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| Rev | Author | Line No. | Line |
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| 1085 | pj | 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 | * Paolo Gai <pj@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 | ------------ |
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| 1192 | giacomo | 21 | CVS : $Id: pinit.c,v 1.2 2003-10-07 09:30:18 giacomo Exp $ |
| 1085 | pj | 22 | |
| 23 | File: $File$ |
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| 1192 | giacomo | 24 | Revision: $Revision: 1.2 $ |
| 25 | Last update: $Date: 2003-10-07 09:30:18 $ |
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| 1085 | pj | 26 | ------------ |
| 27 | |||
| 28 | This is a minimal initialization file for the PSE51 profile. |
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| 29 | |||
| 30 | It initializes the POSIX scheduler, the Hartik Ports and the Keyboard driver. |
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| 31 | |||
| 32 | **/ |
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| 33 | |||
| 34 | /* |
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| 35 | * Copyright (C) 2000 Paolo Gai |
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| 36 | * |
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| 37 | * This program is free software; you can redistribute it and/or modify |
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| 38 | * it under the terms of the GNU General Public License as published by |
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| 39 | * the Free Software Foundation; either version 2 of the License, or |
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| 40 | * (at your option) any later version. |
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| 41 | * |
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| 42 | * This program is distributed in the hope that it will be useful, |
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| 43 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 44 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 45 | * GNU General Public License for more details. |
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| 46 | * |
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| 47 | * You should have received a copy of the GNU General Public License |
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| 48 | * along with this program; if not, write to the Free Software |
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| 49 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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| 50 | * |
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| 51 | */ |
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| 52 | |||
| 53 | |||
| 54 | |||
| 55 | #include "kernel/kern.h" |
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| 56 | #include "modules/posix.h" |
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| 57 | #include "modules/dummy.h" |
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| 58 | |||
| 59 | #include "modules/pi.h" |
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| 60 | #include "modules/pc.h" |
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| 61 | |||
| 62 | #include "modules/sem.h" |
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| 63 | #include "modules/hartport.h" |
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| 64 | |||
| 65 | #include "drivers/keyb.h" |
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| 66 | |||
| 67 | #include "pthread.h" |
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| 68 | #include "time.h" |
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| 69 | |||
| 70 | |||
| 71 | /*+ sysyem tick in us +*/ |
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| 72 | #define TICK 1000 |
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| 73 | |||
| 74 | /*+ RR tick in us +*/ |
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| 75 | #define RRTICK 10000 |
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| 76 | |||
| 77 | TIME __kernel_register_levels__(void *arg) |
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| 78 | { |
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| 79 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 80 | |||
| 81 | POSIX_register_level(RRTICK, POSIX_MAIN_YES, mb, 32); |
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| 82 | dummy_register_level(); |
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| 83 | |||
| 84 | PI_register_module(); |
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| 85 | PC_register_module(); |
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| 86 | |||
| 87 | SEM_register_module(); |
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| 88 | |||
| 89 | /* for the Pthread library */ |
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| 1192 | giacomo | 90 | PTHREAD_register_module(0, 0, 1); |
| 1085 | pj | 91 | |
| 92 | /* for the real time clock extensions */ |
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| 93 | TIMER_register_module(); |
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| 94 | |||
| 95 | return TICK; |
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| 96 | } |
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| 97 | |||
| 98 | TASK __init__(void *arg) |
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| 99 | { |
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| 100 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 101 | NRT_TASK_MODEL m; // the scheduling model for the Keyboard |
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| 102 | |||
| 103 | KEYB_PARMS k = BASE_KEYB; |
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| 104 | keyb_def_task(k, &m); |
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| 105 | |||
| 106 | nrt_task_default_model(m); |
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| 107 | nrt_task_def_arg(m,arg); |
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| 108 | nrt_task_def_usemath(m); |
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| 109 | nrt_task_def_ctrl_jet(m); |
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| 110 | nrt_task_def_save_arrivals(m); |
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| 111 | nrt_task_def_unjoinable(m); |
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| 112 | nrt_task_def_weight(m, sched_get_priority_max(SCHED_RR)); |
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| 113 | nrt_task_def_policy(m,SCHED_RR); |
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| 114 | nrt_task_def_inherit(m,PTHREAD_EXPLICIT_SCHED); |
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| 115 | nrt_task_def_nokill(m); |
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| 116 | nrt_task_def_system(m); |
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| 117 | |||
| 118 | HARTPORT_init(); |
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| 119 | |||
| 120 | if (KEYB_init(&k) < 0) |
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| 121 | kern_printf("Error during Keyboard Initialization!!!"); |
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| 122 | |||
| 123 | __call_main__(mb); |
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| 124 | |||
| 125 | return (void *)0; |
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| 126 | } |