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Merge remote-tracking branch 'upstream/master' into attitude_filter_improvement

This commit is contained in:
Julian Oes 2013-02-11 16:54:36 -08:00
parent c19870d565 ab44a64ca0
commit 6fe5291147
18 changed files with 2001 additions and 77 deletions
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3
ROMFS/Makefile
View File

@ -23,7 +23,8 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
$(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
$(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \
$(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
$(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix \
$(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \
$(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \
$(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \
$(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
$(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \

52
ROMFS/mixers/FMU_Q.mix Normal file
View File

@ -0,0 +1,52 @@
Delta-wing mixer for PX4FMU
===========================
Designed for Bormatec Camflyer Q
This file defines mixers suitable for controlling a delta wing aircraft using
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
assumed to be unused.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
See the README for more information on the scaler format.
Elevon mixers
-------------
Three scalers total (output, roll, pitch).
On the assumption that the two elevon servos are physically reversed, the pitch
input is inverted between the two servos.
The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -5000 -8000 0 -10000 10000
S: 0 1 -8000 -8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -8000 -5000 0 -10000 10000
S: 0 1 8000 8000 0 -10000 10000
Output 2
--------
This mixer is empty.
Z:
Motor speed mixer
-----------------
Two scalers total (output, thrust).
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000

0
ROMFS/mixers/FMU_delta.mix → ROMFS/mixers/FMU_X5.mix
View File

46
apps/drivers/blinkm/blinkm.cpp
View File

@ -126,7 +126,7 @@ static const int LED_NOBLINK = 0;
class BlinkM : public device::I2C
{
public:
BlinkM(int bus);
BlinkM(int bus, int blinkm);
~BlinkM();
@ -245,8 +245,8 @@ const char *BlinkM::script_names[] = {
extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);
BlinkM::BlinkM(int bus) :
I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000),
BlinkM::BlinkM(int bus, int blinkm) :
I2C("blinkm", BLINKM_DEVICE_PATH, bus, blinkm, 100000),
led_color_1(LED_OFF),
led_color_2(LED_OFF),
led_color_3(LED_OFF),
@ -830,14 +830,42 @@ BlinkM::get_firmware_version(uint8_t version[2])
return transfer(&msg, sizeof(msg), version, sizeof(version));
}
void blinkm_usage() {
fprintf(stderr, "missing command: try 'start', 'systemstate', 'ledoff', 'list' or a script name {options}\n");
fprintf(stderr, "options:\n");
fprintf(stderr, "\t-b --bus i2cbus (3)\n");
fprintf(stderr, "\t-a --blinkmaddr blinkmaddr (9)\n");
}
int
blinkm_main(int argc, char *argv[])
{
int i2cdevice = 3;
int blinkmadr = 9;
int x;
for (x = 1; x < argc; x++) {
if (strcmp(argv[x], "-b") == 0 || strcmp(argv[x], "--bus") == 0) {
if (argc > x + 1) {
i2cdevice = atoi(argv[x + 1]);
}
}
if (strcmp(argv[x], "-a") == 0 || strcmp(argv[x], "--blinkmaddr") == 0) {
if (argc > x + 1) {
blinkmadr = atoi(argv[x + 1]);
}
}
}
if (!strcmp(argv[1], "start")) {
if (g_blinkm != nullptr)
errx(1, "already started");
g_blinkm = new BlinkM(3);
g_blinkm = new BlinkM(i2cdevice, blinkmadr);
if (g_blinkm == nullptr)
errx(1, "new failed");
@ -852,8 +880,11 @@ blinkm_main(int argc, char *argv[])
}
if (g_blinkm == nullptr)
errx(1, "not started");
if (g_blinkm == nullptr) {
fprintf(stderr, "not started\n");
blinkm_usage();
exit(0);
}
if (!strcmp(argv[1], "systemstate")) {
g_blinkm->setMode(1);
@ -882,5 +913,6 @@ blinkm_main(int argc, char *argv[])
if (ioctl(fd, BLINKM_PLAY_SCRIPT_NAMED, (unsigned long)argv[1]) == OK)
exit(0);
errx(1, "missing command, try 'start', 'systemstate', 'ledoff', 'list' or a script name.");
blinkm_usage();
exit(0);
}

