#include #include #include "rtos_lib.h" #include "gd_timer.h" #include "gm_debug.h" #include "rtthread.h" #include "shell.h" #ifdef RT_USING_FINSH #include "shell.h" #endif //#define CACHE_MEM_MANAGE #define CACHE_MEM_SIZE 0x200000//1152k #define CACHE_DSP_SIZE 0x330000//3168k #define CACHE_LINE_SIZE 32 #define CACHE_LINE_MASK ~(CACHE_LINE_SIZE - 1) static int cache_check_end = 0; static int cache_check_start = 1; //static int cache_check_fail_halt = 0; void RTOS_MMU_ChangeMapEntry(U32 vaddrStart, U32 vaddrEnd, U32 paddrStart, U32 attr); static inline void __delay(int loops); u32 cpu_cpsr; #define HZ RT_TICK_PER_SECOND #define LPS_PREC 8 #define jiffies raid6_jiffies() static inline void __delay(int loops) { return; } static inline unsigned int raid6_jiffies(void) { //struct timeval tv; //gettimeofday(&tv, NULL); //return tv.tv_sec*1000 + tv.tv_usec/1000; return rt_tick_get()*1000; } static unsigned long calibrate_delay_converge(void) { /* First stage - slowly accelerate to find initial bounds */ unsigned long lpj, lpj_base, ticks, loopadd, loopadd_base, chop_limit; int trials = 0, band = 0, trial_in_band = 0; lpj = (1<<12); /* wait for "start of" clock tick */ ticks = jiffies; while (ticks == jiffies) ; /* nothing */ /* Go .. */ ticks = jiffies; do { if (++trial_in_band == (1<> LPS_PREC; while (loopadd > chop_limit) { lpj += loopadd; ticks = jiffies; while (ticks == jiffies) ; /* nothing */ ticks = jiffies; __delay(lpj); if (jiffies != ticks) /* longer than 1 tick */ lpj -= loopadd; loopadd >>= 1; } /* * If we incremented every single time possible, presume we've * massively underestimated initially, and retry with a higher * start, and larger range. (Only seen on x86_64, due to SMIs) */ if (lpj + loopadd * 2 == lpj_base + loopadd_base * 2) { lpj_base = lpj; loopadd_base <<= 2; goto recalibrate; } return lpj; } void RTOS_Jiffies() { unsigned long lpj; lpj = calibrate_delay_converge(); rt_kprintf("Calibrating delay loop... %lu.%02lu BogoMIPS (lpj=%lu)\n", lpj/(500000/HZ), (lpj/(5000/HZ)) % 100, lpj); } void gk7101_setting_pll() { int i = 0; *((volatile U32 *)0x70170000) = 0x01202e01; *((volatile U32 *)0x70170004) = 0x00000000; *((volatile U32 *)0x7017000C) = 0x0000000c; *((volatile U32 *)0x70170014) = 0x01202401; *((volatile U32 *)0x70170018) = 0x00000000; *((volatile U32 *)0x7017001C) = 0x00000001; *((volatile U32 *)0x70170024) = 0x02406301; *((volatile U32 *)0x70170028) = 0x00000000; *((volatile U32 *)0x70170030) = 0x00000000; *((volatile U32 *)0x70170034) = 0x00000000; *((volatile U32 *)0x70170038) = 0x00000001; *((volatile U32 *)0x7017003C) = 0x00000008; *((volatile U32 *)0x7017004C) = 0x00000001; *((volatile U32 *)0x70170050) = 0x00000001; *((volatile U32 *)0x70170054) = 0x01202001; *((volatile U32 *)0x70170058) = 0x00c49ba5; *((volatile U32 *)0x7017005C) = 0x00000008; *((volatile U32 *)0x70170060) = 0x00000001; *((volatile U32 *)0x70170068) = 0x00000002; *((volatile U32 *)0x70170080) = 0x00206978; *((volatile U32 *)0x70170084) = 0x00000020; *((volatile U32 *)0x7017008C) = 0x0000000f; *((volatile U32 *)0x7017009C) = 0x00000002; *((volatile U32 *)0x701700A0) = 0x00000010; *((volatile U32 *)0x701700BC) = 0x00000001; *((volatile U32 *)0x701700E4) = 0x01203201; *((volatile U32 *)0x701700E8) = 0x00000000; *((volatile U32 *)0x701700EC) = 0x00000008; *((volatile U32 *)0x70170100) = 0x00000030; *((volatile U32 *)0x70170108) = 0x00000030; *((volatile U32 *)0x70170118) = 0x00000002; *((volatile U32 *)0x7017011C) = 0x00000030; *((volatile U32 *)0x70170124) = 0x00000030; *((volatile U32 *)0x70170130) = 0x00000030; *((volatile U32 *)0x70170148) = 0x00000001; *((volatile U32 *)0x70170198) = 0x00000000; *((volatile U32 *)0x7017019C) = 0x00000000; *((volatile U32 *)0x701701E0) = 0x00000000; *((volatile U32 *)0x701701E4) = 0x00000000; *((volatile U32 *)0x701701F4) = 0x00000002; *((volatile