456 lines
13 KiB
C
456 lines
13 KiB
C
/************************************************************
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* os_start.c
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*
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* Copyright (C) 2007 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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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 Gregory Nutt 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 <sys/types.h>
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#include <debug.h>
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#include <string.h>
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#include <nuttx/arch.h>
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#include <nuttx/compiler.h>
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#include <nuttx/fs.h>
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#include <nuttx/lib.h>
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#include <nuttx/os_external.h>
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#include "os_internal.h"
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#include "sig_internal.h"
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#include "wd_internal.h"
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#include "sem_internal.h"
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#ifndef CONFIG_DISABLE_MQUEUE
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# include "mq_internal.h"
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#endif
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#ifndef CONFIG_DISABLE_PTHREAD
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# include "pthread_internal.h"
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#endif
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#include "clock_internal.h"
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#include "irq_internal.h"
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/************************************************************
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* Definitions
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************************************************************/
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/************************************************************
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* Private Type Declarations
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************************************************************/
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/************************************************************
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* Global Variables
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************************************************************/
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/* Task Lists ***********************************************/
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/* The state of a task is indicated both by the task_state field
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* of the TCB and by a series of task lists. All of these
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* tasks lists are declared below. Although it is not always
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* necessary, most of these lists are prioritized so that common
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* list handling logic can be used (only the g_readytorun,
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* the g_pendingtasks, and the g_waitingforsemaphore lists need
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* to be prioritized).
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*/
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/* This is the list of all tasks that are ready to run. The head
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* of this list is the currently active task; the tail of this
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* list is always the idle task.
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*/
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volatile dq_queue_t g_readytorun;
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/* This is the list of all tasks that are ready-to-run, but
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* cannot be placed in the g_readytorun list because: (1) They
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* are higher priority than the currently active task at the head
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* of the g_readytorun list, and (2) the currenly active task has
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* disabled pre-emption.
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*/
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volatile dq_queue_t g_pendingtasks;
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/* This is the list of all tasks that are blocked waiting for a semaphore */
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volatile dq_queue_t g_waitingforsemaphore;
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/* This is the list of all tasks that are blocked waiting for a signal */
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#ifndef CONFIG_DISABLE_SIGNALS
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volatile dq_queue_t g_waitingforsignal;
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#endif
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/* This is the list of all tasks that are blocked waiting for a message
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* queue to become non-empty.
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*/
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#ifndef CONFIG_DISABLE_MQUEUE
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volatile dq_queue_t g_waitingformqnotempty;
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#endif
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/* This is the list of all tasks that are blocked waiting for a message
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* queue to become non-full.
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*/
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#ifndef CONFIG_DISABLE_MQUEUE
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volatile dq_queue_t g_waitingformqnotfull;
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#endif
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/* This the list of all tasks that have been initialized, but not yet
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* activated. NOTE: This is the only list that is not prioritized.
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*/
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volatile dq_queue_t g_inactivetasks;
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/* This is the list of dayed memory deallocations that need to be handled
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* within the IDLE loop. These deallocations get queued by sched_free()
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* if the OS attempts to deallocate memory while it is within an interrupt
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* handler.
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*/
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volatile sq_queue_t g_delayeddeallocations;
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/* This is the value of the last process ID assigned to a task */
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volatile pid_t g_lastpid;
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/* The following hash table is used for two things:
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*
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* 1. This hash table greatly speeds the determination of
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* a new unique process ID for a task, and
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* 2. Is used to quickly map a process ID into a TCB.
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* It has the side effects of using more memory and limiting
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*
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* the number of tasks to CONFIG_MAX_TASKS.
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*/
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pidhash_t g_pidhash[CONFIG_MAX_TASKS];
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/* This is a table of task lists. This table is indexed by
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* the task state enumeration type (tstate_t) and provides
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* a pointer to the associated static task list (if there
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* is one) as well as a boolean indication as to if the list
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* is an ordered list or not.
