void kmain(multiboot_info_t* mbd, unsigned int magic ) {
if ( magic != 0x2BADB002 ) {
// TODO: Hacer un kputs.
kprint ( "Warning: No se inicializo con GRUB, intentando de todas formas.\n" );
}
//Primero tenemos que corregir mbd para que sea una direccion virtual valida
mbd = (multiboot_info_t*)( PA2KVA( (uint32_t) mbd) );
//Ahora si, usando mbd que apunta bien a los datos del grub, inicializamos todo
kinit( mbd );
kprint("llego\n");
key_init();
//Aca asigna Esc a la funcion menu
key_register(menu, 1);
//Seteo Fs
key_register(mostrar_slot,59);
key_register(mostrar_slot,60);
key_register(mostrar_slot,61);
key_register(mostrar_slot,62);
key_register(mostrar_slot,63);
key_register(mostrar_slot,64);
key_register(mostrar_slot,65);
key_register(mostrar_slot,66);
key_register(mostrar_slot,67);
kprint("binding keys done\n");
if(tty_init(&tty_kernel, menu_in)) {
panic("fallo el inicio de las tty");
}
//Lanzamos programa para cargar tareas y modificar quantums.
set_isr_handler( 14, &pf ); // #PF
// El idle task... siempre listo... :-)
programs_t idle;
idle.va_entry = idletask;
crear_kthread( &idle, 10 );
//Iniciamos Scheduler
iniciar_scheduler();
extern unsigned char ej1[];
extern unsigned char ej2[];
extern unsigned char ej3[];
extern unsigned char ej4[];
programas[0] = (programs_t *) ej1;
programas[1]= (programs_t *) ej2;
programas[2] = (programs_t *) ej3;
programas[3]= (programs_t *) ej4;
programas[4]= (programs_t *) ej1;
set_irq_handler( 0, &timer );
set_irq_handler( 1, &irq_keyboard );
menu(1);
sti();
//Lanzamos programa menu
while(1);
}
asmlinkage void __init start_kernel(void)
{
char * command_line;
extern struct kernel_param __start___param[], __stop___param[];
smp_setup_processor_id();
/*
* Need to run as early as possible, to initialize the
* lockdep hash:
*/
lockdep_init();
debug_objects_early_init();
/*
* Set up the the initial canary ASAP:
*/
boot_init_stack_canary();
cgroup_init_early();
local_irq_disable();
early_boot_irqs_off();
early_init_irq_lock_class();
/*
* Interrupts are still disabled. Do necessary setups, then
* enable them
*/
lock_kernel();
tick_init();
boot_cpu_init();
page_address_init();
printk(KERN_NOTICE "%s", linux_banner);
setup_arch(&command_line);
mm_init_owner(&init_mm, &init_task);
setup_command_line(command_line);
setup_nr_cpu_ids();
setup_per_cpu_areas();
smp_prepare_boot_cpu(); /* arch-specific boot-cpu hooks */
build_all_zonelists();
page_alloc_init();
printk(KERN_NOTICE "Kernel command line: %s\n", boot_command_line);
parse_early_param();
parse_args("Booting kernel", static_command_line, __start___param,
__stop___param - __start___param,
&unknown_bootoption);
/*
* These use large bootmem allocations and must precede
* kmem_cache_init()
*/
pidhash_init();
vfs_caches_init_early();
sort_main_extable();
trap_init();
mm_init();
/*
* Set up the scheduler prior starting any interrupts (such as the
* timer interrupt). Full topology setup happens at smp_init()
* time - but meanwhile we still have a functioning scheduler.
*/
sched_init();
/*
* Disable preemption - early bootup scheduling is extremely
* fragile until we cpu_idle() for the first time.
*/
preempt_disable();
if (!irqs_disabled()) {
printk(KERN_WARNING "start_kernel(): bug: interrupts were "
"enabled *very* early, fixing it\n");
local_irq_disable();
}
rcu_init();
radix_tree_init();
/* init some links before init_ISA_irqs() */
early_irq_init();
init_IRQ();
prio_tree_init();
init_timers();
hrtimers_init();
softirq_init();
timekeeping_init();
time_init();
profile_init();
if (!irqs_disabled())
printk(KERN_CRIT "start_kernel(): bug: interrupts were "
"enabled early\n");
early_boot_irqs_on();
local_irq_enable();
/* Interrupts are enabled now so all GFP allocations are safe. */
gfp_allowed_mask = __GFP_BITS_MASK;
kmem_cache_init_late();
/*
* HACK ALERT! This is early. We're enabling the console before
* we've done PCI setups etc, and console_init() must be aware of
* this. But we do want output early, in case something goes wrong.
