amiro-os / core / src / aos_main.cpp @ 1d3e002f
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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 | 1d3e002f | Thomas Schöpping | #else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
82 | |||
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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87 | |||
88 | #endif /* AMIROOS_CFG_SSSP_ENABLE */ |
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89 | 9ebb11a9 | Thomas Schöpping | |
90 | 933df08e | Thomas Schöpping | /**
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91 | 9461fadc | Thomas Schöpping | * @brief CAN message identifier for calender synchronization message.
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92 | */
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93 | #define CALENDERSYNC_CANMSGID 0x004 |
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94 | |||
95 | /**
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96 | e545e620 | Thomas Schöpping | * @brief Listener object for I/O events.
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97 | */
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98 | static event_listener_t _eventListenerIO;
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99 | |||
100 | /**
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101 | * @brief Listener object for OS events.
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102 | */
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103 | static event_listener_t _eventListenerOS;
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104 | |||
105 | #if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
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106 | /**
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107 | ba516b61 | Thomas Schöpping | * @brief I/O channel for the programmer interface.
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108 | e545e620 | Thomas Schöpping | */
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109 | ba516b61 | Thomas Schöpping | static AosIOChannel _stdiochannel;
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110 | |||
111 | b8268050 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
112 | ba516b61 | Thomas Schöpping | /**
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113 | * @brief I/O shell channel for the programmer interface.
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114 | */
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115 | static AosShellChannel _stdshellchannel;
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116 | 1d3e002f | Thomas Schöpping | #endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
117 | #endif /* defined(MODULE_HAL_PROGIF) */ |
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118 | e545e620 | Thomas Schöpping | |
119 | b6b45e4c | Thomas Schöpping | /*
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120 | * hook to add further static variables
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121 | */
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122 | #if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
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123 | AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
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124 | #endif
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125 | |||
126 | e545e620 | Thomas Schöpping | /**
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127 | * @brief Prints an error message about an unexpected event.
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128 | *
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129 | * @param[in] mask The event mask.
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130 | * @param[in] flags The event flags.
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131 | */
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132 | 933df08e | Thomas Schöpping | static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
133 | e545e620 | Thomas Schöpping | { |
134 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_DBG == true) |
135 | 1e5f7648 | Thomas Schöpping | aosprintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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136 | 6b53f6bf | Thomas Schöpping | #else
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137 | 933df08e | Thomas Schöpping | (void)(mask);
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138 | (void)(flags);
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139 | 6b53f6bf | Thomas Schöpping | #endif
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140 | 3e1a9c79 | Thomas Schöpping | return;
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141 | 933df08e | Thomas Schöpping | } |
142 | |||
143 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
144 | 933df08e | Thomas Schöpping | /**
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145 | * @brief Callback function to be used during SSSP stack initialization sequence.
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146 | *
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147 | * @param[in] par A pointer to an @p event_source_t to be fired.
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148 | */
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149 | static void _ssspTimerCallback(void* par) |
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150 | { |
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151 | aosDbgCheck(par != NULL);
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152 | |||
153 | chSysLockFromISR(); |
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154 | chEvtBroadcastI((event_source_t*)par); |
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155 | chSysUnlockFromISR(); |
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156 | |||
157 | e545e620 | Thomas Schöpping | return;
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158 | } |
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159 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
160 | e545e620 | Thomas Schöpping | |
161 | /**
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162 | 9461fadc | Thomas Schöpping | * @brief Helper function to serialize data.
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163 | 933df08e | Thomas Schöpping | *
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164 | * @param[out] dst Pointer to the output buffer.
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165 | 9461fadc | Thomas Schöpping | * @param[in] src Data to be serialized.
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166 | * @param[in] n Number of bytes to serialize.
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167 | 933df08e | Thomas Schöpping | */
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168 | 9461fadc | Thomas Schöpping | inline void _serialize(uint8_t* dst, const uint64_t src, const uint8_t n) |
169 | 933df08e | Thomas Schöpping | { |
170 | aosDbgCheck(dst != NULL);
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171 | 9461fadc | Thomas Schöpping | aosDbgCheck(n > 0 && n <= 8); |
172 | 933df08e | Thomas Schöpping | |
173 | 9461fadc | Thomas Schöpping | for (uint8_t byte = 0; byte < n; ++byte) { |
174 | 933df08e | Thomas Schöpping | dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF); |
175 | } |
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176 | |||
177 | return;
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178 | } |
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179 | |||
180 | /**
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181 | 9461fadc | Thomas Schöpping | * @brief Helper function to deserialize data.
