system/kernel/init.c

   1 /* -------------------------------- Arctic Core ------------------------------
   2  * Arctic Core - the open source AUTOSAR platform http://arccore.com
   3  *
   4  * Copyright (C) 2009  ArcCore AB <contact@arccore.com>
   5  *
   6  * This source code is free software; you can redistribute it and/or modify it
   7  * under the terms of the GNU General Public License version 2 as published by the
   8  * Free Software Foundation; See <http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt>.
   9  *
  10  * This program is distributed in the hope that it will be useful, but
  11  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  12  * or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
  13  * for more details.
  14  * -------------------------------- Arctic Core ------------------------------*/
  15
  16 /* ----------------------------[includes]------------------------------------*/
  17 #include <stdlib.h>
  18 #include <string.h>
  19 #include "Os.h"
  20 #include "internal.h"
  21 #include "arc.h"
  22 #include "debug.h"
  23 #include "arch.h"
  24
  25 /* ----------------------------[private define]------------------------------*/
  26 /* ----------------------------[private macro]-------------------------------*/
  27 /* ----------------------------[private typedef]-----------------------------*/
  28 /* ----------------------------[private function prototypes]-----------------*/
  29 /* ----------------------------[private variables]---------------------------*/
  30 Os_SysType Os_Sys;
  31
  32 Os_IntCounterType Os_IntDisableAllCnt;
  33 Os_IntCounterType Os_IntSuspendAllCnt;
  34 Os_IntCounterType Os_IntSuspendOsCnt;
  35
  36 /* ----------------------------[private functions]---------------------------*/
  37 /* ----------------------------[public functions]----------------------------*/
  38
  39 extern uint32_t McuE_GetSystemClock( void );
  40 extern OsTickType OsTickFreq;
  41
  42
  43 /**
  44  * Copy rom pcb data(r_pcb) to ram data
  45  *
  46  * @param       pcb             ram data
  47  * @param       r_pcb   rom data
  48  */
  49
  50 static void copyPcbParts( OsTaskVarType *pcb, const OsTaskConstType *r_pcb ) {
  51
  52         /* Copy VAR stuff first */
  53
  54
  55
  56
  57 #if 0 //?????
  58         // Check to that the memory is ok
  59         {
  60                 int cnt = sizeof(OsTaskVarType);
  61                 for(int i=0;i<cnt;i++) {
  62                         if( *((unsigned char *)pcb) != 0 ) {
  63                                 while(1);
  64                         }
  65                 }
  66         }
  67 #endif
  68
  69 //      memset(pcb,sizeof(OsTaskVarType),0);
  70 //      pcb->pid = r_pcb->pid;
  71         assert(r_pcb->prio<=OS_TASK_PRIORITY_MAX);
  72         pcb->activePriority = r_pcb->prio;
  73 #if     (OS_USE_APPLICATIONS == STD_ON)
  74 //      pcb->accessingApp = Os_CfgGetApplObj(r_pcb->application_id);
  75 #endif
  76 //      pcb->entry = r_pcb->entry;
  77 //      pcb->proc_type = r_pcb->proc_type;
  78 //      pcb->autostart =  r_pcb->autostart;
  79         pcb->stack= r_pcb->stack;
  80         pcb->constPtr = r_pcb;
  81 //      pcb->resourceIntPtr = r_pcb->resourceIntPtr;
  82 //      pcb->scheduling = r_pcb->scheduling;
  83 //      pcb->resourceAccess = r_pcb->resourceAccess;
  84 //      pcb->activationLimit = r_pcb->activationLimit;
  85 //      pcb->app = &app_list[r_pcb->app];
  86 //      pcb->app_mask = app_mask[r_pcb->app];
  87 //      strncpy(pcb->name,r_pcb->name,16);
  88 //      pcb->name[15] = '\0';
  89 }
  90
  91 static _Bool init_os_called = 0;
  92
  93 /**
  94  * Initialization of kernel structures and start of the first
  95  * task.
  96  */
  97
  98 void InitOS( void ) {
  99         int i;
 100         OsTaskVarType *tmpPcbPtr;
 101         OsIsrStackType intStack;
 102
 103         init_os_called = 1;
 104
 105         DEBUG(DEBUG_LOW,"os_init");
 106
 107         /* Clear sys */
 108         memset(&Os_Sys,0,sizeof(Os_SysType));
 109
 110         Os_ArchInit();
 111
 112         // Assign pcb list and init ready queue
 113         Os_Sys.pcb_list = Os_TaskVarList;
 114         TAILQ_INIT(& Os_Sys.ready_head);
 115 //      TAILQ_INIT(& Os_Sys.pcb_head);
 116 #if defined(USE_KERNEL_EXTRA)
 117         TAILQ_INIT(& Os_Sys.timerHead);
 118 #endif
 119
 120         // Calc interrupt stack
 121         Os_IsrGetStackInfo(&intStack);
 122         // TODO: 16 is arch dependent
 123         Os_Sys.intStack = (void *)((size_t)intStack.top + (size_t)intStack.size - 16);
 124
 125         // Init counter.. with alarms and schedule tables
 126 #if OS_COUNTER_CNT!=0
 127         Os_CounterInit();
 128 #endif
 129 #if OS_SCHTBL_CNT!=0
 130         Os_SchTblInit();
 131 #endif
 132
 133         // Put all tasks in the pcb list
 134         // Put the one that belong in the ready queue there
 135         // TODO: we should really hash on priority here to get speed, but I don't care for the moment
 136         // TODO: Isn't this just EXTENED tasks ???
