void nested()
{
/* local variable definition */
sysClkRateSet(1000);
sysTimestampEnable();
jiffies_per_tick = sysTimestampPeriod();
clock_frequency = sysTimestampFreq();
microseconds_per_tick = (jiffies_per_tick / clock_frequency)*1000000.0;
microseconds_per_jiffy = microseconds_per_tick / jiffies_per_tick;
int i, j, p;
start_profiling();
for(i=2; i<100; i++) {
start_profiling_in();
for(j=2; j <= (i/j); j++)
if(!(i%j)) break; /* if factor found, not prime*/
stop_profiling_in();
if(j > (i/j)) p = i;
}
stop_profiling();
output_profiling("nested for outer loop including inner loop profiling");
start_profiling();
for(i=2; i<100; i++) {
for(j=2; j <= (i/j); j++)
if(!(i%j)) break; /* if factor found, not prime*/
if(j > (i/j)) p = i;
}
stop_profiling();
output_profiling("nested for outer loop without inner loop profiling");
}
/******************************************************************************
** Function: CFE_PSP_InitLocalTime()
**
** Purpose: Initializes the vxWorks Aux and TimeStamp timers.
**
** Arguments: none
******************************************************************************/
void CFE_PSP_InitLocalTime(void)
{
/* Set the sys clock rate */
sysClkRateSet(200);
/*
** Disable the Aux timer interrupt
*/
sysAuxClkDisable();
/*
** Set the Aux timer rate
*/
if(sysAuxClkRateGet() != CFE_PSP_TIMER_AUX_TICK_PER_SEC)
{
if(sysAuxClkRateSet(CFE_PSP_TIMER_AUX_TICK_PER_SEC) == ERROR)
{
OS_printf("CFE_PSP: Unable to set Aux Clock Rate!\n");
}
if(CFE_PSP_TIMER_PRINT_DBG == TRUE)
{
OS_printf("CFE_PSP: Aux Clock Rate %d.\n", sysAuxClkRateGet());
}
}
}
void initTimer() {
/* @TODO start the timer task and forward timer*/
initCallbackInfo();
g_timer_switcher = 1;
g_timer_tick_sem = initSemaphore();
g_timer_end_sem = initSemaphore();
createTask(decreaseTimerNode, 0);
sysClkConnect(increaseTick, 0);
sysClkRateSet(1000 / TICK);
sysClkEnable();
timer_debug("initTimer: getrate %d", sysClkRateGet());
}
/*!*****************************************************************************
*******************************************************************************
\note init_vxworks
\date Feb 1999
\remarks
initializes all necessary things
*******************************************************************************
Function Parameters: [in]=input,[out]=output
none
******************************************************************************/
int
init_vxworks( void )
{
int i, j;
STATUS stat;
char *path;
/* set the current path of the target */
path = getenv("path");
if (path != NULL) {
cd(path);
printf("Path set to: %s\n",path);
} else {
printf("WARNING: set the >path< variable to current working directory\n");
}
/* set the main clock rate */
stat = sysClkRateSet(SYS_CLOCK_RATE);
if (stat == ERROR) {
printf("ERROR in init_vxworks\n");
return FALSE;
}
/* avoid floating point underflow */
fppCreateHookRtn = (FUNCPTR)usrFppCreateHook;
/* add to man pages */
addToMan("ems","enables the motor servo",NULL);
addToMan("dms","disables the motor servo",NULL);
addToMan("status","displays status information about servo",NULL);
/* real robot flag needs to be set */
real_robot_flag = TRUE;
real_time_clock_flag = TRUE;
setRealRobotOptions();
return TRUE; }
void CFE_PSP_InitLocalTime(void)
{
/* Set the sys clock rate */
sysClkRateSet(200);
/*
** Disable the Aux timer interrupt, and disable the Timestamp timer
*/
sysAuxClkDisable();
if(sysTimestampDisable() == ERROR)
{
OS_printf("CFE_PSP: Unable to disable the Timestamp timer!\n");
}
/*
** Set the Aux timer
*/
if(sysAuxClkRateGet() != CFE_PSP_TIMER_AUX_TICK_PER_SEC)
{
if(sysAuxClkRateSet(CFE_PSP_TIMER_AUX_TICK_PER_SEC) == ERROR)
{
OS_printf("CFE_PSP: Unable to set Aux Clock Rate!\n");
}
if(CFE_PSP_TIMER_PRINT_DBG == TRUE)
{
OS_printf("CFE_PSP: Aux Clock Rate %d.\n", sysAuxClkRateGet());
OS_printf("CFE_PSP: Timestamp Frequency %u.\n", sysTimestampFreq());
OS_printf("CFE_PSP: Timestamp Period %u.\n", sysTimestampPeriod());
}
}
}/* end CFE_PSP_InitLocalTime */
int probe1()
{
unsigned int pciBusNo, pciDevNo, pciFuncNo;
unsigned char byte;
/* int i,j;*/
UINT32 s_pBA0, s_pBA1;
/* To ensure that taskDelay(1) is 1ms delay */
sysClkRateSet(1000);
if (pciConfigLibInit (PCI_MECHANISM_1, 0xCF8, 0xCFC, 0) != OK) {
printf("PCI lib config error\n");
return 1;
}
/****************************
* Find SoundCard
* Set BaseAddr0, BaseAddr1
****************************/
if(!(pciFindDevice(PCI_VENDOR_ID_CIRRUS,PCI_DEVICE_ID_CRYSTAL_CS4281,
0, &pciBusNo, &pciDevNo, &pciFuncNo)==OK)) {
printf("\n CS4281 sound card NOT FOUND!!! \n");
