1 | /** |
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2 | * @file |
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3 | * |
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4 | * @brief Initialization Manager |
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5 | * |
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6 | * @ingroup ClassicRTEMS |
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7 | */ |
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8 | |
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9 | /* |
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10 | * COPYRIGHT (c) 1989-2014. |
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11 | * On-Line Applications Research Corporation (OAR). |
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12 | * |
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13 | * The license and distribution terms for this file may be |
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14 | * found in the file LICENSE in this distribution or at |
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15 | * http://www.rtems.org/license/LICENSE. |
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16 | */ |
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17 | |
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18 | #if HAVE_CONFIG_H |
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19 | #include "config.h" |
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20 | #endif |
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21 | |
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22 | /* |
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23 | * SCORE_INIT and SAPI_INIT are defined so all of the super core and |
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24 | * super API data will be included in this object file. |
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25 | */ |
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26 | |
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27 | #define SAPI_INIT |
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28 | #define SCORE_INIT |
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29 | |
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30 | #include <rtems/system.h> |
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31 | #include <rtems/config.h> |
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32 | #include <rtems/extensionimpl.h> |
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33 | #include <rtems/init.h> |
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34 | #include <rtems/sysinit.h> |
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35 | #include <rtems/score/sysstate.h> |
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36 | |
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37 | #include <rtems/score/apiext.h> |
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38 | #include <rtems/score/apimutex.h> |
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39 | #include <rtems/score/copyrt.h> |
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40 | #include <rtems/score/cpusetimpl.h> |
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41 | #include <rtems/score/heap.h> |
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42 | #include <rtems/score/interr.h> |
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43 | #include <rtems/score/isr.h> |
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44 | #include <rtems/score/priority.h> |
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45 | #include <rtems/score/schedulerimpl.h> |
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46 | #include <rtems/score/smpimpl.h> |
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47 | #include <rtems/score/timecounter.h> |
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48 | #include <rtems/score/threadimpl.h> |
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49 | #include <rtems/score/todimpl.h> |
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50 | #include <rtems/score/watchdogimpl.h> |
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51 | #include <rtems/score/wkspace.h> |
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52 | |
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53 | #include <rtems/sptables.h> |
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54 | |
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55 | |
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56 | #include <rtems/rtems/rtemsapi.h> |
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57 | #include <rtems/posix/posixapi.h> |
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58 | |
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59 | #ifdef RTEMS_DRVMGR_STARTUP |
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60 | #include <drvmgr/drvmgr.h> |
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61 | #endif |
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62 | |
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63 | static Objects_Information * |
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64 | _Internal_Objects[ OBJECTS_INTERNAL_CLASSES_LAST + 1 ]; |
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65 | |
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66 | static Objects_Information *_RTEMS_Objects[ OBJECTS_RTEMS_CLASSES_LAST + 1 ]; |
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67 | |
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68 | static Objects_Information *_POSIX_Objects[ OBJECTS_POSIX_CLASSES_LAST + 1 ]; |
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69 | |
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70 | Objects_Information **_Objects_Information_table[ OBJECTS_APIS_LAST + 1 ] = { |
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71 | NULL, |
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72 | &_Internal_Objects[ 0 ], |
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73 | &_RTEMS_Objects[ 0 ], |
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74 | &_POSIX_Objects[ 0 ] |
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75 | }; |
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76 | |
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77 | static void rtems_initialize_data_structures(void) |
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78 | { |
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79 | /* |
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80 | * Dispatching and interrupts are disabled until the end of the |
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81 | * initialization sequence. This prevents an inadvertent context |
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82 | * switch before the executive is initialized. |
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83 | * |
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84 | * WARNING: Interrupts should have been disabled by the BSP and |
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85 | * are disabled by boot_card(). |
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86 | */ |
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87 | |
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88 | #if defined(RTEMS_MULTIPROCESSING) |
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89 | /* |
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90 | * Initialize the system state based on whether this is an MP system. |
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91 | * In an MP configuration, internally we view single processor |
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92 | * systems as a very restricted multiprocessor system. |
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93 | */ |
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94 | _Configuration_MP_table = rtems_configuration_get_user_multiprocessing_table(); |
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95 | |
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96 | if ( _Configuration_MP_table == NULL ) { |
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97 | _Configuration_MP_table = |
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98 | (void *)&_Initialization_Default_multiprocessing_table; |
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99 | } else { |
