Merge pull request #4559 from enkiller/0220-1044

[bsp][simulator] 支持自动初始化及用户 main 入口

bsp/simulator/.config

@@ -72,8 +72,10 @@ CONFIG_RT_VER_NUM=0x40003
 #
 # RT-Thread Components
 #
-# CONFIG_RT_USING_COMPONENTS_INIT is not set
+CONFIG_RT_USING_COMPONENTS_INIT=y
-# CONFIG_RT_USING_USER_MAIN is not set
+CONFIG_RT_USING_USER_MAIN=y
+CONFIG_RT_MAIN_THREAD_STACK_SIZE=2048
+CONFIG_RT_MAIN_THREAD_PRIORITY=10
 
 #
 # C++ features
@@ -133,8 +135,6 @@ CONFIG_RT_DFS_ELM_REENTRANT=y
 CONFIG_RT_USING_DFS_DEVFS=y
 # CONFIG_RT_USING_DFS_ROMFS is not set
 # CONFIG_RT_USING_DFS_RAMFS is not set
-# CONFIG_RT_USING_DFS_UFFS is not set
-# CONFIG_RT_USING_DFS_JFFS2 is not set
 
 #
 # Device Drivers
@@ -285,8 +285,6 @@ CONFIG_RT_LIBC_USING_TIME=y
 # CONFIG_PKG_USING_LIBRWS is not set
 # CONFIG_PKG_USING_TCPSERVER is not set
 # CONFIG_PKG_USING_PROTOBUF_C is not set
-# CONFIG_PKG_USING_ONNX_PARSER is not set
-# CONFIG_PKG_USING_ONNX_BACKEND is not set
 # CONFIG_PKG_USING_DLT645 is not set
 # CONFIG_PKG_USING_QXWZ is not set
 # CONFIG_PKG_USING_SMTP_CLIENT is not set
@@ -301,6 +299,10 @@ CONFIG_RT_LIBC_USING_TIME=y
 # CONFIG_PKG_USING_BTSTACK is not set
 # CONFIG_PKG_USING_LORAWAN_ED_STACK is not set
 # CONFIG_PKG_USING_WAYZ_IOTKIT is not set
+# CONFIG_PKG_USING_MAVLINK is not set
+# CONFIG_PKG_USING_RAPIDJSON is not set
+# CONFIG_PKG_USING_BSAL is not set
+# CONFIG_PKG_USING_AGILE_MODBUS is not set
 
 #
 # security packages
@@ -382,6 +384,8 @@ CONFIG_RT_LIBC_USING_TIME=y
 # CONFIG_PKG_USING_CMSIS is not set
 # CONFIG_PKG_USING_DFS_YAFFS is not set
 # CONFIG_PKG_USING_LITTLEFS is not set
+# CONFIG_PKG_USING_DFS_JFFS2 is not set
+# CONFIG_PKG_USING_DFS_UFFS is not set
 # CONFIG_PKG_USING_THREAD_POOL is not set
 # CONFIG_PKG_USING_ROBOTS is not set
 # CONFIG_PKG_USING_EV is not set
@@ -409,6 +413,7 @@ CONFIG_RT_LIBC_USING_TIME=y
 # CONFIG_PKG_USING_QFPLIB_M0_TINY is not set
 # CONFIG_PKG_USING_QFPLIB_M3 is not set
 # CONFIG_PKG_USING_LPM is not set
+# CONFIG_PKG_USING_TLSF is not set
 
 #
 # peripheral libraries and drivers
@@ -471,6 +476,23 @@ CONFIG_RT_LIBC_USING_TIME=y
 # CONFIG_PKG_USING_VIRTUAL_SENSOR is not set
 # CONFIG_PKG_USING_VDEVICE is not set
 # CONFIG_PKG_USING_SGM706 is not set
+# CONFIG_PKG_USING_STM32WB55_SDK is not set
+# CONFIG_PKG_USING_RDA58XX is not set
+# CONFIG_PKG_USING_LIBNFC is not set
+# CONFIG_PKG_USING_MFOC is not set
+# CONFIG_PKG_USING_TMC51XX is not set
+
+#
+# AI packages
+#
+# CONFIG_PKG_USING_LIBANN is not set
+# CONFIG_PKG_USING_NNOM is not set
+# CONFIG_PKG_USING_ONNX_BACKEND is not set
+# CONFIG_PKG_USING_ONNX_PARSER is not set
+# CONFIG_PKG_USING_TENSORFLOWLITEMICRO is not set
+# CONFIG_PKG_USING_ELAPACK is not set
+# CONFIG_PKG_USING_ULAPACK is not set
+# CONFIG_PKG_USING_QUEST is not set
 
