void wd_initialize(void)
{
/* Initialize the free watchdog list */
sq_init(&g_wdfreelist);
/* The g_wdfreelist must be loaded at initialization time to hold the
* configured number of watchdogs.
*/
g_wdpool = (FAR wdog_t*)kmalloc(sizeof(wdog_t) * CONFIG_PREALLOC_WDOGS);
if (g_wdpool)
{
FAR wdog_t *wdog = g_wdpool;
int i;
for (i = 0; i < CONFIG_PREALLOC_WDOGS; i++)
{
sq_addlast((FAR sq_entry_t*)wdog++, &g_wdfreelist);
}
}
/* The g_wdactivelist queue must be reset at initialization time. */
sq_init(&g_wdactivelist);
}
static inline void psock_lost_connection(FAR struct socket *psock,
FAR struct tcp_conn_s *conn)
{
FAR sq_entry_t *entry;
FAR sq_entry_t *next;
/* Do not allow any further callbacks */
psock->s_sndcb->flags = 0;
psock->s_sndcb->event = NULL;
/* Free all queued write buffers */
for (entry = sq_peek(&conn->unacked_q); entry; entry = next)
{
next = sq_next(entry);
tcp_wrbuffer_release((FAR struct tcp_wrbuffer_s *)entry);
}
for (entry = sq_peek(&conn->write_q); entry; entry = next)
{
next = sq_next(entry);
tcp_wrbuffer_release((FAR struct tcp_wrbuffer_s *)entry);
}
/* Reset write buffering variables */
sq_init(&conn->unacked_q);
sq_init(&conn->write_q);
conn->sent = 0;
}
void sig_initialize(void)
{
/* Initialize free lists */
sq_init(&g_sigfreeaction);
sq_init(&g_sigpendingaction);
sq_init(&g_sigpendingirqaction);
sq_init(&g_sigpendingsignal);
sq_init(&g_sigpendingirqsignal);
/* Add a block of signal structures to each list */
g_sigpendingactionalloc =
sig_allocateblock(&g_sigpendingaction,
NUM_PENDING_ACTIONS,
SIG_ALLOC_FIXED);
g_sigpendingirqactionalloc =
sig_allocateblock(&g_sigpendingirqaction,
NUM_PENDING_INT_ACTIONS,
SIG_ALLOC_IRQ);
sig_allocateactionblock();
g_sigpendingsignalalloc =
sig_allocatependingsignalblock(&g_sigpendingsignal,
NUM_SIGNALS_PENDING,
SIG_ALLOC_FIXED);
g_sigpendingirqsignalalloc =
sig_allocatependingsignalblock(&g_sigpendingirqsignal,
NUM_INT_SIGNALS_PENDING,
SIG_ALLOC_IRQ);
}
/**
* @brief Receiving data process initialization
*
* This function allocates OS resource to support the data receiving
* function. It allocates buffers for receiving data.
* The semaphore works as message queue and all tasks are done in the
* thread.
*
* @param bundle Greybus bundle handle
* @return 0 for success, -errno for failures.
*/
static int uart_receiver_cb_init(struct gb_bundle *bundle)
{
struct gb_uart_info *info = bundle->priv;
int ret;
sq_init(&info->free_queue);
sq_init(&info->data_queue);
info->entries = MAX_RX_BUF_NUMBER;
info->rx_buf_size = MAX_RX_BUF_SIZE;
ret = uart_alloc_buf(info->entries, info->rx_buf_size, &info->free_queue);
if (ret) {
goto err_free_data_buf;
}
ret = sem_init(&info->rx_sem, 0, 0);
if (ret) {
goto err_free_data_buf;
}
ret = pthread_create(&info->rx_thread, NULL, uart_rx_thread, bundle);
if (ret) {
goto err_destroy_rx_sem;
}
return 0;
err_destroy_rx_sem:
sem_destroy(&info->rx_sem);
err_free_data_buf:
uart_free_buf(&info->free_queue);
return ret;
}
void mq_initialize(void)
{
/* Initialize the message free lists */
sq_init(&g_msgfree);
sq_init(&g_msgfreeirq);
sq_init(&g_desalloc);
/* Allocate a block of messages for general use */
g_msgalloc =
mq_msgblockalloc(&g_msgfree, CONFIG_PREALLOC_MQ_MSGS,
MQ_ALLOC_FIXED);
/* Allocate a block of messages for use exclusively by
* interrupt handlers
*/
g_msgfreeirqalloc =
mq_msgblockalloc(&g_msgfreeirq, NUM_INTERRUPT_MSGS,
MQ_ALLOC_IRQ);
/* Allocate a block of message queue descriptors */
mq_desblockalloc();
}
/**
* @brief Receiving data process initialization
*
* This function allocates OS resource to support the data receiving
* function. It allocates two types of operations for undetermined length of
* data. The semaphore works as message queue and all tasks are done in the
* thread.
