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/*
* 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
*/
/*
* 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/edf.h"
#include "modules/cbs.h"
#include "modules/rr.h"
#include "modules/dummy.h"
#include "modules/intdrive.h"
#include "modules/sem.h"
#include "modules/hartport.h"
#include <drivers/shark_linuxc26.h>
#include <drivers/shark_input26.h>
#include <drivers/shark_keyb26.h>
#include <drivers/shark_spk26.h>
/*+ sysyem tick in us +*/
#define TICK 0
/*+ RR tick in us +*/
#define RRTICK 10000
/*+ Interrupt Server +*/
#define INTDRIVE_Q 1000
#define INTDRIVE_T 10000
#define INTDRIVE_FLAG 0
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);
CBS_register_level(CBS_ENABLE_ALL, 1);
RR_register_level(RRTICK, RR_MAIN_YES, mb);
dummy_register_level();
SEM_register_module();
return TICK;
}
int device_drivers_close() {
KEYB26_close();
SPEAK26_close();
INPUT26_close();
return 0;
}
int device_drivers_init() {
KEYB_PARMS kparms = BASE_KEYB;
LINUXC26_register_module();
INPUT26_init();
/*keyb_def_map(kparms, KEYMAP_IT);*/
keyb_def_ctrlC(kparms, NULL);
KEYB26_init(&kparms);
SPEAK26_init();
return 0;
}
TASK shutdown_task_body(void *arg) {
device_drivers_close();
sys_shutdown_message("-- S.Ha.R.K. Closed --\n");
sys_abort_shutdown(0);
return NULL;
}
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");
sys_end();
}
}
#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 __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;
}