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-rw-r--r--FreeRTOS/Source/tasks.c4
-rw-r--r--Makefile2
-rw-r--r--arch/Makefile2
-rw-r--r--arch/arm/lpc17xx/handlers.c27
-rw-r--r--arch/arm/lpc17xx/hooks.c1
-rw-r--r--arch/arm/lpc17xx/ldscript37
-rw-r--r--arch/arm/lpc17xx/mbed/BoardInit.c16
-rw-r--r--arch/arm/lpc17xx/startup.s42
-rw-r--r--config/target.mk2
-rw-r--r--demo.c10
-rw-r--r--os/src/init.c37
-rw-r--r--os/src/osdebug.c10
-rw-r--r--os/src/sbrk.c5
13 files changed, 131 insertions, 64 deletions
diff --git a/FreeRTOS/Source/tasks.c b/FreeRTOS/Source/tasks.c
index a9c80ba..6ad1c58 100644
--- a/FreeRTOS/Source/tasks.c
+++ b/FreeRTOS/Source/tasks.c
@@ -168,8 +168,8 @@ PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned po
#if ( configGENERATE_RUN_TIME_STATS == 1 )
- PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
- PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
+ static char pcStatsString[ 50 ] ;
+ static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
#endif
diff --git a/Makefile b/Makefile
index 370bd08..dc19372 100644
--- a/Makefile
+++ b/Makefile
@@ -2,6 +2,8 @@ TARGET = demo.bin
LIBDEPS = FreeRTOS/libFreeRTOS.a arch/libarch.a os/libos.a
LIBS = -Wl,--start-group -lc $(LIBDEPS) -Wl,--end-group
+TARGET_SRCS = extern.c
+
export ROOTDIR = $(CURDIR)
include common.mk
diff --git a/arch/Makefile b/arch/Makefile
index 3e57f0c..7dab0ab 100644
--- a/arch/Makefile
+++ b/arch/Makefile
@@ -11,7 +11,7 @@ ifeq ($(CPU),arm)
ifeq ($(CPU_FLAVOR),lpc1768)
TARGET_SRCS += arm/lpc17xx/Core/CM3/DeviceSupport/NXP/LPC17xx/system_LPC17xx.c arm/lpc17xx/Core/CM3/CoreSupport/core_cm3.c
TARGET_SRCS += $(addprefix arm/lpc17xx/Drivers/source/lpc17xx_, spi.c rit.c exti.c wdt.c uart.c dac.c rtc.c i2s.c pwm.c mcpwm.c pinsel.c nvic.c emac.c systick.c ssp.c can.c gpio.c libcfg_default.c i2c.c timer.c gpdma.c clkpwr.c qei.c adc.c)
-TARGET_SRCS += arm/lpc17xx/startup.s arm/lpc17xx/deinit-all.c arm/lpc17xx/handlers.c arm/lpc17xx/hooks.c arm/lpc17xx/Drivers/source/debug_frmwrk.c arm/lpc17xx/mbed/BoardConsole.c
+TARGET_SRCS += arm/lpc17xx/startup.s arm/lpc17xx/deinit-all.c arm/lpc17xx/handlers.c arm/lpc17xx/hooks.c arm/lpc17xx/Drivers/source/debug_frmwrk.c arm/lpc17xx/mbed/BoardConsole.c arm/lpc17xx/mbed/BoardInit.c
endif
endif
diff --git a/arch/arm/lpc17xx/handlers.c b/arch/arm/lpc17xx/handlers.c
index faee7f9..b3366e0 100644
--- a/arch/arm/lpc17xx/handlers.c
+++ b/arch/arm/lpc17xx/handlers.c
@@ -1,6 +1,12 @@
+#include <stdint.h>
+#include <FreeRTOS.h>
+#include <task.h>
+#include <queue.h>
#include <osdebug.h>
#include "LPC17xx.h"
+void BoardExceptionHandler(int code);
+
enum FaultType {
NMI = 2, HardFault, MemManage, BusFault, UsageFault,
};
@@ -9,17 +15,19 @@ struct fault_data_t {
uint32_t r4, r5, r6, r7, r8, r9, r10, r11, r0, r1, r2, r3, r12, lr, pc, xPSR;
};
-static void print_fault_data(struct fault_data_t * fault_data) {
+static void print_fault_data(struct fault_data_t * fault_data1, struct fault_data_t * fault_data2) {
// These ones are saved naturally by the CPU
- DBGOUT("pc: %p\r\n", fault_data->pc);
- DBGOUT("sp = %p - lr = %p - r12 = %p -xPSR = %p\r\n", fault_data + 1, fault_data->lr, fault_data->r12, fault_data->xPSR);
- DBGOUT("r0 = %p - r1 = %p - r2 = %p - r3 = %p\r\n", fault_data->r0, fault_data->r1, fault_data->r2, fault_data->r3);
+ DBGOUT("pc: %p\r\n", fault_data1->pc);
+ DBGOUT("sp = %p - lr = %p - r12 = %p -xPSR = %p\r\n", fault_data1 + 1, fault_data1->lr, fault_data1->r12, fault_data1->xPSR);
+ DBGOUT("r0 = %p - r1 = %p - r2 = %p - r3 = %p\r\n", fault_data1->r0, fault_data1->r1, fault_data1->r2, fault_data1->r3);
// These ones are saved by the ASM handler; hence the reason they are before in memory.
