canbootloader:Update to use NuttX

platforms/nuttx/CMakeLists.txt

@@ -69,7 +69,12 @@ elseif("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
 	)
 
 	target_link_libraries(px4 PRIVATE
-		-Wl,-wrap,sched_process_timer -Wl,-wrap,nx_sem_post -Wl,-wrap,nx_sem_wait
+		-Wl,-wrap,nxsched_process_timer
+		-Wl,-wrap,nxsem_post
+		-Wl,-wrap,nxsem_wait
+		-Wl,-wrap,arm_svcall
+		-Wl,-wrap,nx_start
+		-Wl,-wrap,exit
 	)
 else()
 	if(NOT "${PX4_BOARD_LINKER_PREFIX}" STREQUAL "")
@@ -119,7 +124,6 @@ target_link_libraries(px4 PRIVATE
 
 	-fno-exceptions
 	-fno-rtti
-
 	-Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx-config/scripts/${SCRIPT_PREFIX}script.ld
 	-Wl,-Map=${PX4_CONFIG}.map
 	-Wl,--warn-common

platforms/nuttx/src/canbootloader/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_library(canbootloader
 	arch/stm32/board_identity.c
 	arch/stm32/drivers/can/driver.c
 	common/boot_app_shared.c
+	common/nuttx_stubs.c
 	fs/flash.c
 	protocol/uavcan.c
 	sched/timer.c

platforms/nuttx/src/canbootloader/common/nuttx_stubs.c

@@ -0,0 +1,224 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017-2021 PX4 Development Team. All rights reserved.
+ *       Author: David Sidrane <david_s5@nscdg.com>
+ *
+ * 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 PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include "nuttx/arch.h"
+#include "arm_internal.h"
+
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+__EXPORT int __wrap_nxsem_wait(void *sem);
+__EXPORT int __wrap_nxsem_post(void *sem);
+
+int main(int argc, char **argv);
+/****************************************************************************
+ * Name: nxsem_wait and nxsem_post
+ *
+ * Description:
+ *   These functions hijacks by the way of a compile time wrapper the systems
+ *   sem_wait and sem_post functions.
+ *
+ ****************************************************************************/
+
+int __wrap_nxsem_wait(void *sem)
+{
+	return 0;
+}
+
+int __wrap_nxsem_post(void *sem)
+{
+	return 0;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+void timer_init(void);
+int __wrap_arm_svcall(int irq, FAR void *context);
+__EXPORT void __wrap_exit(int status);
+
+
+/****************************************************************************
+ * Name: os_start
+ *
+ * Description:
+ *   This function hijacks the entry point of the OS. Normally called by the
+ *   statup code for a given architecture
+ *
+ ****************************************************************************/
+#ifdef CONFIG_STACK_COLORATION
+inline static void irq_stack_collor(void *pv, unsigned int nwords)
+{
+#ifdef CONFIG_ARCH_INTERRUPTSTACK
+	/* Set the Interrupt stack to the stack coloration value then jump to
+	 * os_start().  We take extreme care here because were currently
+	 * executing on this stack.
+	 *
+	 * We want to avoid sneak stack access generated by the compiler.
+	 */
+
+	__asm__ __volatile__
+	(
+		"\tmov  r0, %[addr]\n"      /* R0 = Address */
+		"\tmovs r1, %[nwords]\n"    /* R1 = nbyts*/
+		"\tbeq  2f\n"               /* (should not happen) */
+
+		"\tbic  r0, r0, #3\n"       /* R0 = Aligned stackptr */
+		"\tmovw r2, #0xbeef\n"      /* R2 = STACK_COLOR = 0xdeadbeef */
+		"\tmovt r2, #0xdead\n"
+
+		"1:\n"                      /* Top of the loop */
+		"\tsub  r1, r1, #1\n"       /* R1 nwords-- */
+		"\tcmp  r1, #0\n"           /* Check (nwords == 0) */
+		"\tstr  r2, [r0], #4\n"     /* Save stack color word, increment stackptr */
+		"\tbne  1b\n"               /* Bottom of the loop */
+
+		"2:\n"
+		:
+		: [addr]"r"(pv), [nwords]"r"(nwords)     /* Address*/
+		: /* No clobbers */
+
+	);
+#endif
+}
+#endif
+
+void __wrap_nx_start(void)
+{
+#ifdef CONFIG_STACK_COLORATION
+	/* Color the irq stack */
+	irq_stack_collor((void *)&g_intstackalloc, CONFIG_ARCH_INTERRUPTSTACK / sizeof(uint32_t));
+#endif
+
+	/* Initialize the timer software subsystem */
+	timer_init();
+
+	/* Initialize the interrupt subsystem */
+	up_irqinitialize();
+
+
+#if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \
+    !defined(CONFIG_SYSTEMTICK_EXTCLK)
+	/* Initialize the OS's timer subsystem */
+	up_timer_initialize();
+#endif
+
+	/* Keep the compiler happy for a no return function */
+	while (1) {
+		main(0, 0);
+	}
+}
+
+/****************************************************************************
+ * Name: malloc
+ *
+ * Description:
+ *   This function hijacks the OS's malloc and provides no allocation
+ *
+ ****************************************************************************/
+
+FAR void *malloc(size_t size)
+{
+	return NULL;
+}
+
+/****************************************************************************
+ * Name: malloc
+ *
+ * Description:
+ *   This function hijacks the systems exit
+ *
+ ****************************************************************************/
+void __wrap_exit(int status)
+{
+	while (1);
+}
+
+/****************************************************************************
+ * Name: sched_ufree
+ *
+ * Description:
+ *   This function hijacks the systems sched_ufree that my be called during
+ *   exception processing.
+ *
+ ****************************************************************************/
+
+void sched_ufree(FAR void *address)
+{
+
+}
+
+/****************************************************************************
+ * Name: up_svcall
+ *
+ * Description:
+ *   This function hijacks by the way of a compile time wrapper the systems
+ *   up_svcall
+ *
+ ****************************************************************************/
+
+int __wrap_arm_svcall(int irq, FAR void *context)
+{
+	return 0;
+}

platforms/nuttx/src/canbootloader/sched/timer.c

@@ -81,7 +81,7 @@ const bl_timer_cb_t null_cb = { 0, 0 };
  * the sceduler's sched_process_timer and service it here. Thus replacing
  * the NuttX scheduler with are timer driven scheduling.
  */
-void __wrap_sched_process_timer(void);
+void __wrap_nxsched_process_timer(void);
 
 /****************************************************************************
  * Name: timer_tic
@@ -120,7 +120,7 @@ time_ms_t timer_tic(void)
  *   None
  *
  ****************************************************************************/
-__EXPORT void __wrap_sched_process_timer(void)
+__EXPORT void __wrap_nxsched_process_timer(void)
 {
 	//PROBE(1, true);
 	//PROBE(1, false);