From 058c283919424ef8b4425cdf74739535dd1d8072 Mon Sep 17 00:00:00 2001 From: Clyne Sullivan Date: Mon, 1 Jan 2018 17:40:28 -0500 Subject: [PATCH] heap; multitasking --- Makefile | 2 + clock.c | 13 +++-- heap.c | 38 +++++++++++++++ include/heap.h | 11 +++++ include/task.h | 10 ++++ link.ld | 12 ++--- main.c | 36 ++++++++++++-- startup_stm32l476xx.s | 2 +- stm32l4xx_it.c | 14 ++++-- task.c | 108 ++++++++++++++++++++++++++++++++++++++++++ 10 files changed, 224 insertions(+), 22 deletions(-) create mode 100644 heap.c create mode 100644 include/heap.h create mode 100644 include/task.h create mode 100644 task.c diff --git a/Makefile b/Makefile index 4a7a22c..48175ff 100644 --- a/Makefile +++ b/Makefile @@ -6,6 +6,8 @@ all: arm-none-eabi-gcc $(CFLAGS) system_stm32l4xx.c -c -o out/system_stm32l4xx.o arm-none-eabi-gcc $(CFLAGS) stm32l4xx_it.c -c -o out/stm32l4xx_it.o arm-none-eabi-gcc $(CFLAGS) clock.c -c -o out/clock.o + arm-none-eabi-gcc $(CFLAGS) heap.c -c -o out/heap.o + arm-none-eabi-gcc $(CFLAGS) task.c -c -o out/task.o arm-none-eabi-gcc $(CFLAGS) main.c -c -o out/main.o arm-none-eabi-gcc $(CFLAGS) -T link.ld out/*.o -o out/main.elf arm-none-eabi-objcopy -O ihex out/main.elf main.hex diff --git a/clock.c b/clock.c index 8041cb2..ab92386 100644 --- a/clock.c +++ b/clock.c @@ -45,15 +45,18 @@ void delay(uint32_t count) while (ticks < target); } -void PendSV_Handler(void) { -} - +__attribute__ ((naked)) void SysTick_Handler(void) { + uint32_t lr; + asm("mov %0, lr" : "=r" (lr)); + // just keep counting ticks++; - if (!(ticks % 500)) - SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; + if (!(ticks % 10)) + SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; + + asm("mov lr, %0; bx lr" :: "r" (lr)); } diff --git a/heap.c b/heap.c new file mode 100644 index 0000000..0433a1f --- /dev/null +++ b/heap.c @@ -0,0 +1,38 @@ +#include +#include + +#define RAM_END 0x20018000 + +//extern void *end; +//extern uint32_t _total_ram; +static uint32_t offset = 0; + +__attribute__ ((section(".data"))) +uint8_t heap[8192]; +void *end = heap; + +void heap_init(void) +{ + // what to do... +} + +uint32_t heap_available(void) +{ + return 0;// return _total_ram - offset; +} + +void *hmalloc(uint32_t size) +{ + void *alloc = end + offset; + offset += size; + return alloc; +} + +void *hcalloc(uint32_t count, uint32_t size) +{ + uint32_t total = count * size; + void *alloc = hmalloc(total); + for (uint32_t i = 0; i < total; i++) + ((uint8_t *)alloc)[i] = 0; + return alloc; +} diff --git a/include/heap.h b/include/heap.h new file mode 100644 index 0000000..e04b15e --- /dev/null +++ b/include/heap.h @@ -0,0 +1,11 @@ +#ifndef HEAP_H_ +#define HEAP_H_ + +#include + +uint32_t heap_available(void); + +void *hmalloc(uint32_t size); +void *hcalloc(uint32_t count, uint32_t size); + +#endif // HEAP_H_ diff --git a/include/task.h b/include/task.h new file mode 100644 index 0000000..c57b2c0 --- /dev/null +++ b/include/task.h @@ -0,0 +1,10 @@ +#ifndef TASK_H_ +#define TASK_H_ + +#include + +void task_init(void (*init)(void)); + +void task_start(void (*task)(void), uint16_t stackSize); + +#endif // TASK_H_ diff --git a/link.ld b/link.ld index e24ff34..8877898 100644 --- a/link.ld +++ b/link.ld @@ -34,15 +34,15 @@ ENTRY(Reset_Handler) /* Highest address of the user mode stack */ _estack = 0x20018000; /* end of RAM */ -/* Generate a link error if heap and stack don't fit into RAM */ -_Min_Heap_Size = 0x200;; /* required amount of heap */ -_Min_Stack_Size = 0x400;; /* required amount of stack */ + +_Min_Stack_Size = 0x0400; /* 1k min. stack */ +_Min_Heap_Size = 0x0400; /* 1k min. heap */ /* Specify the memory areas */ MEMORY { -FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 1024K -RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 96K + FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 1024K + RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 96K } /* Define output sections */ @@ -166,4 +166,4 @@ SECTIONS .ARM.attributes 0 : { *(.ARM.attributes) } } - +_total_ram = _estack - _end; diff --git a/main.c b/main.c index e640a6b..9a95465 100644 --- a/main.c +++ b/main.c @@ -1,21 +1,26 @@ #include #include +#include +#include /** * Accomplishments: * - GPIO in/out * - got to 80MHz clock + * - basic heap + * - multitask, can exit */ void pulse(uint8_t byte); +void kmain(void); int main(void) { + asm("cpsid i"); + // prepare flash latency for 40MHz operation FLASH->ACR &= ~(FLASH_ACR_LATENCY); - FLASH->ACR |= FLASH_ACR_LATENCY_2WS; - - clock_init(); + FLASH->ACR |= FLASH_ACR_LATENCY_4WS; RCC->AHB2ENR |= RCC_AHB2ENR_GPIOAEN; // A clk enable GPIOA->MODER &= ~(GPIO_MODER_MODE5 | GPIO_MODER_MODE6); // A5 -> output, A0 input @@ -24,16 +29,37 @@ int main(void) GPIOA->PUPDR |= GPIO_PUPDR_PUPD5_0 | GPIO_PUPDR_PUPD6_0; // pulldown for button (1) //if (GPIOA->IDR & 0x01) + clock_init(); + task_init(kmain); + + while (1); +} + +void task(void); +void kmain(void) +{ + asm("cpsie i"); + + task_start(task, 1024); while (1) { + GPIOA->BSRR |= 1 << 6; delay(500); - GPIOA->BSRR |= 1 << 5; GPIOA->BRR |= 1 << 6; delay(500); - GPIOA->BSRR |= 1 << 6; + } +} + +void task(void) +{ + while (1) { + GPIOA->BSRR |= 1 << 5; + delay(200); GPIOA->BRR |= 1 << 5; + delay(200); } } + void _exit(int code) { for (;;); } diff --git a/startup_stm32l476xx.s b/startup_stm32l476xx.s index b93d40a..57b11cb 100644 --- a/startup_stm32l476xx.s +++ b/startup_stm32l476xx.s @@ -62,7 +62,7 @@ defined in linker script */ /* end address for the .bss section. defined in linker script */ .word _ebss -.equ BootRAM, 0xF1E0F85F +//.equ BootRAM, 0xF1E0F85F /** * @brief This is the code that gets called when the processor first * starts execution following a reset event. Only the absolutely diff --git a/stm32l4xx_it.c b/stm32l4xx_it.c index c3bd859..dc6dc16 100644 --- a/stm32l4xx_it.c +++ b/stm32l4xx_it.c @@ -1,25 +1,29 @@ -#include +#include void NMI_Handler(void) {} void HardFault_Handler(void) { - while (1); + GPIOA->BSRR |= (1 << 5) | (1 << 6); + while (1); } void MemManage_Handler(void) { - while (1); + GPIOA->BSRR |= (1 << 5) | (1 << 6); + while (1); } void BusFault_Handler(void) { - while (1); + GPIOA->BSRR |= (1 << 5) | (1 << 6); + while (1); } void UsageFault_Handler(void) { - while (1); + GPIOA->BSRR |= (1 << 5) | (1 << 6); + while (1); } void SVC_Handler(void) {} diff --git a/task.c b/task.c new file mode 100644 index 0000000..b77d4f5 --- /dev/null +++ b/task.c @@ -0,0 +1,108 @@ +#include +#include +#include + +typedef struct { + uint32_t *sp; + uint8_t use; + uint32_t *stack; + void (*code)(void); +} task_t; + +#define MAX_TASKS 4 + +static task_t tasks[MAX_TASKS]; +static int next_idx = 0; + +void task_init(void (*init)(void)) +{ + for (int i = 0; i < MAX_TASKS; i++) + tasks[i].use = 0; + + task_start(init, 1024); + asm("\ + msr psp, %0; \ + mrs r0, control; \ + orr r0, r0, #2; \ + msr control, r0; \ + isb; \ + " :: "r" (tasks[0].sp)); + + init(); + + // force switch to tasking, call pendsv + //SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; +} + +extern void _exit(int); +void task_exit(void) +{ + // TODO free stack? + asm("cpsid i"); // hope to catch next_idx + tasks[next_idx].use = 0; + asm("cpsie i"); + while (1); // bye + //_exit(0); +} + +void task_start(void (*task)(void), uint16_t stackSize) +{ + asm("cpsid i"); // just to be safe + + for (int i = 0; i < MAX_TASKS; i++) { + if (tasks[i].use == 0) { + tasks[i].stack = hmalloc(stackSize); + tasks[i].sp = tasks[i].stack + stackSize - 16; + tasks[i].sp[13] = (uint32_t)task_exit; + tasks[i].sp[14] = (uint32_t)task; + tasks[i].sp[15] = 0x01000000; + tasks[i].use = 1; + tasks[i].code = task; + asm("cpsie i"); + return; + } + } + + // TODO handle error +} + +__attribute__ ((naked)) +void PendSV_Handler(void) +{ + // save state + //stmdb r0!, {r4-r11}; + asm("\ + cpsid i; \ + isb; \ + dsb; \ + mrs r0, psp; \ + stmdb r0!, {r4-r11}; \ + mov %0, r0; \ + " : "=r" (tasks[next_idx].sp)); + + // find next task (round-robin style) + do { + if (++next_idx == MAX_TASKS) { + next_idx = 0; + break; // task 0 better exist + } + } while (tasks[next_idx].use == 0); + + // restore + //ldmia r0!, {r4-r11}; + asm("\ + mov r0, %0; \ + ldmia r0!, {r4-r11}; \ + msr psp, r0; \ + isb; \ + dsb; \ + " :: "r" (tasks[next_idx].sp)); + + // end + asm("\ + mov r0, #0xFFFFFFFD; \ + cpsie i; \ + bx r0; \ + "); +} +