void ke_init(void)
{
uint32_t endian = 0x44332211;
unsigned char *pendian = (unsigned char *) &endian;
/* Endian check */
if (pendian[0] != 0x11 || pendian[3] != 0x44)
fatal("cannot run kernel on a big endian machine");
isa_init();
ke = calloc(1, sizeof(struct kernel_t));
ke->current_pid = 1000; /* Initial assigned pid */
/* Initialize mutex for variables controlling calls to 'ke_process_events()' */
pthread_mutex_init(&ke->process_events_mutex, NULL);
/* Debug categories */
isa_inst_debug_category = debug_new_category();
isa_call_debug_category = debug_new_category();
elf_debug_category = debug_new_category();
ld_debug_category = debug_new_category();
syscall_debug_category = debug_new_category();
ctx_debug_category = debug_new_category();
/* Initialize GPU kernel */
gk_init();
/* Record start time */
ke_init_time = ke_timer();
}
void __init pcibios_init(void)
{
pci_controller_probe();
if (pci_controller_root == NULL)
return;
pci_scan_each_controller_bus();
if (pci_device_reorder)
pci_reorder_devs();
isa_init();
ebus_init();
rs_init();
clock_probe();
power_init();
}
u_int
initarm(void *arg)
{
ofw_handle_t ofw_handle = arg;
paddr_t pclean;
vaddr_t isa_io_virtaddr, isa_mem_virtaddr;
paddr_t isadmaphysbufs;
extern char shark_fiq[], shark_fiq_end[];
/* Don't want to get hit with interrupts 'til we're ready. */
(void)disable_interrupts(I32_bit | F32_bit);
set_cpufuncs();
/* XXX - set these somewhere else? -JJK */
boothowto = 0;
/* Init the OFW interface. */
/* MUST do this before invoking any OFW client services! */
ofw_init(ofw_handle);
/* Configure ISA stuff: must be done before consinit */
ofw_configisa(&isa_io_physaddr, &isa_mem_physaddr);
/* Map-in ISA I/O and memory space. */
/* XXX - this should be done in the isa-bus attach routine! -JJK */
isa_mem_virtaddr = ofw_map(isa_mem_physaddr, L1_S_SIZE, 0);
isa_io_virtaddr = ofw_map(isa_io_physaddr, L1_S_SIZE, 0);
/* Set-up the ISA system: must be done before consinit */
isa_init(isa_io_virtaddr, isa_mem_virtaddr);
/* Initialize the console (which will call into OFW). */
/* This will allow us to see panic messages and other printf output. */
consinit();
/* Get boot info and process it. */
ofw_getbootinfo(&boot_file, &boot_args);
process_kernel_args();
ofw_configisadma(&isadmaphysbufs);
#if (NISADMA > 0)
isa_dma_init();
#endif
/* allocate a cache clean space */
if ((pclean = ofw_getcleaninfo()) != -1) {
sa1_cache_clean_addr = ofw_map(pclean, 0x4000 * 2,
L2_B | L2_C);
sa1_cache_clean_size = 0x4000;
}
/* Configure memory. */
ofw_configmem();
/*
* Set-up stacks.
* The kernel stack for SVC mode will be updated on return
* from this routine.
*/
set_stackptr(PSR_IRQ32_MODE, irqstack.pv_va + PAGE_SIZE);
set_stackptr(PSR_UND32_MODE, undstack.pv_va + PAGE_SIZE);
set_stackptr(PSR_ABT32_MODE, abtstack.pv_va + PAGE_SIZE);
/* Set-up exception handlers. */
/*
* Take control of selected vectors from OFW.
