37,6 → 37,12 |
#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) |
54,16 → 60,44 |
return TICK; |
} |
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int device_drivers_close() { |
TASK __init__(void *arg) |
{ |
struct multiboot_info *mb = (struct multiboot_info *)arg; |
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KEYB26_close(); |
HARTPORT_init(); |
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INPUT26_close(); |
/* Create the shutdown task. It will be activated at RUNLEVEL |
SHUTDOWN */ |
set_shutdown_task(); |
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return 0; |
/* 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; |
80,53 → 114,39 |
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} |
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TASK shutdown_task_body(void *arg) { |
int device_drivers_close() { |
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device_drivers_close(); |
KEYB26_close(); |
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sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
INPUT26_close(); |
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sys_end(); |
return 0; |
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return NULL; |
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} |
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void set_shutdown_task() { |
#define SHUTDOWN_TIMEOUT_SEC 3 |
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NRT_TASK_MODEL nrt; |
void call_shutdown_task(void *arg) |
{ |
struct timespec t; |
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nrt_task_default_model(nrt); |
nrt_task_def_system(nrt); |
nrt_task_def_nokill(nrt); |
sys_gettime(&t); |
t.tv_sec += SHUTDOWN_TIMEOUT_SEC; |
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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(); |
} |
/* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */ |
kern_event_post(&t,(void *)((void *)sys_abort_shutdown),(void *)0); |
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} |
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void call_shutdown_task(void *arg) { |
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task_activate(shutdown_task_PID); |
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} |
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TASK __init__(void *arg) |
{ |
struct multiboot_info *mb = (struct multiboot_info *)arg; |
TASK shutdown_task_body(void *arg) { |
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HARTPORT_init(); |
device_drivers_close(); |
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set_shutdown_task(); |
sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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device_drivers_init(); |
sys_abort_shutdown(0); |
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sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
return NULL; |
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__call_main__(mb); |
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return (void *)0; |
} |