void kloader_cmain(struct mem_map_entry mem_map[], uint32_t mem_entry_count)
{
screen_init();
screen_cursor_hide();
terminal_init();
KINFO("Welcome to Nox (Bootloader mode)");
mem_mgr_init(mem_map, mem_entry_count);
ata_init();
fs_init();
struct fat_part_info* part_info = fs_get_system_part();
struct fat_dir_entry kernel;
if(!fat_get_dir_entry(part_info, "KERNEL ELF", &kernel)) {
KPANIC("Failed to locate KERNEL.ELF");
while(1);
}
intptr_t kernel_entry_point;
if(!elf_load_trusted("KERNEL ELF", &kernel_entry_point)) {
KWARN("Failed to load elf!");
}
kernel_entry cmain = (kernel_entry)(kernel_entry_point);
cmain(mem_map, mem_entry_count);
KINFO("Bootloader done");
while(1);
}
kmain() {
terminal_init();
setup_IDT_entry (&idt[0x08], 0x08, (dword)&_int_08_hand, ACS_INT, 0);
setup_IDT_entry (&idt[0x09], 0x08, (dword)&_int_09_hand, ACS_INT, 0);
setup_IDT_entry (&idt[0x74], 0x08, (dword)&_int_74_hand, ACS_INT, 0);
setup_IDT_entry (&idt[0x80], 0x08, (dword)&_int_80_hand, ACS_INT, 0);
/* IDTR Setting */
idtr.base = 0;
idtr.base +=(dword) &idt;
idtr.limit = sizeof(idt)-1;
_lidt(&idtr);
/* Interrupt unmasking */
_cli();
_maskPIC1(0xF8); /*0XF8*/
_maskPIC2(0xEF); /*0XEF*/
_sti();
video_init();
timertick_init();
rtc_init();
mouse_init();
shell_run();
}
void kmain( void* mbd, unsigned int magic )
{
if ( magic != 0x2BADB002 )
{
/* Something went not according to specs. Print an error */
/* message and halt, but do *not* rely on the multiboot */
/* data structure. */
}
/* You could either use multiboot.h */
/* (http://www.gnu.org/software/grub/manual/multiboot/multiboot.html#multiboot_002eh) */
/* or do your offsets yourself. The following is merely an example. */
char * boot_loader_name =(char*) ((long*)mbd)[16];
/* Write your kernel here. */
terminal_init();
int i;
for(i = 0; i < 10000000; i++);
char str[] = "Welcome to Mark Kernel\n";
k_printf(str);
for(i = 0; i < 10000000; i++);
char str2[] = "This is a \n";
k_printf(str2);
}
int main(int argc, char *argv[])
{
/* Initialize terminal and start virtual machine */
terminal_init();
machine_start();
return (EXIT_SUCCESS);
}
void text_init (struct term *tty) {
terminal_init (tty);
memset_words(tty->backup,0x0720,SCREEN_BUFFER/2);
tty->screen = SCREEN_VIDEO;
tty->write = text_write;
tty->clear = text_clrscr;
tty->scroll = text_scroll;
tty->tty_switch = text_switch;
tty->attr = 0xf;
tty->has_shell = 0;
tty->x = 0,tty->y = 0;
}
void kernel_main(void* mem)
{
init_serial();
terminal_init();
terminal_writeln("Kernel Startup.");
pool = tlsf_create((void*)0x2000000, 32768);
//terminal_writehexln(pool);
lua_State* L = lua_newstate(l_alloc, pool);
lua_pushcfunction(L, l_Print);
lua_setglobal(L, "print");
#define BUFFER_SIZE 128
#if 0
char test[BUFFER_SIZE]; test[BUFFER_SIZE-1] = 0;
int i ;
for(i = 0; i < BUFFER_SIZE-1; ++i) {
test[i] = read_serial();
if(test[i] == 0 || test[i] == '\r' || test[i] == '\n') {
break;
}
if(!IsValid(test[i])) {
i--;
continue;
}
}
test[i] = 0;
terminal_write("Read ");
terminal_writehexln(i);
terminal_writeln(test);
#else
char* test = "print(1 + 2)";
#endif
size_t len = strlen(test);
if(luaL_loadbufferx(L, test, len, "Sample", 0) != 0) {
terminal_writeln(lua_tostring(L, -1));
}
if(lua_pcall(L, 0, LUA_MULTRET, 0) != 0) {
terminal_writeln(lua_tostring(L, -1));
}
terminal_writeln("Finished");
}
int main(void) {
// LCD Screen
lcd_init();
terminal_init();
// Input
input_init();
// Set power LED
DDRB |= (1 << PINB6);
clear_bit(PORTB, PINB6);
// Radio
uint8_t local_addr[] = { 0x1B, 0x1B, 0x1B, 0x1B, 0x1B };
uint8_t robot_addr[] = { 0x0A, 0x0A, 0x0A, 0x0A, 0x0A };
spi_init();
nrf24_init();
nrf24_config(47, sizeof(RemoteCommand)); // Channel 7
nrf24_set_rx_addr(local_addr);
nrf24_set_tx_addr(robot_addr);
// Ready to go!
