[374] | 1 | /*
|
---|
| 2 | * TOPPERS/ASP Kernel
|
---|
| 3 | * Toyohashi Open Platform for Embedded Real-Time Systems/
|
---|
| 4 | * Advanced Standard Profile Kernel
|
---|
| 5 | *
|
---|
| 6 | * Copyright (C) 2007-2016 by Embedded and Real-Time Systems Laboratory
|
---|
| 7 | * Graduate School of Information Science, Nagoya Univ., JAPAN
|
---|
| 8 | *
|
---|
| 9 | * ä¸è¨èä½æ¨©è
|
---|
| 10 | ã¯ï¼ä»¥ä¸ã®(1)ï½(4)ã®æ¡ä»¶ãæºããå ´åã«éãï¼æ¬ã½ããã¦ã§
|
---|
| 11 | * ã¢ï¼æ¬ã½ããã¦ã§ã¢ãæ¹å¤ãããã®ãå«ãï¼ä»¥ä¸åãï¼ã使ç¨ã»è¤è£½ã»æ¹
|
---|
| 12 | * å¤ã»åé
|
---|
| 13 | å¸ï¼ä»¥ä¸ï¼å©ç¨ã¨å¼ã¶ï¼ãããã¨ãç¡åã§è¨±è«¾ããï¼
|
---|
| 14 | * (1) æ¬ã½ããã¦ã§ã¢ãã½ã¼ã¹ã³ã¼ãã®å½¢ã§å©ç¨ããå ´åã«ã¯ï¼ä¸è¨ã®èä½
|
---|
| 15 | * 権表示ï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãï¼ãã®ã¾ã¾ã®å½¢ã§ã½ã¼
|
---|
| 16 | * ã¹ã³ã¼ãä¸ã«å«ã¾ãã¦ãããã¨ï¼
|
---|
| 17 | * (2) æ¬ã½ããã¦ã§ã¢ãï¼ã©ã¤ãã©ãªå½¢å¼ãªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
|
---|
| 18 | * ç¨ã§ããå½¢ã§åé
|
---|
| 19 | å¸ããå ´åã«ã¯ï¼åé
|
---|
| 20 | å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨
|
---|
| 21 | * è
|
---|
| 22 | ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®èä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨
|
---|
| 23 | * ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
|
---|
| 24 | * (3) æ¬ã½ããã¦ã§ã¢ãï¼æ©å¨ã«çµã¿è¾¼ããªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
|
---|
| 25 | * ç¨ã§ããªãå½¢ã§åé
|
---|
| 26 | å¸ããå ´åã«ã¯ï¼æ¬¡ã®ããããã®æ¡ä»¶ãæºããã
|
---|
| 27 | * ã¨ï¼
|
---|
| 28 | * (a) åé
|
---|
| 29 | å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨è
|
---|
| 30 | ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®è
|
---|
| 31 | * ä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
|
---|
| 32 | * (b) åé
|
---|
| 33 | å¸ã®å½¢æ
|
---|
| 34 | ãï¼å¥ã«å®ããæ¹æ³ã«ãã£ã¦ï¼TOPPERSããã¸ã§ã¯ãã«
|
---|
| 35 | * å ±åãããã¨ï¼
|
---|
| 36 | * (4) æ¬ã½ããã¦ã§ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ
|
---|
| 37 | * 害ãããï¼ä¸è¨èä½æ¨©è
|
---|
| 38 | ããã³TOPPERSããã¸ã§ã¯ããå
|
---|
| 39 | 責ãããã¨ï¼
|
---|
| 40 | * ã¾ãï¼æ¬ã½ããã¦ã§ã¢ã®ã¦ã¼ã¶ã¾ãã¯ã¨ã³ãã¦ã¼ã¶ããã®ãããªãç
|
---|
| 41 | * ç±ã«åºã¥ãè«æ±ãããï¼ä¸è¨èä½æ¨©è
|
---|
| 42 | ããã³TOPPERSããã¸ã§ã¯ãã
|
---|
| 43 | * å
|
---|
| 44 | 責ãããã¨ï¼
|
---|
| 45 | *
|
---|
| 46 | * æ¬ã½ããã¦ã§ã¢ã¯ï¼ç¡ä¿è¨¼ã§æä¾ããã¦ãããã®ã§ããï¼ä¸è¨èä½æ¨©è
|
---|
| 47 | ã
|
---|
| 48 | * ãã³TOPPERSããã¸ã§ã¯ãã¯ï¼æ¬ã½ããã¦ã§ã¢ã«é¢ãã¦ï¼ç¹å®ã®ä½¿ç¨ç®ç
|
---|
