RTEMS initialization routines.
Adding this file to libCom lets the EPICS Makefiles produce a complete RTEMS executable image.
This commit is contained in:
W. Eric Norum
427
src/libCom/osi/os/RTEMS/rtems_init.c
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427
src/libCom/osi/os/RTEMS/rtems_init.c
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/*
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* RTEMS startup task for EPICS
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* $Id$
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* Author: W. Eric Norum
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* eric@cls.usask.ca
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* (306) 966-6055
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <ctype.h>
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#include <unistd.h>
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#include <errno.h>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <arpa/inet.h>
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#include <syslog.h>
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#include <bsp.h>
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#include <rtems/rtems_bsdnet.h>
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#include <rtems/tftp.h>
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#include <rtems/monitor.h>
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#include <osiThread.h>
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#include <logClient.h>
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#include <CommandInterpreter.h>
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#include <dbStaticLib.h>
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#include <cantProceed.h>
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/*
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***********************************************************************
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* RTEMS CONFIGURATION *
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***********************************************************************
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*/
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#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
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#define CONFIGURE_EXECUTIVE_RAM_SIZE (700*1024)
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#define CONFIGURE_MAXIMUM_TASKS 60
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#define CONFIGURE_MAXIMUM_SEMAPHORES 180
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#define CONFIGURE_MAXIMUM_TIMERS 50
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#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 30
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#define CONFIGURE_MICROSECONDS_PER_TICK 20000
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#define CONFIGURE_INIT_TASK_PRIORITY 220
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#define NETWORK_TASK_PRIORITY 120
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#define CONFIGURE_INIT
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#define CONFIGURE_INIT_TASK_INITIAL_MODES (RTEMS_PREEMPT | \
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RTEMS_NO_TIMESLICE | \
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RTEMS_NO_ASR | \
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RTEMS_INTERRUPT_LEVEL(0))
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#define CONFIGURE_INIT_TASK_INITIAL_ATTRIBUTES (RTEMS_FLOATING_POINT | \
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RTEMS_LOCAL)
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#define CONFIGURE_INIT_TASK_STACK_SIZE (12*1024)
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rtems_task Init (rtems_task_argument argument);
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#define CONFIGURE_HAS_OWN_DEVICE_DRIVER_TABLE
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rtems_driver_address_table Device_drivers[] = {
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CONSOLE_DRIVER_TABLE_ENTRY,
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CLOCK_DRIVER_TABLE_ENTRY,
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};
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#include <confdefs.h>
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/*
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* Network configuration
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*/
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static struct rtems_bsdnet_ifconfig netdriver_config = {
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RTEMS_BSP_NETWORK_DRIVER_NAME,
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RTEMS_BSP_NETWORK_DRIVER_ATTACH,
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};
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struct rtems_bsdnet_config rtems_bsdnet_config = {
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&netdriver_config, /* Network interface */
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rtems_bsdnet_do_bootp, /* Use BOOTP to get network configuration */
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NETWORK_TASK_PRIORITY, /* Network task priority */
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150*1024, /* MBUF space */
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300*1024, /* MBUF cluster space */
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};
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/*
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***********************************************************************
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* FATAL ERROR REPORTING *
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***********************************************************************
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*/
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/*
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* Delay for a while, then terminate
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*/
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static void
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delayedPanic (const char *msg)
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{
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rtems_interval ticksPerSecond;
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rtems_clock_get (RTEMS_CLOCK_GET_TICKS_PER_SECOND, &ticksPerSecond);
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rtems_task_wake_after (ticksPerSecond);
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rtems_panic (msg);
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}
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/*
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* Log error and terminate
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*/
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void
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LogFatal (const char *msg, ...)