return 1;
}
printf("\n FOUND CS4281 sound card, configuring BA0,BA1... \n");
pciConfigOutLong( pciBusNo, pciDevNo, pciFuncNo,
PCI_CFG_BASE_ADDRESS_0, CS4281_pBA0);
/*
pciConfigOutLong( pciBusNo, pciDevNo, pciFuncNo,
PCI_CFG_BASE_ADDRESS_1, CS4281_pBA1);
*/
pciConfigInLong( pciBusNo, pciDevNo, pciFuncNo,
PCI_CFG_BASE_ADDRESS_0, &s_pBA0);
pciConfigInLong( pciBusNo, pciDevNo, pciFuncNo,
PCI_CFG_BASE_ADDRESS_1, &s_pBA1 );
printf ("\npBusNo pDeviceNo pFuncNo pBA0 pBA1\n\n");
printf ("%.8x %.8x %.8x %.8x %.8x \n",
pciBusNo, pciDevNo, pciFuncNo, s_pBA0,s_pBA1);
/********************************
* Config PCI Device Capability
* DMA Master
* MEM mapped
********************************/
/* Set the INTA vector */
pciConfigInByte(pciBusNo, pciDevNo, pciFuncNo,
PCI_CFG_DEV_INT_LINE, &cs4281_irq);
printf("\nFound CS4281 configured for IRQ %d\n", cs4281_irq);
pciConfigInByte(pciBusNo, pciDevNo, pciFuncNo,
PCI_CFG_DEV_INT_PIN, &byte);
printf("\tINT_PIN=%.8x\n", byte);
/* Enable the device's capabilities as specified
* Bus Master Enable/ Mem Space Enable */
pciConfigOutWord(pciBusNo, pciDevNo, pciFuncNo, PCI_CFG_COMMAND,
(unsigned short)0x0006);
/***************************
* BringUp Hardware
***************************/
/*Include Init Function Here*/
cs4281_hw_init();
/****************************
* Allocate ADC_BUFFER
* Allocate DAC_BUFFER
*
* Hook cs4281_interrupt
*
* Program CoDec
****************************/
if((DAC_BUFFER=valloc(DAC_BUFFER_SIZE))==NULL) {
printf("\n DAC_BUFFER valloc failed!\n");
return 1;
}
memset( DAC_BUFFER, 0, DAC_BUFFER_SIZE );
printf("\ndac=%x",DAC_BUFFER);
/*for( i=0 ; i < DAC_BUFFER_SIZE ; i++ )
((char *)DAC_BUFFER)[i]=0x7f;*/
writel((UINT32)DAC_BUFFER+8,CS4281_pBA0 + BA0_DBA0);
writel(DAC_BUFFER_SIZE-16, CS4281_pBA0 + BA0_DBC0);
printf("\nbao=%x",readl(CS4281_pBA0 + BA0_DBA0));
printf("\nbco=%x",readl(CS4281_pBA0 + BA0_DBC0));
printf("\ncco=%x",readl(CS4281_pBA0 + BA0_DCC0));
if((ADC_BUFFER=valloc(ADC_BUFFER_SIZE))==NULL) {
printf("\n ADC_BUFFER valloc failed!\n");
return 1;
}
printf("\nadc=%x",ADC_BUFFER);
/*for( i=0 ; i < ADC_BUFFER_SIZE ; i++ )
((char *)ADC_BUFFER)[i]=0x7f;*/
writel((UINT32)ADC_BUFFER+8,CS4281_pBA0 + BA0_DBA1);
writel(ADC_BUFFER_SIZE-16, CS4281_pBA0 + BA0_DBC1);
/* connect interrupt */
printf("\n Hook cs4281_interrupt to vector %d\n",
(INUM_TO_IVEC (cs4281_irq+INT_NUM_IRQ0)));
pciIntConnect((INUM_TO_IVEC (cs4281_irq+INT_NUM_IRQ0)),
(VOIDFUNCPTR)cs4281_interrupt, 0);
sysIntEnablePIC(cs4281_irq);
SEM_DMA_Playback = semBCreate(SEM_Q_FIFO,SEM_EMPTY);
SEM_MY_Playback = semBCreate(SEM_Q_FIFO,SEM_EMPTY);
SEM_DMA_Record = semBCreate(SEM_Q_FIFO,SEM_EMPTY);
SEM_Sample = semBCreate(SEM_Q_FIFO,SEM_EMPTY);
CNT_DMA_Playback = CNT_DMA_Record = 0;
/* program coDec */
printf("\n Program CoDec (sample rate, DMA...)\n");
prog_codec();
/*********************************************
* start dac/adc, interrupt is comming...
*********************************************/
start_dac();
return 0;
}
void usrRoot
(
char * pMemPoolStart, /* start of system memory partition */
unsigned memPoolSize /* initial size of mem pool */
)
{
char tyName [20];
int ix;
/* Initialize the memory pool before initializing any other package.
* The memory associated with the root task will be reclaimed at the
* completion of its activities.
*/
#ifdef INCLUDE_MEM_MGR_FULL
memInit (pMemPoolStart, memPoolSize); /* initialize memory pool */
#else
memPartLibInit (pMemPoolStart, memPoolSize);/* initialize memory pool */
#endif /* INCLUDE_MEM_MGR_FULL */
#ifdef INCLUDE_SHOW_ROUTINES
memShowInit (); /* initialize memShow routine */
#endif /* INCLUDE_SHOW_ROUTINES */
#if defined(INCLUDE_MMU_BASIC) || defined(INCLUDE_MMU_FULL) || \
defined(INCLUDE_MMU_MPU)
usrMmuInit (); /* initialize the mmu */
#endif /* defined(INCLUDE_MMU_BASIC, INCLUDE_MMU_FULL, INCLUDE_MMU_MPU) */
/* set up system timer */
sysClkConnect ((FUNCPTR) usrClock, 0); /* connect clock ISR */
sysClkRateSet (SYS_CLK_RATE); /* set system clock rate */
sysClkEnable (); /* start it */
#ifdef INCLUDE_FAST_DRAM
/*
* make use of data cache as fast DRAM,
* establish parameters in config.h, MMU
* must be initialed before data cache is
* initialized as data ram...
*/
cacheCreateInternalDataRAM((UINT32 *)FD_ORIGIN, FD_NUMLINES);
#endif
/*
* The select library needs to be initialized before the tyLib module
* since the _func_selWakeupListInit FUNCPTR is required (SPR #3314).
* The installation of the select task delete hooks is performed
* later in usrRoot() after NFS and RPC have been initialized.
