/**
* Intializes all Xinu data structures and devices.
* @return OK if everything is initialized successfully
*/
static int sysinit(void)
{
int i;
struct thrent *thrptr; /* thread control block pointer */
struct memblock *pmblock; /* memory block pointer */
/* Initialize system variables */
/* Count this NULLTHREAD as the first thread in the system. */
thrcount = 1;
/* Initialize free memory list */
memheap = roundmb(memheap);
platform.maxaddr = truncmb(platform.maxaddr);
memlist.next = pmblock = (struct memblock *)memheap;
memlist.length = (uint)(platform.maxaddr - memheap);
pmblock->next = NULL;
pmblock->length = (uint)(platform.maxaddr - memheap);
/* Initialize thread table */
for (i = 0; i < NTHREAD; i++)
{
thrtab[i].state = THRFREE;
}
/* initialize null thread entry */
thrptr = &thrtab[NULLTHREAD];
thrptr->state = THRCURR;
thrptr->prio = 0;
strlcpy(thrptr->name, "prnull", TNMLEN);
thrptr->stkbase = (void *)&_end;
thrptr->stklen = (ulong)memheap - (ulong)&_end;
thrptr->stkptr = 0;
thrptr->memlist.next = NULL;
thrptr->memlist.length = 0;
thrcurrent = NULLTHREAD;
/* Initialize semaphores */
for (i = 0; i < NSEM; i++)
{
semtab[i].state = SFREE;
semtab[i].queue = queinit();
}
/* Initialize monitors */
for (i = 0; i < NMON; i++)
{
montab[i].state = MFREE;
}
/* Initialize buffer pools */
for (i = 0; i < NPOOL; i++)
{
bfptab[i].state = BFPFREE;
}
/* initialize thread ready list */
readylist = queinit();
#if SB_BUS
backplaneInit(NULL);
#endif /* SB_BUS */
#if RTCLOCK
/* initialize real time clock */
clkinit();
#endif /* RTCLOCK */
#ifdef UHEAP_SIZE
/* Initialize user memory manager */
{
void *userheap; /* pointer to user memory heap */
userheap = stkget(UHEAP_SIZE);
if (SYSERR != (int)userheap)
{
userheap = (void *)((uint)userheap - UHEAP_SIZE + sizeof(int));
memRegionInit(userheap, UHEAP_SIZE);
/* initialize memory protection */
safeInit();
/* initialize kernel page mappings */
safeKmapInit();
}
}
#endif
#if USE_TLB
/* initialize TLB */
tlbInit();
/* register system call handler */
exceptionVector[EXC_SYS] = syscall_entry;
#endif /* USE_TLB */
#if NMAILBOX
/* intialize mailboxes */
mailboxInit();
#endif
#if NDEVS
for (i = 0; i < NDEVS; i++)
{
devtab[i].init((device*)&devtab[i]);
}
#endif
#ifdef WITH_USB
usbinit();
#endif
#if NVRAM
nvramInit();
#endif
#if NNETIF
netInit();
#endif
#if GPIO
gpioLEDOn(GPIO_LED_CISCOWHT);
#endif
return OK;
}
void
boot(int argc, char *argv[])
{
int fd, afd, srvt;
Method *mp;
char *cmd, cmdbuf[64], *iargv[16];
char rootbuf[64];
int islocal, ishybrid;
char *rp, *rsp;
int iargc, n;
char buf[32];
AuthInfo *ai;
fmtinstall('r', errfmt);
bind("#c", "/dev", MBEFORE);
open("/dev/cons", OREAD);
open("/dev/cons", OWRITE);
open("/dev/cons", OWRITE);
/*
* init will reinitialize its namespace.
* #ec gets us plan9.ini settings (*var variables).
*/
bind("#ec", "/env", MREPL);
bind("#e", "/env", MBEFORE|MCREATE);
bind("#s", "/srv", MREPL|MCREATE);
bind("#p", "/proc", MREPL|MCREATE);
print("\nHello, I am Harvey :-)\n\n");
#ifdef DEBUG
print("argc=%d\n", argc);
for(fd = 0; fd < argc; fd++)
print("%#p %s ", argv[fd], argv[fd]);
print("\n");
#endif //DEBUG
ARGBEGIN{
case 'k':
kflag = 1;
break;
case 'm':
mflag = 1;
break;
case 'f':
fflag = 1;
break;
}ARGEND
readfile("#e/cputype", cputype, sizeof(cputype));
readfile("#e/service", service, sizeof(service));
/* Do the initial ACPI interrupt setup work.
