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Rev | Author | Line No. | Line |
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1498 | mauro | 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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9 | * Giacomo Guidi <giacomo@gandalf.sssup.it> |
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10 | * (see the web pages for full authors list) |
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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 | |||
35 | #include "kernel/kern.h" |
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36 | #include "modules/intdrive.h" |
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37 | #include "modules/edf.h" |
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38 | #include "modules/hardcbs.h" |
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39 | #include "modules/rr.h" |
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40 | #include "modules/dummy.h" |
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41 | |||
42 | #include "modules/sem.h" |
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43 | #include "modules/hartport.h" |
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44 | #include "modules/cabs.h" |
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45 | |||
46 | #include "drivers/shark_linuxc26.h" |
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47 | #include "drivers/shark_input26.h" |
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48 | #include "drivers/shark_keyb26.h" |
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49 | |||
50 | #include <drivers/shark_cpu26.h> |
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51 | |||
52 | /*+ sysyem tick in us +*/ |
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53 | #define TICK 0 |
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54 | |||
55 | /*+ RR tick in us +*/ |
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56 | #define RRTICK 10000 |
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57 | |||
58 | /*+ IntDrive Server +*/ |
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59 | #define INTDRIVE_Q 1000 |
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60 | #define INTDRIVE_T 10000 |
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61 | #define INTDRIVE_FLAGS 0 |
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62 | |||
63 | void call_shutdown_task(void *arg); |
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64 | int device_drivers_init(); |
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65 | int device_drivers_close(); |
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66 | void set_shutdown_task(); |
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67 | TASK shutdown_task_body(void *arg); |
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68 | |||
69 | PID shutdown_task_PID = -1; |
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70 | |||
71 | TIME __kernel_register_levels__(void *arg) |
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72 | { |
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73 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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74 | |||
75 | INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_T, INTDRIVE_FLAGS); |
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76 | EDF_register_level(EDF_ENABLE_ALL); |
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77 | HCBS_register_level(HCBS_ENABLE_ALL, 1); |
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78 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
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79 | dummy_register_level(); |
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80 | |||
81 | SEM_register_module(); |
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82 | |||
83 | CABS_register_module(); |
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84 | |||
85 | return TICK; |
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86 | } |
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87 | |||
88 | TASK __init__(void *arg) |
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89 | { |
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90 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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91 | |||
92 | HARTPORT_init(); |
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93 | |||
94 | /* Create the shutdown task. It will be activated at RUNLEVEL |
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95 | SHUTDOWN */ |
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96 | set_shutdown_task(); |
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97 | |||
98 | /* Init the drivers */ |
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99 | device_drivers_init(); |
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100 | |||
101 | /* Set the shutdown task activation */ |
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102 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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103 | |||
104 | //sys_set_reboot(EXIT_MODE_HALT); |
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105 | |||
106 | __call_main__(mb); |
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107 | |||
108 | return (void *)0; |
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109 | } |
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110 | |||
111 | void set_shutdown_task() { |
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112 | |||
113 | /* WARNING: the shutdown task is a background thread. It cannot execute |
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114 | if the system is overloaded */ |
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115 | NRT_TASK_MODEL nrt; |
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116 | |||
117 | nrt_task_default_model(nrt); |
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118 | nrt_task_def_system(nrt); |
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119 | |||
120 | shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
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121 | if (shutdown_task_PID == NIL) { |
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122 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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123 | sys_end(); |
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124 | } |
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125 | |||
126 | } |
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127 | |||
128 | int device_drivers_init() { |
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129 | |||
130 | KEYB_PARMS kparms = BASE_KEYB; |
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131 | |||
132 | LINUXC26_register_module(); |
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133 | |||
134 | CPU26_init(); |
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135 | |||
1513 | giacomo | 136 | CPU26_DVS_init(); |
1498 | mauro | 137 | |
138 | INPUT26_init(); |
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139 | |||
140 | keyb_def_ctrlC(kparms, NULL); |
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141 | |||
142 | KEYB26_init(&kparms); |
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143 | |||
144 | return 0; |
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145 | |||
146 | } |
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147 | |||
148 | int device_drivers_close() { |
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149 | |||
1513 | giacomo | 150 | //CPU26_DVS_close(); |
1498 | mauro | 151 | |
152 | KEYB26_close(); |
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153 | |||
154 | INPUT26_close(); |
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155 | |||
156 | return 0; |
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157 | |||
158 | } |
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159 | |||
160 | #define SHUTDOWN_TIMEOUT_SEC 3 |
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161 | |||
162 | void call_shutdown_task(void *arg) |
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163 | { |
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164 | struct timespec t; |
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165 | |||
166 | sys_gettime(&t); |
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167 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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168 | |||
169 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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170 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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171 | |||
172 | task_activate(shutdown_task_PID); |
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173 | } |
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174 | |||
175 | TASK shutdown_task_body(void *arg) { |
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176 | |||
177 | device_drivers_close(); |
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178 | |||
179 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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180 | |||
181 | sys_abort_shutdown(0); |
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182 | |||
183 | return NULL; |
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184 | |||
185 | } |
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186 |