*/
#ifdef INCLUDE_SELECT
selectInit (NUM_FILES);
#endif /* INCLUDE_SELECT */
/* initialize I/O system */
#ifdef INCLUDE_IO_SYSTEM
iosInit (NUM_DRIVERS, NUM_FILES, "/null");
consoleFd = NONE; /* assume no console device */
#ifdef INCLUDE_TYCODRV_5_2
#ifdef INCLUDE_TTY_DEV
if (NUM_TTY > 0)
{
tyCoDrv (); /* install console driver */
for (ix = 0; ix < NUM_TTY; ix++) /* create serial devices */
{
sprintf (tyName, "%s%d", "/tyCo/", ix);
(void) tyCoDevCreate (tyName, ix, 512, 512);
if (ix == CONSOLE_TTY)
strcpy (consoleName, tyName); /* store console name */
}
consoleFd = open (consoleName, O_RDWR, 0);
/* set baud rate */
(void) ioctl (consoleFd, FIOBAUDRATE, CONSOLE_BAUD_RATE);
(void) ioctl (consoleFd, FIOSETOPTIONS, OPT_TERMINAL);
}
#endif /* INCLUDE_TTY_DEV */
#else /* !INCLUDE_TYCODRV_5_2 */
#ifdef INCLUDE_TTY_DEV
if (NUM_TTY > 0)
{
ttyDrv(); /* install console driver */
for (ix = 0; ix < NUM_TTY; ix++) /* create serial devices */
{
#if (defined(INCLUDE_WDB) && (WDB_COMM_TYPE == WDB_COMM_SERIAL))
if (ix == WDB_TTY_CHANNEL) /* don't use WDBs channel */
continue;
#endif
sprintf (tyName, "%s%d", "/tyCo/", ix);
(void) ttyDevCreate (tyName, sysSerialChanGet(ix), 512, 512);
if (ix == CONSOLE_TTY) /* init the tty console */
{
strcpy (consoleName, tyName);
consoleFd = open (consoleName, O_RDWR, 0);
(void) ioctl (consoleFd, FIOBAUDRATE, CONSOLE_BAUD_RATE);
(void) ioctl (consoleFd, FIOSETOPTIONS, OPT_TERMINAL);
}
}
}
#endif /* INCLUDE_TTY_DEV */
#ifdef INCLUDE_PC_CONSOLE
pcConDrv ();
for (ix = 0; ix < N_VIRTUAL_CONSOLES; ix++)
{
sprintf (tyName, "%s%d", "/pcConsole/", ix);
(void) pcConDevCreate (tyName,ix, 512, 512);
if (ix == PC_CONSOLE) /* init the console device */
{
strcpy (consoleName, tyName);
consoleFd = open (consoleName, O_RDWR, 0);
(void) ioctl (consoleFd, FIOBAUDRATE, CONSOLE_BAUD_RATE);
(void) ioctl (consoleFd, FIOSETOPTIONS, OPT_TERMINAL);
}
}
#endif /* INCLUDE_PC_CONSOLE */
#endif /* !INCLUDE_TYCODRV_5_2 */
ioGlobalStdSet (STD_IN, consoleFd);
ioGlobalStdSet (STD_OUT, consoleFd);
ioGlobalStdSet (STD_ERR, consoleFd);
#endif /* INCLUDE_IO_SYSTEM */
/* initialize symbol table facilities */
#ifdef INCLUDE_SYM_TBL
hashLibInit (); /* initialize hash table package */
symLibInit (); /* initialize symbol table package */
#ifdef INCLUDE_SHOW_ROUTINES
symShowInit (); /* initialize symbol table show */
#endif /* INCLUDE_SHOW_ROUTINES */
#endif /* INCLUDE_SYM_TBL */
/* initialize exception handling */
#if defined(INCLUDE_EXC_HANDLING) && defined(INCLUDE_EXC_TASK)
#ifdef INCLUDE_EXC_SHOW
excShowInit ();
#endif
excInit (); /* initialize exception handling */
#endif /* defined(INCLUDE_EXC_HANDLING) && defined(INCLUDE_EXC_TASK) */
#ifdef INCLUDE_LSTLIB
lstLibInit ();
#endif
#ifdef INCLUDE_LOGGING
logInit (consoleFd, MAX_LOG_MSGS); /* initialize logging */
# ifdef INCLUDE_LOG_STARTUP
logMsg ("logging started to %s [%d], queue size %d\n",
consoleName, consoleFd, MAX_LOG_MSGS, 4,5,6);
taskDelay (2); /* allow time for message to be displayed */
# endif /* INCLUDE_LOG_STARTUP */
#endif /* INCLUDE_LOGGING */
#ifdef INCLUDE_SIGNALS
sigInit (); /* initialize signals */
#endif /* INCLUDE_SIGNALS */
/* initialize debugging */
#ifdef INCLUDE_DEBUG
dbgInit (); /* initialize debugging */
#endif /* INCLUDE_DEBUG */
/* initialize pipe driver */
#ifdef INCLUDE_PIPES
pipeDrv (); /* install pipe driver */
#endif /* INCLUDE_PIPES */
/* initialize standard I/O package */
#ifdef INCLUDE_STDIO
stdioInit (); /* initialize standard I/O library */
#ifdef INCLUDE_SHOW_ROUTINES
stdioShowInit ();
#endif /* INCLUDE_SHOW_ROUTINES */
#endif /* INCLUDE_STDIO */
/* initialize POSIX queued signals */
#if defined(INCLUDE_POSIX_SIGNALS) && defined(INCLUDE_SIGNALS)
sigqueueInit (NUM_SIGNAL_QUEUES); /* initialize queued signals */
