void csyscall() { /* A trivial system call */
/*printf("We made it back into the kernel :-)\n");*/
/*printf("eax=%x, ebx=%x, retaddr=%x, esp=%x\n",
user.regs.eax, user.regs.ebx, user.iret.eip, user.iret.esp);*/
putchar(user.regs.eax);
switchToUser(&user);
}
void kernel() {
struct BootData* bd = (struct BootData*)0x1000;
unsigned* hdrs = bd->headers;
unsigned* mmap = bd->mmap;
unsigned i;
setWindow(2, 22, 0, 45); // kernel on left hand side
cls();
printf("Protected kernel has booted!\n");
printf("Headers:\n");
for (i=0; i<hdrs[0]; i++) {
printf(" header[%d]: [%x-%x], entry %x\n",
i, hdrs[3*i+1], hdrs[3*i+2], hdrs[3*i+3]);
}
printf("Memory map:\n");
for (i=0; i<mmap[0]; i++) {
printf(" mmap[%d]: [%x-%x]\n",
i, mmap[2*i+1], mmap[2*i+2]);
}
printf("Strings:\n");
printf(" cmdline: %s [%x]\n", bd->cmdline, bd->cmdline);
printf(" imgline: %s [%x]\n", bd->imgline, bd->imgline);
printf("user code is at 0x%x\n", hdrs[9]);
initContext(&user, hdrs[9], 0);
printf("user is at %x\n", (unsigned)(&user));
switchToUser(&user);
printf("This message shouldn't appear!\n");
}
C_RESULT ardrone_general_navdata_process( const navdata_unpacked_t* const pnd )
{
navdata_mode_t current_navdata_state = NAVDATA_BOOTSTRAP;
/* Makes sure the navdata stream will be resumed if the drone is disconnected and reconnected.
* Allows changing the drone battery during debugging sessions. */
if( ardrone_get_mask_from_state(pnd->ardrone_state, ARDRONE_NAVDATA_BOOTSTRAP) )
{
current_navdata_state = NAVDATA_BOOTSTRAP;
}
else
{
current_navdata_state = (ardrone_get_mask_from_state(pnd->ardrone_state, ARDRONE_NAVDATA_DEMO_MASK)) ? NAVDATA_DEMO : NAVDATA_FULL ;
}
if (current_navdata_state == NAVDATA_BOOTSTRAP && configState == MULTICONFIG_IDLE && navdataState == NAVDATA_REQUEST_IDLE)
{
navdataState = NAVDATA_REQUEST_NEEDED;
}
/* Multiconfig settings */
int configIndex, userNeedInit, appNeedInit;
userNeedInit = 0; appNeedInit = 0;
switch (configState)
{
case MULTICONFIG_GOT_DRONE_VERSION:
PRINTDBG ("Checking drone version ...\n");
// Check if drone version is >= 1.6
if (versionSupportsMulticonfiguration (ardrone_control_config.num_version_soft))
{
PRINTDBG ("Drone supports multiconfig\n");
configState = MULTICONFIG_IN_PROGRESS_LIST;
ARDRONE_TOOL_CUSTOM_CONFIGURATION_GET (configurationCallback);
droneSupportsMulticonfig = 1;
}
else
{
PRINTDBG ("Drone does not support multiconfig\n");
// Drone does not support multiconfig ... don't call init functions because we don't want to mess up things in default config
configState = MULTICONFIG_REQUEST_NAVDATA;
}
break;
case MULTICONFIG_GOT_IDS_LIST:
// At this point, we're sure that the AR.Drone supports multiconfiguration, so we'll wheck if our ids exists, and send them.
PRINTDBG ("Got AR.Drone ID list. Switch->%d,%d,%d. ND->%d\n", sesSwitch, usrSwitch, appSwitch, navdataNeeded);
if (1 == sesSwitch)
{
switchToSession(); // Go to session ...
