move debugging and panic implementation to tshield

11 files changed, 42 insertions, 50 deletions

diff --git a/Makefile b/Makefile
index 200e467..b0fd7c0 100644
--- a/Makefile
+++ b/Makefile
@@ -83,11 +83,11 @@ kernel/%.o: kernel/%.c
 	
 
 # Utility rules
-upload: target
-	$(AVRDUDE) $(AVRDUDEFLAGS) -U flash:w:$(TARGET).hex:i
-	
 size: target
 	$(AVRSIZE) --format=avr --mcu=$(MCU) $(TARGET).elf
+
+upload: target
+	$(AVRDUDE) $(AVRDUDEFLAGS) -U flash:w:$(TARGET).hex:i
 	
 monitor:
 	cu -l $(SERIAL) -s $(BAUD) --parity=none -h
diff --git a/kernel/bug/debug.c b/kernel/bug/debug.c
deleted file mode 100644
index 10a67d8..0000000
--- a/kernel/bug/debug.c
+++ /dev/null
@@ -1,6 +0,0 @@
-#include "bug/debug.h"
-#include "tshield/tshield.h"
-
-void debug_led(int led, int value) {
-  tshield_led(led, value);
-}
\ No newline at end of file
diff --git a/kernel/bug/include/bug/debug.h b/kernel/bug/include/bug/debug.h
index 937ff2c..854f4c6 100644
--- a/kernel/bug/include/bug/debug.h
+++ b/kernel/bug/include/bug/debug.h
@@ -1,8 +1,6 @@
 #ifndef DEBUG_H
 #define DEBUG_H
 
-#define DEBUG_LEDS 4
-
 void debug_led(int led, int value);
 
 #endif
\ No newline at end of file
diff --git a/kernel/bug/panic.c b/kernel/bug/panic.c
deleted file mode 100644
index c82d0f0..0000000
--- a/kernel/bug/panic.c
+++ /dev/null
@@ -1,23 +0,0 @@
-#include "bug/panic.h"
-#include "bug/debug.h"
-#include <avr/interrupt.h>
-
-static inline void wait() {
-  for (volatile long i = 0; i < 20000; ++i) {};
-}
-
-void panic() {
-  cli();
-  while(1) {
-    for(int i = 0; i < DEBUG_LEDS; ++i) {
-      debug_led((i - 1) % DEBUG_LEDS, 0);
-      debug_led(i, 1);
-      wait();
-    }
-    for(int i = DEBUG_LEDS - 1; i >= 0; --i) {
-      debug_led((i + 1) % DEBUG_LEDS, 0);
-      debug_led(i, 1);
-      wait();
-    }
-  }
-}
\ No newline at end of file
diff --git a/kernel/sched/idle.c b/kernel/sched/idle.c
index 18ccdd5..d55d694 100644
--- a/kernel/sched/idle.c
+++ b/kernel/sched/idle.c
@@ -6,7 +6,6 @@
 
 void idle_entry(char args) {
   while(1) {
-    tshield_led(TSHIELD_LED_IDLE,1);
     set_sleep_mode(SLEEP_MODE_IDLE);
     cli();
     sleep_enable();
diff --git a/kernel/sched/include/sched/sched.h b/kernel/sched/include/sched/sched.h
index d63b78c..a7f45ee 100644
--- a/kernel/sched/include/sched/sched.h
+++ b/kernel/sched/include/sched/sched.h
@@ -36,7 +36,7 @@ struct tcb_t {
  * Note: for a task to be scheduled, it must first be spawned (see spawn()).
 */
 #define DECLARE_TASK(name, stack_size, entry_function) \
-  static char volatile declared_stack_##name[stack_size]; \
+  static char declared_stack_##name[stack_size]; \
   static struct tcb_t name = { \
     .sp = 0, \
     .mem_low = declared_stack_##name, \
@@ -86,6 +86,11 @@ static inline void wake_all(struct list_head* queue) {
  */
 void sched_init();
 
+/** 
+ * Enters the scheduler, setting current to the next runnable task.
+ */
+void schedule();
+
 /**
  * Ticks the scheduler.
  */
@@ -93,11 +98,6 @@ inline void sched_tick() {
   schedule(); //in a round-robin scheduler, scheduling is called after every tick
 }
 
