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195 lines
7.2 KiB
195 lines
7.2 KiB
/**************************************************************************** |
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* sched/os_bringup.c |
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* |
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* Copyright (C) 2011-2012 Gregory Nutt. All rights reserved. |
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* Author: Gregory Nutt <gnutt@nuttx.org> |
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* |
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* With extensions by: |
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* |
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* Author: Uros Platise <uros.platise@isotel.eu> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name NuttX nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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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 <debug.h> |
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#include <nuttx/init.h> |
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#include <nuttx/wqueue.h> |
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#include "os_internal.h" |
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#ifdef CONFIG_PAGING |
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# include "pg_internal.h" |
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#endif |
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#ifdef CONFIG_SCHED_WORKQUEUE |
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# include "work_internal.h" |
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#endif |
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#ifdef CONFIG_NUTTX_KERNEL |
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# include "arch/board/user_map.h" |
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#endif |
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/**************************************************************************** |
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* Pre-processor Definitions |
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****************************************************************************/ |
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/* If NuttX is built as a separately compiled module, then the the header |
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* file should contain the address of the user module entry point. If not |
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* then the default entry point is user_start. |
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*/ |
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/**************************************************************************** |
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* Private Types |
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****************************************************************************/ |
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/**************************************************************************** |
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* Private Function Prototypes |
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****************************************************************************/ |
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/**************************************************************************** |
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* Private Data |
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****************************************************************************/ |
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/**************************************************************************** |
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* Public Data |
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****************************************************************************/ |
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/**************************************************************************** |
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* Private Functions |
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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: os_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: |
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* |
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* - USER_ENTRYPOINT: This is the default user application entry point. |
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* |
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****************************************************************************/ |
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int os_bringup(void) |
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{ |
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int init_taskid; |
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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. The PATH variable is |
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* (probably) not used by the IDLE task. However, the environment |
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* containing the PATH variable will be inherited by all of the threads |
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* created by the IDLE task. |
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*/ |
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#if !defined(CONFIG_DISABLE_ENVIRON) && defined(CONFIG_PATH_INITIAL) |
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(void)setenv("PATH", CONFIG_PATH_INITIAL, 1); |
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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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#ifdef CONFIG_PAGING |
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svdbg("Starting paging thread\n"); |
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g_pgworker = KERNEL_THREAD("pgfill", CONFIG_PAGING_DEFPRIO, |
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CONFIG_PAGING_STACKSIZE, |
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(main_t)pg_worker, (const char **)NULL); |
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ASSERT(g_pgworker != ERROR); |
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#endif |
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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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#ifdef CONFIG_SCHED_WORKQUEUE |
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svdbg("Starting worker thread\n"); |
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g_work[HPWORK].pid = KERNEL_THREAD("work0", CONFIG_SCHED_WORKPRIORITY, |
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CONFIG_SCHED_WORKSTACKSIZE, |
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(main_t)work_hpthread, (const char **)NULL); |
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ASSERT(g_work[HPWORK].pid != ERROR); |
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/* Start a lower priority worker thread for other, non-critical continuation |
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* tasks |
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*/ |
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#ifdef CONFIG_SCHED_LPWORK |
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svdbg("Starting worker thread\n"); |
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g_work[LPWORK].pid = KERNEL_THREAD("work1", CONFIG_SCHED_LPWORKPRIORITY, |
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CONFIG_SCHED_LPWORKSTACKSIZE, |
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(main_t)work_lpthread, (const char **)NULL); |
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ASSERT(g_work[LPWORK].pid != ERROR); |
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#endif |
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#endif |
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/* Once the operating system has been initialized, the system must be |
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* started by spawning the user init thread of execution. This is the |
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* first user-mode thead. |
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*/ |
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svdbg("Starting init thread\n"); |
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/* Start the default application at CONFIG_USER_ENTRYPOINT() */ |
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init_taskid = TASK_CREATE("init", SCHED_PRIORITY_DEFAULT, |
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CONFIG_USERMAIN_STACKSIZE, |
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(main_t)CONFIG_USER_ENTRYPOINT, (const char **)NULL); |
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ASSERT(init_taskid != ERROR); |
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/* We an save a few bytes by discarding the IDLE thread's environment. */ |
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#if !defined(CONFIG_DISABLE_ENVIRON) && defined(CONFIG_PATH_INITIAL) |
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(void)clearenv(); |
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#endif |
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return OK; |
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}
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