159
apps/drivers/px4io/uploader.cpp
View File

@ -48,6 +48,7 @@
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <sys/stat.h>
#include "uploader.h"
@ -109,6 +110,8 @@ int
PX4IO_Uploader::upload(const char *filenames[])
{
int ret;
const char *filename = NULL;
size_t fw_size;
_io_fd = open("/dev/ttyS2", O_RDWR);
@ -135,9 +138,22 @@ PX4IO_Uploader::upload(const char *filenames[])
}
log("using firmware from %s", filenames[i]);
filename = filenames[i];
break;
}
if (filename == NULL) {
log("no firmware found");
return -ENOENT;
}
struct stat st;
if (stat(filename, &st) != 0) {
log("Failed to stat %s - %d\n", filename, (int)errno);
return -errno;
}
fw_size = st.st_size;
if (_fw_fd == -1)
return -ENOENT;
@ -172,7 +188,7 @@ PX4IO_Uploader::upload(const char *filenames[])
continue;
}
ret = program();
ret = program(fw_size);
if (ret != OK) {
log("program failed");
@ -180,9 +196,9 @@ PX4IO_Uploader::upload(const char *filenames[])
}
if (bl_rev <= 2)
ret = verify_rev2();
ret = verify_rev2(fw_size);
else if(bl_rev == 3) {
ret = verify_rev3();
ret = verify_rev3(fw_size);
}
if (ret != OK) {
@ -219,7 +235,7 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
int ret = ::poll(&fds[0], 1, timeout);
if (ret < 1) {
//log("poll timeout %d", ret);
log("poll timeout %d", ret);
return -ETIMEDOUT;
}
@ -232,7 +248,7 @@ int
PX4IO_Uploader::recv(uint8_t *p, unsigned count)
{
while (count--) {
int ret = recv(*p++);
int ret = recv(*p++, 5000);
if (ret != OK)
return ret;
@ -248,7 +264,7 @@ PX4IO_Uploader::drain()
int ret;
do {
ret = recv(c, 250);
ret = recv(c, 1000);
if (ret == OK) {
//log("discard 0x%02x", c);
@ -343,24 +359,55 @@ PX4IO_Uploader::erase()
return get_sync(10000); /* allow 10s timeout */
}
static int read_with_retry(int fd, void *buf, size_t n)
{
int ret;
uint8_t retries = 0;
do {
ret = read(fd, buf, n);
} while (ret == -1 && retries++ < 100);
if (retries != 0) {
printf("read of %u bytes needed %u retries\n",
(unsigned)n,
(unsigned)retries);
}
return ret;
}
int
PX4IO_Uploader::program()
PX4IO_Uploader::program(size_t fw_size)
{
uint8_t file_buf[PROG_MULTI_MAX];
ssize_t count;
int ret;
size_t sent = 0;
log("program...");
lseek(_fw_fd, 0, SEEK_SET);
log("programming %u bytes...", (unsigned)fw_size);
while (true) {
ret = lseek(_fw_fd, 0, SEEK_SET);
while (sent < fw_size) {
/* get more bytes to program */
//log(" %d", (int)lseek(_fw_fd, 0, SEEK_CUR));
count = read(_fw_fd, file_buf, sizeof(file_buf));
size_t n = fw_size - sent;
if (n > sizeof(file_buf)) {
n = sizeof(file_buf);
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)sent,
(int)count,
(int)errno);
}
if (count == 0)
return OK;
sent += count;
if (count < 0)
return -errno;
@ -376,14 +423,16 @@ PX4IO_Uploader::program()
if (ret != OK)
return ret;
}
return OK;
}
int
PX4IO_Uploader::verify_rev2()
PX4IO_Uploader::verify_rev2(size_t fw_size)
{
uint8_t file_buf[PROG_MULTI_MAX];
uint8_t file_buf[4];
ssize_t count;
int ret;
size_t sent = 0;
log("verify...");
lseek(_fw_fd, 0, SEEK_SET);
@ -395,14 +444,27 @@ PX4IO_Uploader::verify_rev2()
if (ret != OK)
return ret;
while (true) {
while (sent < fw_size) {
/* get more bytes to verify */
int base = (int)lseek(_fw_fd, 0, SEEK_CUR);
count = read(_fw_fd, file_buf, sizeof(file_buf));
size_t n = fw_size - sent;
if (n > sizeof(file_buf)) {
n = sizeof(file_buf);
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)sent,
(int)count,
(int)errno);
}
if (count == 0)
break;
sent += count;
if (count < 0)
return -errno;
@ -415,15 +477,15 @@ PX4IO_Uploader::verify_rev2()
for (ssize_t i = 0; i < count; i++) {
uint8_t c;
ret = recv(c);
ret = recv(c, 5000);
if (ret != OK) {
log("%d: got %d waiting for bytes", base + i, ret);
log("%d: got %d waiting for bytes", sent + i, ret);
return ret;
}
if (c != file_buf[i]) {
log("%d: got 0x%02x expected 0x%02x", base + i, c, file_buf[i]);
log("%d: got 0x%02x expected 0x%02x", sent + i, c, file_buf[i]);
return -EINVAL;
}
}
@ -440,21 +502,21 @@ PX4IO_Uploader::verify_rev2()
}
int
PX4IO_Uploader::verify_rev3()
PX4IO_Uploader::verify_rev3(size_t fw_size_local)
{
int ret;
uint8_t file_buf[4];
ssize_t count;
uint32_t sum = 0;
uint32_t bytes_read = 0;
uint32_t fw_size = 0;
uint32_t crc = 0;
uint32_t fw_size_remote;
uint8_t fill_blank = 0xff;
log("verify...");
lseek(_fw_fd, 0, SEEK_SET);
ret = get_info(INFO_FLASH_SIZE, fw_size);
ret = get_info(INFO_FLASH_SIZE, fw_size_remote);
send(PROTO_EOC);
if (ret != OK) {
@ -463,9 +525,20 @@ PX4IO_Uploader::verify_rev3()
}
/* read through the firmware file again and calculate the checksum*/
while (true) {
lseek(_fw_fd, 0, SEEK_CUR);
count = read(_fw_fd, file_buf, sizeof(file_buf));
while (bytes_read < fw_size_local) {
size_t n = fw_size_local - bytes_read;
if (n > sizeof(file_buf)) {
n = sizeof(file_buf);
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)bytes_read,
(int)count,
(int)errno);
}
/* set the rest to ff */
if (count == 0) {
@ -482,7 +555,7 @@ PX4IO_Uploader::verify_rev3()
}
/* fill the rest with 0xff */
while (bytes_read < fw_size) {
while (bytes_read < fw_size_remote) {
sum = crc32(&fill_blank, sizeof(fill_blank), sum);
bytes_read += sizeof(fill_blank);
}
@ -516,36 +589,6 @@ PX4IO_Uploader::reboot()
return OK;
}
int
PX4IO_Uploader::compare(bool &identical)
{
uint32_t file_vectors[15];
uint32_t fw_vectors[15];
int ret;
lseek(_fw_fd, 0, SEEK_SET);
ret = read(_fw_fd, &file_vectors[0], sizeof(file_vectors));
send(PROTO_CHIP_VERIFY);
send(PROTO_EOC);
ret = get_sync();
if (ret != OK)
return ret;
send(PROTO_READ_MULTI);
send(sizeof(fw_vectors));
send(PROTO_EOC);
ret = recv((uint8_t *)&fw_vectors[0], sizeof(fw_vectors));
if (ret != OK)
return ret;
identical = (memcmp(&file_vectors[0], &fw_vectors[0], sizeof(file_vectors))) ? true : false;
return OK;
}
void
PX4IO_Uploader::log(const char *fmt, ...)
{
@ -557,4 +600,4 @@ PX4IO_Uploader::log(const char *fmt, ...)
va_end(ap);
printf("\n");
fflush(stdout);
}
}

