gregory Nutt. All rights reserved.
* Copyright (C) 2009-2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@@ -194,6 +194,29 @@ static int stm32_reserved(int irq, FAR void *context)
}
#endif
/****************************************************************************
* Name: stm32_prioritize_syscall
*
* Description:
* Set the priority of an exception. This function may be needed
* internally even if support for prioritized interrupts is not enabled.
*
****************************************************************************/
#ifdef CONFIG_ARMV7M_USEBASEPRI
static inline void stm32_prioritize_syscall(int priority)
{
uint32_t regval;
/* SVCALL is system handler 11 */
regval = getreg32(NVIC_SYSH8_11_PRIORITY);
regval &= ~NVIC_SYSH_PRIORITY_PR11_MASK;
regval |= (priority << NVIC_SYSH_PRIORITY_PR11_SHIFT);
putreg32(regval, NVIC_SYSH8_11_PRIORITY);
}
#endif
/****************************************************************************
* Name: stm32_irqinfo
*
@@ -334,6 +357,9 @@ void up_irqinitialize(void)
#ifdef CONFIG_ARCH_IRQPRIO
/* up_prioritize_irq(STM32_IRQ_PENDSV, NVIC_SYSH_PRIORITY_MIN); */
#endif
#ifdef CONFIG_ARMV7M_USEBASEPRI
stm32_prioritize_syscall(NVIC_SYSH_SVCALL_PRIORITY);
#endif
/* If the MPU is enabled, then attach and enable the Memory Management
@@ -365,8 +391,7 @@ void up_irqinitialize(void)
/* And finally, enable interrupts */
setbasepri(NVIC_SYSH_PRIORITY_MAX);
irqrestore(0);
irqenable();
#endif
}
@@ -451,15 +476,28 @@ int up_prioritize_irq(int irq, int priority)
uint32_t regval;
int shift;
DEBUGASSERT(irq >= STM32_IRQ_MEMFAULT && irq < NR_IRQS && (unsigned)priority <= NVIC_SYSH_PRIORITY_MIN);
#ifdef CONFIG_ARMV7M_USEBASEPRI
DEBUGASSERT(irq >= STM32_IRQ_MEMFAULT && irq < NR_IRQS &&
priority >= NVIC_SYSH_DISABLE_PRIORITY &&
priority <= NVIC_SYSH_PRIORITY_MIN);
#else
DEBUGASSERT(irq >= STM32_IRQ_MEMFAULT && irq < NR_IRQS &&
(unsigned)priority <= NVIC_SYSH_PRIORITY_MIN);
#endif
if (irq < STM32_IRQ_INTERRUPTS)
{
irq -= 4;
/* NVIC_SYSH_PRIORITY() maps {0..15} to one of three priority
* registers (0-3 are invalid)
*/
regaddr = NVIC_SYSH_PRIORITY(irq);
irq -= 4;
}
else
{
/* NVIC_IRQ_PRIORITY() maps {0..} to one of many priority registers */
irq -= STM32_IRQ_INTERRUPTS;
regaddr = NVIC_IRQ_PRIORITY(irq);
}
nuttx/arch/arm/src/stm32/stm32_serial.c
+26 -1
View File
@@ -1,7 +1,7 @@
/****************************************************************************
* arch/arm/src/stm32/stm32_serial.c
*
* Copyright (C) 2009-2012 Gregory Nutt. All rights reserved.
* Copyright (C) 2009-2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@@ -1439,6 +1439,31 @@ static int up_ioctl(struct file *filep, int cmd, unsigned long arg)
}
break;
#ifdef CONFIG_STM32_USART_SINGLEWIRE
case TIOCSSINGLEWIRE:
{
/* Change the TX port to be open-drain/push-pull and enable/disable
* half-duplex mode.
*/
uint32_t cr = up_serialin(priv, STM32_USART_CR3_OFFSET);
if (arg == SER_SINGLEWIRE_ENABLED)
{
stm32_configgpio(priv->tx_gpio | GPIO_OPENDRAIN);
cr |= USART_CR3_HDSEL;
}
else
{
stm32_configgpio(priv->tx_gpio | GPIO_PUSHPULL);
cr &= ~USART_CR3_HDSEL;
}
up_serialout(priv, STM32_USART_CR3_OFFSET, cr);
}
break;
#endif
#ifdef CONFIG_SERIAL_TERMIOS
case TCGETS:
{
nuttx/arch/arm/src/stm32/stm32_vectors.S
+13 -4
View File
@@ -2,7 +2,7 @@
* arch/arm/src/stm32/stm32_vectors.S
* arch/arm/src/chip/stm32_vectors.S
*
* Copyright (C) 2009-2012 Gregory Nutt. All rights reserved.
