* for more details.\r
* -------------------------------- Arctic Core ------------------------------*/\r
\r
-\r
+/* ----------------------------[includes]------------------------------------*/\r
#include <stdlib.h>\r
#include <string.h>\r
#include "Os.h"\r
#include "internal.h"\r
#include "arc.h"\r
#include "debug.h"\r
+#include "task_i.h"\r
+#include "sys.h"\r
+#include "isr.h"\r
+#include "counter_i.h"\r
+#include "application.h"\r
+#include "sched_table_i.h"\r
+#include "alarm_i.h"\r
#include "arch.h"\r
\r
-extern void Os_CfgGetInterruptStackInfo( OsStackType *stack );\r
-extern uint32_t McuE_GetSystemClock( void );\r
-extern OsTickType OsTickFreq;\r
-\r
-sys_t os_sys;\r
+/* ----------------------------[private define]------------------------------*/\r
+/* ----------------------------[private macro]-------------------------------*/\r
+#define OS_VALIDATE(_a,_b) if((_a)!=(_b) ) { \\r
+ assert(#_a #_b); \\r
+ }\r
+/* ----------------------------[private typedef]-----------------------------*/\r
+/* ----------------------------[private function prototypes]-----------------*/\r
+/* ----------------------------[private variables]---------------------------*/\r
+Os_SysType Os_Sys;\r
\r
Os_IntCounterType Os_IntDisableAllCnt;\r
Os_IntCounterType Os_IntSuspendAllCnt;\r
Os_IntCounterType Os_IntSuspendOsCnt;\r
\r
+OsErrorType os_error;\r
+\r
+/* ----------------------------[private functions]---------------------------*/\r
+\r
+\r
+static void Os_CfgValidate(void ) {\r
+#if (OS_COUNTER_CNT!=0)\r
+ OS_VALIDATE(OS_COUNTER_CNT,ARRAY_SIZE(counter_list));\r
+#endif\r
+#if (OS_RESOURCE_CNT!=0)\r
+ OS_VALIDATE(OS_RESOURCE_CNT,ARRAY_SIZE(resource_list));\r
+#endif\r
+ OS_VALIDATE(OS_TASK_CNT ,ARRAY_SIZE( Os_TaskConstList));\r
+#if (OS_ALARM_CNT!=0)\r
+ OS_VALIDATE(OS_ALARM_CNT,ARRAY_SIZE(alarm_list));\r
+#endif\r
+#if (OS_SCHTBL_CNT!=0)\r
+ OS_VALIDATE(OS_SCHTBL_CNT, ARRAY_SIZE(sched_list));\r
+#endif\r
+}\r
+\r
+/* ----------------------------[public functions]----------------------------*/\r
+\r
+extern uint32_t McuE_GetSystemClock( void );\r
+\r
\r
/**\r
* Copy rom pcb data(r_pcb) to ram data\r
* @param r_pcb rom data\r
*/\r
\r
-static void os_pcb_rom_copy( OsPcbType *pcb, const OsRomPcbType *r_pcb ) {\r
-\r
-#if 0 //?????\r
- // Check to that the memory is ok\r
- {\r
- int cnt = sizeof(OsPcbType);\r
- for(int i=0;i<cnt;i++) {\r
- if( *((unsigned char *)pcb) != 0 ) {\r
- while(1);\r
- }\r
- }\r
- }\r
-#endif\r
-\r
-// memset(pcb,sizeof(OsPcbType),0);\r
- pcb->pid = r_pcb->pid;\r
- pcb->prio = r_pcb->prio;\r
-#if ( OS_SC3 == STD_ON ) || ( OS_SC4 == STD_ON )\r
