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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 | ------------ |
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1393 | giacomo | 21 | CVS : $Id: iaster7.c,v 1.3 2004-04-21 14:55:06 giacomo Exp $ |
1120 | pj | 22 | |
23 | File: $File$ |
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1393 | giacomo | 24 | Revision: $Revision: 1.3 $ |
25 | Last update: $Date: 2004-04-21 14:55:06 $ |
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1120 | pj | 26 | ------------ |
27 | |||
28 | System initialization file |
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29 | |||
30 | The tick is set to TICK ms. |
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31 | |||
32 | This file contains the 2 functions needed to initialize the system. |
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33 | |||
34 | These functions register a set of scheduling modules, in a fixed or |
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35 | dynamic priority way... |
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36 | |||
37 | It can accept these task models: |
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38 | |||
39 | HARD_TASK_MODEL (wcet+mit) at level 0 |
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40 | SOFT_TASK_MODEL (periodicity=APERIODIC) at level 1 |
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41 | NRT_TASK_MODEL at level 2 |
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42 | SOFT_TASK_MODEL (periodicity=APERIODIC, wcet (only if TBS) ) at level 3,4 |
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43 | |||
44 | **/ |
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45 | |||
46 | /* |
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47 | * Copyright (C) 2000 Paolo Gai |
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48 | * |
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49 | * This program is free software; you can redistribute it and/or modify |
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50 | * it under the terms of the GNU General Public License as published by |
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51 | * the Free Software Foundation; either version 2 of the License, or |
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52 | * (at your option) any later version. |
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53 | * |
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54 | * This program is distributed in the hope that it will be useful, |
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55 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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56 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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57 | * GNU General Public License for more details. |
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58 | * |
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59 | * You should have received a copy of the GNU General Public License |
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60 | * along with this program; if not, write to the Free Software |
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61 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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62 | * |
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63 | */ |
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64 | |||
65 | |||
66 | |||
67 | #include "kernel/kern.h" |
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1377 | giacomo | 68 | #include "modules/intdrive.h" |
1120 | pj | 69 | #include "modules/edf.h" |
70 | #include "modules/tbs.h" |
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71 | |||
72 | #include "modules/rm.h" |
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73 | #include "modules/rr.h" |
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74 | #include "modules/ps.h" |
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75 | |||
76 | #include "modules/dummy.h" |
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77 | |||
78 | #include "modules/sem.h" |
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79 | #include "modules/hartport.h" |
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80 | |||
1393 | giacomo | 81 | #include <drivers/shark_linuxc26.h> |
82 | #include <drivers/shark_input26.h> |
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83 | #include <drivers/shark_keyb26.h> |
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84 | |||
1120 | pj | 85 | /*+ sysyem tick in us +*/ |
1377 | giacomo | 86 | #define TICK 0 |
1120 | pj | 87 | |
1377 | giacomo | 88 | #define RRTICK 10000 |
1120 | pj | 89 | |
1377 | giacomo | 90 | /*+ Interrupt Server +*/ |
91 | #define INTDRIVE_Q 1000 |
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92 | #define INTDRIVE_T 10000 |
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93 | #define INTDRIVE_FLAG 0 |
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1120 | pj | 94 | |
1393 | giacomo | 95 | void call_shutdown_task(void *arg); |
96 | int device_drivers_init(); |
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97 | int device_drivers_close(); |
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98 | void set_shutdown_task(); |
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99 | TASK shutdown_task_body(void *arg); |
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100 | |||
101 | PID shutdown_task_PID = 1; |
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102 | |||
1120 | pj | 103 | TIME __kernel_register_levels__(void *arg) |
104 | { |
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105 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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106 | |||
1377 | giacomo | 107 | INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG); |
1120 | pj | 108 | RM_register_level(RM_ENABLE_ALL); |
1377 | giacomo | 109 | PS_register_level(PS_ENABLE_ALL_RM,1,1000,100000); |
1120 | pj | 110 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
1377 | giacomo | 111 | PS_register_level(4,1,10000,100000); |
112 | PS_register_level(4,1,30000,100000); |
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1120 | pj | 113 | |
114 | dummy_register_level(); |
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115 | |||
116 | SEM_register_module(); |
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117 | |||
118 | return TICK; |
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119 | } |
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120 | |||
121 | TASK __init__(void *arg) |
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122 | { |
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123 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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124 | |||
125 | HARTPORT_init(); |
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126 | |||
1393 | giacomo | 127 | /* Create the shutdown task. It will be activated at RUNLEVEL |
128 | SHUTDOWN */ |
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129 | set_shutdown_task(); |
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130 | |||
131 | /* Init the drivers */ |
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132 | device_drivers_init(); |
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133 | |||
134 | /* Set the shutdown task activation */ |
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135 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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136 | |||
1120 | pj | 137 | __call_main__(mb); |
138 | |||
139 | return (void *)0; |
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140 | } |
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141 | |||
1393 | giacomo | 142 | void set_shutdown_task() { |
143 | |||
144 | /* WARNING: the shutdown task is a background thread. It cannot execute |
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145 | if the system is overloaded */ |
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146 | NRT_TASK_MODEL nrt; |
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147 | |||
148 | nrt_task_default_model(nrt); |
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149 | nrt_task_def_system(nrt); |
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150 | |||
151 | shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
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152 | if (shutdown_task_PID == NIL) { |
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153 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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154 | sys_end(); |
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155 | } |
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156 | |||
157 | } |
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158 | |||
159 | int device_drivers_init() { |
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160 | |||
161 | KEYB_PARMS kparms = BASE_KEYB; |
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162 | |||
163 | LINUXC26_register_module(); |
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164 | |||
165 | INPUT26_init(); |
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166 | |||
167 | keyb_def_ctrlC(kparms, NULL); |
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168 | |||
169 | KEYB26_init(&kparms); |
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170 | |||
171 | return 0; |
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172 | |||
173 | } |
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174 | |||
175 | int device_drivers_close() { |
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176 | |||
177 | KEYB26_close(); |
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178 | |||
179 | INPUT26_close(); |
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180 | |||
181 | return 0; |
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182 | |||
183 | } |
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184 | |||
185 | #define SHUTDOWN_TIMEOUT_SEC 3 |
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186 | |||
187 | void call_shutdown_task(void *arg) |
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188 | { |
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189 | struct timespec t; |
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190 | |||
191 | sys_gettime(&t); |
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192 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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193 | |||
194 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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195 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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196 | |||
197 | task_activate(shutdown_task_PID); |
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198 | } |
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199 | |||
200 | TASK shutdown_task_body(void *arg) { |
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201 | |||
202 | device_drivers_close(); |
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203 | |||
204 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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205 | |||
206 | sys_abort_shutdown(0); |
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207 | |||
208 | return NULL; |
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209 | |||
210 | } |
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211 | |||
212 | |||
213 | |||
214 |