U32 *)0x701701FC) = 0x00000021; *((volatile U32 *)0x70170200) = 0x00000022; *((volatile U32 *)0x70170214) = 0x00000022; #if 0 *((volatile U32 *)0x7017021C) = 0x00000000; *((volatile U32 *)0x70170228) = 0x00000000; *((volatile U32 *)0x7017022C) = 0x00000000; #endif for(i=0; i<14; i++) { *((volatile U32 *)((U32)0x70170230 + i*4)) = 0x11111111; } #if 0 *((volatile U32 *)0x70170270) = 0x00000000; #endif *(volatile U32 *)(0x70009100+20*4) = (1<<8); *(volatile U32 *)(0x70009200+7*4) = 20; *(volatile U32 *)(0x70009100+22*4) = 9; } //------------------------------------------------------- #if 0 rt_inline unsigned int rt_list_len(const rt_list_t *l) { unsigned int len = 0; const rt_list_t *p = l; while (p->next != l) { p = p->next; len ++; } return len; } #endif static void show_wait_queue(struct rt_list_node *list) { struct rt_thread *thread; struct rt_list_node *node; for (node = list->next; node != list; node = node->next) { thread = rt_list_entry(node, struct rt_thread, tlist); rt_kprintf("%s", thread->name); if (node->next != list) rt_kprintf("/"); } } void rtos_cache_inv_range(void *addr, unsigned int size) { u32 vstart; u32 vend; u32 addr_tmp; vstart = (u32)addr & CACHE_LINE_MASK; vend = ((u32)addr + size + CACHE_LINE_SIZE - 1) & CACHE_LINE_MASK; if (cache_check_start && (vstart != (u32)addr)) { return; } if (cache_check_end && (vend != ((u32)addr + size))) { return; } for (addr_tmp = vstart; addr_tmp < vend; addr_tmp += CACHE_LINE_SIZE) { __asm__ __volatile__ ( "mcr p15, 0, %0, c7, c6, 1" : : "r" (addr_tmp)); } dsb(); } void rtos_cache_clean_range(void *addr, unsigned int size) { u32 vstart; u32 vend; u32 addr_tmp; vstart = (u32)addr & CACHE_LINE_MASK; vend = ((u32)addr + size + CACHE_LINE_SIZE - 1) & CACHE_LINE_MASK; if (cache_check_start && (vstart != (u32)addr)) { return; } if (cache_check_end && (vend != ((u32)addr + size))) { return; } for (addr_tmp = vstart; addr_tmp < vend; addr_tmp += CACHE_LINE_SIZE) { __asm__ __volatile__ ( "mcr p15, 0, %0, c7, c10, 1" : : "r" (addr_tmp)); } dsb(); } U32 RTOS_EnterCriticalSection( void ) { #if 0 /*lint -save -e529 */ U32 old_flags = 0; U32 new_flags = 0; #if defined(_ARM) && !defined(__GNUC__) && !defined(__polyspace__) __asm { mrs old_flags,cpsr } __asm { orr new_flags,old_flags,#0xC0 } __asm { msr cpsr_c,new_flags } #endif #if defined(_ARM) && defined(__GNUC__) && !defined(__polyspace__) asm volatile( "mrs %0,cpsr" : "=r"(old_flags) : "r"(new_flags) ); asm volatile( "orr %0,%1,#0xC0" : "=r"(new_flags) : "r"(old_flags) ); asm volatile( "msr cpsr_c,%0" : : "r"(new_flags) ); #endif #if defined(_ARC) && !defined(__polyspace__) old_flags = _lr(0); _flag(0); #endif return( old_flags ); #else return (U32)rt_hw_interrupt_disable(); #endif /*lint -restore */ } void RTOS_LeaveCriticalSection( U32 cpuStatus ) { #if 0 /*lint -save -e715 */ #if defined(_ARM) && !defined(__GNUC__) && !defined(__polyspace__) __asm { msr cpsr_c,cpuStatus } #endif #if defined(_ARM) && defined(__GNUC__) && !defined(__polyspace__) asm volatile ( "msr cpsr_c,%0" : : "r"(cpuStatus) ); #endif #if defined(_ARC) && !defined(__polyspace__) cpuStatus &= 0x0C000000; _flag( cpuStatus >> 25 ); #endif #else rt_hw_interrupt_enable(cpuStatus); #endif /*lint -restore */ } void RTOS_Halt( void ) { RTOS_EnterCriticalSection(); } //------------------------------------------------------------- RTOS_Memory RTOS_MemorySet( RTOS_Memory mem, U8 value, RTOS_Size bytes ) { if( ( mem == (RTOS_Memory)0 ) || ( bytes == 0 ) ) return( (RTOS_Memory)0 ); #if 0 return rt_memset(mem,value,bytes); #else// use libc 's memset to improve performance. return memset(mem,value,bytes); #endif } RTOS_Memory RTOS_Malloc( RTOS_Size bytes) { return rt_malloc(bytes); } RTOS_Memory RTOS_Realloc( RTOS_Memory addr, RTOS_Size bytes ) { return rt_realloc(addr, bytes); } char * RTOS_ThreadGetSelfName(void); RTOS_Memory