/* * os.c - os * * Global variable definitions. * Some os related functions. These could be elsewhere. * * interrupt vectors * Since we are working with eeprom, normally write protected, * the interrupt vectors are each pointed to a 3-byte block * at the top of RAM. Each block consists of an opcode, a * task pointer, and an rti instruction. * There are 20 interrupt vectors, * * sci_sect ORIGIN = 0x7FC4 * spi_sect ORIGIN = 0x7FC7 * pai_sect ORIGIN = 0x7FCA * pao_sect ORIGIN = 0x7FCD * tof_sect ORIGIN = 0x7FD0 * toc5_sect ORIGIN = 0x7FD3 * toc4_sect ORIGIN = 0x7FD6 * toc3_sect ORIGIN = 0x7FD9 * toc2_sect ORIGIN = 0x7FDC * toc1_sect ORIGIN = 0x7FDF * tic3_sect ORIGIN = 0x7FE2 * tic2_sect ORIGIN = 0x7FE5 * tic1_sect ORIGIN = 0x7FE8 * rti_sect ORIGIN = 0x7FEB * irq_sect ORIGIN = 0x7FEE * xirq_sect ORIGIN = 0x7FF1 * swi_sect ORIGIN = 0x7EF4 * illop_sect ORIGIN = 0x7EF7 * cop_sect ORIGIN = 0x7FFA * clkfail_sect ORIGIN = 0x7FFD * * $Id: os.c,v 1.11 2002/08/02 20:05:07 tomdean Exp $ * */ #include #include /* * trace. use like: * * trace_t *trace; * trace = (trace_t *)*next_trace; * trace->task = cur_task; * trace->cmd = cmd; * trace->cmd_arg = 0; * for (i=0; istate[i] = context[i].state; * trace->stack[i] = context[i].sp; * } * *next_trace = (unsigned short)++trace; */ trace_t *next_trace; /* * number of the current running task */ unsigned char cur_task; /* * for task switch - initial value set in main.c */ unsigned char tocks __attribute__((section((".page0")))); /* * for counting ticks... */ unsigned long tick_count; /* * context structures, one for each task plus the null task */ context_t *context[NUM_TASK+1]; /* * control for swi() */ sys_call_t sys_call[NUM_TASK+1] __attribute__((section((".page0")))); /* * timers - the index is the task number, which is 1..8 * The value of timer[n] is in rti's, decremented each rti. */ unsigned short timer[NUM_TASK+1]; /* * message queue, one for each task * the index is task number, which is 1..8 */ msg_t *msg_queue[NUM_TASK+1]; /* * sci buffer and control */ msg_t sci_buf[NUM_SCI]; /* how many do we need? */ msg_t *cur_sci_buf; /* * gps message variables */ unsigned short gpbod_count; unsigned short gpgga_count; unsigned short gpgll_count; unsigned short gpgsa_count; unsigned short gpgsv_count; unsigned short gprmb_count; unsigned short gprmc_count; unsigned short gprte_count; unsigned short gpwpl_count; unsigned short pgrme_count; unsigned short pgrmm_count; unsigned short pgrmz_count; unsigned short ignore_count; /* * lcd display buffers */ unsigned char lcd_row_1[41]; /* need room for null termination */ unsigned char lcd_row_2[41]; /* need room for null termination */ unsigned char lcd_row_3[41]; /* need room for null termination */ unsigned char lcd_row_4[41]; /* need room for null termination */ unsigned char error1[41]; /* put in row 1 if DEBUG */ unsigned char error3[41]; /* put in row 3 if DEBUG */ unsigned char error3_in_use; /* change the use or error3 */ /* * set the requested interrupt vector to point to the specified task */ void add_handler(vector_t *vector, task_t task) { vector->opcode = JMP; /* jmp */ vector->task = (unsigned short)task; return; } /* * set the specified interrupt vector to dismiss */ void clear_handler(vector_t *vector, task_t task) { vector->opcode = RTI; vector->task = 0; return; } /* * task init - initialize a task for future activation * * +-------+ * | pc | * +-------+ * | y | * +-------+ * | x | * +-------+ * | d | * +-------+ * | ccr | * +-------+ * | _.tmp | * +-------+ * | _.z | * +-------+ * | _.xy | * +-------+ * | prev | main's _.frame * |_.frame| * +-------+ * | _.d1 | * +-------+ * | _.d2 | * +-------+ * | _.d3 | * +-------+ * | _.d4 | * +-------+ * | _.d5 | * +-------+ * | _.d6 | * +-------+ * | _.d7 | * +-------+ * | _.d8 | * +-------+ * | |<-- sp */ void task_init(unsigned char task_num, task_t task, unsigned char *stack) { context_t *ptr = context[task_num]; ptr->sp = (unsigned short)stack+STACK_SIZE-34; ptr->state = ready; /* set pc */ *(unsigned short *)&stack[STACK_SIZE-2 ] = (unsigned short)task; /* ccr */ *(unsigned short *)&stack[STACK_SIZE-9 ] = 0; /* prev _.frame */ *(unsigned short *)&stack[STACK_SIZE-17] = __frame; /* main's frame */ } /* * convert a word bin to hex-ascii in buffer ptr * this looks long, but, the compiler will fix it */ void hex_to_ascii_4(unsigned short value, unsigned char *ptr) { register unsigned char n; n = (unsigned char)((value >> 12)&0x0f); if (n < 10) *ptr++ = n + '0'; else *ptr++ = n + '7'; n = (unsigned char)((value >> 8)&0x0f); if (n < 10) *ptr++ = n + '0'; else *ptr++ = n + '7'; n = (unsigned char)((value >> 4)&0x0f); if (n < 10) *ptr++ = n + '0'; else *ptr++ = n + '7'; n = (unsigned char)value&0x0f; if (n < 10) *ptr++ = n + '0'; else *ptr++ = n + '7'; return; } /* * convert a byte bin to hex-ascii in buffer ptr */ void hex_to_ascii_2(unsigned char value, unsigned char *ptr) { register unsigned char n; n = ((value >> 4)&0x0f); if (n < 10) *ptr++ = n + '0'; else *ptr++ = n + '7'; n = value&0x0f; if (n < 10) *ptr++ = n + '0'; else *ptr++ = n + '7'; return; } /* * convert 4 ascii bytes to a short */ unsigned short ascii_to_hex_4(unsigned char *ptr) { register unsigned short value; register unsigned char ch; register unsigned short idx; value = 0; for (idx=0; idx<4; idx++) { value <<= 4; ch = *ptr++; if (ch > 'Z') ch -= 0x20; /* fold it all into 0x00..0x */ if (ch > '9') value += ch - '7'; else value += ch - '0'; } return value; } /* * convert 2 ascii bytes to a short */ unsigned short ascii_to_hex_2(unsigned char *ptr) { register unsigned char value; register unsigned char ch; register unsigned short idx; value = 0; for (idx=0; idx<2; idx++) { value <<= 4; ch = *ptr++; if (ch > 'Z') ch -= 0x20; /* fold it all into 0x00..0x */ if (ch > '9') value += ch - '7'; else value += ch - '0'; } return value; }