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OP-423 Fix some comment from code review:
- update example module - use module init macro for POSIX and WIN to make code cleaner.
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@ -79,15 +79,6 @@ int main()
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/* Initialize modules */
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MODULE_INITIALISE_ALL();
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#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
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/* Start the FreeRTOS scheduler which never returns.*/
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/* only do this for posix and win32 since the caller will take care
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* of starting the scheduler and increase the heap and swith back to
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* MSP stack. (all arch specific is hidden from here and take care by reset handler)
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*/
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vTaskStartScheduler();
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#endif
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return 0;
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}
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@ -49,9 +49,14 @@
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#include "examplemodperiodic.h"
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#include "examplemodthread.h"
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void ExampleInitialize(void)
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void ExampleStart(void)
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{
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ExampleModEventInitialize();
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ExampleModPeriodicInitialize();
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ExampleModThreadInitialize();
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}
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void ExampleInitialize(void)
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{
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ExampleModEventInitialize();
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}
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module_initcall(ExampleInitialize, 0, ExampleStart, 0, MODULE_EXEC_NOORDER_FLAG);
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@ -91,42 +91,17 @@ int main()
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* */
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PIOS_Board_Init();
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#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
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/* Initialize modules */
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MODULE_INITIALISE_ALL();
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#if INCLUDE_TEST_TASKS
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/* Create test tasks */
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/* keep this just because it was there */
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//xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
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//xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
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//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
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//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
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#else
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/* only do this for posix and win32 since the caller will take care
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* of starting the scheduler and increase the heap and swith back to
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* MSP stack. (all arch specific is hidden from here and take care by reset handler)
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* LED blinking in case of scheduler returning back should be handled in NMI or other
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* appropriate handlers like mem manager.
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*/
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/* Initialize modules */
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InitModules();
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/* Start the FreeRTOS scheduler which never returns.*/
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vTaskStartScheduler();
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/* If all is well we will never reach here as the scheduler will now be running. */
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/* If we do get here, it will most likely be because we ran out of heap space. */
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PIOS_LED_Off(LED1);
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PIOS_LED_Off(LED2);
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for(;;) {
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PIOS_LED_Toggle(LED1);
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PIOS_LED_Toggle(LED2);
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PIOS_DELAY_WaitmS(100);
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}
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xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
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xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
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xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
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xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
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#endif
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return 0;
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}
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@ -43,6 +43,21 @@
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#define MODULE_TASKCREATE_ALL();
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#define MODULE_INITIALISE_ALL(); \
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/* Initialize modules */ \
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InitModules(); \
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/* Start the FreeRTOS scheduler which never returns.*/ \
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vTaskStartScheduler(); \
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/* If all is well we will never reach here as the scheduler will now be running. */ \
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/* If we do get here, it will most likely be because we ran out of heap space. */ \
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PIOS_LED_Off(LED1); \
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PIOS_LED_Off(LED2); \
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for(;;) { \
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PIOS_LED_Toggle(LED1); \
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PIOS_LED_Toggle(LED2); \
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PIOS_DELAY_WaitmS(100); \
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}
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#endif /* PIOS_INITCALL_H */
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/**
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@ -43,6 +43,21 @@
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#define MODULE_TASKCREATE_ALL();
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#define MODULE_INITIALISE_ALL(); \
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/* Initialize modules */ \
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InitModules(); \
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/* Start the FreeRTOS scheduler which never returns.*/ \
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vTaskStartScheduler(); \
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/* If all is well we will never reach here as the scheduler will now be running. */ \
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/* If we do get here, it will most likely be because we ran out of heap space. */ \
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PIOS_LED_Off(LED1); \
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PIOS_LED_Off(LED2); \
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for(;;) { \
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PIOS_LED_Toggle(LED1); \
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PIOS_LED_Toggle(LED2); \
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PIOS_DELAY_WaitmS(100); \
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}
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#endif /* PIOS_INITCALL_H */
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