* Copyright (C) 2009-2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@@ -235,7 +235,11 @@ stm32_common:
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
mrs r3, basepri /* R3=Current BASEPRI setting */
#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.
@@ -248,8 +252,8 @@ stm32_common:
#endif
/* Save the the remaining registers on the stack after the registers pushed
* by the exception handling logic. r2=SP and r3=primask, r4-r11,r14=register
* values.
* by the exception handling logic. r2=SP and r3=primask or basepri, r4-r11,
* r14=register values.
*/
#ifdef CONFIG_NUTTX_KERNEL
@@ -349,7 +353,7 @@ stm32_common:
* Here:
* r1 = Address on the target thread's stack position at the start of
* the registers saved by hardware
* r3 = primask
* r3 = primask or basepri
* r4-r11 = restored register values
*/
2:
@@ -375,7 +379,12 @@ stm32_common:
/* Restore the interrupt state */
#ifdef CONFIG_ARMV7M_USEBASEPRI
msr basepri, r3 /* Restore interrupts priority masking*/
cpsie i /* Re-enable interrupts */
#else
msr primask, r3 /* Restore interrupts */
#endif
/* Always return with R14 containing the special value that will: (1)
* return to thread mode, and (2) continue to use the MSP
nuttx/binfmt/Makefile
+4
View File
@@ -52,6 +52,10 @@ ifeq ($(CONFIG_BINFMT_EXEPATH),y)
BINFMT_CSRCS += binfmt_exepath.c
endif
ifeq ($(CONFIG_SCHED_HAVE_PARENT),y)
BINFMT_CSRCS += binfmt_schedunload.c
endif
# Symbol table source files
BINFMT_CSRCS += symtab_findbyname.c symtab_findbyvalue.c
nuttx/binfmt/binfmt_exec.c
+68 -2
View File
@@ -43,6 +43,7 @@
#include <debug.h>
#include <errno.h>
#include <nuttx/kmalloc.h>
#include <nuttx/binfmt/binfmt.h>
#include "binfmt_internal.h"
@@ -74,7 +75,9 @@
*
* Description:
* This is a convenience function that wraps load_ and exec_module into
* one call.
* one call. If CONFIG_SCHED_ONEXIT is also defined, this function will
* automatically call schedule_unload() to unload the module when task
* exits.
*
* Input Parameter:
* filename - Fulll path to the binary to be loaded
@@ -84,7 +87,7 @@
*
* Returned Value:
* This is an end-user function, so it follows the normal convention:
* Returns the PID of the exec'ed module. On failure, it.returns
* It returns the PID of the exec'ed module. On failure, it returns
* -1 (ERROR) and sets errno appropriately.
*
****************************************************************************/
@@ -92,6 +95,66 @@
int exec(FAR const char *filename, FAR const char **argv,
FAR const struct symtab_s *exports, int nexports)
{
#ifdef CONFIG_SCHED_ONEXIT
FAR struct binary_s *bin;
int pid;
int ret;
/* Allocate the load information */
bin = (FAR struct binary_s *)kzalloc(sizeof(struct binary_s));
if (!bin)
{
set_errno(ENOMEM);
return ERROR;
}
/* Load the module into memory */
bin->filename = filename;
bin->exports = exports;
bin->nexports = nexports;
ret = load_module(bin);
if (ret < 0)
{
bdbg("ERROR: Failed to load program '%s'\n", filename);
kfree(bin);
return ERROR;
}
/* Disable pre-emption so that the executed module does
* not return until we get a chance to connect the on_exit
* handler.
*/
sched_lock();
/* Then start the module */
pid = exec_module(bin);
if (pid < 0)
{
bdbg("ERROR: Failed to execute program '%s'\n", filename);
sched_unlock();
unload_module(bin);
kfree(bin);
return ERROR;
}
/* Set up to unload the module (and free the binary_s structure)
* when the task exists.
