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1158 | 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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9 | * Paolo Gai <pj@gandalf.sssup.it> |
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1569 | tullio | 10 | * Tullio Facchinetti <tullio.facchinetti@unipv.it> |
1158 | pj | 11 | * (see the web pages for full authors list) |
12 | * |
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13 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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14 | * |
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15 | * http://www.sssup.it |
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16 | * http://retis.sssup.it |
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17 | * http://shark.sssup.it |
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18 | */ |
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19 | |||
20 | /** |
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21 | ------------ |
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1569 | tullio | 22 | CVS : $Id: rrp.c,v 1.9 2006-03-09 14:17:03 tullio Exp $ |
1158 | pj | 23 | |
24 | File: $File$ |
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1569 | tullio | 25 | Revision: $Revision: 1.9 $ |
26 | Last update: $Date: 2006-03-09 14:17:03 $ |
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1158 | pj | 27 | ------------ |
28 | **/ |
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29 | |||
30 | /* |
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31 | * Copyright (C) 2003 Paolo Gai |
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32 | * |
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33 | * This program is free software; you can redistribute it and/or modify |
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34 | * it under the terms of the GNU General Public License as published by |
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35 | * the Free Software Foundation; either version 2 of the License, or |
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36 | * (at your option) any later version. |
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37 | * |
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38 | * This program is distributed in the hope that it will be useful, |
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39 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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40 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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41 | * GNU General Public License for more details. |
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42 | * |
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43 | * You should have received a copy of the GNU General Public License |
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44 | * along with this program; if not, write to the Free Software |
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45 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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46 | * |
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47 | */ |
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48 | |||
49 | #include "kernel/kern.h" |
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1552 | pj | 50 | #include "intdrive/intdrive/intdrive.h" |
51 | #include "edf/edf/edf.h" |
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52 | #include "rr/rr/rr.h" |
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53 | #include "rrsoft/rrsoft/rrsoft.h" |
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54 | #include "dummy/dummy/dummy.h" |
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1158 | pj | 55 | |
1552 | pj | 56 | #include "sem/sem/sem.h" |
57 | #include "hartport/hartport/hartport.h" |
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58 | #include "cabs/cabs/cabs.h" |
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1158 | pj | 59 | |
1552 | pj | 60 | #include "pi/pi/pi.h" |
1380 | giacomo | 61 | |
1381 | giacomo | 62 | #include <drivers/shark_linuxc26.h> |
63 | #include <drivers/shark_pci26.h> |
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64 | #include <drivers/shark_input26.h> |
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65 | #include <drivers/shark_keyb26.h> |
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66 | #include <drivers/shark_fb26.h> |
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67 | |||
68 | #define FRAME_BUFFER_DEVICE 0 |
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69 | |||
1158 | pj | 70 | /*+ sysyem tick in us +*/ |
71 | #define TICK 0 |
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72 | |||
73 | /*+ RR tick in us +*/ |
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74 | #define RRTICK 2000 |
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75 | |||
1379 | giacomo | 76 | /*+ Interrupt Server +*/ |
77 | #define INTDRIVE_Q 1000 |
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1569 | tullio | 78 | #define INTDRIVE_U 0.1*MAX_BANDWIDTH |
1379 | giacomo | 79 | #define INTDRIVE_FLAG 0 |
80 | |||
1384 | giacomo | 81 | void call_shutdown_task(void *arg); |
82 | int device_drivers_init(); |
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83 | int device_drivers_close(); |
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84 | void set_shutdown_task(); |
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85 | TASK shutdown_task_body(void *arg); |
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86 | |||
1381 | giacomo | 87 | PID shutdown_task_PID = -1; |
88 | |||
1158 | pj | 89 | TIME __kernel_register_levels__(void *arg) |
90 | { |
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91 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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92 | |||
1567 | mauro | 93 | INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG); |
1158 | pj | 94 | RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_HARD); |
