Revision 1678f270 core/src/aos_main.cpp
| core/src/aos_main.cpp | ||
|---|---|---|
| 1 | 1 |
/* |
| 2 | 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform. |
| 3 |
Copyright (C) 2016..2018 Thomas Schöpping et al.
|
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
|
| 4 | 4 |
|
| 5 | 5 |
This program is free software: you can redistribute it and/or modify |
| 6 | 6 |
it under the terms of the GNU General Public License as published by |
| ... | ... | |
| 61 | 61 |
*/ |
| 62 | 62 |
#define DELAYEVENT_MASK EVENT_MASK(4) |
| 63 | 63 |
|
| 64 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
|
| 64 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)
|
|
| 65 | 65 |
|
| 66 | 66 |
/** |
| 67 | 67 |
* @brief CAN message identifier for initialization of the SSSP stack initialization sequence. |
| ... | ... | |
| 78 | 78 |
*/ |
| 79 | 79 |
#define SSSP_STACKINIT_CANMSGID_ABORT 0x001 |
| 80 | 80 |
|
| 81 |
#endif |
|
| 81 |
#else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
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| 82 |
|
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| 83 |
/** |
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| 84 |
* @brief Default shutdown mode if SSSP is unavailable. |
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| 85 |
*/ |
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| 86 |
#define AOS_SHUTDOWN_DEFAULT AOS_SHUTDOWN_DEEPSLEEP |
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| 88 |
#endif /* AMIROOS_CFG_SSSP_ENABLE */ |
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| 82 | 89 |
|
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/** |
| 84 | 91 |
* @brief CAN message identifier for calender synchronization message. |
| ... | ... | |
| 106 | 113 |
* @brief I/O shell channel for the programmer interface. |
| 107 | 114 |
*/ |
| 108 | 115 |
static AosShellChannel _stdshellchannel; |
| 109 |
#endif |
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| 110 |
#endif |
|
| 116 |
#endif /* AMIROOS_CFG_SHELL_ENABLE == true */
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| 117 |
#endif /* defined(MODULE_HAL_PROGIF) */
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|
| 111 | 118 |
|
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/* |
| 113 | 120 |
* hook to add further static variables |
| ... | ... | |
| 125 | 132 |
static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
| 126 | 133 |
{
|
| 127 | 134 |
#if (AMIROOS_CFG_DBG == true) |
| 128 |
aosprintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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aosprintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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| 129 | 136 |
#else |
| 130 |
(void)(mask);
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(void)(flags);
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(void)(mask); |
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(void)(flags); |
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| 132 | 139 |
#endif |
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return;
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return; |
|
| 134 | 141 |
} |
| 135 | 142 |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
|
| 138 | 144 |
/** |
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* @brief Callback function to be used during SSSP stack initialization sequence. |
| 140 | 146 |
* |
| ... | ... | |
| 142 | 148 |
*/ |
| 143 | 149 |
static void _ssspTimerCallback(void* par) |
| 144 | 150 |
{
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aosDbgCheck(par != NULL);
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aosDbgCheck(par != NULL); |
|
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chSysLockFromISR();
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chEvtBroadcastI((event_source_t*)par);
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chSysUnlockFromISR();
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chSysLockFromISR(); |
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chEvtBroadcastI((event_source_t*)par); |
|
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chSysUnlockFromISR(); |
|
| 150 | 156 |
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return;
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return; |
|
| 152 | 158 |
} |
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#endif |
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#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
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/** |
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* @brief Helper function to serialize data. |
| 156 | 163 |
* |
| ... | ... | |
| 160 | 167 |
*/ |
| 161 | 168 |
inline void _serialize(uint8_t* dst, const uint64_t src, const uint8_t n) |
| 162 | 169 |
{
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aosDbgCheck(dst != NULL);
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aosDbgCheck(n > 0 && n <= 8);
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aosDbgCheck(dst != NULL); |
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aosDbgCheck(n > 0 && n <= 8); |
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for (uint8_t byte = 0; byte < n; ++byte) {
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dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF);
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}
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for (uint8_t byte = 0; byte < n; ++byte) {
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dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF); |
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} |
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return;
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return; |
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} |
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/** |
| ... | ... | |
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*/ |
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inline uint64_t _deserialize(uint8_t* src, const uint8_t n) |
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{
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aosDbgCheck(src != NULL);
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aosDbgCheck(n > 0 && n <= 8);
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aosDbgCheck(src != NULL); |
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aosDbgCheck(n > 0 && n <= 8); |
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uint64_t result = 0;
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for (uint8_t byte = 0; byte < n; ++byte) {
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result |= ((uint64_t)src[byte]) << (byte * 8);
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}
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uint64_t result = 0; |
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for (uint8_t byte = 0; byte < n; ++byte) {
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result |= ((uint64_t)src[byte]) << (byte * 8); |
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} |
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return result;
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return result; |
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} |
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/** |
| ... | ... | |
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*/ |
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inline uint64_t _TM2U64(struct tm* src) |
| 212 | 219 |
{
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aosDbgCheck(src != NULL);
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return (((uint64_t)(src->tm_sec & 0x0000003F) << (0)) |
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((uint64_t)(src->tm_min & 0x0000003F) << (6)) |
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((uint64_t)(src->tm_hour & 0x0000001F) << (12)) |
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((uint64_t)(src->tm_mday & 0x0000001F) << (17)) |
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((uint64_t)(src->tm_mon & 0x0000000F) << (22)) |
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((uint64_t)(src->tm_year & 0x00FFFFFF) << (26)) |
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((uint64_t)(src->tm_wday & 0x00000007) << (50)) |
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((uint64_t)(src->tm_yday & 0x000001FF) << (53)) |
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((uint64_t)((src->tm_isdst == 0) ? 0 : (src->tm_isdst > 0) ? 1 : 2) << (62)));
