Add SAM3U kernel build logic

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@3456 42af7a65-404d-4744-a932-0658087f49c3

Makefile

@@ -339,7 +339,9 @@ syscall/libproxies$(LIBEXT): context
 # (archive); some modification to this Makefile would be required if
 # CONFIG_PASS1_OBJECT is an archive.
 
-pass1:
+pass1deps: context depend $(USERLIBS)
+
+pass1: pass1deps
 ifeq ($(CONFIG_BUILD_2PASS),y)
 	@if [ -z "$(CONFIG_PASS1_OBJECT)" ]; then \
 		echo "ERROR: CONFIG_PASS1_OBJECT not defined"; \
@@ -357,10 +359,12 @@ ifeq ($(CONFIG_BUILD_2PASS),y)
 		echo "ERROR: No Makefile in CONFIG_PASS1_BUILDIR"; \
 		exit 1; \
 	fi
-	@$(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" LINKLIBS="$(NUTTXLIBS)" "$(ARCH_SRC)/$(CONFIG_PASS1_OBJECT)"
+	@$(MAKE) -C $(CONFIG_PASS1_BUILDIR) TOPDIR="$(TOPDIR)" LINKLIBS="$(NUTTXLIBS)" USERLIBS="$(USERLIBS)" "$(ARCH_SRC)/$(CONFIG_PASS1_OBJECT)"
 endif
 
-$(BIN):	context depend $(NUTTXLIBS) $(USERLIBS) pass1
+pass2deps: context depend $(NUTTXLIBS)
+
+pass2: pass2deps
 	@$(MAKE) -C $(ARCH_SRC) TOPDIR="$(TOPDIR)" EXTRA_OBJS="$(EXTRA_OBJS)" LINKLIBS="$(NUTTXLIBS)" $(BIN)
 	@if [ -w /tftpboot ] ; then \
 		cp -f $(TOPDIR)/$@ /tftpboot/$@.${CONFIG_ARCH}; \
@@ -381,6 +385,13 @@ ifeq ($(CONFIG_RAW_BINARY),y)
 	@$(OBJCOPY) $(OBJCOPYARGS) -O binary $(NUTTX)$(EXEEXT) $(NUTTX)$(EXEEXT).bin
 endif
 
+# In the normal case, all pass1 and pass2 dependencies are created then pass1
+# and pass2 targets are built.  However, in some cases, you may need to build
+# pass1 depenencies and pass1 first, then build pass2 dependencies and pass2.
+# in that case, execute 'make pass1 pass2' from the command line.
+
+$(BIN): pass1deps pass2deps pass1 pass2
+
 # This is a helper target that will rebuild NuttX and download it to the
 # target system in one step.  It will generate an error an error if the
 # DOWNLOAD command is not defined in platform Make.defs file.

configs/ea3131/locked/ld-locked.script

@@ -1,5 +1,5 @@
 /****************************************************************************
- * configs/ea3131/pgnsh/ld-locked.script
+ * configs/ea3131/locked/ld-locked.script
  *
  *   Copyright (C) 2010 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
@@ -40,4 +40,4 @@ SECTIONS
 	.text.locked : { *(.text .text.*) }
 	.data : { *(.data) } 
 	.bss :  { *(.bss)  *(COMMON) } 
-}
+}

