1 | /* |
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2 | * Initialization Manager |
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3 | * |
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4 | * COPYRIGHT (c) 1989-1999. |
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5 | * On-Line Applications Research Corporation (OAR). |
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6 | * |
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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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9 | * http://www.rtems.com/license/LICENSE. |
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10 | * |
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11 | * $Id$ |
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12 | */ |
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13 | |
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14 | #if HAVE_CONFIG_H |
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15 | #include "config.h" |
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16 | #endif |
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17 | |
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18 | /* |
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19 | * SCORE_INIT and SAPI_INIT are defined so all of the super core and |
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20 | * super API data will be included in this object file. |
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21 | */ |
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22 | |
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23 | #define SAPI_INIT |
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24 | #define SCORE_INIT |
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25 | |
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26 | #include <rtems/system.h> |
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27 | #include <rtems/config.h> |
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28 | #include <rtems/debug.h> |
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29 | #include <rtems/extension.h> |
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30 | #include <rtems/fatal.h> |
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31 | #include <rtems/init.h> |
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32 | #include <rtems/io.h> |
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33 | #include <rtems/score/sysstate.h> |
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34 | |
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35 | #include <rtems/score/apiext.h> |
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36 | #include <rtems/score/apimutex.h> |
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37 | #include <rtems/score/copyrt.h> |
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38 | #include <rtems/score/heap.h> |
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39 | #include <rtems/score/interr.h> |
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40 | #include <rtems/score/isr.h> |
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41 | #if defined(RTEMS_MULTIPROCESSING) |
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42 | #include <rtems/score/mpci.h> |
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43 | #endif |
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44 | #include <rtems/score/priority.h> |
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45 | #include <rtems/score/thread.h> |
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46 | #include <rtems/score/tod.h> |
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47 | #include <rtems/score/userext.h> |
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48 | #include <rtems/score/watchdog.h> |
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49 | #include <rtems/score/wkspace.h> |
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50 | |
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51 | #include <rtems/sptables.h> |
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52 | |
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53 | |
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54 | #include <rtems/rtems/rtemsapi.h> |
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55 | #ifdef RTEMS_POSIX_API |
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56 | #include <rtems/posix/posixapi.h> |
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57 | #endif |
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58 | #ifdef RTEMS_ITRON_API |
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59 | #include <rtems/itron/itronapi.h> |
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60 | #endif |
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61 | |
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62 | Objects_Information *_Internal_Objects[ OBJECTS_INTERNAL_CLASSES_LAST + 1 ]; |
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63 | |
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64 | rtems_interrupt_level rtems_initialize_executive_early( |
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65 | rtems_configuration_table *configuration_table, |
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66 | rtems_cpu_table *cpu_table |
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67 | ) |
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68 | { |
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69 | rtems_interrupt_level bsp_level; |
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70 | rtems_multiprocessing_table *multiprocessing_table; |
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71 | |
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72 | /* |
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73 | * Dispatching and interrupts are disabled until the end of the |
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74 | * initialization sequence. This prevents an inadvertent context |
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75 | * switch before the executive is initialized. |
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76 | */ |
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77 | |
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78 | _ISR_Disable( bsp_level ); |
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79 | |
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80 | if ( configuration_table == NULL ) |
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81 | _Internal_error_Occurred( |
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82 | INTERNAL_ERROR_CORE, |
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83 | TRUE, |
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84 | INTERNAL_ERROR_NO_CONFIGURATION_TABLE |
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85 | ); |
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86 | |
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87 | /* |
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88 | * Initialize the system state based on whether this is an MP system. |
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89 | */ |
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90 | |
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91 | #if defined(RTEMS_MULTIPROCESSING) |
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92 | multiprocessing_table = configuration_table->User_multiprocessing_table; |
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93 | |
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94 | _System_state_Handler_initialization( |
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95 | (multiprocessing_table) ? TRUE : FALSE |
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96 | ); |
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97 | #else |
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98 | multiprocessing_table = NULL; |
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99 | |
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100 | _System_state_Handler_initialization( FALSE ); |
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101 | #endif |
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102 | |