- pcb->application = Os_CfgGetApplObj(r_pcb->application_id);\r
-#endif\r
- pcb->entry = r_pcb->entry;\r
- pcb->proc_type = r_pcb->proc_type;\r
- pcb->autostart = r_pcb->autostart;\r
+static void copyPcbParts( OsTaskVarType *pcb, const OsTaskConstType *r_pcb ) {\r
+ assert(r_pcb->prio<=OS_TASK_PRIORITY_MAX);\r
+ pcb->activePriority = r_pcb->prio;\r
pcb->stack= r_pcb->stack;\r
- pcb->pcb_rom_p = r_pcb;\r
- pcb->resource_int_p = r_pcb->resource_int_p;\r
- pcb->scheduling = r_pcb->scheduling;\r
- pcb->resourceAccess = r_pcb->resourceAccess;\r
- pcb->activationLimit = r_pcb->activationLimit;\r
-// pcb->app = &app_list[r_pcb->app];\r
-// pcb->app_mask = app_mask[r_pcb->app];\r
- strncpy(pcb->name,r_pcb->name,16);\r
+ pcb->constPtr = r_pcb;\r
}\r
\r
static _Bool init_os_called = 0;\r
\r
void InitOS( void ) {\r
int i;\r
- OsPcbType *tmp_pcb;\r
- OsStackType int_stack;\r
+ OsTaskVarType *tmpPcbPtr;\r
+ OsIsrStackType intStack;\r
\r
init_os_called = 1;\r
\r
+ Os_CfgValidate();\r
+\r
DEBUG(DEBUG_LOW,"os_init");\r
\r
/* Clear sys */\r
- memset(&os_sys,0,sizeof(sys_t));\r
+ memset(&Os_Sys,0,sizeof(Os_SysType));\r
\r
Os_ArchInit();\r
\r
+ /* Get the numbers defined in the editor */\r
+ Os_Sys.isrCnt = OS_ISR_CNT;\r
+\r
// Assign pcb list and init ready queue\r
- os_sys.pcb_list = pcb_list;\r
- TAILQ_INIT(& os_sys.ready_head);\r
- TAILQ_INIT(& os_sys.pcb_head);\r
+ Os_Sys.pcb_list = Os_TaskVarList;\r
+ TAILQ_INIT(& Os_Sys.ready_head);\r
+// TAILQ_INIT(& Os_Sys.pcb_head);\r
+#if defined(USE_KERNEL_EXTRA)\r
+ TAILQ_INIT(& Os_Sys.timerHead);\r
+#endif\r
\r
// Calc interrupt stack\r
- Os_CfgGetInterruptStackInfo(&int_stack);\r
+ Os_IsrGetStackInfo(&intStack);\r
// TODO: 16 is arch dependent\r
- os_sys.int_stack = int_stack.top + int_stack.size - 16;\r
+ Os_Sys.intStack = (void *)((size_t)intStack.top + (size_t)intStack.size - 16);\r
\r
// Init counter.. with alarms and schedule tables\r
+#if OS_COUNTER_CNT!=0\r
Os_CounterInit();\r
+#endif\r
+#if OS_SCHTBL_CNT!=0\r
Os_SchTblInit();\r
+#endif\r
\r
// Put all tasks in the pcb list\r
// Put the one that belong in the ready queue there\r
// TODO: we should really hash on priority here to get speed, but I don't care for the moment\r
// TODO: Isn't this just EXTENED tasks ???\r
- for( i=0; i < Os_CfgGetTaskCnt(); i++) {\r
- tmp_pcb = os_get_pcb(i);\r
+ for( i=0; i < OS_TASK_CNT; i++) {\r
+ tmpPcbPtr = Os_TaskGet(i);\r
\r
- assert(tmp_pcb->prio<=OS_TASK_PRIORITY_MAX);\r
+ copyPcbParts(tmpPcbPtr,&Os_TaskConstList[i]);\r
+ Os_TaskContextInit(tmpPcbPtr);\r
+ TAILQ_INIT(&tmpPcbPtr->resourceHead);\r
\r
- os_pcb_rom_copy(tmp_pcb,os_get_rom_pcb(i));\r
