[374] | 1 | /*
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| 2 | * TOPPERS/ASP Kernel
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| 3 | * Toyohashi Open Platform for Embedded Real-Time Systems/
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| 4 | * Advanced Standard Profile Kernel
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| 5 | *
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| 6 | * Copyright (C) 2007-2016 by Embedded and Real-Time Systems Laboratory
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| 7 | * Graduate School of Information Science, Nagoya Univ., JAPAN
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| 8 | *
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| 9 | * ä¸è¨èä½æ¨©è
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| 10 | ã¯ï¼ä»¥ä¸ã®(1)ï½(4)ã®æ¡ä»¶ãæºããå ´åã«éãï¼æ¬ã½ããã¦ã§
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| 11 | * ã¢ï¼æ¬ã½ããã¦ã§ã¢ãæ¹å¤ãããã®ãå«ãï¼ä»¥ä¸åãï¼ã使ç¨ã»è¤è£½ã»æ¹
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| 12 | * å¤ã»åé
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| 13 | å¸ï¼ä»¥ä¸ï¼å©ç¨ã¨å¼ã¶ï¼ãããã¨ãç¡åã§è¨±è«¾ããï¼
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| 14 | * (1) æ¬ã½ããã¦ã§ã¢ãã½ã¼ã¹ã³ã¼ãã®å½¢ã§å©ç¨ããå ´åã«ã¯ï¼ä¸è¨ã®èä½
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| 15 | * 権表示ï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãï¼ãã®ã¾ã¾ã®å½¢ã§ã½ã¼
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| 16 | * ã¹ã³ã¼ãä¸ã«å«ã¾ãã¦ãããã¨ï¼
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| 17 | * (2) æ¬ã½ããã¦ã§ã¢ãï¼ã©ã¤ãã©ãªå½¢å¼ãªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
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| 18 | * ç¨ã§ããå½¢ã§åé
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| 19 | å¸ããå ´åã«ã¯ï¼åé
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| 20 | å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨
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| 21 | * è
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| 22 | ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®èä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨
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| 23 | * ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
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| 24 | * (3) æ¬ã½ããã¦ã§ã¢ãï¼æ©å¨ã«çµã¿è¾¼ããªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
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| 25 | * ç¨ã§ããªãå½¢ã§åé
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| 26 | å¸ããå ´åã«ã¯ï¼æ¬¡ã®ããããã®æ¡ä»¶ãæºããã
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| 27 | * ã¨ï¼
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| 28 | * (a) åé
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| 29 | å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨è
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| 30 | ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®è
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| 31 | * ä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
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| 32 | * (b) åé
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| 33 | å¸ã®å½¢æ
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| 34 | ãï¼å¥ã«å®ããæ¹æ³ã«ãã£ã¦ï¼TOPPERSããã¸ã§ã¯ãã«
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| 35 | * å ±åãããã¨ï¼
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| 36 | * (4) æ¬ã½ããã¦ã§ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ
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| 37 | * 害ãããï¼ä¸è¨èä½æ¨©è
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| 38 | ããã³TOPPERSããã¸ã§ã¯ããå
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| 39 | 責ãããã¨ï¼
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| 40 | * ã¾ãï¼æ¬ã½ããã¦ã§ã¢ã®ã¦ã¼ã¶ã¾ãã¯ã¨ã³ãã¦ã¼ã¶ããã®ãããªãç
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| 41 | * ç±ã«åºã¥ãè«æ±ãããï¼ä¸è¨èä½æ¨©è
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| 42 | ããã³TOPPERSããã¸ã§ã¯ãã
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| 43 | * å
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| 44 | 責ãããã¨ï¼
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| 45 | *
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| 46 | * æ¬ã½ããã¦ã§ã¢ã¯ï¼ç¡ä¿è¨¼ã§æä¾ããã¦ãããã®ã§ããï¼ä¸è¨èä½æ¨©è
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| 47 | ã
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| 48 | * ãã³TOPPERSããã¸ã§ã¯ãã¯ï¼æ¬ã½ããã¦ã§ã¢ã«é¢ãã¦ï¼ç¹å®ã®ä½¿ç¨ç®ç
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| 49 | * ã«å¯¾ããé©åæ§ãå«ãã¦ï¼ãããªãä¿è¨¼ãè¡ããªãï¼ã¾ãï¼æ¬ã½ããã¦ã§
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| 50 | * ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ害ã«é¢ãã¦ãï¼ã
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| 51 | * ã®è²¬ä»»ãè² ããªãï¼
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| 52 | *
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[387] | 53 | * $Id$
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| 54 | */
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[374] | 55 |
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| 56 | /*
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[377] | 57 | * ã«ã¼ãã«ã®ã¿ã¼ã²ããä¾åé¨ï¼GR-PEACHç¨ï¼
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| 58 | */
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[374] | 59 |
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[377] | 60 | #include <kernel.h>
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| 61 | #include <sil.h>
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| 62 | #include "us_ticker_api.h"
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| 63 | #include <sys/types.h>
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| 64 | #include <errno.h>
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| 65 | #include "kernel_cfg.h"
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[374] | 66 | #include "t_syslog.h"
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| 67 |
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| 68 | extern void musl_start(const char *const args);
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| 69 |
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| 70 | int main()
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| 71 | {
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| 72 | static const char *const args[] = {
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| 73 | (char *)1,
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| 74 | "asp3",
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| 75 | 0,
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| 76 | // envp
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| 77 | "TZ=JST-9",
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| 78 | 0,
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| 79 | // auxv
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| 80 | 0
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| 81 | };
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| 82 | musl_start(args);
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| 83 | return 0;
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| 84 | }
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| 85 |
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| 86 | void wait_us(int us);
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| 87 |
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| 88 | void wait(float s)
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| 89 | {
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| 90 | wait_us(s * 1000000.0f);
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| 91 | }
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| 92 |
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| 93 | void wait_ms(int ms)
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| 94 | {
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| 95 | wait_us(ms * 1000);
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| 96 | }
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| 97 |
