/advdemos/trunk/chimera/initfile.c |
---|
1,13 → 1,8 |
/* |
* Project: HARTIK (HA-rd R-eal TI-me K-ernel) |
* Project: S.Ha.R.K |
* |
* Coordinators: Giorgio Buttazzo <giorgio@sssup.it> |
* Gerardo Lamastra <gerardo@sssup.it> |
* |
* Authors : Mauro Marinoni <mauro.marinoni@unipv.it> |
* Giacomo Guidi <giacomo@gandalf.sssup.it> |
* (see authors.txt for full list of hartik's authors) |
* |
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
* |
* http://www.sssup.it |
15,7 → 10,7 |
* http://hartik.sssup.it |
*/ |
#include "chimera.h" |
#include "kernel/kern.h" |
#include "modules/edf.h" |
#include "modules/cbs.h" |
#include "modules/rr.h" |
22,31 → 17,56 |
#include "modules/dummy.h" |
#include "modules/intdrive.h" |
#include <drivers/keyb.h> |
#include "modules/sem.h" |
#include "modules/hartport.h" |
#include "modules/pi.h" |
#include "modules/pc.h" |
#include "modules/srp.h" |
#include "modules/npp.h" |
#include "modules/nop.h" |
#include <drivers/shark_linuxc26.h> |
#include <drivers/shark_input26.h> |
#include <drivers/shark_pci26.h> |
#include <drivers/shark_cpu26.h> |
#include <drivers/shark_keyb26.h> |
#define FRAME_BUFFER_DEVICE 0 |
/*+ sysyem tick in us +*/ |
#define TICK 1000 |
#define TICK 0 |
/*+ RR tick in us +*/ |
#define RRTICK 10000 |
/*+ Interrupt Server +*/ |
#define INTDRIVE_Q 1000 |
#define INTDRIVE_T 10000 |
#define INTDRIVE_FLAGS 0 |
#define INTDRIVE_FLAG 0 |
int main(int argc, char **argv); |
void call_shutdown_task(void *arg); |
int device_drivers_init(); |
int device_drivers_close(); |
void set_shutdown_task(); |
TASK shutdown_task_body(void *arg); |
PID shutdown_task_PID = -1; |
TIME __kernel_register_levels__(void *arg) |
{ |
struct multiboot_info *mb = (struct multiboot_info *)arg; |
INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG); |
EDF_register_level(EDF_ENABLE_ALL); |
CBS_register_level(CBS_ENABLE_ALL, 0); |
CBS_register_level(CBS_ENABLE_ALL, 1); |
RR_register_level(RRTICK, RR_MAIN_YES, mb); |
dummy_register_level(); |
SEM_register_module(); |
PI_register_module(); |
return TICK; |
} |
54,13 → 74,95 |
{ |
struct multiboot_info *mb = (struct multiboot_info *)arg; |
KEYB_PARMS kparms = BASE_KEYB; |
HARTPORT_init(); |
KEYB_init(&kparms); |
/* Create the shutdown task. It will be activated at RUNLEVEL |
SHUTDOWN */ |
set_shutdown_task(); |
/* Init the drivers */ |
device_drivers_init(); |
/* Set the shutdown task activation */ |
sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
__call_main__(mb); |
return (void *)0; |
} |
void set_shutdown_task() { |
/* WARNING: the shutdown task is a background thread. It cannot execute |
if the system is overloaded */ |
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"); |
sys_end(); |
} |
} |
int device_drivers_init() { |
KEYB_PARMS kparms = BASE_KEYB; |
LINUXC26_register_module(); |
PCI26_init(); |
CPU26_init(); |
CPU26_DVS_init(); |
INPUT26_init(); |
keyb_def_ctrlC(kparms, NULL); |
KEYB26_init(&kparms); |
return 0; |
} |
int device_drivers_close() { |
KEYB26_close(); |
INPUT26_close(); |
return 0; |
} |
#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 shutdown_task_body(void *arg) { |
device_drivers_close(); |
sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
sys_abort_shutdown(0); |
return NULL; |
} |
/advdemos/trunk/chimera/chimera.c |
---|
267,7 → 267,8 |
k.flag = ALTL_BIT; |
k.scan = KEY_C; |
k.ascii = 'c'; |
keyb_hook(k,program_key_end); |
k.status = KEY_PRESSED; |
keyb_hook(k,program_key_end,FALSE); |
clear(); |
/advdemos/trunk/chimera/send.c |
---|
17,9 → 17,9 |
/* Servo Tasks Constants */ |
#ifdef DUBUG_SEND |
#define SEND_TASK_WCET 1000 |
#define SEND_TASK_WCET 10000 |
#else |
#define SEND_TASK_WCET 1000 |
#define SEND_TASK_WCET 10000 |
#endif |
#define SEND_TASK_MIT 30000 |
/advdemos/trunk/chimera/keys.c |
---|
85,116 → 85,139 |
k.flag = 0; |
k.scan = KEY_1; |
k.ascii = '1'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_2; |
k.ascii = '2'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_3; |
k.ascii = '3'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_4; |
k.ascii = '4'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_5; |
k.ascii = '5'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_6; |
k.ascii = '6'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_J; |
k.ascii = 'j'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_K; |
k.ascii = 'k'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_L; |
k.ascii = 'l'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_U; |
k.ascii = 'u'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_I; |
k.ascii = 'i'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_O; |
k.ascii = 'o'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_Q; |
k.ascii = 'q'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_W; |
k.ascii = 'w'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_E; |
k.ascii = 'e'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_Z; |
k.ascii = 'z'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_C; |
k.ascii = 'c'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_A; |
k.ascii = 'a'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_S; |
k.ascii = 's'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_D; |
k.ascii = 'd'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_F; |
k.ascii = 'f'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_G; |
k.ascii = 'g'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
k.flag = 0; |
k.scan = KEY_H; |
k.ascii = 'h'; |
keyb_hook(k,pad); |
k.status = KEY_PRESSED; |
keyb_hook(k,pad,FALSE); |
} |
/advdemos/trunk/chimera/makefile |
---|
12,7 → 12,7 |
include $(BASE)/config/example.mk |
chimera: |
make -f $(SUBMAKE) APP=chimera INIT= OTHEROBJS="initfile.o calibrate.o send.o action.o keys.o" SHARKOPT="__OLDCHAR__ __SERVO__" |
make -f $(SUBMAKE) APP=chimera INIT= OTHEROBJS="initfile.o calibrate.o send.o action.o keys.o" SHARKOPT="__LINUXC26__ __PCI__ __CPU__ __INPUT__ __SERVO__ __NET__" |
udpdump: udpdump.c |
gcc -Wimplicit-function-declaration -Wall -ggdb\ |
/advdemos/trunk/chimera/chimera.h |
---|
20,7 → 20,7 |
#include <semaphore.h> |
#include "modules/sem.h" |
#include "modules/hartport.h" |
#include <drivers/keyb.h> |
#include <drivers/shark_keyb26.h> |
#include <servo.h> |
//#include <drivers/udpip.h> |