[ac7d5ef0] | 1 | /* |
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| 2 | * Initialization Manager |
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| 3 | * |
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[08311cc3] | 4 | * COPYRIGHT (c) 1989-1999. |
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[ac7d5ef0] | 5 | * On-Line Applications Research Corporation (OAR). |
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| 6 | * |
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[98e4ebf5] | 7 | * The license and distribution terms for this file may be |
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| 8 | * found in the file LICENSE in this distribution or at |
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[03f2154e] | 9 | * http://www.OARcorp.com/rtems/license.html. |
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[ac7d5ef0] | 10 | * |
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| 11 | * $Id$ |
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| 12 | */ |
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| 13 | |
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| 14 | /* |
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[c627b2a3] | 15 | * SCORE_INIT and SAPI_INIT are defined so all of the super core and |
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| 16 | * super API data will be included in this object file. |
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[ac7d5ef0] | 17 | */ |
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| 18 | |
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[c627b2a3] | 19 | #define SAPI_INIT |
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| 20 | #define SCORE_INIT |
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[ac7d5ef0] | 21 | |
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| 22 | #include <rtems/system.h> |
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| 23 | #include <rtems/config.h> |
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| 24 | #include <rtems/debug.h> |
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| 25 | #include <rtems/extension.h> |
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| 26 | #include <rtems/fatal.h> |
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| 27 | #include <rtems/init.h> |
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| 28 | #include <rtems/io.h> |
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[5e9b32b] | 29 | #include <rtems/score/sysstate.h> |
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[ac7d5ef0] | 30 | |
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[5e9b32b] | 31 | #include <rtems/score/apiext.h> |
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[a2a8c5b] | 32 | #if 0 |
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| 33 | #include <rtems/score/apimutex.h> |
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| 34 | #endif |
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[5e9b32b] | 35 | #include <rtems/score/copyrt.h> |
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| 36 | #include <rtems/score/heap.h> |
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| 37 | #include <rtems/score/interr.h> |
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| 38 | #include <rtems/score/isr.h> |
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[97e2729d] | 39 | #if defined(RTEMS_MULTIPROCESSING) |
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[5e9b32b] | 40 | #include <rtems/score/mpci.h> |
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[97e2729d] | 41 | #endif |
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[5e9b32b] | 42 | #include <rtems/score/priority.h> |
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| 43 | #include <rtems/score/thread.h> |
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| 44 | #include <rtems/score/tod.h> |
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| 45 | #include <rtems/score/userext.h> |
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| 46 | #include <rtems/score/watchdog.h> |
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| 47 | #include <rtems/score/wkspace.h> |
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[3a4ae6c] | 48 | |
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| 49 | #include <rtems/directives.h> |
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[ac7d5ef0] | 50 | #include <rtems/sptables.h> |
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| 51 | |
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[c627b2a3] | 52 | |
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[3a4ae6c] | 53 | #include <rtems/rtems/rtemsapi.h> |
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[c627b2a3] | 54 | #ifdef RTEMS_POSIX_API |
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| 55 | #include <rtems/posix/posixapi.h> |
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| 56 | #endif |
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[352c9b2] | 57 | #ifdef RTEMS_ITRON_API |
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| 58 | #include <rtems/itron/itronapi.h> |
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| 59 | #endif |
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| 60 | |
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[3a4ae6c] | 61 | |
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[ac7d5ef0] | 62 | /*PAGE |
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| 63 | * |
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| 64 | * rtems_initialize_executive |
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| 65 | * |
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| 66 | * This directive initializes all the kernels data structures |
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| 67 | * to the states necessary for the kernel to begin execution. All |
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| 68 | * include files that contain global variable definitions should be |
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| 69 | * included in this file. The system threads and initialization threads |
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| 70 | * are created and started by this routine. This routine then |
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| 71 | * initiates multithreading. |
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| 72 | * |
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| 73 | * Input parameters: |
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| 74 | * configuration_table - pointer to the user's configuration table |
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| 75 | * cpu_table - pointer to the user's CPU configuration table |
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| 76 | * |
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| 77 | * Output parameters: NONE |
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| 78 | */ |
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| 79 | |
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| 80 | void rtems_initialize_executive( |
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| 81 | rtems_configuration_table *configuration_table, |
