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Nil working on M3/M4. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6265 35acf78f-673a-0410-8e92-d51de3d6d3f4
master
gdisirio 2013-09-05 14:54:24 +00:00
parent 986a9d1db1
commit 15a54ae359
11 changed files with 71 additions and 44 deletions
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6
demos/nil/NIL-STM32F051-DISCOVERY/main.c
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@ -79,9 +79,9 @@ THD_FUNCTION(Thread3, arg) {
* match NIL_CFG_NUM_THREADS. * match NIL_CFG_NUM_THREADS.
*/ */
THD_TABLE_BEGIN THD_TABLE_BEGIN
THD_TABLE_ENTRY("blinker1", Thread1, NULL, waThread1, sizeof(waThread1)) THD_TABLE_ENTRY(waThread1, "blinker1", Thread1, NULL)
THD_TABLE_ENTRY("blinker2", Thread2, NULL, waThread2, sizeof(waThread2)) THD_TABLE_ENTRY(waThread2, "blinker2", Thread2, NULL)
THD_TABLE_ENTRY("hello", Thread3, NULL, waThread3, sizeof(waThread3)) THD_TABLE_ENTRY(waThread3, "hello", Thread3, NULL)
THD_TABLE_END THD_TABLE_END
/* /*

7
demos/nil/NIL-STM32F051-DISCOVERY/nilconf.h
View File

@ -59,15 +59,18 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(NIL_CFG_USE_EVENTS) || defined(__DOXYGEN__)
#define NIL_CFG_USE_EVENTS TRUE #define NIL_CFG_USE_EVENTS TRUE
#endif
/** /**
* @brief System assertions. * @brief System assertions.
*/ */
#define NIL_CFG_ENABLE_ASSERTS FALSE #define NIL_CFG_ENABLE_ASSERTS FALSE
/**
* @brief Stack check.
*/
#define NIL_CFG_ENABLE_STACK_CHECK FALSE
/** /**
* @brief Threads descriptor structure extension. * @brief Threads descriptor structure extension.
* @details User fields added to the end of the @p thread_t structure. * @details User fields added to the end of the @p thread_t structure.

10
demos/nil/NIL-STM32F303-DISCOVERY/main.c
View File

@ -65,8 +65,8 @@ THD_FUNCTION(Thread3, arg) {
* PA9 and PA10 are routed to USART1. * PA9 and PA10 are routed to USART1.
*/ */
sdStart(&SD1, NULL); sdStart(&SD1, NULL);
palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(1)); /* USART1 TX. */ palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(7)); /* USART1 TX. */
palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(1)); /* USART1 RX. */ palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(7)); /* USART1 RX. */
while (true) { while (true) {
chnWrite(&SD1, (const uint8_t *)"Hello World!\r\n", 14); chnWrite(&SD1, (const uint8_t *)"Hello World!\r\n", 14);
@ -79,9 +79,9 @@ THD_FUNCTION(Thread3, arg) {
* match NIL_CFG_NUM_THREADS. * match NIL_CFG_NUM_THREADS.
*/ */
THD_TABLE_BEGIN THD_TABLE_BEGIN
THD_TABLE_ENTRY("blinker1", Thread1, NULL, waThread1, sizeof(waThread1)) THD_TABLE_ENTRY(waThread1, "blinker1", Thread1, NULL)
THD_TABLE_ENTRY("blinker2", Thread2, NULL, waThread2, sizeof(waThread2)) THD_TABLE_ENTRY(waThread2, "blinker2", Thread2, NULL)
THD_TABLE_ENTRY("hello", Thread3, NULL, waThread3, sizeof(waThread3)) THD_TABLE_ENTRY(waThread3, "hello", Thread3, NULL)
THD_TABLE_END THD_TABLE_END
/* /*

7
demos/nil/NIL-STM32F303-DISCOVERY/nilconf.h
View File

@ -59,15 +59,18 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(NIL_CFG_USE_EVENTS) || defined(__DOXYGEN__)
#define NIL_CFG_USE_EVENTS TRUE #define NIL_CFG_USE_EVENTS TRUE
#endif
/** /**
* @brief System assertions. * @brief System assertions.
*/ */
#define NIL_CFG_ENABLE_ASSERTS FALSE #define NIL_CFG_ENABLE_ASSERTS FALSE
/**
* @brief Stack check.
*/
#define NIL_CFG_ENABLE_STACK_CHECK FALSE
/** /**
* @brief Threads descriptor structure extension. * @brief Threads descriptor structure extension.
* @details User fields added to the end of the @p thread_t structure. * @details User fields added to the end of the @p thread_t structure.

