forked from Archive/PX4-Autopilot
187 lines
6.9 KiB
C
187 lines
6.9 KiB
C
|
/****************************************************************************
|
||
|
|
* sched/os_bringup.c
|
||
|
|
*
|
||
|
|
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||
|
|
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
||
|
|
*
|
||
|
|
* 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;
|
||
|
|
}
|