amiro-os / core / src / aos_main.cpp @ 11adbe34
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | 53710ca3 | Marc Rothmann | /**
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| 20 | * @file aos_main.cpp
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| 21 | * @brief Main function.
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| 22 | * @details Main function with SSSP and initialization,
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| 23 | * extendable via hooks.
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| 24 | *
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| 25 | * @addtogroup aos_system
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| 26 | * @{
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| 27 | */
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| 28 | |||
| 29 | e545e620 | Thomas Schöpping | #include <amiroos.h> |
| 30 | cb835a3e | Thomas Schöpping | #include <module.h> |
| 31 | e545e620 | Thomas Schöpping | |
| 32 | b6b45e4c | Thomas Schöpping | /*
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| 33 | * hook to add further includes
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| 34 | */
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| 35 | 512abac1 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)
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| 36 | #include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER
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| 37 | b6b45e4c | Thomas Schöpping | #endif
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| 38 | |||
| 39 | e545e620 | Thomas Schöpping | /**
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| 40 | * @brief Event mask to identify I/O events.
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| 41 | */
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| 42 | 6b53f6bf | Thomas Schöpping | #define IOEVENT_MASK EVENT_MASK(0) |
| 43 | e545e620 | Thomas Schöpping | |
| 44 | /**
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| 45 | * @brief Event mask to identify OS events.
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| 46 | */
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| 47 | 6b53f6bf | Thomas Schöpping | #define OSEVENT_MASK EVENT_MASK(1) |
| 48 | e545e620 | Thomas Schöpping | |
| 49 | /**
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| 50 | 933df08e | Thomas Schöpping | * @brief Event mask to idetify CAN events.
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| 51 | */
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| 52 | #define CANEVENT_MASK EVENT_MASK(2) |
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| 53 | |||
| 54 | /**
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| 55 | * @brief Event mask to idetify timeout events.
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| 56 | */
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| 57 | #define TIMEOUTEVENT_MASK EVENT_MASK(3) |
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| 58 | |||
| 59 | /**
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| 60 | * @brief Event mask to idetify signal delay events.
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| 61 | */
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| 62 | #define DELAYEVENT_MASK EVENT_MASK(4) |
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| 63 | |||
| 64 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
| 65 | |||
| 66 | 933df08e | Thomas Schöpping | /**
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| 67 | * @brief CAN message identifier for initialization of the SSSP stack initialization sequence.
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| 68 | */
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| 69 | #define SSSP_STACKINIT_CANMSGID_INIT 0x003 |
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| 70 | |||
| 71 | /**
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| 72 | * @brief CAN message identifier for transmitting module IDs during the SSSP stack initialization sequence.
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| 73 | */
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| 74 | #define SSSP_STACKINIT_CANMSGID_MODULEID 0x002 |
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| 75 | |||
| 76 | /**
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| 77 | * @brief CAN message identifier for abortion of the SSSP stack initialization sequence.
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| 78 | */
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| 79 | #define SSSP_STACKINIT_CANMSGID_ABORT 0x001 |
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| 80 | |||
| 81 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
| 82 | |||
| 83 | 933df08e | Thomas Schöpping | /**
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| 84 | 9461fadc | Thomas Schöpping | * @brief CAN message identifier for calender synchronization message.
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| 85 | */
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| 86 | #define CALENDERSYNC_CANMSGID 0x004 |
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| 87 | |||
| 88 | /**
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| 89 | e545e620 | Thomas Schöpping | * @brief Listener object for I/O events.
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| 90 | */
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| 91 | static event_listener_t _eventListenerIO;
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| 92 | |||
| 93 | /**
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| 94 | * @brief Listener object for OS events.
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| 95 | */
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| 96 | static event_listener_t _eventListenerOS;
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| 97 | |||
| 98 | #if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
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| 99 | /**
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| 100 | ba516b61 | Thomas Schöpping | * @brief I/O channel for the programmer interface.
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| 101 | e545e620 | Thomas Schöpping | */
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| 102 | ba516b61 | Thomas Schöpping | static AosIOChannel _stdiochannel;
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| 103 | |||
| 104 | b8268050 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 105 | ba516b61 | Thomas Schöpping | /**
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| 106 | * @brief I/O shell channel for the programmer interface.
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| 107 | */
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| 108 | static AosShellChannel _stdshellchannel;
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| 109 | e545e620 | Thomas Schöpping | #endif
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| 110 | b8268050 | Thomas Schöpping | #endif
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| 111 | e545e620 | Thomas Schöpping | |
| 112 | b6b45e4c | Thomas Schöpping | /*
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| 113 | * hook to add further static variables
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| 114 | */
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| 115 | #if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
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| 116 | AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
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| 117 | #endif
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| 118 | |||
| 119 | e545e620 | Thomas Schöpping | /**
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| 120 | * @brief Prints an error message about an unexpected event.
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| 121 | *
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| 122 | * @param[in] mask The event mask.
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| 123 | * @param[in] flags The event flags.
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| 124 | */
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| 125 | 933df08e | Thomas Schöpping | static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
| 126 | e545e620 | Thomas Schöpping | {
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| 127 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_DBG == true) |
| 128 | 1e5f7648 | Thomas Schöpping | aosprintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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| 129 | 6b53f6bf | Thomas Schöpping | #else
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| 130 | 933df08e | Thomas Schöpping | (void)(mask);
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| 131 | (void)(flags);
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| 132 | 6b53f6bf | Thomas Schöpping | #endif
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| 133 | 3e1a9c79 | Thomas Schöpping | return;
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| 134 | 933df08e | Thomas Schöpping | } |
| 135 | |||
| 136 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
| 137 | 933df08e | Thomas Schöpping | /**
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| 138 | * @brief Callback function to be used during SSSP stack initialization sequence.
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| 139 | *
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| 140 | * @param[in] par A pointer to an @p event_source_t to be fired.
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| 141 | */
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| 142 | static void _ssspTimerCallback(void* par) |
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| 143 | {
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| 144 | aosDbgCheck(par != NULL);
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| 145 | |||
| 146 | chSysLockFromISR(); |
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| 147 | chEvtBroadcastI((event_source_t*)par); |
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| 148 | chSysUnlockFromISR(); |
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| 149 | |||
| 150 | e545e620 | Thomas Schöpping | return;
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| 151 | } |
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| 152 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
| 153 | e545e620 | Thomas Schöpping | |
| 154 | /**
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| 155 | 9461fadc | Thomas Schöpping | * @brief Helper function to serialize data.
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| 156 | 933df08e | Thomas Schöpping | *
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| 157 | * @param[out] dst Pointer to the output buffer.
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| 158 | 9461fadc | Thomas Schöpping | * @param[in] src Data to be serialized.
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| 159 | * @param[in] n Number of bytes to serialize.
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| 160 | 933df08e | Thomas Schöpping | */
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| 161 | 9461fadc | Thomas Schöpping | inline void _serialize(uint8_t* dst, const uint64_t src, const uint8_t n) |
| 162 | 933df08e | Thomas Schöpping | {
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| 163 | aosDbgCheck(dst != NULL);
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| 164 | 9461fadc | Thomas Schöpping | aosDbgCheck(n > 0 && n <= 8); |
| 165 | 933df08e | Thomas Schöpping | |
| 166 | 9461fadc | Thomas Schöpping | for (uint8_t byte = 0; byte < n; ++byte) { |
| 167 | 933df08e | Thomas Schöpping | dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF); |
| 168 | } |
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| 169 | |||
| 170 | return;
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| 171 | } |
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| 172 | |||
| 173 | /**
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| 174 | 9461fadc | Thomas Schöpping | * @brief Helper function to deserialize data.
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| 175 | 933df08e | Thomas Schöpping | *
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| 176 | * @param[in] src Pointer to the buffer of data to be deserialzed.
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| 177 | 9461fadc | Thomas Schöpping | * @param[in] n Number of bytes to deserialize.