38
os/nil/include/nil.h
View File

@ -30,8 +30,11 @@
#ifndef _NIL_H_ #ifndef _NIL_H_
#define _NIL_H_ #define _NIL_H_
typedef struct nil_thread thread_t;
#include "nilconf.h" #include "nilconf.h"
#include "niltypes.h" #include "niltypes.h"
#include "nilcore.h"
/*===========================================================================*/ /*===========================================================================*/
/* Module constants. */ /* Module constants. */
@ -197,9 +200,21 @@
#endif #endif
#if NIL_CFG_ENABLE_ASSERTS #if NIL_CFG_ENABLE_ASSERTS
#define CH_DBG_ENABLED TRUE #define NIL_DBG_ENABLED TRUE
#else #else
#define CH_DBG_ENABLED FALSE #define NIL_DBG_ENABLED FALSE
#endif
/** Boundaries of the idle thread boundaries, only required if stack checking
is enabled.*/
#if NIL_CFG_ENABLE_STACK_CHECK
extern stkalign_t __main_thread_stack_base__, __main_thread_stack_end__;
#define THD_IDLE_BASE (&__main_thread_stack_base__)
#define THD_IDLE_END (&__main_thread_stack_end__)
#else
#define THD_IDLE_BASE NULL
#define THD_IDLE_END NULL
#endif #endif
/*===========================================================================*/ /*===========================================================================*/
@ -237,11 +252,11 @@ typedef struct nil_thread thread_t;
* @brief Structure representing a thread static configuration. * @brief Structure representing a thread static configuration.
*/ */
struct nil_thread_cfg { struct nil_thread_cfg {
stkalign_t *wbase; /**< @brief Thread working area base. */
stkalign_t *wend; /**< @brief Thread working area end. */
const char *namep; /**< @brief Thread name, for debugging. */ const char *namep; /**< @brief Thread name, for debugging. */
tfunc_t funcp; /**< @brief Thread function. */ tfunc_t funcp; /**< @brief Thread function. */
void *arg; /**< @brief Thread function argument. */ void *arg; /**< @brief Thread function argument. */
void *wap; /**< @brief Thread working area base. */
size_t size; /**< @brief Thread working area size. */
}; };
/** /**
@ -270,6 +285,9 @@ struct nil_thread {
if disabled. */ if disabled. */
#if NIL_CFG_USE_EVENTS #if NIL_CFG_USE_EVENTS
eventmask_t epmask; /**< @brief Pending events mask. */ eventmask_t epmask; /**< @brief Pending events mask. */
#endif
#if NIL_CFG_ENABLE_STACK_CHECK || defined(__DOXYGEN__)
stkalign_t *stklim;/**< @brief Thread stack boundary. */
#endif #endif
/* Optional extra fields.*/ /* Optional extra fields.*/
NIL_CFG_THREAD_EXT_FIELDS NIL_CFG_THREAD_EXT_FIELDS
@ -311,7 +329,7 @@ typedef struct {
* @brief Thread structures for all the defined threads. * @brief Thread structures for all the defined threads.
*/ */
thread_t threads[NIL_CFG_NUM_THREADS + 1]; thread_t threads[NIL_CFG_NUM_THREADS + 1];
#if CH_DBG_ENABLED || defined(__DOXYGEN__) #if NIL_DBG_ENABLED || defined(__DOXYGEN__)
/** /**
* @brief Panic message. * @brief Panic message.
* @note This field is only present if some debug options have been * @note This field is only present if some debug options have been
@ -343,14 +361,14 @@ typedef struct {
/** /**
* @brief Entry of user threads table * @brief Entry of user threads table
*/ */
#define THD_TABLE_ENTRY(name, funcp, arg, wap, size) \ #define THD_TABLE_ENTRY(wap, name, funcp, arg) \
{name, funcp, arg, wap, size}, {wap, (wap) + sizeof (wap), name, funcp, arg},
/** /**
* @brief End of user threads table. * @brief End of user threads table.
*/ */
#define THD_TABLE_END \ #define THD_TABLE_END \
{"idle", 0, NULL, NULL, 0} \ {THD_IDLE_BASE, THD_IDLE_END, "idle", 0, NULL} \
}; };
/** @} */ /** @} */
@ -754,10 +772,6 @@ extern "C" {
} }
#endif #endif
/* Late inclusion, this is done in order to let the port layer access
the OS services like assertions.*/
#include "nilcore.h"
#endif /* _NIL_H_ */ #endif /* _NIL_H_ */
/** @} */ /** @} */

