/*
* Re-starting processing
* mode = -1 Reset and re-start (cold boot)
* mode = -2 Re-start (warm boot)
* mode = -3 Reboot (normal boot)
* mode = 0xFFhhmmss Re-start at hh:mm:ss
* 0 <= hh < 24, 0 <= mm,ss < 60
*/
EXPORT ER restart_device( W mode )
{
if ( mode == -1 ) {
/* Reset and re-start (cold boot) */
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"\n<< SYSTEM RESTART >>\n");
#endif
tm_exit(-1); /* no return */
return E_OBJ;
}
if ( mode == -3 ) {
/* Reboot (normal boot) */
static UB bdcmd[4 + L_DEVNM] = "bd ";
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"\n<< SYSTEM REBOOT >>\n");
#endif
strncat((char*)bdcmd, (char*)SCInfo.bootdev, L_DEVNM);
tm_command(bdcmd); /* Normally no return */
return E_OBJ; /* When the BD command is an error */
}
if ( mode == -2 ) {
return E_NOSPT; /* Unsupported */
}
if ( (mode & 0xff000000) == 0xff000000 ) {
/* Re-start at specified time */
return E_NOSPT; /* Unsupported */
}
return E_PAR;
}
/*
* End and delete its own task
*/
SYSCALL void _tk_exd_tsk( void )
{
/* Check context error */
#if CHK_CTX2
if ( in_indp() ) {
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"tk_exd_tsk was called in the task independent\n");
#endif
tm_monitor(); /* To monitor */
}
#endif
#if CHK_CTX1
if ( in_ddsp() ) {
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"tk_exd_tsk was called in the dispatch disabled\n");
#endif
}
#endif
DISABLE_INTERRUPT;
_ter_tsk(ctxtsk);
_del_tsk(ctxtsk);
force_dispatch();
/* No return */
}
/*
* Re-starting processing
* mode = -1 Reset and re-start (cold boot)
* mode = -2 Re-start (warm boot)
* mode = -3 Reboot (normal boot)
* mode = 0xFFhhmmss Re-start at hh:mm:ss
* 0 <= hh < 24, 0 <= mm,ss < 60
*/
EXPORT ER knl_restart_device( W mode )
{
if ( mode == -1 ) {
/* Reset and re-start (cold boot) */
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"\n<< SYSTEM RESTART >>\n");
#endif
tm_exit(-1); /* no return */
return E_OBJ;
}
if ( mode == -3 ) {
/* Reboot (normal boot) */
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"\n<< SYSTEM REBOOT >>\n");
#endif
return E_NOSPT;
}
if ( mode == -2 ) {
return E_NOSPT; /* Unsupported */
}
if ( (mode & 0xff000000U) == 0xff000000U ) {
/* Re-start at specified time */
return E_NOSPT; /* Unsupported */
}
return E_PAR;
}
/*
* Call module initialization
*/
LOCAL void knl_init_module( ER (*initfunc)( void ), UB *name )
{
ER ercd;
ercd = (*initfunc)();
if ( ercd < E_OK ) {
#if USE_KERNEL_MESSAGE
tm_putstring(name);
tm_putstring((UB*)" : module initialize error\n");
#endif
tm_monitor();
}
}
/*
* Start initial task
*/
LOCAL void knl_init_task_startup( T_CTSK *ctsk )
{
ER ercd;
#if TA_GP
extern int _gp;
ercd = tk_cre_tsk_impl(ctsk, 0,0,0,0,&_gp);
#else
ercd = tk_cre_tsk_impl(ctsk);
#endif
if ( ercd < E_OK ) {
goto err_exit;
}
ercd = tk_sta_tsk_impl((ID)ercd, 0);
if ( ercd < E_OK ) {
goto err_exit;
}
return;
err_exit:
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"init_task can not started\n");
#endif
tm_monitor();
}
EXPORT INT usermain( void )
{
tm_putstring((UB*)"Push any key to shutdown the micro T-Kernel.\n");
tm_getchar(-1);
return 0;
}
/*
* Stop system
*/
EXPORT void shutdown_system( INT fin )
{
/* Stop subsystem */
finish_subsystems();
/* Platform dependent finalize sequence */
finish_device();
