Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_IOMCU: match thread stack pointer types to ChibiOS 

`__main_thread_stack_base__` and `__main_thread_stack_end__` are
variables whose address is defined to be the corresponding part of the
stack. These are declared as `extern stkalign_t` in ChibiOS code, and
being declared as `extern uint32_t` in ArduPilot code creates a warning
at link time when using LTO. Correct the declaration to eliminate this
warning.

Also update `__main_stack_base__` and `__main_stack_end__` which don't
currently trigger this warning but serve similar purposes and so might
in the future.

The hardware expects an alignment of `stkalign_t` (which is 8 bytes) and
the linker script defines the variable values with this alignment as
well, so this is safe.

No code size or functional change.
This commit is contained in:
Thomas Watson 2024-01-15 14:32:17 -06:00 committed by Andrew Tridgell
parent 5f5673b58f
commit d554ade7ce
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
View File

@ -341,8 +341,8 @@ void AP_IOMCU_FW::init()
#if CH_DBG_ENABLE_STACK_CHECK == TRUE #if CH_DBG_ENABLE_STACK_CHECK == TRUE
static void stackCheck(uint16_t& mstack, uint16_t& pstack) { static void stackCheck(uint16_t& mstack, uint16_t& pstack) {
extern uint32_t __main_stack_base__[]; extern stkalign_t __main_stack_base__[];
extern uint32_t __main_stack_end__[]; extern stkalign_t __main_stack_end__[];
uint32_t stklimit = (uint32_t)__main_stack_end__; uint32_t stklimit = (uint32_t)__main_stack_end__;
uint32_t stkbase = (uint32_t)__main_stack_base__; uint32_t stkbase = (uint32_t)__main_stack_base__;
uint32_t *crawl = (uint32_t *)stkbase; uint32_t *crawl = (uint32_t *)stkbase;
@ -354,8 +354,8 @@ static void stackCheck(uint16_t& mstack, uint16_t& pstack) {
chDbgAssert(free > 0, "mstack exhausted"); chDbgAssert(free > 0, "mstack exhausted");
mstack = (uint16_t)free; mstack = (uint16_t)free;
extern uint32_t __main_thread_stack_base__[]; extern stkalign_t __main_thread_stack_base__[];
extern uint32_t __main_thread_stack_end__[]; extern stkalign_t __main_thread_stack_end__[];
stklimit = (uint32_t)__main_thread_stack_end__; stklimit = (uint32_t)__main_thread_stack_end__;
stkbase = (uint32_t)__main_thread_stack_base__; stkbase = (uint32_t)__main_thread_stack_base__;
crawl = (uint32_t *)stkbase; crawl = (uint32_t *)stkbase;