}
if (1 == appSwitch)
{
if (0 != strcmp(ardrone_control_config_default.application_id, app_id)) // Check for application only if we're not asking for the default one
{
appNeedInit = 1;
for (configIndex = 0; configIndex < available_configurations[CAT_APPLI].nb_configurations; configIndex++) // Check all existing app_ids
{
PRINTDBG ("Checking application %s (desc : %s)\n", available_configurations[CAT_APPLI].list[configIndex].id,
available_configurations[CAT_APPLI].list[configIndex].description);
if (0 == strcmp(available_configurations[CAT_APPLI].list[configIndex].id, app_id))
{
PRINTDBG ("Found our application ... should not init\n");
appNeedInit = 0;
break;
}
}
switchToApplication();
}
else
{
PRINTDBG ("We're requesting default application (%s), do nothing.\n", app_id);
}
}
if (1 == usrSwitch)
{
if (0 != strcmp(ardrone_control_config_default.profile_id, usr_id)) // Check for user only if we're not asking for the default one
{
userNeedInit = 1;
for (configIndex = 0; configIndex < available_configurations[CAT_USER].nb_configurations; configIndex++) // Check all existing user_ids
{
PRINTDBG ("Checking user %s (desc : %s)\n", available_configurations[CAT_USER].list[configIndex].id,
available_configurations[CAT_USER].list[configIndex].description);
if (0 == strcmp(available_configurations[CAT_USER].list[configIndex].id, usr_id))
{
PRINTDBG ("Found our user ... should not init\n");
userNeedInit = 0;
break;
}
}
switchToUser();
}
else
{
PRINTDBG ("We're requesting default user (%s), do nothing.\n", usr_id);
}
}
if (1 == appNeedInit)
{
// Send application defined default values
ardrone_tool_send_application_default();
PRINTDBG ("Creating app. profile on AR.Drone\n");
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (application_desc, app_name, NULL);
}
if (1 == userNeedInit)
{
// Send user defined default values
ardrone_tool_send_user_default();
PRINTDBG ("Creating usr. profile on AR.Drone\n");
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (profile_desc, usr_name, NULL);
}
if (1 == sesSwitch)
{
if (0 != strcmp(ardrone_control_config_default.session_id, ses_id)) // Send session info only if session is not the default one
{
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (session_desc, ses_name, NULL);
// Send session specific default values
ardrone_tool_send_session_default();
}
else
{
PRINTDBG ("We're requesting default session (%s), do nothing.\n", ses_id);
}
}
configState = MULTICONFIG_IN_PROGRESS_IDS;
ARDRONE_TOOL_CONFIGURATION_GET (configurationCallback);
case MULTICONFIG_GOT_CURRENT_IDS:
if (0 != strcmp(ardrone_control_config.session_id, ses_id) ||
0 != strcmp(ardrone_control_config.profile_id, usr_id) ||
0 != strcmp(ardrone_control_config.application_id, app_id))
{
configState = MULTICONFIG_GOT_DRONE_VERSION; // We failed at setting up the application ids ... restart (but assume that drone supports multiconfig as we already checked)
}
else if (1 == navdataNeeded)
{
configState = MULTICONFIG_REQUEST_NAVDATA;
}
else
{
configState = MULTICONFIG_IDLE;
}
break;
case MULTICONFIG_NEEDED:
PRINTDBG ("Need to check multiconfig ... request config file\n");
// Get config file for reset
configState = MULTICONFIG_IN_PROGRESS_VERSION;
ARDRONE_TOOL_CONFIGURATION_GET (configurationCallback);
break;
case MULTICONFIG_REQUEST_NAVDATA:
PRINTDBG ("Send application navdata demo/options\n");
// Send application navdata demo/options to start navdatas from AR.Drone
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (navdata_demo, &ardrone_application_default_config.navdata_demo, NULL);
if (TRUE == ardrone_application_default_config.navdata_demo)
{ // Send navdata options only for navdata demo mode
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (navdata_options, &ardrone_application_default_config.navdata_options, NULL);
}
configState = MULTICONFIG_IDLE;
break;
case MULTICONFIG_IDLE:
case MULTICONFIG_IN_PROGRESS_LIST:
case MULTICONFIG_IN_PROGRESS_VERSION:
case MULTICONFIG_IN_PROGRESS_IDS:
default:
break;
}
/* Navdata request settings */
switch (navdataState)
{
case NAVDATA_REQUEST_NEEDED:
PRINTDBG ("Resetting navdatas to %s\n", (0 == ardrone_application_default_config.navdata_demo) ? "full" : "demo");
navdataState = NAVDATA_REQUEST_IN_PROGRESS;
switchToSession(); // Resend session id when reconnecting.
ARDRONE_TOOL_CONFIGURATION_ADDEVENT(navdata_demo, &ardrone_application_default_config.navdata_demo, NULL);
if (TRUE == ardrone_application_default_config.navdata_demo)
{ // Send navdata options only for navdata demo mode
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (navdata_options, &ardrone_application_default_config.navdata_options, navdataCallback);
}
break;
case NAVDATA_REQUEST_IN_PROGRESS:
case NAVDATA_REQUEST_IDLE:
default:
break;
}
return C_OK;
}
