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1091 pj 1
/*
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 * Project: S.Ha.R.K.
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 *
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 * Coordinators:
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 *   Giorgio Buttazzo    <giorgio@sssup.it>
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 *   Paolo Gai           <pj@gandalf.sssup.it>
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 *
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 * Authors     :
1448 giacomo 9
 *   Giacomo Guidi       <giacomo@gandalf.sssup.it>
1569 tullio 10
 *   Tullio Facchinetti  <tullio.facchinetti@unipv.it>
1091 pj 11
 *   (see the web pages for full authors list)
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 *
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 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
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 *
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 * http://www.sssup.it
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 * http://retis.sssup.it
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 * http://shark.sssup.it
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 */
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/*
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 * This program is free software; you can redistribute it and/or modify
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 * it under the terms of the GNU General Public License as published by
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 * the Free Software Foundation; either version 2 of the License, or
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 * (at your option) any later version.
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 *
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 * This program is distributed in the hope that it will be useful,
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 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 * GNU General Public License for more details.
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 *
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 * You should have received a copy of the GNU General Public License
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 * along with this program; if not, write to the Free Software
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 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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 *
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 */
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1448 giacomo 37
#define PI_MUTEX
1091 pj 38
 
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#include "kernel/kern.h"
1552 pj 40
#include "intdrive/intdrive/intdrive.h"
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#include "edf/edf/edf.h"
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#include "hardcbs/hardcbs/hardcbs.h"
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#include "rr/rr/rr.h"
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#include "dummy/dummy/dummy.h"
1448 giacomo 45
 
1552 pj 46
#include "sem/sem/sem.h"
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#include "hartport/hartport/hartport.h"
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#include "cabs/cabs/cabs.h"
1091 pj 49
 
1552 pj 50
#include "pi/pi/pi.h"
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#include "nop/nop/nop.h"
1091 pj 52
 
1448 giacomo 53
#include "bca.h"
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#include <drivers/shark_linuxc26.h>
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#include <drivers/shark_pci26.h>
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#include <drivers/shark_input26.h>
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#include <drivers/shark_keyb26.h>
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#include <drivers/shark_fb26.h>
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#define FRAME_BUFFER_DEVICE 0
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/*+ sysyem tick in us +*/
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#define TICK 0
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1091 pj 66
/*+ RR tick in us +*/
1448 giacomo 67
#define RRTICK 2000
1091 pj 68
 
1448 giacomo 69
/*+ Interrupt Server +*/
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#define INTDRIVE_Q 1000
1569 tullio 71
#define INTDRIVE_U 0.1*MAX_BANDWIDTH
1448 giacomo 72
#define INTDRIVE_FLAG 0
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void call_shutdown_task(void *arg);
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int device_drivers_init();
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int device_drivers_close();
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void set_shutdown_task();
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TASK shutdown_task_body(void *arg);
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PID shutdown_task_PID = -1;
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1091 pj 82
TIME __kernel_register_levels__(void *arg)
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{
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  struct multiboot_info *mb = (struct multiboot_info *)arg;
1569 tullio 85
  LEVEL EDF_level;
1091 pj 86
 
1567 mauro 87
  INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG);
1569 tullio 88
  EDF_level = EDF_register_level(EDF_ENABLE_ALL);
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  HCBS_register_level(HCBS_ENABLE_ALL, EDF_level);
1091 pj 90
  RR_register_level(RRTICK, RR_MAIN_YES, mb);
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  dummy_register_level();
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  SEM_register_module();
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  CABS_register_module();
1448 giacomo 95
 
1091 pj 96
  PI_register_module();
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  NOP_register_module();
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99
  kern_init_bca();
100
 
101
  return TICK;
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}
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TASK __init__(void *arg)
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{
106
  struct multiboot_info *mb = (struct multiboot_info *)arg;
107
 
108
  HARTPORT_init();
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1448 giacomo 110
  /* Create the shutdown task. It will be activated at RUNLEVEL
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     SHUTDOWN */
112
  set_shutdown_task();
1091 pj 113
 
1448 giacomo 114
  /* Init the drivers */
115
  device_drivers_init();
116
 
117
  /* Set the shutdown task activation */
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  sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);
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1091 pj 120
  __call_main__(mb);
121
 
122
  return (void *)0;
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}
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1448 giacomo 125
#ifdef PI_MUTEX
1091 pj 126
int app_mutex_init(mutex_t *m)
127
{
128
  PI_mutexattr_t attr;
1448 giacomo 129
 
1091 pj 130
  PI_mutexattr_default(attr);
1448 giacomo 131
 
1091 pj 132
  return mutex_init(m, &attr);
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}
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#else
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int app_mutex_init(mutex_t *m)
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{
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  NOP_mutexattr_t attr;
1448 giacomo 138
 
1091 pj 139
  NOP_mutexattr_default(attr);
1448 giacomo 140
 
1091 pj 141
  return mutex_init(m, &attr);
142
}
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#endif
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1448 giacomo 145
void set_shutdown_task() {
146
 
147
  /* WARNING: the shutdown task is a background thread. It cannot execute
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              if the system is overloaded */
149
  NRT_TASK_MODEL nrt;
150
 
151
  nrt_task_default_model(nrt);
152
  nrt_task_def_system(nrt);
153
 
154
  shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL);
155
  if (shutdown_task_PID == NIL) {
156
    sys_shutdown_message("Error: Cannot create shutdown task\n");
1550 pj 157
    exit(1);
1448 giacomo 158
  }
159
 
160
}
161
 
162
int device_drivers_init() {
163
 
164
  int res;
165
  KEYB_PARMS kparms = BASE_KEYB;
166
 
1567 mauro 167
  LINUXC26_register_module(TRUE);
1448 giacomo 168
 
169
  PCI26_init();
170
 
171
  INPUT26_init();
172
 
173
  keyb_def_ctrlC(kparms, NULL);
174
 
175
  KEYB26_init(&kparms);
176
 
177
  FB26_init();
178
 
179
  res = FB26_open(FRAME_BUFFER_DEVICE);
180
  if (res) {
181
    cprintf("Error: Cannot open graphical mode\n");
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    KEYB26_close();
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    INPUT26_close();
1550 pj 184
    exit(1);
1448 giacomo 185
  }                                                                                          
186
 
187
  FB26_use_grx(FRAME_BUFFER_DEVICE);
188
 
189
  FB26_setmode(FRAME_BUFFER_DEVICE,"800x600-16");
190
 
191
  return 0;
192
 
193
}
194
 
195
int device_drivers_close() {
196
 
197
  FB26_close(FRAME_BUFFER_DEVICE);
198
 
199
  KEYB26_close();
200
 
201
  INPUT26_close();
202
 
203
  return 0;
204
 
205
}
206
 
207
#define SHUTDOWN_TIMEOUT_SEC 3
208
 
209
void call_shutdown_task(void *arg)
210
{
211
  struct timespec t;
212
 
213
  sys_gettime(&t);
214
  t.tv_sec += SHUTDOWN_TIMEOUT_SEC;
215
 
216
  /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */
217
  kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);
218
 
219
  task_activate(shutdown_task_PID);
220
}
221
 
222
TASK shutdown_task_body(void *arg) {
223
 
224
  device_drivers_close();
225
 
226
  sys_shutdown_message("-- S.Ha.R.K. Closed --\n");
227
 
228
  return NULL;
229
 
230
}