nutinit.c

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/*
 * Copyright (C) 2001-2005 by egnite Software GmbH. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of the copyright holders nor the names of
 *    contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY EGNITE SOFTWARE GMBH AND CONTRIBUTORS
 * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL EGNITE
 * SOFTWARE GMBH OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
 * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
 * SUCH DAMAGE.
 *
 * For additional information see http://www.ethernut.de/
 *
 */

/*
 * $Log$
 * Revision 1.21  2009/02/06 15:37:39  haraldkipp
 * Added stack space multiplier and addend. Adjusted stack space.
 *
 * Revision 1.20  2009/01/19 10:38:00  haraldkipp
 * Moved NutLoadConfig from NutInit to the idle thread. We can now use
 * standard drivers to read the configuration.
 * Added support for early stdout.
 *
 * Revision 1.19  2009/01/17 11:26:37  haraldkipp
 * Getting rid of two remaining BSD types in favor of stdint.
 * Replaced 'u_int' by 'unsinged int' and 'uptr_t' by 'uintptr_t'.
 *
 * Revision 1.18  2009/01/16 17:02:18  haraldkipp
 * No longer save any default OS configuration in non-volatile RAM.
 * All platforms will now call NutLoadConfig().
 *
 * Revision 1.17  2008/08/11 06:59:14  haraldkipp
 * BSD types replaced by stdint types (feature request #1282721).
 *
 * Revision 1.16  2008/08/06 12:51:05  haraldkipp
 * Added support for Ethernut 5 (AT91SAM9XE reference design).
 *
 * Revision 1.15  2008/02/15 16:59:27  haraldkipp
 * Spport for AT91SAM7SE512 added.
 *
 * Revision 1.14  2007/10/04 20:08:00  olereinhardt
 * Support for SAM7S256 added
 *
 * Revision 1.13  2006/09/29 12:39:51  haraldkipp
 * Spurious interrupt handling on all supported AT91 devices.
 *
 * Revision 1.12  2006/07/26 11:17:16  haraldkipp
 * Defining AT91_PLL_MAINCK will automatically determine SAM7X clock by
 * reading PLL settings.
 *
 * Revision 1.11  2006/07/18 14:04:10  haraldkipp
 * Low level hardware initialization moved to crtat91sam7x256_rom.S. This
 * avoids the ugly jump from C code back into the runtime initialization.
 * Watchdog reset (tiger bell) removed from idle thread.
 *
 * Revision 1.10  2006/07/15 11:13:30  haraldkipp
 * CPU ran into the data pool of Sam7xLowLevelInit(). Temporarily
 * fixed by Andras Albert with an additional global label in the
 * startup code. Furthermore Andras changed the clock initialization.
 * The CPU is now running at 47.9232 MHz and the MAC starts working.
 * Great, TCP/IP is now running on the SAM7X.
 *
 * Revision 1.9  2006/07/10 14:27:03  haraldkipp
 * C++ will use main instead of NutAppMain. Contributed by Matthias Wilde.
 *
 * Revision 1.8  2006/07/05 07:57:52  haraldkipp
 * Daidai's support for AT91SAM7X added. Possibly taken from Atmel.
 * May require new coding from ground up in order to not conflict with
 * original copyright.
 * Nevertheless, many thanks to Daidai for providing his adaption.
 *
 * Revision 1.7  2006/06/28 17:22:34  haraldkipp
 * Make it compile for AT91SAM7X256.
 *
 * Revision 1.6  2006/03/02 19:43:11  haraldkipp
 * Added MCU specific hardware initialization routine. This should be done
 * later for all MCUs to avoid contaminating NutInit() with MCU specific
 * stuff. For the AT91 the spurious interrupt handler has been added,
 * which fixes SF 1440948.
 *
 * Revision 1.5  2006/02/23 15:34:00  haraldkipp
 * Support for Philips LPC2xxx Family and LPC-E2294 Board from Olimex added.
 * Many thanks to Michael Fischer for this port.
 *
 * Revision 1.4  2005/10/24 09:22:29  haraldkipp
 * Default idle and main thread stack sizes increased.
 * AT91 header file moved.
 *
 * Revision 1.3  2005/08/02 17:46:45  haraldkipp
 * Major API documentation update.
 *
 * Revision 1.2  2005/07/26 16:17:03  haraldkipp
 * Use default stack sizes for main and idle, if none had been defined.
 *
 * Revision 1.1  2005/05/27 17:16:40  drsung
 * Moved the file.
 *
 * Revision 1.4  2005/04/05 17:52:41  haraldkipp
 * Much better implementation of GBA interrupt registration.
 *
 * Revision 1.3  2004/11/08 18:58:59  haraldkipp
 * Configurable stack sizes
 *
 * Revision 1.2  2004/09/08 10:19:23  haraldkipp
 * Made it look more general
 *
 * Revision 1.1  2004/03/16 16:48:46  haraldkipp
 * Added Jan Dubiec's H8/300 port.
 *
 *
 */

#include <cfg/arch.h>
#include <cfg/memory.h>
#include <cfg/os.h>
#ifdef MCU_GBA
#include <dev/irqreg.h>
#elif defined(MCU_LPC2XXX)
#include <arch/arm/lpc2xxx.h>
#else
#include <arch/arm/at91.h>
#endif

