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Code Issues Releases Activity

OP-423: simplify the MODULE_INITCALL macro and remove the ordering loops

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This commit is contained in:
Mathieu Rondonneau 2011-07-12 20:44:32 -07:00
parent ca44469b92
commit 612a439199
15 changed files with 22 additions and 33 deletions
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2
flight/Modules/AHRSComms/ahrs_comms.c
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@ -88,7 +88,7 @@ int32_t AHRSCommsInitialize(void)
return 0; return 0;
} }
MODULE_INITCALL(AHRSCommsInitialize, 0, AHRSCommsStart, 0, MODULE_EXEC_NOORDER_FLAG) MODULE_INITCALL(AHRSCommsInitialize, AHRSCommsStart)
/** /**
* Module thread, should not return. * Module thread, should not return.

2
flight/Modules/Actuator/actuator.c
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@ -116,7 +116,7 @@ int32_t ActuatorInitialize()
return 0; return 0;
} }
MODULE_INITCALL(ActuatorInitialize, 0, ActuatorStart, 0, MODULE_EXEC_NOORDER_FLAG) MODULE_INITCALL(ActuatorInitialize, ActuatorStart)
/** /**
* @brief Main Actuator module task * @brief Main Actuator module task

2
flight/Modules/Altitude/altitude.c
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@ -90,7 +90,7 @@ int32_t AltitudeInitialize()
return 0; return 0;
} }
MODULE_INITCALL(AltitudeInitialize, 0, AltitudeStart, 0, MODULE_EXEC_NOORDER_FLAG) MODULE_INITCALL(AltitudeInitialize, AltitudeStart)
/** /**
* Module thread, should not return. * Module thread, should not return.
*/ */

2
flight/Modules/Attitude/attitude.c
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@ -147,7 +147,7 @@ int32_t AttitudeInitialize(void)
return 0; return 0;
} }
MODULE_INITCALL(AttitudeInitialize, 0, AttitudeStart, 0, MODULE_EXEC_NOORDER_FLAG) MODULE_INITCALL(AttitudeInitialize, AttitudeStart)
/** /**
* Module thread, should not return. * Module thread, should not return.

3
flight/Modules/Battery/battery.c
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@ -75,7 +75,8 @@ static void onTimer(UAVObjEvent* ev);
* Initialise the module, called on startup * Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed * \returns 0 on success or -1 if initialisation failed
*/ */
MODULE_INITCALL(BatteryInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG) MODULE_INITCALL(BatteryInitialize, 0)
int32_t BatteryInitialize(void) int32_t BatteryInitialize(void)
{ {
static UAVObjEvent ev; static UAVObjEvent ev;

2
flight/Modules/Example/example.c
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@ -59,4 +59,4 @@ void ExampleInitialize(void)
{ {
ExampleModEventInitialize(); ExampleModEventInitialize();
} }
MODULE_INITCALL(ExampleInitialize, 0, ExampleStart, 0, MODULE_EXEC_NOORDER_FLAG) MODULE_INITCALL(ExampleInitialize, ExampleStart)

2
flight/Modules/FirmwareIAP/firmwareiap.c
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@ -88,7 +88,7 @@ static void resetTask(UAVObjEvent *);
* \note * \note
* *
*/ */
MODULE_INITCALL(FirmwareIAPInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG) MODULE_INITCALL(FirmwareIAPInitialize, 0)
int32_t FirmwareIAPInitialize() int32_t FirmwareIAPInitialize()
{ {
const struct pios_board_info * bdinfo = &pios_board_info_blob; const struct pios_board_info * bdinfo = &pios_board_info_blob;

2
flight/Modules/FlightPlan/flightplan.c
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@ -86,7 +86,7 @@ int32_t FlightPlanInitialize()
return 0; return 0;
} }
MODULE_INITCALL(FlightPlanInitialize, 0, FlightPlanStart, 0, MODULE_EXEC_NOORDER_FLAG) MODULE_INITCALL(FlightPlanInitialize, FlightPlanStart)
/** /**
* Module task * Module task
*/ */

2
flight/Modules/GPS/GPS.c
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@ -129,7 +129,7 @@ int32_t GPSInitialize(void)
return 0; return 0;
} }
MODULE_INITCALL(GPSInitialize, 0, GPSStart, 0, MODULE_EXEC_NOORDER_FLAG) MODULE_INITCALL(GPSInitialize, GPSStart)
// **************** // ****************
/** /**

2
flight/Modules/Guidance/guidance.c
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@ -105,7 +105,7 @@ int32_t GuidanceInitialize()
return 0; return 0;
} }
MODULE_INITCALL(GuidanceInitialize, 0, GuidanceStart, 0, MODULE_EXEC_NOORDER_FLAG) MODULE_INITCALL(GuidanceInitialize, GuidanceStart)
static float northVelIntegral = 0; static float northVelIntegral = 0;
static float eastVelIntegral = 0; static float eastVelIntegral = 0;

