INLINE void LED_TOGGLE(void)
{
static int led_status;
if ((led_status = !led_status) != 0)
ATOMIC(LED_ON());
else
ATOMIC(LED_OFF());
}
/**
* Private avr flush funtion.
*
* Write current buffered page in flash memory (if modified).
* This function erase flash memory page before writing.
*
* This function is only use internally in this module.
*/
static void flash_avr_flush(Flash *fd)
{
if (fd->page_dirty)
{
LOG_INFO("Flushing page %d\n", fd->curr_page);
// Wait while the SPM instruction is busy.
boot_spm_busy_wait();
LOG_INFO("Filling temparary page buffer...");
// Fill the temporary buffer of the AVR
for (page_addr_t page_addr = 0; page_addr < SPM_PAGESIZE; page_addr += 2)
{
uint16_t word = ((uint16_t)fd->page_buf[page_addr + 1] << 8) | fd->page_buf[page_addr];
ATOMIC(boot_page_fill(page_addr, word));
}
LOG_INFO("Done.\n");
wdt_reset();
LOG_INFO("Erasing page, addr %u...", fd->curr_page * SPM_PAGESIZE);
/* Page erase */
ATOMIC(boot_page_erase(fd->curr_page * SPM_PAGESIZE));
/* Wait until the memory is erased. */
boot_spm_busy_wait();
LOG_INFO("Done.\n");
LOG_INFO("Writing page, addr %u...", fd->curr_page * SPM_PAGESIZE);
/* Store buffer in flash page. */
ATOMIC(boot_page_write(fd->curr_page * SPM_PAGESIZE));
boot_spm_busy_wait(); // Wait while the SPM instruction is busy.
/*
* Reenable RWW-section again. We need this if we want to jump back
* to the application after bootloading.
*/
ATOMIC(boot_rww_enable());
fd->page_dirty = false;
LOG_INFO("Done.\n");
}
}
/**
* Change the scheduling priority of a process.
*
* Process piorities are signed ints, whereas a larger integer value means
* higher scheduling priority. The default priority for new processes is 0.
* The idle process runs with the lowest possible priority: INT_MIN.
*
* A process with a higher priority always preempts lower priority processes.
* Processes of equal priority share the CPU time according to a simple
* round-robin policy.
*
* As a general rule to maximize responsiveness, compute-bound processes
* should be assigned negative priorities and tight, interactive processes
* should be assigned positive priorities.
*
* To avoid interfering with system background activities such as input
* processing, application processes should remain within the range -10
* and +10.
*/
void proc_setPri(struct Process *proc, int pri)
{
#if CONFIG_KERN_PRI_INHERIT
int new_pri;
/*
* Whatever it will happen below, this is the new
* original priority of the process, i.e., the priority
* it has without taking inheritance under account.
*/
proc->orig_pri = pri;
/* If not changing anything we can just leave */
if ((new_pri = __prio_proc(proc)) == proc->link.pri)
return;
/*
* Actual process priority is the highest among its
* own priority and the one of the top-priority
* process that it is blocking (returned by
* __prio_proc()).
*/
proc->link.pri = new_pri;
#else
if (proc->link.pri == pri)
return;
proc->link.pri = pri;
#endif // CONFIG_KERN_PRI_INHERIT
if (proc != current_process)
ATOMIC(sched_reenqueue(proc));
}
// Main idea: as long as no other thread has modifed stack, a thread’s modi!cation can proceed.
int compare_and_swap(int* reg, int oldval, int newval)
{
ATOMIC();
int old_reg_val = *reg;
if (old_reg_val == oldval)
*reg = newval;
END_ATOMIC();
return old_reg_val;
}
static void spi_cleanup(UNUSED_ARG(struct SerialHardware *, _hw))
{
SPCR = 0;
SER_SPI_BUS_TXCLOSE;
/* Set all pins as inputs */
ATOMIC(SPI_DDR &= ~(BV(SPI_MISO_BIT) | BV(SPI_MOSI_BIT) | BV(SPI_SCK_BIT) | BV(SPI_SS_BIT)));
}
/**
* Change the scheduling priority of a process.
*
* Process piorities are signed ints, whereas a larger integer value means
* higher scheduling priority. The default priority for new processes is 0.
* The idle process runs with the lowest possible priority: INT_MIN.
*
* A process with a higher priority always preempts lower priority processes.
* Processes of equal priority share the CPU time according to a simple
* round-robin policy.
*
* As a general rule to maximize responsiveness, compute-bound processes
* should be assigned negative priorities and tight, interactive processes
* should be assigned positive priorities.
*
* To avoid interfering with system background activities such as input
* processing, application processes should remain within the range -10
* and +10.
