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incubator-nuttx/sched/init/os_bringup.c

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/****************************************************************************
* sched/init/os_bringup.c
*
* Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* With extensions by:
*
* Author: Uros Platise <uros.platise@isotel.eu>
*
* 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 <nuttx/config.h>
#include <sched.h>
#include <stdlib.h>
#include <debug.h>
#include <nuttx/arch.h>
#include <nuttx/init.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 "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;
}
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