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/*

  ----------------------------------------------------------------------

  CHiPES Embedded RTR   Systems Copyright (c) Tim Oliver 2002-2004

  ----------------------------------------------------------------------

  File      : main.c

  Author(s) : Tim Oliver, timtimoliver@yahoo.co.uk

              Julius Baxter, julius@opencores.org

  ---------------------------[Description]------------------------------

  Very simple MicroC/OS-II test application for the ORP

  Uses the UART as standard io

  Initialises RTOS

  Calls task init hook that should be provided by another file.

  Starts multitasking

*/

  /*

  This program is free software; you can redistribute it and/or modify

  it under the terms of the GNU General Public License as published by

  the Free Software Foundation; either version 2 of the License, or

  (at your option) any later version.

  This program is distributed in the hope that it will be useful,

  but WITHOUT ANY WARRANTY; without even the implied warranty of

  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

  GNU General Public License for more details.

  You should have received a copy of the GNU General Public License

  along with this program; if not, write to the Free Software

  Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.

*/

#include "includes.h"

/* Prototype for function we'll call to install real tasks  */

void  TaskStart(void *data);

extern void  TaskStartCreateTasks(void); /* Hook to function provided elsewhere */

/* main() prototype */

void main (void);

#define TASK_STK_SIZE 256

OS_STK TaskStartStk[TASK_STK_SIZE];

/* Main loop */

void main(void)

{

  char c;

  /* OS Init function */

  OSInit();

  /* Clear console */

  console_init(80,24);

  console_puts(28,7,"************************");

  console_puts(28,8,"* uC/OS-II on OpenRISC *");

  console_puts(28,9,"************************");

  console_puts(1, 14,"OS Initialising...");

  /* Init first task, which will spawn all others */

  OSTaskCreate(TaskStart,

               (void *)0,

               &TaskStartStk[TASK_STK_SIZE - 1],

               0);

  console_puts(1,12,"Press a key to start OS");

  c = getc();

  console_puts(1,14,"OS Starting...");

  /* Init OR1K tick timer */

  OSInitTick();

  /* Kick off multi-tasking */

  OSStart();

}

/* This task is set to run from main() */

void  TaskStart (void *pdata)

{

    char c;

    OS_CPU_SR cpu_sr;

    pdata = pdata;            /* Prevent compiler warning                 */

    /* Do other user task init things here ... */

    OSStatInit();            /* Initialize uC/OS-II's statistics         */

    TaskStartCreateTasks();  /* Create all other tasks                   */

    for (;;) {

      /* Maybe do something like update a display here */

      /* Check if UART has received anything, potentialy abort due to it. */

      c = testc();

      if (c)

        {

          if (c=='q')

            {

              /* Clear up console */

              console_finish();

              /* Disable interrupts */

              OS_ENTER_CRITICAL()

              /* Exit if simulator, reboot if board */

              asm("l.ori r3, r0, 0; \

                   l.nop 0x1;         \

                   l.movhi r3, 0xf000; \

                   l.ori r3,r3,0x100; \

                   l.jr r3;           \

                   l.nop 0x1");

            }

        }

      OSCtxSwCtr = 0;        /* Clear context switch counter             */

      OSTimeDly(OS_TICKS_PER_SEC);  /* Wait one second                   */

    }

}