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fc1e3f574c
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.
99 lines
3.8 KiB
C
99 lines
3.8 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Initcall infrastructure
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* @{
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* @addtogroup PIOS_INITCALL Generic Initcall Macros
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* @brief Initcall Macros
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* @{
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*
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* @file pios_initcall.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @brief Initcall header
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_INITCALL_H
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#define PIOS_INITCALL_H
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/*
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* This implementation is heavily based on the Linux Kernel initcall
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* infrastructure:
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* http://lxr.linux.no/#linux/include/linux/init.h
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* http://git.kernel.org/?p=linux/kernel/git/torvalds/linux-2.6.git;a=blob;f=include/linux/init.h
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*/
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/*
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* Used for initialization calls..
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*/
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#define MODULE_EXEC_NOORDER_FLAG 0xFA000000
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#define MODULE_EXEC_FIRST_FLAG 0xFA000001
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#define MODULE_EXEC_LAST_FLAG 0xFA000002
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typedef int32_t (*initcall_t)(void);
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typedef struct {
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uint32_t flag;
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uint32_t param_minit;
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initcall_t fn_minit;
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uint32_t param_tinit;
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initcall_t fn_tinit;
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} initmodule_t;
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/* Init module section */
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extern initmodule_t __module_initcall_start[], __module_initcall_end[];
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/* initcalls are now grouped by functionality into separate
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* subsections. Ordering inside the subsections is determined
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* by link order.
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*
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* The `id' arg to __define_initcall() is needed so that multiple initcalls
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* can point at the same handler without causing duplicate-symbol build errors.
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*/
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#define __define_initcall(level,fn,id) \
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static initcall_t __initcall_##fn##id __attribute__((__used__)) \
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__attribute__((__section__(".initcall" level ".init"))) = fn
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#define __define_module_initcall(level,ifn,iparam,sfn,sparam, param) \
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static initmodule_t __initcall_##fn __attribute__((__used__)) \
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__attribute__((__section__(".initcall" level ".init"))) = { .flag = param, .param_minit = iparam, .fn_minit = ifn, .param_tinit = sparam, .fn_tinit = sfn }
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#define uavobj_initcall(fn) __define_initcall("uavobj",fn,1)
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#define module_initcall(ifn, iparam, sfn, sparam, flags) __define_module_initcall("module", ifn, iparam, sfn, sparam, flags)
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#define MODULE_INITIALISE_ALL(); for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
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if (fn->fn_minit && ( (fn->flag & MODULE_EXEC_FIRST_FLAG) == MODULE_EXEC_FIRST_FLAG) ) \
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(fn->fn_minit)(); \
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for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
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if (fn->fn_minit && ( (fn->flag & (MODULE_EXEC_LAST_FLAG | MODULE_EXEC_FIRST_FLAG)) == MODULE_EXEC_NOORDER_FLAG) ) \
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(fn->fn_minit)(); \
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for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
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if (fn->fn_minit && ( (fn->flag & MODULE_EXEC_LAST_FLAG) == MODULE_EXEC_LAST_FLAG) ) \
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(fn->fn_minit)();
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#define MODULE_TASKCREATE_ALL(); for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
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if (fn->fn_tinit) \
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(fn->fn_tinit)();
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#endif /* PIOS_INITCALL_H */
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/**
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* @}
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* @}
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*/
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