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1347 giacomo 1
/*
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 * Project: HARTIK (HA-rd R-eal TI-me K-ernel)
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 *
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 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
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 *               Gerardo Lamastra <gerardo@sssup.it>
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 *
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 * Authors     :
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 *   Mauro Marinoni <mauro.marinoni@unipv.it>
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 *   Tullio Facchinetti  <tullio.facchinetti@unipv.it>
1347 giacomo 10
 * (see authors.txt for full list of hartik's authors)
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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://hartik.sssup.it
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 */
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/*
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 * Copyright (C) 2000 Paolo Gai
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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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#include "kernel/kern.h"
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1552 pj 41
#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"
1347 giacomo 46
 
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#include "sem/sem/sem.h"
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#include "hartport/hartport/hartport.h"
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#include "cabs/cabs/cabs.h"
1347 giacomo 50
 
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#include <drivers/shark_linuxc26.h>
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#include <drivers/shark_pci26.h>
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1347 giacomo 54
#include <drivers/shark_input26.h>
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#include <drivers/shark_keyb26.h>
1347 giacomo 56
#include <drivers/shark_mouse26.h>
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#include <drivers/shark_spk26.h>
1363 mauro 58
#include <drivers/shark_joy26.h>
1347 giacomo 59
 
1363 mauro 60
#include <drivers/shark_fb26.h>
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1389 mauro 62
#define FRAME_BUFFER_DEVICE 0
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1347 giacomo 64
/*+ sysyem tick in us +*/
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#define TICK 0
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/*+ RR tick in us +*/
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#define RRTICK 2000
1347 giacomo 69
 
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/*+ Interrupt Server +*/
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#define INTDRIVE_Q 1000
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#define INTDRIVE_U 0.1*MAX_BANDWIDTH
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#define INTDRIVE_FLAG 0
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1389 mauro 75
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);
1363 mauro 80
 
1389 mauro 81
PID shutdown_task_PID = -1;
1363 mauro 82
 
1347 giacomo 83
TIME __kernel_register_levels__(void *arg)
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{
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        struct multiboot_info *mb = (struct multiboot_info *)arg;
1569 tullio 86
        LEVEL EDF_level;
1347 giacomo 87
 
1569 tullio 88
        INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG);
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        EDF_level = EDF_register_level(EDF_ENABLE_ALL);
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        HCBS_register_level(HCBS_ENABLE_ALL, EDF_level);
1347 giacomo 91
        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();
1347 giacomo 96
 
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        return TICK;
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}
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TASK __init__(void *arg)
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{
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        struct multiboot_info *mb = (struct multiboot_info *)arg;
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        HARTPORT_init();
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1389 mauro 106
        /* Create the shutdown task. It will be activated at RUNLEVEL SHUTDOWN */
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        set_shutdown_task();
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        /* Init the drivers */
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        device_drivers_init();
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        /* Set the shutdown task activation */
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        sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);
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        __call_main__(mb);
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        return (void *)0;
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}
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void set_shutdown_task()
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{
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/* WARNING: the shutdown task is a background thread. It cannot execute if the system is overloaded */
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        NRT_TASK_MODEL nrt;
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        nrt_task_default_model(nrt);
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        nrt_task_def_system(nrt);
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        shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL);
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        if (shutdown_task_PID == NIL) {
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                sys_shutdown_message("Error: Cannot create shutdown task\n");
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                exit(1);
1389 mauro 132
        }
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}
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int device_drivers_init()
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{
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        int res;
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        KEYB_PARMS kparms = BASE_KEYB;
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        MOUSE_PARMS mparms = BASE_MOUSE;
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        LINUXC26_register_module(TRUE);
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        PCI26_init();
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        INPUT26_init();
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        /* keyb_def_map(kparms, KEYMAP_IT);*/
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        keyb_def_ctrlC(kparms, NULL);
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        KEYB26_init(&kparms);
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        mouse_def_threshold(mparms, 5);
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        mouse_def_xmin(mparms, 0);
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        mouse_def_ymin(mparms, 0);
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        mouse_def_xmax(mparms, 639);
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        mouse_def_ymax(mparms, 479);
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        MOUSE26_init(&mparms);
1363 mauro 157
 
1347 giacomo 158
        SPEAK26_init();
1389 mauro 159
 
1363 mauro 160
        JOY26_init();
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        FB26_init();
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        res = FB26_open(FRAME_BUFFER_DEVICE);
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        if (res) {
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                cprintf("Error: Cannot open graphical mode\n");
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                MOUSE26_close();
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                SPEAK26_close();
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                JOY26_close();
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                KEYB26_close();
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                INPUT26_close();
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                exit(1);
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        }                                                                                            
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        FB26_use_grx(FRAME_BUFFER_DEVICE);
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        FB26_setmode(FRAME_BUFFER_DEVICE,"640x480-16");
1347 giacomo 176
 
1389 mauro 177
        return 0;
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}
1347 giacomo 179
 
1389 mauro 180
int device_drivers_close() {
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182
        mouse_grxcursor(DISABLE, 0);
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        FB26_close(FRAME_BUFFER_DEVICE);
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186
        MOUSE26_close();
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        SPEAK26_close();
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        JOY26_close();
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        KEYB26_close();
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        INPUT26_close();
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        return 0;                                                                                                                    
1347 giacomo 193
}
1389 mauro 194
 
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#define SHUTDOWN_TIMEOUT_SEC 3
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197
void call_shutdown_task(void *arg)
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{
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        struct timespec t;
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201
        sys_gettime(&t);
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        t.tv_sec += SHUTDOWN_TIMEOUT_SEC;
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        /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */
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        kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);
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207
        task_activate(shutdown_task_PID);
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}
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210
TASK shutdown_task_body(void *arg)
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{
212
        device_drivers_close();
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214
        sys_shutdown_message("-- S.Ha.R.K. Closed --\n");
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216
        return NULL;
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}