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nuttx/sched/init/nx_start.c
Jiuzhu Dong 198b85d233 sched/idle: disable sched when idle call nx_bringup 
Because idle task will call mm_malloc to create some task
and will take sem of mm. But if smp enable, the sem of mm may be
taken by other cpu, so idle may be block because take this sem and crash.

Change-Id: I22f0233ef6c59a1b81607d4389e68f8646c89395
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
2021-07-02 04:51:15 -05:00

819 lines
24 KiB
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/****************************************************************************
* sched/init/nx_start.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <sys/types.h>
#include <stdbool.h>
#include <stdio.h>
#include <string.h>
#include <assert.h>
#include <debug.h>
#include <nuttx/arch.h>
#include <nuttx/board.h>
#include <nuttx/compiler.h>
#include <nuttx/sched.h>
#include <nuttx/fs/fs.h>
#include <nuttx/net/net.h>
#include <nuttx/lib/lib.h>
#include <nuttx/mm/iob.h>
#include <nuttx/mm/mm.h>
#include <nuttx/mm/shm.h>
#include <nuttx/kmalloc.h>
#include <nuttx/sched_note.h>
#include <nuttx/syslog/syslog.h>
#include <nuttx/binfmt/binfmt.h>
#include <nuttx/init.h>
#include <nuttx/tls.h>
#include "sched/sched.h"
#include "signal/signal.h"
#include "wdog/wdog.h"
#include "semaphore/semaphore.h"
#ifndef CONFIG_DISABLE_MQUEUE
# include "mqueue/mqueue.h"
#endif
#include "clock/clock.h"
#include "timer/timer.h"
#include "irq/irq.h"
#include "group/group.h"
#include "init/init.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifdef CONFIG_SMP
/* This set of all CPUs */
# define SCHED_ALL_CPUS ((1 << CONFIG_SMP_NCPUS) - 1)
#endif /* CONFIG_SMP */
/****************************************************************************
* Public Data
****************************************************************************/
/* Task Lists ***************************************************************/
/* The state of a task is indicated both by the task_state field of the TCB
* and by a series of task lists. All of these tasks lists are declared
* below. Although it is not always necessary, most of these lists are
* prioritized so that common list handling logic can be used (only the
* g_readytorun, the g_pendingtasks, and the g_waitingforsemaphore lists
* need to be prioritized).
*/
/* This is the list of all tasks that are ready to run. This is a
* prioritized list with head of the list holding the highest priority
* (unassigned) task. In the non-SMP case, the head of this list is the
* currently active task and the tail of this list, the lowest priority
* task, is always the IDLE task.
*/
volatile dq_queue_t g_readytorun;
#ifdef CONFIG_SMP
/* In order to support SMP, the function of the g_readytorun list changes,
* The g_readytorun is still used but in the SMP case it will contain only:
*
* - Only tasks/threads that are eligible to run, but not currently running,
* and
* - Tasks/threads that have not been assigned to a CPU.
*
* Otherwise, the TCB will be retained in an assigned task list,
* g_assignedtasks. As its name suggests, on 'g_assignedtasks queue for CPU
* 'n' would contain only tasks/threads that are assigned to CPU 'n'. Tasks/
* threads would be assigned a particular CPU by one of two mechanisms:
*
* - (Semi-)permanently through an RTOS interfaces such as
* pthread_attr_setaffinity(), or
* - Temporarily through scheduling logic when a previously unassigned task
* is made to run.
*
* Tasks/threads that are assigned to a CPU via an interface like
* pthread_attr_setaffinity() would never go into the g_readytorun list, but
* would only go into the g_assignedtasks[n] list for the CPU 'n' to which
* the thread has been assigned. Hence, the g_readytorun list would hold
* only unassigned tasks/threads.
*
* Like the g_readytorun list in in non-SMP case, each g_assignedtask[] list
* is prioritized: The head of the list is the currently active task on this
* CPU. Tasks after the active task are ready-to-run and assigned to this
* CPU. The tail of this assigned task list, the lowest priority task, is
* always the CPU's IDLE task.