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aosDbgCheck(src != NULL); |
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return (((uint64_t)(src->tm_sec & 0x0000003F) << (0)) | |
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((uint64_t)(src->tm_min & 0x0000003F) << (6)) | |
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((uint64_t)(src->tm_hour & 0x0000001F) << (12)) | |
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((uint64_t)(src->tm_mday & 0x0000001F) << (17)) | |
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((uint64_t)(src->tm_mon & 0x0000000F) << (22)) | |
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((uint64_t)(src->tm_year & 0x00FFFFFF) << (26)) | |
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((uint64_t)(src->tm_wday & 0x00000007) << (50)) | |
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((uint64_t)(src->tm_yday & 0x000001FF) << (53)) | |
|
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((uint64_t)((src->tm_isdst == 0) ? 0 : (src->tm_isdst > 0) ? 1 : 2) << (62))); |
|
| 224 | 231 |
} |
| 225 | 232 |
|
| 226 | 233 |
/** |
| ... | ... | |
| 233 | 240 |
*/ |
| 234 | 241 |
inline void _U642TM(struct tm* dst, const uint64_t src) |
| 235 | 242 |
{
|
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aosDbgCheck(dst != NULL);
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| 237 |
|
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dst->tm_sec = (src >> 0) & 0x0000003F;
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dst->tm_min = (src >> 6) & 0x0000003F;
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dst->tm_hour = (src >> 12) & 0x0000001F;
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dst->tm_mday = (src >> 17) & 0x0000001F;
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dst->tm_mon = (src >> 22) & 0x0000000F;
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dst->tm_year = (src >> 26) & 0x00FFFFFF;
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dst->tm_wday = (src >> 50) & 0x00000007;
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dst->tm_yday = (src >> 53) & 0x000001FF;
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dst->tm_isdst = (((src >> 62) & 0x03) == 0) ? 0 : (((src >> 62) & 0x03) > 0) ? 1 : -1;
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|
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return;
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aosDbgCheck(dst != NULL); |
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|
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dst->tm_sec = (src >> 0) & 0x0000003F; |
|
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dst->tm_min = (src >> 6) & 0x0000003F; |
|
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dst->tm_hour = (src >> 12) & 0x0000001F; |
|
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dst->tm_mday = (src >> 17) & 0x0000001F; |
|
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dst->tm_mon = (src >> 22) & 0x0000000F; |
|
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dst->tm_year = (src >> 26) & 0x00FFFFFF; |
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dst->tm_wday = (src >> 50) & 0x00000007; |
|
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dst->tm_yday = (src >> 53) & 0x000001FF; |
|
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dst->tm_isdst = (((src >> 62) & 0x03) == 0) ? 0 : (((src >> 62) & 0x03) > 0) ? 1 : -1; |
|
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|
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return; |
|
| 249 | 256 |
} |
| 250 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
|
| 257 |
|
|
| 258 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
|
| 251 | 259 |
/** |
| 252 | 260 |
* @brief Implementation of the SSSP module stack initialization sequence (startup phase 3). |
| 253 | 261 |
* |
| ... | ... | |
| 257 | 265 |
*/ |
| 258 | 266 |
aos_shutdown_t _ssspModuleStackInitialization(void) |
| 259 | 267 |
{
|
| 260 |
// local types
|
|
| 261 |
/**
|
|
| 268 |
// local types |
|
| 269 |
/** |
|
| 262 | 270 |
* @brief States for the internal state machine to implement SSSP startup stage 3. |
| 263 | 271 |
*/ |
| 264 |
typedef enum {
|
|
| 265 |
STAGE_3_1, /**< Initiation of SSSP startup stage 3. */
|
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| 266 |
STAGE_3_2, /**< Starting the sequence and broadcasting the first ID. */
|
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| 267 |
STAGE_3_3_WAITFORFIRSTID, /**< Waiting for first ID after initiation. */
|
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STAGE_3_3_WAITFORIDORSIG, /**< Waiting for next ID or activation of neighbor signal. */
|
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| 269 |
STAGE_3_3_WAITFORID, /**< Waiting for next ID (after the module has set its own ID). */
|
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| 270 |
STAGE_3_4_FINISH, /**< Successful finish of stage 3. */
|
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| 271 |
STAGE_3_4_ABORT_ACTIVE, /**< Aborting stage 3 (active). */
|
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STAGE_3_4_ABORT, /**< Aborting stage 3 (passive). */
|
|
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} sssp_modulestackinitstage_t;
|
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| 274 |
|
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typedef struct {
|
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bool loop : 1;
|
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bool wfe : 1;
|
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| 278 |
bool wfe_next : 1;
|
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| 279 |
} flags_t;
|
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| 280 |
|
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| 281 |
// local variables
|
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| 282 |
aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE;
|
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| 283 |
sssp_modulestackinitstage_t stage = STAGE_3_1;
|
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| 284 |
eventmask_t eventmask = 0;
|
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| 285 |
eventflags_t ioflags;
|
|
| 286 |
event_source_t eventSourceTimeout;
|
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| 287 |
event_source_t eventSourceDelay;
|
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| 288 |
event_listener_t eventListenerTimeout;
|
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| 289 |
event_listener_t eventListenerDelay;
|
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| 290 |
event_listener_t eventListenerCan;
|
|
| 291 |
virtual_timer_t timerTimeout;
|
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| 292 |
virtual_timer_t timerDelay;
|
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| 293 |
CANTxFrame canTxFrame;
|
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| 294 |
CANRxFrame canRxFrame;
|
|
| 272 |
typedef enum {
|
|
| 273 |
STAGE_3_1, /**< Initiation of SSSP startup stage 3. */ |
|
| 274 |
STAGE_3_2, /**< Starting the sequence and broadcasting the first ID. */ |
|
| 275 |
STAGE_3_3_WAITFORFIRSTID, /**< Waiting for first ID after initiation. */ |
|
| 276 |
STAGE_3_3_WAITFORIDORSIG, /**< Waiting for next ID or activation of neighbor signal. */ |
|
| 277 |
STAGE_3_3_WAITFORID, /**< Waiting for next ID (after the module has set its own ID). */ |
|
| 278 |
STAGE_3_4_FINISH, /**< Successful finish of stage 3. */ |
|
| 279 |
STAGE_3_4_ABORT_ACTIVE, /**< Aborting stage 3 (active). */ |
|
| 280 |
STAGE_3_4_ABORT, /**< Aborting stage 3 (passive). */ |
|
| 281 |
} sssp_modulestackinitstage_t; |
|
| 282 |
|
|
| 283 |
typedef struct {
|
|
| 284 |
bool loop : 1; |
|
| 285 |
bool wfe : 1; |
|
| 286 |
bool wfe_next : 1; |
|
| 287 |
} flags_t; |
|
| 288 |
|
|
| 289 |
// local variables |
|
| 290 |
aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
|
| 291 |
sssp_modulestackinitstage_t stage = STAGE_3_1; |
|
| 292 |
eventmask_t eventmask = 0; |
|
| 293 |
eventflags_t ioflags = 0;
|
|
| 294 |
event_source_t eventSourceTimeout; |
|
| 295 |
event_source_t eventSourceDelay; |
|
| 296 |
event_listener_t eventListenerTimeout; |
|
| 297 |
event_listener_t eventListenerDelay; |
|
| 298 |
event_listener_t eventListenerCan; |
|
| 299 |
virtual_timer_t timerTimeout; |
|
| 300 |
virtual_timer_t timerDelay; |
|
| 301 |
CANTxFrame canTxFrame; |
|
| 302 |
CANRxFrame canRxFrame; |
|
| 295 | 303 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
| 296 |
aos_ssspmoduleid_t lastid = 0; |
|
| 297 |
#endif |
|
| 298 |
flags_t flags; |
|
| 299 |