sei();
RemoteMode mode = MODE_MANUAL;
while (1)
{
input_update(&input_state);
switch (mode) {
case MODE_MANUAL:
UpdateManualMode(&input_state);
break;
case MODE_AUTO:
asm("nop"::);
break;
case MODE_MENU:
asm("nop"::);
break;
}
}
}
/**
* Setting up the board
*/
static void internal_setup()
{
// Intialise les servomoteurs
servos_init();
// Initialise le mode WiFly
WiFly.begin(921600);
terminal_init(&WiFly);
// Définit l'interruption @50hz
servos_attach_interrupt(setFlag);
// Configure la led de la board
pinMode(BOARD_LED_PIN, OUTPUT);
digitalWrite(BOARD_LED_PIN, LOW);
// Lance la configuration de l'utilisateur
setup();
}
/**
* 初始化窗口管理器
* 就不写注释了 函数名写的已经很明白。。
**/
si_t window_manager_init()
{
if(0 != terminal_init())
{
EGUI_PRINT_ERROR("failed to init terminal");
return -1;
}
if(0 != config_init())
{
EGUI_PRINT_ERROR("failed to init config");
return -1;
}
if(0 != event_init("/dev/input/event9", "/dev/input/event10", 1000))
{
EGUI_PRINT_ERROR("failed to init event module");
return -1;
}
if(0 != comm_init("/tmp/server"))
{
EGUI_PRINT_ERROR("failed to init comm module");
return -1;
}
if(0 != graph_init("/dev/fb0", 0, 0, 0, 0))
{
EGUI_PRINT_ERROR("failed to init graph module");
return -1;
}
if(0 != cursor_init("CURSOR_SHAPE_X"))
{
EGUI_PRINT_ERROR("failed to init cursor");
return -1;
}
applications_init(3, 30);
return 0;
}
int main(void) {
wdt_enable (WDTO_2S);
lcd_backlight_service__init();
terminal_init();
keypad__init();
led__init();
alarm_state__init();
state_change_pulse_transmitter__init();
alarm_client__init();
system_timer__init();
system_timer__start();
lcd_print_string_progmem (MSG_READY);
sei();
return 0;
}
void event_init(void)
{
// Initialize the event queues
deferred_events = kl_init(Event);
immediate_events = kl_init(Event);
// early msgpack-rpc initialization
msgpack_rpc_init_method_table();
msgpack_rpc_helpers_init();
// Initialize input events
input_init();
// Timer to wake the event loop if a timeout argument is passed to
// `event_poll`
// Signals
signal_init();
// Jobs
job_init();
// finish mspgack-rpc initialization
channel_init();
server_init();
terminal_init();
}
/**
* Boucle principale
*/
static void internal_loop()
{
// Gère la communication du terminal
terminal_tick();
// Si quelque chose est disponible au niveau de l'USB, switch
// sur le port
if (SerialUSB.available() && !isUSB) {
isUSB = true;
terminal_init(&SerialUSB);
}
// Exécute le code @50hz
if (flag) {
flag = false;
tick();
}
// Appelle la fonction loop de l'utilisateur
loop();
}
/** @brief preStart() is the function for the startup thread, which is the
* one spawned by main().
*
* It does all the initialization that needs to happen after the
* kernel is up and running, and then it calls the application start function.
*/
void pre_start(void)
{
//TODO: this should somehow be auto-generated
#ifdef PLATFORM_LINUX
mos_node_id_init(); // must be called before gevent_init ()
gevent_init();
serial_init();
terminal_init();
//udp_init();
xmos_radio_init(); // gevent_init() must be called first
xmos_flash_init(); // gevent_init() must be called first
mos_thread_suspend(); //fixes threading issue with freebsd
#elif defined(ARCH_MICRO)
uart_init();
printf_init();
plat_init();
clock_init();
#if defined(PLATFORM_TELOSB)
// clock_init() clobbers TimerA
// re-initialize TimerA here as a kludge.
