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