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Ignore whitespace Rev 1646 → Rev 1647

/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"
22,45 → 17,152
#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;
struct multiboot_info *mb = (struct multiboot_info *)arg;
 
EDF_register_level(EDF_ENABLE_ALL);
CBS_register_level(CBS_ENABLE_ALL, 0);
RR_register_level(RRTICK, RR_MAIN_YES, mb);
dummy_register_level();
INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG);
EDF_register_level(EDF_ENABLE_ALL);
CBS_register_level(CBS_ENABLE_ALL, 1);
RR_register_level(RRTICK, RR_MAIN_YES, mb);
dummy_register_level();
 
SEM_register_module();
SEM_register_module();
 
return TICK;
PI_register_module();
 
return TICK;
}
 
TASK __init__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
struct multiboot_info *mb = (struct multiboot_info *)arg;
 
KEYB_PARMS kparms = BASE_KEYB;
HARTPORT_init();
 
HARTPORT_init();
/* Create the shutdown task. It will be activated at RUNLEVEL
SHUTDOWN */
set_shutdown_task();
 
KEYB_init(&kparms);
/* Init the drivers */
device_drivers_init();
 
__call_main__(mb);
/* Set the shutdown task activation */
sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);
 
return (void *)0;
__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>