11
apps/drivers/px4io/uploader.h
View File

@ -85,7 +85,7 @@ private:
void log(const char *fmt, ...);
int recv(uint8_t &c, unsigned timeout = 1000);
int recv(uint8_t &c, unsigned timeout);
int recv(uint8_t *p, unsigned count);
void drain();
int send(uint8_t c);
@ -94,11 +94,10 @@ private:
int sync();
int get_info(int param, uint32_t &val);
int erase();
int program();
int verify_rev2();
int verify_rev3();
int program(size_t fw_size);
int verify_rev2(size_t fw_size);
int verify_rev3(size_t fw_size);
int reboot();
int compare(bool &identical);
};
#endif
#endif

1
apps/hott_telemetry/hott_telemetry_main.c
View File

@ -51,6 +51,7 @@
#include <stdio.h>
#include <string.h>
#include <termios.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <systemlib/systemlib.h>

10
apps/mavlink/mavlink_receiver.c
View File

@ -586,12 +586,12 @@ receive_thread(void *arg)
struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
if (poll(fds, 1, timeout) > 0) {
/* non-blocking read */
size_t nread = read(uart_fd, buf, sizeof(buf));
ASSERT(nread > 0)
/* non-blocking read. read may return negative values */
ssize_t nread = read(uart_fd, buf, sizeof(buf));
for (size_t i = 0; i < nread; i++) {
if (mavlink_parse_char(chan, buf[i], &msg, &status)) { //parse the char
/* if read failed, this loop won't execute */
for (ssize_t i = 0; i < nread; i++) {
if (mavlink_parse_char(chan, buf[i], &msg, &status)) {
/* handle generic messages and commands */
handle_message(&msg);

40
nuttx/binfmt/libelf/Kconfig Normal file
View File

@ -0,0 +1,40 @@
#
# For a description of the syntax of this configuration file,
# see misc/tools/kconfig-language.txt.
#
config ELF_ALIGN_LOG2
int "Log2 Section Alignment"
default 2
---help---
Align all sections to this Log2 value: 0->1, 1->2, 2->4, etc.
config ELF_STACKSIZE
int "ELF Stack Size"
default 2048
---help---
This is the default stack size that will will be used when starting ELF binaries.
config ELF_BUFFERSIZE
int "ELF I/O Buffer Size"
default 128
---help---
This is an I/O buffer that is used to access the ELF file. Variable length items
will need to be read (such as symbol names). This is really just this initial
size of the buffer; it will be reallocated as necessary to hold large symbol
names). Default: 128
config ELF_BUFFERINCR
int "ELF I/O Buffer Realloc Increment"
default 32
---help---
This is an I/O buffer that is used to access the ELF file. Variable length items
will need to be read (such as symbol names). This value specifies the size
increment to use each time the buffer is reallocated. Default: 32
config ELF_DUMPBUFFER
bool "Dump ELF buffers"
default n
depends on DEBUG && DEBUG_VERBOSE
---help---
Dump various ELF buffers for debug purposes

129
nuttx/binfmt/libelf/gnu-elf.ld Normal file
View File

@ -0,0 +1,129 @@
/****************************************************************************
* binfmt/libelf/gnu-elf.ld
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
SECTIONS
{
.text 0x00000000 :
{
_stext = . ;
*(.text)
*(.text.*)
*(.gnu.warning)
*(.stub)
*(.glue_7)
*(.glue_7t)
*(.jcr)
/* C++ support: The .init and .fini sections contain specific logic
* to manage static constructors and destructors.
*/
*(.gnu.linkonce.t.*)
*(.init) /* Old ABI */
*(.fini) /* Old ABI */
_etext = . ;
}
.rodata :
{
_srodata = . ;
*(.rodata)
*(.rodata1)
*(.rodata.*)
*(.gnu.linkonce.r*)
_erodata = . ;
}
.data :
{
_sdata = . ;
*(.data)
*(.data1)
*(.data.*)
*(.gnu.linkonce.d*)
_edata = . ;
}
/* C++ support. For each global and static local C++ object,
* GCC creates a small subroutine to construct the object. Pointers
* to these routines (not the routines themselves) are stored as
* simple, linear arrays in the .ctors section of the object file.
* Similarly, pointers to global/static destructor routines are
* stored in .dtors.
*/
.ctors :
{
_sctors = . ;
*(.ctors) /* Old ABI: Unallocated */
*(.init_array) /* New ABI: Allocated */
_edtors = . ;
}
.dtors :
{
_sdtors = . ;
*(.dtors) /* Old ABI: Unallocated */
*(.fini_array) /* New ABI: Allocated */
_edtors = . ;
}
.bss :
{
_sbss = . ;
*(.bss)
*(.bss.*)
*(.sbss)
*(.sbss.*)
*(.gnu.linkonce.b*)
*(COMMON)
_ebss = . ;
}
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_info 0 : { *(.debug_info) }
.debug_line 0 : { *(.debug_line) }
.debug_pubnames 0 : { *(.debug_pubnames) }
.debug_aranges 0 : { *(.debug_aranges) }
}

