6,9 → 6,7 |
* Paolo Gai <pj@gandalf.sssup.it> |
* |
* Authors : |
* Paolo Gai <pj@gandalf.sssup.it> |
* Massimiliano Giorgi <massy@gandalf.sssup.it> |
* Luca Abeni <luca@gandalf.sssup.it> |
* Giacomo Guidi <giacomo@gandalf.sssup.it> |
* (see the web pages for full authors list) |
* |
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
18,11 → 16,7 |
* http://shark.sssup.it |
*/ |
|
/* CVS : $Id: initfile.c,v 1.3 2002-11-11 08:15:13 pj Exp $ */ |
|
/* |
* Copyright (C) 2000 Fabio Calabrese <fabiocalabrese77@yahoo.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 |
39,66 → 33,70 |
* |
*/ |
|
/**************************************************** |
* * |
* file: initfile.h * |
* data: 15/09/2002 * |
* creato da: Fabio CALABRESE * |
* * |
****************************************************** |
* * |
* descrizione: inizializza i moduli di scheduling e * |
* di risorse per il programma SHaRK * |
* "(B)ase(C)ontr(A)rea", il cui task * |
* main e' nel file bca.c. * |
* * |
******************************************************/ |
#define PI_MUTEX |
|
#define PI |
|
// *** Librerie S.Ha.R.K *** |
#include "kernel/kern.h" |
#include "modules/intdrive.h" |
#include "modules/edf.h" |
#include "modules/cbs.h" |
#include "modules/hardcbs.h" |
#include "modules/rr.h" |
#include "modules/dummy.h" |
#include "modules/pi.h" |
#include "modules/nop.h" |
|
#include "modules/sem.h" |
#include "modules/hartport.h" |
#include "modules/cabs.h" |
#include "drivers/keyb.h" |
// *** Librerie Standard C *** |
// *** Librerie FAB *** |
// *** Librerie BCA *** |
#include"bca.h" |
|
/*+ system tick in us +*/ |
#define TICK 1000 |
#include "modules/pi.h" |
#include "modules/nop.h" |
|
#include "bca.h" |
|
#include <drivers/shark_linuxc26.h> |
#include <drivers/shark_pci26.h> |
#include <drivers/shark_input26.h> |
#include <drivers/shark_keyb26.h> |
#include <drivers/shark_fb26.h> |
|
#define FRAME_BUFFER_DEVICE 0 |
|
/*+ sysyem tick in us +*/ |
#define TICK 0 |
|
/*+ RR tick in us +*/ |
#define RRTICK 10000 |
#define RRTICK 2000 |
|
/*+ Interrupt Server +*/ |
#define INTDRIVE_Q 1000 |
#define INTDRIVE_T 10000 |
#define INTDRIVE_FLAG 0 |
|
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); |
HCBS_register_level(HCBS_ENABLE_ALL, 1); |
RR_register_level(RRTICK, RR_MAIN_YES, mb); |
dummy_register_level(); |
|
SEM_register_module(); |
CABS_register_module(); |
|
PI_register_module(); |
NOP_register_module(); |
|
kern_init_bca(); |
|
// periodic timer |
return TICK; |
// one-shot timer |
// return 0 |
} |
|
TASK __init__(void *arg) |
105,25 → 103,30 |
{ |
struct multiboot_info *mb = (struct multiboot_info *)arg; |
|
KEYB_PARMS kparms = BASE_KEYB; |
|
HARTPORT_init(); |
|
keyb_def_ctrlC(kparms, NULL); |
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; |
} |
|
#ifdef PI |
#ifdef PI_MUTEX |
int app_mutex_init(mutex_t *m) |
{ |
PI_mutexattr_t attr; |
|
|
PI_mutexattr_default(attr); |
|
|
return mutex_init(m, &attr); |
} |
#else |
130,10 → 133,98 |
int app_mutex_init(mutex_t *m) |
{ |
NOP_mutexattr_t attr; |
|
|
NOP_mutexattr_default(attr); |
|
|
return mutex_init(m, &attr); |
} |
#endif |
|
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() { |
|
int res; |
KEYB_PARMS kparms = BASE_KEYB; |
|
LINUXC26_register_module(); |
|
PCI26_init(); |
|
INPUT26_init(); |
|
keyb_def_ctrlC(kparms, NULL); |
|
KEYB26_init(&kparms); |
|
FB26_init(); |
|
res = FB26_open(FRAME_BUFFER_DEVICE); |
if (res) { |
cprintf("Error: Cannot open graphical mode\n"); |
KEYB26_close(); |
INPUT26_close(); |
sys_end(); |
} |
|
FB26_use_grx(FRAME_BUFFER_DEVICE); |
|
FB26_setmode(FRAME_BUFFER_DEVICE,"800x600-16"); |
|
return 0; |
|
} |
|
int device_drivers_close() { |
|
FB26_close(FRAME_BUFFER_DEVICE); |
|
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; |
|
} |