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Fixed syscalls, initrd program works

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master
tcsullivan 5 years ago
parent b92ccff9b1
commit 998b3ac86e
12 changed files with 151 additions and 148 deletions
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2
run.sh
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@ -3,7 +3,7 @@
# Starts openocd and connects gdb to the target, for programming/debugging
#
openocd -f /usr/share/openocd/scripts/board/st_nucleo_l476rg.cfg &
openocd -f /usr/local/share/openocd/scripts/board/st_nucleo_l4.cfg &
sleep 1 # Need to wait some time for openocd to connect
gdb-multiarch -ex "target remote localhost:3333" main.elf
pkill openocd # Ensure openocd exits when we're done

1
src/initrd/Makefile
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@ -16,6 +16,7 @@ all: $(OFILES)
files/%: %.c
@echo " CC " $<
@$(CROSS)$(CC) $(CFLAGS) $< ../libgpio/libgpio.a -o $@
@cp -v $@ init.debug
@$(CROSS)strip $@
clean:

3
src/initrd/init.c
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@ -10,8 +10,7 @@
int main(void)
{
gpioMode(5, OUTPUT);
printf("Hello, world!\n");
printf("Hello, world!\n\r");
while (1) {
gpioWrite(5, 1);

14
src/kernel/clock.c
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@ -27,14 +27,14 @@ volatile uint32_t clock_ticks = 0;
volatile uint8_t tim2_finished = 1;
void clock_svc(uint32_t *args)
void clock_svc(uint32_t n, uint32_t *ret, uint32_t *args)
{
if (args[0] == 0)
task_sleep(args[1]);
else if (args[0] == 1)
clock_udelay(args[1]);
else if (args[0] == 2)
*((unsigned int *)args[1]) = clock_millis();
if (n == 0)
task_sleep(args[0]);
else if (n == 1)
clock_udelay(args[0]);
else if (n == 2)
*((unsigned int *)ret) = clock_millis();
}
void clock_init(void)

20
src/kernel/gpio.c
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@ -25,29 +25,29 @@ static GPIO_TypeDef *gpio_ports[8] = {
GPIOE, GPIOF, GPIOG, GPIOH
};
void gpio_svc(uint32_t *args)
void gpio_svc(uint32_t n, uint32_t *ret, uint32_t *args)
{
GPIO_TypeDef *port = gpio_ports[args[1] >> 4];
uint32_t pin = args[1] & 0xF;
GPIO_TypeDef *port = gpio_ports[args[0] >> 4];
uint32_t pin = args[0] & 0xF;
switch (args[0]) {
switch (n) {
case 0:
gpio_mode(port, pin, args[2]);
gpio_mode(port, pin, args[1]);
break;
case 1:
gpio_type(port, pin, args[2]);
gpio_type(port, pin, args[1]);
break;
case 2:
gpio_pupd(port, pin, args[2]);
gpio_pupd(port, pin, args[1]);
break;
case 3:
gpio_speed(port, pin, args[2]);
gpio_speed(port, pin, args[1]);
break;
case 4:
gpio_dout(port, pin, args[2]);
gpio_dout(port, pin, args[1]);
break;
case 5:
*((int *)args[2]) = gpio_din(port, pin);
*((int *)ret) = gpio_din(port, pin);
break;
}
}

25
src/kernel/svc.c
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@ -23,22 +23,25 @@
#include "clock.h"
#include "task.h"
extern void gpio_svc(uint32_t *);
extern void clock_svc(uint32_t *);
extern void task_svc(uint32_t *);
extern void vfs_svc(uint32_t *args);
extern void gpio_svc(uint32_t, uint32_t *, uint32_t *);
extern void clock_svc(uint32_t, uint32_t *, uint32_t *);
extern void task_svc(uint32_t, uint32_t *, uint32_t *);
extern void vfs_svc(uint32_t, uint32_t *, uint32_t *args);
void SVC_Handler(void) {
uint32_t *args;
uint32_t *stack;
asm("\
tst lr, #4; \
ite eq; \
mrseq %0, msp; \
mrsne %0, psp; \
" : "=r" (args));
" : "=r" (stack));
int svc_number = ((char *)args[6])[-2];
int svc_number = ((char *)stack[6])[-2];
uint32_t min_number = stack[0];
uint32_t *ret = (uint32_t *)stack[1];
uint32_t *args = (uint32_t *)stack[2];
switch (svc_number) {
case -1:
@ -50,7 +53,7 @@ void SVC_Handler(void) {
* 4 - sbrk (TODO bad)
* 5 - execve
*/
task_svc(args);
task_svc(min_number, ret, args);
break;
case 1: /* GPIO-related calls
@ -61,7 +64,7 @@ void SVC_Handler(void) {
* 4 - gpio_dout
* 5 - gpio_din
*/
gpio_svc(args);
gpio_svc(min_number, ret, args);
break;
case 2: /* Clock-related calls
@ -69,7 +72,7 @@ void SVC_Handler(void) {
* 1 - udelay
* 2 - ticks
*/
clock_svc(args);
clock_svc(min_number, ret, args);
break;
case 3: /* Filesystem-related calls
@ -79,7 +82,7 @@ void SVC_Handler(void) {
* 3 - read
* 4 - write
*/
vfs_svc(args);
vfs_svc(min_number, ret, args);
break;
default:
break;

