714 lines
21 KiB
C
714 lines
21 KiB
C
/****************************************************************************
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* sched/init/nx_start.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 <sys/types.h>
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#include <stdbool.h>
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#include <stdio.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/compiler.h>
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#include <nuttx/sched.h>
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#include <nuttx/fs/fs.h>
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#include <nuttx/net/net.h>
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#include <nuttx/mm/iob.h>
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#include <nuttx/mm/kmap.h>
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#include <nuttx/mm/mm.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/pgalloc.h>
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#include <nuttx/sched_note.h>
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#include <nuttx/trace.h>
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#include <nuttx/binfmt/binfmt.h>
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#include <nuttx/drivers/drivers.h>
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#include <nuttx/init.h>
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#include "sched/sched.h"
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#include "signal/signal.h"
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#include "semaphore/semaphore.h"
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#include "mqueue/mqueue.h"
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#include "mqueue/msg.h"
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#include "clock/clock.h"
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#include "timer/timer.h"
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#include "irq/irq.h"
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#include "group/group.h"
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#include "init/init.h"
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#include "tls/tls.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* This set of all CPUs */
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#define SCHED_ALL_CPUS ((1 << CONFIG_SMP_NCPUS) - 1)
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/* Task Lists ***************************************************************/
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/* The state of a task is indicated both by the task_state field of the TCB
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* and by a series of task lists. All of these tasks lists are declared
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* below. Although it is not always necessary, most of these lists are
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* prioritized so that common list handling logic can be used (only the
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* g_readytorun, the g_pendingtasks, and the g_waitingforsemaphore lists
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* need to be prioritized).
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*/
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/* This is the list of all tasks that are ready to run. This is a
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* prioritized list with head of the list holding the highest priority
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* (unassigned) task. In the non-SMP case, the head of this list is the
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* currently active task and the tail of this list, the lowest priority
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* task, is always the IDLE task.
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*/
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dq_queue_t g_readytorun;
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/* In order to support SMP, the function of the g_readytorun list changes,
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* The g_readytorun is still used but in the SMP case it will contain only:
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*
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* - Only tasks/threads that are eligible to run, but not currently running,
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* and
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* - Tasks/threads that have not been assigned to a CPU.
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*
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* Otherwise, the TCB will be retained in an assigned task list,
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* g_assignedtasks. As its name suggests, on 'g_assignedtasks queue for CPU
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* 'n' would contain only tasks/threads that are assigned to CPU 'n'. Tasks/
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* threads would be assigned a particular CPU by one of two mechanisms:
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*
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* - (Semi-)permanently through an RTOS interfaces such as
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* pthread_attr_setaffinity(), or
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* - Temporarily through scheduling logic when a previously unassigned task
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* is made to run.
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*
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* Tasks/threads that are assigned to a CPU via an interface like
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* pthread_attr_setaffinity() would never go into the g_readytorun list, but
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* would only go into the g_assignedtasks[n] list for the CPU 'n' to which
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* the thread has been assigned. Hence, the g_readytorun list would hold
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* only unassigned tasks/threads.
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*
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* Like the g_readytorun list in in non-SMP case, each g_assignedtask[] list
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* is prioritized: The head of the list is the currently active task on this
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* CPU. Tasks after the active task are ready-to-run and assigned to this
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* CPU. The tail of this assigned task list, the lowest priority task, is
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* always the CPU's IDLE task.
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*/
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#ifdef CONFIG_SMP
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dq_queue_t g_assignedtasks[CONFIG_SMP_NCPUS];
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#endif
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/* g_running_tasks[] holds a references to the running task for each cpu.
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* It is valid only when up_interrupt_context() returns true.
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*/
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FAR struct tcb_s *g_running_tasks[CONFIG_SMP_NCPUS];
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/* This is the list of all tasks that are ready-to-run, but cannot be placed
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* in the g_readytorun list because: (1) They are higher priority than the
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* currently active task at the head of the g_readytorun list, and (2) the
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* currently active task has disabled pre-emption.