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{
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va_list ap;
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va_start (ap, msg);
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vsyslog (LOG_ALERT, msg, ap);
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va_end (ap);
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delayedPanic (msg);
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}
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/*
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* Log RTEMS error and terminate
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*/
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void
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LogRtemsFatal (const char *msg, rtems_status_code sc)
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{
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syslog (LOG_ALERT, "%s: %s", msg, rtems_status_text (sc));
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delayedPanic (msg);
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}
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/*
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* Log network error and terminate
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*/
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void
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LogNetFatal (const char *msg, int err)
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{
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syslog (LOG_ALERT, "%s: %d", msg, err);
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delayedPanic (msg);
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}
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/*
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***********************************************************************
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* REMOTE FILE ACCESS *
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***********************************************************************
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*/
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/*
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* Add TFTP server and target prefix to pathname
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*/
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static char *
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rtems_tftp_path (const char *name)
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{
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char *path;
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int pathsize = 200;
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int l;
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if ((path = malloc (pathsize)) == NULL)
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LogFatal ("Can't create TFTP path name -- no memory.\n");
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strcpy (path, "/TFTP/");
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l = strlen (path);
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if (inet_ntop (AF_INET, &rtems_bsdnet_bootp_server_address, &path[l], pathsize - l) == NULL)
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LogFatal ("Can't convert BOOTP server name");
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l = strlen (path);
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strcpy (&path[l], "/epics/");
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l = strlen (path);
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if (gethostname (&path[l], pathsize - l) || (path[l] == '\0'))
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LogFatal ("Can't get host name");
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l = strlen (path);
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path[l++] = '/';
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for (;;) {
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if (name[0] == '.') {
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if (name[1] == '/') {
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name += 2;
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continue;
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}
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if ((name[1] == '.') && (name[2] == '/')) {
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name += 3;
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continue;
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}
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}
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break;
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}
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path = realloc (path, l + 1 + strlen (name));
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strcpy (&path[l], name);
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return path;
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}
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/*
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***********************************************************************
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* RTEMS/EPICS COMMANDS *
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***********************************************************************
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*/
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/*
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* RTEMS status
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*/
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long
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rtems_showStats (unsigned int level)
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{
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rtems_bsdnet_show_if_stats ();
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rtems_bsdnet_show_mbuf_stats ();
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if (level >= 1) {
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rtems_bsdnet_show_inet_routes ();
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}
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if (level >= 2) {
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rtems_bsdnet_show_ip_stats ();
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rtems_bsdnet_show_icmp_stats ();
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rtems_bsdnet_show_udp_stats ();
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rtems_bsdnet_show_tcp_stats ();
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}
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return 0;
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}
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long
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rtems_showSem (void)
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{
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Semaphore_Control *sem;
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int i;
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int n;
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n = 0;
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for (i = 0 ; i < _Semaphore_Information.maximum ; i++) {
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sem = (Semaphore_Control *)_Semaphore_Information.local_table[i];
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if (sem) {
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char *cp = sem->Object.name;
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char cbuf[4];
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int j;
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for (j = 0 ; j < 4 ; j++) {
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unsigned char c = cp[j];
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if (isprint (c))
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cbuf[j] = c;
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else
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cbuf[j] = ' ';
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}
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printf ("%4.4s%9x%5x%5d", cbuf, sem->Object.id,
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sem->attribute_set,
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sem->attribute_set & RTEMS_BINARY_SEMAPHORE ?
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sem->Core_control.mutex.lock :
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sem->Core_control.semaphore.count);
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n++;
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if ((n % 3) == 0)
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printf ("\n");
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else
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printf (" ");
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}
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}
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if ((n % 3) != 0)
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printf ("\n");
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printf ("%d/%d\n", n, _Semaphore_Information.maximum);
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return 0;
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}
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/*
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* Dummy commands
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* RTEMS does not yet support full NFS.
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* RTEMS does not support dynamic loading.
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*/
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long
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rtems_cdCommand (char *name)
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{
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printf ("`cd' command ignored.\n");
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return 0;
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}
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long
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rtems_ldCommand (char *name)
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{
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printf ("`ld' command ignored.\n");
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return 0;
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}
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/*
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* Wrappers for EPICS routines which refer to file names.
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* Since RTEMS doesn't have NFS we fake it by making sure that
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* all paths refer to files in the TFTP area.