-/** 
- * Enters the scheduler, setting current to the next runnable task.
- */
-void schedule();
-
 /**
  * Initializes a given task and adds it to the ready queue.
  */
diff --git a/kernel/sched/mcu/atmega2560/context.c b/kernel/sched/mcu/atmega2560/context.c
index 7a88b33..ef7e172 100644
--- a/kernel/sched/mcu/atmega2560/context.c
+++ b/kernel/sched/mcu/atmega2560/context.c
@@ -4,7 +4,6 @@ char* init_stack(const char* const mem_low, const char* const mem_high, void (*e
   char* sp = (char*) mem_high;
   unsigned long address = (unsigned long) entry;
   
-  
   *sp = (char) 0x1;
   sp--;
   *sp = (char) 0x2;
diff --git a/kernel/sched/sched.c b/kernel/sched/sched.c
index 8406b8d..bc3b30d 100644
--- a/kernel/sched/sched.c
+++ b/kernel/sched/sched.c
@@ -37,11 +37,11 @@ void spawn(struct tcb_t* const tcb, char args) {
   list_add_tail(&tcb->q, &ready);
 }
 
-void yield(void) {
+void yield() {
   SAVE_CONTEXT();
   schedule();
   RESTORE_CONTEXT();
-  asm volatile ( "ret" );
+  RETURN();
 }
 
 void freeze() {
diff --git a/kernel/tshield/include/tshield/tshield.h b/kernel/tshield/include/tshield/tshield.h
index 2624131..b485ad2 100644
--- a/kernel/tshield/include/tshield/tshield.h
+++ b/kernel/tshield/include/tshield/tshield.h
@@ -32,7 +32,8 @@
  * 
  */
 
- #define TSHIELD_LED_IDLE 0
+#define DEBUG_LEDS 4
+#define DEBUG_LED_IDLE 0
  
 void tshield_init();
 
diff --git a/kernel/tshield/tshield.c b/kernel/tshield/mcu/atmega2560/tshield.c
index ccf234d..4c1e150 100644
--- a/kernel/tshield/tshield.c
+++ b/kernel/tshield/mcu/atmega2560/tshield.c
@@ -23,7 +23,6 @@ void tshield_init() {
   PORTB &= ~(1 << 6);
 
   tshield_init_servo();
-  
 }
 
 #define WAIT_VALUE 20000
@@ -112,4 +111,28 @@ void tshield_servo(unsigned char angle) {
   unsigned long k = (unsigned long) angle;
   unsigned long counter = (450 * k) / 255 + 150;
   OCR1A = (unsigned int) counter;
+}
+
+void debug_led(int led, int value) {
+  tshield_led(led, value);
+}
+
+static inline void _wait() {
+  for (volatile long i = 0; i < 20000; ++i) {};
+}
+
+void panic() {
+  cli();
+  while(1) {
+    for(int i = 0; i < DEBUG_LEDS; ++i) {
+      debug_led((i - 1) % DEBUG_LEDS, 0);
+      debug_led(i, 1);
+      _wait();
+    }
+    for(int i = DEBUG_LEDS - 1; i >= 0; --i) {
+      debug_led((i + 1) % DEBUG_LEDS, 0);
+      debug_led(i, 1);
+      _wait();
+    }
+  }
 }
\ No newline at end of file
diff --git a/main.c b/main.c
index 3312ad0..ca27358 100644
--- a/main.c
+++ b/main.c
@@ -3,17 +3,18 @@
 #include <time/timer.h>
 #include <bug/panic.h>
 #include <bug/debug.h>
+#include <tshield/tshield.h>
 
 #define WAIT_CYCLES(cycles) for (volatile unsigned long i = 0; i < cycles; ++i) {}
 
 void blink( char id) {
   while(1) {
     debug_led(id,1);
-    //yield();
-    WAIT_CYCLES(20000);
+    yield();
+    WAIT_CYCLES(5000);
     debug_led(id,0);
-    //yield();
-    WAIT_CYCLES(20000);
+    yield();
+    WAIT_CYCLES(5000);
   }
 }