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+.. comment SPDX-License-Identifier: CC-BY-SA-4.0
+
+.. COMMENT: COPYRIGHT (c) 1988-2008.
+.. COMMENT: On-Line Applications Research Corporation (OAR).
+.. COMMENT: All rights reserved.
+
+Initialization Manager
+######################
+
+Introduction
+============
+
+The Initialization Manager is responsible for initiating and shutting down
+RTEMS.  Initiating RTEMS involves creating and starting all configured
+initialization tasks, and for invoking the initialization routine for each
+user-supplied device driver.  In a multiprocessor configuration, this manager
+also initializes the interprocessor communications layer.  The directives
+provided by the Initialization Manager are:
+
+- rtems_initialize_executive_ - Initialize RTEMS
+
+- rtems_shutdown_executive_ - Shutdown RTEMS
+
+Background
+==========
+
+Initialization Tasks
+--------------------
+.. index:: initialization tasks
+
+Initialization task(s) are the mechanism by which RTEMS transfers initial
+control to the user's application.  Initialization tasks differ from other
+application tasks in that they are defined in the User Initialization Tasks
+Table and automatically created and started by RTEMS as part of its
+initialization sequence.  Since the initialization tasks are scheduled using
+the same algorithm as all other RTEMS tasks, they must be configured at a
+priority and mode which will ensure that they will complete execution before
+other application tasks execute.  Although there is no upper limit on the
+number of initialization tasks, an application is required to define at least
+one.
+
+A typical initialization task will create and start the static set of
+application tasks.  It may also create any other objects used by the
+application.  Initialization tasks which only perform initialization should
+delete themselves upon completion to free resources for other tasks.
+Initialization tasks may transform themselves into a "normal" application task.
+This transformation typically involves changing priority and execution mode.
+RTEMS does not automatically delete the initialization tasks.
+
+System Initialization
+---------------------
+
+System Initialization begins with board reset and continues through RTEMS
+initialization, initialization of all device drivers, and eventually a context
+switch to the first user task.  Remember, that interrupts are disabled during
+initialization and the *initialization context* is not a task in any sense and
+the user should be very careful during initialization.
+
+The BSP must ensure that the there is enough stack space reserved for the
+initialization context to successfully execute the initialization routines for
+all device drivers and, in multiprocessor configurations, the Multiprocessor
+Communications Interface Layer initialization routine.
+
+The Idle Task
+-------------
+
+The Idle Task is the lowest priority task in a system and executes only when no
+other task is ready to execute.  This default implementation of this task
+consists of an infinite loop. RTEMS allows the Idle Task body to be replaced by
+a CPU specific implementation, a BSP specific implementation or an application
+specific implementation.
+
+The Idle Task is preemptible and *WILL* be preempted when any other task is
+made ready to execute.  This characteristic is critical to the overall behavior
+of any application.
+
+Initialization Manager Failure
+------------------------------
+
+The ``rtems_fatal_error_occurred`` directive will be invoked from
+``rtems_initialize_executive`` for any of the following reasons:
+
+- If either the Configuration Table or the CPU Dependent Information Table is
+  not provided.
+
+- If the starting address of the RTEMS RAM Workspace, supplied by the
+  application in the Configuration Table, is NULL or is not aligned on a
+  four-byte boundary.
+
+- If the size of the RTEMS RAM Workspace is not large enough to initialize and
+  configure the system.
+
+- If the interrupt stack size specified is too small.
+
+- If multiprocessing is configured and the node entry in the Multiprocessor
+  Configuration Table is not between one and the maximum_nodes entry.
+
+- If a multiprocessor system is being configured and no Multiprocessor
+  Communications Interface is specified.
+
+- If no user initialization tasks are configured.  At least one initialization
+  task must be configured to allow RTEMS to pass control to the application at
+  the end of the executive initialization sequence.
+
+- If any of the user initialization tasks cannot be created or started
+  successfully.
+
+A discussion of RTEMS actions when a fatal error occurs may be found
+:ref:`Announcing a Fatal Error`.
+
+Operations
+==========
+
+Initializing RTEMS
+------------------
+
+The Initialization Manager ``rtems_initialize_executive`` directives is called
+by the ``boot_card`` routine.  The ``boot_card`` routine is invoked by the
+Board Support Package once a basic C run-time environment is set up.  This
+consists of
+
+- a valid and accessible text section, read-only data, read-write data and
+  zero-initialized data,
+
+- an initialization stack large enough to initialize the rest of the Board
+  Support Package, RTEMS and the device drivers,
+
+- all registers and components mandated by Application Binary Interface, and
+
+- disabled interrupts.
+
+The ``rtems_initialize_executive`` directive uses a system initialization
+linker set to initialize only those parts of the overall RTEMS feature set that
+is necessary for a particular application.  See :ref:`Linker Sets`.  Each RTEMS
+feature used the application may optionally register an initialization handler.
+The system initialization API is available via``#included <rtems/sysinit.h>``.
+
+A list of all initialization steps follows.  Some steps are optional depending
+on the requested feature set of the application.  The initialization steps are
+execute in the order presented here.
+
+`RTEMS_SYSINIT_BSP_WORK_AREAS`
+    The work areas consisting of C Program Heap and the RTEMS Workspace are
+    initialized by the Board Support Package.  This step is mandatory.
+
+`RTEMS_SYSINIT_BSP_START`
+    Basic initialization step provided by the Board Support Package.  This step
+    is mandatory.
+
+`RTEMS_SYSINIT_DATA_STRUCTURES`
+    This directive is called when the Board Support Package has completed its
+    basic initialization and allows RTEMS to initialize the application
+    environment based upon the information in the Configuration Table, User
+    Initialization Tasks Table, Device Driver Table, User Extension Table,
+    Multiprocessor Configuration Table, and the Multiprocessor Communications
+    Interface (MPCI) Table.
+
+`RTEMS_SYSINIT_BSP_LIBC`
+    Depending on the application configuration the IO library and root
+    filesystem is initialized.  This step is mandatory.
+
+`RTEMS_SYSINIT_BEFORE_DRIVERS`
+    This directive performs initialization that must occur between basis RTEMS
+    data structure initialization and device driver initialization.  In
+    particular, in a multiprocessor configuration, this directive will create
+    the MPCI Server Task.
+
+`RTEMS_SYSINIT_BSP_PRE_DRIVERS`
+    Initialization step performed right before device drivers are initialized
+    provided by the Board Support Package.  This step is mandatory.
+
+`RTEMS_SYSINIT_DEVICE_DRIVERS`
+    This step initializes all statically configured device drivers and performs
+    all RTEMS initialization which requires device drivers to be initialized.
+    This step is mandatory.  In a multiprocessor configuration, this service
+    will initialize the Multiprocessor Communications Interface (MPCI) and
+    synchronize with the other nodes in the system.
+
+`RTEMS_SYSINIT_BSP_POST_DRIVERS`
+    Initialization step performed right after device drivers are initialized
+    provided by the Board Support Package.  This step is mandatory.
+
+The final action of the ``rtems_initialize_executive`` directive is to start
+multitasking.  RTEMS does not return to the initialization context and the
+initialization stack may be re-used for interrupt processing.
+
+Many of RTEMS actions during initialization are based upon the contents of the
+Configuration Table.  For more information regarding the format and contents of
+this table, please refer to the chapter :ref:`Configuring a System`.
+
+The final action in the initialization sequence is the initiation of
+multitasking.  When the scheduler and dispatcher are enabled, the highest
+priority, ready task will be dispatched to run.  Control will not be returned
+to the Board Support Package after multitasking is enabled.  The initialization
+stack may be re-used for interrupt processing.
+
+Shutting Down RTEMS
+-------------------
+
+The ``rtems_shutdown_executive`` directive is invoked by the application to end
+multitasking and terminate the system.
+
+Directives
+==========
+
+This section details the Initialization Manager's directives.  A subsection is
+dedicated to each of this manager's directives and describes the calling
+sequence, related constants, usage, and status codes.
+
+.. _rtems_initialize_executive:
+
+INITIALIZE_EXECUTIVE - Initialize RTEMS
+---------------------------------------
+.. index:: initialize RTEMS
+.. index:: start multitasking
+
+**CALLING SEQUENCE:**
+
+.. index:: rtems_initialize_executive
+
+.. code-block:: c
+
+    void rtems_initialize_executive(void);
+
+**DIRECTIVE STATUS CODES:**
+
+NONE
+
+**DESCRIPTION:**
+
+Iterates through the system initialization linker set and invokes the
+registered handlers.  The final step is to start multitasking.
+
+**NOTES:**
+
+This directive should be called by ``boot_card`` only.
+
+This directive *does not return* to the caller.  Errors in the initialization
+sequence are usually fatal and lead to a system termination.
+
+.. _rtems_shutdown_executive:
+
+SHUTDOWN_EXECUTIVE - Shutdown RTEMS
+-----------------------------------
+.. index:: shutdown RTEMS
+
+**CALLING SEQUENCE:**
+
+.. index:: rtems_shutdown_executive
+
+.. code-block:: c
+
+    void rtems_shutdown_executive(
+        uint32_t result
+    );
+
+**DIRECTIVE STATUS CODES:**
+
+NONE
+
+**DESCRIPTION:**
+
+This directive is called when the application wishes to shutdown RTEMS.  The
+system is terminated with a fatal source of ``RTEMS_FATAL_SOURCE_EXIT`` and the
+specified ``result`` code.
+
+**NOTES:**
+
+This directive *must* be the last RTEMS directive invoked by an application and
+it *does not return* to the caller.
+
+This directive may be called any time.