2
os/nil/osal/osal.h
View File

@ -246,7 +246,7 @@ typedef struct {
* *
* @api * @api
*/ */
#define osalDbgCheck(c) /*chDbgCheck(c)*/ #define osalDbgCheck(c) chDbgAssert(c, "parameter check")
/** /**
* @brief I-Class state check. * @brief I-Class state check.

7
os/nil/ports/ARMCMx/nilcore_v6m.h
View File

@ -192,9 +192,8 @@ struct port_intctx {
* @details This code usually setup the context switching frame represented * @details This code usually setup the context switching frame represented
* by an @p port_intctx structure. * by an @p port_intctx structure.
*/ */
#define PORT_SETUP_CONTEXT(tp, workspace, wsize, pf, arg) { \ #define PORT_SETUP_CONTEXT(tp, wend, pf, arg) { \
(tp)->ctxp = (struct port_intctx *)((uint8_t *)workspace + \ (tp)->ctxp = (struct port_intctx *)(((uint8_t *)(wend)) - \
(size_t)wsize - \
sizeof(struct port_intctx)); \ sizeof(struct port_intctx)); \
(tp)->ctxp->r4 = (regarm_t)(pf); \ (tp)->ctxp->r4 = (regarm_t)(pf); \
(tp)->ctxp->r5 = (regarm_t)(arg); \ (tp)->ctxp->r5 = (regarm_t)(arg); \
@ -254,7 +253,7 @@ struct port_intctx {
#else #else
#define port_switch(ntp, otp) { \ #define port_switch(ntp, otp) { \
struct port_intctx *r13 = (struct port_intctx *)__get_PSP(); \ struct port_intctx *r13 = (struct port_intctx *)__get_PSP(); \
if ((stkalign_t *)(r13 - 1) < otp->p_stklimit) \ if ((stkalign_t *)(r13 - 1) < (otp)->stklim) \
chSysHalt("stack overflow"); \ chSysHalt("stack overflow"); \
_port_switch(ntp, otp); \ _port_switch(ntp, otp); \
} }

7
os/nil/ports/ARMCMx/nilcore_v7m.h
View File

@ -291,9 +291,8 @@ struct port_intctx {
* @details This code usually setup the context switching frame represented * @details This code usually setup the context switching frame represented
* by an @p port_intctx structure. * by an @p port_intctx structure.
*/ */
#define PORT_SETUP_CONTEXT(tp, workspace, wsize, pf, arg) { \ #define PORT_SETUP_CONTEXT(tp, wend, pf, arg) { \
(tp)->ctxp = (struct port_intctx *)((uint8_t *)workspace + \ (tp)->ctxp = (struct port_intctx *)(((uint8_t *)(wend)) - \
(size_t)wsize - \
sizeof(struct port_intctx)); \ sizeof(struct port_intctx)); \
(tp)->ctxp->r4 = (regarm_t)(pf); \ (tp)->ctxp->r4 = (regarm_t)(pf); \
(tp)->ctxp->r5 = (regarm_t)(arg); \ (tp)->ctxp->r5 = (regarm_t)(arg); \
@ -351,7 +350,7 @@ struct port_intctx {
#else #else
#define port_switch(ntp, otp) { \ #define port_switch(ntp, otp) { \
struct port_intctx *r13 = (struct port_intctx *)__get_PSP(); \ struct port_intctx *r13 = (struct port_intctx *)__get_PSP(); \
if ((stkalign_t *)(r13 - 1) < otp->p_stklimit) \ if ((stkalign_t *)(r13 - 1) < (otp)->stklim) \
chSysHalt("stack overflow"); \ chSysHalt("stack overflow"); \
_port_switch(ntp, otp); \ _port_switch(ntp, otp); \
} }