215
nuttx/binfmt/libelf/libelf_ctors.c Normal file
View File

@ -0,0 +1,215 @@
/****************************************************************************
* binfmt/libelf/libelf_ctors.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <string.h>
#include <errno.h>
#include <assert.h>
#include <debug.h>
#include <nuttx/kmalloc.h>
#include <nuttx/binfmt/elf.h>
#include "libelf.h"
#ifdef CONFIG_BINFMT_CONSTRUCTORS
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Constant Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: elf_loadctors
*
* Description:
* Load pointers to static constructors into an in-memory array.
*
* Input Parameters:
* loadinfo - Load state information
*
* Returned Value:
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
****************************************************************************/
int elf_loadctors(FAR struct elf_loadinfo_s *loadinfo)
{
FAR Elf32_Shdr *shdr;
size_t ctorsize;
int ctoridx;
int ret;
int i;
DEBUGASSERT(loadinfo->ctors == NULL);
/* Allocate an I/O buffer if necessary. This buffer is used by
* elf_sectname() to accumulate the variable length symbol name.
*/
ret = elf_allocbuffer(loadinfo);
if (ret < 0)
{
bdbg("elf_allocbuffer failed: %d\n", ret);
return -ENOMEM;
}
/* Find the index to the section named ".ctors." NOTE: On old ABI system,
* .ctors is the name of the section containing the list of constructors;
* On newer systems, the similar section is called .init_array. It is
* expected that the linker script will force the section name to be ".ctors"
* in either case.
*/
ctoridx = elf_findsection(loadinfo, ".ctors");
if (ctoridx < 0)
{
/* This may not be a failure. -ENOENT indicates that the file has no
* static constructor section.
*/
bvdbg("elf_findsection .ctors section failed: %d\n", ctoridx);
return ret == -ENOENT ? OK : ret;
}
/* Now we can get a pointer to the .ctor section in the section header
* table.
*/
shdr = &loadinfo->shdr[ctoridx];
/* Get the size of the .ctor section and the number of constructors that
* will need to be called.
*/
ctorsize = shdr->sh_size;
loadinfo->nctors = ctorsize / sizeof(binfmt_ctor_t);
bvdbg("ctoridx=%d ctorsize=%d sizeof(binfmt_ctor_t)=%d nctors=%d\n",
ctoridx, ctorsize, sizeof(binfmt_ctor_t), loadinfo->nctors);
/* Check if there are any constructors. It is not an error if there
* are none.
*/
if (loadinfo->nctors > 0)
{
/* Check an assumption that we made above */
DEBUGASSERT(shdr->sh_size == loadinfo->nctors * sizeof(binfmt_ctor_t));
/* In the old ABI, the .ctors section is not allocated. In that case,
* we need to allocate memory to hold the .ctors and then copy the
* from the file into the allocated memory.
*
* SHF_ALLOC indicates that the section requires memory during
* execution.
*/
if ((shdr->sh_flags & SHF_ALLOC) == 0)
{
/* Allocate memory to hold a copy of the .ctor section */
loadinfo->ctoralloc = (binfmt_ctor_t*)kmalloc(ctorsize);
if (!loadinfo->ctoralloc)
{
bdbg("Failed to allocate memory for .ctors\n");
return -ENOMEM;
}
loadinfo->ctors = (binfmt_ctor_t *)loadinfo->ctoralloc;
/* Read the section header table into memory */
ret = elf_read(loadinfo, (FAR uint8_t*)loadinfo->ctors, ctorsize,
shdr->sh_offset);
if (ret < 0)
{
bdbg("Failed to allocate .ctors: %d\n", ret);
return ret;
}
/* Fix up all of the .ctor addresses. Since the addresses
* do not lie in allocated memory, there will be no relocation
* section for them.
*/
for (i = 0; i < loadinfo->nctors; i++)
{
FAR uintptr_t *ptr = (uintptr_t *)((FAR void *)(&loadinfo->ctors)[i]);
bvdbg("ctor %d: %08lx + %08lx = %08lx\n",
i, *ptr, loadinfo->elfalloc, *ptr + loadinfo->elfalloc);
*ptr += loadinfo->elfalloc;
}
}
else
{
/* Save the address of the .ctors (actually, .init_array) where it was
* loaded into memory. Since the .ctors lie in allocated memory, they
* will be relocated via the normal mechanism.
*/
loadinfo->ctors = (binfmt_ctor_t*)shdr->sh_addr;
}
}
return OK;
}
#endif /* CONFIG_BINFMT_CONSTRUCTORS */

