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| Rev | Author | Line No. | Line |
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| 1405 | giacomo | 1 | /* |
| 2 | * Project: S.Ha.R.K. |
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| 3 | * |
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| 4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
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| 5 | * |
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| 6 | * Authors : Mauro Marinoni <mauro.marinoni@unipv.it> |
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| 7 | * (see authors.txt for full list of hartik's authors) |
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| 8 | * |
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| 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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| 13 | * http://hartik.sssup.it |
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| 14 | */ |
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| 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 | |||
| 32 | |||
| 33 | #include <kernel/kern.h> |
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| 34 | |||
| 1552 | pj | 35 | #include "edf/edf/edf.h" |
| 36 | #include "cbs/cbs/cbs.h" |
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| 37 | #include "rr/rr/rr.h" |
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| 38 | #include "dummy/dummy/dummy.h" |
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| 39 | #include "intdrive/intdrive/intdrive.h" |
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| 1405 | giacomo | 40 | |
| 1552 | pj | 41 | #include "sem/sem/sem.h" |
| 42 | #include "hartport/hartport/hartport.h" |
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| 1405 | giacomo | 43 | |
| 44 | #include <drivers/shark_linuxc26.h> |
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| 45 | #include <drivers/shark_pci26.h> |
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| 46 | #include <drivers/shark_input26.h> |
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| 47 | #include <drivers/shark_keyb26.h> |
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| 48 | |||
| 49 | /*+ sysyem tick in us +*/ |
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| 50 | #define TICK 0 |
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| 51 | |||
| 52 | /*+ RR tick in us +*/ |
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| 53 | #define RRTICK 10000 |
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| 54 | |||
| 55 | /*+ Interrupt Server +*/ |
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| 56 | #define INTDRIVE_Q 1000 |
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| 57 | #define INTDRIVE_T 10000 |
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| 58 | #define INTDRIVE_FLAG 0 |
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| 59 | |||
| 60 | void call_shutdown_task(void *arg); |
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| 61 | int device_drivers_init(); |
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| 62 | int device_drivers_close(); |
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| 63 | void set_shutdown_task(); |
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| 64 | TASK shutdown_task_body(void *arg); |
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| 65 | |||
| 66 | PID shutdown_task_PID = 1; |
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| 67 | |||
| 68 | TIME __kernel_register_levels__(void *arg) |
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| 69 | { |
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| 70 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 71 | |||
| 72 | INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_T, INTDRIVE_FLAG); |
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| 73 | EDF_register_level(EDF_ENABLE_ALL); |
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| 74 | CBS_register_level(CBS_ENABLE_ALL, 1); |
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| 75 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
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| 76 | dummy_register_level(); |
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| 77 | |||
| 78 | SEM_register_module(); |
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| 79 | |||
| 80 | return TICK; |
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| 81 | } |
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| 82 | |||
| 83 | int device_drivers_close() { |
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| 84 | |||
| 85 | KEYB26_close(); |
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| 86 | INPUT26_close(); |
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| 87 | |||
| 88 | return 0; |
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| 89 | |||
| 90 | } |
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| 91 | |||
| 92 | int device_drivers_init() { |
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| 93 | |||
| 94 | KEYB_PARMS kparms = BASE_KEYB; |
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| 95 | |||
| 96 | LINUXC26_register_module(); |
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| 97 | PCI26_init(); |
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| 98 | INPUT26_init(); |
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| 99 | |||
| 100 | /*keyb_def_map(kparms, KEYMAP_IT);*/ |
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| 101 | keyb_def_ctrlC(kparms, NULL); |
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| 102 | KEYB26_init(&kparms); |
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| 103 | |||
| 104 | return 0; |
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| 105 | } |
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| 106 | |||
| 107 | TASK shutdown_task_body(void *arg) { |
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| 108 | |||
| 109 | device_drivers_close(); |
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| 110 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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| 111 | return NULL; |
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| 112 | } |
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| 113 | |||
| 114 | #define SHUTDOWN_TIMEOUT_SEC 3 |
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| 115 | |||
| 116 | void set_shutdown_task() { |
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| 117 | |||
| 118 | NRT_TASK_MODEL nrt; |
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| 119 | |||
| 120 | nrt_task_default_model(nrt); |
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| 121 | nrt_task_def_system(nrt); |
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| 122 | |||
| 123 | shutdown_task_PID = task_create("Shutdown Task", shutdown_task_body, &nrt, NULL); |
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| 124 | if (shutdown_task_PID == NIL) { |
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| 125 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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| 1550 | pj | 126 | exit(1); |
| 1405 | giacomo | 127 | } |
| 128 | |||
| 129 | } |
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| 130 | |||
| 131 | void call_shutdown_task(void *arg) { |
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| 132 | |||
| 133 | struct timespec t; |
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| 134 | |||
| 135 | sys_gettime(&t); |
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| 136 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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| 137 | |||
| 138 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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| 139 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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| 140 | |||
| 141 | task_activate(shutdown_task_PID); |
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| 142 | } |
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| 143 | |||
| 144 | TASK __init__(void *arg) |
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| 145 | { |
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| 146 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 147 | |||
| 148 | HARTPORT_init(); |
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| 149 | |||
| 150 | set_shutdown_task(); |
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| 151 | |||
| 152 | device_drivers_init(); |
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| 153 | |||
| 154 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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| 155 | |||
| 156 | __call_main__(mb); |
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| 157 | |||
| 158 | return (void *)0; |
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| 159 | } |