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| 178 | 933df08e | Thomas Schöpping | *
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| 179 | * @return The deserialized 32 bit data.
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| 180 | */
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| 181 | 9461fadc | Thomas Schöpping | inline uint64_t _deserialize(uint8_t* src, const uint8_t n) |
| 182 | 933df08e | Thomas Schöpping | {
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| 183 | aosDbgCheck(src != NULL);
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| 184 | 9461fadc | Thomas Schöpping | aosDbgCheck(n > 0 && n <= 8); |
| 185 | 933df08e | Thomas Schöpping | |
| 186 | 9461fadc | Thomas Schöpping | uint64_t result = 0;
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| 187 | for (uint8_t byte = 0; byte < n; ++byte) { |
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| 188 | result |= ((uint64_t)src[byte]) << (byte * 8);
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| 189 | } |
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| 190 | |||
| 191 | return result;
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| 192 | } |
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| 193 | |||
| 194 | /**
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| 195 | * @brief Converter function to encode a TM value to a single unsigned 64 bit integer.
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| 196 | *
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| 197 | * @details Contents of the TM struct are mapped as follows:
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| 198 | * bits |63 62|61 53|52 50|49 26|25 22|21 17|16 12|11 6|5 0|
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| 199 | * #bits | 2 | 9 | 3 | 24 | 4 | 5 | 5 | 6 | 6 |
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| 200 | * value | isdst | yday | wday | year | mon | mday | hour | min | sec |
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| 201 | * range | special | [0, 365] | [0, 6] | [1900, ...] | [0, 11] | [1, 31] | [0, 23] | [0, 59] | [0, 61] |
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| 202 | * The Daylight Saving Time Flag (isdsst) is encoded as follows:
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| 203 | * DST not in effect -> 0
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| 204 | * DST in effect -> 1
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| 205 | * no information available -> 2
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| 206 | *
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| 207 | * @param[in] src Pointer to the TM struct to encode.
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| 208 | *
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| 209 | * @return An unsigned 64 bit integer, which holds the encoded time value.
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| 210 | */
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| 211 | inline uint64_t _TM2U64(struct tm* src) |
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| 212 | {
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| 213 | aosDbgCheck(src != NULL);
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| 214 | |||
| 215 | return (((uint64_t)(src->tm_sec & 0x0000003F) << (0)) | |
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| 216 | ((uint64_t)(src->tm_min & 0x0000003F) << (6)) | |
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| 217 | ((uint64_t)(src->tm_hour & 0x0000001F) << (12)) | |
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| 218 | ((uint64_t)(src->tm_mday & 0x0000001F) << (17)) | |
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| 219 | ((uint64_t)(src->tm_mon & 0x0000000F) << (22)) | |
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| 220 | ((uint64_t)(src->tm_year & 0x00FFFFFF) << (26)) | |
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| 221 | ((uint64_t)(src->tm_wday & 0x00000007) << (50)) | |
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| 222 | ((uint64_t)(src->tm_yday & 0x000001FF) << (53)) | |
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| 223 | ((uint64_t)((src->tm_isdst == 0) ? 0 : (src->tm_isdst > 0) ? 1 : 2) << (62))); |
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| 224 | } |
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| 225 | |||
| 226 | /**
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| 227 | * @brief Converter functiomn to retrieve the encoded TM value from an unsigned 64 bit integer.
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| 228 | *
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| 229 | * @details For information on the encoding, please refer to @p _TM2U64 function.
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| 230 | *
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| 231 | * @param[out] dst The TM struct to fill with the decoded values.
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| 232 | * @param[in] src Unsigned 64 bit integer holding the encoded TM value.
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| 233 | */
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| 234 | inline void _U642TM(struct tm* dst, const uint64_t src) |
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| 235 | {
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| 236 | aosDbgCheck(dst != NULL);
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| 237 | |||
| 238 | dst->tm_sec = (src >> 0) & 0x0000003F; |
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| 239 | dst->tm_min = (src >> 6) & 0x0000003F; |
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| 240 | dst->tm_hour = (src >> 12) & 0x0000001F; |
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| 241 | dst->tm_mday = (src >> 17) & 0x0000001F; |
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| 242 | dst->tm_mon = (src >> 22) & 0x0000000F; |
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| 243 | dst->tm_year = (src >> 26) & 0x00FFFFFF; |
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| 244 | dst->tm_wday = (src >> 50) & 0x00000007; |
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| 245 | dst->tm_yday = (src >> 53) & 0x000001FF; |
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| 246 | dst->tm_isdst = (((src >> 62) & 0x03) == 0) ? 0 : (((src >> 62) & 0x03) > 0) ? 1 : -1; |
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| 247 | |||
| 248 | return;
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| 249 | 933df08e | Thomas Schöpping | } |
| 250 | |||
| 251 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
| 252 | 933df08e | Thomas Schöpping | /**
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| 253 | * @brief Implementation of the SSSP module stack initialization sequence (startup phase 3).
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| 254 | *
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| 255 | * @return Shutdown value.
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| 256 | * @retval AOS_SHUTDOWN_NONE No shutdown signal received
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| 257 | * @retval AOS_SHUTDOWN_PASSIVE Shutdown signal received.
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| 258 | */
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| 259 | aos_shutdown_t _ssspModuleStackInitialization(void)
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| 260 | {
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| 261 | // local types
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| 262 | /**
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| 263 | * @brief States for the internal state machine to implement SSSP startup stage 3.
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| 264 | */
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| 265 | typedef enum { |
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| 266 | STAGE_3_1, /**< Initiation of SSSP startup stage 3. */
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| 267 | STAGE_3_2, /**< Starting the sequence and broadcasting the first ID. */
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| 268 | STAGE_3_3_WAITFORFIRSTID, /**< Waiting for first ID after initiation. */
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| 269 | STAGE_3_3_WAITFORIDORSIG, /**< Waiting for next ID or activation of neighbor signal. */
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| 270 | STAGE_3_3_WAITFORID, /**< Waiting for next ID (after the module has set its own ID). */
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| 271 | STAGE_3_4_FINISH, /**< Successful finish of stage 3. */
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| 272 | STAGE_3_4_ABORT_ACTIVE, /**< Aborting stage 3 (active). */
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| 273 | STAGE_3_4_ABORT, /**< Aborting stage 3 (passive). */
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| 274 | } sssp_modulestackinitstage_t; |
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| 275 | |||
| 276 | typedef struct { |
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| 277 | bool loop : 1; |
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| 278 | bool wfe : 1; |
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| 279 | bool wfe_next : 1; |
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| 280 | } flags_t; |
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| 281 | |||
| 282 | // local variables
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| 283 | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
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| 284 | sssp_modulestackinitstage_t stage = STAGE_3_1; |
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| 285 | eventmask_t eventmask = 0;
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| 286 | eventflags_t ioflags; |
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| 287 | event_source_t eventSourceTimeout; |
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| 288 | event_source_t eventSourceDelay; |
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| 289 | event_listener_t eventListenerTimeout; |
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| 290 | event_listener_t eventListenerDelay; |
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| 291 | event_listener_t eventListenerCan; |
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| 292 | virtual_timer_t timerTimeout; |
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| 293 | virtual_timer_t timerDelay; |
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| 294 | CANTxFrame canTxFrame; |
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| 295 | CANRxFrame canRxFrame; |
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| 296 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
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| 297 | aos_ssspmoduleid_t lastid = 0;
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| 298 | #endif
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| 299 | flags_t flags; |
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| 300 | |||
| 301 | // initialize local varibles
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| 302 | chEvtObjectInit(&eventSourceTimeout); |
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| 303 | chEvtObjectInit(&eventSourceDelay); |
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| 304 | chVTObjectInit(&timerTimeout); |
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| 305 | chVTObjectInit(&timerDelay); |
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| 306 | canTxFrame.RTR = CAN_RTR_DATA; |
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| 307 | canTxFrame.IDE = CAN_IDE_STD; |
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| 308 | flags.loop = true;
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| 309 | flags.wfe = false; // do not wait for events in the initial iteration of the FSM loop |
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| 310 | flags.wfe_next = true;
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| 311 | |||
| 312 | // initialize system variables
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| 313 | aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
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| 314 | aos.sssp.moduleId = 0;
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| 315 | |||
| 316 | // listen to events (timout, delay, CAN receive)
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| 317 | chEvtRegisterMask(&eventSourceTimeout, &eventListenerTimeout, TIMEOUTEVENT_MASK); |
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| 318 | chEvtRegisterMask(&eventSourceDelay, &eventListenerDelay, DELAYEVENT_MASK); |
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| 319 | chEvtRegisterMask(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan, CANEVENT_MASK); |
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| 320 | |||
| 321 | /*
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| 322 | * FSM in a loop.
