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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 | /* * Copyright (c) 2010-2014 Wind River Systems, Inc. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ /** * @file * @brief Nanokernel initialization module * * This module contains routines that are used to initialize the nanokernel. */ #include <offsets.h> #include <nanokernel.h> #include <misc/printk.h> #include <drivers/rand32.h> #include <sections.h> #include <toolchain.h> #include <nano_private.h> #include <device.h> #include <init.h> /* kernel build timestamp items */ #define BUILD_TIMESTAMP "BUILD: " __DATE__ " " __TIME__ #ifdef CONFIG_BUILD_TIMESTAMP const char * const build_timestamp = BUILD_TIMESTAMP; #endif /* boot banner items */ #define BOOT_BANNER "BOOTING ZEPHYR OS" #if !defined(CONFIG_BOOT_BANNER) #define PRINT_BOOT_BANNER() do { } while (0) #elif !defined(CONFIG_BUILD_TIMESTAMP) #define PRINT_BOOT_BANNER() printk("***** " BOOT_BANNER " *****\n") #else #define PRINT_BOOT_BANNER() printk("***** " BOOT_BANNER " - %s *****\n", build_timestamp) #endif /* boot time measurement items */ #ifdef CONFIG_BOOT_TIME_MEASUREMENT uint64_t __noinit __start_tsc; /* timestamp when kernel starts */ uint64_t __noinit __main_tsc; /* timestamp when main task starts */ uint64_t __noinit __idle_tsc; /* timestamp when CPU goes idle */ #endif /* random number generator items */ #if defined(CONFIG_TEST_RANDOM_GENERATOR) || \ defined(CONFIG_CUSTOM_RANDOM_GENERATOR) #define RAND32_INIT() sys_rand32_init() #else #define RAND32_INIT() #endif /* stack space for the background (or idle) task */ char __noinit __stack main_task_stack[CONFIG_MAIN_STACK_SIZE]; /* * storage space for the interrupt stack * * Note: This area is used as the system stack during nanokernel initialization, * since the nanokernel hasn't yet set up its own stack areas. The dual * purposing of this area is safe since interrupts are disabled until the * nanokernel context switches to the background (or idle) task. */ char __noinit _interrupt_stack[CONFIG_ISR_STACK_SIZE]; #if defined(CONFIG_NANO_TIMEOUTS) || defined(CONFIG_NANO_TIMERS) #include <misc/dlist.h> #define initialize_nano_timeouts() do { \ sys_dlist_init(&_nanokernel.timeout_q); \ _nanokernel.task_timeout = TICKS_UNLIMITED; \ } while ((0)) #else #define initialize_nano_timeouts() do { } while ((0)) #endif #ifdef CONFIG_NANOKERNEL #define MICROKERNEL_IDLE_TASK_PTR (NULL) /** * * @brief Mainline for nanokernel's background task * * This routine completes kernel initialization by invoking the remaining * init functions, then invokes application's main() routine. * * @return N/A */ static void _main(void) { _sys_device_do_config_level(_SYS_INIT_LEVEL_SECONDARY); _sys_device_do_config_level(_SYS_INIT_LEVEL_NANOKERNEL); _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 extern void main(void); main(); } #else typedef int32_t ktask_t; /* Must match definition in base_api.h */ extern ktask_t _k_task_ptr_idle; #define MICROKERNEL_IDLE_TASK_PTR ((void *) _k_task_ptr_idle) /* microkernel has its own implementation of _main() */ extern void _main(void); #endif /** * * @brief Initializes nanokernel data structures * * This routine initializes various nanokernel data structures, including * the background (or idle) task and any architecture-specific initialization. * * Note that all fields of "_nanokernel" are set to zero on entry, which may * be all the initialization many of them require. * * @return N/A */ static void nano_init(struct tcs *dummyOutContext) { /* * Initialize the current execution thread to permit a level of * debugging output if an exception should happen during nanokernel * initialization. * However, don't waste effort initializing the fields of the dummy * thread beyond those needed to identify it as a dummy thread. */ _nanokernel.current = dummyOutContext; /* * Do not insert dummy execution context in the list of fibers, so that * it does not get scheduled back in once context-switched out. */ dummyOutContext->link = (struct tcs *)NULL; dummyOutContext->flags = FIBER | ESSENTIAL; dummyOutContext->prio = 0; /* * The interrupt library needs to be initialized early since a series of * handlers are installed into the interrupt table to catch spurious * interrupts. This must be performed before other nanokernel subsystems * install bonafide handlers, or before hardware device drivers are * initialized. */ _IntLibInit(); /* * Initialize the thread control block (TCS) for the main task (either * background or idle task). The entry point for this thread is '_main'. */ _nanokernel.task = (struct tcs *) main_task_stack; _new_thread(main_task_stack, /* pStackMem */ CONFIG_MAIN_STACK_SIZE, /* stackSize */ MICROKERNEL_IDLE_TASK_PTR, /* ptr to idle task */ (_thread_entry_t)_main, /* pEntry */ (_thread_arg_t)0, /* parameter1 */ (_thread_arg_t)0, /* parameter2 */ (_thread_arg_t)0, /* parameter3 */ -1, /* priority */ 0 /* options */ ); /* indicate that failure of this task may be fatal to the entire * system * * Warning: _thread_essential_set() doesn't do the same thing. That * operates on _nanokernel.current, not _nanokernel.task ... */ _nanokernel.task->flags |= ESSENTIAL; initialize_nano_timeouts(); /* perform any architecture-specific initialization */ nanoArchInit(); } #ifdef CONFIG_STACK_CANARIES /** * * @brief Initialize the kernel's stack canary * * This macro initializes the kernel's stack canary global variable, * __stack_chk_guard, with a random value. * * INTERNAL * Depending upon the compiler, modifying __stack_chk_guard directly at runtime * may generate a build error. In-line assembly is used as a workaround. */ extern void *__stack_chk_guard; #if defined(CONFIG_X86) #define _MOVE_INSTR "movl " #elif defined(CONFIG_ARM) #define _MOVE_INSTR "str " #elif defined(CONFIG_ARC) #define _MOVE_INSTR "mov " #else #error "Unknown Architecture type" #endif /* CONFIG_X86 */ #define STACK_CANARY_INIT() \ do { \ register void *tmp; \ tmp = (void *)sys_rand32_get(); \ __asm__ volatile(_MOVE_INSTR "%1, %0;\n\t" \ : "=m"(__stack_chk_guard) \ : "r"(tmp)); \ } while (0) #else /* !CONFIG_STACK_CANARIES */ #define STACK_CANARY_INIT() #endif /* CONFIG_STACK_CANARIES */ /** * * @brief Initialize nanokernel * * 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 _Cstart(void) { /* floating point operations are NOT performed during nanokernel init */ char dummyTCS[__tTCS_NOFLOAT_SIZEOF]; /* * Initialize nanokernel data structures. This step includes * initializing the interrupt subsystem, which must be performed * before the hardware initialization phase. */ nano_init((struct tcs *)&dummyTCS); /* perform basic hardware initialization */ _sys_device_do_config_level(_SYS_INIT_LEVEL_PRIMARY); /* * Initialize random number generator * As a platform may implement it in hardware, it has to be * initialized after rest of hardware initialization and * before stack canaries that use it */ RAND32_INIT(); /* initialize stack canaries */ STACK_CANARY_INIT(); /* display boot banner */ PRINT_BOOT_BANNER(); /* context switch to main task (entry function is _main()) */ _nano_fiber_swap(); /* * 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; } |