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103 | /* |
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104 | * Provided just for user convenience. |
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105 | */ |
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106 | |
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107 | _Configuration_Table = configuration_table; |
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108 | _Configuration_MP_table = multiprocessing_table; |
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109 | |
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110 | /* |
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111 | * Internally we view single processor systems as a very restricted |
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112 | * multiprocessor system. |
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113 | */ |
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114 | |
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115 | if ( multiprocessing_table == NULL ) |
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116 | multiprocessing_table = |
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117 | (void *)&_Initialization_Default_multiprocessing_table; |
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118 | |
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119 | if ( cpu_table == NULL ) |
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120 | _Internal_error_Occurred( |
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121 | INTERNAL_ERROR_CORE, |
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122 | TRUE, |
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123 | INTERNAL_ERROR_NO_CPU_TABLE |
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124 | ); |
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125 | |
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126 | _CPU_Initialize( cpu_table, _Thread_Dispatch ); |
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127 | |
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128 | /* |
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129 | * Do this as early as possible to insure no debugging output |
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130 | * is even attempted to be printed. |
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131 | */ |
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132 | |
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133 | _Debug_Manager_initialization(); |
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134 | |
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135 | _API_extensions_Initialization(); |
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136 | |
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137 | _Thread_Dispatch_initialization(); |
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138 | |
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139 | _Workspace_Handler_initialization( |
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140 | (void *)configuration_table->work_space_start, |
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141 | configuration_table->work_space_size |
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142 | ); |
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143 | |
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144 | _User_extensions_Handler_initialization( |
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145 | configuration_table->number_of_initial_extensions, |
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146 | configuration_table->User_extension_table |
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147 | ); |
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148 | |
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149 | _ISR_Handler_initialization(); |
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150 | |
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151 | _Objects_Handler_initialization( |
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152 | multiprocessing_table->node, |
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153 | multiprocessing_table->maximum_nodes, |
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154 | multiprocessing_table->maximum_global_objects |
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155 | ); |
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156 | |
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157 | _Objects_Information_table[OBJECTS_INTERNAL_API] = _Internal_Objects; |
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158 | |
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159 | _Priority_Handler_initialization(); |
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160 | |
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161 | _Watchdog_Handler_initialization(); |
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162 | |
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163 | _TOD_Handler_initialization( configuration_table->microseconds_per_tick ); |
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164 | |
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165 | _Thread_Handler_initialization( |
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166 | configuration_table->ticks_per_timeslice, |
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167 | configuration_table->maximum_extensions, |
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168 | multiprocessing_table->maximum_proxies |
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169 | ); |
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170 | |
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171 | #if defined(RTEMS_MULTIPROCESSING) |
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172 | _MPCI_Handler_initialization( |
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173 | multiprocessing_table->User_mpci_table, |
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174 | RTEMS_TIMEOUT |
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175 | ); |
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176 | #endif |
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177 | |
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178 | /* MANAGERS */ |
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179 | |
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180 | _RTEMS_API_Initialize( configuration_table ); |
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181 | |
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182 | _Extension_Manager_initialization( configuration_table->maximum_extensions ); |
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183 | |
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184 | _IO_Manager_initialization( |
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185 | configuration_table->Device_driver_table, |
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186 | configuration_table->number_of_device_drivers, |
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187 | configuration_table->maximum_drivers, |
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188 | configuration_table->maximum_devices |
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189 | ); |
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190 | |
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191 | #ifdef RTEMS_POSIX_API |
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192 | _POSIX_API_Initialize( configuration_table ); |
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193 | #endif |
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194 | |
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195 | #ifdef RTEMS_ITRON_API |
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196 | _ITRON_API_Initialize( configuration_table ); |
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197 | #endif |
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198 | |
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199 | _System_state_Set( SYSTEM_STATE_BEFORE_MULTITASKING ); |
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200 | |
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201 | /* |
