Subversion Repositories shark

/*
 * 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;

}