 #
 # miscellaneous packages
@@ -502,25 +524,23 @@ CONFIG_RT_LIBC_USING_TIME=y
 # CONFIG_PKG_USING_HELLO is not set
 # CONFIG_PKG_USING_VI is not set
 # CONFIG_PKG_USING_KI is not set
-# CONFIG_PKG_USING_NNOM is not set
-# CONFIG_PKG_USING_LIBANN is not set
-# CONFIG_PKG_USING_ELAPACK is not set
 # CONFIG_PKG_USING_ARMv7M_DWT is not set
 # CONFIG_PKG_USING_VT100 is not set
-# CONFIG_PKG_USING_ULAPACK is not set
 # CONFIG_PKG_USING_UKAL is not set
 # CONFIG_PKG_USING_CRCLIB is not set
 
 #
-# games: games run on RT-Thread console
+# entertainment: terminal games and other interesting software packages
 #
 # CONFIG_PKG_USING_THREES is not set
 # CONFIG_PKG_USING_2048 is not set
 # CONFIG_PKG_USING_SNAKE is not set
 # CONFIG_PKG_USING_TETRIS is not set
+# CONFIG_PKG_USING_DONUT is not set
+# CONFIG_PKG_USING_ACLOCK is not set
 # CONFIG_PKG_USING_LWGPS is not set
-# CONFIG_PKG_USING_TENSORFLOWLITEMICRO is not set
 # CONFIG_PKG_USING_STATE_MACHINE is not set
 # CONFIG_PKG_USING_MCURSES is not set
 # CONFIG_PKG_USING_COWSAY is not set
+CONFIG_SOC_SIMULATOR=y
 CONFIG_RT_USING_DFS_WINSHAREDIR=y

bsp/simulator/Kconfig

@@ -18,8 +18,16 @@ config PKGS_DIR
 source "$RTT_DIR/Kconfig"
 source "$PKGS_DIR/Kconfig"
 
+config SOC_SIMULATOR
+    bool 
+    select RT_USING_COMPONENTS_INIT
+    select RT_USING_USER_MAIN
+    default y
+
 if RT_USING_DFS
     config RT_USING_DFS_WINSHAREDIR
     bool "Enable shared file system between windows"
     default n
 endif
+
+

bsp/simulator/SConstruct

@@ -86,6 +86,19 @@ def ObjRemove(objs, remove):
              objs.remove(item)
     return
 
+def ProjectRemove(group, remove):
+    global Projects
+    for item in Projects:
+        if item['name'] == group:
+            for src in item['src']:
+                if os.path.basename(str(src)) in remove:
+                    # print(type(src), os.path.basename(str(src)) )
+                    item['src'].remove(src)
+    return
+
+ObjRemove(objs, ['components.obj', 'components.o', 'components.c'])
+ProjectRemove('Kernel', ['components.obj', 'components.o', 'components.c'])
+
 # build program  -shared
 if GetDepend('RT_USING_MODULE'):
     # Remove module.c in $RTT_ROOT/src

bsp/simulator/applications/application.c

@@ -11,37 +11,8 @@
 #include <stdio.h>
 #include <board.h>
 
-extern int platform_init(void);
+int main(void)
-extern int platform_post_init(void);
-extern int mnt_init(void);
-
-void rt_init_thread_entry(void *parameter)
 {
     rt_kprintf("Hello RT-Thread!\n");
-
-    platform_init();
-    mnt_init();
-
-    platform_post_init();
-
-#if defined(PKG_USING_GUIENGINE) && defined(GUIENGINE_USING_DEMO)
-    {
-        extern int rt_gui_demo_init(void);
-        rt_gui_demo_init();
-    }
-#endif
-}
-
-int rt_application_init()
-{
-    rt_thread_t tid;
-
-    tid = rt_thread_create("init",
-                           rt_init_thread_entry, RT_NULL,
-                           2048, RT_THREAD_PRIORITY_MAX / 3, 20);
-
-    if (tid != RT_NULL)
-        rt_thread_startup(tid);
-
     return 0;
 }