*/
ret = schedule_unload(pid, bin);
if (ret < 0)
{
bdbg("ERROR: Failed to schedul unload '%s'\n", filename);
}
sched_unlock();
return pid;
#else
struct binary_s bin;
int ret;
@@ -119,7 +182,10 @@ int exec(FAR const char *filename, FAR const char **argv,
return ERROR;
}
/* TODO: How does the module get unloaded in this case? */
return ret;
#endif
}
#endif /* CONFIG_BINFMT_DISABLE */
nuttx/binfmt/binfmt_loadmodule.c
+3 -1
View File
@@ -84,6 +84,7 @@
static int load_default_priority(FAR struct binary_s *bin)
{
struct sched_param param;
int ret;
/* Get the priority of this thread */
@@ -97,6 +98,7 @@ static int load_default_priority(FAR struct binary_s *bin)
/* Save that as the priority of child thread */
bin->priority = param.sched_priority;
return ret;
}
/****************************************************************************
@@ -180,7 +182,7 @@ int load_module(FAR struct binary_s *bin)
{
/* Set the default priority of the new program. */
ret = load_default_priority(bin)
ret = load_default_priority(bin);
if (ret < 0)
{
/* The errno is already set in this case */
nuttx/binfmt/binfmt_schedunload.c
+333
View File
@@ -0,0 +1,333 @@
/****************************************************************************
* binfmt/binfmt_schedunload.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 <sched.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/kmalloc.h>
#include <nuttx/binfmt/binfmt.h>
#include "binfmt_internal.h"
#if !defined(CONFIG_BINFMT_DISABLE) && defined(CONFIG_SCHED_HAVE_PARENT)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
FAR struct binary_s *g_unloadhead;
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: unload_list_add
*
* Description:
* If CONFIG_SCHED_HAVE_PARENT is defined then schedul_unload() will
* manage instances of struct binary_s allocated with kmalloc. It
* will keep the binary data in a link list and when SIGCHLD is received
* (meaning that the task has exit'ed, schedul_unload() will find the
* data, unload the module, and free the structure.
*
* This function will add one structure to the linked list
*
* Input Parameter:
* pid - The task ID of the child task
* bin - This structure must have been allocated with kmalloc() and must
* persist until the task unloads
*
* Returned Value:
* None
*
****************************************************************************/
static void unload_list_add(pid_t pid, FAR struct binary_s *bin)
{
irqstate_t flags;
/* Save the PID in the structure so that we recover it later */
bin->pid = pid;
/* Disable deliver of any signals while we muck with the list. The graceful
* way to do this would be block delivery of SIGCHLD would be with
* sigprocmask. Here we do it the quick'n'dirty way by just disabling
* interrupts.
*/
flags = irqsave();
bin->flink = g_unloadhead;
g_unloadhead = bin;
irqrestore(flags);
}
/****************************************************************************
* Name: unload_list_remove
*
* Description:
* If CONFIG_SCHED_HAVE_PARENT is defined then schedul_unload() will
* manage instances of struct binary_s allocated with kmalloc. It
* will keep the binary data in a link list and when SIGCHLD is received
* (meaning that the task has exit'ed, schedul_unload() will find the
* data, unload the module, and free the structure.
*
* This function will remove one structure to the linked list
*
* Input Parameter:
* pid - The task ID of the child task
*
* Returned Value:
* On success, the load structure is returned. NULL is returned on
* failure.
*
****************************************************************************/
static FAR struct binary_s *unload_list_remove(pid_t pid)
{
FAR struct binary_s *curr;
FAR struct binary_s *prev;
/* Note the asymmetry. We do not have to disable interrupts here because
* the main thread cannot run while we are in the interrupt handler. Here,
* it should be sufficient to disable pre-emption so that no other thread
* can run.
*/
sched_lock();
/* Find the structure in the unload list with the matching PID */
for (prev = NULL, curr = g_unloadhead;
curr && (curr->pid != pid);
prev = curr, curr = curr->flink);
/* Did we find it? It must be there. Hmmm.. we should probably ASSERT if
* we do not!
*/
if (curr)
{
/* Was there another entry before this one? */
if (prev)
{
/* Yes.. remove the current entry from after the previous entry */
prev->flink = curr->flink;
}
else
{
/* No.. remove the current entry from the head of the list */
g_unloadhead = curr->flink;
}
/* Nullify the forward link ... superstitious */
curr->flink = NULL;
}
sched_unlock();
return curr;
}
/****************************************************************************
* Name: unload_callback
*
* Description:
* If CONFIG_SCHED_HAVE_PARENT is defined, this function may be called to
* automatically unload the module when task exits. It assumes that
* bin was allocated with kmalloc() or friends and will also automatically
* free the structure with kfree() when the task exists.
*
* Input Parameter:
* pid - The ID of the task that just exited
* arg - A reference to the load structure cast to FAR void *
*
* Returned Value:
* None
*
****************************************************************************/
static void unload_callback(int signo, siginfo_t *info, void *ucontext)
{
FAR struct binary_s *bin;
int ret;
/* Sanity checking */
if (!info || signo != SIGCHLD)
{
blldbg("ERROR:Bad signal callback: signo=%d info=%p\n", signo, callback);
return;
}
/* Get the load information for this pid */
bin = unload_list_remove(info->si_pid);
if (!bin)
{
blldbg("ERROR: Could not find load info for PID=%d\n", info->si_pid);
return;
}
/* Unload the module */
ret = unload_module(bin);
if (ret < 0)
{
blldbg("ERROR: unload_module failed: %d\n", get_errno());
}
/* Free the load structure */
kfree(bin);
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: schedule_unload
*
* Description:
* If CONFIG_SCHED_HAVE_PARENT is defined, this function may be called by
* the parent of the the newly created task to automatically unload the
* module when the task exits. This assumes that (1) the caller is the
* parent of the created task, (2) that bin was allocated with kmalloc()
* or friends. It will also automatically free the structure with kfree()
* after unloading the module.