*
* @param None.
* @return 0 for success, -errno for failures.
*/
static int uart_receiver_cb_init(void)
{
int ret;
sq_init(&info->free_queue);
sq_init(&info->data_queue);
info->entries = MAX_RX_OPERATION;
info->rx_buf_size = MAX_RX_BUF_SIZE;
ret = uart_alloc_op(info->entries, info->rx_buf_size, &info->free_queue);
if (ret) {
return ret;
}
ret = sem_init(&info->rx_sem, 0, 0);
if (ret) {
goto err_free_data_op;
}
ret = pthread_create(&info->rx_thread, NULL, uart_rx_thread, info);
if (ret) {
goto err_destroy_rx_sem;
}
return 0;
err_destroy_rx_sem:
sem_destroy(&info->rx_sem);
err_free_data_op:
uart_free_op(&info->free_queue);
return -ret;
}
struct uip_conn *uip_tcpaccept(struct uip_tcpip_hdr *buf)
{
struct uip_conn *conn = uip_tcpalloc();
if (conn)
{
/* Fill in the necessary fields for the new connection. */
conn->rto = UIP_RTO;
conn->timer = UIP_RTO;
conn->sa = 0;
conn->sv = 4;
conn->nrtx = 0;
conn->lport = buf->destport;
conn->rport = buf->srcport;
conn->mss = UIP_TCP_INITIAL_MSS;
uip_ipaddr_copy(conn->ripaddr, uip_ip4addr_conv(buf->srcipaddr));
conn->tcpstateflags = UIP_SYN_RCVD;
uip_tcpinitsequence(conn->sndseq);
conn->unacked = 1;
#ifdef CONFIG_NET_TCP_WRITE_BUFFERS
conn->expired = 0;
conn->isn = 0;
conn->sent = 0;
#endif
/* rcvseq should be the seqno from the incoming packet + 1. */
memcpy(conn->rcvseq, buf->seqno, 4);
#ifdef CONFIG_NET_TCP_READAHEAD
/* Initialize the list of TCP read-ahead buffers */
sq_init(&conn->readahead);
#endif
#ifdef CONFIG_NET_TCP_WRITE_BUFFERS
/* Initialize the write buffer lists */
sq_init(&conn->write_q);
sq_init(&conn->unacked_q);
#endif
/* And, finally, put the connection structure into the active list.
* Interrupts should already be disabled in this context.