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/****************************************************************************
* binfmt/libelf/libelf_dtors.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <string.h>
#include <errno.h>
#include <assert.h>
#include <debug.h>
#include <nuttx/kmalloc.h>
#include <nuttx/binfmt/elf.h>
#include "libelf.h"
#ifdef CONFIG_BINFMT_CONSTRUCTORS
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Constant Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: elf_loaddtors
*
* Description:
* Load pointers to static destructors into an in-memory array.
*
* Input Parameters:
* loadinfo - Load state information
*
* Returned Value:
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
****************************************************************************/
int elf_loaddtors(FAR struct elf_loadinfo_s *loadinfo)
{
FAR Elf32_Shdr *shdr;
size_t dtorsize;
int dtoridx;
int ret;
int i;
DEBUGASSERT(loadinfo->dtors == NULL);
/* Allocate an I/O buffer if necessary. This buffer is used by
* elf_sectname() to accumulate the variable length symbol name.
*/
ret = elf_allocbuffer(loadinfo);
if (ret < 0)
{
bdbg("elf_allocbuffer failed: %d\n", ret);
return -ENOMEM;
}
/* Find the index to the section named ".dtors." NOTE: On old ABI system,
* .dtors is the name of the section containing the list of destructors;
* On newer systems, the similar section is called .fini_array. It is
* expected that the linker script will force the section name to be ".dtors"
* in either case.
*/
dtoridx = elf_findsection(loadinfo, ".dtors");
if (dtoridx < 0)
{
/* This may not be a failure. -ENOENT indicates that the file has no
* static destructor section.
*/
bvdbg("elf_findsection .dtors section failed: %d\n", dtoridx);
return ret == -ENOENT ? OK : ret;
}
/* Now we can get a pointer to the .dtor section in the section header
* table.
*/
shdr = &loadinfo->shdr[dtoridx];
/* Get the size of the .dtor section and the number of destructors that
* will need to be called.
*/
dtorsize = shdr->sh_size;
loadinfo->ndtors = dtorsize / sizeof(binfmt_dtor_t);
bvdbg("dtoridx=%d dtorsize=%d sizeof(binfmt_dtor_t)=%d ndtors=%d\n",
dtoridx, dtorsize, sizeof(binfmt_dtor_t), loadinfo->ndtors);
/* Check if there are any destructors. It is not an error if there
* are none.
*/
if (loadinfo->ndtors > 0)
{
/* Check an assumption that we made above */
DEBUGASSERT(shdr->sh_size == loadinfo->ndtors * sizeof(binfmt_dtor_t));
/* In the old ABI, the .dtors section is not allocated. In that case,
* we need to allocate memory to hold the .dtors and then copy the
* from the file into the allocated memory.
*
* SHF_ALLOC indicates that the section requires memory during
* execution.
*/
if ((shdr->sh_flags & SHF_ALLOC) == 0)
{
/* Allocate memory to hold a copy of the .dtor section */
loadinfo->ctoralloc = (binfmt_dtor_t*)kmalloc(dtorsize);
if (!loadinfo->ctoralloc)
{
bdbg("Failed to allocate memory for .dtors\n");
return -ENOMEM;
}
loadinfo->dtors = (binfmt_dtor_t *)loadinfo->ctoralloc;
/* Read the section header table into memory */
ret = elf_read(loadinfo, (FAR uint8_t*)loadinfo->dtors, dtorsize,
shdr->sh_offset);
if (ret < 0)
{
bdbg("Failed to allocate .dtors: %d\n", ret);
return ret;
}
/* Fix up all of the .dtor addresses. Since the addresses
* do not lie in allocated memory, there will be no relocation
* section for them.
*/
for (i = 0; i < loadinfo->ndtors; i++)
{
FAR uintptr_t *ptr = (uintptr_t *)((FAR void *)(&loadinfo->dtors)[i]);
bvdbg("dtor %d: %08lx + %08lx = %08lx\n",
i, *ptr, loadinfo->elfalloc, *ptr + loadinfo->elfalloc);
*ptr += loadinfo->elfalloc;
}
}
else
{
/* Save the address of the .dtors (actually, .init_array) where it was
* loaded into memory. Since the .dtors lie in allocated memory, they
* will be relocated via the normal mechanism.
*/
loadinfo->dtors = (binfmt_dtor_t*)shdr->sh_addr;
}
}
return OK;
}
#endif /* CONFIG_BINFMT_CONSTRUCTORS */

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/****************************************************************************
* binfmt/libelf/libelf_init.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/stat.h>
#include <stdint.h>
#include <string.h>
#include <fcntl.h>
#include <elf32.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/binfmt/elf.h>
#include "libelf.h"
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* CONFIG_DEBUG, CONFIG_DEBUG_VERBOSE, and CONFIG_DEBUG_BINFMT have to be
* defined or CONFIG_ELF_DUMPBUFFER does nothing.
*/
#if !defined(CONFIG_DEBUG_VERBOSE) || !defined (CONFIG_DEBUG_BINFMT)
# undef CONFIG_ELF_DUMPBUFFER
#endif
#ifdef CONFIG_ELF_DUMPBUFFER
# define elf_dumpbuffer(m,b,n) bvdbgdumpbuffer(m,b,n)
#else
# define elf_dumpbuffer(m,b,n)
#endif
/****************************************************************************
* Private Constant Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: elf_filelen
*
* Description:
* Get the size of the ELF file
*
* Returned Value:
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
****************************************************************************/
static inline int elf_filelen(FAR struct elf_loadinfo_s *loadinfo,
FAR const char *filename)
{
struct stat buf;
int ret;
/* Get the file stats */
ret = stat(filename, &buf);
if (ret < 0)
{
int errval = errno;
bdbg("Failed to fstat file: %d\n", errval);
return -errval;
}
/* Verify that it is a regular file */
if (!S_ISREG(buf.st_mode))
{
bdbg("Not a regular file. mode: %d\n", buf.st_mode);
return -ENOENT;
}
/* TODO: Verify that the file is readable. Not really important because
* we will detect this when we try to open the file read-only.
*/
/* Return the size of the file in the loadinfo structure */
loadinfo->filelen = buf.st_size;
return OK;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: elf_init
*
* Description:
* This function is called to configure the library to process an ELF
* program binary.
*
* Returned Value:
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
****************************************************************************/
int elf_init(FAR const char *filename, FAR struct elf_loadinfo_s *loadinfo)
{
int ret;
bvdbg("filename: %s loadinfo: %p\n", filename, loadinfo);
/* Clear the load info structure */
memset(loadinfo, 0, sizeof(struct elf_loadinfo_s));
/* Get the length of the file. */
ret = elf_filelen(loadinfo, filename);
if (ret < 0)
{
bdbg("elf_filelen failed: %d\n", ret);
return ret;
}
/* Open the binary file for reading (only) */
loadinfo->filfd = open(filename, O_RDONLY);
if (loadinfo->filfd < 0)
{
int errval = errno;
bdbg("Failed to open ELF binary %s: %d\n", filename, errval);
return -errval;
}
/* Read the ELF ehdr from offset 0 */
ret = elf_read(loadinfo, (FAR uint8_t*)&loadinfo->ehdr, sizeof(Elf32_Ehdr), 0);
if (ret < 0)
{
bdbg("Failed to read ELF header: %d\n", ret);
return ret;
}
elf_dumpbuffer("ELF header", (FAR const uint8_t*)&loadinfo->ehdr, sizeof(Elf32_Ehdr));
/* Verify the ELF header */
ret = elf_verifyheader(&loadinfo->ehdr);
if (ret <0)
{
/* This may not be an error because we will be called to attempt loading
* EVERY binary. If elf_verifyheader() does not recognize the ELF header,
* it will -ENOEXEC whcih simply informs the system that the file is not an
* ELF file. elf_verifyheader() will return other errors if the ELF header
* is not correctly formed.
*/
bdbg("Bad ELF header: %d\n", ret);
return ret;
}
return OK;
}

