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Rev | Author | Line No. | Line |
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1091 | 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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1448 | giacomo | 9 | * Giacomo Guidi <giacomo@gandalf.sssup.it> |
1091 | pj | 10 | * (see the web pages for full authors list) |
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 | * This program is free software; you can redistribute it and/or modify |
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21 | * it under the terms of the GNU General Public License as published by |
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22 | * the Free Software Foundation; either version 2 of the License, or |
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23 | * (at your option) any later version. |
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24 | * |
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25 | * This program is distributed in the hope that it will be useful, |
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26 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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27 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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28 | * GNU General Public License for more details. |
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29 | * |
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30 | * You should have received a copy of the GNU General Public License |
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31 | * along with this program; if not, write to the Free Software |
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32 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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33 | * |
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34 | */ |
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35 | |||
1448 | giacomo | 36 | #define PI_MUTEX |
1091 | pj | 37 | |
38 | #include "kernel/kern.h" |
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1448 | giacomo | 39 | #include "modules/intdrive.h" |
1091 | pj | 40 | #include "modules/edf.h" |
1468 | giacomo | 41 | #include "modules/cbs.h" |
1091 | pj | 42 | #include "modules/rr.h" |
43 | #include "modules/dummy.h" |
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1448 | giacomo | 44 | |
1091 | pj | 45 | #include "modules/sem.h" |
46 | #include "modules/hartport.h" |
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47 | #include "modules/cabs.h" |
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48 | |||
1448 | giacomo | 49 | #include "modules/pi.h" |
50 | #include "modules/nop.h" |
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1091 | pj | 51 | |
1448 | giacomo | 52 | #include "bca.h" |
53 | |||
54 | #include <drivers/shark_linuxc26.h> |
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55 | #include <drivers/shark_pci26.h> |
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56 | #include <drivers/shark_input26.h> |
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57 | #include <drivers/shark_keyb26.h> |
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58 | #include <drivers/shark_fb26.h> |
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59 | |||
60 | #define FRAME_BUFFER_DEVICE 0 |
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61 | |||
62 | /*+ sysyem tick in us +*/ |
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63 | #define TICK 0 |
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64 | |||
1091 | pj | 65 | /*+ RR tick in us +*/ |
1448 | giacomo | 66 | #define RRTICK 2000 |
1091 | pj | 67 | |
1448 | giacomo | 68 | /*+ Interrupt Server +*/ |
69 | #define INTDRIVE_Q 1000 |
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70 | #define INTDRIVE_T 10000 |
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71 | #define INTDRIVE_FLAG 0 |
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72 | |||
73 | void call_shutdown_task(void *arg); |
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74 | int device_drivers_init(); |
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75 | int device_drivers_close(); |
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76 | void set_shutdown_task(); |
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77 | TASK shutdown_task_body(void *arg); |
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78 | |||
79 | PID shutdown_task_PID = -1; |
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80 | |||
1091 | pj | 81 | TIME __kernel_register_levels__(void *arg) |
82 | { |
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83 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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84 | |||
1448 | giacomo | 85 | INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG); |
1091 | pj | 86 | EDF_register_level(EDF_ENABLE_ALL); |
1468 | giacomo | 87 | CBS_register_level(CBS_ENABLE_ALL, 1); |
1091 | pj | 88 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
89 | dummy_register_level(); |
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90 | |||
91 | SEM_register_module(); |
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92 | CABS_register_module(); |
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1448 | giacomo | 93 | |
1091 | pj | 94 | PI_register_module(); |
95 | NOP_register_module(); |
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96 | |||
97 | kern_init_bca(); |
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98 | |||
99 | return TICK; |
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100 | } |
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101 | |||
102 | TASK __init__(void *arg) |
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103 | { |
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104 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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105 | |||
106 | HARTPORT_init(); |
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107 | |||
1448 | giacomo | 108 | /* Create the shutdown task. It will be activated at RUNLEVEL |
109 | SHUTDOWN */ |
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110 | set_shutdown_task(); |
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1091 | pj | 111 | |
1448 | giacomo | 112 | /* Init the drivers */ |