/* Stop library (libtk) */
_FinishLibtk();
/* Shutdown message output */
#if USE_KERNEL_MESSAGE
if ( fin >= 0 ) {
tm_putstring((UB*)"\n<< SYSTEM SHUTDOWN >>\n");
}
#endif
/* Stop T-Kernel/SM */
SystemManager(-1, NULL);
/* Stop memory manager */
finish_memmgr();
/* Stop segment manager */
finish_segmgr();
if ( fin < 0 ) {
/* Re-start sequence (platform dependent) */
restart_device(fin);
}
/* Stop system */
t_kernel_exit();
}
/*
* Switch to power-saving mode
*/
EXPORT void knl_low_pow( void )
{
static int flag = 0;
if(flag == 0)
{
tm_putstring((UB*)"in knl_low_pow().So no tasks in ready state.\r\n");
flag = 1;
}
}
/* |------------------+-------------------------------------------------------------| */
StatusType ChainTask ( TaskType xTaskID )
{
StatusType ercd;
#ifdef DORMANT_STACK_SIZE
/* To avoid destroying stack used in 'knl_make_dormant',
allocate the dummy area on the stack. */
volatile VB _dummy[DORMANT_STACK_SIZE];
#endif
/* Check context error */
#if CHK_CTX2
if ( in_indp() ) {
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"ChainTask was called in the task independent\n");
#endif
tm_monitor(); /* To monitor */
}
#endif
#if CHK_CTX1
if ( in_ddsp() ) {
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"ChainTask was called in the dispatch disabled\n");
#endif
}
#endif
DISABLE_INTERRUPT;
ercd = tk_sta_tsk(xTaskID,xTaskID);
if(ercd < E_OK)
{
ENABLE_INTERRUPT;
return ercd;
}
knl_ter_tsk(knl_ctxtsk);
knl_make_dormant(knl_ctxtsk);
OsekStartHighReadyTask();
/* No return */
#ifdef DORMANT_STACK_SIZE
/* for WARNING */
_dummy[0] = 0;
#endif
}
/*
* Start system
*/
EXPORT void start_system( void )
{
ER ercd;
/* Initialize segment manager */
DispProgress(0x30);
ercd = start_segmgr();
if ( ercd < E_OK ) {
goto err_ret;
}
/* Start memory manager */
DispProgress(0x31);
ercd = start_memmgr();
if ( ercd < E_OK ) {
goto err_ret;
}
/* Initialize system manager */
DispProgress(0x32);
ercd = SystemManager(0, NULL);
if ( ercd < E_OK ) {
goto err_ret;
}
/* Initialize library (libtk)
V/K/Smalloc is available after this. */
DispProgress(0x33);
_InitLibtk();
/* Lower the initial task priority to initialize sequence
for the subsystem task at first. */
tk_chg_pri(TSK_SELF, InitTaskPri);
/* Start system dependent sequence */
DispProgress(0x34);
ercd = start_device();
if ( ercd < E_OK ) {
goto err_ret;
}
/* Start subsystem */
DispProgress(0x35);
ercd = start_subsystems();
if ( ercd < E_OK ) {
goto err_ret;
}
return;
err_ret:
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"!ERROR! start_system\n");
#endif
tm_monitor(); /* Stop */
}
void CanIf_RxIndication( uint8 Hrh, Can_IdType CanId, uint8 CanDlc, const uint8 *CanSduPtr )
{
tm_printf("Hrh = %d,CanId = %d:\r\n",(int)Hrh,(int)CanId);
while(CanDlc > 0)
{
tm_putchar(*CanSduPtr++);
CanDlc--;
}
tm_putstring("\r\n");
}
/*
* End its own task
*/
SYSCALL void _tk_ext_tsk( void )
{
#ifdef DORMANT_STACK_SIZE
/* To avoid destroying stack used in 'make_dormant',
allocate the dummy area on the stack. */
volatile VB _dummy[DORMANT_STACK_SIZE];
MEMSET((void *)_dummy, 0xCC, DORMANT_STACK_SIZE);
#endif
/* Check context error */
#if CHK_CTX2
if ( in_indp() ) {
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"tk_ext_tsk was called in the task independent\n");
#endif