95 | RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_SOFT); |
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96 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
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97 | dummy_register_level(); |
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98 | |||
1379 | giacomo | 99 | SEM_register_module(); |
1158 | pj | 100 | |
101 | CABS_register_module(); |
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102 | |||
1380 | giacomo | 103 | PI_register_module(); |
104 | |||
1158 | pj | 105 | return TICK; |
106 | } |
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107 | |||
1384 | giacomo | 108 | TASK __init__(void *arg) |
109 | { |
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110 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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111 | |||
112 | HARTPORT_init(); |
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113 | |||
114 | set_shutdown_task(); |
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115 | |||
116 | device_drivers_init(); |
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117 | |||
118 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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119 | |||
120 | __call_main__(mb); |
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121 | |||
122 | return (void *)0; |
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1381 | giacomo | 123 | } |
124 | |||
1384 | giacomo | 125 | void set_shutdown_task() { |
126 | |||
127 | NRT_TASK_MODEL nrt; |
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128 | |||
129 | nrt_task_default_model(nrt); |
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130 | nrt_task_def_system(nrt); |
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131 | |||
132 | shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
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133 | if (shutdown_task_PID == NIL) { |
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134 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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1550 | pj | 135 | exit(1); |
1384 | giacomo | 136 | } |
137 | |||
138 | } |
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139 | |||
1381 | giacomo | 140 | int device_drivers_init() { |
141 | |||
142 | int res; |
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143 | KEYB_PARMS kparms = BASE_KEYB; |
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144 | |||
1567 | mauro | 145 | LINUXC26_register_module(TRUE); |
1381 | giacomo | 146 | |
147 | PCI26_init(); |
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148 | |||
149 | INPUT26_init(); |
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150 | |||
151 | keyb_def_ctrlC(kparms, NULL); |
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152 | |||
153 | KEYB26_init(&kparms); |
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154 | |||
155 | FB26_init(); |
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156 | |||
157 | res = FB26_open(FRAME_BUFFER_DEVICE); |
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158 | if (res) { |
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159 | cprintf("Error: Cannot open graphical mode\n"); |
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160 | KEYB26_close(); |
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161 | INPUT26_close(); |
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1550 | pj | 162 | exit(1); |
1381 | giacomo | 163 | } |
164 | |||
165 | FB26_use_grx(FRAME_BUFFER_DEVICE); |
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166 | |||
167 | FB26_setmode(FRAME_BUFFER_DEVICE,"640x480-16"); |
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168 | |||
169 | return 0; |
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170 | |||
171 | } |
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172 | |||
1384 | giacomo | 173 | int device_drivers_close() { |
174 | |||
175 | FB26_close(FRAME_BUFFER_DEVICE); |
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176 | |||
177 | KEYB26_close(); |
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178 | |||
179 | INPUT26_close(); |
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180 | |||
181 | return 0; |
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182 | |||
1381 | giacomo | 183 | } |
184 | |||
1384 | giacomo | 185 | #define SHUTDOWN_TIMEOUT_SEC 3 |
1381 | giacomo | 186 | |
1384 | giacomo | 187 | void call_shutdown_task(void *arg) |
188 | { |
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189 | struct timespec t; |
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1381 | giacomo | 190 | |
1384 | giacomo | 191 | sys_gettime(&t); |
192 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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1381 | giacomo | 193 | |
1384 | giacomo | 194 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
195 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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1381 | giacomo | 196 | |
197 | task_activate(shutdown_task_PID); |
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198 | } |
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199 | |||
1384 | giacomo | 200 | TASK shutdown_task_body(void *arg) { |
1158 | pj | 201 | |
1384 | giacomo | 202 | device_drivers_close(); |
1158 | pj | 203 | |
1384 | giacomo | 204 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
1381 | giacomo | 205 | |
1384 | giacomo | 206 | return NULL; |
1381 | giacomo | 207 | |
1158 | pj | 208 | } |
1380 | giacomo | 209 | |
210 | void app_mutex_init(mutex_t *m) |
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211 | { |
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212 | PI_mutexattr_t attr; |
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213 | |||
214 | PI_mutexattr_default(attr); |
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215 | |||
216 | mutex_init(m, &attr); |
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217 | } |
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218 |