*/
console_init();
if (panic_later)
panic(panic_later, panic_param);
lockdep_info();
/*
* Need to run this when irqs are enabled, because it wants
* to self-test [hard/soft]-irqs on/off lock inversion bugs
* too:
*/
locking_selftest();
#ifdef CONFIG_BLK_DEV_INITRD
if (initrd_start && !initrd_below_start_ok &&
page_to_pfn(virt_to_page((void *)initrd_start)) < min_low_pfn) {
printk(KERN_CRIT "initrd overwritten (0x%08lx < 0x%08lx) - "
"disabling it.\n",
page_to_pfn(virt_to_page((void *)initrd_start)),
min_low_pfn);
initrd_start = 0;
}
#endif
page_cgroup_init();
enable_debug_pagealloc();
kmemtrace_init();
kmemleak_init();
debug_objects_mem_init();
idr_init_cache();
setup_per_cpu_pageset();
numa_policy_init();
if (late_time_init)
late_time_init();
sched_clock_init();
calibrate_delay();
pidmap_init();
anon_vma_init();
#ifdef CONFIG_X86
if (efi_enabled)
efi_enter_virtual_mode();
#endif
thread_info_cache_init();
cred_init();
fork_init(totalram_pages);
proc_caches_init();
buffer_init();
key_init();
security_init();
vfs_caches_init(totalram_pages);
signals_init();
/* rootfs populating might need page-writeback */
page_writeback_init();
#ifdef CONFIG_PROC_FS
proc_root_init();
#endif
cgroup_init();
cpuset_init();
taskstats_init_early();
delayacct_init();
check_bugs();
acpi_early_init(); /* before LAPIC and SMP init */
sfi_init_late();
ftrace_init();
/* Do the rest non-__init'ed, we're now alive */
rest_init();
}
int main(void)
{
unsigned int score, high_score;
char score_s[MAXDIGITNUM+1];
ROMEMU();
USE_UI();
timer_pri_set(0,1);
random_init();
lcd_init();
key_init();
timer_init();
sound_init();
timer_set(1,100);
timer_start(1);
ENINT();
lcd_cursor(0,0);
lcd_printstr(" 0:Game Start ");
lcd_cursor(0,1);
lcd_printstr(" *:High Score ");
high_score = 0;
lcd_cursor(0,0);
while(1)
{
if (key_check(10) == KEYON){ /* *キー:ハイスコア表示 */
lcd_cursor(0,0); /* LCD にハイスコア表示 */
lcd_printstr(" High Score is ");
lcd_cursor(0,1);
lcd_printstr(" ");
lcd_cursor(0,1);
lcd_printstr(ntos(high_score,score_s));
}
if (key_check(10) == KEYOFF){
lcd_cursor(0,0);
lcd_printstr(" 0:Game Start ");
lcd_cursor(0,1);
lcd_printstr(" *:High Score ");
}
if (key_check(11) == KEYON){ /* 0キー:ゲームスタート */
zanki = 5;
lcd_cursor(0,0); /* LCD に操作方法表示 */
lcd_printstr("*:Sight 0:Trig.");
score = game_start(); /* ゲームスタート */
lcd_cursor(0,1); /* 得点表示欄のクリア */
lcd_printstr(" ");
if (score > high_score){ /* ハイスコアのとき */
high_score = score; /* ハイスコア登録 */
lcd_cursor(0,0); /* ハイスコア表示 */
lcd_printstr(" High Score !!! ");
lcd_cursor(0,1);
lcd_printstr(ntos(high_score,score_s));
} else { /* ハイスコアでないとき*/
lcd_cursor(0,0); /* スコアを表示 */
lcd_printstr(" Your Score ... ");
lcd_cursor(0,1);
lcd_printstr(ntos(score,score_s));
}
n_time = 0;
while (n_time < WAITFEWSEC); /* 得点表示後にちょっと待つ */
lcd_cursor(0,0); /* LCD にメッセージ表示 */
lcd_printstr(" 0:Game Start ");
lcd_cursor(0,1);
lcd_printstr(" *:High Score ");
}
}
}
/******************************************************************************
* FunctionName : user_init
* Description : entry of user application, init user function here
* Parameters : none
* Returns : none
*******************************************************************************/
void ICACHE_FLASH_ATTR user_init(void) {
system_init_done_cb(user_init_done);
// UART Devices
#if MOD_RFID_ENABLE
mod_rfid_init();
#endif
#if MOD_FINGER_ENABLE
mod_finger_init();
#endif
#if MOD_EMTR_ENABLE
mod_emtr_init();
#endif
devices_init();
debug("\n\nSDK version: %s\n", system_get_sdk_version());
debug("Firmware: %s\n", config_firmware_bin());
memory_info();
user_config_init();
user_config_load();
#if SSL_ENABLE
user_config_load_private_key();