kernel_timer_init();
#endif
mos_node_id_init();
//dev_loopback_init();
//com_loopback_init();
// seed the rng
//srandom(mos_node_id_get());
#endif //if defined(ARCH_AVR)
#ifdef MOS_DEBUG
mos_debug_post_init();
#endif
start();
}
void kernel_main(void)
{
terminal_init();
puts("This is BermudOS!");
if(!is_apic_compatible())
puts("Hardware is not APIC compatible");
if(!has_MSR())
puts("CPU has no MSR");
if(!gdt_setup())
puts("Error while setting up GDT");
setup_interrupts();
if(!keyboard_setup())
puts("Error while setting up the keyboard");
wait_sec(4);
char bfr[KEYBOARD_BUFFER_SIZE+1];
int i;
for(i = 0; i < 4; ++i)
{
read_keyboard_buffer(bfr);
printf("The buffer contained: %s", bfr);
}
}
/**
* Setting up the board
*/
static void internal_setup()
{
// Initializing servos
servos_init();
// Initializing RC
RC.begin(921600);
terminal_init(&RC);
// Configuring board LED
pinMode(BOARD_LED_PIN, OUTPUT);
digitalWrite(BOARD_LED_PIN, LOW);
// Runing user setup
setup();
#if defined(DXL_AVAILABLE)
// Enabling asychronous dynamixel
dxl_async(true);
#endif
// Enabling 50hz interrupt
servos_attach_interrupt(setFlag);
}
/* Check if MAGIC is valid and print the Multiboot information structure
pointed by ADDR. */
void
entry (unsigned long magic, unsigned long addr)
{
multiboot_info_t *mbi;
uint8_t* filesystem_address;
/* Clear the screen. */
clear();
/* Am I booted by a Multiboot-compliant boot loader? */
if (magic != MULTIBOOT_BOOTLOADER_MAGIC)
{
printf ("Invalid magic number: 0x%#x\n", (unsigned) magic);
return;
}
/* Set MBI to the address of the Multiboot information structure. */
mbi = (multiboot_info_t *) addr;
/* Print out the flags. */
printf ("flags = 0x%#x\n", (unsigned) mbi->flags);
/* Are mem_* valid? */
if (CHECK_FLAG (mbi->flags, 0))
printf ("mem_lower = %uKB, mem_upper = %uKB\n",
(unsigned) mbi->mem_lower, (unsigned) mbi->mem_upper);
/* Is boot_device valid? */
if (CHECK_FLAG (mbi->flags, 1))
printf ("boot_device = 0x%#x\n", (unsigned) mbi->boot_device);
/* Is the command line passed? */
if (CHECK_FLAG (mbi->flags, 2))
printf ("cmdline = %s\n", (char *) mbi->cmdline);
if (CHECK_FLAG (mbi->flags, 3)) {
int mod_count = 0;
int i;
module_t* mod = (module_t*)mbi->mods_addr;
while(mod_count < mbi->mods_count) {
filesystem_address = (uint8_t*)mod->mod_start;
printf("Module %d loaded at address: 0x%#x\n", mod_count, (unsigned int)mod->mod_start);
printf("Module %d ends at address: 0x%#x\n", mod_count, (unsigned int)mod->mod_end);
printf("First few bytes of module:\n");
for(i = 0; i<16; i++) {
printf("0x%x ", *((char*)(mod->mod_start+i)));
}
printf("\n");
mod_count++;
mod++;
}
}
/* Bits 4 and 5 are mutually exclusive! */
if (CHECK_FLAG (mbi->flags, 4) && CHECK_FLAG (mbi->flags, 5))
{
printf ("Both bits 4 and 5 are set.\n");
return;
}
/* Is the section header table of ELF valid? */
if (CHECK_FLAG (mbi->flags, 5))
{
elf_section_header_table_t *elf_sec = &(mbi->elf_sec);
printf ("elf_sec: num = %u, size = 0x%#x,"
" addr = 0x%#x, shndx = 0x%#x\n",
(unsigned) elf_sec->num, (unsigned) elf_sec->size,
(unsigned) elf_sec->addr, (unsigned) elf_sec->shndx);
}
/* Are mmap_* valid? */
if (CHECK_FLAG (mbi->flags, 6))
{
memory_map_t *mmap;
printf ("mmap_addr = 0x%#x, mmap_length = 0x%x\n",
(unsigned) mbi->mmap_addr, (unsigned) mbi->mmap_length);
for (mmap = (memory_map_t *) mbi->mmap_addr;
(unsigned long) mmap < mbi->mmap_addr + mbi->mmap_length;
mmap = (memory_map_t *) ((unsigned long) mmap
+ mmap->size + sizeof (mmap->size)))
printf (" size = 0x%x, base_addr = 0x%#x%#x\n"
" type = 0x%x, length = 0x%#x%#x\n",
(unsigned) mmap->size,
(unsigned) mmap->base_addr_high,
(unsigned) mmap->base_addr_low,
(unsigned) mmap->type,
(unsigned) mmap->length_high,
(unsigned) mmap->length_low);
}
/* Construct an LDT entry in the GDT */
{
seg_desc_t the_ldt_desc;
the_ldt_desc.granularity = 0;
the_ldt_desc.opsize = 1;
the_ldt_desc.reserved = 0;
the_ldt_desc.avail = 0;
the_ldt_desc.present = 1;
the_ldt_desc.dpl = 0x0;
the_ldt_desc.sys = 0;
