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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 | |||
1383 | giacomo | 37 | void call_shutdown_task(void *arg); |
38 | int device_drivers_init(); |
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39 | int device_drivers_close(); |
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40 | void set_shutdown_task(); |
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41 | TASK shutdown_task_body(void *arg); |
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42 | |||
1463 | giacomo | 43 | PID shutdown_task_PID = -1; |
1382 | giacomo | 44 | |
1356 | giacomo | 45 | TIME __kernel_register_levels__(void *arg) |
46 | { |
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47 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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1346 | giacomo | 48 | |
1356 | giacomo | 49 | INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG); |
50 | EDF_register_level(EDF_ENABLE_ALL); |
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51 | HCBS_register_level(HCBS_ENABLE_ALL, 1); |
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52 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
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53 | dummy_register_level(); |
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1346 | giacomo | 54 | |
1356 | giacomo | 55 | SEM_register_module(); |
56 | |||
57 | return TICK; |
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1346 | giacomo | 58 | } |
59 | |||
1383 | giacomo | 60 | TASK __init__(void *arg) |
61 | { |
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62 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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63 | |||
64 | HARTPORT_init(); |
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65 | |||
66 | set_shutdown_task(); |
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67 | |||
68 | device_drivers_init(); |
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69 | |||
70 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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71 | |||
72 | __call_main__(mb); |
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73 | |||
74 | return (void *)0; |
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75 | } |
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76 | |||
77 | void set_shutdown_task() { |
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78 | |||
79 | NRT_TASK_MODEL nrt; |
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80 | |||
81 | nrt_task_default_model(nrt); |
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82 | nrt_task_def_system(nrt); |
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83 | |||
84 | shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
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85 | if (shutdown_task_PID == NIL) { |
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86 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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87 | sys_end(); |
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88 | } |
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89 | |||
90 | } |
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91 | |||
1382 | giacomo | 92 | int device_drivers_init() { |
93 | |||
94 | LINUXC26_register_module(); |
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95 | |||
96 | PCI26_init(); |
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97 | |||
98 | return 0; |
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99 | |||
100 | } |
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101 | |||
102 | int device_drivers_close() { |
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103 | |||
104 | return 0; |
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105 | |||
106 | } |
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107 | |||
108 | TASK shutdown_task_body(void *arg) { |
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109 | |||
110 | device_drivers_close(); |
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111 | |||
112 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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113 | |||
1383 | giacomo | 114 | sys_abort_shutdown(0); |
1382 | giacomo | 115 | |
116 | return NULL; |
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117 | |||
118 | } |
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119 | |||
1383 | giacomo | 120 | #define SHUTDOWN_TIMEOUT_SEC 3 |
121 | |||
1382 | giacomo | 122 | void call_shutdown_task(void *arg) { |
123 | |||
1383 | giacomo | 124 | struct timespec t; |
125 | |||
126 | sys_gettime(&t); |
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127 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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128 | |||
129 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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130 | |||
1382 | giacomo | 131 | task_activate(shutdown_task_PID); |
132 | |||
133 | } |