457 lines
14 KiB
C
457 lines
14 KiB
C
// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <string.h>
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#include <stdbool.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <unistd.h>
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#include <errno.h>
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#include <sys/reent.h>
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#include <stdlib.h>
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#include "esp_attr.h"
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#include "rom/libc_stubs.h"
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#include "rom/uart.h"
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#include "soc/cpu.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/semphr.h"
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#include "freertos/portmacro.h"
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#include "freertos/task.h"
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void abort() {
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do
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{
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__asm__ ("break 0,0");
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*((int*) 0) = 0;
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} while(true);
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}
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void* _malloc_r(struct _reent *r, size_t size) {
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return pvPortMalloc(size);
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}
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void _free_r(struct _reent *r, void* ptr) {
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return vPortFree(ptr);
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}
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void* _realloc_r(struct _reent *r, void* ptr, size_t size) {
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void* new_chunk;
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if (size == 0) {
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if (ptr) {
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vPortFree(ptr);
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}
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return NULL;
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}
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new_chunk = pvPortMalloc(size);
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if (new_chunk && ptr) {
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memcpy(new_chunk, ptr, size);
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vPortFree(ptr);
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}
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// realloc behaviour: don't free original chunk if alloc failed
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return new_chunk;
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}
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void* _calloc_r(struct _reent *r, size_t count, size_t size) {
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void* result = pvPortMalloc(count * size);
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if (result)
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{
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memset(result, 0, count * size);
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}
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return result;
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}
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int _system_r(struct _reent *r, const char *str) {
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abort();
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return 0;
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}
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int _rename_r(struct _reent *r, const char *src, const char *dst) {
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abort();
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return 0;
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}
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clock_t _times_r(struct _reent *r, struct tms *ptms) {
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abort();
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return 0;
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}
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// TODO: read time from RTC
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int _gettimeofday_r(struct _reent *r, struct timeval *tv, void *tz) {
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abort();
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return 0;
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}
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void _raise_r(struct _reent *r) {
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abort();
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}
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int _unlink_r(struct _reent *r, const char *path) {
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abort();
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return 0;
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}
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int _link_r(struct _reent *r, const char* n1, const char* n2) {
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abort();
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return 0;
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}
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int _stat_r(struct _reent *r, const char * path, struct stat * st) {
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return 0;
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}
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int _fstat_r(struct _reent *r, int fd, struct stat * st) {
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st->st_mode = S_IFCHR;
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return 0;
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}
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void* _sbrk_r(struct _reent *r, ptrdiff_t sz) {
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abort();
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return 0;
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}
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int _getpid_r(struct _reent *r) {
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abort();
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return 0;
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}
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int _kill_r(struct _reent *r, int pid, int sig) {
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abort();
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return 0;
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}
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void _exit_r(struct _reent *r, int e) {
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abort();
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}
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int _close_r(struct _reent *r, int fd) {
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return 0;
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}
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int _open_r(struct _reent *r, const char * path, int flags, int mode) {
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return 0;
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}
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void _exit(int __status) {
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abort();
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}
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ssize_t _write_r(struct _reent *r, int fd, const void * data, size_t size) {
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const char *data_c = (const char *)data;
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if (fd == STDOUT_FILENO) {
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static _lock_t stdout_lock; /* lazily initialised */
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/* Even though newlib does stream locking on stdout, we need
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a dedicated stdout UART lock...
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This is because each task has its own _reent structure with
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unique FILEs for stdin/stdout/stderr, so these are
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per-thread (lazily initialised by __sinit the first time a
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stdio function is used, see findfp.c:235.
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It seems like overkill to allocate a FILE-per-task and lock
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a thread-local stream, but I see no easy way to fix this
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(pre-__sinit_, tasks have "fake" FILEs ie __sf_fake_stdout
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which aren't fully valid.)
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*/
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_lock_acquire_recursive(&stdout_lock);
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for (size_t i = 0; i < size; i++) {
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#if CONFIG_NEWLIB_STDOUT_ADDCR
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if (data_c[i]=='\n') {
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uart_tx_one_char('\r');
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}
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#endif
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uart_tx_one_char(data_c[i]);
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}
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_lock_release_recursive(&stdout_lock);
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}
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return size;
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}
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_off_t _lseek_r(struct _reent *r, int fd, _off_t size, int mode) {
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return 0;
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}
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// TODO: implement reading from UART
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ssize_t _read_r(struct _reent *r, int fd, void * dst, size_t size) {
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return 0;
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}
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/* Notes on our newlib lock implementation:
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*
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* - Use FreeRTOS mutex semaphores as locks.
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* - lock_t is int, but we store an xSemaphoreHandle there.
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* - Locks are no-ops until the FreeRTOS scheduler is running.
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* - Due to this, locks need to be lazily initialised the first time
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* they are acquired. Initialisation/deinitialisation of locks is
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* protected by lock_init_spinlock.
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* - Race conditions around lazy initialisation (via lock_acquire) are
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* protected against.
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* - Anyone calling lock_close is reponsible for ensuring noone else
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* is holding the lock at this time.
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* - Race conditions between lock_close & lock_init (for the same lock)
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* are the responsibility of the caller.
