Loading...
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 | /*
* Copyright (c) 2010-2014 Wind River Systems, Inc.
*
* SPDX-License-Identifier: Apache-2.0
*/
/**
* @file
* @brief Kernel initialization module
*
* This module contains routines that are used to initialize the kernel.
*/
#include <zephyr.h>
#include <offsets_short.h>
#include <kernel.h>
#include <misc/printk.h>
#include <misc/stack.h>
#include <random/rand32.h>
#include <linker/sections.h>
#include <toolchain.h>
#include <kernel_structs.h>
#include <device.h>
#include <init.h>
#include <linker/linker-defs.h>
#include <ksched.h>
#include <version.h>
#include <string.h>
#include <misc/dlist.h>
#include <kernel_internal.h>
#include <kswap.h>
#include <entropy.h>
#include <logging/log_ctrl.h>
#include <tracing.h>
#include <stdbool.h>
#include <misc/gcov.h>
#define IDLE_THREAD_NAME "idle"
#define LOG_LEVEL CONFIG_KERNEL_LOG_LEVEL
#include <logging/log.h>
LOG_MODULE_REGISTER(kernel);
/* boot banner items */
#if defined(CONFIG_MULTITHREADING) && defined(CONFIG_BOOT_DELAY) \
&& CONFIG_BOOT_DELAY > 0
#define BOOT_DELAY_BANNER " (delayed boot " \
STRINGIFY(CONFIG_BOOT_DELAY) "ms)"
#else
#define BOOT_DELAY_BANNER ""
#endif
#ifdef BUILD_VERSION
#define BOOT_BANNER "Booting Zephyr OS " \
STRINGIFY(BUILD_VERSION) BOOT_DELAY_BANNER
#else
#define BOOT_BANNER "Booting Zephyr OS " \
KERNEL_VERSION_STRING BOOT_DELAY_BANNER
#endif
#if !defined(CONFIG_BOOT_BANNER)
#define PRINT_BOOT_BANNER() do { } while (false)
#else
#define PRINT_BOOT_BANNER() printk("***** " BOOT_BANNER " *****\n")
#endif
/* boot time measurement items */
#ifdef CONFIG_BOOT_TIME_MEASUREMENT
u64_t __noinit __start_time_stamp; /* timestamp when kernel starts */
u64_t __noinit __main_time_stamp; /* timestamp when main task starts */
u64_t __noinit __idle_time_stamp; /* timestamp when CPU goes idle */
#endif
/* init/main and idle threads */
#define IDLE_STACK_SIZE CONFIG_IDLE_STACK_SIZE
#define MAIN_STACK_SIZE CONFIG_MAIN_STACK_SIZE
K_THREAD_STACK_DEFINE(_main_stack, MAIN_STACK_SIZE);
K_THREAD_STACK_DEFINE(_idle_stack, IDLE_STACK_SIZE);
static struct k_thread _main_thread_s;
static struct k_thread _idle_thread_s;
k_tid_t const _main_thread = (k_tid_t)&_main_thread_s;
k_tid_t const _idle_thread = (k_tid_t)&_idle_thread_s;
/*
* storage space for the interrupt stack
*
* Note: This area is used as the system stack during kernel initialization,
* since the kernel hasn't yet set up its own stack areas. The dual purposing
* of this area is safe since interrupts are disabled until the kernel context
* switches to the init thread.
*/
K_THREAD_STACK_DEFINE(_interrupt_stack, CONFIG_ISR_STACK_SIZE);
/*
* Similar idle thread & interrupt stack definitions for the
* auxiliary CPUs. The declaration macros aren't set up to define an
* array, so do it with a simple test for up to 4 processors. Should
* clean this up in the future.
*/
#if defined(CONFIG_SMP) && CONFIG_MP_NUM_CPUS > 1
K_THREAD_STACK_DEFINE(_idle_stack1, IDLE_STACK_SIZE);
static struct k_thread _idle_thread1_s;
k_tid_t const _idle_thread1 = (k_tid_t)&_idle_thread1_s;
K_THREAD_STACK_DEFINE(_interrupt_stack1, CONFIG_ISR_STACK_SIZE);
#endif
#if defined(CONFIG_SMP) && CONFIG_MP_NUM_CPUS > 2
K_THREAD_STACK_DEFINE(_idle_stack2, IDLE_STACK_SIZE);
static struct k_thread _idle_thread2_s;
k_tid_t const _idle_thread2 = (k_tid_t)&_idle_thread2_s;
K_THREAD_STACK_DEFINE(_interrupt_stack2, CONFIG_ISR_STACK_SIZE);
#endif
#if defined(CONFIG_SMP) && CONFIG_MP_NUM_CPUS > 3
K_THREAD_STACK_DEFINE(_idle_stack3, IDLE_STACK_SIZE);
static struct k_thread _idle_thread3_s;
k_tid_t const _idle_thread3 = (k_tid_t)&_idle_thread3_s;
K_THREAD_STACK_DEFINE(_interrupt_stack3, CONFIG_ISR_STACK_SIZE);
#endif
#ifdef CONFIG_SYS_CLOCK_EXISTS
#define initialize_timeouts() do { \
sys_dlist_init(&_timeout_q); \
} while (false)
#else
#define initialize_timeouts() do { } while ((0))
#endif
extern void idle(void *unused1, void *unused2, void *unused3);
/* LCOV_EXCL_START
*
* This code is called so early in the boot process that code coverage
* doesn't work properly. In addition, not all arches call this code,
* some like x86 do this with optimized assembly
*/
/**
*
* @brief Clear BSS
*
* This routine clears the BSS region, so all bytes are 0.
