461 lines
13 KiB
C
461 lines
13 KiB
C
/****************************************************************************
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* sched/init/nx_bringup.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sched.h>
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#include <stdlib.h>
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#include <string.h>
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#include <assert.h>
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#include <debug.h>
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#include <nuttx/arch.h>
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#include <nuttx/board.h>
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#include <nuttx/fs/fs.h>
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#include <nuttx/init.h>
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#include <nuttx/symtab.h>
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#include <nuttx/wqueue.h>
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#include <nuttx/kthread.h>
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#include <nuttx/userspace.h>
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#include <nuttx/binfmt/binfmt.h>
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#ifdef CONFIG_PAGING
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# include "paging/paging.h"
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#endif
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#include "sched/sched.h"
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#include "wqueue/wqueue.h"
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#include "init/init.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Configuration */
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#if defined(CONFIG_INIT_NONE)
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/* Kconfig logic will set CONFIG_INIT_NONE if dependencies are not met */
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# error No initialization mechanism selected (CONFIG_INIT_NONE)
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#else
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# if !defined(CONFIG_INIT_ENTRY) && !defined(CONFIG_INIT_FILE)
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/* For backward compatibility with older defconfig files when this was
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* the way things were done.
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*/
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# define CONFIG_INIT_ENTRY 1
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# endif
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# if defined(CONFIG_INIT_ENTRY)
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/* Initialize by starting a task at an entry point */
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# ifndef CONFIG_INIT_ENTRYPOINT
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/* Entry point name must have been provided */
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# error CONFIG_INIT_ENTRYPOINT must be defined
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# endif
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# elif defined(CONFIG_INIT_FILE)
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/* Initialize by running an initialization program in the file system.
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* Presumably the user has configured a board initialization function
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* that will mount the file system containing the initialization
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* program.
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*/
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# ifndef CONFIG_INIT_FILEPATH
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/* Path to the initialization program must have been provided */
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# error CONFIG_INT_FILEPATH must be defined
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# endif
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# if !defined(CONFIG_INIT_SYMTAB) || !defined(CONFIG_INIT_NEXPORTS)
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/* No symbol information... assume no symbol table is available */
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# undef CONFIG_INIT_SYMTAB
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# undef CONFIG_INIT_NEXPORTS
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# define CONFIG_INIT_SYMTAB NULL
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# define CONFIG_INIT_NEXPORTS 0
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# else
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extern const struct symtab_s CONFIG_INIT_SYMTAB[];
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extern const int CONFIG_INIT_NEXPORTS;
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# endif
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# endif
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#endif
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/* In the protected build (only) we also need to start the user work queue */
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#if !defined(CONFIG_BUILD_PROTECTED)
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# undef CONFIG_LIBC_USRWORK
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#endif
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#if !defined(CONFIG_INIT_PRIORITY)
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# define CONFIG_INIT_PRIORITY SCHED_PRIORITY_DEFAULT
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#endif
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: nx_pgworker
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*
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* Description:
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* Start the page fill worker kernel thread that will resolve page faults.
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* This should always be the first thread started because it may have to
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* resolve page faults in other threads
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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_PAGING
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static inline void nx_pgworker(void)
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{
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/* Start the page fill worker kernel thread that will resolve page faults.
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* This should always be the first thread started because it may have to
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* resolve page faults in other threads
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*/
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sinfo("Starting paging thread\n");
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g_pgworker = kthread_create("pgfill", CONFIG_PAGING_DEFPRIO,
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CONFIG_PAGING_STACKSIZE,
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pg_worker, NULL);
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DEBUGASSERT(g_pgworker > 0);
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}
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#else /* CONFIG_PAGING */
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# define nx_pgworker()
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#endif /* CONFIG_PAGING */
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/****************************************************************************
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* Name: nx_workqueues
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*
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* Description:
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* Start the worker threads that service the work queues.
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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_SCHED_WORKQUEUE
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static inline void nx_workqueues(void)
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{
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#ifdef CONFIG_LIBC_USRWORK
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pid_t pid;
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#endif
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#ifdef CONFIG_SCHED_HPWORK
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/* Start the high-priority worker thread to support device driver lower
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* halves.
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*/
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work_start_highpri();
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#endif /* CONFIG_SCHED_HPWORK */
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#ifdef CONFIG_SCHED_LPWORK
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/* Start the low-priority worker thread for other, non-critical
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* continuation tasks
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*/
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work_start_lowpri();
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#endif /* CONFIG_SCHED_LPWORK */
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#ifdef CONFIG_LIBC_USRWORK
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/* Start the user-space work queue */
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DEBUGASSERT(USERSPACE->work_usrstart != NULL);
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pid = USERSPACE->work_usrstart();
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DEBUGASSERT(pid > 0);
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UNUSED(pid);
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#endif
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}
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#else /* CONFIG_SCHED_WORKQUEUE */
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# define nx_workqueues()
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#endif /* CONFIG_SCHED_WORKQUEUE */
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/****************************************************************************
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* Name: nx_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.