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| 82 | rtems_cpu_table *cpu_table |
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| 83 | ) |
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| 84 | { |
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| 85 | rtems_interrupt_level bsp_level; |
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| 86 | |
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| 87 | bsp_level = rtems_initialize_executive_early(configuration_table, cpu_table); |
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| 88 | rtems_initialize_executive_late( bsp_level ); |
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| 89 | } |
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| 90 | |
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| 91 | rtems_interrupt_level rtems_initialize_executive_early( |
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| 92 | rtems_configuration_table *configuration_table, |
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| 93 | rtems_cpu_table *cpu_table |
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| 94 | ) |
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| 95 | { |
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| 96 | rtems_interrupt_level bsp_level; |
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| 97 | rtems_multiprocessing_table *multiprocessing_table; |
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| 98 | |
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| 99 | /* |
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| 100 | * Dispatching and interrupts are disabled until the end of the |
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| 101 | * initialization sequence. This prevents an inadvertent context |
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| 102 | * switch before the executive is initialized. |
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| 103 | */ |
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| 104 | |
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| 105 | _ISR_Disable( bsp_level ); |
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| 106 | |
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[9a11e1f] | 107 | if ( configuration_table == NULL ) |
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[3a4ae6c] | 108 | _Internal_error_Occurred( |
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| 109 | INTERNAL_ERROR_CORE, |
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| 110 | TRUE, |
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| 111 | INTERNAL_ERROR_NO_CONFIGURATION_TABLE |
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| 112 | ); |
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[ac7d5ef0] | 113 | |
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[3a4ae6c] | 114 | /* |
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| 115 | * Initialize the system state based on whether this is an MP system. |
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| 116 | */ |
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| 117 | |
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[97e2729d] | 118 | #if defined(RTEMS_MULTIPROCESSING) |
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[3a4ae6c] | 119 | multiprocessing_table = configuration_table->User_multiprocessing_table; |
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| 120 | |
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| 121 | _System_state_Handler_initialization( |
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| 122 | (multiprocessing_table) ? TRUE : FALSE |
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| 123 | ); |
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[97e2729d] | 124 | #else |
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| 125 | multiprocessing_table = NULL; |
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| 126 | |
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| 127 | _System_state_Handler_initialization( FALSE ); |
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| 128 | |
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| 129 | #endif |
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[ac7d5ef0] | 130 | |
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[88d594a] | 131 | /* |
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[3a4ae6c] | 132 | * Provided just for user convenience. |
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[88d594a] | 133 | */ |
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| 134 | |
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[3a4ae6c] | 135 | _Configuration_Table = configuration_table; |
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| 136 | _Configuration_MP_table = multiprocessing_table; |
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| 137 | |
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| 138 | /* |
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| 139 | * Internally we view single processor systems as a very restricted |
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| 140 | * multiprocessor system. |
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| 141 | */ |
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[88d594a] | 142 | |
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[ac7d5ef0] | 143 | if ( multiprocessing_table == NULL ) |
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[3a4ae6c] | 144 | multiprocessing_table = |
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| 145 | (void *)&_Initialization_Default_multiprocessing_table; |
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[ac7d5ef0] | 146 | |
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[3a4ae6c] | 147 | if ( cpu_table == NULL ) |
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| 148 | _Internal_error_Occurred( |
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| 149 | INTERNAL_ERROR_CORE, |
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| 150 | TRUE, |
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| 151 | INTERNAL_ERROR_NO_CPU_TABLE |
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| 152 | ); |
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| 153 | |
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| 154 | _CPU_Initialize( cpu_table, _Thread_Dispatch ); |
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[ac7d5ef0] | 155 | |
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[3a4ae6c] | 156 | /* |
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| 157 | * Do this as early as possible to insure no debugging output |
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| 158 | * is even attempted to be printed. |
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| 159 | */ |
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| 160 | |
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| 161 | _Debug_Manager_initialization(); |
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[ac7d5ef0] | 162 | |
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[7af35da5] | 163 | _API_extensions_Initialization(); |
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| 164 | |
