diff options
| -rw-r--r-- | CMakeLists.txt | 2 | ||||
| -rw-r--r-- | apps/CMakeLists.txt | 1 | ||||
| -rw-r--r-- | apps/cpp1/CMakeLists.txt | 19 | ||||
| -rw-r--r-- | apps/cpp1/cpp1.cpp | 88 | ||||
| -rw-r--r-- | apps/os2/os2.cpp | 307 | ||||
| -rw-r--r-- | apps/os2/os2_cm3.s | 42 | ||||
| -rw-r--r-- | apps/serial1/serial1.cpp | 4 | ||||
| -rw-r--r-- | cmake/stm32.ld | 13 | ||||
| -rw-r--r-- | cmake/stm32.toolchain.cmake | 8 | ||||
| -rw-r--r-- | gdb-start | 37 | ||||
| -rw-r--r-- | host/elfinfo.cpp | 2 | ||||
| -rw-r--r-- | playground/include/init_high.h | 7 | ||||
| -rw-r--r-- | playground/include/playground.h | 14 | ||||
| -rw-r--r-- | playground/src/init_high.cpp | 52 | ||||
| -rw-r--r-- | playground/src/init_low.s | 5 |
15 files changed, 457 insertions, 144 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index 2ce54f0..7bb47da 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -17,7 +17,7 @@ function(add_extra_commands target_name) add_custom_command(TARGET ${target_name} POST_BUILD COMMAND mkdir -p ${target_name}-info && arm-none-eabi-objdump -D ${target_name} > ${target_name}-info/${target_name}.asm) add_custom_command(TARGET ${target_name} POST_BUILD - COMMAND mkdir -p ${target_name}-info && arm-none-eabi-nm ${target_name} > ${target_name}-info/${target_name}.nm) + COMMAND mkdir -p ${target_name}-info && arm-none-eabi-nm -C ${target_name} > ${target_name}-info/${target_name}.nm) add_custom_command(TARGET ${target_name} POST_BUILD COMMAND mkdir -p ${target_name}-info && arm-none-eabi-size ${target_name} > ${target_name}-info/${target_name}.size) add_custom_command(TARGET ${target_name} POST_BUILD diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt index a38f85d..cbbbc65 100644 --- a/apps/CMakeLists.txt +++ b/apps/CMakeLists.txt @@ -1,3 +1,4 @@ +add_subdirectory(cpp1) add_subdirectory(dma1) add_subdirectory(os1) add_subdirectory(os2) diff --git a/apps/cpp1/CMakeLists.txt b/apps/cpp1/CMakeLists.txt new file mode 100644 index 0000000..2580535 --- /dev/null +++ b/apps/cpp1/CMakeLists.txt @@ -0,0 +1,19 @@ +add_executable(cpp1.elf cpp1.cpp + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c + ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c + $<TARGET_OBJECTS:playground> + ) + +target_include_directories(cpp1.elf PUBLIC + $<TARGET_PROPERTY:playground,INTERFACE_INCLUDE_DIRECTORIES> + ) +target_compile_definitions(cpp1.elf PUBLIC ${STM32F10X_STDPERIPH_DEFINES}) +target_link_libraries(cpp1.elf tinyprintf) + +set_target_properties(cpp1.elf PROPERTIES LINK_FLAGS "-nostartfiles -T${CMAKE_SOURCE_DIR}/cmake/stm32.ld") +add_extra_commands(cpp1.elf) diff --git a/apps/cpp1/cpp1.cpp b/apps/cpp1/cpp1.cpp new file mode 100644 index 0000000..5cea157 --- /dev/null +++ b/apps/cpp1/cpp1.cpp @@ -0,0 +1,88 @@ +#include <stdint.h> +#include <stm32f10x.h> + +#include "debug.h" +#include "tinyprintf.h" +#include "playground.h" + +extern "C" +__attribute__((naked, used)) +void HardFault_Handler_C(uint32_t *hardfault_args) { + dbg_printf("r0 = 0x%08lx (%lu)\n", hardfault_args[0], hardfault_args[0]); + dbg_printf("r1 = 0x%08lx (%lu)\n", hardfault_args[1], hardfault_args[1]); + dbg_printf("r2 = 0x%08lx (%lu)\n", hardfault_args[2], hardfault_args[2]); + dbg_printf("r3 = 0x%08lx (%lu)\n", hardfault_args[3], hardfault_args[3]); + dbg_printf("r12 = 