mirror of
https://github.com/kelvinlawson/atomthreads.git
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228 lines
8.2 KiB
C
228 lines
8.2 KiB
C
/*
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* Copyright (c) 2011, Himanshu Chauhan. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. No personal names or organizations' names associated with the
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* Atomthreads project may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE ATOMTHREADS PROJECT AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE PROJECT OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "atom.h"
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#include "atomport-private.h"
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#include "atomport.h"
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#include "atomtests.h"
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#include "atomtimer.h"
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#include "system.h"
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#include "atomport-interrupts.h"
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/* Constants */
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/*
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* Idle thread stack size
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*
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* This needs to be large enough to handle any interrupt handlers
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* and callbacks called by interrupt handlers (e.g. user-created
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* timer callbacks) as well as the saving of all context when
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* switching away from this thread.
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*
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* In this case, the idle stack is allocated on the BSS via the
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* idle_thread_stack[] byte array.
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*/
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#define IDLE_STACK_SIZE_BYTES 4096
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/*
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* Main thread stack size
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*
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* Note that this is not a required OS kernel thread - you will replace
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* this with your own application thread.
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*
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* In this case the Main thread is responsible for calling out to the
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* test routines. Once a test routine has finished, the test status is
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* printed out on the UART and the thread remains running in a loop
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* flashing a LED.
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*
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* The Main thread stack generally needs to be larger than the idle
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* thread stack, as not only does it need to store interrupt handler
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* stack saves and context switch saves, but the application main thread
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* will generally be carrying out more nested function calls and require
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* stack for application code local variables etc.
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*
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* With all OS tests implemented to date on the AVR, the Main thread
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* stack has not exceeded 198 bytes. To allow all tests to run we set
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* a minimum main thread stack size of 204 bytes. This may increase in
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* future as the codebase changes but for the time being is enough to
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* cope with all of the automated tests.
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*/
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#define MAIN_STACK_SIZE_BYTES 8192
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/*
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* Startup code stack
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*
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* Some stack space is required at initial startup for running the main()
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* routine. This stack space is only temporarily required at first bootup
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* and is no longer required as soon as the OS is started. By default
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* GCC sets this to the top of RAM (RAMEND) and it grows down from there.
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* Because we only need this temporarily, though, it would be wasteful to
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* set aside a region at the top of RAM which is not used during runtime.
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*
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* What we do here is to reuse part of the idle thread's stack during
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* initial startup. As soon as we enter the main() routine we move the
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* stack pointer to half-way down the idle thread's stack. This is used
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* temporarily while calls are made to atomOSInit(), atomThreadCreate()
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* and atomOSStart(). Once the OS is started this stack area is no
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* longer required, and can be used for its original purpose (for the
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* idle thread's stack).
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*
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* This does mean, however, that we cannot monitor the stack usage of the
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* idle thread. Stack usage is monitored by prefilling the stack with a
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* known value, and we are obliterating some of that prefilled area by
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* using it as our startup stack, so we cannot use the stack-checking API
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* to get a true picture of idle thread stack usage. If you wish to
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* monitor idle thread stack usage for your applications then you are
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* free to use a different region for the startup stack (e.g. set aside
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* an area permanently, or place it somewhere you know you can reuse
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* later in the application). For the time being, this method gives us a
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* simple way of reducing the memory consumption without having to add
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* any special AVR-specific considerations to the automated test
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* applications.
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*
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* This optimisation was required to allow some of the larger automated
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* test modules to run on devices with 1KB of RAM. You should avoid doing
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* this if you can afford to set aside 64 bytes or so, or if you are
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* writing your own applications in which you have further control over
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* where data is located.
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*/
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/* Local data */
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/* Application threads' TCBs */
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static ATOM_TCB main_tcb;
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/* Main thread's stack area */
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static uint8_t main_thread_stack[MAIN_STACK_SIZE_BYTES] __attribute__((aligned (4)));
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/* Idle thread's stack area */
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static uint8_t idle_thread_stack[IDLE_STACK_SIZE_BYTES] __attribute__((aligned (4)));
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/* Forward declarations */
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static void main_thread_func (uint32_t data);
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/**
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* \b main
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*
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* Program entry point.
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*
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* Sets up the AVR hardware resources (system tick timer interrupt) necessary
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* for the OS to be started. Creates an application thread and starts the OS.
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*/
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int main ( void )
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{
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int8_t status;
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/**
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* Note: to protect OS structures and data during initialisation,
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* interrupts must remain disabled until the first thread
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* has been restored. They are reenabled at the very end of
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* the first thread restore, at which point it is safe for a
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* reschedule to take place.
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*/
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/**
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* Initialise the OS before creating our threads.
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*
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* Note that we tell the OS that the idle stack is half its actual
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* size. This prevents it prefilling the bottom half with known
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* values for stack-checkig purposes, which we cannot allow because
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* we are temporarily using it for our own stack. The remainder will
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* still be available once the OS is started, this only prevents the
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* OS from prefilling it.
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*
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* If you are not reusing the idle thread's stack during startup then
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* you should pass in the correct size here.
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*/
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status = atomOSInit(&idle_thread_stack[IDLE_STACK_SIZE_BYTES],
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IDLE_STACK_SIZE_BYTES);
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if (status == ATOM_OK)
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{
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/* FIXME: Enable the system tick timer */
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mips_setup_interrupts();
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init_console();
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/* Create an application thread */
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status = atomThreadCreate(&main_tcb,
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TEST_THREAD_PRIO, main_thread_func, 0,
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&main_thread_stack[MAIN_STACK_SIZE_BYTES],
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MAIN_STACK_SIZE_BYTES);
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if (status == ATOM_OK)
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{
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mips_cpu_timer_enable();
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/**
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* First application thread successfully created. It is
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* now possible to start the OS. Execution will not return
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* from atomOSStart(), which will restore the context of
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* our application thread and start executing it.
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*
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* Note that interrupts are still disabled at this point.
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* They will be enabled as we restore and execute our first
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* thread in archFirstThreadRestore().
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*/
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atomOSStart();
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}
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}
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while (1);
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/* There was an error starting the OS if we reach here */
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return (0);
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}
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/**
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* \b main_thread_func
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*
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* Entry point for main application thread.
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*
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* This is the first thread that will be executed when the OS is started.
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*
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* @param[in] data Unused (optional thread entry parameter)
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*
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* @return None
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*/
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static void main_thread_func (uint32_t data)
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{
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while (1) {
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/* Put a message out on the UART */
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printk("Running Tests... ");
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if (test_start() != 0) {
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printk("FAILED!\n");
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} else {
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printk("SUCCESS!\n");
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}
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}
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}
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