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Rev | Author | Line No. | Line |
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1163 | giacomo | 1 | /* |
1423 | giacomo | 2 | * Project: S.Ha.R.K |
1163 | giacomo | 3 | * |
1423 | giacomo | 4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
1163 | 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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1423 | giacomo | 10 | * http://hartik.sssup.it |
1163 | giacomo | 11 | */ |
12 | |||
13 | #include "kernel/kern.h" |
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14 | #include "modules/edf.h" |
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1423 | giacomo | 15 | #include "modules/hardcbs.h" |
1163 | giacomo | 16 | #include "modules/rr.h" |
17 | #include "modules/dummy.h" |
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1423 | giacomo | 18 | #include "modules/intdrive.h" |
1163 | giacomo | 19 | |
20 | #include "modules/sem.h" |
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21 | #include "modules/hartport.h" |
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22 | |||
1423 | giacomo | 23 | #include <drivers/shark_linuxc26.h> |
24 | #include <drivers/shark_pci26.h> |
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25 | #include <drivers/shark_input26.h> |
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26 | #include <drivers/shark_keyb26.h> |
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27 | #include <drivers/shark_fb26.h> |
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28 | #include <drivers/shark_i2c26.h> |
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29 | #include <drivers/shark_bttv26.h> |
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30 | #include <drivers/shark_videodev26.h> |
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1163 | giacomo | 31 | |
1423 | giacomo | 32 | #define FRAME_BUFFER_DEVICE 0 |
1163 | giacomo | 33 | |
34 | /*+ sysyem tick in us +*/ |
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1423 | giacomo | 35 | #define TICK 0 |
1163 | giacomo | 36 | |
37 | /*+ RR tick in us +*/ |
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38 | #define RRTICK 10000 |
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39 | |||
1423 | giacomo | 40 | /*+ Interrup Server */ |
41 | #define INTDRIVE_Q 1000 |
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42 | #define INTDRIVE_T 10000 |
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43 | #define INTDRIVE_FLAG 0 |
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44 | |||
45 | void call_shutdown_task(void *arg); |
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46 | int device_drivers_init(); |
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47 | int device_drivers_close(); |
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48 | void set_shutdown_task(); |
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49 | TASK shutdown_task_body(void *arg); |
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50 | |||
51 | PID shutdown_task_PID = -1; |
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52 | |||
1163 | giacomo | 53 | TIME __kernel_register_levels__(void *arg) |
54 | { |
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1423 | giacomo | 55 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
1163 | giacomo | 56 | |
1423 | giacomo | 57 | INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG); |
58 | EDF_register_level(EDF_ENABLE_ALL); |
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59 | HCBS_register_level(HCBS_ENABLE_ALL, 1); |
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60 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
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61 | dummy_register_level(); |
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1163 | giacomo | 62 | |
1423 | giacomo | 63 | SEM_register_module(); |
1163 | giacomo | 64 | |
1423 | giacomo | 65 | return TICK; |
1163 | giacomo | 66 | } |
67 | |||
68 | TASK __init__(void *arg) |
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69 | { |
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70 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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71 | |||
72 | HARTPORT_init(); |
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73 | |||
1423 | giacomo | 74 | set_shutdown_task(); |
1163 | giacomo | 75 | |
1423 | giacomo | 76 | device_drivers_init(); |
77 | |||
78 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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79 | |||
1163 | giacomo | 80 | __call_main__(mb); |
81 | |||
82 | return (void *)0; |
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83 | } |
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84 | |||
1423 | giacomo | 85 | void set_shutdown_task() { |
86 | |||
87 | NRT_TASK_MODEL nrt; |
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88 | |||
89 | nrt_task_default_model(nrt); |
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90 | nrt_task_def_system(nrt); |
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91 | |||
92 | shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
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93 | if (shutdown_task_PID == NIL) { |
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94 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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95 | sys_end(); |
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96 | } |
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97 | |||
98 | } |
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99 | |||
100 | int device_drivers_init() { |
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101 | |||
102 | int res; |
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103 | KEYB_PARMS kparms = BASE_KEYB; |
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104 | |||
105 | LINUXC26_register_module(); |
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106 | |||
107 | PCI26_init(); |
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108 | |||
109 | I2C26_init(); |
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110 | |||
111 | INPUT26_init(); |
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112 | |||
113 | keyb_def_ctrlC(kparms, NULL); |
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114 | |||
115 | KEYB26_init(&kparms); |
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116 | |||
117 | BTTV26_init(); |
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118 | |||
119 | /* |
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120 | FB26_init(); |
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121 | |||
122 | res = FB26_open(FRAME_BUFFER_DEVICE); |
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123 | if (res) { |
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124 | cprintf("Error: Cannot open graphical mode\n"); |
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125 | KEYB26_close(); |
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126 | INPUT26_close(); |
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127 | sys_end(); |
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128 | } |
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129 | |||
130 | FB26_use_grx(FRAME_BUFFER_DEVICE); |
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131 | |||
132 | FB26_setmode(FRAME_BUFFER_DEVICE,"640x480-16"); |
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133 | */ |
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134 | return 0; |
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135 | |||
136 | } |
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137 | |||
138 | int device_drivers_close() { |
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139 | /* |
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140 | FB26_close(FRAME_BUFFER_DEVICE); |
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141 | */ |
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142 | KEYB26_close(); |
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143 | |||
144 | INPUT26_close(); |
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145 | |||
146 | return 0; |
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147 | |||
148 | } |
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149 | |||
150 | #define SHUTDOWN_TIMEOUT_SEC 3 |
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151 | |||
152 | void call_shutdown_task(void *arg) |
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153 | { |
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154 | struct timespec t; |
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155 | |||
156 | sys_gettime(&t); |
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157 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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158 | |||
159 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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160 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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161 | |||
162 | task_activate(shutdown_task_PID); |
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163 | } |
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164 | |||
165 | TASK shutdown_task_body(void *arg) { |
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166 | |||
167 | device_drivers_close(); |
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168 | |||
169 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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170 | |||
171 | sys_abort_shutdown(0); |
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172 | |||
173 | return NULL; |
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174 | |||
175 | } |