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px4-firmware/nuttx/sched/os_bringup.c

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/****************************************************************************
* sched/os_bringup.c
*
* Copyright (C) 2011-2012 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 <stdlib.h>
#include <debug.h>
#include <nuttx/init.h>
#include <nuttx/wqueue.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.
*/
/****************************************************************************
* 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;
/* 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, (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_work[HPWORK].pid = KERNEL_THREAD("work0", CONFIG_SCHED_WORKPRIORITY,
CONFIG_SCHED_WORKSTACKSIZE,
(main_t)work_hpthread, (const char **)NULL);
ASSERT(g_work[HPWORK].pid != ERROR);
/* Start a lower priority worker thread for other, non-critical continuation
* tasks
*/
#ifdef CONFIG_SCHED_LPWORK
svdbg("Starting worker thread\n");
g_work[LPWORK].pid = KERNEL_THREAD("work1", CONFIG_SCHED_LPWORKPRIORITY,
CONFIG_SCHED_LPWORKSTACKSIZE,
(main_t)work_lpthread, (const char **)NULL);
ASSERT(g_work[LPWORK].pid != ERROR);
#endif
#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 CONFIG_USER_ENTRYPOINT() */
init_taskid = TASK_CREATE("init", SCHED_PRIORITY_DEFAULT,
CONFIG_USERMAIN_STACKSIZE,
(main_t)CONFIG_USER_ENTRYPOINT, (const char **)NULL);
#endif
ASSERT(init_taskid != ERROR);
/* 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;
}
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