Rev 1569 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
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| 1363 | mauro | 1 | /* |
| 2 | * Project: HARTIK (HA-rd R-eal TI-me K-ernel) |
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| 3 | * |
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| 4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
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| 5 | * Gerardo Lamastra <gerardo@sssup.it> |
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| 6 | * |
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| 1569 | tullio | 7 | * Authors: |
| 8 | * Mauro Marinoni <mauro.marinoni@unipv.it> |
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| 9 | * Tullio Facchinetti <tullio.facchinetti@unipv.it> |
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| 1363 | mauro | 10 | * (see authors.txt for full list of hartik's authors) |
| 11 | * |
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| 12 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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| 13 | * |
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| 14 | * http://www.sssup.it |
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| 15 | * http://retis.sssup.it |
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| 16 | * http://hartik.sssup.it |
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| 17 | */ |
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| 18 | |||
| 19 | /* |
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| 20 | * This program is free software; you can redistribute it and/or modify |
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| 21 | * it under the terms of the GNU General Public License as published by |
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| 22 | * the Free Software Foundation; either version 2 of the License, or |
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| 23 | * (at your option) any later version. |
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| 24 | * |
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| 25 | * This program is distributed in the hope that it will be useful, |
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| 26 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 27 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 28 | * GNU General Public License for more details. |
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| 29 | * |
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| 30 | * You should have received a copy of the GNU General Public License |
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| 31 | * along with this program; if not, write to the Free Software |
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| 32 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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| 33 | */ |
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| 34 | |||
| 35 | #include <kernel/kern.h> |
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| 36 | |||
| 1552 | pj | 37 | #include "edf/edf/edf.h" |
| 38 | #include "cbs/cbs/cbs.h" |
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| 39 | #include "rr/rr/rr.h" |
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| 40 | #include "dummy/dummy/dummy.h" |
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| 41 | #include "intdrive/intdrive/intdrive.h" |
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| 1363 | mauro | 42 | |
| 1552 | pj | 43 | #include "sem/sem/sem.h" |
| 44 | #include "hartport/hartport/hartport.h" |
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| 1363 | mauro | 45 | |
| 46 | #include <drivers/shark_linuxc26.h> |
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| 47 | #include <drivers/shark_input26.h> |
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| 48 | #include <drivers/shark_joy26.h> |
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| 49 | |||
| 50 | /*+ sysyem tick in us +*/ |
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| 51 | #define TICK 0 |
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| 52 | |||
| 53 | /*+ RR tick in us +*/ |
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| 54 | #define RRTICK 10000 |
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| 55 | |||
| 1389 | mauro | 56 | /*+ Interrupt Server +*/ |
| 57 | #define INTDRIVE_Q 1000 |
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| 1569 | tullio | 58 | #define INTDRIVE_U 0.1*MAX_BANDWIDTH |
| 1389 | mauro | 59 | #define INTDRIVE_FLAG 0 |
| 1363 | mauro | 60 | |
| 1389 | mauro | 61 | PID shutdown_task_PID = 1; |
| 1363 | mauro | 62 | |
| 63 | TIME __kernel_register_levels__(void *arg) |
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| 64 | { |
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| 65 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 1569 | tullio | 66 | LEVEL EDF_level; |
| 1363 | mauro | 67 | |
| 1569 | tullio | 68 | INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG); |
| 69 | EDF_level = EDF_register_level(EDF_ENABLE_ALL); |
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| 70 | CBS_register_level(CBS_ENABLE_ALL, EDF_level); |
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| 1363 | mauro | 71 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
| 72 | dummy_register_level(); |
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| 73 | |||
| 74 | SEM_register_module(); |
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| 75 | |||
| 76 | return TICK; |
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| 77 | } |
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| 78 | |||
| 1389 | mauro | 79 | int device_drivers_close() { |
| 80 | |||
| 81 | JOY26_close(); |
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| 82 | INPUT26_close(); |
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| 83 | |||
| 84 | return 0; |
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| 85 | } |
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| 86 | |||
| 87 | int device_drivers_init() { |
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| 88 | |||
| 1569 | tullio | 89 | LINUXC26_register_module(TRUE); |
| 1363 | mauro | 90 | INPUT26_init(); |
| 1389 | mauro | 91 | |
| 1363 | mauro | 92 | JOY26_init(); |
| 93 | |||
| 1389 | mauro | 94 | return 0; |
| 95 | |||
| 96 | } |
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| 97 | |||
| 98 | TASK shutdown_task_body(void *arg) { |
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| 99 | |||
| 100 | device_drivers_close(); |
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| 101 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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| 102 | return NULL; |
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| 103 | } |
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| 104 | |||
| 105 | void set_shutdown_task() { |
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| 106 | |||
| 107 | NRT_TASK_MODEL nrt; |
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| 108 | |||
| 109 | nrt_task_default_model(nrt); |
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| 110 | nrt_task_def_system(nrt); |
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| 111 | |||
| 112 | shutdown_task_PID = task_create("Shutdown Task", shutdown_task_body, &nrt, NULL); |
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| 113 | if (shutdown_task_PID == NIL) { |
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| 114 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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| 1550 | pj | 115 | exit(1); |
| 1389 | mauro | 116 | } |
| 117 | |||
| 118 | } |
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| 119 | |||
| 1399 | giacomo | 120 | #define SHUTDOWN_TIMEOUT_SEC 3 |
| 121 | |||
| 1389 | mauro | 122 | void call_shutdown_task(void *arg) { |
| 1399 | giacomo | 123 | struct timespec t; |
| 124 | |||
| 125 | sys_gettime(&t); |
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| 126 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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| 127 | |||
| 128 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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| 129 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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| 130 | |||
| 1389 | mauro | 131 | task_activate(shutdown_task_PID); |
| 132 | } |
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| 133 | |||
| 134 | TASK __init__(void *arg) |
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| 135 | { |
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| 136 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 137 | |||
| 138 | HARTPORT_init(); |
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| 139 | |||
| 140 | set_shutdown_task(); |
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| 141 | |||
| 142 | device_drivers_init(); |
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| 143 | |||
| 144 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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| 145 | |||
| 1363 | mauro | 146 | __call_main__(mb); |
| 147 | |||
| 148 | return (void *)0; |
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| 149 | } |