22
src/kernel/task.c
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@ -31,28 +31,28 @@ static task_t *task_queue;
static uint8_t task_disable = 0;
static pid_t task_next_pid = 0;
void task_svc(uint32_t *args)
void task_svc(uint32_t n, uint32_t *ret, uint32_t *args)
{
switch (args[0]) {
switch (n) {
case 0:
task_exit(args[1]);
task_exit(args[0]);
break;
case 1:
*((int *)args[1]) = task_fork();
*((int *)ret) = task_fork();
break;
case 2:
*((int *)args[1]) = task_getpid();
*((int *)ret) = task_getpid();
break;
case 3:
*((int *)args[4]) = task_waitpid(args[1], (int *)args[2],
args[3]);
*((int *)ret) = task_waitpid(args[0], (int *)args[1],
args[2]);
break;
case 4:
*((void **)args[2]) = task_sbrk(args[1]);
*((void **)ret) = task_sbrk(args[0]);
break;
case 5:
*((uint32_t *)args[4]) = elf_execve((const char *)args[1],
(char * const *)args[2], (char * const *)args[3]);
*((uint32_t *)ret) = elf_execve((const char *)args[0],
(char * const *)args[1], (char * const *)args[2]);
break;
default:
break;
@ -325,7 +325,7 @@ void PendSV_Handler(void)
task_current = task_queue;
if (task_current->status.state == TASK_SLEEPING &&
task_current->status.value <= ticks)
task_current->status.value < ticks)
task_current->status.state = TASK_RUNNING;
} while (task_current->status.state != TASK_RUNNING);

16
src/kernel/vfs.c
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@ -35,24 +35,24 @@ static vfs_file vfs_files[VFS_MAX_FILES];
if (pid != fpid && fpid != 0) \
return 0; }
void vfs_svc(uint32_t *args)
void vfs_svc(uint32_t n, uint32_t *ret, uint32_t *args)
{
switch (args[0]) {
switch (n) {
case 0:
*((int *)args[3]) = vfs_mount((vfs_volume_funcs *)args[1],
args[2]);
*((int *)ret) = vfs_mount((vfs_volume_funcs *)args[0],
args[1]);
break;
case 1:
*((int *)args[3]) = vfs_open((const char *)args[1], args[2]);
*((int *)ret) = vfs_open((const char *)args[0], args[1]);
break;
case 2:
*((int *)args[2]) = vfs_close(args[1]);
*((int *)ret) = vfs_close(args[0]);
break;
case 3:
*((int *)args[4]) = vfs_read(args[1], args[2], (uint8_t *)args[3]);
*((int *)ret) = vfs_read(args[0], args[1], (uint8_t *)args[2]);
break;
case 4:
*((int *)args[4]) = vfs_write(args[1], args[2], (const uint8_t *)args[3]);
*((int *)ret) = vfs_write(args[0], args[1], (const uint8_t *)args[2]);
break;
default:
break;

