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/*
* Project: S.Ha.R.K
*
* Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
*
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
*
* Authors:
* ...
* Tullio Facchinetti <tullio.facchinetti@unipv.it>
*
* http://www.sssup.it
* http://retis.sssup.it
* http://hartik.sssup.it
*/
#include "kernel/kern.h"
#include "edf/edf/edf.h"
#include "cbs/cbs/cbs.h"
#include "rr/rr/rr.h"
#include "dummy/dummy/dummy.h"
#include "intdrive/intdrive/intdrive.h"
#include "sem/sem/sem.h"
#include "hartport/hartport/hartport.h"
#include "pi/pi/pi.h"
#include "pc/pc/pc.h"
#include "srp/srp/srp.h"
#include "npp/npp/npp.h"
#include "nop/nop/nop.h"
#include <drivers/shark_linuxc26.h>
#include <drivers/shark_input26.h>
#include <drivers/shark_keyb26.h>
#define FRAME_BUFFER_DEVICE 0
/*+ sysyem tick in us +*/
#define TICK 0
/*+ RR tick in us +*/
#define RRTICK 10000
/*+ Interrupt Server +*/
#define INTDRIVE_Q 1000
#define INTDRIVE_U 0.1*MAX_BANDWIDTH
#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
;
LEVEL EDF_level
;
INTDRIVE_register_level
(INTDRIVE_Q
, INTDRIVE_Q
, INTDRIVE_U
, INTDRIVE_FLAG
);
EDF_level
= EDF_register_level
(EDF_ENABLE_ALL
);
CBS_register_level
(CBS_ENABLE_ALL
, EDF_level
);
RR_register_level
(RRTICK
, RR_MAIN_YES
, mb
);
dummy_register_level
();
SEM_register_module
();
PI_register_module
();
PC_register_module
();
NPP_register_module
();
SRP_register_module
();
NOP_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
);
__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");
exit(1);
}
}
int device_drivers_init
() {
KEYB_PARMS kparms
= BASE_KEYB
;
LINUXC26_register_module
(TRUE
);
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");
return NULL
;
}