| 49 | * ã«å¯¾ããé©åæ§ãå«ãã¦ï¼ãããªãä¿è¨¼ãè¡ããªãï¼ã¾ãï¼æ¬ã½ããã¦ã§
|
---|
| 50 | * ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ害ã«é¢ãã¦ãï¼ã
|
---|
| 51 | * ã®è²¬ä»»ãè² ããªãï¼
|
---|
| 52 | *
|
---|
| 53 | * $Id$
|
---|
| 54 | */
|
---|
| 55 |
|
---|
| 56 | /*
|
---|
| 57 | * ã«ã¼ãã«ã®ã¿ã¼ã²ããä¾åé¨ï¼GR-PEACHç¨ï¼
|
---|
| 58 | */
|
---|
| 59 |
|
---|
| 60 | #include <kernel.h>
|
---|
| 61 | #include <sil.h>
|
---|
| 62 | #include "us_ticker_api.h"
|
---|
| 63 | #include <sys/types.h>
|
---|
| 64 | #include <errno.h>
|
---|
| 65 | #include "kernel_cfg.h"
|
---|
| 66 | #include "t_syslog.h"
|
---|
| 67 |
|
---|
| 68 | int main()
|
---|
| 69 | {
|
---|
| 70 | const char *const args[] = {
|
---|
| 71 | 1,
|
---|
| 72 | "asp3",
|
---|
| 73 | NULL,
|
---|
| 74 | NULL
|
---|
| 75 | };
|
---|
| 76 | musl_start(args);
|
---|
| 77 | return 0;
|
---|
| 78 | }
|
---|
| 79 |
|
---|
| 80 | void wait_us(int us);
|
---|
| 81 |
|
---|
| 82 | void wait(float s)
|
---|
| 83 | {
|
---|
| 84 | wait_us(s * 1000000.0f);
|
---|
| 85 | }
|
---|
| 86 |
|
---|
| 87 | void wait_ms(int ms)
|
---|
| 88 | {
|
---|
| 89 | wait_us(ms * 1000);
|
---|
| 90 | }
|
---|
| 91 |
|
---|
| 92 | void wait_us(int us)
|
---|
| 93 | {
|
---|
| 94 | ER ercd;
|
---|
| 95 |
|
---|
| 96 | ercd = dly_tsk(us);
|
---|
| 97 | if (ercd == E_CTX){
|
---|
| 98 | uint32_t start = us_ticker_read();
|
---|
| 99 | while ((us_ticker_read() - start) < (uint32_t)us);
|
---|
| 100 | }
|
---|
| 101 | }
|
---|
| 102 |
|
---|
| 103 | int32_t IRQ_Initialize (void)
|
---|
| 104 | {
|
---|
| 105 | GIC_Enable();
|
---|
| 106 | return (0);
|
---|
| 107 | }
|
---|
| 108 |
|
---|
| 109 | __attribute__((weak))
|
---|
| 110 | long SYS_poll()
|
---|
| 111 | {
|
---|
| 112 | return -ENOSYS;
|
---|
| 113 | }
|
---|
| 114 |
|
---|
| 115 | __attribute__((weak))
|
---|
| 116 | long SYS_open()
|
---|
| 117 | {
|
---|
| 118 | return -ENOSYS;
|
---|
| 119 | }
|
---|
| 120 |
|
---|
| 121 | void *tid_address;
|
---|
| 122 |
|
---|
| 123 | __attribute__((weak))
|
---|
| 124 | long SYS_set_tid_address(long a) {
|
---|
| 125 | tid_address = (void *)a;
|
---|
| 126 | return 0;
|
---|
| 127 | }
|
---|
| 128 |
|
---|
| 129 | __attribute__((weak))
|
---|
| 130 | long ARM_SYS_set_tls(long a)
|
---|
| 131 | {
|
---|
| 132 | __asm__ __volatile__("mcr p15,0,%0,c13,c0,3" :: "r"(a));
|
---|
| 133 | return 0;
|
---|
| 134 | }
|
---|
| 135 |
|
---|
| 136 | __attribute__((weak))
