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Apache NuttX is a mature, real-time embedded operating system (RTOS)
https://nuttx.apache.org/
04283e6dd2
Switch every sim/sim/sim defconfig whose init entry point was nsh_main
(81 configs) to nxinit (init_main). nsh now runs as a "console sh"
service started by init.rc instead of being the top-level init task.
Each switched defconfig only gains the nxinit-essential keys (minimal
delta, regenerated so no unrelated options leak in):
- CONFIG_INIT_ENTRYPOINT="init_main"
- CONFIG_SYSTEM_NXINIT=y plus its Kconfig deps that were not already set:
CONFIG_EXPERIMENTAL, CONFIG_LIBC_EXECFUNCS, CONFIG_SCHED_CHILD_STATUS
(which depends on CONFIG_SCHED_HAVE_PARENT)
- CONFIG_ETC_ROMFS=y / CONFIG_FS_ROMFS=y to ship init.rc via ROMFS
No stack-size overrides are added: INIT_STACKSIZE and SYSTEM_NSH_STACKSIZE
keep their Kconfig defaults (DEFAULT_TASK_STACKSIZE).
Five configs (dynconns, module, module32, sotest, sotest32) had
CONFIG_BINFMT_DISABLE=y, which blocks CONFIG_LIBC_EXECFUNCS and thus
CONFIG_SYSTEM_NXINIT. Since nxinit spawns services via exec(), binfmt is
re-enabled in those five. They also enable CONFIG_LIBC_ENVPATH but did
not ship a /bin, so nxinit's posix_spawnp("sh") resolved via PATH and
failed with ENOENT ("Error Starting service 'console': 2"). Add
CONFIG_FS_BINFS=y and CONFIG_PATH_INITIAL="/bin" to those five so the
builtin apps are visible under /bin and the console service starts,
matching the working sim:nsh config.
citest additionally needed CONFIG_ETC_ROMFSDEVNO=1 (matching the 53
other sim configs that already set it to avoid the same collision):
sim_registerblockdevice() (arch/sim/src/sim/sim_blockdevice.c, called
from up_initialize() before any application task starts) unconditionally
registers a FAT ramdisk at /dev/ram0 whenever CONFIG_FS_FAT is set, and
citest is one of the few switched configs with CONFIG_FS_FAT=y that had
never overridden CONFIG_ETC_ROMFSDEVNO away from its Kconfig default of
0. With nxinit, romdisk_register() for /etc's ROMFS at that same minor
number then fails with -EEXIST and nxinit aborts with "Error Opening
/etc/init.d/init.rc" since it treats a missing init.rc as fatal;
nsh_main() silently tolerated the identical failure before this switch
(logs "init: open failed: 2" and continues to the nsh prompt), so the
/etc mount had actually never worked for citest even pre-nxinit.
Add boards/sim/sim/sim/src/etc/init.d/init.rc (registers a "console sh"
service guarded by CONFIG_SYSTEM_NSH; "on init" starts it), shipped via
ROMFS in the Make build (RCSRCS) and CMake (nuttx_add_romfs()), both gated
on CONFIG_ETC_ROMFS && CONFIG_SYSTEM_NXINIT so non-nxinit configs are
unaffected.
Switching to nxinit means nsh_main()/nsh_initialize() (which used to run
/etc/init.d/rc.sysinit and rcS to mount /tmp and /data) no longer runs on
the 46 sim configs that already had CONFIG_ETC_ROMFS=y on master, so
those mounts would otherwise be lost. /bin (binfs) and /proc (procfs) are
unaffected: sim_bringup() (called from board_late_initialize(), before
any entrypoint task starts, independent of nsh_main/init_main) already
mounts them unconditionally on master, and this PR does not touch that
file. init.rc's "on init" action reproduces the rest of rc.sysinit's
mounts (tmpfs, or the FAT-backed /tmp ramdisk via mkrd + mkfatfs + mount
for boards without CONFIG_FS_TMPFS) plus the hostfs /data mount that
used to live in rcS, inlining them directly instead of spawning the
standalone rcsysinit/rcS scripts through a "service ... oneshot"
indirection. nxinit has no builtin mount/mkrd/mkfatfs yet, so each of
these commands still resolves through its posix_spawnp() sh fallback;
that limitation is unchanged by this PR and is left for a follow-up
(either a native mount() call in sim_bringup() for the fixed-path
mounts, or a builtin in nxinit). The 6 configs that also enable
CONFIG_FS_FAT get an explicit CONFIG_ETC_FATDEVNO=2 so this ramdisk does
not collide with /etc's romdisk.
Now that every sim nsh_main + CONFIG_ETC_ROMFS config has switched to
nxinit, boards/sim/sim/sim/src/etc/init.d/rcS and rc.sysinit are dead
code: no remaining sim config calls nsh_initialize() (the only caller of
those scripts), so remove both files outright and drop them from
boards/sim/sim/sim/src/CMakeLists.txt and Makefile's ROMFS RCSRCS list
(init.rc is shipped instead, as above, only when CONFIG_SYSTEM_NXINIT=y).