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| 98 | void wait_us(int us)
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| 99 | {
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| 100 | ER ercd;
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| 101 |
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| 102 | ercd = dly_tsk(us);
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| 103 | if (ercd == E_CTX){
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| 104 | uint32_t start = us_ticker_read();
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| 105 | while ((us_ticker_read() - start) < (uint32_t)us);
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| 106 | }
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| 107 | }
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| 108 |
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| 109 | int32_t IRQ_Initialize (void)
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| 110 | {
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| 111 | GIC_Enable();
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| 112 | return (0);
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| 113 | }
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| 114 |
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| 115 | __attribute__((weak))
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| 116 | long SYS_poll()
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| 117 | {
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| 118 | return -ENOSYS;
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| 119 | }
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| 120 |
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| 121 | __attribute__((weak))
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| 122 | long SYS_open()
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| 123 | {
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| 124 | return -ENOSYS;
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| 125 | }
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| 126 |
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| 127 | void *tid_address;
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| 128 |
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| 129 | __attribute__((weak))
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| 130 | long SYS_set_tid_address(long a) {
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| 131 | tid_address = (void *)a;
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| 132 | return 0;
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| 133 | }
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| 134 |
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| 135 | __attribute__((weak))
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| 136 | long ARM_SYS_set_tls(long a)
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| 137 | {
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| 138 | __asm__ __volatile__("mcr p15,0,%0,c13,c0,3" :: "r"(a));
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| 139 | return 0;
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| 140 | }
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| 141 |
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| 142 | __attribute__((weak))
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| 143 | long SYS_exit_group()
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| 144 | {
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| 145 | ext_ker();
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| 146 | return 0;
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| 147 | }
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| 148 |
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| 149 | __attribute__((weak))
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| 150 | long SYS_exit()
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| 151 | {
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| 152 | ext_ker();
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| 153 | return 0;
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| 154 | }
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| 155 |
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| 156 | __attribute__((weak))
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| 157 | long SYS_futex(long a, long b, long c, long d, long e, long f) {
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| 158 | //int futex(int *uaddr, int op, int val, const struct timespec *timeout, int *uaddr2, int val3);
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| 159 | return -ENOSYS;
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| 160 | }
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| 161 |
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| 162 | #ifndef _MSC_VER
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| 163 | extern uint32_t __HeapBase;
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| 164 | extern uint32_t __HeapLimit;
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| 165 | extern uint32_t __end__;
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| 166 | #else
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| 167 | uint8_t __HeapBase[14 * 4096];
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| 168 | #define __HeapLimit __HeapBase[sizeof(__HeapBase)]
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| 169 | #endif
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| 170 |
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[387] | 171 | void *_sbrk(int incr)
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[374] | 172 | {
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| 173 | static unsigned char *heap = (unsigned char *)&__end__;
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| 174 | unsigned char *prev_heap = heap;
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| 175 | unsigned char *new_heap = heap + incr;
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| 176 |
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| 177 | if (new_heap >= (unsigned char *)&__HeapLimit) {
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| 178 | errno = ENOMEM;
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| 179 | return (void *) -1;
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| 180 | }
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| 181 |
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[387] | 182 | heap = new_heap;
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[374] | 183 | return (void *) prev_heap;
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| 184 | }
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| 185 |
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| 186 | void *shell_brk(void *addr)
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| 187 | {
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| 188 | if (addr == 0) {
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| 189 | return (void *)(&__HeapBase);
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| 190 | }
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| 191 | if ((addr >= (void *)&__HeapBase) && (addr < (void *)&__HeapLimit)) {
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| 192 | return addr;
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[387] | 193 | }
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[374] | 194 | return (void *)-1;
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| 195 | }
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| 196 |
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| 197 | void *shell_mmap2(void *start, size_t length, int prot, int flags, int fd, off_t pgoffset)
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| 198 | {
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| 199 | if (fd != -1)
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| 200 | return (void *)-EINVAL;
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| 201 |
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[387] | 202 | if ((length >= 0) && (length <= sizeof(&__HeapBase))) {
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| 203 | return &__HeapBase;
