Subversion Repositories shark

Rev

Rev 1547 | Rev 1567 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1120 pj 1
/*
2
 * Project: S.Ha.R.K.
3
 *
4
 * Coordinators:
5
 *   Giorgio Buttazzo    <giorgio@sssup.it>
6
 *   Paolo Gai           <pj@gandalf.sssup.it>
7
 *
8
 * Authors     :
9
 *   Paolo Gai           <pj@gandalf.sssup.it>
10
 *   (see the web pages for full authors list)
11
 *
12
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
13
 *
14
 * http://www.sssup.it
15
 * http://retis.sssup.it
16
 * http://shark.sssup.it
17
 */
18
 
19
/**
20
 ------------
1552 pj 21
 CVS :        $Id: iaster8.c,v 1.6 2005-02-25 11:10:46 pj Exp $
1120 pj 22
 
23
 File:        $File$
1552 pj 24
 Revision:    $Revision: 1.6 $
25
 Last update: $Date: 2005-02-25 11:10:46 $
1120 pj 26
 ------------
27
 
28
 System initialization file
29
 
30
 h3piss.c
31
 
32
 These functions register the following levels:
33
 
34
 an EDF (Earliest Deadline First) level
35
 a CBS (Costant Bandwidth Server) level
36
 a SS (Sporadic Server) level
37
 a RR (Round Robin) level
38
 a Dummy level
39
 
40
 It can accept these task models:
41
 
42
 HARD_TASK_MODEL (wcet+mit) at level 0
43
 SOFT_TASK_MODEL (met, period) at level 1
44
 SOFT_TASK_MODEL (periodicity=APERIODIC) at level 2
45
 NRT_TASK_MODEL  at level 3
46
 
47
**/
48
 
49
/*
50
 * Copyright (C) 2000 Paolo Gai
51
 *
52
 * This program is free software; you can redistribute it and/or modify
53
 * it under the terms of the GNU General Public License as published by
54
 * the Free Software Foundation; either version 2 of the License, or
55
 * (at your option) any later version.
56
 *
57
 * This program is distributed in the hope that it will be useful,
58
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
59
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
60
 * GNU General Public License for more details.
61
 *
62
 * You should have received a copy of the GNU General Public License
63
 * along with this program; if not, write to the Free Software
64
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
65
 *
66
 */
67
 
68
 
69
 
70
#include "kernel/kern.h"
1552 pj 71
#include "intdrive/intdrive/intdrive.h"
72
#include "rm/rm/rm.h"
73
#include "edf/edf/edf.h"
74
#include "cbs/cbs/cbs.h"
75
#include "rr/rr/rr.h"
76
#include "dummy/dummy/dummy.h"
77
#include "ss/ss/ss.h"
1120 pj 78
 
1552 pj 79
#include "sem/sem/sem.h"
80
#include "hartport/hartport/hartport.h"
81
#include "cabs/cabs/cabs.h"
82
#include "pi/pi/pi.h"
83
#include "pc/pc/pc.h"
84
#include "srp/srp/srp.h"
85
#include "npp/npp/npp.h"
86
#include "nop/nop/nop.h"
1120 pj 87
 
1393 giacomo 88
#include <drivers/shark_linuxc26.h>
89
#include <drivers/shark_input26.h>
90
#include <drivers/shark_keyb26.h>
91
 
1120 pj 92
/*+ system tick in us +*/
93
#define TICK 1000
94
 
95
/*+ RR tick in us +*/
96
#define RRTICK 10000
97
 
1377 giacomo 98
/*+ Interrupt Server +*/
99
#define INTDRIVE_Q 1000
100
#define INTDRIVE_T 10000
101
#define INTDRIVE_FLAG 0
102
 
1393 giacomo 103
void call_shutdown_task(void *arg);
104
int device_drivers_init();
105
int device_drivers_close();
106
void set_shutdown_task();
107
TASK shutdown_task_body(void *arg);
108
 
1463 giacomo 109
PID shutdown_task_PID = -1;
1393 giacomo 110
 
1120 pj 111
TIME __kernel_register_levels__(void *arg)
112
{
113
  struct multiboot_info *mb = (struct multiboot_info *)arg;
114
 
1377 giacomo 115
  INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG);
1120 pj 116
  EDF_register_level(EDF_ENABLE_ALL);
1393 giacomo 117
  CBS_register_level(CBS_ENABLE_ALL, 1);
118
  SS_register_level(SS_ENABLE_GUARANTEE_EDF,1,5000,20000);
1120 pj 119
  RR_register_level(RRTICK, RR_MAIN_YES, mb);
120
  dummy_register_level();
121
 
122
  SEM_register_module();
123
 
124
  CABS_register_module();
125
 
126
  PC_register_module();
127
  PI_register_module();
128
  NPP_register_module();
129
  SRP_register_module();
130
  NOP_register_module();
131
 
132
  return TICK;
133
}
134
 
135
TASK __init__(void *arg)
136
{
137
  struct multiboot_info *mb = (struct multiboot_info *)arg;
138
 
139
  HARTPORT_init();
1393 giacomo 140
 
141
  /* Create the shutdown task. It will be activated at RUNLEVEL
142
     SHUTDOWN */
143
  set_shutdown_task();
144
 
145
  /* Init the drivers */
146
  device_drivers_init();
147
 
148
  /* Set the shutdown task activation */
149
  sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);
150
 
1120 pj 151
  __call_main__(mb);
1393 giacomo 152
 
1120 pj 153
  return (void *)0;
154
}
155
 
1393 giacomo 156
void set_shutdown_task() {
157
 
158
  /* WARNING: the shutdown task is a background thread. It cannot execute
159
              if the system is overloaded */
160
  NRT_TASK_MODEL nrt;
161
 
162
  nrt_task_default_model(nrt);
163
  nrt_task_def_system(nrt);
164
 
165
  shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL);
166
  if (shutdown_task_PID == NIL) {
167
    sys_shutdown_message("Error: Cannot create shutdown task\n");
1547 pj 168
    exit(1);
1393 giacomo 169
  }
170
 
171
}
172
 
173
int device_drivers_init() {
174
 
175
  KEYB_PARMS kparms = BASE_KEYB;
176
 
177
  LINUXC26_register_module();
178
 
179
  INPUT26_init();
180
 
181
  keyb_def_ctrlC(kparms, NULL);
182
 
183
  KEYB26_init(&kparms);
184
 
185
  return 0;
186
 
187
}
188
 
189
int device_drivers_close() {
190
 
191
  KEYB26_close();
192
 
193
  INPUT26_close();
194
 
195
  return 0;
196
 
197
}
198
 
199
#define SHUTDOWN_TIMEOUT_SEC 3
200
 
201
void call_shutdown_task(void *arg)
202
{
203
  struct timespec t;
204
 
205
  sys_gettime(&t);
206
  t.tv_sec += SHUTDOWN_TIMEOUT_SEC;
207
 
208
  /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */
209
  kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);
210
 
211
  task_activate(shutdown_task_PID);
212
}
213
 
214
TASK shutdown_task_body(void *arg) {
215
 
216
  device_drivers_close();
217
 
218
  sys_shutdown_message("-- S.Ha.R.K. Closed --\n");
219
 
220
  return NULL;
221
 
222
}
223
 
224
 
225
 
226