|
---|
| 137 | long SYS_exit_group()
|
---|
| 138 | {
|
---|
| 139 | ext_ker();
|
---|
| 140 | return 0;
|
---|
| 141 | }
|
---|
| 142 |
|
---|
| 143 | __attribute__((weak))
|
---|
| 144 | long SYS_exit()
|
---|
| 145 | {
|
---|
| 146 | ext_ker();
|
---|
| 147 | return 0;
|
---|
| 148 | }
|
---|
| 149 |
|
---|
| 150 | __attribute__((weak))
|
---|
| 151 | long SYS_futex(long a, long b, long c, long d, long e, long f) {
|
---|
| 152 | //int futex(int *uaddr, int op, int val, const struct timespec *timeout, int *uaddr2, int val3);
|
---|
| 153 | return -ENOSYS;
|
---|
| 154 | }
|
---|
| 155 |
|
---|
| 156 | #ifndef _MSC_VER
|
---|
| 157 | extern uint32_t __HeapBase;
|
---|
| 158 | extern uint32_t __HeapLimit;
|
---|
| 159 | extern uint32_t __end__;
|
---|
| 160 | #else
|
---|
| 161 | uint8_t __HeapBase[14 * 4096];
|
---|
| 162 | #define __HeapLimit __HeapBase[sizeof(__HeapBase)]
|
---|
| 163 | #endif
|
---|
| 164 |
|
---|
| 165 | void *_sbrk(int incr)
|
---|
| 166 | {
|
---|
| 167 | static unsigned char *heap = (unsigned char *)&__end__;
|
---|
| 168 | unsigned char *prev_heap = heap;
|
---|
| 169 | unsigned char *new_heap = heap + incr;
|
---|
| 170 |
|
---|
| 171 | if (new_heap >= (unsigned char *)&__HeapLimit) {
|
---|
| 172 | errno = ENOMEM;
|
---|
| 173 | return (void *) -1;
|
---|
| 174 | }
|
---|
| 175 |
|
---|
| 176 | heap = new_heap;
|
---|
| 177 | return (void *) prev_heap;
|
---|
| 178 | }
|
---|
| 179 |
|
---|
| 180 | __attribute__((weak))
|
---|
| 181 | void *SYS_brk(void *addr)
|
---|
| 182 | {
|
---|
| 183 | if (addr == 0) {
|
---|
| 184 | return (void *)(&__HeapBase);
|
---|
| 185 | }
|
---|
| 186 | if ((addr >= (void *)&__HeapBase) && (addr < (void *)&__HeapLimit)) {
|
---|
| 187 | return addr;
|
---|
| 188 | }
|
---|
| 189 | return (void *)-1;
|
---|
| 190 | }
|
---|
| 191 |
|
---|
| 192 | __attribute__((weak))
|
---|
| 193 | void *SYS_mmap2(void *start, size_t length, int prot, int flags, int fd, off_t pgoffset)
|
---|
| 194 | {
|
---|
| 195 | if (fd != -1)
|
---|
| 196 | return (void *)-EINVAL;
|
---|
| 197 |
|
---|
| 198 | if ((length >= 0) && (length <= sizeof(&__HeapBase))) {
|
---|
| 199 | return &__HeapBase;
|
---|
| 200 | }
|
---|
| 201 | return (void *)-1;
|
---|
| 202 | }
|
---|
| 203 |
|
---|
| 204 | __attribute__((weak))
|
---|
| 205 | int SYS_mprotect(void *addr, size_t len, int prot)
|
---|
| 206 | {
|
---|
