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1126 giacomo 1
/*
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 * Project: S.Ha.R.K.
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 *
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 * Coordinators:
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 *   Giorgio Buttazzo    <giorgio@sssup.it>
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 *   Paolo Gai           <pj@gandalf.sssup.it>
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 *
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 * Authors     :
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 *   Giacomo Guidi       <giacomo@gandalf.sssup.it>
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 *
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 *
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 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
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 *
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 * http://www.sssup.it
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 * http://retis.sssup.it
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 * http://shark.sssup.it
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 */
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#include <drivers/vga.h>
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#include <drivers/keyb.h>
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#include <math.h>
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#include <stdlib.h>
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#include <kernel/log.h>
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#include <kernel/kern.h>
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#define WIDTH 640
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#define HEIGHT 480
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#define BYTES_PP 2
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#define INITSTR G640x480x64K //SVGAlib standard mode definitions
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#define CARD NV3 //Video driver (Supported SAVAGE, NV3, R128 from SVGALib)
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unsigned char *rgb_565_buf = NULL; //RGB 16 bpp Buffer
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unsigned char *video_buf = NULL; //Video Buffer
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unsigned long int VMEMLONG = WIDTH * HEIGHT * BYTES_PP / 4; // Used by copy_videomem_16to16
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unsigned long int RGB565MEM = WIDTH * HEIGHT * BYTES_PP; // Total video mem
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unsigned long int PERIOD_REFRESH = 40000; //fps = 25 
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unsigned long int PERIOD_DISEGNA = 80000;
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unsigned long int WCET_REFRESH, WCET_DISEGNA;
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TASK refesh(void);
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TASK disegna(void);
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PID refresh_PID, disegna_PID;
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static int screen(int mode)
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{
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  vga_modeinfo *minf;
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  vga_setmode(mode,CARD);
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  minf = vga_getmodeinfo(mode);
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  if(! (minf->flags & CAPABLE_LINEAR)){
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    vga_setmode(TEXT,CARD);
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    printk(KERN_INFO "The mode %d is not capable of linear\n",mode);
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    return 1;
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  }
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  vga_setpage(0);
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  if(vga_setlinearaddressing() == -1) {
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    vga_setmode(TEXT,CARD);
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    printk(KERN_INFO "Could not set linear addressing for mode %d\n",mode);
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    return 1;
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  }
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  video_buf = vga_getgraphmem();
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  rgb_565_buf = malloc(RGB565MEM);
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  grx_setbuffer(rgb_565_buf, WIDTH, HEIGHT);    //Init of RGBA version of grx functions
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                                                //created to work with Mesa buffer
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  return 0;
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}
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void program_end(void *arg)
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{
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  free(rgb_565_buf);
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  vga_setmode(TEXT,CARD);
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  sys_end();
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}
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void program_key_end(KEY_EVT *k)
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{
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  sys_end();
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}
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TASK refresh(void)
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{
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  while(1) {
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    copy_videomem_16to16(rgb_565_buf, video_buf, VMEMLONG);
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    task_endcycle();
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  }
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  sys_end();
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}
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TASK disegna(void)
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{
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  char text[100];
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  TIME disegna_TIME, refresh_TIME;
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  while(1) {
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    jet_gettable(refresh_PID, &refresh_TIME, 1);
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    jet_gettable(disegna_PID, &disegna_TIME, 1);
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    sprintf(text,"Hard Task Refresh PER:%6d us EX:%6d us",(int)PERIOD_REFRESH,(int)refresh_TIME);
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    grx_text(text,10,5,rgb16(0,0,255),0);    
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    sprintf(text,"Hard Task Draw    PER:%6d us EX:%6d us",(int)PERIOD_DISEGNA,(int)disegna_TIME);
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    grx_text(text,10,15,rgb16(0,0,255),0);
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    grx_text("SVGADEMO", 10,25,rgb16(255,0,0), 0);
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    grx_line(50,50,100,100,rgb16(0,255,0));
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    grx_box(110,50,160,100,rgb16(0,0,255));
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    grx_rect(170,50,220,100,rgb16(0,255,255));
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    task_endcycle();
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  }
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  sys_end();
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}
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int main (int argc, char *argv[])
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{
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    HARD_TASK_MODEL ht_refresh, ht_disegna;
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    sys_atrunlevel(program_end,NULL, RUNLEVEL_BEFORE_EXIT);
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    clear();
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    WCET_REFRESH =((long int) PERIOD_REFRESH * (0.7));
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    WCET_DISEGNA =((long int) PERIOD_DISEGNA * (0.15));
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    hard_task_default_model(ht_refresh);
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    hard_task_def_wcet(ht_refresh,WCET_REFRESH);
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    hard_task_def_mit(ht_refresh,PERIOD_REFRESH);
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    hard_task_def_usemath(ht_refresh);
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    hard_task_def_group(ht_refresh,1);
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    hard_task_def_ctrl_jet(ht_refresh);
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    refresh_PID = task_create("refresh", refresh, &ht_refresh, NULL);
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    if (refresh_PID == -1) {
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      sys_end();
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      exit(4);
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    }
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    hard_task_default_model(ht_disegna);
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    hard_task_def_mit(ht_disegna,PERIOD_DISEGNA);
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    hard_task_def_wcet(ht_disegna,WCET_DISEGNA);
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    hard_task_def_group(ht_disegna,1);
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    hard_task_def_ctrl_jet(ht_disegna);
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    hard_task_def_usemath(ht_disegna);
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    disegna_PID = task_create("disegna", disegna, &ht_disegna, NULL);
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    if (disegna_PID == -1) {
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      sys_end();
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      exit(4);
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    }
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    {
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      KEY_EVT k;
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      k.flag = ALTL_BIT;
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      k.scan = KEY_C;
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      k.ascii = 'c';
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      keyb_hook(k,program_key_end);
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    }
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    if (screen(INITSTR)) {
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        printk(KERN_INFO "Graphical initialization failed !!\n");
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        sys_end();
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    }
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    memset(rgb_565_buf, 0, RGB565MEM);
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    group_activate(1);
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    return 0;
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}