git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3192 35acf78f-673a-0410-8e92-d51de3d6d3f4

12 files changed, 67 insertions, 53 deletions

diff --git a/os/kernel/include/chschd.h b/os/kernel/include/chschd.h
index e154da863..cd545a05e 100644
--- a/os/kernel/include/chschd.h
+++ b/os/kernel/include/chschd.h
@@ -76,12 +76,12 @@ typedef struct {
                                                 initialized to zero.        */

   struct context        r_ctx;      /**< @brief Not used, present because

                                                 offsets.                    */

-#if CH_USE_REGISTRY

+#if CH_USE_REGISTRY || defined(__DOXYGEN__)

   Thread                *r_newer;   /**< @brief Newer registry element.     */

   Thread                *r_older;   /**< @brief Older registry element.     */

 #endif

   /* End of the fields shared with the Thread structure.*/

-#if CH_TIME_QUANTUM > 0

+#if (CH_TIME_QUANTUM > 0) || defined(__DOXYGEN__)

   cnt_t                 r_preempt;  /**< @brief Round robin counter.        */

 #endif

   Thread                *r_current; /**< @brief The currently running

diff --git a/os/kernel/include/chthreads.h b/os/kernel/include/chthreads.h
index e0f1b3e95..b02960bd4 100644
--- a/os/kernel/include/chthreads.h
+++ b/os/kernel/include/chthreads.h
@@ -44,17 +44,23 @@ struct Thread {
   /* End of the fields shared with the ThreadsQueue structure. */

   tprio_t               p_prio;     /**< @brief Thread priority.            */

   struct context        p_ctx;      /**< @brief Processor context.          */

-#if CH_USE_REGISTRY

+#if CH_USE_REGISTRY || defined(__DOXYGEN__)

   Thread                *p_newer;   /**< @brief Newer registry element.     */

   Thread                *p_older;   /**< @brief Older registry element.     */

 #endif

   /* End of the fields shared with the ReadyList structure. */

-#if CH_USE_REGISTRY

+#if CH_USE_REGISTRY || defined(__DOXYGEN__)

   /**

    * @brief Thread name or @p NULL.

    */

   const char            *p_name;

 #endif

+#if CH_DBG_ENABLE_STACK_CHECK || defined(__DOXYGEN__)

+  /**

+   * @brief Thread stack boundary.

+   */

+  stkalign_t            *p_stklimit;

+#endif

   /**

    * @brief Current thread state.

    */

@@ -63,19 +69,19 @@ struct Thread {
    * @brief Various thread flags.

    */

   tmode_t               p_flags;

-#if CH_USE_DYNAMIC

+#if CH_USE_DYNAMIC || defined(__DOXYGEN__)

   /**

    * @brief References to this thread.

    */

   trefs_t               p_refs;

 #endif

-#if CH_USE_NESTED_LOCKS

+#if CH_USE_NESTED_LOCKS || defined(__DOXYGEN__)

   /**

    * @brief Number of nested locks.

    */

   cnt_t                 p_locks;

 #endif

-#if CH_DBG_THREADS_PROFILING

+#if CH_DBG_THREADS_PROFILING || defined(__DOXYGEN__)

   /**

    * @brief Thread consumed time in ticks.

    * @note This field can overflow.

@@ -109,22 +115,22 @@ struct Thread {
      *        states.

      */

     void                *wtobjp;

-#if CH_USE_EVENTS

+#if CH_USE_EVENTS || defined(__DOXYGEN__)

     /**

      * @brief Enabled events mask.

-     * @note  This field is only valied while the thread is in the

+     * @note  This field is only valid while the thread is in the

      *        @p THD_STATE_WTOREVT or @p THD_STATE_WTANDEVT states.

      */

     eventmask_t         ewmask;

 #endif

   }                     p_u;

-#if CH_USE_WAITEXIT

+#if CH_USE_WAITEXIT || defined(__DOXYGEN__)

   /**

    * @brief Termination waiting list.

    */

   ThreadsList           p_waiting;

 #endif

-#if CH_USE_MESSAGES

+#if CH_USE_MESSAGES || defined(__DOXYGEN__)

   /**

    * @brief Messages queue.