72
src/libgpio/gpio.c
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@ -2,77 +2,79 @@
#include <stdint.h>
#define NOOPTIMIZE __attribute__((optimize(0)))
NOOPTIMIZE
void gpioMode(gpio_pin_t pin, int mode)
{
register uint32_t r1 __asm("r1") = pin;
register uint32_t r2 __asm("r2") = mode;
__asm("\
uint32_t args[2] = { (uint32_t)pin, mode };
__asm volatile("\
mov r0, 0; \
mov r1, %0; \
mov r2, %1; \
mov r1, 0; \
mov r2, %0; \
svc 1; \
" :: "r" (r1), "r" (r2));
" :: "r" (args));
}
NOOPTIMIZE
void gpioType(gpio_pin_t pin, int type)
{
register uint32_t r1 __asm("r1") = pin;
register uint32_t r2 __asm("r2") = type;
__asm("\
uint32_t args[2] = { (uint32_t)pin, type };
__asm volatile("\
mov r0, 1; \
mov r1, %0; \
mov r2, %1; \
mov r1, 0; \
mov r2, %0; \
svc 1; \
" :: "r" (r1), "r" (r2));
" :: "r" (args));
}
NOOPTIMIZE
void gpioPuPd(gpio_pin_t pin, int pupd)
{
register uint32_t r1 __asm("r1") = pin;
register uint32_t r2 __asm("r2") = pupd;
__asm("\
uint32_t args[2] = { (uint32_t)pin, pupd };
__asm volatile("\
mov r0, 2; \
mov r1, %0; \
mov r2, %1; \
mov r1, 0; \
mov r2, %0; \
svc 1; \
" :: "r" (r1), "r" (r2));
" :: "r" (args));
}
NOOPTIMIZE
void gpioSpeed(gpio_pin_t pin, int speed)
{
register uint32_t r1 __asm("r1") = pin;
register uint32_t r2 __asm("r2") = speed;
__asm("\
uint32_t args[2] = { (uint32_t)pin, speed };
__asm volatile("\
mov r0, 3; \
mov r1, %0; \
mov r2, %1; \
mov r1, 0; \
mov r2, %0; \
svc 1; \
" :: "r" (r1), "r" (r2));
" :: "r" (args));
}
NOOPTIMIZE
void gpioWrite(gpio_pin_t pin, int value)
{
register uint32_t r1 __asm("r1") = pin;
register uint32_t r2 __asm("r2") = value;
__asm("\
uint32_t args[2] = { (uint32_t)pin, value };
__asm volatile("\
mov r0, 4; \
mov r1, %0; \
mov r2, %1; \
mov r1, 0; \
mov r2, %0; \
svc 1; \
" :: "r" (r1), "r" (r2));
" :: "r" (args));
}
NOOPTIMIZE
int gpioRead(gpio_pin_t pin)
{
int ret = 0;
register uint32_t r1 __asm("r1") = pin;
register uint32_t r2 __asm("r2") = (uint32_t)&ret;
__asm("\
volatile int ret = 0;
uint32_t args[1] = { (uint32_t)pin };
__asm volatile("\
mov r0, 5; \
mov r1, %0; \
mov r2, %1; \
svc 1; \
" :: "r" (r1), "r" (r2));
" :: "r" (&ret), "r" (args));
return ret;
}

BIN
src/libgpio/libgpio.a
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Binary file not shown.

