Rev 1655 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1655 | giacomo | 1 | /* |
| 2 | * Project: S.Ha.R.K |
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| 3 | * |
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| 4 | * Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
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| 5 | * |
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| 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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| 10 | * http://hartik.sssup.it |
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| 11 | */ |
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| 12 | |||
| 13 | #include "kernel/kern.h" |
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| 14 | #include "modules/edf.h" |
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| 15 | #include "modules/hardcbs.h" |
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| 16 | #include "modules/rr.h" |
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| 17 | #include "modules/dummy.h" |
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| 18 | #include "modules/intdrive.h" |
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| 19 | |||
| 20 | #include "modules/sem.h" |
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| 21 | #include "modules/hartport.h" |
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| 22 | |||
| 23 | #include <drivers/shark_linuxc26.h> |
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| 24 | #include <drivers/shark_pci26.h> |
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| 25 | #include <drivers/shark_input26.h> |
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| 26 | #include <drivers/shark_keyb26.h> |
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| 27 | #include <drivers/shark_fb26.h> |
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| 28 | |||
| 29 | #define FRAME_BUFFER_DEVICE 0 |
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| 30 | |||
| 31 | /*+ sysyem tick in us +*/ |
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| 32 | #define TICK 0 |
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| 33 | |||
| 34 | /*+ RR tick in us +*/ |
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| 35 | #define RRTICK 10000 |
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| 36 | |||
| 37 | /*+ Interrup Server */ |
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| 38 | #define INTDRIVE_Q 1000 |
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| 39 | #define INTDRIVE_T 10000 |
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| 40 | #define INTDRIVE_FLAG 0 |
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| 41 | |||
| 42 | void call_shutdown_task(void *arg); |
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| 43 | int device_drivers_init(); |
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| 44 | int device_drivers_close(); |
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| 45 | void set_shutdown_task(); |
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| 46 | TASK shutdown_task_body(void *arg); |
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| 47 | |||
| 48 | PID shutdown_task_PID = -1; |
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| 49 | |||
| 50 | TIME __kernel_register_levels__(void *arg) |
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| 51 | { |
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| 52 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 53 | |||
| 54 | INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG); |
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| 55 | EDF_register_level(EDF_ENABLE_ALL); |
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| 56 | HCBS_register_level(HCBS_ENABLE_ALL, 1); |
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| 57 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
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| 58 | dummy_register_level(); |
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| 59 | |||
| 60 | SEM_register_module(); |
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| 61 | |||
| 62 | return TICK; |
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| 63 | } |
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| 64 | |||
| 65 | TASK __init__(void *arg) |
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| 66 | { |
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| 67 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 68 | |||
| 69 | HARTPORT_init(); |
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| 70 | |||
| 71 | set_shutdown_task(); |
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| 72 | |||
| 73 | device_drivers_init(); |
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| 74 | |||
| 75 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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| 76 | |||
| 77 | __call_main__(mb); |
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| 78 | |||
| 79 | return (void *)0; |
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| 80 | } |
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| 81 | |||
| 82 | void set_shutdown_task() { |
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| 83 | |||
| 84 | NRT_TASK_MODEL nrt; |
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| 85 | |||
| 86 | nrt_task_default_model(nrt); |
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| 87 | nrt_task_def_system(nrt); |
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| 88 | |||
| 89 | shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
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| 90 | if (shutdown_task_PID == NIL) { |
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| 91 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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| 92 | sys_end(); |
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| 93 | } |
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| 94 | |||
| 95 | } |
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| 96 | |||
| 97 | int device_drivers_init() { |
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| 98 | |||
| 99 | int res; |
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| 100 | KEYB_PARMS kparms = BASE_KEYB; |
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| 101 | |||
| 102 | LINUXC26_register_module(); |
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| 103 | |||
| 104 | PCI26_init(); |
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| 105 | |||
| 106 | INPUT26_init(); |
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| 107 | |||
| 108 | KEYB26_init(&kparms); |
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| 109 | |||
| 110 | /* |
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| 111 | FB26_init(); |
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| 112 | |||
| 113 | res = FB26_open(FRAME_BUFFER_DEVICE); |
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| 114 | if (res) { |
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| 115 | cprintf("Error: Cannot open graphical mode\n"); |
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| 116 | KEYB26_close(); |
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| 117 | INPUT26_close(); |
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| 118 | sys_end(); |
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| 119 | } |
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| 120 | |||
| 121 | FB26_use_grx(FRAME_BUFFER_DEVICE); |
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| 122 | |||
| 123 | FB26_setmode(FRAME_BUFFER_DEVICE,"640x480-16"); |
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| 124 | */ |
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| 125 | |||
| 126 | return 0; |
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| 127 | |||
| 128 | } |
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| 129 | |||
| 130 | int device_drivers_close() { |
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| 131 | |||
| 132 | //FB26_close(FRAME_BUFFER_DEVICE); |
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| 133 | |||
| 134 | KEYB26_close(); |
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| 135 | |||
| 136 | INPUT26_close(); |
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| 137 | |||
| 138 | return 0; |
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| 139 | |||
| 140 | } |
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| 141 | |||
| 142 | #define SHUTDOWN_TIMEOUT_SEC 3 |
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| 143 | |||
| 144 | void call_shutdown_task(void *arg) |
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| 145 | { |
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| 146 | struct timespec t; |
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| 147 | |||
| 148 | sys_gettime(&t); |
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| 149 | t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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| 150 | |||
| 151 | /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
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| 152 | kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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| 153 | |||
| 154 | task_activate(shutdown_task_PID); |
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| 155 | } |
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| 156 | |||
| 157 | TASK shutdown_task_body(void *arg) { |
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| 158 | |||
| 159 | device_drivers_close(); |
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| 160 | |||
| 161 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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| 162 | |||
| 163 | sys_abort_shutdown(0); |
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| 164 | |||
| 165 | return NULL; |
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| 166 | |||
| 167 | } |