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| 323 | *
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| 324 | * This is a fully event-based FSM for the module stack initialization
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| 325 | * sequence, defined by SSSP as startup stage 3. There are five different
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| 326 | * events that can occur at this point:
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| 327 | * I/O events: The input level of an input pin has changed. Such events must
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| 328 | * be handled differently depending on the current state. Most
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| 329 | * of the time, however, such events can be ignored.
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| 330 | * OS events: Such events are only available after this stage completed and
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| 331 | * thus should never occur. However, there is an optional hook
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| 332 | * to handle such events, nevertheless.
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| 333 | * CAN events: At least one CAN message was received. Note that this event
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| 334 | * will only fire again if all input buffers have been cleared.
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| 335 | * timeouts: If some module does not support the sequence of there is any
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| 336 | * issue, such a case is detected via timeouts and must be
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| 337 | * handled accordingly (see abort state). In some cases, it is
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| 338 | * possible that a timeout event occurres 'simultaneously' with
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| 339 | * some other event. This can be caused by several timing issues
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| 340 | * and is a valid situation. As a result, any other events
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| 341 | * should be handled before the timeout event. If the other
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| 342 | * events are expected and valid, this implementation requires
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| 343 | * the timeout event flag to be cleared explicitely. Otherwise
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| 344 | * it is evaluated at the end of each iteration of the loop.
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| 345 | * delays: Depending on the current state, delays are required by SSSP
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| 346 | * for timing of the sequential activation of signals.
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| 347 | */
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| 348 | aosDbgPrintf("SSSP stack initialization sequence:\n");
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| 349 | while (flags.loop) {
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| 350 | #if (AMIROOS_CFG_DBG == true) |
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| 351 | switch (stage) {
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| 352 | case STAGE_3_1:
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| 353 | aosDbgPrintf(">>> 3-1\n");
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| 354 | break;
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| 355 | case STAGE_3_2:
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| 356 | aosDbgPrintf(">>> 3-2\n");
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| 357 | break;
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| 358 | case STAGE_3_3_WAITFORFIRSTID:
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| 359 | aosDbgPrintf(">>> 3-3 (1st ID)\n");
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| 360 | break;
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| 361 | case STAGE_3_3_WAITFORIDORSIG:
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| 362 | aosDbgPrintf(">>> 3-3 (ID/sig)\n");
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| 363 | break;
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| 364 | case STAGE_3_3_WAITFORID:
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| 365 | aosDbgPrintf(">>> 3-3 (ID)\n");
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| 366 | break;
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| 367 | case STAGE_3_4_FINISH:
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| 368 | aosDbgPrintf(">>> 3-4 (finish)\n");
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| 369 | break;
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| 370 | case STAGE_3_4_ABORT_ACTIVE:
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| 371 | 9461fadc | Thomas Schöpping | aosDbgPrintf(">>> 3-4 (active abort)\n");
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| 372 | 933df08e | Thomas Schöpping | break;
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| 373 | case STAGE_3_4_ABORT:
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| 374 | aosDbgPrintf(">>> 3-4 (abort)\n");
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| 375 | break;
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| 376 | } |
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| 377 | #endif
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| 378 | |||
| 379 | // reset wfe flag for the next iteration
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| 380 | flags.wfe_next = true;
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| 381 | |||
| 382 | // waiting for events may be skipped
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| 383 | if (flags.wfe) {
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| 384 | // wait for any event to occur
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| 385 | aosDbgPrintf("WFE...");
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| 386 | 1e5f7648 | Thomas Schöpping | eventmask = chEvtWaitAnyTimeout(ALL_EVENTS, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)); |
| 387 | 933df08e | Thomas Schöpping | aosDbgPrintf("\t0x%08X", eventmask);
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| 388 | } else {
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| 389 | aosDbgPrintf("WFE skipped");
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| 390 | } |
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| 391 | aos_timestamp_t uptime; |
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| 392 | aosSysGetUptime(&uptime); |
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| 393 | aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / 1000)); |
||
| 394 | |||
| 395 | /*
|
||
| 396 | * execute some general tasks and high priority events
|
||
| 397 | */
|
||
| 398 | // no event occurred at all
|
||
| 399 | if ((flags.wfe) && (eventmask == 0)) { |
||
| 400 | aosDbgPrintf("ERR: no evt\n");
|
||
| 401 | // enforce timeout event
|
||
| 402 | chEvtBroadcast(&eventSourceTimeout); |
||
| 403 | continue;
|
||
| 404 | } |
||
| 405 | // if an IO event occurred
|
||
| 406 | 9461fadc | Thomas Schöpping | if (eventmask & _eventListenerIO.events) {
|
| 407 | 933df08e | Thomas Schöpping | ioflags = chEvtGetAndClearFlags(&_eventListenerIO); |
| 408 | aosDbgPrintf("INFO: IO evt (0x%08X)\n", ioflags);
|
||
| 409 | // a power-down event occurred
|
||
| 410 | if (ioflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
||
| 411 | aosDbgPrintf("PD evt\n");
|
||
| 412 | // deactivate S and UP
|
||
| 413 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
| 414 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 415 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
| 416 | 9ebb11a9 | Thomas Schöpping | #endif
|
