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| Rev | Author | Line No. | Line |
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| 1363 | mauro | 1 | /* |
| 2 | * Project: HARTIK (HA-rd R-eal TI-me K-ernel) |
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| 3 | * |
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| 4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
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| 5 | * Gerardo Lamastra <gerardo@sssup.it> |
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| 6 | * |
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| 7 | * Authors : Mauro Marinoni <mauro.marinoni@unipv.it> |
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| 8 | * (see authors.txt for full list of hartik's authors) |
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| 9 | * |
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| 10 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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| 11 | * |
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| 12 | * http://www.sssup.it |
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| 13 | * http://retis.sssup.it |
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| 14 | * http://hartik.sssup.it |
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| 15 | */ |
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| 16 | |||
| 17 | /* |
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| 18 | * This program is free software; you can redistribute it and/or modify |
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| 19 | * it under the terms of the GNU General Public License as published by |
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| 20 | * the Free Software Foundation; either version 2 of the License, or |
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| 21 | * (at your option) any later version. |
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| 22 | * |
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| 23 | * This program is distributed in the hope that it will be useful, |
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| 24 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 25 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 26 | * GNU General Public License for more details. |
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| 27 | * |
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| 28 | * You should have received a copy of the GNU General Public License |
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| 29 | * along with this program; if not, write to the Free Software |
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| 30 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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| 31 | */ |
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| 32 | |||
| 33 | #include <kernel/kern.h> |
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| 34 | |||
| 35 | #include "modules/edf.h" |
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| 36 | #include "modules/cbs.h" |
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| 37 | #include "modules/rr.h" |
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| 38 | #include "modules/dummy.h" |
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| 39 | #include "modules/intdrive.h" |
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| 40 | |||
| 41 | #include "modules/sem.h" |
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| 42 | #include "modules/hartport.h" |
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| 43 | |||
| 44 | #include <drivers/shark_linuxc26.h> |
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| 45 | #include <drivers/shark_input26.h> |
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| 46 | #include <drivers/shark_joy26.h> |
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| 47 | |||
| 48 | /*+ sysyem tick in us +*/ |
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| 49 | #define TICK 0 |
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| 50 | |||
| 51 | /*+ RR tick in us +*/ |
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| 52 | #define RRTICK 10000 |
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| 53 | |||
| 1389 | mauro | 54 | /*+ Interrupt Server +*/ |
| 55 | #define INTDRIVE_Q 1000 |
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| 56 | #define INTDRIVE_T 10000 |
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| 57 | #define INTDRIVE_FLAG 0 |
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| 1363 | mauro | 58 | |
| 1389 | mauro | 59 | PID shutdown_task_PID = 1; |
| 1363 | mauro | 60 | |
| 61 | TIME __kernel_register_levels__(void *arg) |
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| 62 | { |
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| 63 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 64 | |||
| 1389 | mauro | 65 | INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_T, INTDRIVE_FLAG); |
| 1363 | mauro | 66 | EDF_register_level(EDF_ENABLE_ALL); |
| 67 | CBS_register_level(CBS_ENABLE_ALL, 1); |
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| 68 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
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| 69 | dummy_register_level(); |
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| 70 | |||
| 71 | SEM_register_module(); |
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| 72 | |||
| 73 | return TICK; |
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| 74 | } |
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| 75 | |||
| 1389 | mauro | 76 | int device_drivers_close() { |
| 77 | |||
| 78 | JOY26_close(); |
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| 79 | INPUT26_close(); |
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| 80 | |||
| 81 | return 0; |
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| 82 | } |
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| 83 | |||
| 84 | int device_drivers_init() { |
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| 85 | |||
| 1363 | mauro | 86 | LINUXC26_register_module(); |
| 87 | INPUT26_init(); |
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| 1389 | mauro | 88 | |
| 1363 | mauro | 89 | JOY26_init(); |
| 90 | |||
| 1389 | mauro | 91 | return 0; |
| 92 | |||
| 93 | } |
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| 94 | |||
| 95 | TASK shutdown_task_body(void *arg) { |
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| 96 | |||
| 97 | device_drivers_close(); |
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| 98 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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| 99 | return NULL; |
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| 100 | } |
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| 101 | |||
| 102 | void set_shutdown_task() { |
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| 103 | |||
| 104 | NRT_TASK_MODEL nrt; |
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| 105 | |||
| 106 | nrt_task_default_model(nrt); |
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| 107 | nrt_task_def_system(nrt); |
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| 108 | |||
| 109 | shutdown_task_PID = task_create("Shutdown Task", shutdown_task_body, &nrt, NULL); |
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| 110 | if (shutdown_task_PID == NIL) { |
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| 111 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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| 1550 | pj | 112 | exit(1); |
| 1389 | mauro | 113 | } |
| 114 | |||
| 115 | } |
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| 116 | |||
| 1399 | giacomo | 117 | #define SHUTDOWN_TIMEOUT_SEC 3 |
| 118 | |||
| 1389 | mauro | 119 | void call_shutdown_task(void *arg) { |
| 1399 | giacomo | 120 | struct timespec t; |
| 121 | |||
| 122 | sys_gettime(&t); |
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| 123 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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| 124 | |||
| 125 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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| 126 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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| 127 | |||
| 1389 | mauro | 128 | task_activate(shutdown_task_PID); |
| 129 | } |
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| 130 | |||
| 131 | TASK __init__(void *arg) |
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| 132 | { |
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| 133 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 134 | |||
| 135 | HARTPORT_init(); |
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| 136 | |||
| 137 | set_shutdown_task(); |
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| 138 | |||
| 139 | device_drivers_init(); |
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| 140 | |||
| 141 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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| 142 | |||
| 1363 | mauro | 143 | __call_main__(mb); |
| 144 | |||
| 145 | return (void *)0; |
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| 146 | } |