1 /* -------------------------------- Arctic Core ------------------------------
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2 * Arctic Core - the open source AUTOSAR platform http://arccore.com
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4 * Copyright (C) 2009 ArcCore AB <contact@arccore.com>
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6 * This source code is free software; you can redistribute it and/or modify it
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7 * under the terms of the GNU General Public License version 2 as published by the
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8 * Free Software Foundation; See <http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt>.
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10 * This program is distributed in the hope that it will be useful, but
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11 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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12 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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14 * -------------------------------- Arctic Core ------------------------------*/
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16 /* ----------------------------[includes]------------------------------------*/
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20 #include "internal.h"
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26 #include "counter_i.h"
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27 #include "application.h"
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28 #include "sched_table_i.h"
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29 #include "alarm_i.h"
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32 /* ----------------------------[private define]------------------------------*/
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33 /* ----------------------------[private macro]-------------------------------*/
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34 #define OS_VALIDATE(_a,_b) if((_a)!=(_b) ) { \
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37 /* ----------------------------[private typedef]-----------------------------*/
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38 /* ----------------------------[private function prototypes]-----------------*/
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39 /* ----------------------------[private variables]---------------------------*/
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42 Os_IntCounterType Os_IntDisableAllCnt;
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43 Os_IntCounterType Os_IntSuspendAllCnt;
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44 Os_IntCounterType Os_IntSuspendOsCnt;
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46 OsErrorType os_error;
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48 /* ----------------------------[private functions]---------------------------*/
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51 static void Os_CfgValidate(void ) {
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52 OS_VALIDATE(OS_COUNTER_CNT,ARRAY_SIZE(counter_list));
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53 #if (RESOURCE_CNT!=0)
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54 OS_VALIDATE(OS_RESOURCE_CNT,ARRAY_SIZE(resource_list));
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56 OS_VALIDATE(OS_TASK_CNT ,ARRAY_SIZE( Os_TaskConstList));
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57 #if (RESOURCE_CNT!=0)
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58 OS_VALIDATE(OS_ALARM_CNT,ARRAY_SIZE(alarm_list));
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60 #if (OS_SCHTBL_CNT!=0)
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61 OS_VALIDATE(OS_SCHTBL_CNT, ARRAY_SIZE(sched_list));
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65 /* ----------------------------[public functions]----------------------------*/
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67 extern uint32_t McuE_GetSystemClock( void );
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68 extern OsTickType OsTickFreq;
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72 * Copy rom pcb data(r_pcb) to ram data
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74 * @param pcb ram data
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75 * @param r_pcb rom data
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78 static void copyPcbParts( OsTaskVarType *pcb, const OsTaskConstType *r_pcb ) {
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79 assert(r_pcb->prio<=OS_TASK_PRIORITY_MAX);
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80 pcb->activePriority = r_pcb->prio;
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81 pcb->stack= r_pcb->stack;
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82 pcb->constPtr = r_pcb;
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85 static _Bool init_os_called = 0;
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88 * Initialization of kernel structures and start of the first
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92 void InitOS( void ) {
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94 OsTaskVarType *tmpPcbPtr;
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95 OsIsrStackType intStack;
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101 DEBUG(DEBUG_LOW,"os_init");
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104 memset(&Os_Sys,0,sizeof(Os_SysType));
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108 // Assign pcb list and init ready queue
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109 Os_Sys.pcb_list = Os_TaskVarList;
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110 TAILQ_INIT(& Os_Sys.ready_head);
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111 // TAILQ_INIT(& Os_Sys.pcb_head);
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112 #if defined(USE_KERNEL_EXTRA)
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113 TAILQ_INIT(& Os_Sys.timerHead);
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116 // Calc interrupt stack
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117 Os_IsrGetStackInfo(&intStack);
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118 // TODO: 16 is arch dependent
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119 Os_Sys.intStack = (void *)((size_t)intStack.top + (size_t)intStack.size - 16);
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121 // Init counter.. with alarms and schedule tables
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122 #if OS_COUNTER_CNT!=0
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125 #if OS_SCHTBL_CNT!=0
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129 // Put all tasks in the pcb list
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130 // Put the one that belong in the ready queue there
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131 // TODO: we should really hash on priority here to get speed, but I don't care for the moment
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132 // TODO: Isn't this just EXTENED tasks ???