| 417 | 933df08e | Thomas Schöpping | // set shutdown flag and exit the loop
|
| 418 | shutdown = AOS_SHUTDOWN_PASSIVE; |
||
| 419 | break;
|
||
| 420 | } |
||
| 421 | // the S signal was deactivated
|
||
| 422 | if (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC) {
|
||
| 423 | apalControlGpioState_t sstate; |
||
| 424 | apalControlGpioGet(&moduleSsspGpioSync, &sstate); |
||
| 425 | if (sstate == APAL_GPIO_OFF) {
|
||
| 426 | aosDbgPrintf("-S evt\n");
|
||
| 427 | // either finish or abort
|
||
| 428 | if ((stage == STAGE_3_3_WAITFORID) && (aos.sssp.moduleId != 0)) { |
||
| 429 | stage = STAGE_3_4_FINISH; |
||
| 430 | } else if (stage != STAGE_3_4_ABORT) { |
||
| 431 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
| 432 | } |
||
| 433 | } |
||
| 434 | } |
||
| 435 | } |
||
| 436 | // an OS event occurred
|
||
| 437 | 9461fadc | Thomas Schöpping | if (eventmask & _eventListenerOS.events) {
|
| 438 | 933df08e | Thomas Schöpping | aosDbgPrintf("WARN: OS evt\n");
|
| 439 | // get the flags
|
||
| 440 | eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
| 441 | // there should be no OS events at this point
|
||
| 442 | #ifdef MODULE_SSSP_STARTUP_3_OSEVENT_HOOK
|
||
| 443 | MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags); |
||
| 444 | #else
|
||
| 445 | _unexpectedEventError(eventmask, oseventflags); |
||
| 446 | #endif
|
||
| 447 | } |
||
| 448 | // if a CAN event occurred
|
||
| 449 | 9461fadc | Thomas Schöpping | if ((eventmask & eventListenerCan.events)) {
|
| 450 | 933df08e | Thomas Schöpping | // fetch message
|
| 451 | if (flags.wfe) {
|
||
| 452 | canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE); |
||
| 453 | aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
||
| 454 | } |
||
| 455 | // identify and handle abort messgaes
|
||
| 456 | if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
||
| 457 | stage = STAGE_3_4_ABORT; |
||
| 458 | } |
||
| 459 | // warn if a unexpected message was received
|
||
| 460 | else if ((canRxFrame.SID != SSSP_STACKINIT_CANMSGID_INIT) && |
||
| 461 | (canRxFrame.SID != SSSP_STACKINIT_CANMSGID_MODULEID)) {
|
||
| 462 | aosDbgPrintf("WARN: unknown msg\n");
|
||
| 463 | } |
||
| 464 | // any further pending messages are fetched at the end of the loop
|
||
| 465 | } |
||
| 466 | // if a timeout event occurred
|
||
| 467 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerTimeout.events) {
|
| 468 | 933df08e | Thomas Schöpping | // is handled at the end of the loop (or must be cleared by FSM)
|
| 469 | } |
||
| 470 | // if a delay event occurred
|
||
| 471 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
| 472 | 933df08e | Thomas Schöpping | // is handled by FSM
|
| 473 | } |
||
| 474 | |||
| 475 | /*
|
||
| 476 | * this is the actual FSM
|
||
| 477 | */
|
||
| 478 | switch (stage) {
|
||
| 479 | case STAGE_3_1:
|
||
| 480 | {
|
||
| 481 | aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
||
| 482 | |||
| 483 | // there was no event at all (skipped wfe)
|
||
| 484 | if (eventmask == 0 && flags.wfe == false) { |
||
| 485 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
| 486 | // initialize the stage by transmitting an according CAN message
|
||
| 487 | aosDbgPrintf("CAN -> init\n");
|
||
| 488 | canTxFrame.DLC = 0;
|
||
| 489 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_INIT; |
||
| 490 | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
||
| 491 | chEvtBroadcast(&eventSourceTimeout); |
||
| 492 | break;
|
||
| 493 | } |
||
| 494 | // activate S
|
||
| 495 | aosDbgPrintf("S+\n");
|
||
| 496 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
||
| 497 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
| 498 | // proceed immediately
|
||
| 499 | stage = STAGE_3_2; |
||
| 500 | flags.wfe_next = false;
|
||
| 501 | #else
|
||
| 502 | // set the timeout timer
|
||
| 503 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 504 | 933df08e | Thomas Schöpping | // proceed
|
| 505 | stage = STAGE_3_3_WAITFORFIRSTID; |
||
| 506 | #endif
|
||
| 507 | #else
|
||
| 508 | // set the timeout timer
|
||
| 509 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 510 | 933df08e | Thomas Schöpping | #endif
|
| 511 | } |
||
| 512 | |||
| 513 | #if (AMIROOS_CFG_SSSP_MASTER != true) |
||
| 514 | // a CAN message was received
|
||
| 515 | 9461fadc | Thomas Schöpping | else if (eventmask & eventListenerCan.events) { |
| 516 | 933df08e | Thomas Schöpping | // if an initiation message was received
|
| 517 | if (canRxFrame.DLC == 0 && |
||
| 518 | canRxFrame.RTR == CAN_RTR_DATA && |
||
| 519 | canRxFrame.IDE == CAN_IDE_STD && |
||
| 520 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) {
|
||
| 521 | aosDbgPrintf("init msg\n");
|
||
| 522 | // reset the timeout timer and clear pending flags
|
||
| 523 | chVTReset(&timerTimeout); |
||
| 524 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 525 | eventmask &= ~(eventListenerTimeout.events); |
||
| 526 | 933df08e | Thomas Schöpping | // activate S
|
| 527 | aosDbgPrintf("S+\n");
|
||
| 528 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
||
| 529 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
| 530 | // proceed
|
||
| 531 | stage = STAGE_3_2; |
||
| 532 | flags.wfe_next = false;
|
||
| 533 | #else
|
||
| 534 | // set the timeout timer
|
||
| 535 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 536 | 933df08e | Thomas Schöpping | // proceed
|
| 537 | stage = STAGE_3_3_WAITFORFIRSTID; |
||
| 538 | #endif
|
||
| 539 | } |
||
| 540 | } |
||
| 541 | #endif
|
||
| 542 | |||
| 543 | break;
|
||
| 544 | } /* end of STAGE_3_1 */
|
||
| 545 | |||
| 546 | case STAGE_3_2:
|
||
| 547 | {
|
||
| 548 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
| 549 | aos.sssp.stage = AOS_SSSP_STARTUP_3_2; |
||
| 550 | |||
| 551 | // if this stage was just entered
|
||
| 552 | if (flags.wfe == false) { |
||
| 553 | // set the module ID
|
||
| 554 | aos.sssp.moduleId = 1;
|
||
| 555 | // broadcast module ID
|
||
| 556 | aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
||
| 557 | canTxFrame.DLC = 4;
|
||
| 558 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
||
| 559 | 9461fadc | Thomas Schöpping | _serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
| 560 | 933df08e | Thomas Schöpping | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
| 561 | chEvtBroadcast(&eventSourceTimeout); |
||
| 562 | break;
|
||
| 563 | } |
||
| 564 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
||
| 565 | lastid = aos.sssp.moduleId; |
||
| 566 | #endif
|
||
| 567 | #if (AMIROOS_CFG_SSSP_STACK_END == true) |
||
| 568 | // sequence is already over
|
||
| 569 | // deactivate S
|
||
| 570 | aosDbgPrintf("S-\n");
|
||
| 571 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
| 572 | // proceed
|
||
| 573 | stage = STAGE_3_3_WAITFORID; |
||
| 574 | #else
|
||
| 575 | // set the delay timer so the UP signal is activated later
|
||
| 576 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
| 577 | 933df08e | Thomas Schöpping | #endif
|
| 578 | } |
||
| 579 | |||
| 580 | // if a delay event occurred
|
||
| 581 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
| 582 | 933df08e | Thomas Schöpping | // activate UP
|
| 583 | aosDbgPrintf("UP+\n");
|
||
| 584 | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
||
| 585 | // deactivate S
|
||
| 586 | aosDbgPrintf("S-\n");
|
||
| 587 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
| 588 | // explicitely clear timeout event flag
|
||
| 589 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 590 | eventmask &= ~(eventListenerTimeout.events); |
||
| 591 | 933df08e | Thomas Schöpping | // proceed
|
| 592 | stage = STAGE_3_3_WAITFORID; |
||
| 593 | } |
||
| 594 | #endif
|
||
| 595 | |||
| 596 | break;
|
||
| 597 | } /* end of STAGE_3_2 */
|
||
| 598 | |||
| 599 | case STAGE_3_3_WAITFORFIRSTID:
|
||
| 600 | {
|
||
| 601 | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
||
| 602 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
| 603 | |||
| 604 | // a CAN message was received
|
||
| 605 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
| 606 | 933df08e | Thomas Schöpping | // if an ID message was received
|
| 607 | if (canRxFrame.DLC == 4 && |
||
| 608 | canRxFrame.RTR == CAN_RTR_DATA && |
||
| 609 | canRxFrame.IDE == CAN_IDE_STD && |
||
| 610 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
||
| 611 | 9461fadc | Thomas Schöpping | aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4)); |
| 612 | 933df08e | Thomas Schöpping | // validate received ID
|
| 613 | 9461fadc | Thomas Schöpping | if (lastid < _deserialize(canRxFrame.data8, 4)) { |
| 614 | 933df08e | Thomas Schöpping | // store received ID
|
| 615 | 9461fadc | Thomas Schöpping | lastid = _deserialize(canRxFrame.data8, 4);
|
| 616 | 933df08e | Thomas Schöpping | // restart timeout timer
|
| 617 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 618 | 933df08e | Thomas Schöpping | // proceed
|
| 619 | stage = STAGE_3_3_WAITFORIDORSIG; |
||
| 620 | } else {
|
||
| 621 | aosDbgPrintf("ERR: invalid ID\n");
|
||
| 622 | // abort
|
||
| 623 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
| 624 | flags.wfe_next = false;
|
||
| 625 | } |
||
| 626 | // explicitely clear timeout event flag
|
||
| 627 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 628 | eventmask &= ~(eventListenerTimeout.events); |
||
| 629 | 933df08e | Thomas Schöpping | } |
| 630 | } |
||
| 631 | #endif
|
||
| 632 | break;
|
||
| 633 | } /* end of STAGE_3_3_WAITFORFIRSTID */
|
||
| 634 | |||
| 635 | case STAGE_3_3_WAITFORIDORSIG:
|
||
| 636 | {
|
||
| 637 | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
||
| 638 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
| 639 | |||
| 640 | // a CAN message was received
|
||
| 641 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
| 642 | 933df08e | Thomas Schöpping | // if an ID message was received
|
| 643 | if (canRxFrame.DLC == 4 && |
||
| 644 | canRxFrame.RTR == CAN_RTR_DATA && |
||
| 645 | canRxFrame.IDE == CAN_IDE_STD && |
||
| 646 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
||
| 647 | 9461fadc | Thomas Schöpping | aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4)); |
| 648 | 933df08e | Thomas Schöpping | // validate received ID
|
| 649 | 9461fadc | Thomas Schöpping | if (lastid < _deserialize(canRxFrame.data8, 4)) { |
| 650 | 933df08e | Thomas Schöpping | // store received ID
|
| 651 | 9461fadc | Thomas Schöpping | lastid = _deserialize(canRxFrame.data8, 4);
|
| 652 | 933df08e | Thomas Schöpping | // restart timeout timer
|
| 653 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 654 | 933df08e | Thomas Schöpping | } else {
|
| 655 | aosDbgPrintf("ERR: invalid ID\n");
|
||
| 656 | // abort
|
||
| 657 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
| 658 | flags.wfe_next = false;
|
||
| 659 | } |
||
| 660 | // explicitely clear timeout event flag
|
||
| 661 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 662 | eventmask &= ~(eventListenerTimeout.events); |
||
| 663 | 933df08e | Thomas Schöpping | } |
| 664 | } |
||
| 665 | |||
| 666 | // if an IO event was received (DN signal)
|
||
| 667 | 9461fadc | Thomas Schöpping | if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_DN)) {
|
| 668 | 933df08e | Thomas Schöpping | aosDbgPrintf("DN <-\n");
|
| 669 | // reset timeout timer
|
||
| 670 | chVTReset(&timerTimeout); |
||
| 671 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 672 | eventmask &= ~(eventListenerTimeout.events); |
||
| 673 | 933df08e | Thomas Schöpping | // increment and broadcast ID
|
| 674 | aos.sssp.moduleId = lastid + 1;
|
||
| 675 | aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
||
| 676 | canTxFrame.DLC = 4;
|
||
| 677 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
||
| 678 | 9461fadc | Thomas Schöpping | _serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
| 679 | 933df08e | Thomas Schöpping | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
| 680 | chEvtBroadcast(&eventSourceTimeout); |
||
| 681 | break;
|
||
| 682 | } |
||
| 683 | // set delay timer
|
||
| 684 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
| 685 | 933df08e | Thomas Schöpping | } |
| 686 | |||
| 687 | // if a delay event occurred
|
||
| 688 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
| 689 | 933df08e | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 690 | // activate UP
|
||
| 691 | aosDbgPrintf("UP+\n");
|
||
| 692 | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
||
| 693 | #endif
|
||
| 694 | // deactivate S
|
||
| 695 | aosDbgPrintf("S-\n");
|
||
| 696 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
| 697 | // reset the timeout timer
|
||
| 698 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 699 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 700 | eventmask &= ~(eventListenerTimeout.events); |
||
| 701 | 933df08e | Thomas Schöpping | // proceed
|
| 702 | stage = STAGE_3_3_WAITFORID; |
||
| 703 | } |
||
| 704 | #endif
|
||
| 705 | |||
| 706 | break;
|
||
| 707 | } /* end of STAGE_3_3_WAITFORIDORSIG */
|
||
| 708 | |||
| 709 | case STAGE_3_3_WAITFORID:
|
||
| 710 | {
|
||
| 711 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
| 712 | |||
| 713 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
| 714 | // a CAN message was received
|
||
| 715 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
| 716 | 933df08e | Thomas Schöpping | // if an ID message was received
|
| 717 | if (canRxFrame.DLC == 4 && |
||
| 718 | canRxFrame.RTR == CAN_RTR_DATA && |
||
| 719 | canRxFrame.IDE == CAN_IDE_STD && |
||
| 720 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
||
| 721 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
||
| 722 | // Plausibility of the received ID is not checked at this point but is done by other modules still in a previous stage.
|
||
| 723 | 9461fadc | Thomas Schöpping | lastid = _deserialize(canRxFrame.data8, 4);
|
| 724 | 933df08e | Thomas Schöpping | aosDbgPrintf("ID (%u)\n", lastid);
|
| 725 | #endif
|
||
| 726 | // restart timeout timer
|
||
| 727 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 728 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 729 | eventmask &= ~(eventListenerTimeout.events); |
||
| 730 | 933df08e | Thomas Schöpping | } |
| 731 | } |
||
| 732 | #endif
|
||
| 733 | |||
| 734 | break;
|
||
| 735 | } /* end of STAGE_3_3_WAITFORID */
|
||
| 736 | |||
| 737 | case STAGE_3_4_FINISH:
|
||
| 738 | {
|
||
| 739 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
| 740 | |||
| 741 | // if an IO event was received (S signal)
|
||
| 742 | 9461fadc | Thomas Schöpping | if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
| 743 | 933df08e | Thomas Schöpping | // reset the timeout timer
|
| 744 | chVTReset(&timerTimeout); |
||
| 745 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 746 | eventmask &= ~(eventListenerTimeout.events); |
||
| 747 | 933df08e | Thomas Schöpping | //set the delay timer
|
| 748 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerDelay, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceDelay); |
| 749 | 933df08e | Thomas Schöpping | } |
| 750 | |||
| 751 | // if a CAN event was received
|
||
| 752 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
| 753 | 933df08e | Thomas Schöpping | // if an abort message was received
|
| 754 | if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
||
| 755 | aosDbgPrintf("abort msg\n");
|
||
| 756 | // reset the delay timer
|
||
| 757 | chVTReset(&timerDelay); |
||
| 758 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerDelay.events, TIME_IMMEDIATE); |
| 759 | eventmask &= ~(eventListenerDelay.events); |
||
| 760 | 933df08e | Thomas Schöpping | // proceed
|
| 761 | stage = STAGE_3_4_ABORT; |
||
| 762 | } |
||
| 763 | } |
||
| 764 | |||
| 765 | // if a delay timer event occurred
|
||
| 766 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
| 767 | 933df08e | Thomas Schöpping | aosDbgPrintf("sequence sucessful\n");
|
| 768 | // sequence finished sucessfully
