source: rtems/cpukit/sapi/src/exinit.c @ 8ca372e

/**
 * @file
 *
 * @brief Initialization Manager
 *
 * @ingroup ClassicRTEMS
 */

/*
 *  COPYRIGHT (c) 1989-2014.
 *  On-Line Applications Research Corporation (OAR).
 *
 *  The license and distribution terms for this file may be
 *  found in the file LICENSE in this distribution or at
 *  http://www.rtems.org/license/LICENSE.
 */

#if HAVE_CONFIG_H
#include "config.h"
#endif

/*
 *  SCORE_INIT is defined so all of the super core
 *  data will be included in this object file.
 */

#define SCORE_INIT

#include <rtems/system.h>
#include <rtems/config.h>
#include <rtems/extensionimpl.h>
#include <rtems/init.h>
#include <rtems/sysinit.h>
#include <rtems/score/sysstate.h>

#include <rtems/score/apiext.h>
#include <rtems/score/apimutex.h>
#include <rtems/score/copyrt.h>
#include <rtems/score/heap.h>
#include <rtems/score/interr.h>
#include <rtems/score/isr.h>
#include <rtems/score/priority.h>
#include <rtems/score/schedulerimpl.h>
#include <rtems/score/smpimpl.h>
#include <rtems/score/timecounter.h>
#include <rtems/score/threadimpl.h>
#include <rtems/score/todimpl.h>
#include <rtems/score/watchdogimpl.h>
#include <rtems/score/wkspace.h>

static Objects_Information *
_Internal_Objects[ OBJECTS_INTERNAL_CLASSES_LAST + 1 ];

static Objects_Information *_RTEMS_Objects[ OBJECTS_RTEMS_CLASSES_LAST + 1 ];

static Objects_Information *_POSIX_Objects[ OBJECTS_POSIX_CLASSES_LAST + 1 ];

Objects_Information **_Objects_Information_table[ OBJECTS_APIS_LAST + 1 ] = {
  NULL,
  &_Internal_Objects[ 0 ],
  &_RTEMS_Objects[ 0 ],
  &_POSIX_Objects[ 0 ]
};

static void rtems_initialize_data_structures(void)
{
  /*
   *  Dispatching and interrupts are disabled until the end of the
   *  initialization sequence.  This prevents an inadvertent context
   *  switch before the executive is initialized.
   *
   *  WARNING: Interrupts should have been disabled by the BSP and
   *           are disabled by boot_card().
   */

  /*
   * Initialize any target architecture specific support as early as possible
   */
  _CPU_Initialize();

  _Thread_Dispatch_initialization();

  _ISR_Handler_initialization();

  _API_Mutex_Initialization( 2 );
  _API_Mutex_Allocate( &_RTEMS_Allocator_Mutex );
  _API_Mutex_Allocate( &_Once_Mutex );

  _Watchdog_Handler_initialization();

  _Thread_Handler_initialization();

  _Scheduler_Handler_initialization();

  _SMP_Handler_initialize();
}

static void rtems_initialize_device_drivers(void)
{
  /*
   *  Initialize all the device drivers and initialize the MPCI layer.
   *
   *  NOTE:  The MPCI may be build upon a device driver.
   */

  /* Initialize I/O drivers. 
   *
   * Driver Manager note:
   * All drivers may not be registered yet. Drivers will dynamically
   * be initialized when registered in level 2,3 and 4.
   */
  _IO_Initialize_all_drivers();

  /*
   *  Run the APIs and BSPs postdriver hooks.
   *
   *  The API extensions are supposed to create user initialization tasks.
   */
  _API_extensions_Run_postdriver();
}

RTEMS_LINKER_ROSET( _Sysinit, rtems_sysinit_item );

RTEMS_SYSINIT_ITEM(
  rtems_initialize_data_structures,
  RTEMS_SYSINIT_DATA_STRUCTURES,
  RTEMS_SYSINIT_ORDER_MIDDLE
);

/*
 *  No threads should be created before this point!!!
 *  _Thread_Executing and _Thread_Heir are not set.
 *
 *  At this point all API extensions are in place.  After the call to
 *  _Thread_Create_idle() _Thread_Executing and _Thread_Heir will be set.
 *
 *  Scheduling can properly occur afterwards as long as we avoid dispatching.
 */
RTEMS_SYSINIT_ITEM(
  _Thread_Create_idle,
  RTEMS_SYSINIT_IDLE_THREADS,
  RTEMS_SYSINIT_ORDER_MIDDLE
);

RTEMS_SYSINIT_ITEM(
  rtems_initialize_device_drivers,
  RTEMS_SYSINIT_DEVICE_DRIVERS,
  RTEMS_SYSINIT_ORDER_MIDDLE
);

void rtems_initialize_executive(void)
{
  const volatile rtems_sysinit_item *cur = RTEMS_LINKER_SET_BEGIN(_Sysinit );
  const volatile rtems_sysinit_item *end = RTEMS_LINKER_SET_END( _Sysinit );

  /* Invoke the registered system initialization handlers */
  while ( cur != end ) {
    ( *cur->handler )();
    ++cur;
  }

  _System_state_Set( SYSTEM_STATE_UP );

  _SMP_Request_start_multitasking();

  _Thread_Start_multitasking();

  /*******************************************************************
   *******************************************************************
   *******************************************************************
   ******                 APPLICATION RUNS HERE                 ******
   ******              THE FUNCTION NEVER RETURNS               ******
   *******************************************************************
   *******************************************************************
   *******************************************************************/
}