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108 lines
3.3 KiB
C
108 lines
3.3 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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typedef int32_t (*initcall_t)(void);
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typedef struct {
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initcall_t fn_minit;
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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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#ifdef USE_SIM_POSIX
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extern void InitModules();
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extern void StartModules();
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#define MODULE_INITCALL(ifn, sfn)
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#define MODULE_TASKCREATE_ALL { \
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/* Start all module threads */ \
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StartModules(); \
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}
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#define MODULE_INITIALISE_ALL { \
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/* Initialize modules */ \
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InitModules(); \
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/* Initialize the system thread */ \
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SystemModInitialize();}
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#else
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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, sfn) \
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static initmodule_t __initcall_##fn __attribute__((__used__)) \
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__attribute__((__section__(".initcall" level ".init"))) = { .fn_minit = ifn, .fn_tinit = sfn };
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#define MODULE_INITCALL(ifn, sfn) __define_module_initcall("module", ifn, sfn)
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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) \
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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 /* USE_SIM_POSIX */
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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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