    */

@@ -134,13 +140,13 @@ struct Thread {
    */

   msg_t                 p_msg;

 #endif

-#if CH_USE_EVENTS

+#if CH_USE_EVENTS || defined(__DOXYGEN__)

   /**

    * @brief Pending events mask.

    */

   eventmask_t           p_epending;

 #endif

-#if CH_USE_MUTEXES

+#if CH_USE_MUTEXES || defined(__DOXYGEN__)

   /**

    * @brief List of the mutexes owned by this thread.

    * @note  The list is terminated by a @p NULL in this field.

@@ -151,7 +157,7 @@ struct Thread {
    */

   tprio_t               p_realprio;

 #endif

-#if CH_USE_DYNAMIC && CH_USE_MEMPOOLS

+#if (CH_USE_DYNAMIC && CH_USE_MEMPOOLS) || defined(__DOXYGEN__)

   /**

    * @brief Memory Pool where the thread workspace is returned.

    */

diff --git a/os/kernel/src/chsys.c b/os/kernel/src/chsys.c
index 8d9ce4905..4c8cd708d 100644
--- a/os/kernel/src/chsys.c
+++ b/os/kernel/src/chsys.c
@@ -77,6 +77,9 @@ void _idle_thread(void *p) {
  */

 void chSysInit(void) {

   static Thread mainthread;

+#if CH_DBG_ENABLE_STACK_CHECK

+  extern stkalign_t __main_thread_stack_base__;

+#endif

 

   port_init();

   _scheduler_init();

@@ -94,6 +97,9 @@ void chSysInit(void) {
   /* Now this instructions flow becomes the main thread.*/

   setcurrp(_thread_init(&mainthread, NORMALPRIO));

   currp->p_state = THD_STATE_CURRENT;

+#if CH_DBG_ENABLE_STACK_CHECK

+  currp->p_stklimit = &__main_thread_stack_base__;

+#endif

   chSysEnable();

 

   chRegSetThreadName("main");

diff --git a/os/kernel/src/chthreads.c b/os/kernel/src/chthreads.c
index b68263a7b..182de7673 100644
--- a/os/kernel/src/chthreads.c
+++ b/os/kernel/src/chthreads.c
@@ -99,6 +99,9 @@ Thread *_thread_init(Thread *tp, tprio_t prio) {
 #if CH_USE_MESSAGES

   queue_init(&tp->p_msgqueue);

 #endif

+#if CH_DBG_ENABLE_STACK_CHECK

+  tp->p_stklimit = (stkalign_t *)(tp + 1);

+#endif

 #if defined(THREAD_EXT_INIT_HOOK)

   THREAD_EXT_INIT_HOOK(tp);

 #endif

diff --git a/os/ports/GCC/ARMCMx/LPC11xx/vectors.c b/os/ports/GCC/ARMCMx/LPC11xx/vectors.c
index 63b343ea2..527d82836 100644
--- a/os/ports/GCC/ARMCMx/LPC11xx/vectors.c
+++ b/os/ports/GCC/ARMCMx/LPC11xx/vectors.c
@@ -31,7 +31,7 @@
 #include "ch.h"

 

 #if !defined(__DOXYGEN__)

-extern void __ram_end__(void);

+extern void __main_stack_end__(void);

 extern void ResetHandler(void);

 extern void NMIVector(void);

 extern void HardFaultVector(void);

@@ -88,7 +88,7 @@ extern void VectorBC(void);
 __attribute__ ((section("vectors")))

 #endif

 void  (*_vectors[])(void) = {

-  __ram_end__,        ResetHandler,       NMIVector,          HardFaultVector,

+  __main_stack_end__, ResetHandler,       NMIVector,          HardFaultVector,

   MemManageVector,    BusFaultVector,     UsageFaultVector,   Vector1C,

   Vector20,           Vector24,           Vector28,           SVCallVector,

   DebugMonitorVector, Vector34,           PendSVVector,       SysTickVector,

diff --git a/os/ports/GCC/ARMCMx/LPC13xx/vectors.c b/os/ports/GCC/ARMCMx/LPC13xx/vectors.c
index 1e27c4fc8..14bc798dd 100644
--- a/os/ports/GCC/ARMCMx/LPC13xx/vectors.c
+++ b/os/ports/GCC/ARMCMx/LPC13xx/vectors.c
@@ -31,7 +31,7 @@
 #include "ch.h"

