From d6c3c3618a708d2a1a7948454710e6ae21c2a426 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 4 Feb 2019 22:38:23 -0800 Subject: [PATCH] altos: Declare task stack as union of uint8_t and uint32_t Support -Wcast-align and -Wpointer-arith while still allowing architectures to pick whether they want an 8-bit or 32-bit stack. Signed-off-by: Keith Packard --- src/avr/ao_arch.h | 46 ++++++++++++++++++------------------- src/kernel/ao_task.h | 19 +++++++++------ src/lpc/ao_arch.h | 3 --- src/lpc/ao_arch_funcs.h | 13 ++++------- src/stm/ao_arch.h | 3 --- src/stm/ao_arch_funcs.h | 8 +++---- src/stm32f4/ao_arch.h | 3 --- src/stm32f4/ao_arch_funcs.h | 8 +++---- src/stmf0/ao_arch.h | 3 --- src/stmf0/ao_arch_funcs.h | 13 ++++------- 10 files changed, 52 insertions(+), 67 deletions(-) diff --git a/src/avr/ao_arch.h b/src/avr/ao_arch.h index 6166c50e..d3454f91 100644 --- a/src/avr/ao_arch.h +++ b/src/avr/ao_arch.h @@ -78,27 +78,25 @@ extern uint8_t ao_cpu_sleep_disable; #define ao_arch_task_globals uint8_t ao_cpu_sleep_disable; -#define ao_arch_task_members\ - uint8_t *sp; /* saved stack pointer */ - -#define ao_arch_init_stack(task, start) do { \ - uint8_t *sp = task->stack + AO_STACK_SIZE - 1; \ - uint16_t a = (uint16_t) start; \ - int i; \ - \ - /* Return address */ \ - AVR_PUSH8(sp, a); \ - AVR_PUSH8(sp, (a >> 8)); \ - \ - /* Clear register values */ \ - i = 32; \ - while (i--) \ - AVR_PUSH8(sp, 0); \ - \ - /* SREG with interrupts enabled */ \ - AVR_PUSH8(sp, 0x80); \ - task->sp = sp; \ -} while (0); +#define ao_arch_init_stack(task, start) \ + do { \ + uint8_t *sp = task->stack8 + AO_STACK_SIZE - 1; \ + uint16_t a = (uint16_t) start; \ + int i; \ + \ + /* Return address */ \ + AVR_PUSH8(sp, a); \ + AVR_PUSH8(sp, (a >> 8)); \ + \ + /* Clear register values */ \ + i = 32; \ + while (i--) \ + AVR_PUSH8(sp, 0); \ + \ + /* SREG with interrupts enabled */ \ + AVR_PUSH8(sp, 0x80); \ + task->sp8 = sp; \ + } while (0); #define ao_arch_save_regs() do { \ asm("push r31" "\n\t" "push r30"); \ @@ -115,7 +113,7 @@ extern uint8_t ao_cpu_sleep_disable; uint8_t sp_l, sp_h; \ asm("in %0,__SP_L__" : "=&r" (sp_l) ); \ asm("in %0,__SP_H__" : "=&r" (sp_h) ); \ - ao_cur_task->sp = (uint8_t *) ((uint16_t) sp_l | ((uint16_t) sp_h << 8)); \ + ao_cur_task->sp8 = (uint8_t *) ((uint16_t) sp_l | ((uint16_t) sp_h << 8)); \ } while (0) #define ao_arch_isr_stack() /* nothing */ @@ -140,8 +138,8 @@ extern uint8_t ao_cpu_sleep_disable; #define ao_arch_restore_stack() do { \ uint8_t sp_l, sp_h; \ - sp_l = (uint16_t) ao_cur_task->sp; \ - sp_h = ((uint16_t) ao_cur_task->sp) >> 8; \ + sp_l = (uint16_t) ao_cur_task->sp8; \ + sp_h = ((uint16_t) ao_cur_task->sp8) >> 8; \ asm("out __SP_H__,%0" : : "r" (sp_h) ); \ asm("out __SP_L__,%0" : : "r" (sp_l) ); \ asm("pop r0" "\n\t" \ diff --git a/src/kernel/ao_task.h b/src/kernel/ao_task.h index 709e10c6..d27ef060 100644 --- a/src/kernel/ao_task.h +++ b/src/kernel/ao_task.h @@ -37,19 +37,24 @@ /* An AltOS task */ struct ao_task { - void *wchan; /* current wait channel (NULL if running) */ + void *wchan; /* current wait channel (NULL if running) */ uint16_t alarm; /* abort ao_sleep time */ - ao_arch_task_members /* any architecture-specific fields */ - uint8_t task_id; /* unique id */ + uint16_t task_id; /* unique id */ + /* Saved stack pointer */ + union { + uint32_t *sp32; + uint8_t *sp8; + }; const