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Merge branch 'hyper/OP-913-flight-uavo-alignment' into next

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This commit is contained in:
Richard Flay (Hyper) 2013-04-27 18:19:01 +09:30
commit fd1181959c
6 changed files with 31 additions and 13 deletions
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6
flight/pios/inc/pios_debug.h
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@ -68,6 +68,12 @@ void PIOS_DEBUG_Panic(const char *msg);
#define PIOS_Assert(test) if (!(test)) while (1);
#endif
/* Static (compile-time) assertion for use in a function.
If test evaluates to 0 (ie fails) at compile time then compilation will
fail with the error: "size of unnamed array is negative" */
#define PIOS_STATIC_ASSERT(test) ((void)sizeof(int[1 - 2*!(test)]))
#endif /* PIOS_DEBUG_H */
/**

2
flight/uavobjects/inc/uavobjectmanager.h
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@ -75,7 +75,7 @@ typedef enum {
* 6-7 gcsTelemetryUpdateMode Update mode used by the GCS (UAVObjUpdateMode)
*/
typedef struct {
uint8_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
uint8_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
uint16_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint16_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint16_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */

12
flight/uavobjects/inc/uavobjecttemplate.h
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@ -51,11 +51,19 @@ int32_t $(NAME)Initialize();
UAVObjHandle $(NAME)Handle();
void $(NAME)SetDefaults(UAVObjHandle obj, uint16_t instId);
// Object data
// Packed Object data (unaligned).
// Should only be used where 4 byte alignment can be guaranteed
// (eg a single instance on the heap)
typedef struct {
$(DATAFIELDS)
} __attribute__((packed)) $(NAME)Data;
} __attribute__((packed)) $(NAME)DataPacked;
// Packed Object data.
// Alignment is forced to 4 bytes so as to avoid the potential for CPU usage faults
// on Cortex M4F during load/store of float UAVO fields
typedef $(NAME)DataPacked __attribute__((aligned(4))) $(NAME)Data;
// Typesafe Object access functions
/**
* @function $(NAME)Get(dataOut)

17
flight/uavobjects/uavobjectmanager.c
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@ -76,10 +76,10 @@ for (struct UAVOData ** _uavo_slot = __start__uavo_handles; \
typedef void* InstanceHandle;
struct ObjectEventEntry {
struct ObjectEventEntry * next;
xQueueHandle queue;
UAVObjEventCallback cb;
uint8_t eventMask;
struct ObjectEventEntry * next;
};
/*
@ -107,7 +107,6 @@ struct UAVOBase {
bool isSingle : 1;
bool isSettings : 1;
} flags;
} __attribute__((packed));
/* Augmented type for Meta UAVO */
@ -126,7 +125,7 @@ struct UAVOData {
*/
struct UAVOMeta metaObj;
uint16_t instance_size;
} __attribute__((packed));
} __attribute__((packed, aligned(4)));
/* Augmented type for Single Instance Data UAVO */
struct UAVOSingle {
@ -152,9 +151,8 @@ struct UAVOMultiInst {
/* Augmented type for Multi Instance Data UAVO */
struct UAVOMulti {
struct UAVOData uavo;
uint16_t num_instances;
struct UAVOMultiInst instance0;
struct UAVOMultiInst instance0 __attribute__((aligned(4)));
/*
* Additional space will be malloc'd here to hold the
* the data for instance 0.
@ -319,8 +317,8 @@ static struct UAVOData * UAVObjAllocMulti(uint32_t num_bytes)
/* Set up the type-specific part of the UAVO */
uavo_multi->num_instances = 1;
/* Clear the instance data carried in the UAVO */
memset (&(uavo_multi->instance0), 0, num_bytes);
/* Clear the multi instance data carried in the UAVO */
memset (&(uavo_multi->instance0), 0, sizeof(struct UAVOMultiInst) + num_bytes);
/* Give back the generic UAVO part */
return (&(uavo_multi->uavo));
@ -1887,10 +1885,11 @@ static InstanceHandle createInstance(struct UAVOData * obj, uint16_t instId)
}
/* Create the actual instance */
instEntry = (struct UAVOMultiInst *) pvPortMalloc(sizeof(struct UAVOMultiInst)+obj->instance_size);
uint32_t size = sizeof(struct UAVOMultiInst) + obj->instance_size;
instEntry = (struct UAVOMultiInst *) pvPortMalloc(size);
if (!instEntry)
return NULL;
memset(InstanceDataOffset(instEntry), 0, obj->instance_size);
memset(instEntry, 0, size);
LL_APPEND(( (struct UAVOMulti*)obj )->instance0.next, instEntry);
( (struct UAVOMulti*)obj )->num_instances++;

5
flight/uavobjects/uavobjecttemplate.c
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@ -53,6 +53,11 @@ static UAVObjHandle handle __attribute__((section("_uavo_handles")));
*/
int32_t $(NAME)Initialize(void)
{
// Compile time assertion that the $(NAME)DataPacked and $(NAME)Data structs
// have the same size (though instances of $(NAME)Data
// should be placed in memory by the linker/compiler on a 4 byte alignment).
PIOS_STATIC_ASSERT(sizeof($(NAME)DataPacked) == sizeof($(NAME)Data));
// Don't set the handle to null if already registered
if(UAVObjGetByID($(NAMEUC)_OBJID) != NULL)
return -2;

2
make/common-defs.mk
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@ -153,7 +153,7 @@ ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(base
# -Map: create map file
# --cref: add cross reference to map file
LDFLAGS += -nostartfiles
LDFLAGS += -Wl,--warn-common,--fatal-warnings,--gc-sections
LDFLAGS += -Wl,--warn-common,--fatal-warnings,--sort-common,--sort-section=alignment,--gc-sections
LDFLAGS += -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))