/*
* OS�̋N��
*/
void
StartOS(AppModeType mode)
{
volatile FP startuphook_adr;
LOG_STAOS_ENTER(mode);
/*
* �A�v���P�[�V�������[�h�̐ݒ�
*/
appmode = mode;
/*
* �^�[�Q�b�g�ˑ��̏�����
*/
cpu_initialize();
sys_initialize();
tool_initialize();
/*
* �e���W���[���̏�����
*/
object_initialize();
/*
* StartupHook �̌Ăяo��
*
* C�����̋K�i�ł͊��̃A�h���X��0�ɂȂ��Ȃ��Ƃ����O��,
* �R���p�C���̍œK���ɂ���StartupHook�̃A�h���X���蕪����
* �폜�����Ă��܂��ꍇ�����邽��, volatile�w�肵�����[�J���ϐ���
* �A�h���X���������Ă��画�肵�Ă����D
*
*/
startuphook_adr = (FP)StartupHook;
if (startuphook_adr != NULL) {
/*
* StartupHook �̒��ŁCSuspendAllInterrupts ���Ă�
* �Ă������v�Ȃ悤�ɁCsus_all_cnt �����[���ɂ��Ă����D
*/
callevel = TCL_STARTUP;
sus_all_cnt++;
StartupHook();
sus_all_cnt--;
}
callevel = TCL_TASK;
LOG_STAOS_LEAVE();
start_dispatch();
}
/*
* OSの起動
*/
void
StartOS(AppModeType mode)
{
volatile FP startuphook_adr;
LOG_STAOS_ENTER(mode);
/*
* アプリケーションモードの設定
*/
appmode = mode;
/*
* ターゲット依存の初期化
*/
cpu_initialize();
sys_initialize();
tool_initialize();
/*
* 各モジュールの初期化
*/
object_initialize();
/*
* StartupHook の呼び出し
*
* C言語の規格では関数のアドレスは0にならないという前提から,
* コンパイラの最適化によりStartupHookのアドレス判定分岐が
* 削除されてしまう場合があるため, volatile指定したローカル変数に
* アドレスを代入してから判定している．
*
*/
startuphook_adr = (FP)StartupHook;
if (startuphook_adr != NULL) {
/*
* StartupHook の中で，SuspendAllInterrupts が呼ばれ
* ても大丈夫なように，sus_all_cnt を非ゼロにしておく．
*/
callevel = TCL_STARTUP;
sus_all_cnt++;
StartupHook();
sus_all_cnt--;
}
callevel = TCL_TASK;
LOG_STAOS_LEAVE();
start_dispatch();
}
/*
* OS Start
*/
void
StartOS(AppModeType mode)
{
volatile FP startuphook_adr;
LOG_STAOS_ENTER(mode);
/*
* Store
*/
appmode = mode;
/*
* Do the needed initialize
*/
cpu_initialize(); /* implemented in cpu_context.c */
sys_initialize(); /* user defined interface */
tool_initialize(); /* user defined interface */
/*
* Initialize OSEK OS objects.
*/
object_initialize();
/*
* StartupHook の呼び出し
*
* C言語の規格では関数のアドレスは0にならないという前提から,
* コンパイラの最適化によりStartupHookのアドレス判定分岐が
* 削除されてしまう場合があるため, volatile指定したローカル変数に
* アドレスを代入してから判定している．
*
*/
startuphook_adr = (FP)StartupHook;
if (startuphook_adr != NULL) {
/*
* StartupHook の中で，SuspendAllInterrupts が呼ばれ
* ても大丈夫なように，sus_all_cnt を非ゼロにしておく．
*/
callevel = TCL_STARTUP;
sus_all_cnt++;
StartupHook();
sus_all_cnt--;
}
callevel = TCL_TASK;
LOG_STAOS_LEAVE();
start_dispatch();
}
void StartOS( AppModeType Mode )
{
memset(knl_alarm_cb,0u,sizeof(knl_alarm_cb));
knl_bitmap = 0u;
StartupHook();
Irq_Enable();
for(;;)
{
(void)Schedule();
}
}
/* |------------------+------------------------------------------------------| */
EXPORT void StartOS ( AppModeType AppMode )
{
DISABLE_INTERRUPT();
knl_dispatch_disabled = 1; /* Dispatch disable */
#if defined( OpenOSEKStartupHook )
OpenOSEKStartupHook();
#endif
knl_appmode = AppMode;
knl_task_init();
#if(cfgOS_ALARM_NUM > 0)
knl_alarm_counter_init();
#endif
knl_resource_init();
#if(cfgOS_STARTUPHOOK == 1)
StartupHook();
#endif
knl_force_dispatch();
}
EXTERN_C void StartOS(void)
{
StartupHook();
os::start_os();
}
/*
* StartOS API call.
* This service is called to start the operating system in a specific mode.