*
* @return N/A
*/
void z_bss_zero(void)
{
(void)memset(&__bss_start, 0,
((u32_t) &__bss_end - (u32_t) &__bss_start));
#ifdef DT_CCM_BASE_ADDRESS
(void)memset(&__ccm_bss_start, 0,
((u32_t) &__ccm_bss_end - (u32_t) &__ccm_bss_start));
#endif
#ifdef CONFIG_CODE_DATA_RELOCATION
extern void bss_zeroing_relocation(void);
bss_zeroing_relocation();
#endif /* CONFIG_CODE_DATA_RELOCATION */
#ifdef CONFIG_COVERAGE_GCOV
(void)memset(&__gcov_bss_start, 0,
((u32_t) &__gcov_bss_end - (u32_t) &__gcov_bss_start));
#endif
}
#ifdef CONFIG_STACK_CANARIES
extern volatile uintptr_t __stack_chk_guard;
#endif /* CONFIG_STACK_CANARIES */
#ifdef CONFIG_XIP
/**
*
* @brief Copy the data section from ROM to RAM
*
* This routine copies the data section from ROM to RAM.
*
* @return N/A
*/
void z_data_copy(void)
{
(void)memcpy(&__data_ram_start, &__data_rom_start,
((u32_t) &__data_ram_end - (u32_t) &__data_ram_start));
#ifdef CONFIG_ARCH_HAS_RAMFUNC_SUPPORT
(void)memcpy(&_ramfunc_ram_start, &_ramfunc_rom_start,
((u32_t) &_ramfunc_ram_size));
#endif /* CONFIG_ARCH_HAS_RAMFUNC_SUPPORT */
#ifdef DT_CCM_BASE_ADDRESS
(void)memcpy(&__ccm_data_start, &__ccm_data_rom_start,
((u32_t) &__ccm_data_end - (u32_t) &__ccm_data_start));
#endif
#ifdef CONFIG_CODE_DATA_RELOCATION
extern void data_copy_xip_relocation(void);
data_copy_xip_relocation();
#endif /* CONFIG_CODE_DATA_RELOCATION */
#ifdef CONFIG_USERSPACE
#ifdef CONFIG_STACK_CANARIES
/* stack canary checking is active for all C functions.
* __stack_chk_guard is some uninitialized value living in the
* app shared memory sections. Preserve it, and don't make any
* function calls to perform the memory copy. The true canary
* value gets set later in z_cstart().
*/
uintptr_t guard_copy = __stack_chk_guard;
u8_t *src = (u8_t *)&_app_smem_rom_start;
u8_t *dst = (u8_t *)&_app_smem_start;
u32_t count = (u32_t)&_app_smem_end - (u32_t)&_app_smem_start;
guard_copy = __stack_chk_guard;
while (count > 0) {
*(dst++) = *(src++);
count--;
}
__stack_chk_guard = guard_copy;
#else
(void)memcpy(&_app_smem_start, &_app_smem_rom_start,
((u32_t) &_app_smem_end - (u32_t) &_app_smem_start));
#endif /* CONFIG_STACK_CANARIES */
#endif /* CONFIG_USERSPACE */
}
#endif /* CONFIG_XIP */
/* LCOV_EXCL_STOP */
/**
*
* @brief Mainline for kernel's background thread
*
* This routine completes kernel initialization by invoking the remaining
* init functions, then invokes application's main() routine.
