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| /* |
| * Project: S.Ha.R.K. |
| * |
| * Coordinators: |
| * Giorgio Buttazzo <giorgio@sssup.it> |
| * Paolo Gai <pj@gandalf.sssup.it> |
| * |
| * Authors : |
| * Giacomo Guidi <giacomo@gandalf.sssup.it> |
| * (see the web pages for full authors list) |
| * |
| * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
| * |
| * http://www.sssup.it |
| * http://retis.sssup.it |
| * http://shark.sssup.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 |
| * (at your option) any later version. |
| * |
| * This program is distributed in the hope that it will be useful, |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| * GNU General Public License for more details. |
| * |
| * You should have received a copy of the GNU General Public License |
| * along with this program; if not, write to the Free Software |
| * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
| */ |
| |
| #include "kernel/kern.h" |
| #include "modules/intdrive.h" |
| #include "modules/edf.h" |
| #include "modules/hardcbs.h" |
| #include "modules/rr.h" |
| #include "modules/dummy.h" |
| |
| #include "modules/sem.h" |
| #include "modules/hartport.h" |
| #include "modules/cabs.h" |
| |
| #include "drivers/shark_linuxc26.h" |
| #include "drivers/shark_input26.h" |
| #include "drivers/shark_keyb26.h" |
| |
| #include <drivers/shark_cpu26.h> |
| |
| /*+ sysyem tick in us +*/ |
| #define TICK 0 |
| |
| /*+ RR tick in us +*/ |
| #define RRTICK 10000 |
| |
| /*+ IntDrive Server +*/ |
| #define INTDRIVE_Q 1000 |
| #define INTDRIVE_T 10000 |
| #define INTDRIVE_FLAGS 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_FLAGS); |
| EDF_register_level(EDF_ENABLE_ALL); |
| HCBS_register_level(HCBS_ENABLE_ALL, 1); |
| RR_register_level(RRTICK, RR_MAIN_YES, mb); |
| dummy_register_level(); |
| |
| SEM_register_module(); |
| |
| CABS_register_module(); |
| |
| return TICK; |
| } |
| |
| TASK __init__(void *arg) |
| { |
| struct multiboot_info *mb = (struct multiboot_info *)arg; |
| |
| HARTPORT_init(); |
| |
| /* 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); |
| |
| //sys_set_reboot(EXIT_MODE_HALT); |
| |
| __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(); |
| |
| CPU26_init(); |
| |
| CPU26_initDVS(); |
| |
| INPUT26_init(); |
| |
| keyb_def_ctrlC(kparms, NULL); |
| |
| KEYB26_init(&kparms); |
| |
| return 0; |
| |
| } |
| |
| int device_drivers_close() { |
| |
| //CPU26_closeDVS(); |
| |
| 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; |
| |
| } |
| |