the_ldt_desc.type = 0x2;
SET_LDT_PARAMS(the_ldt_desc, &ldt, ldt_size);
ldt_desc_ptr = the_ldt_desc;
lldt(KERNEL_LDT);
}
/* Construct a TSS entry in the GDT */
{
seg_desc_t the_tss_desc;
the_tss_desc.granularity = 0;
the_tss_desc.opsize = 0;
the_tss_desc.reserved = 0;
the_tss_desc.avail = 0;
the_tss_desc.seg_lim_19_16 = TSS_SIZE & 0x000F0000;
the_tss_desc.present = 1;
the_tss_desc.dpl = 0x0;
the_tss_desc.sys = 0;
the_tss_desc.type = 0x9;
the_tss_desc.seg_lim_15_00 = TSS_SIZE & 0x0000FFFF;
SET_TSS_PARAMS(the_tss_desc, &tss, tss_size);
tss_desc_ptr = the_tss_desc;
tss.ldt_segment_selector = KERNEL_LDT;
tss.ss0 = KERNEL_DS;
tss.esp0 = 0x800000;
ltr(KERNEL_TSS);
}
int z = 0;
reset_scr();
//set the IDT
set_idt();
lidt(idt_desc_ptr);
/* Init the PIC */
i8259_init();
/* Initialize devices, memory, filesystem, enable device interrupts on the
* PIC, any other initialization stuff... */
//init paging
init_paging();
//init filesystem
init_filesys(filesystem_address);
//init keyboard
init_keyboard();
//init the rtc
init_rtc();
//init the mouse
init_mouse();
//clear the screen
reset_scr();
// boot_screen();
for(z = 0; z < 3; z++)
{
terminal_init();
}
node* buffer = screens[0];
reset_buf(buffer);
//display the status bar
/* Enable interrupts */
sti();
/* Do not enable the following until after you have set up your
* IDT correctly otherwise QEMU will triple fault and simple close
* without showing you any output */
boot_screen();
//sample mario sound
for(z = 0; z < 500000; z++)
play_sound(1000);
for(z = 0; z < 500000; z++)
play_sound(100);
for(z = 0; z < 500000; z++)
play_sound(900);
for(z = 0; z < 50000; z++)
play_sound(200);
for(z = 0; z < 500000; z++)
play_sound(800);
for(z = 0; z < 500000; z++)
play_sound(300);
for(z = 0; z < 500000; z++)
play_sound(700);
for(z = 0; z < 500000; z++)
play_sound(400);
for(z = 0; z < 500000; z++)
play_sound(600);
for(z = 0; z < 500000; z++)
play_sound(500);
for(z = 0; z < 500000; z++)
play_sound(500);
for(z = 0; z < 500000; z++)
play_sound(1000);
for(z = 0; z < 500000; z++)
play_sound(400);
for(z = 0; z < 500000; z++)
play_sound(300);
for(z = 0; z < 500000; z++)
play_sound(300);
for(z = 0; z < 500000; z++)
play_sound(200);
//boot_screen();
nosound();
reset_scr();
//init PIT for sound, timer
init_pit(0, 100);
/////////////////////////////////////////////////////////////
// void imperial();
status_bar();
/* Execute the first program (`shell') ... */
uint8_t fname[33] = "shell";
execute(fname);
/* We should never get to this point */
//printf("Initial shell halted.");
/* Spin (nicely, so we don't chew up cycles) */
asm volatile(".1: hlt; jmp .1;");
}
void kernel_main(void)
{
terminal_init();
puts("This is BermudOS with puts!");
printf("This is BermudOS with printf!");
}
void terminal_to_usb()
{
isUSB = true;
terminal_init(&SerialUSB);
}
/* Check if MAGIC is valid and print the Multiboot information structure
pointed by ADDR. */
void
entry(unsigned long magic, unsigned long addr)
{
multiboot_info_t *mbi;
uint32_t filesys_start_addr;
/* Clear the screen. */
vga_text_clear();
/* Am I booted by a Multiboot-compliant boot loader? */
if(magic != MULTIBOOT_BOOTLOADER_MAGIC) {
printf("Invalid magic number: 0x%#x\n", (unsigned)magic);
return;
}
/* Set MBI to the address of the Multiboot information structure. */
mbi = (multiboot_info_t *)addr;
/* Print out the flags. */
printf("flags = 0x%#x\n", (unsigned)mbi->flags);
/* Are mem_* valid? */
if(CHECK_FLAG(mbi->flags, 0))
printf("mem_lower = %uKB, mem_upper = %uKB\n", (unsigned)mbi->mem_lower, (unsigned)mbi->mem_upper);
/* Is boot_device valid? */
if(CHECK_FLAG(mbi->flags, 1))
printf("boot_device = 0x%#x\n", (unsigned)mbi->boot_device);
/* Is the command line passed? */
if(CHECK_FLAG(mbi->flags, 2))
printf("cmdline = %s\n", (char *)mbi->cmdline);
if(CHECK_FLAG(mbi->flags, 3)) {
int mod_count = 0;
int i;
module_t* mod = (module_t*)mbi->mods_addr;
filesys_start_addr = (uint32_t)mod->mod_start;
while(mod_count < mbi->mods_count) {