*/
volatile dq_queue_t g_assignedtasks[CONFIG_SMP_NCPUS];
/* g_running_tasks[] holds a references to the running task for each cpu.
* It is valid only when up_interrupt_context() returns true.
*/
FAR struct tcb_s *g_running_tasks[CONFIG_SMP_NCPUS];
#else
FAR struct tcb_s *g_running_tasks[1];
#endif
/* This is the list of all tasks that are ready-to-run, but cannot be placed
* in the g_readytorun list because: (1) They are higher priority than the
* currently active task at the head of the g_readytorun list, and (2) the
* currently active task has disabled pre-emption.
*/
volatile dq_queue_t g_pendingtasks;
/* This is the list of all tasks that are blocked waiting for a semaphore */
volatile dq_queue_t g_waitingforsemaphore;
/* This is the list of all tasks that are blocked waiting for a signal */
volatile dq_queue_t g_waitingforsignal;
#ifndef CONFIG_DISABLE_MQUEUE
/* This is the list of all tasks that are blocked waiting for a message
* queue to become non-empty.
*/
volatile dq_queue_t g_waitingformqnotempty;
#endif
#ifndef CONFIG_DISABLE_MQUEUE
/* This is the list of all tasks that are blocked waiting for a message
* queue to become non-full.
*/
volatile dq_queue_t g_waitingformqnotfull;
#endif
#ifdef CONFIG_PAGING
/* This is the list of all tasks that are blocking waiting for a page fill */
volatile dq_queue_t g_waitingforfill;
#endif
#ifdef CONFIG_SIG_SIGSTOP_ACTION
/* This is the list of all tasks that have been stopped
* via SIGSTOP or SIGTSTP
*/
volatile dq_queue_t g_stoppedtasks;
#endif
/* This the list of all tasks that have been initialized, but not yet
* activated. NOTE: This is the only list that is not prioritized.
*/
volatile dq_queue_t g_inactivetasks;
/* This is the value of the last process ID assigned to a task */
volatile pid_t g_lastpid;
/* The following hash table is used for two things:
*
* 1. This hash table greatly speeds the determination of a new unique
* process ID for a task, and
* 2. Is used to quickly map a process ID into a TCB.
*
* It has the side effects of using more memory and limiting
* the number of tasks to CONFIG_MAX_TASKS.
*/
struct pidhash_s g_pidhash[CONFIG_MAX_TASKS];
/* This is a table of task lists. This table is indexed by the task stat
* enumeration type (tstate_t) and provides a pointer to the associated
* static task list (if there is one) as well as a a set of attribute flags
* indicating properties of the list, for example, if the list is an
* ordered list or not.
*/
const struct tasklist_s g_tasklisttable[NUM_TASK_STATES] =
{
{ /* TSTATE_TASK_INVALID */
NULL,
0
},
{ /* TSTATE_TASK_PENDING */
&g_pendingtasks,
TLIST_ATTR_PRIORITIZED
},
#ifdef CONFIG_SMP
{ /* TSTATE_TASK_READYTORUN */
&g_readytorun,
TLIST_ATTR_PRIORITIZED
},
{ /* TSTATE_TASK_ASSIGNED */
g_assignedtasks,
TLIST_ATTR_PRIORITIZED | TLIST_ATTR_INDEXED | TLIST_ATTR_RUNNABLE
},
{ /* TSTATE_TASK_RUNNING */
g_assignedtasks,
TLIST_ATTR_PRIORITIZED | TLIST_ATTR_INDEXED | TLIST_ATTR_RUNNABLE
},
#else
{ /* TSTATE_TASK_READYTORUN */
&g_readytorun,
TLIST_ATTR_PRIORITIZED | TLIST_ATTR_RUNNABLE
},
{ /* TSTATE_TASK_RUNNING */
&g_readytorun,
TLIST_ATTR_PRIORITIZED | TLIST_ATTR_RUNNABLE
},
#endif
{ /* TSTATE_TASK_INACTIVE */
&g_inactivetasks,
0
},
{ /* TSTATE_WAIT_SEM */
&g_waitingforsemaphore,
TLIST_ATTR_PRIORITIZED
},
{ /* TSTATE_WAIT_SIG */
&g_waitingforsignal,
0
}
#ifndef CONFIG_DISABLE_MQUEUE
,
{ /* TSTATE_WAIT_MQNOTEMPTY */
&g_waitingformqnotempty,
TLIST_ATTR_PRIORITIZED
},
{ /* TSTATE_WAIT_MQNOTFULL */
&g_waitingformqnotfull,
TLIST_ATTR_PRIORITIZED
}
#endif
#ifdef CONFIG_PAGING
,
{ /* TSTATE_WAIT_PAGEFILL */
&g_waitingforfill,
