////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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//
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//
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// Filename: ksetup.c
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// Filename: ksetup.c
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//
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//
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// Project: CMod S6 System on a Chip, ZipCPU demonstration project
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// Project: CMod S6 System on a Chip, ZipCPU demonstration project
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//
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//
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// Purpose: These are the routines from kernel.c that didn't need to be
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// Purpose: These are the routines from kernel.c that didn't need to be
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// in RAM memory. They are specifically the pre-run setup
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// in RAM memory. They are specifically the pre-run setup
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// routines that are executed from FLASH memory.
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// routines that are executed from FLASH memory.
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//
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//
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// Creator: Dan Gisselquist, Ph.D.
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// Creator: Dan Gisselquist, Ph.D.
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// Gisselquist Technology, LLC
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// Gisselquist Technology, LLC
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//
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//
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////////////////////////////////////////////////////////////////////////////////
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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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// Copyright (C) 2015-2016, Gisselquist Technology, LLC
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//
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//
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// This program is free software (firmware): you can redistribute it and/or
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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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// 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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// 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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// your option) any later version.
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//
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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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// 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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// 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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// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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// for more details.
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// for more details.
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//
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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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// 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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// 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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// 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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// <http://www.gnu.org/licenses/> for a copy.
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//
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//
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// License: GPL, v3, as defined and found on www.gnu.org,
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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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// 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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////////////////////////////////////////////////////////////////////////////////
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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 "zipsys.h"
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#include "board.h"
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#include "board.h"
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#include "ksched.h"
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#include "ksched.h"
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#include "kfildes.h"
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#include "kfildes.h"
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#include "taskp.h"
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#include "taskp.h"
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#include "syspipe.h"
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#include "syspipe.h"
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#include "ktraps.h"
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#include "ktraps.h"
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#include "errno.h"
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#include "errno.h"
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#include "swint.h"
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#include "swint.h"
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extern int kntasks(void);
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extern int kntasks(void);
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extern void kinit(TASKP *tasklist);
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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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extern void restore_context(int *), save_context(int *);
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SYSPIPE *rxpipe, *txpipe, *keypipe, *lcdpipe, *pwmpipe, *cmdpipe;
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SYSPIPE *rxpipe, *txpipe, *keypipe, *lcdpipe, *pwmpipe, *cmdpipe;
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KDEVICE *pipedev, *txdev, *pwmdev;
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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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void *heap; // = _top_of_heap; // Need to wait on startup to set this
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#define CONTEXT_LENGTH 100000 // 1ms
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#define CONTEXT_LENGTH 80000 // 1ms
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int LAST_TASK;
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int LAST_TASK;
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__attribute__((cold))
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__attribute__((cold))
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TASKP *ksetup(void) {
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TASKP *ksetup(void) {
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TASKP *tasklist;
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TASKP *tasklist;
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IOSPACE *sys = (IOSPACE *)IOADDR;
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IOSPACE *sys = (IOSPACE *)IOADDR;
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sys->io_spio = 0x0f0;
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sys->io_spio = 0x0f0;
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sys->io_timb = 0; // Turn off the watchdog timer
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sys->io_timb = 0; // Turn off the watchdog timer
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LAST_TASK = kntasks();
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LAST_TASK = kntasks();
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heap = _top_of_heap;
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heap = _top_of_heap;
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pipedev = sys_malloc(sizeof(KDEVICE));
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pipedev = sys_malloc(sizeof(KDEVICE));
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pipedev->write = (RWFDFUN)kwrite_syspipe;
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pipedev->write = (RWFDFUN)kwrite_syspipe;
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pipedev->read = (RWFDFUN)kread_syspipe;
