/**************************************************************************** * sched/init/os_bringup.c * * Copyright (C) 2011-2012 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * With extensions by: * * Author: Uros Platise * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name NuttX nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ /**************************************************************************** * Included Files ****************************************************************************/ #include #include #include #include #include #include #include #include #include #include #ifdef CONFIG_PAGING # include "paging/paging.h" #endif # include "init/init.h" /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ /* Configuration */ #if defined(CONFIG_INIT_NONE) /* Kconfig logic will set CONFIG_INIT_NONE if dependencies are not met */ # error No initialization mechanism selected (CONFIG_INIT_NONE) #else # if !defined(CONFIG_INIT_ENTRYPOINT) && !defined(CONFIG_INIT_FILEPATH) /* For backward compatibility with older defconfig files when this was * the way things were done. */ # define CONFIG_INIT_ENTRYPOINT 1 # endif # if defined(CONFIG_INIT_ENTRYPOINT) /* Initialize by starting a task at an entry point */ # ifndef CONFIG_USER_ENTRYPOINT /* Entry point name must have been provided */ # error CONFIG_USER_ENTRYPOINT must be defined # endif # elif defined(CONFIG_INIT_FILEPATH) /* Initialize by running an initialization program in the file system. * Presumably the user has configured a board initialization function * that will mount the file system containing the initialization * program. */ # ifndef CONFIG_BOARD_INITIALIZE # warning You probably need CONFIG_BOARD_INITIALIZE to mount the file system # endif # ifndef CONFIG_USER_INITPATH /* Path to the initialization program must have been provided */ # error CONFIG_USER_INITPATH must be defined # endif # if !defined(CONFIG_INIT_SYMTAB) || !defined(CONFIG_INIT_NEXPORTS) /* No symbol information... assume no symbol table is available */ # undef CONFIG_INIT_SYMTAB # undef CONFIG_INIT_NEXPORTS # define CONFIG_INIT_SYMTAB NULL # define CONFIG_INIT_NEXPORTS 0 # endif # endif #endif /* If NuttX is built as a separately compiled module, then the config.h header * file should contain the address of the entry point (or path to the file) * that will perform the application-level initialization. */ /* Customize some strings */ #ifdef CONFIG_SCHED_WORKQUEUE # ifdef CONFIG_SCHED_HPWORK # if defined(CONFIG_SCHED_LPWORK) # define HPWORKNAME "hpwork" # define LPWORKNAME "lpwork" # elif defined(CONFIG_SCHED_USRWORK) # define HPWORKNAME "knlwork" # else # define HPWORKNAME "work" # endif # endif #endif /**************************************************************************** * Private Types ****************************************************************************/ /**************************************************************************** * Private Function Prototypes ****************************************************************************/ /**************************************************************************** * Private Data ****************************************************************************/ /**************************************************************************** * Public Data ****************************************************************************/ /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Name: os_pgworker * * Description: * Start the page fill worker kernel thread that will resolve page faults. * This should always be the first thread started because it may have to * resolve page faults in other threads * * Input Parameters: * None * * Returned Value: * None * ****************************************************************************/ #ifdef CONFIG_PAGING static inline void os_pgworker(void) { /* Start the page fill worker kernel thread that will resolve page faults. * This should always be the first thread started because it may have to * resolve page faults in other threads */ svdbg("Starting paging thread\n"); g_pgworker = kernel_thread("pgfill", CONFIG_PAGING_DEFPRIO, CONFIG_PAGING_STACKSIZE, (main_t)pg_worker, (FAR char * const *)NULL); DEBUGASSERT(g_pgworker > 0); } #else /* CONFIG_PAGING */ # define os_pgworker() #endif /* CONFIG_PAGING */ /**************************************************************************** * Name: os_workqueues * * Description: * Start the worker threads that service the work queues. * * Input Parameters: * None * * Returned Value: * None * ****************************************************************************/ #ifdef CONFIG_SCHED_WORKQUEUE static inline void os_workqueues(void) { #if defined(CONFIG_BUILD_PROTECTED) && defined(CONFIG_SCHED_USRWORK) int taskid; #endif #ifdef CONFIG_SCHED_HPWORK #ifdef CONFIG_SCHED_LPWORK svdbg("Starting high-priority kernel worker thread\n"); #else svdbg("Starting kernel worker thread\n"); #endif g_work[HPWORK].pid = kernel_thread(HPWORKNAME, CONFIG_SCHED_WORKPRIORITY, CONFIG_SCHED_WORKSTACKSIZE, (main_t)work_hpthread, (FAR char * const *)NULL); DEBUGASSERT(g_work[HPWORK].pid > 0); /* Start a lower priority worker thread for other, non-critical continuation * tasks */ #ifdef CONFIG_SCHED_LPWORK svdbg("Starting low-priority kernel worker thread\n"); g_work[LPWORK].pid = kernel_thread(LPWORKNAME, CONFIG_SCHED_LPWORKPRIORITY, CONFIG_SCHED_LPWORKSTACKSIZE, (main_t)work_lpthread, (FAR char * const *)NULL); DEBUGASSERT(g_work[LPWORK].pid > 0); #endif /* CONFIG_SCHED_LPWORK */ #endif /* CONFIG_SCHED_HPWORK */ #if defined(CONFIG_BUILD_PROTECTED) && defined(CONFIG_SCHED_USRWORK) /* Start the user-space work queue */ DEBUGASSERT(USERSPACE->work_usrstart != NULL); taskid = USERSPACE->work_usrstart(); DEBUGASSERT(taskid > 0); UNUSED(taskid); #endif } #else /* CONFIG_SCHED_WORKQUEUE */ # define os_workqueues() #endif /* CONFIG_SCHED_WORKQUEUE */ /**************************************************************************** * Name: os_start_application * * Description: * Execute the board initialization function (if so configured) and start * the application initialization thread. * * Input Parameters: * None * * Returned Value: * None * ****************************************************************************/ #if defined(CONFIG_INIT_ENTRYPOINT) static inline void os_do_appstart(void) { int taskid; #ifdef CONFIG_BOARD_INITIALIZE /* Perform any last-minute, board-specific initialization, if so * configured. */ board_initialize(); #endif /* Start the application initialization task. In a flat build, this is * entrypoint is given by the definitions, CONFIG_USER_ENTRYPOINT. In * the protected build, however, we must get the address of the * entrypoint from the header at the beginning of the user-space blob. */ svdbg("Starting init thread\n"); #ifdef CONFIG_BUILD_PROTECTED DEBUGASSERT(USERSPACE->us_entrypoint != NULL); taskid = task_create("init", SCHED_PRIORITY_DEFAULT, CONFIG_USERMAIN_STACKSIZE, USERSPACE->us_entrypoint, (FAR char * const *)NULL); #else taskid = task_create("init", SCHED_PRIORITY_DEFAULT, CONFIG_USERMAIN_STACKSIZE, (main_t)CONFIG_USER_ENTRYPOINT, (FAR char * const *)NULL); #endif ASSERT(taskid > 0); } #elif defined(CONFIG_INIT_FILEPATH) static inline void os_do_appstart(void) { int ret; #ifdef CONFIG_BOARD_INITIALIZE /* Perform any last-minute, board-specific initialization, if so * configured. */ board_initialize(); #endif /* Start the application initialization program from a program in a * mounted file system. Presumably the file system was mounted as part * of the board_initialize() operation. */ svdbg("Starting init task: %s\n", CONFIG_USER_INITPATH); ret = exec(CONFIG_USER_INITPATH, NULL, CONFIG_INIT_SYMTAB, CONFIG_INIT_NEXPORTS); ASSERT(ret >= 0); } #elif defined(CONFIG_INIT_NONE) # define os_do_appstart() #else # error "Cannot start initialization thread" #endif /**************************************************************************** * Name: os_start_task * * Description: * This is the framework for a short duration worker thread. It off-loads * the board initialization and application start-up from the limited * start-up, initialization thread to a more robust kernel thread. * * Input Parameters: * None * * Returned Value: * None * ****************************************************************************/ #ifdef CONFIG_BOARD_INITTHREAD static int os_start_task(int argc, FAR char **argv) { /* Do the board/application initialization and exit */ os_do_appstart(); return OK; } #endif /**************************************************************************** * Name: os_start_application * * Description: * Execute the board initialization function (if so configured) and start * the application initialization thread. This will be done either on the * thread of execution of the caller or on a separate thread of execution * if so configured. * * Input Parameters: * None * * Returned Value: * None * ****************************************************************************/ static inline void os_start_application(void) { #ifdef CONFIG_BOARD_INITTHREAD int taskid; /* Do the board/application initialization on a separate thread of * execution. */ taskid = kernel_thread("AppBringUp", CONFIG_BOARD_INITTHREAD_PRIORITY, CONFIG_BOARD_INITTHREAD_STACKSIZE, (main_t)os_start_task, (FAR char * const *)NULL); ASSERT(taskid > 0); #else /* Do the board/application initialization on this thread of execution. */ os_do_appstart(); #endif } /**************************************************************************** * Public Functions ****************************************************************************/ /**************************************************************************** * Name: os_bringup * * Description: * Start all initial system tasks. This does the "system bring-up" after * the conclusion of basic OS initialization. These initial system tasks * may include: * * - pg_worker: The page-fault worker thread (only if CONFIG_PAGING is * defined. * - work_thread: The work thread. This general thread can be used to * perform most any kind of queued work. Its primary * function is to serve as the "bottom half" of device * drivers. * * And the main application entry point: * symbols, either: * * - CONFIG_USER_ENTRYPOINT: This is the default user application entry * point, or * - CONFIG_USER_INITPATH: The full path to the location in a mounted * file system where we can expect to find the * initialization program. Presumably, this file system * was mounted by board-specific logic when * board_initialize() was called. * * Input Parameters: * None * * Returned Value: * None * ****************************************************************************/ int os_bringup(void) { /* Setup up the initial environment for the idle task. At present, this * may consist of only the initial PATH variable. The PATH variable is * (probably) not used by the IDLE task. However, the environment * containing the PATH variable will be inherited by all of the threads * created by the IDLE task. */ #if !defined(CONFIG_DISABLE_ENVIRON) && defined(CONFIG_PATH_INITIAL) (void)setenv("PATH", CONFIG_PATH_INITIAL, 1); #endif /* Start the page fill worker kernel thread that will resolve page faults. * This should always be the first thread started because it may have to * resolve page faults in other threads */ os_pgworker(); /* Start the worker thread that will serve as the device driver "bottom- * half" and will perform misc garbage clean-up. */ os_workqueues(); /* Once the operating system has been initialized, the system must be * started by spawning the user initialization thread of execution. This * will be the first user-mode thread. */ os_start_application(); /* We an save a few bytes by discarding the IDLE thread's environment. */ #if !defined(CONFIG_DISABLE_ENVIRON) && defined(CONFIG_PATH_INITIAL) (void)clearenv(); #endif return OK; }