void initialize_user_process(char **kos_argv)
{
// zero out the memory
bzero(main_memory, MemorySize);
PCB *pcb = (PCB *) malloc(sizeof(PCB));
pcb_init(pcb);
printf("filename: %s\n", kos_argv[0]);
if (load_user_program(kos_argv[0]) < 0) {
fprintf(stderr,"Can't load program.\n");
exit(1);
}
// set up the program counters and the stack register
pcb->registers[PCReg] = 0;
pcb->registers[NextPCReg] = 4;
/* need to back off from top of memory */
/* 12 for argc, argv, envp */
/* 12 for stack frame */
pcb->registers[StackReg] = MemorySize - 24;
dll_append(readyq, new_jval_v((void *) pcb));
printf("Running user code.\n");
kt_exit();
}
void init(void) {
memcpy(__data_begin__, __rodata_end__, __data_end__ - __data_begin__);
memset(__bss_begin__, 0, __bss_end__ - __bss_begin__);
mach_init();
set_trap_handler();
tlb_init();
pcb_init();
main();
}
void *hw_thread_entry(void *dummy)
{
uint16_t a, b, g;
int fd,cnt=0,t;
int lastt=0;
iopl(3);
ioperm(base_addr, 3, 1);
pcb_init();
pcb_send_cmd(PCB_POS_ANG);
pcb_send_cmd(PCB_PNT);
for(;;)
{
struct pos_ang p;
struct timezone tz = {0, 0};
int nr,t;
//nr=read( uio_fd, &t, 4);
while (!(inw(base_addr+2)&2));
p.x = inw(base_addr);
while (!(inw(base_addr+2)&2));
p.y = inw(base_addr);
while (!(inw(base_addr+2)&2));
p.z = inw(base_addr);
while (!(inw(base_addr+2)&2));
p.a = inw(base_addr);
while (!(inw(base_addr+2)&2));
p.b = inw(base_addr);
while (!(inw(base_addr+2)&2));
p.g = inw(base_addr);
if(!(p.x & 1))
{
fprintf(stderr,"unsync!\n");
}
gettimeofday(&p.ts, &tz);
pthread_mutex_lock(&pos_queue_lock);
int rv = pos_queue_put(p);
if(rv < 0)
die("Error - full queue!\n");
pthread_mutex_unlock(&pos_queue_lock);
// fprintf(stderr,".");
pcb_send_cmd(PCB_PNT);
usleep(20000);
}
return NULL;
}
kernel_main()
{
disp_str("-------------\"kernel_main\" start-----------------\n");
proc_id = 0;
ticks = 0;
k_reenter = 0;
pcb_init(task_tty,TASK_PROC,TTY0);
pcb_init(TestA,USER_PROC,TTY1);
pcb_init(TestB,USER_PROC,TTY1);
pcb_init(TestC,USER_PROC,TTY2);
//init_clock();
p_proc_ready = proc_table;
proc_start();
//stop here
while(1){}
}