bsp/simulator/applications/mnt.c

@@ -15,8 +15,6 @@
 
 int mnt_init(void)
 {
-    dfs_init();
-
 #ifdef RT_USING_DFS_WINSHAREDIR
     extern int dfs_win32_init(void);
     extern rt_err_t rt_win_sharedir_init(const char *name);
@@ -54,5 +52,5 @@ int mnt_init(void)
 
     return 0;
 }
-
+INIT_COMPONENT_EXPORT(mnt_init);
 #endif

bsp/simulator/applications/platform.c

@@ -13,8 +13,6 @@
 
 int platform_init(void)
 {
-    finsh_system_init();
-
 #ifdef RT_USING_LWIP
 #ifdef RT_USING_TAPNETIF
     tap_netif_hw_init();
@@ -39,6 +37,7 @@ int platform_init(void)
 
     return 0;
 }
+INIT_COMPONENT_EXPORT(platform_init);
 
 int platform_post_init(void)
 {
@@ -51,6 +50,6 @@ int platform_post_init(void)
         rt_hw_sdl_start();
     }
 #endif
-
     return 0;
 }
+INIT_COMPONENT_EXPORT(platform_post_init);

bsp/simulator/applications/startup.c

@@ -1,73 +0,0 @@
-/*
- * Copyright (c) 2006-2021, RT-Thread Development Team
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Change Logs:
- * Date           Author       Notes
- * 2012-09-03     prife        first implementation
- */
-#include <rthw.h>
-#include <rtthread.h>
-
-#include "board.h"
-
-/**
- * @addtogroup win32
- */
-
-/*@{*/
-
-extern int  rt_application_init(void);
-extern rt_uint8_t *heap;
-
-/**
- * This function will startup RT-Thread RTOS.
- */
-void rtthread_startup(void)
-{
-    /* init board */
-    rt_hw_board_init();
-
-    /* show version */
-    rt_show_version();
-
-    /* init timer system */
-    rt_system_timer_init();
-
-#ifdef RT_USING_HEAP
-    /* init memory system */
-    rt_system_heap_init((void *)heap, (void *)&heap[RT_HEAP_SIZE - 1]);
-#endif
-
-    /* init scheduler system */
-    rt_system_scheduler_init();
-
-    /* init application */
-    rt_application_init();
-
-    /* init timer thread */
-    rt_system_timer_thread_init();
-
-    /* init idle thread */
-    rt_thread_idle_init();
-
-    /* start scheduler */
-    rt_system_scheduler_start();
-
-    /* never reach here */
-    return ;
-}
-
-int main(void)
-{
-    /* disable interrupt first */
-    rt_hw_interrupt_disable();
-
-    /* startup RT-Thread RTOS */
-    rtthread_startup();
-
-    return 0;
-}
-
-/*@}*/

bsp/simulator/drivers/board.c

@@ -18,7 +18,6 @@
 /**
  * @addtogroup simulator on win32
  */
-rt_uint8_t *heap;
 
 rt_uint8_t *rt_hw_sram_init(void)
 {
@@ -33,6 +32,10 @@ rt_uint8_t *rt_hw_sram_init(void)
         exit(1);
 #endif
     }
+#ifdef RT_USING_HEAP
+    /* init memory system */
+    rt_system_heap_init((void*)heap, (void*)&heap[RT_HEAP_SIZE - 1]);
+#endif
     return heap;
 }
 
@@ -87,10 +90,10 @@ FINSH_FUNCTION_EXPORT_ALIAS(rt_hw_exit, __cmd_quit, exit rt-thread);
 /**
  * This function will initial win32
  */
-void rt_hw_board_init()
+int rt_hw_board_init(void)
 {
     /* init system memory */
-    heap = rt_hw_sram_init();
+    rt_hw_sram_init();
 
     uart_console_init();
 
@@ -101,5 +104,10 @@ void rt_hw_board_init()
 #if defined(RT_USING_CONSOLE)
     rt_console_set_device(RT_CONSOLE_DEVICE_NAME);
 #endif
+    /* init board */
+#ifdef RT_USING_COMPONENTS_INIT
+    rt_components_board_init();
+#endif
+    return 0;
 }
 /*@}*/

bsp/simulator/drivers/board.h

@@ -9,7 +9,7 @@
  */
 #ifndef __BOARD_H__
 #define __BOARD_H__
-void rt_hw_board_init(void);
+int rt_hw_board_init(void);
 rt_uint8_t *rt_hw_sram_init(void);
 