113 | device_drivers_init(); |
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114 | |||
115 | /* Set the shutdown task activation */ |
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116 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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117 | |||
1091 | pj | 118 | __call_main__(mb); |
119 | |||
120 | return (void *)0; |
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121 | } |
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122 | |||
1448 | giacomo | 123 | #ifdef PI_MUTEX |
1091 | pj | 124 | int app_mutex_init(mutex_t *m) |
125 | { |
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126 | PI_mutexattr_t attr; |
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1448 | giacomo | 127 | |
1091 | pj | 128 | PI_mutexattr_default(attr); |
1448 | giacomo | 129 | |
1091 | pj | 130 | return mutex_init(m, &attr); |
131 | } |
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132 | #else |
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133 | int app_mutex_init(mutex_t *m) |
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134 | { |
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135 | NOP_mutexattr_t attr; |
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1448 | giacomo | 136 | |
1091 | pj | 137 | NOP_mutexattr_default(attr); |
1448 | giacomo | 138 | |
1091 | pj | 139 | return mutex_init(m, &attr); |
140 | } |
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141 | #endif |
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142 | |||
1448 | giacomo | 143 | void set_shutdown_task() { |
144 | |||
145 | /* WARNING: the shutdown task is a background thread. It cannot execute |
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146 | if the system is overloaded */ |
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147 | NRT_TASK_MODEL nrt; |
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148 | |||
149 | nrt_task_default_model(nrt); |
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150 | nrt_task_def_system(nrt); |
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151 | |||
152 | shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
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153 | if (shutdown_task_PID == NIL) { |
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154 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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155 | sys_end(); |
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156 | } |
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157 | |||
158 | } |
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159 | |||
160 | int device_drivers_init() { |
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161 | |||
162 | int res; |
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163 | KEYB_PARMS kparms = BASE_KEYB; |
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164 | |||
165 | LINUXC26_register_module(); |
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166 | |||
167 | PCI26_init(); |
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168 | |||
169 | INPUT26_init(); |
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170 | |||
171 | keyb_def_ctrlC(kparms, NULL); |
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172 | |||
173 | KEYB26_init(&kparms); |
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174 | |||
175 | FB26_init(); |
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176 | |||
177 | res = FB26_open(FRAME_BUFFER_DEVICE); |
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178 | if (res) { |
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179 | cprintf("Error: Cannot open graphical mode\n"); |
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180 | KEYB26_close(); |
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181 | INPUT26_close(); |
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182 | sys_end(); |
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183 | } |
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184 | |||
185 | FB26_use_grx(FRAME_BUFFER_DEVICE); |
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186 | |||
187 | FB26_setmode(FRAME_BUFFER_DEVICE,"800x600-16"); |
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188 | |||
189 | return 0; |
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190 | |||
191 | } |
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192 | |||
193 | int device_drivers_close() { |
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194 | |||
195 | FB26_close(FRAME_BUFFER_DEVICE); |
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196 | |||
197 | KEYB26_close(); |
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198 | |||
199 | INPUT26_close(); |
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200 | |||
201 | return 0; |
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202 | |||
203 | } |
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204 | |||
205 | #define SHUTDOWN_TIMEOUT_SEC 3 |
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206 | |||
207 | void call_shutdown_task(void *arg) |
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208 | { |
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209 | struct timespec t; |
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210 | |||
211 | sys_gettime(&t); |
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212 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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213 | |||
214 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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215 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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216 | |||
217 | task_activate(shutdown_task_PID); |
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218 | } |
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219 | |||
220 | TASK shutdown_task_body(void *arg) { |
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221 | |||
222 | device_drivers_close(); |
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223 | |||
224 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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225 | |||
226 | sys_abort_shutdown(0); |
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227 | |||
228 | return NULL; |
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229 | |||
230 | } |