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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 nx_start_application(void)
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{
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#ifndef CONFIG_INIT_NONE
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FAR char * const argv[] =
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{
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# ifdef CONFIG_INIT_ARGS
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CONFIG_INIT_ARGS,
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# endif
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NULL,
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};
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#endif
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#ifdef CONFIG_INIT_FILE
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posix_spawnattr_t attr;
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#endif
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int ret;
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#ifdef CONFIG_BOARD_LATE_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_late_initialize();
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#endif
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#if defined(CONFIG_INIT_ENTRY)
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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_INIT_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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sinfo("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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ret = nxtask_create(CONFIG_INIT_ENTRYNAME, CONFIG_INIT_PRIORITY,
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NULL, CONFIG_INIT_STACKSIZE,
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USERSPACE->us_entrypoint, argv, NULL);
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# else
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ret = nxtask_create(CONFIG_INIT_ENTRYNAME, CONFIG_INIT_PRIORITY,
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NULL, CONFIG_INIT_STACKSIZE,
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CONFIG_INIT_ENTRYPOINT, argv, NULL);
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# endif
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DEBUGASSERT(ret > 0);
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#elif defined(CONFIG_INIT_FILE)
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# ifdef CONFIG_INIT_MOUNT
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/* Mount the file system containing the init program. */
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ret = nx_mount(CONFIG_INIT_MOUNT_SOURCE, CONFIG_INIT_MOUNT_TARGET,
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CONFIG_INIT_MOUNT_FSTYPE, CONFIG_INIT_MOUNT_FLAGS,
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CONFIG_INIT_MOUNT_DATA);
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DEBUGASSERT(ret >= 0);
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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_late_initialize() operation.
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*/
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sinfo("Starting init task: %s\n", CONFIG_INIT_FILEPATH);
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posix_spawnattr_init(&attr);
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attr.priority = CONFIG_INIT_PRIORITY;
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# ifndef CONFIG_BUILD_KERNEL
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attr.stacksize = CONFIG_INIT_STACKSIZE;
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# endif
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ret = exec_spawn(CONFIG_INIT_FILEPATH, argv, NULL,
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CONFIG_INIT_SYMTAB, CONFIG_INIT_NEXPORTS, &attr);
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DEBUGASSERT(ret >= 0);
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#endif
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UNUSED(ret);
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}
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/****************************************************************************
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* Name: nx_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_LATE_INITIALIZE
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static int nx_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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nx_start_application();
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return OK;
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}
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#endif
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/****************************************************************************
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* Name: nx_create_initthread
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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 nx_create_initthread(void)
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{
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#ifdef CONFIG_BOARD_LATE_INITIALIZE
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int pid;
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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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pid = nxthread_create("AppBringUp", TCB_FLAG_TTYPE_KERNEL,
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CONFIG_BOARD_INITTHREAD_PRIORITY,
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NULL, CONFIG_BOARD_INITTHREAD_STACKSIZE,
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nx_start_task, NULL, environ);
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DEBUGASSERT(pid > 0);
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UNUSED(pid);
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#else
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/* Do the board/application initialization on this thread of execution. */
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nx_start_application();
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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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/****************************************************************************
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* Name: nx_bringup
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*
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* Description:
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* Start all initial system tasks. This does the "system bring-up" after
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* the conclusion of basic OS initialization. These initial system tasks
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* may include:
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*
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* - pg_worker: The page-fault worker thread (only if CONFIG_PAGING is
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* defined.
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* - work_thread: The work thread. This general thread can be used to
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* perform most any kind of queued work. Its primary
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* function is to serve as the "bottom half" of device
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* drivers.
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*
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* And the main application entry point:
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* symbols, either:
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*
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* - CONFIG_INIT_ENTRYPOINT: This is the default user application entry
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* point, or
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* - CONFIG_INIT_FILEPATH: The full path to the location in a mounted
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* file system where we can expect to find the
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* initialization program. Presumably, this file system
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* was mounted by board-specific logic when
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* board_late_initialize() was called.
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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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int nx_bringup(void)
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{
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#ifndef CONFIG_DISABLE_ENVIRON
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/* Setup up the initial environment for the idle task. At present, this
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* may consist of only the initial PATH variable and/or and init library
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* path variable. These path variables are not used by the IDLE task.
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* However, the environment containing the PATH variable will be inherited
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* by all of the threads created by the IDLE task.
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*/
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#ifdef CONFIG_LIBC_HOMEDIR
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setenv("PWD", CONFIG_LIBC_HOMEDIR, 1);
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#endif
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#ifdef CONFIG_PATH_INITIAL
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setenv("PATH", CONFIG_PATH_INITIAL, 1);
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#endif
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#ifdef CONFIG_LDPATH_INITIAL
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setenv("LD_LIBRARY_PATH", CONFIG_LDPATH_INITIAL, 1);
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#endif
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#endif
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/* Start the page fill worker kernel thread that will resolve page faults.
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* This should always be the first thread started because it may have to
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* resolve page faults in other threads
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*/
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nx_pgworker();
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/* Start the worker thread that will serve as the device driver "bottom-
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* half" and will perform misc garbage clean-up.
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*/
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nx_workqueues();
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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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* will be the first user-mode thread.
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*/
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nx_create_initthread();
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#if !defined(CONFIG_DISABLE_ENVIRON) && (defined(CONFIG_PATH_INITIAL) || \
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defined(CONFIG_LDPATH_INITIAL))
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/* We an save a few bytes by discarding the IDLE thread's environment. */
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clearenv();
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#endif
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return OK;
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}
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