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*/
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dq_queue_t g_pendingtasks;
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/* This is the list of all tasks that are blocked waiting for a signal */
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dq_queue_t g_waitingforsignal;
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#ifdef CONFIG_PAGING
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/* This is the list of all tasks that are blocking waiting for a page fill */
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dq_queue_t g_waitingforfill;
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#endif
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#ifdef CONFIG_SIG_SIGSTOP_ACTION
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/* This is the list of all tasks that have been stopped
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* via SIGSTOP or SIGTSTP
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*/
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dq_queue_t g_stoppedtasks;
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#endif
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/* This list of all tasks that have been initialized, but not yet
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* activated. NOTE: This is the only list that is not prioritized.
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*/
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dq_queue_t g_inactivetasks;
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/* This is the value of the last process ID assigned to a task */
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volatile pid_t g_lastpid;
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/* The following hash table is used for two things:
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*
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* 1. This hash table greatly speeds the determination of a new unique
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* process ID for a task, and
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* 2. Is used to quickly map a process ID into a TCB.
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*/
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FAR struct tcb_s **g_pidhash;
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volatile int g_npidhash;
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/* This is a table of task lists. This table is indexed by the task state
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* enumeration type (tstate_t) and provides a pointer to the associated
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* static task list (if there is one) as well as a set of attribute flags
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* indicating properties of the list, for example, if the list is an
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* ordered list or not.
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*/
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const struct tasklist_s g_tasklisttable[NUM_TASK_STATES] =
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{
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{ /* TSTATE_TASK_INVALID */
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NULL,
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0
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},
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{ /* TSTATE_TASK_PENDING */
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&g_pendingtasks,
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TLIST_ATTR_PRIORITIZED
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},
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#ifdef CONFIG_SMP
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{ /* TSTATE_TASK_READYTORUN */
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&g_readytorun,
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TLIST_ATTR_PRIORITIZED
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},
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{ /* TSTATE_TASK_ASSIGNED */
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g_assignedtasks,
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TLIST_ATTR_PRIORITIZED | TLIST_ATTR_INDEXED | TLIST_ATTR_RUNNABLE
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},
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{ /* TSTATE_TASK_RUNNING */
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g_assignedtasks,
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TLIST_ATTR_PRIORITIZED | TLIST_ATTR_INDEXED | TLIST_ATTR_RUNNABLE
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},
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#else
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{ /* TSTATE_TASK_READYTORUN */
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&g_readytorun,
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TLIST_ATTR_PRIORITIZED | TLIST_ATTR_RUNNABLE
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},
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{ /* TSTATE_TASK_RUNNING */
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&g_readytorun,
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TLIST_ATTR_PRIORITIZED | TLIST_ATTR_RUNNABLE
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},
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#endif
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{ /* TSTATE_TASK_INACTIVE */
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&g_inactivetasks,
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0
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},
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{ /* TSTATE_WAIT_SEM */
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(FAR void *)offsetof(sem_t, waitlist),
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TLIST_ATTR_PRIORITIZED | TLIST_ATTR_OFFSET
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},
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{ /* TSTATE_WAIT_SIG */
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&g_waitingforsignal,
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0
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}
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#ifndef CONFIG_DISABLE_MQUEUE
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,
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{ /* TSTATE_WAIT_MQNOTEMPTY */
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(FAR void *)offsetof(struct mqueue_inode_s, cmn.waitfornotempty),
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TLIST_ATTR_PRIORITIZED | TLIST_ATTR_OFFSET
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},
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{ /* TSTATE_WAIT_MQNOTFULL */
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(FAR void *)offsetof(struct mqueue_inode_s, cmn.waitfornotfull),
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TLIST_ATTR_PRIORITIZED | TLIST_ATTR_OFFSET
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}
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#endif
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#ifdef CONFIG_PAGING
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,
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{ /* TSTATE_WAIT_PAGEFILL */
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&g_waitingforfill,
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TLIST_ATTR_PRIORITIZED
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}
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#endif
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#ifdef CONFIG_SIG_SIGSTOP_ACTION
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,
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{ /* TSTATE_TASK_STOPPED */
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&g_stoppedtasks,
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0 /* See tcb->prev_state */
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},
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#endif
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};
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/* This is the current initialization state. The level of initialization
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* is only important early in the start-up sequence when certain OS or
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* hardware resources may not yet be available to the kernel logic.
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*/
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uint8_t g_nx_initstate; /* See enum nx_initstate_e */
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/* This is an array of task control block (TCB) for the IDLE thread of each
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* CPU. For the non-SMP case, this is a a single TCB; For the SMP case,
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* there is one TCB per CPU. NOTE: The system boots on CPU0 into the IDLE
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* task. The IDLE task later starts the other CPUs and spawns the user
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* initialization task. That user initialization task is responsible for
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* bringing up the rest of the system.