|
||
| 769 | flags.loop = false;
|
||
| 770 | } |
||
| 771 | |||
| 772 | break;
|
||
| 773 | } /* end of STAGE_3_4_FINISH */
|
||
| 774 | |||
| 775 | case STAGE_3_4_ABORT_ACTIVE:
|
||
| 776 | {
|
||
| 777 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
| 778 | |||
| 779 | // emit abort message
|
||
| 780 | canTxFrame.DLC = 0;
|
||
| 781 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_ABORT; |
||
| 782 | canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_INFINITE); |
||
| 783 | aosDbgPrintf("CAN -> abort\n");
|
||
| 784 | // clear timeout flag
|
||
| 785 | 9461fadc | Thomas Schöpping | eventmask &= ~(eventListenerTimeout.events); |
| 786 | 933df08e | Thomas Schöpping | // proceed immediately
|
| 787 | stage = STAGE_3_4_ABORT; |
||
| 788 | flags.wfe_next = false;
|
||
| 789 | break;
|
||
| 790 | } /* end of STAGE_3_4_ABORT_ACTIVE */
|
||
| 791 | |||
| 792 | case STAGE_3_4_ABORT:
|
||
| 793 | {
|
||
| 794 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
| 795 | |||
| 796 | // deactivate S
|
||
| 797 | aosDbgPrintf("S-\n");
|
||
| 798 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
| 799 | // invalidate module ID
|
||
| 800 | aos.sssp.moduleId = 0;
|
||
| 801 | |||
| 802 | // if an IO event was received (S signal)
|
||
| 803 | 9461fadc | Thomas Schöpping | if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
| 804 | 933df08e | Thomas Schöpping | aosDbgPrintf("sequence aborted\n");
|
| 805 | // exit the sequence
|
||
| 806 | flags.loop = false;
|
||
| 807 | } |
||
| 808 | |||
| 809 | break;
|
||
| 810 | } /* end of STAGE_3_4_ABORT */
|
||
| 811 | } |
||
| 812 | |||
| 813 | // fetch pending CAN message (if any)
|
||
| 814 | 9461fadc | Thomas Schöpping | if ((eventmask & eventListenerCan.events) && (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE) == MSG_OK)) {
|
| 815 | 933df08e | Thomas Schöpping | aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
| 816 | flags.wfe_next = false;
|
||
| 817 | } |
||
| 818 | |||
| 819 | // handle unhandled timeout events
|
||
| 820 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerTimeout.events) {
|
| 821 | 933df08e | Thomas Schöpping | aosDbgPrintf("ERR: timeout evt\n");
|
| 822 | // abort
|
||
| 823 | flags.wfe_next = false;
|
||
| 824 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
| 825 | } |
||
| 826 | |||
| 827 | // apply wfe value for next iteration
|
||
| 828 | flags.wfe = flags.wfe_next; |
||
| 829 | 1e5f7648 | Thomas Schöpping | } /* end of FSM loop */
|
| 830 | 933df08e | Thomas Schöpping | aosDbgPrintf("\n");
|
| 831 | |||
| 832 | // unregister all events (timeout, delay, CAN receive)
|
||
| 833 | chEvtUnregister(&eventSourceTimeout, &eventListenerTimeout); |
||
| 834 | chEvtUnregister(&eventSourceDelay, &eventListenerDelay); |
||
| 835 | chEvtUnregister(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan); |
||
| 836 | // clear any pending events (timeout, delay, CAN receive)
|
||
| 837 | chEvtWaitAllTimeout(TIMEOUTEVENT_MASK | DELAYEVENT_MASK | CANEVENT_MASK, TIME_IMMEDIATE); |
||
| 838 | |||
| 839 | // reset all control signals
|
||
| 840 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
| 841 | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
||
| 842 | #endif
|
||
| 843 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
| 844 | |||
| 845 | return shutdown;
|
||
| 846 | } |
||
| 847 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
| 848 | 933df08e | Thomas Schöpping | |
| 849 | /**
|
||
| 850 | e545e620 | Thomas Schöpping | * @brief Application entry point.
|
| 851 | */
|
||
| 852 | int main(void) |
||
| 853 | {
|
||
| 854 | // local variables
|
||
| 855 | eventmask_t eventmask = 0;
|
||
| 856 | eventflags_t eventflags = 0;
|
||
| 857 | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
||
| 858 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)
|
| 859 | AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
||
| 860 | e545e620 | Thomas Schöpping | #endif
|
| 861 | |||
| 862 | /*
|
||
| 863 | * ##########################################################################
|
||
| 864 | * # system initialization #
|
||
| 865 | * ##########################################################################
|
||
| 866 | */
|
||
| 867 | |||
| 868 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
|
||
| 869 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS)
|
| 870 | AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS); |
||
| 871 | #else
|
||
| 872 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_0(); |
| 873 | #endif
|
||
| 874 | b6b45e4c | Thomas Schöpping | #endif
|
| 875 | e545e620 | Thomas Schöpping | |
| 876 | /* hardware, kernel, and operating system initialization */
|
||
| 877 | // ChibiOS/HAL and custom hal additions (if any)
|
||
| 878 | halInit(); |
||
| 879 | #ifdef MODULE_INIT_HAL_EXTRA
|
||
| 880 | MODULE_INIT_HAL_EXTRA(); |
||
| 881 | #endif
|
||
| 882 | |||
| 883 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
|
||
| 884 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
|
||
| 885 | AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
||
| 886 | #else
|
||
| 887 | AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
||
| 888 | #endif
|
||
| 889 | #endif
|
||
| 890 | |||
| 891 | // ChibiOS/RT kernel and custom kernel additions (if any)
|
||
| 892 | chSysInit(); |
||
| 893 | #ifdef MODULE_INIT_KERNEL_EXTRA
|
||
| 894 | MODULE_INIT_KERNEL_EXTRA(); |
||
| 895 | #endif
|
||
| 896 | |||
| 897 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
|
||
| 898 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
|
||
| 899 | AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
||
| 900 | #else
|
||
| 901 | AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
||
| 902 | #endif
|
||
| 903 | #endif
|
||
| 904 | |||
| 905 | // AMiRo-OS and custom OS additions (if any)
|
||
| 906 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
| 907 | aosSysInit(moduleShellPrompt); |
||
| 908 | #else
|
||
| 909 | aosSysInit(); |
||
| 910 | #endif
|
||
| 911 | e545e620 | Thomas Schöpping | #ifdef MODULE_INIT_OS_EXTRA
|
| 912 | MODULE_INIT_OS_EXTRA(); |
||
| 913 | #endif
|
||
| 914 | |||
| 915 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
|
||
| 916 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
|
||
| 917 | AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
||
| 918 | #else
|
||
| 919 | AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
||
| 920 | #endif
|
||
| 921 | #endif
|
||
| 922 | |||
| 923 | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
||
| 924 | 9461fadc | Thomas Schöpping | #if defined(MODULE_INIT_TESTS)
|
| 925 | e545e620 | Thomas Schöpping | MODULE_INIT_TESTS(); |
| 926 | 9461fadc | Thomas Schöpping | #else
|
| 927 | #warning "MODULE_INIT_TESTS not defined" |
||
| 928 | #endif
|
||
| 929 | e545e620 | Thomas Schöpping | #endif
|
| 930 | |||
| 931 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
|
||
| 932 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
|
||
| 933 | AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
||
| 934 | #else
|
||
| 935 | AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
||
| 936 | #endif
|
||
| 937 | #endif
|
||
| 938 | |||
| 939 | /* event associations */
|
||
| 940 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 941 | 1e5f7648 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_START == true) && (AMIROOS_CFG_SSSP_STACK_END == true) |
| 942 | chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC); |
||
| 943 | #elif (AMIROOS_CFG_SSSP_STACK_START == true) |
||
| 944 | chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_UP); |
||
| 945 | #elif (AMIROOS_CFG_SSSP_STACK_END == true) |
||
| 946 | chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_DN); |
||
| 947 | #else
|
||
| 948 | chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_DN | MODULE_SSSP_EVENTFLAGS_UP); |
||
| 949 | #endif
|
||
| 950 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
