Subversion Repositories shark

//////////////////////////////////////////////////////////////

//  os.c        -Lex Nahumury 2006

//

// This is the OpenSource SHARK OS/kernel part.

// It will dynamicly link the main application ELF object

// through 'Dynalink'.

//

//////////////////////////////////////////////////////////////

#include "kernel/kern.h"

#include <kernel/func.h>

#include <stdlib.h>

#include <stdio.h>

#include <string.h>

#include <math.h>

#include "ll/i386/cons.h"

#include "edf/edf/edf.h"

#include "cbs/cbs/cbs.h"

#include "hardcbs/hardcbs/hardcbs.h"

#include "rr/rr/rr.h"

#include "dummy/dummy/dummy.h"

#include "intdrive/intdrive/intdrive.h"

#include "sem/sem/sem.h"

#include "hartport/hartport/hartport.h"

#include "cabs/cabs/cabs.h"

#include <drivers/shark_linuxc26.h>

#include <drivers/shark_pci26.h>

#include <drivers/shark_input26.h>

#include <drivers/shark_keyb26.h>

// DYNALINK

#include <dynalink.h>

// some shark pci forward declaration stuff

extern int pci20to26_find_class(unsigned int class_code, int index, BYTE *bus, BYTE *dev);

extern int pci20to26_read_config_byte(unsigned int bus, unsigned int dev, int where, BYTE *val);

extern int pci20to26_read_config_word(unsigned int bus, unsigned int dev, int where, WORD *val);

extern int pci20to26_read_config_dword(unsigned int bus, unsigned int dev, int where, DWORD *val);

extern int pci20to26_write_config_byte(unsigned int bus, unsigned int dev, int where, BYTE val);

extern int pci20to26_write_config_word(unsigned int bus, unsigned int dev, int where, WORD val);

extern int pci20to26_write_config_dword(unsigned int bus, unsigned int dev, int where, DWORD val);

#define TICK            1000    //  1ms

#define RRTICK          100000  //  100ms

/*+ IntDrive Server +*/

#define INTDRIVE_Q 1000

#define INTDRIVE_U 0.1*MAX_BANDWIDTH

#define INTDRIVE_FLAG 0

#define NSEC_PER_SEC (1000000000L)

#define SHUTDOWN_TIMEOUT_SEC    0.5             // seconds

// prototypes

void call_shutdown_task(void *arg);

int device_drivers_init();

int device_drivers_close();

void set_shutdown_task();

TASK shutdown_task_body(void *arg);

// user application function pointer prototype

int (*main_app_entry)(void* arg);

// vars

static struct multiboot_info *mb = 0;

static struct dynalink_module_list      dml;

PID shutdown_task_PID = -1;

// user app calls this to retrieve tick

DWORD get_tick()

{

        return TICK;

};

TASK shutdown_task_body(void *arg)

{

        device_drivers_close();

        sys_shutdown_message("-- OS Closed --\n");

        return NULL;

};

void set_shutdown_task()

{

        NRT_TASK_MODEL nrt;

        nrt_task_default_model(nrt);

        nrt_task_def_system(nrt);

        shutdown_task_PID = task_create("Shutdown Task", shutdown_task_body, &nrt, NULL);

        if (shutdown_task_PID == NIL)

        {

                sys_shutdown_message("Error: Cannot create shutdown task\n");

                exit(1);

        }

};

void call_shutdown_task(void *arg)

{

        struct timespec t;

        sys_gettime(&t);

        t.tv_nsec += NSEC_PER_SEC * SHUTDOWN_TIMEOUT_SEC;

        kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);

        task_activate(shutdown_task_PID);

};

TIME __kernel_register_levels__(void *arg)

{

        mb = (struct multiboot_info *)arg;

        LEVEL EDF_level;

        INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG);

  EDF_level = EDF_register_level(EDF_ENABLE_ALL);

        CBS_register_level(CBS_ENABLE_ALL, EDF_level);

        RR_register_level(RRTICK, RR_MAIN_YES, mb);

        dummy_register_level();

        SEM_register_module();

        CABS_register_module();

  return TICK;

};

TASK __init__(void *arg)

{

        mb = (struct multiboot_info *)arg;

        //HARTPORT_init();

        set_shutdown_task();

        device_drivers_init(); 

        sys_atrunlevel( call_shutdown_task,

                                        NULL,

                                        RUNLEVEL_SHUTDOWN);    

        __call_main__(mb);

  return (void *)0;

};

int main(int argc, char **argv)

{

        // Any modules passed to kernel by GRUB?

        if(!mb->mods_count)

        {

                printk("No modules passed at all! Bye..\n");

                exit(1);

        }

        // Process the modules through 'dynalink'

        dynalink_modules(mb, &dml, "_module_entry");

        if(dml.num_apps == 0)

        {

                printk("No Application modules found! Bye..\n");

                exit(1);

        }

        // Run first found user application function

        // and pass the dynalink_module_list..  

        DWORD dynadr = dml.app[0].dyn_entry;

        if(dynadr)

        {

                main_app_entry = (void*)dynadr;

                main_app_entry(&dml);

        }

        else

        {

                printk("No Application modules found! Bye..\n");

                exit(1);

        }                      

return 0;

};

int device_drivers_init()

{      

        LINUXC26_register_module(TRUE);

        //PCI26_init();

        INPUT26_init();

        KEYB_PARMS  kparms = BASE_KEYB;

        keyb_def_ctrlC(kparms, NULL);  

        KEYB26_init(&kparms);

        return 0;

};

int device_drivers_close()

{      

        KEYB26_close();

        INPUT26_close();

        return 0;                                                                  

};