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*/
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long
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rtems_registerRecordDeviceDriver (char *name)
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{
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extern DBBASE *pdbbase;
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int registerRecordDeviceDriver(DBBASE *pdbbase);
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if (strcmp (name, "pdbbase") == 0)
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return registerRecordDeviceDriver (pdbbase);
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errlogPrintf ("Don't know how to registerRecordDeviceDriver(%s)\n", name);
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cantProceed ("registerRecordDeviceDriver");
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return -1;
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}
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long
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rtems_dbLoadDatabase (char *name)
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{
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char *cp = rtems_tftp_path (name);
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int dbLoadDatabase (char *filename, char *path, char *substitutions);
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dbLoadDatabase (cp, "/", NULL);
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free (cp);
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return 0;
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}
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long
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rtems_dbLoadRecords (char *name, char *pattern)
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{
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char *cp = rtems_tftp_path (name);
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int dbLoadRecords (char* pfilename, char* substitutions);
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dbLoadRecords (cp, pattern);
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free (cp);
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return 0;
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}
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void
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rtems_runScript (const char *name)
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{
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char *cp;
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FILE *fp;
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cp = rtems_tftp_path (name);
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fp = fopen (cp, "r");
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if (fp == NULL) {
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printf ("Can't open script (%s)\n", name);
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}
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else {
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CommandInterpreter (NULL, fp, name);
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fclose (fp);
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}
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free (cp);
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}
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void
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rtems_reboot (const char *name)
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{
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int c;
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printf ("Are you sure you want to reboot the IOC? ");
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fflush (stdout);
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if ((c = getchar ()) == 'Y')
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LogFatal ("Reboot");
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while ((c != '\n') && (c != EOF))
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c = getchar ();
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}
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/*
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* RTEMS-specific commands
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*/
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typedef long (*cmd)();
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static const struct CommandTableEntry CommandTable[] = {
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{ "<",
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"Redirect command",
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"*", (cmd)rtems_runScript, 2, 2
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},
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{ "Reboot",
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"Rebot IOC",
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NULL, (cmd)rtems_reboot, 1, 1
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},
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{ "cd",
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"Change directories",
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NULL, rtems_cdCommand, 2, 2
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},
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{ "ld",
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"Load object module",
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NULL, rtems_ldCommand, 3, 3
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},
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{ "dbLoadDatabase",
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"Load database",
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"*", rtems_dbLoadDatabase, 2, 2
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},
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{ "dbLoadRecords",
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"Load database records",
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"**", rtems_dbLoadRecords, 3, 3
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},
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{ "registerRecordDeviceDriver",
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"Register device driver",
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"*", rtems_registerRecordDeviceDriver, 2, 2
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},
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{ "network",
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"Show network statistics",
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"i", rtems_showStats, 1, 2
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},
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{ "semaphore",
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"Show semaphores",
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"", rtems_showSem, 1, 1
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},
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{ NULL }
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};
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/*
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* RTEMS Startup task
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*/
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rtems_task
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Init (rtems_task_argument ignored)
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{
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void registerBaseCommands (void);
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/*
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* Create a reasonable environment
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*/
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putenv ("TERM=xterm");
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putenv ("PS1=rtems> ");
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putenv ("HISTSIZE=10");
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putenv ("IFS= \t,()");
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/*
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* Start network
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*/
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printf ("***** Initializing network *****\n");
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rtems_bsdnet_initialize_network ();
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printf ("***** Initializing TFTP *****\n");
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rtems_bsdnet_initialize_tftp_filesystem ();
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printf ("***** Initializing NTP *****\n");
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rtems_bsdnet_synchronize_ntp (0, 0);
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printf ("***** Initializing syslog *****\n");
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openlog ("IOC", LOG_CONS, LOG_DAEMON);
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syslog (LOG_NOTICE, "IOC started.");
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/*
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* Do some RTEMS initializations
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*/
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clockInit ();
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threadInit ();
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/*
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* Run the EPICS startup script
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*/
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printf ("***** Executing EPICS startup script *****\n");
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registerBaseCommands ();
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CommandInterpreterRegisterCommands (CommandTable);
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rtems_runScript ("st.cmd");
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/*
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* Everything's running!
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*/
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threadSleep (2.0);
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CommandInterpreter (NULL, NULL, NULL);
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rtems_task_suspend (RTEMS_SELF);
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}
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