void kmain(multiboot_info_t* mbt, unsigned int magic)
{
if (magic != MULTIBOOT_BOOTLOADER_MAGIC)
return;
graphics_init();
/* Core modules */
gdt_init();
idt_init();
irq_init();
isr_init();
/* Kernel heap */
heap_init();
/* Drivers */
timer_init();
tasking_init();
keyboard_init();
/* Let the games begin */
set_interrupts(ENABLED);
kprintf("Running kernel tests...\n\n");
test_kmalloc_kfree();
test_list();
test_tasking();
kprintf("\nDone with kernel tests.\n");
for (;;);
}
void kmain(s64 magic, s64 info)
{
//vga_clear(COLOR_BLACK);
idt_init();
isr_init();
serial_init();
set_debug_traps();
BREAKPOINT();
cpuid_print();
multiboot(magic, info);
kmem_map();
page_init();
kmalloc_init();
//vesa_init();
root_init();
pci_init();
vm_init();
syscall_init();
timer_init();
kbd_init();
//mouse_init();
console_init();
create_kthread(NULL, idle_thread, THREAD_PRI_LOW, NULL, NULL);
create_kthread(NULL, init_thread, THREAD_PRI_NORMAL, NULL, NULL);
thread_schedule();
}
void arch_entry() {
paging_init();
gdt_init();
idt_init();
isr_init();
pic_init();
pit_init();
}
void idt_init()
{
ip.limit = sizeof(idt_entry_t) * 256 - 1;
ip.base = (uint32_t)&ient;
memset(&ient, 0, sizeof(idt_entry_t) * 256);
isr_init();
irq_init();
idt_flush((uint32_t)&ip);
printStatusMessage("Loading IDTs...",STATUS_DONE);
}
int main()
{
//Start video driver (must always be before loading message)
mm_init();
pg_init();
real_init();
video_init();
video_setdriver(video_vgatext_getdriver(),0);
//Put loading message
cli_puts("ArcaneOS Loading...\n");
//Setup kernel
gdt_init();
idt_init();
isr_init();
irq_init();
timer_init();
kb_init();
ui_init();
cpuid_init();
cmos_init();
rtc_init();
acpi_init();
power_init();
mt_init();
syscall_init();
floppy_init();
__asm__ __volatile__ ("sti");
//Enable ACPI
acpi_enable();
//Create thread for ui
mt_create_thread(mt_kernel_process,test,2);
//Endless loop to prevent bugs when all threads are sleeping
for(;;)
__asm__ __volatile__ ("hlt");
}
// Starts system
void
init_system(multiboot_info_t* bi)
{
// Start display
vga_init();
printk(" KiteOS V1.0 --- Initializing \n");
// PIT-less wait to show user boot
for(int i=0;i<64821125;i++);
vga_color(0x3, 0x0);
printk("-- STARTING LOWLEVEL KERNEL --\n");
vga_color(0x5, 0x0);
printk("!* Initiating GDT\n");
gdt_init();
printk("!* Initiating IDT\n");
idt_init();
printk("!* Installing Exceptions\n");
isr_init();
vga_color(0x4, 0x0);
printk("*** ENTERTED PROTECTED MODE ***\n");
vga_color(0x5, 0x0);
printk("!* Initiating IRQ\n");
irq_init();
printk("!* Starting PIT\n");
pit_init();
printk("!* Starting RTC\n");
rtc_init();
printk("!* Restoring Interrupts\n");
__asm__ __volatile__ ("sti");
vga_color(0x3, 0x0);
printk("-- STARTING LOWLEVEL DRIVERS --\n");
vga_color(0x5, 0x0);
printk("!* Starting physical memory manager\n");
kalloc_init((void*)bi->mmap_addr, (unsigned long)bi->mmap_length);
printk("!* Starting keyboard driver\n");
kb_init();
printk("!* Starting IDE driver\n");
ide_init(0x1F0, 0x3F6, 0x170, 0x366);
vga_color(0x4, 0x0);
printk("*** Initialized system successfully ***\n");
}