- DBGOUT("r4 = %p - r5 = %p - r6 = %p - r7 = %p\r\n", fault_data->r4, fault_data->r5, fault_data->r6, fault_data->r7);
- DBGOUT("r8 = %p - r9 = %p - r10 = %p - r11 = %p\r\n", fault_data->r8, fault_data->r9, fault_data->r10, fault_data->r11);
+ DBGOUT("r4 = %p - r5 = %p - r6 = %p - r7 = %p\r\n", fault_data2->r4, fault_data2->r5, fault_data2->r6, fault_data2->r7);
+ DBGOUT("r8 = %p - r9 = %p - r10 = %p - r11 = %p\r\n", fault_data2->r8, fault_data2->r9, fault_data2->r10, fault_data2->r11);
}
-void general_C_handler(enum FaultType fault, struct fault_data_t * fault_data) {
+void general_C_handler(enum FaultType fault, struct fault_data_t * fault_data2) {
+ uintptr_t eflags = ((uintptr_t) __builtin_return_address(0)) & 15;
+ struct fault_data_t * fault_data1 = (eflags & 4 ? fault_data2 : (struct fault_data_t *) __get_MSP());
DBGOUT("***FAULT***\r\nType: ");
switch (fault) {
case NMI:
@@ -37,10 +45,13 @@ void general_C_handler(enum FaultType fault, struct fault_data_t * fault_data) {
case UsageFault:
DBGOUT("UsageFault\r\nCFSR: %p\r\nBFAR: %p\r\n", SCB->CFSR, SCB->BFAR);
break;
+ default:
+ DBGOUT("Unknown\r\n");
}
- print_fault_data(fault_data);
+ print_fault_data(fault_data1, fault_data2);
DBGOUT("HALTING\r\n");
+ BoardExceptionHandler(-1);
while(1);
}
diff --git a/arch/arm/lpc17xx/hooks.c b/arch/arm/lpc17xx/hooks.c
index e68c74a..1689db9 100644
--- a/arch/arm/lpc17xx/hooks.c
+++ b/arch/arm/lpc17xx/hooks.c
@@ -15,5 +15,4 @@ void vApplicationStackOverflowHook(xTaskHandle *pxTask, signed portCHAR *pcTaskN
}
void vApplicationIdleHook() {
-// DBGOUT("vApplicationIdleHook()\r\n");
}
diff --git a/arch/arm/lpc17xx/ldscript b/arch/arm/lpc17xx/ldscript
index 14fe819..4f1f3b9 100644
--- a/arch/arm/lpc17xx/ldscript
+++ b/arch/arm/lpc17xx/ldscript
@@ -36,6 +36,7 @@ MEMORY
*/
EXTERN(__cs3_reset_cortex_m)
EXTERN(__cs3_interrupt_vector_cortex_m)
+EXTERN(__cs3_interrupt_vector_cortex_m_mutable)
EXTERN(__cs3_start_c main __cs3_stack __cs3_stack_size __cs3_heap_end)
PROVIDE(__cs3_stack = __cs3_region_start_ram + __cs3_region_size_ram);
@@ -67,19 +68,27 @@ SECTIONS
*(.rom)
*(.rom.b)
- __cs3_reset = __cs3_reset_cortex_m;
- *(.cs3.reset)
- /* Make sure we pulled in some reset code. */
- ASSERT (. != __cs3_reset, "No reset code");
-
*( .privileged_code )
*( privileged_functions )
- . = ALIGN(32);
+ __privileged_code_end___len = . - __privileged_code_start__ - 1 ;
+ __privileged_code_end___len |= __privileged_code_end___len >> 1 ;
+ __privileged_code_end___len |= __privileged_code_end___len >> 2 ;
+ __privileged_code_end___len |= __privileged_code_end___len >> 4 ;
+ __privileged_code_end___len |= __privileged_code_end___len >> 8 ;
+ __privileged_code_end___len |= __privileged_code_end___len >> 16 ;
+ . = ALIGN( MAX( __privileged_code_end___len + 1, 32 ) ) ;