configs/sam3u-ek/kernel/Makefile

@@ -0,0 +1,104 @@
+############################################################################
+# configs/sam3u-ek/kernel/Makefile
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#
+# 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.
+#
+############################################################################
+
+-include $(TOPDIR)/.config
+-include $(TOPDIR)/Make.defs
+
+# This is the directory for the board-specific header files
+
+BOARD_INCLUDE	= $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/include
+
+# Get the paths to the libraries and the links script path in format that
+# is appropriate for the host OS
+
+ifeq ($(WINTOOL),y)
+  # Windows-native toolchains
+  USER_LIBPATHS	= ${shell for path in $(USERLIBS); do dir=`dirname $(TOPDIR)/$$path`;echo "-L\"`cygpath -w $$dir`\"";done}
+  USER_LDSCRIPT	= -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/kernel/kernel.ld}"
+else
+  # Linux/Cygwin-native toolchain 
+  USER_LIBPATHS	= $(addprefix -L$(TOPDIR)/,$(dir $(USERLIBS)))
+  USER_LDSCRIPT	= -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/kernel/kernel.ld
+endif
+
+USER_LDFLAGS	= $(USER_LDSCRIPT)
+USER_LDLIBS		= $(patsubst lib%,-l%,$(basename $(notdir $(USERLIBS))))
+USER_LIBGCC		= "${shell $(CC) -print-libgcc-file-name}"
+
+# Targets:
+
+all: $(TOPDIR)/nuttx_user.elf $(TOPDIR)/User.map $(BOARD_INCLUDE)/user_map.h
+
+.PHONY:	depend clean distclean
+
+# Create the nuttx_user.elf file containing all of the user-mode code
+
+nuttx_user.elf:
+	@echo "LD:  nuttx_user.elf"
+	@$(LD) -o $@ $(USER_LDFLAGS) $(USER_LIBPATHS) --start-group $(USER_LDLIBS) --end-group $(USER_LIBGCC) 
+
+$(TOPDIR)/nuttx_user.elf: nuttx_user.elf
+	@cp -a nuttx_user.elf $(TOPDIR)/nuttx_user.elf
+
+$(TOPDIR)/User.map: nuttx_user.elf
+	@$(NM) nuttx_user.elf >$(TOPDIR)/User.map
+	@$(CROSSDEV)size $(TOPDIR)/User.map
+
+$(BOARD_INCLUDE)/user_map.h: $(TOPDIR)/User.map
+	@echo "/* configs/$(CONFIG_ARCH_BOARD)/include/user_map.h" > $(BOARD_INCLUDE)/user_map.h
+	@echo " *" >> $(BOARD_INCLUDE)/user_map.h
+	@echo " * This is an auto-generated file.. Do not edit this file!" >> $(BOARD_INCLUDE)/user_map.h
+	@echo " */" >> $(BOARD_INCLUDE)/user_map.h
+	@echo "" >> $(BOARD_INCLUDE)/user_map.h
+	@echo "#ifndef __ARCH_BOARD_USER_MAP_H" >> $(BOARD_INCLUDE)/user_map.h
+	@echo "#define __ARCH_BOARD_USER_MAP_H" >> $(BOARD_INCLUDE)/user_map.h
+	@echo "" >> $(BOARD_INCLUDE)/user_map.h
+	@echo "#define CONFIG_USER_ENTRYPOINT    `grep user_start $(TOPDIR)/User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)/user_map.h
+	@echo "#define CONFIG_USER_DATASOURCE    `grep _eronly $(TOPDIR)/User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)/user_map.h
+	@echo "#define CONFIG_USER_DATADESTSTART `grep _sdata $(TOPDIR)/User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)/user_map.h
+	@echo "#define CONFIG_USER_DATADESTEND   `grep _edata $(TOPDIR)/User.map | cut -d' ' -f1`" >> $(BOARD_INCLUDE)/user_map.h
+	@echo "" >> $(BOARD_INCLUDE)/user_map.h
+	@echo "#endif /* __ARCH_BOARD_USER_MAP_H */" >> $(BOARD_INCLUDE)/user_map.h
+
+.depend:
+
+depend: .depend
+
+clean:
+	@rm -f nuttx_user.elf *~ .*.swp
+	@rm -f $(TOPDIR)/nuttx_user.elf $(TOPDIR)/User.map
+
+distclean: clean
+

