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| 948 | trimarchi | 1 | /* |
| 2 | * Project: S.Ha.R.K. |
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| 3 | * |
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| 4 | * Coordinators: |
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| 5 | * Giorgio Buttazzo <giorgio@sssup.it> |
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| 6 | * Paolo Gai <pj@gandalf.sssup.it> |
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| 7 | * |
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| 8 | * Authors : |
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| 9 | * Giacomo Guidi <giacomo@gandalf.sssup.it> |
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| 10 | * (see the web pages for full authors list) |
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| 11 | * |
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| 12 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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| 13 | * |
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| 14 | * http://www.sssup.it |
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| 15 | * http://retis.sssup.it |
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| 16 | * http://shark.sssup.it |
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| 17 | */ |
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| 18 | |||
| 19 | /* |
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| 20 | * Copyright (C) 2000 Paolo Gai |
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| 21 | * |
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| 22 | * This program is free software; you can redistribute it and/or modify |
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| 23 | * it under the terms of the GNU General Public License as published by |
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| 24 | * the Free Software Foundation; either version 2 of the License, or |
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| 25 | * (at your option) any later version. |
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| 26 | * |
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| 27 | * This program is distributed in the hope that it will be useful, |
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| 28 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 29 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 30 | * GNU General Public License for more details. |
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| 31 | * |
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| 32 | * You should have received a copy of the GNU General Public License |
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| 33 | * along with this program; if not, write to the Free Software |
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| 34 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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| 35 | * |
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| 36 | */ |
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| 37 | |||
| 38 | #include "kernel/kern.h" |
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| 39 | #include "modules/edf.h" |
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| 40 | #include "modules/cbs.h" |
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| 41 | #include "modules/posix.h" |
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| 42 | #include "pthread.h" |
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| 43 | #include "modules/sem.h" |
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| 44 | #include "modules/dummy.h" |
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| 45 | #include "modules/hartport.h" |
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| 46 | #include "grubstar.h" |
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| 47 | #include "fsf.h" |
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| 48 | |||
| 49 | #include "modules/pi.h" |
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| 50 | #include "modules/pc.h" |
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| 51 | #include "modules/intdrive.h" |
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| 52 | |||
| 53 | #include <drivers/shark_linuxc26.h> |
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| 54 | #include <drivers/shark_input26.h> |
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| 55 | #include <drivers/shark_keyb26.h> |
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| 56 | #include <drivers/shark_pci26.h> |
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| 57 | |||
| 58 | #define TICK 0 |
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| 59 | |||
| 60 | #define RRTICK 10000 |
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| 61 | |||
| 62 | /*+ Interrupt Server +*/ |
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| 63 | #define INTDRIVE_Q 1000 |
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| 64 | #define INTDRIVE_T 10000 |
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| 65 | #define INTDRIVE_FLAG 0 |
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| 66 | |||
| 67 | void call_shutdown_task(void *arg); |
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| 68 | int device_drivers_init(); |
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| 69 | int device_drivers_close(); |
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| 70 | void set_shutdown_task(); |
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| 71 | TASK shutdown_task_body(void *arg); |
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| 72 | |||
| 73 | PID shutdown_task_PID = 1; |
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| 74 | |||
| 75 | // void load_file(); |
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| 76 | |||
| 77 | int device_drivers_close() { |
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| 78 | |||
| 79 | KEYB26_close(); |
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| 80 | INPUT26_close(); |
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| 81 | |||
| 82 | return 0; |
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| 83 | |||
| 84 | } |
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| 85 | |||
| 86 | int device_drivers_init() { |
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| 87 | KEYB_PARMS kparms = BASE_KEYB; |
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| 88 | |||
| 89 | LINUXC26_register_module(); |
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| 90 | PCI26_init(); |
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| 91 | INPUT26_init(); |
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| 92 | |||
| 93 | /*keyb_def_map(kparms, KEYMAP_IT);*/ |
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| 94 | keyb_def_ctrlC(kparms, NULL); |
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| 95 | KEYB26_init(&kparms); |
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| 96 | |||
| 97 | |||
| 98 | return 0; |
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| 99 | } |
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| 100 | |||
| 101 | TASK shutdown_task_body(void *arg) { |
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| 102 | |||
| 103 | device_drivers_close(); |
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| 104 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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| 105 | sys_abort_shutdown(0); |
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| 106 | |||
| 107 | return NULL; |
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| 108 | } |
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| 109 | #define SHUTDOWN_TIMEOUT_SEC 3 |
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| 110 | |||
| 111 | void set_shutdown_task() { |
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| 112 | |||
| 113 | NRT_TASK_MODEL nrt; |
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| 114 | |||
| 115 | nrt_task_default_model(nrt); |
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| 116 | nrt_task_def_system(nrt); |
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| 117 | |||
| 118 | shutdown_task_PID = task_create("Shutdown Task", shutdown_task_body, &nrt, NULL); |
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| 119 | if (shutdown_task_PID == NIL) { |
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| 120 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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| 121 | exit(-1); |
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| 122 | } |
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| 123 | |||
| 124 | } |
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| 125 | |||
| 126 | void call_shutdown_task(void *arg) { |
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| 127 | |||
| 128 | struct timespec t; |
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| 129 | |||
| 130 | sys_gettime(&t); |
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| 131 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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| 132 | |||
| 133 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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| 134 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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| 135 | |||
| 136 | task_activate(shutdown_task_PID); |
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| 137 | } |
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| 138 | |||
| 139 | TIME __kernel_register_levels__(void *arg) |
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| 140 | { |
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| 141 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 142 | int edf_level; |
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| 143 | int grubstar_level; |
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| 144 | int posix_level; |
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| 145 | int pi_level; |
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| 146 | int pc_level; |
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| 147 | |||
| 148 | INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_T, INTDRIVE_FLAG); |
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| 149 | edf_level=EDF_register_level(EDF_ENABLE_ALL); |
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| 150 | posix_level=POSIX_register_level(RRTICK, POSIX_MAIN_YES, mb, 32); |
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| 151 | grubstar_level = GRUBSTAR_register_level(FSF_MAX_N_SERVERS, edf_level); |
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| 152 | |||
| 153 | FSF_register_module(posix_level,grubstar_level, (int)(MAX_BANDWIDTH*0.8)); |
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| 154 | dummy_register_level(); |
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| 155 | |||
| 156 | CBS_register_level(CBS_ENABLE_ALL,1); |
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| 157 | |||
| 158 | SEM_register_module(); |
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| 159 | |||
| 160 | pi_level=PI_register_module(); |
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| 161 | pc_level=PC_register_module(); |
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| 162 | |||
| 163 | PTHREAD_register_module(posix_level, pi_level, pc_level); |
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| 164 | |||
| 165 | return TICK; |
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| 166 | |||
| 167 | } |
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| 168 | |||
| 169 | TASK __init__(void *arg) |
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| 170 | { |
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| 171 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 172 | |||
| 173 | HARTPORT_init(); |
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| 174 | |||
| 175 | set_shutdown_task(); |
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| 176 | |||
| 177 | device_drivers_init(); |
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| 178 | |||
| 179 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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| 180 | |||
| 181 | __call_main__(mb); |
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| 182 | |||
| 183 | return (void *)0; |
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| 184 | } |
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| 185 | |||
| 186 |