*/
dq_addlast(&conn->node, &g_active_tcp_connections);
}
return conn;
}
int main ( int argc, char * argv[] )
{
#ifndef SQ_DISABLE_AUTOMATION_INTERFACE
static SQServer server;
sq_init ();
sq_server_init ( &server, 4321 );
type_test_init();
while ( SQ_TRUE )
{
if ( sq_thread_is_supported() )
{
sq_system_sleep ( 1000 );
}
sq_server_poll ( &server );
}
sq_shutdown ();
#endif
SQ_UNUSED_PARAMETER(argc);
SQ_UNUSED_PARAMETER(argv);
}
void up_dmainitialize(void)
{
int i;
for (i = 0; i < DMA_CHANNEL_NUM; i++)
{
g_dma.phydmach[i].inprogress = 0;
sq_init(&g_dma.phydmach[i].req_q);
}
nxsem_init(&g_dma.exclsem, 0, 1);
if (irq_attach(LC823450_IRQ_DMAC, dma_interrupt, NULL) != 0)
{
return;
}
up_enable_irq(LC823450_IRQ_DMAC);
/* Clock & Reset */
modifyreg32(MCLKCNTBASIC, 0, MCLKCNTBASIC_DMAC_CLKEN);
modifyreg32(MRSTCNTBASIC, 0, MRSTCNTBASIC_DMAC_RSTB);
/* DMAC enable */
modifyreg32(DMACCONFIG, 0, DMACCONFIG_EN);
#ifdef DMA_TEST
lc823450_dma_test();
#endif
/* clock disable */
modifyreg32(MCLKCNTBASIC, MCLKCNTBASIC_DMAC_CLKEN, 0);
}
void SpacePlane::init(){
static bool initialized = false;
if(!initialized){
sq_init(modPath() << _SC("models/SpacePlane.nut"),
ModelScaleProcess(modelScale) <<=
SingleDoubleProcess(hitRadius, _SC("hitRadius")) <<=
MassProcess(defaultMass) <<=
SingleDoubleProcess(maxHealthValue, _SC("maxhealth"), false) <<=
Vec3dListProcess(engines, _SC("engines")) <<=
DrawOverlayProcess(overlayDisp)
);
initialized = true;
}
undocktime = 0.f;
health = getMaxHealth();
mass = defaultMass;
people = RandomSequence((unsigned long)this).next() % 100 + 100;
engineHeat = 0.f;
pf.resize(engines.size());
for(int i = 0; i < pf.size(); i++)
pf[i] = NULL;
}
/*
* Initialise the HRT.
*/
void hrt_init(void)
{
//printf("hrt_init\n");
sq_init(&callout_queue);
sem_init(&_hrt_lock, 0, 1);
memset(&_hrt_work, 0, sizeof(_hrt_work));
}
void net_initroute(void)
{
int i;
/* Initialize the routing table and the free list */
sq_init(&g_routes);
sq_init(&g_freeroutes);
/* All all of the pre-allocated routing table entries to a free list */
for (i = 0; i < CONFIG_NET_MAXROUTES; i++)
{
sq_addlast((FAR sq_entry_t *)&g_preallocroutes[i],
(FAR sq_queue_t *)&g_freeroutes);
}
}
void uip_tcpreadaheadinit(void)
{
int i;
sq_init(&g_freebuffers);
for (i = 0; i < CONFIG_NET_NTCP_READAHEAD_BUFFERS; i++)
{
sq_addfirst(&g_buffers[i].rh_node, &g_freebuffers);
}
}
/**
* Initialise the high-resolution timing module.
*/
void
hrt_init(void)
{
sq_init(&callout_queue);
hrt_tim_init();
#ifdef HRT_PPM_CHANNEL
/* configure the PPM input pin */
stm32_configgpio(GPIO_PPM_IN);
#endif
}
void pm_initialize(void)
{
/* Initialize the registry and the PM global data structures. The PM
* global data structure resides in .bss which is zeroed at boot time. So
* it is only required to initialize non-zero elements of the PM global
* data structure here.
*/
sq_init(&g_pmglobals.registry);
sem_init(&g_pmglobals.regsem, 0, 1);
}
/*
* Initialise the HRT.
