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dgisselq |
////////////////////////////////////////////////////////////////////////////////
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//
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// Filename: kernel.c
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//
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// Project: CMod S6 System on a Chip, ZipCPU demonstration project
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//
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// Purpose: If you are looking for a main() program associated with the
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// ZipOS, this is it. This is the main program for the supervisor
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// task. It handles interrupt processing, creating tasks, context swaps,
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// creating tasks, and ... just about everything else a kernel must handle.
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//
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// Creator: Dan Gisselquist, Ph.D.
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// Gisselquist Technology, LLC
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//
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////////////////////////////////////////////////////////////////////////////////
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//
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// Copyright (C) 2015-2016, Gisselquist Technology, LLC
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//
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// This program is free software (firmware): you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as published
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// by the Free Software Foundation, either version 3 of the License, or (at
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// your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but WITHOUT
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// ANY WARRANTY; without even the implied warranty of MERCHANTIBILITY or
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// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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// for more details.
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//
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// You should have received a copy of the GNU General Public License along
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// with this program. (It's in the $(ROOT)/doc directory, run make with no
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// target there if the PDF file isn't present.) If not, see
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// <http://www.gnu.org/licenses/> for a copy.
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//
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// License: GPL, v3, as defined and found on www.gnu.org,
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// http://www.gnu.org/licenses/gpl.html
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//
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//
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////////////////////////////////////////////////////////////////////////////////
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//
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//
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#include "zipsys.h"
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#include "board.h"
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#include "ksched.h"
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#include "kfildes.h"
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#include "taskp.h"
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#include "syspipe.h"
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#include "ktraps.h"
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#include "errno.h"
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#include "swint.h"
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extern void kpanic(void);
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extern void raw_put_uart(int val);
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unsigned int nresets = 0;
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extern int kntasks(void);
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extern void kinit(TASKP *tasklist);
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extern void restore_context(int *), save_context(int *);
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SYSPIPE *rxpipe, *txpipe, *keypipe, *lcdpipe, *pwmpipe, *cmdpipe;
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KDEVICE *pipedev, *txdev, *pwmdev;
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void *heap; // = _top_of_heap; // Need to wait on startup to set this
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dgisselq |
#define CONTEXT_LENGTH 80000 // 1ms
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dgisselq |
#define TICKS_PER_SECOND 1000
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void kwrite_audio(TASKP tsk, int dev, int *dst, int len);
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void kwrite_txuart(TASKP tsk, int dev, int *dst, int len);
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int kpost(TASKP *task, unsigned events, int milliseconds);
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TASKP kschedule(int LAST_TASK, TASKP *tasklist, TASKP last);
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dgisselq |
extern TASKP *ksetup(void);
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dgisselq |
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int LAST_TASK;
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dgisselq |
extern void txstr(const char *);
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dgisselq |
void kernel_entry(void) {
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int nheartbeats= 0, tickcount = 0, milliseconds=0, ticks = 0;
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dgisselq |
int audiostate = 0, buttonstate = 0;
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dgisselq |
TASKP *tasklist, current;
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int *last_context;
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dgisselq |
tasklist = ksetup();
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dgisselq |
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dgisselq |
current = tasklist[0];
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dgisselq |
restore_context(current->context);
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last_context = current->context;
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unsigned enableset =
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INT_ENABLEV(INT_BUTTON)
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dgisselq |
|INT_ENABLEV(INT_TIMER)
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dgisselq |
// |INT_ENABLEV(INT_UARTRX)
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// |INT_ENABLEV(INT_UARTTX) // Needs to be turned on by driver
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// |INT_ENABLEV(INT_AUDIO // Needs to be turned on by driver)
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// |INT_ENABLEV(INT_GPIO)
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;
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// Then selectively turn some of them back on
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dgisselq |
_sys->io_pic = INT_ENABLE | enableset | 0x07fff;
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dgisselq |
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dgisselq |
txstr("HEAP: "); txhex(heap);
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dgisselq |
do {
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int need_resched = 0, context_has_been_saved, pic;
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nheartbeats++;
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zip_rtu();
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last_context = current->context;
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context_has_been_saved = 0;
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dgisselq |
pic = _sys->io_pic;
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dgisselq |
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if (pic & 0x8000) { // If there's an active interrupt
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// Interrupt processing
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dgisselq |
_sys->io_spio = 0x44;
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dgisselq |
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// First, turn off pending interrupts
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// Although we migt just write 0x7fff7fff to the
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// interrupt controller, how do we know another
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// interrupt hasn't taken place since we read it?