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202 | * No threads should be created before this point!!! |
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203 | * _Thread_Executing and _Thread_Heir are not set. |
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204 | * |
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205 | * At this point all API extensions are in place. After the call to |
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206 | * _Thread_Create_idle() _Thread_Executing and _Thread_Heir will be set. |
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207 | */ |
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208 | |
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209 | _Thread_Create_idle(); |
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210 | |
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211 | /* |
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212 | * Scheduling can properly occur now as long as we avoid dispatching. |
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213 | */ |
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214 | |
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215 | if ( cpu_table->pretasking_hook ) |
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216 | (*cpu_table->pretasking_hook)(); |
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217 | |
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218 | #if defined(RTEMS_MULTIPROCESSING) |
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219 | _MPCI_Create_server(); |
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220 | #endif |
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221 | |
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222 | /* |
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223 | * Run the API and BSPs predriver hook. |
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224 | */ |
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225 | |
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226 | _API_extensions_Run_predriver(); |
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227 | |
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228 | if ( _CPU_Table.predriver_hook ) |
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229 | (*_CPU_Table.predriver_hook)(); |
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230 | |
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231 | /* |
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232 | * Initialize all the device drivers and initialize the MPCI layer. |
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233 | * |
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234 | * NOTE: The MPCI may be build upon a device driver. |
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235 | */ |
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236 | |
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237 | _IO_Initialize_all_drivers(); |
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238 | |
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239 | #if defined(RTEMS_MULTIPROCESSING) |
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240 | if ( _System_state_Is_multiprocessing ) { |
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241 | _MPCI_Initialization(); |
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242 | _MPCI_Internal_packets_Send_process_packet( |
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243 | MPCI_PACKETS_SYSTEM_VERIFY |
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244 | ); |
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245 | } |
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246 | #endif |
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247 | |
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248 | /* |
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249 | * Run the APIs and BSPs postdriver hooks. |
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250 | * |
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251 | * The API extensions are supposed to create user initialization tasks. |
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252 | */ |
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253 | |
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254 | _API_extensions_Run_postdriver(); |
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255 | |
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256 | if ( _CPU_Table.postdriver_hook ) |
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257 | (*_CPU_Table.postdriver_hook)(); |
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258 | |
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259 | return bsp_level; |
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260 | } |
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261 | |
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262 | void rtems_initialize_executive_late( |
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263 | rtems_interrupt_level bsp_level |
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264 | ) |
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265 | { |
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266 | |
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267 | _System_state_Set( SYSTEM_STATE_BEGIN_MULTITASKING ); |
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268 | |
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269 | _Thread_Start_multitasking(); |
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270 | |
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271 | /* |
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272 | * Restore the interrupt level to what the BSP had. Technically, |
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273 | * this is unnecessary since the BSP should have all interrupts |
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274 | * disabled when rtems_initialize_executive is invoked. But this keeps |
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275 | * the ISR Disable/Enable calls paired. |
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276 | */ |
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277 | |
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278 | _ISR_Enable( bsp_level ); |
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279 | } |
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280 | |
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281 | /*PAGE |
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282 | * |
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283 | * rtems_shutdown_executive |
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284 | * |
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285 | * This kernel routine shutdowns the executive. It halts multitasking |
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286 | * and returns control to the application execution "thread" which |
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287 | * initialially invoked the rtems_initialize_executive directive. |
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288 | * |
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289 | * Input parameters: NONE |
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290 | * |
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291 | * Output parameters: NONE |
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292 | */ |
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293 | |
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294 | void rtems_shutdown_executive( |
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295 | uint32_t result |
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296 | ) |
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297 | { |
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298 | if ( _System_state_Current != SYSTEM_STATE_SHUTDOWN ) { |
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299 | _System_state_Set( SYSTEM_STATE_SHUTDOWN ); |
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300 | _Thread_Stop_multitasking(); |
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301 | } |
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302 | } |
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