TLIST_ATTR_PRIORITIZED
}
#endif
#ifdef CONFIG_SIG_SIGSTOP_ACTION
,
{ /* TSTATE_TASK_STOPPED */
&g_stoppedtasks,
0 /* See tcb->prev_state */
},
#endif
};
/* This is the current initialization state. The level of initialization
* is only important early in the start-up sequence when certain OS or
* hardware resources may not yet be available to the kernel logic.
*/
uint8_t g_nx_initstate; /* See enum nx_initstate_e */
/****************************************************************************
* Private Data
****************************************************************************/
/* This is an array of task control block (TCB) for the IDLE thread of each
* CPU. For the non-SMP case, this is a a single TCB; For the SMP case,
* there is one TCB per CPU. NOTE: The system boots on CPU0 into the IDLE
* task. The IDLE task later starts the other CPUs and spawns the user
* initialization task. That user initialization task is responsible for
* bringing up the rest of the system.
*/
#ifdef CONFIG_SMP
static struct task_tcb_s g_idletcb[CONFIG_SMP_NCPUS];
#else
static struct task_tcb_s g_idletcb[1];
#endif
/* This is the name of the idle task */
#if CONFIG_TASK_NAME_SIZE <= 0 || !defined(CONFIG_SMP)
#ifdef CONFIG_SMP
static const char g_idlename[] = "CPU Idle";
#else
static const char g_idlename[] = "Idle Task";
#endif
#endif
/* This the IDLE idle threads argument list. NOTE: Normally the argument
* list is created on the stack prior to starting the task. We have to
* do things s little differently here for the IDLE tasks.
*/
#ifdef CONFIG_SMP
static FAR char *g_idleargv[CONFIG_SMP_NCPUS][2];
#else
static FAR char *g_idleargv[1][2];
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: nx_start
*
* Description:
* This function is called to initialize the operating system and to spawn
* the user initialization thread of execution. This is the initial entry
* point into NuttX
*
* Input Parameters:
* None
*
* Returned Value:
* Does not return.
*
****************************************************************************/
void nx_start(void)
{
int cpu = 0;
int i;
sinfo("Entry\n");
/* Boot up is complete */
g_nx_initstate = OSINIT_BOOT;
/* Initialize RTOS Data ***************************************************/
/* Initialize all task lists */
dq_init(&g_readytorun);
dq_init(&g_pendingtasks);
dq_init(&g_waitingforsemaphore);
dq_init(&g_waitingforsignal);
#ifndef CONFIG_DISABLE_MQUEUE
dq_init(&g_waitingformqnotfull);
dq_init(&g_waitingformqnotempty);
#endif
#ifdef CONFIG_PAGING
dq_init(&g_waitingforfill);
#endif
#ifdef CONFIG_SIG_SIGSTOP_ACTION
dq_init(&g_stoppedtasks);
#endif
dq_init(&g_inactivetasks);
#ifdef CONFIG_SMP
for (i = 0; i < CONFIG_SMP_NCPUS; i++)
{
dq_init(&g_assignedtasks[i]);
}
#endif
/* Initialize the logic that determine unique process IDs. */
g_lastpid = 0;
for (i = 0; i < CONFIG_MAX_TASKS; i++)
{
g_pidhash[i].tcb = NULL;
g_pidhash[i].pid = INVALID_PROCESS_ID;
}
/* Initialize the IDLE task TCB *******************************************/
#ifdef CONFIG_SMP
for (cpu = 0; cpu < CONFIG_SMP_NCPUS; cpu++, g_lastpid++)
#endif
{
FAR dq_queue_t *tasklist;
int hashndx;
/* Assign the process ID(s) of ZERO to the idle task(s) */
hashndx = PIDHASH(g_lastpid);
g_pidhash[hashndx].tcb = &g_idletcb[cpu].cmn;
g_pidhash[hashndx].pid = g_lastpid;
/* Initialize a TCB for this thread of execution. NOTE: The default
* value for most components of the g_idletcb are zero. The entire
* structure is set to zero. Then only the (potentially) non-zero
* elements are initialized. NOTE: The idle task is the only task in
* that has pid == 0 and sched_priority == 0.
