refactor: moved startup from rtos2-utils to TACOS

src/startup.cpp

@@ -21,11 +21,18 @@
 
 // sta-core-specific imports.
 #include <sta/devices/stm32/bus/uart.hpp>
+#include <sta/devices/stm32/init.hpp>
 #include <sta/debug/printing/printable_uart.hpp>
 #include <sta/debug/debug.hpp>
+#include <sta/debug/assert.hpp>
 #include <sta/lang.hpp>
 
+// rtos2-utils-specific includes.
+#include <sta/rtos/system/startup.hpp>
+#include <sta/rtos/system/events.hpp>
+
 // Tacos-specific includes.
+#include <sta/tacos/c_api/startup.h>
 #include <sta/tacos/manager.hpp>
 #include <sta/tacos/statemachine.hpp>
 #include <sta/tacos/watchdog.hpp>
@@ -72,7 +79,7 @@ namespace sta
 			STM32UART * intf_ptr = new STM32UART(getUARThandle(), settings, mutex);
 			Debug = new PrintableUART(intf_ptr);
 		}
-	}
+	} // namespace tacos
 #endif // STA_DEBUGGING_ENABLED
 
 	namespace tacos
@@ -142,12 +149,7 @@ namespace sta
 			CanBus::instance()->start();
 		}
 #endif //STA_TACOS_CAN_BUS_ENABLED
-	}  // namespace tacos
 
-
-	namespace rtos
-	{
-		// Override the weak implementation of startupExtras provided in rtos2-utils.
 		void startupExtras(void * argument)
 		{
 #ifdef STA_DEBUGGING_ENABLED
@@ -166,7 +168,31 @@ namespace sta
 			tacos::initCanBus();
 #endif // STA_TACOS_CAN_BUS_ENABLED
 		}
-	} // namespace rtos
+	} // namespace tacos
 } // namespace sta
 
+void startTACOS(void * arg)
+{
+	STA_ASSERT_MSG(osKernelGetState() != osKernelInactive, "Cannot call startTACOS() before osKernelInitialize()");
 
+	// Initialize HAL
+	sta::initHAL();
+
+	// Initialize RTOS system resources
+	sta::rtos::initSystem();
+
+	// Call further initialization code
+	sta::tacos::startupExtras(arg);
+
+	// Wake threads
+#ifdef STA_RTOS_SYSTEM_EVENTS_ENABLE
+	sta::rtos::signalStartupEvent();
+#endif // STA_RTOS_SYSTEM_EVENTS_ENABLE
+
+	// Check if called from thread
+	if (osThreadGetId() != nullptr)
+	{
+		// Terminate current thread
+		osThreadExit();
+	}
+}