__privileged_code_end__ = .;
__privileged_functions_end__ = .;
+ __cs3_reset = __cs3_reset_cortex_m;
+ *(.cs3.reset)
+ /* Make sure we pulled in some reset code. */
+ ASSERT (. != __cs3_reset, "No reset code");
+
+ *(.handlers)
+
*(.text .text.* .gnu.linkonce.t.*)
*(.plt)
*(.gnu.warning)
@@ -152,18 +161,28 @@ SECTIONS
.data_begin :
{
- . = ALIGN(8);
+ . = ALIGN(32);
__rom_data_begin = .;
} > rom
.data :
{
- . = ALIGN(32);
__cs3_region_start_ram = .;
__ram_data_begin = .;
__privileged_data_start__ = .;
+ __cs3_interrupt_vector_mutable = __cs3_interrupt_vector_cortex_m_mutable;
+ *(.cs3.interrupt_vector_mutable)
+ /* Make sure we pulled in an interrupt vector. */
+ ASSERT (. != __cs3_interrupt_vector_cortex_m_mutable, "No interrupt vector");
*( privileged_data )
- . = ALIGN(32);
+
+ __privileged_data_end___len = . - __privileged_data_start__ - 1 ;
+ __privileged_data_end___len |= __privileged_data_end___len >> 1 ;
+ __privileged_data_end___len |= __privileged_data_end___len >> 2 ;
+ __privileged_data_end___len |= __privileged_data_end___len >> 4 ;
+ __privileged_data_end___len |= __privileged_data_end___len >> 8 ;
+ __privileged_data_end___len |= __privileged_data_end___len >> 16 ;
+ . = ALIGN( MAX( __privileged_data_end___len + 1, 32 ) ) ;
__privileged_data_end__ = .;
*(.cs3.region-head.ram)
diff --git a/arch/arm/lpc17xx/mbed/BoardInit.c b/arch/arm/lpc17xx/mbed/BoardInit.c
new file mode 100644
index 0000000..9c5aa89
--- /dev/null
+++ b/arch/arm/lpc17xx/mbed/BoardInit.c
@@ -0,0 +1,16 @@
+#include "lpc17xx_nvic.h"
+
+extern void * __cs3_interrupt_vector_mutable;
+
+void BoardEarlyInit() {
+ //NVIC_SetVTOR((uint32_t) __cs3_interrupt_vector_mutable);
+}
+
+void BoardLateInit() {
+}
+
+void BoardShutdown() {
+}
+
+void BoardExceptionHandler(int code) {
+}
diff --git a/arch/arm/lpc17xx/startup.s b/arch/arm/lpc17xx/startup.s
index 7b9e56c..d0917b6 100644
--- a/arch/arm/lpc17xx/startup.s
+++ b/arch/arm/lpc17xx/startup.s
@@ -23,7 +23,7 @@
.section ".stack", "w"
.align 3
.globl __cs3_stack_mem
- .globl __stack_mem
+ .globl __stack_start
.globl __cs3_stack_size
__cs3_stack_mem:
__stack_start:
@@ -54,12 +54,11 @@ __cs3_heap_end:
/* Vector Table */
+ .section ".cs3.interrupt_vector_mutable"
+ .globl __cs3_interrupt_vector_cortex_m_mutable
+ .type __cs3_interrupt_vector_cortex_m_mutable, %object
- .section ".cs3.interrupt_vector"
- .globl __cs3_interrupt_vector_cortex_m
- .type __cs3_interrupt_vector_cortex_m, %object
-
-__cs3_interrupt_vector_cortex_m:
+__cs3_interrupt_vector_cortex_m_mutable:
.long __cs3_stack /* Top of Stack */
.long __cs3_reset_cortex_m /* Reset Handler */
.long NMI_Handler /* NMI Handler */
@@ -114,6 +113,32 @@ __cs3_interrupt_vector_cortex_m:
.long USBActivity_IRQHandler /* 49: USB Activity */
.long CANActivity_IRQHandler /* 50: CAN Activity */
