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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: rrp.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 $
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 ------------
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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 "rr/rr/rr.h"
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#include "rrsoft/rrsoft/rrsoft.h"
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#include "dummy/dummy/dummy.h"
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#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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#include "pi/pi/pi.h"
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#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
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#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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PID shutdown_task_PID = -1;
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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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1567 mauro 93
  INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG);
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  RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_HARD);
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  RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_SOFT);
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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();
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  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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112
  HARTPORT_init();
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  set_shutdown_task();
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  device_drivers_init();
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118
  sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);
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  __call_main__(mb);
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  return (void *)0;
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}
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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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132
  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 136
  }
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}
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1381 giacomo 140
int device_drivers_init() {
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142
  int res;
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  KEYB_PARMS kparms = BASE_KEYB;
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1567 mauro 145
  LINUXC26_register_module(TRUE);
1381 giacomo 146
 
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  PCI26_init();
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  INPUT26_init();
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  keyb_def_ctrlC(kparms, NULL);
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153
  KEYB26_init(&kparms);
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155
  FB26_init();
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157
  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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  FB26_setmode(FRAME_BUFFER_DEVICE,"640x480-16");
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169
  return 0;
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}
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1384 giacomo 173
int device_drivers_close() {
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175
  FB26_close(FRAME_BUFFER_DEVICE);
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177
  KEYB26_close();
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179
  INPUT26_close();
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181
  return 0;
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1381 giacomo 183
}
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1384 giacomo 185
#define SHUTDOWN_TIMEOUT_SEC 3
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1384 giacomo 187
void call_shutdown_task(void *arg)
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{
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  struct timespec t;
1381 giacomo 190
 
1384 giacomo 191
  sys_gettime(&t);
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  t.tv_sec += SHUTDOWN_TIMEOUT_SEC;
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1384 giacomo 194
  /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */
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  kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);
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197
  task_activate(shutdown_task_PID);
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}
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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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{
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  PI_mutexattr_t attr;
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214
  PI_mutexattr_default(attr);
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216
  mutex_init(m, &attr);
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}
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