#endif
/* initialize POSIX semaphores */
#ifdef INCLUDE_POSIX_SEM
semPxLibInit ();
#ifdef INCLUDE_SHOW_ROUTINES
semPxShowInit ();
#endif /* INCLUDE_SHOW_POUTINES */
#endif /* INCLUDE_POSIX_SEM */
/* initialize POSIX threads */
#ifdef INCLUDE_POSIX_PTHREADS
pthreadLibInit ();
#endif /* INCLUDE_POSIX_PTHREADS */
/* initialize POSIX message queues */
#ifdef INCLUDE_POSIX_MQ
mqPxLibInit (MQ_HASH_SIZE);
#ifdef INCLUDE_SHOW_ROUTINES
mqPxShowInit ();
#endif /* INCLUDE_SHOW_ROUTINES */
#endif /* INCLUDE_POSIX_MQ */
/* initialize POSIX async I/O support */
#ifdef INCLUDE_POSIX_AIO
aioPxLibInit (MAX_LIO_CALLS);
#ifdef INCLUDE_POSIX_AIO_SYSDRV
aioSysInit (MAX_AIO_SYS_TASKS, AIO_TASK_PRIORITY, AIO_TASK_STACK_SIZE);
#endif /* INCLUDE_POSIX_AIO_SYSDRV */
#endif /* INCLUDE_POSIX_AIO */
#ifdef INCLUDE_CBIO /* init main CBIO module, cbioLib() */
cbioLibInit();
#endif INCLUDE_CBIO
/* initialize filesystems and disk drivers */
#ifdef INCLUDE_DOSFS_MAIN /* dosFs2 file system initialization */
hashLibInit (); /* initialize hash table package */
/* First initialize the main dosFs module */
dosFsLibInit( 0 );
/* Initialize sub-modules */
/* ensure that at least one directory handler is defined */
# if ((!defined INCLUDE_DOSFS_DIR_VFAT) && \
(!defined INCLUDE_DOSFS_DIR_FIXED))
# define INCLUDE_DOSFS_DIR_VFAT
# endif
/* init VFAT (MS long file names) module */
# ifdef INCLUDE_DOSFS_DIR_VFAT
/* Sub-module: VFAT Directory Handler */
dosVDirLibInit();
# endif /* INCLUDE_DOSFS_DIR_VFAT */
/* init strict 8.3 and vxLongNames handler */
# ifdef INCLUDE_DOSFS_DIR_FIXED
/* Sub-module: Vintage 8.3 and VxLong Directory Handler */
dosDirOldLibInit();
# endif /* INCLUDE_DOSFS_DIR_FIXED */
/* Sub-module: FAT12/FAT16/FAT32 FAT Handler */
dosFsFatInit();
# ifdef INCLUDE_DOSFS_CHKDSK
/* Sub-module: Consistency check handler */
dosChkLibInit();
# endif /* INCLUDE_DOSFS_CHKDSK */
# ifdef INCLUDE_DOSFS_FMT
/* Sub-module: Formatter */
dosFsFmtLibInit(); /* init dosFs scalable formatter */
# endif /* INCLUDE_DOSFS_FMT */
#endif /* INCLUDE_DOSFS_MAIN */
/* dosFs1 legacy code, dosFsInit(), usrDosFsOld.c */
#ifdef INCLUDE_DOSFS
hashLibInit (); /* initialize hash table package */
dosFsInit (NUM_DOSFS_FILES); /* init dosFs filesystem */
#endif /* INCLUDE_DOSFS */
#ifdef INCLUDE_RAWFS
rawFsInit (NUM_RAWFS_FILES); /* init rawFs filesystem */
#endif /* INCLUDE_RAWFS */
#ifdef INCLUDE_RT11FS
rt11FsInit (NUM_RT11FS_FILES); /* init rt11Fs filesystem */
#endif /* INCLUDE_RT11FS */
#ifdef INCLUDE_RAMDRV
ramDrv (); /* initialize ram disk driver */
#endif /* INCLUDE_RAMDRV */
/* initialize USB components */
#ifdef INCLUDE_USB_INIT
usbInit (); /* USB Host Stack Initialization */
#endif
#ifdef INCLUDE_UHCI_INIT
usrUsbHcdUhciAttach (); /* UHCI Initialization */
#endif
#ifdef INCLUDE_OHCI_INIT
usrUsbHcdOhciAttach (); /* OHCI Initialization */
#endif
#ifdef INCLUDE_USB_MOUSE_INIT
usrUsbMseInit (); /* Mouse Driver Initialization */
#endif
#ifdef INCLUDE_USB_KEYBOARD_INIT
usrUsbKbdInit (); /* Keyboard Driver Initialization */
#endif
#ifdef INCLUDE_USB_PRINTER_INIT
usrUsbPrnInit (); /* Printer Driver Initialization */
#endif
#ifdef INCLUDE_USB_SPEAKER_INIT
usrUsbSpkrInit (); /* Speaker Driver Initialization */
#endif
#ifdef INCDLUE_USB_AUDIO_DEMO
usrUsbAudioDemo (); /* USB Audio Demo */
#endif
#ifdef INCLUDE_USB_MS_BULKONLY_INIT
usrUsbBulkDevInit(); /* Bulk Driver Initialization */
#endif
#ifdef INCLUDE_USB_MS_CBI_INIT
usrUsbCbiUfiDevInit (); /* CBI Driver Initialization */
#endif
#ifdef INCLUDE_USB_PEGASUS_END_INIT
usrUsbPegasusEndInit (); /* Pegasus Driver Initialization */
#endif
#ifdef INCLUDE_SCSI
/*
* initialize either the SCSI1 or SCSI2 interface; initialize SCSI2 when
* the SCSI2 interface is available.