printf("Module %d loaded at address: 0x%#x\n", mod_count, (unsigned int)mod->mod_start);
printf("Module %d ends at address: 0x%#x\n", mod_count, (unsigned int)mod->mod_end);
printf("First few bytes of module:\n");
for(i = 0; i < 16; i++) {
printf("0x%x ", *((char*)(mod->mod_start+i)));
}
printf("\n");
mod_count++;
}
}
/* Bits 4 and 5 are mutually exclusive! */
if(CHECK_FLAG(mbi->flags, 4) && CHECK_FLAG(mbi->flags, 5)) {
printf("Both bits 4 and 5 are set.\n");
return;
}
/* Is the section header table of ELF valid? */
if(CHECK_FLAG(mbi->flags, 5)) {
elf_section_header_table_t *elf_sec = &(mbi->elf_sec);
printf("elf_sec: num = %u, size = 0x%#x,"
" addr = 0x%#x, shndx = 0x%#x\n",
(unsigned)elf_sec->num, (unsigned)elf_sec->size,
(unsigned)elf_sec->addr, (unsigned)elf_sec->shndx);
}
/* Are mmap_* valid? */
if(CHECK_FLAG(mbi->flags, 6)) {
memory_map_t *mmap;
printf("mmap_addr = 0x%#x, mmap_length = 0x%x\n",
(unsigned)mbi->mmap_addr,
(unsigned)mbi->mmap_length);
for(mmap = (memory_map_t *)mbi->mmap_addr;
(unsigned long)mmap < mbi->mmap_addr + mbi->mmap_length;
mmap = (memory_map_t *)((unsigned long)mmap + mmap->size + sizeof(mmap->size)))
printf(" size = 0x%x, base_addr = 0x%#x%#x\n"
" type = 0x%x, length = 0x%#x%#x\n",
(unsigned)mmap->size,
(unsigned)mmap->base_addr_high,
(unsigned)mmap->base_addr_low,
(unsigned)mmap->type,
(unsigned)mmap->length_high,
(unsigned)mmap->length_low);
}
/* Construct an LDT entry in the GDT */
{
seg_desc_t the_ldt_desc;
the_ldt_desc.granularity = 0;
the_ldt_desc.opsize = 1;
the_ldt_desc.reserved = 0;
the_ldt_desc.avail = 0;
the_ldt_desc.present = 1;
the_ldt_desc.dpl = 0x0;
the_ldt_desc.sys = 0;
the_ldt_desc.type = 0x2;
SET_LDT_PARAMS(the_ldt_desc, &ldt, ldt_size);
ldt_desc_ptr = the_ldt_desc;
lldt(KERNEL_LDT);
}
/* Construct a TSS entry in the GDT */
{
seg_desc_t the_tss_desc;
the_tss_desc.granularity = 0;
the_tss_desc.opsize = 0;
the_tss_desc.reserved = 0;
the_tss_desc.avail = 0;
the_tss_desc.seg_lim_19_16 = TSS_SIZE & 0x000F0000;
the_tss_desc.present = 1;
the_tss_desc.dpl = 0x0;
the_tss_desc.sys = 0;
the_tss_desc.type = 0x9;
the_tss_desc.seg_lim_15_00 = TSS_SIZE & 0x0000FFFF;
SET_TSS_PARAMS(the_tss_desc, &tss, tss_size);
tss_desc_ptr = the_tss_desc;
tss.ldt_segment_selector = KERNEL_LDT;
tss.ss0 = KERNEL_DS;
tss.esp0 = 0x800000;
ltr(KERNEL_TSS);
}
/* If kernel got to here, that means everything should be fine with the boot.
* Now we should initialize IDT, PIC, Syscall, paging, devices, filesystem,
* and any other initialization stuff... terminal_init() should be called at
* the very end of the initializations (after sti). */
/* But first, let's clear the screen */
vga_text_clear();
/* Init the IDT */
idt_init();
/* Init the PIC */
i8259_init();
/* Init Syscall */
syscall_init();
/* Init Paging */
paging_init();
/* Init file system */
filesys_init(filesys_start_addr);
/* Init the Keyboard */
keyboard_init();
/* Init the RTC */
rtc_init();
/* Enable interrupts */
sti();
/* booting screen in mode X */
start_up = 3;
set_mode_x();
load_bmp((uint8_t*)"boot", LOAD_FLAG_BOOT);
while(start_up == 3);
set_text_mode();
/* Init the good looking terminal */
terminal_init();
/* wait for a key press to clear the start up screen */
while(start_up == 2);
vga_text_clear();
welcome_and_credit();
while(start_up == 1);
/* Init the status bar for that terminal */
terminal_stat_bar_init();
terminal_clear();
/* Init the PIT */
pit_init();
/* Execute the first program "shell" */
pid_now = 1;
pid_running[0] = 1;
root_shell_flag = 1;
execute((uint8_t*)"shell");
/* Spin (nicely, so we don't chew up cycles) */
asm volatile(".1: hlt; jmp .1;");
}
int main(int argc, char **argv)
{
char *cmd = parse_cmdline(argc, argv, NOT_GUI);
int rc;
char buf[BUFLEN];
struct securid_token *t;
rc = common_init(cmd);
if (rc != ERR_NONE)
die("can't initialize: %s\n", stoken_errstr[rc]);
t = current_token;
if (!t)
die("error: no token present. Use 'stoken import' to add one.\n");
terminal_init();
