448 lines
13 KiB
C
448 lines
13 KiB
C
/****************************************************************************
|
|
* 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/symtab.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 "wqueue/wqueue.h"
|
|
# 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_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
|
|
# 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_LIB_USRWORK
|
|
#endif
|
|
|
|
#if !defined(CONFIG_USERMAIN_PRIORITY)
|
|
# define CONFIG_USERMAIN_PRIORITY SCHED_PRIORITY_DEFAULT
|
|
#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,
|
|
(main_t)pg_worker, (FAR char * const *)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_LIB_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_LIB_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_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)
|
|
{
|
|
#ifdef CONFIG_INIT_ARGS
|
|
FAR char *const argv[] =
|
|
{
|
|
CONFIG_INIT_ARGS,
|
|
NULL,
|
|
};
|
|
#else
|
|
FAR char *const *argv = NULL;
|
|
#endif
|
|
int ret;
|
|
|
|
#ifdef CONFIG_BOARD_LATE_INITIALIZE
|
|
/* Perform any last-minute, board-specific initialization, if so
|
|
* configured.
|
|
*/
|
|
|
|
board_late_initialize();
|
|
#endif
|
|
|
|
#if defined(CONFIG_INIT_ENTRYPOINT)
|
|
|
|
/* 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.
|
|
*/
|
|
|
|
sinfo("Starting init thread\n");
|
|
|
|
#ifdef CONFIG_BUILD_PROTECTED
|
|
DEBUGASSERT(USERSPACE->us_entrypoint != NULL);
|
|
ret = nxtask_create("init", CONFIG_USERMAIN_PRIORITY,
|
|
CONFIG_USERMAIN_STACKSIZE,
|
|
USERSPACE->us_entrypoint, argv);
|
|
#else
|
|
ret = nxtask_create("init", CONFIG_USERMAIN_PRIORITY,
|
|
CONFIG_USERMAIN_STACKSIZE,
|
|
(main_t)CONFIG_USER_ENTRYPOINT, argv);
|
|
#endif
|
|
DEBUGASSERT(ret > 0);
|
|
|
|
#elif defined(CONFIG_INIT_FILEPATH)
|
|
|
|
#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_USER_INITPATH);
|
|
|
|
ret = exec(CONFIG_USER_INITPATH, argv,
|
|
CONFIG_INIT_SYMTAB, CONFIG_INIT_NEXPORTS);
|
|
DEBUGASSERT(ret >= 0);
|
|
#endif
|
|
|
|
UNUSED(ret);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* 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 = kthread_create("AppBringUp", CONFIG_BOARD_INITTHREAD_PRIORITY,
|
|
CONFIG_BOARD_INITTHREAD_STACKSIZE,
|
|
(main_t)nx_start_task, (FAR char * const *)NULL);
|
|
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_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_late_initialize() was called.
|
|
*
|
|
* Input Parameters:
|
|
* None
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
|
|
int nx_bringup(void)
|
|
{
|
|
#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_LIB_HOMEDIR
|
|
setenv("PWD", CONFIG_LIB_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
|
|
|
|
return OK;
|
|
}
|