mirror of https://github.com/rusefi/ChibiOS.git
339 lines
8.8 KiB
C
339 lines
8.8 KiB
C
/*
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ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#include "ch.h"
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#include "hal.h"
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#include "sb.h"
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#include "chprintf.h"
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#include "nullstreams.h"
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#include "startup_defs.h"
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/* Sandbox objects.*/
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sb_class_t sbx1, sbx2;
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/*===========================================================================*/
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/* VHAL-related. */
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/*===========================================================================*/
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static vio_gpio_units_t gpio_units1 = {
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.n = 1U,
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.units = {
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[0] = {
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.permissions = VIO_GPIO_PERM_WRITE,
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.port = GPIOA,
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.mask = 1U,
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.offset = GPIOA_LED_GREEN
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}
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}
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};
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static vio_uart_units_t uart_units1 = {
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.n = 1U,
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.units = {
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[0] = {
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.siop = &LPSIOD1,
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.vrqsb = &sbx1,
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.vrqn = 8
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}
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}
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};
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static vio_uart_configs_t uart_configs1 = {
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.n = 1U,
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.cfgs = {
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[0] = {NULL}
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}
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};
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static vio_conf_t vio_config1 = {
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.gpios = &gpio_units1,
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.uarts = &uart_units1,
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.uartconfs = &uart_configs1
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};
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static vio_gpio_units_t gpio_units2 = {
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.n = 0U
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};
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static vio_uart_units_t uart_units2 = {
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.n = 0U
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};
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static vio_uart_configs_t uart_configs2 = {
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.n = 0U
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};
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static vio_conf_t vio_config2 = {
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.gpios = &gpio_units2,
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.uarts = &uart_units2,
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.uartconfs = &uart_configs2
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};
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/*===========================================================================*/
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/* VFS-related. */
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/*===========================================================================*/
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#if VFS_CFG_ENABLE_DRV_FATFS == TRUE
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/* VFS FatFS driver object representing the root directory.*/
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static vfs_fatfs_driver_c root_driver;
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#endif
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/* VFS overlay driver object representing the root directory.*/
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static vfs_overlay_driver_c root_overlay_driver;
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/* VFS streams driver object representing the /dev directory.*/
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static vfs_streams_driver_c dev_driver;
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/* VFS API will use this object as implicit root, defining this
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symbol is expected.*/
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vfs_driver_c *vfs_root = (vfs_driver_c *)&root_overlay_driver;
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static NullStream nullstream;
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/* Stream to be exposed under /dev as files.*/
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static const drv_streams_element_t streams[] = {
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{"VSD1", (BaseSequentialStream *)&SD1},
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{"null", (BaseSequentialStream *)&nullstream},
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{NULL, NULL}
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};
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/*===========================================================================*/
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/* SB-related. */
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/*===========================================================================*/
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/* Sandbox 1 configuration.*/
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static const sb_config_t sb_config1 = {
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.code_region = 0U,
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.data_region = 1U,
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.regions = {
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[0] = {
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.area = {STARTUP_FLASH1_BASE, STARTUP_FLASH1_SIZE},
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.used = true,
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.writeable = false
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},
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[1] = {
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.area = {STARTUP_RAM1_BASE, STARTUP_RAM1_SIZE},
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.used = true,
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.writeable = true
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}
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},
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.vfs_driver = NULL,
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.vioconf = &vio_config1
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};
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/* Sandbox 2 configuration.*/
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static const sb_config_t sb_config2 = {
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.code_region = 0U,
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.data_region = 1U,
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.regions = {
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[0] = {
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.area = {STARTUP_FLASH2_BASE, STARTUP_FLASH2_SIZE},
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.used = true,
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.writeable = false
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},
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[1] = {
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.area = {STARTUP_RAM2_BASE, STARTUP_RAM2_SIZE},
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.used = true,
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.writeable = true
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}
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},
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.vfs_driver = (vfs_driver_c *)&root_overlay_driver,
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.vioconf = &vio_config2
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};
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static const char *sbx1_argv[] = {
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"sbx1",
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NULL
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};
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static const char *sbx1_envp[] = {
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NULL
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};
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static const char *sbx2_argv[] = {
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"sbx2",
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NULL
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};
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static const char *sbx2_envp[] = {
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NULL
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};
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static THD_WORKING_AREA(waUnprivileged1, 512);
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static THD_WORKING_AREA(waUnprivileged2, 512);
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/*===========================================================================*/
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/* Main and generic code. */
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/*===========================================================================*/
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static void start_sb1(void) {
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thread_t *utp;
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/* Starting sandboxed thread 1.*/
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utp = sbStartThread(&sbx1, "sbx1",
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waUnprivileged1, sizeof (waUnprivileged1),
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NORMALPRIO - 1, sbx1_argv, sbx1_envp);
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if (utp == NULL) {
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chSysHalt("sbx1 failed");
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}
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}
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static void start_sb2(void) {
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thread_t *utp;
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msg_t ret;
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vfs_node_c *np;
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/*
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* Associating standard input, output and error to sandbox 2.*/
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ret = vfsOpen("/dev/VSD1", 0, &np);
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if (CH_RET_IS_ERROR(ret)) {
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chSysHalt("VFS");
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}
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sbRegisterDescriptor(&sbx2, STDIN_FILENO, (vfs_node_c *)roAddRef(np));
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sbRegisterDescriptor(&sbx2, STDOUT_FILENO, (vfs_node_c *)roAddRef(np));
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sbRegisterDescriptor(&sbx2, STDERR_FILENO, (vfs_node_c *)roAddRef(np));
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vfsClose(np);
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/* Starting sandboxed thread 2.*/
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utp = sbStartThread(&sbx2, "sbx2",
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waUnprivileged2, sizeof (waUnprivileged2),
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NORMALPRIO - 2, sbx2_argv, sbx2_envp);
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if (utp == NULL) {
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chSysHalt("sbx2 failed");
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}
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}
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/*
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* Messenger thread, times are in milliseconds.
