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+/****************************************************************************
+ * sched/os_bringup.c
+ *
+ * Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ * Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * With extensions by:
+ *
+ * Author: Uros Platise <uros.platise@isotel.eu>
+ *
+ * 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 <nuttx/config.h>
+
+#include <sched.h>
+#include <debug.h>
+
+#include <nuttx/init.h>
+
+#include "os_internal.h"
+#ifdef CONFIG_PAGING
+# include "pg_internal.h"
+#endif
+#ifdef CONFIG_SCHED_WORKQUEUE
+# include "work_internal.h"
+#endif
+#ifdef CONFIG_BUILTIN_APP_START
+# include "apps/apps.h"
+#endif
+#ifdef CONFIG_NUTTX_KERNEL
+# include "arch/board/user_map.h"
+#endif
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* If NuttX is built as a separately compiled module, then the the header
+ * file should contain the address of the user module entry point. If not
+ * then the default entry point is user_start.
+ */
+
+#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_USER_ENTRYPOINT)
+# define USER_ENTRYPOINT (main_t)CONFIG_USER_ENTRYPOINT
+#else
+# define USER_ENTRYPOINT user_start
+#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. This may be one of two different
+ * symbols:
+ *
+ * - USER_ENTRYPOINT: This is the default entry point used for all of the
+ * example code in apps/examples.
+ * - CONFIG_BUILTIN_APP_START: The system can also be configured to start
+ * custom applications at however CONFIG_BUILTIN_APP_START
+ * is defined in the NuttX start-up file.
+ *
+ ****************************************************************************/
+
+int os_bringup(void)
+{
+#ifdef CONFIG_BUILTIN_APP_START
+ static const char *argv[3] = {NULL, "init", NULL};
+#endif
+ int init_taskid;
+
+ /* 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, (const char **)NULL);
+ ASSERT(g_pgworker != ERROR);
+#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
+ svdbg("Starting worker thread\n");
+
+ g_worker = KERNEL_THREAD("work", CONFIG_SCHED_WORKPRIORITY,
+ CONFIG_SCHED_WORKSTACKSIZE,
+ (main_t)work_thread, (const char **)NULL);
+ ASSERT(g_worker != ERROR);
+#endif
+
+ /* 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");
+
+#ifdef CONFIG_BUILTIN_APP_START
+ /* Start the built-in named application, passing an "init" argument, so that
+ * application can distinguish different run-levels
+ */
+
+ init_taskid = exec_namedapp(CONFIG_BUILTIN_APP_START, argv);
+#else
+ /* Start the default application at USER_ENTRYPOINT() */
+
+ init_taskid = TASK_CREATE("init", SCHED_PRIORITY_DEFAULT,
+ CONFIG_USERMAIN_STACKSIZE,
+ (main_t)USER_ENTRYPOINT, (const char **)NULL);
+#endif
+ ASSERT(init_taskid != ERROR);
+ return OK;
+}