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// Thus we turn off the pending interrupts that we
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// know about.
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pic &= 0x7fff;
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// Acknowledge current ints, and turn off pending ints
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dgisselq |
_sys->io_pic = INT_DISABLEV(pic)|(INT_CLEAR(pic));
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if(pic&INT_TIMER) {
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dgisselq |
if (++ticks >= TICKS_PER_SECOND) {//(pic & SYSINT_PPS)
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// Toggle the low order LED
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tickcount++;
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ticks = 0;
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dgisselq |
_sys->io_spio = ((_sys->io_spio&1)^1)|0x010;
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dgisselq |
pic |= SWINT_CLOCK;
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}
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dgisselq |
if (buttonstate)
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buttonstate--;
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dgisselq |
else if ((_sys->io_spio & 0x0f0)==0)
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dgisselq |
enableset |= INT_ENABLEV(INT_BUTTON);
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dgisselq |
}
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//
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if (pic&INT_BUTTON) {
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// Need to turn the button interrupt off
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enableset &= ~(INT_ENABLEV(INT_BUTTON));
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dgisselq |
if ((_sys->io_spio&0x0f0)==0x030)
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dgisselq |
kpanic();
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dgisselq |
if (buttonstate)
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pic &= ~INT_BUTTON;
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buttonstate = 50;
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dgisselq |
}
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dgisselq |
if (pic & INT_UARTRX) {
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dgisselq |
int v = _sys->io_uart;
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dgisselq |
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if ((v & (~0x7f))==0) {
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kpush_syspipe(rxpipe, v);
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// Local Echo
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dgisselq |
if (pic & INT_UARTTX) {
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dgisselq |
_sys->io_uart = v;
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_sys->io_pic = INT_UARTTX;
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dgisselq |
pic &= ~INT_UARTTX;
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}
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dgisselq |
}
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} if (pic & INT_UARTTX) {
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dgisselq |
char ch;
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if (kpop_syspipe(txpipe, &ch)==0) {
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unsigned v = ch;
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dgisselq |
enableset |= (INT_ENABLEV(INT_UARTTX));
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dgisselq |
_sys->io_uart= v;
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_sys->io_pic = INT_UARTTX;
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dgisselq |
// if (v == 'W')
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dgisselq |
// sys->io_watchdog = 5;
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dgisselq |
// 75k was writing the 'e'
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} else
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dgisselq |
enableset&= ~(INT_DISABLEV(INT_UARTTX));
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dgisselq |
} if (audiostate) {
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if (pic & INT_AUDIO) {
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dgisselq |
unsigned short sample;
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dgisselq |
// States:
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// 0 -- not in use
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dgisselq |
// 1 -- in use
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if (kpop_short_syspipe(pwmpipe, &sample)==0) {
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_sys->io_pwm_audio = sample;
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_sys->io_spio = 0x022;
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// audiostate = 1;
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dgisselq |
} else {
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audiostate = 0;
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// Turn the device off
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dgisselq |
_sys->io_pwm_audio = 0x10000;
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dgisselq |
// Turn the interrupts off
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enableset &= ~(INT_ENABLEV(INT_AUDIO));
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dgisselq |
_sys->io_spio = 0x020;
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dgisselq |
}
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// This particular interrupt cannot be cleared
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// until the port has been written to. Hence,
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// now that we've written to the port, we clear
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dgisselq |
// it now. If it needs retriggering, the port
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// will retrigger itself -- despite being
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// cleared here.
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dgisselq |
_sys->io_pic = INT_AUDIO;
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}}
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/*
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else { // if (audiostate == 0)
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unsigned short sample;
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if (kpop_short_syspipe(pwmpipe, &sample)==0) {
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audiostate = 1;
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_sys->io_pwm_audio = 0x310000 | sample;
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dgisselq |
enableset |= (INT_ENABLEV(INT_AUDIO));
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45 |
dgisselq |
_sys->io_spio = 0x022;
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_sys->io_pic = INT_AUDIO;
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dgisselq |
} // else sys->io_spio = 0x020;
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dgisselq |
}
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dgisselq |
*/
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29 |
dgisselq |
milliseconds = kpost(tasklist, pic, milliseconds);
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22 |
dgisselq |
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// Restart interrupts
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enableset &= (~0x0ffff); // Keep the bottom bits off
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45 |
dgisselq |
_sys->io_pic = INT_ENABLE|enableset;
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dgisselq |
} else {
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45 |
dgisselq |
_sys->io_pic = INT_ENABLE; // Make sure interrupts are on
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unsigned short sample;
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22 |
dgisselq |
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// Check for the beginning of an audio pipe. If the
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// interrupt is not enabled, we still might need to
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// enable it.