* If we don't do this we may not get needed
* interfaces. */
if (getenv("acpiirq"))
acpiirq();
/*
* set up usb keyboard, mouse and disk, if any.
*/
usbinit();
print("usbinit done\n");
/*
* pick a method and initialize it
*/
if(method[0].name == nil)
fatal("no boot methods");
mp = rootserver(argc ? *argv : 0);
(*mp->config)(mp);
islocal = strcmp(mp->name, "local") == 0;
ishybrid = strcmp(mp->name, "hybrid") == 0;
/*
* load keymap if it is there.
*/
kbmap();
/*
* authentication agent
*/
authentication(cpuflag);
print("connect...");
/*
* connect to the root file system
*/
fd = (*mp->connect)();
if(fd < 0)
fatal("can't connect to file server");
if(!islocal && !ishybrid){
if(cfs)
fd = (*cfs)(fd);
}
print("version...");
buf[0] = '\0';
n = fversion(fd, 0, buf, sizeof buf);
if(n < 0)
fatal("can't init 9P");
srvcreate("boot", fd);
/*
* create the name space, mount the root fs
*/
if(bind("/", "/", MREPL) < 0)
fatal("bind /");
rp = getenv("rootspec");
if(rp == nil)
rp = "";
afd = fauth(fd, rp);
if(afd >= 0){
ai = auth_proxy(afd, auth_getkey, "proto=p9any role=client");
if(ai == nil)
print("authentication failed (%r), trying mount anyways\n");
}
if(mount(fd, afd, "/root", MREPL|MCREATE, rp, 'M') < 0)
fatal("mount /");
rsp = rp;
rp = getenv("rootdir");
if(rp == nil)
rp = rootdir;
if(bind(rp, "/", MAFTER|MCREATE) < 0){
if(strncmp(rp, "/root", 5) == 0){
fprint(2, "boot: couldn't bind $rootdir=%s to root: %r\n", rp);
fatal("second bind /");
}
snprint(rootbuf, sizeof rootbuf, "/root/%s", rp);
rp = rootbuf;
if(bind(rp, "/", MAFTER|MCREATE) < 0){
fprint(2, "boot: couldn't bind $rootdir=%s to root: %r\n", rp);
if(strcmp(rootbuf, "/root//plan9") == 0){
fprint(2, "**** warning: remove rootdir=/plan9 entry from plan9.ini\n");
rp = "/root";
if(bind(rp, "/", MAFTER|MCREATE) < 0)
fatal("second bind /");
}else
fatal("second bind /");
}
}
close(fd);
setenv("rootdir", rp);
settime(islocal, afd, rsp);
if(afd > 0)
close(afd);
cmd = getenv("init");
srvt = strcmp(service, "terminal");
if(cmd == nil){
if(!srvt) {
sprint(cmdbuf, "/%s/bin/init -%s%s", cputype,
"t", mflag ? "m" : "");
cmd = cmdbuf;
} else {
sprint(cmdbuf, "/%s/bin/init -%s%s", cputype,
"c", mflag ? "m" : "");
cmd = cmdbuf;
}
}
iargc = tokenize(cmd, iargv, nelem(iargv)-1);
cmd = iargv[0];
/* make iargv[0] basename(iargv[0]) */
if((iargv[0] = strrchr(iargv[0], '/')) != nil)
iargv[0]++;
else
iargv[0] = cmd;
iargv[iargc] = nil;
exec(cmd, iargv);
fatal(cmd);
}
void
boot(int argc, char *argv[])
{
int fd, afd;
Method *mp;
char *cmd, cmdbuf[64], *iargv[16];
char rootbuf[64];
int islocal, ishybrid;
char *rp, *rsp, *rdparts;
int iargc, n;
char buf[32];
AuthInfo *ai;
fmtinstall('r', errfmt);
/*
* we should inherit the standard fds all referring to /dev/cons,
* but we're being paranoid.
*/
close(0);
close(1);
close(2);
bind("#c", "/dev", MBEFORE);
open("/dev/cons", OREAD);
open("/dev/cons", OWRITE);
open("/dev/cons", OWRITE);
/*
* init will reinitialize its namespace.