| 207 | //if ((addr >= (void *)&__HeapBase) && (addr + len < (void *)&__HeapLimit)) {
|
---|
| 208 | return 0;
|
---|
| 209 | //}
|
---|
| 210 | //return -1;
|
---|
| 211 | }
|
---|
| 212 |
|
---|
| 213 | __attribute__((weak))
|
---|
| 214 | long SYS_madvise()
|
---|
| 215 | {
|
---|
| 216 | return -ENOSYS;
|
---|
| 217 | }
|
---|
| 218 |
|
---|
| 219 | __attribute__((weak))
|
---|
| 220 | long SYS_mremap()
|
---|
| 221 | {
|
---|
| 222 | return -ENOSYS;
|
---|
| 223 | }
|
---|
| 224 |
|
---|
| 225 | __attribute__((weak))
|
---|
| 226 | long SYS_munmap()
|
---|
| 227 | {
|
---|
| 228 | return -ENOSYS;
|
---|
| 229 | }
|
---|
| 230 |
|
---|
| 231 | int malloc_lock_sem_count[TNUM_TSKID];
|
---|
| 232 |
|
---|
| 233 | void __malloc_lock(struct _reent *_r)
|
---|
| 234 | {
|
---|
| 235 | ER ercd;
|
---|
| 236 | ID tskid = 0;
|
---|
| 237 |
|
---|
| 238 | ercd = get_tid(&tskid);
|
---|
| 239 | if (ercd != E_OK) {
|
---|
| 240 | goto error;
|
---|
| 241 | }
|
---|
| 242 |
|
---|
| 243 | if (malloc_lock_sem_count[tskid - 1] == 0) {
|
---|
| 244 | ercd = wai_sem(SEM_MALLOC);
|
---|
| 245 | if (ercd != E_OK) {
|
---|
| 246 | goto error;
|
---|
| 247 | }
|
---|
| 248 | }
|
---|
| 249 |
|
---|
| 250 | malloc_lock_sem_count[tskid - 1]++;
|
---|
| 251 | return;
|
---|
| 252 | error:
|
---|
| 253 | syslog(LOG_ERROR, "%s (%d) __malloc_lock error.",
|
---|
| 254 | itron_strerror(ercd), SERCD(ercd));
|
---|
| 255 | asm("bkpt #0");
|
---|
| 256 | while(0);
|
---|
| 257 | }
|
---|
| 258 |
|
---|
| 259 | void __malloc_unlock(struct _reent *_r)
|
---|
| 260 | {
|
---|
| 261 | ER ercd;
|
---|
| 262 | ID tskid = 0;
|
---|
| 263 | int count;
|
---|
| 264 |
|
---|
| 265 | ercd = get_tid(&tskid);
|
---|
| 266 | if (ercd != E_OK) {
|
---|
| 267 | goto error;
|
---|
| 268 | }
|
---|
| 269 |
|
---|
| 270 | malloc_lock_sem_count[tskid - 1]--;
|
---|
| 271 | if (malloc_lock_sem_count[tskid - 1] > 0)
|
---|
| 272 | return;
|
---|
| 273 |
|
---|
| 274 | if (malloc_lock_sem_count[tskid - 1] < 0) {
|
---|
| 275 | goto error;
|
---|
| 276 | }
|
---|
| 277 |
|
---|
| 278 | ercd = sig_sem(SEM_MALLOC);
|
---|
| 279 | if (ercd != E_OK) {
|
---|
| 280 | goto error;
|
---|
| 281 | }
|
---|
| 282 | return;
|
---|
| 283 | error:
|
---|
| 284 | syslog(LOG_ERROR, "%s (%d) __malloc_unlock error.",
|
---|
| 285 | itron_strerror(ercd), SERCD(ercd));
|
---|
| 286 | asm("bkpt #0");
|
---|
| 287 | while(0);
|
---|
| 288 | }
|
---|