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100 | _System_state_Is_multiprocessing = true; |
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101 | } |
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102 | #endif |
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103 | |
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104 | /* |
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105 | * Initialize any target architecture specific support as early as possible |
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106 | */ |
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107 | _CPU_Initialize(); |
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108 | |
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109 | #if defined(RTEMS_MULTIPROCESSING) |
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110 | _Objects_MP_Handler_early_initialization(); |
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111 | #endif |
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112 | |
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113 | _Thread_Dispatch_initialization(); |
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114 | |
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115 | _ISR_Handler_initialization(); |
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116 | |
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117 | _API_Mutex_Initialization( 2 ); |
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118 | _API_Mutex_Allocate( &_RTEMS_Allocator_Mutex ); |
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119 | _API_Mutex_Allocate( &_Once_Mutex ); |
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120 | |
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121 | _Watchdog_Handler_initialization(); |
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122 | |
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123 | _Thread_Handler_initialization(); |
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124 | |
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125 | _Scheduler_Handler_initialization(); |
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126 | |
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127 | #if defined(RTEMS_MULTIPROCESSING) |
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128 | _Objects_MP_Handler_initialization(); |
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129 | _MPCI_Handler_initialization( RTEMS_TIMEOUT ); |
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130 | #endif |
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131 | |
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132 | _SMP_Handler_initialize(); |
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133 | |
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134 | _CPU_set_Handler_initialization(); |
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135 | |
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136 | /* MANAGERS */ |
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137 | |
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138 | _RTEMS_API_Initialize(); |
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139 | |
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140 | _POSIX_API_Initialize(); |
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141 | } |
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142 | |
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143 | static void rtems_initialize_before_drivers(void) |
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144 | { |
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145 | #ifdef RTEMS_DRVMGR_STARTUP |
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146 | _DRV_Manager_initialization(); |
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147 | #endif |
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148 | |
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149 | #if defined(RTEMS_MULTIPROCESSING) |
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150 | _MPCI_Create_server(); |
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151 | #endif |
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152 | } |
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153 | |
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154 | static void rtems_initialize_device_drivers(void) |
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155 | { |
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156 | /* |
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157 | * Initialize all the device drivers and initialize the MPCI layer. |
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158 | * |
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159 | * NOTE: The MPCI may be build upon a device driver. |
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160 | */ |
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161 | |
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162 | #ifdef RTEMS_DRVMGR_STARTUP |
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163 | /* BSPs has already registered their "root bus" driver in the |
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164 | * bsp_predriver hook or so. |
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165 | * |
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166 | * Init Drivers to Level 1, constraints: |
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167 | * - Interrupts and system clock timer does not work. |
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168 | * - malloc() work, however other memory services may not |
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169 | * have been initialized yet. |
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170 | * - initializes most basic stuff |
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171 | * |
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172 | * Typical setup in Level 1: |
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173 | * - Find most devices in system, do PCI scan and configuration. |
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174 | * - Reset hardware if needed. |
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175 | * - Install IRQ driver |
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176 | * - Install Timer driver |
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177 | * - Install console driver and debug printk() |
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178 | * - Install extra memory. |
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179 | */ |
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180 | _DRV_Manager_init_level(1); |
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181 | bsp_driver_level_hook(1); |
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182 | #endif |
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183 | |
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184 | /* Initialize I/O drivers. |
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185 | * |
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186 | * Driver Manager note: |
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187 | * All drivers may not be registered yet. Drivers will dynamically |
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188 | * be initialized when registered in level 2,3 and 4. |
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189 | */ |
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190 | _IO_Initialize_all_drivers(); |
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191 | |
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192 | #ifdef RTEMS_DRVMGR_STARTUP |
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193 | /* Init Drivers to Level 2, constraints: |
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194 | * - Interrupts can be registered and enabled. |
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195 | * - System Clock is running |
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196 | * - Console may be used. |
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197 | * |
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198 | * This is typically where drivers are initialized |
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199 | * for the first time. |
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200 | */ |