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*/
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const tasklist_t g_tasklisttable[NUM_TASK_STATES] =
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{
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{ NULL, FALSE }, /* TSTATE_TASK_INVALID */
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{ &g_pendingtasks, TRUE }, /* TSTATE_TASK_PENDING */
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{ &g_readytorun, TRUE }, /* TSTATE_TASK_READYTORUN */
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{ &g_readytorun, TRUE }, /* TSTATE_TASK_RUNNING */
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{ &g_inactivetasks, FALSE }, /* TSTATE_TASK_INACTIVE */
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{ &g_waitingforsemaphore, TRUE }, /* TSTATE_WAIT_SEM */
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#ifndef CONFIG_DISABLE_SIGNALS
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{ &g_waitingforsignal, FALSE }, /* TSTATE_WAIT_SIG */
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#endif
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#ifndef CONFIG_DISABLE_MQUEUE
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{ &g_waitingformqnotempty, TRUE }, /* TSTATE_WAIT_MQNOTEMPTY */
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{ &g_waitingformqnotfull, TRUE } /* TSTATE_WAIT_MQNOTFULL */
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#endif
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};
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/************************************************************
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* Private Variables
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************************************************************/
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/* This is the task control block for this thread of execution.
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* This thread of execution is the idle task. NOTE: the
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* system boots into the idle task. The idle task spawns
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* the user init task and the user init task is responsible
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* for bringing up the rest of the system
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*/
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static FAR _TCB g_idletcb;
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/* This is the name of the idle task */
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static FAR char g_idlename[] = "Idle Task";
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/************************************************************
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* Private Function Prototypes
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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_start
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* Description: This function is called to initialize the
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* operating system and to spawn the user init thread of
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* execution
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************************************************************/
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void os_start(void)
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{
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int init_taskid;
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int i;
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lldbg("Entry\n");
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/* Initialize all task lists */
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dq_init(&g_readytorun);
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dq_init(&g_pendingtasks);
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dq_init(&g_waitingforsemaphore);
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#ifndef CONFIG_DISABLE_SIGNALS
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dq_init(&g_waitingforsignal);
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#endif
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#ifndef CONFIG_DISABLE_MQUEUE
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dq_init(&g_waitingformqnotfull);
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dq_init(&g_waitingformqnotempty);
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#endif
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dq_init(&g_inactivetasks);
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sq_init(&g_delayeddeallocations);
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/* Initialize the logic that determine unique process IDs. */
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g_lastpid = 0;
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for (i = 0; i < CONFIG_MAX_TASKS; i++)
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{
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g_pidhash[i].tcb = NULL;
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g_pidhash[i].pid = INVALID_PROCESS_ID;
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}
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/* Assign the process ID of ZERO to the idle task */
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g_pidhash[ PIDHASH(0)].tcb = &g_idletcb;
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g_pidhash[ PIDHASH(0)].pid = 0;
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/* Initialize a TCB for this thread of execution. NOTE: The default
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* value for most components of the g_idletcb are zero. The entire
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* structure is set to zero. Then only the (potentially) non-zero
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* elements are initialized. NOTE: The idle task is the only task in
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* that has pid == 0 and sched_priority == 0.
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*/
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bzero((void*)&g_idletcb, sizeof(_TCB));
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g_idletcb.task_state = TSTATE_TASK_RUNNING;
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g_idletcb.entry.main = (main_t)os_start;
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#if CONFIG_TASK_NAME_SIZE > 0
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strncpy(g_idletcb.name, g_idlename, CONFIG_TASK_NAME_SIZE-1);
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g_idletcb.argv[0] = g_idletcb.name;
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#else
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g_idletcb.argv[0] = g_idlename;
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#endif /* CONFIG_TASK_NAME_SIZE */
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/* Then add the idle task's TCB to the head of the ready to run list */
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dq_addfirst((FAR dq_entry_t*)&g_idletcb, (FAR dq_queue_t*)&g_readytorun);
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/* Initialize the processor-specific portion of the TCB */
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up_initial_state(&g_idletcb);
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/* Initialize the memory manager */
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#ifndef CONFIG_HEAP_BASE
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{
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FAR void *heap_start;
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size_t heap_size;
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up_allocate_heap(&heap_start, &heap_size);
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mm_initialize(heap_start, heap_size);
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}
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#else
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mm_initialize((void*)CONFIG_HEAP_BASE, CONFIG_HEAP_SIZE);
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#endif
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/* Initialize the interrupt handling subsystem (if included) */
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#ifdef CONFIG_HAVE_WEAKFUNCTIONS
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if (irq_initialize != NULL)
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#endif
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{
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irq_initialize();
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}
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/* Provide an access point to initialize any user-specific logic very
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* early in the initialization sequence. Note that user_ininitialize()
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* is called only if it is provided in the link.