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*/
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static THD_WORKING_AREA(waThread1, 256);
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static THD_FUNCTION(Thread1, arg) {
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unsigned i = 1U;
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(void)arg;
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chRegSetThreadName("messenger");
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while (true) {
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chThdSleepMilliseconds(500);
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sbSendMessage(&sbx2, (msg_t)i);
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i++;
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}
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}
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/*
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* Application entry point.
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*/
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int main(void) {
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// unsigned i = 1U;
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event_listener_t el1;
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msg_t ret;
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/*
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* System initializations.
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* - HAL initialization, this also initializes the configured device drivers
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* and performs the board-specific initializations.
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* - Kernel initialization, the main() function becomes a thread and the
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* RTOS is active.
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* - Virtual File System initialization.
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* - SandBox manager initialization.
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*/
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halInit();
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chSysInit();
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vfsInit();
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sbHostInit();
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/*
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* Starting a serial port for I/O, initializing other streams too.
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*/
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sdStart(&SD1, NULL);
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nullObjectInit(&nullstream);
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/*
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* Creating a messenger thread.
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*/
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chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO+10, Thread1, NULL);
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/*
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* Initializing an overlay VFS object as a root, no overlaid driver,
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* registering a streams VFS driver on the VFS overlay root as "/dev".
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*/
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drvOverlayObjectInit(&root_overlay_driver, NULL, NULL);
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ret = drvOverlayRegisterDriver(&root_overlay_driver,
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drvStreamsObjectInit(&dev_driver, &streams[0]),
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"dev");
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if (CH_RET_IS_ERROR(ret)) {
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chSysHalt("VFS");
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}
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/*
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* Sandbox objects initialization.
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*/
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sbObjectInit(&sbx1, &sb_config1);
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sbObjectInit(&sbx2, &sb_config2);
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/*
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* Creating **static** boxes using MPU.
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* Note: The two regions cover both sandbox 1 and 2, there is no
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* isolation among them.
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*/
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mpuConfigureRegion(MPU_REGION_0,
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0x08040000U,
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MPU_RASR_ATTR_AP_RO_RO |
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MPU_RASR_ATTR_CACHEABLE_WT_NWA |
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MPU_RASR_SIZE_256K |
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MPU_RASR_ENABLE);
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mpuConfigureRegion(MPU_REGION_1,
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0x20018000U,
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MPU_RASR_ATTR_AP_RW_RW |
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MPU_RASR_ATTR_CACHEABLE_WB_WA |
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MPU_RASR_SIZE_32K |
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MPU_RASR_ENABLE);
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/* Starting sandboxed threads.*/
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start_sb1();
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start_sb2();
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/*
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* Listening to sandbox events.
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*/
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chEvtRegister(&sb.termination_es, &el1, (eventid_t)0);
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/*
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* Normal main() thread activity, in this demo it checks for sandboxes state.
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*/
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while (true) {
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/* Waiting for a sandbox event or timeout.*/
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if (chEvtWaitOneTimeout(ALL_EVENTS, TIME_MS2I(500)) != (eventmask_t)0) {
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if (!sbIsThreadRunningX(&sbx1)) {
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chprintf((BaseSequentialStream *)&SD1, "SB1 terminated\r\n");
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chThdSleepMilliseconds(100);
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start_sb1();
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}
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if (!sbIsThreadRunningX(&sbx2)) {
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chprintf((BaseSequentialStream *)&SD1, "SB2 terminated\r\n");
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chThdSleepMilliseconds(100);
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start_sb2();
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}
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}
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}
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}
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