* #ec gets us plan9.ini settings (*var variables).
*/
bind("#ec", "/env", MREPL);
bind("#e", "/env", MBEFORE|MCREATE);
bind("#s", "/srv/", MREPL|MCREATE);
if(getenv("debugboot"))
debugboot = 1;
#ifdef DEBUG
print("argc=%d\n", argc);
for(fd = 0; fd < argc; fd++)
print("%#p %s ", argv[fd], argv[fd]);
print("\n");
#endif /* DEBUG */
ARGBEGIN{
case 'k':
kflag = 1;
break;
case 'm':
mflag = 1;
break;
case 'f':
fflag = 1;
break;
}ARGEND
readfile("#e/cputype", cputype, sizeof(cputype));
/*
* set up usb keyboard & mouse, if any.
* starts usbd, which mounts itself on /dev.
* starts partfs on first disk, if any, to permit nvram on usb.
*/
usbinit(Dontpost);
/*
* pick a method and initialize it
*/
if(method[0].name == nil)
fatal("no boot methods");
mp = rootserver(argc ? *argv : 0);
(*mp->config)(mp);
islocal = strcmp(mp->name, "local") == 0;
ishybrid = strcmp(mp->name, "hybrid") == 0;
/*
* load keymap if it's there.
*/
kbmap();
/* don't trigger aoe until the network has been configured */
bind("#æ", "/dev", MAFTER); /* nvram could be here */
bind("#S", "/dev", MAFTER); /* nvram could be here */
/*
* read disk partition tables here so that readnvram via factotum
* can see them. ideally we would have this information in
* environment variables before attaching #S, which would then
* parse them and create partitions.
*/
rdparts = getenv("readparts");
if(rdparts)
readparts();
free(rdparts);
/*
* authentication agent
* sets hostowner, creating an auth discontinuity
*/
if(debugboot)
fprint(2, "auth...");
authentication(cpuflag);
/* leave existing subprocesses in their own namespace */
rfork(RFNAMEG);
/*
* restart partfs under the new hostowner id
*/
usbinit(Post);
/*
* connect to the root file system
*/
fd = (*mp->connect)();
if(fd < 0)
fatal("can't connect to file server");
if(getenv("srvold9p"))
fd = old9p(fd);
if(!islocal && !ishybrid){
if(cfs)
fd = (*cfs)(fd);
}
print("version...");
buf[0] = '\0';
n = fversion(fd, 0, buf, sizeof buf);
if(n < 0)
fatal("can't init 9P");
srvcreate("boot", fd);
/*
* create the name space, mount the root fs
*/
if(bind("/", "/", MREPL) < 0)
fatal("bind /");
rp = getenv("rootspec");
if(rp == nil)
rp = "";
afd = fauth(fd, rp);
if(afd >= 0){
ai = auth_proxy(afd, auth_getkey, "proto=p9any role=client");
if(ai == nil)
print("authentication failed (%r), trying mount anyways\n");
}
if(mount(fd, afd, "/root", MREPL|MCREATE, rp) < 0)
fatal("mount /");
rsp = rp;
rp = getenv("rootdir");
if(rp == nil)
rp = rootdir;
if(bind(rp, "/", MAFTER|MCREATE) < 0){
if(strncmp(rp, "/root", 5) == 0){
fprint(2, "boot: couldn't bind $rootdir=%s to root: %r\n", rp);
fatal("second bind /");
}
snprint(rootbuf, sizeof rootbuf, "/root/%s", rp);
rp = rootbuf;
if(bind(rp, "/", MAFTER|MCREATE) < 0){
fprint(2, "boot: couldn't bind $rootdir=%s to root: %r\n", rp);
if(strcmp(rootbuf, "/root//plan9") == 0){
fprint(2, "**** warning: remove rootdir=/plan9 entry from plan9.ini\n");
rp = "/root";