*/
memset((void *)&g_idletcb[cpu], 0, sizeof(struct task_tcb_s));
g_idletcb[cpu].cmn.pid = g_lastpid;
g_idletcb[cpu].cmn.task_state = TSTATE_TASK_RUNNING;
/* Set the entry point. This is only for debug purposes. NOTE: that
* the start_t entry point is not saved. That is acceptable, however,
* because it can be used only for restarting a task: The IDLE task
* cannot be restarted.
*/
#ifdef CONFIG_SMP
if (cpu > 0)
{
g_idletcb[cpu].cmn.start = nx_idle_trampoline;
g_idletcb[cpu].cmn.entry.main = (main_t)nx_idle_trampoline;
}
else
#endif
{
g_idletcb[cpu].cmn.start = nx_start;
g_idletcb[cpu].cmn.entry.main = (main_t)nx_start;
}
/* Set the task flags to indicate that this is a kernel thread and, if
* configured for SMP, that this task is locked to this CPU.
*/
#ifdef CONFIG_SMP
g_idletcb[cpu].cmn.flags = (TCB_FLAG_TTYPE_KERNEL |
TCB_FLAG_NONCANCELABLE |
TCB_FLAG_CPU_LOCKED);
g_idletcb[cpu].cmn.cpu = cpu;
#else
g_idletcb[cpu].cmn.flags = (TCB_FLAG_TTYPE_KERNEL |
TCB_FLAG_NONCANCELABLE);
#endif
#ifdef CONFIG_SMP
/* Set the affinity mask to allow the thread to run on all CPUs. No,
* this IDLE thread can only run on its assigned CPU. That is
* enforced by the TCB_FLAG_CPU_LOCKED which overrides the affinity
* mask. This is essential because all tasks inherit the affinity
* mask from their parent and, ultimately, the parent of all tasks is
* the IDLE task.
*/
g_idletcb[cpu].cmn.affinity = SCHED_ALL_CPUS;
#endif
#if CONFIG_TASK_NAME_SIZE > 0
/* Set the IDLE task name */
# ifdef CONFIG_SMP
snprintf(g_idletcb[cpu].cmn.name, CONFIG_TASK_NAME_SIZE, "CPU%d IDLE",
cpu);
# else
strncpy(g_idletcb[cpu].cmn.name, g_idlename, CONFIG_TASK_NAME_SIZE);
g_idletcb[cpu].cmn.name[CONFIG_TASK_NAME_SIZE] = '\0';
# endif
#endif
/* Configure the task name in the argument list. The IDLE task does
* not really have an argument list, but this name is still useful
* for things like the NSH PS command.
*
* In the kernel mode build, the arguments are saved on the task's
* stack and there is no support that yet.
*/
#if CONFIG_TASK_NAME_SIZE > 0
g_idleargv[cpu][0] = g_idletcb[cpu].cmn.name;
#else
g_idleargv[cpu][0] = (FAR char *)g_idlename;
#endif /* CONFIG_TASK_NAME_SIZE */
g_idleargv[cpu][1] = NULL;
g_idletcb[cpu].argv = &g_idleargv[cpu][0];
/* Then add the idle task's TCB to the head of the current ready to
* run list.
