Subversion Repositories shark

/*

 * Project: HARTIK (HA-rd R-eal TI-me K-ernel)

 *

 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>

 *               Gerardo Lamastra <gerardo@sssup.it>

 *

 * Authors     :

 *   Mauro Marinoni      <mauro.marinoni@unipv.it>

 *   Tullio Facchinetti  <tullio.facchinetti@unipv.it>

 * (see authors.txt for full list of hartik's authors)

 *

 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://hartik.sssup.it

 */

/*

 * This program is free software; you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation; either version 2 of the License, or

 * (at your option) any later version.

 *

 * This program is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 *

 * You should have received a copy of the GNU General Public License

 * along with this program; if not, write to the Free Software

 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

 */

#include <kernel/kern.h>

#include "edf/edf/edf.h"

#include "cbs/cbs/cbs.h"

#include "rr/rr/rr.h"

#include "dummy/dummy/dummy.h"

#include "intdrive/intdrive/intdrive.h"

#include "sem/sem/sem.h"

#include "hartport/hartport/hartport.h"

#include <drivers/shark_linuxc26.h>

#include <drivers/shark_input26.h>

#include <drivers/shark_keyb26.h>

#include <drivers/shark_spk26.h>

/*+ sysyem tick in us +*/

#define TICK 0

/*+ RR tick in us +*/

#define RRTICK 10000

/*+ Interrupt Server +*/

#define INTDRIVE_Q 1000

#define INTDRIVE_U 0.1*MAX_BANDWIDTH

#define INTDRIVE_FLAG 0

PID shutdown_task_PID = 1;

TIME __kernel_register_levels__(void *arg)

{

        struct multiboot_info *mb = (struct multiboot_info *)arg;

        LEVEL EDF_level;

        INTDRIVE_register_level(INTDRIVE_Q, INTDRIVE_Q, INTDRIVE_U, INTDRIVE_FLAG);

        EDF_level = EDF_register_level(EDF_ENABLE_ALL);

        CBS_register_level(CBS_ENABLE_ALL, EDF_level);

        RR_register_level(RRTICK, RR_MAIN_YES, mb);

        dummy_register_level();

        SEM_register_module();

        return TICK;

}

int device_drivers_close() {

        KEYB26_close();

        SPEAK26_close();

        INPUT26_close();

        return 0;                                                                                                                        

}

int device_drivers_init() {

        KEYB_PARMS  kparms = BASE_KEYB;

        LINUXC26_register_module(TRUE);

        INPUT26_init();

        /*keyb_def_map(kparms, KEYMAP_IT);*/

        keyb_def_ctrlC(kparms, NULL);

        KEYB26_init(&kparms);

        SPEAK26_init();

        return 0;

}

TASK shutdown_task_body(void *arg) {

        device_drivers_close();

        sys_shutdown_message("-- S.Ha.R.K. Closed --\n");

        return NULL;

}

void set_shutdown_task() {

        NRT_TASK_MODEL nrt;

        nrt_task_default_model(nrt);

        nrt_task_def_system(nrt);

        shutdown_task_PID = task_create("Shutdown Task", shutdown_task_body, &nrt, NULL);

        if (shutdown_task_PID == NIL) {

                sys_shutdown_message("Error: Cannot create shutdown task\n");

                exit(1);

        }

}

#define SHUTDOWN_TIMEOUT_SEC 3

void call_shutdown_task(void *arg) {

        struct timespec t;

        sys_gettime(&t);

        t.tv_sec += SHUTDOWN_TIMEOUT_SEC;

        /* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */

        kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0);

        task_activate(shutdown_task_PID);

}

TASK __init__(void *arg)

{

        struct multiboot_info *mb = (struct multiboot_info *)arg;

        HARTPORT_init();

        set_shutdown_task();

        device_drivers_init();

        sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);

        __call_main__(mb);

        return (void *)0;

}