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/****************************************************************************
* binfmt/libelf/elf_iobuffer.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/kmalloc.h>
#include <nuttx/binfmt/elf.h>
#include "libelf.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Constant Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: elf_allocbuffer
*
* Description:
* Perform the initial allocation of the I/O buffer, if it has not already
* been allocated.
*
* Returned Value:
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
****************************************************************************/
int elf_allocbuffer(FAR struct elf_loadinfo_s *loadinfo)
{
/* Has a buffer been allocated> */
if (!loadinfo->iobuffer)
{
/* No.. allocate one now */
loadinfo->iobuffer = (FAR uint8_t *)kmalloc(CONFIG_ELF_BUFFERSIZE);
if (!loadinfo->iobuffer)
{
bdbg("Failed to allocate an I/O buffer\n");
return -ENOMEM;
}
loadinfo->buflen = CONFIG_ELF_BUFFERSIZE;
}
return OK;
}
/****************************************************************************
* Name: elf_reallocbuffer
*
* Description:
* Increase the size of I/O buffer by the specified buffer increment.
*
* Returned Value:
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
****************************************************************************/
int elf_reallocbuffer(FAR struct elf_loadinfo_s *loadinfo, size_t increment)
{
FAR void *buffer;
size_t newsize;
/* Get the new size of the allocation */
newsize = loadinfo->buflen + increment;
/* And perform the reallocation */
buffer = krealloc((FAR void *)loadinfo->iobuffer, newsize);
if (!buffer)
{
bdbg("Failed to reallocate the I/O buffer\n");
return -ENOMEM;
}
/* Save the new buffer info */
loadinfo->iobuffer = buffer;
loadinfo->buflen = newsize;
return OK;
}

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/****************************************************************************
* binfmt/libelf/libelf_sections.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/kmalloc.h>
#include <nuttx/binfmt/elf.h>
#include "libelf.h"
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/****************************************************************************
* Private Constant Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: elf_sectname
*
* Description:
* Get the symbol name in loadinfo->iobuffer[].
*
* Returned Value:
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
****************************************************************************/
static inline int elf_sectname(FAR struct elf_loadinfo_s *loadinfo,
FAR const Elf32_Shdr *shdr)
{
FAR Elf32_Shdr *shstr;
FAR uint8_t *buffer;
off_t offset;
size_t readlen;
size_t bytesread;
int shstrndx;
int ret;
/* Get the section header table index of the entry associated with the
* section name string table. If the file has no section name string table,
* this member holds the value SH_UNDEF.
*/
shstrndx = loadinfo->ehdr.e_shstrndx;
if (shstrndx == SHN_UNDEF)
{
bdbg("No section header string table\n");
return -EINVAL;
}
/* Get the section name string table section header */
shstr = &loadinfo->shdr[shstrndx];
/* Get the file offset to the string that is the name of the section. This
* is the sum of:
*
* shstr->sh_offset: The file offset to the first byte of the section
* header string table data.
* shdr->sh_name: The offset to the name of the section in the section
* name table
*/
offset = shstr->sh_offset + shdr->sh_name;
/* Loop until we get the entire section name into memory */
buffer = loadinfo->iobuffer;
bytesread = 0;
for (;;)
{
/* Get the number of bytes to read */
readlen = loadinfo->buflen - bytesread;
if (offset + readlen > loadinfo->filelen)
{
readlen = loadinfo->filelen - offset;
if (readlen <= 0)
{
bdbg("At end of file\n");
return -EINVAL;
}
}
/* Read that number of bytes into the array */
buffer = &loadinfo->iobuffer[bytesread];
ret = elf_read(loadinfo, buffer, readlen, offset);
if (ret < 0)
{
bdbg("Failed to read section name\n");
return ret;
}
bytesread += readlen;
/* Did we read the NUL terminator? */
if (memchr(buffer, '\0', readlen) != NULL)
{
/* Yes, the buffer contains a NUL terminator. */
return OK;
}
/* No.. then we have to read more */
ret = elf_reallocbuffer(loadinfo, CONFIG_ELF_BUFFERINCR);
if (ret < 0)
{
bdbg("elf_reallocbuffer failed: %d\n", ret);
return ret;
}
}
/* We will not get here */
return OK;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: elf_loadshdrs
*
* Description:
* Loads section headers into memory.
*
* Returned Value:
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
****************************************************************************/
int elf_loadshdrs(FAR struct elf_loadinfo_s *loadinfo)
{
size_t shdrsize;
int ret;
DEBUGASSERT(loadinfo->shdr == NULL);
/* Verify that there are sections */
if (loadinfo->ehdr.e_shnum < 1)
{
bdbg("No sections(?)\n");
return -EINVAL;
}
/* Get the total size of the section header table */
shdrsize = (size_t)loadinfo->ehdr.e_shentsize * (size_t)loadinfo->ehdr.e_shnum;
if(loadinfo->ehdr.e_shoff + shdrsize > loadinfo->filelen)
{
bdbg("Insufficent space in file for section header table\n");
return -ESPIPE;
}
/* Allocate memory to hold a working copy of the sector header table */
loadinfo->shdr = (FAR Elf32_Shdr*)kmalloc(shdrsize);
if (!loadinfo->shdr)
{
bdbg("Failed to allocate the section header table. Size: %ld\n", (long)shdrsize);
return -ENOMEM;
}
/* Read the section header table into memory */
ret = elf_read(loadinfo, (FAR uint8_t*)loadinfo->shdr, shdrsize, loadinfo->ehdr.e_shoff);
if (ret < 0)
{
bdbg("Failed to read section header table: %d\n", ret);
}
return ret;
}
/****************************************************************************
* Name: elf_findsection
*
* Description:
* A section by its name.
*
* Input Parameters:
* loadinfo - Load state information
* sectname - Name of the section to find
*
* Returned Value:
* On success, the index to the section is returned; A negated errno value
* is returned on failure.
*
****************************************************************************/
int elf_findsection(FAR struct elf_loadinfo_s *loadinfo,
FAR const char *sectname)
{
FAR const Elf32_Shdr *shdr;
int ret;
int i;
/* Search through the shdr[] array in loadinfo for a section named 'sectname' */
for (i = 0; i < loadinfo->ehdr.e_shnum; i++)
{
/* Get the name of this section */
shdr = &loadinfo->shdr[i];
ret = elf_sectname(loadinfo, shdr);
if (ret < 0)
{
bdbg("elf_sectname failed: %d\n", ret);
return ret;
}
/* Check if the name of this section is 'sectname' */
bvdbg("%d. Comparing \"%s\" and .\"%s\"\n",
i, loadinfo->iobuffer, sectname);
if (strcmp((FAR const char *)loadinfo->iobuffer, sectname) == 0)
{
/* We found it... return the index */
return i;
}
}
/* We failed to find a section with this name. */
return -ENOENT;
}