tm_monitor(); /* To monitor */
}
#endif
#if CHK_CTX1
if ( in_ddsp() ) {
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"tk_ext_tsk was called in the dispatch disabled\n");
#endif
}
#endif
DISABLE_INTERRUPT;
_ter_tsk(ctxtsk);
make_dormant(ctxtsk);
force_dispatch();
/* No return */
#ifdef DORMANT_STACK_SIZE
/* for WARNING */
_dummy[0] = 0;
#endif
}
boolean IncommingFreqReq(PduIdType PduId, const uint8 *IPduData)
{
tm_putstring((UB*)"IncommingFreqReq() is running.\r\n");
return FALSE;
}
/*
* Initialize sequence before T-Kernel starts
*/
EXPORT ER init_system( void )
{
ER ercd;
/* Platform dependent initialize sequence */
DispProgress(0x10);
ercd = init_device();
if ( ercd < E_OK ) {
goto err_ret;
}
/* Initialize subsystem */
DispProgress(0x11);
ercd = init_subsystems();
if ( ercd < E_OK ) {
goto err_ret;
}
/* Initialize segment manager */
DispProgress(0x12);
ercd = init_segmgr();
if ( ercd < E_OK ) {
goto err_ret;
}
#ifdef _BTRON_
ercd = init_bk_early();
if (ercd < E_OK) {
vd_printf("error init_bk_early\n");
goto err_ret;
}
#endif
/* Initialize memory manager */
DispProgress(0x13);
ercd = init_memmgr();
if ( ercd < E_OK ) {
goto err_ret;
}
#ifdef _BTRON_
/* Initialize slab allocator */
DispProgress(0x14);
ercd = init_slab_allocator();
if ( ercd < E_OK ) {
vd_printf("init_slab_allocator\n");
goto err_ret;
}
/* Initialize bk */
DispProgress(0x15);
ercd = init_bk();
if ( ercd < E_OK ) {
vd_printf("init_bk\n");
goto err_ret;
}
#else
/* Initialize Imalloc */
DispProgress(0x14);
ercd = init_Imalloc();
if ( ercd < E_OK ) {
goto err_ret;
}
#endif
return(ercd);
err_ret:
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"!ERROR! init_kernel\n");
#endif
//tm_monitor(); /* Stop */
return(ercd);
}
/*
* Entry routine for the user application.
* At this point, Initialize and start the user application.
*
* Entry routine is called from the initial task for Kernel,
* so system call for stopping the task should not be issued
* from the contexts of entry routine.
* We recommend that:
* (1)'usermain()' only generates the user initial task.
* (2)initialize and start the user application by the user
* initial task.
*/
EXPORT INT usermain( void )
{
ER err = E_OK;
/* Start the device drivers */
#ifdef DRV_CONSOLE
//err = ConsoleIO(0, NULL);
tm_putstring(err >= E_OK ? "ConsoleIO - OK\n" : "ConsoleIO - ERR\n");
vd_printf(err >= E_OK ? "ConsoleIO - OK\n" : "ConsoleIO - ERR\n");
#endif
#ifdef DRV_CLOCK
err = ClockDrv(0, NULL);
tm_putstring(err >= E_OK ? "ClockDrv - OK\n" : "ClockDrv - ERR\n");
vd_printf(err >= E_OK ? "ClockDrv - OK\n" : "ClockDrv - ERR\n");
#endif
#ifdef DRV_SYSDISK
err = SysDiskDrv(0, NULL);
tm_putstring(err >= E_OK ? "SysDiskDrv - OK\n" : "SysDiskDrv - ERR\n");
vd_printf(err >= E_OK ? "SysDiskDrv - OK\n" : "SysDiskDrv - ERR\n");
#endif
#ifdef DRV_SCREEN
//err = ScreenDrv(0, NULL);
tm_putstring(err >= E_OK ? "ScreenDrv - OK\n" : "ScreenDrv - ERR\n");
vd_printf(err >= E_OK ? "ScreenDrv - OK\n" : "ScreenDrv - ERR\n");
#endif
#ifdef DRV_KBPD
//err = KbPdDrv(0, NULL);
tm_putstring(err >= E_OK ? "KbPdDrv - OK\n" : "KbPdDrv - ERR\n");
vd_printf(err >= E_OK ? "KbPdDrv - OK\n" : "KbPdDrv - ERR\n");
#endif
#ifdef DRV_LOWKBPD
//err = LowKbPdDrv(0, NULL);
tm_putstring(err >= E_OK ? "LowKbPdDrv - OK\n" : "LowKbPdDrv - ERR\n");
