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Code Issues Releases Activity

Module initialisation rework ported to PiOS.posix

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This commit is contained in:
Corvus Corax 2011-06-26 00:25:06 +02:00
parent 6683ce8570
commit fc62f6e522
4 changed files with 14 additions and 8 deletions
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3
flight/CopterControl/System/coptercontrol.c
View File

@ -42,9 +42,6 @@
/* Global Variables */
/* Prototype of generated InitModules() function */
extern void InitModules(void);
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);

4
flight/OpenPilot/Makefile.posix
View File

@ -441,9 +441,13 @@ ${OUTDIR}/InitMods.c: Makefile.posix
@echo ${MSG_MODINIT}
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Start();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# 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) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)

5
flight/OpenPilot/System/openpilot.c
View File

@ -62,9 +62,6 @@ static void TaskSDCard(void *pvParameters);
int32_t CONSOLE_Parse(uint8_t port, char c);
void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
/* Prototype of generated InitModules() function */
extern void InitModules(void);
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
@ -321,5 +318,5 @@ static void TaskSDCard(void *pvParameters)
/**
* @}
* @}
*/
*/

10
flight/PiOS.posix/inc/pios_initcall.h
View File

@ -38,14 +38,22 @@
* and we cannot define a linker script for each of them atm
*/
extern void InitModules();
extern void StartModules();
#define UAVOBJ_INITCALL(fn)
#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags)
#define MODULE_TASKCREATE_ALL
#define MODULE_TASKCREATE_ALL { \
/* Start all module threads */ \
StartModules(); \
}
#define MODULE_INITIALISE_ALL { \
/* Initialize modules */ \
InitModules(); \
/* Initialize the system thread */ \
SystemModInitialize(); \
/* Start the FreeRTOS scheduler which never returns.*/ \
vTaskStartScheduler(); \
/* If all is well we will never reach here as the scheduler will now be running. */ \