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Rev | Author | Line No. | Line |
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1489 | giacomo | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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1491 | giacomo | 4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
1489 | giacomo | 5 | * |
1491 | giacomo | 6 | * Authors : Mauro Marinoni <mauro.marinoni@unipv.it> |
7 | * (see authors.txt for full list of hartik's authors) |
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1489 | 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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1491 | giacomo | 13 | * http://hartik.sssup.it |
1489 | giacomo | 14 | */ |
15 | |||
1491 | giacomo | 16 | /* |
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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1489 | giacomo | 40 | |
1552 | pj | 41 | #include "sem/sem/sem.h" |
42 | #include "hartport/hartport/hartport.h" |
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1489 | giacomo | 43 | |
1491 | giacomo | 44 | #include <drivers/shark_linuxc26.h> |
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 | |||
1489 | giacomo | 49 | /*+ sysyem tick in us +*/ |
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 | |||
1491 | giacomo | 55 | /*+ Interrupt Server +*/ |
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 | |||
1489 | giacomo | 68 | TIME __kernel_register_levels__(void *arg) |
69 | { |
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1491 | giacomo | 70 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
1489 | giacomo | 71 | |
1491 | giacomo | 72 | INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_T, INTDRIVE_FLAG); |
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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1489 | giacomo | 77 | |
1491 | giacomo | 78 | SEM_register_module(); |
1489 | giacomo | 79 | |
1491 | giacomo | 80 | return TICK; |
81 | } |
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1489 | giacomo | 82 | |
1491 | giacomo | 83 | int device_drivers_close() { |
84 | |||
85 | return 0; |
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86 | |||
1489 | giacomo | 87 | } |
88 | |||
1491 | giacomo | 89 | int device_drivers_init() { |
90 | |||
1567 | mauro | 91 | LINUXC26_register_module(TRUE); |
1491 | giacomo | 92 | PCI26_init(); |
93 | |||
94 | return 0; |
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95 | } |
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96 | |||
97 | TASK shutdown_task_body(void *arg) { |
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98 | |||
99 | device_drivers_close(); |
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100 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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101 | |||
102 | return NULL; |
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103 | } |
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104 | |||
105 | #define SHUTDOWN_TIMEOUT_SEC 3 |
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106 | |||
107 | void set_shutdown_task() { |
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108 | |||
109 | NRT_TASK_MODEL nrt; |
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110 | |||
111 | nrt_task_default_model(nrt); |
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112 | nrt_task_def_system(nrt); |
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113 | |||
114 | shutdown_task_PID = task_create("Shutdown Task", shutdown_task_body, &nrt, NULL); |
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115 | if (shutdown_task_PID == NIL) { |
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116 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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1550 | pj | 117 | exit(1); |
1491 | giacomo | 118 | } |
119 | |||
120 | } |
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121 | |||
122 | void call_shutdown_task(void *arg) { |
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123 | |||
124 | struct timespec t; |
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125 | |||
126 | sys_gettime(&t); |
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127 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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128 | |||
129 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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130 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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131 | |||
132 | task_activate(shutdown_task_PID); |
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133 | } |
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134 | |||
1489 | giacomo | 135 | TASK __init__(void *arg) |
136 | { |
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1491 | giacomo | 137 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
1489 | giacomo | 138 | |
1491 | giacomo | 139 | HARTPORT_init(); |
1489 | giacomo | 140 | |
1491 | giacomo | 141 | set_shutdown_task(); |
1489 | giacomo | 142 | |
1491 | giacomo | 143 | device_drivers_init(); |
144 | |||
145 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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146 | |||
147 | __call_main__(mb); |
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148 | |||
149 | return (void *)0; |
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1489 | giacomo | 150 | } |