Also implement some ordering (quite ugly still) in the module init and task creation order so we can decide which module to start/init first
and which module to start/init last.
This will be replaced/adapter with the uavobject list later (once it's implemented).
reserving some space for module init and task create parameters to customize module/task creation (this will be usefull once we get the list and customization from customer).
Changes have been made for OP and CC. Tested comped with CC,OP, sim_posix.
Only ran on bench with CC for couple of minutes (code increase expected but no dropping of stack which is good).
This gives task creation at the time wherethe all heap is available.
- create linker section for those <module>Initialize()
- later this list will incorporate parameters as well. (this probably will be more a OP feature to swap/remove/delete module on the fly.
- this is not done at compile time anymore by Makefile.
- this will allow us to have control on the module start at run-time (not implemented but build the ground for it).
- this simplify the startup (Part of code re-org).
- this change does not affect sim_posix and win32 (since they don't need that)
- ensure it's compiling for PiOS.posix
- port to PiOS.win32 but not tested (not compiled)
- tested on CC
- compile on OP.
- this free ~200 bytes.
- current avalable bytes (is we keep the same remaining bytes on the stack than before) is easily passed the 1.2Ko mark on CC with new gcc (4.5.2)
- this does not include init-reorg for each module (I still think more can be freed)
- switch back to MSP stack before starting the scheduler so that the sheduler can use the IRQ stack (when/if needed).
- call the C portable function in heap1 to claim some stack back (the number to claim is taken from linker file).
- start the scheduler from reset vector (I move this here from main because it make sense to not go back to C (so that I don't need to copy the rolled stack in case the sheduler returns). This make it more clean.
- Also I have added the call to the mem manager if sheduler return. that way, we don't reset indefinitely if memory runs out. We will go to this handler and figure things out (right now, it's just looping but at least not rebooting. Probably trap NMI would be better (later improvement).
The part missing for this part is the weak attribute for the function in heap1.c so that we don't have to update everything with empty stub.
I think the weak atrribute for C function called in assembly is arch dependent so I am not sure if this is possible (will look into it, maybe somebody outthere nows).
Right now, it's heap1 dependent and won't work with heap2. I will clean that up the next couple of days.
I did some test and it looks good.
this is without init code re-organization so we don't free as much as we will be it's good starts.
This compile with sim_posix (since it does not affect portable code) so this is really clean.
I only tested this with CC. I will port it for OP when I will work on heap2.
