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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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1552 | pj | 14 | #include "edf/edf/edf.h" |
15 | #include "cbs/cbs/cbs.h" |
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16 | #include "rr/rr/rr.h" |
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17 | #include "dummy/dummy/dummy.h" |
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18 | #include "intdrive/intdrive/intdrive.h" |
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1194 | giacomo | 19 | |
1552 | pj | 20 | #include "sem/sem/sem.h" |
21 | #include "hartport/hartport/hartport.h" |
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1194 | giacomo | 22 | |
1464 | giacomo | 23 | #include <drivers/shark_linuxc26.h> |
24 | #include <drivers/shark_input26.h> |
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25 | #include <drivers/shark_keyb26.h> |
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26 | |||
27 | #define FRAME_BUFFER_DEVICE 0 |
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28 | |||
1194 | giacomo | 29 | /*+ sysyem tick in us +*/ |
30 | #define TICK 0 |
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31 | |||
32 | /*+ RR tick in us +*/ |
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33 | #define RRTICK 10000 |
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34 | |||
1464 | giacomo | 35 | /*+ Interrupt Server +*/ |
36 | #define INTDRIVE_Q 1000 |
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1567 | mauro | 37 | #define INTDRIVE_U 1000 |
1464 | giacomo | 38 | #define INTDRIVE_FLAG 0 |
39 | |||
40 | void call_shutdown_task(void *arg); |
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41 | int device_drivers_init(); |
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42 | int device_drivers_close(); |
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43 | void set_shutdown_task(); |
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44 | TASK shutdown_task_body(void *arg); |
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45 | |||
46 | PID shutdown_task_PID = -1; |
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47 | |||
1194 | giacomo | 48 | TIME __kernel_register_levels__(void *arg) |
49 | { |
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50 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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51 | |||
1567 | mauro | 52 | INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG); |
1194 | giacomo | 53 | EDF_register_level(EDF_ENABLE_ALL); |
1464 | giacomo | 54 | CBS_register_level(CBS_ENABLE_ALL, 1); |
1194 | giacomo | 55 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
56 | dummy_register_level(); |
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57 | |||
58 | SEM_register_module(); |
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59 | |||
60 | return TICK; |
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61 | } |
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62 | |||
63 | TASK __init__(void *arg) |
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64 | { |
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65 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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66 | |||
67 | HARTPORT_init(); |
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68 | |||
1464 | giacomo | 69 | /* Create the shutdown task. It will be activated at RUNLEVEL |
70 | SHUTDOWN */ |
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71 | set_shutdown_task(); |
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1213 | giacomo | 72 | |
1464 | giacomo | 73 | /* Init the drivers */ |
74 | device_drivers_init(); |
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75 | |||
76 | /* Set the shutdown task activation */ |
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77 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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78 | |||
1194 | giacomo | 79 | __call_main__(mb); |
80 | |||
81 | return (void *)0; |
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82 | } |
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83 | |||
1464 | giacomo | 84 | void set_shutdown_task() { |
85 | |||
86 | /* WARNING: the shutdown task is a background thread. It cannot execute |
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87 | if the system is overloaded */ |
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88 | NRT_TASK_MODEL nrt; |
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89 | |||
90 | nrt_task_default_model(nrt); |
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91 | nrt_task_def_system(nrt); |
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92 | |||
93 | shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
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94 | if (shutdown_task_PID == NIL) { |
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95 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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1550 | pj | 96 | exit(1); |
1464 | giacomo | 97 | } |
98 | |||
99 | } |
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100 | |||
101 | int device_drivers_init() { |
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102 | |||
103 | KEYB_PARMS kparms = BASE_KEYB; |
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104 | |||
1567 | mauro | 105 | LINUXC26_register_module(TRUE); |
1464 | giacomo | 106 | |
107 | INPUT26_init(); |
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108 | |||
1479 | giacomo | 109 | //keyb_def_ctrlC(kparms, NULL); |
1464 | giacomo | 110 | |
111 | KEYB26_init(&kparms); |
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112 | |||
113 | return 0; |
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114 | |||
115 | } |
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116 | |||
117 | int device_drivers_close() { |
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118 | |||
119 | KEYB26_close(); |
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120 | |||
121 | INPUT26_close(); |
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122 | |||
123 | return 0; |
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124 | |||
125 | } |
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126 | |||
127 | #define SHUTDOWN_TIMEOUT_SEC 3 |
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128 | |||
129 | void call_shutdown_task(void *arg) |
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130 | { |
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131 | struct timespec t; |
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132 | |||
133 | sys_gettime(&t); |
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134 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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135 | |||
136 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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137 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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138 | |||
139 | task_activate(shutdown_task_PID); |
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140 | } |
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141 | |||
142 | TASK shutdown_task_body(void *arg) { |
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143 | |||
144 | device_drivers_close(); |
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145 | |||
146 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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147 | |||
148 | return NULL; |
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149 | |||
150 | } |