464 lines
14 KiB
C
464 lines
14 KiB
C
/****************************************************************************
|
|
* 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 "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_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
|
|
|
|
/* In the protected build (only) we also need to start the user work queue */
|
|
|
|
#if !defined(CONFIG_BUILD_PROTECTED)
|
|
# undef CONFIG_LIB_USRWORK
|
|
#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)
|
|
{
|
|
#ifdef CONFIG_LIB_USRWORK
|
|
pid_t pid;
|
|
#endif
|
|
|
|
#ifdef CONFIG_SCHED_HPWORK
|
|
/* Start the high-priority worker thread to support device driver lower
|
|
* halves.
|
|
*/
|
|
|
|
(void)work_hpstart();
|
|
|
|
#endif /* CONFIG_SCHED_HPWORK */
|
|
|
|
#ifdef CONFIG_SCHED_LPWORK
|
|
/* Start the low-priority worker thread for other, non-critical continuation
|
|
* tasks
|
|
*/
|
|
|
|
(void)work_lpstart();
|
|
|
|
#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 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 pid;
|
|
|
|
#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);
|
|
pid = task_create("init", SCHED_PRIORITY_DEFAULT,
|
|
CONFIG_USERMAIN_STACKSIZE, USERSPACE->us_entrypoint,
|
|
(FAR char * const *)NULL);
|
|
#else
|
|
pid = task_create("init", SCHED_PRIORITY_DEFAULT,
|
|
CONFIG_USERMAIN_STACKSIZE,
|
|
(main_t)CONFIG_USER_ENTRYPOINT,
|
|
(FAR char * const *)NULL);
|
|
#endif
|
|
ASSERT(pid > 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 pid;
|
|
|
|
/* Do the board/application initialization on a separate thread of
|
|
* execution.
|
|
*/
|
|
|
|
pid = kernel_thread("AppBringUp", CONFIG_BOARD_INITTHREAD_PRIORITY,
|
|
CONFIG_BOARD_INITTHREAD_STACKSIZE,
|
|
(main_t)os_start_task, (FAR char * const *)NULL);
|
|
ASSERT(pid > 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;
|
|
}
|