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)
The UAVObject initcall list is now automatically
generated at link time based on the exact set of
UAVObjects linked into the firmware image.
This will allow any subset of UAVObjects to be
used in any firmware image.
The uavobj_initcall() macro automatically adds the
marked function's address into the .initcalluavobj.init
ELF section.
The UAVObjectsInitializeAll() function now simply
iterates over the functions listed in the
.initcalluavobj.init section and calls them.
You can see the contents of this section in the ELF file
like this:
./tools/arm-2009q3/bin/arm-none-eabi-objdump \
--syms -j .initcalluavobj.init \
./build/openpilot/OpenPilot.elf
This is fundamentally the same mechanism that the Linux
kernel uses to initialize the specific set of components
that the user has selected in their kernel configuration.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2630 ebee16cc-31ac-478f-84a7-5cbb03baadba