*
* Input Parameter:
* pid - The task ID of the child task
* bin - This structure must have been allocated with kmalloc() and must
* persist until the task unloads
*
* Returned Value:
* This is an end-user function, so it follows the normal convention:
* It returns 0 (OK) if the callback was successfully scheduled. On
* failure, it returns -1 (ERROR) and sets errno appropriately.
*
* On failures, the 'bin' structure will not be deallocated and the
* module not not be unloaded.
*
****************************************************************************/
int schedule_unload(pid_t pid, FAR struct binary_s *bin)
{
struct sigaction act;
struct sigaction oact;
sigset_t sigset;
irqstate_t flags;
int errorcode;
int ret;
/* Make sure that SIGCHLD is unmasked */
(void)sigemptyset(&sigset);
(void)sigaddset(&sigset, SIGCHLD);
ret = sigprocmask(SIG_UNBLOCK, &sigset, NULL);
if (ret != OK)
{
/* The errno value will get trashed by the following debug output */
errorcode = get_errno();
bvdbg("ERROR: sigprocmask failed: %d\n", ret);
goto errout;
}
/* Add the structure to the list. We want to do this *before* connecting
* the signal handler. This does, however, make error recovery more
* complex if sigaction() fails below because then we have to remove the
* unload structure for the list in an unexpected context.
*/
unload_list_add(pid, bin);
/* Register the SIGCHLD handler */
act.sa_sigaction = unload_callback;
act.sa_flags = SA_SIGINFO;
(void)sigfillset(&act.sa_mask);
(void)sigdelset(&act.sa_mask, SIGCHLD);
ret = sigaction(SIGCHLD, &act, &oact);
if (ret != OK)
{
/* The errno value will get trashed by the following debug output */
errorcode = get_errno();
bvdbg("ERROR: sigaction failed: %d\n" , ret);
/* Emergency removal from the list */
flags = irqsave();
if (unload_list_remove(pid) != bin)
{
blldbg("ERROR: Failed to remove structure\n");
}
goto errout;
}
return OK;
errout:
set_errno(errorcode);
return ERROR;
}
#endif /* !CONFIG_BINFMT_DISABLE && CONFIG_SCHED_HAVE_PARENT */
nuttx/binfmt/builtin.c
+7 -5
View File
@@ -89,6 +89,7 @@ static struct binfmt_s g_builtin_binfmt =
static int builtin_loadbinary(struct binary_s *binp)
{
FAR const char *filename;
FAR const struct builtin_s *b;
int fd;
int index;
int ret;
@@ -97,11 +98,11 @@ static int builtin_loadbinary(struct binary_s *binp)
/* Open the binary file for reading (only) */
fd = open(filename, O_RDONLY);
fd = open(binp->filename, O_RDONLY);
if (fd < 0)
{
int errval = errno;
bdbg("ERROR: Failed to open binary %s: %d\n", filename, errval);
bdbg("ERROR: Failed to open binary %s: %d\n", binp->filename, errval);
return -errval;
}
@@ -134,9 +135,10 @@ static int builtin_loadbinary(struct binary_s *binp)
* the priority. That is a bug and needs to be fixed.
*/
binp->entrypt = g_builtins[index].main;
binp->stacksize = g_builtins[index].stacksize;
binp->priority = g_builtins[index].priority;
b = builtin_for_index(index);
binp->entrypt = b->main;
binp->stacksize = b->stacksize;
binp->priority = b->priority;
return OK;
}
nuttx/binfmt/libbuiltin/libbuiltin_getname.c
+9 -5
View File
@@ -83,10 +83,14 @@
FAR const char *builtin_getname(int index)
{
if (index < 0 || index >= number_builtins())
{
return NULL;
}
FAR const struct builtin_s *builtin;
return g_builtins[index].name;
builtin = builtin_for_index(index);
if (builtin != NULL)
{
return builtin->name;
}
return NULL;
}
nuttx/binfmt/libbuiltin/libbuiltin_isavail.c
+4 -3
View File
@@ -80,18 +80,19 @@
* Name: builtin_isavail
*
* Description:
* Return the index into the table of applications for the applicaiton with
* Return the index into the table of applications for the application with
* the name 'appname'.