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[ac7d5ef0] | 165 | _Thread_Dispatch_initialization(); |
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| 166 | |
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| 167 | _Workspace_Handler_initialization( |
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| 168 | (void *)configuration_table->work_space_start, |
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| 169 | configuration_table->work_space_size |
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| 170 | ); |
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| 171 | |
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[0451b44] | 172 | _User_extensions_Handler_initialization( |
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| 173 | configuration_table->number_of_initial_extensions, |
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| 174 | configuration_table->User_extension_table |
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| 175 | ); |
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| 176 | |
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[ac7d5ef0] | 177 | _ISR_Handler_initialization(); |
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| 178 | |
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| 179 | _Objects_Handler_initialization( |
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| 180 | multiprocessing_table->node, |
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[3a4ae6c] | 181 | multiprocessing_table->maximum_nodes, |
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[ac7d5ef0] | 182 | multiprocessing_table->maximum_global_objects |
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| 183 | ); |
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| 184 | |
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| 185 | _Priority_Handler_initialization(); |
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| 186 | |
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| 187 | _Watchdog_Handler_initialization(); |
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| 188 | |
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| 189 | _TOD_Handler_initialization( configuration_table->microseconds_per_tick ); |
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| 190 | |
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| 191 | _Thread_Handler_initialization( |
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| 192 | configuration_table->ticks_per_timeslice, |
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[3a4ae6c] | 193 | configuration_table->maximum_extensions, |
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[ac7d5ef0] | 194 | multiprocessing_table->maximum_proxies |
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| 195 | ); |
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| 196 | |
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[97e2729d] | 197 | #if defined(RTEMS_MULTIPROCESSING) |
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[3a4ae6c] | 198 | _MPCI_Handler_initialization( |
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[18c5378] | 199 | multiprocessing_table->User_mpci_table, |
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| 200 | RTEMS_TIMEOUT |
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[3a4ae6c] | 201 | ); |
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[97e2729d] | 202 | #endif |
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[ac7d5ef0] | 203 | |
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[3a4ae6c] | 204 | /* MANAGERS */ |
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[ac7d5ef0] | 205 | |
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| 206 | _Extension_Manager_initialization( configuration_table->maximum_extensions ); |
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| 207 | |
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| 208 | _IO_Manager_initialization( |
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| 209 | configuration_table->Device_driver_table, |
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[3a4ae6c] | 210 | configuration_table->number_of_device_drivers, |
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[059a3714] | 211 | configuration_table->maximum_drivers, |
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[3a4ae6c] | 212 | configuration_table->maximum_devices |
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[ac7d5ef0] | 213 | ); |
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| 214 | |
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[3a4ae6c] | 215 | _RTEMS_API_Initialize( configuration_table ); |
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[ac7d5ef0] | 216 | |
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[d4b44877] | 217 | #ifdef RTEMS_POSIX_API |
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| 218 | _POSIX_API_Initialize( configuration_table ); |
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| 219 | #endif |
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| 220 | |
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[352c9b2] | 221 | #ifdef RTEMS_ITRON_API |
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| 222 | _ITRON_API_Initialize( configuration_table ); |
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| 223 | #endif |
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| 224 | |
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[56d34e6] | 225 | _System_state_Set( SYSTEM_STATE_BEFORE_MULTITASKING ); |
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| 226 | |
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| 227 | /* |
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| 228 | * No threads should be created before this point!!! |
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[a2a8c5b] | 229 | * _Thread_Executing and _Thread_Heir are not set. |
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[56d34e6] | 230 | * |
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| 231 | * At this point all API extensions are in place. After the call to |
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[a2a8c5b] | 232 | * _Thread_Create_idle() _Thread_Executing and _Thread_Heir will be set. |
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[56d34e6] | 233 | */ |
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[3a4ae6c] | 234 | |
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[56d34e6] | 235 | _Thread_Create_idle(); |
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| 236 | |
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[a2a8c5b] | 237 | |
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| 238 | /* |
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| 239 | * Scheduling can properly occur now as long as we avoid dispatching. |
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| 240 | */ |
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| 241 | |
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| 242 | if ( cpu_table->pretasking_hook ) |
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| 243 | (*cpu_table->pretasking_hook)(); |
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| 244 | |
