/***************************************************************
** 作 者: Songyimiao
** 官 网：http://www.miaowlabs.com
** 淘 宝：http://miaowlabs.taobao.com
** 日 期: 2015年11月29日
** 函数名称: main()
** 功能描述: 主函数
** 输 入:
** 输 出:
** 备 注:
********************喵呜实验室版权所有**************************
***************************************************************/
void main()
{
DisableInterrupts;//禁止总中断
DriversInit(); //MCU底层驱动初始化
MPU6050Init(); //MPU6050配置初始化
CarStandInit(); //应用程序变量初始化
UltraInit(); //超声波配置初始化
Delaynms(50); //延时50ms
ON_LED0; //指示灯亮起，表示初始化完毕
EnableInterrupts; //使能总中断
while(1)
{
STC_ISP();
Delaynms(50); //延时50ms
if(g_ucUart2Flag>=1)
{
BluetoothControl(); //蓝牙遥控函数
g_ucUart2Flag = 0;
}
BatteryChecker(); //电池电量检测（电量不足时，亮红灯）
if(EchoFlag) //判断是否测距完成
{
g_ucUltraDis=UltraDis();//读取超声波测距结果
}
#if DEBUG_UART //调试启用 预编译命令
//若要观察波形进行调试，需将DEBUG_UART设置成1，该版本不需要注释蓝牙控制函数
OutData[0] = g_fCarAngle;
OutData[1] = g_fGyroAngleSpeed;
OutData[2] = g_fLeftMotorOut ;
OutData[3] = g_fAngleControlOut;
OutPut_Data();
#endif
}
}
void MainTask(void * pvParameters)
{
// RCC_ClocksTypeDef RCC_Clocks;
// Initial hardware
DriversInit();
BuzzerTick(1000);
// RCC_GetClocksFreq(&RCC_Clocks);
CreateFEPProcess();
//
// LED_Run_Task_Create();
for( ;; )
{
vTaskDelete(NULL); // exit by itself
}
}
void
StartOS (AppModeType mode)
{
/* Set application mode */
sdvos_appmode = mode;
/*
* Initialize the MCU we are using. This involves low
* level initialization which usually at least include
* a stack switch after disabling interrupts globally for
* initialization. It is OK because StartOS will never
* return and we already processed the parameter.
* Procedures after this call will be carried out in
* SDVOS kernel context.
*
* McuInit can either be a C function, assembly function
* or a macro on different platforms.
*/
McuInit ();
/*
* Board specific initialization. Might include clock
* configuration, flash setup, etc.
*/
BoardInit ();
/* Initialize Interrupt Handling */
InterruptInit ();
/* Initialize all the drivers configured */
DriversInit ();
/* Activate auto start tasks */
TaskAutoStart (sdvos_appmode);
/* Initialize Alarm/Counter */
AlarmInit ();
#ifdef USE_SCHEDTBL
/*
* Initialize schedule table. This is mostly schedule
* table auto start. And it has to be done after task
* and alarm auto start. [SWS_Os_00510]
*/
ScheduleTableInit ();
#endif
/*
* StartupHook is called by the OS at the end of the
* initialization and before the scheduler is running.
*/
STARTUPHOOK ();
#ifdef DEBUG_SDVOS_VERBOSE
IntegrityCheck ();
#endif
#ifdef PRINT_BANNER
PrintBanner ();
#endif
DEBUG_PRINTF ("Starting SDVOS in mode %d...\n", sdvos_appmode);
/* Switch to the first user task */
JumpNext ();
/* Should never reach here */
return;
}
int kmain(UInt32 initial_stack, MultibootHeader* mboot, UInt32 mboot_magic) {
initial_esp = initial_stack;
CLI_Init();
Cls();
UInt32 initrd_end = *(UInt32*)(mboot->mods_addr+4);
placement_address = (Pointer) initrd_end;
// Set up our new stack here.