RTOS_MemoryAllocate( RTOS_Size bytes, RTOS_Flag shared ) { //if (bytes >= 0x10000) // printf("RTOS_MemoryAllocate: %d(%s)\n",bytes, RTOS_ThreadGetSelfName()); return rt_malloc(bytes); } RTOS_Status RTOS_MemoryRelease( RTOS_Memory memory ) { if(memory) rt_free(memory); return 0; } RTOS_Memory RTOS_SysMemoryAllocate( RTOS_Size bytes, RTOS_Flag shared ) { #ifndef CACHE_MEM_MANAGE return (RTOS_Memory)rt_malloc(bytes); #else return (RTOS_Memory)rt_dspmem_malloc(bytes); #endif } RTOS_Status RTOS_SysMemoryRelease( RTOS_Memory memory ) { if(memory) #ifndef CACHE_MEM_MANAGE rt_free(memory); #else rt_dspmem_free(memory); #endif return 0; } RTOS_Memory RTOS_KernelMemoryAllocate( RTOS_Size bytes) { return (RTOS_Memory)RT_KERNEL_MALLOC(bytes); } RTOS_Status RTOS_KernelMemoryRelease( RTOS_Memory memory ) { if(memory) RT_KERNEL_FREE(memory); return 0; } void RTOS_GetMemInfo( RTOS_Size *Cache_memory, RTOS_Size *Uncache_memory) { rt_uint32_t total,used,max_used; rt_memory_info(&total,&used,&max_used); *Cache_memory = total; *Uncache_memory = 0; #ifdef CACHE_MEM_MANAGE rt_cache_memory_info(&total,&used,&max_used); *Uncache_memory = total; #endif } void RTOS_HeapMemoryReport( void ) { rt_uint32_t total,used,max_used; rt_memory_info(&total,&used,&max_used); rt_kprintf("Heap Memory Info [cache memory]\n"); rt_kprintf("total memory: %d KBytes,%d Btyes\n", total/1024,total); rt_kprintf("used memory : %d KBytes,%d Btyes\n", used/1024,used); rt_kprintf("maximum allocated memory: %d KBytes,%d Btyes\n", max_used/1024,max_used); } void RTOS_SysMemoryReport( void ) { #ifdef CACHE_MEM_MANAGE rt_uint32_t total,used,max_used; rt_cache_memory_info(&total,&used,&max_used); rt_kprintf("Sys Memory Info [cache memory]\n"); rt_kprintf("total memory: %d KBytes\n", total/1024); rt_kprintf("used memory : %d KBytes\n", used/1024); rt_kprintf("maximum allocated memory: %d KBytes\n", max_used/1024); rt_dspmem_memory_info(&total,&used,&max_used); rt_kprintf("Drv Memory Info [uncache memory]\n"); rt_kprintf("total memory: %d KBytes\n", total/1024); rt_kprintf("used memory : %d KBytes\n", used/1024); rt_kprintf("maximum allocated memory: %d KBytes\n", max_used/1024); #endif } RTOS_Memory RTOS_MemoryCopy( RTOS_Memory dst, RTOS_Memory src, RTOS_Size bytes ) { #if 0 U8* dstArray = (U8*)dst; U8* srcArray = (U8*)src; RTOS_Size index; if( ( dst == (RTOS_Memory)0 ) || ( bytes == 0 ) ) return( (RTOS_Memory)0 ); for( index=0; index < bytes; index++ ) dstArray[index] = srcArray[index]; return( dst ); #else// use libc 's memcpy to improve performance. if( ( dst == (RTOS_Memory)0 ) || ( bytes == 0 ) ) return( (RTOS_Memory)0 ); memcpy(dst, src, bytes); return( dst ); #endif } //------------------------------------------------------------- U32 RTOS_SetThreadName( RTOS_ThreadT threadHandle, const char* optName) { rt_base_t level; level = rt_hw_interrupt_disable(); if(threadHandle) { rt_strncpy(((rt_thread_t)threadHandle)->name, optName, RT_NAME_MAX); } rt_hw_interrupt_enable(level); return 0; } U32 RTOS_ThreadSetName( RTOS_ThreadT threadHandle, const char* optName) { rt_base_t level; level = rt_hw_interrupt_disable(); if(threadHandle) { rt_strncpy(((rt_thread_t)threadHandle)->name, optName, RT_NAME_MAX); } rt_hw_interrupt_enable(level); return 0; } char * RTOS_ThreadGetSelfName(void) { return rt_thread_self()->name; } // thread-safe errno related api functions. void RTOS_SetErrno(const int err) { #if 0 rt_base_t level; level = rt_hw_interrupt_disable(); rt_thread_t self = rt_thread_self(); self->thr_internal_errno = err;//FIXME(heyong): error is used to errno. rt_hw_interrupt_enable(level); //rt_kprintf("RTOS_SetErrno %d\n", err); #endif } int RTOS_GetErrno() { int err; #if 0 rt_base_t level; level = rt_hw_interrupt_disable(); rt_thread_t self = rt_thread_self(); err = (int)self->thr_internal_errno;//FIXME(heyong): error is