| 951 | 6b53f6bf | Thomas Schöpping | chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK); |
| 952 | e545e620 | Thomas Schöpping | |
| 953 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
|
||
| 954 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
|
||
| 955 | AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
||
| 956 | #else
|
||
| 957 | AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
||
| 958 | #endif
|
||
| 959 | #endif
|
||
| 960 | |||
| 961 | /* periphery communication initialization */
|
||
| 962 | // CAN (mandatory)
|
||
| 963 | canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); |
||
| 964 | // module specific initialization (if any)
|
||
| 965 | #ifdef MODULE_INIT_PERIPHERY_COMM
|
||
| 966 | MODULE_INIT_PERIPHERY_COMM(); |
||
| 967 | #endif
|
||
| 968 | // user interface (if any)
|
||
| 969 | #ifdef MODULE_HAL_PROGIF
|
||
| 970 | ba516b61 | Thomas Schöpping | aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
| 971 | aosIOChannelOutputEnable(&_stdiochannel); |
||
| 972 | aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
||
| 973 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
||
| 974 | dd8738ea | Thomas Schöpping | aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
| 975 | ba516b61 | Thomas Schöpping | aosShellChannelInputEnable(&_stdshellchannel); |
| 976 | aosShellChannelOutputEnable(&_stdshellchannel); |
||
| 977 | 6b53f6bf | Thomas Schöpping | aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
| 978 | ba516b61 | Thomas Schöpping | #endif
|
| 979 | e545e620 | Thomas Schöpping | #endif
|
| 980 | |||
| 981 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)
|
||
| 982 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)
|
||
| 983 | AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS); |
||
| 984 | #else
|
||
| 985 | AMIROOS_CFG_MAIN_INIT_HOOK_6(); |
||
| 986 | #endif
|
||
| 987 | #endif
|
||
| 988 | |||
| 989 | /* module is ready -> print welcome prompt */
|
||
| 990 | aosprintf("\n");
|
||
| 991 | aosprintf("######################################################################\n");
|
||
| 992 | aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
||
| 993 | aosprintf("# Robot (AMiRo) platform. #\n");
|
||
| 994 | aosprintf("# Copyright (C) 2016..2018 Thomas Schöpping et al. #\n");
|
||
| 995 | aosprintf("# #\n");
|
||
| 996 | aosprintf("# This is free software; see the source for copying conditions. #\n");
|
||
| 997 | aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
|
||
| 998 | aosprintf("# A PARTICULAR PURPOSE. #\n");
|
||
| 999 | aosprintf("# The development of this software was supported by the Excellence #\n");
|
||
| 1000 | aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
|
||
| 1001 | aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
|
||
| 1002 | aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
|
||
| 1003 | aosprintf("######################################################################\n");
|
||
| 1004 | aosprintf("\n");
|
||
| 1005 | |||
| 1006 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)
|
||
| 1007 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)
|
||
| 1008 | AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS); |
||
| 1009 | #else
|
||
| 1010 | AMIROOS_CFG_MAIN_INIT_HOOK_7(); |
||
| 1011 | #endif
|
||
| 1012 | #endif
|
||
| 1013 | |||
| 1014 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 1015 | 6b53f6bf | Thomas Schöpping | /* SSSP startup OS synchronization phase (end of startup stage 2) */
|
| 1016 | 9461fadc | Thomas Schöpping | while ((shutdown == AOS_SHUTDOWN_NONE) && (eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) { |
| 1017 | e545e620 | Thomas Schöpping | /*
|
| 1018 | * This code is executed if the received event was not about the SYS_SYNC control signal.
|
||
| 1019 | * The returned event could be caused by any listener (not only the argument).
|
||
| 1020 | */
|
||
| 1021 | 9461fadc | Thomas Schöpping | // IO event
|
| 1022 | e545e620 | Thomas Schöpping | if (eventmask & _eventListenerIO.events) {
|
| 1023 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
||
| 1024 | 9461fadc | Thomas Schöpping | // PD event
|
| 1025 | if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
||
| 1026 | shutdown = AOS_SHUTDOWN_PASSIVE; |
||
| 1027 | } else {
|
||
| 1028 | 933df08e | Thomas Schöpping | #ifdef MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK
|
| 1029 | 9461fadc | Thomas Schöpping | MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK(eventmask, eventflags); |
| 1030 | e545e620 | Thomas Schöpping | #else
|
| 1031 | 9461fadc | Thomas Schöpping | // ignore any other IO events
|
| 1032 | e545e620 | Thomas Schöpping | #endif
|
| 1033 | 9461fadc | Thomas Schöpping | } |
| 1034 | e545e620 | Thomas Schöpping | } |
| 1035 | 9461fadc | Thomas Schöpping | // OS event
|
| 1036 | e545e620 | Thomas Schöpping | else if (eventmask & _eventListenerOS.events) { |
| 1037 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
| 1038 | _unexpectedEventError(eventmask, eventflags); |
||
| 1039 | } |
||
| 1040 | 9461fadc | Thomas Schöpping | // unknown event
|
| 1041 | e545e620 | Thomas Schöpping | else {
|
| 1042 | 933df08e | Thomas Schöpping | _unexpectedEventError(eventmask, 0);
|
| 1043 | e545e620 | Thomas Schöpping | } |
| 1044 | } |
||
| 1045 | |||
| 1046 | 933df08e | Thomas Schöpping | /*
|
| 1047 | * There must be no delays at this point, thus no hook is allowed.
|
||
| 1048 | */
|
||
| 1049 | |||
| 1050 | /* SSSP startup stage 3 (module stack initialization) */
|
||
| 1051 | 9461fadc | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 1052 | shutdown = _ssspModuleStackInitialization(); |
||
| 1053 | } |
||
| 1054 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
| 1055 | 9461fadc | Thomas Schöpping | |
| 1056 | /*
|
||
| 1057 | * There must be no delays at this point, thus no hook is allowed.
|
||
| 1058 | */
|
||
| 1059 | |||
| 1060 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 1061 | /* synchronize calendars */
|
||
| 1062 | 9461fadc | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 1063 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
| 1064 | CANTxFrame frame; |
||
| 1065 | struct tm t;
|
||
| 1066 | uint64_t encoded; |
||
| 1067 | |||
| 1068 | frame.DLC = 8;
|
||
| 1069 | frame.RTR = CAN_RTR_DATA; |
||
| 1070 | frame.IDE = CAN_IDE_STD; |
||
| 1071 | frame.SID = CALENDERSYNC_CANMSGID; |
||
| 1072 | |||
| 1073 | aosDbgPrintf("transmitting current date/time...\t");
|
||
| 1074 | // get current date & time
|
||
| 1075 | aosSysGetDateTime(&t); |
||
| 1076 | // encode
|
||
| 1077 | encoded = _TM2U64(&t); |
||
| 1078 | // serialize
|
||
| 1079 | _serialize(frame.data8, encoded, 8);
|
||
| 1080 | // transmit
|
||
| 1081 | canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE); |
||
| 1082 | |||
| 1083 | aosDbgPrintf("done\n");
|
||
| 1084 | 9ebb11a9 | Thomas Schöpping | #else /* AMIROOS_CFG_SSSP_MASTER == false */ |
| 1085 | 9461fadc | Thomas Schöpping | CANRxFrame frame; |
| 1086 | uint64_t encoded; |
||
| 1087 | struct tm t;
|
||
| 1088 | |||
| 1089 | aosDbgPrintf("receiving current date/time...\t");
|
||
| 1090 | // receive message
|
||
| 1091 | 1e5f7648 | Thomas Schöpping | if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)) == MSG_OK) {
|
| 1092 | 9461fadc | Thomas Schöpping | // validate message
|
| 1093 | if (frame.DLC == 8 && |
||
| 1094 | frame.RTR == CAN_RTR_DATA && |
||
| 1095 | frame.IDE == CAN_IDE_STD && |
||
| 1096 | frame.SID == CALENDERSYNC_CANMSGID) {
|
||
| 1097 | // deserialize
|
||
| 1098 | encoded = _deserialize(frame.data8, 8);
|
||
| 1099 | // decode
|
||
| 1100 | _U642TM(&t, encoded); |
||
| 1101 | // set current date & time
|
||
| 1102 | aosSysSetDateTime(&t); |
||
| 1103 | aosDbgPrintf("success\n");
|
||
| 1104 | } else {
|
||
| 1105 | aosDbgPrintf("fail (invalid message)\n");
|
||
| 1106 | } |
||
| 1107 | } else {
|
||
| 1108 | aosDbgPrintf("fail (timeout)\n");
|
||
| 1109 | } |
||
| 1110 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_MASTER == false */ |
