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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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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| 8 | * http://www.sssup.it |
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| 9 | * http://retis.sssup.it |
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| 1464 | giacomo | 10 | * http://hartik.sssup.it |
| 1194 | giacomo | 11 | */ |
| 12 | |||
| 13 | #include "kernel/kern.h" |
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| 14 | #include "modules/edf.h" |
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| 15 | #include "modules/cbs.h" |
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| 16 | #include "modules/rr.h" |
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| 17 | #include "modules/dummy.h" |
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| 1464 | giacomo | 18 | #include "modules/intdrive.h" |
| 1194 | giacomo | 19 | |
| 20 | #include "modules/sem.h" |
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| 21 | #include "modules/hartport.h" |
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| 22 | |||
| 1464 | giacomo | 23 | #include "modules/pi.h" |
| 24 | #include "modules/pc.h" |
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| 25 | #include "modules/srp.h" |
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| 26 | #include "modules/npp.h" |
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| 27 | #include "modules/nop.h" |
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| 1194 | giacomo | 28 | |
| 1464 | giacomo | 29 | #include <drivers/shark_linuxc26.h> |
| 30 | #include <drivers/shark_input26.h> |
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| 31 | #include <drivers/shark_keyb26.h> |
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| 32 | |||
| 33 | #define FRAME_BUFFER_DEVICE 0 |
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| 34 | |||
| 1194 | giacomo | 35 | /*+ sysyem tick in us +*/ |
| 36 | #define TICK 0 |
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| 37 | |||
| 38 | /*+ RR tick in us +*/ |
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| 39 | #define RRTICK 10000 |
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| 40 | |||
| 1464 | giacomo | 41 | /*+ Interrupt Server +*/ |
| 42 | #define INTDRIVE_Q 1000 |
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| 43 | #define INTDRIVE_T 10000 |
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| 44 | #define INTDRIVE_FLAG 0 |
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| 45 | |||
| 46 | void call_shutdown_task(void *arg); |
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| 47 | int device_drivers_init(); |
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| 48 | int device_drivers_close(); |
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| 49 | void set_shutdown_task(); |
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| 50 | TASK shutdown_task_body(void *arg); |
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| 51 | |||
| 52 | PID shutdown_task_PID = -1; |
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| 53 | |||
| 1194 | giacomo | 54 | TIME __kernel_register_levels__(void *arg) |
| 55 | { |
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| 56 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 57 | |||
| 1464 | giacomo | 58 | INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG); |
| 1194 | giacomo | 59 | EDF_register_level(EDF_ENABLE_ALL); |
| 1464 | giacomo | 60 | CBS_register_level(CBS_ENABLE_ALL, 1); |
| 1194 | giacomo | 61 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
| 62 | dummy_register_level(); |
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| 63 | |||
| 64 | SEM_register_module(); |
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| 65 | |||
| 1464 | giacomo | 66 | PI_register_module(); |
| 67 | PC_register_module(); |
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| 68 | NPP_register_module(); |
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| 69 | SRP_register_module(); |
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| 70 | NOP_register_module(); |
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| 1194 | giacomo | 71 | |
| 72 | return TICK; |
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| 73 | } |
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| 74 | |||
| 75 | TASK __init__(void *arg) |
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| 76 | { |
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| 77 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 78 | |||
| 79 | HARTPORT_init(); |
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| 80 | |||
| 1464 | giacomo | 81 | /* Create the shutdown task. It will be activated at RUNLEVEL |
| 82 | SHUTDOWN */ |
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| 83 | set_shutdown_task(); |
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| 1213 | giacomo | 84 | |
| 1464 | giacomo | 85 | /* Init the drivers */ |
| 86 | device_drivers_init(); |
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| 87 | |||
| 88 | /* Set the shutdown task activation */ |
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| 89 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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| 90 | |||
| 1194 | giacomo | 91 | __call_main__(mb); |
| 92 | |||
| 93 | return (void *)0; |
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| 94 | } |
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| 95 | |||
| 1464 | giacomo | 96 | void set_shutdown_task() { |
| 97 | |||
| 98 | /* WARNING: the shutdown task is a background thread. It cannot execute |
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| 99 | if the system is overloaded */ |
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| 100 | NRT_TASK_MODEL nrt; |
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| 101 | |||
| 102 | nrt_task_default_model(nrt); |
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| 103 | nrt_task_def_system(nrt); |
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| 104 | |||
| 105 | shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
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| 106 | if (shutdown_task_PID == NIL) { |
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| 107 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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| 108 | sys_end(); |
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| 109 | } |
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| 110 | |||
| 111 | } |
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| 112 | |||
| 113 | int device_drivers_init() { |
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| 114 | |||
| 115 | KEYB_PARMS kparms = BASE_KEYB; |
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| 116 | |||
| 117 | LINUXC26_register_module(); |
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| 118 | |||
| 119 | INPUT26_init(); |
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| 120 | |||
| 121 | keyb_def_ctrlC(kparms, NULL); |
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| 122 | |||
| 123 | KEYB26_init(&kparms); |
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| 124 | |||
| 125 | return 0; |
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| 126 | |||
| 127 | } |
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| 128 | |||
| 129 | int device_drivers_close() { |
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| 130 | |||
| 131 | KEYB26_close(); |
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| 132 | |||
| 133 | INPUT26_close(); |
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| 134 | |||
| 135 | return 0; |
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| 136 | |||
| 137 | } |
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| 138 | |||
| 139 | #define SHUTDOWN_TIMEOUT_SEC 3 |
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| 140 | |||
| 141 | void call_shutdown_task(void *arg) |
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| 142 | { |
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| 143 | struct timespec t; |
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| 144 | |||
| 145 | sys_gettime(&t); |
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| 146 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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| 147 | |||
| 148 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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| 149 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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| 150 | |||
| 151 | task_activate(shutdown_task_PID); |
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| 152 | } |
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| 153 | |||
| 154 | TASK shutdown_task_body(void *arg) { |
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| 155 | |||
| 156 | device_drivers_close(); |
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| 157 | |||
| 158 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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| 159 | |||
| 160 | sys_abort_shutdown(0); |
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| 161 | |||
| 162 | return NULL; |
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| 163 | |||
| 164 | } |