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45 |
dgisselq |
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if ((audiostate==0)&&(kpop_short_syspipe(pwmpipe, &sample)==0)) {
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audiostate = 1;
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_sys->io_pwm_audio = 0x310000 | (sample);
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_sys->io_pic = INT_AUDIO;
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dgisselq |
enableset |= (INT_ENABLEV(INT_AUDIO));
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45 |
dgisselq |
_sys->io_spio = 0x022;
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22 |
dgisselq |
} // else sys->io_spio = 0x020;
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// Or the beginning of a transmit pipe.
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if (pic & INT_UARTTX) {
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45 |
dgisselq |
char ch;
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if (kpop_syspipe(txpipe, &ch)==0) {
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unsigned v = ch;
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22 |
dgisselq |
enableset |= (INT_ENABLEV(INT_UARTTX));
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45 |
dgisselq |
_sys->io_uart = v;
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_sys->io_pic = INT_UARTTX;
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27 |
dgisselq |
} else
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22 |
dgisselq |
enableset &= ~(INT_ENABLEV(INT_UARTTX));
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}
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// What if someone left interrupts off?
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// This might happen as part of a wait trap call, such
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// as syspipe() accomplishes within uwrite_syspipe()
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// (We also might've just turned them off ... ooops)
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enableset &= (~0x0ffff); // Keep the bottom bits off
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| 253 |
45 |
dgisselq |
_sys->io_pic = INT_ENABLE | enableset;
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| 254 |
22 |
dgisselq |
}
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| 255 |
45 |
dgisselq |
_sys->io_spio = 0x40;
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| 256 |
22 |
dgisselq |
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| 257 |
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int zcc = zip_ucc();
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| 258 |
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if (zcc & CC_TRAPBIT) {
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| 259 |
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// sys->io_spio = 0x0ea;
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| 260 |
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| 261 |
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context_has_been_saved = 1;
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| 262 |
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save_context(last_context);
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| 263 |
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last_context[14] = zcc & (~CC_TRAPBIT);
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| 264 |
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// Do trap handling
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| 265 |
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switch(last_context[1]) {
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| 266 |
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case TRAPID_WAIT:
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| 267 |
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{ // The task wishes to wait on an interrupt
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| 268 |
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int ilist, timeout;
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| 269 |
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ilist = last_context[2];
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| 270 |
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timeout= last_context[3];
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| 271 |
44 |
dgisselq |
last_context[1] = ilist & current->pending;
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| 272 |
22 |
dgisselq |
if (current->pending & ilist) {
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| 273 |
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// Clear upon any read
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| 274 |
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current->pending &= (~last_context[1]);
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| 275 |
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} else {
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| 276 |
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current->waitsig = ilist;
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| 277 |
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if (timeout != 0) {
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| 278 |
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current->state = SCHED_WAITING;
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| 279 |
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need_resched = 1;
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| 280 |
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if (timeout > 0) {
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| 281 |
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current->timeout=milliseconds+timeout;
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| 282 |
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current->waitsig |= SWINT_TIMEOUT;
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| 283 |
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}
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| 284 |
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}
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| 285 |
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}} break;
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| 286 |
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case TRAPID_CLEAR:
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| 287 |
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{ unsigned timeout;
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| 288 |
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// The task wishes to clear any pending
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| 289 |
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// interrupts, in a likely attempt to create
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| 290 |
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// them soon.
