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Rev | Author | Line No. | Line |
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1346 | giacomo | 1 | /* |
1356 | giacomo | 2 | * Project: S.Ha.R.K |
1346 | giacomo | 3 | * |
1356 | giacomo | 4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
1346 | giacomo | 5 | * |
6 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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7 | * |
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8 | * http://www.sssup.it |
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9 | * http://retis.sssup.it |
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1356 | giacomo | 10 | * http://hartik.sssup.it |
1346 | giacomo | 11 | */ |
12 | |||
13 | #include "kernel/kern.h" |
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14 | #include "modules/edf.h" |
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15 | #include "modules/hardcbs.h" |
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16 | #include "modules/rr.h" |
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17 | #include "modules/dummy.h" |
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18 | #include "modules/intdrive.h" |
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19 | |||
20 | #include "modules/sem.h" |
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21 | #include "modules/hartport.h" |
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22 | |||
1382 | giacomo | 23 | #include "drivers/shark_linuxc26.h" |
24 | #include "drivers/shark_pci26.h" |
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25 | |||
1346 | giacomo | 26 | /*+ sysyem tick in us +*/ |
27 | #define TICK 0 |
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28 | |||
29 | /*+ RR tick in us +*/ |
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30 | #define RRTICK 10000 |
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31 | |||
1377 | giacomo | 32 | /*+ Interrupt Server +*/ |
1356 | giacomo | 33 | #define INTDRIVE_Q 1000 |
34 | #define INTDRIVE_T 10000 |
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35 | #define INTDRIVE_FLAG 0 |
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36 | |||
1382 | giacomo | 37 | PID shutdown_task_PID; |
38 | |||
1356 | giacomo | 39 | TIME __kernel_register_levels__(void *arg) |
40 | { |
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41 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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1346 | giacomo | 42 | |
1356 | giacomo | 43 | INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG); |
44 | EDF_register_level(EDF_ENABLE_ALL); |
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45 | HCBS_register_level(HCBS_ENABLE_ALL, 1); |
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46 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
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47 | dummy_register_level(); |
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1346 | giacomo | 48 | |
1356 | giacomo | 49 | SEM_register_module(); |
50 | |||
51 | return TICK; |
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1346 | giacomo | 52 | } |
53 | |||
1382 | giacomo | 54 | int device_drivers_init() { |
55 | |||
56 | LINUXC26_register_module(); |
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57 | |||
58 | PCI26_init(); |
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59 | |||
60 | return 0; |
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61 | |||
62 | } |
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63 | |||
64 | int device_drivers_close() { |
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65 | |||
66 | return 0; |
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67 | |||
68 | } |
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69 | |||
70 | TASK shutdown_task_body(void *arg) { |
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71 | |||
72 | device_drivers_close(); |
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73 | |||
74 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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75 | |||
76 | sys_end(); |
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77 | |||
78 | return NULL; |
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79 | |||
80 | } |
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81 | |||
82 | void call_shutdown_task(void *arg) { |
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83 | |||
84 | task_activate(shutdown_task_PID); |
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85 | |||
86 | } |
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87 | |||
88 | void set_shutdown_task() { |
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89 | |||
90 | NRT_TASK_MODEL nrt; |
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91 | |||
92 | nrt_task_default_model(nrt); |
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93 | nrt_task_def_system(nrt); |
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94 | nrt_task_def_nokill(nrt); |
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95 | |||
96 | shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
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97 | if (shutdown_task_PID == NIL) { |
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98 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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99 | sys_end(); |
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100 | } |
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101 | |||
102 | } |
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103 | |||
1346 | giacomo | 104 | TASK __init__(void *arg) |
105 | { |
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1356 | giacomo | 106 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
1346 | giacomo | 107 | |
1356 | giacomo | 108 | HARTPORT_init(); |
109 | |||
1382 | giacomo | 110 | set_shutdown_task(); |
111 | |||
112 | device_drivers_init(); |
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113 | |||
114 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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115 | |||
1356 | giacomo | 116 | __call_main__(mb); |
117 | |||
118 | return (void *)0; |
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1346 | giacomo | 119 | } |