*/
#ifndef INCLUDE_SCSI2
scsi1IfInit ();
#else
scsi2IfInit ();
#endif
/* initialize SCSI controller */
if (sysScsiInit () == OK)
{
usrScsiConfig (); /* configure SCSI peripherals */
}
else
{
#ifdef INCLUDE_STDIO
printf ("sysScsiInit() Failed, SCSI system not initialized\n");
#endif /* INCLUDE_STDIO */
}
#endif /* INCLUDE_SCSI */
#ifdef INCLUDE_FD /* initialize floppy disk driver */
if ((fdDrv (FD_INT_VEC, FD_INT_LVL)) == ERROR)
{
#ifdef INCLUDE_STDIO
printf ("fdDrv returned ERROR from usrRoot.\n");
#endif /* INCLUDE_STDIO */
}
#endif /* INCLUDE_FD */
#ifdef INCLUDE_IDE
/* init IDE disk driver */
if ((ideDrv (IDE_INT_VEC, IDE_INT_LVL, IDE_CONFIG)) == ERROR)
{
#ifdef INCLUDE_STDIO
printf ("ideDrv returned ERROR from usrRoot.\n");
#endif /* INCLUDE_STDIO */
}
#endif /* INCLUDE_IDE */
#ifdef INCLUDE_MMC
d /* init IDE disk driver */
if ((mmcDrv (AT91C_ID_MCI, AT91C_VEC_MCI, IDE_CONFIG)) == ERROR)
{
#ifdef INCLUDE_STDIO
printf ("ideDrv returned ERROR from usrRoot.\n");
#endif /* INCLUDE_STDIO */
}
#endif /* INCLUDE_MMC */
#ifdef INCLUDE_ATA
{ /* initialize hard disk driver */
IMPORT ATA_RESOURCE ataResources[];
ATA_RESOURCE *pAtaResource;
for (ix = 0; ix < ATA_MAX_CTRLS; ix++)
{
pAtaResource = &ataResources[ix];
if (pAtaResource->ctrlType == IDE_LOCAL)
if ((ataDrv (ix, pAtaResource->drives, pAtaResource->intVector,
pAtaResource->intLevel, pAtaResource->configType,
pAtaResource->semTimeout, pAtaResource->wdgTimeout))
== ERROR)
{
#ifdef INCLUDE_STDIO
printf ("ataDrv returned ERROR from usrRoot.\n");
#endif /* INCLUDE_STDIO */
}
}
}
#ifdef INCLUDE_SHOW_ROUTINES
ataShowInit (); /* install ATA/IDE show routine */
#endif /* INCLUDE_SHOW_ROUTINES */
#endif /* INCLUDE_ATA */
#ifdef INCLUDE_LPT
{
IMPORT LPT_RESOURCE lptResources[];
lptDrv (LPT_CHANNELS, &lptResources[0]); /* init LPT parallel driver */
}
#endif /* INCLUDE_LPT */
#ifdef INCLUDE_PCMCIA
#ifdef INCLUDE_SHOW_ROUTINES
pcmciaShowInit (); /* install PCMCIA show routines */
#endif /* INCLUDE_SHOW_ROUTINES */
pcmciaInit (); /* init PCMCIA Lib */
#endif /* INCLUDE_PCMCIA */
#ifdef INCLUDE_TFFS
tffsDrv (); /* it should be after pcmciaInit() */
#endif /* INCLUDE_TFFS */
#ifdef INCLUDE_FORMATTED_IO
fioLibInit (); /* initialize formatted I/O */
#endif /* INCLUDE_FORMATTED_IO */
/* initialize floating point facilities */
#ifdef INCLUDE_FLOATING_POINT
floatInit (); /* initialize floating point I/O */
#endif /* INCLUDE_FLOATING_POINT */
/* install software floating point emulation (if applicable) */
#ifdef INCLUDE_SW_FP
mathSoftInit (); /* use software emulation for fp math */
#endif /* INCLUDE_SW_FP */
/* install hardware floating point support (if applicable) */
#ifdef INCLUDE_HW_FP
mathHardInit (); /* do fppInit() & install hw fp math */
#ifdef INCLUDE_SHOW_ROUTINES
fppShowInit (); /* install hardware fp show routine */
#endif /* INCLUDE_SHOW_ROUTINES */
#endif /* INCLUDE_HW_FP */
/* install dsp support (if applicable) */
#ifdef INCLUDE_DSP
usrDspInit (); /* do dspInit() */
#endif /* INCLUDE_DSP */
/* initialize AltiVec library (if applicable) */
#ifdef INCLUDE_ALTIVEC
usrAltivecInit ();
#endif /* INCLUDE_ALTIVEC */
/* initialize performance monitoring tools */
#ifdef INCLUDE_SPY
spyLibInit (); /* install task cpu utilization tool */
#endif /* INCLUDE_SPY */
#ifdef INCLUDE_TIMEX
timexInit (); /* install function timing tool */
#endif /* INCLUDE_TIMEX */
#ifdef INCLUDE_ENV_VARS
envLibInit (ENV_VAR_USE_HOOKS); /* initialize environment variable */
#endif /* INCLUDE_ENV_VARS */
#ifdef INCLUDE_NTPASSFS
{
IMPORT int ntPassFsInit();
IMPORT void * ntPassFsDevInit();
IMPORT char fullExePath[];
char passName [MAX_FILENAME_LENGTH];
char * defPathEnd;
if (ntPassFsInit(1) == OK)
{
if (ntPassFsDevInit("host:") == NULL)
{
#ifdef INCLUDE_STDIO
printf ("ntPassFsDevInit failed for host: \n");
#endif /* INCLUDE_STDIO */
}
else
{
sprintf (passName, "host:%s", fullExePath);
/* Remove bootFile name at the end of the string */
defPathEnd = strrchr (passName, '\\');
if (defPathEnd != NULL)
*defPathEnd = '\0';
ioDefPathSet (passName);
}
}
else
{
#ifdef INCLUDE_STDIO
printf ("ntPassFsInit failed\n");
#endif /* INCLUDE_STDIO */
}
}
#endif /* INCLUDE_NTPASSFS */
/* initialize object module loader */
#ifdef INCLUDE_LOADER
moduleLibInit (); /* initialize module manager */
#if defined(INCLUDE_AOUT)
loadAoutInit (); /* use a.out format */