*
****************************************************************************/
int builtin_isavail(FAR const char *appname)
{
FAR const char *name;
int i;
for (i = 0; g_builtins[i].name; i++)
for (i = 0; (name = builtin_getname(i)); i++)
{
if (!strncmp(g_builtins[i].name, appname, NAME_MAX))
if (!strncmp(name, appname, NAME_MAX))
{
return i;
}
nuttx/configs/README.txt
+69 -2
View File
@@ -334,12 +334,79 @@ defconfig -- This is a configuration file similar to the Linux
CONFIG_TASK_NAME_SIZE - Specifies that maximum size of a
task name to save in the TCB. Useful if scheduler
instrumentation is selected. Set to zero to disable.
CONFIG_SCHED_HAVE_PARENT - Remember the ID of the parent thread
when a new child thread is created. This support enables some
CONFIG_SCHED_HAVE_PARENT - Remember the ID of the parent task
when a new child task is created. This support enables some
additional features (such as SIGCHLD) and modifies the behavior
of other interfaces. For example, it makes waitpid() more
standards complete by restricting the waited-for tasks to the
children of the caller. Default: disabled.
CONFIG_SCHED_CHILD_STATUS
If this option is selected, then the exit status of the child task
will be retained after the child task exits. This option should be
selected if you require knowledge of a child process' exit status.
Without this setting, wait(), waitpid() or waitid() may fail. For
example, if you do:
1) Start child task
2) Wait for exit status (using wait(), waitpid(), or waitid()).
This can fail because the child task may run to completion before
the wait begins. There is a non-standard work-around in this case:
The above sequence will work if you disable pre-emption using
sched_lock() prior to starting the child task, then re-enable pre-
emption with sched_unlock() after the wait completes. This works
because the child task is not permitted to run until the wait is in
place.
The standard solution would be to enable CONFIG_SCHED_CHILD_STATUS. In
this case the exit status of the child task is retained after the
child exits and the wait will successful obtain the child task's
exit status whether it is called before the child task exits or not.
Warning: If you enable this feature, then your application must
either (1) take responsibility for reaping the child status with wait(),
waitpid(), or waitid(), or (2) suppress retention of child status.
If you do not reap the child status, then you have a memory leak and
your system will eventually fail.
Retention of child status can be suppressed on the parent using logic like:
struct sigaction sa;
sa.sa_handler = SIG_IGN;
sa.sa_flags = SA_NOCLDWAIT;
int ret = sigaction(SIGCHLD, &sa, NULL);
CONFIG_PREALLOC_CHILDSTATUS
To prevent runaway child status allocations and to improve
allocation performance, child task exit status structures are pre-
allocated when the system boots. This setting determines the number
of child status structures that will be pre-allocated. If this
setting is not defined or if it is defined to be zero then a value
of 2*MAX_TASKS is used.
Note that there cannot be more that CONFIG_MAX_TASKS tasks in total.
However, the number of child status structures may need to be
significantly larger because this number includes the maximum number
of tasks that are running PLUS the number of tasks that have exit'ed
without having their exit status reaped (via wait(), waitid(), or
waitpid()).
Obviously, if tasks spawn children indefinitely and never have the
exit status reaped, then you may have a memory leak! If you enable
the SCHED_CHILD_STATUS feature, then your application must take
responsibility for either (1) reaping the child status with wait(),
waitpid(), or waitid() or it must (2) suppress retention of child
status. Otherwise, your system will eventually fail.
Retention of child status can be suppressed on the parent using logic like:
struct sigaction sa;
sa.sa_handler = SIG_IGN;
sa.sa_flags = SA_NOCLDWAIT;
int ret = sigaction(SIGCHLD, &sa, NULL);
CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY -
Used to initialize the internal time logic.
CONFIG_GREGORIAN_TIME - Enables Gregorian time conversions.
nuttx/drivers/lcd/README.txt
+51 -27
View File
@@ -119,47 +119,71 @@ that support additional LCDs. LCD drivers in the configuration directory
if they support some differ LCD interface (such as a parallel interface)
that makes then less re-usable:
configs/compal_e99/src/ssd1783.c
SSD1783 Drivers:
SSD1783
configs/compal_e99/src/ssd1783.c
configs/hymini-stm32v/src/ssd1289.c. See also drivers/lcd/ssd1298.c
above.
SSD1289 Drivers:
configs/hymini-stm32v/src/ssd1289.c. See also drivers/lcd/ssd1298.c
above.
configs/stm32f4discovery/src/up_ssd1289.c. This examples is the
bottom half for the SSD1289 driver at drivers/lcd/ssd1289.c
configs/hymini-stm32v/src/ssd1289.c. See also drivers/lcd/ssd1298.c
above.
configs/shenzhou/src/up_ssd1289.c
kwikstik-k40:
SSD1289
configs/kwikstik-k40/src/up_lcd.c. Don't waste your time. This is
just a stub.
configs/kwikstik-k40/src/up_lcd.c. Don't waste your time. This is
just a stub.