The remaining ROMFS-enabled sim configs whose entrypoint isn't nsh_main
(nxlines/nxwm/toybox) never executed rcS/rc.sysinit either (their
entrypoint never calls nsh_initialize()), so they lose nothing but a few
unused bytes from their ROMFS image; sim:nxlines was rebuilt to confirm
it still links and boots with an empty etc/init.d/.
init.rc also uses <nuttx/macro.h>'s CONCATENATE() instead of a local
CONCAT_()/CONCAT() pair, matching existing NuttX convention instead of
duplicating a macro the tree already provides.
sim:windows and sim:windows64 are excluded and stay on nsh_main: they
build under MSVC in CI, and CONFIG_SYSTEM_NXINIT pulls in
apps/system/nxinit/action.c, which fails to compile under MSVC because
list_peek_head_type() (include/nuttx/list.h) uses a GCC
statement-expression the MSVC C compiler does not support; separately,
CONFIG_ETC_ROMFS routes them through nuttx_add_romfs()'s POSIX-shell
genromfs/xxd/sed custom build step, which cmd.exe cannot parse either.
Both are pre-existing MSVC gaps in nxinit/the ROMFS CMake helper, not
something this defconfig-only PR should fix, so these two configs are
left on nsh_main.
Testing (sim, host gcc): sim:nsh boots into nxinit with nsh spawned as
its service (init task = init_main, sh = its child), and now shows the
same five mount points as master (/bin /data /etc /proc /tmp), matching
the pre-switch nsh_main baseline; /data round-trips a write to the host
filesystem. The five binfmt configs reach an interactive nsh prompt
(help/uname work) instead of failing to start the console; e.g.
sim:module:
BEFORE fix: Error Starting service 'console': 2
AFTER fix: nsh> help / nsh> uname -a (console up)
init.rc's inlined FAT/tmpfs mount was verified by preprocessing it with
cpp under both CONFIG_FS_FAT and CONFIG_FS_TMPFS: the expansion matches
rc.sysinit's mount sequence (CONCATENATE() resolves to /dev/ram2, etc.).
sim:citest specifically verified with gdb: before the ETC_ROMFSDEVNO fix,
register_blockdriver("/dev/ram0") is called twice (once by
sim_registerblockdevice() from up_initialize(), once by nx_romfsetc());
the second call returns -EEXIST and nxinit aborts. After setting
CONFIG_ETC_ROMFSDEVNO=1, sim:citest boots cleanly into nxinit (ps shows
init_main waiting on its child sh, matching sim:nsh), and the compiled
ROMFS image contains only init.rc. sim:nxlines, a non-nxinit
CONFIG_ETC_ROMFS config, was rebuilt to confirm it still links and boots
with the now-empty etc/init.d/ (rcS/rc.sysinit removed).
Assisted-by: opencode-agent/claude-sonnet-5
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
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|---|---|---|
| .github | ||
| arch | ||
| audio | ||
| binfmt | ||
| boards | ||
| cmake | ||
| crypto | ||
| Documentation | ||
| drivers | ||
| dummy | ||
| fs | ||
| graphics | ||
| include | ||
| libs | ||
| mm | ||
| net | ||
| openamp | ||
| pass1 | ||
| sched | ||
| syscall | ||
| tools | ||
| video | ||
| wireless | ||
| .asf.yaml | ||
| .codespell-ignore-lines | ||
| .codespellrc | ||
| .editorconfig | ||
| .gitignore | ||
| .gitmessage | ||
| .pre-commit-config.yaml | ||
| .yamllint | ||
| AUTHORS | ||
| CMakeLists.txt | ||
| CONTRIBUTING.md | ||
| INVIOLABLES.md | ||
| Kconfig | ||
| LICENSE | ||
| Makefile | ||
| NOTICE | ||
| README.md | ||
| ReleaseNotes | ||
Apache NuttX is a real-time operating system (RTOS) with an emphasis on standards compliance and small footprint. Scalable from 8-bit to 64-bit microcontroller environments, the primary governing standards in NuttX are POSIX and ANSI standards. Additional standard APIs from Unix and other common RTOSs (such as VxWorks) are adopted for functionality not available under these standards, or for functionality that is not appropriate for deeply-embedded environments (such as fork()).
For brevity, many parts of the documentation will refer to Apache NuttX as simply NuttX.
Getting Started
First time on NuttX? Read the Getting Started guide! If you don't have a board available, NuttX has its own simulator that you can run on terminal.
Documentation
You can find the current NuttX documentation on the Documentation Page.
Alternatively, you can build the documentation yourself by following the Documentation Build Instructions.
The old NuttX documentation is still available in the Apache wiki.
Supported Boards
NuttX supports a wide variety of platforms. See the full list on the Supported Platforms page.
Contributing
If you wish to contribute to the NuttX project, read the Contributing guidelines for information on Git usage, coding standard, workflow and the NuttX principles.
License
The code in this repository is under either the Apache 2 license, or a license compatible with the Apache 2 license. See the License Page for more information.