| 1111 | 9461fadc | Thomas Schöpping | aosDbgPrintf("\n");
|
| 1112 | } |
||
| 1113 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
| 1114 | 933df08e | Thomas Schöpping | |
| 1115 | e545e620 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)
|
| 1116 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)
|
||
| 1117 | AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS); |
||
| 1118 | #else
|
||
| 1119 | AMIROOS_CFG_MAIN_INIT_HOOK_8(); |
||
| 1120 | #endif
|
||
| 1121 | #endif
|
||
| 1122 | |||
| 1123 | /* completely start AMiRo-OS */
|
||
| 1124 | 933df08e | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 1125 | aosSysStart(); |
||
| 1126 | } |
||
| 1127 | e545e620 | Thomas Schöpping | |
| 1128 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)
|
||
| 1129 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)
|
||
| 1130 | AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS); |
||
| 1131 | #else
|
||
| 1132 | AMIROOS_CFG_MAIN_INIT_HOOK_9(); |
||
| 1133 | #endif
|
||
| 1134 | #endif
|
||
| 1135 | |||
| 1136 | /*
|
||
| 1137 | * ##########################################################################
|
||
| 1138 | * # infinite loop #
|
||
| 1139 | * ##########################################################################
|
||
| 1140 | */
|
||
| 1141 | |||
| 1142 | // sleep until a shutdown event is received
|
||
| 1143 | while (shutdown == AOS_SHUTDOWN_NONE) {
|
||
| 1144 | // wait for an event
|
||
| 1145 | #if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
||
| 1146 | 1e5f7648 | Thomas Schöpping | eventmask = chEvtWaitOneTimeout(ALL_EVENTS, chTimeUS2I(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
| 1147 | e545e620 | Thomas Schöpping | #else
|
| 1148 | eventmask = chEvtWaitOne(ALL_EVENTS); |
||
| 1149 | #endif
|
||
| 1150 | |||
| 1151 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)
|
||
| 1152 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)
|
||
| 1153 | AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS); |
||
| 1154 | #else
|
||
| 1155 | AMIROOS_CFG_MAIN_LOOP_HOOK_0(); |
||
| 1156 | #endif
|
||
| 1157 | #endif
|
||
| 1158 | |||
| 1159 | switch (eventmask) {
|
||
| 1160 | // if this was an I/O event
|
||
| 1161 | 6b53f6bf | Thomas Schöpping | case IOEVENT_MASK:
|
| 1162 | e545e620 | Thomas Schöpping | // evaluate flags
|
| 1163 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
||
| 1164 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 1165 | e545e620 | Thomas Schöpping | // PD event
|
| 1166 | 6b53f6bf | Thomas Schöpping | if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
| 1167 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
| 1168 | } |
||
| 1169 | 9ebb11a9 | Thomas Schöpping | #endif
|
| 1170 | e545e620 | Thomas Schöpping | // all other events
|
| 1171 | #ifdef MODULE_MAIN_LOOP_IO_EVENT
|
||
| 1172 | else {
|
||
| 1173 | MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags); |
||
| 1174 | } |
||
| 1175 | #endif
|
||
| 1176 | break;
|
||
| 1177 | |||
| 1178 | // if this was an OS event
|
||
| 1179 | 6b53f6bf | Thomas Schöpping | case OSEVENT_MASK:
|
| 1180 | e545e620 | Thomas Schöpping | // evaluate flags
|
| 1181 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
| 1182 | switch (eventflags) {
|
||
| 1183 | case AOS_SYSTEM_EVENTFLAGS_HIBERNATE:
|
||
| 1184 | shutdown = AOS_SHUTDOWN_HIBERNATE; |
||
| 1185 | break;
|
||
| 1186 | case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP:
|
||
| 1187 | shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
||
| 1188 | break;
|
||
| 1189 | case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION:
|
||
| 1190 | shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
||
| 1191 | break;
|
||
| 1192 | case AOS_SYSTEM_EVENTFLAGS_RESTART:
|
||
| 1193 | shutdown = AOS_SHUTDOWN_RESTART; |
||
| 1194 | break;
|
||
| 1195 | default:
|
||
| 1196 | _unexpectedEventError(eventmask, eventflags); |
||
| 1197 | break;
|
||
| 1198 | } |
||
| 1199 | break;
|
||
| 1200 | |||
| 1201 | // if this was any other event (should be impossible to occur)
|
||
| 1202 | default:
|
||
| 1203 | eventflags = 0;
|
||
| 1204 | _unexpectedEventError(eventmask, eventflags); |
||
| 1205 | break;
|
||
| 1206 | } |
||
| 1207 | |||
| 1208 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
|
||
| 1209 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
|
||
| 1210 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
||
| 1211 | #else
|
||
| 1212 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
||
| 1213 | #endif
|
||
| 1214 | #endif
|
||
| 1215 | } |
||
| 1216 | |||
| 1217 | /*
|
||
| 1218 | * ##########################################################################
|
||
| 1219 | * # system shutdown #
|
||
| 1220 | * ##########################################################################
|
||
| 1221 | */
|
||
| 1222 | |||
| 1223 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)
|
||
| 1224 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)
|
||
| 1225 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS); |
||
| 1226 | #else
|
||
| 1227 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(); |
||
| 1228 | #endif
|
||
| 1229 | #endif
|
||
| 1230 | |||
| 1231 | // initialize/acknowledge shutdown
|
||
| 1232 | aosSysShutdownInit(shutdown); |
||
| 1233 | |||
| 1234 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
|
||
| 1235 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
|
||
| 1236 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
||
| 1237 | #else
|
||
| 1238 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
||
| 1239 | #endif
|
||
| 1240 | #endif
|
||
| 1241 | |||
| 1242 | // stop system threads
|
||
| 1243 | aosSysStop(); |
||
| 1244 | |||
| 1245 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
|
||
| 1246 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
|
||
| 1247 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
||
| 1248 | #else
|
||
| 1249 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
||
| 1250 | #endif
|
||
| 1251 | #endif
|
||
| 1252 | |||
| 1253 | // deinitialize system
|
||
| 1254 | aosSysDeinit(); |
||
| 1255 | |||
| 1256 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
|
||
| 1257 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
|
||
| 1258 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
||
| 1259 | #else
|
||
| 1260 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
||
| 1261 | #endif
|
||
| 1262 | #endif
|
||
| 1263 | |||
| 1264 | /* stop all periphery communication */
|
||
| 1265 | // CAN (mandatory)
|
||
| 1266 | canStop(&MODULE_HAL_CAN); |
||
| 1267 | #ifdef MODULE_SHUTDOWN_PERIPHERY_COMM
|
||
| 1268 | MODULE_SHUTDOWN_PERIPHERY_COMM(); |
||
| 1269 | #endif
|
||
| 1270 | |||
| 1271 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
|
||
| 1272 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
|
||
| 1273 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
||
| 1274 | #else
|
||
| 1275 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
||
| 1276 | #endif
|
||
| 1277 | #endif
|
||
| 1278 | |||
| 1279 | // finally hand over to bootloader
|
||
| 1280 | 1e5f7648 | Thomas Schöpping | aosSysShutdownFinal(shutdown); |
| 1281 | e545e620 | Thomas Schöpping | |
| 1282 | /*
|
||
| 1283 | * ##########################################################################
|
||
| 1284 | * # after shutdown/restart #
|
||
| 1285 | * ##########################################################################
|
||
| 1286 | *
|
||
| 1287 | * NOTE: This code will not be executed, since the bootloader callbacks will stop/restart the MCU.
|
||
| 1288 | * It is included nevertheless for the sake of completeness and to explicitely indicate,
|
||
| 1289 | * which subsystems should NOT be shut down.
|
||
| 1290 | */
|
||
| 1291 | |||
| 1292 | // return an error, since this code should not be executed
|
||
| 1293 | return -1; |
||
| 1294 | } |
||
| 1295 | 53710ca3 | Marc Rothmann | |
| 1296 | /** @} */ |