*/
void hrt_init(void)
{
sq_init(&callout_queue);
int sem_ret = px4_sem_init(&_hrt_lock, 0, 1);
if (sem_ret) {
PX4_ERR("SEM INIT FAIL: %s", strerror(errno));
}
memset(&_hrt_work, 0, sizeof(_hrt_work));
}
void uip_tcpwrbuffer_init(void)
{
int i;
sq_init(&g_wrbuffer.freebuffers);
for (i = 0; i < CONFIG_NET_NTCP_WRITE_BUFFERS; i++)
{
sq_addfirst(&g_wrbuffer.buffers[i].wb_node, &g_wrbuffer.freebuffers);
}
sem_init(&g_wrbuffer.sem, 0, CONFIG_NET_NTCP_WRITE_BUFFERS);
}
int conman_client_handle_events(struct conman_client_s *client)
{
sq_queue_t qevents;
int ret;
sq_init(&qevents);
ret = conman_wait_for_response(client, true, &qevents);
handle_queued_events(client, &qevents);
return ret;
}
void tcp_wrbuffer_initialize(void)
{
int i;
sq_init(&g_wrbuffer.freebuffers);
for (i = 0; i < CONFIG_NET_TCP_NWRBCHAINS; i++)
{
sq_addfirst(&g_wrbuffer.buffers[i].wb_node, &g_wrbuffer.freebuffers);
}
sem_init(&g_wrbuffer.sem, 0, CONFIG_NET_TCP_NWRBCHAINS);
}
void ieee80211_crypto_attach(struct ieee80211_s *ic)
{
sq_init(&ic->ic_pmksa);
if (ic->ic_caps & IEEE80211_C_RSN)
{
ic->ic_rsnprotos = IEEE80211_PROTO_WPA | IEEE80211_PROTO_RSN;
ic->ic_rsnakms = IEEE80211_AKM_PSK;
ic->ic_rsnciphers = IEEE80211_CIPHER_TKIP | IEEE80211_CIPHER_CCMP;
ic->ic_rsngroupcipher = IEEE80211_CIPHER_TKIP;
ic->ic_rsngroupmgmtcipher = IEEE80211_CIPHER_BIP;
}
ic->ic_set_key = ieee80211_set_key;
ic->ic_delete_key = ieee80211_delete_key;
}
int conman_client_get_connection_status(struct conman_client_s *client,
struct conman_status_s *status)
{
sq_queue_t qevents;
int ret;
if (!status)
{
return ERROR;
}
ret = conman_send_req(client->sd, CONMAN_MSG_GET_CONNECTION_STATUS,
NULL, 0);
if (ret != OK)
{
conman_dbg("conman_send_req failed\n");
return ERROR;
}
sq_init(&qevents);
ret = conman_wait_for_response(client, false, &qevents);
if (ret != OK)
{
conman_dbg("conman communication failed\n");
ret = ERROR;
goto out;
}
if (client->respval != CONMAN_RESP_OK)
{
ret = ERROR;
goto out;
}
DEBUGASSERT(sizeof(*status) == client->payloadlen);
memcpy(status, client->payload, sizeof(*status));
free(client->payload);
client->payload = NULL;
ret = OK;
out:
handle_queued_events(client, &qevents);
return ret;
}
int
sq_ioctl(struct ifnet *ifp, u_long cmd, caddr_t data)
{
int s, error = 0;
s = splnet();
error = ether_ioctl(ifp, cmd, data);
if (error == ENETRESET) {
/*
* Multicast list has changed; set the hardware filter
* accordingly.
*/
error = sq_init(ifp);
}
splx(s);
return (error);
}
int conman_client_request_connection(struct conman_client_s *client,
enum conman_connection_type_e type,
uint32_t *connid)
{
sq_queue_t qevents;
int ret;
ret = conman_send_req(client->sd, CONMAN_MSG_CREATE_CONNECTION, &type,
sizeof(type));
if (ret != OK)
{
conman_dbg("conman_send_req failed\n");
return ERROR;
}
sq_init(&qevents);
ret = conman_wait_for_response(client, false, &qevents);
if (ret != OK)
{
conman_dbg("conman communication failed\n");
ret = ERROR;
goto out;
}
if (client->respval != CONMAN_RESP_OK)
{
ret = ERROR;
goto out;
}
DEBUGASSERT(sizeof(*connid) == client->payloadlen);
memcpy(connid, client->payload, sizeof(*connid));
free(client->payload);
client->payload = NULL;
ret = OK;
out:
handle_queued_events(client, &qevents);
return ret;
}
/* Device timeout/watchdog routine. */
void
sq_watchdog(struct ifnet *ifp)
{
u_int32_t status;
struct sq_softc *sc = ifp->if_softc;
status = bus_space_read_4(sc->sc_hpct, sc->sc_hpch, HPC_ENETX_CTL);
log(LOG_ERR, "%s: device timeout (prev %d, next %d, free %d, "
"status %08x)\n", sc->sc_dev.dv_xname, sc->sc_prevtx,
sc->sc_nexttx, sc->sc_nfreetx, status);
sq_trace_dump(sc);
memset(&sq_trace, 0, sizeof(sq_trace));
sq_trace_idx = 0;