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*/
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static struct task_tcb_s g_idletcb[CONFIG_SMP_NCPUS];
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/* This is the name of the idle task */
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#if CONFIG_TASK_NAME_SIZE <= 0 || !defined(CONFIG_SMP)
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# ifdef CONFIG_SMP
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static const char g_idlename[] = "CPU_Idle";
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# else
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static const char g_idlename[] = "Idle_Task";
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# endif
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#endif
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/* This is IDLE threads argument list. NOTE: Normally the argument
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* list is created on the stack prior to starting the task. We have to
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* do things little differently here for the IDLE tasks.
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*/
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static FAR char *g_idleargv[CONFIG_SMP_NCPUS][2];
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: nx_start
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*
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* Description:
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* This function is called to initialize the operating system and to spawn
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* the user initialization thread of execution. This is the initial entry
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* point into NuttX.
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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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* Does not return.
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*
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****************************************************************************/
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void nx_start(void)
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{
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int i;
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sinfo("Entry\n");
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/* Boot up is complete */
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g_nx_initstate = OSINIT_BOOT;
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/* Initialize RTOS Data ***************************************************/
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sched_trace_begin();
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/* Initialize the IDLE task TCB *******************************************/
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for (i = 0; i < CONFIG_SMP_NCPUS; i++)
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{
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FAR dq_queue_t *tasklist;
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/* Initialize a TCB for this thread of execution. NOTE: The default
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* value for most components of the g_idletcb are zero. The entire
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* structure is set to zero. Then only the (potentially) non-zero
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* elements are initialized. NOTE: The idle task is the only task in
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* that has pid == 0 and sched_priority == 0.
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*/
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memset((void *)&g_idletcb[i], 0, sizeof(struct task_tcb_s));
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g_idletcb[i].cmn.pid = i;
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g_idletcb[i].cmn.task_state = TSTATE_TASK_RUNNING;
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/* Set the entry point. This is only for debug purposes. NOTE: that
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* the start_t entry point is not saved. That is acceptable, however,
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* because it can be used only for restarting a task: The IDLE task
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* cannot be restarted.
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*/
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#ifdef CONFIG_SMP
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if (i > 0)
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{
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g_idletcb[i].cmn.start = nx_idle_trampoline;
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g_idletcb[i].cmn.entry.main = (main_t)nx_idle_trampoline;
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}
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else
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#endif
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{
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g_idletcb[i].cmn.start = nx_start;
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g_idletcb[i].cmn.entry.main = (main_t)nx_start;
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}
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/* Set the task flags to indicate that this is a kernel thread and, if
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* configured for SMP, that this task is locked to this CPU.
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*/
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#ifdef CONFIG_SMP
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g_idletcb[i].cmn.flags = (TCB_FLAG_TTYPE_KERNEL |
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TCB_FLAG_NONCANCELABLE |
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TCB_FLAG_CPU_LOCKED);
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g_idletcb[i].cmn.cpu = i;
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/* Set the affinity mask to allow the thread to run on all CPUs. No,
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* this IDLE thread can only run on its assigned CPU. That is
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* enforced by the TCB_FLAG_CPU_LOCKED which overrides the affinity
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* mask. This is essential because all tasks inherit the affinity
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* mask from their parent and, ultimately, the parent of all tasks is
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* the IDLE task.
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*/
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g_idletcb[i].cmn.affinity =
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(cpu_set_t)(CONFIG_SMP_DEFAULT_CPUSET & SCHED_ALL_CPUS);
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#else
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g_idletcb[i].cmn.flags = (TCB_FLAG_TTYPE_KERNEL |
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TCB_FLAG_NONCANCELABLE);
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#endif
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#if CONFIG_TASK_NAME_SIZE > 0
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/* Set the IDLE task name */
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# ifdef CONFIG_SMP
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snprintf(g_idletcb[i].cmn.name, CONFIG_TASK_NAME_SIZE, "CPU%d IDLE",
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i);
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# else
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strlcpy(g_idletcb[i].cmn.name, g_idlename, CONFIG_TASK_NAME_SIZE);
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# endif
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/* Configure the task name in the argument list. The IDLE task does
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* not really have an argument list, but this name is still useful
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* for things like the NSH PS command.
