Subversion Repositories shark

/*
 * Project: HARTIK (HA-rd R-eal TI-me K-ernel)
 *
 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
 *               Gerardo Lamastra <gerardo@sssup.it>
 *
 * Authors     : Mauro Marinoni <mauro.marinoni@unipv.it>
 * (see authors.txt for full list of hartik's authors)
 *
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
 *
 * http://www.sssup.it
 * http://retis.sssup.it
 * http://hartik.sssup.it
 */

/*
 * Copyright (C) 2000 Paolo Gai
 *
 * 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_pci26.h>

#include <drivers/shark_input26.h>
#include <drivers/shark_keyb26.h>
#include <drivers/shark_mouse26.h>
#include <drivers/shark_spk26.h>
#include <drivers/shark_joy26.h>

#include <drivers/shark_fb26.h>

#define FRAME_BUFFER_DEVICE 0

/*+ sysyem tick in us +*/
#define TICK 0

/*+ RR tick in us +*/
#define RRTICK 2000

/*+ Interrupt Server +*/
#define INTDRIVE_Q 1000
#define INTDRIVE_T 10000
#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;

        INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG);
        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);

        __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()
{
        int res;
        KEYB_PARMS kparms = BASE_KEYB;
        MOUSE_PARMS mparms = BASE_MOUSE;
                                                           
        LINUXC26_register_module();

        PCI26_init();

        INPUT26_init();

        /* keyb_def_map(kparms, KEYMAP_IT);*/
        keyb_def_ctrlC(kparms, NULL);
        KEYB26_init(&kparms);

        mouse_def_threshold(mparms, 5);
        mouse_def_xmin(mparms, 0);
        mouse_def_ymin(mparms, 0);
        mouse_def_xmax(mparms, 639);
        mouse_def_ymax(mparms, 479);
        MOUSE26_init(&mparms);

        SPEAK26_init();

        JOY26_init();

        FB26_init();
        res = FB26_open(FRAME_BUFFER_DEVICE);
        if (res) {
                cprintf("Error: Cannot open graphical mode\n");
                MOUSE26_close();
                SPEAK26_close();
                JOY26_close();
                KEYB26_close();
                INPUT26_close();
                sys_end();
        }                                                                                            
       
        FB26_use_grx(FRAME_BUFFER_DEVICE);
        FB26_setmode(FRAME_BUFFER_DEVICE,"640x480-16");

        return 0;
}

int device_drivers_close() {

        mouse_grxcursor(DISABLE, 0);

        FB26_close(FRAME_BUFFER_DEVICE);

        MOUSE26_close();
        SPEAK26_close();
        JOY26_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;
}