*
* @return N/A
*/
static void bg_thread_main(void *unused1, void *unused2, void *unused3)
{
ARG_UNUSED(unused1);
ARG_UNUSED(unused2);
ARG_UNUSED(unused3);
#if defined(CONFIG_BOOT_DELAY) && CONFIG_BOOT_DELAY > 0
static const unsigned int boot_delay = CONFIG_BOOT_DELAY;
#else
static const unsigned int boot_delay;
#endif
z_sys_device_do_config_level(_SYS_INIT_LEVEL_POST_KERNEL);
#if CONFIG_STACK_POINTER_RANDOM
z_stack_adjust_initialized = 1;
#endif
if (boot_delay > 0 && IS_ENABLED(CONFIG_MULTITHREADING)) {
printk("***** delaying boot " STRINGIFY(CONFIG_BOOT_DELAY)
"ms (per build configuration) *****\n");
k_busy_wait(CONFIG_BOOT_DELAY * USEC_PER_MSEC);
}
PRINT_BOOT_BANNER();
/* Final init level before app starts */
z_sys_device_do_config_level(_SYS_INIT_LEVEL_APPLICATION);
#ifdef CONFIG_CPLUSPLUS
/* Process the .ctors and .init_array sections */
extern void __do_global_ctors_aux(void);
extern void __do_init_array_aux(void);
__do_global_ctors_aux();
__do_init_array_aux();
#endif
z_init_static_threads();
#ifdef CONFIG_SMP
smp_init();
#endif
#ifdef CONFIG_BOOT_TIME_MEASUREMENT
/* record timestamp for kernel's _main() function */
extern u64_t __main_time_stamp;
__main_time_stamp = (u64_t)k_cycle_get_32();
#endif
extern void main(void);
main();
/* Mark nonessenrial since main() has no more work to do */
_main_thread->base.user_options &= ~K_ESSENTIAL;
/* Dump coverage data once the main() has exited. */
gcov_coverage_dump();
} /* LCOV_EXCL_LINE ... because we just dumped final coverage data */
/* LCOV_EXCL_START */
void __weak main(void)
{
/* NOP default main() if the application does not provide one. */
arch_nop();
}
/* LCOV_EXCL_STOP */
#if defined(CONFIG_MULTITHREADING)
static void init_idle_thread(struct k_thread *thr, k_thread_stack_t *stack)
{
#ifdef CONFIG_SMP
thr->base.is_idle = 1U;
#endif
z_setup_new_thread(thr, stack,
IDLE_STACK_SIZE, idle, NULL, NULL, NULL,
K_LOWEST_THREAD_PRIO, K_ESSENTIAL, IDLE_THREAD_NAME);
z_mark_thread_as_started(thr);
}
#endif
/**
*
* @brief Initializes kernel data structures
*
* This routine initializes various kernel data structures, including
* the init and idle threads and any architecture-specific initialization.
*
* Note that all fields of "_kernel" are set to zero on entry, which may
* be all the initialization many of them require.
*
* @return N/A
*/
#ifdef CONFIG_MULTITHREADING
static void prepare_multithreading(struct k_thread *dummy_thread)
{
#ifdef CONFIG_ARCH_HAS_CUSTOM_SWAP_TO_MAIN
ARG_UNUSED(dummy_thread);
#else
#ifdef CONFIG_TRACING
sys_trace_thread_switched_out();
#endif
#ifdef CONFIG_TRACING
sys_trace_thread_switched_in();
#endif
/*
* Initialize the current execution thread to permit a level of
* debugging output if an exception should happen during kernel
* initialization. However, don't waste effort initializing the
* fields of the dummy thread beyond those needed to identify it as a
* dummy thread.
*/
dummy_thread->base.user_options = K_ESSENTIAL;
dummy_thread->base.thread_state = _THREAD_DUMMY;
#ifdef CONFIG_THREAD_STACK_INFO
dummy_thread->stack_info.start = 0U;
dummy_thread->stack_info.size = 0U;
#endif
#ifdef CONFIG_USERSPACE
dummy_thread->mem_domain_info.mem_domain = 0;
#endif
#endif
/* _kernel.ready_q is all zeroes */
z_sched_init();
#ifndef CONFIG_SMP
/*
* prime the cache with the main thread since:
*
* - the cache can never be NULL
* - the main thread will be the one to run first
* - no other thread is initialized yet and thus their priority fields
* contain garbage, which would prevent the cache loading algorithm
* to work as intended
*/
_kernel.ready_q.cache = _main_thread;
#endif
z_setup_new_thread(_main_thread, _main_stack,
MAIN_STACK_SIZE, bg_thread_main,
NULL, NULL, NULL,
CONFIG_MAIN_THREAD_PRIORITY, K_ESSENTIAL, "main");
sys_trace_thread_create(_main_thread);
z_mark_thread_as_started(_main_thread);
z_ready_thread(_main_thread);
