basic scheduling, basic syscall, (added .data copy)

[cortex-from-scratch] / main.c

diff --git a/main.c b/main.c
index 2b6fdba..ac01416 100644 (file)
--- a/main.c
+++ b/main.c
@@ -1,57 +1,179 @@
+/* (CC-BY-NC-SA) ROBIN KRENS - ROBIN @ ROBINKRENS.NL
+ * 
+ * $LOG$
+ * 2019/7/20 - ROBIN KRENS     
+ * Initial version 
+ * 
+ * $DESCRIPTION$
+ * Main initialize basic components of the board
+ * and jumps to a terminal
+ *
+ * */
+
 #include <stdbool.h>
 #include <stddef.h>
 #include <stdint.h>
-#include <stm32.h> // <-- my own header file located located in ./include
-#include <mmap.h>
 
+#include <sys/robsys.h> 
+#include <sys/mmap.h>
+#include <sys/process.h>
 
-void *memcpy(void *dest, void *src, size_t count)
-{   
-    const char *sp = (const char *)src;
-    char *dp = (char *)dest;
-    for(; count != 0; count--) *dp++ = *sp++;
-    return dest;
-}
+#include <lib/regfunc.h>
+#include <lib/pool.h>
+#include <lib/stdio.h>
+#include <lib/string.h>
+#include <lib/tinyprintf.h>
 
-/* fillout memory with 'val' (i.e. all zeroes)
- */
-void *memset(void *dest, unsigned char val, size_t count)
-{
-    char *temp = (char *)dest;
-    for( ; count != 0; count--) *temp++ = val;
-    return dest;
-}
+#include <drivers/uart.h>
+#include <drivers/led.h>
+//#include <drivers/tm1637.h>
+//#include <drivers/at24c.h>
+//#include <drivers/tsensor.h>
+//#include <drivers/mk450_joystick.h>
+#include <drivers/st7735s.h>
 
-/* same as above but shorter */
-unsigned short *memsetw(unsigned short *dest, unsigned short val, size_t count)
-{
-    unsigned short *temp = (unsigned short *)dest;
-    for( ; count != 0; count--) *temp++ = val;
-    return dest;
-}
+#include <lib/syscall.h>
+
+
+process_t p1;
+process_t p2;
+
+uint32_t stackp1[500];
+uint32_t stackp2[500];
+
+extern int count;
+
+void switch_usermode() {
+
+       // user mode 
+       //asm volatile ("mov r0, 0x1" "\n\t" 
+       //"msr control, r0" "\n\t"
+       //"isb" "\n\t"); 
+
+       // system init call
 
-int strlen(const char *str)
-{
-    int retval;
-    for(retval = 0; *str != '\0'; str++) retval++;
-    return retval;
 }
 
+void process1(void) {
+       
+       while(1) {
+               //uint32_t control = 0xFFFFFFFF;
+               printf("process 1\n");
+               //asm volatile("msr control, %0" "\n\t"
+               //             "dsb" : : "r" (control));
+               //printf("control: %x", control);       
+               //for(;;);
+               _block(100);
+               theos_switch(&p1, &p2);
+       }
 
+}
+void process2(void) {
+       while(1) {
+               printf("process 2\n");
+               _block(100);
+               theos_switch(&p2, &p1);
+       }
+       
+}
 
+int test_data_segment = 99;
 
 void main()
 {
 
+       /* Load .data segment into SRAM */
+       extern uint32_t * data_lma, data_vma, data_end;
+       int size = (&data_end - &data_vma) * 4;
+       memcpy(&data_vma, &data_lma, size);
+
+       /* Initialize the clock system, */
+       clock_init();
+
+       /* Setup the interrupt vector table */
        ivt_init();
+
+       /* Initialze basic input and output over serial */
        uart_init();
+
+       /* TFT screen */
+       // tft_init();
        
-       systick_init();
+       /* Set up a very small libc library */
+       init_printf(NULL, putc);
+
+       /* Heap init */
+       //kheap_init();
+       //printf("%p\n", get_kheap());
        
+       /* Display some basic info at startup */
        sysinfo();
 
-       terminal();
+       /* On board LEDs*/
+       led_init();
+
+
+       /* Real time clock */
+       rtc_init();
+
+
+//     printf("press any key to start\n");
+//     asm volatile ("cpsid f"); // doesn't work in qemu
+
+       syscall_init();
 
+       //int ret;
+       //ret = theos_test(0x1, 0x2, 0x3);
+       //ret = theos_uptime();
+
+       //printf("ret: %d\n", ret);
+
+       int size_stack = sizeof(stackp1);
+       
+       p1.stackptr = ((unsigned int) stackp1) + size_stack - 0x1C;
+       p1.stackptr[6] = (uint32_t) process1;
+       p1.stackptr[7] = 0x01000000;
+       p2.stackptr = ((unsigned int) stackp2) + size_stack - 0x1C;
+       p2.stackptr[6] = (uint32_t) process2;
+       p2.stackptr[7] = 0x01000000;
+       
+       theos_init(&p1);
+
+       /* Cortex M* integrated systick, can be replaced
+        * by the more accurate RTC. */
+       
+//     systick_init();
+
+       //      switch_usermode();      
+
+       //printf("without system call");        
+//     theos_test(0xA1, 0xA2);
+
+       /* Eeprom Driver
+       eeprom_at24c_init();
+       eeprom_test();
+       */
+       
+       /* LED Segment Driver */
+       //tm1637_init();
+
+       /* ASM Blocking routine */
+       //for (int i = 0; i < 1000; i++)
+       //      _block(10000);
+
+       /* TEMP SENSOR 
+       tsensor_printid();
+       uint16_t temp = tsensor_get_temp();
+       printf("Current temperature: %d °C\n", temp); */
+
+       /* ADC Joystick module */
+       // mk450_init();        
+
+
+       /* Start up terminal */
+       terminal();
+       
+       /* Should not be here, endless loop */
        for(;;) {
 
        }