configs/sam3u-ek/kernel/kernel.ld

@@ -0,0 +1,127 @@
+/****************************************************************************
+ * configs/sam3u-ek/kernal/kernel.ld
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/* The AT91SAM3U-4 has 256Kb of FLASH beginning at address 0x0008:0000, 
+ * 32Kb of SRAM beginning at address 0x2000:0000, and 16Kb of SRAM beginning
+ * at address 0x2008:000 (used only for heap).  When booting from FLASH,
+ * FLASH memory is aliased to address 0x0000:0000 where the code expects to
+ * begin execution by jumping to the entry point in the 0x0800:0000 address
+ * range.
+ *
+ * For MPU support, the kernel-mode NuttX section is assumed to be 64Kb of
+ * FLASH and 4Kb of SRAM.  That, of course, can be optimized as needed (See
+ * also configs/sam3u-ek/knsh/ld.script
+ */
+
+MEMORY
+{
+    /* 256Kb FLASH */
+
+    kflash (rx)  : ORIGIN = 0x00080000, LENGTH = 64K
+    uflash (rx)  : ORIGIN = 0x00090000, LENGTH = 192K
+
+    /* 32Kb SRAM */
+
+    ksram1 (rwx) : ORIGIN = 0x20000000, LENGTH = 4K
+    usram1 (rwx) : ORIGIN = 0x20001000, LENGTH = 28K
+
+    /* 16Kb SRAM */
+
+    sram2 (rwx) : ORIGIN = 0x20080000, LENGTH = 16K
+}
+
+OUTPUT_ARCH(arm)
+ENTRY(user_start)
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)        
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)        
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > uflash
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > usram1 AT > uflash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} >usram1
+
+	.ARM.exidx : {
+		__exidx_start = ABSOLUTE(.);
+		*(.ARM.exidx*)
+		__exidx_end = ABSOLUTE(.);
+	} >usram1
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		_ebss = ABSOLUTE(.);
+	} > usram1
+
+	/* Stabs debugging sections.	*/
+
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

configs/sam3u-ek/knsh/Make.defs

@@ -117,7 +117,7 @@ LDNXFLATFLAGS = -e main -s 2048
 
 OBJEXT = .o
 LIBEXT = .a
-EXEEXT =
+EXEEXT = .elf
 
 ifneq ($(CROSSDEV),arm-elf-)
   LDFLAGS += -nostartfiles -nodefaultlibs

configs/sam3u-ek/knsh/defconfig

@@ -207,6 +207,13 @@ CONFIG_MOTOROLA_SREC=n
 CONFIG_RAW_BINARY=y
 CONFIG_HAVE_LIBM=n
 
+#
+# Setup for a two-pass build
+#
+CONFIG_BUILD_2PASS=y
+CONFIG_PASS1_BUILDIR=configs/sam3u-ek/kernel
+CONFIG_PASS1_OBJECT=
+
 #
 # General OS setup
 #

configs/sam3u-ek/knsh/ld.script

@@ -39,12 +39,26 @@
  * FLASH memory is aliased to address 0x0000:0000 where the code expects to
  * begin execution by jumping to the entry point in the 0x0800:0000 address
  * range.
+ *
+ * For MPU support, the kernel-mode NuttX section is assumed to be 64Kb of
+ * FLASH and 4Kb of SRAM.  That, of course, can be optimized as needed (See
+ * also configs/sam3u-ek/kernel/kernel.ld.
  */
 
 MEMORY
 {
-    flash (rx)  : ORIGIN = 0x00080000, LENGTH = 256K
+    /* 256Kb FLASH */
-    sram1 (rwx) : ORIGIN = 0x20000000, LENGTH = 32K
+
+    kflash (rx)  : ORIGIN = 0x00080000, LENGTH = 64K
+    uflash (rx)  : ORIGIN = 0x00090000, LENGTH = 192K
+
+    /* 32Kb SRAM */
+
+    ksram1 (rwx) : ORIGIN = 0x20000000, LENGTH = 4K
+    usram1 (rwx) : ORIGIN = 0x20001000, LENGTH = 28K
+
+    /* 16Kb SRAM */
+
     sram2 (rwx) : ORIGIN = 0x20080000, LENGTH = 16K
 }
 
@@ -66,9 +80,9 @@ SECTIONS
 		*(.gcc_except_table)
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);
-	} > flash
+	} > kflash
 
-	_eronly = ABSOLUTE(.);		/* See below                    */
+	_eronly = ABSOLUTE(.);
 