* We take: undefined, swi, pre-fetch abort, data abort, addrexc,
* irq, fiq
* OFW retains: reset
*/
arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL & ~ARM_VEC_RESET);
data_abort_handler_address = (u_int)data_abort_handler;
prefetch_abort_handler_address = (u_int)prefetch_abort_handler;
undefined_handler_address =
(u_int)undefinedinstruction_bounce; /* why is this needed? -JJK */
/* Initialise the undefined instruction handlers. */
undefined_init();
/* Now for the SHARK-specific part of the FIQ set-up */
shark_fiqhandler.fh_func = shark_fiq;
shark_fiqhandler.fh_size = shark_fiq_end - shark_fiq;
shark_fiqhandler.fh_flags = 0;
shark_fiqhandler.fh_regs = &shark_fiqregs;
shark_fiqregs.fr_r8 = isa_io_virtaddr;
shark_fiqregs.fr_r9 = 0; /* no routine right now */
shark_fiqregs.fr_r10 = 0; /* no arg right now */
shark_fiqregs.fr_r11 = 0; /* scratch */
shark_fiqregs.fr_r12 = 0; /* scratch */
shark_fiqregs.fr_r13 = 0; /* must set a stack when r9 is set! */
if (fiq_claim(&shark_fiqhandler))
panic("Cannot claim FIQ vector.");
#if NKSYMS || defined(DDB) || defined(MODULAR)
#ifndef __ELF__
{
struct exec *kernexec = (struct exec *)KERNEL_TEXT_BASE;
extern int end;
extern char *esym;
ksyms_addsyms_elf(kernexec->a_syms, &end, esym);
}
#endif /* __ELF__ */
#endif /* NKSYMS || defined(DDB) || defined(MODULAR) */
#ifdef DDB
db_machine_init();
if (boothowto & RB_KDB)
Debugger();
#endif
/* Return the new stackbase. */
return(kernelstack.pv_va + USPACE_SVC_STACK_TOP);
}
void Task1()
{
uint8_t j, i;
uint8_t length,slot;
uint8_t *local_rx_buf;
uint32_t Score = 0;
int8_t rssi;
uint8_t cnt=0;
//uint8_t tx[3]={2,15,16};
//uint8_t rx[3]={3,18,19};
//uint8_t my_tx_slot[4];
char c = -1;
nrk_sig_t uart_rx_signal;
uint8_t finished = 0;
printf( "Task1 PID=%d\r\n",nrk_get_pid());
nrk_led_set(RED_LED);
isa_set_channel_pattern(1);
isa_init (ISA_REPEATER, MY_ID, MY_ID);//change
isa_set_schedule(ISA_REPEATER, MY_CLK_SRC_ID);
isa_set_channel(MY_CHANNEL);
isa_start();
isa_rx_pkt_set_buffer(rx_buf, RF_MAX_PAYLOAD_SIZE);
while(!isa_ready()) nrk_wait_until_next_period();
/*while(isa_join_ready()!=1) nrk_wait_until_next_period();
for(i=0;i<4;i++){ // set tx slots
if(tx_slot_from_join[i]==0)
break;
else
my_tx_slot[i]=tx_slot_from_join[i];
}
printf("MAIN_TX:%d\r\n",my_tx_slot[0]);*/
printf("isa start!\n\r");
//i=0;
while(1){
//nrk_gpio_toggle(NRK_DEBUG_0);
if( isa_rx_pkt_check()!=0 ) {
local_rx_buf=isa_rx_pkt_get(&length, &rssi);
//printf("length is %d, rssi is %d.\n\r",length,rssi);
//local_rx_buf[PKT_DATA_START+length-2]='\0';
//printf("RX[%d]",slot);
/*for(i=PKT_DATA_START; i<length-1; i++ )
printf( "%c",local_rx_buf[i]);*/
//printf("\r\n");
//sprintf( &tx_buf[PKT_DATA_START],"Hello Mingzhe!");
//length=strlen(&tx_buf[PKT_DATA_START])+PKT_DATA_START+1;
//isa_tx_pkt(tx_buf,length,configDHDR(),MY_TX_SLOT);
/*
length=strlen(&rx_buf[PKT_DATA_START])+PKT_DATA_START+1; //change
isa_tx_pkt(rx_buf,length,configDHDR(),MY_TX_SLOT1);//change forward the message from recipient
*/
//printf(" Forward message is sent.\n\r");
//printf("pkt length:%d",length);
//printf("%d\r\n",cnt++);
// printf( "%c",local_rx_buf[PKT_DATA_START]);
isa_rx_pkt_release();
// printf("\r\n");
}
if(isa_tx_pkt_check(MY_TX_SLOT)!=0){
// printf("Pending TX\r\n");
}
else{
/*sprintf( &tx_buf[PKT_DATA_START],local_rx_buf+PKT_DATA_START);
length=strlen(&rx_buf[PKT_DATA_START])+PKT_DATA_START+1; //change
//isa_tx_pkt(rx_buf,length,configDHDR(),my_tx_slot[0]);//change forward the message from recipient
isa_tx_pkt(rx_buf,length,configDHDR(),MY_TX_SLOT);
isa_wait_until_rx_or_tx ();*/
sprintf( &tx_buf[PKT_DATA_START],"2");
length=strlen(&tx_buf[PKT_DATA_START])+PKT_DATA_START+1;
isa_tx_pkt(tx_buf,length,configDHDR(),MY_TX_SLOT);
isa_wait_until_rx_or_tx ();
putchar('\n');
putchar('\r');
/*sprintf( &tx_buf2[PKT_DATA_START],"Hello from slot 2!");
length=strlen(&tx_buf2[PKT_DATA_START])+PKT_DATA_START+1;
isa_tx_pkt(tx_buf2,length,configDHDR(),2);
isa_wait_until_rx_or_tx ();*/
}
}
}