/**************************************************************************** * sched/os_bringup.c * * Copyright (C) 2011-2012 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * With extensions by: * * Author: Uros Platise * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name NuttX nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ /**************************************************************************** * Included Files ****************************************************************************/ #include #include #include #include #include #include #include #include #include #include "os_internal.h" #ifdef CONFIG_PAGING # include "pg_internal.h" #endif /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ /* If NuttX is built as a separately compiled module, then the config.h header * file should contain the address of the user module entry point. If not * then the default entry point is user_start. */ /* Customize some strings */ #ifdef CONFIG_SCHED_WORKQUEUE # ifdef CONFIG_SCHED_HPWORK # if defined(CONFIG_SCHED_LPWORK) # define HPWORKNAME "hpwork" # define LPWORKNAME "lpwork" # elif defined(CONFIG_SCHED_USRWORK) # define HPWORKNAME "knlwork" # else # define HPWORKNAME "work" # endif # endif #endif /**************************************************************************** * Private Types ****************************************************************************/ /**************************************************************************** * Private Function Prototypes ****************************************************************************/ /**************************************************************************** * Private Data ****************************************************************************/ /**************************************************************************** * Public Data ****************************************************************************/ /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Public Functions ****************************************************************************/ /**************************************************************************** * Name: os_bringup * * Description: * Start all initial system tasks. This does the "system bring-up" after * the conclusion of basic OS initialization. These initial system tasks * may include: * * - pg_worker: The page-fault worker thread (only if CONFIG_PAGING is * defined. * - work_thread: The work thread. This general thread can be used to * perform most any kind of queued work. Its primary * function is to serve as the "bottom half" of device * drivers. * * And the main application entry point: * symbols: * * - USER_ENTRYPOINT: This is the default user application entry point. * ****************************************************************************/ int os_bringup(void) { int taskid; /* Setup up the initial environment for the idle task. At present, this * may consist of only the initial PATH variable. The PATH variable is * (probably) not used by the IDLE task. However, the environment * containing the PATH variable will be inherited by all of the threads * created by the IDLE task. */ #if !defined(CONFIG_DISABLE_ENVIRON) && defined(CONFIG_PATH_INITIAL) (void)setenv("PATH", CONFIG_PATH_INITIAL, 1); #endif /* Start the page fill worker kernel thread that will resolve page faults. * This should always be the first thread started because it may have to * resolve page faults in other threads */ #ifdef CONFIG_PAGING svdbg("Starting paging thread\n"); g_pgworker = KERNEL_THREAD("pgfill", CONFIG_PAGING_DEFPRIO, CONFIG_PAGING_STACKSIZE, (main_t)pg_worker, (FAR char * const *)NULL); DEBUGASSERT(g_pgworker > 0); #endif /* Start the worker thread that will serve as the device driver "bottom- * half" and will perform misc garbage clean-up. */ #ifdef CONFIG_SCHED_WORKQUEUE #ifdef CONFIG_SCHED_HPWORK #ifdef CONFIG_SCHED_LPWORK svdbg("Starting high-priority kernel worker thread\n"); #else svdbg("Starting kernel worker thread\n"); #endif g_work[HPWORK].pid = KERNEL_THREAD(HPWORKNAME, CONFIG_SCHED_WORKPRIORITY, CONFIG_SCHED_WORKSTACKSIZE, (main_t)work_hpthread, (FAR char * const *)NULL); DEBUGASSERT(g_work[HPWORK].pid > 0); /* Start a lower priority worker thread for other, non-critical continuation * tasks */ #ifdef CONFIG_SCHED_LPWORK svdbg("Starting low-priority kernel worker thread\n"); g_work[LPWORK].pid = KERNEL_THREAD(LPWORKNAME, CONFIG_SCHED_LPWORKPRIORITY, CONFIG_SCHED_LPWORKSTACKSIZE, (main_t)work_lpthread, (FAR char * const *)NULL); DEBUGASSERT(g_work[LPWORK].pid > 0); #endif /* CONFIG_SCHED_LPWORK */ #endif /* CONFIG_SCHED_HPWORK */ #if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_SCHED_USRWORK) /* Start the user-space work queue */ DEBUGASSERT(USERSPACE->work_usrstart != NULL); taskid = USERSPACE->work_usrstart(); DEBUGASSERT(taskid > 0); #endif #endif /* CONFIG_SCHED_WORKQUEUE */ /* Once the operating system has been initialized, the system must be * started by spawning the user init thread of execution. This is the * first user-mode thead. */ svdbg("Starting init thread\n"); /* Perform any last-minute, board-specific initialization, if so * configured. */ #ifdef CONFIG_BOARD_INITIALIZE board_initialize(); #endif /* Start the default application. In a flat build, this is entrypoint * is given by the definitions, CONFIG_USER_ENTRYPOINT. In the kernel * build, however, we must get the address of the entrypoint from the * header at the beginning of the user-space blob. */ #ifdef CONFIG_NUTTX_KERNEL DEBUGASSERT(USERSPACE->us_entrypoint != NULL); taskid = TASK_CREATE("init", SCHED_PRIORITY_DEFAULT, CONFIG_USERMAIN_STACKSIZE, USERSPACE->us_entrypoint, (FAR char * const *)NULL); #else taskid = TASK_CREATE("init", SCHED_PRIORITY_DEFAULT, CONFIG_USERMAIN_STACKSIZE, (main_t)CONFIG_USER_ENTRYPOINT, (FAR char * const *)NULL); #endif ASSERT(taskid > 0); /* We an save a few bytes by discarding the IDLE thread's environment. */ #if !defined(CONFIG_DISABLE_ENVIRON) && defined(CONFIG_PATH_INITIAL) (void)clearenv(); #endif return OK; }