+/* (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>
+#include <lib/syscall.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;
-}
-int strlen(const char *str)
-{
- int retval;
- for(retval = 0; *str != '\0'; str++) retval++;
- return retval;
-}
+/* 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()
{
- ivt_init();
-// clock_init();
- uart_init();
- uart_puts("LOADING SYSTEM 0.1 ...\n");
- systick_init();
- sysinfo();
- mm_init();
-
- //int * p2 = mm_alloc(512);
- //memset(p2, 'a', 512);
+ /* 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);
- //addrtohex(p2);
- //addrtohex(*p2);
+ /* Initialize the clock system, */
+ clock_init();
- //uint32_t * p = (volatile unsigned) 0x21000000;
- //regw_u32(p, 0x0CCCCCCCC, 4, 0x01);
+ /* Setup the interrupt vector table */
+ ivt_init();
- //regw_u8(p, 0xFF, 0, 0x02);
+ /* Initialze basic input and output over serial */
+ uart_init();
-// asm("cpsie i"); // enable irq , cpsied f (disable faukts(
+ /* 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();
- // loop
+ /* 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);
+ }
+
+}