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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 <drivers/shark_linuxc26.h>
#include <drivers/shark_pci26.h>
#include <drivers/shark_input26.h>
#include <drivers/shark_keyb26.h>
#include <drivers/shark_fb26.h>
#include <drivers/shark_i2c26.h>
#include <drivers/shark_bttv26.h>
#include <drivers/shark_videodev26.h>
#define FRAME_BUFFER_DEVICE 0
#define FRAME_GRABBER_DEVICE 0
/*+ sysyem tick in us +*/
#define TICK 0
/*+ RR tick in us +*/
#define RRTICK 10000
/*+ Interrup 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();
return TICK;
}
TASK __init__(void *arg)
{
struct multiboot_info *mb = (struct multiboot_info *)arg;
HARTPORT_init();
set_shutdown_task();
device_drivers_init();
sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN);
__call_main__(mb);
return (void *)0;
}
void set_shutdown_task() {
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() {
int res;
KEYB_PARMS kparms = BASE_KEYB;
LINUXC26_register_module(TRUE);
PCI26_init();
I2C26_init();
INPUT26_init();
keyb_def_ctrlC(kparms, NULL);
KEYB26_init(&kparms);
BTTV26_init();
FB26_init();
res = FB26_open(FRAME_BUFFER_DEVICE);
if (res) {
cprintf("Error: Cannot open graphical mode\n");
KEYB26_close();
INPUT26_close();
exit(1);
}
FB26_use_grx(FRAME_BUFFER_DEVICE);
FB26_setmode(FRAME_BUFFER_DEVICE,"640x480-16");
return 0;
}
int device_drivers_close() {
BTTV26_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");
return NULL;
}