*/
#ifdef CONFIG_SMP
tasklist = TLIST_HEAD(TSTATE_TASK_RUNNING, cpu);
#else
tasklist = TLIST_HEAD(TSTATE_TASK_RUNNING);
#endif
dq_addfirst((FAR dq_entry_t *)&g_idletcb[cpu], tasklist);
/* Mark the idle task as the running task */
g_running_tasks[cpu] = &g_idletcb[cpu].cmn;
/* Initialize the 1st processor-specific portion of the TCB
* Note: other idle thread get initialized in nx_smpstart
*/
if (cpu == 0)
{
up_initial_state(&g_idletcb[cpu].cmn);
up_stack_frame(&g_idletcb[cpu].cmn, sizeof(struct task_info_s));
}
}
/* Task lists are initialized */
g_nx_initstate = OSINIT_TASKLISTS;
/* Initialize RTOS facilities *********************************************/
/* Initialize the semaphore facility. This has to be done very early
* because many subsystems depend upon fully functional semaphores.
*/
nxsem_initialize();
#if defined(MM_KERNEL_USRHEAP_INIT) || defined(CONFIG_MM_KERNEL_HEAP) || \
defined(CONFIG_MM_PGALLOC)
/* Initialize the memory manager */
{
FAR void *heap_start;
size_t heap_size;
#ifdef MM_KERNEL_USRHEAP_INIT
/* Get the user-mode heap from the platform specific code and configure
* the user-mode memory allocator.
*/
up_allocate_heap(&heap_start, &heap_size);
kumm_initialize(heap_start, heap_size);
#endif
#ifdef CONFIG_MM_KERNEL_HEAP
/* Get the kernel-mode heap from the platform specific code and
* configure the kernel-mode memory allocator.
*/
up_allocate_kheap(&heap_start, &heap_size);
kmm_initialize(heap_start, heap_size);
#endif
#ifdef CONFIG_MM_PGALLOC
/* If there is a page allocator in the configuration, then get the page
* heap information from the platform-specific code and configure the
* page allocator.
*/
up_allocate_pgheap(&heap_start, &heap_size);
mm_pginitialize(heap_start, heap_size);
#endif
}
#endif
#ifdef CONFIG_ARCH_HAVE_EXTRA_HEAPS
/* Initialize any extra heap. */
up_extraheaps_init();
#endif
#ifdef CONFIG_MM_IOB
/* Initialize IO buffering */
iob_initialize();
#endif
/* The memory manager is available */
g_nx_initstate = OSINIT_MEMORY;
#if defined(CONFIG_SCHED_HAVE_PARENT) && defined(CONFIG_SCHED_CHILD_STATUS)
/* Initialize tasking data structures */
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (task_initialize != NULL)
#endif
{
task_initialize();
}
#endif
/* Initialize the file system (needed to support device drivers) */
fs_initialize();
/* Initialize the interrupt handling subsystem (if included) */
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (irq_initialize != NULL)
#endif
{
irq_initialize();
}
/* Initialize the watchdog facility (if included in the link) */
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (wd_initialize != NULL)
#endif
{
wd_initialize();
}
/* Initialize the POSIX timer facility (if included in the link) */
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (clock_initialize != NULL)
#endif
{
clock_initialize();
}
#ifndef CONFIG_DISABLE_POSIX_TIMERS
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (timer_initialize != NULL)
#endif
{
timer_initialize();
}
#endif
/* Initialize the signal facility (if in link) */
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (nxsig_initialize != NULL)
#endif
{
nxsig_initialize();
}
#ifndef CONFIG_DISABLE_MQUEUE
/* Initialize the named message queue facility (if in link) */
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (nxmq_initialize != NULL)
#endif
{
nxmq_initialize();
}
#endif
#ifdef CONFIG_NET
/* Initialize the networking system */
net_initialize();
#endif
/* Initialize Hardware Facilities *****************************************/
/* The processor specific details of running the operating system
* will be handled here. Such things as setting up interrupt
* service routines and starting the clock are some of the things
* that are different for each processor and hardware platform.