2
flight/Modules/ManualControl/manualcontrol.c
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@ -112,7 +112,7 @@ int32_t ManualControlInitialize()
return 0; return 0;
} }
MODULE_INITCALL(ManualControlInitialize, 0, ManualControlStart, 0, MODULE_EXEC_NOORDER_FLAG) MODULE_INITCALL(ManualControlInitialize, ManualControlStart)
/** /**
* Module task * Module task

2
flight/Modules/Stabilization/stabilization.c
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@ -129,7 +129,7 @@ int32_t StabilizationInitialize()
return 0; return 0;
} }
MODULE_INITCALL(StabilizationInitialize, 0, StabilizationStart, 0, MODULE_EXEC_NOORDER_FLAG) MODULE_INITCALL(StabilizationInitialize, StabilizationStart)
/** /**
* Module task * Module task

2
flight/Modules/System/systemmod.c
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@ -111,7 +111,7 @@ int32_t SystemModInitialize(void)
return 0; return 0;
} }
MODULE_INITCALL(SystemModInitialize, 0, 0, 0, MODULE_EXEC_FIRST_FLAG) MODULE_INITCALL(SystemModInitialize, 0)
/** /**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS * System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
*/ */

2
flight/Modules/Telemetry/telemetry.c
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@ -143,7 +143,7 @@ int32_t TelemetryInitialize(void)
return 0; return 0;
} }
MODULE_INITCALL(TelemetryInitialize, 0, TelemetryStart, 0, MODULE_EXEC_LAST_FLAG) MODULE_INITCALL(TelemetryInitialize, TelemetryStart)
/** /**
* Register a new object, adds object to local list and connects the queue depending on the object's * Register a new object, adds object to local list and connects the queue depending on the object's

20
flight/PiOS/inc/pios_initcall.h
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@ -41,16 +41,10 @@
/* /*
* Used for initialization calls.. * Used for initialization calls..
*/ */
#define MODULE_EXEC_NOORDER_FLAG 0xFA000000
#define MODULE_EXEC_FIRST_FLAG 0xFA000001
#define MODULE_EXEC_LAST_FLAG 0xFA000002
typedef int32_t (*initcall_t)(void); typedef int32_t (*initcall_t)(void);
typedef struct { typedef struct {
uint32_t flag;
uint32_t param_minit;
initcall_t fn_minit; initcall_t fn_minit;
uint32_t param_tinit;
initcall_t fn_tinit; initcall_t fn_tinit;
} initmodule_t; } initmodule_t;
@ -69,21 +63,15 @@ extern initmodule_t __module_initcall_start[], __module_initcall_end[];
static initcall_t __initcall_##fn##id __attribute__((__used__)) \ static initcall_t __initcall_##fn##id __attribute__((__used__)) \
__attribute__((__section__(".initcall" level ".init"))) = fn __attribute__((__section__(".initcall" level ".init"))) = fn
#define __define_module_initcall(level,ifn,iparam,sfn,sparam, param) \ #define __define_module_initcall(level, ifn, sfn) \
static initmodule_t __initcall_##fn __attribute__((__used__)) \ static initmodule_t __initcall_##fn __attribute__((__used__)) \
__attribute__((__section__(".initcall" level ".init"))) = { .flag = param, .param_minit = iparam, .fn_minit = ifn, .param_tinit = sparam, .fn_tinit = sfn }; __attribute__((__section__(".initcall" level ".init"))) = { .fn_minit = ifn, .fn_tinit = sfn };
#define UAVOBJ_INITCALL(fn) __define_initcall("uavobj",fn,1) #define UAVOBJ_INITCALL(fn) __define_initcall("uavobj",fn,1)
#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags) __define_module_initcall("module", ifn, iparam, sfn, sparam, flags) #define MODULE_INITCALL(ifn, sfn) __define_module_initcall("module", ifn, sfn)
#define MODULE_INITIALISE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ #define MODULE_INITIALISE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
if (fn->fn_minit && ( (fn->flag & MODULE_EXEC_FIRST_FLAG) == MODULE_EXEC_FIRST_FLAG) ) \ if (fn->fn_minit) \
(fn->fn_minit)(); \
for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
if (fn->fn_minit && ( (fn->flag & (MODULE_EXEC_LAST_FLAG | MODULE_EXEC_FIRST_FLAG)) == MODULE_EXEC_NOORDER_FLAG) ) \
(fn->fn_minit)(); \
for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
if (fn->fn_minit && ( (fn->flag & MODULE_EXEC_LAST_FLAG) == MODULE_EXEC_LAST_FLAG) ) \
(fn->fn_minit)(); } (fn->fn_minit)(); }
#define MODULE_TASKCREATE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ #define MODULE_TASKCREATE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \