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1151 giacomo 1
/*
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 * Project: S.Ha.R.K.
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 *
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 * Coordinators:
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 *   Giorgio Buttazzo    <giorgio@sssup.it>
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 *   Paolo Gai           <pj@gandalf.sssup.it>
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 *
1360 giacomo 8
 * Authors     :
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 *   Giacomo Guidi       <giacomo@gandalf.sssup.it>
1569 tullio 10
 *   Mauro Marinoni      <mauro.marinoni@unipv.it>
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 *   Tullio Facchinetti  <tullio.facchinetti@unipv.it>
1151 giacomo 12
 *   (see the web pages for full authors list)
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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://shark.sssup.it
1569 tullio 19
 *
1151 giacomo 20
 */
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/*
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 * This program is free software; you can redistribute it and/or modify
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 * it under the terms of the GNU General Public License as published by
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 * the Free Software Foundation; either version 2 of the License, or
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 * (at your option) any later version.
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 *
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 * This program is distributed in the hope that it will be useful,
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 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 * GNU General Public License for more details.
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 *
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 * You should have received a copy of the GNU General Public License
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 * along with this program; if not, write to the Free Software
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 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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 */
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#include "kernel/kern.h"
1552 pj 39
#include "intdrive/intdrive/intdrive.h"
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#include "edf/edf/edf.h"
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#include "hardcbs/hardcbs/hardcbs.h"
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#include "rr/rr/rr.h"
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#include "dummy/dummy/dummy.h"
1151 giacomo 44
 
1552 pj 45
#include "sem/sem/sem.h"
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#include "hartport/hartport/hartport.h"
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#include "cabs/cabs/cabs.h"
1151 giacomo 48
 
1360 giacomo 49
#include "drivers/shark_linuxc26.h"
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#include "drivers/shark_input26.h"
1525 giacomo 51
#include "drivers/shark_pci26.h"
1360 giacomo 52
#include "drivers/shark_keyb26.h"
1512 giacomo 53
#include "drivers/shark_cpu26.h"
1151 giacomo 54
 
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/*+ sysyem tick in us +*/
1483 giacomo 56
#define TICK 0
1151 giacomo 57
 
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/*+ RR tick in us +*/
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#define RRTICK 10000
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1360 giacomo 61
/*+ IntDrive Server +*/
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#define INTDRIVE_Q 1000
1569 tullio 63
#define INTDRIVE_U 0.1*MAX_BANDWIDTH
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#define INTDRIVE_FLAG 0
1360 giacomo 65
 
1394 giacomo 66
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);
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PID shutdown_task_PID = -1;
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1151 giacomo 74
TIME __kernel_register_levels__(void *arg)
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{
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  struct multiboot_info *mb = (struct multiboot_info *)arg;
1569 tullio 77
  LEVEL EDF_level;
1151 giacomo 78
 
1569 tullio 79
  INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG);
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  EDF_level = EDF_register_level(EDF_ENABLE_ALL);
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  HCBS_register_level(HCBS_ENABLE_ALL, EDF_level);
1151 giacomo 82
  RR_register_level(RRTICK, RR_MAIN_YES, mb);
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  dummy_register_level();
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  SEM_register_module();
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  CABS_register_module();
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  return TICK;
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}
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TASK __init__(void *arg)
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{
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  struct multiboot_info *mb = (struct multiboot_info *)arg;
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  HARTPORT_init();
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1394 giacomo 98
  /* Create the shutdown task. It will be activated at RUNLEVEL
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     SHUTDOWN */
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  set_shutdown_task();
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  /* Init the drivers */
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  device_drivers_init();
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  /* Set the shutdown task activation */
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  sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);
1429 mauro 107
 
1431 mauro 108
  //sys_set_reboot(EXIT_MODE_HALT);
1394 giacomo 109
 
1151 giacomo 110
  __call_main__(mb);
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1394 giacomo 112
  return (void *)0;
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}
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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");
1550 pj 127
    exit(1);
1394 giacomo 128
  }
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}
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int device_drivers_init() {
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  KEYB_PARMS kparms = BASE_KEYB;
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1567 mauro 136
  LINUXC26_register_module(TRUE);
1394 giacomo 137
 
1525 giacomo 138
  PCI26_init();
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1512 giacomo 140
  CPU26_init();
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  CPU26_DVS_init();
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1394 giacomo 144
  INPUT26_init();
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  keyb_def_ctrlC(kparms, NULL);
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148
  KEYB26_init(&kparms);
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150
  return 0;
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152
}
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154
int device_drivers_close() {
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156
  KEYB26_close();
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158
  INPUT26_close();
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160
  return 0;
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162
}
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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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170
  sys_gettime(&t);
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  t.tv_sec += SHUTDOWN_TIMEOUT_SEC;
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173
  /* 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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176
  task_activate(shutdown_task_PID);
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}
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TASK shutdown_task_body(void *arg) {
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181
  device_drivers_close();
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183
  sys_shutdown_message("-- S.Ha.R.K. Closed --\n");
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1360 giacomo 185
  return NULL;
1394 giacomo 186
 
1151 giacomo 187
}
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