used to errno. rt_hw_interrupt_enable(level); //rt_kprintf("RTOS_GetErrno %d\n", err); #endif return err; } RTOS_ThreadT RTOS_CreateThread( U32* stackBuffer, U32 stackSize, U32 priority, RTOS_ThreadFunctionT function, void* optArg, void* optData, const char* optName ) { rt_thread_t tid; if (priority < RTOS_ThreadPriorityHighest) { priority = RTOS_ThreadPriorityHighest - priority; } else { priority = 1; } tid = rt_thread_create((optName == NULL)?"thread":optName, function, optArg, stackSize, priority, THREAD_TIMESLICE); if (tid != RT_NULL) { rt_thread_startup(tid); } return (RTOS_ThreadT)tid; } U32 RTOS_DestroyThread( RTOS_ThreadT threadHandle ) { rt_err_t ret = 0; rt_enter_critical(); ret = rt_thread_delete((rt_thread_t)threadHandle); rt_exit_critical(); if (RT_EOK == ret) { ret = 1; } else { ret = 0; } return ret; } U32 RTOS_ThreadDestroy( RTOS_ThreadT threadHandle ) { rt_err_t ret = 0; rt_enter_critical(); ret = rt_thread_delete((rt_thread_t)threadHandle); rt_exit_critical(); if (RT_EOK == ret) { ret = 1; } else { ret = 0; } return ret; } U32 RTOS_GetThreadPriority(RTOS_ThreadT threadHandle) { rt_thread_t tid = (rt_thread_t)threadHandle; int priority = tid->current_priority; if (priority < RTOS_ThreadPriorityHighest) { priority = RTOS_ThreadPriorityHighest - priority; } else { priority = 1; } return priority; } void gkosFinishThread( void ) { //rt_thread_t t = rt_thread_self(); //rt_thread_detach(t); } void RTOS_LockScheduler( void ) { rt_enter_critical(); } void RTOS_UnlockScheduler( void ) { rt_exit_critical(); } void RTOS_SchedulerLock( void ) { rt_enter_critical(); } void RTOS_SchedulerUnlock( void ) { rt_exit_critical(); } U32 RTOS_SleepThread( U32 msecs ) { return rt_thread_delay( msecs ) ; } U32 msleep( U32 msecs ) { return rt_thread_delay( msecs ) ; } U32 RTOS_SuspendThread( RTOS_ThreadT threadHandle ) { return rt_thread_suspend((rt_thread_t)threadHandle); } U32 RTOS_WakeupThread( RTOS_ThreadT threadHandle ) { return rt_thread_resume( (rt_thread_t)threadHandle ); } void thread_statistics() { struct rt_thread *thread; struct rt_list_node *node; rt_uint8_t *ptr; rt_base_t level; struct rt_object_information *information; information = rt_object_get_information(RT_Object_Class_Thread); RT_ASSERT(information != RT_NULL); struct rt_list_node *list = &(information->object_list); level = rt_hw_interrupt_disable(); for (node = list->next; node != list; node = node->next) { thread = rt_list_entry(node, struct rt_thread, list); //if(thread) thread->total_tick = 0; } rt_hw_interrupt_enable(level); rt_thread_delay(5000); //not close interrupt to avoid the venc error because the print time is too long. //level = rt_hw_interrupt_disable(); rt_kprintf(" thread pri status tick cpu%% sp stack addr stack size max used left tick\n"); rt_kprintf("-------------------------------- --- ------- ------ ------- ---------- ---------- ---------- ---------- ---------- \n"); for (node = list->next; node != list; node = node->next) { thread = rt_list_entry(node, struct rt_thread, list); #if 0 rt_kprintf("%-32.*s 0x%02x", RT_NAME_MAX, thread->name, thread->current_priority); #else int priority = thread->current_priority; if (priority < RTOS_ThreadPriorityHighest) { priority = RTOS_ThreadPriorityHighest - priority; } else { priority = 1; } rt_kprintf("%-32.