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/****************************************************************************
* binfmt/libelf/libelf_symbols.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdlib.h>
#include <string.h>
#include <elf32.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/binfmt/elf.h>
#include <nuttx/binfmt/symtab.h>
#include "libelf.h"
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
#ifndef CONFIG_ELF_BUFFERINCR
# define CONFIG_ELF_BUFFERINCR 32
#endif
/****************************************************************************
* Private Constant Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: elf_symname
*
* Description:
* Get the symbol name in loadinfo->iobuffer[].
*
* Returned Value:
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
****************************************************************************/
static int elf_symname(FAR struct elf_loadinfo_s *loadinfo,
FAR const Elf32_Sym *sym)
{
FAR uint8_t *buffer;
off_t offset;
size_t readlen;
size_t bytesread;
int ret;
/* Get the file offset to the string that is the name of the symbol. The
* st_name member holds an offset into the file's symbol string table.
*/
if (sym->st_name == 0)
{
bdbg("Symbol has no name\n");
return -ENOENT;
}
offset = loadinfo->shdr[loadinfo->strtabidx].sh_offset + sym->st_name;
/* Loop until we get the entire symbol name into memory */
bytesread = 0;
for (;;)
{
/* Get the number of bytes to read */
readlen = loadinfo->buflen - bytesread;
if (offset + readlen > loadinfo->filelen)
{
readlen = loadinfo->filelen - offset;
if (readlen <= 0)
{
bdbg("At end of file\n");
return -EINVAL;
}
}
/* Read that number of bytes into the array */
buffer = &loadinfo->iobuffer[bytesread];
ret = elf_read(loadinfo, buffer, readlen, offset);
if (ret < 0)
{
bdbg("elf_read failed: %d\n", ret);
return ret;
}
bytesread += readlen;
/* Did we read the NUL terminator? */
if (memchr(buffer, '\0', readlen) != NULL)
{
/* Yes, the buffer contains a NUL terminator. */
return OK;
}
/* No.. then we have to read more */
ret = elf_reallocbuffer(loadinfo, CONFIG_ELF_BUFFERINCR);
if (ret < 0)
{
bdbg("elf_reallocbuffer failed: %d\n", ret);
return ret;
}
}
/* We will not get here */
return OK;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: elf_findsymtab
*
* Description:
* Find the symbol table section.
*
* Returned Value:
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
****************************************************************************/
int elf_findsymtab(FAR struct elf_loadinfo_s *loadinfo)
{
int i;
/* Find the symbol table section header and its associated string table */
for (i = 1; i < loadinfo->ehdr.e_shnum; i++)
{
if (loadinfo->shdr[i].sh_type == SHT_SYMTAB)
{
loadinfo->symtabidx = i;
loadinfo->strtabidx = loadinfo->shdr[i].sh_link;
break;
}
}
/* Verify that there is a symbol and string table */
if (loadinfo->symtabidx == 0)
{
bdbg("No symbols in ELF file\n");
return -EINVAL;
}
return OK;
}
/****************************************************************************
* Name: elf_readsym
*
* Description:
* Read the ELFT symbol structure at the specfied index into memory.
*
* Input Parameters:
* loadinfo - Load state information
* index - Symbol table index
* sym - Location to return the table entry
*
* Returned Value:
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
****************************************************************************/
int elf_readsym(FAR struct elf_loadinfo_s *loadinfo, int index,
FAR Elf32_Sym *sym)
{
FAR Elf32_Shdr *symtab = &loadinfo->shdr[loadinfo->symtabidx];
off_t offset;
/* Verify that the symbol table index lies within symbol table */
if (index < 0 || index > (symtab->sh_size / sizeof(Elf32_Sym)))
{
bdbg("Bad relocation symbol index: %d\n", index);
return -EINVAL;
}
/* Get the file offset to the symbol table entry */
offset = symtab->sh_offset + sizeof(Elf32_Sym) * index;
/* And, finally, read the symbol table entry into memory */
return elf_read(loadinfo, (FAR uint8_t*)sym, sizeof(Elf32_Sym), offset);
}
/****************************************************************************
* Name: elf_symvalue
*
* Description:
* Get the value of a symbol. The updated value of the symbol is returned
* in the st_value field of the symbol table entry.
*
* Input Parameters:
* loadinfo - Load state information
* sym - Symbol table entry (value might be undefined)
*
* Returned Value:
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
****************************************************************************/
int elf_symvalue(FAR struct elf_loadinfo_s *loadinfo, FAR Elf32_Sym *sym,
FAR const struct symtab_s *exports, int nexports)
{
FAR const struct symtab_s *symbol;
uintptr_t secbase;
int ret;
switch (sym->st_shndx)
{
case SHN_COMMON:
{
/* NuttX ELF modules should be compiled with -fno-common. */
bdbg("SHN_COMMON: Re-compile with -fno-common\n");
return -EINVAL;
}
case SHN_ABS:
{
/* st_value already holds the correct value */
bvdbg("SHN_ABS: st_value=%08lx\n", (long)sym->st_value);
return OK;
}
case SHN_UNDEF:
{
/* Get the name of the undefined symbol */
ret = elf_symname(loadinfo, sym);
if (ret < 0)
{
bdbg("SHN_UNDEF: Failed to get symbol name: %d\n", ret);
return ret;
}
/* Check if the base code exports a symbol of this name */
#ifdef CONFIG_SYMTAB_ORDEREDBYNAME
symbol = symtab_findorderedbyname(exports, (FAR char *)loadinfo->iobuffer, nexports);
#else
symbol = symtab_findbyname(exports, (FAR char *)loadinfo->iobuffer, nexports);
#endif
if (!symbol)
{
bdbg("SHN_UNDEF: Exported symbol \"%s\" not found\n", loadinfo->iobuffer);
return -ENOENT;
}
/* Yes... add the exported symbol value to the ELF symbol table entry */
bvdbg("SHN_ABS: name=%s %08x+%08x=%08x\n",
loadinfo->iobuffer, sym->st_value, symbol->sym_value,
sym->st_value + symbol->sym_value);
sym->st_value += (Elf32_Word)((uintptr_t)symbol->sym_value);
}
break;
default:
{
secbase = loadinfo->shdr[sym->st_shndx].sh_addr;
bvdbg("Other: %08x+%08x=%08x\n",
sym->st_value, secbase, sym->st_value + secbase);
sym->st_value += secbase;
}
break;
}
return OK;
}