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*/
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#ifdef CONFIG_HAVE_WEAKFUNCTIONS
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if (user_initialize != NULL)
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#endif
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{
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user_initialize();
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}
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/* Initialize the POSIX timer facility (if included in the link) */
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#ifndef CONFIG_DISABLE_CLOCK
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#ifdef CONFIG_HAVE_WEAKFUNCTIONS
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if (clock_initialize != NULL)
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#endif
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{
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clock_initialize();
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}
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#endif
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/* Initialize the watchdog facility (if included in the link) */
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#ifdef CONFIG_HAVE_WEAKFUNCTIONS
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if (wd_initialize != NULL)
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#endif
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{
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wd_initialize();
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}
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/* Initialize the signal facility (if in link) */
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#ifndef CONFIG_DISABLE_SIGNALS
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#ifdef CONFIG_HAVE_WEAKFUNCTIONS
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if (sig_initialize != NULL)
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#endif
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{
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sig_initialize();
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}
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#endif
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/* Initialize the semaphore facility. (if in link) */
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#ifdef CONFIG_HAVE_WEAKFUNCTIONS
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if (sem_initialize != NULL)
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#endif
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{
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sem_initialize();
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}
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/* Initialize the named message queue facility (if in link) */
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#ifndef CONFIG_DISABLE_MQUEUE
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#ifdef CONFIG_HAVE_WEAKFUNCTIONS
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if (mq_initialize != NULL)
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#endif
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{
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mq_initialize();
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}
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#endif
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/* Initialize the thread-specific data facility (if in link) */
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#ifndef CONFIG_DISABLE_PTHREAD
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#ifdef CONFIG_HAVE_WEAKFUNCTIONS
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if (pthread_initialize != NULL)
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#endif
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{
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pthread_initialize();
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}
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#endif
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/* Initialize the file system (needed to support device drivers) */
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#if CONFIG_NFILE_DESCRIPTORS > 0
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#ifdef CONFIG_HAVE_WEAKFUNCTIONS
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if (fs_initialize != NULL)
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#endif
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{
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fs_initialize();
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}
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#endif
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/* The processor specific details of running the operating system
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* will be handled here. Such things as setting up interrupt
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* service routines and starting the clock are some of the things
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* that are different for each processor and hardware platform.
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*/
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up_initialize();
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/* Initialize the C libraries (if included in the link). This
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* is done last because the libraries may depend on the above.
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*/
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#ifdef CONFIG_HAVE_WEAKFUNCTIONS
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if (lib_initialize != NULL)
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#endif
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{
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lib_initialize();
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}
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/* Create stdout, stderr, stdin */
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(void)sched_setupidlefiles(&g_idletcb);
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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.
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*/
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dbg("Starting init thread\n");
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#ifndef CONFIG_CUSTOM_STACK
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init_taskid = task_create("init", SCHED_PRIORITY_DEFAULT,
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CONFIG_PROC_STACK_SIZE,
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(main_t)user_start, (char **)NULL);
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#else
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init_taskid = task_create("init", SCHED_PRIORITY_DEFAULT,
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(main_t)user_start, (char **)NULL);
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#endif
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ASSERT(init_taskid != ERROR);
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/* When control is return to this point, the system is idle. */
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dbg("Beginning Idle Loop\n");
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for (;;)
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{
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/* Check if there is anything in the delayed deallocation list.
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* If there is deallocate it now. We must have exclusive access
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* to the memory manager to do this BUT the idle task cannot
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* wait on a semaphore. So we only do the cleanup now if we
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* can get the semaphore -- and this should be possible because
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* since we are running, no other task is!
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*/
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if (mm_trysemaphore() == 0)
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{
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while (g_delayeddeallocations.head)
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{
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/* Remove the first delayed deallocation. */
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irqstate_t saved_state = irqsave();
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void *address = (void*)sq_remfirst((FAR sq_queue_t*)&g_delayeddeallocations);
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irqrestore(saved_state);
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/* Then deallocate it */
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if (address)
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{
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free(address);
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}
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}
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mm_givesemaphore();
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}
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/* Perform any processor-specific idle state operations */
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up_idle();
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}
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}
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