px4_autopilot/apps/systemlib/up_cxxinitialize.c

/************************************************************************************
 * configs/stm32f4discovery/src/up_cxxinitialize.c
 * arch/arm/src/board/up_cxxinitialize.c
 *
 *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name NuttX nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ************************************************************************************/

/************************************************************************************
 * Included Files
 ************************************************************************************/

#include <nuttx/config.h>

#include <debug.h>

#include <nuttx/arch.h>

//#include <arch/stm32/chip.h>
//#include "chip.h"

/************************************************************************************
 * Definitions
 ************************************************************************************/
/* Debug ****************************************************************************/
/* Non-standard debug that may be enabled just for testing the static constructors */

#ifndef CONFIG_DEBUG
#  undef CONFIG_DEBUG_CXX
#endif

#ifdef CONFIG_DEBUG_CXX
#  define cxxdbg              dbg
#  define cxxlldbg            lldbg
#  ifdef CONFIG_DEBUG_VERBOSE
#    define cxxvdbg           vdbg
#    define cxxllvdbg         llvdbg
#  else
#    define cxxvdbg(x...)
#    define cxxllvdbg(x...)
#  endif
#else
#  define cxxdbg(x...)
#  define cxxlldbg(x...)
#  define cxxvdbg(x...)
#  define cxxllvdbg(x...)
#endif

/************************************************************************************
 * Private Types
 ************************************************************************************/
/* This type defines one entry in initialization array */

typedef void (*initializer_t)(void);

/************************************************************************************
 * External references
 ************************************************************************************/
/* _sinit and _einit are symbols exported by the linker script that mark the
 * beginning and the end of the C++ initialization section.
 */

extern initializer_t _sinit;
extern initializer_t _einit;

/* _stext and _etext are symbols exported by the linker script that mark the
 * beginning and the end of text.
 */

extern uint32_t _stext;
extern uint32_t _etext;

/************************************************************************************
 * Private Functions
 ************************************************************************************/

/************************************************************************************
 * Public Functions
 ************************************************************************************/

/****************************************************************************
 * Name: up_cxxinitialize
 *
 * Description:
 *   If C++ and C++ static constructors are supported, then this function
 *   must be provided by board-specific logic in order to perform
 *   initialization of the static C++ class instances.
 *
 *   This function should then be called in the application-specific
 *   user_start logic in order to perform the C++ initialization.  NOTE
 *   that no component of the core NuttX RTOS logic is involved; This
 *   function defintion only provides the 'contract' between application
 *   specific C++ code and platform-specific toolchain support
 *
 ***************************************************************************/

__EXPORT void up_cxxinitialize(void)
{
  initializer_t *initp;

  cxxdbg("_sinit: %p _einit: %p _stext: %p _etext: %p\n",
         &_sinit, &_einit, &_stext, &_etext);

  /* Visit each entry in the initialzation table */

  for (initp = &_sinit; initp != &_einit; initp++)
    {
      initializer_t initializer = *initp;
      cxxdbg("initp: %p initializer: %p\n", initp, initializer);

      /* Make sure that the address is non-NULL and lies in the text region
       * defined by the linker script.  Some toolchains may put NULL values
       * or counts in the initialization table
       */

      if ((void*)initializer > (void*)&_stext && (void*)initializer < (void*)&_etext)
        {
          cxxdbg("Calling %p\n", initializer);
          initializer();
        }
    }
}