/**************************************************************************** * sched/init/nx_bringup.c * * Copyright (C) 2011-2012, 2019 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * With extensions by: * * Author: Uros Platise * * 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 #include #include #include #include #include #include #include #include #include #include #include #include #include #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. */ (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 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 * ****************************************************************************/ #if defined(CONFIG_INIT_ENTRYPOINT) static inline void nx_start_application(void) { int pid; #ifdef CONFIG_BOARD_LATE_INITIALIZE /* Perform any last-minute, board-specific initialization, if so * configured. */ board_late_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. */ sinfo("Starting init thread\n"); #ifdef CONFIG_BUILD_PROTECTED DEBUGASSERT(USERSPACE->us_entrypoint != NULL); pid = nxtask_create("init", CONFIG_USERMAIN_PRIORITY, CONFIG_USERMAIN_STACKSIZE, USERSPACE->us_entrypoint, (FAR char * const *)NULL); #else pid = nxtask_create("init", CONFIG_USERMAIN_PRIORITY, CONFIG_USERMAIN_STACKSIZE, (main_t)CONFIG_USER_ENTRYPOINT, (FAR char * const *)NULL); #endif DEBUGASSERT(pid > 0); UNUSED(pid); } #elif defined(CONFIG_INIT_FILEPATH) static inline void nx_start_application(void) { int ret; #ifdef CONFIG_BOARD_LATE_INITIALIZE /* Perform any last-minute, board-specific initialization, if so * configured. */ board_late_initialize(); #endif #ifdef CONFIG_INIT_MOUNT /* Mount the file system containing the init program. */ ret = mount(CONFIG_INIT_MOUNT_SOURCE, CONFIG_INIT_MOUNT_TARGET, CONFIG_INIT_MOUNT_FSTYPE, CONFIG_INIT_MOUNT_FLAGS, CONFIG_INIT_MOUNT_DATA); DEBUGASSERT(ret >= 0); UNUSED(ret); #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, NULL, CONFIG_INIT_SYMTAB, CONFIG_INIT_NEXPORTS); DEBUGASSERT(ret >= 0); UNUSED(ret); } #elif defined(CONFIG_INIT_NONE) # define nx_start_application() #else # error "Cannot start initialization thread" #endif /**************************************************************************** * 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_PATH_INITIAL (void)setenv("PATH", CONFIG_PATH_INITIAL, 1); #endif #ifdef CONFIG_LDPATH_INITIAL (void)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. */ (void)clearenv(); #endif return OK; }