user_config_load_certificate();
#endif
user_events_init();
// Scan
webserver_register_handler_callback(DEVICES_URL, devices_handler);
webserver_register_handler_callback(WIFI_SCAN_URL, wifi_scan_handler);
// Native Devices
#if BUTTON_ENABLE
user_button_init();
#endif
#if RELAY_ENABLE
user_relay_init();
#endif
#if ADC_ENABLE
user_adc_init();
#endif
#if BATTERY_ENABLE
user_battery_init();
#endif
// I2C Devices
i2c_master_gpio_init();
#if MOD_RGB_ENABLE
mod_rgb_init();
#endif
#if MOD_TC_MK2_ENABLE
mod_tc_mk2_init();
#endif
#if MOD_IO2_ENABLE
mod_io2_init();
#endif
#if MOD_IRDA_ENABLE
mod_irda_init();
#endif
// SPI Devices
#if MOD_LED_8x8_RGB_ENABLE
mod_led_8x8_rgb_init();
#endif
key_init();
webserver_init();
}
/***********************************主函数**************************************/
void main(void)
{
for(i = 0; i < 110; i++) //装载摄像头边线初值
{
slope.left_initial_value[i] = left_initial[i];
slope.right_initial_value[i] = right_initial[i];
}
camera_init(imgbuff); //初始化摄像头
//配置中断服务函数
set_vector_handler(PORTA_VECTORn , PORTA_IRQHandler); //设置LPTMR的中断服务函数为 PORTA_IRQHandler
set_vector_handler(DMA0_VECTORn , DMA0_IRQHandler); //设置LPTMR的中断服务函数为 PORTA_IRQHandler
set_vector_handler(PORTE_VECTORn ,PORTE_IRQHandler); //设置PORTE的中断服务函数为 PORTE_IRQHandler
enable_irq (PORTE_IRQn); //使能PORTE中断
port_init(PTE2, ALT1 | PULLUP ); //5 蓝牙同时发车
if(!gpio_get (PTE2)) //蓝牙通讯同时发车
{
key_init(KEY_A);
OLED_Init();
while(1)
{
#if ( CAR_NUMBER == 2 )
OLED_P6x8Str(0, 6, "Press K6 to start!");
if(key_check(KEY_A) == KEY_DOWN) //按K3发车
{
uart_putchar(VCAN_PORT, ch);
OLED_P6x8Str(0, 6, " ");
bluetooth = 1;
break;
}
#endif
#if ( CAR_NUMBER == 1 )
OLED_P6x8Str(0, 6, "Start 2B to start!");
while(uart_query (VCAN_PORT) == 0);
OLED_P6x8Str(0, 6, " ");
bluetooth = 1;
break;
#endif
}
}
else
{
bluetooth = 2;
}
mk60int();
init_PID();
while(1)
{
oled_display();
camera_get_img(); //摄像头获取图像
img_extract(img, imgbuff, CAMERA_SIZE); //解压图像
get_slope(img, &slope); //获取斜率
boundary_detection();//扫描图像获取边界
picture_analysis();//获取中线
//SetMotorVoltage(0.2,0.2);
if(!gpio_get (PTE1))
{
vcan_sendimg(imgbuff,CAMERA_SIZE);//摄像头看图像
}
if(!gpio_get (PTE2)) //蓝牙同时发车
{
#if ( CAR_NUMBER == 1 )
if(uart_querychar (VCAN_PORT, &ch) != 0)
{
if(ch == 's')
{
stop_done = 1;
}
}
#endif
#if ( CAR_NUMBER == 2 )
if(stop_done)
{
lptmr_delay_ms(500); //延时确保后车过线
while(1)
{
uart_putchar(VCAN_PORT, ch_stop);
}
}
#endif
}
if(!gpio_get (PTE3)) //速度40
{
vPID.Setpoint = 40;
}
if(!gpio_get (PTE4)) //速度45
{
vPID.Setpoint = 45;
}
if(!gpio_get (PTE5)) //速度50
{
vPID.Setpoint = 50;
}
if(!gpio_get (PTE6)) //速度47
{
vPID.Setpoint = 46;
}
if(!gpio_get (PTE7)) //速度48
{
vPID.Setpoint = 47;
}
if(!gpio_get (PTE8)) //速度49
{
vPID.Setpoint = 48;
}
//ware1[0]=xielv;
//vcan_sendware(ware1, sizeof(xielv));
/*
Display_number(36, 6, ttt);
Display_number(0, 6, sss);
printf("%d,", left_diuxian1);
printf("%d\n",tt-t);
*/
//printf("%d\n",speed1);
//printf("%d,",left_diuxian1);
//printf("%d\n",slope3);
//printf("%d,",left_chazi);
//printf("%d\n",right_chazi);
//printf("%d,",m);
//printf("%d\n",a);
// if(!gpio_get (PTE8))
// {
// for(l=0;l<120;l++)
// {
// printf("%d,",left_bianjie[l]);
// }
// printf("\n");
// }
}
}
static int
curses_init(const struct sessmgr_sw *sm)
{
extern int Numrows, Numcols;
if (!isatty(0))
return 0;
if (initted)
{
#ifdef RAW_SESSMGR
set_curterm(my_term);
#endif
refresh(); /* bring curses back to life */
}
else
{
initscr(); /* be nice to trap errors... */
#ifdef COLOR_SUPPORT
/*
* I assume the curses manpage tells the truth when it claims that
* colors are initialized to RGB defaults. If not, I may need to set
* up the colors in question...
