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1254 | giacomo | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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1441 | giacomo | 4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
1254 | giacomo | 5 | * |
1441 | giacomo | 6 | * Authors : Mauro Marinoni <mauro.marinoni@unipv.it> |
7 | * (see authors.txt for full list of hartik's authors) |
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1254 | giacomo | 8 | * |
9 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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10 | * |
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11 | * http://www.sssup.it |
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12 | * http://retis.sssup.it |
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1441 | giacomo | 13 | * http://hartik.sssup.it |
1254 | giacomo | 14 | */ |
15 | |||
16 | /* |
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17 | * This program is free software; you can redistribute it and/or modify |
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18 | * it under the terms of the GNU General Public License as published by |
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19 | * the Free Software Foundation; either version 2 of the License, or |
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20 | * (at your option) any later version. |
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21 | * |
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22 | * This program is distributed in the hope that it will be useful, |
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23 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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24 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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25 | * GNU General Public License for more details. |
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26 | * |
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27 | * You should have received a copy of the GNU General Public License |
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28 | * along with this program; if not, write to the Free Software |
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29 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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30 | */ |
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31 | |||
1441 | giacomo | 32 | |
33 | #include <kernel/kern.h> |
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34 | |||
1254 | giacomo | 35 | #include "modules/edf.h" |
36 | #include "modules/cbs.h" |
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1441 | giacomo | 37 | #include "modules/rr.h" |
1254 | giacomo | 38 | #include "modules/dummy.h" |
1441 | giacomo | 39 | #include "modules/intdrive.h" |
1254 | giacomo | 40 | |
1441 | giacomo | 41 | #include "modules/posix.h" |
42 | #include "grubstar.h" |
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1538 | trimarchi | 43 | #include "fsf_basic_types.h" |
44 | #include "fsf_core.h" |
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1254 | giacomo | 45 | |
46 | #include "modules/pi.h" |
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47 | #include "modules/pc.h" |
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48 | |||
1441 | giacomo | 49 | #include "pthread.h" |
50 | |||
51 | #include "modules/sem.h" |
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52 | #include "modules/hartport.h" |
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1467 | trimarchi | 53 | #include "modules/nop.h" |
1441 | giacomo | 54 | |
55 | #include <drivers/shark_linuxc26.h> |
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56 | #include <drivers/shark_pci26.h> |
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57 | |||
58 | /*+ sysyem tick in us +*/ |
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1254 | giacomo | 59 | #define TICK 0 |
60 | |||
1441 | giacomo | 61 | /*+ RR tick in us +*/ |
1254 | giacomo | 62 | #define RRTICK 10000 |
63 | |||
1441 | giacomo | 64 | /*+ Interrupt Server +*/ |
65 | #define INTDRIVE_Q 1000 |
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66 | #define INTDRIVE_T 10000 |
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67 | #define INTDRIVE_FLAG 0 |
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68 | |||
69 | void call_shutdown_task(void *arg); |
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70 | int device_drivers_init(); |
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71 | int device_drivers_close(); |
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72 | void set_shutdown_task(); |
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73 | TASK shutdown_task_body(void *arg); |
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74 | |||
75 | PID shutdown_task_PID = 1; |
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76 | |||
1254 | giacomo | 77 | TIME __kernel_register_levels__(void *arg) |
78 | { |
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1441 | giacomo | 79 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
80 | int grubstar_level; |
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1538 | trimarchi | 81 | int posix_level; |
1254 | giacomo | 82 | |
1441 | giacomo | 83 | INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_T, INTDRIVE_FLAG); |
84 | EDF_register_level(EDF_ENABLE_ALL); |
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1538 | trimarchi | 85 | posix_level=POSIX_register_level(RRTICK, 1, mb, 32); |
1441 | giacomo | 86 | grubstar_level = GRUBSTAR_register_level(FSF_MAX_N_SERVERS, 1); |
1467 | trimarchi | 87 | |
1538 | trimarchi | 88 | FSF_register_module(posix_level,grubstar_level, (int)(MAX_BANDWIDTH * 0.8)); |
1441 | giacomo | 89 | dummy_register_level(); |
90 | |||
91 | CBS_register_level(CBS_ENABLE_ALL,1); |
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92 | |||
93 | SEM_register_module(); |
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94 | |||
95 | PI_register_module(); |
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96 | PC_register_module(); |
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1467 | trimarchi | 97 | NOP_register_module(); |
1441 | giacomo | 98 | |
99 | PTHREAD_register_module(2, 0, 1); |
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1254 | giacomo | 100 | |
1441 | giacomo | 101 | return TICK; |
102 | } |
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1254 | giacomo | 103 | |
1441 | giacomo | 104 | int device_drivers_close() { |
105 | |||
106 | return 0; |
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107 | |||
108 | } |
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1254 | giacomo | 109 | |
1441 | giacomo | 110 | int device_drivers_init() { |
1254 | giacomo | 111 | |
1441 | giacomo | 112 | LINUXC26_register_module(); |
113 | PCI26_init(); |
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1254 | giacomo | 114 | |
1441 | giacomo | 115 | return 0; |
1254 | giacomo | 116 | } |
117 | |||
1441 | giacomo | 118 | TASK shutdown_task_body(void *arg) { |
119 | |||
120 | device_drivers_close(); |
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121 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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122 | sys_abort_shutdown(0); |
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123 | |||
124 | return NULL; |
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125 | } |
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126 | |||
127 | #define SHUTDOWN_TIMEOUT_SEC 3 |
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128 | |||
129 | void set_shutdown_task() { |
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130 | |||
131 | NRT_TASK_MODEL nrt; |
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132 | |||
133 | nrt_task_default_model(nrt); |
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134 | nrt_task_def_system(nrt); |
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135 | |||
136 | shutdown_task_PID = task_create("Shutdown Task", shutdown_task_body, &nrt, NULL); |
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137 | if (shutdown_task_PID == NIL) { |
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138 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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139 | sys_end(); |
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140 | } |
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141 | |||
142 | } |
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143 | |||
144 | void call_shutdown_task(void *arg) { |
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145 | |||
146 | struct timespec t; |
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147 | |||
148 | sys_gettime(&t); |
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149 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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150 | |||
151 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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152 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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153 | |||
154 | task_activate(shutdown_task_PID); |
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155 | } |
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156 | |||
1254 | giacomo | 157 | TASK __init__(void *arg) |
158 | { |
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1441 | giacomo | 159 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
1254 | giacomo | 160 | |
1441 | giacomo | 161 | HARTPORT_init(); |
1254 | giacomo | 162 | |
1441 | giacomo | 163 | set_shutdown_task(); |
1254 | giacomo | 164 | |
1441 | giacomo | 165 | device_drivers_init(); |
166 | |||
167 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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168 | |||
169 | __call_main__(mb); |
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170 | |||
171 | return (void *)0; |
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1254 | giacomo | 172 | } |
173 | |||
174 | int main() { |
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175 | |||
176 | return start_environment(); |
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1441 | giacomo | 177 | |
1254 | giacomo | 178 | } |
179 |