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

5 files changed, 51 insertions, 30 deletions

diff --git a/os/nil/include/nil.h b/os/nil/include/nil.h
index ee575d466..1c8aaf359 100644
--- a/os/nil/include/nil.h
+++ b/os/nil/include/nil.h
@@ -30,8 +30,11 @@
 #ifndef _NIL_H_

 #define _NIL_H_

 

+typedef struct nil_thread thread_t;

+

 #include "nilconf.h"

 #include "niltypes.h"

+#include "nilcore.h"

 

 /*===========================================================================*/

 /* Module constants.                                                         */

@@ -197,9 +200,21 @@
 #endif

 

 #if NIL_CFG_ENABLE_ASSERTS

-#define CH_DBG_ENABLED                 TRUE

+#define NIL_DBG_ENABLED                 TRUE

+#else

+#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 CH_DBG_ENABLED                 FALSE

+#define THD_IDLE_BASE                   NULL

+#define THD_IDLE_END                    NULL

 #endif

 

 /*===========================================================================*/

@@ -237,11 +252,11 @@ typedef struct nil_thread thread_t;
  * @brief   Structure representing a thread static configuration.

  */

 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.     */

   tfunc_t           funcp;      /**< @brief Thread function.                */

   void              *arg;       /**< @brief Thread function argument.       */

-  void              *wap;       /**< @brief Thread working area base.       */

-  size_t            size;       /**< @brief Thread working area size.       */

 };

 

 /**

@@ -271,6 +286,9 @@ struct nil_thread {
 #if NIL_CFG_USE_EVENTS

   eventmask_t           epmask; /**< @brief Pending events mask.            */

 #endif

+#if NIL_CFG_ENABLE_STACK_CHECK || defined(__DOXYGEN__)

+  stkalign_t            *stklim;/**< @brief Thread stack boundary.          */

+#endif

   /* Optional extra fields.*/

   NIL_CFG_THREAD_EXT_FIELDS

 };

@@ -311,7 +329,7 @@ typedef struct {
    * @brief   Thread structures for all the defined threads.

    */

   thread_t              threads[NIL_CFG_NUM_THREADS + 1];

-#if CH_DBG_ENABLED || defined(__DOXYGEN__)

+#if NIL_DBG_ENABLED || defined(__DOXYGEN__)

   /**

    * @brief   Panic message.

    * @note    This field is only present if some debug options have been

@@ -343,14 +361,14 @@ typedef struct {
 /**

  * @brief   Entry of user threads table

  */

-#define THD_TABLE_ENTRY(name, funcp, arg, wap, size)                        \

-  {name, funcp, arg, wap, size},

+#define THD_TABLE_ENTRY(wap, name, funcp, arg)                              \

+  {wap, (wap) + sizeof (wap), name, funcp, arg},

 

 /**

  * @brief   End of user threads table.

  */

 #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

 

-/* Late inclusion, this is done in order to let the port layer access

-   the OS services like assertions.*/

-#include "nilcore.h"

-

 #endif /* _NIL_H_ */

 

 /** @} */

diff --git a/os/nil/osal/osal.h b/os/nil/osal/osal.h
index a974452da..d4394687e 100644
--- a/os/nil/osal/osal.h
+++ b/os/nil/osal/osal.h
@@ -246,7 +246,7 @@ typedef struct {
  *

  * @api

  */

-#define osalDbgCheck(c) /*chDbgCheck(c)*/

+#define osalDbgCheck(c) chDbgAssert(c, "parameter check")

 

 /**

  * @brief   I-Class state check.

diff --git a/os/nil/ports/ARMCMx/nilcore_v6m.h b/os/nil/ports/ARMCMx/nilcore_v6m.h
index 60a2549a2..159ce9989 100644
--- a/os/nil/ports/ARMCMx/nilcore_v6m.h
+++ b/os/nil/ports/ARMCMx/nilcore_v6m.h
@@ -192,9 +192,8 @@ struct port_intctx {
  * @details This code usually setup the context switching frame represented

  *          by an @p port_intctx structure.

  */

-#define PORT_SETUP_CONTEXT(tp, workspace, wsize, pf, arg) {                 \

-  (tp)->ctxp = (struct port_intctx *)((uint8_t *)workspace +                \

-                                      (size_t)wsize -                       \

+#define PORT_SETUP_CONTEXT(tp, wend, pf, arg) {                             \

+  (tp)->ctxp = (struct port_intctx *)(((uint8_t *)(wend)) -                 \

                                       sizeof(struct port_intctx));          \

   (tp)->ctxp->r4 = (regarm_t)(pf);                                          \

   (tp)->ctxp->r5 = (regarm_t)(arg);                                         \

@@ -254,7 +253,7 @@ struct port_intctx {
 #else

 #define port_switch(ntp, otp) {                                             \

   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");                                            \

   _port_switch(ntp, otp);                                                   \

 }

diff --git a/os/nil/ports/ARMCMx/nilcore_v7m.h b/os/nil/ports/ARMCMx/nilcore_v7m.h
index 4cbcc6e28..0bc4fdf05 100644
--- a/os/nil/ports/ARMCMx/nilcore_v7m.h
+++ b/os/nil/ports/ARMCMx/nilcore_v7m.h
@@ -291,9 +291,8 @@ struct port_intctx {
  * @details This code usually setup the context switching frame represented

  *          by an @p port_intctx structure.

  */

-#define PORT_SETUP_CONTEXT(tp, workspace, wsize, pf, arg) {                 \

-  (tp)->ctxp = (struct port_intctx *)((uint8_t *)workspace +                \

-                                      (size_t)wsize -                       \

+#define PORT_SETUP_CONTEXT(tp, wend, pf, arg) {                             \

+  (tp)->ctxp = (struct port_intctx *)(((uint8_t *)(wend)) -                 \

                                       sizeof(struct port_intctx));          \

   (tp)->ctxp->r4 = (regarm_t)(pf);                                          \

   (tp)->ctxp->r5 = (regarm_t)(arg);                                         \

@@ -351,7 +350,7 @@ struct port_intctx {
 #else

 #define port_switch(ntp, otp) {                                             \

   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");                                            \

   _port_switch(ntp, otp);                                                   \

 }

diff --git a/os/nil/src/nil.c b/os/nil/src/nil.c
index 546854280..aefe4ccb2 100644
--- a/os/nil/src/nil.c
+++ b/os/nil/src/nil.c
@@ -62,6 +62,9 @@ nil_system_t nil;
  * @details Initializes the kernel structures, the current instructions flow

  *          becomes the idle thread upon return. The idle thread must not

  *          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

  */

@@ -73,28 +76,34 @@ void chSysInit(void) {
   port_init();

 

   /* Iterates through the list of defined threads.*/

-  for (tp = &nil.threads[0], tcp = nil_thd_configs;

-       tp < &nil.threads[NIL_CFG_NUM_THREADS];

-       tp++, tcp++) {

-    tp->state = NIL_STATE_READY;

-    tp->timeout = 0;

-#if NIL_CFG_USE_EVENTS

-    tp->epmask = 0;

+  tp = &nil.threads[0];

+  tcp = nil_thd_configs;

+  while (tp < &nil.threads[NIL_CFG_NUM_THREADS]) {

+#if NIL_CFG_ENABLE_STACK_CHECK

+    tp->stklim  = (stkalign_t *)tcp->wbase;

 #endif

 

     /* 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.*/

 #if defined(NIL_CFG_THREAD_EXT_INIT_HOOK)

     NIL_CFG_THREAD_EXT_INIT_HOOK(tp);

 #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

      thread.*/

   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.*/

   chSysEnable();