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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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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| 1547 | pj | 87 | exit(1); |
| 1383 | giacomo | 88 | } |
| 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 | |||
| 114 | return NULL; |
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| 115 | |||
| 116 | } |
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| 117 | |||
| 1383 | giacomo | 118 | #define SHUTDOWN_TIMEOUT_SEC 3 |
| 119 | |||
| 1382 | giacomo | 120 | void call_shutdown_task(void *arg) { |
| 121 | |||
| 1383 | giacomo | 122 | struct timespec t; |
| 123 | |||
| 124 | sys_gettime(&t); |
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| 125 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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| 126 | |||
| 127 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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| 128 | |||
| 1382 | giacomo | 129 | task_activate(shutdown_task_PID); |
| 130 | |||
| 131 | } |