zephyr/kernel/microkernel/core/global.c

/* global.c */

/*
 * Copyright (c) 1997-2010, 2012-2014 Wind River Systems, Inc.
 *
 * 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 of Wind River Systems 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 HOLDER 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.
 */

#include "minik.h"
#include "nanokernel.h"
#include "nanok.h"
#include "kticks.h" /* WL and timeslice stuff */
#include <toolchain.h>
#include <sections.h>

#ifdef CONFIG_BOOT_TIME_MEASUREMENT
#include <nanokernel/cpu.h>
#endif

extern void init_node(void);     /* generated by SYSGEN */
extern int K_StackSize;		 /* generated by SYSGEN */
extern char _k_server_stack[];      /* generated by SYSGEN */

/*
 * Initialize the priority bit map globals to indicate that
 * only the idle task is ready to run
 */
uint32_t K_PrioBitMap[2] = {0, (1u << 31)};

struct nano_stack __noinit K_Args;


#ifdef CONFIG_TASK_DEBUG
int K_DebugHalt = 0;
#endif

#if CONFIG_COMMAND_STACK_SIZE <= 0
#error COMMAND_STACK_SIZE must be greater than zero
#endif
uint32_t __noinit _k_server_command_stack_storage[CONFIG_COMMAND_STACK_SIZE];

extern void K_swapper(int i1, int i2);

void kernel_init(void)
{
#ifdef CONFIG_BOOT_TIME_MEASUREMENT
	/*
	 * record timestamp for microkernel's main() function
	 * (an approximation, as kernel_init() is the first thing done by
	 * main())
	 */
	extern uint64_t __main_tsc;

	__main_tsc = _NanoTscRead();
#endif

	/*
	 * Note: most variables & data structure are globally initialized in
	 * kernel_main.c
	 */
	init_node();

#ifdef CONFIG_INIT_STACKS
	k_memset((char *)_k_server_command_stack_storage, 0xaa, sizeof(_k_server_command_stack_storage));
#endif
	nano_stack_init(&K_Args, _k_server_command_stack_storage);

	task_fiber_start((char *)_k_server_stack,
			   K_StackSize,
			   K_swapper,
			   0,
			   0,
			   CONFIG_MICROKERNEL_SERVER_PRIORITY,
			   0);

	init_drivers();

#ifdef CONFIG_WORKLOAD_MONITOR
	wlMonitorCalibrate();
#endif
}