#else /* coff or ecoff */
#if defined(INCLUDE_ECOFF)
loadEcoffInit (); /* use ecoff format */
#else /* ecoff */
#if defined(INCLUDE_COFF)
loadCoffInit (); /* use coff format */
#else /* coff */
#if defined(INCLUDE_ELF)
loadElfInit (); /* use elf format */
#else
#if defined(INCLUDE_SOM_COFF)
loadSomCoffInit ();
#else
#if defined(INCLUDE_PECOFF)
{
extern int loadPecoffInit();
loadPecoffInit ();
}
#endif
#endif
#endif
#endif
#endif
#endif
#endif /* INCLUDE_LOADER */
/* initialize wtx client to synchronize host and target symbol tables */
#ifdef INCLUDE_SYM_TBL_SYNC
symSyncLibInit ();
#endif /* INCLUDE_SYM_TBL_SYNC */
/* initialize network */
#ifdef INCLUDE_NET_INIT
usrBootLineInit (sysStartType); /* crack the bootline */
# if defined(INCLUDE_LOGGING) && defined(INCLUDE_LOG_STARTUP)
logMsg ("before usrNetInit()\n", 1,2,3,4,5,6);
taskDelay (2); /* allow time for message to be displayed */
# endif /* INCLUDE_LOGGING && INCLUDE_LOG_STARTUP */
usrNetInit (BOOT_LINE_ADRS); /* initialize network support */
# if defined(INCLUDE_LOGGING) && defined(INCLUDE_LOG_STARTUP)
logMsg ("after usrNetInit()\n", 1,2,3,4,5,6);
taskDelay (2); /* allow time for message to be displayed */
# endif /* INCLUDE_LOGGING && INCLUDE_LOG_STARTUP */
#endif /* INCLUDE_NET_INIT */
#ifdef INCLUDE_PASSFS
{
extern STATUS passFsInit ();
extern void *passFsDevInit ();
char passName [256];
if (passFsInit (1) == OK)
{
extern char vxsim_hostname[];
extern char vxsim_cwd[];
sprintf (passName, "%s:", vxsim_hostname);
if (passFsDevInit (passName) == NULL)
{
#ifdef INCLUDE_STDIO
printf ("passFsDevInit failed for <%s>\n", passName);
#endif /* INCLUDE_STDIO */
}
else
{
sprintf (passName, "%s:%s", vxsim_hostname, vxsim_cwd);
ioDefPathSet (passName);
}
}
else
#ifdef INCLUDE_STDIO
printf ("passFsInit failed\n");
#endif /* INCLUDE_STDIO */
}
#endif /* INCLUDE_PASSFS */
#ifdef INCLUDE_DOS_DISK
{
char unixName [80];
extern void unixDrv ();
extern void unixDiskInit ();
extern char *u_progname; /* home of executable */
char *pLastSlash;
unixDrv ();
pLastSlash = strrchr (u_progname, '/');
pLastSlash = (pLastSlash == NULL) ? u_progname : (pLastSlash + 1);
sprintf (unixName, "/tmp/%s%d.dos", pLastSlash, sysProcNumGet());
unixDiskInit (unixName, "A:", 0);
}
#endif /* INCLUDE_DOS_DISK */
/* initialize shared memory objects */
#ifdef INCLUDE_SM_OBJ /* unbundled shared memory objects */
usrSmObjInit (BOOT_LINE_ADRS);
#endif /* INCLUDE_SM_OBJ */
/* initialize WindMP */
#ifdef INCLUDE_VXFUSION /* unbundled VxFusion (distributed objects) */
usrVxFusionInit (BOOT_LINE_ADRS);
#ifdef INCLUDE_SHOW_ROUTINES
{
extern void msgQDistShowInit();
extern void distNameShowInit ();
extern void distIfShowInit ();
extern void msgQDistGrpShowInit ();
msgQDistShowInit();
distNameShowInit ();
distIfShowInit ();
msgQDistGrpShowInit ();
}
#endif /* INCLUDE_SHOW_ROUTINES */
#endif /* INCLUDE_WINDMP */
/* write protect text segment & vector table only after bpattach () */
#ifdef INCLUDE_MMU_FULL /* unbundled mmu product */
#ifdef INCLUDE_PROTECT_TEXT
if (vmTextProtect () != OK)
printf ("\nError protecting text segment. errno = %x\n", errno);
#endif /* INCLUDE_PROTECT_TEXT */
#ifdef INCLUDE_PROTECT_VEC_TABLE
if (intVecTableWriteProtect () != OK)
printf ("\nError protecting vector table. errno = %x\n", errno);
#endif /* INCLUDE_PROTECT_VEC_TABLE */
#endif /* INCLUDE_MMU_FULL */
/* install select hook only after NFS/RPC for proper delete hook order */
#ifdef INCLUDE_SELECT
selTaskDeleteHookAdd ();
#endif /* INCLUDE_SELECT */
/* create system and status symbol tables */
#ifdef INCLUDE_STANDALONE_SYM_TBL
# if defined(INCLUDE_LOGGING) && defined(INCLUDE_LOG_STARTUP)
logMsg ("before symTblCreate()\n", 1,2,3,4,5,6);
taskDelay (2); /* allow time for message to be displayed */
# endif /* INCLUDE_LOGGING && INCLUDE_LOG_STARTUP */
sysSymTbl = symTblCreate (SYM_TBL_HASH_SIZE_LOG2, TRUE, memSysPartId);
#ifdef INCLUDE_SYM_TBL_SYNC
/* create a module (group 1) that is not synchronized (SPR# 20301) */
moduleCreate ("vxWorks.sym",
#if (defined INCLUDE_AOUT)
MODULE_A_OUT,
#elif ((defined INCLUDE_COFF) || (defined INCLUDE_ECOFF) || \
(defined INCLUDE_SOMCOFF))
MODULE_ECOFF,
#elif (defined INCLUDE_ELF)
MODULE_ELF,
#endif /* INCLUDE_AOUT */
HIDDEN_MODULE|LOAD_NO_SYMBOLS);
#endif /* INCLUDE_SYM_TBL_SYNC */
printf ("\nAdding %ld symbols for standalone.\n", standTblSize);