|
|
| 300 |
// initialize local varibles |
|
| 301 |
chEvtObjectInit(&eventSourceTimeout); |
|
| 302 |
chEvtObjectInit(&eventSourceDelay); |
|
| 303 |
chVTObjectInit(&timerTimeout); |
|
| 304 |
chVTObjectInit(&timerDelay); |
|
| 305 |
canTxFrame.RTR = CAN_RTR_DATA; |
|
| 306 |
canTxFrame.IDE = CAN_IDE_STD; |
|
| 307 |
flags.loop = true; |
|
| 308 |
flags.wfe = false; // do not wait for events in the initial iteration of the FSM loop |
|
| 309 |
flags.wfe_next = true; |
|
| 310 |
|
|
| 311 |
// initialize system variables |
|
| 312 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
|
| 313 |
aos.sssp.moduleId = 0; |
|
| 314 |
|
|
| 315 |
// listen to events (timout, delay, CAN receive) |
|
| 316 |
chEvtRegisterMask(&eventSourceTimeout, &eventListenerTimeout, TIMEOUTEVENT_MASK); |
|
| 317 |
chEvtRegisterMask(&eventSourceDelay, &eventListenerDelay, DELAYEVENT_MASK); |
|
| 318 |
chEvtRegisterMask(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan, CANEVENT_MASK); |
|
| 319 |
|
|
| 320 |
/* |
|
| 304 |
aos_ssspmoduleid_t lastid = 0; |
|
| 305 |
#endif |
|
| 306 |
flags_t flags; |
|
| 307 |
aos_timestamp_t uptime; |
|
| 308 |
|
|
| 309 |
// initialize local varibles |
|
| 310 |
chEvtObjectInit(&eventSourceTimeout); |
|
| 311 |
chEvtObjectInit(&eventSourceDelay); |
|
| 312 |
chVTObjectInit(&timerTimeout); |
|
| 313 |
chVTObjectInit(&timerDelay); |
|
| 314 |
canTxFrame.RTR = CAN_RTR_DATA; |
|
| 315 |
canTxFrame.IDE = CAN_IDE_STD; |
|
| 316 |
flags.loop = true; |
|
| 317 |
flags.wfe = false; // do not wait for events in the initial iteration of the FSM loop |
|
| 318 |
flags.wfe_next = true; |
|
| 319 |
|
|
| 320 |
// initialize system variables |
|
| 321 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
|
| 322 |
aos.sssp.moduleId = 0; |
|
| 323 |
|
|
| 324 |
// listen to events (timout, delay, CAN receive) |
|
| 325 |
chEvtRegisterMask(&eventSourceTimeout, &eventListenerTimeout, TIMEOUTEVENT_MASK); |
|
| 326 |
chEvtRegisterMask(&eventSourceDelay, &eventListenerDelay, DELAYEVENT_MASK); |
|
| 327 |
chEvtRegisterMask(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan, CANEVENT_MASK); |
|
| 328 |
|
|
| 329 |
/* |
|
| 321 | 330 |
* FSM in a loop. |
| 322 | 331 |
* |
| 323 | 332 |
* This is a fully event-based FSM for the module stack initialization |
| ... | ... | |
| 344 | 353 |
* delays: Depending on the current state, delays are required by SSSP |
| 345 | 354 |
* for timing of the sequential activation of signals. |
| 346 | 355 |
*/ |
| 347 |
aosDbgPrintf("SSSP stack initialization sequence:\n");
|
|
| 348 |
while (flags.loop) {
|
|
| 356 |
aosDbgPrintf("SSSP stack initialization sequence:\n");
|
|
| 357 |
while (flags.loop) {
|
|
| 349 | 358 |
#if (AMIROOS_CFG_DBG == true) |
| 350 |
switch (stage) {
|
|
| 351 |
case STAGE_3_1:
|
|
| 352 |
aosDbgPrintf(">>> 3-1\n");
|
|
| 353 |
break;
|
|
| 354 |
case STAGE_3_2:
|
|
| 355 |
aosDbgPrintf(">>> 3-2\n");
|
|
| 356 |
break;
|
|
| 357 |
case STAGE_3_3_WAITFORFIRSTID:
|
|
| 358 |
aosDbgPrintf(">>> 3-3 (1st ID)\n");
|
|
| 359 |
break;
|
|
| 360 |
case STAGE_3_3_WAITFORIDORSIG:
|
|
| 361 |
aosDbgPrintf(">>> 3-3 (ID/sig)\n");
|
|
| 362 |
break;
|
|
| 363 |
case STAGE_3_3_WAITFORID:
|
|
| 364 |
aosDbgPrintf(">>> 3-3 (ID)\n");
|
|
| 365 |
break;
|
|
| 366 |
case STAGE_3_4_FINISH:
|
|
| 367 |
aosDbgPrintf(">>> 3-4 (finish)\n");
|
|
| 368 |
break;
|
|
| 369 |
case STAGE_3_4_ABORT_ACTIVE:
|
|
| 370 |
aosDbgPrintf(">>> 3-4 (active abort)\n");
|
|
| 371 |
break;
|
|
| 372 |
case STAGE_3_4_ABORT:
|
|
| 373 |
aosDbgPrintf(">>> 3-4 (abort)\n");
|
|
| 374 |
break;
|
|
| 375 |
}
|
|
| 359 |
switch (stage) {
|
|
| 360 |
case STAGE_3_1: |
|
| 361 |
aosDbgPrintf(">>> 3-1\n");
|
|
| 362 |
break; |
|
| 363 |
case STAGE_3_2: |
|
| 364 |
aosDbgPrintf(">>> 3-2\n");
|
|
| 365 |
break; |
|
| 366 |
case STAGE_3_3_WAITFORFIRSTID: |
|
| 367 |
aosDbgPrintf(">>> 3-3 (1st ID)\n");
|
|
| 368 |
break; |
|
| 369 |
case STAGE_3_3_WAITFORIDORSIG: |
|
| 370 |
aosDbgPrintf(">>> 3-3 (ID/sig)\n");
|
|
| 371 |
break; |
|
| 372 |
case STAGE_3_3_WAITFORID: |
|
| 373 |
aosDbgPrintf(">>> 3-3 (ID)\n");
|
|
| 374 |
break; |
|
| 375 |
case STAGE_3_4_FINISH: |
|
| 376 |
aosDbgPrintf(">>> 3-4 (finish)\n");
|
|
| 377 |
break; |
|
| 378 |
case STAGE_3_4_ABORT_ACTIVE: |
|
| 379 |
aosDbgPrintf(">>> 3-4 (active abort)\n");
|
|
| 380 |
break; |
|
| 381 |
case STAGE_3_4_ABORT: |
|
| 382 |
aosDbgPrintf(">>> 3-4 (abort)\n");
|
|
| 383 |
break; |
|
| 384 |
} |
|
| 376 | 385 |
#endif |
| 377 | 386 |
|
| 378 |
// reset wfe flag for the next iteration
|
|
| 379 |
flags.wfe_next = true;
|
|
| 387 |
// reset wfe flag for the next iteration |
|
| 388 |
flags.wfe_next = true; |
|
| 380 | 389 |
|
| 381 |
// waiting for events may be skipped
|
|
| 382 |
if (flags.wfe) {
|
|
| 383 |
// wait for any event to occur
|
|
| 384 |
aosDbgPrintf("WFE...");
|
|
| 385 |
eventmask = chEvtWaitAnyTimeout(ALL_EVENTS, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT));
|
|
| 386 |
aosDbgPrintf("\t0x%08X", eventmask);
|
|
| 387 |
} else {
|
|
| 388 |
aosDbgPrintf("WFE skipped");
|
|
| 389 |
}
|
|
| 390 |
aos_timestamp_t uptime;
|
|
| 391 |
aosSysGetUptime(&uptime);
|
|
| 392 |
aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / 1000));
|
|
| 390 |
// waiting for events (may be skipped)
|
|
| 391 |
if (flags.wfe) {
|
|
| 392 |
// wait for any event to occur |
|
| 393 |
aosDbgPrintf("WFE...");
|
|
| 394 |
eventmask = chEvtWaitAnyTimeout(ALL_EVENTS, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)); |
|
| 395 |
aosDbgPrintf("\t0x%08X", eventmask);
|
|
| 396 |
} else {
|
|
| 397 |
aosDbgPrintf("WFE skipped");
|
|
| 398 |
eventmask = 0;
|
|
| 399 |
}
|
|
| 400 |
aosSysGetUptime(&uptime); |
|
| 401 |
aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / MICROSECONDS_PER_MILLISECOND));
|
|
| 393 | 402 |
|
| 394 |
/*
|
|
| 403 |
/* |
|
| 395 | 404 |
* execute some general tasks and high priority events |
| 396 | 405 |
*/ |
| 397 |
// no event occurred at all |
|
| 398 |
if ((flags.wfe) && (eventmask == 0)) {
|
|
| 399 |
aosDbgPrintf("ERR: no evt\n");
|
|
| 400 |
// enforce timeout event |
|
| 401 |
chEvtBroadcast(&eventSourceTimeout); |
|
| 402 |
continue; |
|
| 403 |
} |
|
| 404 |
// if an IO event occurred |
|
| 405 |
if (eventmask & _eventListenerIO.events) {
|
|
| 406 |
ioflags = chEvtGetAndClearFlags(&_eventListenerIO); |
|
| 407 |
aosDbgPrintf("INFO: IO evt (0x%08X)\n", ioflags);
|
|
| 408 |
// a power-down event occurred |
|
| 409 |
if (ioflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
|
| 410 |
aosDbgPrintf("PD evt\n");
|
|
| 411 |
// deactivate S and UP |
|
| 412 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 406 |
// no event occurred at all |
|
| 407 |
if ((flags.wfe) && (eventmask == 0)) {
|
|
| 408 |
aosDbgPrintf("ERR: no evt\n");
|
|
| 409 |
// enforce timeout event |
|
| 410 |
chEvtBroadcast(&eventSourceTimeout); |
|
| 411 |
continue; |
|
| 412 |
} |
|
| 413 |
// if an IO event occurred |
|
| 414 |
if (eventmask & _eventListenerIO.events) {
|
|
| 415 |
ioflags = chEvtGetAndClearFlags(&_eventListenerIO); |
|
| 416 |
aosDbgPrintf("INFO: IO evt (0x%08X)\n", ioflags);
|
|
| 417 |
// a power-down event occurred |
|
| 418 |
if (ioflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
|
| 419 |
aosDbgPrintf("PD evt\n");
|
|
| 420 |
// deactivate S and UP |
|
| 421 |
aosDbgPrintf("disabling S\n");
|
|
| 422 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 413 | 423 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 414 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
|
| 415 |
#endif |
|
| 416 |
// set shutdown flag and exit the loop |
|
| 417 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
|
| 418 |
break; |
|
| 419 |
} |
|
| 420 |
// the S signal was deactivated |
|
| 421 |
if (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC) {
|
|
| 422 |
apalControlGpioState_t sstate; |
|
| 423 |
apalControlGpioGet(&moduleSsspGpioSync, &sstate); |
|
| 424 |
if (sstate == APAL_GPIO_OFF) {
|
|
| 425 |
aosDbgPrintf("-S evt\n");
|
|
| 426 |
// either finish or abort |
|
| 427 |
if ((stage == STAGE_3_3_WAITFORID) && (aos.sssp.moduleId != 0)) {
|
|
| 428 |
stage = STAGE_3_4_FINISH; |
|
| 429 |
} else if (stage != STAGE_3_4_ABORT) {
|
|
| 430 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 431 |
} |
|
| 432 |
} |
|
| 433 |
} |
|
| 424 |
aosDbgPrintf("disabling UP\n");
|
|
| 425 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
|
| 426 |
#endif |
|
| 427 |
// set shutdown flag and exit the loop |
|
| 428 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
|
| 429 |
break; |
|
| 430 |
} |
|
| 431 |
// the S signal was deactivated |
|
| 432 |
if (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC) {