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182 | 933df08e | Thomas Schöpping | *
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183 | * @param[in] src Pointer to the buffer of data to be deserialzed.
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184 | 9461fadc | Thomas Schöpping | * @param[in] n Number of bytes to deserialize.
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185 | 933df08e | Thomas Schöpping | *
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186 | * @return The deserialized 32 bit data.
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187 | */
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188 | 9461fadc | Thomas Schöpping | inline uint64_t _deserialize(uint8_t* src, const uint8_t n) |
189 | 933df08e | Thomas Schöpping | { |
190 | aosDbgCheck(src != NULL);
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191 | 9461fadc | Thomas Schöpping | aosDbgCheck(n > 0 && n <= 8); |
192 | 933df08e | Thomas Schöpping | |
193 | 9461fadc | Thomas Schöpping | uint64_t result = 0;
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194 | for (uint8_t byte = 0; byte < n; ++byte) { |
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195 | result |= ((uint64_t)src[byte]) << (byte * 8);
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196 | } |
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197 | |||
198 | return result;
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199 | } |
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200 | |||
201 | /**
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202 | * @brief Converter function to encode a TM value to a single unsigned 64 bit integer.
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203 | *
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204 | * @details Contents of the TM struct are mapped as follows:
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205 | * bits |63 62|61 53|52 50|49 26|25 22|21 17|16 12|11 6|5 0|
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206 | * #bits | 2 | 9 | 3 | 24 | 4 | 5 | 5 | 6 | 6 |
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207 | * value | isdst | yday | wday | year | mon | mday | hour | min | sec |
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208 | * range | special | [0, 365] | [0, 6] | [1900, ...] | [0, 11] | [1, 31] | [0, 23] | [0, 59] | [0, 61] |
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209 | * The Daylight Saving Time Flag (isdsst) is encoded as follows:
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210 | * DST not in effect -> 0
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211 | * DST in effect -> 1
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212 | * no information available -> 2
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213 | *
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214 | * @param[in] src Pointer to the TM struct to encode.
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215 | *
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216 | * @return An unsigned 64 bit integer, which holds the encoded time value.
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217 | */
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218 | inline uint64_t _TM2U64(struct tm* src) |
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219 | { |
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220 | aosDbgCheck(src != NULL);
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221 | |||
222 | return (((uint64_t)(src->tm_sec & 0x0000003F) << (0)) | |
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223 | ((uint64_t)(src->tm_min & 0x0000003F) << (6)) | |
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224 | ((uint64_t)(src->tm_hour & 0x0000001F) << (12)) | |
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225 | ((uint64_t)(src->tm_mday & 0x0000001F) << (17)) | |
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226 | ((uint64_t)(src->tm_mon & 0x0000000F) << (22)) | |
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227 | ((uint64_t)(src->tm_year & 0x00FFFFFF) << (26)) | |
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228 | ((uint64_t)(src->tm_wday & 0x00000007) << (50)) | |
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229 | ((uint64_t)(src->tm_yday & 0x000001FF) << (53)) | |
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230 | ((uint64_t)((src->tm_isdst == 0) ? 0 : (src->tm_isdst > 0) ? 1 : 2) << (62))); |
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231 | } |
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232 | |||
233 | /**
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234 | * @brief Converter functiomn to retrieve the encoded TM value from an unsigned 64 bit integer.
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235 | *
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236 | * @details For information on the encoding, please refer to @p _TM2U64 function.
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237 | *
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238 | * @param[out] dst The TM struct to fill with the decoded values.
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239 | * @param[in] src Unsigned 64 bit integer holding the encoded TM value.
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240 | */
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241 | inline void _U642TM(struct tm* dst, const uint64_t src) |
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242 | { |
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243 | aosDbgCheck(dst != NULL);
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244 | |||
245 | dst->tm_sec = (src >> 0) & 0x0000003F; |
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246 | dst->tm_min = (src >> 6) & 0x0000003F; |
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247 | dst->tm_hour = (src >> 12) & 0x0000001F; |
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248 | dst->tm_mday = (src >> 17) & 0x0000001F; |
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249 | dst->tm_mon = (src >> 22) & 0x0000000F; |
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250 | dst->tm_year = (src >> 26) & 0x00FFFFFF; |
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251 | dst->tm_wday = (src >> 50) & 0x00000007; |
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252 | dst->tm_yday = (src >> 53) & 0x000001FF; |
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253 | dst->tm_isdst = (((src >> 62) & 0x03) == 0) ? 0 : (((src >> 62) & 0x03) > 0) ? 1 : -1; |
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254 | |||
255 | return;
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256 | 933df08e | Thomas Schöpping | } |
257 | |||
258 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
259 | 933df08e | Thomas Schöpping | /**
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260 | * @brief Implementation of the SSSP module stack initialization sequence (startup phase 3).
