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Rev | Author | Line No. | Line |
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1293 | giacomo | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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1411 | giacomo | 4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
1293 | giacomo | 5 | * |
1569 | tullio | 6 | * Authors : |
7 | * Mauro Marinoni <mauro.marinoni@unipv.it> |
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8 | * Tullio Facchinetti <tullio.facchinetti@unipv.it> |
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1411 | giacomo | 9 | * (see authors.txt for full list of hartik's authors) |
1293 | giacomo | 10 | * |
11 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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12 | * |
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13 | * http://www.sssup.it |
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14 | * http://retis.sssup.it |
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1411 | giacomo | 15 | * http://hartik.sssup.it |
1293 | giacomo | 16 | */ |
17 | |||
1411 | giacomo | 18 | /* |
19 | * This program is free software; you can redistribute it and/or modify |
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20 | * it under the terms of the GNU General Public License as published by |
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21 | * the Free Software Foundation; either version 2 of the License, or |
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22 | * (at your option) any later version. |
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23 | * |
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24 | * This program is distributed in the hope that it will be useful, |
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25 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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26 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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27 | * GNU General Public License for more details. |
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28 | * |
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29 | * You should have received a copy of the GNU General Public License |
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30 | * along with this program; if not, write to the Free Software |
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31 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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32 | */ |
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33 | |||
34 | |||
35 | #include <kernel/kern.h> |
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36 | |||
1552 | pj | 37 | #include "edf/edf/edf.h" |
38 | #include "cbs/cbs/cbs.h" |
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39 | #include "rr/rr/rr.h" |
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40 | #include "dummy/dummy/dummy.h" |
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41 | #include "intdrive/intdrive/intdrive.h" |
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1293 | giacomo | 42 | |
1552 | pj | 43 | #include "sem/sem/sem.h" |
44 | #include "hartport/hartport/hartport.h" |
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1293 | giacomo | 45 | |
1411 | giacomo | 46 | #include <drivers/shark_linuxc26.h> |
47 | #include <drivers/shark_pci26.h> |
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48 | #include <drivers/shark_input26.h> |
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49 | #include <drivers/shark_keyb26.h> |
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1293 | giacomo | 50 | |
51 | /*+ sysyem tick in us +*/ |
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52 | #define TICK 0 |
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53 | |||
54 | /*+ RR tick in us +*/ |
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55 | #define RRTICK 10000 |
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56 | |||
1411 | giacomo | 57 | /*+ Interrupt Server +*/ |
58 | #define INTDRIVE_Q 1000 |
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1568 | tullio | 59 | #define INTDRIVE_U 0.1*MAX_BANDWIDTH |
1411 | giacomo | 60 | #define INTDRIVE_FLAG 0 |
61 | |||
62 | void call_shutdown_task(void *arg); |
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63 | int device_drivers_init(); |
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64 | int device_drivers_close(); |
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65 | void set_shutdown_task(); |
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66 | TASK shutdown_task_body(void *arg); |
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67 | |||
68 | PID shutdown_task_PID = 1; |
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69 | |||
1293 | giacomo | 70 | TIME __kernel_register_levels__(void *arg) |
71 | { |
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1411 | giacomo | 72 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
1568 | tullio | 73 | LEVEL EDF_level; |
1293 | giacomo | 74 | |
1567 | mauro | 75 | INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG); |
1568 | tullio | 76 | EDF_level = EDF_register_level(EDF_ENABLE_ALL); |
77 | CBS_register_level(CBS_ENABLE_ALL, EDF_level); |
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1411 | giacomo | 78 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
79 | dummy_register_level(); |
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1293 | giacomo | 80 | |
1411 | giacomo | 81 | SEM_register_module(); |
1293 | giacomo | 82 | |
1411 | giacomo | 83 | return TICK; |
84 | } |
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1293 | giacomo | 85 | |
1411 | giacomo | 86 | int device_drivers_close() { |
87 | |||
88 | KEYB26_close(); |
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89 | INPUT26_close(); |
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90 | |||
91 | return 0; |
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92 | |||
1293 | giacomo | 93 | } |
94 | |||
1411 | giacomo | 95 | int device_drivers_init() { |
96 | |||
97 | KEYB_PARMS kparms = BASE_KEYB; |
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98 | |||
1567 | mauro | 99 | LINUXC26_register_module(TRUE); |
1411 | giacomo | 100 | PCI26_init(); |
1560 | trimarchi | 101 | //INPUT26_init(); |
1411 | giacomo | 102 | |
103 | /*keyb_def_map(kparms, KEYMAP_IT);*/ |
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104 | keyb_def_ctrlC(kparms, NULL); |
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105 | KEYB26_init(&kparms); |
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106 | |||
107 | return 0; |
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108 | } |
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109 | |||
110 | TASK shutdown_task_body(void *arg) { |
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111 | |||
112 | device_drivers_close(); |
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113 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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114 | return NULL; |
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115 | } |
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116 | |||
117 | #define SHUTDOWN_TIMEOUT_SEC 3 |
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118 | |||
119 | void set_shutdown_task() { |
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120 | |||
121 | NRT_TASK_MODEL nrt; |
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122 | |||
123 | nrt_task_default_model(nrt); |
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124 | nrt_task_def_system(nrt); |
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125 | |||
126 | shutdown_task_PID = task_create("Shutdown Task", shutdown_task_body, &nrt, NULL); |
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127 | if (shutdown_task_PID == NIL) { |
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128 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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1550 | pj | 129 | exit(1); |
1411 | giacomo | 130 | } |
131 | |||
132 | } |
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133 | |||
134 | void call_shutdown_task(void *arg) { |
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135 | |||
136 | struct timespec t; |
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137 | |||
138 | sys_gettime(&t); |
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139 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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140 | |||
141 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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142 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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143 | |||
144 | task_activate(shutdown_task_PID); |
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145 | } |
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146 | |||
1293 | giacomo | 147 | TASK __init__(void *arg) |
148 | { |
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1411 | giacomo | 149 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
1293 | giacomo | 150 | |
1411 | giacomo | 151 | HARTPORT_init(); |
1293 | giacomo | 152 | |
1411 | giacomo | 153 | set_shutdown_task(); |
1293 | giacomo | 154 | |
1411 | giacomo | 155 | device_drivers_init(); |
1293 | giacomo | 156 | |
1411 | giacomo | 157 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
158 | |||
159 | __call_main__(mb); |
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160 | |||
161 | return (void *)0; |
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1293 | giacomo | 162 | } |