++ifp->if_oerrors;
sq_init(ifp);
}
int
camera_init(Camera *camera, GPContext *context)
{
GPPortSettings settings;
int ret = 0;
/* First, set up all the function pointers */
camera->functions->summary = camera_summary;
camera->functions->manual = camera_manual;
camera->functions->about = camera_about;
camera->functions->capture_preview
= camera_capture_preview;
camera->functions->exit = camera_exit;
GP_DEBUG ("Initializing the camera\n");
ret = gp_port_get_settings(camera->port,&settings);
if (ret < 0) return ret;
ret = gp_port_set_settings(camera->port,settings);
if (ret < 0) return ret;
/* Tell the CameraFilesystem where to get lists from */
gp_filesystem_set_funcs (camera->fs, &fsfuncs, camera);
camera->pl = malloc (sizeof (CameraPrivateLibrary));
if (!camera->pl) return GP_ERROR_NO_MEMORY;
camera->pl->model = 0;
camera->pl->catalog = NULL;
camera->pl->nb_entries = 0;
camera->pl->last_fetched_entry = -1;
camera->pl->last_fetched_data = NULL;
/* Connect to the camera */
ret = sq_init (camera->port, camera->pl);
if (ret != GP_OK) {
free(camera->pl);
return ret;
};
return GP_OK;
}
static int do_command_no_payload(struct conman_client_s *client, uint8_t type,
const void *buf, size_t buflen)
{
sq_queue_t qevents;
int ret;
ret = conman_send_req(client->sd, type, buf, buflen);
if (ret != OK)
{
conman_dbg("conman_send_req failed\n");
return ERROR;
}
sq_init(&qevents);
ret = conman_wait_for_response(client, false, &qevents);
if (ret != OK)
{
conman_dbg("conman communication failed\n");
ret = ERROR;
goto out;
}
if (client->respval != CONMAN_RESP_OK)
{
ret = ERROR;
goto out;
}
DEBUGASSERT(client->payload == NULL);
ret = OK;
out:
handle_queued_events(client, &qevents);
return ret;
}
int
sq_ioctl(struct ifnet *ifp, u_long cmd, void *data)
{
int s, error = 0;
SQ_TRACE(SQ_IOCTL, (struct sq_softc *)ifp->if_softc, 0, 0);
s = splnet();
error = ether_ioctl(ifp, cmd, data);
if (error == ENETRESET) {
/*
* Multicast list has changed; set the hardware filter
* accordingly.
*/
if (ifp->if_flags & IFF_RUNNING)
error = sq_init(ifp);
else
error = 0;
}
splx(s);
return error;
}
int uip_tcpconnect(struct uip_conn *conn, const struct sockaddr_in *addr)
#endif
{
uip_lock_t flags;
int port;
/* The connection is expected to be in the UIP_ALLOCATED state.. i.e.,
* allocated via up_tcpalloc(), but not yet put into the active connections
* list.
*/
if (!conn || conn->tcpstateflags != UIP_ALLOCATED)
{
return -EISCONN;
}
/* If the TCP port has not alread been bound to a local port, then select
* one now.
*/
flags = uip_lock();
port = uip_selectport(ntohs(conn->lport));
uip_unlock(flags);
if (port < 0)
{
return port;
}
/* Initialize and return the connection structure, bind it to the port number */
conn->tcpstateflags = UIP_SYN_SENT;
uip_tcpinitsequence(conn->sndseq);
conn->initialmss = conn->mss = UIP_TCP_MSS;
conn->unacked = 1; /* TCP length of the SYN is one. */
conn->nrtx = 0;
conn->timer = 1; /* Send the SYN next time around. */
conn->rto = UIP_RTO;
conn->sa = 0;
conn->sv = 16; /* Initial value of the RTT variance. */
conn->lport = htons((uint16_t)port);
/* The sockaddr port is 16 bits and already in network order */
conn->rport = addr->sin_port;
/* The sockaddr address is 32-bits in network order. */
uip_ipaddr_copy(conn->ripaddr, addr->sin_addr.s_addr);
/* Initialize the list of TCP read-ahead buffers */
#if CONFIG_NET_NTCP_READAHEAD_BUFFERS > 0
sq_init(&conn->readahead);
#endif
/* And, finally, put the connection structure into the active
* list. Because g_active_tcp_connections is accessed from user level and
* interrupt level, code, it is necessary to keep interrupts disabled during
* this operation.
