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Rev | Author | Line No. | Line |
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1127 | giacomo | 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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1400 | giacomo | 9 | * Giacomo Guidi <giacomo@gandalf.sssup.it> |
1569 | tullio | 10 | * Tullio Facchinetti <tullio.facchinetti@unipv.it> |
1127 | giacomo | 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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22 | * This program is free software; you can redistribute it and/or modify |
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23 | * it under the terms of the GNU General Public License as published by |
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24 | * the Free Software Foundation; either version 2 of the License, or |
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25 | * (at your option) any later version. |
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26 | * |
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27 | * This program is distributed in the hope that it will be useful, |
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28 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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29 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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30 | * GNU General Public License for more details. |
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31 | * |
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32 | * You should have received a copy of the GNU General Public License |
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33 | * along with this program; if not, write to the Free Software |
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34 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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35 | * |
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36 | */ |
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37 | |||
38 | #include "kernel/kern.h" |
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1552 | pj | 39 | #include "intdrive/intdrive/intdrive.h" |
40 | #include "edf/edf/edf.h" |
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41 | #include "hardcbs/hardcbs/hardcbs.h" |
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42 | #include "rr/rr/rr.h" |
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43 | #include "dummy/dummy/dummy.h" |
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1127 | giacomo | 44 | |
1552 | pj | 45 | #include "sem/sem/sem.h" |
46 | #include "hartport/hartport/hartport.h" |
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47 | #include "cabs/cabs/cabs.h" |
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1127 | giacomo | 48 | |
1400 | giacomo | 49 | #include <drivers/shark_linuxc26.h> |
50 | #include <drivers/shark_pci26.h> |
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51 | #include <drivers/shark_input26.h> |
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52 | #include <drivers/shark_keyb26.h> |
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53 | #include <drivers/shark_fb26.h> |
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1127 | giacomo | 54 | |
1400 | giacomo | 55 | #define FRAME_BUFFER_DEVICE 0 |
1127 | giacomo | 56 | |
57 | /*+ sysyem tick in us +*/ |
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1400 | giacomo | 58 | #define TICK 0 |
1127 | giacomo | 59 | |
60 | /*+ RR tick in us +*/ |
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61 | #define RRTICK 10000 |
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62 | |||
1400 | giacomo | 63 | /*+ Interrupt Server +*/ |
64 | #define INTDRIVE_Q 1000 |
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1569 | tullio | 65 | #define INTDRIVE_U 0.1*MAX_BANDWIDTH |
1400 | giacomo | 66 | #define INTDRIVE_FLAG 0 |
67 | |||
68 | void call_shutdown_task(void *arg); |
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69 | int device_drivers_init(); |
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70 | int device_drivers_close(); |
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71 | void set_shutdown_task(); |
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72 | TASK shutdown_task_body(void *arg); |
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73 | |||
74 | PID shutdown_task_PID = -1; |
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75 | |||
1127 | giacomo | 76 | TIME __kernel_register_levels__(void *arg) |
77 | { |
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78 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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1569 | tullio | 79 | LEVEL EDF_level; |
1127 | giacomo | 80 | |
1567 | mauro | 81 | INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG); |
1569 | tullio | 82 | EDF_level = EDF_register_level(EDF_ENABLE_ALL); |
83 | HCBS_register_level(HCBS_ENABLE_ALL, EDF_level); |
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1127 | giacomo | 84 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
85 | dummy_register_level(); |
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86 | |||
87 | SEM_register_module(); |
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88 | |||
89 | CABS_register_module(); |
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90 | |||
91 | return TICK; |
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92 | } |
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93 | |||
94 | TASK __init__(void *arg) |
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95 | { |
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96 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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97 | |||
98 | HARTPORT_init(); |
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99 | |||
1400 | giacomo | 100 | /* Create the shutdown task. It will be activated at RUNLEVEL |
101 | SHUTDOWN */ |
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102 | set_shutdown_task(); |
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1127 | giacomo | 103 | |
1400 | giacomo | 104 | /* Init the drivers */ |
105 | device_drivers_init(); |
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106 | |||
107 | /* Set the shutdown task activation */ |
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108 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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109 | |||
1127 | giacomo | 110 | __call_main__(mb); |
111 | |||
112 | return (void *)0; |
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113 | } |
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114 | |||
1400 | giacomo | 115 | void set_shutdown_task() { |
116 | |||
117 | /* WARNING: the shutdown task is a background thread. It cannot execute |
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118 | if the system is overloaded */ |
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119 | NRT_TASK_MODEL nrt; |
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120 | |||
121 | nrt_task_default_model(nrt); |
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122 | nrt_task_def_system(nrt); |
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123 | |||
124 | shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
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125 | if (shutdown_task_PID == NIL) { |
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126 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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1550 | pj | 127 | exit(0); |
1400 | giacomo | 128 | } |
129 | |||
130 | } |
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131 | |||
132 | int device_drivers_init() { |
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133 | |||
134 | int res; |
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135 | KEYB_PARMS kparms = BASE_KEYB; |
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136 | |||
1567 | mauro | 137 | LINUXC26_register_module(TRUE); |
1400 | giacomo | 138 | |
139 | PCI26_init(); |
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140 | |||
141 | INPUT26_init(); |
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142 | |||
143 | keyb_def_ctrlC(kparms, NULL); |
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144 | |||
145 | KEYB26_init(&kparms); |
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146 | |||
147 | FB26_init(); |
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148 | |||
149 | res = FB26_open(FRAME_BUFFER_DEVICE); |
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150 | if (res) { |
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151 | cprintf("Error: Cannot open graphical mode\n"); |
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152 | KEYB26_close(); |
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153 | INPUT26_close(); |
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1550 | pj | 154 | exit(0); |
1400 | giacomo | 155 | } |
156 | |||
157 | FB26_use_grx(FRAME_BUFFER_DEVICE); |
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158 | |||
159 | FB26_setmode(FRAME_BUFFER_DEVICE,"640x480-16"); |
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160 | |||
161 | return 0; |
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162 | |||
163 | } |
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164 | |||
165 | int device_drivers_close() { |
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166 | |||
167 | FB26_close(FRAME_BUFFER_DEVICE); |
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168 | |||
169 | KEYB26_close(); |
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170 | |||
171 | INPUT26_close(); |
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172 | |||
173 | return 0; |
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174 | |||
175 | } |
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176 | |||
177 | #define SHUTDOWN_TIMEOUT_SEC 3 |
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178 | |||
179 | void call_shutdown_task(void *arg) |
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180 | { |
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181 | struct timespec t; |
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182 | |||
183 | sys_gettime(&t); |
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184 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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185 | |||
186 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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187 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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188 | |||
189 | task_activate(shutdown_task_PID); |
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190 | } |
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191 | |||
192 | TASK shutdown_task_body(void *arg) { |
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193 | |||
194 | device_drivers_close(); |
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195 | |||
196 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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197 | |||
198 | return NULL; |
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199 | |||
200 | } |
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201 | |||
202 |