- if( !(tmp_pcb->proc_type & PROC_ISR) ) {\r
- Os_ContextInit(tmp_pcb);\r
- }\r
-\r
- TAILQ_INIT(&tmp_pcb->resource_head);\r
-\r
- Os_AddTask(tmp_pcb);\r
+#if 0\r
+ Os_AddTask(tmpPcbPtr);\r
+#endif\r
\r
- DEBUG(DEBUG_LOW,"pid:%d name:%s prio:%d\n",tmp_pcb->pid,tmp_pcb->name,tmp_pcb->prio);\r
+ DEBUG(DEBUG_LOW,"pid:%d name:%s prio:%d\n",tmpPcbPtr->pid,tmpPcbPtr->name,tmpPcbPtr->prio);\r
}\r
\r
Os_ResourceInit();\r
}\r
\r
static void os_start( void ) {\r
- OsPcbType *tmp_pcb;\r
+ uint16_t i;\r
+ OsTaskVarType *tmpPcbPtr = NULL;\r
\r
// We will be setting up interrupts,\r
// but we don't want them to fire just yet\r
/* TODO: fix ugly */\r
/* Call the startup hook */\r
extern struct OsHooks os_conf_global_hooks;\r
- os_sys.hooks = &os_conf_global_hooks;\r
- if( os_sys.hooks->StartupHook!=NULL ) {\r
- os_sys.hooks->StartupHook();\r
+ Os_Sys.hooks = &os_conf_global_hooks;\r
+ if( Os_Sys.hooks->StartupHook!=NULL ) {\r
+ Os_Sys.hooks->StartupHook();\r
}\r
\r
+\r
+#if (OS_USE_APPLICATIONS == STD_ON)\r
+ /* Start applications */\r
+ Os_ApplStart();\r
+#endif\r
+\r
+\r
/* Alarm autostart */\r
- for(int j=0; j < Os_CfgGetAlarmCnt(); j++ ) {\r
- OsAlarmType *alarmPtr;\r
- alarmPtr = Os_CfgGetAlarmObj(j);\r
- if(alarmPtr->autostartPtr != NULL ) {\r
- const OsAlarmAutostartType *autoPtr = alarmPtr->autostartPtr;\r
-\r
- if( os_sys.appMode & autoPtr->appModeRef) {\r
- if( autoPtr->autostartType == ALARM_AUTOSTART_ABSOLUTE ) {\r
- SetAbsAlarm(j,autoPtr->alarmTime, autoPtr->cycleTime);\r
- } else {\r
- SetRelAlarm(j,autoPtr->alarmTime, autoPtr->cycleTime);\r
- }\r
- }\r
- }\r
- }\r
+#if OS_ALARM_CNT!=0\r
+ Os_AlarmAutostart();\r
+#endif\r
\r
+#if OS_SCHTBL_CNT!=0\r
Os_SchTblAutostart();\r
+#endif\r
\r
// Set up the systick interrupt\r
{\r
\r
/* Find highest Autostart task */\r
{\r
- OsPcbType *iterPcbPtr;\r
+ OsTaskVarType *iterPcbPtr;\r
OsPriorityType topPrio = -1;\r
\r
- TAILQ_FOREACH(iterPcbPtr,& os_sys.pcb_head,pcb_list) {\r
- if( iterPcbPtr->autostart ) {\r
- if( iterPcbPtr->prio > topPrio ) {\r
- tmp_pcb = iterPcbPtr;\r
- topPrio = iterPcbPtr->prio;\r
+ for(i=0;i<OS_TASK_CNT;i++) {\r
+ iterPcbPtr = Os_TaskGet(i);\r
+ if( iterPcbPtr->constPtr->autostart ) {\r
+ if( iterPcbPtr->activePriority > topPrio ) {\r
+ tmpPcbPtr = iterPcbPtr;\r
+ topPrio = iterPcbPtr->activePriority;\r
+ }\r
+ }\r
+ }\r
+#if 0\r
+ TAILQ_FOREACH(iterPcbPtr,& Os_Sys.pcb_head,pcb_list) {\r
+ if( iterPcbPtr->constPtr->autostart ) {\r
+ if( iterPcbPtr->activePriority > topPrio ) {\r
+ tmpPcbPtr = iterPcbPtr;\r
+ topPrio = iterPcbPtr->activePriority;\r
}\r
}\r
}\r
+#endif\r
}\r
\r
// Swap in prio proc.\r