*/
if (has_colors() && start_color() != ERR && COLORS >= 8)
{
color_pair_map = mallocw(COLOR_PAIRS * sizeof *color_pair_map);
memset(color_pair_map, -1, COLOR_PAIRS * sizeof *color_pair_map);
map_colors(COLOR_BLACK, COLOR_WHITE); /* default color pair */
if(!MainColors) MainColors = LIGHTGRAY+(BLACK<<4); /* not high-intensity */
}
else MainColors = 0; /* no colors available */
#endif
my_term = cur_term;
noecho();
nonl();
raw();
keys = key_init();
key_add(key_down, DNARROW);
key_add(key_f1, -3);
key_add(key_f2, -4);
key_add(key_f3, -5);
key_add(key_f4, -6);
key_add(key_f5, -7);
key_add(key_f6, -8);
key_add(key_f7, -9);
key_add(key_f8, -10);
key_add(key_f9, -11);
#ifdef M_UNIX
/* SCO botches it, as per usual */
key_add(key_f0, -2);
#else
key_add(key_f10, -2);
#endif
key_add(key_left, LTARROW);
key_add(key_right, RTARROW);
key_add(key_up, UPARROW);
key_add("\177", '\b'); /* so DEL behaves as BS */
initted = 1;
}
Suspense = 0;
Numrows = LINES;
Numcols = COLS;
return 1;
}
asmlinkage void __init start_kernel(void)
{
char * command_line;
/*
* Interrupts are still disabled. Do necessary setups, then
* enable them
*/
lock_kernel();
page_address_init();
printk(KERN_NOTICE);
printk(linux_banner);
setup_arch(&command_line);
setup_per_cpu_areas();
/*
* Mark the boot cpu "online" so that it can call console drivers in
* printk() and can access its per-cpu storage.
*/
smp_prepare_boot_cpu();
/*
* Set up the scheduler prior starting any interrupts (such as the
* timer interrupt). Full topology setup happens at smp_init()
* time - but meanwhile we still have a functioning scheduler.
*/
sched_init();
/*
* Disable preemption - early bootup scheduling is extremely
* fragile until we cpu_idle() for the first time.
*/
preempt_disable();
build_all_zonelists();
page_alloc_init();
printk(KERN_NOTICE "Kernel command line: %s\n", saved_command_line);
parse_early_param();
parse_args("Booting kernel", command_line, __kernel_param_list_ptr,
kparam_list_count(),
&unknown_bootoption);
sort_main_extable();
#ifdef CONFIG_LTT
ltt_init();
#endif //CONFIG_LTT
trap_init();
rcu_init();
init_IRQ();
pidhash_init();
init_timers();
hrtimers_init();
softirq_init();
time_init();
/*
* HACK ALERT! This is early. We're enabling the console before
* we've done PCI setups etc, and console_init() must be aware of
* this. But we do want output early, in case something goes wrong.
*/
console_init();
if (panic_later)
panic(panic_later, panic_param);
profile_init();
local_irq_enable();
#ifdef CONFIG_BLK_DEV_INITRD
if (initrd_start && !initrd_below_start_ok &&
initrd_start < min_low_pfn << PAGE_SHIFT) {
printk(KERN_CRIT "initrd overwritten (0x%08lx < 0x%08lx) - "
"disabling it.\n",initrd_start,min_low_pfn << PAGE_SHIFT);
initrd_start = 0;
}
#endif
vfs_caches_init_early();
mem_init();
kmem_cache_init();
setup_per_cpu_pageset();
numa_policy_init();
if (late_time_init)
late_time_init();
calibrate_delay();
pidmap_init();
pgtable_cache_init();
prio_tree_init();
anon_vma_init();
#ifdef CONFIG_X86
if (efi_enabled)
efi_enter_virtual_mode();
#endif
fork_init(num_physpages);
proc_caches_init();
buffer_init();
unnamed_dev_init();
key_init();
security_init();
vfs_caches_init(num_physpages);
radix_tree_init();
signals_init();
/* rootfs populating might need page-writeback */
page_writeback_init();
#ifdef CONFIG_PROC_FS
proc_root_init();
#endif
cpuset_init();
check_bugs();
acpi_early_init(); /* before LAPIC and SMP init */
/* Do the rest non-__init'ed, we're now alive */
rest_init();
}