char *name; /* task name */ -#ifdef NEWLIB - int __errno; /* storage for errno in newlib libc */ -#endif #if HAS_TASK_QUEUE struct ao_list queue; struct ao_list alarm_queue; #endif - uint8_t stack[AO_STACK_SIZE] AO_STACK_ALIGNMENT; /* saved stack */ + /* Provide both 32-bit and 8-bit stacks, always 32-bit aligned */ + union { + uint32_t stack32[AO_STACK_SIZE>>2]; + uint8_t stack8[AO_STACK_SIZE]; + }; #if HAS_SAMPLE_PROFILE uint32_t ticks; uint32_t yields; diff --git a/src/lpc/ao_arch.h b/src/lpc/ao_arch.h index 35dcc9de..7821839e 100644 --- a/src/lpc/ao_arch.h +++ b/src/lpc/ao_arch.h @@ -60,9 +60,6 @@ #define AO_ROMCONFIG_SYMBOL __attribute__((section(".romconfig"))) const -#define ao_arch_task_members\ - uint32_t *sp; /* saved stack pointer */ - #define ao_arch_block_interrupts() asm("cpsid i") #define ao_arch_release_interrupts() asm("cpsie i") diff --git a/src/lpc/ao_arch_funcs.h b/src/lpc/ao_arch_funcs.h index 345108ae..1368f7e5 100644 --- a/src/lpc/ao_arch_funcs.h +++ b/src/lpc/ao_arch_funcs.h @@ -109,7 +109,7 @@ ao_arch_memory_barrier(void) { static inline void ao_arch_init_stack(struct ao_task *task, void *start) { - uint32_t *sp = (uint32_t *) (void *) (task->stack + AO_STACK_SIZE); + uint32_t *sp = &task->stack32[AO_STACK_SIZE >> 2]; uint32_t a = (uint32_t) start; int i; @@ -127,7 +127,7 @@ ao_arch_init_stack(struct ao_task *task, void *start) /* PRIMASK with interrupts enabled */ ARM_PUSH32(sp, 0); - task->sp = sp; + task->sp32 = sp; } static inline void ao_arch_save_regs(void) { @@ -146,17 +146,14 @@ static inline void ao_arch_save_regs(void) { static inline void ao_arch_save_stack(void) { uint32_t *sp; asm("mov %0,sp" : "=&r" (sp) ); - ao_cur_task->sp = (sp); - if ((uint8_t *) sp < &ao_cur_task->stack[0]) + ao_cur_task->sp32 = (sp); + if (sp < &ao_cur_task->stack32[0]) ao_panic (AO_PANIC_STACK); } static inline void ao_arch_restore_stack(void) { - uint32_t sp; - sp = (uint32_t) ao_cur_task->sp; - /* Switch stacks */ - asm("mov sp, %0" : : "r" (sp) ); + asm("mov sp, %0" : : "r" (ao_cur_task->sp32) ); /* Restore PRIMASK */ asm("pop {r0}"); diff --git a/src/stm/ao_arch.h b/src/stm/ao_arch.h index 52576b47..c95c7cd5 100644 --- a/src/stm/ao_arch.h +++ b/src/stm/ao_arch.h @@ -58,9 +58,6 @@ #define AO_ROMCONFIG_SYMBOL __attribute__((section(".romconfig"))) const -#define ao_arch_task_members\ - uint32_t *sp; /* saved stack pointer */ - /* * For now, we're running at a weird frequency */ diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h index e55ecb74..ad46ef32 100644 --- a/src/stm/ao_arch_funcs.h +++ b/src/stm/ao_arch_funcs.h @@ -475,7 +475,7 @@ ao_arch_irq_check(void) { static inline void ao_arch_init_stack(struct ao_task *task, void *start) { - uint32_t *sp = (uint32_t *) ((void*) task->stack + AO_STACK_SIZE); + uint32_t *sp = &task->stack32[AO_STACK_SIZE>>2]; uint32_t a = (uint32_t) start; int i; @@ -493,7 +493,7 @@ ao_arch_init_stack(struct ao_task *task, void *start) /* BASEPRI with interrupts enabled */ ARM_PUSH32(sp, 0); - task->sp = sp; + task->sp32 = sp; } static inline void ao_arch_save_regs(void) { @@ -517,12 +517,12 @@ static inline void ao_arch_save_regs(void) { static inline void ao_arch_save_stack(void) { uint32_t *sp; asm("mov %0,sp" : "=&r" (sp) ); - ao_cur_task->sp = (sp); + ao_cur_task->sp32 = (sp); } static inline void ao_arch_restore_stack(void) { /* Switch