Rev 1550 | Rev 1569 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| 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) |
||
| 7 | * |
||
| 8 | * http://www.sssup.it |
||
| 9 | * http://retis.sssup.it |
||
| 1464 | giacomo | 10 | * http://hartik.sssup.it |
| 1194 | giacomo | 11 | */ |
| 12 | |||
| 13 | #include "kernel/kern.h" |
||
| 1552 | pj | 14 | #include "edf/edf/edf.h" |
| 15 | #include "cbs/cbs/cbs.h" |
||
| 16 | #include "rr/rr/rr.h" |
||
| 17 | #include "dummy/dummy/dummy.h" |
||
| 18 | #include "intdrive/intdrive/intdrive.h" |
||
| 1194 | giacomo | 19 | |
| 1552 | pj | 20 | #include "sem/sem/sem.h" |
| 21 | #include "hartport/hartport/hartport.h" |
||
| 1194 | giacomo | 22 | |
| 1464 | giacomo | 23 | #include <drivers/shark_linuxc26.h> |
| 24 | #include <drivers/shark_input26.h> |
||
| 25 | #include <drivers/shark_keyb26.h> |
||
| 26 | |||
| 27 | #define FRAME_BUFFER_DEVICE 0 |
||
| 28 | |||
| 1194 | giacomo | 29 | /*+ sysyem tick in us +*/ |
| 30 | #define TICK 0 |
||
| 31 | |||
| 32 | /*+ RR tick in us +*/ |
||
| 33 | #define RRTICK 10000 |
||
| 34 | |||
| 1464 | giacomo | 35 | /*+ Interrupt Server +*/ |
| 36 | #define INTDRIVE_Q 1000 |
||
| 37 | #define INTDRIVE_T 10000 |
||
| 38 | #define INTDRIVE_FLAG 0 |
||
| 39 | |||
| 40 | void call_shutdown_task(void *arg); |
||
| 41 | int device_drivers_init(); |
||
| 42 | int device_drivers_close(); |
||
| 43 | void set_shutdown_task(); |
||
| 44 | TASK shutdown_task_body(void *arg); |
||
| 45 | |||
| 46 | PID shutdown_task_PID = -1; |
||
| 47 | |||
| 1194 | giacomo | 48 | TIME __kernel_register_levels__(void *arg) |
| 49 | { |
||
| 50 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
||
| 51 | |||
| 1464 | giacomo | 52 | INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,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(); |
||
| 57 | |||
| 58 | SEM_register_module(); |
||
| 59 | |||
| 60 | return TICK; |
||
| 61 | } |
||
| 62 | |||
| 63 | TASK __init__(void *arg) |
||
| 64 | { |
||
| 65 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
||
| 66 | |||
| 67 | HARTPORT_init(); |
||
| 68 | |||
| 1464 | giacomo | 69 | /* Create the shutdown task. It will be activated at RUNLEVEL |
| 70 | SHUTDOWN */ |
||
| 71 | set_shutdown_task(); |
||
| 1213 | giacomo | 72 | |
| 1464 | giacomo | 73 | /* Init the drivers */ |
| 74 | device_drivers_init(); |
||
| 75 | |||
| 76 | /* Set the shutdown task activation */ |
||
| 77 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
||
| 78 | |||
| 1194 | giacomo | 79 | __call_main__(mb); |
| 80 | |||
| 81 | return (void *)0; |
||
| 82 | } |
||
| 83 | |||
| 1464 | giacomo | 84 | void set_shutdown_task() { |
| 85 | |||
| 86 | /* WARNING: the shutdown task is a background thread. It cannot execute |
||
| 87 | if the system is overloaded */ |
||
| 88 | NRT_TASK_MODEL nrt; |
||
| 89 | |||
| 90 | nrt_task_default_model(nrt); |
||
| 91 | nrt_task_def_system(nrt); |
||
| 92 | |||
| 93 | shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
||
| 94 | if (shutdown_task_PID == NIL) { |
||
| 95 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
||
| 1550 | pj | 96 | exit(1); |
| 1464 | giacomo | 97 | } |
| 98 | |||
| 99 | } |
||
| 100 | |||
| 101 | int device_drivers_init() { |
||
| 102 | |||
| 103 | KEYB_PARMS kparms = BASE_KEYB; |
||
| 104 | |||
| 105 | LINUXC26_register_module(); |
||
| 106 | |||
| 107 | INPUT26_init(); |
||
| 108 | |||
| 1479 | giacomo | 109 | //keyb_def_ctrlC(kparms, NULL); |
| 1464 | giacomo | 110 | |
| 111 | KEYB26_init(&kparms); |
||
| 112 | |||
| 113 | return 0; |
||
| 114 | |||
| 115 | } |
||
| 116 | |||
| 117 | int device_drivers_close() { |
||
| 118 | |||
| 119 | KEYB26_close(); |
||
| 120 | |||
| 121 | INPUT26_close(); |
||
| 122 | |||
| 123 | return 0; |
||
| 124 | |||
| 125 | } |
||
| 126 | |||
| 127 | #define SHUTDOWN_TIMEOUT_SEC 3 |
||
| 128 | |||
| 129 | void call_shutdown_task(void *arg) |
||
| 130 | { |
||
| 131 | struct timespec t; |
||
| 132 | |||
| 133 | sys_gettime(&t); |
||
| 134 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
||
| 135 | |||
| 136 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
||
| 137 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
||
| 138 | |||
| 139 | task_activate(shutdown_task_PID); |
||
| 140 | } |
||
| 141 | |||
| 142 | TASK shutdown_task_body(void *arg) { |
||
| 143 | |||
| 144 | device_drivers_close(); |
||
| 145 | |||
| 146 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
||
| 147 | |||
| 148 | return NULL; |
||
| 149 | |||
| 150 | } |