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*
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* In the kernel mode build, the arguments are saved on the task's
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* stack and there is no support that yet.
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*/
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g_idleargv[i][0] = g_idletcb[i].cmn.name;
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#else
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g_idleargv[i][0] = (FAR char *)g_idlename;
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#endif /* CONFIG_TASK_NAME_SIZE */
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/* Then add the idle task's TCB to the head of the current ready to
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* run list.
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*/
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#ifdef CONFIG_SMP
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tasklist = TLIST_HEAD(&g_idletcb[i].cmn, i);
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#else
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tasklist = TLIST_HEAD(&g_idletcb[i].cmn);
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#endif
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dq_addfirst((FAR dq_entry_t *)&g_idletcb[i], tasklist);
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/* Mark the idle task as the running task */
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g_running_tasks[i] = &g_idletcb[i].cmn;
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}
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/* Task lists are initialized */
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g_nx_initstate = OSINIT_TASKLISTS;
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/* Initialize RTOS facilities *********************************************/
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/* Initialize the semaphore facility. This has to be done very early
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* because many subsystems depend upon fully functional semaphores.
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*/
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nxsem_initialize();
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#if defined(MM_KERNEL_USRHEAP_INIT) || defined(CONFIG_MM_KERNEL_HEAP) || \
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defined(CONFIG_MM_PGALLOC)
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/* Initialize the memory manager */
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{
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FAR void *heap_start;
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size_t heap_size;
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#ifdef MM_KERNEL_USRHEAP_INIT
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/* Get the user-mode heap from the platform specific code and configure
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* the user-mode memory allocator.
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*/
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up_allocate_heap(&heap_start, &heap_size);
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kumm_initialize(heap_start, heap_size);
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#endif
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#ifdef CONFIG_MM_KERNEL_HEAP
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/* Get the kernel-mode heap from the platform specific code and
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* configure the kernel-mode memory allocator.
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*/
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up_allocate_kheap(&heap_start, &heap_size);
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kmm_initialize(heap_start, heap_size);
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#endif
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#ifdef CONFIG_MM_PGALLOC
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/* If there is a page allocator in the configuration, then get the page
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* heap information from the platform-specific code and configure the
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* page allocator.
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*/
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up_allocate_pgheap(&heap_start, &heap_size);
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mm_pginitialize(heap_start, heap_size);
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#endif
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}
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#endif
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#ifdef CONFIG_MM_KMAP
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/* Initialize the kernel dynamic mapping module */
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kmm_map_initialize();
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#endif
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#ifdef CONFIG_ARCH_HAVE_EXTRA_HEAPS
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/* Initialize any extra heap. */
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up_extraheaps_init();
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#endif
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#ifdef CONFIG_MM_IOB
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/* Initialize IO buffering */
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iob_initialize();
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#endif
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/* Initialize the logic that determine unique process IDs. */
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g_npidhash = 4;
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while (g_npidhash <= CONFIG_SMP_NCPUS)
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{
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g_npidhash <<= 1;
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}
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g_pidhash = kmm_zalloc(sizeof(*g_pidhash) * g_npidhash);
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DEBUGASSERT(g_pidhash);
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/* IDLE Group Initialization **********************************************/
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for (i = 0; i < CONFIG_SMP_NCPUS; i++)
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{
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int hashndx;
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/* Assign the process ID(s) of ZERO to the idle task(s) */
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hashndx = PIDHASH(i);
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g_pidhash[hashndx] = &g_idletcb[i].cmn;
|
|
|
|
/* Allocate the IDLE group */
|
|
|
|
DEBUGVERIFY(group_allocate(&g_idletcb[i], g_idletcb[i].cmn.flags));
|
|
g_idletcb[i].cmn.group->tg_info->argv = &g_idleargv[i][0];
|
|
|
|
#ifdef CONFIG_SMP
|
|
/* Create a stack for all CPU IDLE threads (except CPU0 which already
|
|
* has a stack).