if(bind(rp, "/", MAFTER|MCREATE) < 0)
fatal("second bind /");
}else
fatal("second bind /");
}
}
close(fd);
setenv("rootdir", rp);
settime(islocal, afd, rsp);
if(afd > 0)
close(afd);
swapproc();
cmd = getenv("init");
if(cmd == nil){
sprint(cmdbuf, "/%s/init -%s%s", cputype,
cpuflag ? "c" : "t", mflag ? "m" : "");
cmd = cmdbuf;
}
iargc = tokenize(cmd, iargv, nelem(iargv)-1);
cmd = iargv[0];
/* make iargv[0] basename(iargv[0]) */
if(iargv[0] = strrchr(iargv[0], '/'))
iargv[0]++;
else
iargv[0] = cmd;
iargv[iargc] = nil;
chmod("/srv/" PARTSRV, 0600);
exec(cmd, iargv);
fatal(cmd);
}
void EcuM_AL_DriverInitTwo(const EcuM_ConfigType* ConfigPtr)
{
(void)ConfigPtr;
//lint --e{715} PC-Lint (715) - ConfigPtr usage depends on configuration of modules
// VALIDATE_STATE(ECUM_STATE_STARTUP_TWO);
#if defined(USE_ETH)
buffer_init();
Eth_Init();
#endif
//#undef USE_USB
#if defined(USE_USB)
// usb_heap_init();
// mailboxInit();
// usb_sem_init();
usbinit();
#endif
#if defined(USE_SPI)
// Setup SPI
Spi_Init(ConfigPtr->SpiConfig);
#endif
#if defined(USE_EEP)
// Setup EEP
NO_DRIVER(Eep_Init(ConfigPtr->EepConfig));
#endif
#if defined(USE_FLS)
// Setup Flash
NO_DRIVER(Fls_Init(ConfigPtr->FlashConfig));
#endif
#if defined(USE_FEE)
// Setup FEE
NO_DRIVER(Fee_Init());
#endif
#if defined(USE_EA)
// Setup EA
NO_DRIVER(Ea_Init());
#endif
#if defined(USE_NVM)
// Setup NVRAM Manager and start the read all job
NO_DRIVER(NvM_Init());
NO_DRIVER(NvM_ReadAll());
#endif
#if defined(USE_LIN)
// Setup Lin driver
Lin_Init(ConfigPtr->LinConfig);
#endif
#if defined(USE_LINIF)
// Setup LinIf
LinIf_Init(ConfigPtr->LinIfConfig);
#endif
#if defined(USE_LINSM)
// Setup LinSM
LinSM_Init(ConfigPtr->LinSMConfig);
#endif
// Setup CAN tranceiver
// TODO
#if defined(USE_CAN)
// Setup Can driver
Can_Init(ConfigPtr->CanConfig);
#endif
#if defined(USE_CANIF)
// Setup CanIf
NO_DRIVER(CanIf_Init(ConfigPtr->PostBuildConfig->CanIf_ConfigPtr));
#endif
#if defined(USE_CANTP)
// Setup CAN TP
NO_DRIVER(CanTp_Init(ConfigPtr->PostBuildConfig->CanTp_ConfigPtr));
#endif
#if defined(USE_CANSM)
NO_DRIVER(CanSM_Init(ConfigPtr->CanSMConfig));
#endif
#if defined(USE_J1939TP)
// Setup J1939Tp
NO_DRIVER(J1939Tp_Init(ConfigPtr->J1939TpConfig));
#endif
// Setup LIN
// TODO
#if defined(USE_PDUR)
// Setup PDU Router
NO_DRIVER(PduR_Init(ConfigPtr->PostBuildConfig->PduR_ConfigPtr));
#endif
#if defined(USE_CANNM)
// Setup Can Network Manager
NO_DRIVER(CanNm_Init(ConfigPtr->PostBuildConfig->CanNm_ConfigPtr));
#endif
#if defined(USE_UDPNM)
// Setup Udp Network Manager
NO_DRIVER(UdpNm_Init(ConfigPtr->UdpNmConfig));
#endif
#if defined(USE_NM)
// Setup Network Management Interface
NO_DRIVER(Nm_Init());
#endif
#if defined(USE_COM)
// Setup COM layer
NO_DRIVER(Com_Init(ConfigPtr->PostBuildConfig->ComConfigurationPtr));
#endif
#if defined(USE_DCM)
// Setup DCM
NO_DRIVER(Dcm_Init(ConfigPtr->DcmConfig));
#endif
#if defined(USE_IOHWAB)
// Setup IO hardware abstraction layer
IoHwAb_Init();
#endif
}
