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1085 pj 1
/*
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 * Project: S.Ha.R.K.
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 *
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 * Coordinators:
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 *   Giorgio Buttazzo    <giorgio@sssup.it>
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 *   Paolo Gai           <pj@gandalf.sssup.it>
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 *
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 * Authors     :
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 *   Paolo Gai           <pj@gandalf.sssup.it>
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 *   (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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/**
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 ------------
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 CVS :        $Id: pinit.c,v 1.1.1.1 2002-09-02 09:37:47 pj Exp $
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 File:        $File$
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 Revision:    $Revision: 1.1.1.1 $
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 Last update: $Date: 2002-09-02 09:37:47 $
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 ------------
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 This is a minimal initialization file for the PSE51 profile.
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 It initializes the POSIX scheduler, the Hartik Ports and the Keyboard driver.
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**/
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/*
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 * Copyright (C) 2000 Paolo Gai
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 *
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 * 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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#include "kernel/kern.h"
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#include "modules/posix.h"
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#include "modules/dummy.h"
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#include "modules/pi.h"
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#include "modules/pc.h"
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#include "modules/sem.h"
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#include "modules/hartport.h"
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#include "drivers/keyb.h"
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#include "pthread.h"
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#include "time.h"
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/*+ sysyem tick in us +*/
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#define TICK 1000
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/*+ RR tick in us +*/
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#define RRTICK 10000
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TIME __kernel_register_levels__(void *arg)
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{
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  struct multiboot_info *mb = (struct multiboot_info *)arg;
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  POSIX_register_level(RRTICK, POSIX_MAIN_YES, mb, 32);
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  dummy_register_level();
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  PI_register_module();
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  PC_register_module();
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  SEM_register_module();
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  /* for the Pthread library */
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  PTHREAD_register_module(1, 0, 1);
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  /* for the real time clock extensions */
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  TIMER_register_module();
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  return TICK;
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}
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TASK __init__(void *arg)
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{
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  struct multiboot_info *mb = (struct multiboot_info *)arg;
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  NRT_TASK_MODEL m;   // the scheduling model for the Keyboard
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  KEYB_PARMS k = BASE_KEYB;
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  keyb_def_task(k, &m);
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  nrt_task_default_model(m);
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  nrt_task_def_arg(m,arg);
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  nrt_task_def_usemath(m);
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  nrt_task_def_ctrl_jet(m);
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  nrt_task_def_save_arrivals(m);
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  nrt_task_def_unjoinable(m);
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  nrt_task_def_weight(m, sched_get_priority_max(SCHED_RR));
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  nrt_task_def_policy(m,SCHED_RR);
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  nrt_task_def_inherit(m,PTHREAD_EXPLICIT_SCHED);
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  nrt_task_def_nokill(m);
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  nrt_task_def_system(m);
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  HARTPORT_init();
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  if (KEYB_init(&k) < 0)
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    kern_printf("Error during Keyboard Initialization!!!");
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  __call_main__(mb);
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  return (void *)0;
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}