//UInt32 stack = (UInt32) kmalloc_a(8192, TRUE);
MultibootHeader* mboot_hdr = mboot; //kmalloc(sizeof(MultibootHeader));
//memcpy(mboot_hdr, mboot, sizeof(MultibootHeader));
kprintf("Starting init...\n");
//new_start(stack, mboot_hdr);
GDT_Init();
IDT_Init();
ISR_Init();
asm volatile("sti");
kprintf("Basics\t\t\t[OK]\n");
PIT_Init(PIT_MSTIME);
kprintf("PIT\t\t\t[OK]\n");
init_kheap();
InitPaging((mboot_hdr->mem_lower+mboot_hdr->mem_upper)&~3);
InitKernelHeap();
kprintf("Heap\t\t\t[OK]\n");
VFS_Init();
DevFS_Init();
kprintf("VFS\t\t\t[OK]\n");
DriversInit();
kprintf("Drivers\t\t\t[OK]\n");
Screen_Init();
FloppyInit();
checkAllBuses();
DumpPCIDeviceData();
kprintf("PCI\t\t\t[OK]\n");
/*kprintf("Keyboard Init... ");
KB_Init(0);
kprintf("[ok]\n");*/
FAT12_Init(FAT12_GetContext(FloppyGetDevice()), "/", "sys");
InitTasking();
KernelSymbolsLoad();
//Cls();
kprintf("kOS v0.6.13\n");
VFS_Node* rd = GetNodeFromFile(GetFileFromPath("/sys"));
kprintf("rd = %x\n", rd);
ArrayList* list = ListFiles(rd);
ALIterator* itr = ALGetItr(list);
while(ALItrHasNext(itr)) {
VFS_Node* node = ALItrNext(itr);
kprintf("file: %s\n", node->name);
}
ALFreeItr(itr);
ALFreeList(list);
//kprintf("kprintf symbol = %x\n", getKernelSymbol("kprintf"));
File* initScript = GetFileFromPath("/sys/init.script");
FileSeek(0, initScript); // Due to these being global objects, we have to do such ugly things as this.
#ifdef INIT_DEBUG
kprintf("initScript=%x\n", initScript);
#endif
char* lineBuf = kalloc(256);
int doBreak = 0;
while(!doBreak) {
if(fgetline(initScript, lineBuf, 256, '\n')==-1) {
if(strlen(lineBuf) > 0) {
doBreak = 1;
} else {
break; // We've processed everything that needs to be processed.
}
}
// Now parse it.
char* tok = strtok(lineBuf, " ");
kprintf("%s, %x\n", tok,tok);
if(!strcmp(tok, "load_driver")) {
#ifdef INIT_DEBUG
kprintf("load_driver ");
#endif
tok = strtok(NULL, " ");
// Load the driver specified.
File* drv = GetFileFromPath(tok);
if(drv != NULL) {
int drvLength = FileSeek(SEEK_EOF, drv);
FileSeek(0, drv);
void* drvBuf = kalloc(drvLength);
#ifdef INIT_DEBUG
kprintf("%s\n", GetNodeFromFile(drv)->name);
#endif
ReadFile(drvBuf, drvLength, drv);
ELF* elf = LoadKernelDriver(drvBuf);
#ifdef INIT_DEBUG
kprintf("elf->start=%x\n", elf->start);
#endif
if(elf->error == 0) {
void (*driverInit)() = (void (*)()) elf->start;
driverInit();
}
kfree(drvBuf);
drvBuf = NULL;
CloseFile(drv);
}
}
}
CloseFile(initScript);
kfree(lineBuf);
kprintf("Kernel init done...\n");
File* elf = GetFileFromPath("/sys/helloworld");
FileSeek(SEEK_EOF, elf);
int length = FileTell(elf);
FileSeek(0, elf);
UInt8* elfBuf = kalloc(length);
ReadFile(elfBuf, length, elf);
ELF* elfExe = Parse_ELF(elfBuf);
CreateTaskFromELF(elfExe);
// Kernel main logic loop
while(1) {
asm volatile("hlt");
}
return 0;
}
