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OP-423 port to OP (heap2) the previous changes done in CC (heap1) (see c95b199166)

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I managed to test CC with heap2 changes and the init stack claimed back to heap once scheduler starts.

the changes of this commit are OP related (just cleanup on CC side):
Arch specific stuff (in reset vector) to hide this from portable code:
     - switch back to MSP stack before starting the scheduler so that the sheduler can use the IRQ stack (when/if needed).
     - call the C portable function in heap2 to claim some stack back (the number to claim is taken from linker file).
     - start the scheduler from reset vector (I move this here from main because it make sense to not go back to C (so that I don't need to copy the rolled stack in case the sheduler returns). This make it more clean.
     - Also I have added the call to the mem manager if sheduler return. that way, we don't reset indefinitely if memory runs out. We will go to this handler and figure things out (right now, it's just looping but at least not rebooting. Probably trap NMI would be better (later improvement).
This commit is contained in:
Mathieu Rondonneau 2011-06-14 20:10:53 -07:00
parent c95b199166
commit 3780de8d3e
5 changed files with 52 additions and 13 deletions
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11
flight/OpenPilot/System/openpilot.c
View File

@ -88,7 +88,14 @@ int main()
/* Initialize the system thread */
SystemModInitialize();
/* Start the FreeRTOS scheduler */
/* only do this for posix and win32 since the caller will take care
* of starting the scheduler and increase the heap and swith back to
* MSP stack. (all arch specific is hidden from here and take care by reset handler)
* LED blinking in case of scheduler returning back should be handled in NMI or other
* appropriate handlers like mem manager.
*/
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
/* Start the FreeRTOS scheduler which never returns.*/
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
@ -100,7 +107,7 @@ int main()
PIOS_LED_Toggle(LED2);
PIOS_DELAY_WaitmS(100);
}
#endif
return 0;
}

17
flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
View File

@ -101,6 +101,7 @@ static xBlockLink xStart, xEnd;
/* Keeps track of the number of free bytes remaining, but says nothing about
fragmentation. */
static size_t xFreeBytesRemaining = configTOTAL_HEAP_SIZE;
static size_t currentTOTAL_HEAP_SISE = configTOTAL_HEAP_SIZE;
/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
@ -140,13 +141,13 @@ xBlockLink *pxFirstFreeBlock; \
xStart.xBlockSize = ( size_t ) 0; \
\
/* xEnd is used to mark the end of the list of free blocks. */ \
xEnd.xBlockSize = configTOTAL_HEAP_SIZE; \
xEnd.xBlockSize = currentTOTAL_HEAP_SISE; \
xEnd.pxNextFreeBlock = NULL; \
\
/* To start with there is a single free block that is sized to take up the \
entire heap space. */ \
pxFirstFreeBlock = ( void * ) xHeap.ucHeap; \
pxFirstFreeBlock->xBlockSize = configTOTAL_HEAP_SIZE; \
pxFirstFreeBlock->xBlockSize = currentTOTAL_HEAP_SISE; \
pxFirstFreeBlock->pxNextFreeBlock = &xEnd; \
}
/*-----------------------------------------------------------*/
@ -181,7 +182,7 @@ void *pvReturn = NULL;
}
}
if( ( xWantedSize > 0 ) && ( xWantedSize < configTOTAL_HEAP_SIZE ) )
if( ( xWantedSize > 0 ) && ( xWantedSize < currentTOTAL_HEAP_SISE ) )
{
/* Blocks are stored in byte order - traverse the list from the start
(smallest) block until one of adequate size is found. */
@ -276,3 +277,13 @@ void vPortInitialiseBlocks( void )
{
/* This just exists to keep the linker quiet. */
}
void xPortIncreaseHeapSize( size_t bytes )
{
vTaskSuspendAll();
currentTOTAL_HEAP_SISE = configTOTAL_HEAP_SIZE + bytes;
xEnd.xBlockSize = currentTOTAL_HEAP_SISE;
xFreeBytesRemaining += bytes;
xTaskResumeAll();
}
/*-----------------------------------------------------------*/

10
flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
View File

@ -1,5 +1,7 @@
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
_irq_stack_size = 0x400;
/* This is the size of the stack for early init: life span is until scheduler starts */
_init_stack_size = 0x400;
/* Check valid alignment for VTOR */
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
@ -264,11 +266,17 @@ SECTIONS
.heap (NOLOAD) :
{
_sheap = . ;
_sheap_pre_rtos = . ;
*(.heap)
. = ALIGN(4);
_eheap = . ;
_eheap_pre_rtos = . ;
_init_stack_end = . ;
_sheap_post_rtos = . ;
. = . + _init_stack_size ;
. = ALIGN(4);
_eheap_post_rtos = . ;
_init_stack_top = . - 4 ;
. = ALIGN(4);
} > RAM
PROVIDE ( end = _ebss );

17
flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S
View File

@ -36,6 +36,8 @@
.global g_pfnVectors
.global SystemInit_ExtMemCtl_Dummy
.global Default_Handler
.global vTaskStartScheduler
.global xPortIncreaseHeapSize
/* start address for the initialization values of the .data section.
defined in linker script */
@ -71,7 +73,6 @@ Reset_Handler:
/* restore original stack pointer */
LDR r0, =_irq_stack_top
MSR msp, r0
LDR r0, =_init_stack_top
MSR psp, r0
/* DO
@ -94,7 +95,6 @@ LoopFillIRQStack:
ldr r3, = _irq_stack_top
cmp r2, r3
bcc FillIRQStack
/* Copy the data segment initializers from flash to SRAM */
movs r1, #0
b LoopCopyDataInit
@ -124,6 +124,19 @@ LoopFillZerobss:
bcc FillZerobss
/* Call the application's entry point.*/
bl main
/* Switches stack back momentarily to MSP */
add r0, #0
msr control, r0
/* add heap_post_rtos to the heap (if the capability/function exist) */
ldr r0, = _init_stack_size
bl xPortIncreaseHeapSize
/* Start the FreeRTOS scheduler which never returns.*/
bl vTaskStartScheduler
/* If all is well we will never reach here as the scheduler will now be running. */
/* If we do get here, it will most likely be because we ran out of heap space. */
/* let the Memory manager handler figure it out (at least for now, it will make it more obvious */
bl MemManage_Handler
/* will never return here for now until mem manager give up */
bx lr
.size Reset_Handler, .-Reset_Handler

2
flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S
View File

@ -168,7 +168,7 @@ Infinite_Loop:
g_pfnVectors:
.word _irq_stack_top /*_irq_stack_top */
.word _irq_stack_top
.word Reset_Handler
.word NMI_Handler
.word HardFault_Handler