 /* SD Card init function */

bsp/simulator/rtconfig.h

@@ -43,6 +43,10 @@
 
 /* RT-Thread Components */
 
+#define RT_USING_COMPONENTS_INIT
+#define RT_USING_USER_MAIN
+#define RT_MAIN_THREAD_STACK_SIZE 2048
+#define RT_MAIN_THREAD_PRIORITY 10
 
 /* C++ features */
 
@@ -157,14 +161,18 @@
 /* peripheral libraries and drivers */
 
 
+/* AI packages */
+
+
 /* miscellaneous packages */
 
 
 /* samples: kernel and components samples */
 
 
-/* games: games run on RT-Thread console */
+/* entertainment: terminal games and other interesting software packages */
 
+#define SOC_SIMULATOR
 #define RT_USING_DFS_WINSHAREDIR
 #include "rtconfig_project.h"
 

include/rtdef.h

@@ -210,7 +210,32 @@ typedef rt_base_t                       rt_off_t;       /**< Type for offset */
 #ifdef RT_USING_COMPONENTS_INIT
 typedef int (*init_fn_t)(void);
 #ifdef _MSC_VER /* we do not support MS VC++ compiler */
-    #define INIT_EXPORT(fn, level)
+#pragma section("rti_fn$f",read)
+    #if RT_DEBUG_INIT
+        struct rt_init_desc
+        {
+            const char* level;
+            const init_fn_t fn;
+            const char* fn_name;
+        };
+        #define INIT_EXPORT(fn, level)                                  \
+                                const char __rti_level_##fn[] = level"__rt_init_"#fn;   \
+                                const char __rti_##fn##_name[] = #fn;                   \
+                                __declspec(allocate("rti_fn$f"))                        \
+                                RT_USED const struct rt_init_desc __rt_init_msc_##fn =  \
+                                {__rti_level_##fn, fn, __rti_##fn##_name};
+    #else
+        struct rt_init_desc
+        {
+            const char* level;
+            const init_fn_t fn;
+        };
+        #define INIT_EXPORT(fn, level)                                  \
+                                const char __rti_level_##fn[] = level"__rt_init_"#fn;   \
+                                __declspec(allocate("rti_fn$f"))                        \
+                                RT_USED const struct rt_init_desc __rt_init_msc_##fn =  \
+                                {__rti_level_##fn, fn };
+    #endif
 #else
     #if RT_DEBUG_INIT
         struct rt_init_desc

libcpu/sim/win32/cpu_port.c

@@ -699,3 +699,14 @@ rt_uint32_t YieldInterruptHandle(void)
 
     return 0;
 } /*** YieldInterruptHandle ***/
+
+/* system entry */
+extern int rtthread_startup(void);
+int wmain(int argc, char* argv[])
+{
+    /* disable interrupt first */
+    rt_hw_interrupt_disable();
+    /* startup RT-Thread RTOS */
+    rtthread_startup();
+}
+#pragma comment(linker, "/subsystem:console /entry:wmainCRTStartup")

