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 "task_i.h"
  24 #include "sys.h"
  25 #include "isr.h"
  26 #include "counter_i.h"
  27 #include "application.h"
  28 #include "sched_table_i.h"
  29 #include "alarm_i.h"
  30 #include "arch.h"
  31
  32 /* ----------------------------[private define]------------------------------*/
  33 /* ----------------------------[private macro]-------------------------------*/
  34 #define OS_VALIDATE(_a,_b)   if((_a)!=(_b) ) { \
  35                                                                 assert(#_a  #_b); \
  36                                                           }
  37 /* ----------------------------[private typedef]-----------------------------*/
  38 /* ----------------------------[private function prototypes]-----------------*/
  39 /* ----------------------------[private variables]---------------------------*/
  40 Os_SysType Os_Sys;
  41
  42 Os_IntCounterType Os_IntDisableAllCnt;
  43 Os_IntCounterType Os_IntSuspendAllCnt;
  44 Os_IntCounterType Os_IntSuspendOsCnt;
  45
  46 OsErrorType os_error;
  47
  48 /* ----------------------------[private functions]---------------------------*/
  49
  50
  51 static void Os_CfgValidate(void ) {
  52         OS_VALIDATE(OS_COUNTER_CNT,ARRAY_SIZE(counter_list));
  53 #if (RESOURCE_CNT!=0)
  54         OS_VALIDATE(OS_RESOURCE_CNT,ARRAY_SIZE(resource_list));
  55 #endif
  56         OS_VALIDATE(OS_TASK_CNT ,ARRAY_SIZE( Os_TaskConstList));
  57 #if (RESOURCE_CNT!=0)
  58         OS_VALIDATE(OS_ALARM_CNT,ARRAY_SIZE(alarm_list));
  59 #endif
  60 #if (OS_SCHTBL_CNT!=0)
  61         OS_VALIDATE(OS_SCHTBL_CNT, ARRAY_SIZE(sched_list));
  62 #endif
  63 }
  64
  65 /* ----------------------------[public functions]----------------------------*/
  66
  67 extern uint32_t McuE_GetSystemClock( void );
  68 extern OsTickType OsTickFreq;
  69
  70
  71 /**
  72  * Copy rom pcb data(r_pcb) to ram data
  73  *
  74  * @param       pcb             ram data
  75  * @param       r_pcb   rom data
  76  */
  77
  78 static void copyPcbParts( OsTaskVarType *pcb, const OsTaskConstType *r_pcb ) {
  79         assert(r_pcb->prio<=OS_TASK_PRIORITY_MAX);
  80         pcb->activePriority = r_pcb->prio;
  81         pcb->stack= r_pcb->stack;
  82         pcb->constPtr = r_pcb;
  83 }
  84
  85 static _Bool init_os_called = 0;
  86
  87 /**
  88  * Initialization of kernel structures and start of the first
  89  * task.
  90  */
  91
  92 void InitOS( void ) {
  93         int i;
  94         OsTaskVarType *tmpPcbPtr;
  95         OsIsrStackType intStack;
  96
  97         init_os_called = 1;
  98
  99         Os_CfgValidate();
 100
 101         DEBUG(DEBUG_LOW,"os_init");
 102
 103         /* Clear sys */
 104         memset(&Os_Sys,0,sizeof(Os_SysType));
 105
 106         Os_ArchInit();
 107
 108         /* Get the numbers defined in the editor */
 109         Os_Sys.isrCnt = OS_ISR_CNT;
 110
 111         // Assign pcb list and init ready queue
 112         Os_Sys.pcb_list = Os_TaskVarList;
 113         TAILQ_INIT(& Os_Sys.ready_head);
 114 //      TAILQ_INIT(& Os_Sys.pcb_head);
 115 #if defined(USE_KERNEL_EXTRA)
 116         TAILQ_INIT(& Os_Sys.timerHead);
 117 #endif
 118
 119         // Calc interrupt stack
 120         Os_IsrGetStackInfo(&intStack);
 121         // TODO: 16 is arch dependent
 122         Os_Sys.intStack = (void *)((size_t)intStack.top + (size_t)intStack.size - 16);
 123
 124         // Init counter.. with alarms and schedule tables
 125 #if OS_COUNTER_CNT!=0
 126         Os_CounterInit();
 127 #endif
 128 #if OS_SCHTBL_CNT!=0
 129         Os_SchTblInit();
 130 #endif
 131
 132         // Put all tasks in the pcb list
 133         // Put the one that belong in the ready queue there
 134         // TODO: we should really hash on priority here to get speed, but I don't care for the moment
 135         // TODO: Isn't this just EXTENED tasks ???
 136         for( i=0; i < OS_TASK_CNT; i++) {
 137                 tmpPcbPtr = Os_TaskGet(i);
 138
 139                 copyPcbParts(tmpPcbPtr,&Os_TaskConstList[i]);
 140                 Os_TaskContextInit(tmpPcbPtr);
 141                 TAILQ_INIT(&tmpPcbPtr->resourceHead);
 142
 143 #if 0
 144                 Os_AddTask(tmpPcbPtr);
 145 #endif
 146
 147                 DEBUG(DEBUG_LOW,"pid:%d name:%s prio:%d\n",tmpPcbPtr->pid,tmpPcbPtr->name,tmpPcbPtr->prio);
 148         }
 149
 150         Os_ResourceInit();
 151
 152         // Now all tasks should be created.