void kmain(mboot_info_t *mboot_info,uint32_t mboot_magic,uint32_t stack_ptr){
/* vga konsol */
init_vga_console();
time_init();
debug_print(KERN_INFO,"Stack pointer : \033[1;7m%P",stack_ptr);
if(mboot_magic != MULTIBOOT_LOADER_MAGIC)
debug_print(KERN_WARNING,"Invalid the magic number. The magic number is \033[1;31m%P",mboot_magic);
else
debug_print(KERN_INFO,"Valid the magic number.The magic number is \033[1;37m%P",mboot_magic);
/*
* gdt,idt,isr ve irq
*/
gdt_init(); /* global tanimlayici tablosu */
idt_init(); /* kesme tanimlayici tablosu */
isr_init(); /* kesme servis istekleri */
irq_init(); /* donanim kesme istekleri */
#if 0
__int_test();
#endif
timer_init();
/*
* memory
*/
paging_init(mboot_info->mem_lower + mboot_info->mem_upper);
paging_final();
#if 0
__page_fault_test();
#endif
heap_init();
multitasking_init();
}
void uart_open(unsigned long baudRate)
{
unsigned short baudRateGen;
// The pins of the Enhanced USART are multiplexed with PORTC. In order to
// configure RC6/TX/CK and RC7/RX/DT as an EUSART:
TRISCbits.TRISC7 = 0b1;
TRISCbits.TRISC6 = 0b1;
TXSTA = 0x00;
RCSTA = 0x00;
BAUDCON = 0x00;
PIE1bits.TXIE = 0b0; // desabilita interrupção de TX
PIE1bits.RCIE = 0b0; // desabilita interrupção de RX
TXSTAbits.TXEN = 0b1; // habilita TX
TXSTAbits.BRGH = 0b1; // [TODO] - implementar esta opção
RCSTAbits.CREN = 0b1; // habilita RX
BAUDCONbits.BRG16 = 0b1; // [TODO] - implementar esta opção
// [TODO] - implementar mais opções de baud rate
// Baud Rate = FOSC/[4 (n + 1)]
baudRateGen = ((FOSC/baudRate)/4) - 1;
SPBRGH = baudRateGen / 256;
SPBRG = baudRateGen % 256;
//PIE1bits.TXIE = 0b1; // habilita interrupção de TX
//PIE1bits.RCIE = 0b1; // habilita interrupção de RX
RCSTAbits.SPEN = 0b1; // habilita porta serial (pinos em modo TX e RX)
isr_init();
}
int main(int argc, char **argv)
{
// Initialize TIC
isr_init();
tic_init();
irq_set_mask(0x000FFFFF);
//irq_enable();
// Initialize I2C Core
i2c_core_init(0x00, 0xC7);
//MPU6050_Initialize();
for(;;)
{
i2c_write_register(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_WHO_AM_I, 0x00);
}
//i2c_test();
//spi_test();
//gpio_test();
//uart_test();
//timer_test();
}
void idt_init(void)
{
idt_ptr.limit = sizeof(idt_entry_t) * 256 -1;
idt_ptr.base = (u32int)&idt_entries;
// Remap the irq table.
outb(0x20, 0x11);
outb(0xA0, 0x11);
outb(0x21, 0x20);
outb(0xA1, 0x28);
outb(0x21, 0x04);
outb(0xA1, 0x02);
outb(0x21, 0x01);
outb(0xA1, 0x01);
outb(0x21, 0x0);
outb(0xA1, 0x0);
memset((u8int*)&idt_entries, 0, sizeof(idt_entry_t)*256);
isr_init(); // Interruptions - entries 0-31
irq_init(); // IRQs - entries 32-47
idt_flush((u32int)&idt_ptr);
}
// Initialise board
void board_init (void) {
#ifndef SIMULATE
io_init(); // Init GPIOs
uart_init(BAUD_RATE);
stderr = &uartio;
printf(str_boot_uart,BAUD_RATE);
printf(str_boot_start);
#else
printf("Skipping UART initialization...\n");
#endif
#ifndef SIMULATE
digital_init();
#endif
encoder_init();
#ifndef SIMULATE
spi_init();
motor_init();
servo_init();
#ifdef LCD_DEBUG
lcd_init(); //consider wrapping this in an #ifdef LCD_DEBUG tag?
