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incubator-nuttx/sched/init/nx_bringup.c

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/****************************************************************************
* sched/init/nx_bringup.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sched.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <debug.h>
#include <nuttx/arch.h>
#include <nuttx/board.h>
#include <nuttx/fs/fs.h>
#include <nuttx/init.h>
#include <nuttx/nuttx.h>
#include <nuttx/symtab.h>
#include <nuttx/trace.h>
#include <nuttx/wqueue.h>
#include <nuttx/kthread.h>
#include <nuttx/userspace.h>
#include <nuttx/binfmt/binfmt.h>
#ifdef CONFIG_PAGING
# include "paging/paging.h"
#endif
#include "sched/sched.h"
#include "wqueue/wqueue.h"
#include "init/init.h"
#include "misc/coredump.h"
#ifdef CONFIG_ETC_ROMFS
# include <nuttx/drivers/ramdisk.h>
# include <sys/mount.h>
#endif
/****************************************************************************
* 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_ENTRY) && !defined(CONFIG_INIT_FILE)
/* For backward compatibility with older defconfig files when this was
* the way things were done.
*/
# define CONFIG_INIT_ENTRY 1
# endif
# if defined(CONFIG_INIT_ENTRY)
/* Initialize by starting a task at an entry point */
# ifndef CONFIG_INIT_ENTRYPOINT
/* Entry point name must have been provided */
# error CONFIG_INIT_ENTRYPOINT must be defined
# endif
# elif defined(CONFIG_INIT_FILE)
/* 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_INIT_FILEPATH
/* Path to the initialization program must have been provided */
# error CONFIG_INT_FILEPATH 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
# else
extern const struct symtab_s CONFIG_INIT_SYMTAB[];
extern const int CONFIG_INIT_NEXPORTS;
# endif
# endif
#endif
/* In the protected build (only) we also need to start the user work queue */
#if !defined(CONFIG_BUILD_PROTECTED)
# undef CONFIG_LIBC_USRWORK
#endif
#if !defined(CONFIG_INIT_PRIORITY)
# define CONFIG_INIT_PRIORITY SCHED_PRIORITY_DEFAULT
#endif
#ifdef CONFIG_ETC_ROMFS
# define NSECTORS(b) (((b)+CONFIG_ETC_ROMFSSECTSIZE-1)/CONFIG_ETC_ROMFSSECTSIZE)
# define MKMOUNT_DEVNAME(m) "/dev/ram" STRINGIFY(m)
# define MOUNT_DEVNAME MKMOUNT_DEVNAME(CONFIG_ETC_ROMFSDEVNO)
extern const unsigned char romfs_img[];
extern const unsigned int romfs_img_len;
#endif
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: nx_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 nx_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
*/
sinfo("Starting paging thread\n");
g_pgworker = kthread_create("pgfill", CONFIG_PAGING_DEFPRIO,
CONFIG_PAGING_STACKSIZE,
pg_worker, NULL);
DEBUGASSERT(g_pgworker > 0);
}
#else /* CONFIG_PAGING */
# define nx_pgworker()
#endif /* CONFIG_PAGING */
/****************************************************************************
* Name: nx_workqueues
*
* Description:
* Start the worker threads that service the work queues.
*
* Input Parameters:
* None
*
* Returned Value:
* None
*
****************************************************************************/
#ifdef CONFIG_SCHED_WORKQUEUE
static inline void nx_workqueues(void)
{
#ifdef CONFIG_LIBC_USRWORK
pid_t pid;
#endif
#ifdef CONFIG_SCHED_HPWORK
/* Start the high-priority worker thread to support device driver lower
* halves.
*/
work_start_highpri();
#endif /* CONFIG_SCHED_HPWORK */
#ifdef CONFIG_SCHED_LPWORK
/* Start the low-priority worker thread for other, non-critical
* continuation tasks
*/
work_start_lowpri();
#endif /* CONFIG_SCHED_LPWORK */
#ifdef CONFIG_LIBC_USRWORK
/* Start the user-space work queue */
DEBUGASSERT(USERSPACE->work_usrstart != NULL);
pid = USERSPACE->work_usrstart();
DEBUGASSERT(pid > 0);
UNUSED(pid);
#endif
}
#else /* CONFIG_SCHED_WORKQUEUE */
# define nx_workqueues()
#endif /* CONFIG_SCHED_WORKQUEUE */
/****************************************************************************
* Name: nx_romfsetc
*
* Description: mount baked-in ROMFS image to /etc.
*
* Input Parameters:
* None
*
* Returned Value:
* None
*
****************************************************************************/
#ifdef CONFIG_ETC_ROMFS
static inline void nx_romfsetc(void)
{
int ret;
#ifndef CONFIG_ETC_CROMFS
/* Create a ROM disk for the /etc filesystem */
ret = romdisk_register(CONFIG_ETC_ROMFSDEVNO, romfs_img,
NSECTORS(romfs_img_len),
CONFIG_ETC_ROMFSSECTSIZE);
if (ret < 0)
{
ferr("ERROR: romdisk_register failed: %d\n", -ret);
return;
}
#endif
/* Mount the file system */
finfo("Mounting ROMFS filesystem at target=%s with source=%s\n",
CONFIG_ETC_ROMFSMOUNTPT, MOUNT_DEVNAME);
#if defined(CONFIG_ETC_CROMFS)
ret = nx_mount(MOUNT_DEVNAME, CONFIG_ETC_ROMFSMOUNTPT,
"cromfs", MS_RDONLY, NULL);
#else
ret = nx_mount(MOUNT_DEVNAME, CONFIG_ETC_ROMFSMOUNTPT,
"romfs", MS_RDONLY, NULL);
#endif
if (ret < 0)
{
ferr("ERROR: nx_mount(%s,%s,romfs) failed: %d\n",
MOUNT_DEVNAME, CONFIG_ETC_ROMFSMOUNTPT, ret);
}
}
#endif /* CONFIG_ETC_ROMFS */
/****************************************************************************
* Name: nx_start_application
*
* Description:
* Execute the board initialization function (if so configured) and start
* the application initialization thread.