/* fill in from built in table*/
for (ix = 0; (ULONG) ix < standTblSize; ix++)
#if ((CPU_FAMILY == ARM) && ARM_THUMB)
thumbSymTblAdd (sysSymTbl, &(standTbl[ix]));
#else
symTblAdd (sysSymTbl, &(standTbl[ix]));
#endif /* CPU_FAMILY == ARM */
# if defined(INCLUDE_LOGGING) && defined(INCLUDE_LOG_STARTUP)
logMsg ("sysSymTbl complete.\n", 1,2,3,4,5,6);
taskDelay (2); /* allow time for message to be displayed */
# endif /* INCLUDE_LOGGING && INCLUDE_LOG_STARTUP */
#endif /* INCLUDE_STANDALONE_SYM_TBL */
#ifdef INCLUDE_NET_SYM_TBL
sysSymTbl = symTblCreate (SYM_TBL_HASH_SIZE_LOG2, TRUE, memSysPartId);
netLoadSymTbl (); /* fill in table from host */
#endif /* INCLUDE_NET_SYM_TBL */
#ifdef INCLUDE_STAT_SYM_TBL
statSymTbl = symTblCreate (STAT_TBL_HASH_SIZE_LOG2, FALSE, memSysPartId);
for (ix = 0; (ULONG)ix < statTblSize; ix ++) /* fill in from builtin table*/
symTblAdd (statSymTbl, &(statTbl [ix]));
#endif /* INCLUDE_STAT_SYM_TBL */
/* initialize C++ support library */
#if defined (INCLUDE_CPLUS) && defined (INCLUDE_CPLUS_MIN)
#error Define only one of INCLUDE_CPLUS or INCLUDE_CPLUS_MIN, not both
#endif
#if defined (INCLUDE_CPLUS) || defined (INCLUDE_CPLUS_MIN)
#ifndef INCLUDE_CTORS_DTORS
#define INCLUDE_CTORS_DTORS
#endif
#endif
#ifdef INCLUDE_CTORS_DTORS
/*
* call compiler generated init functions (usually - but not necessarily -
* C++ related)
*/
cplusCtorsLink ();
#endif
#ifdef INCLUDE_CPLUS /* all standard C++ runtime support */
cplusLibInit ();
#endif
#ifdef INCLUDE_CPLUS_MIN /* minimal C++ runtime support */
cplusLibMinInit ();
#endif
#ifdef INCLUDE_CPLUS_DEMANGLER
cplusDemanglerInit ();
#endif
/* initialize COM/DCOM runtime support */
#ifdef INCLUDE_COM
comLibInit ();
#endif
#ifdef INCLUDE_DCOM
dcomLibInit ();
#endif
/* initialize Wind Web Server */
#ifdef INCLUDE_HTTP
httpd ();
#endif /* INCLUDE_HTTP */
#ifdef INCLUDE_RBUFF /* install rBuff support */
rBuffLibInit();
#ifdef INCLUDE_SHOW_ROUTINES
rBuffShowInit (); /* install rBuff show routine */
#endif /* INCLUDE_SHOW_ROUTINES */
#endif /* INCLUDE_RBUFF */
#ifdef INCLUDE_WINDVIEW
windviewConfig ();
#endif /* INCLUDE_WINDVIEW */
/* initialize the WDB debug agent */
#ifdef INCLUDE_WDB
# if defined(INCLUDE_LOGGING) && defined(INCLUDE_LOG_STARTUP)
logMsg ("before wdbConfig()\n", 1,2,3,4,5,6);
taskDelay (2); /* allow time for message to be displayed */
# endif /* INCLUDE_LOGGING && INCLUDE_LOG_STARTUP */
wdbConfig();
# if defined(INCLUDE_LOGGING) && defined(INCLUDE_LOG_STARTUP)
logMsg ("after wdbConfig()\n", 1,2,3,4,5,6);
taskDelay (2); /* allow time for message to be displayed */
# endif /* INCLUDE_LOGGING && INCLUDE_LOG_STARTUP */
#ifdef INCLUDE_WDB_BANNER
#if (WDB_COMM_TYPE == WDB_COMM_NETWORK)
#define WDB_COMM_TYPE_STR "WDB_COMM_NETWORK"
#endif /* WDB_COMM_TYPE == WDB_COMM_NETWORK */
#if (WDB_COMM_TYPE == WDB_COMM_SERIAL)
#define WDB_COMM_TYPE_STR "WDB_COMM_SERIAL"
#endif /* WDB_COMM_TYPE == WDB_COMM_SERIAL */
#if (WDB_COMM_TYPE == WDB_COMM_TYCODRV_5_2)
#define WDB_COMM_TYPE_STR "WDB_COMM_TYCODRV_5_2"
#endif /* WDB_COMM_TYPE == WDB_COMM_TYCODRV_5_2 */
#if (WDB_COMM_TYPE == WDB_COMM_NETROM)
#define WDB_COMM_TYPE_STR "WDB_COMM_NETROM"
#endif /* WDB_COMM_TYPE == WDB_COMM_NETROM */
#if (WDB_COMM_TYPE == WDB_COMM_VTMD)
#define WDB_COMM_TYPE_STR "WDB_COMM_VTMD"
#endif /* WDB_COMM_TYPE == WDB_COMM_VTMD */
#if (WDB_COMM_TYPE == WDB_COMM_END)
#define WDB_COMM_TYPE_STR "WDB_COMM_END"
#endif /* WDB_COMM_TYPE == WDB_COMM_END */
#if (WDB_COMM_TYPE == WDB_COMM_CUSTOM)
#define WDB_COMM_TYPE_STR "WDB_COMM_CUSTOM"
#endif /* WDB_COMM_TYPE == WDB_COMM_CUSTOM */
#if (WDB_COMM_TYPE == WDB_COMM_PIPE)
#define WDB_COMM_TYPE_STR "WDB_COMM_PIPE"
#endif /* WDB_COMM_TYPE == WDB_COMM_PIPE */
#ifndef WDB_COMM_TYPE_STR
#define WDB_COMM_TYPE_STR "Unknown"
#endif /* WDB_COMM_TYPE_STR */
#ifndef INCLUDE_SHELL
/* WDB banner same as printed by usrWdbBanner */
printf ("\n\n");
printf ("%23s\n\n", runtimeName);
printf ("Copyright 1984-2002 Wind River Systems, Inc.\n\n");
printf (" CPU: %s\n", sysModel ());
printf (" Runtime Name: %s\n", runtimeName);
printf ("Runtime Version: %s\n", runtimeVersion);
printf (" BSP version: " BSP_VERSION BSP_REV "\n");
printf (" Created: %s\n", creationDate);
printf (" WDB Comm Type: %s\n", WDB_COMM_TYPE_STR);
printf (" WDB: %s.\n\n",
((wdbRunsExternal () || wdbRunsTasking ()) ?
