System Calls cleanup, multiple Processes and context switch

[cortex-from-scratch] / main.c

diff --git a/main.c b/main.c
index 342059e..4eb79f9 100644 (file)
--- a/main.c
+++ b/main.c
@@ -5,7 +5,7 @@
  * Initial version 
  * 
  * $DESCRIPTION$
- * Main intialize basic components of the boards
+ * Main initialize basic components of the board
  * and jumps to a terminal
  *
  * */
@@ -16,48 +16,137 @@
 
 #include <sys/robsys.h> 
 #include <sys/mmap.h>
+#include <sys/process.h>
 
 #include <lib/regfunc.h>
+#include <lib/pool.h>
 #include <lib/stdio.h>
+#include <lib/string.h>
+#include <lib/tinyprintf.h>
+#include <lib/syscall.h>
 
 #include <drivers/uart.h>
 #include <drivers/led.h>
-#include <drivers/tm1637.h>
+//#include <drivers/tm1637.h>
+//#include <drivers/at24c.h>
+//#include <drivers/tsensor.h>
+//#include <drivers/mk450_joystick.h>
+#include <drivers/st7735s.h>
+
+
+/* Example of multitasking */
+process_t p1;
+process_t p2;
+
+uint32_t stackp1[500];
+uint32_t stackp2[500];
+
+void process1(void);
+void process2(void);
+
+
 
 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();
-//     cputs("ROBSYS LOADING...\n");
-       systick_init();
-       led_init();
+
+       /* TFT screen */
+       // tft_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();
 
-       tm1637_init();
-       tm1637_start();
-
-       //uint32_t test = hextoreg("12345678");
-               
-//     cputs(regtohex(test));
-
-       //extern void stub();
-       //stub();
-       //__asm__ __volatile__ ("ldc p1, cr1, r0");
-
-/*     while(1) {
-               int r;
-               for (int i = 0; i < 50000; i++) {
-                       r = 0;  
-               }
-               led_on();
-               for (int i = 0; i < 50000; i++) {
-                       r = 0;  
-               }
-               led_off();
-       } */
-       terminal();
+       /* On board LEDs*/
+       led_init();
 
+
+       /* Real time clock */
+       rtc_init();
+
+       /* Initialize SVC handler for system calls*/
+       syscall_init();
+
+       /* System call test */
+       int uptime = theos_uptime();
+       printf("UPTIME: %d\n", uptime);
+
+       /* Multi processes test */
+//     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();
+
+       /* 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(;;) {
 
        }
 }
+
+void process1(void) {
+       
+       while(1) {
+               printf("process 1\n");
+               _block(0xFFFFF);
+               theos_switch(&p1, &p2);
+       }
+
+}
+void process2(void) {
+       while(1) {
+               printf("process 2\n");
+               _block(0xFFFFF);
+               theos_switch(&p2, &p1);
+       }
+       
+}