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1120 | pj | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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4 | * Coordinators: |
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5 | * Giorgio Buttazzo <giorgio@sssup.it> |
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6 | * Paolo Gai <pj@gandalf.sssup.it> |
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7 | * |
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8 | * Authors : |
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9 | * Paolo Gai <pj@gandalf.sssup.it> |
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10 | * (see the web pages for full authors list) |
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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://shark.sssup.it |
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17 | */ |
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18 | |||
19 | /* |
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20 | * Copyright (C) 2000 Paolo Gai |
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21 | * |
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22 | * This program is free software; you can redistribute it and/or modify |
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23 | * it under the terms of the GNU General Public License as published by |
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24 | * the Free Software Foundation; either version 2 of the License, or |
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25 | * (at your option) any later version. |
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26 | * |
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27 | * This program is distributed in the hope that it will be useful, |
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28 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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29 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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30 | * GNU General Public License for more details. |
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31 | * |
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32 | * You should have received a copy of the GNU General Public License |
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33 | * along with this program; if not, write to the Free Software |
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34 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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35 | * |
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36 | */ |
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37 | |||
38 | #include "kernel/kern.h" |
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1377 | giacomo | 39 | #include "modules/intdrive.h" |
1120 | pj | 40 | #include "modules/edf.h" |
41 | #include "modules/rr.h" |
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42 | #include "modules/tbs.h" |
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43 | #include "modules/cbs.h" |
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44 | #include "modules/rrsoft.h" |
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45 | #include "modules/dummy.h" |
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46 | #include "modules/sem.h" |
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47 | #include "modules/hartport.h" |
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48 | |||
49 | /*+ sysyem tick in us +*/ |
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50 | #define TICK 0 |
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51 | |||
52 | #define RRTICK 5000 |
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53 | #define TBS_NUM 1 |
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54 | #define TBS_DEN 10 |
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55 | |||
1377 | giacomo | 56 | /*+ Interrupt Server +*/ |
57 | #define INTDRIVE_Q 1000 |
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58 | #define INTDRIVE_T 10000 |
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59 | #define INTDRIVE_FLAG 0 |
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1120 | pj | 60 | |
1388 | giacomo | 61 | #include <drivers/shark_linuxc26.h> |
62 | #include <drivers/shark_input26.h> |
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63 | #include <drivers/shark_keyb26.h> |
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1377 | giacomo | 64 | |
1388 | giacomo | 65 | #define FRAME_BUFFER_DEVICE 0 |
66 | |||
67 | void call_shutdown_task(void *arg); |
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68 | int device_drivers_init(); |
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69 | int device_drivers_close(); |
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70 | void set_shutdown_task(); |
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71 | TASK shutdown_task_body(void *arg); |
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72 | |||
73 | PID shutdown_task_PID = 1; |
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74 | |||
1120 | pj | 75 | TIME __kernel_register_levels__(void *arg) |
76 | { |
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77 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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78 | |||
1377 | giacomo | 79 | INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG); |
1120 | pj | 80 | EDF_register_level(EDF_ENABLE_ALL); |
81 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
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1377 | giacomo | 82 | TBS_register_level(TBS_ENABLE_ALL, 1, TBS_NUM, TBS_DEN); |
83 | TBS_register_level(TBS_ENABLE_ALL, 1, TBS_NUM*3, TBS_DEN); |
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84 | CBS_register_level(CBS_ENABLE_ALL, 1); |
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1120 | pj | 85 | |
86 | dummy_register_level(); |
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87 | |||
88 | SEM_register_module(); |
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89 | |||
90 | return TICK; |
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91 | } |
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92 | |||
93 | TASK __init__(void *arg) |
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94 | { |
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95 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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96 | |||
97 | HARTPORT_init(); |
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98 | |||
1388 | giacomo | 99 | /* Create the shutdown task. It will be activated at RUNLEVEL |
100 | SHUTDOWN */ |
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101 | set_shutdown_task(); |
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102 | |||
103 | /* Init the drivers */ |
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104 | device_drivers_init(); |
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105 | |||
106 | /* Set the shutdown task activation */ |
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107 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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108 | |||
1120 | pj | 109 | __call_main__(mb); |
110 | |||
111 | return (void *)0; |
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112 | } |
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113 | |||
1388 | giacomo | 114 | void set_shutdown_task() { |
115 | |||
116 | /* WARNING: the shutdown task is a background thread. It cannot execute |
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117 | if the system is overloaded */ |
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118 | NRT_TASK_MODEL nrt; |
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119 | |||
120 | nrt_task_default_model(nrt); |
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121 | nrt_task_def_system(nrt); |
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122 | |||
123 | shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
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124 | if (shutdown_task_PID == NIL) { |
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125 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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126 | sys_end(); |
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127 | } |
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128 | |||
129 | } |
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130 | |||
131 | int device_drivers_init() { |
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132 | |||
133 | KEYB_PARMS kparms = BASE_KEYB; |
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134 | |||
135 | LINUXC26_register_module(); |
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136 | |||
137 | INPUT26_init(); |
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138 | |||
139 | keyb_def_ctrlC(kparms, NULL); |
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140 | |||
141 | KEYB26_init(&kparms); |
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142 | |||
143 | return 0; |
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144 | |||
145 | } |
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146 | |||
147 | int device_drivers_close() { |
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148 | |||
149 | KEYB26_close(); |
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150 | |||
151 | INPUT26_close(); |
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152 | |||
153 | return 0; |
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154 | |||
155 | } |
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156 | |||
157 | #define SHUTDOWN_TIMEOUT_SEC 3 |
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158 | |||
159 | void call_shutdown_task(void *arg) |
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160 | { |
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161 | struct timespec t; |
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162 | |||
163 | sys_gettime(&t); |
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164 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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165 | |||
166 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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167 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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168 | |||
169 | task_activate(shutdown_task_PID); |
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170 | } |
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171 | |||
172 | TASK shutdown_task_body(void *arg) { |
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173 | |||
174 | device_drivers_close(); |
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175 | |||
176 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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177 | |||
178 | sys_abort_shutdown(0); |
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179 | |||
180 | return NULL; |
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181 | |||
182 | } |