Subversion Repositories shark

Rev

Rev 1569 | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1293 giacomo 1
/*
2
 * Project: S.Ha.R.K.
3
 *
1411 giacomo 4
 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
1293 giacomo 5
 *
1569 tullio 6
 * Authors     :
7
 *   Mauro Marinoni      <mauro.marinoni@unipv.it>
8
 *   Tullio Facchinetti  <tullio.facchinetti@unipv.it>
1411 giacomo 9
 * (see authors.txt for full list of hartik's authors)
1293 giacomo 10
 *
11
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
12
 *
13
 * http://www.sssup.it
14
 * http://retis.sssup.it
1411 giacomo 15
 * http://hartik.sssup.it
1293 giacomo 16
 */
17
 
1411 giacomo 18
/*
19
 * This program is free software; you can redistribute it and/or modify
20
 * it under the terms of the GNU General Public License as published by
21
 * the Free Software Foundation; either version 2 of the License, or
22
 * (at your option) any later version.
23
 *
24
 * This program is distributed in the hope that it will be useful,
25
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
26
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
27
 * GNU General Public License for more details.
28
 *
29
 * You should have received a copy of the GNU General Public License
30
 * along with this program; if not, write to the Free Software
31
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
32
 */
33
 
34
 
35
#include <kernel/kern.h>
36
 
1552 pj 37
#include "edf/edf/edf.h"
38
#include "cbs/cbs/cbs.h"
39
#include "rr/rr/rr.h"
40
#include "dummy/dummy/dummy.h"
41
#include "intdrive/intdrive/intdrive.h"
1293 giacomo 42
 
1552 pj 43
#include "sem/sem/sem.h"
44
#include "hartport/hartport/hartport.h"
1293 giacomo 45
 
1411 giacomo 46
#include <drivers/shark_linuxc26.h>
47
#include <drivers/shark_pci26.h>
48
#include <drivers/shark_input26.h>
49
#include <drivers/shark_keyb26.h>
1293 giacomo 50
 
51
/*+ sysyem tick in us +*/
52
#define TICK 0
53
 
54
/*+ RR tick in us +*/
55
#define RRTICK 10000
56
 
1411 giacomo 57
/*+ Interrupt Server +*/
58
#define INTDRIVE_Q 1000
1568 tullio 59
#define INTDRIVE_U 0.1*MAX_BANDWIDTH
1411 giacomo 60
#define INTDRIVE_FLAG 0
61
 
62
void call_shutdown_task(void *arg);
63
int device_drivers_init();
64
int device_drivers_close();
65
void set_shutdown_task();
66
TASK shutdown_task_body(void *arg);
67
 
68
PID shutdown_task_PID = 1;
69
 
1293 giacomo 70
TIME __kernel_register_levels__(void *arg)
71
{
1411 giacomo 72
        struct multiboot_info *mb = (struct multiboot_info *)arg;
1568 tullio 73
        LEVEL EDF_level;
1293 giacomo 74
 
1567 mauro 75
        INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG);
1568 tullio 76
        EDF_level = EDF_register_level(EDF_ENABLE_ALL);
77
        CBS_register_level(CBS_ENABLE_ALL, EDF_level);
1411 giacomo 78
        RR_register_level(RRTICK, RR_MAIN_YES, mb);
79
        dummy_register_level();
1293 giacomo 80
 
1411 giacomo 81
        SEM_register_module();
1293 giacomo 82
 
1411 giacomo 83
        return TICK;
84
}
1293 giacomo 85
 
1411 giacomo 86
int device_drivers_close() {
87
 
88
        KEYB26_close();
89
        INPUT26_close();
90
 
91
        return 0;
92
 
1293 giacomo 93
}
94
 
1411 giacomo 95
int device_drivers_init() {
96
 
97
        KEYB_PARMS  kparms = BASE_KEYB;
98
 
1567 mauro 99
        LINUXC26_register_module(TRUE);
1411 giacomo 100
        PCI26_init();
1560 trimarchi 101
        //INPUT26_init();
1411 giacomo 102
 
103
        /*keyb_def_map(kparms, KEYMAP_IT);*/
104
        keyb_def_ctrlC(kparms, NULL);
105
        KEYB26_init(&kparms);
106
 
107
        return 0;
108
}
109
 
110
TASK shutdown_task_body(void *arg) {
111
 
112
        device_drivers_close();
113
        sys_shutdown_message("-- S.Ha.R.K. Closed --\n");
114
        return NULL;
115
}
116
 
117
#define SHUTDOWN_TIMEOUT_SEC 3
118
 
119
void set_shutdown_task() {
120
 
121
        NRT_TASK_MODEL nrt;
122
 
123
        nrt_task_default_model(nrt);
124
        nrt_task_def_system(nrt);
125
 
126
        shutdown_task_PID = task_create("Shutdown Task", shutdown_task_body, &nrt, NULL);
127
        if (shutdown_task_PID == NIL) {
128
                sys_shutdown_message("Error: Cannot create shutdown task\n");
1550 pj 129
                exit(1);
1411 giacomo 130
        }
131
 
132
}
133
 
134
void call_shutdown_task(void *arg) {
135
 
136
        struct timespec t;
137
 
138
        sys_gettime(&t);
139
        t.tv_sec += SHUTDOWN_TIMEOUT_SEC;
140
 
141
        /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */
142
        kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);
143
 
144
        task_activate(shutdown_task_PID);
145
}
146
 
1293 giacomo 147
TASK __init__(void *arg)
148
{
1411 giacomo 149
        struct multiboot_info *mb = (struct multiboot_info *)arg;
1293 giacomo 150
 
1411 giacomo 151
        HARTPORT_init();
1293 giacomo 152
 
1411 giacomo 153
        set_shutdown_task();
1293 giacomo 154
 
1411 giacomo 155
        device_drivers_init();
1293 giacomo 156
 
1411 giacomo 157
        sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);
158
 
159
        __call_main__(mb);
160
 
161
        return (void *)0;
1293 giacomo 162
}