27
os/nil/src/nil.c
View File

@ -62,6 +62,9 @@ nil_system_t nil;
* @details Initializes the kernel structures, the current instructions flow * @details Initializes the kernel structures, the current instructions flow
* becomes the idle thread upon return. The idle thread must not * becomes the idle thread upon return. The idle thread must not
* invoke any kernel primitive able to change state to not runnable. * invoke any kernel primitive able to change state to not runnable.
* @note This function assumes that the @p nil global variable has been
* zeroed by the runtime environment. If this is not the case then
* make sure to clear it before calling this function.
* *
* @special * @special
*/ */
@ -73,28 +76,34 @@ void chSysInit(void) {
port_init(); port_init();
/* Iterates through the list of defined threads.*/ /* Iterates through the list of defined threads.*/
for (tp = &nil.threads[0], tcp = nil_thd_configs; tp = &nil.threads[0];
tp < &nil.threads[NIL_CFG_NUM_THREADS]; tcp = nil_thd_configs;
tp++, tcp++) { while (tp < &nil.threads[NIL_CFG_NUM_THREADS]) {
tp->state = NIL_STATE_READY; #if NIL_CFG_ENABLE_STACK_CHECK
tp->timeout = 0; tp->stklim = (stkalign_t *)tcp->wbase;
#if NIL_CFG_USE_EVENTS
tp->epmask = 0;
#endif #endif
/* Port dependent thread initialization.*/ /* Port dependent thread initialization.*/
PORT_SETUP_CONTEXT(tp, tcp->wap, tcp->size, tcp->funcp, tcp->arg); PORT_SETUP_CONTEXT(tp, tcp->wend, tcp->funcp, tcp->arg);
/* Initialization hook.*/ /* Initialization hook.*/
#if defined(NIL_CFG_THREAD_EXT_INIT_HOOK) #if defined(NIL_CFG_THREAD_EXT_INIT_HOOK)
NIL_CFG_THREAD_EXT_INIT_HOOK(tp); NIL_CFG_THREAD_EXT_INIT_HOOK(tp);
#endif #endif
tp++, tcp++;
} }
#if NIL_CFG_ENABLE_STACK_CHECK
/* The idle thread is a special case because its stack is set up by the
runtime environment.*/
tp->stklim = THD_IDLE_BASE;
#endif
/* Runs the highest priority thread, the current one becomes the null /* Runs the highest priority thread, the current one becomes the null
thread.*/ thread.*/
nil.current = nil.next = nil.threads; nil.current = nil.next = nil.threads;
port_switch(nil.threads, &nil.threads[NIL_CFG_NUM_THREADS]); port_switch(nil.current, tp);
/* Interrupts enabled for the idle thread.*/ /* Interrupts enabled for the idle thread.*/
chSysEnable(); chSysEnable();

2
os/rt/ports/ARMCMx/chcore_v6m.h
View File

@ -264,7 +264,7 @@ struct context {
#else #else
#define port_switch(ntp, otp) { \ #define port_switch(ntp, otp) { \
struct port_intctx *r13 = (struct port_intctx *)__get_PSP(); \ struct port_intctx *r13 = (struct port_intctx *)__get_PSP(); \
if ((stkalign_t *)(r13 - 1) < otp->p_stklimit) \ if ((stkalign_t *)(r13 - 1) < (otp)->p_stklimit) \
chSysHalt("stack overflow"); \ chSysHalt("stack overflow"); \
_port_switch(ntp, otp); \ _port_switch(ntp, otp); \
} }

2
os/rt/ports/ARMCMx/chcore_v7m.h
View File

@ -361,7 +361,7 @@ struct context {
#else #else
#define port_switch(ntp, otp) { \ #define port_switch(ntp, otp) { \
struct port_intctx *r13 = (struct port_intctx *)__get_PSP(); \ struct port_intctx *r13 = (struct port_intctx *)__get_PSP(); \
if ((stkalign_t *)(r13 - 1) < otp->p_stklimit) \ if ((stkalign_t *)(r13 - 1) < (otp)->p_stklimit) \
chSysHalt("stack overflow"); \ chSysHalt("stack overflow"); \
_port_switch(ntp, otp); \ _port_switch(ntp, otp); \
} }