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/*

 * Project: S.Ha.R.K

 *

 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>

 *

 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://hartik.sssup.it

 */

#include "kernel/kern.h"

#include "edf/edf/edf.h"

#include "hardcbs/hardcbs/hardcbs.h"

#include "rr/rr/rr.h"

#include "dummy/dummy/dummy.h"

#include "intdrive/intdrive/intdrive.h"

#include "sem/sem/sem.h"

#include "hartport/hartport/hartport.h"

#include "drivers/shark_linuxc26.h"

#include "drivers/shark_pci26.h"

/*+ sysyem tick in us +*/

#define TICK 0

/*+ RR tick in us +*/

#define RRTICK 10000

/*+ Interrupt Server +*/

#define INTDRIVE_Q 1000

#define INTDRIVE_U 1000

#define INTDRIVE_FLAG 0

void call_shutdown_task(void *arg);

int device_drivers_init();

int device_drivers_close();

void set_shutdown_task();

TASK shutdown_task_body(void *arg);

PID shutdown_task_PID = -1;

TIME __kernel_register_levels__(void *arg)

{

        struct multiboot_info *mb = (struct multiboot_info *)arg;

        INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG);

        EDF_register_level(EDF_ENABLE_ALL);

        HCBS_register_level(HCBS_ENABLE_ALL, 1);

        RR_register_level(RRTICK, RR_MAIN_YES, mb);

        dummy_register_level();

        SEM_register_module();

        return TICK;

}

TASK __init__(void *arg)

{

        struct multiboot_info *mb = (struct multiboot_info *)arg;

        HARTPORT_init();

        set_shutdown_task();

        device_drivers_init();

        sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);

        __call_main__(mb);

        return (void *)0;

}

void set_shutdown_task() {

        NRT_TASK_MODEL nrt;

        nrt_task_default_model(nrt);

        nrt_task_def_system(nrt);

        shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL);

        if (shutdown_task_PID == NIL) {

                sys_shutdown_message("Error: Cannot create shutdown task\n");

                exit(1);

        }

}

int device_drivers_init() {

        LINUXC26_register_module(TRUE);

        PCI26_init();

        return 0;

}

int device_drivers_close() {

        return 0;

}

TASK shutdown_task_body(void *arg) {

        device_drivers_close();

        sys_shutdown_message("-- S.Ha.R.K. Closed --\n");

        return NULL;

}

#define SHUTDOWN_TIMEOUT_SEC 3

void call_shutdown_task(void *arg) {

        struct timespec t;

        sys_gettime(&t);

        t.tv_sec += SHUTDOWN_TIMEOUT_SEC;

        kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);

        task_activate(shutdown_task_PID);

}