+ .size __cs3_interrupt_vector_cortex_m_mutable, . - __cs3_interrupt_vector_cortex_m_mutable
+
+
+ .section ".cs3.interrupt_vector"
+ .globl __cs3_interrupt_vector_cortex_m
+ .type __cs3_interrupt_vector_cortex_m, %object
+
+__cs3_interrupt_vector_cortex_m:
+ .long __cs3_stack /* Top of Stack */
+ .long __cs3_reset_cortex_m /* Reset Handler */
+ .long NMI_Handler /* NMI Handler */
+ .long HardFault_Handler /* Hard Fault Handler */
+ .long MemManage_Handler /* MPU Fault Handler */
+ .long BusFault_Handler /* Bus Fault Handler */
+ .long UsageFault_Handler /* Usage Fault Handler */
+ .long 0 /* Reserved - ROM CRC check ? */
+ .long 0 /* Reserved */
+ .long 0 /* Reserved */
+ .long 0 /* Reserved */
+ .long vPortSVCHandler /* SVCall Handler */
+ .long DebugMon_Handler /* Debug Monitor Handler */
+ .long 0 /* Reserved */
+ .long xPortPendSVHandler /* PendSV Handler */
+ .long xPortSysTickHandler /* SysTick Handler */
+
+
.size __cs3_interrupt_vector_cortex_m, . - __cs3_interrupt_vector_cortex_m
@@ -121,7 +146,7 @@ __cs3_interrupt_vector_cortex_m:
/* Fault handlers wrappers */
- .section .privileged_code,"x",%progbits
+ .section .handlers,"x",%progbits
.thumb_func
.type NMI_Handler, %function
NMI_Handler:
@@ -142,7 +167,6 @@ BusFault_Handler:
.type UsageFault_Handler, %function
UsageFault_Handler:
MOV R0, 6
- B general_handler
.type general_handler, %function
general_handler:
MOV R1, SP
@@ -188,7 +212,7 @@ __cs3_reset_cortex_m:
.fnend
.size __cs3_reset_cortex_m,.-__cs3_reset_cortex_m
- .section ".privileged_code"
+ .section .handlers,"x",%progbits
.weak DebugMon_Handler
diff --git a/config/target.mk b/config/target.mk
index 7ba3d0a..2b3a3a2 100644
--- a/config/target.mk
+++ b/config/target.mk
@@ -1,5 +1,5 @@
export BOARD = mbed
-export USE_MPU = false
+export USE_MPU = true
ifeq ($(BOARD),mbed)
diff --git a/demo.c b/demo.c
index c06fba1..305aeb9 100644
--- a/demo.c
+++ b/demo.c
@@ -45,7 +45,16 @@ static void simpleTask2(void *p) {
}
}
+static void badTask(void *x) {
+ vTaskDelay(5000);
+ char * p = (char *) 0x10000000;
+ *p = 42;
+}
+
+extern char blah[32];
+
int main() {
+ BoardConsolePuts(blah);
setupLEDs();
litLED(1, 0);
litLED(2, 0);
@@ -54,6 +63,7 @@ int main() {
BoardConsolePuts("Creating simple tasks.");
xTaskCreate(simpleTask1, (signed char *) "st1", configMINIMAL_STACK_SIZE, (void *)NULL, tskIDLE_PRIORITY | portPRIVILEGE_BIT, NULL);
xTaskCreate(simpleTask2, (signed char *) "st2", configMINIMAL_STACK_SIZE, (void *)NULL, tskIDLE_PRIORITY | portPRIVILEGE_BIT, NULL);
+ xTaskCreate(badTask, (signed char *) "bad", configMINIMAL_STACK_SIZE, (void *)NULL, tskIDLE_PRIORITY, NULL);
BoardConsolePuts("Scheduler starting.");
vTaskStartScheduler();
BoardConsolePuts("Scheduler exitting.");
diff --git a/os/src/init.c b/os/src/init.c
