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f4ac6470bf
Support building a "flashing application" that one may run from an existing bootloader. This flashing application will then flash the main CanBoot binary to the start of flash. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
70 lines
1.5 KiB
C
70 lines
1.5 KiB
C
// Basic scheduling functions and startup code
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//
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// Copyright (C) 2016-2022 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include "board/io.h" // readb
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#include "board/misc.h" // jump_to_application
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#include "bootentry.h" // bootentry_check
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#include "deployer.h" // deployer_is_active
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#include "sched.h" // sched_check_periodic
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// The main CanBoot code is running (not the deployer application)
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int
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deployer_is_active(void)
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{
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return 0;
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}
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// Implement simple delay mechanism
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void
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udelay(uint32_t usecs)
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{
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uint32_t end = timer_read_time() + timer_from_us(usecs);
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while (timer_is_before(timer_read_time(), end))
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;
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}
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// Wrapper for Klipper compatibility
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void
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sched_wake_tasks(void)
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{
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}
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// Note that a task is ready to run
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void
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sched_wake_task(struct task_wake *w)
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{
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writeb(&w->wake, 1);
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}
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// Check if a task is ready to run (as indicated by sched_wake_task)
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uint8_t
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sched_check_wake(struct task_wake *w)
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{
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if (!readb(&w->wake))
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return 0;
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writeb(&w->wake, 0);
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return 1;
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}
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// Init followed by main task dispatch loop
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void
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sched_main(void)
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{
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timer_setup();
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if (!bootentry_check())
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application_jump();
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// Run all init functions marked with DECL_INIT()
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extern void ctr_run_initfuncs(void);
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ctr_run_initfuncs();
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for (;;) {
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// Run all task functions marked with DECL_TASK()
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extern void ctr_run_taskfuncs(void);
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ctr_run_taskfuncs();
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}
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}
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