libcpu/sim/win32/startup.c

@@ -0,0 +1,326 @@
+/*
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2020-12-04     tyx          first implementation
+ */
+
+#include <rthw.h>
+#include <rtthread.h>
+
+#ifdef RT_USING_USER_MAIN
+#ifndef RT_MAIN_THREAD_STACK_SIZE
+#define RT_MAIN_THREAD_STACK_SIZE     2048
+#endif
+#ifndef RT_MAIN_THREAD_PRIORITY
+#define RT_MAIN_THREAD_PRIORITY       (RT_THREAD_PRIORITY_MAX / 3)
+#endif
+#endif
+
+#ifdef RT_USING_COMPONENTS_INIT
+/*
+ * Components Initialization will initialize some driver and components as following
+ * order:
+ * rti_start         --> 0
+ * BOARD_EXPORT      --> 1
+ * rti_board_end     --> 1.end
+ *
+ * DEVICE_EXPORT     --> 2
+ * COMPONENT_EXPORT  --> 3
+ * FS_EXPORT         --> 4
+ * ENV_EXPORT        --> 5
+ * APP_EXPORT        --> 6
+ *
+ * rti_end           --> 6.end
+ *
+ * These automatically initialization, the driver or component initial function must
+ * be defined with:
+ * INIT_BOARD_EXPORT(fn);
+ * INIT_DEVICE_EXPORT(fn);
+ * ...
+ * INIT_APP_EXPORT(fn);
+ * etc.
+ */
+
+#pragma section("rti_fn$a", read)
+const char __rti_fn_begin_name[] = "__rti_fn_start";
+__declspec(allocate("rti_fn$a")) const struct rt_init_desc __rti_fn_begin =
+{
+    __rti_fn_begin_name,
+    NULL
+};
+
+#pragma section("rti_fn$z", read)
+const char __rti_fn_end_name[] = "__rti_fn_end";
+__declspec(allocate("rti_fn$z")) const struct rt_init_desc __rti_fn_end =
+{
+    __rti_fn_end_name,
+    NULL
+};
+
+static int rti_start(void)
+{
+    return 0;
+}
+INIT_EXPORT(rti_start, "0");
+
+static int rti_board_end(void)
+{
+    return 0;
+}
+INIT_EXPORT(rti_board_end, "1_end");
+
+static int rti_end(void)
+{
+    return 0;
+}
+INIT_EXPORT(rti_end, "6_end");
+
+/**
+ * Find next init function
+ */
+static const struct rt_init_desc* rt_init_find_next(const char* lv,
+    unsigned int* begin, unsigned int* end)
+{
+    const struct rt_init_desc* ptr;
+    const struct rt_init_desc* ret_ptr = RT_NULL;
+
+    while (begin < end)
+    {
+        if (*begin != 0)
+        {
+            ptr = (const struct rt_init_desc*)begin;
+            if (ret_ptr != RT_NULL)
+            {
+                if (rt_strcmp(lv, ptr->level) < 0 &&
+                    rt_strcmp(ret_ptr->level, ptr->level) > 0)
+                {
+                    ret_ptr = ptr;
+                }
+            }
+            else
+            {
+                if (rt_strcmp(lv, ptr->level) < 0)
+                {
+                    ret_ptr = ptr;
+                }
+            }
+            begin += (sizeof(struct rt_init_desc) / sizeof(unsigned int));
+        }
+        else
+        {
+            begin++;
+        }
+    }
+    return ret_ptr;
+}
+
+/**
+ * RT-Thread Components Initialization for board
+ */
+void rt_components_board_init(void)
+{
+    const struct rt_init_desc* ptr;
+    const char* lv_start = "0__rt_init_rti_start";
+    const char* lv_end = "1_end__rt_init_rti_board_end";
+    unsigned int* ptr_begin = (unsigned int*)&__rti_fn_begin;
+    unsigned int* ptr_end = (unsigned int*)&__rti_fn_end;
+    int result;
+
+    ptr_begin += (sizeof(struct rt_init_desc) / sizeof(unsigned int));
+    while (*ptr_begin == 0) ptr_begin++;
+    do ptr_end--; while (*ptr_end == 0);
+
+    while (1)
+    {
+        ptr = rt_init_find_next(lv_start, ptr_begin, ptr_end);
+        if (ptr == RT_NULL ||
+            rt_strcmp(ptr->level, lv_end) >= 0)
+        {
+            break;
+        }
+        if (ptr->fn)
+        {
+#if RT_DEBUG_INIT
+            rt_kprintf("initialize %s", ptr->fn_name);
+            result = ptr->fn();
+            rt_kprintf(":%d done\n", result);
+#else
+            result = ptr->fn();
+#endif
+        }
+        lv_start = ptr->level;
+    };
+}
+
+/**
+ * RT-Thread Components Initialization
+ */
+void rt_components_init(void)
+{
+    const struct rt_init_desc* ptr;
+    const char* lv_start = "1_end__rt_init_rti_board_end";