118
src/pdclib/platform/stmos/functions/os/syscalls.c
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@ -1,72 +1,73 @@
#include "syscalls.h"
#define NOOPTIMIZE __attribute__((optimize(0)))
//
// Task-related calls
NOOPTIMIZE
void _exit(int code)
{
register uint32_t r1 __asm("r1") = code;
__asm("\
uint32_t args[1] = { code };
__asm volatile("\
mov r0, 0; \
mov r1, %0; \
mov r1, 0; \
mov r2, %0; \
svc 0; \
" :: "r" (r1));
" :: "r" (args));
}
NOOPTIMIZE
int fork(void)
{
int ret = 0;
register uint32_t r1 __asm("r1") = (uint32_t)&ret;
__asm("\
volatile uint32_t ret = 0;
__asm volatile("\
mov r0, 1; \
mov r1, %0; \
mov r2, 0; \
svc 0; \
" :: "r" (r1));
" :: "r" (&ret));
return ret;
}
NOOPTIMIZE
int getpid(void)
{
int ret = 0;
register uint32_t r1 __asm("r1") = (uint32_t)&ret;
__asm("\
volatile uint32_t ret = 0;
__asm volatile("\
mov r0, 2; \
mov r1, %0; \
mov r2, 0; \
svc 0; \
" :: "r" (r1));
" :: "r" (&ret));
return ret;
}
NOOPTIMIZE
void *sbrk(unsigned int bytes)
{
uint32_t ret = 0;
register uint32_t r1 __asm("r1") = bytes;
register uint32_t r2 __asm("r2") = (uint32_t)&ret;
volatile uint32_t ret = 0;
uint32_t args[1] = { bytes };
__asm("\
mov r0, 4; \
mov r1, %0; \
mov r2, %1; \
svc 0; \
" :: "r" (r1), "r" (r2));
__asm("mov %0, r2" : "=r" (ret));
return *((void **)ret);
" :: "r" (&ret), "r" (args));
return (void *)ret;
}
NOOPTIMIZE
int execve(const char *file, char * const argv[], char * const envp[])
{
volatile uint32_t ret = 0;
register uint32_t r1 __asm("r1") = (uint32_t)file;
register uint32_t r2 __asm("r2") = (uint32_t)argv;
register uint32_t r3 __asm("r3") = (uint32_t)envp;
register uint32_t r12 __asm("r12") = (uint32_t)&ret;
uint32_t args[3] = { (uint32_t)file, (uint32_t)argv, (uint32_t)envp };
__asm("\
mov r0, 5; \
mov r1, %0; \
mov r2, %1; \
mov r3, %2; \
mov r12, %3; \
svc 0; \
" :: "r" (r1), "r" (r2), "r" (r3), "r" (r12));
" :: "r" (&ret), "r" (args));
if (ret == (uint32_t)-1)
return ret;
@ -77,110 +78,101 @@ int execve(const char *file, char * const argv[], char * const envp[])
//
// Clock-related calls
NOOPTIMIZE
void delay(unsigned int ms)
{
register uint32_t r1 __asm("r1") = ms;
uint32_t args[1] = { ms };
__asm("\
mov r0, 0; \
mov r1, %0; \
mov r1, 0; \
mov r2, %0; \
svc 2; \
" :: "r" (r1));
" :: "r" (args));
}
NOOPTIMIZE
unsigned int ticks(void)
{
unsigned int ret = 0;
register uint32_t r1 __asm("r1") = (uint32_t)&ret;
volatile unsigned int ret = 0;
__asm("\
mov r0, 2; \
mov r1, %0; \
mov r2, 0; \
svc 2; \
" :: "r" (r1));
" :: "r" (&ret));
return ret;
}
//
// File-related calls
NOOPTIMIZE
int mount(vfs_volume_funcs *funcs, uint32_t flags)
{
int ret = 0;
register uint32_t r1 __asm("r1") = (uint32_t)funcs;
register uint32_t r2 __asm("r2") = flags;
register uint32_t r3 __asm("r3") = (uint32_t)&ret;
volatile int ret = 0;
uint32_t args[2] = { (uint32_t)funcs, flags };
__asm("\
mov r0, 0; \
mov r1, %0; \
mov r2, %1; \
mov r3, %2; \
svc 3; \
" :: "r" (r1), "r" (r2), "r" (r3));
" :: "r" (&ret), "r" (args));
return ret;
}
NOOPTIMIZE
int open(const char *path, uint32_t flags)
{
int ret = 0;
register uint32_t r1 __asm("r1") = (uint32_t)path;
register uint32_t r2 __asm("r2") = flags;
register uint32_t r3 __asm("r3") = (uint32_t)&ret;
volatile int ret = 0;
uint32_t args[2] = { (uint32_t)path, flags };
__asm("\
mov r0, 1; \
mov r1, %0; \
mov r2, %1; \
mov r3, %2; \
svc 3; \
" :: "r" (r1), "r" (r2), "r" (r3));
" :: "r" (&ret), "r" (args));
return ret;
}
NOOPTIMIZE
int close(int fd)
{
int ret = 0;
register uint32_t r1 __asm("r1") = fd;
register uint32_t r2 __asm("r2") = (uint32_t)&ret;
volatile int ret = 0;
uint32_t args[1] = { fd };
__asm("\
mov r0, 2; \
mov r1, %0; \
mov r2, %1; \
svc 3; \
" :: "r" (r1), "r" (r2));
" :: "r" (&ret), "r" (args));
return ret;
}
NOOPTIMIZE
int read(int fd, uint32_t count, uint8_t *buffer)
{
int ret = 0;
register uint32_t r1 __asm("r1") = fd;
register uint32_t r2 __asm("r2") = count;
register uint32_t r3 __asm("r3") = (uint32_t)buffer;
register uint32_t r12 __asm("r12") = (uint32_t)&ret;
volatile int ret = 0;
uint32_t args[3] = { fd, count, (uint32_t)buffer };
__asm("\
mov r0, 3; \
mov r1, %0; \
mov r2, %1; \
mov r3, %2; \
mov r12, %3; \
svc 3; \
" :: "r" (r1), "r" (r2), "r" (r3), "r" (r12));
" :: "r" (&ret), "r" (args));
return ret;
}
NOOPTIMIZE
int write(int fd, uint32_t count, const uint8_t *buffer)
{
int ret = 0;
register uint32_t r1 __asm("r1") = fd;
register uint32_t r2 __asm("r2") = count;
register uint32_t r3 __asm("r3") = (uint32_t)buffer;
register uint32_t r12 __asm("r12") = (uint32_t)&ret;
volatile int ret = 0;
uint32_t args[3] = { fd, count, (uint32_t)buffer };
__asm("\
mov r0, 4; \
mov r1, %0; \
mov r2, %1; \
mov r3, %2; \
mov r12, %3; \
svc 3; \
" :: "r" (r1), "r" (r2), "r" (r3), "r" (r12));
" :: "r" (&ret), "r" (args));
return ret;
}

6
src/pdclib/stmos_install_headers.sh
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@ -0,0 +1,6 @@
#!/bin/bash
# Installs header files to arm-stmos directory (~/arm-stmos)
cp -Rv include/* $HOME/arm-stmos/usr/include
cp -Rv platform/stmos/include/* $HOME/arm-stmos/usr/include
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