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/****************************************************************************
* binfmt/libelf/libelf_uninit.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <unistd.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/kmalloc.h>
#include <nuttx/binfmt/elf.h>
#include "libelf.h"
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/****************************************************************************
* Private Constant Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: elf_uninit
*
* Description:
* Releases any resources committed by elf_init(). This essentially
* undoes the actions of elf_init.
*
* Returned Value:
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
****************************************************************************/
int elf_uninit(struct elf_loadinfo_s *loadinfo)
{
/* Free all working buffers */
elf_freebuffers(loadinfo);
/* Close the ELF file */
if (loadinfo->filfd >= 0)
{
close(loadinfo->filfd);
}
return OK;
}
/****************************************************************************
* Name: elf_freebuffers
*
* Description:
* Release all working buffers.
*
* Returned Value:
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
****************************************************************************/
int elf_freebuffers(struct elf_loadinfo_s *loadinfo)
{
/* Release all working allocations */
if (loadinfo->shdr)
{
kfree((FAR void *)loadinfo->shdr);
loadinfo->shdr = NULL;
}
if (loadinfo->iobuffer)
{
kfree((FAR void *)loadinfo->iobuffer);
loadinfo->iobuffer = NULL;
loadinfo->buflen = 0;
}
return OK;
}

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/****************************************************************************
* binfmt/libelf/elf_verify.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <string.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/binfmt/elf.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Constant Data
****************************************************************************/
static const char g_elfmagic[EI_MAGIC_SIZE] = { 0x7f, 'E', 'L', 'F' };
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: elf_verifyheader
*
* Description:
* Given the header from a possible ELF executable, verify that it
* is an ELF executable.
*
* Returned Value:
* 0 (OK) is returned on success and a negated errno is returned on
* failure.
*
* -ENOEXEC : Not an ELF file
* -EINVAL : Not a relocatable ELF file or not supported by the current,
* configured architecture.
*
****************************************************************************/
int elf_verifyheader(FAR const Elf32_Ehdr *ehdr)
{
if (!ehdr)
{
bdbg("NULL ELF header!");
return -ENOEXEC;
}
/* Verify that the magic number indicates an ELF file */
if (memcmp(ehdr->e_ident, g_elfmagic, EI_MAGIC_SIZE) != 0)
{
bvdbg("Not ELF magic {%02x, %02x, %02x, %02x}\n",
ehdr->e_ident[0], ehdr->e_ident[1], ehdr->e_ident[2], ehdr->e_ident[3]);
return -ENOEXEC;
}
/* Verify that this is a relocatable file */
if (ehdr->e_type != ET_REL)
{
bdbg("Not a relocatable file: e_type=%d\n", ehdr->e_type);
return -EINVAL;
}
/* Verify that this file works with the currently configured architecture */
if (arch_checkarch(ehdr))
{
bdbg("Not a supported architecture\n");
return -ENOEXEC;
}
/* Looks good so far... we still might find some problems later. */
return OK;
}