{\r
- // FIXME: Do this in a more structured way.. setting os_sys.curr_pcb manually is not the way to go..\r
- os_sys.curr_pcb = tmp_pcb;\r
+ // FIXME: Do this in a more structured way.. setting Os_Sys.currTaskPtr manually is not the way to go..\r
+ Os_Sys.currTaskPtr = tmpPcbPtr;\r
+#if (OS_USE_APPLICATIONS == STD_ON)\r
+ /* Set current application */\r
+ Os_Sys.currApplId = tmpPcbPtr->constPtr->applOwnerId;\r
+#endif\r
+\r
+ // register this auto-start activation\r
+ assert(tmpPcbPtr->activations < tmpPcbPtr->constPtr->activationLimit);\r
+ tmpPcbPtr->activations++;\r
+\r
// NOTE! We don't go for os_swap_context() here..\r
// first arg(NULL) is dummy only\r
- Os_TaskSwapContextTo(NULL,tmp_pcb);\r
+ Os_TaskSwapContextTo(NULL,tmpPcbPtr);\r
// We should not return here\r
assert(0);\r
}\r
}\r
#endif\r
\r
-#define TEST_DATA 12345\r
-int test_data = TEST_DATA;\r
-int test_bss = 0;\r
+#define TEST_DATA 0x12345\r
+#define TEST_SDATA2 0x3344\r
+volatile uint32_t test_data = TEST_DATA;\r
+volatile uint32_t test_bss = 0;\r
+/* Define if compiler is set to use small data section */\r
+/* #define CC_USE_SMALL_DATA */\r
+\r
+#if defined(CFG_PPC) && defined(__CWCC__)\r
+/* Note! It does not matter if the data is initialized to 0,\r
+ * it still sbss2.
+ */\r
+#if defined(CC_USE_SMALL_DATA)\r
+volatile const int test_sbss2;\r
+#endif\r
+/* Initialized small data */\r
+volatile const int test_sdata2 = TEST_SDATA2;\r
+\r
+#endif\r
\r
\r
-void noooo( void ) {\r
- while(1);\r
-}\r
+#define BAD_LINK_FILE() while(1) {}\r
\r
extern void EcuM_Init();\r
int main( void )\r
{\r
+ /* Check link file */\r
+ if (TEST_DATA != test_data) {\r
+ BAD_LINK_FILE();\r
+ }\r
+\r
+ if (test_bss != 0) {\r
+ BAD_LINK_FILE();\r
+ }\r
+\r
+#if defined(CFG_PPC) && defined(__CWCC__)\r
+ /* check sdata2 */\r
+ if (test_sdata2 != TEST_SDATA2) {\r
+ BAD_LINK_FILE();\r
+ }\r
+#endif\r
+\r
+#if defined(CC_USE_SMALL_DATA) && defined(CFG_PPC) && defined(__CWCC__)\r
+ /* check sdata2 */\r
+ if (test_sbss2 != 0) {\r
+ BAD_LINK_FILE();\r
+ }\r
+#endif\r
+\r
EcuM_Init();\r
\r
}\r
*/\r
void StartOS(AppModeType Mode) {\r
\r
- /* Check link file */\r
- if (TEST_DATA != test_data) {\r
- noooo();\r
- }\r
-\r
- if (test_bss != 0) {\r
- noooo();\r
- }\r
-\r
- os_sys.appMode = Mode;\r
+ Os_Sys.appMode = Mode;\r
\r
Os_CfgValidate();\r
\r
/** @req OS071 */\r
void ShutdownOS( StatusType Error ) {\r
\r
- if( os_sys.hooks->ShutdownHook != NULL ) {\r
- os_sys.hooks->ShutdownHook(Error);\r
+ if( Os_Sys.hooks->ShutdownHook != NULL ) {\r
+ Os_Sys.hooks->ShutdownHook(Error);\r
}\r
\r
Irq_Disable();\r
projects / arc.git / blobdiff