|
|
| 433 |
apalControlGpioState_t sstate; |
|
| 434 |
apalControlGpioGet(&moduleSsspGpioSync, &sstate); |
|
| 435 |
if (sstate == APAL_GPIO_ON) {
|
|
| 436 |
aosDbgPrintf("S evt (enabled)\n");
|
|
| 437 |
} else {
|
|
| 438 |
aosDbgPrintf("S evt (disabled)\n");
|
|
| 439 |
// either finish or abort |
|
| 440 |
if ((stage == STAGE_3_3_WAITFORID) && (aos.sssp.moduleId != 0)) {
|
|
| 441 |
stage = STAGE_3_4_FINISH; |
|
| 442 |
} else if (stage != STAGE_3_4_ABORT) {
|
|
| 443 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 444 |
} |
|
| 434 | 445 |
} |
| 435 |
// an OS event occurred |
|
| 436 |
if (eventmask & _eventListenerOS.events) {
|
|
| 437 |
aosDbgPrintf("WARN: OS evt\n");
|
|
| 438 |
// get the flags |
|
| 439 |
eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
|
| 440 |
// there should be no OS events at this point |
|
| 446 |
} |
|
| 447 |
} |
|
| 448 |
// an OS event occurred |
|
| 449 |
if (eventmask & _eventListenerOS.events) {
|
|
| 450 |
aosDbgPrintf("WARN: OS evt\n");
|
|
| 451 |
// get the flags |
|
| 452 |
eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
|
| 453 |
// there should be no OS events at this point |
|
| 441 | 454 |
#ifdef MODULE_SSSP_STARTUP_3_OSEVENT_HOOK |
| 442 |
MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags);
|
|
| 455 |
MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags); |
|
| 443 | 456 |
#else |
| 444 |
_unexpectedEventError(eventmask, oseventflags);
|
|
| 457 |
_unexpectedEventError(eventmask, oseventflags); |
|
| 445 | 458 |
#endif |
| 446 |
} |
|
| 447 |
// if a CAN event occurred |
|
| 448 |
if ((eventmask & eventListenerCan.events)) {
|
|
| 449 |
// fetch message |
|
| 450 |
if (flags.wfe) {
|
|
| 451 |
canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE); |
|
| 452 |
aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
|
| 453 |
} |
|
| 454 |
// identify and handle abort messgaes |
|
| 455 |
if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
|
| 456 |
stage = STAGE_3_4_ABORT; |
|
| 457 |
} |
|
| 458 |
// warn if a unexpected message was received |
|
| 459 |
else if ((canRxFrame.SID != SSSP_STACKINIT_CANMSGID_INIT) && |
|
| 460 |
(canRxFrame.SID != SSSP_STACKINIT_CANMSGID_MODULEID)) {
|
|
| 461 |
aosDbgPrintf("WARN: unknown msg\n");
|
|
| 462 |
} |
|
| 463 |
// any further pending messages are fetched at the end of the loop |
|
| 464 |
} |
|
| 465 |
// if a timeout event occurred |
|
| 466 |
if (eventmask & eventListenerTimeout.events) {
|
|
| 467 |
// is handled at the end of the loop (or must be cleared by FSM) |
|
| 468 |
} |
|
| 469 |
// if a delay event occurred |
|
| 470 |
if (eventmask & eventListenerDelay.events) {
|
|
| 471 |
// is handled by FSM |
|
| 472 |
} |
|
| 459 |
} |
|
| 460 |
// if a CAN event occurred |
|
| 461 |
if ((eventmask & eventListenerCan.events)) {
|
|
| 462 |
aosDbgPrintf("CAN evt\n");
|
|
| 463 |
// fetch message |
|
| 464 |
if (flags.wfe) {
|
|
| 465 |
canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE); |
|
| 466 |
aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
|
| 467 |
} |
|
| 468 |
// identify and handle abort messgaes |
|
| 469 |
if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
|
| 470 |
stage = STAGE_3_4_ABORT; |
|
| 471 |
} |
|
| 472 |
// warn if a unexpected message was received |
|
| 473 |
else if ((canRxFrame.SID != SSSP_STACKINIT_CANMSGID_INIT) && |
|
| 474 |
(canRxFrame.SID != SSSP_STACKINIT_CANMSGID_MODULEID)) {
|
|
| 475 |
aosDbgPrintf("WARN: unknown msg\n");
|
|
| 476 |
} |
|
| 477 |
// any further pending messages are fetched at the end of the loop |
|
| 478 |
} |
|
| 479 |
// if a timeout event occurred |
|
| 480 |
if (eventmask & eventListenerTimeout.events) {
|
|
| 481 |
aosDbgPrintf("timeout evt\n");
|
|
| 482 |
// is handled at the end of the loop (or must be cleared by FSM) |
|
| 483 |
} |
|
| 484 |
// if a delay event occurred |
|
| 485 |
if (eventmask & eventListenerDelay.events) {
|
|
| 486 |
aosDbgPrintf("delay evt\n");
|
|
| 487 |
// is handled by FSM |
|
| 488 |
} |
|
| 473 | 489 |
|
| 474 |
/*
|
|
| 490 |
/* |
|
| 475 | 491 |
* this is the actual FSM |
| 476 | 492 |
*/ |
| 477 |
switch (stage) {
|
|
| 478 |
case STAGE_3_1:
|
|
| 479 |
{
|
|
| 480 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_1;
|
|
| 493 |
switch (stage) {
|
|
| 494 |
case STAGE_3_1: |
|
| 495 |
{
|
|
| 496 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
|
| 481 | 497 |
|
| 482 |
// there was no event at all (skipped wfe)
|
|
| 483 |
if (eventmask == 0 && flags.wfe == false) {
|
|
| 498 |
// there was no event at all (skipped wfe) |
|
| 499 |
if (eventmask == 0 && flags.wfe == false) {
|
|
| 484 | 500 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 485 |
// initialize the stage by transmitting an according CAN message
|
|
| 486 |
aosDbgPrintf("CAN -> init\n");
|
|
| 487 |
canTxFrame.DLC = 0;
|
|
| 488 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_INIT;
|
|
| 489 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
|
| 490 |
chEvtBroadcast(&eventSourceTimeout);
|
|
| 491 |
break;
|
|
| 492 |
}
|
|
| 493 |
// activate S
|
|
| 494 |
aosDbgPrintf("S+\n");
|
|
| 495 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON);
|
|
| 501 |
// initialize the stage by transmitting an according CAN message |
|
| 502 |
aosDbgPrintf("CAN -> init\n");
|
|
| 503 |
canTxFrame.DLC = 0; |
|
| 504 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_INIT; |
|
| 505 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
|
| 506 |
chEvtBroadcast(&eventSourceTimeout); |
|
| 507 |
break; |
|
| 508 |
} |
|
| 509 |
// activate S |
|
| 510 |
aosDbgPrintf("enabling S\n");
|
|
| 511 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
|
| 496 | 512 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
| 497 |
// proceed immediately
|
|
| 498 |
stage = STAGE_3_2;
|
|
| 499 |
flags.wfe_next = false;
|
|
| 513 |
// proceed immediately |
|
| 514 |
stage = STAGE_3_2; |
|
| 515 |
flags.wfe_next = false; |
|
| 500 | 516 |
#else |
| 501 |
// set the timeout timer
|
|
| 502 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);
|
|
| 503 |
// proceed
|
|
| 504 |
stage = STAGE_3_3_WAITFORFIRSTID;
|
|
| 517 |
// set the timeout timer |
|
| 518 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 519 |
// proceed |
|
| 520 |
stage = STAGE_3_3_WAITFORFIRSTID; |
|
| 505 | 521 |
#endif |
| 506 | 522 |
#else |
| 507 |
// set the timeout timer
|
|
| 508 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);
|
|
| 523 |
// set the timeout timer |
|
| 524 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 509 | 525 |
#endif |
| 510 |
}
|
|
| 526 |
} |
|
| 511 | 527 |
|
| 512 | 528 |
#if (AMIROOS_CFG_SSSP_MASTER != true) |
| 513 |
// a CAN message was received
|
|
| 514 |
else if (eventmask & eventListenerCan.events) {
|
|
| 515 |
// if an initiation message was received
|
|
| 516 |
if (canRxFrame.DLC == 0 &&
|
|
| 517 |
canRxFrame.RTR == CAN_RTR_DATA &&
|
|
| 518 |
canRxFrame.IDE == CAN_IDE_STD &&
|
|
| 519 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) {
|
|
| 520 |
aosDbgPrintf("init msg\n");
|
|
| 521 |
// reset the timeout timer and clear pending flags
|
|
| 522 |
chVTReset(&timerTimeout);
|
|
| 523 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);
|
|
| 524 |
eventmask &= ~(eventListenerTimeout.events);
|
|
| 525 |
// activate S
|
|
| 526 |
aosDbgPrintf("S+\n");
|
|
| 527 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON);
|
|
| 529 |
// a CAN message was received |
|
| 530 |
else if (eventmask & eventListenerCan.events) {
|
|
| 531 |
// if an initiation message was received |
|
| 532 |
if (canRxFrame.DLC == 0 && |
|
| 533 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 534 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 535 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) {
|
|
| 536 |
aosDbgPrintf("init msg\n");
|
|
| 537 |
// reset the timeout timer and clear pending flags |
|
| 538 |
chVTReset(&timerTimeout); |
|
| 539 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 540 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 541 |
// activate S |
|
| 542 |
aosDbgPrintf("enabling S\n");
|
|
| 543 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
|
| 528 | 544 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
| 529 |
// proceed
|
|
| 530 |
stage = STAGE_3_2;
|
|
| 531 |
flags.wfe_next = false;
|
|
| 545 |
// proceed |
|
| 546 |
stage = STAGE_3_2; |
|
| 547 |
flags.wfe_next = false; |
|
| 532 | 548 |
#else |
| 533 |
// set the timeout timer
|
|
| 534 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);
|
|
| 535 |
// proceed
|
|
| 536 |
stage = STAGE_3_3_WAITFORFIRSTID;
|
|
| 549 |