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133 for( i=0; i < OS_TASK_CNT; i++) {
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134 tmpPcbPtr = Os_TaskGet(i);
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136 copyPcbParts(tmpPcbPtr,&Os_TaskConstList[i]);
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137 Os_TaskContextInit(tmpPcbPtr);
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138 TAILQ_INIT(&tmpPcbPtr->resourceHead);
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141 Os_AddTask(tmpPcbPtr);
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144 DEBUG(DEBUG_LOW,"pid:%d name:%s prio:%d\n",tmpPcbPtr->pid,tmpPcbPtr->name,tmpPcbPtr->prio);
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149 // Now all tasks should be created.
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152 static void os_start( void ) {
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154 OsTaskVarType *tmpPcbPtr = NULL;
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156 // We will be setting up interrupts,
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157 // but we don't want them to fire just yet
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160 assert(init_os_called);
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162 /* TODO: fix ugly */
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163 /* Call the startup hook */
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164 extern struct OsHooks os_conf_global_hooks;
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165 Os_Sys.hooks = &os_conf_global_hooks;
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166 if( Os_Sys.hooks->StartupHook!=NULL ) {
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167 Os_Sys.hooks->StartupHook();
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171 #if (OS_USE_APPLICATIONS == STD_ON)
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172 /* Start applications */
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177 /* Alarm autostart */
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178 #if OS_ALARM_CNT!=0
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179 Os_AlarmAutostart();
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182 #if OS_SCHTBL_CNT!=0
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183 Os_SchTblAutostart();
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186 // Set up the systick interrupt
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188 uint32_t sys_freq = McuE_GetSystemClock();
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190 Os_SysTickStart(sys_freq/OsTickFreq);
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193 /* Find highest Autostart task */
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195 OsTaskVarType *iterPcbPtr;
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196 OsPriorityType topPrio = -1;
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198 for(i=0;i<OS_TASK_CNT;i++) {
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199 iterPcbPtr = Os_TaskGet(i);
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200 if( iterPcbPtr->constPtr->autostart ) {
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201 if( iterPcbPtr->activePriority > topPrio ) {
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202 tmpPcbPtr = iterPcbPtr;
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203 topPrio = iterPcbPtr->activePriority;
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208 TAILQ_FOREACH(iterPcbPtr,& Os_Sys.pcb_head,pcb_list) {
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209 if( iterPcbPtr->constPtr->autostart ) {
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210 if( iterPcbPtr->activePriority > topPrio ) {
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211 tmpPcbPtr = iterPcbPtr;
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212 topPrio = iterPcbPtr->activePriority;
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219 // Swap in prio proc.
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221 // FIXME: Do this in a more structured way.. setting Os_Sys.currTaskPtr manually is not the way to go..
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222 Os_Sys.currTaskPtr = tmpPcbPtr;
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223 #if (OS_USE_APPLICATIONS == STD_ON)
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224 /* Set current application */
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225 Os_Sys.currApplId = tmpPcbPtr->constPtr->applOwnerId;
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228 // register this auto-start activation
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229 assert(tmpPcbPtr->activations < tmpPcbPtr->constPtr->activationLimit);
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230 tmpPcbPtr->activations++;
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232 // NOTE! We don't go for os_swap_context() here..
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233 // first arg(NULL) is dummy only
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234 Os_TaskSwapContextTo(NULL,tmpPcbPtr);
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235 // We should not return here
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240 static void os_start( void ) {
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245 #define TEST_DATA 12345
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246 int test_data = TEST_DATA;
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250 void noooo( void ) {
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254 extern void EcuM_Init();
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264 * @param Mode - Application mode to start in
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267 void StartOS(AppModeType Mode) {
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269 /* Check link file */
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270 if (TEST_DATA != test_data) {
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274 if (test_bss != 0) {
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278 Os_Sys.appMode = Mode;
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291 * @param Error - Reason for shutdown
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295 void ShutdownOS( StatusType Error ) {
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297 if( Os_Sys.hooks->ShutdownHook != NULL ) {
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298 Os_Sys.hooks->ShutdownHook(Error);
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