*
* Input Parameters:
* None
*
* Returned Value:
* None
*
****************************************************************************/
static inline void nx_start_application(void)
{
#ifndef CONFIG_INIT_NONE
FAR char * const argv[] =
{
# ifdef CONFIG_INIT_ARGS
CONFIG_INIT_ARGS,
# endif
NULL,
};
posix_spawnattr_t attr;
#endif
int ret;
#ifdef CONFIG_ETC_ROMFS
nx_romfsetc();
#endif
#ifdef CONFIG_BOARD_LATE_INITIALIZE
/* Perform any last-minute, board-specific initialization, if so
* configured.
*/
board_late_initialize();
#endif
#if defined(CONFIG_BOARD_COREDUMP_SYSLOG) || \
defined(CONFIG_BOARD_COREDUMP_BLKDEV)
coredump_initialize();
#endif
posix_spawnattr_init(&attr);
attr.priority = CONFIG_INIT_PRIORITY;
attr.stacksize = CONFIG_INIT_STACKSIZE;
#if defined(CONFIG_INIT_ENTRY)
/* Start the application initialization task. In a flat build, this is
* entrypoint is given by the definitions, CONFIG_INIT_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.
*/
sinfo("Starting init thread\n");
# ifdef CONFIG_BUILD_PROTECTED
DEBUGASSERT(USERSPACE->us_entrypoint != NULL);
ret = task_spawn(CONFIG_INIT_ENTRYNAME,
USERSPACE->us_entrypoint,
NULL, &attr, argv, NULL);
# else
ret = task_spawn(CONFIG_INIT_ENTRYNAME,
CONFIG_INIT_ENTRYPOINT,
NULL, &attr, argv, NULL);
# endif
#elif defined(CONFIG_INIT_FILE)
# ifdef CONFIG_INIT_MOUNT
/* Mount the file system containing the init program. */
ret = nx_mount(CONFIG_INIT_MOUNT_SOURCE, CONFIG_INIT_MOUNT_TARGET,
CONFIG_INIT_MOUNT_FSTYPE, CONFIG_INIT_MOUNT_FLAGS,
CONFIG_INIT_MOUNT_DATA);
DEBUGASSERT(ret >= 0);
# 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_late_initialize() operation.
*/
sinfo("Starting init task: %s\n", CONFIG_INIT_FILEPATH);
posix_spawnattr_init(&attr);
attr.priority = CONFIG_INIT_PRIORITY;
attr.stacksize = CONFIG_INIT_STACKSIZE;
ret = exec_spawn(CONFIG_INIT_FILEPATH, argv, NULL,
CONFIG_INIT_SYMTAB, CONFIG_INIT_NEXPORTS, NULL, &attr);
#endif
posix_spawnattr_destroy(&attr);
DEBUGASSERT(ret > 0);
}
/****************************************************************************
* Name: nx_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_LATE_INITIALIZE
static int nx_start_task(int argc, FAR char **argv)
{
/* Do the board/application initialization and exit */
nx_start_application();
return OK;
}
#endif
/****************************************************************************
* Name: nx_create_initthread
*
* 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 nx_create_initthread(void)
{
#ifdef CONFIG_BOARD_LATE_INITIALIZE
int pid;
/* Do the board/application initialization on a separate thread of
* execution.
*/
pid = nxthread_create("AppBringUp", TCB_FLAG_TTYPE_KERNEL,
CONFIG_BOARD_INITTHREAD_PRIORITY,
NULL, CONFIG_BOARD_INITTHREAD_STACKSIZE,
nx_start_task, NULL, environ);
DEBUGASSERT(pid > 0);
UNUSED(pid);
#else
/* Do the board/application initialization on this thread of execution. */
nx_start_application();
#endif
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: nx_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_INIT_ENTRYPOINT: This is the default user application entry
* point, or
* - CONFIG_INIT_FILEPATH: 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_late_initialize() was called.
*
* Input Parameters:
* None
*
* Returned Value:
* None
*
****************************************************************************/
int nx_bringup(void)
{
sched_trace_begin();
#ifndef CONFIG_DISABLE_ENVIRON
/* Setup up the initial environment for the idle task. At present, this
* may consist of only the initial PATH variable and/or and init library
* path variable. These path variables are 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.
*/
#ifdef CONFIG_LIBC_HOMEDIR
setenv("PWD", CONFIG_LIBC_HOMEDIR, 1);
#endif
#ifdef CONFIG_PATH_INITIAL
setenv("PATH", CONFIG_PATH_INITIAL, 1);
#endif
#ifdef CONFIG_LDPATH_INITIAL
setenv("LD_LIBRARY_PATH", CONFIG_LDPATH_INITIAL, 1);
#endif
#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
*/
nx_pgworker();
/* Start the worker thread that will serve as the device driver "bottom-
* half" and will perform misc garbage clean-up.
*/
nx_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.
*/
nx_create_initthread();
#if !defined(CONFIG_DISABLE_ENVIRON) && (defined(CONFIG_PATH_INITIAL) || \
defined(CONFIG_LDPATH_INITIAL))
/* We an save a few bytes by discarding the IDLE thread's environment. */
clearenv();
#endif
sched_trace_end();
return OK;
}
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