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| 204 | }
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| 205 | return (void *)-1;
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| 206 | }
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| 207 |
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| 208 | int shell_mprotect(void *addr, size_t len, int prot)
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| 209 | {
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| 210 | //if ((addr >= (void *)&__HeapBase) && (addr + len < (void *)&__HeapLimit)) {
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| 211 | return 0;
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| 212 | //}
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| 213 | //return -1;
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| 214 | }
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| 215 |
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| 216 | __attribute__((weak))
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[374] | 217 | long SYS_brk(long a) {
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| 218 | return (long)shell_brk((void *)a);
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| 219 | }
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| 220 |
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| 221 | __attribute__((weak))
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| 222 | long SYS_mmap2(long a, long b, long c, long d, long e, long f, long g) {
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| 223 | return (int)shell_mmap2((void *)a, (size_t)b, (int)c, (int)d, (int)e, ((off_t)f << 32) | (off_t)g);
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| 224 | }
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| 225 |
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| 226 | __attribute__((weak))
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| 227 | long SYS_mprotect(long a, long b, long c) {
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| 228 | return shell_mprotect((void *)a, (size_t)b, (int)c);
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| 229 | }
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| 230 |
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| 231 | __attribute__((weak))
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| 232 | long SYS_madvise()
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| 233 | {
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| 234 | return -ENOSYS;
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| 235 | }
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[387] | 236 |
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[374] | 237 | __attribute__((weak))
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| 238 | long SYS_mremap()
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| 239 | {
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| 240 | return -ENOSYS;
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| 241 | }
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| 242 |
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| 243 | __attribute__((weak))
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| 244 | long SYS_munmap()
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| 245 | {
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| 246 | return -ENOSYS;
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| 247 | }
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| 248 |
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| 249 | int malloc_lock_sem_count[TNUM_TSKID];
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| 250 |
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| 251 | __attribute__((weak))
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| 252 | void __malloc_lock(struct _reent *_r)
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| 253 | {
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| 254 | ER ercd;
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| 255 | ID tskid = 0;
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| 256 |
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| 257 | ercd = get_tid(&tskid);
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| 258 | if (ercd != E_OK) {
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| 259 | goto error;
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| 260 | }
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| 261 |
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| 262 | if (malloc_lock_sem_count[tskid - 1] == 0) {
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[387] | 263 | ercd = wai_sem(SEM_MALLOC);
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[374] | 264 | if (ercd != E_OK) {
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| 265 | goto error;
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| 266 | }
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| 267 | }
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| 268 |
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| 269 | malloc_lock_sem_count[tskid - 1]++;
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| 270 | return;
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| 271 | error:
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| 272 | syslog(LOG_ERROR, "%s (%d) __malloc_lock error.",
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| 273 | itron_strerror(ercd), SERCD(ercd));
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| 274 | asm("bkpt #0");
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| 275 | while(0);
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| 276 | }
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| 277 |
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| 278 | __attribute__((weak))
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| 279 | void __malloc_unlock(struct _reent *_r)
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| 280 | {
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| 281 | ER ercd;
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| 282 | ID tskid = 0;
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| 283 | int count;
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| 284 |
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| 285 | ercd = get_tid(&tskid);
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| 286 | if (ercd != E_OK) {
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| 287 | goto error;
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| 288 | }
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| 289 |
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| 290 | malloc_lock_sem_count[tskid - 1]--;
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| 291 | if (malloc_lock_sem_count[tskid - 1] > 0)
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| 292 | return;
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| 293 |
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| 294 | if (malloc_lock_sem_count[tskid - 1] < 0) {
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| 295 | goto error;
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| 296 | }
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| 297 |
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| 298 | ercd = sig_sem(SEM_MALLOC);
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| 299 | if (ercd != E_OK) {
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| 300 | goto error;
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| 301 | }
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| 302 | return;
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| 303 | error:
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| 304 | syslog(LOG_ERROR, "%s (%d) __malloc_unlock error.",
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| 305 | itron_strerror(ercd), SERCD(ercd));
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| 306 | asm("bkpt #0");
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| 307 | while(0);
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| 308 | }
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