34,11 → 34,20 |
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#include "kernel/kern.h" |
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#include "modules/intdrive.h" |
#include "modules/edf.h" |
#include "modules/elastic.h" |
#include "modules/cbs.h" |
#include "modules/rr.h" |
#include "modules/dummy.h" |
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#include "modules/sem.h" |
#include "modules/hartport.h" |
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#include <drivers/shark_linuxc26.h> |
#include <drivers/shark_input26.h> |
#include <drivers/shark_keyb26.h> |
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/*+ sysyem tick in us +*/ |
#define TICK 0 |
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45,25 → 54,125 |
/*+ RR tick in us +*/ |
#define RRTICK 10000 |
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/*+ Interrupt Server +*/ |
#define INTDRIVE_Q 1000 |
#define INTDRIVE_T 10000 |
#define INTDRIVE_FLAG 0 |
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void call_shutdown_task(void *arg); |
int device_drivers_init(); |
int device_drivers_close(); |
void set_shutdown_task(); |
TASK shutdown_task_body(void *arg); |
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PID shutdown_task_PID = -1; |
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TIME __kernel_register_levels__(void *arg) |
{ |
struct multiboot_info *mb = (struct multiboot_info *)arg; |
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INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG); |
EDF_register_level(EDF_ENABLE_ALL); |
ELASTIC_register_level(ELASTIC_ENABLE_ALL, 0, MAX_BANDWIDTH); |
CBS_register_level(CBS_ENABLE_ALL, 1); |
ELASTIC_register_level(ELASTIC_ENABLE_ALL, 1, MAX_BANDWIDTH); |
RR_register_level(RRTICK, RR_MAIN_YES, mb); |
dummy_register_level(); |
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SEM_register_module(); |
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return TICK; |
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} |
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TASK __init__(void *arg) |
{ |
struct multiboot_info *mb = (struct multiboot_info *)arg; |
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HARTPORT_init(); |
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/* Create the shutdown task. It will be activated at RUNLEVEL |
SHUTDOWN */ |
set_shutdown_task(); |
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/* Init the drivers */ |
device_drivers_init(); |
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/* Set the shutdown task activation */ |
sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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__call_main__(mb); |
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return (void *)0; |
} |
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void set_shutdown_task() { |
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/* WARNING: the shutdown task is a background thread. It cannot execute |
if the system is overloaded */ |
NRT_TASK_MODEL nrt; |
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nrt_task_default_model(nrt); |
nrt_task_def_system(nrt); |
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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(); |
} |
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} |
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int device_drivers_init() { |
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KEYB_PARMS kparms = BASE_KEYB; |
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LINUXC26_register_module(); |
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INPUT26_init(); |
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keyb_def_ctrlC(kparms, NULL); |
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KEYB26_init(&kparms); |
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return 0; |
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} |
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int device_drivers_close() { |
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KEYB26_close(); |
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INPUT26_close(); |
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return 0; |
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} |
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#define SHUTDOWN_TIMEOUT_SEC 3 |
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void call_shutdown_task(void *arg) |
{ |
struct timespec t; |
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sys_gettime(&t); |
t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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/* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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task_activate(shutdown_task_PID); |
} |
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TASK shutdown_task_body(void *arg) { |
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device_drivers_close(); |
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sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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sys_abort_shutdown(0); |
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return NULL; |
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} |