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pipedev->read = (RWFDFUN)kread_syspipe;
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pipedev->close = NULL;
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pipedev->close = NULL;
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txdev = pwmdev = pipedev;
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txdev = pwmdev = pipedev;
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rxpipe = new_syspipe(16); //rxpipe->m_wrtask=INTERRUPT_WRITE_TASK;
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rxpipe = new_syspipe(16); //rxpipe->m_wrtask=INTERRUPT_WRITE_TASK;
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txpipe = new_syspipe(8); txpipe->m_rdtask = INTERRUPT_READ_TASK;
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txpipe = new_syspipe(8); txpipe->m_rdtask = INTERRUPT_READ_TASK;
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keypipe = new_syspipe(16);
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keypipe = new_syspipe(16);
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lcdpipe = new_syspipe(16);
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lcdpipe = new_syspipe(16);
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pwmpipe = new_syspipe(128); pwmpipe->m_rdtask= INTERRUPT_READ_TASK;
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pwmpipe = new_syspipe(128); pwmpipe->m_rdtask= INTERRUPT_READ_TASK;
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cmdpipe = new_syspipe(16);
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cmdpipe = new_syspipe(16);
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tasklist = sys_malloc(sizeof(TASKP)*(1+LAST_TASK));
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tasklist = sys_malloc(sizeof(TASKP)*(1+LAST_TASK));
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kinit(tasklist);
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kinit(tasklist);
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tasklist[LAST_TASK] = new_task(2, idle_task);
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tasklist[LAST_TASK] = new_task(2, idle_task);
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// Turn all interrupts off, acknowledge all at the same time
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// Turn all interrupts off, acknowledge all at the same time
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sys->io_pic = 0x7fff7fff;
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sys->io_pic = 0x7fff7fff;
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sys->io_tima = CONTEXT_LENGTH | TM_REPEAT;
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sys->io_tima = CONTEXT_LENGTH | TM_REPEAT;
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{
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{
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// Reset our wishbone scope for debug later
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// Reset our wishbone scope for debug later
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SCOPE *scope = (SCOPE *)SCOPEADDR;
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SCOPE *scope = (SCOPE *)SCOPEADDR;
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scope->s_control = 2;
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scope->s_control = 2;
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}
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}
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sys->io_spio = 0x0f1;
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sys->io_spio = 0x0f1;
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return tasklist;
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return tasklist;
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}
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}
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void kwait_on_buttonpress(void) {
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void kwait_on_buttonpress(void) {
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IOSPACE *sys = (IOSPACE *)IOADDR;
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IOSPACE *sys = (IOSPACE *)IOADDR;
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// Wait on a button press before starting
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// Wait on a button press before starting
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while((sys->io_spio & 0x0f0)==0)
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while((sys->io_spio & 0x0f0)==0)
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;
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;
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sys->io_spio = 0x0f3;
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sys->io_spio = 0x0f3;
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for(int i=0; i<40000; i++)
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for(int i=0; i<40000; i++)
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sys->io_spio = ((i>>14)&2)|0x020;
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sys->io_spio = ((i>>14)&2)|0x020;
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sys->io_spio = 0x0f7;
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sys->io_spio = 0x0f7;
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}
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}
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// __attribute__((noreturn))
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// __attribute__((noreturn))
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void kuserexit(int a) {
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void kuserexit(int a) {
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syscall(TRAPID_EXIT, a, 0, 0);
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syscall(TRAPID_EXIT, a, 0, 0);
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}
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}
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__attribute__((malloc))
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__attribute__((malloc))
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void *sys_malloc(int sz) {
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void *sys_malloc(int sz) {
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if (0) {
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if (0) {
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SCOPE *s = (SCOPE *)SCOPEADDR;
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SCOPE *s = (SCOPE *)SCOPEADDR;
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s->s_control = TRIGGER_SCOPE_NOW | (s->s_control & 0x0ffff);
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s->s_control = TRIGGER_SCOPE_NOW | (s->s_control & 0x0ffff);
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}
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}
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void *res = heap;
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void *res = heap;
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heap += sz;
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heap += sz;
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if ((int)heap > ((int)&res)-32) {
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if ((int)heap > ((int)&res)-32) {
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IOSPACE *sys = (IOSPACE *)IOADDR;
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IOSPACE *sys = (IOSPACE *)IOADDR;
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sys->io_spio = 0xf3;
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sys->io_spio = 0xf3;
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asm("break 0");
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asm("break 0");
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}
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}
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return res;
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return res;
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}
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}
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KFILDES *kopen(int id, KDEVICE *dev) {
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KFILDES *kopen(int id, KDEVICE *dev) {
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KFILDES *fd = (KFILDES *)sys_malloc(sizeof(KFILDES));
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KFILDES *fd = (KFILDES *)sys_malloc(sizeof(KFILDES));
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fd->id = (int)id;
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fd->id = (int)id;
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fd->dev= dev;
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fd->dev= dev;
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return fd;
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return fd;
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}
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}
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