stdout = &lcdout;
#else
stdout = &uartio;
stdin = &uartio;
#endif
adc_init();
isr_init();
memory_init();
#endif
// load config, or fail if invalid
if (!board_load_config())
board_fail("Bad Config");
printf(str_boot_conf);
printf(str_boot_board,
board_config.version>>8,
board_config.version&0xFF);
printf(str_boot_id, board_config.id);
// print boot text to screen
printf(str_boot_message, board_config.version>>8, board_config.version&0xFF);
// check battery, fail if <7.5V
printf(str_boot_batt,read_battery());
#ifdef CHECK_BATTERY
if (!(read_battery()>=7200)) {
// NOTE: in the current 2-battery version of the HappyBoard, the
// battery voltage is the motor battery (P+). Holding GO overrides
// the check so you can run the HappyBoard without a motor battery.
if (go_press())
printf("WARNING: LOW BATTERY\n");
else
board_fail("Low battery");
} else {
printf("Battery OK\n");
}
#endif
#ifndef SIMULATE
// initialise FPGA
if (!fpga_init(FPGA_CONFIG_ADDRESS, board_config.fpga_len))
board_fail("FPGA failure");
printf(str_boot_fpga, fpga_get_version_major(), fpga_get_version_minor());
#else
printf("Skipping FPGA initialization...\n");
#endif
// all ok
#ifndef SIMULATE
#ifdef LCD_DEBUG
lcd_set_pos(31);
lcd_print_char('\1', NULL);
#else
printf("Board init complete.\n");
#endif
#else
printf("Board init complete.\n");
#endif
#ifndef SIMULATE
LED_COMM(0);
#endif
}
int main()
{
char test2[] = "Lokalerstr";
char *str = test2;
uint32_t i;
// for (i = 0; i < 4; i++)
// test2[i] = 'l';
// glob[0] = 'g';
// Initialize stuff
uart_init();
// Say Hello!
uart_putstr( "** Spike Test Firmware **\n" );
// Initialize TIC
isr_init();
tic_init();
irq_set_mask( 0x00000002 );
irq_enable();
// Say Hello!
uart_putstr( "Timer Interrupt instelled.\n" );
// Do some trivial tests
uart_putstr( "Subroutine-Return Test: " );
test();
uart_putchar('\n');
uart_putstr( "Local-Pointer Test:" );
for (;*str; str++) {
uart_putchar(*str);
}
uart_putchar('\n');
uart_putstr( "Global-Pointer Test:" );
str = glob;
for (;*str; str++) {
uart_putchar(*str);
}
uart_putchar('\n');
uart_putstr( "Stack Pointer : " );
writeint(get_sp());
uart_putchar('\n');
uart_putstr( "Global Pointer: " );
writeint(get_gp());
uart_putchar('\n');
uart_putstr( "Timer Test (1s): " );
for(i=0; i<4; i++) {
uart_putstr("tic...");
msleep(1000);
}
uart_putchar('\n');
uart_putstr( "Timer Interrupt counter: " );
writeint( tic_msec );
uart_putchar('\n');
int val = tic_msec;
uart_putstr( "Shift: " );
writeint( val );
uart_putstr(" <-> ");
for(i=0; i<32; i++) {
if (val & 0x80000000)
uart_putchar( '1' );
else
uart_putchar( '0' );
val <<= 1;
}
uart_putstr("\r\n");
uart_putstr( "GPIO Test..." );
gpio0->oe = 0x000000ff;
for(;;) {
for(i=0; i<8; i++) {
uint32_t out1, out2;
out1 = 0x01 << i;
out2 = 0x80 >> i;
gpio0->out = out1 | out2;
msleep(100);
}
}
/*
uart_putstr( "Memory Dump: " );
uint32_t *start = (uint32_t *)0x40000000;
uint32_t *end = (uint32_t *)0x40000100;
uint32_t *p;
for (p=start; p<end; p++) {
if (((uint32_t)p & 12) == 0) {
uart_putstr("\r\n[");
writeint((uint32_t) p);
uart_putchar(']');
}
uart_putchar(' ');
writeint(*p);
}
*/
uart_putstr("Entering Echo Test...\n");
while (1) {
uart_putchar(uart_getchar());
}
}
