diff --git a/Makefile b/Makefile
index c5c788c70861b741f3ecc9b3aad8ec354ec339ad..1f741a862888f514581152a232a250426033b9ee 100644
--- a/Makefile
+++ b/Makefile
@@ -14,7 +14,7 @@ SUBDIRS := miosix
## List here your source files (both .s, .c and .cpp)
##
SRC := \
-main_processes.cpp
+main.cpp
##
## List here additional static libraries with relative path
diff --git a/Readme.txt b/Readme.txt
index cfdc14126978950bf41b0909cf59205b6a1bf958..2ac0bcaf53fe7868268c3b8554dcd65dcc815cd4 100644
--- a/Readme.txt
+++ b/Readme.txt
@@ -4,3 +4,7 @@ Welcome to the Miosix kernel
You can find information on how to configure and use the kernel
at the following url: http://miosix.org
+
+The testsuite is in miosix/_tools/testsuite
+
+A template for processes support in in miosix/_tools/processes
diff --git a/app_template/Makefile b/miosix/_tools/processes/app_template/Makefile
similarity index 100%
rename from app_template/Makefile
rename to miosix/_tools/processes/app_template/Makefile
diff --git a/app_template/crt0.s b/miosix/_tools/processes/app_template/crt0.s
similarity index 100%
rename from app_template/crt0.s
rename to miosix/_tools/processes/app_template/crt0.s
diff --git a/app_template/main.c b/miosix/_tools/processes/app_template/main.c
similarity index 100%
rename from app_template/main.c
rename to miosix/_tools/processes/app_template/main.c
diff --git a/app_template/miosix.ld b/miosix/_tools/processes/app_template/miosix.ld
similarity index 100%
rename from app_template/miosix.ld
rename to miosix/_tools/processes/app_template/miosix.ld
diff --git a/app_template/prog3.h b/miosix/_tools/processes/app_template/prog3.h
similarity index 100%
rename from app_template/prog3.h
rename to miosix/_tools/processes/app_template/prog3.h
diff --git a/app_template_withlibs/Makefile b/miosix/_tools/processes/app_template_withlibs/Makefile
similarity index 100%
rename from app_template_withlibs/Makefile
rename to miosix/_tools/processes/app_template_withlibs/Makefile
diff --git a/app_template_withlibs/crt0.s b/miosix/_tools/processes/app_template_withlibs/crt0.s
similarity index 100%
rename from app_template_withlibs/crt0.s
rename to miosix/_tools/processes/app_template_withlibs/crt0.s
diff --git a/app_template_withlibs/main.c b/miosix/_tools/processes/app_template_withlibs/main.c
similarity index 100%
rename from app_template_withlibs/main.c
rename to miosix/_tools/processes/app_template_withlibs/main.c
diff --git a/app_template_withlibs/miosix.ld b/miosix/_tools/processes/app_template_withlibs/miosix.ld
similarity index 100%
rename from app_template_withlibs/miosix.ld
rename to miosix/_tools/processes/app_template_withlibs/miosix.ld
diff --git a/app_template_withlibs/prog3.h b/miosix/_tools/processes/app_template_withlibs/prog3.h
similarity index 100%
rename from app_template_withlibs/prog3.h
rename to miosix/_tools/processes/app_template_withlibs/prog3.h
diff --git a/app_template_withlibs/syscallfuffa.c b/miosix/_tools/processes/app_template_withlibs/syscallfuffa.c
similarity index 100%
rename from app_template_withlibs/syscallfuffa.c
rename to miosix/_tools/processes/app_template_withlibs/syscallfuffa.c
diff --git a/main_processes.cpp b/miosix/_tools/processes/main_processes.cpp
similarity index 100%
rename from main_processes.cpp
rename to miosix/_tools/processes/main_processes.cpp
diff --git a/miosix/arch/cortexM3_stm32l1/common/interfaces-impl/portability.cpp b/miosix/arch/cortexM3_stm32l1/common/interfaces-impl/portability.cpp
index ffa9e8a77fef87504267ddc762ccd4acd4f280d6..1ba281e1f94ee801a9e022a6cdffe67cf28313cd 100644
--- a/miosix/arch/cortexM3_stm32l1/common/interfaces-impl/portability.cpp
+++ b/miosix/arch/cortexM3_stm32l1/common/interfaces-impl/portability.cpp
@@ -168,6 +168,29 @@ void initCtxsave(unsigned int *ctxsave, void *(*pc)(void *), unsigned int *sp,
//leaving the content of r4-r11 uninitialized
}
+#ifdef WITH_PROCESSES
+
+void initCtxsave(unsigned int *ctxsave, void *(*pc)(void *), unsigned int *sp,
+ void *argv, unsigned int *gotBase)
+{
+ unsigned int *stackPtr=sp;
+ stackPtr--; //Stack is full descending, so decrement first
+ *stackPtr=0x01000000; stackPtr--; //--> xPSR
+ *stackPtr=reinterpret_cast<unsigned long>(pc); stackPtr--; //--> pc
+ *stackPtr=0xffffffff; stackPtr--; //--> lr
+ *stackPtr=0; stackPtr--; //--> r12