0x%08lx (%lu)\n", hardfault_args[4], hardfault_args[4]); + dbg_printf("lr = 0x%08lx (%lu)\n", hardfault_args[5], hardfault_args[5]); + dbg_printf("pc = 0x%08lx (%lu)\n", hardfault_args[6], hardfault_args[6]); + dbg_printf("psr = 0x%08lx (%lu)\n", hardfault_args[7], hardfault_args[7]); + dbg_printf("\n"); + + halt(); +} + +volatile bool run = true; + +class StaticMyClass { +public: + StaticMyClass(int value) : value(value) { + dbg_printf("StaticMyClass::StaticMyClass(%d)\n", value); + } + + // Destructors are not supported for classes that are globally allocated. +// ~StaticMyClass() { +// } + + int value; +}; + +class ConstStaticMyClass { +public: + ConstStaticMyClass(int value) : value(value) { + dbg_printf("ConstStaticMyClass::ConstStaticMyClass(%d)\n", value); + } + + int value; +}; + +class MyClass { +public: + MyClass(int value) : value(value) { + dbg_printf("MyClass::MyClass(%d)\n", value); + } + + ~MyClass() { + dbg_printf("MyClass::~MyClass\n"); + } + + int value; +}; + +StaticMyClass staticInstance(1337); +static const ConstStaticMyClass constStaticInstance(9876); + +/* + * When we get there the stack pointer is set + */ +int main() { + SystemInit(); + + init_printf(nullptr, dbg_putc); + + dbg_printf("C++ Test #1\n"); + + dbg_printf("staticInstance.value=%d\n", staticInstance.value); + dbg_printf("constStaticInstance.value=%d\n", constStaticInstance.value); + + { + MyClass instance2(1234); + dbg_printf("instance2.value=%d\n", instance2.value); + } + + dbg_printf("Sleeping..\n"); + while (run) { + __NOP(); + } + + return 0; +} diff --git a/apps/os2/os2.cpp b/apps/os2/os2.cpp index c104ac2..66c5b4d 100644 --- a/apps/os2/os2.cpp +++ b/apps/os2/os2.cpp @@ -1,7 +1,10 @@ #include <stdint.h> +#include <cstddef> +#include <type_traits> #include <stm32f10x.h> #include <stm32f10x_rcc.h> #include <stm32f10x_gpio.h> +#include <inttypes.h> #include "debug.h" #include "tinyprintf.h" @@ -10,22 +13,12 @@ namespace trygvis { namespace os2 { -namespace os { -extern "C" -__attribute__((naked, used)) -void HardFault_Handler_C(uint32_t *hardfault_args) { - dbg_printf("r0 = 0x%08lx (%lu)\n", hardfault_args[0], hardfault_args[0]); - dbg_printf("r1 = 0x%08lx (%lu)\n", hardfault_args[1], hardfault_args[1]); - dbg_printf("r2 = 0x%08lx (%lu)\n", hardfault_args[2], hardfault_args[2]); - dbg_printf("r3 = 0x%08lx (%lu)\n", hardfault_args[3], hardfault_args[3]); - dbg_printf("r12 = 0x%08lx (%lu)\n", hardfault_args[4], hardfault_args[4]); - dbg_printf("lr = 0x%08lx (%lu)\n", hardfault_args[5], hardfault_args[5]); - dbg_printf("pc = 0x%08lx (%lu)\n", hardfault_args[6], hardfault_args[6]); - dbg_printf("psr = 0x%08lx (%lu)\n", hardfault_args[7], hardfault_args[7]); - dbg_printf("\n"); +/* + * System configuration + */ +constexpr bool enable_stack_smashing_check = false; - halt(); -} +namespace os { enum class exc_return_t : uint32_t { RETURN_TO_HANDLER_MODE_USE_MSP = 0xFFFFFFF1, @@ -35,20 +28,20 @@ enum class exc_return_t : uint32_t { // This is used from assembly so order is important struct task_t { - uint8_t *stack; + uint8_t *current_stack; + // This field is used by the assembly code. exc_return_t exc_return; + uint8_t *stack_start, *stack_end; int flags; - void init(uint8_t *stack) { - this->stack = stack; + void init(uint8_t *current_stack, uint8_t *stack_start, uint8_t *stack_end) { + this->current_stack = current_stack; + this->stack_start = stack_start; + this->stack_end = stack_end; flags = 0x01; set_ready(); } - void deinit() { - flags = 0; - } - bool is_ready() { return (flags & 0x02) > 0; } @@ -56,15 +49,26 @@ struct task_t { void set_ready() { flags |= 0x02; } + + void set_blocked() { + flags &= ~0x02; + } } __attribute__((packed)); -const int max_task_count = 3; -const int stack_size = 100; +// This is required for offsetof to be defined behaviour +static_assert(std::is_standard_layout<task_t>::value, "task_t has to be is_standard_layout"); +static_assert(offsetof(task_t, exc_return) == 4, "task_t::exc_return has to be at offset 0"); +static_assert(offsetof(task_t, current_stack) == 0, "task_t::current_stack has to be at offset 4"); + +const uint8_t max_task_count = 3; +const int stack_size = 256; + +static_assert(stack_size % 4 == 0, "stack_size must be word-aligned."); task_t tasks[max_task_count]; -uint8_t stacks[max_task_count][stack_size]; +uint8_t stacks[SizeOfArray(tasks)][stack_size]; uint8_t task_count = 0; -int current_task; +uint32_t current_task; const unsigned int SYSTICK_FREQUENCY_HZ = 10; @@ -91,6 +95,27 @@ struct software_frame_t { }; extern "C" +__attribute__((naked, used)) +void HardFault_Handler_C(uint32_t *stack) { + dbg_printf("r0 = 0x%08lx (%lu)\n", stack[0], stack[0]); + dbg_printf("r1 = 0x%08lx (%lu)\n", stack[1], stack[1]); + dbg_printf("r2 = 0x%08lx (%lu)\n", stack[2], stack[2]); + dbg_printf("r3 = 0x%08lx (%lu)\n", stack[3], stack[3]); + dbg_printf("r12 = 0x%08lx (%lu)\n", stack[4], stack[4]); + dbg_printf("lr = 0x%08lx (%lu)\n", stack[5], stack[5]); + dbg_printf("pc = 0x%08lx (%lu)\n", stack[6], stack[6]); + dbg_printf("psr = 0x%08lx (%lu)\n", stack[7], stack[7]); + dbg_printf("\n"); + + dbg_printf("current_task = %" PRIu32 "\n", current_task); + dbg_printf("\n"); + + Default_Handler(); + + halt(); +} + +extern "C" void SysTick_Handler() { static bool on = true; @@ -106,14 +131,30 @@ void SysTick_Handler() { SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; } +extern "C" +void SVC_Handler() { + SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; +} + +/** + * Implemented in assembly, simply executes an SVC instruction. + */ +__attribute__((used)) +extern void reschedule(); + +// This doesn't quite work. void thread_end() { + dbg_printf("thread_end(). current_task=%" PRIu32 "\n", current_task); } +extern "C" void asm_idle_task(const void *const); + +#define idle_task asm_idle_task volatile bool idle_task_run; -void idle_task(const void *const) { - // trigger PendSV to run - SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; +void idle_task_c(const void *const) { + GPIOB->BSRR = GPIO_Pin_6; + GPIOB->BRR = GPIO_Pin_6; // wait for the PendSV handler to kick in. After the handler has completed it will do a context switch and // this point shouldn't be reached. @@ -125,38 +166,27 @@ void idle_task(const void *const) { } } -static -void os_create_thread(void (task)(void const *const), bool create_sw); - -void os_init() { - NVIC_SetPriority(SysTick_IRQn, 0xff); - NVIC_SetPriority(PendSV_IRQn, 0xff); - - SysTick_Config(SystemCoreClock / SYSTICK_FREQUENCY_HZ); +static void init_stack(uint8_t *stack, size_t stack_size) { + static int stack_pattern = -16; - GPIO_InitTypeDef init; - GPIO_StructInit(&init); - init.GPIO_Mode = GPIO_Mode_Out_PP; - init.GPIO_Pin = GPIO_Pin_6; - GPIO_Init(GPIOB, &init); - init.GPIO_Pin = GPIO_Pin_7; - GPIO_Init(GPIOB, &init); - - for (int i = 0; i < max_task_count; i++) { - tasks[i].flags = 0; + for (size_t y = 0; y < stack_size; y++) { + stack[y] = (uint8_t) stack_pattern; } - os_create_thread(idle_task, false); - current_task = 0; -} + stack_pattern -= 16; -void os_create_thread(void (task)(void const *const)) { - os_create_thread(task, true); + auto x = idle_task_c; + (void) x; } -static -void os_create_thread(void (task)(void const *const), bool create_sw) { - uint8_t *s = stacks[task_count] + stack_size; +//static +void os_create_thread(void (task)(void const *const), bool create_sw = true) { + uint8_t *const stack_end = stacks[task_count]; + uint8_t *const stack_start = stack_end + stack_size; + + init_stack(stack_end, stack_size); + + uint8_t *s = stack_start; s -= sizeof(hardware_frame_t); hardware_frame_t *hw = reinterpret_cast<hardware_frame_t *>(s); @@ -186,37 +216,69 @@ void os_create_thread(void (task)(void const *const), bool create_sw) { } task_t *t = &tasks[task_count]; - t->init(s); + t->init(s, stack_start, stack_end); t->exc_return = exc_return_t::RETURN_TO_THREAD_MODE_USE_PSP; + dbg_printf("task #%d: stack=%p -> %p, current=%p, allocated=%d\n", task_count, + static_cast<void *>(t->stack_end), static_cast<void *>(t->stack_start), + static_cast<void *>(t->current_stack), int(t->stack_start - t->current_stack)); + task_count++; } static -int find_first_ready_task() { +uint32_t find_first_ready_task() { task_t *t; - int idx = current_task + 1; + // Start from the task after the current one + uint32_t idx = current_task; do { + idx++; + // If we have checked the entire array, start from the first non-idle task if (idx == max_task_count) { idx = 1; - } else if (idx == current_task) { - return 0; } t = &tasks[idx]; + if (idx == current_task) { + // If we have checked all other tasks, use the current one if it is still ready. if not, use the idle task + if (!t->is_ready()) { + idx = 0; + } + break; + } + } while (!t->is_ready()); return idx; } +template<bool enable> +void check_stack_smashing(task_t *); + +template<> +void check_stack_smashing<false>(task_t *) { +} + +// TODO: this implementation hasn't been checked. +template<> +void check_stack_smashing<true>(task_t *t) { + if (t->current_stack < t->stack_end) { + dbg_printf("STACK SMASHED: task #%" PRIu32 ", end=%p, current=%p\n", current_task, + static_cast<void *>(t->current_stack), static_cast<void *>(t->current_stack)); + } +} + __attribute__((used)) task_t *select_next_task(uint8_t *current_stack) { task_t *t = &tasks[current_task]; - int new_task = find_first_ready_task(); + t->current_stack = current_stack; + + check_stack_smashing<enable_stack_smashing_check>(t); + + uint32_t new_task = find_first_ready_task(); if (new_task != current_task) { - t->stack = current_stack; t = &tasks[new_task]; current_task = new_task; } @@ -228,61 +290,100 @@ volatile bool run; extern "C" void do_first_context_switch(uint8_t *user_stack, void (task)(const void *const arg)); +void os_init() { + NVIC_SetPriority(SysTick_IRQn, 0xff); + NVIC_SetPriority(PendSV_IRQn, 0xff); + + SysTick_Config(SystemCoreClock / SYSTICK_FREQUENCY_HZ); + + GPIO_InitTypeDef init; + GPIO_StructInit(&init); + init.GPIO_Mode = GPIO_Mode_Out_PP; + init.