// set the timeout timer |
|
| 550 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 551 |
// proceed |
|
| 552 |
stage = STAGE_3_3_WAITFORFIRSTID; |
|
| 537 | 553 |
#endif |
| 538 |
}
|
|
| 539 |
}
|
|
| 554 |
} |
|
| 555 |
} |
|
| 540 | 556 |
#endif |
| 541 | 557 |
|
| 542 |
break;
|
|
| 543 |
} /* end of STAGE_3_1 */
|
|
| 558 |
break; |
|
| 559 |
} /* end of STAGE_3_1 */ |
|
| 544 | 560 |
|
| 545 |
case STAGE_3_2:
|
|
| 546 |
{
|
|
| 561 |
case STAGE_3_2: |
|
| 562 |
{
|
|
| 547 | 563 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
| 548 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_2;
|
|
| 549 |
|
|
| 550 |
// if this stage was just entered
|
|
| 551 |
if (flags.wfe == false) {
|
|
| 552 |
// set the module ID
|
|
| 553 |
aos.sssp.moduleId = 1;
|
|
| 554 |
// broadcast module ID
|
|
| 555 |
aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
|
| 556 |
canTxFrame.DLC = 4;
|
|
| 557 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID;
|
|
| 558 |
_serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
|
| 559 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
|
| 560 |
chEvtBroadcast(&eventSourceTimeout);
|
|
| 561 |
break;
|
|
| 562 |
}
|
|
| 564 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_2; |
|
| 565 |
|
|
| 566 |
// if this stage was just entered |
|
| 567 |
if (flags.wfe == false) {
|
|
| 568 |
// set the module ID |
|
| 569 |
aos.sssp.moduleId = 1; |
|
| 570 |
// broadcast module ID |
|
| 571 |
aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
|
| 572 |
canTxFrame.DLC = 4; |
|
| 573 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
|
| 574 |
_serialize(canTxFrame.data8, aos.sssp.moduleId, 4); |
|
| 575 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
|
| 576 |
chEvtBroadcast(&eventSourceTimeout); |
|
| 577 |
break; |
|
| 578 |
} |
|
| 563 | 579 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
| 564 |
lastid = aos.sssp.moduleId;
|
|
| 580 |
lastid = aos.sssp.moduleId; |
|
| 565 | 581 |
#endif |
| 566 | 582 |
#if (AMIROOS_CFG_SSSP_STACK_END == true) |
| 567 |
// sequence is already over
|
|
| 568 |
// deactivate S
|
|
| 569 |
aosDbgPrintf("S-\n");
|
|
| 570 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);
|
|
| 571 |
// proceed
|
|
| 572 |
stage = STAGE_3_3_WAITFORID;
|
|
| 583 |
// sequence is already over |
|
| 584 |
// deactivate S |
|
| 585 |
aosDbgPrintf("disabling S\n");
|
|
| 586 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 587 |
// proceed |
|
| 588 |
stage = STAGE_3_3_WAITFORID; |
|
| 573 | 589 |
#else |
| 574 |
// set the delay timer so the UP signal is activated later
|
|
| 575 |
chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay);
|
|
| 590 |
// set the delay timer so the UP signal is activated later |
|
| 591 |
chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
|
| 576 | 592 |
#endif |
| 577 |
}
|
|
| 593 |
} |
|
| 578 | 594 |
|
| 579 |
// if a delay event occurred
|
|
| 580 |
if (eventmask & eventListenerDelay.events) {
|
|
| 581 |
// activate UP
|
|
| 582 |
aosDbgPrintf("UP+\n");
|
|
| 583 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON);
|
|
| 584 |
// deactivate S
|
|
| 585 |
aosDbgPrintf("S-\n");
|
|
| 586 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);
|
|
| 587 |
// explicitely clear timeout event flag
|
|
| 588 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);
|
|
| 589 |
eventmask &= ~(eventListenerTimeout.events);
|
|
| 590 |
// proceed
|
|
| 591 |
stage = STAGE_3_3_WAITFORID;
|
|
| 592 |
}
|
|
| 595 |
// if a delay event occurred |
|
| 596 |
if (eventmask & eventListenerDelay.events) {
|
|
| 597 |
// activate UP |
|
| 598 |
aosDbgPrintf("enabling UP\n");
|
|
| 599 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
|
| 600 |
// deactivate S |
|
| 601 |
aosDbgPrintf("disabling S\n");
|
|
| 602 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 603 |
// explicitely clear timeout event flag |
|
| 604 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 605 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 606 |
// proceed |
|
| 607 |
stage = STAGE_3_3_WAITFORID; |
|
| 608 |
} |
|
| 593 | 609 |
#endif |
| 594 | 610 |
|
| 595 |
break;
|
|
| 596 |
} /* end of STAGE_3_2 */
|
|
| 611 |
break; |
|
| 612 |
} /* end of STAGE_3_2 */ |
|
| 597 | 613 |
|
| 598 |
case STAGE_3_3_WAITFORFIRSTID:
|
|
| 599 |
{
|
|
| 614 |
case STAGE_3_3_WAITFORFIRSTID: |
|
| 615 |
{
|
|
| 600 | 616 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 601 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
|
| 602 |
|
|
| 603 |
// a CAN message was received |
|
| 604 |
if (eventmask & eventListenerCan.events) {
|
|
| 605 |
// if an ID message was received |
|
| 606 |
if (canRxFrame.DLC == 4 && |
|
| 607 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 608 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 609 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
|
| 610 |
aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4));
|
|
| 611 |
// validate received ID |
|
| 612 |
if (lastid < _deserialize(canRxFrame.data8, 4)) {
|
|
| 613 |
// store received ID |
|
| 614 |
lastid = _deserialize(canRxFrame.data8, 4); |
|
| 615 |
// restart timeout timer |
|
| 616 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 617 |
// proceed |
|
| 618 |
stage = STAGE_3_3_WAITFORIDORSIG; |
|
| 619 |
} else {
|
|
| 620 |
aosDbgPrintf("ERR: invalid ID\n");
|
|
| 621 |
// abort |
|
| 622 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 623 |
flags.wfe_next = false; |
|
| 624 |
} |
|
| 625 |
// explicitely clear timeout event flag |
|
| 626 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 627 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 628 |
} |
|
| 617 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
|
| 618 |
|
|
| 619 |
// a CAN message was received |
|
| 620 |
if (eventmask & eventListenerCan.events) {
|
|
| 621 |
// if an ID message was received |
|
| 622 |
if (canRxFrame.DLC == 4 && |
|
| 623 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 624 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 625 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
|
| 626 |
aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4));
|
|
| 627 |
// validate received ID |
|
| 628 |
if (lastid < _deserialize(canRxFrame.data8, 4)) {
|
|
| 629 |
// store received ID |
|
| 630 |
lastid = _deserialize(canRxFrame.data8, 4); |
|
| 631 |
// restart timeout timer |
|
| 632 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 633 |
// proceed |
|
| 634 |
stage = STAGE_3_3_WAITFORIDORSIG; |
|
| 635 |
} else {
|
|
| 636 |
aosDbgPrintf("ERR: invalid ID\n");
|
|
| 637 |
// abort |
|
| 638 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 639 |
flags.wfe_next = false; |
|
| 629 | 640 |
} |
| 641 |
// explicitely clear timeout event flag |
|
| 642 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 643 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 644 |
} |
|
| 645 |
} |
|
| 630 | 646 |
#endif |
| 631 |
break;
|
|
| 632 |
} /* end of STAGE_3_3_WAITFORFIRSTID */
|
|
| 647 |
break; |
|
| 648 |
} /* end of STAGE_3_3_WAITFORFIRSTID */ |
|
| 633 | 649 |
|
| 634 |
case STAGE_3_3_WAITFORIDORSIG:
|
|
| 635 |
{
|
|
| 650 |
case STAGE_3_3_WAITFORIDORSIG: |
|
| 651 |
{
|
|
| 636 | 652 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 637 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
|
| 638 |
|
|
| 639 |
// a CAN message was received |
|
| 640 |
if (eventmask & eventListenerCan.events) {
|
|
| 641 |
// if an ID message was received |
|
| 642 |
if (canRxFrame.DLC == 4 && |
|
| 643 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 644 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 645 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
|
| 646 |
aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4));
|
|
| 647 |
// validate received ID |
|
| 648 |
if (lastid < _deserialize(canRxFrame.data8, 4)) {
|
|
| 649 |
// store received ID |
|
| 650 |
lastid = _deserialize(canRxFrame.data8, 4); |
|
| 651 |
// restart timeout timer |
|
| 652 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 653 |
} else {
|
|
| 654 |
aosDbgPrintf("ERR: invalid ID\n");
|
|
| 655 |
// abort |
|
| 656 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 657 |
flags.wfe_next = false; |
|
| 658 |
} |
|
| 659 |
// explicitely clear timeout event flag |
|
| 660 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 661 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 662 |
} |
|
| 653 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
|
| 654 |
|
|
| 655 |
// a CAN message was received |
|
| 656 |
if (eventmask & eventListenerCan.events) {
|
|
| 657 |
// if an ID message was received |
