void gobkwd(void *par)
{
running = 1;
drive_goto(-256, -256);
running = 0;
cogstop(cogid());
}
void gofwd(void *par)
{
running = 1;
drive_goto(256, 256);
running = 0;
cogstop(cogid());
}
int cog_endStackTest(int *coginfo)
{
int cog = *coginfo - 1;
int *addr = coginfo;
int stacksize = 0;
//print("\n\n---[ cog_end ]---\n\n");
//print("Cog Address = %d, Cog Value = %d\n", (int) addr, *addr);
//print("Stack Count Address = %d, Stack Count = %d\n\n", (int) (addr+1), *(addr+1));
int stackInts = *(addr+1);
int stackOverhead = sizeof(_thread_state_t) + (3 * sizeof(unsigned int));
//print("stackOverhead = %d bytes, %d ints\n", stackOverhead, stackOverhead/sizeof(int));
int cogRunTestOverhead = 2 * sizeof(int);
//print("cogRunTestOverhead = %d bytes, %d ints\n", cogRunTestOverhead, cogRunTestOverhead/sizeof(int));
int stackOther = stackInts - (stackOverhead/sizeof(int)) - (cogRunTestOverhead/sizeof(int));
//print("stackOther = %d ints\n\n", stackOther);
srand(stackOther);
//srand(0);
int n = -2;
for(int *i = addr; i < (addr + (stackInts)); i++)
{
//print("idx = %d, addr = %d, val = %d\n", (int)(i-addr-2), (int) i, *i);
if((n >= 0) && (stacksize == 0))
{
//if(*i != n)
if(*i != rand())
{
stacksize = stackOther - n;
}
}
n++;
}
//print("stacksize = %d ints\n", stacksize);
if(cog > -1)
{
if(cog == cogid())
{
free(coginfo);
cogstop(cog);
}
else
{
cogstop(cog);
free(coginfo);
}
}
*coginfo = 0;
if(stacksize < 0) stacksize = 0;
return stacksize;
}
void cog_end(int *coginfo)
{
int cog = *coginfo - 1;
if(cog > -1)
{
if(cog == cogid())
{
free(coginfo);
cogstop(cog);
}
else
{
cogstop(cog);
free(coginfo);
}
}
*coginfo = 0;
}
int main(void)
{
uint8_t *buffer = (uint8_t *)(((uint32_t)padded_buffer + 15) & ~15);
SdLoaderInfo *info = (SdLoaderInfo *)_load_start_coguser0;
uint32_t load_address, index_width, offset_width, addr, count;
uint32_t tags_size, cache_size, cache_lines, cache_tags, mboxes, *sp;
VolumeInfo vinfo;
FileInfo finfo;
PexeFileHdr *hdr;
int sd_id, i;
uint8_t *p;
// determine the cache size and setup cache variables
index_width = info->cache_geometry >> 8;
offset_width = info->cache_geometry & 0xff;
tags_size = (1 << index_width) * 4;
cache_size = 1 << (index_width + offset_width);
cache_lines = HUB_SIZE - cache_size;
cache_tags = cache_lines - tags_size;
mboxes = cache_tags - sizeof(xmem_mbox_t) * 8 - 4;
xmem_mbox = (xmem_mbox_t *)mboxes;
// load the external memory driver
DPRINTF("Loading external memory driver\n");
memset((void *)mboxes, 0, sizeof(xmem_mbox_t) * 8 + 4);
xmem_mbox[8].hubaddr = XMEM_END;
cognew(_load_start_coguser1, mboxes);
DPRINTF("Loading SD driver\n");
sd_mbox = (uint32_t *)mboxes - 2;
sd_mbox[0] = 0xffffffff;
if ((sd_id = cognew(_load_start_coguser2, sd_mbox)) < 0) {
DPRINTF("Error loading SD driver\n");
return 1;
}
while (sd_mbox[0])
;
DPRINTF("Initializing SD card\n");
if (SD_Init(sd_mbox, 5) != 0) {
DPRINTF("SD card initialization failed\n");
return 1;
}
DPRINTF("Mounting filesystem\n");
if (MountFS(buffer, &vinfo) != 0) {
DPRINTF("MountFS failed\n");
return 1;
}
// open the .pex file
DPRINTF("Opening 'autorun.pex'\n");
if (FindFile(buffer, &vinfo, FILENAME, &finfo) != 0) {
DPRINTF("FindFile '%s' failed\n", FILENAME);
return 1;
}
// read the file header
DPRINTF("Reading PEX file header\n");
if (GetNextFileSector(&finfo, kernel_image, &count) != 0 || count < PEXE_HDR_SIZE) {
DPRINTF("Error reading PEX file header\n");
return 1;
}
// verify the header
DPRINTF("Verifying PEX file header\n");
hdr = (PexeFileHdr *)kernel_image;
if (strncmp(hdr->tag, PEXE_TAG, sizeof(hdr->tag)) != 0 || hdr->version != PEXE_VERSION) {
DPRINTF("Bad PEX file header\n");
return 1;
}
load_address = hdr->loadAddress;
// move past the header
memmove(kernel_image, (uint8_t *)kernel_image + PEXE_HDR_SIZE, SECTOR_SIZE - PEXE_HDR_SIZE);
p = (uint8_t *)kernel_image + SECTOR_SIZE - PEXE_HDR_SIZE;
// read the .kernel cog image
DPRINTF("Reading kernel image\n");
for (i = 1; i < 4; ++i) {
if (GetNextFileSector(&finfo, p, &count) != 0 || count < SECTOR_SIZE)
return 1;
p += SECTOR_SIZE;
}
// load the image
DPRINTF("Loading image at 0x%08x\n", load_address);
addr = load_address;
while (GetNextFileSector(&finfo, buffer, &count) == 0) {
write_block(addr, buffer, XMEM_SIZE_512);
addr += SECTOR_SIZE;
}
// stop the sd driver
DPRINTF("Stopping SD driver\n");
cogstop(sd_id);
// setup the stack
// at start stack contains xmem_mbox, cache_tags, cache_lines, cache_geometry, pc
sp = (uint32_t *)mboxes;
*--sp = load_address;
*--sp = info->cache_geometry;
*--sp = cache_lines;
*--sp = cache_tags;
*--sp = mboxes;
// start the xmm kernel boot code
DPRINTF("Starting kernel\n");
coginit(cogid(), kernel_image, sp);
// should never reach this
return 0;
}