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; + GPIO_Init(GPIOB, &init); + + for (size_t i = 0; i < SizeOfArray(tasks); i++) { + tasks[i].flags = 0; + } + + os_create_thread(idle_task, false); + current_task = 0; +} + void os_start() { run = true; task_t &t = tasks[0]; - do_first_context_switch(t.stack, idle_task); + // TODO: this should jump to runnable user task if available + do_first_context_switch(t.current_stack, idle_task); while (run) { } } -class CriticalSection { +//class DisabledInterrupts { +//public: +// DisabledInterrupts() : primask(__get_PRIMASK()) { +// __disable_irq(); +// } +// +// ~DisabledInterrupts() { +// __set_PRIMASK(primask); +// } +// +//private: +// uint32_t primask; +//}; + +class Mutex final { public: - CriticalSection() : primask(__get_PRIMASK()) { - __disable_irq(); + Mutex() : owner(UINT32_MAX) { } - ~CriticalSection() { - __set_PRIMASK(primask); + void lock() { + uint32_t old; + + do { + // read the semaphore value + old = __LDREXW(&owner); + // loop again if it is locked and we are blocking + // or setting it with strex failed + } while ((old == current_task) || __STREXW(current_task, &owner) != 0); + } + + void unlock() { + owner = UINT32_MAX; } private: - uint32_t primask; + uint32_t owner; }; -//class Mutex { -//public: -// Mutex() : task(-1) { -// } -// -// void lock() { -// do { -// { -// CriticalSection cs; -// if (task == -1) { -// task = current_task; -// break; -// } -// } -// -// } while (true); -// } -// -//private: -// int task; -//}; +class LockMutex { +public: + LockMutex(Mutex &mutex) : mutex(mutex) { + mutex.lock(); + } + + ~LockMutex() { + mutex.unlock(); + } + +private: + Mutex &mutex; +}; } // namespace os -namespace main { +namespace app { -using namespace trygvis::os2::os; +namespace os = trygvis::os2::os; volatile bool run1 = true; +os::Mutex mutex; + void job1(void const *const) { GPIO_InitTypeDef init; GPIO_StructInit(&init); @@ -291,8 +392,9 @@ void job1(void const *const) { GPIO_Init(GPIOB, &init); while (run1) { - GPIO_SetBits(GPIOB, GPIO_Pin_8); - GPIO_ResetBits(GPIOB, GPIO_Pin_8); + os::LockMutex ms(mutex); + GPIOB->BSRR = GPIO_Pin_8; + GPIOB->BRR = GPIO_Pin_8; } } @@ -306,9 +408,9 @@ void job2(void const *const) { GPIO_Init(GPIOB, &init); while (run2) { - CriticalSection cs; - GPIO_SetBits(GPIOB, GPIO_Pin_5); - GPIO_ResetBits(GPIOB, GPIO_Pin_5); + os::LockMutex ms(mutex); + GPIOB->BSRR = GPIO_Pin_5; + GPIOB->BRR = GPIO_Pin_5; } } @@ -317,6 +419,7 @@ int main(void) { SystemInit(); init_printf(nullptr, dbg_putc); + dbg_printf("os2\n"); RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_USART1 @@ -328,14 +431,14 @@ int main(void) { RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOB, ENABLE); RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOB, DISABLE); - os_init(); - os_create_thread(job1); - os_create_thread(job2); - os_start(); + os::os_init(); + os::os_create_thread(job1); + os::os_create_thread(job2); + os::os_start(); return 0; } -} // namespace main +} // namespace app } // namespace os2 } // namespace trygvis diff --git a/apps/os2/os2_cm3.s b/apps/os2/os2_cm3.s index dabdfe0..aa18703 100644 --- a/apps/os2/os2_cm3.s +++ b/apps/os2/os2_cm3.s @@ -2,6 +2,15 @@ .cpu cortex-m3 .thumb +.equ PERIPH_BASE , 0x40000000 +.equ APB2PERIPH_BASE , PERIPH_BASE + 0x10000 +.equ GPIOB_BASE , APB2PERIPH_BASE + 0x0C00 + +.equ GPIO_BSRR_OFF , 0x10 +.equ GPIO_BSR_OFF , 0x14 + +# .equ GPIOB 0x40010c00 + .section .text /* @@ -18,7 +27,14 @@ do_first_context_switch: msr psp, r0 // Set CONTROL.SPSEL=1 so that we run with two stacks - mov r0, #2 + mrs r0, control + orr r0, #2 + msr control, r0 + isb + + // Set CONTROL.nPRIV=1 so that we run with in unprivileged mode + mrs r0, control + orr r0, #1 msr control, r0 isb @@ -28,6 +44,27 @@ do_first_context_switch: pop {r4, r5} bx r4 +.thumb_func +.global _ZN7trygvis3os22os10rescheduleEv +_ZN7trygvis3os22os10rescheduleEv: + svc #0 + bx lr + +// A very simple idle task, just to know exactly which registers that are used and what their values are supposed to be. +// Toggles GPIO B, pin #6 on a STM32F103 +.thumb_func +.global asm_idle_task +asm_idle_task: + ldr r0, =0x0020 + ldr r0, =0xffff + ldr r1, =GPIOB_BASE +asm_idle_task_loop: + str r0, [r1, #GPIO_BSRR_OFF] + str r0, [r1, #GPIO_BSR_OFF] + b asm_idle_task_loop +.pool +.size asm_idle_task,.-asm_idle_task + /* When this function is executed {r0-r3,r12,lr,pc} has been pushed to the stack pointed to by PSP. We push the rest of the registers to the PSP. The current stack pointer is the MSP. @@ -42,9 +79,10 @@ PendSV_Handler: // Call select_next_task_sp. after return, r0 points to a task_t bl _ZN7trygvis3os22os16select_next_taskEPh // task_t *select_next_task(uint8_t *current_stack) - // load task_t.stack and task_t.lr into r1 and lr + // load task_t.exc_return and task_t.current_stack into r1 and lr ldm r0, {r1, lr} + // Restore the registers saved on the thread's stack ldmia r1!, {r4 - r11} msr psp, r1 diff --git a/apps/serial1/serial1.cpp b/apps/serial1/serial1.cpp index 60e9bc9..e93286c 100644 --- a/apps/serial1/serial1.cpp +++ b/apps/serial1/serial1.cpp @@ -3,17 +3,15 @@ #include <stm32f10x_rcc.h> #include <stm32f10x_gpio.h> #include <stddef.h> -#include <stdarg.h> #include "debug.h" #include "tinyprintf.h" extern "C" void halt(); -#include "stm32f10x_conf.h" - extern "C" __attribute__((naked)) void HardFault_Handler_C(uint32_t *hardfault_args) { + (void) hardfault_args; halt(); } diff --git a/cmake/stm32.ld b/cmake/stm32.ld index fc69574..bafd520 100644 --- a/cmake/stm32.ld +++ b/cmake/stm32.ld @@ -16,7 +16,7 @@ SECTIONS { /* The first word has to be the initial stack pointer */ LONG(__initial_stack_pointer); - */init_high.cpp.obj(.isr_vectors) + KEEP(*/init_high.cpp.obj(.isr_vectors)) } >FLASH ASSERT(SIZEOF(.isr) > 100, "The isr_vectors section is too small") ASSERT(SIZEOF(.isr) < 1000, "The isr_vectors section is too big") @@ -29,11 +29,20 @@ SECTIONS *(.rodata*) } >FLASH + .init_arrays : + { + _init_array_start = .; + KEEP(*(.init_array)) + KEEP(*(SORT_BY_INIT_PRIORITY(.init_array.*))) + _init_array_end = .; + } >FLASH + . = ORIGIN(RAM); .data ALIGN(4) : { - *(.data*) + *(.data) + *(.data.