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 OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
  11  * @brief      Initcall header
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  *****************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 #ifndef PIOS_INITCALL_H
  32 #define PIOS_INITCALL_H
  33
  34 /*
  35  * This implementation is heavily based on the Linux Kernel initcall
  36  * infrastructure:
  37  *   http://lxr.linux.no/#linux/include/linux/init.h
  38  *   http://git.kernel.org/?p=linux/kernel/git/torvalds/linux-2.6.git;a=blob;f=include/linux/init.h
  39  */
  40
  41 /*
  42  * Used for initialization calls..
  43  */
  44
  45 typedef int32_t (*initcall_t)(void);
  46 typedef struct {
  47     initcall_t fn_minit;
  48     initcall_t fn_tinit;
  49 } initmodule_t;
  50
  51 /* Init module section */
  52 extern initmodule_t __module_initcall_start[], __module_initcall_end[];
  53
  54 #ifdef USE_SIM_POSIX
  55
  56 extern void InitModules();
  57 extern void StartModules();
  58
  59 #define MODULE_INITCALL(ifn, sfn)
  60
  61 #define MODULE_TASKCREATE_ALL \
  62     { \
  63         /* Start all module threads */ \
  64         StartModules(); \
  65     }
  66
  67 #define MODULE_INITIALISE_ALL \
  68     { \
  69         /* Initialize modules */ \
  70         InitModules(); \
  71         /* Initialize the system thread */ \
  72         SystemModInitialize(); }
  73
  74 #else
  75
  76 /* initcalls are now grouped by functionality into separate
  77  * subsections. Ordering inside the subsections is determined
  78  * by link order.
  79  *
  80  * The `id' arg to __define_initcall() is needed so that multiple initcalls
  81  * can point at the same handler without causing duplicate-symbol build errors.
  82  */
  83
  84 #define __define_initcall(level, fn, id) \
  85     static initcall_t __initcall_##fn##id __attribute__((__used__)) \
  86     __attribute__((__section__(".initcall" level ".init"))) = fn
  87
  88 #define __define_module_initcall(level, ifn, sfn) \
  89     static initmodule_t __initcall_##ifn __attribute__((__used__)) \
  90     __attribute__((__section__(".initcall" level ".init"))) = { .fn_minit = ifn, .fn_tinit = sfn }
  91
  92 #define MODULE_INITCALL(ifn, sfn) __define_module_initcall("module", ifn, sfn)
  93
  94 #define MODULE_INITIALISE_ALL \
  95     { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) { \
  96           if (fn->fn_minit) { \
  97               (fn->fn_minit)(); } \
  98       } \
  99     }
 100
 101 #define MODULE_TASKCREATE_ALL \
 102     { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) { \
 103           if (fn->fn_tinit) { \
 104               (fn->fn_tinit)(); } \
 105       } \
 106     }
 107
 108 #endif /* USE_SIM_POSIX */
 109
 110 #endif /* PIOS_INITCALL_H */
 111
 112 /**
 113  * @}
 114  * @}
 115  */