*/
void proc_setPri(struct Process *proc, int pri)
{
if (proc->link.pri == pri)
return;
proc->link.pri = pri;
if (proc != current_process)
ATOMIC(sched_reenqueue(proc));
}
static void __attribute__((used)) svcHandlerDispatch(StackFrame* frame) {
ATOMIC(svcInterruptCount++);
SyscallIndex idx = (SyscallIndex)(((uint8_t*)frame->pc)[-2]);
switch(idx) {
SYSCALL_MAP
if (dispatchTable[idx].isVoid)
dispatchTable[idx].vfn(frame->a);
else
frame->a[0] = dispatchTable[idx].fn(frame->a);
break;
default:
sysprintln("Uknown SVC: %d", idx);
__asm("bkpt");
break;
}
return;
}
uint32 fifo32Read (fifo32 * buf, uint8 * result) {
uint32 val;
VERIFY_OBJECT (buf, OBJID_FIFO)
CLEAR_RESULT;
if (buf->nItems == 0) {
SET_RESULT (RSLT_BUFFER_EMPTY);
return ERROR;
}
val = * buf->rd_ptr;
buf->rd_ptr++;
ATOMIC(buf->nItems--);
if (buf->rd_ptr == buf->end)
buf->rd_ptr = buf->start;
return val;
}
uint16 fifo16Read (fifo16 * buf, uint8 * result) {
uint32 val;
VERIFY_OBJECT (buf, OBJID_FIFO)
CLEAR_RESULT;
if (buf->nItems == 0) {
SET_RESULT (RSLT_BUFFER_EMPTY);
return ERROR;
}
val = * buf->rd_ptr;
buf->rd_ptr++;
ATOMIC(buf->nItems--);
if (buf->rd_ptr == buf->end)
buf->rd_ptr = buf->start;
// _rx_buffer->tail = (unsigned int)(_rx_buffer->tail + 1) % SERIAL_BUFFER_SIZE;
return val;
}
/**
* Insert \a c in tx FIFO buffer.
* \note This function will switch out the calling process
* if the tx buffer is full. If the buffer is full
* and \a port->txtimeout is 0 return EOF immediatly.
*
* \return EOF on error or timeout, \a c otherwise.
*/
static int ser_putchar(int c, struct Serial *port)
{
if (fifo_isfull_locked(&port->txfifo))
{
#if CONFIG_SER_TXTIMEOUT != -1
/* If timeout == 0 we don't want to wait */
if (port->txtimeout == 0)
return EOF;
ticks_t start_time = timer_clock();
#endif
/* Wait while buffer is full... */
do
{
cpu_relax();
#if CONFIG_SER_TXTIMEOUT != -1
if (timer_clock() - start_time >= port->txtimeout)
{
ATOMIC(port->status |= SERRF_TXTIMEOUT);
return EOF;
}
#endif /* CONFIG_SER_TXTIMEOUT */
}
while (fifo_isfull_locked(&port->txfifo));
}
fifo_push_locked(&port->txfifo, (unsigned char)c);
/* (re)trigger tx interrupt */
port->hw->table->txStart(port->hw);
/* Avoid returning signed extended char */
return (int)((unsigned char)c);
}
/**
* Fetch a character from the rx FIFO buffer.
* \note This function will switch out the calling process
* if the rx buffer is empty. If the buffer is empty
* and \a port->rxtimeout is 0 return EOF immediatly.
*
* \return EOF on error or timeout, \a c otherwise.
*/
static int ser_getchar(struct Serial *port)
{
if (fifo_isempty_locked(&port->rxfifo))
{
#if CONFIG_SER_RXTIMEOUT != -1
/* If timeout == 0 we don't want to wait for chars */
if (port->rxtimeout == 0)
return EOF;
ticks_t start_time = timer_clock();
#endif
/* Wait while buffer is empty */
do
{
cpu_relax();
#if CONFIG_SER_RXTIMEOUT != -1
if (timer_clock() - start_time >= port->rxtimeout)
{
ATOMIC(port->status |= SERRF_RXTIMEOUT);
return EOF;
}
#endif /* CONFIG_SER_RXTIMEOUT */
}
while (fifo_isempty_locked(&port->rxfifo) && (ser_getstatus(port) & SERRF_RX) == 0);
}
/*
* Get a byte from the FIFO (avoiding sign-extension),
* re-enable RTS, then return result.