if (!strcmp(cmd, "tokencode")) {
int days_left = securid_check_exp(t, adjusted_time());
if (days_left < 0 && !opt_force)
die("error: token has expired; use --force to override\n");
unlock_token(t, 1, NULL);
securid_compute_tokencode(t, adjusted_time(), buf);
puts(buf);
if (days_left < 14 && !opt_force)
warn("warning: token expires in %d day%s\n", days_left,
days_left == 1 ? "" : "s");
} else if (!strcmp(cmd, "import")) {
char *pass;
unlock_token(t, 0, &pass);
if (!opt_keep_password) {
pass = xmalloc(BUFLEN);
request_new_pass(pass);
}
t->is_smartphone = 0;
securid_encode_token(t, pass, opt_new_devid, buf);
rc = write_token_and_pin(buf, NULL, pass);
if (rc != ERR_NONE)
die("rcfile: error writing new token: %s\n",
stoken_errstr[rc]);
} else if (!strcmp(cmd, "export")) {
char *pass;
unlock_token(t, 0, &pass);
if (opt_new_password)
pass = opt_new_password;
else if (!opt_keep_password)
pass = NULL;
t->is_smartphone = opt_iphone || opt_android;
securid_encode_token(t, pass, opt_new_devid, buf);
print_formatted(buf);
} else if (!strcmp(cmd, "show")) {
unlock_token(t, 0, NULL);
securid_token_info(t, &print_token_info_line);
} else if (!strcmp(cmd, "setpin")) {
char *pass = NULL, pin[BUFLEN], confirm_pin[BUFLEN];
int len;
if (opt_file || opt_token)
die("error: setpin only operates on the rcfile token\n");
unlock_token(t, 0, &pass);
if (opt_new_pin) {
if (securid_pin_format_ok(opt_new_pin) != ERR_NONE)
die("error: invalid --new-pin format\n");
strncpy(pin, opt_new_pin, BUFLEN);
len = strlen(pin);
} else {
prompt("Enter new PIN: ");
len = read_user_input(pin, BUFLEN, 1);
if (len > 0 && securid_pin_format_ok(pin) != ERR_NONE)
die("error: PIN must be 4-8 digits\n");
prompt("Confirm new PIN: ");
read_user_input(confirm_pin, BUFLEN, 1);
if (strcmp(pin, confirm_pin) != 0)
die("error: PINs do not match\n");
}
securid_encode_token(t, pass, NULL, buf);
rc = write_token_and_pin(buf, len ? pin : NULL, pass);
free(pass);
if (rc != ERR_NONE)
die("error: can't set PIN: %s\n", stoken_errstr[rc]);
} else if (!strcmp(cmd, "setpass")) {
char pass[BUFLEN];
unlock_token(t, 0, NULL);
request_new_pass(pass);
securid_encode_token(t, pass, NULL, buf);
/* just print to stdout if it didn't come from the rcfile */
if (opt_file || opt_token)
print_formatted(buf);
else {
rc = write_token_and_pin(buf,
strlen(t->pin) ? t->pin : NULL,
strlen(pass) ? pass : NULL);
if (rc != ERR_NONE)
die("error: can't set password: %s\n",
stoken_errstr[rc]);
}
} else
die("error: invalid command '%s'\n", cmd);
return 0;
}
int main(int argc, const char *argv[]) {
const char *socket = NULL;
mem_init();
atexit(mem_exit);
terminal_init();
// --------------------------------------------
// parse the parameters
// Check -v (verbose) first to enable log_debug()
// when processing other options
for (int i=1; i < argc; i++) if (!strcmp("-v", argv[i])) set_verbose(1);
int p = 1;
while (p < argc && argv[p][0]=='-') {
switch(argv[p][1]) {
case 0:
// single '-' option ends parameter processing
p++;
goto endpars;
case 'v':
assert_single_char(argv[p]);
// verbose is already checked above
set_verbose(1);
break;
case '?':
assert_single_char(argv[p]);
usage(EXIT_SUCCESS); /* usage() exits already */
break;
case 'T':
assert_single_char(argv[p]);
if (p < argc-2) {
p++;
socket = argv[p];
log_info("main: tools socket = %s\n", socket);
} else {
log_error("-T requires <socket name> parameter\n");
exit(EXIT_RESPAWN_NEVER);
}
break;
default:
log_error("Unknown command line option %s\n", argv[p]);
usage(EXIT_RESPAWN_NEVER);
break;
}
p++;
}
endpars:
// --------------------------------------------
// open the socket
if (socket == NULL) {
const char *home = os_get_home_dir();
socket = malloc_path(home, ".xdtools");
}
int sockfd = socket_open(socket, 0);
if (sockfd < 0) {
log_errno("Could not open socket %s\n", socket);
mem_free(socket);
exit(1);
}
mem_free(socket);
// --------------------------------------------
// find our command either as ending part of the name of the binary ...
