Simplify startup API

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