*/
if (ser_getstatus(port) & SERRF_RX)
return EOF;
return (int)(unsigned char)fifo_pop_locked(&port->rxfifo);
}
term hlist(register term H, register term regs, stack wam)
{ no i; cell xval; bp_long ival; byte stamp;
#if TRACE>0
fprintf(STD_err,"entering hlist, wam=%d, bboard=%d H=%d\n",
wam,g.shared[BBoardStk].base,H);
bbcheck(wam);
#endif
if(!INTEGER(X(1))) return NULL; /* first arg: stamp */
stamp=(byte)(OUTPUT_INT(X(1)));
xval=X(2); /* second arg: starting arity of listed terms */
if(!INTEGER(xval)) return NULL;
ival=OUTPUT_INT(xval);
for(i=0; i<HMAX; i++)
if(hstamp[i]>=stamp && HUSED())
{ term xref=C2T(g.predmark);
if(hstamp[i]<=RUNTIME)
{ /* gets preds of arity < ival `represented' as g.predmark*/
if(g.predmark!=htable[i].pred
|| GETARITY(htable[i].fun)<(no)ival)
continue;
xval=g.predmark;
}
else
{ /* gets RUNTIME data of arity > ival */
cell v=htable[i].val;
if(NULL==(term)v)
continue;
if(VAR(v) &&
!(
ONSTACK(g.shared[BBoardStk],v) ||
ONSTACK(g.shared[InstrStk],v) /*|| ON(HeapStk,v) */
)) {
#if TRACE>0
fprintf(STD_err,
"unexpected data in htable[%d]=>\n<%s,%s>->%s\n",i,
smartref(htable[i].pred,wam),
smartref(htable[i].fun,wam),
smartref(v,wam));
#endif
/* continue; */
}
FDEREF(v);
if((INTEGER(xval) && ival>0)
|| VAR(xval)
|| (GETARITY(xval) < (no)ival)
|| xval==g.empty
)
continue;
if(COMPOUND(xval))
xval=T2C(xref);
}
IF_OVER("COPY_KEYS",(term *)H,HeapStk,bp_halt(9));
SAVE_FUN(htable[i].pred);
SAVE_FUN(htable[i].fun);
#if 0
ASSERT2(( ATOMIC(xval)
|| ONSTACK(g.shared[BBoardStk],xval)
|| ON(HeapStk,xval)), /* will fail with multiple engines */
xval);
#endif
PUSH_LIST(xval);
}
PUSH_NIL();
return H;
}
static void spi_init(UNUSED_ARG(struct SerialHardware *, _hw), UNUSED_ARG(struct Serial *, ser))
{
/*
* Set MOSI and SCK ports out, MISO in.
*
* The ATmega64/128 datasheet explicitly states that the input/output
* state of the SPI pins is not significant, as when the SPI is
* active the I/O port are overrided.
* This is *blatantly FALSE*.
*
* Moreover, the MISO pin on the board_kc *must* be in high impedance
* state even when the SPI is off, because the line is wired together
* with the KBus serial RX, and the transmitter of the slave boards
* would be unable to drive the line.
*/
ATOMIC(SPI_DDR |= (BV(SPI_MOSI_BIT) | BV(SPI_SCK_BIT)));
/*
* If the SPI master mode is activated and the SS pin is in input and tied low,
* the SPI hardware will automatically switch to slave mode!
* For proper communication this pins should therefore be:
* - as output
* - as input but tied high forever!
* This driver set the pin as output.
*/
#warning FIXME:SPI SS pin set as output for proper operation, check schematics for possible conflicts.
ATOMIC(SPI_DDR |= BV(SPI_SS_BIT));
ATOMIC(SPI_DDR &= ~BV(SPI_MISO_BIT));
/* Enable SPI, IRQ on, Master */
SPCR = BV(SPE) | BV(SPIE) | BV(MSTR);
/* Set data order */
#if CONFIG_SPI_DATA_ORDER == SER_LSB_FIRST
SPCR |= BV(DORD);
#endif
/* Set SPI clock rate */
#if CONFIG_SPI_CLOCK_DIV == 128
SPCR |= (BV(SPR1) | BV(SPR0));
#elif (CONFIG_SPI_CLOCK_DIV == 64 || CONFIG_SPI_CLOCK_DIV == 32)
SPCR |= BV(SPR1);
#elif (CONFIG_SPI_CLOCK_DIV == 16 || CONFIG_SPI_CLOCK_DIV == 8)
SPCR |= BV(SPR0);
#elif (CONFIG_SPI_CLOCK_DIV == 4 || CONFIG_SPI_CLOCK_DIV == 2)
// SPR0 & SDPR1 both at 0
#else
#error Unsupported SPI clock division factor.
#endif
/* Set SPI2X bit (spi double frequency) */
#if (CONFIG_SPI_CLOCK_DIV == 128 || CONFIG_SPI_CLOCK_DIV == 64 \
|| CONFIG_SPI_CLOCK_DIV == 16 || CONFIG_SPI_CLOCK_DIV == 4)
SPSR &= ~BV(SPI2X);
#elif (CONFIG_SPI_CLOCK_DIV == 32 || CONFIG_SPI_CLOCK_DIV == 8 || CONFIG_SPI_CLOCK_DIV == 2)
SPSR |= BV(SPI2X);
#else
#error Unsupported SPI clock division factor.