#ifdef CONFIG_MULTITHREADING
init_idle_thread(_idle_thread, _idle_stack);
_kernel.cpus[0].idle_thread = _idle_thread;
sys_trace_thread_create(_idle_thread);
#endif
#if defined(CONFIG_SMP) && CONFIG_MP_NUM_CPUS > 1
init_idle_thread(_idle_thread1, _idle_stack1);
_kernel.cpus[1].idle_thread = _idle_thread1;
_kernel.cpus[1].id = 1;
_kernel.cpus[1].irq_stack = Z_THREAD_STACK_BUFFER(_interrupt_stack1)
+ CONFIG_ISR_STACK_SIZE;
#endif
#if defined(CONFIG_SMP) && CONFIG_MP_NUM_CPUS > 2
init_idle_thread(_idle_thread2, _idle_stack2);
_kernel.cpus[2].idle_thread = _idle_thread2;
_kernel.cpus[2].id = 2;
_kernel.cpus[2].irq_stack = Z_THREAD_STACK_BUFFER(_interrupt_stack2)
+ CONFIG_ISR_STACK_SIZE;
#endif
#if defined(CONFIG_SMP) && CONFIG_MP_NUM_CPUS > 3
init_idle_thread(_idle_thread3, _idle_stack3);
_kernel.cpus[3].idle_thread = _idle_thread3;
_kernel.cpus[3].id = 3;
_kernel.cpus[3].irq_stack = Z_THREAD_STACK_BUFFER(_interrupt_stack3)
+ CONFIG_ISR_STACK_SIZE;
#endif
initialize_timeouts();
}
static FUNC_NORETURN void switch_to_main_thread(void)
{
#ifdef CONFIG_ARCH_HAS_CUSTOM_SWAP_TO_MAIN
z_arch_switch_to_main_thread(_main_thread, _main_stack, MAIN_STACK_SIZE,
bg_thread_main);
#else
/*
* Context switch to main task (entry function is _main()): the
* current fake thread is not on a wait queue or ready queue, so it
* will never be rescheduled in.
*/
z_swap_unlocked();
#endif
CODE_UNREACHABLE; /* LCOV_EXCL_LINE */
}
#endif /* CONFIG_MULTITHREADING */
u32_t z_early_boot_rand32_get(void)
{
#ifdef CONFIG_ENTROPY_HAS_DRIVER
struct device *entropy = device_get_binding(CONFIG_ENTROPY_NAME);
int rc;
u32_t retval;
if (entropy == NULL) {
goto sys_rand32_fallback;
}
/* Try to see if driver provides an ISR-specific API */
rc = entropy_get_entropy_isr(entropy, (u8_t *)&retval,
sizeof(retval), ENTROPY_BUSYWAIT);
if (rc == -ENOTSUP) {
/* Driver does not provide an ISR-specific API, assume it can
* be called from ISR context
*/
rc = entropy_get_entropy(entropy, (u8_t *)&retval,
sizeof(retval));
}
if (rc >= 0) {
return retval;
}
/* Fall through to fallback */
sys_rand32_fallback:
#endif
/* FIXME: this assumes sys_rand32_get() won't use any synchronization
* primitive, like semaphores or mutexes. It's too early in the boot
* process to use any of them. Ideally, only the path where entropy
* devices are available should be built, this is only a fallback for
* those devices without a HWRNG entropy driver.
*/
return sys_rand32_get();
}
/**
*
* @brief Initialize kernel
*
* This routine is invoked when the system is ready to run C code. The
* processor must be running in 32-bit mode, and the BSS must have been
* cleared/zeroed.
*
* @return Does not return
*/
FUNC_NORETURN void z_cstart(void)
{
/* gcov hook needed to get the coverage report.*/
gcov_static_init();
if (IS_ENABLED(CONFIG_LOG)) {
log_core_init();
}
/* perform any architecture-specific initialization */
kernel_arch_init();
#ifdef CONFIG_MULTITHREADING
struct k_thread dummy_thread = {
.base.thread_state = _THREAD_DUMMY,
# ifdef CONFIG_SCHED_CPU_MASK
.base.cpu_mask = -1,
# endif
};
_current = &dummy_thread;
#endif
#ifdef CONFIG_USERSPACE
z_app_shmem_bss_zero();
#endif
/* perform basic hardware initialization */
z_sys_device_do_config_level(_SYS_INIT_LEVEL_PRE_KERNEL_1);
z_sys_device_do_config_level(_SYS_INIT_LEVEL_PRE_KERNEL_2);
#ifdef CONFIG_STACK_CANARIES
__stack_chk_guard = z_early_boot_rand32_get();
#endif
#ifdef CONFIG_MULTITHREADING
prepare_multithreading(&dummy_thread);
switch_to_main_thread();
#else
bg_thread_main(NULL, NULL, NULL);
/* LCOV_EXCL_START
* We've already dumped coverage data at this point.
*/
irq_lock();
while (true) {
}
/* LCOV_EXCL_STOP */
#endif
/*
* Compiler can't tell that the above routines won't return and issues
* a warning unless we explicitly tell it that control never gets this
* far.
*/
CODE_UNREACHABLE; /* LCOV_EXCL_LINE */
}
|