*/
flags = uip_lock();
dq_addlast(&conn->node, &g_active_tcp_connections);
uip_unlock(flags);
return OK;
}
void os_start(void)
{
int i;
slldbg("Entry\n");
/* Initialize all task lists */
dq_init(&g_readytorun);
dq_init(&g_pendingtasks);
dq_init(&g_waitingforsemaphore);
#ifndef CONFIG_DISABLE_SIGNALS
dq_init(&g_waitingforsignal);
#endif
#ifndef CONFIG_DISABLE_MQUEUE
dq_init(&g_waitingformqnotfull);
dq_init(&g_waitingformqnotempty);
#endif
#ifdef CONFIG_PAGING
dq_init(&g_waitingforfill);
#endif
dq_init(&g_inactivetasks);
sq_init(&g_delayeddeallocations);
/* Initialize the logic that determine unique process IDs. */
g_lastpid = 0;
for (i = 0; i < CONFIG_MAX_TASKS; i++)
{
g_pidhash[i].tcb = NULL;
g_pidhash[i].pid = INVALID_PROCESS_ID;
}
/* Assign the process ID of ZERO to the idle task */
g_pidhash[ PIDHASH(0)].tcb = &g_idletcb;
g_pidhash[ PIDHASH(0)].pid = 0;
/* Initialize a TCB for this thread of execution. NOTE: The default
* value for most components of the g_idletcb are zero. The entire
* structure is set to zero. Then only the (potentially) non-zero
* elements are initialized. NOTE: The idle task is the only task in
* that has pid == 0 and sched_priority == 0.
*/
bzero((void*)&g_idletcb, sizeof(_TCB));
g_idletcb.task_state = TSTATE_TASK_RUNNING;
g_idletcb.entry.main = (main_t)os_start;
#if CONFIG_TASK_NAME_SIZE > 0
strncpy(g_idletcb.name, g_idlename, CONFIG_TASK_NAME_SIZE-1);
g_idletcb.argv[0] = g_idletcb.name;
#else
g_idletcb.argv[0] = (char*)g_idlename;
#endif /* CONFIG_TASK_NAME_SIZE */
/* Then add the idle task's TCB to the head of the ready to run list */
dq_addfirst((FAR dq_entry_t*)&g_idletcb, (FAR dq_queue_t*)&g_readytorun);
/* Initialize the processor-specific portion of the TCB */
g_idletcb.flags = TCB_FLAG_TTYPE_KERNEL;
up_initial_state(&g_idletcb);
/* Initialize the semaphore facility(if in link). This has to be done
* very early because many subsystems depend upon fully functional
* semaphores.
*/
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (sem_initialize != NULL)
#endif
{
sem_initialize();
}
/* Initialize the memory manager */
#ifndef CONFIG_HEAP_BASE
{
FAR void *heap_start;
size_t heap_size;
up_allocate_heap(&heap_start, &heap_size);
kmm_initialize(heap_start, heap_size);
}
#else
kmm_initialize((void*)CONFIG_HEAP_BASE, CONFIG_HEAP_SIZE);
#endif
/* Initialize the interrupt handling subsystem (if included) */
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (irq_initialize != NULL)
#endif
{
irq_initialize();
}
/* Initialize the watchdog facility (if included in the link) */
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (wd_initialize != NULL)
#endif
{
wd_initialize();
}
/* Initialize the POSIX timer facility (if included in the link) */
#ifndef CONFIG_DISABLE_CLOCK
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (clock_initialize != NULL)
#endif
{
clock_initialize();
}
#endif
#ifndef CONFIG_DISABLE_POSIX_TIMERS
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (timer_initialize != NULL)
#endif
{
timer_initialize();
}
#endif
/* Initialize the signal facility (if in link) */
#ifndef CONFIG_DISABLE_SIGNALS
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (sig_initialize != NULL)
#endif
{
sig_initialize();
}
#endif
/* Initialize the named message queue facility (if in link) */
#ifndef CONFIG_DISABLE_MQUEUE
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (mq_initialize != NULL)
#endif
{
mq_initialize();
}
#endif
/* Initialize the thread-specific data facility (if in link) */
#ifndef CONFIG_DISABLE_PTHREAD
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (pthread_initialize != NULL)
#endif
{
pthread_initialize();
}
#endif
/* Initialize the file system (needed to support device drivers) */
#if CONFIG_NFILE_DESCRIPTORS > 0
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (fs_initialize != NULL)
#endif
{
fs_initialize();
}
#endif
/* Initialize the network system */
#ifdef CONFIG_NET
#if 0
if (net_initialize != NULL)
#endif
{
net_initialize();
}
#endif
/* The processor specific details of running the operating system
* will be handled here. Such things as setting up interrupt
* service routines and starting the clock are some of the things
* that are different for each processor and hardware platform.