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*/
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static portMUX_TYPE lock_init_spinlock = portMUX_INITIALIZER_UNLOCKED;
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/* Initialise the given lock by allocating a new mutex semaphore
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as the _lock_t value.
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*/
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static void IRAM_ATTR lock_init_generic(_lock_t *lock, uint8_t mutex_type) {
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portENTER_CRITICAL(&lock_init_spinlock);
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if (xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED) {
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/* nothing to do until the scheduler is running */
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*lock = 0; /* ensure lock is zeroed out, in case it's an automatic variable */
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portEXIT_CRITICAL(&lock_init_spinlock);
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return;
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}
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if (*lock) {
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/* Lock already initialised (either we didn't check earlier,
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or it got initialised while we were waiting for the
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spinlock.) */
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}
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else
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{
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/* Create a new semaphore
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this is a bit of an API violation, as we're calling the
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private function xQueueCreateMutex(x) directly instead of
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the xSemaphoreCreateMutex / xSemaphoreCreateRecursiveMutex
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wrapper functions...
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The better alternative would be to pass pointers to one of
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the two xSemaphoreCreate___Mutex functions, but as FreeRTOS
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implements these as macros instead of inline functions
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(*party like it's 1998!*) it's not possible to do this
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without writing wrappers. Doing it this way seems much less
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spaghetti-like.
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*/
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xSemaphoreHandle new_sem = xQueueCreateMutex(mutex_type);
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if (!new_sem) {
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abort(); /* No more semaphores available or OOM */
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}
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*lock = (_lock_t)new_sem;
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}
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portEXIT_CRITICAL(&lock_init_spinlock);
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}
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void IRAM_ATTR _lock_init(_lock_t *lock) {
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lock_init_generic(lock, queueQUEUE_TYPE_MUTEX);
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}
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void IRAM_ATTR _lock_init_recursive(_lock_t *lock) {
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lock_init_generic(lock, queueQUEUE_TYPE_RECURSIVE_MUTEX);
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}
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/* Free the mutex semaphore pointed to by *lock, and zero it out.
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Note that FreeRTOS doesn't account for deleting mutexes while they
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are held, and neither do we... so take care not to delete newlib
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locks while they may be held by other tasks!
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*/
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void IRAM_ATTR _lock_close(_lock_t *lock) {
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portENTER_CRITICAL(&lock_init_spinlock);
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if (*lock) {
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xSemaphoreHandle h = (xSemaphoreHandle)(*lock);
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#if (INCLUDE_xSemaphoreGetMutexHolder == 1)
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configASSERT(xSemaphoreGetMutexHolder(h) == NULL); /* mutex should not be held */
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#endif
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vSemaphoreDelete(h);
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*lock = 0;
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}
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portEXIT_CRITICAL(&lock_init_spinlock);
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}
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/* Acquire the mutex semaphore for lock. wait up to delay ticks.
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mutex_type is queueQUEUE_TYPE_RECURSIVE_MUTEX or queueQUEUE_TYPE_MUTEX
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*/
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static int IRAM_ATTR lock_acquire_generic(_lock_t *lock, uint32_t delay, uint8_t mutex_type) {
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xSemaphoreHandle h = (xSemaphoreHandle)(*lock);
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if (!h) {
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if (xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED) {
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return 0; /* locking is a no-op before scheduler is up, so this "succeeds" */
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}
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/* lazy initialise lock - might have had a static initializer in newlib (that we don't use),
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or _lock_init might have been called before the scheduler was running... */
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lock_init_generic(lock, mutex_type);
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h = (xSemaphoreHandle)(*lock);
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configASSERT(h != NULL);
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}
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BaseType_t success;
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if (cpu_in_interrupt_context()) {
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/* In ISR Context */
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if (mutex_type == queueQUEUE_TYPE_RECURSIVE_MUTEX) {
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abort(); /* recursive mutexes make no sense in ISR context */
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}
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BaseType_t higher_task_woken = false;
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success = xSemaphoreTakeFromISR(h, &higher_task_woken);
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if (!success && delay > 0) {
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abort(); /* Tried to block on mutex from ISR, couldn't... rewrite your program to avoid libc interactions in ISRs! */
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}
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if (higher_task_woken) {
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portYIELD_FROM_ISR();
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}
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}
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else {
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/* In task context */
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if (mutex_type == queueQUEUE_TYPE_RECURSIVE_MUTEX) {
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success = xSemaphoreTakeRecursive(h, delay);
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} else {
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success = xSemaphoreTake(h, delay);
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}
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}
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return (success == pdTRUE) ? 0 : -1;
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}
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void IRAM_ATTR _lock_acquire(_lock_t *lock) {
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lock_acquire_generic(lock, portMAX_DELAY, queueQUEUE_TYPE_MUTEX);
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}
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void IRAM_ATTR _lock_acquire_recursive(_lock_t *lock) {
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lock_acquire_generic(lock, portMAX_DELAY, queueQUEUE_TYPE_RECURSIVE_MUTEX);
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}
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int IRAM_ATTR _lock_try_acquire(_lock_t *lock) {
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return lock_acquire_generic(lock, 0, queueQUEUE_TYPE_MUTEX);
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}
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int IRAM_ATTR _lock_try_acquire_recursive(_lock_t *lock) {
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return lock_acquire_generic(lock, 0, queueQUEUE_TYPE_RECURSIVE_MUTEX);
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}
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/* Release the mutex semaphore for lock.