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261 | *
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262 | * @return Shutdown value.
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263 | * @retval AOS_SHUTDOWN_NONE No shutdown signal received
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264 | * @retval AOS_SHUTDOWN_PASSIVE Shutdown signal received.
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265 | */
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266 | aos_shutdown_t _ssspModuleStackInitialization(void)
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267 | { |
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268 | // local types
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269 | /**
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270 | * @brief States for the internal state machine to implement SSSP startup stage 3.
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271 | */
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272 | typedef enum { |
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273 | STAGE_3_1, /**< Initiation of SSSP startup stage 3. */
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274 | STAGE_3_2, /**< Starting the sequence and broadcasting the first ID. */
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275 | STAGE_3_3_WAITFORFIRSTID, /**< Waiting for first ID after initiation. */
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276 | STAGE_3_3_WAITFORIDORSIG, /**< Waiting for next ID or activation of neighbor signal. */
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277 | STAGE_3_3_WAITFORID, /**< Waiting for next ID (after the module has set its own ID). */
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278 | STAGE_3_4_FINISH, /**< Successful finish of stage 3. */
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279 | STAGE_3_4_ABORT_ACTIVE, /**< Aborting stage 3 (active). */
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280 | STAGE_3_4_ABORT, /**< Aborting stage 3 (passive). */
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281 | } sssp_modulestackinitstage_t; |
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282 | |||
283 | typedef struct { |
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284 | bool loop : 1; |
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285 | bool wfe : 1; |
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286 | bool wfe_next : 1; |
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287 | } flags_t; |
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288 | |||
289 | // local variables
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290 | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
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291 | sssp_modulestackinitstage_t stage = STAGE_3_1; |
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292 | eventmask_t eventmask = 0;
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293 | 1d3e002f | Thomas Schöpping | eventflags_t ioflags = 0;
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294 | 933df08e | Thomas Schöpping | event_source_t eventSourceTimeout; |
295 | event_source_t eventSourceDelay; |
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296 | event_listener_t eventListenerTimeout; |
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297 | event_listener_t eventListenerDelay; |
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298 | event_listener_t eventListenerCan; |
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299 | virtual_timer_t timerTimeout; |
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300 | virtual_timer_t timerDelay; |
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301 | CANTxFrame canTxFrame; |
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302 | CANRxFrame canRxFrame; |
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303 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
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304 | aos_ssspmoduleid_t lastid = 0;
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305 | #endif
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306 | flags_t flags; |
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307 | 1d3e002f | Thomas Schöpping | aos_timestamp_t uptime; |
308 | 933df08e | Thomas Schöpping | |
309 | // initialize local varibles
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310 | chEvtObjectInit(&eventSourceTimeout); |
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311 | chEvtObjectInit(&eventSourceDelay); |
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312 | chVTObjectInit(&timerTimeout); |
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313 | chVTObjectInit(&timerDelay); |
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314 | canTxFrame.RTR = CAN_RTR_DATA; |
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315 | canTxFrame.IDE = CAN_IDE_STD; |
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316 | flags.loop = true;
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317 | flags.wfe = false; // do not wait for events in the initial iteration of the FSM loop |
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318 | flags.wfe_next = true;
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319 | |||
320 | // initialize system variables
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321 | aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
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322 | aos.sssp.moduleId = 0;
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323 | |||
324 | // listen to events (timout, delay, CAN receive)
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325 | chEvtRegisterMask(&eventSourceTimeout, &eventListenerTimeout, TIMEOUTEVENT_MASK); |
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326 | chEvtRegisterMask(&eventSourceDelay, &eventListenerDelay, DELAYEVENT_MASK); |
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327 | chEvtRegisterMask(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan, CANEVENT_MASK); |
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328 | |||
329 | /*
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330 | * FSM in a loop.
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331 | *
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332 | * This is a fully event-based FSM for the module stack initialization
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333 | * sequence, defined by SSSP as startup stage 3. There are five different
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334 | * events that can occur at this point:
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335 | * I/O events: The input level of an input pin has changed. Such events must
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336 | * be handled differently depending on the current state. Most
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337 | * of the time, however, such events can be ignored.