"Ready" : "Agent configuration failed") );
printf("\n@@@@@line:%d, function:%s, file:%s",__LINE__,__FUNCTION__,__FILE__);
#endif /*INCLUDE_SHELL*/
#endif /*INCLUDE_WDB_BANNER*/
#endif /* INCLUDE_WDB */
/* initialize interactive shell */
#ifdef INCLUDE_SHELL
#ifdef INCLUDE_SECURITY /* include shell security */
printf("\n@@@@@line:%d, function:%s, file:%s",__LINE__,__FUNCTION__,__FILE__);
if ((sysFlags & SYSFLG_NO_SECURITY) == 0)
{
printf("\n@@@@@line:%d, function:%s, file:%s",__LINE__,__FUNCTION__,__FILE__);
loginInit (); /* initialize login table */
printf("\n@@@@@line:%d, function:%s, file:%s",__LINE__,__FUNCTION__,__FILE__);
shellLoginInstall (loginPrompt, NULL); /* install security program */
printf("\n@@@@@line:%d, function:%s, file:%s",__LINE__,__FUNCTION__,__FILE__);
/* add additional users here as required */
loginUserAdd (LOGIN_USER_NAME, LOGIN_PASSWORD);
}
#endif /* INCLUDE_SECURITY */
printf("\n@@@@@line:%d, function:%s, file:%s",__LINE__,__FUNCTION__,__FILE__);
printLogo (); /* print out the banner page */
printf (" ");
printf ("CPU: %s. Processor #%d.\n", sysModel (), sysProcNumGet ());
printf (" ");
#ifdef HITACHI_SH_KERNEL_ON_SDRAM
printf ("Memory Size: 0x%x.", (UINT)(sysMemTop () - (char *)FREE_RAM_ADRS));
#else /* HITACHI_SH_KERNEL_ON_SDRAM */
printf ("Memory Size: 0x%x.", (UINT)(sysMemTop () - (char *)LOCAL_MEM_LOCAL_ADRS));
#endif /* HITACHI_SH_KERNEL_ON_SDRAM */
printf (" BSP version " BSP_VERSION BSP_REV ".");
#if defined(INCLUDE_WDB) && defined(INCLUDE_WDB_BANNER)
printf ("\n ");
printf ("WDB Comm Type: %s", WDB_COMM_TYPE_STR);
printf ("\n ");
printf ("WDB: %s.",
((wdbRunsExternal () || wdbRunsTasking ()) ?
"Ready" : "Agent configuration failed") );
printf("\n@@@@@line:%d, function:%s, file:%s",__LINE__,__FUNCTION__,__FILE__);
#endif /*INCLUDE_WDB && INCLUDE_WDB_BANNER*/
printf ("\n\n");
#ifdef INCLUDE_STARTUP_SCRIPT /* run a startup script */
if (sysBootParams.startupScript [0] != EOS)
usrStartupScript (sysBootParams.startupScript);
#endif /* INCLUDE_STARTUP_SCRIPT */
shellInit (SHELL_STACK_SIZE, TRUE); /* create the shell */
/* only include the simple demo if the shell is NOT included */
#else
#if defined(INCLUDE_DEMO) /* create demo w/o shell */
taskSpawn ("demo", 20, 0, 2000, (FUNCPTR)usrDemo, 0,0,0,0,0,0,0,0,0,0);
#endif /* mips cpp no elif */
#endif /* INCLUDE_SHELL */
#ifdef INCLUDE_WINDML
usrWindMlInit ();
#endif /* INCLUDE_WINDML */
#if defined (INCLUDE_SOUND) && defined(INCLUDE_SB16)
sb16Drv (); /* install sound driver SB16 */
sb16DevCreate ("/sound", 0x220, 5, 1, 5);
#endif /* INCLUDE_SOUND && INCLUDE_SB16 */
#if defined (INCLUDE_SOUND_CODEC)
sndDac3550Drv (); /* install sound driver Dac3550a */
sndDac3550DevCreate ("/sound", 0x220, 5, 1, 5);
#endif
#if defined(INCLUDE_JAVA)
javaConfig ();
#endif /* INCLUDE_JAVA */
#ifdef INCLUDE_HTML
usrHtmlInit ();
#endif /* INCLUDE_HTML */
#if CPU==SIMNT
win_ReleaseMutex(simUpMutex);
#endif
#ifdef INCLUDE_USER_APPL
/* Startup the user's application */
USER_APPL_INIT; /* must be a valid C statement or block */
#endif
}
static int __wind_sys_clkrateset(struct task_struct *curr, struct pt_regs *regs)
{
return sysClkRateSet(__xn_reg_arg1(regs)) == ERROR;
}
/**
* @brief Installation du périphérique.
*
* @param dev_count Le nombre de périphériques à créer.
*
* @return OK si la fonction s'est executé normalement, ERROR sinon.
*/
int pe_driverInstall(int dev_count)
{
/* iteration pour la création des périphériques */
int i = 0;
struct timespec initial_time = {0 , 0};
if(dev_count > DEVICE_MAX_COUNT)
{
errnoSet(ETOOMUCHDEV);
return ERROR;
}
if(driver_id != -1)
{
errnoSet(EINSTALLED);
return ERROR;
}
/* Driver installation */
driver_id = iosDrvInstall(pe_open,pe_close, pe_open, pe_close, pe_read, (FUNCPTR) NULL, pe_ioctl);
if(driver_id < 0)
{
errnoSet(EUNKNOW);
return ERROR;
}
/* Création du sémaphore d'exclusion mutuelle pour les deux tables (table_capt
* et table_buffer, qui sont susceptibl
* Les tâches s'enfilent dans l'ordre d'arrivée avec SEM_Q_FIFO, et
* SEM_DELETE_SAFE garantie que la tâche ayant verrouillé un sémaphore ne soit
* pas détruite avant de le libérer.
*/
mut_table_capt = semMCreate(SEM_Q_FIFO | SEM_DELETE_SAFE);
if(mut_table_capt == NULL)
{
return ERROR;
}
mut_table_buffer = semMCreate(SEM_Q_FIFO | SEM_DELETE_SAFE);
if(mut_table_buffer == NULL)
{
return ERROR;
}
/* Création de la file de message de communication entre le serveur d'interuption
* et la tâche dispatcher
*/
msgQ_dispatcher = msgQCreate(10, sizeof(Message), MSG_Q_FIFO );
if(msgQ_dispatcher == NULL)
{
return ERROR;
}
/* Création de la tâche dispatcher
*/
id_pe_task_dispatcher = taskSpawn("pe_task_dispatcher", DISPATCHER_PRIORITY, 0, 512, (FUNCPTR) pe_dispatcher, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
if(id_pe_task_dispatcher == ERROR)
{
return ERROR;
}
for(i=0 ; i < dev_count; ++i)
{
if(pe_deviceAdd(i) == ERROR)
{
pe_cleanup_resources();
errnoSet(ECANNOTADD);
return ERROR;
}
}
for(; i < DEVICE_MAX_COUNT; i++)
{
table_capt[i].specific.address = -1;
table_capt[i].specific.state = notcreated;
table_buffer[i].id = -1;
}
/* Initialisation de l'horloge système : elle est placée arbitrairement
* à 0:0 à l'installation du pilote. */
sysClkRateSet(100);
clock_settime(CLOCK_REALTIME, &initial_time);
return driver_id;
}