index 4febb10..bb3a6fb 100644
--- a/os/src/init.c
+++ b/os/src/init.c
@@ -1,40 +1,29 @@
#include <stdlib.h>
#include <BoardConsole.h>
-extern void __libc_init_array() __attribute__((weak));
-extern void __libc_fini_array() __attribute__((weak));
-extern void __main() __attribute__ ((weak));
+extern void __libc_init_array();
+extern void __libc_fini_array();
+extern void __main();
extern int main(int, char **, char **);
-extern void BoardEarlyInit() __attribute__((weak));
-extern void BoardLateInit() __attribute__((weak));
-extern void BoardExceptionHandler(int) __attribute__((weak));
-extern void BoardShutdown() __attribute__((weak));
+extern void BoardEarlyInit();
+extern void BoardLateInit();
+extern void BoardExceptionHandler(int);
+extern void BoardShutdown();
void _exit(int return_code) __attribute__((noreturn));
void _exit(int return_code) {
- if (return_code && BoardExceptionHandler)
+ if (return_code)
BoardExceptionHandler(return_code);
- if (BoardShutdown)
- BoardShutdown();
+ BoardShutdown();
while(1);
}
void _start() {
- if (BoardEarlyInit)
- BoardEarlyInit();
+ BoardEarlyInit();
BoardConsoleInit();
BoardConsolePuts("uC-sdk - booting.");
- if (__libc_init_array)
- __libc_init_array();
-
- if (__main)
- __main();
-
- if (BoardLateInit)
- BoardLateInit();
-
- if (__libc_fini_array)
- atexit(__libc_fini_array);
-
+ __libc_init_array();
+ BoardLateInit();
+ atexit(__libc_fini_array);
exit(main(0, NULL, NULL));
}
diff --git a/os/src/osdebug.c b/os/src/osdebug.c
index 6abde30..ca1f359 100644
--- a/os/src/osdebug.c
+++ b/os/src/osdebug.c
@@ -82,13 +82,9 @@ void osDbgPrintf(const char * str, ...) {
break;
case 'p':
arg_p = va_arg(ap, uintptr_t);
- if (arg_p) {
- dbgput("0x", 2);
- for (i = sizeof(arg_p) * 2 - 1; i >= 0; i--) {
- dbgput(&hex_conv[(arg_p >> (i << 2)) & 15], 1);
- }
- } else {
- dbgput("(nil)", 5);
+ dbgput("0x", 2);
+ for (i = sizeof(arg_p) * 2 - 1; i >= 0; i--) {
+ dbgput(&hex_conv[(arg_p >> (i << 2)) & 15], 1);
}
break;
case 'x':
diff --git a/os/src/sbrk.c b/os/src/sbrk.c
index 4085970..bff44a2 100644
--- a/os/src/sbrk.c
+++ b/os/src/sbrk.c
@@ -11,14 +11,15 @@
// Mostly stolen from mbed-freertos
extern uintptr_t __heap_start, __heap_end;
-extern uintptr_t __stack_start __attribute__((weak));
+//extern uintptr_t __stack_start;
/* Low-level bulk RAM allocator -- used by Newlib's Malloc */
static void *heap_end = NULL;
PRIVILEGED_FUNCTION void *_sbrk_r(struct _reent *ptr, ptrdiff_t incr)
{
void *prev_heap_end, *next_heap_end, *ret;
- void *stack_min = (void *)(__stack_start ? __stack_start : __heap_end);
+// void *stack_min = (void *)(__stack_start ? __stack_start : __heap_end);
+ void *stack_min = (void *)__heap_end;
DBGOUT("_sbrk_r(%p, %u)\r\n", ptr, incr);
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-25 00:03:10 +0000