*/
up_initialize();
#ifdef CONFIG_BOARD_EARLY_INITIALIZE
/* Call the board-specific up_initialize() extension to support
* early initialization of board-specific drivers and resources
* that cannot wait until board_late_initialize.
*/
board_early_initialize();
#endif
/* Hardware resources are now available */
g_nx_initstate = OSINIT_HARDWARE;
/* Setup for Multi-Tasking ************************************************/
#ifdef CONFIG_MM_SHM
/* Initialize shared memory support */
shm_initialize();
#endif
/* Initialize the C libraries. This is done last because the libraries
* may depend on the above.
*/
lib_initialize();
#ifndef CONFIG_BINFMT_DISABLE
/* Initialize the binfmt system */
binfmt_initialize();
#endif
/* IDLE Group Initialization **********************************************/
/* Announce that the CPU0 IDLE task has started */
sched_note_start(&g_idletcb[0].cmn);
#ifdef CONFIG_SMP
/* Initialize the IDLE group for the IDLE task of each CPU */
for (cpu = 0; cpu < CONFIG_SMP_NCPUS; cpu++)
#endif
{
/* Allocate the IDLE group */
DEBUGVERIFY(group_allocate(&g_idletcb[cpu], g_idletcb[cpu].cmn.flags));
#ifdef CONFIG_SMP
if (cpu > 0)
{
/* Clone stdout, stderr, stdin from the CPU0 IDLE task. */
DEBUGVERIFY(group_setuptaskfiles(&g_idletcb[cpu]));
}
else
#endif
{
/* Create stdout, stderr, stdin on the CPU0 IDLE task. These
* will be inherited by all of the threads created by the CPU0
* IDLE task.
*/
DEBUGVERIFY(group_setupidlefiles(&g_idletcb[cpu]));
}
/* Complete initialization of the IDLE group. Suppress retention
* of child status in the IDLE group.
*/
DEBUGVERIFY(group_initialize(&g_idletcb[cpu]));
g_idletcb[cpu].cmn.group->tg_flags = GROUP_FLAG_NOCLDWAIT;
}
/* Start SYSLOG ***********************************************************/
/* Late initialization of the system logging device. Some SYSLOG channel
* must be initialized late in the initialization sequence because it may
* depend on having IDLE task file structures setup.
*/
syslog_initialize();
/* Disables context switching beacuse we need take the memory manager
* semaphore on this CPU so that it will not be available on the other
* CPUs until we have finished initialization.
*/
sched_lock();
#ifdef CONFIG_SMP
/* Start all CPUs *********************************************************/
/* A few basic sanity checks */
DEBUGASSERT(this_cpu() == 0 && CONFIG_MAX_TASKS > CONFIG_SMP_NCPUS);
/* Then start the other CPUs */
DEBUGVERIFY(nx_smp_start());
#endif /* CONFIG_SMP */
/* Bring Up the System ****************************************************/
/* The OS is fully initialized and we are beginning multi-tasking */
g_nx_initstate = OSINIT_OSREADY;
/* Create initial tasks and bring-up the system */
DEBUGVERIFY(nx_bringup());
/* Let other threads have access to the memory manager */
sched_unlock();
/* The IDLE Loop **********************************************************/
/* When control is return to this point, the system is idle. */
sinfo("CPU0: Beginning Idle Loop\n");
for (; ; )
{
/* Check heap & stack in idle thread */
kmm_checkcorruption();
#if defined(CONFIG_STACK_COLORATION) && defined(CONFIG_DEBUG_MM)
for (i = 0; i < CONFIG_MAX_TASKS && g_pidhash[i].tcb; i++)
{
assert(up_check_tcbstack_remain(g_pidhash[i].tcb) > 0);
}
#endif
/* Perform any processor-specific idle state operations */
up_idle();
}
}
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