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| Rev | Author | Line No. | Line |
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| 1158 | pj | 1 | /* |
| 2 | * Project: S.Ha.R.K. |
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| 3 | * |
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| 4 | * Coordinators: |
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| 5 | * Giorgio Buttazzo <giorgio@sssup.it> |
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| 6 | * Paolo Gai <pj@gandalf.sssup.it> |
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| 7 | * |
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| 8 | * Authors : |
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| 9 | * Paolo Gai <pj@gandalf.sssup.it> |
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| 10 | * (see the web pages for full authors list) |
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| 11 | * |
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| 12 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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| 13 | * |
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| 14 | * http://www.sssup.it |
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| 15 | * http://retis.sssup.it |
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| 16 | * http://shark.sssup.it |
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| 17 | */ |
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| 18 | |||
| 19 | /** |
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| 20 | ------------ |
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| 1380 | giacomo | 21 | CVS : $Id: rrp.c,v 1.3 2004-04-18 09:45:28 giacomo Exp $ |
| 1158 | pj | 22 | |
| 23 | File: $File$ |
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| 1380 | giacomo | 24 | Revision: $Revision: 1.3 $ |
| 25 | Last update: $Date: 2004-04-18 09:45:28 $ |
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| 1158 | pj | 26 | ------------ |
| 27 | **/ |
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| 28 | |||
| 29 | /* |
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| 30 | * Copyright (C) 2003 Paolo Gai |
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| 31 | * |
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| 32 | * This program is free software; you can redistribute it and/or modify |
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| 33 | * it under the terms of the GNU General Public License as published by |
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| 34 | * the Free Software Foundation; either version 2 of the License, or |
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| 35 | * (at your option) any later version. |
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| 36 | * |
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| 37 | * This program is distributed in the hope that it will be useful, |
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| 38 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 39 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 40 | * GNU General Public License for more details. |
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| 41 | * |
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| 42 | * You should have received a copy of the GNU General Public License |
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| 43 | * along with this program; if not, write to the Free Software |
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| 44 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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| 45 | * |
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| 46 | */ |
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| 47 | |||
| 48 | #include "kernel/kern.h" |
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| 1379 | giacomo | 49 | #include "modules/intdrive.h" |
| 1158 | pj | 50 | #include "modules/edf.h" |
| 51 | #include "modules/rr.h" |
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| 52 | #include "modules/rrsoft.h" |
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| 53 | #include "modules/dummy.h" |
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| 54 | |||
| 55 | #include "modules/sem.h" |
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| 56 | #include "modules/hartport.h" |
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| 57 | #include "modules/cabs.h" |
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| 58 | |||
| 1380 | giacomo | 59 | #include "modules/pi.h" |
| 60 | |||
| 1158 | pj | 61 | /*+ sysyem tick in us +*/ |
| 62 | #define TICK 0 |
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| 63 | |||
| 64 | /*+ RR tick in us +*/ |
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| 65 | #define RRTICK 2000 |
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| 66 | |||
| 1379 | giacomo | 67 | /*+ Interrupt Server +*/ |
| 68 | #define INTDRIVE_Q 1000 |
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| 69 | #define INTDRIVE_T 10000 |
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| 70 | #define INTDRIVE_FLAG 0 |
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| 71 | |||
| 1158 | pj | 72 | TIME __kernel_register_levels__(void *arg) |
| 73 | { |
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| 74 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 75 | |||
| 1379 | giacomo | 76 | INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG); |
| 1158 | pj | 77 | RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_HARD); |
| 78 | RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_SOFT); |
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| 79 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
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| 80 | dummy_register_level(); |
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| 81 | |||
| 1379 | giacomo | 82 | SEM_register_module(); |
| 1158 | pj | 83 | |
| 84 | CABS_register_module(); |
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| 85 | |||
| 1380 | giacomo | 86 | PI_register_module(); |
| 87 | |||
| 1158 | pj | 88 | return TICK; |
| 89 | } |
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| 90 | |||
| 91 | TASK __init__(void *arg) |
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| 92 | { |
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| 93 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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| 94 | |||
| 95 | HARTPORT_init(); |
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| 96 | |||
| 97 | __call_main__(mb); |
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| 98 | |||
| 99 | return (void *)0; |
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| 100 | } |
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| 1380 | giacomo | 101 | |
| 102 | void app_mutex_init(mutex_t *m) |
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| 103 | { |
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| 104 | PI_mutexattr_t attr; |
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| 105 | |||
| 106 | PI_mutexattr_default(attr); |
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| 107 | |||
| 108 | mutex_init(m, &attr); |
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| 109 | } |
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| 110 |