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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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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 | |||
1479 | giacomo | 121 | //keyb_def_ctrlC(kparms, NULL); |
1464 | giacomo | 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 | } |