removed "special code" to start optional modules

flight/CopterControl/System/coptercontrol.c

@@ -73,12 +73,6 @@ int main()
 	/* Initialize modules */
 	MODULE_INITIALISE_ALL
 
-	/* Optional module initialization.  This code might want to go somewhere else as
-	 * it grows */
-	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
-	HwSettingsOptionalModulesGet(optionalModules);
-	MODULE_INITIALISE_OPTIONAL(optionalModules)
-
 	/* swap the stack to use the IRQ stack */
 	Stack_Change();
 

flight/Modules/System/systemmod.c

@@ -138,11 +138,6 @@ static void systemTask(void *parameters)
 	/* create all modules thread */
 	MODULE_TASKCREATE_ALL
 
-	/* create optional module threads */
-	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
-	HwSettingsOptionalModulesGet(optionalModules);
-	MODULE_TASKCREATE_OPTIONAL(optionalModules)
-
 	// Initialize vars
 	idleCounter = 0;
 	idleCounterClear = 0;

flight/OpenPilot/Makefile

@@ -481,22 +481,10 @@ endif
 endif
 
 # Generate intermediate code
-gencode: ${OUTDIR}/InitOptMods.h
-
-$(SRC): gencode
 
 # this is supposed to be  standard function, but apparently it is not
 uc = $(subst a,A,$(subst b,B,$(subst c,C,$(subst d,D,$(subst e,E,$(subst f,F,$(subst g,G,$(subst h,H,$(subst i,I,$(subst j,J,$(subst k,K,$(subst l,L,$(subst m,M,$(subst n,N,$(subst o,O,$(subst p,P,$(subst q,Q,$(subst r,R,$(subst s,S,$(subst t,T,$(subst u,U,$(subst v,V,$(subst w,W,$(subst x,X,$(subst y,Y,$(subst z,Z,$1))))))))))))))))))))))))))
 
-${OUTDIR}/InitOptMods.h: Makefile
-	@echo ${quote}${foreach MOD, ${OPTMODULES}, int32_t ${MOD}Initialize(); }${quote} > ${OUTDIR}/InitOptMods.h
-	@echo ${quote}${foreach MOD, ${OPTMODULES}, int32_t ${MOD}Start(); }${quote} >> ${OUTDIR}/InitOptMods.h
-	@echo ${quote}#define MODULE_INITIALISE_OPTIONAL(list) \${quote} >> ${OUTDIR}/InitOptMods.h
-	@echo ${quote}${foreach MOD, ${OPTMODULES}, OPTMODULE_INIT(list, $(call uc, ${MOD}), ${MOD});}${quote} >> ${OUTDIR}/InitOptMods.h
-	@echo ${quote}#define MODULE_TASKCREATE_OPTIONAL(list) \${quote} >> ${OUTDIR}/InitOptMods.h
-	@echo ${quote}${foreach MOD, ${OPTMODULES}, OPTMODULE_START(list, $(call uc, ${MOD}), ${MOD});}${quote} >> ${OUTDIR}/InitOptMods.h
-
-
 # Generate code for PyMite
 ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) 
 	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
@@ -603,4 +591,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list gencode install
+.PHONY : all build clean clean_list install

flight/OpenPilot/Makefile.posix

@@ -126,6 +126,7 @@ UAVOBJPYTHONSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/python
 # use file-extension c for "c-only"-files
 
 MODNAMES = $(notdir ${MODULES})
+MODNAMES += $(notdir ${OPTMODULES})
 
 ifndef TESTAPP
 
@@ -448,24 +449,11 @@ else
 	quote =
 endif
 
-# Generate intermediate code
-gencode: ${OUTDIR}/InitOptMods.h
-
-$(SRC): gencode
-
 # this is supposed to be  standard function, but apparently it is not
 uc = $(subst a,A,$(subst b,B,$(subst c,C,$(subst d,D,$(subst e,E,$(subst f,F,$(subst g,G,$(subst h,H,$(subst i,I,$(subst j,J,$(subst k,K,$(subst l,L,$(subst m,M,$(subst n,N,$(subst o,O,$(subst p,P,$(subst q,Q,$(subst r,R,$(subst s,S,$(subst t,T,$(subst u,U,$(subst v,V,$(subst w,W,$(subst x,X,$(subst y,Y,$(subst z,Z,$1))))))))))))))))))))))))))
 
