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65cf467ca4
- 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)
113 lines
3.8 KiB
C
113 lines
3.8 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @brief These files are the core system files of OpenPilot.
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* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
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* in the main() function of openpilot.c
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @brief This is where the OP firmware starts. Those files also define the compile-time
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* options of the firmware.
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* @{
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* @file openpilot.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Sets up and runs main OpenPilot tasks.
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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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/* OpenPilot Includes */
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#include "openpilot.h"
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#include "uavobjectsinit.h"
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#include "systemmod.h"
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/* Task Priorities */
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#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
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/* Global Variables */
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/* Prototype of generated InitModules() function */
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extern void InitModules(void);
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/* Prototype of PIOS_Board_Init() function */
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extern void PIOS_Board_Init(void);
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/* Init module section */
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extern initcall_t __module_initcall_start[], __module_initcall_end[];
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/**
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* OpenPilot Main function:
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*
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* Initialize PiOS<BR>
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* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
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* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
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* If something goes wrong, blink LED1 and LED2 every 100ms
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*
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*/
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int main()
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{
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/* NOTE: Do NOT modify the following start-up sequence */
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/* Any new initialization functions should be added in OpenPilotInit() */
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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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/* Architecture dependant Hardware and
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* core subsystem initialisation
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* (see pios_board.c for your arch)
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* */
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PIOS_Board_Init();
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#ifdef ERASE_FLASH
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PIOS_Flash_W25X_EraseChip();
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while(TRUE){};
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#endif
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/* Initialize modules */
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/* TODO: add id so we can parse this list later and replace module on the fly */
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/* property flag will be add to give information like:
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* - importance of the module (can be dropped or required for flight
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* - parameter to enable feature at run-time (based on user setup on GCS)
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* All this will be handled by bootloader. this section will add a function pointer
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* and a pointer to a 32 bit in RAM with all the flags.
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* Limited on CC this could be mapped on RAM for OP so we can grow the list at run-time.
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*/
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initcall_t *fn;
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int32_t ret;
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for (fn = __module_initcall_start; fn < __module_initcall_end; fn++)
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ret = (*fn)();
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#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
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/* Start the FreeRTOS scheduler which never returns.*/
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/* only do this for posix and win32 since the caller will take care
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* of starting the scheduler and increase the heap and swith back to
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* MSP stack. (all arch specific is hidden from here and take care by reset handler)
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*/
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vTaskStartScheduler();
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#endif
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return 0;
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}
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/**
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* @}
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* @}
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*/
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