*s %3d", RT_NAME_MAX, thread->name, priority); #endif if (thread->stat == RT_THREAD_READY) rt_kprintf(" ready"); else if (thread->stat == RT_THREAD_SUSPEND) rt_kprintf(" suspend"); else if (thread->stat == RT_THREAD_INIT) rt_kprintf(" init"); else if (thread->stat == RT_THREAD_CLOSE) rt_kprintf(" close"); ptr = (rt_uint8_t*)thread->stack_addr; while (*ptr == '#')ptr ++; #if 0 rt_kprintf(" %5d %5.2f%% 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x \n", thread->total_tick, ((double)thread->total_tick/50)>=100.00?99.9:((double)thread->total_tick/50), thread->stack_size + ((rt_uint32_t)thread->stack_addr - (rt_uint32_t)thread->sp), thread->stack_addr, thread->stack_size, thread->stack_size - ((rt_uint32_t) ptr - (rt_uint32_t)thread->stack_addr), thread->remaining_tick); #endif rt_kprintf(" 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x \n", thread->stack_size + ((rt_uint32_t)thread->stack_addr - (rt_uint32_t)thread->sp), thread->stack_addr, thread->stack_size, thread->stack_size - ((rt_uint32_t) ptr - (rt_uint32_t)thread->stack_addr), thread->remaining_tick); } //rt_hw_interrupt_enable(level); } void RTOS_ThreadDisplayStatistics( void ) { rt_uint32_t total; rt_uint32_t used; rt_uint32_t max_used; rt_memory_info(&total,&used,&max_used); rt_kprintf("\n memory info size \n"); rt_kprintf("--------------------------------- -------\n"); rt_kprintf("total heap memory : %d(%dKB)\n", total, total/1024); rt_kprintf("used heap memory : %d(%dKB)\n", used, used/1024); rt_kprintf("maximum allocated heap memory: %d(%dKB)\n\n", max_used, max_used/1024); #ifdef CACHE_MEM_MANAGE rt_cache_memory_info(&total,&used,&max_used); rt_kprintf("total sys memory : %d(%dKB)\n", total, total/1024); rt_kprintf("used sys memory : %d(%dKB)\n", used, used/1024); rt_kprintf("maximum allocated sys memory: %d(%dKB)\n", max_used, max_used/1024); rt_dspmem_memory_info(&total,&used,&max_used); rt_kprintf("total drv memory : %d(%dKB)\n", total, total/1024); rt_kprintf("used drv memory : %d(%dKB)\n", used, used/1024); rt_kprintf("maximum allocated drv memory: %d(%dKB)\n", max_used, max_used/1024); #endif thread_statistics(); return ; } U32 RTOS_GetFreeHeapSize() { rt_uint32_t total; rt_uint32_t used; rt_uint32_t max_used; rt_memory_info(&total,&used,&max_used); return (total-used); } RTOS_Time RTOS_KernelTimerGetPeriod(void) { return (1000 / RT_TICK_PER_SECOND); } //-------------------------sem-------------------------- RTOS_SemaphoreT RTOS_CreateSemaphore( U32 initCount ) { return (RTOS_SemaphoreT)rt_sem_create("sem", initCount, RT_IPC_FLAG_PRIO); } U32 RTOS_WaitSemaphore(RTOS_SemaphoreT semaphoreHandle, U32 suspend) { if(suspend) return RTOS_GetSemaphore((RTOS_Semaphore)semaphoreHandle, RTOS_SUSPEND); else return RTOS_GetSemaphore((RTOS_Semaphore)semaphoreHandle, RTOS_NO_SUSPEND); } U32 RTOS_GetSemaphore( RTOS_SemaphoreT semaphoreHandle, U32 msecsTimeout ) { return rt_sem_take((rt_sem_t)semaphoreHandle, msecsTimeout); } U32 RTOS_SetSemaphore( RTOS_SemaphoreT semaphoreHandle, U32 msecsTimeout ) { return rt_sem_release((rt_sem_t)semaphoreHandle); } RTOS_Status RTOS_SemaphoreDestroy( RTOS_Semaphore semaphoreHandle ) { return rt_sem_delete((rt_sem_t)semaphoreHandle); } RTOS_Status RTOS_DestroySemaphore( RTOS_Semaphore semaphoreHandle ) { return rt_sem_delete((rt_sem_t)semaphoreHandle); } S32 RTOS_SemaphoreQuery( RTOS_Semaphore semaphoreHandle ) { S32 countPtr = 0; rt_ubase_t level; level = rt_hw_interrupt_disable(); countPtr = ((rt_sem_t)semaphoreHandle)->value; rt_hw_interrupt_enable(level); return (S32)countPtr; } //-------------------------timer------------------------- void GKOS_KernelTimerSetHook(RTOS_HookFunction function) { if(gkosHookData) { if(gkosHookData->timerFunctionCount < (GKOS_TIMER_HOOK_TABLE_SIZE - 1)) { gkosHookData->timerFunctionArray[gkosHookData->timerFunctionCount] = function; gkosHookData->timerFunctionCount ++; } } } void RTOS_KernelTimerSetHook(RTOS_HookFunction function) { GKOS_KernelTimerSetHook(function); } //-------------------------mail queue------------------------- #if 0 RTOS_MailqueueT RTOS_MailqueueCreate( U32 queueElements) { struct rt_mailbox *mq; mq = rt_mb_create("mqt", queueElements, RT_IPC_FLAG_FIFO); return (RTOS_MailqueueT)mq; } #endif RTOS_MailqueueT RTOS_CreateMailqueue( U32 queueElements, U32 elementBytes ) { struct rt_mailbox *mq; mq = rt_mb_create("mqt", queueElements, RT_IPC_FLAG_FIFO); return (RTOS_MailqueueT)mq; } RTOS_Status RTOS_MailqueueSend(RTOS_Mailqueue mailqueue, RTOS_Message data) { //rt_kprintf("mail send...0x%x\n", data); return rt_mb_send((rt_mailbox_t)mailqueue, (rt_uint32_t)data); } RTOS_Status RTOS_MailqueueSendTimeout(RTOS_Mailqueue mailqueue, RTOS_Message data, RTOS_Time timeout) { //rt_kprintf("mail send...0x%x\n", data); return rt_mb_send_wait((rt_mailbox_t)mailqueue, (rt_uint32_t)data, timeout); } RTOS_Message RTOS_MailqueueWait(RTOS_Mailqueue mailqueue, RTOS_Flag suspend) { int ret; U32 timeout; U8* messagePtr; if( suspend ) timeout = RTOS_SUSPEND; else timeout = RTOS_NO_SUSPEND; ret = rt_mb_recv((rt_mailbox_t)mailqueue, (void*)(&messagePtr), timeout); //rt_kprintf("mail recv [0x%x]...0x%x\n", (U32)timeout, messagePtr); if(ret != 0) return NULL; return (RTOS_Message)messagePtr; } RTOS_Message RTOS_MailqueueWaitTimeout( RTOS_Mailqueue mailqueue, RTOS_Time timeout ) { U8* messagePtr; int ret; ret = rt_mb_recv((rt_mailbox_t)mailqueue, (void*)(&messagePtr), timeout); //rt_kprintf("mail recv [0x%x]...0x%x\n", (U32)timeout, messagePtr); if(ret != 0) return NULL; return (RTOS_Message)messagePtr; } U32 RTOS_MailqueueDestroy( RTOS_MailqueueT mailqueuePtr ) { rt_mb_delete((rt_mailbox_t)mailqueuePtr); return 0; } U32 RTOS_DestroyMailqueue( RTOS_MailqueueT mailqueuePtr ) { rt_mb_delete((rt_mailbox_t)mailqueuePtr); return 0; } U32 RTOS_GetTimerStamp() { return rt_tick_get(); } /* ******************************************************************************* ** ** Create a new mutex and initializes it with the given value. ** ******************************************************************************* */ RTOS_MutexT RTOS_MutexCreate( void ) { return( (RTOS_MutexT) rt_mutex_create("mutex", RT_IPC_FLAG_FIFO) ); } /* ******************************************************************************* ** ** Destroy a given mutex. ** ******************************************************************************* */ U32 RTOS_MutexDestroy( RTOS_MutexT mutex ) { return rt_mutex_delete( (rt_mutex_t) mutex ); } /* ******************************************************************************* ** ** Query (read) the current value from a given mutex. ** ******************************************************************************* */ S32 RTOS_MutexQuery( RTOS_MutexT mutex ) { S32 countPtr = 0; rt_ubase_t level; level = rt_hw_interrupt_disable(); countPtr = ((rt_mutex_t)mutex)->value; rt_hw_interrupt_enable(level); return countPtr; } /* ******************************************************************************* ** ** Wait and lock a given mutex ** ******************************************************************************* */ U32 RTOS_MutexLock( RTOS_MutexT mutex, RTOS_Flag suspend ) { U32 timeout; if( suspend ) timeout = RTOS_SUSPEND; else timeout = RTOS_NO_SUSPEND; return rt_mutex_take( (rt_mutex_t) mutex, timeout ); } U32 RTOS_MutexLockTimeout( RTOS_MutexT mutex, U32 timeout ) { return rt_mutex_take( (rt_mutex_t) mutex, timeout ); } /* ******************************************************************************* ** ** Unlock an occupied mutex ** ******************************************************************************* */ U32 RTOS_MutexUnlock( RTOS_MutexT mutex ) { return rt_mutex_release( (rt_mutex_t) mutex ); } //-------------------------------------------------------- RTOS_ThreadT RTOS_ThreadSelf( void ) { return( (RTOS_ThreadT)rt_thread_self() ); } //------------------------------------------------------- extern unsigned char __heap_end__[]; gkosHookDataT HookData; void RTOS_HwTickInit(void) { GD_HANDLE timerHandle; GBOOL timerFlag; GERR result; GD_INT_DisableAllInterrupts(); // only use the os's timers // RTOS_TIMERTICK_IRQ must use the GD_INT_LOW_PRIORITY mode GD_INT_SetVector( GD_INT_TIMER1_IRQ, NULL ); result = GD_TIMER_SoftTimerOpen( &timerHandle ); if( result == GD_OK ) { // modify the hard timer to Timer Tick result = GD_TIMER_SoftTimerSet( &timerHandle, 1, &timerFlag, NULL ); GD_INT_SetVector( GD_INT_TIMER1_IRQ, rt_tick_increase ); } int bytes = sizeof(gkosHookDataT); gkosHookData = &HookData; memset( gkosHookData, 0, bytes ); } extern u32 ARM1176_MMU_ttb0[4096]; U32 RTOS_InitKernel(U32 Heap_size) { u32 os_end_address=0; /* disable interrupt first */ rt_hw_interrupt_disable(); /* enable cpu cache */ //rt_hw_cpu_icache_disable(); //mmu_invalidate_icache(); //rt_hw_cpu_icache_enable(); /* initialize hardware interrupt */ rt_hw_interrupt_init(); /* initialize board */ //rt_hw_board_init(); /* show version */ //rt_show_version(); /* initialize tick */ //rt_system_tick_init(); RTOS_HwTickInit(); //rt_kprintf("set tick\n"); /* initialize kernel object */ rt_system_object_init(); /* initialize timer system */ rt_system_timer_init(); /* initialize heap memory system */ os_end_address= (u32)__heap_end__+Heap_size; #ifdef CACHE_MEM_MANAGE rt_system_heap_init((void*)__heap_end__, (void*)(os_end_address-CACHE_MEM_SIZE-CACHE_DSP_SIZE)); rt_system_cache_init((void*)(os_end_address-CACHE_MEM_SIZE-CACHE_DSP_SIZE), (void*)(os_end_address-CACHE_DSP_SIZE)); //cache-buffer for system #if 0 RTOS_MMU_ChangeMapEntry((U32)(os_end_address-CACHE_MEM_SIZE-CACHE_DSP_SIZE),(U32)os_end_address-CACHE_DSP_SIZE, (U32)(os_end_address-CACHE_MEM_SIZE), 0x00000DE2); #endif rt_system_dspmem_init((void*)(os_end_address-CACHE_DSP_SIZE), (void*)(os_end_address)); //nocache nobuffer RTOS_MMU_ChangeMapEntry((U32)(os_end_address-CACHE_DSP_SIZE), (U32)os_end_address, (U32)(os_end_address-CACHE_DSP_SIZE), 0x00000DE2); /* print mmu table */ //rt_hw_cpu_dump_page_table((rt_uint32_t*)ARM1176_MMU_ttb0); #else rt_system_heap_init((void*)__heap_end__, (void*)os_end_address); #endif #ifdef RT_USING_MODULE /* initialize module system*/ rt_system_module_init(); #endif /* initialize scheduler system */ rt_system_scheduler_init(); return 0; } void RTOS_StartMultitasking( void ) { #ifdef RT_USING_FINSH /* initialize finsh */ finsh_system_init(); #ifdef RT_USING_DEVICE finsh_set_device(RT_CONSOLE_DEVICE_NAME); #endif #endif /* initialize system timer thread */ rt_system_timer_thread_init(); /* initialize idle thread */ rt_thread_idle_init(); rt_kprintf("start scheduler\n"); /* start scheduler */ rt_system_scheduler_start(); /* never reach here */ return ; } U32 RTOS_GetMailqueue( RTOS_MailqueueT mailqueueHandle, void* resultBuffer, U32 msecsTimeout ) { return rt_mb_recv((rt_mailbox_t)mailqueueHandle,(rt_uint32_t*)resultBuffer, (rt_uint32_t)msecsTimeout); } U32 RTOS_SetMailqueue( RTOS_MailqueueT mailqueueHandle, void* messagePtr, U32 toFront, U32 msecsTimeout ) { return rt_mb_send_wait((rt_mailbox_t)mailqueueHandle, (rt_uint32_t)messagePtr, (rt_uint32_t)msecsTimeout); } /*Dummy func of os*/ //-----------------------------cond------------------------------ RTOS_CondT RTOS_CondCreate( void ) { rt_event_t evt; evt = rt_event_create("evt", 0); /* detach the object from system object container */ rt_object_detach(&(evt->parent.parent)); return (RTOS_CondT) evt; } RTOS_Status RTOS_CondDestroy( RTOS_CondT cond ) { rt_err_t result; if (cond == RT_NULL) return -2; result = rt_event_delete((rt_event_t)cond); if (result != RT_EOK) return -3; return( 0 ); } int _cond_timedwait(RTOS_CondT cond, RTOS_MutexT mutex, U32 timeout) { int result; rt_uint32_t recved = 0XFF; if (!cond || !mutex) return -1; if(RTOS_MutexUnlock(mutex)!