Nokia LCD Drivers:
configs/olimex-lpc1766stk/src/up_lcd.c. This examples is the
bottom half for the SSD1289 driver at drivers/lcd/nokia6100.c.
This was never completedly debugged ... there are probably issues
with that nasty 9-bit SPI interfaces.
configs/olimex-lpc1766stk/src/up_lcd.c. This examples is the
bottom half for the driver at drivers/lcd/nokia6100.c.
This was never completedly debugged ... there are probably issues
with that nasty 9-bit SPI interfaces.
configs/sam3u-ek/src/up_lcd.c
The SAM3U-EK developement board features a TFT/Transmissive color
LCD module with touch-screen, FTM280C12D, with integrated driver IC
HX8346.
HX8346:
configs/skp16c26/src/up_lcd.c. Untested alphanumeric LCD driver.
configs/sam3u-ek/src/up_lcd.c. The SAM3U-EK developement board features
a TFT/Transmissive color LCD module with touch-screen, FTM280C12D,
with integrated driver IC HX8346.
configs/stm3210e-eval/src/up_lcd.c
HX8347:
This driver supports the following LCDs:
configs/pic32mx7mmb/src/up_mio283qt2.c. This driver is for the MI0283QT-2
LCD from Multi-Inno Technology Co., Ltd. This LCD is based on the Himax
HX8347-D LCD controller.
ILI93xx and Similar:
1. Ampire AM-240320LTNQW00H
2. Orise Tech SPFD5408B
3. RenesasSP R61580
configs/stm3210e-eval/src/up_lcd.c. This driver supports the following
LCDs:
configs/stm3220g-eval/src/up_lcd.c and configs/stm3240g-eval/src/up_lcd.c.
AM-240320L8TNQW00H (LCD_ILI9320 or LCD_ILI9321) and
AM-240320D5TOQW01H (LCD_ILI9325)
1. Ampire AM-240320LTNQW00H
2. Orise Tech SPFD5408B
3. RenesasSP R61580
configs/stm32f4discovery/src/up_ssd1289.c. This examples is the
bottom half for the SSD1289 driver at drivers/lcd/ssd1289.c
configs/stm3220g-eval/src/up_lcd.c and configs/stm3240g-eval/src/up_lcd.c.
AM-240320L8TNQW00H (LCD_ILI9320 or LCD_ILI9321) and
AM-240320D5TOQW01H (LCD_ILI9325)
configs/shenzhou/src/up_ili93xx.c. Another ILI93xx driver.
OLEDs:
configs/stm32f4discovery/src/up_ug2864ambag01.c
configs/stm32f4discovery/src/up_ug2864hsweg01.c
configs/zp214xpa/src/up_ug2864ambag01.c
Alphnumeric LCD Displays:
configs/skp16c26/src/up_lcd.c. Untested alphanumeric LCD driver.
configs/pcblogic-pic32/src/up_lcd1602.c
graphics/
=========
See also the usage of the LCD driver in the graphics/ directory.
nuttx/drivers/mmcsd/Kconfig
+1 -1
View File
@@ -53,7 +53,7 @@ config MMCSD_SPICLOCK
config MMCSD_SDIO
bool "MMC/SD sdio transfer support"
default y
default n
if MMCSD_SDIO
config SDIO_DMA
nuttx/fs/binfs/fs_binfs.c
+6 -4
View File
@@ -222,7 +222,7 @@ static int binfs_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
}
else
{
*ptr = g_builtins[(int)filep->f_priv].name;
*ptr = builtin_getname((int)filep->f_priv);
ret = OK;
}
}
@@ -287,13 +287,15 @@ static int binfs_opendir(struct inode *mountpt, const char *relpath,
static int binfs_readdir(struct inode *mountpt, struct fs_dirent_s *dir)
{
FAR const char *name;
unsigned int index;
int ret;
/* Have we reached the end of the directory */
index = dir->u.binfs.fb_index;
if (g_builtins[index].name == NULL)
name = builtin_getname(index);
if (name == NULL)
{
/* We signal the end of the directory by returning the
* special error -ENOENT
@@ -306,9 +308,9 @@ static int binfs_readdir(struct inode *mountpt, struct fs_dirent_s *dir)
{
/* Save the filename and file type */
fvdbg("Entry %d: \"%s\"\n", index, g_builtins[index].name);
fvdbg("Entry %d: \"%s\"\n", index, name);
dir->fd_dir.d_type = DTYPE_FILE;
strncpy(dir->fd_dir.d_name, g_builtins[index].name, NAME_MAX+1);
strncpy(dir->fd_dir.d_name, name, NAME_MAX+1);
/* The application list is terminated by an entry with a NULL name.
