From aeb472fd03451da304a019d200f1e2c1b23e72ca Mon Sep 17 00:00:00 2001
From: Henrik Stickann <4376396-Mithradir@users.noreply.gitlab.com>
Date: Sat, 21 Jan 2023 22:34:26 +0100
Subject: [PATCH] Simplify startup API

---
 include/sta/rtos/system/startup.hpp | 39 -------------------
 src/system/startup.cpp              | 60 ++++++++++++++++++-----------
 2 files changed, 38 insertions(+), 61 deletions(-)

diff --git a/include/sta/rtos/system/startup.hpp b/include/sta/rtos/system/startup.hpp
index d34d43a..f3a2e46 100644
--- a/include/sta/rtos/system/startup.hpp
+++ b/include/sta/rtos/system/startup.hpp
@@ -5,8 +5,6 @@
 #ifndef STA_RTOS_SYSTEM_STARTUP_HPP
 #define STA_RTOS_SYSTEM_STARTUP_HPP
 
-#include <sta/rtos/system/names.hpp>
-
 
 /**
  * @defgroup STA_RTOS_Startup Startup task
@@ -17,41 +15,6 @@
  */
 
 
-#ifdef DOXYGEN
-/**
- * @brief Enable module.
- *
- * @ingroup STA_RTOS_BuildConfig
- */
-#  define STA_RTOS_STARTUP_ENABLE
-#endif // DOXYGEN
-
-
-/**
- * @def STA_RTOS_STARTUP_TASK_NAME
- * @brief Set name of startup task.
- *
- * @ingroup STA_RTOS_BuildConfig
- */
-#ifndef STA_RTOS_STARTUP_TASK_NAME
-#  define STA_RTOS_STARTUP_TASK_NAME		startup
-#endif // !STA_RTOS_STARTUP_TASK_NAME
-
-/**
- * @def STA_RTOS_STARTUP_ENTRY_FUNCTION
- * @brief Set name of startup task entry function.
- *
- * @ingroup STA_RTOS_BuildConfig
- */
-#ifndef STA_RTOS_STARTUP_ENTRY_FUNCTION
-#  define STA_RTOS_STARTUP_ENTRY_FUNCTION   STA_RTOS_MAKE_ENTRY_NAME(STA_RTOS_STARTUP_TASK_NAME)
-#endif // !STA_RTOS_STARTUP_ENTRY_FUNCTION
-
-
-#include <sta/config.hpp>
-#ifdef STA_RTOS_STARTUP_ENABLE
-
-
 namespace sta
 {
 	namespace rtos
@@ -68,6 +31,4 @@ namespace sta
 } // namespace sta
 
 
-#endif // STA_RTOS_STARTUP_ENABLE
-
 #endif // STA_RTOS_SYSTEM_STARTUP_HPP
diff --git a/src/system/startup.cpp b/src/system/startup.cpp
index 9e31530..4308fdb 100644
--- a/src/system/startup.cpp
+++ b/src/system/startup.cpp
@@ -1,7 +1,10 @@
 #include <sta/rtos/system/startup.hpp>
-#ifdef STA_RTOS_STARTUP_ENABLE
 
+#include <sta/rtos/c_api/startup.h>
+
+#include <sta/assert.hpp>
 #include <sta/lang.hpp>
+#include <sta/rtos/system/can_bus.hpp>
 #include <sta/rtos/system/system_event.hpp>
 #include <sta/rtos/system/watchdog.hpp>
 #include <sta/stm32/init.hpp>
@@ -17,33 +20,46 @@ namespace sta
 		STA_WEAK
 		void startupExtras(void *)
 		{}
+
+
+		void initSystem()
+		{
+#ifdef STA_RTOS_SYSTEM_EVENTS_ENABLE
+			initSystemEvents();
+#endif // STA_RTOS_SYSTEM_EVENTS_ENABLE
+
+#ifdef STA_RTOS_WATCHDOG_ENABLE
+			initWatchdog();
+#endif // STA_RTOS_WATCHDOG_ENABLE
+
+#ifdef STA_RTOS_CAN_BUS_ENABLE
+			initCanBus();
+#endif // STA_RTOS_CAN_BUS_ENABLE
+		}
 	} // namespace rtos
 } // namespace sta
 
 
-// Declare with C linkage
-extern "C"
+void startALPAKA(void * arg)
 {
-	void STA_RTOS_STARTUP_ENTRY_FUNCTION(void * arg)
+	STA_ASSERT_MSG(osKernelGetState() != osKernelInactive, "Cannot call startALPAKA() before osKernelInitialize()");
+
+	// Call further initialization code
+	sta::rtos::startupExtras(arg);
+
+	// Initialize HAL
+	sta::initHAL();
+
+	// Initialize RTOS system resources
+	sta::rtos::initSystem();
+
+	// Wake threads
+	sta::rtos::signalStartupEvent();
+
+	// Check if called from thread
+	if (osThreadGetId() != nullptr)
 	{
-		// Call further initialization code
-		sta::rtos::startupExtras(arg);
-
-		// Initialize HAL
-		sta::initHAL();
-
-#ifdef STA_RTOS_WATCHDOG_ENABLE
-		// Start timers
-		sta::rtos::startWatchdogTimer();
-#endif // STA_RTOS_WATCHDOG_ENABLE
-
-		// Wake threads
-		sta::rtos::signalStartupEvent();
-
-		// Terminate thread
+		// Terminate current thread
 		osThreadExit();
 	}
 }
-
-
-#endif // STA_RTOS_STARTUP_ENABLE