#endif
/* Set clock polarity */
#if CONFIG_SPI_CLOCK_POL == 1
SPCR |= BV(CPOL);
#endif
/* Set clock phase */
#if CONFIG_SPI_CLOCK_PHASE == 1
SPCR |= BV(CPHA);
#endif
SER_SPI_BUS_TXINIT;
SER_STROBE_INIT;
}
/**
* Create a new process, starting at the provided entry point.
*
*
* \note The function
* \code
* proc_new(entry, data, stacksize, stack)
* \endcode
* is a more convenient way to create a process, as you don't have to specify
* the name.
*
* \return Process structure of new created process
* if successful, NULL otherwise.
*/
struct Process *proc_new_with_name(UNUSED_ARG(const char *, name), void (*entry)(void), iptr_t data, size_t stack_size, cpu_stack_t *stack_base)
{
Process *proc;
LOG_INFO("name=%s", name);
#if CONFIG_KERN_HEAP
bool free_stack = false;
/*
* Free up resources of a zombie process.
*
* We're implementing a kind of lazy garbage collector here for
* efficiency reasons: we can avoid to introduce overhead into another
* kernel task dedicated to free up resources (e.g., idle) and we're
* not introducing any overhead into the scheduler after a context
* switch (that would be *very* bad, because the scheduler runs with
* IRQ disabled).
*
* In this way we are able to release the memory of the zombie tasks
* without disabling IRQs and without introducing any significant
* overhead in any other kernel task.
*/
proc_freeZombies();
/* Did the caller provide a stack for us? */
if (!stack_base)
{
/* Did the caller specify the desired stack size? */
if (!stack_size)
stack_size = KERN_MINSTACKSIZE;
/* Allocate stack dinamically */
PROC_ATOMIC(stack_base =
(cpu_stack_t *)heap_allocmem(&proc_heap, stack_size));
if (stack_base == NULL)
return NULL;
free_stack = true;
}
#else // CONFIG_KERN_HEAP
/* Stack must have been provided by the user */
ASSERT_VALID_PTR(stack_base);
ASSERT(stack_size);
#endif // CONFIG_KERN_HEAP
#if CONFIG_KERN_MONITOR
/*
* Fill-in the stack with a special marker to help debugging.
* On 64bit platforms, CONFIG_KERN_STACKFILLCODE is larger
* than an int, so the (int) cast is required to silence the
* warning for truncating its size.
*/
memset(stack_base, (int)CONFIG_KERN_STACKFILLCODE, stack_size);
#endif
/* Initialize the process control block */
if (CPU_STACK_GROWS_UPWARD)
{
proc = (Process *)stack_base;
proc->stack = stack_base + PROC_SIZE_WORDS;
// On some architecture stack should be aligned, so we do it.
proc->stack = (cpu_stack_t *)((uintptr_t)proc->stack + (sizeof(cpu_aligned_stack_t) - ((uintptr_t)proc->stack % sizeof(cpu_aligned_stack_t))));
if (CPU_SP_ON_EMPTY_SLOT)
proc->stack++;
}
else
{
proc = (Process *)(stack_base + stack_size / sizeof(cpu_stack_t) - PROC_SIZE_WORDS);
// On some architecture stack should be aligned, so we do it.
proc->stack = (cpu_stack_t *)((uintptr_t)proc - ((uintptr_t)proc % sizeof(cpu_aligned_stack_t)));
if (CPU_SP_ON_EMPTY_SLOT)
proc->stack--;
}
/* Ensure stack is aligned */
ASSERT((uintptr_t)proc->stack % sizeof(cpu_aligned_stack_t) == 0);
stack_size -= PROC_SIZE_WORDS * sizeof(cpu_stack_t);
proc_initStruct(proc);
proc->user_data = data;
#if CONFIG_KERN_HEAP | CONFIG_KERN_MONITOR
proc->stack_base = stack_base;
proc->stack_size = stack_size;
#if CONFIG_KERN_HEAP
if (free_stack)
proc->flags |= PF_FREESTACK;
#endif
#endif
proc->user_entry = entry;
CPU_CREATE_NEW_STACK(proc->stack);
#if CONFIG_KERN_MONITOR
monitor_add(proc, name);
#endif
/* Add to ready list */
ATOMIC(SCHED_ENQUEUE(proc));
return proc;
}
/**
* Set current mask of repeatable keys.
*/
keymask_t kbd_setRepeatMask(keymask_t mask)
{
keymask_t oldmask = kbd_rpt_mask;
ATOMIC(kbd_rpt_mask = mask);
return oldmask;
}
void kbd_remHandler(struct KbdHandler *handler)
{
/* Remove the handler */
ATOMIC(REMOVE(&handler->link));
}