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201 | _DRV_Manager_init_level(2); |
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202 | bsp_driver_level_hook(2); |
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203 | |
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204 | /* Init Drivers to Level 3 |
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205 | * |
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206 | * This is typically where normal drivers are initialized |
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207 | * for the second time, they may depend on other drivers |
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208 | * API inited in level 2 |
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209 | */ |
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210 | _DRV_Manager_init_level(3); |
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211 | bsp_driver_level_hook(3); |
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212 | |
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213 | /* Init Drivers to Level 4, |
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214 | * Init drivers that depend on services initialized in Level 3 |
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215 | */ |
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216 | _DRV_Manager_init_level(4); |
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217 | bsp_driver_level_hook(4); |
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218 | #endif |
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219 | |
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220 | #if defined(RTEMS_MULTIPROCESSING) |
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221 | if ( _System_state_Is_multiprocessing ) { |
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222 | _MPCI_Initialization(); |
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223 | _MPCI_Internal_packets_Send_process_packet( |
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224 | MPCI_PACKETS_SYSTEM_VERIFY |
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225 | ); |
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226 | } |
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227 | #endif |
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228 | |
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229 | /* |
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230 | * Run the APIs and BSPs postdriver hooks. |
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231 | * |
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232 | * The API extensions are supposed to create user initialization tasks. |
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233 | */ |
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234 | _API_extensions_Run_postdriver(); |
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235 | } |
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236 | |
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237 | RTEMS_LINKER_ROSET( _Sysinit, rtems_sysinit_item ); |
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238 | |
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239 | RTEMS_SYSINIT_ITEM( |
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240 | rtems_initialize_data_structures, |
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241 | RTEMS_SYSINIT_DATA_STRUCTURES, |
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242 | RTEMS_SYSINIT_ORDER_MIDDLE |
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243 | ); |
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244 | |
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245 | /* |
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246 | * No threads should be created before this point!!! |
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247 | * _Thread_Executing and _Thread_Heir are not set. |
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248 | * |
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249 | * At this point all API extensions are in place. After the call to |
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250 | * _Thread_Create_idle() _Thread_Executing and _Thread_Heir will be set. |
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251 | * |
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252 | * Scheduling can properly occur afterwards as long as we avoid dispatching. |
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253 | */ |
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254 | RTEMS_SYSINIT_ITEM( |
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255 | _Thread_Create_idle, |
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256 | RTEMS_SYSINIT_IDLE_THREADS, |
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257 | RTEMS_SYSINIT_ORDER_MIDDLE |
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258 | ); |
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259 | |
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260 | RTEMS_SYSINIT_ITEM( |
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261 | rtems_initialize_before_drivers, |
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262 | RTEMS_SYSINIT_BEFORE_DRIVERS, |
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263 | RTEMS_SYSINIT_ORDER_MIDDLE |
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264 | ); |
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265 | |
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266 | RTEMS_SYSINIT_ITEM( |
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267 | rtems_initialize_device_drivers, |
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268 | RTEMS_SYSINIT_DEVICE_DRIVERS, |
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269 | RTEMS_SYSINIT_ORDER_MIDDLE |
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270 | ); |
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271 | |
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272 | void rtems_initialize_executive(void) |
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273 | { |
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274 | const volatile rtems_sysinit_item *cur = RTEMS_LINKER_SET_BEGIN(_Sysinit ); |
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275 | const volatile rtems_sysinit_item *end = RTEMS_LINKER_SET_END( _Sysinit ); |
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276 | |
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277 | /* Invoke the registered system initialization handlers */ |
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278 | while ( cur != end ) { |
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279 | ( *cur->handler )(); |
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280 | ++cur; |
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281 | } |
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282 | |
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283 | _System_state_Set( SYSTEM_STATE_UP ); |
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284 | |
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285 | _SMP_Request_start_multitasking(); |
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286 | |
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287 | _Thread_Start_multitasking(); |
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288 | |
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289 | /******************************************************************* |
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290 | ******************************************************************* |
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291 | ******************************************************************* |
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292 | ****** APPLICATION RUNS HERE ****** |
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293 | ****** THE FUNCTION NEVER RETURNS ****** |
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294 | ******************************************************************* |
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295 | ******************************************************************* |
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296 | *******************************************************************/ |
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297 | } |
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