*/
up_initialize();
/* Initialize the C libraries (if included in the link). This
* is done last because the libraries may depend on the above.
*/
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
if (lib_initialize != NULL)
#endif
{
lib_initialize();
}
/* Create stdout, stderr, stdin on the IDLE task. These will be
* inherited by all of the threads created by the IDLE task.
*/
(void)sched_setupidlefiles(&g_idletcb);
/* Create initial tasks and bring-up the system */
(void)os_bringup();
/* When control is return to this point, the system is idle. */
sdbg("Beginning Idle Loop\n");
for (;;)
{
/* Perform garbage collection (if it is not being done by the worker
* thread). This cleans-up memory de-allocations that were queued
* because they could not be freed in that execution context (for
* example, if the memory was freed from an interrupt handler).
*/
#ifndef CONFIG_SCHED_WORKQUEUE
/* We must have exclusive access to the memory manager to do this
* BUT the idle task cannot wait on a semaphore. So we only do
* the cleanup now if we can get the semaphore -- this should be
* possible because if the IDLE thread is running, no other task is!
*/
if (kmm_trysemaphore() == 0)
{
sched_garbagecollection();
kmm_givesemaphore();
}
#endif
/* Perform any processor-specific idle state operations */
up_idle();
}
}
int usbmsc_configure(unsigned int nluns, void **handle)
{
FAR struct usbmsc_alloc_s *alloc;
FAR struct usbmsc_dev_s *priv;
FAR struct usbmsc_driver_s *drvr;
int ret;
#ifdef CONFIG_DEBUG
if (nluns > 15) {
usbtrace(TRACE_CLSERROR(USBMSC_TRACEERR_TOOMANYLUNS), 0);
return -EDOM;
}
#endif
/* Allocate the structures needed */
alloc = (FAR struct usbmsc_alloc_s *)kmm_malloc(sizeof(struct usbmsc_alloc_s));
if (!alloc) {
usbtrace(TRACE_CLSERROR(USBMSC_TRACEERR_ALLOCDEVSTRUCT), 0);
return -ENOMEM;
}
/* Initialize the USB storage driver structure */
priv = &alloc->dev;
memset(priv, 0, sizeof(struct usbmsc_dev_s));
/* Initialize semaphores */
sem_init(&priv->thsynch, 0, 0);
sem_init(&priv->thlock, 0, 1);
sem_init(&priv->thwaitsem, 0, 0);
/*
* The thsynch and thwaitsem semaphores are used for signaling and,
* hence, should not have priority inheritance enabled.
*/
sem_setprotocol(&priv->thsynch, SEM_PRIO_NONE);
sem_setprotocol(&priv->thwaitsem, SEM_PRIO_NONE);
sq_init(&priv->wrreqlist);
priv->nluns = nluns;
/* Allocate the LUN table */
priv->luntab = (FAR struct usbmsc_lun_s *)
kmm_malloc(priv->nluns * sizeof(struct usbmsc_lun_s));
if (!priv->luntab) {
ret = -ENOMEM;
goto errout;
}
memset(priv->luntab, 0, priv->nluns * sizeof(struct usbmsc_lun_s));
/* Initialize the USB class driver structure */
drvr = &alloc->drvr;
#ifdef CONFIG_USBDEV_DUALSPEED
drvr->drvr.speed = USB_SPEED_HIGH;
#else
drvr->drvr.speed = USB_SPEED_FULL;
#endif
drvr->drvr.ops = &g_driverops;
drvr->dev = priv;
/* Return the handle and success */
*handle = (FAR void *)alloc;
return OK;
errout:
usbmsc_uninitialize(alloc);
return ret;
}