From cdb425314889a8ead86ca24aead29379540297b0 Mon Sep 17 00:00:00 2001 From: ATShining Date: Sat, 2 Nov 2024 21:49:13 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D-O2=E6=97=B6cortex-m=E6=83=B0?= =?UTF-8?q?=E6=80=A7=E5=8E=8B=E6=A0=88=E9=94=99=E8=AF=AF=EF=BC=8C=E4=BB=A5?= =?UTF-8?q?=E5=8F=8A=E5=86=85=E5=AD=98=E8=AE=BF=E9=97=AE=E9=94=99=E8=AF=AF?= =?UTF-8?q?=E6=97=B6task=E5=88=A0=E9=99=A4hardfault=E9=94=99=E8=AF=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .vscode/settings.json | 2 +- armv7_8.cmake | 15 ++- mkrtos_knl/arch/cortex-m4/at32f437/arch.c | 5 +- mkrtos_knl/arch/cortex-m4/at32f437/arch.h | 1 + mkrtos_knl/arch/cortex-m4/core_it.c | 2 +- mkrtos_knl/arch/cortex-m4/syscall.S | 16 ++- mkrtos_knl/inc/knl/util.h | 3 +- mkrtos_knl/knl/mm/mpu/vma.c | 2 +- .../lib/letter-shell/demo/mkrtos/shell_port.c | 8 +- mkrtos_user/lib/sys_svr/src/cons_cli.c | 117 +++++++++++++++++- mkrtos_user/server/shell/src/heap_stack.c | 2 +- 11 files changed, 157 insertions(+), 16 deletions(-) diff --git a/.vscode/settings.json b/.vscode/settings.json index ced0bc58f..2cad65d2d 100755 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -112,7 +112,7 @@ "boot_info.h": "c" }, "cortex-debug.showRTOS": false, - "cortex-debug.variableUseNaturalFormat": true, + "cortex-debug.variableUseNaturalFormat": false, "C_Cpp.default.systemIncludePath": [""], "C_Cpp.default.forcedInclude": ["${workspaceFolder}/build/autoconf.h"] } \ No newline at end of file diff --git a/armv7_8.cmake b/armv7_8.cmake index a5dc9c99e..0ad5a6b03 100644 --- a/armv7_8.cmake +++ b/armv7_8.cmake @@ -1,21 +1,28 @@ message("========use armv7_8.cmake") -set(CMAKE_C_FLAGS "-mcpu=${CONFIG_ARCH} -O0 -g3 -mfloat-abi=${CONFIG_FLOAT_TYPE} -mthumb -mthumb-interwork -D=MKRTOS \ +set(CMAKE_C_FLAGS "-mcpu=${CONFIG_ARCH} -O0 -g3 -mfloat-abi=${CONFIG_FLOAT_TYPE} -mthumb -D=MKRTOS \ -std=gnu11 -ffunction-sections -fdata-sections -fno-builtin -u=_printf_float \ -nostartfiles -nodefaultlibs -nostdlib -nostdinc -Xlinker \ -fno-stack-protector -Wl,--gc-sections -D__ARM_ARCH_7M__ \ -include ${CMAKE_SOURCE_DIR}/build/autoconf.h \ " CACHE STRING "" FORCE) -set(CMAKE_CXX_FLAGS "-mcpu=${CONFIG_ARCH} -O0 -g3 -mfloat-abi=${CONFIG_FLOAT_TYPE} -mthumb -mthumb-interwork -D=MKRTOS -std=c++11 \ +set(CMAKE_CXX_FLAGS "-mcpu=${CONFIG_ARCH} -O2 -g3 -mfloat-abi=${CONFIG_FLOAT_TYPE} -mthumb -mthumb-interwork -D=MKRTOS -std=c++11 \ -fmessage-length=0 -Xlinker --print-map -Wall -W -fno-stack-protector -g \ -u=_printf_float -D__ARM_ARCH_7M__ \ -ffunction-sections -fdata-sections -fno-builtin -nostartfiles -nodefaultlibs -nostdlib -nostdinc -Xlinker \ -include ${CMAKE_SOURCE_DIR}/build/autoconf.h \ " CACHE STRING "" FORCE) -set(CMAKE_ASM_FLAGS "-mcpu=${CONFIG_ARCH} -O0 -g3 -mfloat-abi=${CONFIG_FLOAT_TYPE} -mthumb -mthumb-interwork -D=MKRTOS \ +set(CMAKE_ASM_FLAGS "-mcpu=${CONFIG_ARCH} -O2 -g3 -mfloat-abi=${CONFIG_FLOAT_TYPE} -mthumb -mthumb-interwork -D=MKRTOS \ -u=_printf_float -std=gnu11 -ffunction-sections -fdata-sections -fno-builtin \ -nostartfiles -nodefaultlibs -nostdlib -nostdinc -Xlinker -fno-stack-protector -D__ARM_ARCH_7M__ \ -include ${CMAKE_SOURCE_DIR}/build/autoconf.h \ -" CACHE STRING "" FORCE) \ No newline at end of file +" CACHE STRING "" FORCE) + +if (${CONFIG_FLOAT_TYPE} STREQUAL "hard") + set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DMKRTOS_USE_FPU ") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMKRTOS_USE_FPU ") + set(CMAKE_ASM_FLAGS "${CMAKE_ASM_FLAGS} -DMKRTOS_USE_FPU ") +endif() + diff --git a/mkrtos_knl/arch/cortex-m4/at32f437/arch.c b/mkrtos_knl/arch/cortex-m4/at32f437/arch.c index 1805fe331..6041ea765 100644 --- a/mkrtos_knl/arch/cortex-m4/at32f437/arch.c +++ b/mkrtos_knl/arch/cortex-m4/at32f437/arch.c @@ -28,7 +28,10 @@ static boot_info_t boot_info; //!< 启动信息 void arch_to_sche(void) { // 开启pensv中断 - write_reg(REG1_ADDR, 0x10000000); + SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; // 设置PendSV中断标志位 + _dmb(); + _dsb(); + _isb(); } void sys_startup(void) { diff --git a/mkrtos_knl/arch/cortex-m4/at32f437/arch.h b/mkrtos_knl/arch/cortex-m4/at32f437/arch.h index e636b815d..1078502b1 100755 --- a/mkrtos_knl/arch/cortex-m4/at32f437/arch.h +++ b/mkrtos_knl/arch/cortex-m4/at32f437/arch.h @@ -40,6 +40,7 @@ typedef struct sp_info } sp_info_t; #define _dmb(ins) asm volatile("dmb" : : : "memory") #define _dsb(ins) asm volatile("dsb" : : : "memory") +#define _isb(ins) asm volatile("isb" : : : "memory") #define PAGE_SHIFT CONFIG_PAGE_SHIFT #define cpu_sleep() asm volatile("wfi" : : : "memory") #define read_reg(addr) (*((volatile umword_t *)(addr))) diff --git a/mkrtos_knl/arch/cortex-m4/core_it.c b/mkrtos_knl/arch/cortex-m4/core_it.c index 827b31c28..5f375f60c 100755 --- a/mkrtos_knl/arch/cortex-m4/core_it.c +++ b/mkrtos_knl/arch/cortex-m4/core_it.c @@ -91,7 +91,7 @@ void MemManage_Handler(void) if (task_vma_page_fault(&(thread_get_current_task()->mm_space.mem_vma), ALIGN_DOWN(fault_addr, PAGE_SIZE), NULL) < 0) { - printk("task:0x%x, mem_addr:0x%lx bus_addr:0x%lx semgement fault.\n", + printk("[semgement fault] task:0x%x, mem_addr:0x%lx bus_addr:0x%lx .\n", thread_get_current_task(), fault_addr, bus_addr); task_knl_kill(thread_get_current(), is_knl); } diff --git a/mkrtos_knl/arch/cortex-m4/syscall.S b/mkrtos_knl/arch/cortex-m4/syscall.S index b9a8e3cc6..1f51f54bf 100755 --- a/mkrtos_knl/arch/cortex-m4/syscall.S +++ b/mkrtos_knl/arch/cortex-m4/syscall.S @@ -21,6 +21,12 @@ syscall_ret_user: //还原msp的值 mrs r0, msp +#ifdef MKRTOS_USE_FPU + // 如果支持浮点，则里则要把惰性浮点得位置留查出来 + TST lr, #0x10 + IT eq + addeq r0,r0,#0x48 +#endif add r0, #0x20 ldmfd r0!,{r4-r11} msr msp,r0 @@ -37,7 +43,7 @@ syscall_ret_user: .global SVC_Handler .type SVC_Handler, %function SVC_Handler: -CPSID I + CPSID I TST.W LR, #4 ITE EQ MRSEQ R1, MSP @@ -77,6 +83,12 @@ SYS_CALL: stmfd sp!,{r4-r11} //压入到用户栈中 stmfd r0,{r4-r11} +#ifdef MKRTOS_USE_FPU + // 如果支持浮点，则里则要把惰性浮点得位置留查出来 + TST lr, #0x10 + IT eq + subeq sp,sp,#0x48 +#endif //取出PSR PC LR R12 R3 R2 R1 R0 ldmfd r0,{r4-r11} //压入到内核栈中 @@ -99,7 +111,7 @@ SYS_CALL: dsb isb - orr lr, lr, #0x18 + orr lr, lr, #0x08 bic lr, lr, #0x04 CPSIE I bx lr diff --git a/mkrtos_knl/inc/knl/util.h b/mkrtos_knl/inc/knl/util.h index 0c487680d..0f9adeaa2 100755 --- a/mkrtos_knl/inc/knl/util.h +++ b/mkrtos_knl/inc/knl/util.h @@ -61,7 +61,8 @@ static inline umword_t is_power_of_2(umword_t num) } static inline umword_t align_power_of_2(umword_t num) { - if (is_power_of_2(num)) { + if (is_power_of_2(num)) + { return num; } return (1 << (ffs(num) + 1)); diff --git a/mkrtos_knl/knl/mm/mpu/vma.c b/mkrtos_knl/knl/mm/mpu/vma.c index 025777f31..083961955 100644 --- a/mkrtos_knl/knl/mm/mpu/vma.c +++ b/mkrtos_knl/knl/mm/mpu/vma.c @@ -404,9 +404,9 @@ int task_vma_page_fault(task_vma_t *task_vma, vaddr_t addr, void *paddr) container_of(task_vma, mm_space_t, mem_vma), task_t, mm_space); - mword_t status = spinlock_lock(&task_vma->lock); #if IS_ENABLED(MPU_PAGE_FAULT_SUPPORT) //!< 缺页模拟 + mword_t status = spinlock_lock(&task_vma->lock); for (int i = 0; i < MPU_PAGE_NUM; i++) { if (task_vma->mem_pages[i] == NULL) diff --git a/mkrtos_user/lib/letter-shell/demo/mkrtos/shell_port.c b/mkrtos_user/lib/letter-shell/demo/mkrtos/shell_port.c index 4dd1d9493..58288a8c2 100644 --- a/mkrtos_user/lib/letter-shell/demo/mkrtos/shell_port.c +++ b/mkrtos_user/lib/letter-shell/demo/mkrtos/shell_port.c @@ -53,10 +53,16 @@ signed short userShellWrite(char *data, unsigned short len) */ signed short userShellRead(char *data, unsigned short len) { - while (cons_read((uint8_t *)data, len) <= 0) + int rlen; + +again: + rlen = cons_read((uint8_t *)data, len); + if (rlen <= 0) { u_sleep_ms(5); + goto again; } + return rlen; } /** * @brief 列出文件 diff --git a/mkrtos_user/lib/sys_svr/src/cons_cli.c b/mkrtos_user/lib/sys_svr/src/cons_cli.c index 13cfbe4c5..f83e4335b 100644 --- a/mkrtos_user/lib/sys_svr/src/cons_cli.c +++ b/mkrtos_user/lib/sys_svr/src/cons_cli.c @@ -10,10 +10,121 @@ RPC_GENERATION_CALL1(cons_t, CONS_PROT, CONS_WRITE, write, rpc_ref_array_uint32_t_uint8_t_32_t, rpc_array_uint32_t_uint8_t_32_t, RPC_DIR_IN, RPC_TYPE_DATA, data) -RPC_GENERATION_CALL2(cons_t, CONS_PROT, CONS_READ, read, - rpc_ref_array_uint32_t_uint8_t_32_t, rpc_array_uint32_t_uint8_t_32_t, RPC_DIR_OUT, RPC_TYPE_DATA, data, - rpc_int_t, rpc_int_t, RPC_DIR_IN, RPC_TYPE_DATA, len) +// RPC_GENERATION_CALL2(cons_t, CONS_PROT, CONS_READ, read, +// rpc_ref_array_uint32_t_uint8_t_32_t, rpc_array_uint32_t_uint8_t_32_t, RPC_DIR_OUT, RPC_TYPE_DATA, data, +// rpc_int_t, rpc_int_t, RPC_DIR_IN, RPC_TYPE_DATA, len) +msg_tag_t cons_t_read_call(obj_handler_t hd, rpc_ref_array_uint32_t_uint8_t_32_t *var0, rpc_int_t *var1) +{ + void *buf; + ipc_msg_t *msg_ipc; + int off = 0; + int off_buf = 0; + int ret = -1; + umword_t op_val = ((umword_t)1); + thread_msg_buf_get(-1, (umword_t *)(&buf), ((void *)0)); + msg_ipc = (ipc_msg_t *)buf; + msg_ipc->msg_buf[0] = op_val; + off += rpc_align(sizeof(op_val), __alignof(((umword_t)1))); + + do + { + if (1 == 1) + { + if (2 == 1 || 2 == 4) + { + int ret = rpc_cli_msg_to_buf_rpc_ref_array_uint32_t_uint8_t_32_t(var0, (uint8_t *)((uint8_t *)msg_ipc->msg_buf), off); + if (ret < 0) + { + return ((msg_tag_t){.flags = (0), .msg_buf_len = (0), .map_buf_len = (0), .prot = (ret)}); + } + off = ret; + } + } + } while (0); + do + { + if (1 == 2) + { + if (2 == 1 || 2 == 4) + { + int ret = rpc_cli_msg_to_buf_rpc_ref_array_uint32_t_uint8_t_32_t(var0, (uint8_t *)((uint8_t *)msg_ipc->map_buf), off_buf); + if (ret < 0) + { + return ((msg_tag_t){.flags = (0), .msg_buf_len = (0), .map_buf_len = (0), .prot = (ret)}); + } + off_buf = ret; + } + } + } while (0); + do + { + if (1 == 1) + { + if (1 == 1 || 1 == 4) + { + int ret = rpc_cli_msg_to_buf_rpc_int_t(var1, (uint8_t *)((uint8_t *)msg_ipc->msg_buf), off); + if (ret < 0) + { + return ((msg_tag_t){.flags = (0), .msg_buf_len = (0), .map_buf_len = (0), .prot = (ret)}); + } + off = ret; + } + } + } while (0); + do + { + if (1 == 2) + { + if (1 == 1 || 1 == 4) + { + int ret = rpc_cli_msg_to_buf_rpc_int_t(var1, (uint8_t *)((uint8_t *)msg_ipc->map_buf), off_buf); + if (ret < 0) + { + return ((msg_tag_t){.flags = (0), .msg_buf_len = (0), .map_buf_len = (0), .prot = (ret)}); + } + off_buf = ret; + } + } + } while (0); + msg_tag_t tag = thread_ipc_call(((msg_tag_t){.flags = (0), .msg_buf_len = ((((off) / ((sizeof(void *)))) + (((off) % ((sizeof(void *)))) ? 1 : 0))), .map_buf_len = ((((off_buf) / ((sizeof(void *)))) + (((off_buf) % ((sizeof(void *)))) ? 1 : 0))), .prot = (0x0006)}), hd, ipc_timeout_create2(0, 0)); + if (((int)((tag).prot)) < 0) + { + return tag; + } + off = 0; + do + { + if (1 == 1) + { + if (2 == 2 || 2 == 4) + { + int ret = rpc_cli_buf_to_msg_rpc_ref_array_uint32_t_uint8_t_32_t(var0, (uint8_t *)((uint8_t *)msg_ipc->msg_buf), off, tag.msg_buf_len * (sizeof(void *))); + if (ret < 0) + { + return ((msg_tag_t){.flags = (0), .msg_buf_len = (0), .map_buf_len = (0), .prot = (ret)}); + } + off = ret; + } + } + } while (0); + do + { + if (1 == 1) + { + if (1 == 2 || 1 == 4) + { + int ret = rpc_cli_buf_to_msg_rpc_int_t(var1, (uint8_t *)((uint8_t *)msg_ipc->msg_buf), off, tag.msg_buf_len * (sizeof(void *))); + if (ret < 0) + { + return ((msg_tag_t){.flags = (0), .msg_buf_len = (0), .map_buf_len = (0), .prot = (ret)}); + } + off = ret; + } + } + } while (0); + return tag; +} RPC_GENERATION_CALL1(cons_t, CONS_PROT, CONS_ACTIVE, active, rpc_int_t, rpc_int_t, RPC_DIR_IN, RPC_TYPE_DATA, flags) diff --git a/mkrtos_user/server/shell/src/heap_stack.c b/mkrtos_user/server/shell/src/heap_stack.c index d5439b61a..844224655 100644 --- a/mkrtos_user/server/shell/src/heap_stack.c +++ b/mkrtos_user/server/shell/src/heap_stack.c @@ -1,7 +1,7 @@ #include #if !IS_ENABLED(CONFIG_MMU) #define HEAP_SIZE 2048 -#define STACK_SIZE (2048) +#define STACK_SIZE (3*1024) #if defined(__CC_ARM) #define HEAP_ATTR SECTION("HEAP") __attribute__((zero_init))