|
| 658 |
if (canRxFrame.DLC == 4 && |
|
| 659 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 660 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 661 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
|
| 662 |
aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4));
|
|
| 663 |
// validate received ID |
|
| 664 |
if (lastid < _deserialize(canRxFrame.data8, 4)) {
|
|
| 665 |
// store received ID |
|
| 666 |
lastid = _deserialize(canRxFrame.data8, 4); |
|
| 667 |
// restart timeout timer |
|
| 668 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 669 |
} else {
|
|
| 670 |
aosDbgPrintf("ERR: invalid ID\n");
|
|
| 671 |
// abort |
|
| 672 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 673 |
flags.wfe_next = false; |
|
| 663 | 674 |
} |
| 675 |
// explicitely clear timeout event flag |
|
| 676 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 677 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 678 |
} |
|
| 679 |
} |
|
| 664 | 680 |
|
| 665 |
// if an IO event was received (DN signal)
|
|
| 666 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_DN)) {
|
|
| 667 |
aosDbgPrintf("DN <-\n");
|
|
| 668 |
// reset timeout timer
|
|
| 669 |
chVTReset(&timerTimeout);
|
|
| 670 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);
|
|
| 671 |
eventmask &= ~(eventListenerTimeout.events);
|
|
| 672 |
// increment and broadcast ID
|
|
| 673 |
aos.sssp.moduleId = lastid + 1;
|
|
| 674 |
aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
|
| 675 |
canTxFrame.DLC = 4;
|
|
| 676 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID;
|
|
| 677 |
_serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
|
| 678 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
|
| 679 |
chEvtBroadcast(&eventSourceTimeout);
|
|
| 680 |
break;
|
|
| 681 |
}
|
|
| 682 |
// set delay timer
|
|
| 683 |
chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay);
|
|
| 684 |
}
|
|
| 681 |
// if an IO event was received (DN signal) |
|
| 682 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_DN)) {
|
|
| 683 |
aosDbgPrintf("DN evt\n");
|
|
| 684 |
// reset timeout timer |
|
| 685 |
chVTReset(&timerTimeout); |
|
| 686 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 687 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 688 |
// increment and broadcast ID |
|
| 689 |
aos.sssp.moduleId = lastid + 1; |
|
| 690 |
aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
|
| 691 |
canTxFrame.DLC = 4; |
|
| 692 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
|
| 693 |
_serialize(canTxFrame.data8, aos.sssp.moduleId, 4); |
|
| 694 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
|
| 695 |
chEvtBroadcast(&eventSourceTimeout); |
|
| 696 |
break; |
|
| 697 |
} |
|
| 698 |
// set delay timer |
|
| 699 |
chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
|
| 700 |
} |
|
| 685 | 701 |
|
| 686 |
// if a delay event occurred
|
|
| 687 |
if (eventmask & eventListenerDelay.events) {
|
|
| 702 |
// if a delay event occurred |
|
| 703 |
if (eventmask & eventListenerDelay.events) {
|
|
| 688 | 704 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 689 |
// activate UP
|
|
| 690 |
aosDbgPrintf("UP+\n");
|
|
| 691 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON);
|
|
| 692 |
#endif |
|
| 693 |
// deactivate S
|
|
| 694 |
aosDbgPrintf("S-\n");
|
|
| 695 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);
|
|
| 696 |
// reset the timeout timer
|
|
| 697 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);
|
|
| 698 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);
|
|
| 699 |
eventmask &= ~(eventListenerTimeout.events);
|
|
| 700 |
// proceed
|
|
| 701 |
stage = STAGE_3_3_WAITFORID;
|
|
| 702 |
}
|
|
| 705 |
// activate UP |
|
| 706 |
aosDbgPrintf("enabling UP\n");
|
|
| 707 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
|
| 708 |
#endif |
|
| 709 |
// deactivate S |
|
| 710 |
aosDbgPrintf("disabling S\n");
|
|
| 711 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 712 |
// reset the timeout timer |
|
| 713 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 714 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 715 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 716 |
// proceed |
|
| 717 |
stage = STAGE_3_3_WAITFORID; |
|
| 718 |
} |
|
| 703 | 719 |
#endif |
| 704 | 720 |
|
| 705 |
break;
|
|
| 706 |
} /* end of STAGE_3_3_WAITFORIDORSIG */
|
|
| 721 |
break; |
|
| 722 |
} /* end of STAGE_3_3_WAITFORIDORSIG */ |
|
| 707 | 723 |
|
| 708 |
case STAGE_3_3_WAITFORID:
|
|
| 709 |
{
|
|
| 710 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3;
|
|
| 724 |
case STAGE_3_3_WAITFORID: |
|
| 725 |
{
|
|
| 726 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
|
| 711 | 727 |
|
| 712 | 728 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 713 |
// a CAN message was received
|
|
| 714 |
if (eventmask & eventListenerCan.events) {
|
|
| 715 |
// if an ID message was received
|
|
| 716 |
if (canRxFrame.DLC == 4 &&
|
|
| 717 |
canRxFrame.RTR == CAN_RTR_DATA &&
|
|
| 718 |
canRxFrame.IDE == CAN_IDE_STD &&
|
|
| 719 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
|
| 729 |
// a CAN message was received |
|
| 730 |
if (eventmask & eventListenerCan.events) {
|
|
| 731 |
// if an ID message was received |
|
| 732 |
if (canRxFrame.DLC == 4 && |
|
| 733 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 734 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 735 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
|
| 720 | 736 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
| 721 |
// Plausibility of the received ID is not checked at this point but is done by other modules still in a previous stage.
|
|
| 722 |
lastid = _deserialize(canRxFrame.data8, 4);
|
|
| 723 |
aosDbgPrintf("ID (%u)\n", lastid);
|
|
| 724 |
#endif |
|
| 725 |
// restart timeout timer
|
|
| 726 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);
|
|
| 727 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);
|
|
| 728 |
eventmask &= ~(eventListenerTimeout.events);
|
|
| 729 |
}
|
|
| 730 |
}
|
|
| 737 |
// Plausibility of the received ID is not checked at this point but is done by other modules still in a previous stage. |
|
| 738 |
lastid = _deserialize(canRxFrame.data8, 4); |
|
| 739 |
aosDbgPrintf("ID (%u)\n", lastid);
|
|
| 740 |
#endif |
|
| 741 |
// restart timeout timer |
|
| 742 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 743 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 744 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 745 |
} |
|
| 746 |
} |
|
| 731 | 747 |
#endif |
| 732 | 748 |
|
| 733 |
break; |
|
| 734 |
} /* end of STAGE_3_3_WAITFORID */ |
|
| 735 |
|
|
| 736 |
case STAGE_3_4_FINISH: |
|
| 737 |
{
|
|
| 738 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
|
| 739 |
|
|
| 740 |
// if an IO event was received (S signal) |
|
| 741 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
|
| 742 |
// reset the timeout timer |
|
| 743 |
chVTReset(&timerTimeout); |
|
| 744 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 745 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 746 |
//set the delay timer |
|
| 747 |
chVTSet(&timerDelay, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceDelay); |
|
| 748 |
} |
|
| 749 |
break; |
|
| 750 |
} /* end of STAGE_3_3_WAITFORID */ |
|
| 749 | 751 |
|
| 750 |
// if a CAN event was received |
|
| 751 |
if (eventmask & eventListenerCan.events) {
|
|
| 752 |
// if an abort message was received |
|
| 753 |
if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
|
| 754 |
aosDbgPrintf("abort msg\n");
|
|
| 755 |
// reset the delay timer |
|
| 756 |
chVTReset(&timerDelay); |
|
| 757 |
chEvtWaitAnyTimeout(eventListenerDelay.events, TIME_IMMEDIATE); |
|
| 758 |
eventmask &= ~(eventListenerDelay.events); |
|
| 759 |
// proceed |
|
| 760 |
stage = STAGE_3_4_ABORT; |
|
| 761 |
} |
|
| 762 |
} |
|
| 752 |
case STAGE_3_4_FINISH: |
|
| 753 |
{
|
|
| 754 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
|
| 763 | 755 |
|
| 764 |
// if a delay timer event occurred |
|
| 765 |
if (eventmask & eventListenerDelay.events) {
|
|
| 766 |
aosDbgPrintf("sequence sucessful\n");
|
|
| 767 |
// sequence finished sucessfully |
|
| 768 |
flags.loop = false; |
|
| 769 |
} |
|
| 756 |
// if an IO event was received (S signal) |
|
| 757 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
|
| 758 |
// reset the timeout timer |
|
| 759 |
chVTReset(&timerTimeout); |
|
| 760 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 761 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 762 |
//set the delay timer |
|
| 763 |
chVTSet(&timerDelay, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceDelay); |