*) } >RAM AT >FLASH .bss ALIGN(4) (NOLOAD) : diff --git a/cmake/stm32.toolchain.cmake b/cmake/stm32.toolchain.cmake index ab73d90..e595ec9 100644 --- a/cmake/stm32.toolchain.cmake +++ b/cmake/stm32.toolchain.cmake @@ -22,13 +22,13 @@ set(CMAKE_SYSTEM_PROCESSOR arm) set(CMAKE_CROSSCOMPILING 1) set(TARGET_FLAGS "-mcpu=cortex-m3 -mthumb") -set(BASE_FLAGS "-Wall -g -ffunction-sections -fdata-sections ${TARGET_FLAGS}") +set(BASE_FLAGS "-O3 -ffreestanding -nostdlib -Wall -Wextra -g -ffunction-sections -fdata-sections ${TARGET_FLAGS}") -set(CMAKE_C_FLAGS "${BASE_FLAGS}" CACHE STRING "c flags") # XXX Generate TIME_T dynamically. +set(CMAKE_C_FLAGS "${BASE_FLAGS}" CACHE STRING "c flags") set(CMAKE_CXX_FLAGS "${BASE_FLAGS} -fno-exceptions -fno-rtti -felide-constructors -std=c++14" CACHE STRING "c++ flags") -set(LINKER_FLAGS "-O3 ${TARGET_FLAGS}") -set(LINKER_LIBS "-larm_cortexM4l_math -lm") +set(LINKER_FLAGS "-O3 -Wl,--gc-sections ${TARGET_FLAGS}") +#set(LINKER_LIBS "-larm_cortexM4l_math -lm") set(CMAKE_EXE_LINKER_FLAGS "${LINKER_FLAGS}" CACHE STRING "linker flags" FORCE) @@ -8,8 +8,8 @@ define flash_test1 monitor reset halt set confirm off - file build/test1.elf - load build/test1.elf + file build/apps/test1/test1.elf + load build/apps/test1/test1.elf set confirm on monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480 @@ -23,8 +23,8 @@ define flash_serial1 monitor reset halt set confirm off - file build/serial1.elf - load build/serial1.elf + file build/apps/serial1/serial1.elf + load build/apps/serial1/serial1.elf set confirm on monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480 @@ -38,8 +38,8 @@ define flash_serial2 monitor reset halt set confirm off - file build/serial2.elf - load build/serial2.elf + file build/apps/serial2/serial2.elf + load build/apps/serial2/serial2.elf set confirm on monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480 @@ -53,8 +53,8 @@ define flash_os1 monitor reset halt set confirm off - file build/os1.elf - load build/os1.elf + file build/apps/os1/os1.elf + load build/apps/os1/os1.elf set confirm on set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12 @@ -70,8 +70,8 @@ define flash_os2 monitor reset halt set confirm off - file build/os2.elf - load build/os2.elf + file build/apps/os2/os2.elf + load build/apps/os2/os2.elf set confirm on set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12 @@ -96,3 +96,20 @@ define flash_dma1 echo Run this if first run:\n hbreak halt\n end + +define flash_cpp1 + shell cd build && make cpp1.elf + + monitor arm semihosting enable + monitor reset halt + + set confirm off + file build/apps/cpp1/cpp1.elf + load build/apps/cpp1/cpp1.elf + set confirm on + + set $r0=0, $r1=-1, $r2=-2, $r3=-3, $r4=-4, $r5=-5, $r6=-6, $r7=-7, $r8=-8, $r9=-9, $r10=-10, $r11=-11, $r12=-12 + monitor stm32f1x.cpu mwb 0x20000000 0x5a 20480 + + echo Run this if first run:\n hbreak halt\n +end diff --git a/host/elfinfo.cpp b/host/elfinfo.cpp index 11fe192..a929325 100644 --- a/host/elfinfo.cpp +++ b/host/elfinfo.cpp @@ -246,7 +246,7 @@ int main(int argc, char **argv) { char size[100]; to_iso(s.size, size); int used_pct = (int) (double(s.used) / double(s.size) * 100.0); - printf("%4s %08" PRIx64 " %08" PRIx64 " %5s %6" PRId64 " %d%%\n", to_str(s.type), s.start, s.end, size, s.used, + printf("%4s %08" PRIx64 " %08" PRIx64 " %5s %6" PRId64 " %3d%%\n", to_str(s.type), s.start, s.end, size, s.used, used_pct); }); diff --git a/playground/include/init_high.h b/playground/include/init_high.h index c6da514..7b1d555 100644 --- a/playground/include/init_high.h +++ b/playground/include/init_high.h @@ -3,13 +3,6 @@ extern "C" { -void