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| 291 |
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last_context[1] = last_context[2] & current->pending;
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| 292 |
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// Clear upon any read
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| 293 |
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current->pending &= (~last_context[1]);
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| 294 |
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timeout = (unsigned)last_context[2];
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| 295 |
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if (timeout) {
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| 296 |
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if ((int)timeout < 0)
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| 297 |
44 |
dgisselq |
// Turn off any pending timeout
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| 298 |
22 |
dgisselq |
current->pending &= (~SWINT_TIMEOUT);
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| 299 |
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else
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| 300 |
44 |
dgisselq |
// Otherwise, start a timeout
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| 301 |
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// counter
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| 302 |
22 |
dgisselq |
current->timeout = milliseconds+timeout;
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| 303 |
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}} break;
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| 304 |
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case TRAPID_POST:
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| 305 |
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kpost(tasklist, last_context[2]&(~0x07fff),
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| 306 |
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milliseconds);
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| 307 |
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break;
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| 308 |
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case TRAPID_YIELD:
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| 309 |
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need_resched = 1;
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| 310 |
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break;
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| 311 |
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case TRAPID_READ:
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| 312 |
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{
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| 313 |
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KFILDES *fd = NULL;
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| 314 |
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if ((unsigned)last_context[2]
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| 315 |
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< (unsigned)MAX_KFILDES)
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| 316 |
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fd = current->fd[last_context[2]];
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| 317 |
|
|
if ((!fd)||(!fd->dev))
|
| 318 |
|
|
last_context[1] = -EBADF;
|
| 319 |
|
|
else
|
| 320 |
|
|
fd->dev->read(current, fd->id,
|
| 321 |
|
|
(void *)last_context[3], last_context[4]);
|
| 322 |
|
|
} break;
|
| 323 |
|
|
case TRAPID_WRITE:
|
| 324 |
|
|
{ KFILDES *fd = NULL;
|
| 325 |
|
|
if ((unsigned)last_context[2]
|
| 326 |
|
|
< (unsigned)MAX_KFILDES)
|
| 327 |
|
|
fd = current->fd[last_context[2]];
|
| 328 |
|
|
else { kpanic(); zip_halt(); }
|
| 329 |
|
|
if ((!fd)||(!fd->dev))
|
| 330 |
|
|
last_context[1] = -EBADF;
|
| 331 |
29 |
dgisselq |
else {
|
| 332 |
22 |
dgisselq |
fd->dev->write(current, fd->id,
|
| 333 |
|
|
(void *)last_context[3], last_context[4]);
|
| 334 |
29 |
dgisselq |
}}
|
| 335 |
|
|
break;
|
| 336 |
22 |
dgisselq |
case TRAPID_TIME:
|
| 337 |
|
|
last_context[1] = tickcount;
|
| 338 |
|
|
break;
|
| 339 |
|
|
case TRAPID_MALLOC:
|
| 340 |
|
|
last_context[1] = (int)sys_malloc(last_context[2]);
|
| 341 |
|
|
break;
|
| 342 |
|
|
case TRAPID_FREE:
|
| 343 |
|
|
// Our current malloc cannot free
|
| 344 |
|
|
// sys_free(last_context[2])
|
| 345 |
|
|
break;
|
| 346 |
|
|
case TRAPID_EXIT:
|
| 347 |
|
|
current->state = SCHED_EXIT;
|
| 348 |
|
|
need_resched = 1;
|
| 349 |
|
|
kpanic();
|
| 350 |
|
|
zip_halt();
|
| 351 |
|
|
break;
|
| 352 |
|
|
default:
|
| 353 |
|
|
current->state = SCHED_ERR;
|
| 354 |
|
|
need_resched = 1;
|
| 355 |
|
|
kpanic();
|
| 356 |
|
|
zip_halt();
|
| 357 |
|
|
break;
|
| 358 |
|
|
}
|
| 359 |
|
|
|
| 360 |
|
|
restore_context(last_context);
|
| 361 |
|
|
} else if (zcc & (CC_BUSERR|CC_DIVERR|CC_FPUERR|CC_ILL)) {
|
| 362 |
|
|
current->state = SCHED_ERR;
|
| 363 |
45 |
dgisselq |
current->errno = (int)_sys->io_buserr;
|
| 364 |
22 |
dgisselq |
save_context(last_context);
|
| 365 |
|
|
context_has_been_saved = 1;
|
| 366 |
|
|
kpanic();
|
| 367 |
|
|
zip_halt();
|
| 368 |
|
|
}
|
| 369 |
|
|
|
| 370 |
|
|
if ((need_resched)||(current->state != SCHED_READY)
|
| 371 |
|
|
||(current == tasklist[LAST_TASK]))
|
| 372 |
|
|
current = kschedule(LAST_TASK, tasklist, current);
|
| 373 |
|
|
|
| 374 |
|
|
if (current->context != last_context) {
|
| 375 |
|
|
// Swap contexts
|
| 376 |
|
|
if (!context_has_been_saved)
|
| 377 |
|
|
save_context(last_context);
|
| 378 |
|
|
restore_context(current->context);
|
| 379 |
|
|
}
|
| 380 |
|
|
} while(1);
|
| 381 |
|
|
}
|
| 382 |
|
|
|
| 383 |
|
|
TASKP kschedule(int LAST_TASK, TASKP *tasklist, TASKP last) {
|
| 384 |
|
|
TASKP current = tasklist[LAST_TASK];
|
| 385 |
|
|
int nxtid = 0, i;
|
| 386 |
|
|
|
| 387 |
|
|
// What task were we just running?