|
| 764 |
} |
|
| 770 | 765 |
|
| 771 |
break; |
|
| 772 |
} /* end of STAGE_3_4_FINISH */ |
|
| 773 |
|
|
| 774 |
case STAGE_3_4_ABORT_ACTIVE: |
|
| 775 |
{
|
|
| 776 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
|
| 777 |
|
|
| 778 |
// emit abort message |
|
| 779 |
canTxFrame.DLC = 0; |
|
| 780 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_ABORT; |
|
| 781 |
canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_INFINITE); |
|
| 782 |
aosDbgPrintf("CAN -> abort\n");
|
|
| 783 |
// clear timeout flag |
|
| 784 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 785 |
// proceed immediately |
|
| 766 |
// if a CAN event was received |
|
| 767 |
if (eventmask & eventListenerCan.events) {
|
|
| 768 |
// if an abort message was received |
|
| 769 |
if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
|
| 770 |
aosDbgPrintf("abort msg\n");
|
|
| 771 |
// reset the delay timer |
|
| 772 |
chVTReset(&timerDelay); |
|
| 773 |
chEvtWaitAnyTimeout(eventListenerDelay.events, TIME_IMMEDIATE); |
|
| 774 |
eventmask &= ~(eventListenerDelay.events); |
|
| 775 |
// proceed |
|
| 786 | 776 |
stage = STAGE_3_4_ABORT; |
| 787 |
flags.wfe_next = false; |
|
| 788 |
break; |
|
| 789 |
} /* end of STAGE_3_4_ABORT_ACTIVE */ |
|
| 790 |
|
|
| 791 |
case STAGE_3_4_ABORT: |
|
| 792 |
{
|
|
| 793 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
|
| 794 |
|
|
| 795 |
// deactivate S |
|
| 796 |
aosDbgPrintf("S-\n");
|
|
| 797 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 798 |
// invalidate module ID |
|
| 799 |
aos.sssp.moduleId = 0; |
|
| 800 |
|
|
| 801 |
// if an IO event was received (S signal) |
|
| 802 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
|
| 803 |
aosDbgPrintf("sequence aborted\n");
|
|
| 804 |
// exit the sequence |
|
| 805 |
flags.loop = false; |
|
| 806 |
} |
|
| 807 |
|
|
| 808 |
break; |
|
| 809 |
} /* end of STAGE_3_4_ABORT */ |
|
| 777 |
} |
|
| 810 | 778 |
} |
| 811 | 779 |
|
| 812 |
// fetch pending CAN message (if any) |
|
| 813 |
if ((eventmask & eventListenerCan.events) && (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE) == MSG_OK)) {
|
|
| 814 |
aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
|
| 815 |
flags.wfe_next = false; |
|
| 780 |
// if a delay timer event occurred |
|
| 781 |
if (eventmask & eventListenerDelay.events) {
|
|
| 782 |
aosDbgPrintf("sequence sucessful\n");
|
|
| 783 |
// sequence finished sucessfully |
|
| 784 |
flags.loop = false; |
|
| 816 | 785 |
} |
| 817 | 786 |
|
| 818 |
// handle unhandled timeout events |
|
| 819 |
if (eventmask & eventListenerTimeout.events) {
|
|
| 820 |
aosDbgPrintf("ERR: timeout evt\n");
|
|
| 821 |
// abort |
|
| 822 |
flags.wfe_next = false; |
|
| 823 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 787 |
break; |
|
| 788 |
} /* end of STAGE_3_4_FINISH */ |
|
| 789 |
|
|
| 790 |
case STAGE_3_4_ABORT_ACTIVE: |
|
| 791 |
{
|
|
| 792 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
|
| 793 |
|
|
| 794 |
// emit abort message |
|
| 795 |
canTxFrame.DLC = 0; |
|
| 796 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_ABORT; |
|
| 797 |
canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_INFINITE); |
|
| 798 |
aosDbgPrintf("CAN -> abort\n");
|
|
| 799 |
// clear timeout flag |
|
| 800 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 801 |
// proceed immediately |
|
| 802 |
stage = STAGE_3_4_ABORT; |
|
| 803 |
flags.wfe_next = false; |
|
| 804 |
break; |
|
| 805 |
} /* end of STAGE_3_4_ABORT_ACTIVE */ |
|
| 806 |
|
|
| 807 |
case STAGE_3_4_ABORT: |
|
| 808 |
{
|
|
| 809 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
|
| 810 |
|
|
| 811 |
// deactivate S |
|
| 812 |
aosDbgPrintf("disabling SYNC\n");
|
|
| 813 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 814 |
// invalidate module ID |
|
| 815 |
aos.sssp.moduleId = 0; |
|
| 816 |
|
|
| 817 |
// if an IO event was received (S signal) |
|
| 818 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
|
| 819 |
aosDbgPrintf("sequence aborted\n");
|
|
| 820 |
// exit the sequence |
|
| 821 |
flags.loop = false; |
|
| 824 | 822 |
} |
| 825 | 823 |
|
| 826 |
// apply wfe value for next iteration |
|
| 827 |
flags.wfe = flags.wfe_next; |
|
| 828 |
} /* end of FSM loop */ |
|
| 829 |
aosDbgPrintf("\n");
|
|
| 824 |
break; |
|
| 825 |
} /* end of STAGE_3_4_ABORT */ |
|
| 826 |
} /* end of switch(stage) */ |
|
| 830 | 827 |
|
| 831 |
// unregister all events (timeout, delay, CAN receive) |
|
| 832 |
chEvtUnregister(&eventSourceTimeout, &eventListenerTimeout); |
|
| 833 |
chEvtUnregister(&eventSourceDelay, &eventListenerDelay); |
|
| 834 |
chEvtUnregister(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan); |
|
| 835 |
// clear any pending events (timeout, delay, CAN receive) |
|
| 836 |
chEvtWaitAllTimeout(TIMEOUTEVENT_MASK | DELAYEVENT_MASK | CANEVENT_MASK, TIME_IMMEDIATE); |
|
| 828 |
// fetch pending CAN message (if any) |
|
| 829 |
if ((eventmask & eventListenerCan.events) && (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE) == MSG_OK)) {
|
|
| 830 |
aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
|
| 831 |
flags.wfe_next = false; |
|
| 832 |
} |
|
| 833 |
|
|
| 834 |
// handle unhandled timeout events |
|
| 835 |
if (eventmask & eventListenerTimeout.events) {
|
|
| 836 |
aosDbgPrintf("ERR: timeout evt\n");
|
|
| 837 |
// abort |
|
| 838 |
flags.wfe_next = false; |
|
| 839 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 840 |
} |
|
| 837 | 841 |
|
| 838 |
// reset all control signals |
|
| 842 |
// apply wfe value for next iteration |
|
| 843 |
flags.wfe = flags.wfe_next; |
|
| 844 |
} /* end of FSM loop */ |
|
| 845 |
|
|
| 846 |
// unregister all events (timeout, delay, CAN receive) |
|
| 847 |
chEvtUnregister(&eventSourceTimeout, &eventListenerTimeout); |
|
| 848 |
chEvtUnregister(&eventSourceDelay, &eventListenerDelay); |
|
| 849 |
chEvtUnregister(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan); |
|
| 850 |
// clear any pending events (timeout, delay, CAN receive) |
|
| 851 |
chEvtWaitAllTimeout(TIMEOUTEVENT_MASK | DELAYEVENT_MASK | CANEVENT_MASK, TIME_IMMEDIATE); |
|
| 852 |
|
|
| 853 |
// reset all control signals |
|
| 839 | 854 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 840 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
|
| 855 |
aosDbgPrintf("disabling UP\n");
|
|
| 856 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
|
| 841 | 857 |
#endif |
| 842 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 858 |
aosDbgPrintf("disabling S\n");
|
|
| 859 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 860 |
aosSysGetUptime(&uptime); |
|
| 861 |
aosDbgPrintf("done\t%04ums\n", (uint32_t)(uptime / MICROSECONDS_PER_MILLISECOND));
|
|
| 843 | 862 |
|
| 844 |
return shutdown;
|
|
| 863 |
return shutdown; |
|
| 845 | 864 |
} |
| 846 |
#endif |
|
| 865 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
|
| 866 |
|
|
| 847 | 867 |
/** |
| 848 | 868 |
* @brief Application entry point. |
| 849 | 869 |
*/ |
| 850 | 870 |
int main(void) |
| 851 | 871 |
{
|
| 852 |
// local variables |
|
| 853 |
eventmask_t eventmask = 0; |
|
| 854 |
eventflags_t eventflags = 0; |
|
| 855 |
aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
|
| 872 |
// local variables |
|
| 873 |
eventmask_t eventmask = 0; |
|
| 874 |
eventflags_t eventflags = 0; |
|
| 875 |
eventflags_t ioeventflagsmask = AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK; |
|
| 876 |
aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
|
| 856 | 877 |
#if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES) |
| 857 |
AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES
|
|
| 858 |
#endif
|
|
| 859 |
|
|
| 860 |
/*
|
|
| 861 |
* ##########################################################################
|
|
| 862 |
* # system initialization #
|
|
| 863 |
* ##########################################################################
|
|
| 864 |
*/
|
|
| 865 |
|
|
| 866 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
|
|
| 867 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS)
|
|
| 868 |
AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS);
|
|
| 878 |
AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
|
| 879 |
#endif |
|
| 880 |
|
|
| 881 |
/* |
|
| 882 |
* ########################################################################## |
|
| 883 |
* # system initialization # |
|
| 884 |
* ########################################################################## |
|
| 885 |
*/ |
|
| 886 |
|
|
| 887 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0) |
|
| 888 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS) |
|
| 889 |
AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS); |
|
| 869 | 890 |
#else |
| 870 |
AMIROOS_CFG_MAIN_INIT_HOOK_0();
|
|
| 891 |
AMIROOS_CFG_MAIN_INIT_HOOK_0(); |
|
| 871 | 892 |
#endif |
| 872 | 893 |
#endif |
| 873 | 894 |
|
| 874 |
/* hardware, kernel, and operating system initialization */
|
|
| 875 |
// ChibiOS/HAL and custom hal additions (if any)
|
|
| 876 |
halInit();
|
|
| 895 |
/* hardware, kernel, and operating system initialization */ |
|
| 896 |
// ChibiOS/HAL and custom hal additions (if any) |
|
| 897 |
halInit(); |
|
| 877 | 898 |
#ifdef MODULE_INIT_HAL_EXTRA |
| 878 |
MODULE_INIT_HAL_EXTRA();
|
|
| 899 |
MODULE_INIT_HAL_EXTRA(); |
|
| 879 | 900 |
#endif |
| 880 | 901 |
|
| 881 | 902 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1) |
| 882 | 903 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) |
| 883 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS);
|
|
| 904 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
|
| 884 | 905 |
#else |
| 885 |
AMIROOS_CFG_MAIN_INIT_HOOK_1();
|
|
| 906 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
|
| 886 | 907 |
#endif |
| 887 | 908 |
#endif |
| 888 | 909 |
|
| 889 |
// ChibiOS/RT kernel and custom kernel additions (if any)
|
|
| 890 |
chSysInit();
|
|
| 910 |
// ChibiOS/RT kernel and custom kernel additions (if any) |
|
| 911 |
chSysInit(); |
|
| 891 | 912 |
#ifdef MODULE_INIT_KERNEL_EXTRA |
| 892 |
MODULE_INIT_KERNEL_EXTRA();
|
|
| 913 |
MODULE_INIT_KERNEL_EXTRA(); |
|
| 893 | 914 |
#endif |
| 894 | 915 |
|
| 895 | 916 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2) |
| 896 | 917 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) |
| 897 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS);
|
|
| 918 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
|
| 898 | 919 |
#else |
| 899 |
AMIROOS_CFG_MAIN_INIT_HOOK_2();
|
|
| 920 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
|
| 900 | 921 |
#endif |
| 901 | 922 |
#endif |
| 902 | 923 |
|
| 903 |
// AMiRo-OS and custom OS additions (if any)
|
|
| 924 |
// AMiRo-OS and custom OS additions (if any) |
|
| 904 | 925 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
| 905 |
aosSysInit(moduleShellPrompt);
|
|
| 926 |
aosSysInit(moduleShellPrompt); |
|
| 906 | 927 |
#else |
| 907 |
aosSysInit();
|
|
| 928 |
aosSysInit(); |
|
| 908 | 929 |
#endif |
| 909 | 930 |
#ifdef MODULE_INIT_OS_EXTRA |
| 910 |
MODULE_INIT_OS_EXTRA();
|
|
| 931 |
MODULE_INIT_OS_EXTRA(); |
|
| 911 | 932 |
#endif |
| 912 | 933 |
|
| 913 | 934 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3) |
| 914 | 935 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) |
| 915 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS);
|
|
| 936 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
|
| 916 | 937 |
#else |
| 917 |
AMIROOS_CFG_MAIN_INIT_HOOK_3();
|
|
| 938 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
|
| 918 | 939 |
#endif |
| 919 | 940 |
#endif |
| 920 | 941 |
|
| 921 | 942 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
| 922 | 943 |
#if defined(MODULE_INIT_TESTS) |
| 923 |
MODULE_INIT_TESTS();
|
|
| 944 |
MODULE_INIT_TESTS(); |
|
| 924 | 945 |
#else |
| 925 |
#warning "MODULE_INIT_TESTS not defined"
|
|
| 946 |
#warning "MODULE_INIT_TESTS() not defined"
|
|
| 926 | 947 |
#endif |
| 927 | 948 |
#endif |
| 928 | 949 |
|
| 929 | 950 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4) |
| 930 | 951 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) |
| 931 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS);
|
|
| 952 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
|
| 932 | 953 |
#else |
| 933 |
AMIROOS_CFG_MAIN_INIT_HOOK_4();
|
|
| 954 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
|
| 934 | 955 |
#endif |
| 935 | 956 |
#endif |
| 936 | 957 |
|
| 958 |
/* event associations */ |
|
| 937 | 959 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 938 |
/* event associations */ |
|
| 939 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) && (AMIROOS_CFG_SSSP_STACK_END == true) |
|
| 940 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC); |
|
| 941 |
#elif (AMIROOS_CFG_SSSP_STACK_START == true) |
|
| 942 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_UP); |
|
| 943 |
#elif (AMIROOS_CFG_SSSP_STACK_END == true) |
|
| 944 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_DN); |
|
| 945 |
#else |
|
| 946 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_DN | MODULE_SSSP_EVENTFLAGS_UP); |
|
| 960 |
ioeventflagsmask |= MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC; |
|
| 961 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
|
| 962 |
ioeventflagsmask |= MODULE_SSSP_EVENTFLAGS_DN; |
|
| 947 | 963 |
#endif |
| 948 |
#endif // end of AMIROOS_CFG_SSSP_ENABLE condition |
|
| 949 |
chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK); |
|
| 964 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
|
| 965 |
ioeventflagsmask |= MODULE_SSSP_EVENTFLAGS_UP; |
|
| 966 |
#endif |
|
| 967 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
|
| 968 |
if (ioeventflagsmask != 0) {
|
|
| 969 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, ioeventflagsmask); |
|
| 970 |
} |
|
| 971 |
chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK); |
|
| 950 | 972 |
|
| 951 | 973 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5) |
| 952 | 974 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) |
| 953 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS);
|
|
| 975 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
|
| 954 | 976 |
#else |
| 955 |
AMIROOS_CFG_MAIN_INIT_HOOK_5();
|
|
| 977 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
|
| 956 | 978 |
#endif |
| 957 | 979 |
#endif |
| 958 | 980 |
|
| 959 |
/* periphery communication initialization */ |
|
| 960 |
// CAN (mandatory) |
|
| 961 |
canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); |
|
| 962 |
|
|
| 963 |
// module specific initialization (if any) |
|
| 981 |
/* periphery communication initialization */ |
|
| 982 |
// CAN (mandatory) |
|
| 983 |
canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); |
|
| 984 |
// module specific initialization (if any) |
|
| 964 | 985 |
#ifdef MODULE_INIT_PERIPHERY_COMM |
| 965 |
MODULE_INIT_PERIPHERY_COMM();
|
|
| 986 |
MODULE_INIT_PERIPHERY_COMM(); |
|
| 966 | 987 |
#endif |
| 967 |
// user interface (if any)
|
|
| 988 |
// user interface (if any) |
|
| 968 | 989 |
#ifdef MODULE_HAL_PROGIF |
| 969 |
aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF);
|
|
| 970 |
aosIOChannelOutputEnable(&_stdiochannel);
|
|
| 971 |
aosIOStreamAddChannel(&aos.iostream, &_stdiochannel);
|
|
| 990 |
aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
|
| 991 |
aosIOChannelOutputEnable(&_stdiochannel); |
|
| 992 |
aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
|
| 972 | 993 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
| 973 |
aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF);
|
|
| 974 |
aosShellChannelInputEnable(&_stdshellchannel);
|
|
| 975 |
aosShellChannelOutputEnable(&_stdshellchannel);
|
|
| 976 |
aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel);
|
|
| 994 |
aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
|
| 995 |
aosShellChannelInputEnable(&_stdshellchannel); |
|
| 996 |
aosShellChannelOutputEnable(&_stdshellchannel); |
|
| 997 |
aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
|
| 977 | 998 |
#endif |
| 978 | 999 |
#endif |
| 979 | 1000 |
|
| 980 | 1001 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6) |
| 981 | 1002 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS) |
| 982 |
AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS);
|
|
| 1003 |
AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS); |
|
| 983 | 1004 |
#else |
| 984 |
AMIROOS_CFG_MAIN_INIT_HOOK_6(); |
|
| 985 |
#endif |
|
| 986 |
#endif |
|
| 987 |
// for (unsigned int hase = 0; hase < 10; ++hase) {
|
|
| 988 |
// //toggle LED |
|
| 989 |
// palClearLine(LINE_LED_GREEN); |
|
| 990 |
// chThdSleepMilliseconds(1500); |
|
| 991 |
// palSetLine(LINE_LED_GREEN); |
|
| 992 |
// chThdSleepMilliseconds(500); |
|
| 993 |
// } |
|
| 994 |
// chprintf((BaseSequentialStream*)&SD2, "Hallo Welt!\n"); |
|
| 995 |
|
|
| 996 |
/* module is ready -> print welcome prompt */ |
|
| 997 |
aosprintf("\n");
|
|
| 998 |
aosprintf("######################################################################\n");
|
|
| 999 |
aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
|
| 1000 |
aosprintf("# Robot (AMiRo) platform. #\n");
|
|
| 1001 |
aosprintf("# Copyright (C) 2016..2018 Thomas Schöpping et al. #\n");
|
|
| 1002 |
aosprintf("# #\n");
|
|
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