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67 lines
2.1 KiB
C
67 lines
2.1 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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* Just a stub define to make things compile.
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* Automatically link based initialization currently doesn't work
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* since posix really runs on a multitude of architectures
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* and we cannot define a linker script for each of them atm
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*/
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#define UAVOBJ_INITCALL(fn)
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#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags)
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#define MODULE_TASKCREATE_ALL();
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#define MODULE_INITIALISE_ALL(); \
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/* Initialize modules */ \
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InitModules(); \
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/* Start the FreeRTOS scheduler which never returns.*/ \
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vTaskStartScheduler(); \
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/* If all is well we will never reach here as the scheduler will now be running. */ \
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/* If we do get here, it will most likely be because we ran out of heap space. */ \
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PIOS_LED_Off(LED1); \
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PIOS_LED_Off(LED2); \
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for(;;) { \
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PIOS_LED_Toggle(LED1); \
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PIOS_LED_Toggle(LED2); \
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PIOS_DELAY_WaitmS(100); \
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}
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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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