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Rev | Author | Line No. | Line |
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1194 | giacomo | 1 | /* |
1464 | giacomo | 2 | * Project: S.Ha.R.K |
1194 | giacomo | 3 | * |
1464 | giacomo | 4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
1194 | giacomo | 5 | * |
6 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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7 | * |
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1569 | tullio | 8 | * Authors: |
9 | * ... |
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10 | * Tullio Facchinetti <tullio.facchinetti@unipv.it> |
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11 | * |
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1194 | giacomo | 12 | * http://www.sssup.it |
13 | * http://retis.sssup.it |
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1464 | giacomo | 14 | * http://hartik.sssup.it |
1194 | giacomo | 15 | */ |
16 | |||
1606 | tullio | 17 | /* |
18 | * This program is free software; you can redistribute it and/or modify |
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19 | * it under the terms of the GNU General Public License as published by |
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20 | * the Free Software Foundation; either version 2 of the License, or |
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21 | * (at your option) any later version. |
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22 | * |
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23 | * This program is distributed in the hope that it will be useful, |
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24 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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25 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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26 | * GNU General Public License for more details. |
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27 | * |
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28 | * You should have received a copy of the GNU General Public License |
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29 | * along with this program; if not, write to the Free Software |
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30 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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31 | * |
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32 | */ |
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33 | |||
1194 | giacomo | 34 | #include "kernel/kern.h" |
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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1194 | giacomo | 40 | |
1552 | pj | 41 | #include "sem/sem/sem.h" |
42 | #include "hartport/hartport/hartport.h" |
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1194 | giacomo | 43 | |
1464 | giacomo | 44 | #include <drivers/shark_linuxc26.h> |
45 | #include <drivers/shark_input26.h> |
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46 | #include <drivers/shark_keyb26.h> |
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47 | |||
48 | #define FRAME_BUFFER_DEVICE 0 |
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49 | |||
1194 | giacomo | 50 | /*+ sysyem tick in us +*/ |
51 | #define TICK 0 |
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52 | |||
53 | /*+ RR tick in us +*/ |
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54 | #define RRTICK 10000 |
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55 | |||
1464 | giacomo | 56 | /*+ Interrupt Server +*/ |
57 | #define INTDRIVE_Q 1000 |
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1569 | tullio | 58 | #define INTDRIVE_U 0.1*MAX_BANDWIDTH |
1464 | giacomo | 59 | #define INTDRIVE_FLAG 0 |
60 | |||
61 | void call_shutdown_task(void *arg); |
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62 | int device_drivers_init(); |
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63 | int device_drivers_close(); |
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64 | void set_shutdown_task(); |
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65 | TASK shutdown_task_body(void *arg); |
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66 | |||
67 | PID shutdown_task_PID = -1; |
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68 | |||
1194 | giacomo | 69 | TIME __kernel_register_levels__(void *arg) |
70 | { |
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71 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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1569 | tullio | 72 | LEVEL EDF_level; |
1194 | giacomo | 73 | |
1567 | mauro | 74 | INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG); |
1569 | tullio | 75 | EDF_level = EDF_register_level(EDF_ENABLE_ALL); |
76 | CBS_register_level(CBS_ENABLE_ALL, EDF_level); |
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1194 | giacomo | 77 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
78 | dummy_register_level(); |
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79 | |||
80 | SEM_register_module(); |
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81 | |||
82 | return TICK; |
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83 | } |
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84 | |||
85 | TASK __init__(void *arg) |
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86 | { |
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87 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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88 | |||
89 | HARTPORT_init(); |
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90 | |||
1464 | giacomo | 91 | /* Create the shutdown task. It will be activated at RUNLEVEL |
92 | SHUTDOWN */ |
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93 | set_shutdown_task(); |
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1213 | giacomo | 94 | |
1464 | giacomo | 95 | /* Init the drivers */ |
96 | device_drivers_init(); |
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97 | |||
98 | /* Set the shutdown task activation */ |
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99 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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100 | |||
1194 | giacomo | 101 | __call_main__(mb); |
102 | |||
103 | return (void *)0; |
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104 | } |
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105 | |||
1464 | giacomo | 106 | void set_shutdown_task() { |
107 | |||
108 | /* WARNING: the shutdown task is a background thread. It cannot execute |
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109 | if the system is overloaded */ |
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110 | NRT_TASK_MODEL nrt; |
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111 | |||
112 | nrt_task_default_model(nrt); |
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113 | nrt_task_def_system(nrt); |
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114 | |||
115 | shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
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116 | if (shutdown_task_PID == NIL) { |
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117 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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1550 | pj | 118 | exit(1); |
1464 | giacomo | 119 | } |
120 | |||
121 | } |
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122 | |||
123 | int device_drivers_init() { |
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124 | |||
125 | KEYB_PARMS kparms = BASE_KEYB; |
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126 | |||
1567 | mauro | 127 | LINUXC26_register_module(TRUE); |
1464 | giacomo | 128 | |
129 | INPUT26_init(); |
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130 | |||
1479 | giacomo | 131 | //keyb_def_ctrlC(kparms, NULL); |
1464 | giacomo | 132 | |
133 | KEYB26_init(&kparms); |
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134 | |||
135 | return 0; |
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136 | |||
137 | } |
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138 | |||
139 | int device_drivers_close() { |
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140 | |||
141 | KEYB26_close(); |
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142 | |||
143 | INPUT26_close(); |
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144 | |||
145 | return 0; |
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146 | |||
147 | } |
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148 | |||
149 | #define SHUTDOWN_TIMEOUT_SEC 3 |
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150 | |||
151 | void call_shutdown_task(void *arg) |
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152 | { |
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153 | struct timespec t; |
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154 | |||
155 | sys_gettime(&t); |
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156 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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157 | |||
158 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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159 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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160 | |||
161 | task_activate(shutdown_task_PID); |
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162 | } |
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163 | |||
164 | TASK shutdown_task_body(void *arg) { |
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165 | |||
166 | device_drivers_close(); |
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167 | |||
168 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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169 | |||
170 | return NULL; |
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171 | |||
172 | } |