123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316317318319320321322323324325326327328329330331332333334335336337338339340341342343344345346347348349350351352353354355356357358359360361362363364365366367368369370371372373374375376377378379380381382383384385386387388389390391392393394395396397398399400401402403404405406407408409410411412413414415416417418419420421422423424425426427428429430431432433434435436437438439440441442443444445446447448449450451452453454455456457458459460461462463464465466467468469470471472 |
- /****************************************************************************
- * sched/init/nx_bringup.c
- *
- * Copyright (C) 2011-2012, 2019 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 <string.h>
- #include <debug.h>
- #include <sys/mount.h>
- #include <nuttx/arch.h>
- #include <nuttx/board.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.
- */
- (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;
- }
|