Subversion Repositories shark

Rev

Rev 1485 | Rev 1552 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1163 giacomo 1
/*
1423 giacomo 2
 * Project: S.Ha.R.K
1163 giacomo 3
 *
1423 giacomo 4
 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
1163 giacomo 5
 *
6
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
7
 *
8
 * http://www.sssup.it
9
 * http://retis.sssup.it
1423 giacomo 10
 * http://hartik.sssup.it
1163 giacomo 11
 */
12
 
13
#include "kernel/kern.h"
14
#include "modules/edf.h"
1424 giacomo 15
#include "modules/cbs.h"
1163 giacomo 16
#include "modules/rr.h"
17
#include "modules/dummy.h"
1423 giacomo 18
#include "modules/intdrive.h"
1163 giacomo 19
 
20
#include "modules/sem.h"
21
#include "modules/hartport.h"
22
 
1423 giacomo 23
#include <drivers/shark_linuxc26.h>
24
#include <drivers/shark_pci26.h>
25
#include <drivers/shark_input26.h>
26
#include <drivers/shark_keyb26.h>
27
#include <drivers/shark_fb26.h>
28
#include <drivers/shark_i2c26.h>
29
#include <drivers/shark_bttv26.h>
30
#include <drivers/shark_videodev26.h>
1163 giacomo 31
 
1423 giacomo 32
#define FRAME_BUFFER_DEVICE 0
1428 giacomo 33
#define FRAME_GRABBER_DEVICE 0
1163 giacomo 34
 
35
/*+ sysyem tick in us +*/
1423 giacomo 36
#define TICK 0
1163 giacomo 37
 
38
/*+ RR tick in us +*/
39
#define RRTICK 10000
40
 
1423 giacomo 41
/*+ Interrup Server */
42
#define INTDRIVE_Q 1000
43
#define INTDRIVE_T 10000
44
#define INTDRIVE_FLAG 0
45
 
46
void call_shutdown_task(void *arg);
47
int device_drivers_init();
48
int device_drivers_close();
49
void set_shutdown_task();
50
TASK shutdown_task_body(void *arg);
51
 
52
PID shutdown_task_PID = -1;
53
 
1163 giacomo 54
TIME __kernel_register_levels__(void *arg)
55
{
1423 giacomo 56
        struct multiboot_info *mb = (struct multiboot_info *)arg;
1163 giacomo 57
 
1423 giacomo 58
        INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG);
59
        EDF_register_level(EDF_ENABLE_ALL);
1424 giacomo 60
        CBS_register_level(CBS_ENABLE_ALL, 1);
1423 giacomo 61
        RR_register_level(RRTICK, RR_MAIN_YES, mb);
62
        dummy_register_level();
1163 giacomo 63
 
1423 giacomo 64
        SEM_register_module();
1163 giacomo 65
 
1423 giacomo 66
        return TICK;
1163 giacomo 67
}
68
 
69
TASK __init__(void *arg)
70
{
71
  struct multiboot_info *mb = (struct multiboot_info *)arg;
72
 
73
  HARTPORT_init();
74
 
1423 giacomo 75
  set_shutdown_task();
1163 giacomo 76
 
1423 giacomo 77
  device_drivers_init();
78
 
79
  sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);
80
 
1163 giacomo 81
  __call_main__(mb);
82
 
83
  return (void *)0;
84
}
85
 
1423 giacomo 86
void set_shutdown_task() {
87
 
88
  NRT_TASK_MODEL nrt;
89
 
90
  nrt_task_default_model(nrt);
91
  nrt_task_def_system(nrt);
92
 
93
  shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL);
94
  if (shutdown_task_PID == NIL) {
95
    sys_shutdown_message("Error: Cannot create shutdown task\n");
1550 pj 96
    exit(1);
1423 giacomo 97
  }
98
 
99
}
100
 
101
int device_drivers_init() {
102
 
103
  int res;
104
  KEYB_PARMS kparms = BASE_KEYB;
105
 
106
  LINUXC26_register_module();
107
 
108
  PCI26_init();
109
 
110
  I2C26_init();
111
 
112
  INPUT26_init();
113
 
114
  keyb_def_ctrlC(kparms, NULL);
115
 
116
  KEYB26_init(&kparms);
117
 
1432 giacomo 118
  BTTV26_init();
119
 
1428 giacomo 120
  FB26_init();
1423 giacomo 121
 
122
  res = FB26_open(FRAME_BUFFER_DEVICE);
123
  if (res) {
124
    cprintf("Error: Cannot open graphical mode\n");
125
    KEYB26_close();
126
    INPUT26_close();
1550 pj 127
    exit(1);
1423 giacomo 128
  }                                                                                          
129
 
130
  FB26_use_grx(FRAME_BUFFER_DEVICE);
131
 
132
  FB26_setmode(FRAME_BUFFER_DEVICE,"640x480-16");
1485 giacomo 133
 
1423 giacomo 134
  return 0;
135
 
136
}
137
 
138
int device_drivers_close() {
1475 giacomo 139
 
1432 giacomo 140
  BTTV26_close();
141
 
1423 giacomo 142
  FB26_close(FRAME_BUFFER_DEVICE);
1475 giacomo 143
 
1423 giacomo 144
  KEYB26_close();
145
 
146
  INPUT26_close();
147
 
148
  return 0;
149
 
150
}
151
 
152
#define SHUTDOWN_TIMEOUT_SEC 3
153
 
154
void call_shutdown_task(void *arg)
155
{
156
  struct timespec t;
157
 
158
  sys_gettime(&t);
159
  t.tv_sec += SHUTDOWN_TIMEOUT_SEC;
160
 
161
  /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */
162
  kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);
163
 
164
  task_activate(shutdown_task_PID);
165
}
166
 
167
TASK shutdown_task_body(void *arg) {
168
 
169
  device_drivers_close();
170
 
171
  sys_shutdown_message("-- S.Ha.R.K. Closed --\n");
172
 
173
  return NULL;
174
 
175
}