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338 | * OS events: Such events are only available after this stage completed and
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339 | * thus should never occur. However, there is an optional hook
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340 | * to handle such events, nevertheless.
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341 | * CAN events: At least one CAN message was received. Note that this event
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342 | * will only fire again if all input buffers have been cleared.
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343 | * timeouts: If some module does not support the sequence of there is any
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344 | * issue, such a case is detected via timeouts and must be
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345 | * handled accordingly (see abort state). In some cases, it is
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346 | * possible that a timeout event occurres 'simultaneously' with
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347 | * some other event. This can be caused by several timing issues
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348 | * and is a valid situation. As a result, any other events
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349 | * should be handled before the timeout event. If the other
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350 | * events are expected and valid, this implementation requires
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351 | * the timeout event flag to be cleared explicitely. Otherwise
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352 | * it is evaluated at the end of each iteration of the loop.
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353 | * delays: Depending on the current state, delays are required by SSSP
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354 | * for timing of the sequential activation of signals.
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355 | */
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356 | aosDbgPrintf("SSSP stack initialization sequence:\n");
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357 | while (flags.loop) {
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358 | #if (AMIROOS_CFG_DBG == true) |
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359 | switch (stage) {
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360 | case STAGE_3_1:
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361 | aosDbgPrintf(">>> 3-1\n");
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362 | break;
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363 | case STAGE_3_2:
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364 | aosDbgPrintf(">>> 3-2\n");
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365 | break;
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366 | case STAGE_3_3_WAITFORFIRSTID:
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367 | aosDbgPrintf(">>> 3-3 (1st ID)\n");
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368 | break;
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369 | case STAGE_3_3_WAITFORIDORSIG:
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370 | aosDbgPrintf(">>> 3-3 (ID/sig)\n");
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371 | break;
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372 | case STAGE_3_3_WAITFORID:
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373 | aosDbgPrintf(">>> 3-3 (ID)\n");
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374 | break;
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375 | case STAGE_3_4_FINISH:
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376 | aosDbgPrintf(">>> 3-4 (finish)\n");
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377 | break;
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378 | case STAGE_3_4_ABORT_ACTIVE:
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379 | 9461fadc | Thomas Schöpping | aosDbgPrintf(">>> 3-4 (active abort)\n");
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380 | 933df08e | Thomas Schöpping | break;
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381 | case STAGE_3_4_ABORT:
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382 | aosDbgPrintf(">>> 3-4 (abort)\n");
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383 | break;
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384 | } |
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385 | #endif
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386 | |||
387 | // reset wfe flag for the next iteration
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388 | flags.wfe_next = true;
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389 | |||
390 | 1d3e002f | Thomas Schöpping | // waiting for events (may be skipped)
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391 | 933df08e | Thomas Schöpping | if (flags.wfe) {
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392 | // wait for any event to occur
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393 | aosDbgPrintf("WFE...");
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394 | 1e5f7648 | Thomas Schöpping | eventmask = chEvtWaitAnyTimeout(ALL_EVENTS, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)); |
395 | 933df08e | Thomas Schöpping | aosDbgPrintf("\t0x%08X", eventmask);
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396 | } else {
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397 | aosDbgPrintf("WFE skipped");
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398 | 1d3e002f | Thomas Schöpping | eventmask = 0;
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399 | 933df08e | Thomas Schöpping | } |
400 | aosSysGetUptime(&uptime); |
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401 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / MICROSECONDS_PER_MILLISECOND));
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402 | 933df08e | Thomas Schöpping | |
403 | /*
