//***********************************************************************
//** Function: Main
//** Description: Entry point of user code
//** Parameters: None
//** Returns: None
//***********************************************************************
void main()
{
uint8_t radio_id=0;
psx_map psx_data;
Init_mcu();
Init_Dig_IO();
init_sci();
init_spi_norm();
radio_channel = get_radio_channel();
init_radio();
init_psx();
RED_LED_ON;
GREEN_LED_OFF;
send_msg("\033[2J\033[HBootstrap successful. AW60 ready...\r\n\r\n");
send_msg("Schools Challenge Robot\r\n");
send_msg("=======================\r\n");
send_msg("Wireless chipset status: ");
if(radio_get_id() == 0x07) send_msg("Pass\r\n\r\n");
else{
send_msg("Fail - Please contact vendor for repair\r\n");
for(;;);
}
send_msg("Ready...\r\n");
for(;;){
send_msg("Getting PSX status\r\n");
/* Get PSX status */
psx_get_stat(&psx_data);
send_msg("Sending data\r\n");
/* Send data */
packet_tx(&psx_data, sizeof(psx_data));
send_msg("Waiting...\r\n\r\n");
/* Wait for 100ms */
delay_ms(100);
}
}
void entry(struct Multiboot_Info_dec * old_mbinfo)
{
// This function is entered into by the kernel header
// which sets up some basic tables for use and passes on
// the multiboot info structure
struct Multiboot_Info_dec mbinfo;
#ifdef DEBUG
U8 * screen = (U8 *)0xB8000;
U16 i;
// Clear the screen so debug messages are more visible
for (i = 0; i < 160; i+=2)
{
screen[i] = ' ';
screen[i+1] = 0x17;
}
for (i = 160; i < 7840; i+=2)
{
screen[i] = ' ';
screen[i+1] = 0x07;
}
dprint("\t\t\tThe Poseidon Project Kernel.\n\n");
dprint("The Poseidon Project (c) Copyright 1998, 1999 John Barker\n");
dprint("All rights reserved. 32 bit message based real time operating system.\n\n");
#endif
// Copy the old table to a local one for safe keeping
// because once memory is initialized the old one may be wiped
memcpy(&mbinfo,old_mbinfo,sizeof(struct Multiboot_Info_dec));
// Set up the exception traps
init_traps();
// Allocate the irq routines
init_irqs();
// Initialize memory management so we can use kmalloc and other
// memory based functions
init_mm(&mbinfo);
// Initialize the object manager so we can start using it
init_obj();
// Initialize the module/driver interface so modules can be loaded
init_mdi();
// Set up the clocks and timers
init_time();
// Set up tables and data for the executive
init_executive();
// Initialize IPC and message buffers for all objects
init_ipc();
// Initialize the system calls (system call interface)
init_sci();
// Load all the modules passed to us at boot time, one of these
// should be init or main
load_modules(&mbinfo);
// Start the executive scheduler, will boot the init module
start_executive();
// The idle function - just loop, should be run in user mode
idle();
}
