static int driversInitialize(void *initArray[])
{
// This function calls the driver initialize() functions of the supplied
int status = 0;
int errors = 0;
int (*driverInit)(void) = NULL;
int count;
// Loop through all of the initialization functions we have
for (count = 0; ; count ++)
{
driverInit = initArray[count];
if (driverInit == (void *) -1)
break;
if (!driverInit)
continue;
// Call the initialization. The driver should then call
// kernelSoftwareDriverRegister() when it has finished initializing
status = driverInit();
if (status < 0)
errors++;
}
if (errors)
return (status = ERR_NOTINITIALIZED);
else
return (status = 0);
}
void LCD_init(void)
{
DELAY(100);
// First initialize the low-level LCD driver
driverInit();
// Next configure Timer2 for proper interrupts and initialize it to a SHORT_DELAY period.
timer2Init(runSM, SHORT_DELAY);
lcdState = initStartState;
}
Server (bool _dryRun=false, bool _noVision=false) :
doStop (false),
lidardriver (NULL),
usbcamdriver (NULL),
#ifdef HW_ROBOCAR
camdriver (NULL),
imu (NULL),
#endif
dryRun (_dryRun),
noVision (_noVision)
{
try {
// Initialize server internals
serverQueue = new MessageQueue ();
iosrv = new io_service ();
acceptor = new tcp::acceptor (*iosrv, tcp::endpoint(tcp::v4(), ROBOCAR_DEFAULT_PORT));
driverInit ();
} catch (exception &e) {
cerr << e.what() << std::endl;
}
}
int kmain(UInt32 initial_stack, MultibootHeader* mboot, UInt32 mboot_magic) {
initial_esp = initial_stack;
CLI_Init();
Cls();
UInt32 initrd_end = *(UInt32*)(mboot->mods_addr+4);
placement_address = (Pointer) initrd_end;
// Set up our new stack here.
//UInt32 stack = (UInt32) kmalloc_a(8192, TRUE);
MultibootHeader* mboot_hdr = mboot; //kmalloc(sizeof(MultibootHeader));
//memcpy(mboot_hdr, mboot, sizeof(MultibootHeader));
kprintf("Starting init...\n");
//new_start(stack, mboot_hdr);
GDT_Init();
IDT_Init();
ISR_Init();
asm volatile("sti");
kprintf("Basics\t\t\t[OK]\n");
PIT_Init(PIT_MSTIME);
kprintf("PIT\t\t\t[OK]\n");
init_kheap();
InitPaging((mboot_hdr->mem_lower+mboot_hdr->mem_upper)&~3);
InitKernelHeap();
kprintf("Heap\t\t\t[OK]\n");
VFS_Init();
DevFS_Init();
kprintf("VFS\t\t\t[OK]\n");
DriversInit();
kprintf("Drivers\t\t\t[OK]\n");
Screen_Init();
FloppyInit();
checkAllBuses();
DumpPCIDeviceData();
kprintf("PCI\t\t\t[OK]\n");
/*kprintf("Keyboard Init... ");
KB_Init(0);
kprintf("[ok]\n");*/
FAT12_Init(FAT12_GetContext(FloppyGetDevice()), "/", "sys");
InitTasking();
KernelSymbolsLoad();
//Cls();
kprintf("kOS v0.6.13\n");
VFS_Node* rd = GetNodeFromFile(GetFileFromPath("/sys"));
kprintf("rd = %x\n", rd);
ArrayList* list = ListFiles(rd);
ALIterator* itr = ALGetItr(list);
while(ALItrHasNext(itr)) {
VFS_Node* node = ALItrNext(itr);
kprintf("file: %s\n", node->name);
}
ALFreeItr(itr);
ALFreeList(list);
//kprintf("kprintf symbol = %x\n", getKernelSymbol("kprintf"));
File* initScript = GetFileFromPath("/sys/init.script");
FileSeek(0, initScript); // Due to these being global objects, we have to do such ugly things as this.
#ifdef INIT_DEBUG
kprintf("initScript=%x\n", initScript);
#endif
char* lineBuf = kalloc(256);
int doBreak = 0;
while(!doBreak) {
if(fgetline(initScript, lineBuf, 256, '\n')==-1) {
if(strlen(lineBuf) > 0) {
doBreak = 1;
} else {
break; // We've processed everything that needs to be processed.
}
}
// Now parse it.
char* tok = strtok(lineBuf, " ");
kprintf("%s, %x\n", tok,tok);
if(!strcmp(tok, "load_driver")) {
#ifdef INIT_DEBUG
kprintf("load_driver ");
#endif
tok = strtok(NULL, " ");
// Load the driver specified.
File* drv = GetFileFromPath(tok);
if(drv != NULL) {
int drvLength = FileSeek(SEEK_EOF, drv);
FileSeek(0, drv);
void* drvBuf = kalloc(drvLength);
#ifdef INIT_DEBUG
kprintf("%s\n", GetNodeFromFile(drv)->name);
#endif
ReadFile(drvBuf, drvLength, drv);
ELF* elf = LoadKernelDriver(drvBuf);
#ifdef INIT_DEBUG
kprintf("elf->start=%x\n", elf->start);
#endif
if(elf->error == 0) {
void (*driverInit)() = (void (*)()) elf->start;
driverInit();
}
kfree(drvBuf);
drvBuf = NULL;
CloseFile(drv);
}
}
}
CloseFile(initScript);
kfree(lineBuf);
kprintf("Kernel init done...\n");
File* elf = GetFileFromPath("/sys/helloworld");
FileSeek(SEEK_EOF, elf);
int length = FileTell(elf);
FileSeek(0, elf);
UInt8* elfBuf = kalloc(length);
ReadFile(elfBuf, length, elf);
ELF* elfExe = Parse_ELF(elfBuf);
CreateTaskFromELF(elfExe);
// Kernel main logic loop
while(1) {
asm volatile("hlt");
}
return 0;
}