#include <dev/board.h>

#ifdef EARLY_STDIO_DEV
#include <sys/device.h>
#include <stdio.h>
#include <fcntl.h>
#include <dev/debug.h>
struct __iobuf {
    int     iob_fd;
    uint16_t iob_mode;
    uint8_t iob_flags;
    int     iob_unget;
};
#endif


#ifndef NUT_THREAD_MAINSTACK
#define NUT_THREAD_MAINSTACK    1024
#endif

#ifndef NUT_THREAD_IDLESTACK
/* arm-elf-gcc optimized code used 160 bytes. */
#define NUT_THREAD_IDLESTACK    256
#endif

#ifdef __CROSSWORKS_ARM

/*
 * A CrossWorks MemoryMap file will be used. Here the memory
 * between __heap_start__ and __External_RAM_segment_end__
 * can be used for NutOS.
 */
extern void *__heap_start__;
extern void *__RAM_END_segment_end__;

#define HEAP_START  &__heap_start__
#define HEAP_SIZE  ((uintptr_t)(&__RAM_END_segment_end__ - 1) - (uintptr_t)(HEAP_START) - 256)

#else   /* GCC */

#define NUTMEM_END (uintptr_t)(NUTMEM_START + NUTMEM_SIZE - 1U)
extern void *__heap_start;

#define HEAP_START  &__heap_start
#define HEAP_SIZE  ((uintptr_t) (NUTMEM_END - 256 - (uintptr_t) (&__heap_start)))
#endif

#if !defined(__arm__) && !defined(__cplusplus)
extern void NutAppMain(void *arg) __attribute__ ((noreturn));
#else
extern void main(void *);
#endif


#if defined(OLIMEX_LPCE2294)
/*
 * InitHW for OLIMEX LPC-E2294
 */
static void InitHW (void)
{
  PINSEL0  = 0;
  PINSEL1  = 0;

  BCFG2    = 0x03501;
  PINSEL2 |= 0x00804000;
} /* InitHW */

#endif /* OLIMEX_LPCE2294 */



THREAD(NutIdle, arg)
{
#if defined(MCU_GBA) || defined(MCU_LPC2XXX)
    InitIrqHandler();
#endif
#ifdef NUT_INIT_IDLE
    NutIdleInit();
#endif
    /* Initialize system timers. */
    NutTimerInit();

    /* Read OS configuration from non-volatile memory. We can't do this
    ** earlier, because the low level driver may be interrupt driven. */
    NutLoadConfig();

#ifdef NUT_INIT_MAIN
    NutMainInit();
#endif

    /* Create the main application thread. Watch this carefully when
    ** changing compilers and compiler versions. Some handle main()
    ** in a special way, like setting the stack pointer and other
    ** weird stuff that may break this code. */
    NutThreadCreate("main", main, 0, 
        (NUT_THREAD_MAINSTACK * NUT_THREAD_STACK_MULT) + NUT_THREAD_STACK_ADD);

    /* Enter an idle loop at the lowest priority. This will run when
    ** all other threads are waiting for an event. */
    NutThreadSetPriority(254);
    for (;;) {
        /* Check if other threads became ready to run. */
        NutThreadYield();
        /* Remove terminated threads. */
        NutThreadDestroy();
        /* We could do some power management. */
    }
}

void NutInit(void)
{
    /* Do some basic hardware initialization first. Frankly, these
    ** are all hacks and could be done in a more general way. */
#if defined(OLIMEX_LPCE2294)
    InitHW();
#elif defined(MCU_AT91)
    McuInit();
#endif
#if defined(MCU_AT91SAM7X) || defined (MCU_AT91SAM7S) || defined(MCU_AT91SAM7SE)
    {
        uint32_t freq = NutGetCpuClock();
        /* Set Flash Waite state. */
        outr(MC_FMR, ((((freq + freq / 2) / 1000000UL) & 0xFF) << 16) | MC_FWS_2R3W);
    }
#endif
#ifdef EARLY_STDIO_DEV
    /* We may optionally initialize stdout as early as possible.
    ** Be aware, that no heap is available and no threads are 
    ** running. We need a very basic driver here, which won't
    ** use interrupts or call malloc, NutEventXxx, NutSleep etc. */
    {
        extern NUTDEVICE EARLY_STDIO_DEV;
        static struct __iobuf early_stdout;
        /* Initialize the output device. */
        EARLY_STDIO_DEV.dev_init(&EARLY_STDIO_DEV);
        /* Assign a static iobuf. */
        stdout = &early_stdout;
        /* Open the device. */
        stdout->iob_fd = (int)EARLY_STDIO_DEV.dev_open(&EARLY_STDIO_DEV, "", 0, 0);
        /* Set the mode. No idea if this is required. */
        stdout->iob_mode = _O_WRONLY | _O_CREAT | _O_TRUNC;
        /* A first trial. */
        puts("\nStarting Nut/OS");
    }
#endif
#ifdef NUT_INIT_BOARD
    NutBoardInit();
#endif
    /* Initialize our heap memory. */
    NutHeapAdd(HEAP_START, HEAP_SIZE & ~3);

    /* Create idle thread. Note, that the first call to NutThreadCreate 
    ** will never return. */
    NutThreadCreate("idle", NutIdle, 0, 
        (NUT_THREAD_IDLESTACK * NUT_THREAD_STACK_MULT) + NUT_THREAD_STACK_ADD);
}