 # Generate code for module initialization
 
-${OUTDIR}/InitOptMods.h: Makefile.posix
-	@echo ${quote}${foreach MOD, ${OPTMODULES}, int32_t ${MOD}Initialize(); }${quote} > ${OUTDIR}/InitOptMods.h
-	@echo ${quote}${foreach MOD, ${OPTMODULES}, int32_t ${MOD}Start(); }${quote} >> ${OUTDIR}/InitOptMods.h
-	@echo ${quote}#define MODULE_INITIALISE_OPTIONAL(list) \${quote} >> ${OUTDIR}/InitOptMods.h
-	@echo ${quote}${foreach MOD, ${OPTMODULES}, OPTMODULE_INIT(list, $(call uc, ${MOD}), ${MOD});}${quote} >> ${OUTDIR}/InitOptMods.h
-	@echo ${quote}#define MODULE_TASKCREATE_OPTIONAL(list) \${quote} >> ${OUTDIR}/InitOptMods.h
-	@echo ${quote}${foreach MOD, ${OPTMODULES}, OPTMODULE_START(list, $(call uc, ${MOD}), ${MOD});}${quote} >> ${OUTDIR}/InitOptMods.h
-
 ${OUTDIR}/InitMods.c: Makefile.posix
 	@echo ${MSG_MODINIT}
 	@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@@ -677,5 +665,5 @@ endif
 
 # Listing of phony targets.
 .PHONY : all begin finish end sizebefore sizeafter gccversion \
-build elf hex bin lss sym clean clean_list program gencode
+build elf hex bin lss sym clean clean_list program
 

flight/PiOS.posix/inc/pios_initcall.h

@@ -31,8 +31,6 @@
 #ifndef PIOS_INITCALL_H
 #define PIOS_INITCALL_H
 
-#include "InitOptMods.h"
-
 /**
  * Just a stub define to make things compile.
  * Automatically link based initialization currently doesn't work
@@ -66,16 +64,6 @@ extern void StartModules();
 	/* Initialize the system thread */ \
 	SystemModInitialize();}
 
-#define OPTMODULE_INIT(list,moduc,mod) \
-	if(list[ HWSETTINGS_OPTIONALMODULES_##moduc ] == HWSETTINGS_OPTIONALMODULES_ENABLED) { \
-		mod##Initialize(); \
-	}
-
-#define OPTMODULE_START(list,moduc,mod) \
-	if(list[ HWSETTINGS_OPTIONALMODULES_##moduc ] == HWSETTINGS_OPTIONALMODULES_ENABLED) { \
-		mod##Start(); \
-	}
-
 #endif	/* PIOS_INITCALL_H */
 
 /**

flight/PiOS/inc/pios_initcall.h

@@ -31,8 +31,6 @@
 #ifndef PIOS_INITCALL_H
 #define PIOS_INITCALL_H
 
-#include "InitOptMods.h"
-
 /* 
  * This implementation is heavily based on the Linux Kernel initcall
  * infrastructure:
@@ -79,16 +77,6 @@ extern initmodule_t __module_initcall_start[], __module_initcall_end[];
 									if (fn->fn_tinit) \
 									   (fn->fn_tinit)(); }
 
-#define OPTMODULE_INIT(list,moduc,mod) \
-	if(list[ HWSETTINGS_OPTIONALMODULES_##moduc ] == HWSETTINGS_OPTIONALMODULES_ENABLED) { \
-		mod##Initialize(); \
-	}
-
-#define OPTMODULE_START(list,moduc,mod) \
-	if(list[ HWSETTINGS_OPTIONALMODULES_##moduc ] == HWSETTINGS_OPTIONALMODULES_ENABLED) { \
-		mod##Start(); \
-	}
-
 #endif	/* PIOS_INITCALL_H */
 
 /**