stacks */ - asm("mov sp, %0" : : "r" (ao_cur_task->sp) ); + asm("mov sp, %0" : : "r" (ao_cur_task->sp32) ); #ifdef AO_NONMASK_INTERRUPTS /* Restore BASEPRI */ diff --git a/src/stm32f4/ao_arch.h b/src/stm32f4/ao_arch.h index 73dc3e93..7dd4c80d 100644 --- a/src/stm32f4/ao_arch.h +++ b/src/stm32f4/ao_arch.h @@ -38,9 +38,6 @@ #define AO_ROMCONFIG_SYMBOL __attribute__((section(".romconfig"))) const -#define ao_arch_task_members\ - uint32_t *sp; /* saved stack pointer */ - #define ao_arch_naked_declare __attribute__((naked)) #define ao_arch_naked_define diff --git a/src/stm32f4/ao_arch_funcs.h b/src/stm32f4/ao_arch_funcs.h index b1ffb5b6..8ff31b4a 100644 --- a/src/stm32f4/ao_arch_funcs.h +++ b/src/stm32f4/ao_arch_funcs.h @@ -84,7 +84,7 @@ ao_arch_irq_check(void) { static inline void ao_arch_init_stack(struct ao_task *task, void *start) { - uint32_t *sp = (uint32_t *) ((void*) task->stack + AO_STACK_SIZE); + uint32_t *sp = &task->stack32[AO_STACK_SIZE>>2]; uint32_t a = (uint32_t) start; int i; @@ -110,7 +110,7 @@ ao_arch_init_stack(struct ao_task *task, void *start) /* BASEPRI with interrupts enabled */ ARM_PUSH32(sp, 0); - task->sp = sp; + task->sp32 = sp; } static inline void ao_arch_save_regs(void) { @@ -142,12 +142,12 @@ static inline void ao_arch_save_regs(void) { static inline void ao_arch_save_stack(void) { uint32_t *sp; asm("mov %0,sp" : "=&r" (sp) ); - ao_cur_task->sp = (sp); + ao_cur_task->sp32 = (sp); } static inline void ao_arch_restore_stack(void) { /* Switch stacks */ - asm("mov sp, %0" : : "r" (ao_cur_task->sp) ); + asm("mov sp, %0" : : "r" (ao_cur_task->sp32) ); #ifdef AO_NONMASK_INTERRUPTS /* Restore BASEPRI */ diff --git a/src/stmf0/ao_arch.h b/src/stmf0/ao_arch.h index 8256ebaa..e5f7e1f7 100644 --- a/src/stmf0/ao_arch.h +++ b/src/stmf0/ao_arch.h @@ -65,9 +65,6 @@ extern const uint16_t ao_romconfig_check; extern const uint16_t ao_serial_number; extern const uint32_t ao_radio_cal; -#define ao_arch_task_members\ - uint32_t *sp; /* saved stack pointer */ - #define ao_arch_block_interrupts() asm("cpsid i") #define ao_arch_release_interrupts() asm("cpsie i") diff --git a/src/stmf0/ao_arch_funcs.h b/src/stmf0/ao_arch_funcs.h index b2ce77a0..9233f044 100644 --- a/src/stmf0/ao_arch_funcs.h +++ b/src/stmf0/ao_arch_funcs.h @@ -389,7 +389,7 @@ ao_arch_memory_barrier(void) { static inline void ao_arch_init_stack(struct ao_task *task, void *start) { - uint32_t *sp = (uint32_t *) ((void *) task->stack + AO_STACK_SIZE); + uint32_t *sp = &task->stack32[AO_STACK_SIZE >> 2]; uint32_t a = (uint32_t) start; int i; @@ -407,7 +407,7 @@ ao_arch_init_stack(struct ao_task *task, void *start) /* PRIMASK with interrupts enabled */ ARM_PUSH32(sp, 0); - task->sp = sp; + task->sp32 = sp; } static inline void ao_arch_save_regs(void) { @@ -426,17 +426,14 @@ static inline void ao_arch_save_regs(void) { static inline void ao_arch_save_stack(void) { uint32_t *sp; asm("mov %0,sp" : "=&r" (sp) ); - ao_cur_task->sp = (sp); - if ((uint8_t *) sp < &ao_cur_task->stack[0]) + ao_cur_task->sp32 = (sp); + if (sp < &ao_cur_task->stack32[0]) ao_panic (AO_PANIC_STACK); } static inline void ao_arch_restore_stack(void) { - uint32_t sp; - sp = (uint32_t) ao_cur_task->sp; - /* Switch stacks */ - asm("mov sp, %0" : : "r" (sp) ); + asm("mov sp, %0" : : "r" (ao_cur_task->sp32) ); /* Restore PRIMASK */ asm("pop {r0}"); -- 2.30.2