AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    aos_main.cpp

 * @brief   Main function.

 * @details Main function with SSSP and initialization,

 *          extendable via hooks.

 *

 * @addtogroup aos_system

 * @{

 */

#include <amiroos.h>

#include <module.h>

/*

 * hook to add further includes

 */

#if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)

#include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER

#endif

/**

 * @brief   Event mask to identify I/O events.

 */

#define IOEVENT_MASK                            EVENT_MASK(0)

/**

 * @brief   Event mask to identify OS events.

 */

#define OSEVENT_MASK                            EVENT_MASK(1)

/**

 * @brief   Event mask to idetify CAN events.

 */

#define CANEVENT_MASK                           EVENT_MASK(2)

/**

 * @brief   Event mask to idetify timeout events.

 */

#define TIMEOUTEVENT_MASK                       EVENT_MASK(3)

/**

 * @brief   Event mask to idetify signal delay events.

 */

#define DELAYEVENT_MASK                         EVENT_MASK(4)

#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   CAN message identifier for initialization of the SSSP stack initialization sequence.

 */

#define SSSP_STACKINIT_CANMSGID_INIT            0x003

/**

 * @brief   CAN message identifier for transmitting module IDs during the SSSP stack initialization sequence.

 */

#define SSSP_STACKINIT_CANMSGID_MODULEID        0x002

/**

 * @brief   CAN message identifier for abortion of the SSSP stack initialization sequence.

 */

#define SSSP_STACKINIT_CANMSGID_ABORT           0x001

#endif /* AMIROOS_CFG_SSSP_ENABLE == true */

/**

 * @brief   CAN message identifier for calender synchronization message.

 */

#define CALENDERSYNC_CANMSGID                   0x004

/**

 * @brief   Listener object for I/O events.

 */

static event_listener_t _eventListenerIO;

/**

 * @brief   Listener object for OS events.

 */

static event_listener_t _eventListenerOS;

#if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)

/**

 * @brief   I/O channel for the programmer interface.

 */

static AosIOChannel _stdiochannel;

#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   I/O shell channel for the programmer interface.

 */

static AosShellChannel _stdshellchannel;

#endif

#endif

/*

 * hook to add further static variables

 */

#if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)

AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES

#endif

/**

 * @brief   Prints an error message about an unexpected event.

 *

 * @param[in] mask    The event mask.

 * @param[in] flags   The event flags.

 */

static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags)

{

#if (AMIROOS_CFG_DBG == true)

  aosprintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);

#else

  (void)(mask);

  (void)(flags);

#endif

  return;

}

#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   Callback function to be used during SSSP stack initialization sequence.

 *

 * @param[in] par   A pointer to an @p event_source_t to be fired.

 */

static void _ssspTimerCallback(void* par)

{

  aosDbgCheck(par != NULL);

  chSysLockFromISR();

  chEvtBroadcastI((event_source_t*)par);

  chSysUnlockFromISR();

  return;

}

#endif /* AMIROOS_CFG_SSSP_ENABLE == true */

/**

 * @brief   Helper function to serialize data.

 *

 * @param[out]  dst   Pointer to the output buffer.

 * @param[in]   src   Data to be serialized.

 * @param[in]   n     Number of bytes to serialize.

 */

inline void _serialize(uint8_t* dst, const uint64_t src, const uint8_t n)

{

  aosDbgCheck(dst != NULL);

  aosDbgCheck(n > 0 && n <= 8);

  for (uint8_t byte = 0; byte < n; ++byte) {

    dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF);

  }

  return;

}

/**

 * @brief   Helper function to deserialize data.

 *

 * @param[in] src   Pointer to the buffer of data to be deserialzed.

 * @param[in] n     Number of bytes to deserialize.

 *

 * @return    The deserialized 32 bit data.

 */

inline uint64_t _deserialize(uint8_t* src, const uint8_t n)

{

  aosDbgCheck(src != NULL);

  aosDbgCheck(n > 0 && n <= 8);

  uint64_t result = 0;

  for (uint8_t byte = 0; byte < n; ++byte) {

    result |= ((uint64_t)src[byte]) << (byte * 8);

  }

  return result;

}

/**

 * @brief   Converter function to encode a TM value to a single unsigned 64 bit integer.

 *

 * @details Contents of the TM struct are mapped as follows:

 *            bits  |63     62|61      53|52    50|49         26|25     22|21     17|16     12|11      6|5       0|

 *            #bits |       2 |        9 |      3 |          24 |       4 |       5 |       5 |       6 |       6 |

 *            value |   isdst |     yday |   wday |        year |     mon |    mday |    hour |     min |     sec |

 *            range | special | [0, 365] | [0, 6] | [1900, ...] | [0, 11] | [1, 31] | [0, 23] | [0, 59] | [0, 61] |

 *          The Daylight Saving Time Flag (isdsst) is encoded as follows:

 *            DST not in effect         -> 0

 *            DST in effect             -> 1

 *            no information available  -> 2

 *

 * @param[in] src   Pointer to the TM struct to encode.

 *

 * @return  An unsigned 64 bit integer, which holds the encoded time value.

 */

inline uint64_t _TM2U64(struct tm* src)

{

  aosDbgCheck(src != NULL);

  return (((uint64_t)(src->tm_sec  & 0x0000003F) << (0))               |

          ((uint64_t)(src->tm_min  & 0x0000003F) << (6))               |

          ((uint64_t)(src->tm_hour & 0x0000001F) << (12))              |