 

 #if !defined(__DOXYGEN__)

-extern void __ram_end__(void);

+extern void __main_stack_end__(void);

 extern void ResetHandler(void);

 extern void NMIVector(void);

 extern void HardFaultVector(void);

@@ -112,7 +112,7 @@ extern void Vector11C(void);
 __attribute__ ((section("vectors")))

 #endif

 void  (*_vectors[])(void) = {

-  __ram_end__,        ResetHandler,       NMIVector,          HardFaultVector,

+  __main_stack_end__, ResetHandler,       NMIVector,          HardFaultVector,

   MemManageVector,    BusFaultVector,     UsageFaultVector,   Vector1C,

   Vector20,           Vector24,           Vector28,           SVCallVector,

   DebugMonitorVector, Vector34,           PendSVVector,       SysTickVector,

diff --git a/os/ports/GCC/ARMCMx/STM32/port.mk b/os/ports/GCC/ARMCMx/STM32/port.mk
index 104b22e42..1e5a51a8d 100644
--- a/os/ports/GCC/ARMCMx/STM32/port.mk
+++ b/os/ports/GCC/ARMCMx/STM32/port.mk
@@ -9,3 +9,6 @@ PORTASM =
 

 PORTINC = ${CHIBIOS}/os/ports/GCC/ARMCMx \

           ${CHIBIOS}/os/ports/GCC/ARMCMx/STM32

+

+PORTLD  = ${CHIBIOS}/os/ports/GCC/ARMCMx/STM32/ld

+

diff --git a/os/ports/GCC/ARMCMx/STM32/vectors.c b/os/ports/GCC/ARMCMx/STM32/vectors.c
index f12e2e867..e4d1bcb28 100644
--- a/os/ports/GCC/ARMCMx/STM32/vectors.c
+++ b/os/ports/GCC/ARMCMx/STM32/vectors.c
@@ -38,7 +38,7 @@
 #endif

 

 #if !defined(__DOXYGEN__)

-extern void __ram_end__(void);

+extern void __main_stack_end__(void);

 extern void ResetHandler(void);

 extern void NMIVector(void);

 extern void HardFaultVector(void);

@@ -138,7 +138,7 @@ extern void Vector14C(void);
 __attribute__ ((section("vectors")))

 #endif

 void  (*_vectors[])(void) = {

-  __ram_end__,        ResetHandler,       NMIVector,          HardFaultVector,

+  __main_stack_end__, ResetHandler,       NMIVector,          HardFaultVector,

   MemManageVector,    BusFaultVector,     UsageFaultVector,   Vector1C,

   Vector20,           Vector24,           Vector28,           SVCallVector,

   DebugMonitorVector, Vector34,           PendSVVector,       SysTickVector,

diff --git a/os/ports/GCC/ARMCMx/chcore_v6m.h b/os/ports/GCC/ARMCMx/chcore_v6m.h
index 2141ee468..bb6e6083b 100644
--- a/os/ports/GCC/ARMCMx/chcore_v6m.h
+++ b/os/ports/GCC/ARMCMx/chcore_v6m.h
@@ -242,8 +242,8 @@ struct intctx {
 #define port_switch(ntp, otp) _port_switch(ntp, otp)

 #else

 #define port_switch(ntp, otp) {                                             \

-  register struct intctx *r13 asm ("r13");                                  \

-  if ((void *)(r13 - 1) < (void *)(otp + 1))                                \

+    register struct intctx *r13 asm ("r13");                                \

+  if ((stkalign_t *)(r13 - 1) < otp->p_stklimit)                            \

     chDbgPanic("stack overflow");                                           \

   _port_switch(ntp, otp);                                                   \

 }

diff --git a/os/ports/GCC/ARMCMx/chcore_v7m.c b/os/ports/GCC/ARMCMx/chcore_v7m.c
index 897c90a96..39711ce79 100644
--- a/os/ports/GCC/ARMCMx/chcore_v7m.c
+++ b/os/ports/GCC/ARMCMx/chcore_v7m.c
@@ -166,15 +166,7 @@ void _port_switch_from_isr(void) {
 #if !defined(__DOXYGEN__)