|
|
*/
|
|
|
|
if (i > 0)
|
|
{
|
|
DEBUGVERIFY(up_cpu_idlestack(i, &g_idletcb[i].cmn,
|
|
CONFIG_IDLETHREAD_STACKSIZE));
|
|
}
|
|
#endif
|
|
|
|
/* Initialize the processor-specific portion of the TCB */
|
|
|
|
up_initial_state(&g_idletcb[i].cmn);
|
|
|
|
/* Initialize the thread local storage */
|
|
|
|
tls_init_info(&g_idletcb[i].cmn);
|
|
|
|
/* Complete initialization of the IDLE group. Suppress retention
|
|
* of child status in the IDLE group.
|
|
*/
|
|
|
|
group_initialize(&g_idletcb[i]);
|
|
g_idletcb[i].cmn.group->tg_flags = GROUP_FLAG_NOCLDWAIT |
|
|
GROUP_FLAG_PRIVILEGED;
|
|
}
|
|
|
|
g_lastpid = CONFIG_SMP_NCPUS - 1;
|
|
|
|
/* The memory manager is available */
|
|
|
|
g_nx_initstate = OSINIT_MEMORY;
|
|
|
|
/* Initialize tasking data structures */
|
|
|
|
task_initialize();
|
|
|
|
/* Disables context switching because 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();
|
|
|
|
/* Initialize the file system (needed to support device drivers) */
|
|
|
|
fs_initialize();
|
|
|
|
/* Initialize the interrupt handling subsystem (if included) */
|
|
|
|
irq_initialize();
|
|
|
|
/* Initialize the POSIX timer facility (if included in the link) */
|
|
|
|
clock_initialize();
|
|
|
|
#ifndef CONFIG_DISABLE_POSIX_TIMERS
|
|
timer_initialize();
|
|
#endif
|
|
|
|
/* Initialize the signal facility (if in link) */
|
|
|
|
nxsig_initialize();
|
|
|
|
#if !defined(CONFIG_DISABLE_MQUEUE) || !defined(CONFIG_DISABLE_MQUEUE_SYSV)
|
|
/* Initialize the named message queue facility (if in link) */
|
|
|
|
nxmq_initialize();
|
|
#endif
|
|
|
|
#ifndef CONFIG_DISABLE_MQUEUE_SYSV
|
|
/* Initialize the System V message queue facility (if in link) */
|
|
|
|
nxmsg_initialize();
|
|
#endif
|
|
|
|
#ifdef CONFIG_NET
|
|
/* Initialize the networking system */
|
|
|
|
net_initialize();
|
|
#endif
|
|
|
|
#ifndef CONFIG_BINFMT_DISABLE
|
|
/* Initialize the binfmt system */
|
|
|
|
binfmt_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();
|
|
|
|
/* Initialize common drivers */
|
|
|
|
drivers_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 ************************************************/
|
|
|
|
/* Announce that the CPU0 IDLE task has started */
|
|
|
|
sched_note_start(&g_idletcb[0].cmn);
|
|
|
|
/* Initialize stdio for the IDLE task of each CPU */
|
|
|
|
for (i = 0; i < CONFIG_SMP_NCPUS; i++)
|
|
{
|
|
if (i > 0)
|
|
{
|
|
/* Clone stdout, stderr, stdin from the CPU0 IDLE task. */
|
|
|
|
DEBUGVERIFY(group_setuptaskfiles(&g_idletcb[i]));
|
|
}
|
|
else
|
|
{
|
|
/* 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());
|
|
}
|
|
}
|
|
|
|
#ifdef CONFIG_SMP
|
|
/* Start all CPUs *********************************************************/
|
|
|
|
/* A few basic sanity checks */
|
|
|
|
DEBUGASSERT(this_cpu() == 0);
|
|
|
|
/* 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());
|
|
|
|
/* Enter to idleloop */
|
|
|
|
g_nx_initstate = OSINIT_IDLELOOP;
|
|
|
|
/* Let other threads have access to the memory manager */
|
|
|
|
sched_trace_end();
|
|
sched_unlock();
|
|
|
|
/* The IDLE Loop **********************************************************/
|
|
|
|
/* When control is return to this point, the system is idle. */
|
|
|
|
sinfo("CPU0: Beginning Idle Loop\n");
|
|
#ifndef CONFIG_DISABLE_IDLE_LOOP
|
|
for (; ; )
|
|
{
|
|
/* Perform any processor-specific idle state operations */
|
|
|
|
up_idle();
|
|
}
|
|
#endif
|
|
}
|