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/*
 * Project: S.Ha.R.K.
 *
 * Coordinators:
 *   Giorgio Buttazzo    <giorgio@sssup.it>
 *   Paolo Gai           <pj@gandalf.sssup.it>
 *
 * Authors     :
 *   Paolo Gai           <pj@gandalf.sssup.it>
 *   (see the web pages for full authors list)
 *
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
 *
 * http://www.sssup.it
 * http://retis.sssup.it
 * http://shark.sssup.it
 */

/**
 ------------
 CVS :        $Id: pinit.c,v 1.1.1.1 2002-09-02 09:37:47 pj Exp $

 File:        $File$
 Revision:    $Revision: 1.1.1.1 $
 Last update: $Date: 2002-09-02 09:37:47 $
 ------------

 This is a minimal initialization file for the PSE51 profile.

 It initializes the POSIX scheduler, the Hartik Ports and the Keyboard driver.

**/

/*
 * 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/posix.h"
#include "modules/dummy.h"

#include "modules/pi.h"
#include "modules/pc.h"

#include "modules/sem.h"
#include "modules/hartport.h"

#include "drivers/keyb.h"

#include "pthread.h"
#include "time.h"


/*+ sysyem tick in us +*/
#define TICK 1000

/*+ RR tick in us +*/
#define RRTICK 10000

TIME __kernel_register_levels__(void *arg)
{
  struct multiboot_info *mb = (struct multiboot_info *)arg;

  POSIX_register_level(RRTICK, POSIX_MAIN_YES, mb, 32);
  dummy_register_level();

  PI_register_module();
  PC_register_module();

  SEM_register_module();

  /* for the Pthread library */
  PTHREAD_register_module(1, 0, 1);

  /* for the real time clock extensions */
  TIMER_register_module();

  return TICK;
}

TASK __init__(void *arg)
{
  struct multiboot_info *mb = (struct multiboot_info *)arg;
  NRT_TASK_MODEL m;   // the scheduling model for the Keyboard

  KEYB_PARMS k = BASE_KEYB;
  keyb_def_task(k, &m);
 
  nrt_task_default_model(m);
  nrt_task_def_arg(m,arg);
  nrt_task_def_usemath(m);
  nrt_task_def_ctrl_jet(m);
  nrt_task_def_save_arrivals(m);
  nrt_task_def_unjoinable(m);
  nrt_task_def_weight(m, sched_get_priority_max(SCHED_RR));
  nrt_task_def_policy(m,SCHED_RR);
  nrt_task_def_inherit(m,PTHREAD_EXPLICIT_SCHED);
  nrt_task_def_nokill(m);
  nrt_task_def_system(m);

  HARTPORT_init();

  if (KEYB_init(&k) < 0)
    kern_printf("Error during Keyboard Initialization!!!");

  __call_main__(mb);

  return (void *)0;
}