const cmdtab_t *cmd = NULL;
int l = strlen(argv[0]);
for (int i = 0; i < numcmds; i++) {
int cl = strlen(cmdtab[i].name);
if ((cl <= l)
&& !strcmp(cmdtab[i].name, &argv[0][l-cl])) {
cmd = &cmdtab[i];
break;
}
}
// ... or as command line parameter
if (p < argc) {
l = strlen(argv[p]);
if (cmd == NULL) {
for (int i = 0; i < numcmds; i++) {
int cl = strlen(cmdtab[i].name);
if ((cl <= l)
&& !strcmp(cmdtab[i].name, argv[p])) {
cmd = &cmdtab[i];
p++;
break;
}
}
}
}
if (cmd == NULL) {
log_error("Could not identify any of the commands!\n");
usage(1);
}
int rv = cmd->func(sockfd, argc-p, argv+p);
close(sockfd);
return rv;
}
int
main(int argc, char **argv)
{
GtkWidget *label, *terminal, *tophalf, *pane, *window, *sw;
AtkObject *obj;
char *text, *p;
gunichar c;
guint count;
gtk_init(&argc, &argv);
contents = g_array_new(TRUE, FALSE, sizeof(gunichar));
terminal_init(&terminal);
#ifdef USE_TEXT_VIEW
tophalf = gtk_scrolled_window_new(NULL, terminal_adjustment(terminal));
gtk_scrolled_window_set_policy(GTK_SCROLLED_WINDOW(tophalf),
GTK_POLICY_AUTOMATIC,
GTK_POLICY_AUTOMATIC);
gtk_container_add(GTK_CONTAINER(tophalf), terminal);
#else
tophalf = gtk_hbox_new(FALSE, 0);
gtk_box_pack_start(GTK_BOX(tophalf), terminal, TRUE, TRUE, 0);
gtk_widget_show(terminal);
GtkWidget* scrollbar = gtk_vscrollbar_new(terminal_adjustment(terminal));
gtk_box_pack_start(GTK_BOX(tophalf), scrollbar, FALSE, TRUE, 0);
gtk_widget_show(scrollbar);
#endif
gtk_widget_show(terminal);
label = gtk_label_new("");
gtk_label_set_justify(GTK_LABEL(label), GTK_JUSTIFY_LEFT);
gtk_misc_set_alignment(GTK_MISC(label), 0, 0);
sw = gtk_scrolled_window_new(NULL, NULL);
gtk_scrolled_window_add_with_viewport(GTK_SCROLLED_WINDOW(sw), label);
gtk_widget_show(label);
pane = gtk_paned_new (GTK_ORIENTATION_VERTICAL);
gtk_paned_pack1(GTK_PANED(pane), tophalf, TRUE, FALSE);
gtk_paned_pack2(GTK_PANED(pane), sw, TRUE, FALSE);
gtk_widget_show(tophalf);
gtk_widget_show(sw);
window = gtk_window_new(GTK_WINDOW_TOPLEVEL);
g_signal_connect(G_OBJECT(window), "delete_event",
G_CALLBACK(gtk_main_quit), NULL);
gtk_container_add(GTK_CONTAINER(window), pane);
gtk_widget_show(pane);
obj = gtk_widget_get_accessible(terminal);
g_assert(obj != NULL);
g_signal_connect(G_OBJECT(obj), "text-changed::insert",
G_CALLBACK(text_changed_insert), label);
g_signal_connect(G_OBJECT(obj), "text-changed::delete",
G_CALLBACK(text_changed_delete), label);
g_signal_connect(G_OBJECT(obj), "text-caret-moved",
G_CALLBACK(text_caret_moved), label);
g_signal_connect(G_OBJECT(obj), "text-selection-changed",
G_CALLBACK(text_selection_changed), label);
count = (guint)atk_text_get_character_count(ATK_TEXT(obj));
if (count > 0) {
text = atk_text_get_text(ATK_TEXT(obj), 0, count);
if (text != NULL) {
for (p = text;
contents->len < count;
p = g_utf8_next_char(p)) {
c = g_utf8_get_char(p);
g_array_append_val(contents, c);
}
g_free(text);
}
}
terminal_shell(terminal);
gtk_window_set_default_size(GTK_WINDOW(window), 600, 450);
gtk_widget_show(window);
update_contents(obj, terminal);
gtk_main();
g_array_free(contents, TRUE);
contents = NULL;
return 0;
}
int main()
{
pedal_node_state = pedal_state_neutral;
LCD_Start();
CAN_invertor_init();
ADC_SAR_Start();
ADC_SAR_StartConvert();
EEPROM_Start();
//isr_Start();
//Timer_Start();
CAN_timer_Start();
CAN_Init();
CAN_Start();
isr_start_StartEx(&isr_start_handler);
Start_Reset_Write(1); /* source of interrupt (reset) */
isr_start_ClearPending();
isr_neutral_StartEx(&isr_neutral_handler);
Neutral_Reset_Write(1);
isr_neutral_ClearPending();
isr_calibration_StartEx(&isr_calibration_handler);
CyGlobalIntEnable; //enable global interrupts
//Initialize terminal
terminal_init();
monitor_init();
pedal_restore_calibration_data(); //set min and max values
pedal_set_CAN(); //Setup tunnel from pedal control to CAN
pedal_set_monitor(); //Setup tunnel from pedal control to USB Monitor
// Initialize global variables
EEPROM_ERROR_LED_Write(0);
should_calibrate = false;
// terminal_registerCommand("newCmd", &newCmdRout);
sendNMT(NMT_command_startRemoteNode);
CyDelay(1000);
