Subversion Repositories shark

Rev

Rev 1385 | Rev 1552 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1385 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
 *
8
 * Authors     :
9
 *   Giacomo Guidi       <giacomo@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
 * This program is free software; you can redistribute it and/or modify
21
 * it under the terms of the GNU General Public License as published by
22
 * the Free Software Foundation; either version 2 of the License, or
23
 * (at your option) any later version.
24
 *
25
 * This program is distributed in the hope that it will be useful,
26
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
27
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
28
 * GNU General Public License for more details.
29
 *
30
 * You should have received a copy of the GNU General Public License
31
 * along with this program; if not, write to the Free Software
32
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
33
 *
34
 */
35
 
36
#include "kernel/kern.h"
37
#include "modules/intdrive.h"
38
#include "modules/edf.h"
39
#include "modules/hardcbs.h"
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
 
47
#include <drivers/shark_linuxc26.h>
48
#include <drivers/shark_pci26.h>
49
#include <drivers/shark_input26.h>
50
#include <drivers/shark_keyb26.h>
51
#include <drivers/shark_fb26.h>
52
 
53
#define FRAME_BUFFER_DEVICE 0
54
 
55
/*+ sysyem tick in us +*/
56
#define TICK 0
57
 
58
/*+ RR tick in us +*/
59
#define RRTICK 2000
60
 
61
/*+ Interrupt Server +*/
62
#define INTDRIVE_Q 1000
63
#define INTDRIVE_T 10000
64
#define INTDRIVE_FLAG 0
65
 
66
void call_shutdown_task(void *arg);
67
int device_drivers_init();
68
int device_drivers_close();
69
void set_shutdown_task();
70
TASK shutdown_task_body(void *arg);
71
 
72
PID shutdown_task_PID = -1;
73
 
74
TIME __kernel_register_levels__(void *arg)
75
{
76
  struct multiboot_info *mb = (struct multiboot_info *)arg;
77
 
78
  INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG);
79
  EDF_register_level(EDF_ENABLE_ALL);
80
  HCBS_register_level(HCBS_ENABLE_ALL, 1);
81
  RR_register_level(RRTICK, RR_MAIN_YES, mb);
82
  dummy_register_level();
83
 
84
  SEM_register_module();
85
  CABS_register_module();
86
 
87
  return TICK;
88
}
89
 
90
TASK __init__(void *arg)
91
{
92
  struct multiboot_info *mb = (struct multiboot_info *)arg;
93
 
94
  HARTPORT_init();
95
 
96
  /* Create the shutdown task. It will be activated at RUNLEVEL
97
     SHUTDOWN */
98
  set_shutdown_task();
99
 
100
  /* Init the drivers */
101
  device_drivers_init();
102
 
103
  /* Set the shutdown task activation */
104
  sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);
105
 
106
  __call_main__(mb);
107
 
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");
1547 pj 123
    exit(0);
1385 giacomo 124
  }
125
 
126
}
127
 
128
int device_drivers_init() {
129
 
130
  int res;
131
  KEYB_PARMS kparms = BASE_KEYB;
132
 
133
  LINUXC26_register_module();
134
 
135
  PCI26_init();
136
 
137
  INPUT26_init();
138
 
139
  keyb_def_ctrlC(kparms, NULL);
140
 
141
  KEYB26_init(&kparms);
142
 
143
  FB26_init();
144
 
145
  res = FB26_open(FRAME_BUFFER_DEVICE);
146
  if (res) {
147
    cprintf("Error: Cannot open graphical mode\n");
148
    KEYB26_close();
149
    INPUT26_close();
1547 pj 150
    exit(0);
1385 giacomo 151
  }                                                                                          
152
 
153
  FB26_use_grx(FRAME_BUFFER_DEVICE);
154
 
155
  FB26_setmode(FRAME_BUFFER_DEVICE,"640x480-16");
156
 
157
  return 0;
158
 
159
}
160
 
161
int device_drivers_close() {
162
 
163
  FB26_close(FRAME_BUFFER_DEVICE);
164
 
165
  KEYB26_close();
166
 
167
  INPUT26_close();
168
 
169
  return 0;
170
 
171
}
172
 
173
#define SHUTDOWN_TIMEOUT_SEC 3
174
 
175
void call_shutdown_task(void *arg)
176
{
177
  struct timespec t;
178
 
179
  sys_gettime(&t);
180
  t.tv_sec += SHUTDOWN_TIMEOUT_SEC;
181
 
182
  /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */
183
  kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);
184
 
185
  task_activate(shutdown_task_PID);
186
}
187
 
188
TASK shutdown_task_body(void *arg) {
189
 
190
  device_drivers_close();
191
 
192
  sys_shutdown_message("-- S.Ha.R.K. Closed --\n");
193
 
194
  return NULL;
195
 
196
}