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[97e2729d] | 245 | #if defined(RTEMS_MULTIPROCESSING) |
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[56d34e6] | 246 | _MPCI_Create_server(); |
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[97e2729d] | 247 | #endif |
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[ac7d5ef0] | 248 | |
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[389fa850] | 249 | /* |
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| 250 | * Run the API and BSPs predriver hook. |
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| 251 | */ |
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| 252 | |
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| 253 | _API_extensions_Run_predriver(); |
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| 254 | |
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| 255 | if ( _CPU_Table.predriver_hook ) |
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| 256 | (*_CPU_Table.predriver_hook)(); |
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| 257 | |
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| 258 | /* |
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| 259 | * Initialize all the device drivers and initialize the MPCI layer. |
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| 260 | * |
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| 261 | * NOTE: The MPCI may be build upon a device driver. |
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| 262 | */ |
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| 263 | |
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| 264 | _IO_Initialize_all_drivers(); |
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| 265 | |
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[97e2729d] | 266 | #if defined(RTEMS_MULTIPROCESSING) |
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[389fa850] | 267 | if ( _System_state_Is_multiprocessing ) { |
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| 268 | _MPCI_Initialization(); |
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[56d34e6] | 269 | _MPCI_Internal_packets_Send_process_packet( |
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| 270 | MPCI_PACKETS_SYSTEM_VERIFY |
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[389fa850] | 271 | ); |
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| 272 | } |
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[97e2729d] | 273 | #endif |
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[389fa850] | 274 | |
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| 275 | /* |
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| 276 | * Run the APIs and BSPs postdriver hooks. |
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| 277 | * |
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| 278 | * The API extensions are supposed to create user initialization tasks. |
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| 279 | */ |
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| 280 | |
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| 281 | _API_extensions_Run_postdriver(); |
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| 282 | |
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| 283 | if ( _CPU_Table.postdriver_hook ) |
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| 284 | (*_CPU_Table.postdriver_hook)(); |
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| 285 | |
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[ac7d5ef0] | 286 | return bsp_level; |
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| 287 | } |
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| 288 | |
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| 289 | void rtems_initialize_executive_late( |
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| 290 | rtems_interrupt_level bsp_level |
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| 291 | ) |
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| 292 | { |
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| 293 | |
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| 294 | _System_state_Set( SYSTEM_STATE_BEGIN_MULTITASKING ); |
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| 295 | |
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[f972294d] | 296 | _Thread_Start_multitasking(); |
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[ac7d5ef0] | 297 | |
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| 298 | /* |
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| 299 | * Restore the interrupt level to what the BSP had. Technically, |
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| 300 | * this is unnecessary since the BSP should have all interrupts |
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| 301 | * disabled when rtems_initialize_executive is invoked. But this keeps |
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| 302 | * the ISR Disable/Enable calls paired. |
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| 303 | */ |
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| 304 | |
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| 305 | _ISR_Enable( bsp_level ); |
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| 306 | } |
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| 307 | |
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| 308 | /*PAGE |
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| 309 | * |
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| 310 | * rtems_shutdown_executive |
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| 311 | * |
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| 312 | * This kernel routine shutdowns the executive. It halts multitasking |
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| 313 | * and returns control to the application execution "thread" which |
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| 314 | * initialially invoked the rtems_initialize_executive directive. |
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| 315 | * |
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| 316 | * Input parameters: NONE |
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| 317 | * |
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| 318 | * Output parameters: NONE |
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| 319 | */ |
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| 320 | |
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| 321 | void rtems_shutdown_executive( |
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| 322 | unsigned32 result |
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| 323 | ) |
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| 324 | { |
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[eafd698] | 325 | if ( _System_state_Current != SYSTEM_STATE_SHUTDOWN ) { |
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| 326 | _System_state_Set( SYSTEM_STATE_SHUTDOWN ); |
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| 327 | _Thread_Stop_multitasking(); |
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| 328 | } |
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[ac7d5ef0] | 329 | } |
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