 153 }
 154
 155 static void os_start( void ) {
 156         uint16_t i;
 157         OsTaskVarType *tmpPcbPtr = NULL;
 158
 159         // We will be setting up interrupts,
 160         // but we don't want them to fire just yet
 161         Irq_Disable();
 162
 163         assert(init_os_called);
 164
 165         /* TODO: fix ugly */
 166         /* Call the startup hook */
 167         extern struct OsHooks os_conf_global_hooks;
 168         Os_Sys.hooks = &os_conf_global_hooks;
 169         if( Os_Sys.hooks->StartupHook!=NULL ) {
 170                 Os_Sys.hooks->StartupHook();
 171         }
 172
 173
 174 #if     (OS_USE_APPLICATIONS == STD_ON)
 175         /* Start applications */
 176         Os_ApplStart();
 177 #endif
 178
 179
 180         /* Alarm autostart */
 181 #if OS_ALARM_CNT!=0
 182         Os_AlarmAutostart();
 183 #endif
 184
 185 #if OS_SCHTBL_CNT!=0
 186         Os_SchTblAutostart();
 187 #endif
 188
 189         // Set up the systick interrupt
 190         {
 191                 uint32_t sys_freq = McuE_GetSystemClock();
 192                 Os_SysTickInit();
 193                 Os_SysTickStart(sys_freq/OsTickFreq);
 194         }
 195
 196         /* Find highest Autostart task */
 197         {
 198                 OsTaskVarType *iterPcbPtr;
 199                 OsPriorityType topPrio = -1;
 200
 201                 for(i=0;i<OS_TASK_CNT;i++) {
 202                         iterPcbPtr = Os_TaskGet(i);
 203                         if(     iterPcbPtr->constPtr->autostart ) {
 204                                 if( iterPcbPtr->activePriority > topPrio ) {
 205                                         tmpPcbPtr = iterPcbPtr;
 206                                         topPrio = iterPcbPtr->activePriority;
 207                                 }
 208                         }
 209                 }
 210 #if 0
 211                 TAILQ_FOREACH(iterPcbPtr,& Os_Sys.pcb_head,pcb_list) {
 212                         if(     iterPcbPtr->constPtr->autostart ) {
 213                                 if( iterPcbPtr->activePriority > topPrio ) {
 214                                         tmpPcbPtr = iterPcbPtr;
 215                                         topPrio = iterPcbPtr->activePriority;
 216                                 }
 217                         }
 218                 }
 219 #endif
 220         }
 221
 222         // Swap in prio proc.
 223         {
 224                 // FIXME: Do this in a more structured way.. setting Os_Sys.currTaskPtr manually is not the way to go..
 225                 Os_Sys.currTaskPtr = tmpPcbPtr;
 226 #if     (OS_USE_APPLICATIONS == STD_ON)
 227                 /* Set current application */
 228                 Os_Sys.currApplId = tmpPcbPtr->constPtr->applOwnerId;
 229 #endif
 230
 231                 // register this auto-start activation
 232                 assert(tmpPcbPtr->activations < tmpPcbPtr->constPtr->activationLimit);
 233                 tmpPcbPtr->activations++;
 234
 235                 // NOTE! We don't go for os_swap_context() here..
 236                 // first arg(NULL) is dummy only
 237                 Os_TaskSwapContextTo(NULL,tmpPcbPtr);
 238                 // We should not return here
 239                 assert(0);
 240         }
 241 }
 242 #if 0
 243 static void os_start( void ) {
 244
 245 }
 246 #endif
 247
 248 #define TEST_DATA  12345
 249 int test_data = TEST_DATA;
 250 int test_bss = 0;
 251
 252
 253 void noooo( void ) {
 254         while(1);
 255 }
 256
 257 extern void EcuM_Init();
 258 int main( void )
 259 {
 260         EcuM_Init();
 261
 262 }
 263
 264 /**
 265  * Starts the OS
 266  *
 267  * @param Mode - Application mode to start in
 268  *
 269  */
 270 void StartOS(AppModeType Mode) {
 271
 272         /* Check link file */
 273         if (TEST_DATA != test_data) {
 274                 noooo();
 275         }
 276
 277         if (test_bss != 0) {
 278                 noooo();
 279         }
 280
 281         Os_Sys.appMode = Mode;
 282
 283         Os_CfgValidate();
 284
 285         os_start();
 286
 287         /** @req OS424 */
 288         assert(0);
 289 }
 290
 291 /**
 292  * OS shutdown
 293  *
 294  * @param Error - Reason for shutdown
 295  */
 296
 297 /** @req OS071 */
 298 void ShutdownOS( StatusType Error ) {
 299
 300         if( Os_Sys.hooks->ShutdownHook != NULL ) {
 301                 Os_Sys.hooks->ShutdownHook(Error);
 302         }
 303
 304         Irq_Disable();
 305         /** @req OS425 */
 306         while(1) {      }
 307
 308 }
 309
 310
 311