=0) return -2; result = rt_event_recv((rt_event_t)cond, 0x01,RT_EVENT_FLAG_AND|RT_EVENT_FLAG_CLEAR,timeout,&recved); if(result == -RT_ERROR && recved == 0XFF) // for boardcase event { result = RT_EOK; } /* lock mutex again */ RTOS_MutexLock(mutex, 1); return result; } RTOS_Status RTOS_CondWait( RTOS_CondT cond, RTOS_MutexT mutex, RTOS_Flag suspend ) { S32 value = 0; U32 timeout; if( suspend ) timeout = RTOS_SUSPEND; else timeout = RTOS_NO_SUSPEND; value = _cond_timedwait( (RTOS_CondT) cond, (RTOS_MutexT) mutex, timeout ); if( value != RT_EOK ) return( -1 ); return( value ); } RTOS_Status RTOS_CondWaitTimeout( RTOS_CondT cond, RTOS_MutexT mutex, U32 timeout ) { S32 value = 0; value = _cond_timedwait( (RTOS_CondT) cond, (RTOS_MutexT) mutex, timeout ); if( value != RT_EOK ) return( -1 ); return( value ); } RTOS_Status RTOS_CondSignal( RTOS_CondT cond ) { RTOS_Status result; result = rt_event_send((rt_event_t)cond,0x01); if (result != RT_EOK) return -1; return 0; } RTOS_Status RTOS_CondBroadcast( RTOS_CondT cond ) { rt_event_control((rt_event_t)cond,RT_IPC_CMD_RESET,0); return 0; } U32 RTOS_OsType(void) { return RTOS_RTTHREAD; } void RTOS_MMU_ChangeMapEntry(U32 vaddrStart, U32 vaddrEnd, U32 paddrStart, U32 attr) { volatile U32 *pTT; volatile int i,nSec; extern U32 ARM1176_MMU_ttb0[]; extern U32 ARM1176_MMU_ttb1[]; U32* table_ptr = (U32*)ARM1176_MMU_ttb0; //printf("mmu table: 0x%x \n", (U32)ARM1176_MMU_ttb0); pTT = (U32 *)table_ptr + (vaddrStart>>20); nSec = (vaddrEnd>>20) - (vaddrStart>>20); //printf("change table: 0x%x -- %d\n", (U32)pTT, nSec); for(i=0;i<=nSec;i++) { *pTT = attr |(((paddrStart>>20)+i)<<20); pTT++; } table_ptr = (U32*)ARM1176_MMU_ttb1; //printf("mmu table: 0x%x \n", (U32)ARM1176_MMU_ttb1); pTT = (U32 *)table_ptr + (vaddrStart>>20); nSec = (vaddrEnd>>20) - (vaddrStart>>20); //printf("change table: 0x%x -- %d\n", (U32)pTT, nSec); for(i=0;i<=nSec;i++) { *pTT = attr |(((paddrStart>>20)+i)<<20); pTT++; } } int RTOS_thread_yield(void) { rt_thread_yield(); return 0; } unsigned int RTOS_jiffies(void) { return jiffies; } RTOS_TimerT RTOS_CreateTimer(U32 isContinouos, RTOS_SemaphoreT fireSemaphore, RTOS_HookFunctionT callbackFunction) { //U8 name[32]; //sprintf(name, "timer %X", (U32)callbackFunction); if(isContinouos) { return (RTOS_TimerT)rt_timer_create("timer", callbackFunction, NULL, 0, RT_TIMER_FLAG_PERIODIC); } else { return (RTOS_TimerT)rt_timer_create("timer", callbackFunction, NULL, 0, RT_TIMER_FLAG_ONE_SHOT); } } RTOS_TimerT RTOS_CreateTimerEx(const char *name, U8 flag, void *parameter, RTOS_TimerFunctionT callbackFunction) { U8 timer_flag = 0; if(flag & RTOS_TIMER_FLAG_PERIODIC) { timer_flag = timer_flag | RT_TIMER_FLAG_PERIODIC; } else { timer_flag = timer_flag | RT_TIMER_FLAG_ONE_SHOT; } if(flag & RTOS_TIMER_FLAG_SOFT_TIMER) { timer_flag = timer_flag | RT_TIMER_FLAG_SOFT_TIMER; } else { timer_flag = timer_flag | RT_TIMER_FLAG_SOFT_TIMER; } return (RTOS_TimerT)rt_timer_create(name, callbackFunction, parameter, 0, timer_flag); } U32 RTOS_DestroyTimer(RTOS_TimerT timerHandle) { return rt_timer_delete((rt_timer_t)timerHandle); } U32 RTOS_StartTimer(RTOS_TimerT timerHandle, U32 fireInterval) { rt_timer_t handler = (rt_timer_t)timerHandle; handler->init_tick = fireInterval; return rt_timer_start((rt_timer_t)timerHandle); } U32 RTOS_StopTimer(RTOS_TimerT timerHandle) { return rt_timer_stop((rt_timer_t)timerHandle); } U32 RTOS_ControlTimer(RTOS_TimerT timerHandle, U32 delay_time) { return rt_timer_control((rt_timer_t)timerHandle, RT_TIMER_CTRL_SET_TIME, &delay_time); } U32 RTOS_GetTimerStatus(RTOS_TimerT timerHandle) { rt_timer_t t; t = (rt_timer_t)timerHandle; if(t->parent.flag & RT_TIMER_FLAG_ACTIVATED) { return RTOS_TIMER_FLAG_ACTIVATED; } else { return RTOS_TIMER_FLAG_DEACTIVATED; } } void *RTOS_timer_get_context(RTOS_TimerT timerHandle) { rt_timer_t t; t = (rt_timer_t)timerHandle; return t->parameter; } int RTOS_Thead_Switch_Priority(int priority) { if (priority < RTOS_ThreadPriorityHighest) { priority = RTOS_ThreadPriorityHighest - priority; } else { priority = 1; } return priority; } void usleep(int micro_sec) { int ms = micro_sec/1000; rt_thread_delay(ms); } void sleep(int sec) { rt_thread_delay(sec*1000); }