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1085 pj 1
/*
1436 giacomo 2
 * Project: S.Ha.R.K.
1085 pj 3
 *
1436 giacomo 4
 * Coordinators:
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 *   Giorgio Buttazzo    <giorgio@sssup.it>
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 *   Paolo Gai           <pj@gandalf.sssup.it>
1085 pj 7
 *
1436 giacomo 8
 * Authors     :
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 *   Giacomo Guidi       <giacomo@gandalf.sssup.it>
1569 tullio 10
 *   Tullio Facchinetti  <tullio.facchinetti@unipv.it>
1436 giacomo 11
 *   (see the web pages for full authors list)
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 *
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 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
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 *
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 * http://www.sssup.it
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 * http://retis.sssup.it
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 * http://shark.sssup.it
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 */
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/*
1085 pj 21
 * This program is free software; you can redistribute it and/or modify
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 * it under the terms of the GNU General Public License as published by
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 * the Free Software Foundation; either version 2 of the License, or
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 * (at your option) any later version.
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 *
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 * This program is distributed in the hope that it will be useful,
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 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 * GNU General Public License for more details.
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 *
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 * You should have received a copy of the GNU General Public License
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 * along with this program; if not, write to the Free Software
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 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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 *
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 */
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1436 giacomo 37
#include "kernel/kern.h"
1552 pj 38
#include "intdrive/intdrive/intdrive.h"
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#include "edf/edf/edf.h"
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#include "hardcbs/hardcbs/hardcbs.h"
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#include "rr/rr/rr.h"
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#include "dummy/dummy/dummy.h"
1085 pj 43
 
1552 pj 44
#include "sem/sem/sem.h"
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#include "hartport/hartport/hartport.h"
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#include "cabs/cabs/cabs.h"
1085 pj 47
 
1436 giacomo 48
#include <drivers/shark_linuxc26.h>
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#include <drivers/shark_pci26.h>
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#include <drivers/shark_input26.h>
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#include <drivers/shark_keyb26.h>
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#include <drivers/shark_fb26.h>
1085 pj 53
 
1436 giacomo 54
#define FRAME_BUFFER_DEVICE 0
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/*+ sysyem tick in us +*/
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#define TICK 0
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/*+ RR tick in us +*/
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#define RRTICK 2000
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/*+ Interrupt Server +*/
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#define INTDRIVE_Q 1000
1569 tullio 64
#define INTDRIVE_U 0.1*MAX_BANDWIDTH
1436 giacomo 65
#define INTDRIVE_FLAG 0
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67
void call_shutdown_task(void *arg);
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int device_drivers_init();
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int device_drivers_close();
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void set_shutdown_task();
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TASK shutdown_task_body(void *arg);
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73
PID shutdown_task_PID = -1;
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1085 pj 75
TIME __kernel_register_levels__(void *arg)
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{
1436 giacomo 77
  struct multiboot_info *mb = (struct multiboot_info *)arg;
1569 tullio 78
  LEVEL EDF_level;
1085 pj 79
 
1567 mauro 80
  INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG);
1569 tullio 81
  EDF_level = EDF_register_level(EDF_ENABLE_ALL);
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  HCBS_register_level(HCBS_ENABLE_ALL, EDF_level);
1436 giacomo 83
  RR_register_level(RRTICK, RR_MAIN_YES, mb);
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  dummy_register_level();
1085 pj 85
 
1436 giacomo 86
  SEM_register_module();
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  CABS_register_module();
88
 
89
  return TICK;
1085 pj 90
}
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92
TASK __init__(void *arg)
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{
1436 giacomo 94
  struct multiboot_info *mb = (struct multiboot_info *)arg;
1085 pj 95
 
1436 giacomo 96
  HARTPORT_init();
1085 pj 97
 
1436 giacomo 98
  /* Create the shutdown task. It will be activated at RUNLEVEL
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     SHUTDOWN */
100
  set_shutdown_task();
1085 pj 101
 
1436 giacomo 102
  /* Init the drivers */
103
  device_drivers_init();
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105
  /* Set the shutdown task activation */
106
  sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);
107
 
108
  __call_main__(mb);
109
 
110
  return (void *)0;
1085 pj 111
}
1436 giacomo 112
 
113
void set_shutdown_task() {
114
 
115
  /* WARNING: the shutdown task is a background thread. It cannot execute
116
              if the system is overloaded */
117
  NRT_TASK_MODEL nrt;
118
 
119
  nrt_task_default_model(nrt);
120
  nrt_task_def_system(nrt);
121
 
122
  shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL);
123
  if (shutdown_task_PID == NIL) {
124
    sys_shutdown_message("Error: Cannot create shutdown task\n");
1550 pj 125
    exit(1);
1436 giacomo 126
  }
127
 
128
}
129
 
130
int device_drivers_init() {
131
 
132
  int res;
133
  KEYB_PARMS kparms = BASE_KEYB;
134
 
1567 mauro 135
  LINUXC26_register_module(TRUE);
1436 giacomo 136
 
137
  PCI26_init();
138
 
139
  INPUT26_init();
140
 
141
  keyb_def_ctrlC(kparms, NULL);
142
 
143
  KEYB26_init(&kparms);
144
 
145
  FB26_init();
146
 
147
  res = FB26_open(FRAME_BUFFER_DEVICE);
148
  if (res) {
149
    cprintf("Error: Cannot open graphical mode\n");
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    KEYB26_close();
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    INPUT26_close();
1550 pj 152
    exit(1);
1436 giacomo 153
  }                                                                                          
154
 
155
  FB26_use_grx(FRAME_BUFFER_DEVICE);
156
 
157
  FB26_setmode(FRAME_BUFFER_DEVICE,"800x600-16");
158
 
159
  return 0;
160
 
161
}
162
 
163
int device_drivers_close() {
164
 
165
  FB26_close(FRAME_BUFFER_DEVICE);
166
 
167
  KEYB26_close();
168
 
169
  INPUT26_close();
170
 
171
  return 0;
172
 
173
}
174
 
175
#define SHUTDOWN_TIMEOUT_SEC 3
176
 
177
void call_shutdown_task(void *arg)
178
{
179
  struct timespec t;
180
 
181
  sys_gettime(&t);
182
  t.tv_sec += SHUTDOWN_TIMEOUT_SEC;
183
 
184
  /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */
185
  kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);
186
 
187
  task_activate(shutdown_task_PID);
188
}
189
 
190
TASK shutdown_task_body(void *arg) {
191
 
192
  device_drivers_close();
193
 
194
  sys_shutdown_message("-- S.Ha.R.K. Closed --\n");
195
 
196
  return NULL;
197
 
198
}