 137         for( i=0; i < OS_TASK_CNT; i++) {
 138                 tmpPcbPtr = Os_TaskGet(i);
 139
 140                 copyPcbParts(tmpPcbPtr,&Os_TaskConstList[i]);
 141
 142 #if 1
 143                 Os_TaskContextInit(tmpPcbPtr);
 144 #else
 145                 if( !(tmpPcbPtr->constPtr->proc_type & PROC_ISR) ) {
 146                         Os_TaskContextInit(tmpPcbPtr);
 147                 }
 148 #endif
 149
 150                 TAILQ_INIT(&tmpPcbPtr->resourceHead);
 151
 152 #if 0
 153                 Os_AddTask(tmpPcbPtr);
 154 #endif
 155
 156                 DEBUG(DEBUG_LOW,"pid:%d name:%s prio:%d\n",tmpPcbPtr->pid,tmpPcbPtr->name,tmpPcbPtr->prio);
 157         }
 158
 159         Os_ResourceInit();
 160
 161         // Now all tasks should be created.
 162 }
 163
 164 static void os_start( void ) {
 165         uint16_t i;
 166         OsTaskVarType *tmpPcbPtr = NULL;
 167
 168         // We will be setting up interrupts,
 169         // but we don't want them to fire just yet
 170         Irq_Disable();
 171
 172         assert(init_os_called);
 173
 174         /* TODO: fix ugly */
 175         /* Call the startup hook */
 176         extern struct OsHooks os_conf_global_hooks;
 177         Os_Sys.hooks = &os_conf_global_hooks;
 178         if( Os_Sys.hooks->StartupHook!=NULL ) {
 179                 Os_Sys.hooks->StartupHook();
 180         }
 181
 182
 183 #if     (OS_USE_APPLICATIONS == STD_ON)
 184         /* Start applications */
 185         Os_ApplStart();
 186 #endif
 187
 188
 189         /* Alarm autostart */
 190 #if OS_ALARM_CNT!=0
 191         Os_AlarmAutostart();
 192 #endif
 193
 194 #if OS_SCHTBL_CNT!=0
 195         Os_SchTblAutostart();
 196 #endif
 197
 198         // Set up the systick interrupt
 199         {
 200                 uint32_t sys_freq = McuE_GetSystemClock();
 201                 Os_SysTickInit();
 202                 Os_SysTickStart(sys_freq/OsTickFreq);
 203         }
 204
 205         /* Find highest Autostart task */
 206         {
 207                 OsTaskVarType *iterPcbPtr;
 208                 OsPriorityType topPrio = -1;
 209
 210                 for(i=0;i<OS_TASK_CNT;i++) {
 211                         iterPcbPtr = Os_TaskGet(i);
 212                         if(     iterPcbPtr->constPtr->autostart ) {
 213                                 if( iterPcbPtr->activePriority > topPrio ) {
 214                                         tmpPcbPtr = iterPcbPtr;
 215                                         topPrio = iterPcbPtr->activePriority;
 216                                 }
 217                         }
 218                 }
 219 #if 0
 220                 TAILQ_FOREACH(iterPcbPtr,& Os_Sys.pcb_head,pcb_list) {
 221                         if(     iterPcbPtr->constPtr->autostart ) {
 222                                 if( iterPcbPtr->activePriority > topPrio ) {
 223                                         tmpPcbPtr = iterPcbPtr;
 224                                         topPrio = iterPcbPtr->activePriority;
 225                                 }
 226                         }
 227                 }
 228 #endif
 229         }
 230
 231         // Swap in prio proc.
 232         {
 233                 // FIXME: Do this in a more structured way.. setting Os_Sys.currTaskPtr manually is not the way to go..
 234                 Os_Sys.currTaskPtr = tmpPcbPtr;
 235 #if     (OS_USE_APPLICATIONS == STD_ON)
 236                 /* Set current application */
 237                 Os_Sys.currApplId = tmpPcbPtr->constPtr->applOwnerId;
 238 #endif
 239
 240                 // register this auto-start activation
 241                 assert(tmpPcbPtr->activations < tmpPcbPtr->constPtr->activationLimit);
 242                 tmpPcbPtr->activations++;
 243
 244                 // NOTE! We don't go for os_swap_context() here..
 245                 // first arg(NULL) is dummy only
 246                 Os_TaskSwapContextTo(NULL,tmpPcbPtr);
 247                 // We should not return here
 248                 assert(0);
 249         }
 250 }
 251 #if 0
 252 static void os_start( void ) {
 253
 254 }
 255 #endif
 256
 257 #define TEST_DATA  12345
 258 int test_data = TEST_DATA;
 259 int test_bss = 0;
 260
 261
 262 void noooo( void ) {
 263         while(1);
 264 }
 265
 266 extern void EcuM_Init();
 267 int main( void )
 268 {
 269         EcuM_Init();
 270
 271 }
 272
 273 /**
 274  * Starts the OS
 275  *
 276  * @param Mode - Application mode to start in
 277  *
 278  */
 279 void StartOS(AppModeType Mode) {
 280
 281         /* Check link file */
 282         if (TEST_DATA != test_data) {
 283                 noooo();
 284         }
 285
 286         if (test_bss != 0) {
 287                 noooo();
 288         }
 289
 290         Os_Sys.appMode = Mode;
 291
 292         Os_CfgValidate();
 293
 294         os_start();
 295
 296         /** @req OS424 */
 297         assert(0);
 298 }
 299
 300 /**
 301  * OS shutdown
 302  *
 303  * @param Error - Reason for shutdown
 304  */
 305
 306 /** @req OS071 */
 307 void ShutdownOS( StatusType Error ) {
 308
 309         if( Os_Sys.hooks->ShutdownHook != NULL ) {
 310                 Os_Sys.hooks->ShutdownHook(Error);
 311         }
 312
 313         Irq_Disable();
 314         /** @req OS425 */
 315         while(1) {      }
 316
 317 }
 318
 319
 320