From 107a771a4cd2976ec854588d338f1d0a8be93995 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?L=C3=A1szl=C3=B3=20Monda?= <laci@monda.hu>
Date: Fri, 5 May 2017 02:06:13 +0200
Subject: [PATCH] Add slave_driver_initializer_t, slaveDriverInitializers, and
 initialize slaves in a more organized fashion.

---
 right/src/slave_drivers/slave_driver_led_driver.c |  4 ++++
 right/src/slave_drivers/slave_driver_led_driver.h |  1 +
 right/src/slave_scheduler.c                       | 15 +++++++++++++--
 right/src/slave_scheduler.h                       |  1 +
 4 files changed, 19 insertions(+), 2 deletions(-)

diff --git a/right/src/slave_drivers/slave_driver_led_driver.c b/right/src/slave_drivers/slave_driver_led_driver.c
index 50e1605..f49f681 100644
--- a/right/src/slave_drivers/slave_driver_led_driver.c
+++ b/right/src/slave_drivers/slave_driver_led_driver.c
@@ -54,6 +54,10 @@ uint8_t setFunctionFrameBuffer[] = {LED_DRIVER_REGISTER_FRAME, LED_DRIVER_FRAME_
 uint8_t setShutdownModeNormalBuffer[] = {LED_DRIVER_REGISTER_SHUTDOWN, SHUTDOWN_MODE_NORMAL};
 uint8_t setFrame1Buffer[] = {LED_DRIVER_REGISTER_FRAME, LED_DRIVER_FRAME_1};
 
+void InitLedSlaveDriver() {
+    SetLeds(0xff);
+}
+
 void UhkSlaveLedDriverHandler(uint8_t ledDriverId) {
     uint8_t *ledDriverState = ledDriverStates + ledDriverId;
     uint8_t ledDriverAddress = ledDriverId ? I2C_ADDRESS_LED_DRIVER_LEFT : I2C_ADDRESS_LED_DRIVER_RIGHT;
diff --git a/right/src/slave_drivers/slave_driver_led_driver.h b/right/src/slave_drivers/slave_driver_led_driver.h
index 0121b5e..969a12a 100644
--- a/right/src/slave_drivers/slave_driver_led_driver.h
+++ b/right/src/slave_drivers/slave_driver_led_driver.h
@@ -17,6 +17,7 @@
 
 // Functions:
 
+    extern void InitLedSlaveDriver();
     extern void UhkSlaveLedDriverHandler(uint8_t ledDriverId);
     extern void SetLeds(uint8_t ledBrightness);
 
diff --git a/right/src/slave_scheduler.c b/right/src/slave_scheduler.c
index a612b72..06d715d 100644
--- a/right/src/slave_scheduler.c
+++ b/right/src/slave_scheduler.c
@@ -10,6 +10,11 @@
 
 uint8_t currentBridgeSlaveId = 0;
 
+slave_driver_initializer_t slaveDriverInitializers[] = {
+    InitUhkModules,
+    InitLedSlaveDriver,
+};
+
 uhk_slave_t slaves[] = {
     { .slaveHandler = UhkSlaveUhkModuleHandler, .moduleId = 0 },
     { .slaveHandler = UhkSlaveLedDriverHandler, .moduleId = 0 },
@@ -31,10 +36,16 @@ static void bridgeProtocolCallback(I2C_Type *base, i2c_master_handle_t *handle,
     }
 }
 
+static void initSlaveDrivers()
+{
+    for (uint8_t i=0; i<sizeof(slaveDriverInitializers) / sizeof(slave_driver_initializer_t); i++) {
+        slaveDriverInitializers[i]();
+    }
+}
+
 void InitSlaveScheduler()
 {
-    InitUhkModules();
-    SetLeds(0xff);
+    initSlaveDrivers();
     I2C_MasterTransferCreateHandle(I2C_MAIN_BUS_BASEADDR, &I2cMasterHandle, bridgeProtocolCallback, NULL);
 
     // Kickstart the scheduler by triggering the first callback.
diff --git a/right/src/slave_scheduler.h b/right/src/slave_scheduler.h
index 94bc003..8ad30c7 100644
--- a/right/src/slave_scheduler.h
+++ b/right/src/slave_scheduler.h
@@ -14,6 +14,7 @@
     } uhk_slave_type_t;
 
     typedef void (slave_handler_t)(uint8_t);
+    typedef void (*slave_driver_initializer_t)();
 
     typedef struct {
         uint8_t moduleId;  // This is a unique, per-module ID.