flight/pios/inc/pios_initcall.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Initcall infrastructure
   4  * @{
   5  * @addtogroup   PIOS_INITCALL Generic Initcall Macros
   6  * @brief Initcall Macros
   7  * @{
   8  *
   9  * @file       pios_initcall.h
  10  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
  11  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2015
  12  * @brief      Initcall header
  13  * @see        The GNU Public License (GPL) Version 3
  14  *
  15  *****************************************************************************/
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31
  32 #ifndef PIOS_INITCALL_H
  33 #define PIOS_INITCALL_H
  34
  35 /*
  36  * This implementation is heavily based on the Linux Kernel initcall
  37  * infrastructure:
  38  *   http://lxr.linux.no/#linux/include/linux/init.h
  39  *   http://git.kernel.org/?p=linux/kernel/git/torvalds/linux-2.6.git;a=blob;f=include/linux/init.h
  40  */
  41
  42 /*
  43  * Used for initialization calls..
  44  */
  45
  46 typedef int32_t (*initcall_t)(void);
  47 typedef struct {
  48     initcall_t fn_minit;
  49     initcall_t fn_tinit;
  50 } initmodule_t;
  51
  52 /* Init module section */
  53 extern initmodule_t __module_initcall_start[], __module_initcall_end[];
  54 extern volatile int initTaskDone;
  55
  56 /* Init settings section */
  57 extern initcall_t __settings_initcall_start[], __settings_initcall_end[];
  58
  59 #ifdef USE_SIM_POSIX
  60
  61 extern void InitModules();
  62 extern void StartModules();
  63 extern int32_t SystemModInitialize(void);
  64
  65 #define MODULE_INITCALL(ifn, sfn)
  66
  67 #define SETTINGS_INITCALL(fn)
  68
  69 #define MODULE_TASKCREATE_ALL \
  70     { \
  71         /* Start all module threads */ \
  72         StartModules(); \
  73     }
  74
  75 #define MODULE_INITIALISE_ALL \
  76     { \
  77         /* Initialize modules */ \
  78         InitModules(); \
  79         /* Initialize the system thread */ \
  80         SystemModInitialize(); \
  81         initTaskDone = 1; }
  82
  83 #else // ifdef USE_SIM_POSIX
  84
  85 /* initcalls are now grouped by functionality into separate
  86  * subsections. Ordering inside the subsections is determined
  87  * by link order.
  88  *
  89  * The `id' arg to __define_initcall() is needed so that multiple initcalls
  90  * can point at the same handler without causing duplicate-symbol build errors.
  91  */
  92
  93 #define __define_initcall(level, fn, id) \
  94     static initcall_t __initcall_##fn##id __attribute__((__used__)) \
  95     __attribute__((__section__(".initcall" level ".init"))) = fn
  96
  97 #define __define_module_initcall(level, ifn, sfn) \
  98     static initmodule_t __initcall_##ifn __attribute__((__used__)) \
  99     __attribute__((__section__(".initcall" level ".init"))) = { .fn_minit = ifn, .fn_tinit = sfn }
 100
 101 #define __define_settings_initcall(level, fn) \
 102     static initcall_t __initcall_##fn __attribute__((__used__)) \
 103     __attribute__((__section__(".initcall" level ".init"))) = fn
 104
 105
 106 #define MODULE_INITCALL(ifn, sfn) __define_module_initcall("module", ifn, sfn)
 107
 108 #define SETTINGS_INITCALL(fn)     __define_settings_initcall("settings", fn)
 109
 110 #define MODULE_INITIALISE_ALL \
 111     { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) { \
 112           if (fn->fn_minit) { \
 113               (fn->fn_minit)(); } \
 114       } \
 115       initTaskDone = 1; \
 116     }
 117
 118 #define MODULE_TASKCREATE_ALL    \
 119     { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) { \
 120           if (fn->fn_tinit) {    \
 121               (fn->fn_tinit)();  \
 122               PIOS_WDG_Clear();  \
 123           } \
 124       } \
 125     }
 126
 127 #define SETTINGS_INITIALISE_ALL \
 128     { for (const initcall_t *fn = __settings_initcall_start; fn < __settings_initcall_end; fn++) { \
 129           if (*fn) { \
 130               (*fn)(); \
 131           } \
 132       } \
 133     }
 134
 135 #endif /* USE_SIM_POSIX */
 136
 137 #endif /* PIOS_INITCALL_H */
 138
 139 /**
 140  * @}
 141  * @}
 142  */