* Therefore, there is at least one more entry in the list.
nuttx/include/nuttx/binfmt/binfmt.h
+44 -3
View File
@@ -82,6 +82,18 @@ typedef FAR void (*binfmt_dtor_t)(void);
struct symtab_s;
struct binary_s
{
/* If CONFIG_SCHED_HAVE_PARENT is defined then schedul_unload() will
* manage instances of struct binary_s allocated with kmalloc. It
* will keep the binary data in a link list and when SIGCHLD is received
* (meaning that the task has exit'ed, schedul_unload() will find the
* data, unload the module, and free the structure.
*/
#ifdef CONFIG_SCHED_HAVE_PARENT
FAR struct binary_s *flink; /* Supports a singly linked list */
pid_t pid; /* Task ID of the child task */
#endif
/* Information provided to the loader to load and bind a module */
FAR const char *filename; /* Full path to the binary to be loaded (See NOTE 1 above) */
@@ -222,19 +234,48 @@ int unload_module(FAR const struct binary_s *bin);
*
* Returned Value:
* This is an end-user function, so it follows the normal convention:
* Returns the PID of the exec'ed module. On failure, it.returns
* Returns the PID of the exec'ed module. On failure, it returns
* -1 (ERROR) and sets errno appropriately.
*
****************************************************************************/
int exec_module(FAR const struct binary_s *bin);
/****************************************************************************
* Name: schedule_unload
*
* Description:
* If CONFIG_SCHED_HAVE_PARENT is defined, this function may be called by
* the parent of the the newly created task to automatically unload the
* module when the task exits. This assumes that (1) the caller is the
* parent of the created task, (2) that bin was allocated with kmalloc()
* or friends. It will also automatically free the structure with kfree()
* after unloading the module.
*
* Input Parameter:
* pid - The task ID of the child task
* bin - This structure must have been allocated with kmalloc() and must
* persist until the task unloads
*
* Returned Value:
* This is an end-user function, so it follows the normal convention:
* It returns 0 (OK) if the callback was successfully scheduled. On
* failure, it returns -1 (ERROR) and sets errno appropriately.
*
****************************************************************************/
#ifdef CONFIG_SCHED_HAVE_PARENT
int schedule_unload(pid_t pid, FAR struct binary_s *bin);
#endif
/****************************************************************************
* Name: exec
*
* Description:
* This is a convenience function that wraps load_ and exec_module into
* one call.
* one call. If CONFIG_SCHED_ONEXIT is also defined, this function will
* automatically call schedule_unload() to unload the module when task
* exits.
*
* Input Parameter:
* filename - Fulll path to the binary to be loaded
@@ -244,7 +285,7 @@ int exec_module(FAR const struct binary_s *bin);
*
* Returned Value:
* This is an end-user function, so it follows the normal convention:
* Returns the PID of the exec'ed module. On failure, it.returns
* It returns the PID of the exec'ed module. On failure, it returns
* -1 (ERROR) and sets errno appropriately.
*
****************************************************************************/
nuttx/include/nuttx/binfmt/builtin.h
+39 -17
View File
@@ -73,18 +73,40 @@ extern "C" {
#define EXTERN extern
#endif
/* The g_builtins[] array holds information about each builtin function. If
* support for builtin functions is enabled in the NuttX configuration, then
* this arrary (along with the number_builtins() function) must be provided
* by the application code.
*/
EXTERN const struct builtin_s g_builtins[];
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: builtin_initialize
*
* Description:
* Builtin support is built unconditionally. However, it order to
* use this binary format, this function must be called during system
* format in order to register the builtin binary format.
*
* Returned Value:
* This is a NuttX internal function so it follows the convention that
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
****************************************************************************/
int builtin_initialize(void);
/****************************************************************************
* Name: builtin_uninitialize
*
* Description:
* Unregister the builtin binary loader
*
* Returned Value:
* None
*
****************************************************************************/
void builtin_uninitialize(void);
/****************************************************************************
* Utility Functions Provided to Applications by binfmt/libbuiltin
****************************************************************************/
@@ -128,24 +150,24 @@ FAR const char *builtin_getname(int index);
* Data Set Access Functions Provided to Applications by binfmt/libbuiltin
****************************************************************************/
/****************************************************************************
* Name: number_builtins
* Name: builtin_for_index
*
* Description:
* Returns the number of builtin functions in the g_builtins[] array. If
* support for builtin functions is enabled in the NuttX configuration,
* then this function (along with g_builtins[]) must be provided by the
* application code.
* Returns the builtin_s structure for the selected builtin.
* If support for builtin functions is enabled in the NuttX configuration,
* then this function must be provided by the application code.
*
* Input Parameter:
* None
* index, from 0 and on...
*
* Returned Value:
* The number of entries in the g_builtins[] array. This function does
* not return failures.
* Returns valid pointer pointing to the builtin_s structure if index is
* valid.
