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