 __attribute__((naked))

 #endif

-void port_switch(Thread *ntp, Thread *otp) {

-

-#if CH_DBG_ENABLE_STACK_CHECK

-  /* Stack overflow check, if enabled.*/

-  register struct intctx *r13 asm ("r13");

-  if ((void *)(r13 - 1) < (void *)(otp + 1))

-    asm volatile ("movs    r0, #0                               \n\t"

-                  "b       chDbgPanic");

-#endif /* CH_DBG_ENABLE_STACK_CHECK */

+void _port_switch(Thread *ntp, Thread *otp) {

 

   PUSH_CONTEXT();

 

diff --git a/os/ports/GCC/ARMCMx/chcore_v7m.h b/os/ports/GCC/ARMCMx/chcore_v7m.h
index 297bd4e54..afb3ac21d 100644
--- a/os/ports/GCC/ARMCMx/chcore_v7m.h
+++ b/os/ports/GCC/ARMCMx/chcore_v7m.h
@@ -314,11 +314,32 @@ struct intctx {
 #define port_wait_for_interrupt()

 #endif

 

+/**

+ * @brief   Performs a context switch between two threads.

+ * @details This is the most critical code in any port, this function

+ *          is responsible for the context switch between 2 threads.

+ * @note    The implementation of this code affects <b>directly</b> the context

+ *          switch performance so optimize here as much as you can.

+ *

+ * @param[in] ntp       the thread to be switched in

+ * @param[in] otp       the thread to be switched out

+ */

+#if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)

+#define port_switch(ntp, otp) _port_switch(ntp, otp)

+#else

+#define port_switch(ntp, otp) {                                             \

+    register struct intctx *r13 asm ("r13");                                \

+  if ((stkalign_t *)(r13 - 1) < otp->p_stklimit)                            \

+    chDbgPanic("stack overflow");                                           \

+  _port_switch(ntp, otp);                                                   \

+}

+#endif

+

 #ifdef __cplusplus

 extern "C" {

 #endif

   void port_halt(void);

-  void port_switch(Thread *ntp, Thread *otp);

+  void _port_switch(Thread *ntp, Thread *otp);

   void _port_irq_epilogue(void);

   void _port_switch_from_isr(void);

   void _port_thread_start(void);

diff --git a/os/ports/GCC/ARMCMx/crt0.c b/os/ports/GCC/ARMCMx/crt0.c
index 0bb88dd83..73dca119e 100644
--- a/os/ports/GCC/ARMCMx/crt0.c
+++ b/os/ports/GCC/ARMCMx/crt0.c
@@ -73,28 +73,11 @@ typedef funcp_t * funcpp_t;
 #define SYMVAL(sym) (uint32_t)(((uint8_t *)&(sym)) - ((uint8_t *)0))

 

 /**

- * @brief   Ram end.

+ * @brief   Main thread stack initial position.

  * @details This symbol must be exported by the linker script and represents

- *          the location after the last RAM location.

+ *          the main thread stack initial position.

  */

-extern uint8_t __ram_end__;

-

-/**

- * @brief   Main stack size.

- * @details This symbol must be exported by the linker script and represents

- *          the main stack size.

- * @note    The main stack is the stack where interrupts and exceptions are

- *          processed.

- */

-extern uint8_t __main_stack_size__;

-

-/**

- * @brief   Process stack size.

- * @details This symbol must be exported by the linker script and represents

- *          the process stack size.

- * @note    The process stack is the stack used by the @p main() function.

- */

-extern uint8_t __process_stack_size__;

+extern uint8_t __process_stack_end__;

 

 /**

  * @brief   ROM image of the data segment start.

@@ -206,7 +189,7 @@ void ResetHandler(void) {
      main stack is assumed to be allocated starting from @p __ram_end__

      extending downward.*/

   asm volatile ("cpsid   i");

-  psp = SYMVAL(__ram_end__) - SYMVAL(__main_stack_size__);

+  psp = SYMVAL(__process_stack_end__);

   asm volatile ("msr     PSP, %0" : : "r" (psp));

 

   ctl = CRT0_CONTROL_INIT;