init_high(); - -/** - * Declare all the interrupt/event handlers as weak symbols and make them aliases of the default handler. - */ -extern void Default_Handler() __attribute__((weak)); - extern void _Reset_Handler(); extern void NMI_Handler(); diff --git a/playground/include/playground.h b/playground/include/playground.h index c224908..3ccfeeb 100644 --- a/playground/include/playground.h +++ b/playground/include/playground.h @@ -1,10 +1,20 @@ #ifndef PLAYGROUND_H #define PLAYGROUND_H -extern "C" void halt(); +extern "C" +void halt(); + +extern "C" +void init_high(); + +extern "C" +int main(); + +extern "C" +void Default_Handler(); template<typename T, size_t N> -static inline +static inline constexpr size_t SizeOfArray(const T(&)[N]) { return N; } diff --git a/playground/src/init_high.cpp b/playground/src/init_high.cpp index 700d17a..b877b7d 100644 --- a/playground/src/init_high.cpp +++ b/playground/src/init_high.cpp @@ -8,26 +8,60 @@ /** * Symbols that are defined by the linker */ +extern "C" +{ extern uint32_t _copy_data_load, _copy_data_store, _copy_data_store_end; extern uint32_t _bss_start, _bss_end; -extern int main(); +typedef void(*constructor_t)(); +extern constructor_t _init_array_start[], _init_array_end[]; +} + +extern "C" +void *memset(void *dst, int i, size_t n) { + if (n) { + char *d = (char *) dst; + char c = (char) i; + + do { + *d = c; + d++; + } while (--n); + } + return dst; +} + +extern "C" +void *memcpy(void *destination, void *source, size_t num) { + char *d = (char *) destination; + char *s = (char *) source; + for (size_t i = 0; i < num; i++) { + d[i] = s[i]; + } + return destination; +} +__attribute__((used)) void init_high() { // Copy data from flash to ram uint32_t *src = &_copy_data_load; - uint32_t *dest = &_copy_data_store; + uint32_t *dst = &_copy_data_store; uint32_t *end = &_copy_data_store_end; - while (dest <= end) { - *dest++ = *src++; + while (dst <= end) { + *dst++ = *src++; } // Clear the BSS segment - dest = &_bss_start; + dst = &_bss_start; end = &_bss_end; - while (dest <= end) { - *dest++ = 0; + while (dst <= end) { + *dst++ = 0; + } + + // Initialize c++ constructors + for (constructor_t *fn = _init_array_start; fn < _init_array_end; fn++) { + (*fn)(); } main(); @@ -43,6 +77,7 @@ struct { uint32_t BFAR; } Default_Handler_Info; +extern "C" __attribute__((used)) void Default_Handler() { Default_Handler_Info = { @@ -97,9 +132,6 @@ void Default_Handler() { if (Default_Handler_Info.CFSR & SCB_CFSR_IMPRECISERR) { dbg_printf(" BFSR.IMPRECISERR\n"); } - if (Default_Handler_Info.CFSR & SCB_CFSR_IMPRECISERR) { - dbg_printf(" BFSR.IMPRECISERR\n"); - } if (Default_Handler_Info.CFSR & SCB_CFSR_PRECISERR) { dbg_printf(" BFSR.PRECISERR\n"); } diff --git a/playground/src/init_low.s b/playground/src/init_low.s index bc12b5b..b666ed4 100644 --- a/playground/src/init_low.s +++ b/playground/src/init_low.s @@ -16,10 +16,12 @@ halt: b . .thumb_func +.global NMI_Handler NMI_Handler: b halt .thumb_func +.global HardFault_Handler HardFault_Handler: tst lr, #4 ite eq @@ -28,14 +30,17 @@ HardFault_Handler: b HardFault_Handler_C .thumb_func +.global MemManage_Handler MemManage_Handler: b halt .thumb_func +.global BusFault_Handler BusFault_Handler: b halt .thumb_func +.global UsageFault_Handler UsageFault_Handler: b halt |