pedal_node_state = pedal_state_driving;
for(;;){
pedal_fetch_data();
}
for(;;)
{
CyDelay(50);
terminal_run(); // Refresh terminal
if (pedal_node_state == pedal_state_neutral)
{
if (should_calibrate)
{
pedal_node_state = pedal_state_calibrating;
} else if (should_turn_to_drive) {
pedal_node_state = pedal_state_driving;
//Start sending can message for invertor
CAN_invertor_resume();
}
} else if (pedal_node_state == pedal_state_driving) {
if (should_turn_to_neutral) {
pedal_node_state = pedal_state_neutral;
//Stop sending messages for invertor
CAN_invertor_pause();
}
}
//Clear all flags after handling
should_calibrate = false;
should_turn_to_drive = false;
should_turn_to_neutral = false;
uint8_t out_of_range_flag;
double brake_percent = 0, throttle_percent = 0;
double brake_percent_diff = 0, throttle_percent_diff = 0;
uint8_t torque_plausible_flag;
uint8_t brake_plausible_flag;
pedal_fetch_data(); //Update ADC readings
CAN_invertor_update_pedal_state(pedal_node_state);
monitor_update_vechicle_state(pedal_node_state); //Update vecicle state
monitor_status_update_vehicle_state(pedal_node_state);
switch (pedal_node_state)
{
case pedal_state_neutral:
LCD_ClearDisplay();
LCD_Position(0,0);
LCD_PrintString("NEUTRAL");
break;
case pedal_state_driving:
LCD_ClearDisplay();
LCD_Position(0,0);
LCD_PrintString("DRIVING");
//out_of_range_flag = pedal_get_out_of_range_flag();
if (out_of_range_flag != 0)
{
pedal_node_state = pedal_state_out_of_range;
break;
}
torque_plausible_flag = pedal_is_pedal_reading_matched(&brake_percent_diff, &throttle_percent_diff);
if (torque_plausible_flag != 0)
{
pedal_node_state = pedal_state_discrepency;
break;
}
brake_plausible_flag = pedal_is_brake_plausible(&brake_percent, &throttle_percent);
if (brake_plausible_flag != 0)
{
pedal_node_state = pedal_state_implausible;
break;
}
break;
case pedal_state_calibrating:
//clock_StopBlock(); //stop clock to disable interrupt
pedal_calibrate();
LCD_ClearDisplay();
//isr_ClearPending();
//clock_Start();
// isr_calibration_Enable();
pedal_node_state = pedal_state_neutral;
break;
case pedal_state_out_of_range:
LCD_ClearDisplay();
LCD_Position(0,0);
LCD_PrintString("Pedal out of");
LCD_Position(1,0);
LCD_PrintString("range");
out_of_range_flag = pedal_get_out_of_range_flag();
if (out_of_range_flag == 0)
{
pedal_node_state = pedal_state_driving;
}
break;
case pedal_state_discrepency:
LCD_ClearDisplay();
LCD_Position(0,0);
LCD_PrintString("Pedal discrepency");
torque_plausible_flag = pedal_is_pedal_reading_matched(&brake_percent_diff, &throttle_percent_diff);
if (torque_plausible_flag == 0)
{
pedal_node_state = pedal_state_driving;
}
break;
case pedal_state_implausible:
LCD_ClearDisplay();
LCD_Position(0,0);
LCD_PrintString("Pedal implausible");
brake_plausible_flag = pedal_is_brake_plausible(&brake_percent, &throttle_percent);
if (throttle_percent < PEDAL_BRAKE_IMPLAUSIBLE_EXIT_THROTTLE_PERCENT)
{
pedal_node_state = pedal_state_driving;
}
break;
}
// CyDelay(100);
}
return 0;
}
int main(int argc, char *argv[]) {
int rv = -1;
const char *device = NULL;
const char *scriptname = NULL;
// wait for socket if not there right away?
int dowait = 0;
terminal_init();
int i=1;
while(i<argc && argv[i][0]=='-' && argv[i][1] != 0) {
switch(argv[i][1]) {
case '?':
assert_single_char(argv[i]);
usage(EXIT_SUCCESS); /* usage() exits already */
break;
case 'd':
assert_single_char(argv[i]);
if (i < argc-1) {
i++;
device = argv[i];
log_info("main: device = %s\n", device);
} else {
log_error("-d requires <device> parameter\n");
exit(1);
}
break;
case 'v':
set_verbose();
break;
case 't':
trace = 1;
break;
case 'w':
dowait = 1;
break;
default:
log_error("Unknown command line option %s\n", argv[i]);
usage(1);
break;
}
i++;
}
// next parameter is the script name
if (i >= argc) {
log_error("Script name parameter missing!\n");
return -1;
}
scriptname = argv[i];
i++;
registry_t *script = load_script_from_file(scriptname);
if (script != NULL) {
int sockfd = socket_open(device, dowait);
if (sockfd >= 0) {
rv = execute_script(sockfd, script);
}
}
return rv;
}