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1624 giacomo 1
/*
1647 giacomo 2
 * Project: S.Ha.R.K
1624 giacomo 3
 *
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 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
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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://hartik.sssup.it
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 */
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#include "kernel/kern.h"
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#include "edf/edf/edf.h"
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#include "cbs/cbs/cbs.h"
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#include "rr/rr/rr.h"
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#include "dummy/dummy/dummy.h"
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#include "intdrive/intdrive/intdrive.h"
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#include "sem/sem/sem.h"
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#include "hartport/hartport/hartport.h"
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#include "pi/pi/pi.h"
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#include "pc/pc/pc.h"
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#include "srp/srp/srp.h"
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#include "npp/npp/npp.h"
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#include "nop/nop/nop.h"
1647 giacomo 28
 
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#include <drivers/shark_linuxc26.h>
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#include <drivers/shark_input26.h>
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#include <drivers/shark_pci26.h>
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#include <drivers/shark_cpu26.h>
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#include <drivers/shark_keyb26.h>
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#define FRAME_BUFFER_DEVICE 0
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1624 giacomo 37
/*+ sysyem tick in us +*/
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#define TICK 0
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/*+ RR tick in us +*/
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#define RRTICK 10000
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1647 giacomo 43
/*+ Interrupt Server +*/
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#define INTDRIVE_Q 1000
1653 mauro 45
#define INTDRIVE_U 1000
1647 giacomo 46
#define INTDRIVE_FLAG 0
1624 giacomo 47
 
1647 giacomo 48
void call_shutdown_task(void *arg);
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int device_drivers_init();
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int device_drivers_close();
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void set_shutdown_task();
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TASK shutdown_task_body(void *arg);
1624 giacomo 53
 
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PID shutdown_task_PID = -1;
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1624 giacomo 56
TIME __kernel_register_levels__(void *arg)
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{
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  struct multiboot_info *mb = (struct multiboot_info *)arg;
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  INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG);
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  EDF_register_level(EDF_ENABLE_ALL);
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  CBS_register_level(CBS_ENABLE_ALL, 1);
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  RR_register_level(RRTICK, RR_MAIN_YES, mb);
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  dummy_register_level();
1624 giacomo 65
 
1647 giacomo 66
  SEM_register_module();
1624 giacomo 67
 
1647 giacomo 68
  PI_register_module();
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  return TICK;
1624 giacomo 71
}
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TASK __init__(void *arg)
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{
1647 giacomo 75
  struct multiboot_info *mb = (struct multiboot_info *)arg;
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  HARTPORT_init();
1624 giacomo 78
 
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  /* Create the shutdown task. It will be activated at RUNLEVEL
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     SHUTDOWN */
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  set_shutdown_task();
1624 giacomo 82
 
1647 giacomo 83
  /* Init the drivers */
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  device_drivers_init();
1624 giacomo 85
 
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  /* Set the shutdown task activation */
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  sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);
1624 giacomo 88
 
1647 giacomo 89
  __call_main__(mb);
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91
  return (void *)0;
1624 giacomo 92
}
1647 giacomo 93
 
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void set_shutdown_task() {
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  /* WARNING: the shutdown task is a background thread. It cannot execute
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              if the system is overloaded */
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  NRT_TASK_MODEL nrt;
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  nrt_task_default_model(nrt);
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  nrt_task_def_system(nrt);
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  shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL);
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  if (shutdown_task_PID == NIL) {
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    sys_shutdown_message("Error: Cannot create shutdown task\n");
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    exit(1);
1647 giacomo 107
  }
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}
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int device_drivers_init() {
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113
  KEYB_PARMS kparms = BASE_KEYB;
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1653 mauro 115
  LINUXC26_register_module(TRUE);
1647 giacomo 116
 
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  PCI26_init();
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  CPU26_init();
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121
  CPU26_DVS_init();
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123
  INPUT26_init();
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125
  keyb_def_ctrlC(kparms, NULL);
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127
  KEYB26_init(&kparms);
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129
  return 0;
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}
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int device_drivers_close() {
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135
  KEYB26_close();
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  INPUT26_close();
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139
  return 0;
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}
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#define SHUTDOWN_TIMEOUT_SEC 3
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void call_shutdown_task(void *arg)
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{
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  struct timespec t;
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149
  sys_gettime(&t);
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  t.tv_sec += SHUTDOWN_TIMEOUT_SEC;
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152
  /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */
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  kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);
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155
  task_activate(shutdown_task_PID);
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}
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158
TASK shutdown_task_body(void *arg) {
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160
  device_drivers_close();
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162
  sys_shutdown_message("-- S.Ha.R.K. Closed --\n");
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  return NULL;
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}