+    const char* lv_end = "6_end__rt_init_rti_end";
+    unsigned int* ptr_begin = (unsigned int*)&__rti_fn_begin;
+    unsigned int* ptr_end = (unsigned int*)&__rti_fn_end;
+    int result;
+
+    ptr_begin += (sizeof(struct rt_init_desc) / sizeof(unsigned int));
+    while (*ptr_begin == 0) ptr_begin++;
+    do ptr_end--; while (*ptr_end == 0);
+
+    while (1)
+    {
+        ptr = rt_init_find_next(lv_start, ptr_begin, ptr_end);
+        if (ptr == RT_NULL ||
+            rt_strcmp(ptr->level, lv_end) >= 0)
+        {
+            break;
+        }
+        if (ptr->fn)
+        {
+#if RT_DEBUG_INIT
+            rt_kprintf("initialize %s", ptr->fn_name);
+            result = ptr->fn();
+            rt_kprintf(":%d done\n", result);
+#else
+            result = ptr->fn();
+#endif
+        }
+        lv_start = ptr->level;
+    };
+}
+#endif   /* RT_USING_COMPONENTS_INIT */
+
+#ifdef RT_USING_USER_MAIN
+
+void rt_application_init(void);
+void rt_hw_board_init(void);
+int rtthread_startup(void);
+
+#if defined(__CC_ARM) || defined(__CLANG_ARM)
+extern int $Super$$main(void);
+/* re-define main function */
+int $Sub$$main(void)
+{
+    rtthread_startup();
+    return 0;
+}
+#elif defined(__ICCARM__)
+extern int main(void);
+/* __low_level_init will auto called by IAR cstartup */
+extern void __iar_data_init3(void);
+int __low_level_init(void)
+{
+    // call IAR table copy function.
+    __iar_data_init3();
+    rtthread_startup();
+    return 0;
+}
+#elif defined(__GNUC__)
+/* Add -eentry to arm-none-eabi-gcc argument */
+int entry(void)
+{
+    rtthread_startup();
+    return 0;
+}
+#endif
+
+#ifndef RT_USING_HEAP
+/* if there is not enable heap, we should use static thread and stack. */
+ALIGN(8)
+static rt_uint8_t main_stack[RT_MAIN_THREAD_STACK_SIZE];
+struct rt_thread main_thread;
+#endif
+
+/* the system main thread */
+void main_thread_entry(void *parameter)
+{
+    extern int main(void);
+
+#ifdef RT_USING_COMPONENTS_INIT
+    /* RT-Thread components initialization */
+    rt_components_init();
+#endif
+
+#ifdef RT_USING_SMP
+    rt_hw_secondary_cpu_up();
+#endif
+    /* invoke system main function */
+#if defined(__CC_ARM) || defined(__CLANG_ARM)
+    {
+        extern int $Super$$main(void);
+        $Super$$main(); /* for ARMCC. */
+    }
+#elif defined(__ICCARM__) || defined(__GNUC__) || defined(__TASKING__) || defined(_MSC_VER)
+    main();
+#endif
+}
+
+void rt_application_init(void)
+{
+    rt_thread_t tid;
+
+#ifdef RT_USING_HEAP
+    tid = rt_thread_create("main", main_thread_entry, RT_NULL,
+                           RT_MAIN_THREAD_STACK_SIZE, RT_MAIN_THREAD_PRIORITY, 20);
+    RT_ASSERT(tid != RT_NULL);
+#else
+    rt_err_t result;
+
+    tid = &main_thread;
+    result = rt_thread_init(tid, "main", main_thread_entry, RT_NULL,
+                            main_stack, sizeof(main_stack), RT_MAIN_THREAD_PRIORITY, 20);
+    RT_ASSERT(result == RT_EOK);
+
+    /* if not define RT_USING_HEAP, using to eliminate the warning */
+    (void)result;
+#endif
+
+    rt_thread_startup(tid);
+}
+
+int rtthread_startup(void)
+{
+    rt_hw_interrupt_disable();
+
+    /* board level initialization
+     * NOTE: please initialize heap inside board initialization.
+     */
+    rt_hw_board_init();
+
+    /* show RT-Thread version */
+    rt_show_version();
+
+    /* timer system initialization */
+    rt_system_timer_init();
+
+    /* scheduler system initialization */
+    rt_system_scheduler_init();
+
+#ifdef RT_USING_SIGNALS
+    /* signal system initialization */
+    rt_system_signal_init();
+#endif
+
+    /* create init_thread */
+    rt_application_init();
+
+    /* timer thread initialization */
+    rt_system_timer_thread_init();
+
+    /* idle thread initialization */
+    rt_thread_idle_init();
+
+#ifdef RT_USING_SMP
+    rt_hw_spin_lock(&_cpus_lock);
+#endif /*RT_USING_SMP*/
+
+    /* start scheduler */
+    rt_system_scheduler_start();
+
+    /* never reach here */
+    return 0;
+}
+#endif