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mutex_type is queueQUEUE_TYPE_RECURSIVE_MUTEX or queueQUEUE_TYPE_MUTEX
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*/
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static void IRAM_ATTR lock_release_generic(_lock_t *lock, uint8_t mutex_type) {
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xSemaphoreHandle h = (xSemaphoreHandle)(*lock);
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if (h == NULL) {
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/* This is probably because the scheduler isn't running yet,
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or the scheduler just started running and some code was
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"holding" a not-yet-initialised lock... */
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return;
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}
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if (cpu_in_interrupt_context()) {
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if (mutex_type == queueQUEUE_TYPE_RECURSIVE_MUTEX) {
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abort(); /* indicates logic bug, it shouldn't be possible to lock recursively in ISR */
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}
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BaseType_t higher_task_woken = false;
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xSemaphoreGiveFromISR(h, &higher_task_woken);
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if (higher_task_woken) {
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portYIELD_FROM_ISR();
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}
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} else {
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if (mutex_type == queueQUEUE_TYPE_RECURSIVE_MUTEX) {
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xSemaphoreGiveRecursive(h);
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} else {
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xSemaphoreGive(h);
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}
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}
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}
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void IRAM_ATTR _lock_release(_lock_t *lock) {
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lock_release_generic(lock, queueQUEUE_TYPE_MUTEX);
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}
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void IRAM_ATTR _lock_release_recursive(_lock_t *lock) {
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lock_release_generic(lock, queueQUEUE_TYPE_RECURSIVE_MUTEX);
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}
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// This function is not part on newlib API, it is defined in libc/stdio/local.h
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// It is called as part of _reclaim_reent via a pointer in __cleanup member
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// of struct _reent.
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// This function doesn't call _fclose_r for _stdin, _stdout, _stderr members
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// of struct reent. Not doing so causes a memory leak each time a task is
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// terminated. We replace __cleanup member with _extra_cleanup_r (below) to work
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// around this.
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extern void _cleanup_r(struct _reent* r);
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void _extra_cleanup_r(struct _reent* r)
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{
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_cleanup_r(r);
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_fclose_r(r, r->_stdout);
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_fclose_r(r, r->_stderr);
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_fclose_r(r, r->_stdin);
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}
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static struct _reent s_reent;
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/*
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General ToDo that the Xtensa newlib support code did but we do not: Close every open fd a running task had when the task
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is killed. Do we want that too? - JD
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*/
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extern int _printf_float(struct _reent *rptr,
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void *pdata,
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FILE * fp,
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int (*pfunc) (struct _reent *, FILE *, _CONST char *, size_t len),
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va_list * ap);
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extern int _scanf_float(struct _reent *rptr,
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void *pdata,
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FILE *fp,
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va_list *ap);
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static struct syscall_stub_table s_stub_table = {
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.__getreent = &__getreent,
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._malloc_r = &_malloc_r,
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._free_r = &_free_r,
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._realloc_r = &_realloc_r,
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._calloc_r = &_calloc_r,
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._abort = &abort,
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._system_r = &_system_r,
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._rename_r = &_rename_r,
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._times_r = &_times_r,
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._gettimeofday_r = &_gettimeofday_r,
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._raise_r = &_raise_r,
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._unlink_r = &_unlink_r,
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._link_r = &_link_r,
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._stat_r = &_stat_r,
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._fstat_r = &_fstat_r,
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._sbrk_r = &_sbrk_r,
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._getpid_r = &_getpid_r,
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._kill_r = &_kill_r,
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._exit_r = &_exit_r,
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._close_r = &_close_r,
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._open_r = &_open_r,
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._write_r = (int (*)(struct _reent *r, int, const void *, int)) &_write_r,
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._lseek_r = (int (*)(struct _reent *r, int, int, int)) &_lseek_r,
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._read_r = (int (*)(struct _reent *r, int, void *, int)) &_read_r,
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._lock_init = &_lock_init,
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._lock_init_recursive = &_lock_init_recursive,
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._lock_close = &_lock_close,
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._lock_close_recursive = &_lock_close,
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._lock_acquire = &_lock_acquire,
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._lock_acquire_recursive = &_lock_acquire_recursive,
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._lock_try_acquire = &_lock_try_acquire,
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._lock_try_acquire_recursive = &_lock_try_acquire_recursive,
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._lock_release = &_lock_release,
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._lock_release_recursive = &_lock_release_recursive,
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._printf_float = &_printf_float,
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._scanf_float = &_scanf_float,
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};
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void ets_setup_syscalls() {
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syscall_table_ptr_pro = &s_stub_table;
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syscall_table_ptr_app = &s_stub_table;
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_GLOBAL_REENT = &s_reent;
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environ = malloc(sizeof(char*));
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environ[0] = NULL;
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}
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