187 lines
6.9 KiB
C
187 lines
6.9 KiB
C
/****************************************************************************
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* sched/os_bringup.c
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*
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* Copyright (C) 2011 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 <debug.h>
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#include <nuttx/init.h>
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#include "os_internal.h"
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#ifdef CONFIG_PAGING
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# include "pg_internal.h"
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#endif
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#ifdef CONFIG_SCHED_WORKQUEUE
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# include "work_internal.h"
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#endif
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#ifdef CONFIG_BUILTIN_APP_START
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# include "apps/apps.h"
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#endif
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#ifdef CONFIG_NUTTX_KERNEL
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# include "arch/board/user_map.h"
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#endif
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* If NuttX is built as a separately compiled module, then the the header
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* file should contain the address of the user module entry point. If not
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* then the default entry point is user_start.
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*/
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#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_USER_ENTRYPOINT)
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# define USER_ENTRYPOINT (main_t)CONFIG_USER_ENTRYPOINT
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#else
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# define USER_ENTRYPOINT user_start
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#endif
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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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. This may be one of two different
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* symbols:
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*
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* - USER_ENTRYPOINT: This is the default entry point used for all of the
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* example code in apps/examples.
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* - CONFIG_BUILTIN_APP_START: The system can also be configured to start
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* custom applications at however CONFIG_BUILTIN_APP_START
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* is defined in the NuttX start-up file.
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*
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****************************************************************************/
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int os_bringup(void)
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{
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#ifdef CONFIG_BUILTIN_APP_START
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static const char *argv[3] = {NULL, "init", NULL};
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#endif
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int init_taskid;
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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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#ifdef CONFIG_PAGING
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svdbg("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, (const char **)NULL);
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ASSERT(g_pgworker != ERROR);
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#endif
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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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#ifdef CONFIG_SCHED_WORKQUEUE
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svdbg("Starting worker thread\n");
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g_worker = KERNEL_THREAD("work", CONFIG_SCHED_WORKPRIORITY,
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CONFIG_SCHED_WORKSTACKSIZE,
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(main_t)work_thread, (const char **)NULL);
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ASSERT(g_worker != ERROR);
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#endif
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/* Once the operating system has been initialized, the system must be
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* started by spawning the user init thread of execution. This is the
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* first user-mode thead.
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*/
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svdbg("Starting init thread\n");
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#ifdef CONFIG_BUILTIN_APP_START
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/* Start the built-in named application, passing an "init" argument, so that
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* application can distinguish different run-levels
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*/
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init_taskid = exec_namedapp(CONFIG_BUILTIN_APP_START, argv);
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#else
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/* Start the default application at USER_ENTRYPOINT() */
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init_taskid = TASK_CREATE("init", SCHED_PRIORITY_DEFAULT,
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CONFIG_USERMAIN_STACKSIZE,
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(main_t)USER_ENTRYPOINT, (const char **)NULL);
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#endif
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ASSERT(init_taskid != ERROR);
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return OK;
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}
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