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1158 pj 1
/*
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 * Project: S.Ha.R.K.
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 *
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 * Coordinators:
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 *   Giorgio Buttazzo    <giorgio@sssup.it>
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 *   Paolo Gai           <pj@gandalf.sssup.it>
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 *
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 * Authors     :
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 *   Paolo Gai           <pj@gandalf.sssup.it>
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 *   Tullio Facchinetti  <tullio.facchinetti@unipv.it>
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 *   (see the web pages for full authors list)
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 *
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 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
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 *
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 * http://www.sssup.it
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 * http://retis.sssup.it
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 * http://shark.sssup.it
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 */
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/**
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 ------------
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 CVS :        $Id: ecp.c,v 1.9 2006-03-09 14:17:03 tullio Exp $
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 File:        $File$
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 Revision:    $Revision: 1.9 $
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 Last update: $Date: 2006-03-09 14:17:03 $
1158 pj 27
 ------------
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**/
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/*
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 * Copyright (C) 2003 Paolo Gai
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 *
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 * This program is free software; you can redistribute it and/or modify
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 * it under the terms of the GNU General Public License as published by
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 * the Free Software Foundation; either version 2 of the License, or
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 * (at your option) any later version.
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 *
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 * This program is distributed in the hope that it will be useful,
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 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 * GNU General Public License for more details.
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 *
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 * You should have received a copy of the GNU General Public License
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 * along with this program; if not, write to the Free Software
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 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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 *
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 */
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#include "kernel/kern.h"
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#include "intdrive/intdrive/intdrive.h"
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#include "edf/edf/edf.h"
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#include "cbs/cbs/cbs.h"
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#include "rr/rr/rr.h"
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#include "dummy/dummy/dummy.h"
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1552 pj 56
#include "sem/sem/sem.h"
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#include "hartport/hartport/hartport.h"
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#include "cabs/cabs/cabs.h"
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1552 pj 60
#include "pi/pi/pi.h"
1380 giacomo 61
 
1381 giacomo 62
#include <drivers/shark_linuxc26.h>
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#include <drivers/shark_pci26.h>
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#include <drivers/shark_input26.h>
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#include <drivers/shark_keyb26.h>
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#include <drivers/shark_fb26.h>
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#define FRAME_BUFFER_DEVICE 0
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/*+ sysyem tick in us +*/
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#define TICK 0
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/*+ RR tick in us +*/
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#define RRTICK 2000
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1379 giacomo 76
/*+ Interrupt Server +*/
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#define INTDRIVE_Q 1000
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#define INTDRIVE_U 0.1*MAX_BANDWIDTH
1379 giacomo 79
#define INTDRIVE_FLAG 0
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1384 giacomo 81
void call_shutdown_task(void *arg);
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int device_drivers_init();
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int device_drivers_close();
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void set_shutdown_task();
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TASK shutdown_task_body(void *arg);
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1381 giacomo 87
PID shutdown_task_PID = -1;
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1158 pj 89
TIME __kernel_register_levels__(void *arg)
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{
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  struct multiboot_info *mb = (struct multiboot_info *)arg;
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  LEVEL EDF_level;
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1567 mauro 94
  INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG);
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  EDF_level = EDF_register_level(EDF_ENABLE_ALL);
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  CBS_register_level(CBS_ENABLE_ALL, EDF_level);
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  RR_register_level(RRTICK, RR_MAIN_YES, mb);
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  dummy_register_level();
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  SEM_register_module();
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  CABS_register_module();
1380 giacomo 102
  PI_register_module();
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  return TICK;
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}
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TASK __init__(void *arg)
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{
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  struct multiboot_info *mb = (struct multiboot_info *)arg;
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111
  HARTPORT_init();
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113
  set_shutdown_task();
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  device_drivers_init();
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  sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);
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  __call_main__(mb);
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  return (void *)0;
1381 giacomo 122
}
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1384 giacomo 124
void set_shutdown_task() {
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  NRT_TASK_MODEL nrt;
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  nrt_task_default_model(nrt);
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  nrt_task_def_system(nrt);
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131
  shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL);
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  if (shutdown_task_PID == NIL) {
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    sys_shutdown_message("Error: Cannot create shutdown task\n");
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    exit(1);
1384 giacomo 135
  }
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}
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1381 giacomo 139
int device_drivers_init() {
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  int res;
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  KEYB_PARMS kparms = BASE_KEYB;
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1567 mauro 144
  LINUXC26_register_module(TRUE);
1381 giacomo 145
 
146
  PCI26_init();
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  INPUT26_init();
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150
  keyb_def_ctrlC(kparms, NULL);
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152
  KEYB26_init(&kparms);
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154
  FB26_init();
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156
  res = FB26_open(FRAME_BUFFER_DEVICE);
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  if (res) {
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    cprintf("Error: Cannot open graphical mode\n");
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    KEYB26_close();
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    INPUT26_close();
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    exit(1);
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  }                                                                                          
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  FB26_use_grx(FRAME_BUFFER_DEVICE);
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166
  FB26_setmode(FRAME_BUFFER_DEVICE,"640x480-16");
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168
  return 0;
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170
}
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1384 giacomo 172
int device_drivers_close() {
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174
  FB26_close(FRAME_BUFFER_DEVICE);
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176
  KEYB26_close();
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178
  INPUT26_close();
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  return 0;
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1381 giacomo 182
}
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1384 giacomo 184
#define SHUTDOWN_TIMEOUT_SEC 3
1381 giacomo 185
 
1384 giacomo 186
void call_shutdown_task(void *arg)
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{
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  struct timespec t;
1381 giacomo 189
 
1384 giacomo 190
  sys_gettime(&t);
191
  t.tv_sec += SHUTDOWN_TIMEOUT_SEC;
1381 giacomo 192
 
1384 giacomo 193
  /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */
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  kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);
1381 giacomo 195
 
196
  task_activate(shutdown_task_PID);
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}
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1384 giacomo 199
TASK shutdown_task_body(void *arg) {
1158 pj 200
 
1384 giacomo 201
  device_drivers_close();
1158 pj 202
 
1384 giacomo 203
  sys_shutdown_message("-- S.Ha.R.K. Closed --\n");
1381 giacomo 204
 
1384 giacomo 205
  return NULL;
1381 giacomo 206
 
1158 pj 207
}
1380 giacomo 208
 
209
void app_mutex_init(mutex_t *m)
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{
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  PI_mutexattr_t attr;
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213
  PI_mutexattr_default(attr);
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215
  mutex_init(m, &attr);
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}