Add capability to perform initial board initialization on a separate worker thread.
This commit is contained in:
Gregory Nutt
parent
b2a94b6f2b
commit
e958040269
@ -419,6 +419,9 @@ CONFIG_NAME_MAX=32
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# RTOS hooks
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#
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CONFIG_BOARD_INITIALIZE=y
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CONFIG_BOARD_INITTHREAD=y
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CONFIG_BOARD_INITTHREAD_STACKSIZE=2048
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CONFIG_BOARD_INITTHREAD_PRIORITY=240
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# CONFIG_SCHED_STARTHOOK is not set
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# CONFIG_SCHED_ATEXIT is not set
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# CONFIG_SCHED_ONEXIT is not set
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@ -651,6 +651,40 @@ config BOARD_INITIALIZE
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phase may be used, for example, to initialize board-specific
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device drivers.
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if BOARD_INITIALIZE
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config BOARD_INITTHREAD
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bool "Board initialization thread"
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default n
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---help---
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Some initialization operations cannot be performed on the start-up,
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initialization thread. That is because the initialization thread
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cannot wait for event. If waiting is required as part of the board
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initialization then this option must be selected. Waiting may be
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required, for example, to mount a file system or or initialize a
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device such as an SD card.
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if BOARD_INITTHREAD
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config BOARD_INITTHREAD_STACKSIZE
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int "Board initialization thread stack size"
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default 2048
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---help---
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The size of the stack to allocate when starting the board
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initialization thread.
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config BOARD_INITTHREAD_PRIORITY
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int "Board initialization thread priority"
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default 240
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---help---
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The priority of the board initialization thread. This priority is
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not a critical setting. No other application threads will be
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started until the board initialization is completed. Hence, there
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is very little competition for the CPU.
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endif # BOARD_INITTHREAD
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endif # BOARD_INITIALIZE
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config SCHED_STARTHOOK
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bool "Enable startup hook"
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default n
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@ -260,10 +260,11 @@ static inline void os_workqueues(void)
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#endif /* CONFIG_SCHED_WORKQUEUE */
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/****************************************************************************
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* Name: os_init_thread
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* Name: os_start_application
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*
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* Description:
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* Start the application initialization thread.
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* Execute the board initialization function (if so configured) and start
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* the application initialization thread.
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*
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* Input Parameters:
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* None
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@ -274,18 +275,26 @@ static inline void os_workqueues(void)
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****************************************************************************/
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#if defined(CONFIG_INIT_ENTRYPOINT)
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static inline void os_init_thread(void)
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static inline void os_do_appstart(void)
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{
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int taskid;
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svdbg("Starting init thread\n");
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#ifdef CONFIG_BOARD_INITIALIZE
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/* Perform any last-minute, board-specific initialization, if so
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* configured.
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*/
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/* Start the application initialization ask. In a flat build, this is
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board_initialize();
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#endif
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/* Start the application initialization task. In a flat build, this is
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* entrypoint is given by the definitions, CONFIG_USER_ENTRYPOINT. In
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* the protected build, however, we must get the address of the
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* entrypoint from the header at the beginning of the user-space blob.
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*/
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svdbg("Starting init thread\n");
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#ifdef CONFIG_BUILD_PROTECTED
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DEBUGASSERT(USERSPACE->us_entrypoint != NULL);
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taskid = task_create("init", SCHED_PRIORITY_DEFAULT,
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@ -301,10 +310,23 @@ static inline void os_init_thread(void)
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}
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#elif defined(CONFIG_INIT_FILEPATH)
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static inline void os_init_thread(void)
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static inline void os_do_appstart(void)
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{
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int ret;
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#ifdef CONFIG_BOARD_INITIALIZE
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/* Perform any last-minute, board-specific initialization, if so
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* configured.
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*/
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board_initialize();
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#endif
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/* Start the application initialization program from a program in a
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* mounted file system. Presumably the file system was mounted as part
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* of the board_initialize() operation.
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*/
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svdbg("Starting init task: %s\n", CONFIG_USER_INITPATH);
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ret = exec(CONFIG_USER_INITPATH, NULL, CONFIG_INIT_SYMTAB,
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@ -313,13 +335,78 @@ static inline void os_init_thread(void)
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}
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#elif defined(CONFIG_INIT_NONE)
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# define os_init_thread()
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# define os_do_appstart()
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#else
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# error "Cannot start initialization thread"
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#endif
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/****************************************************************************
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* Name: os_start_task
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*
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* Description:
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* This is the framework for a short duration worker thread. It off-loads
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* the board initialization and application start-up from the limited
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* start-up, initialization thread to a more robust kernel thread.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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#ifdef CONFIG_BOARD_INITTHREAD
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static int os_start_task(int argc, FAR char **argv)
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{
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/* Do the board/application initialization and exit */
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os_do_appstart();
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return OK;
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}
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#endif
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/****************************************************************************
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* Name: os_start_application
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*
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* Description:
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* Execute the board initialization function (if so configured) and start
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* the application initialization thread. This will be done either on the
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* thread of execution of the caller or on a separate thread of execution
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* if so configured.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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static inline void os_start_application(void)
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{
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#ifdef CONFIG_BOARD_INITTHREAD
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int taskid;
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/* Do the board/application initialization on a separate thread of
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* execution.
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*/
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taskid = kernel_thread("AppBringUp", CONFIG_BOARD_INITTHREAD_PRIORITY,
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CONFIG_BOARD_INITTHREAD_STACKSIZE,
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(main_t)os_start_task, (FAR char * const *)NULL);
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ASSERT(taskid > 0);
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#else
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/* Do the board/application initialization on this thread of execution. */
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os_do_appstart();
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#endif
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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@ -384,20 +471,12 @@ int os_bringup(void)
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os_workqueues();
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/* Perform any last-minute, board-specific initialization, if so
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* configured.
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*/
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#ifdef CONFIG_BOARD_INITIALIZE
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board_initialize();
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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 initialization thread of execution. This
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* is the first user-mode thread.
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* will be the first user-mode thread.
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*/
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os_init_thread();
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os_start_application();
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/* We an save a few bytes by discarding the IDLE thread's environment. */
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