vd_printf(err >= E_OK ? "LowKbPdDrv - OK\n" : "LowKbPdDrv - ERR\n");
#endif
#ifdef DRV_NET
err = NetDrv(0, NULL);
tm_putstring(err >= E_OK ? "NetDrv - OK\n" : "NetDrv - ERR\n");
vd_printf(err >= E_OK ? "NetDrv - OK\n" : "NetDrv - ERR\n");
#endif
err = initKeyboard();
if (err)vd_printf("err:initKeyborad\n");
initVga();
/* Start the T2EX extension modules */
#ifdef USE_T2EX_DT
err = dt_main(0, NULL);
tm_putstring(err >= E_OK ? "dt_main(0) - OK\n":"dt_main(0) - ERR\n");
vd_printf(err >= E_OK ? "dt_main(0) - OK\n":"dt_main(0) - ERR\n");
#endif
#ifdef USE_T2EX_PM
err = pm_main(0, NULL);
tm_putstring(err >= E_OK ? "pm_main(0) - OK\n":"pm_main(0) - ERR\n");
vd_printf(err >= E_OK ? "pm_main(0) - OK\n":"pm_main(0) - ERR\n");
#endif
#ifdef USE_T2EX_FS
err = fs_main(0, NULL);
tm_putstring(err >= E_OK ? "fs_main(0) - OK\n":"fs_main(0) - ERR\n");
vd_printf(err >= E_OK ? "fs_main(0) - OK\n":"fs_main(0) - ERR\n");
#endif
#ifdef USE_T2EX_NET
err = so_main(0, NULL);
tm_putstring(err >= E_OK ? "so_main(0) - OK\n":"so_main(0) - ERR\n");
vd_printf(err >= E_OK ? "so_main(0) - OK\n":"so_main(0) - ERR\n");
#endif
/* Initialize stdio */
libc_stdio_init();
/* Start the T2EX application */
tm_putstring("*** T2EX Application program start !!\n");
appl_main();
/* Shutdowm the T2EX extension modules */
#ifdef USE_T2EX_DT
err = dt_main(-1, NULL);
tm_putstring(err >= E_OK ? "dt_main(-1) - OK\n":"dt_main(-1) - ERR\n");
#endif
#ifdef USE_T2EX_PM
err = pm_main(-1, NULL);
tm_putstring(err >= E_OK ? "pm_main(-1) - OK\n":"pm_main(-1) - ERR\n");
#endif
#ifdef USE_T2EX_FS
err = fs_main(-1, NULL);
tm_putstring(err >= E_OK ? "fs_main(-1) - OK\n":"fs_main(-1) - ERR\n");
#endif
#ifdef USE_T2EX_NET
err = so_main(-1, NULL);
tm_putstring(err >= E_OK ? "so_main(-1) - OK\n":"so_main(-1) - ERR\n");
#endif
/* Stop the device drivers */
#ifdef DRV_NET
NetDrv(-1, NULL);
#endif
#ifdef DRV_LOWKBPD
LowKbPdDrv(-1, NULL);
#endif
#ifdef DRV_KBPD
KbPdDrv(-1, NULL);
#endif
#ifdef DRV_SCREEN
ScreenDrv(-1, NULL);
#endif
#ifdef DRV_SYSDISK
SysDiskDrv(-1, NULL);
#endif
#ifdef DRV_CLOCK
ClockDrv(-1, NULL);
#endif
#ifdef DRV_CONSOLE
ConsoleIO(-1, NULL);
#endif
return 0;
}
/*
* Initialize sequence before T-Kernel starts
*/
EXPORT void init_system( void )
{
ER ercd;
/* if i'm first processor, execution */
if ( get_prid() == 0 ) {
/* Platform dependent initialize sequence */
DispProgress(0x10);
ercd = init_device();
if ( ercd < E_OK ) {
goto err_ret;
}
/* Initialize subsystem */
DispProgress(0x11);
ercd = init_subsystems();
if ( ercd < E_OK ) {
goto err_ret;
}
/* Initialize segment manager */
DispProgress(0x12);
ercd = init_segmgr();
if ( ercd < E_OK ) {
goto err_ret;
}
/* Initialize memory manager */
DispProgress(0x13);
ercd = init_memmgr();
if ( ercd < E_OK ) {
goto err_ret;
}
/* Initialize Imalloc */
DispProgress(0x14);
ercd = init_Imalloc();
if ( ercd < E_OK ) {
goto err_ret;
}
} else {
/* Platform dependent initialize sequence */
DispProgress(0x10);
ercd = init_device();
if ( ercd < E_OK ) {
goto err_ret;
}
/* Initialize segment manager */
DispProgress(0x12);
ercd = init_segmgr();
if ( ercd < E_OK ) {
goto err_ret;
}
}
return;
err_ret:
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"!ERROR! init_kernel\n");
#endif
tm_monitor(); /* Stop */
}
