kernel/main.c

   1 /* -*- Mode: C; tab-width:4 -*- */
   2 /* ex: set ts=4 shiftwidth=4 softtabstop=4 cindent: */
   3 /*
   4  * Copyright (c) 2003 The Regents of the University of California.
   5  * All rights reserved.
   6  *
   7  * Redistribution and use in source and binary forms, with or without
   8  * modification, are permitted provided that the following conditions
   9  * are met:
  10  * 1. Redistributions of source code must retain the above copyright
  11  *    notice, this list of conditions and the following disclaimer.
  12  * 2. Redistributions in binary form must reproduce the above
  13  *    copyright notice, this list of conditions and the following
  14  *    disclaimer in the documentation and/or other materials provided
  15  *    with the distribution.
  16  * 3. All advertising materials mentioning features or use of this
  17  *    software must display the following acknowledgement:
  18  *       This product includes software developed by Networked &
  19  *       Embedded Systems Lab at UCLA
  20  * 4. Neither the name of the University nor that of the Laboratory
  21  *    may be used to endorse or promote products derived from this
  22  *    software without specific prior written permission.
  23  *
  24  * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS''
  25  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
  26  * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
  27  * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS
  28  * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  29  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
  30  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
  31  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
  32  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  33  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
  34  * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  35  * SUCH DAMAGE.
  36  *
  37  */
  38 /**
  39  * @brief  SOS booting sequence
  40  * @author Simon Han (simonhan@ee.ucla.edu)
  41  *
  42  * Platform dependent booting sequence should go to
  43  * hardware.c or hardware_*.c of particular platform
  44  */
  45 #include <hardware.h>
  46 #include <sos_sched.h>
  47 #include <message_queue.h>
  48 #include <sos_module_fetcher.h>
  49 #include <random.h>
  50 #include <sensor.h>
  51 #include <malloc.h>
  52 #include <monitor.h>
  53 #include <fntable.h>
  54 #include <sos_info.h>
  55 #include <sos_shm.h>
  56 #include <message.h>
  57 //#include <version_sync.h>
  58
  59 #ifdef SOS_SFI
  60 #include <sfi_jumptable.h>
  61 #endif
  62
  63
  64 /**
  65  * @brief application start
  66  *
  67  * Application will define this function
  68  */
  69 extern void sos_start();
  70
  71
  72 /**
  73  * @file     SOS core loop
  74  * @brief    main function
  75  * @author   Simon Han (simonhan@ee.ucla.edu)
  76  */
  77
  78 /**
  79  * @brief Core event loop
  80  */
  81 int sos_main(uint8_t cond){
  82
  83         //! disable interrupt
  84         DISABLE_GLOBAL_INTERRUPTS();
  85
  86         //! Initialize the ID
  87         id_init();
  88
  89     //! initialize memory manager
  90     mem_init();
  91
  92         shm_init();
  93
  94         //! initialize message pool
  95         msg_queue_init();
  96
  97         //! initialize random number generator
  98         random_init();
  99
 100     //! initialize scheduler
 101     sched_init(cond);
 102
 103         //! initialize sensor manager
 104         sensor_init();
 105
 106         //! initialize the Function Table
 107         fntable_init();
 108
 109         //! Initialize the monitor
 110         monitor_init();
 111
 112     //! initialize hardware
 113     hardware_init();
 114
 115         codemem_init();
 116
 117         routing_init();
 118
 119         //! starting memory module
 120         mem_start();
 121
 122 #ifdef SOS_SFI
 123         //! Initialize SFI
 124         sfi_modtable_init();
 125 #endif
 126
 127         //! Initialize the code fetcher
 128         fetcher_init();
 129
 130     //! enable interrupt
 131         ENABLE_GLOBAL_INTERRUPTS();
 132
 133 #ifdef SOS_USE_PREEMPTION
 134         // Enable preemption
 135         preemption_status = ENABLED;
 136 #endif
 137         DEBUG("SOS booted\n");
 138     //! start application
 139     sos_start();
 140
 141     //! enter main sched loop
 142     //! should never return from this call
 143         sched();
 144     return 0;
 145 }
 146