* Otherwise, NULL is returned.
*
****************************************************************************/
int number_builtins(void);
EXTERN FAR const struct builtin_s *builtin_for_index(int index);
#undef EXTERN
#if defined(__cplusplus)
nuttx/include/nuttx/lcd/hd4478ou.h
+118
View File
@@ -0,0 +1,118 @@
/********************************************************************************************
* include/nuttx/lcd/hd4478ou.h
*
* Definitions for the Hitachi HD44780U LCD controller (as used in the
* LCD1602).
*
* 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 __INCLUDE_NUTTX_HD4478OU_H
#define __INCLUDE_NUTTX_HD4478OU_H
/********************************************************************************************
* Included Files
********************************************************************************************/
/* Command set:
*
* RS=0 R/W=0 : Command
* RS=0 R/W=1 : Busy/AD, Read CT (see below)
* RS=1 R/W=0 : Write data to CGRAM or DDRAM
* RS=1 R/W=0 : Read data from CGRAM or DDRAM
*/
#define HD4478OU_CLEAR (0x01) /* Screen Clear, Set AC to 0 */
#define HD4478OU_RETURN (0x02) /* DDRAM AD=0, return */
#define HD4478OU_INPUT (0x04) /* Set moving direction of cursor */
# define HD4478OU_INPUT_SHIFT (1 << 0) /* Shift */
# define HD4478OU_INPUT_INCR (1 << 1) /* Increment mode */
# define HD4478OU_INPUT_DECR (0x00) /* Decrement mode */
#define HD4478OU_DISPLAY (0x08) /* Set display, cursor, blink on/off */
# define HD4478OU_DISPLAY_BLINK (1 << 0) /* Blink on/off */
# define HD4478OU_DISPLAY_CURSOR (1 << 1) /* Cursor on/off */
# define HD4478OU_DISPLAY_ON (1 << 2) /* Display on/off */
#define HD4478OU_SHIFT (0x10) /* Remove cursor and whole diplay */
# define HD4478OU_SHIFT_RIGHT (1 << 2) /* Shift right */
# define HD4478OU_SHIFT_LEFT (0x00) /* Shift right */
# define HD4478OU_SHIFT_DISPLAY (1 << 3) /* Display shift */
# define HD4478OU_SHIFT_CURSOR (0x00) /* Cursor shift */
#define HD4478OU_FUNC (0x20) /* Set DL, display line, font */
# define HD4478OU_FUNC_F5x10 (1 << 2) /* 5x10 Style */
# define HD4478OU_FUNC_F5x7 (0x00) /* 5x7 Style */
# define HD4478OU_FUNC_N1 (1 << 3) /* N=2R */
# define HD4478OU_FUNC_N0 (0x00) /* N=1R */
# define HD4478OU_FUNC_DL8D (1 << 4) /* DL=8D, 8-bit interface */
# define HD4478OU_FUNC_DL4D (0x00) /* DL=4D, 4-bit interface */
#define HD4478OU_CGRAM_AD(a) (0x40|(a)) /* Set CGRAM AD, send receive data */
#define HD4478OU_DDRAM_AD(a) (0x80|(a)) /* Set DDRAM AD, send receive data */
/* RS=0 R/W=1 : Execute internal function, read AD of CT */
#define HD4478OU_BUSY(bf,ac) ((bf) << 7 | (ac))
/********************************************************************************************
* Pre-processor Definitions
********************************************************************************************/
/********************************************************************************************
* Public Types
********************************************************************************************/
/********************************************************************************************
* Public Data
********************************************************************************************/
#ifdef __cplusplus
extern "C"
{
#endif
/********************************************************************************************
* Public Function Prototypes
********************************************************************************************/
/********************************************************************************************
* Name: up_lcd1602_initialize
*
* Description:
* the LCD1602 is an HD4478OU-based LCD from Wave share. This function initializes the
* LCD1602 hardware and registers the character driver as /dev/lcd1602.
*
********************************************************************************************/
int up_lcd1602_initialize(void);
#ifdef __cplusplus
}
#endif
#endif /* __INCLUDE_NUTTX_HD4478OU_H */
nuttx/include/nuttx/lcd/ug-2864ambag01.h
+1
View File
@@ -1,5 +1,6 @@
/**************************************************************************************
* include/nuttx/lcd/ug-2864ambag01.h
*
* Driver for Univision UG-2864AMBAG01 OLED display (wih SH1101A controller) in SPI
* mode
*
nuttx/include/nuttx/lcd/ug-2864hsweg01.h
+1
View File
@@ -1,5 +1,6 @@
/**************************************************************************************
* include/nuttx/lcd/ug-2864hsweg01.h
*
* Driver for Univision UG-2864HSWEG01 OLED display (wih SSD1306 controller) in SPI
* mode
*

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