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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>
* Tullio Facchinetti <tullio.facchinetti@unipv.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
*/
/*
* 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 "intdrive/intdrive/intdrive.h"
#include "edf/edf/edf.h"
#include "rr/rr/rr.h"
#include "tbs/tbs/tbs.h"
#include "cbs/cbs/cbs.h"
#include "rrsoft/rrsoft/rrsoft.h"
#include "dummy/dummy/dummy.h"
#include "sem/sem/sem.h"
#include "hartport/hartport/hartport.h"
/*+ sysyem tick in us +*/
#define TICK 0
#define RRTICK 5000
/*+ Interrupt Server +*/
#define INTDRIVE_Q 1000
#define INTDRIVE_U 0.1*MAX_BANDWIDTH
#define INTDRIVE_FLAG 0
#include <drivers/shark_linuxc26.h>
#include <drivers/shark_input26.h>
#include <drivers/shark_keyb26.h>
#define FRAME_BUFFER_DEVICE 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
);
dummy_register_level
();
SEM_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");
exit(1);
}
}
int device_drivers_init
() {
KEYB_PARMS kparms
= BASE_KEYB
;
LINUXC26_register_module
(TRUE
);
INPUT26_init
();
keyb_def_ctrlC
(kparms
, NULL
);
KEYB26_init
(&kparms
);
return 0;
}
int device_drivers_close
() {
KEYB26_close
();
INPUT26_close
();
return 0;
}
#define SHUTDOWN_TIMEOUT_SEC 5
void mytimeout
(void *x
)
{
kern_printf
("\nTIMEOUT!!!!!\n");
sys_abort_shutdown
(1);
}
void call_shutdown_task
(void *arg
)
{
struct timespec t
;
kern_printf
("\ncall_shutdown_task\n");
sys_gettime
(&t
);
t.
tv_sec += SHUTDOWN_TIMEOUT_SEC
;
/* Emergency timeout to exit from RUNLEVEL_SHUTDOWN */
kern_event_post
(&t
,mytimeout
,(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
;
}