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LibrePilot/flight/pios/inc/pios_initcall.h
2015-10-24 12:09:20 -04:00

138 lines
4.0 KiB
C

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