+ *stackPtr=0; stackPtr--; //--> r3
+ *stackPtr=0; stackPtr--; //--> r2
+ *stackPtr=0; stackPtr--; //--> r1
+ *stackPtr=reinterpret_cast<unsigned long >(argv); //--> r0
+
+ ctxsave[0]=reinterpret_cast<unsigned long>(stackPtr); //--> psp
+ ctxsave[6]=reinterpret_cast<unsigned long>(gotBase); //--> r9
+ //leaving the content of r4-r8,r10-r11 uninitialized
+}
+
+#endif //WITH_PROCESSES
+
void IRQportableStartKernel()
{
//Enable fault handlers
diff --git a/miosix/arch/cortexM3_stm32l1/common/interfaces-impl/portability_impl.h b/miosix/arch/cortexM3_stm32l1/common/interfaces-impl/portability_impl.h
index 5fcc019b48c22748b3466d29368a89a918708327..e40061aa5df985f07b8f1e316cc554d79f25f1cb 100644
--- a/miosix/arch/cortexM3_stm32l1/common/interfaces-impl/portability_impl.h
+++ b/miosix/arch/cortexM3_stm32l1/common/interfaces-impl/portability_impl.h
@@ -102,7 +102,9 @@ namespace miosix_private {
inline void doYield()
{
- asm volatile("svc 0");
+ asm volatile("movs r3, #0\n\t"
+ "svc 0"
+ :::"r3");
}
inline void doDisableInterrupts()
diff --git a/miosix/config/Makefile.inc b/miosix/config/Makefile.inc
index db9bd7a9fb11a8c4873dbfd0fdb139e1b22e31bc..7aaca4d797a1c0457fc5e6a8dfe84846429d3ec2 100644
--- a/miosix/config/Makefile.inc
+++ b/miosix/config/Makefile.inc
@@ -13,12 +13,12 @@
## architecture
##
#OPT_BOARD := lpc2138_miosix_board
-#OPT_BOARD := stm32f103ze_stm3210e-eval
+OPT_BOARD := stm32f103ze_stm3210e-eval
#OPT_BOARD := stm32f103ve_mp3v2
#OPT_BOARD := stm32f100rb_stm32vldiscovery
#OPT_BOARD := stm32f103ve_strive_mini
#OPT_BOARD := stm32f103ze_redbull_v2
-OPT_BOARD := stm32f407vg_stm32f4discovery
+#OPT_BOARD := stm32f407vg_stm32f4discovery
#OPT_BOARD := stm32f207ig_stm3220g-eval
#OPT_BOARD := stm32f207zg_ethboard_v2
#OPT_BOARD := stm32f207ze_als_camboard
@@ -32,8 +32,8 @@ OPT_BOARD := stm32f407vg_stm32f4discovery
## -O2 is recomended otherwise, as it provides a good balance between code
## size and speed
##
-OPT_OPTIMIZATION := -O0
-#OPT_OPTIMIZATION := -O2
+#OPT_OPTIMIZATION := -O0
+OPT_OPTIMIZATION := -O2
#OPT_OPTIMIZATION := -O3
#OPT_OPTIMIZATION := -Os
@@ -137,9 +137,9 @@ ifeq ($(OPT_BOARD),stm32f407vg_stm32f4discovery)
## 3) Same as 1) but space has been reserved for a process pool, allowing
## to configure the kernel with "#define WITH_PROCESSES"
LINKER_SCRIPT_PATH := arch/cortexM4_stm32f4/stm32f407vg_stm32f4discovery/
- #LINKER_SCRIPT := $(LINKER_SCRIPT_PATH)stm32_1m+192k_rom.ld
+ LINKER_SCRIPT := $(LINKER_SCRIPT_PATH)stm32_1m+192k_rom.ld
#LINKER_SCRIPT := $(LINKER_SCRIPT_PATH)stm32_1m+192k_ram.ld
- LINKER_SCRIPT := $(LINKER_SCRIPT_PATH)stm32_1m+192k_rom_processes.ld
+ #LINKER_SCRIPT := $(LINKER_SCRIPT_PATH)stm32_1m+192k_rom_processes.ld
## This causes the interrupt vector table to be relocated in SRAM, must be
## uncommented when using the ram linker script
diff --git a/miosix/config/miosix_settings.h b/miosix/config/miosix_settings.h
index 9bf45c016dc17ec918d2f6206d828c086796d4ed..475b1a7342cd59e5cf9658839223f0215e3648d6 100644
--- a/miosix/config/miosix_settings.h
+++ b/miosix/config/miosix_settings.h
@@ -67,7 +67,7 @@ namespace miosix {
/// This enables the dynamic loader to load elf programs, the extended system
/// call service and, if the hardware supports it, the MPU to provide memory
/// isolation of processes
-#define WITH_PROCESSES
+//#define WITH_PROCESSES
#if defined(WITH_PROCESSES) && defined(__NO_EXCEPTIONS)
#error Processes require C++ exception support
@@ -125,7 +125,7 @@ const unsigned char MAX_OPEN_FILES=8;
* mode, so to use debugging it is necessary to disble sleep in the idle thread.
* By default it is not defined (idle thread calls sleep).
*/
-#define JTAG_DISABLE_SLEEP
+//#define JTAG_DISABLE_SLEEP
/// Minimum stack size (MUST be divisible by 4)
const unsigned int STACK_MIN=256;
diff --git a/miosix/filesystem/file_access.cpp b/miosix/filesystem/file_access.cpp
index 06466f983da24b37c99fb4ed0717eaf249110450..1e8b57c7557bc49259b6d4179a87205f52128501 100644
--- a/miosix/filesystem/file_access.cpp
+++ b/miosix/filesystem/file_access.cpp
@@ -10,7 +10,7 @@
using namespace std;
-#undef WITH_PROCESSES // <----------------------- FIXME! remove this!
+#undef WITH_PROCESSES // FIXME: remove this after integrating file descriptor tables and processes
#ifdef WITH_FILESYSTEM