*/
void os_StartOS(AppModeType appmode)
{
os_ipl save_ipl;
OS_SAVE_IPL(save_ipl); /* Save IPL on entry so can restore on exit, side-effect: assigns back to save_ipl */
ENTER_KERNEL_DIRECT(); /* Set IPL to kernel level while setting up OS variables etc. */
OS_API_TRACE_START_OS();
INIT_STACKCHECK_TO_OFF(); /* Make sure stack checking is turned off so that when/if dispatch() is called there are no stack errors
* Note that this requires the kernel stack (i.e. main()'s stack) is big enough to support this call to
* StartOS plus a call to dispatch() and the entry into the subsequent task
*/
#ifndef NDEBUG
assert_initialized(); /* assert the C runtime startup has setup all vars to startup state */
#endif
/* Saving a jmp_buf (os_startosenv) so that the entire OS can be terminated via a longjmp call inside a ShutdownOS call */
/* $Req: artf1216 artf1219 $ */
if (SETJMP(os_startosenv) == 0) {
/* This half of the 'if' is the half that is the run-on continuation */
/* $Req: artf1214 artf1094 $ */
os_appmode = appmode; /* Store application mode in which the OS was started */
/* setup the tasks and alarms that are to be autostarted for the given app mode */
start_tasks(appmode);
/* Initialize all counters in the system to start running */
start_counters();
/* Autostart alarms */
if(appmode->start_alarms_singleton) {
appmode->start_alarms_singleton(appmode);
}
if(appmode->start_alarms_multi) {
appmode->start_alarms_multi(appmode);
}
/* Autostarted schedule tables are autostarted implicitly by the underlying alarms being autostarted */
#ifdef STACK_CHECKING
os_curtos = OS_KS_TOP;
#endif
/* Call startup hook if required to do so */
/* $Req: artf1215 $ */
if (os_flags.startuphook) { /* check if need to call the startuphook handler */
/* hook needs calling */
ENABLE_STACKCHECK(); /* enable stack checking */
/* @todo check that we really need to raise IPL to lock out all interrupts (both CAT1 and CAT2) within the hook */
OS_SET_IPL_MAX(); /* raise IPL to lock out all interrupts (both CAT1 and CAT2) within the hook */
MARK_OUT_KERNEL(); /* drop out of the kernel, keeping IPL at max level */
/* $Req: artf1117 $ */
StartupHook(); /* call the hook routine with IPL set to kernel level and stack checking on */
MARK_IN_KERNEL(); /* go back into the kernel */
OS_SET_IPL_KERNEL(); /* set IPL back to kernel level */
DISABLE_STACKCHECK(); /* disable stack checking */
}
/* Start the scheduling activity */
if (TASK_SWITCH_PENDING(os_curpri)) {
os_ks_dispatch();
}
ENABLE_STACKCHECK();
LEAVE_KERNEL();
/* now running as the body of the os_idle task, with IPL at level 0 and priority of IDLEPRI */
/* $Req: artf1116 $ */
/* Note that interrupts will be enabled prior to here because the os_ks_dispatch() call above
* might switch to running autostarted tasks, which will lower interrupts to level 0
*/
for ( ; ; ) {
os_idle(); /* call the os_idle task entry function */
}
NOT_REACHED();
}
else {
/* This half of the 'if' is the half that is RETURNING from a longjmp */
/* We have come back from a ShutdownOS() call */
}
/* Reached here because ShutdownOS(E_OK) was called.
*
* $Req: artf1219 $
*/
assert(KERNEL_LOCKED());
assert(STACKCHECK_OFF()); /* Stack checking turned off prior to longjmp in shutdown() */
/* Would normally stop the counters, reinitialise the kernel variables, etc. in case StartOS() were to be called again,
* but OS424 (artf1375) requires that StartOS() doesn't return, but instead goes into an infinite loop.
* Similarly, OS425 (artf1376) requires that interrupts are disabled before entering the loop.
*
* If StartOS() is ever required to return to caller, see revision 568 of this file (startos.c) for the
* original code that did this.
*
* $Req: artf1375 $
* $Req: artf1376 $
*/
OS_SET_IPL_MAX();
for(;;)
;
}
/*==================[external functions definition]==========================*/
void StartOS
(
AppModeType Mode
)
{
/* \req OSEK_SYS_3.25 The system service void
** StartOS ( AppModeType Mode ) shall be defined */
/* \req OSEK_SYS_3.25.1 This system service shall starts the operating
** system */
uint8f loopi;
IntSecure_Start();
/* save the aplication mode */
ApplicationMode = Mode;
/* StartOs_Arch */
StartOs_Arch();
/* init every task */
for( loopi = 0; loopi < TASKS_COUNT; loopi++)
{
/* \req OSEK_SYS_3.1.2-2/3 The operating system shall ensure that the task
** code is being executed from the first statement. */
SetEntryPoint(loopi); /* set task entry point */
}
/* set sys context */
SetActualContext(CONTEXT_SYS);
/* set actual task to invalid task */
SetRunningTask(INVALID_TASK);
/* add to ready the corresponding tasks for this
* Application Mode */
for (loopi = 0; loopi < AutoStart[Mode].TotalTasks; loopi++)
{
/* activate task */
ActivateTask(AutoStart[Mode].TasksRef[loopi]);
}
for (loopi = 0; loopi < ALARM_AUTOSTART_COUNT; loopi++)
{
if (AutoStartAlarm[loopi].Mode == Mode)
{
(void)SetRelAlarm(AutoStartAlarm[loopi].Alarm, AutoStartAlarm[loopi].AlarmTime, AutoStartAlarm[loopi].AlarmCycleTime);
}
}
#if (HOOK_STARTUPHOOK == OSEK_ENABLE)
StartupHook();
#endif
IntSecure_End();
/* enable all OS interrupts */
EnableOSInterrupts();
/* enable interrupts */
EnableInterrupts();
/* call Scheduler */
(void)Schedule();
/* this function shall never return */
while(1);
}
