Subversion Repositories shark

Rev

Rev 1483 | Rev 1525 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1151 giacomo 1
/*
2
 * Project: S.Ha.R.K.
3
 *
4
 * Coordinators:
5
 *   Giorgio Buttazzo    <giorgio@sssup.it>
6
 *   Paolo Gai           <pj@gandalf.sssup.it>
7
 *
1360 giacomo 8
 * Authors     :
9
 *   Giacomo Guidi       <giacomo@gandalf.sssup.it>
1512 giacomo 10
 *   Mauro Marinoni
1151 giacomo 11
 *   (see the web pages for full authors list)
12
 *
13
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
14
 *
15
 * http://www.sssup.it
16
 * http://retis.sssup.it
17
 * http://shark.sssup.it
18
 */
19
 
20
/*
21
 * This program is free software; you can redistribute it and/or modify
22
 * it under the terms of the GNU General Public License as published by
23
 * the Free Software Foundation; either version 2 of the License, or
24
 * (at your option) any later version.
25
 *
26
 * This program is distributed in the hope that it will be useful,
27
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
28
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
29
 * GNU General Public License for more details.
30
 *
31
 * You should have received a copy of the GNU General Public License
32
 * along with this program; if not, write to the Free Software
33
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
34
 */
35
 
36
#include "kernel/kern.h"
1360 giacomo 37
#include "modules/intdrive.h"
1151 giacomo 38
#include "modules/edf.h"
1360 giacomo 39
#include "modules/hardcbs.h"
1151 giacomo 40
#include "modules/rr.h"
41
#include "modules/dummy.h"
42
 
43
#include "modules/sem.h"
44
#include "modules/hartport.h"
45
#include "modules/cabs.h"
46
 
1360 giacomo 47
#include "drivers/shark_linuxc26.h"
48
#include "drivers/shark_input26.h"
49
#include "drivers/shark_keyb26.h"
1512 giacomo 50
#include "drivers/shark_cpu26.h"
1151 giacomo 51
 
52
/*+ sysyem tick in us +*/
1483 giacomo 53
#define TICK 0
1151 giacomo 54
 
55
/*+ RR tick in us +*/
56
#define RRTICK 10000
57
 
1360 giacomo 58
/*+ IntDrive Server +*/
59
#define INTDRIVE_Q 1000
60
#define INTDRIVE_T 10000
61
#define INTDRIVE_FLAGS 0
62
 
1394 giacomo 63
void call_shutdown_task(void *arg);
64
int device_drivers_init();
65
int device_drivers_close();
66
void set_shutdown_task();
67
TASK shutdown_task_body(void *arg);
68
 
69
PID shutdown_task_PID = -1;
70
 
1151 giacomo 71
TIME __kernel_register_levels__(void *arg)
72
{
73
  struct multiboot_info *mb = (struct multiboot_info *)arg;
74
 
1360 giacomo 75
  INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_T, INTDRIVE_FLAGS);
1151 giacomo 76
  EDF_register_level(EDF_ENABLE_ALL);
1360 giacomo 77
  HCBS_register_level(HCBS_ENABLE_ALL, 1);
1151 giacomo 78
  RR_register_level(RRTICK, RR_MAIN_YES, mb);
79
  dummy_register_level();
80
 
81
  SEM_register_module();
82
 
83
  CABS_register_module();
84
 
85
  return TICK;
86
}
87
 
88
TASK __init__(void *arg)
89
{
90
  struct multiboot_info *mb = (struct multiboot_info *)arg;
91
 
92
  HARTPORT_init();
93
 
1394 giacomo 94
  /* Create the shutdown task. It will be activated at RUNLEVEL
95
     SHUTDOWN */
96
  set_shutdown_task();
97
 
98
  /* Init the drivers */
99
  device_drivers_init();
100
 
101
  /* Set the shutdown task activation */
102
  sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);
1429 mauro 103
 
1431 mauro 104
  //sys_set_reboot(EXIT_MODE_HALT);
1394 giacomo 105
 
1151 giacomo 106
  __call_main__(mb);
107
 
1394 giacomo 108
  return (void *)0;
109
}
110
 
111
void set_shutdown_task() {
112
 
113
  /* WARNING: the shutdown task is a background thread. It cannot execute
114
              if the system is overloaded */
115
  NRT_TASK_MODEL nrt;
116
 
117
  nrt_task_default_model(nrt);
118
  nrt_task_def_system(nrt);
119
 
120
  shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL);
121
  if (shutdown_task_PID == NIL) {
122
    sys_shutdown_message("Error: Cannot create shutdown task\n");
123
    sys_end();
124
  }
125
 
126
}
127
 
128
int device_drivers_init() {
129
 
130
  KEYB_PARMS kparms = BASE_KEYB;
131
 
132
  LINUXC26_register_module();
133
 
1512 giacomo 134
  CPU26_init();
135
 
136
  CPU26_DVS_init();
137
 
1394 giacomo 138
  INPUT26_init();
139
 
140
  keyb_def_ctrlC(kparms, NULL);
141
 
142
  KEYB26_init(&kparms);
143
 
144
  return 0;
145
 
146
}
147
 
148
int device_drivers_close() {
149
 
150
  KEYB26_close();
151
 
152
  INPUT26_close();
153
 
154
  return 0;
155
 
156
}
157
 
158
#define SHUTDOWN_TIMEOUT_SEC 3
159
 
160
void call_shutdown_task(void *arg)
161
{
162
  struct timespec t;
163
 
164
  sys_gettime(&t);
165
  t.tv_sec += SHUTDOWN_TIMEOUT_SEC;
166
 
167
  /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */
168
  kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);
169
 
170
  task_activate(shutdown_task_PID);
171
}
172
 
173
TASK shutdown_task_body(void *arg) {
174
 
175
  device_drivers_close();
176
 
177
  sys_shutdown_message("-- S.Ha.R.K. Closed --\n");
178
 
179
  sys_abort_shutdown(0);
180
 
1360 giacomo 181
  return NULL;
1394 giacomo 182
 
1151 giacomo 183
}
184