 	.data : {
 		_sdata = ABSOLUTE(.);
@@ -76,26 +90,28 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > sram1 AT > flash
+	} > ksram1 AT > kflash
 
 	.ARM.extab : {
 		*(.ARM.extab*)
-	} >sram1
+	} >ksram1
 
 	.ARM.exidx : {
 		__exidx_start = ABSOLUTE(.);
 		*(.ARM.exidx*)
 		__exidx_end = ABSOLUTE(.);
-	} >sram1
+	} >ksram1
 
-	.bss : {			/* BSS				*/
+	.bss : {
 		_sbss = ABSOLUTE(.);
 		*(.bss .bss.*)
 		*(.gnu.linkonce.b.*)
 		*(COMMON)
 		_ebss = ABSOLUTE(.);
-	} > sram1
+	} > ksram1
-					/* Stabs debugging sections.	*/
+
+	/* Stabs debugging sections.	*/
+
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
 	.stab.excl 0 : { *(.stab.excl) }

sched/os_bringup.c

@@ -57,11 +57,25 @@
 #ifdef CONFIG_BUILTIN_APP_START
 # include "apps/apps.h"
 #endif
+#ifdef CONFIG_NUTTX_KERNEL
+# include "arch/board/user_map.h"
+#endif
 
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
 
+/* If NuttX is built as a separately compiled module, then the the header
+ * file should contain the address of the user module entry point.  If not
+ * then the default entry point is user_start.
+ */
+
+#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_USER_ENTRYPOINT)
+#  define USER_ENTRYPOINT (main_t)CONFIG_USER_ENTRYPOINT
+#else
+#  define USER_ENTRYPOINT user_start
+#endif
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -104,8 +118,8 @@
  *   And the main application entry point.  This may be one of two different
  *   symbols:
  *
- *   - user_start:  This is the default entry point used for all of the
+ *   - USER_ENTRYPOINT: This is the default entry point used for all of the
- *                  examples.
+ *                  example code in apps/examples.
  *   - CONFIG_BUILTIN_APP_START: The system can also be configured to start
  *                  custom applications at however CONFIG_BUILTIN_APP_START
  *                  is defined in the NuttX start-up file.
@@ -157,11 +171,11 @@ int os_bringup(void)
   
   init_taskid = exec_namedapp(CONFIG_BUILTIN_APP_START, argv);
 #else
-  /* Start the default application at user_start() */
+  /* Start the default application at USER_ENTRYPOINT() */
 
   init_taskid = TASK_CREATE("init", SCHED_PRIORITY_DEFAULT,
                             CONFIG_USERMAIN_STACKSIZE,
-                            (main_t)user_start, (const char **)NULL);
+                            (main_t)USER_ENTRYPOINT, (const char **)NULL);
 #endif
   ASSERT(init_taskid != ERROR);
   return OK;

syscall/Makefile

@@ -53,8 +53,8 @@ SRCS = $(ASRCS) $(CSRCS)
 OBJS = $(AOBJS) $(COBJS)
 
 ROOTDEPPATH	= --dep-path .
-PROXYDEPPATH = --dep-path stdio
+PROXYDEPPATH = --dep-path proxies
-STUBDEPPATH = --dep-path stdlib
+STUBDEPPATH = --dep-path stubs
 VPATH = proxies:stubs
 
 BIN1 = libproxies$(LIBEXT)
@@ -107,3 +107,4 @@ distclean: clean
 	@rm -f proxies/*.c stubs/*.c
 
 -include Make.dep
+

syscall/proxies/Make.defs

@@ -33,4 +33,5 @@
 #
 ############################################################################
 
-PROXY_SRCS := ${shell ls proxies/*.c 2>/dev/null}
+PROXY_SRCS := ${shell cd proxies; ls *.c 2>/dev/null }
+

syscall/stubs/Make.defs

@@ -33,4 +33,6 @@
 #
 ############################################################################
 
-STUB_SRCS := ${shell ls stubs/*.c 2>/dev/null}
+STUB_SRCS := ${shell cd stubs; ls *.c 2>/dev/null }
+
+