|
| 388 |
|
|
for(i=0; i<=LAST_TASK; i++) {
|
| 389 |
|
|
if (last == tasklist[i]) {
|
| 390 |
|
|
// If we found it, then let's run the next one
|
| 391 |
|
|
nxtid = i+1;
|
| 392 |
|
|
break;
|
| 393 |
|
|
}
|
| 394 |
|
|
}
|
| 395 |
|
|
|
| 396 |
|
|
// Now let's see if we can find the next ready task to run
|
| 397 |
29 |
dgisselq |
for(; nxtid<LAST_TASK; nxtid++) {
|
| 398 |
22 |
dgisselq |
if (tasklist[nxtid]->state == SCHED_READY) {
|
| 399 |
|
|
current=tasklist[nxtid];
|
| 400 |
|
|
break;
|
| 401 |
|
|
}
|
| 402 |
29 |
dgisselq |
}
|
| 403 |
22 |
dgisselq |
// The last task (the idle task) doesn't count
|
| 404 |
|
|
if (nxtid >= LAST_TASK) {
|
| 405 |
|
|
nxtid = 0; // Don't automatically run idle task
|
| 406 |
|
|
for(; nxtid<LAST_TASK; nxtid++)
|
| 407 |
|
|
if (tasklist[nxtid]->state == SCHED_READY) {
|
| 408 |
|
|
break;
|
| 409 |
|
|
}
|
| 410 |
|
|
// Now we stop at the idle task, if nothing else is ready
|
| 411 |
|
|
current = tasklist[nxtid];
|
| 412 |
29 |
dgisselq |
} return current;
|
| 413 |
22 |
dgisselq |
}
|
| 414 |
|
|
|
| 415 |
|
|
int kpost(TASKP *tasklist, unsigned events, int milliseconds) {
|
| 416 |
|
|
int i;
|
| 417 |
45 |
dgisselq |
if (events & INT_TIMER)
|
| 418 |
22 |
dgisselq |
milliseconds++;
|
| 419 |
|
|
if (milliseconds<0) {
|
| 420 |
|
|
milliseconds -= 0x80000000;
|
| 421 |
|
|
for(i=0; i<=LAST_TASK; i++) {
|
| 422 |
|
|
if(tasklist[i]->timeout) {
|
| 423 |
|
|
tasklist[i]->timeout -= 0x80000000;
|
| 424 |
|
|
if (tasklist[i]->timeout==0)
|
| 425 |
|
|
tasklist[i]->timeout++;
|
| 426 |
|
|
if ((int)tasklist[i]->timeout < milliseconds) {
|
| 427 |
|
|
tasklist[i]->pending |= SWINT_TIMEOUT;
|
| 428 |
|
|
tasklist[i]->timeout = 0;
|
| 429 |
|
|
}
|
| 430 |
|
|
}
|
| 431 |
|
|
}
|
| 432 |
|
|
} else {
|
| 433 |
|
|
for(i=0; i<=LAST_TASK; i++) {
|
| 434 |
|
|
if(tasklist[i]->timeout) {
|
| 435 |
|
|
if (tasklist[i]->timeout < (unsigned)milliseconds) {
|
| 436 |
|
|
tasklist[i]->pending |= SWINT_TIMEOUT;
|
| 437 |
|
|
tasklist[i]->timeout = 0;
|
| 438 |
|
|
}
|
| 439 |
|
|
}
|
| 440 |
|
|
}
|
| 441 |
|
|
} for(i=0; i<=LAST_TASK; i++) {
|
| 442 |
|
|
tasklist[i]->pending |= events;
|
| 443 |
|
|
if ((tasklist[i]->state == SCHED_WAITING)
|
| 444 |
|
|
&&(tasklist[i]->waitsig&tasklist[i]->pending)) {
|
| 445 |
|
|
tasklist[i]->state = SCHED_READY;
|
| 446 |
|
|
tasklist[i]->context[1] = tasklist[i]->waitsig & tasklist[i]->pending;
|
| 447 |
|
|
tasklist[i]->pending &= (~tasklist[i]->context[1]);
|
| 448 |
|
|
tasklist[i]->waitsig = 0;
|
| 449 |
|
|
}
|
| 450 |
|
|
} return milliseconds;
|
| 451 |
|
|
}
|
| 452 |
|
|
|
| 453 |
|
|
|
