Add option to skip default initialization
Change-Id: I08bad59fe5adbb616a9005570a153511738bee1epull/86/head
parent
dd21bd3423
commit
59728c994c
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@ -1160,6 +1160,7 @@ void ESC_config (esc_cfg_t * cfg)
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ESCvar.mbboot[0] = mbboot0;
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ESCvar.mbboot[0] = mbboot0;
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ESCvar.mbboot[1] = mbboot1;
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ESCvar.mbboot[1] = mbboot1;
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ESCvar.skip_default_initialization = cfg->skip_default_initialization;
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ESCvar.set_defaults_hook = cfg->set_defaults_hook;
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ESCvar.set_defaults_hook = cfg->set_defaults_hook;
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ESCvar.pre_state_change_hook = cfg->pre_state_change_hook;
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ESCvar.pre_state_change_hook = cfg->pre_state_change_hook;
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ESCvar.post_state_change_hook = cfg->post_state_change_hook;
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ESCvar.post_state_change_hook = cfg->post_state_change_hook;
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@ -308,6 +308,7 @@ typedef struct esc_cfg
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void * user_arg;
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void * user_arg;
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int use_interrupt;
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int use_interrupt;
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int watchdog_cnt;
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int watchdog_cnt;
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bool skip_default_initialization;
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void (*set_defaults_hook) (void);
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void (*set_defaults_hook) (void);
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void (*pre_state_change_hook) (uint8_t * as, uint8_t * an);
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void (*pre_state_change_hook) (uint8_t * as, uint8_t * an);
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void (*post_state_change_hook) (uint8_t * as, uint8_t * an);
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void (*post_state_change_hook) (uint8_t * as, uint8_t * an);
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@ -431,6 +432,7 @@ typedef struct
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int use_interrupt;
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int use_interrupt;
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sm_cfg_t mb[2];
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sm_cfg_t mb[2];
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sm_cfg_t mbboot[2];
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sm_cfg_t mbboot[2];
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bool skip_default_initialization;
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void (*set_defaults_hook) (void);
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void (*set_defaults_hook) (void);
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void (*pre_state_change_hook) (uint8_t * as, uint8_t * an);
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void (*pre_state_change_hook) (uint8_t * as, uint8_t * an);
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void (*post_state_change_hook) (uint8_t * as, uint8_t * an);
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void (*post_state_change_hook) (uint8_t * as, uint8_t * an);
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@ -1630,6 +1630,12 @@ void COE_initDefaultValues (void)
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int n;
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int n;
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uint8_t maxsub;
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uint8_t maxsub;
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/* Let application decide if initialization will be skipped */
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if (ESCvar.skip_default_initialization)
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{
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return;
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}
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/* Set default values from object descriptor */
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/* Set default values from object descriptor */
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for (n = 0; SDOobjects[n].index != 0xffff; n++)
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for (n = 0; SDOobjects[n].index != 0xffff; n++)
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{
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{
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