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404 | * execute some general tasks and high priority events
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405 | */
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406 | // no event occurred at all
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407 | if ((flags.wfe) && (eventmask == 0)) { |
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408 | aosDbgPrintf("ERR: no evt\n");
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409 | // enforce timeout event
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410 | chEvtBroadcast(&eventSourceTimeout); |
||
411 | continue;
|
||
412 | } |
||
413 | // if an IO event occurred
|
||
414 | 9461fadc | Thomas Schöpping | if (eventmask & _eventListenerIO.events) {
|
415 | 933df08e | Thomas Schöpping | 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 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling S\n");
|
422 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
423 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
424 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling UP\n");
|
425 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
426 | 9ebb11a9 | Thomas Schöpping | #endif
|
427 | 933df08e | Thomas Schöpping | // 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 | 1d3e002f | Thomas Schöpping | if (sstate == APAL_GPIO_ON) {
|
436 | aosDbgPrintf("S evt (enabled)\n");
|
||
437 | } else {
|
||
438 | aosDbgPrintf("S evt (disabled)\n");
|
||
439 | 933df08e | Thomas Schöpping | // 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 | } |
||
445 | } |
||
446 | } |
||
447 | } |
||
448 | // an OS event occurred
|
||
449 | 9461fadc | Thomas Schöpping | if (eventmask & _eventListenerOS.events) {
|
450 | 933df08e | Thomas Schöpping | 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
|
||
454 | #ifdef MODULE_SSSP_STARTUP_3_OSEVENT_HOOK
|
||
455 | MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags); |
||
456 | #else
|
||
457 | _unexpectedEventError(eventmask, oseventflags); |
||
458 | #endif
|
||
459 | } |
||
460 | // if a CAN event occurred
|
||
461 | 9461fadc | Thomas Schöpping | if ((eventmask & eventListenerCan.events)) {
|
462 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("CAN evt\n");
|
463 | 933df08e | Thomas Schöpping | // 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 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerTimeout.events) {
|
481 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("timeout evt\n");
|
482 | 933df08e | Thomas Schöpping | // is handled at the end of the loop (or must be cleared by FSM)
|
483 | } |
||
484 | // if a delay event occurred
|
||
485 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
486 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("delay evt\n");
|
487 | 933df08e | Thomas Schöpping | // is handled by FSM
|
488 | } |
||
489 | |||
490 | /*
|
||
491 | * this is the actual FSM
|
||
492 | */
|
||
493 | switch (stage) {
|
||
494 | case STAGE_3_1:
|
||
495 | { |
||
496 | aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
||
497 | |||
498 | // there was no event at all (skipped wfe)
|
||
499 | if (eventmask == 0 && flags.wfe == false) { |
||
500 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
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 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("enabling S\n");
|
511 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
512 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
513 | // proceed immediately
|
||
514 | stage = STAGE_3_2; |
||
515 | flags.wfe_next = false;
|
||
516 | #else
|
||
517 | // set the timeout timer
|
||
518 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
519 | 933df08e | Thomas Schöpping | // proceed
|
520 | stage = STAGE_3_3_WAITFORFIRSTID; |
||
521 | #endif
|
||
522 | #else
|
||
523 | // set the timeout timer
|
||
524 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
525 | 933df08e | Thomas Schöpping | #endif
|
526 | } |
||
527 | |||
528 | #if (AMIROOS_CFG_SSSP_MASTER != true) |
||
529 | // a CAN message was received
|
||
530 | 9461fadc | Thomas Schöpping | else if (eventmask & eventListenerCan.events) { |
531 | 933df08e | Thomas Schöpping | // 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 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
540 | eventmask &= ~(eventListenerTimeout.events); |
||
541 | 933df08e | Thomas Schöpping | // activate S
|
542 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("enabling S\n");
|
543 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
544 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
545 | // proceed
|
||
546 | stage = STAGE_3_2; |
||
547 | flags.wfe_next = false;
|
||
548 | #else
|
||
549 | // set the timeout timer
|
||
550 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
551 | 933df08e | Thomas Schöpping | // proceed
|
552 | stage = STAGE_3_3_WAITFORFIRSTID; |
||
553 | #endif
|
||
554 | } |
||
555 | } |
||
556 | #endif
|
||
557 | |||
558 | break;
|
||
559 | } /* end of STAGE_3_1 */
|
||
560 | |||
561 | case STAGE_3_2:
|
||
562 | { |
||
563 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
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 | 9461fadc | Thomas Schöpping | _serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
575 | 933df08e | Thomas Schöpping | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
576 | chEvtBroadcast(&eventSourceTimeout); |
||
577 | break;
|
||
578 | } |
||
579 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
||
580 | lastid = aos.sssp.moduleId; |
||
581 | #endif
|
||
582 | #if (AMIROOS_CFG_SSSP_STACK_END == true) |
||
583 | // sequence is already over
|
||
584 | // deactivate S
|
||
585 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling S\n");
|
586 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
587 | // proceed
|
||
588 | stage = STAGE_3_3_WAITFORID; |
||
589 | #else
|
||
590 | // set the delay timer so the UP signal is activated later
|
||
591 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
592 | 933df08e | Thomas Schöpping | #endif
|
593 | } |
||
594 | |||
595 | // if a delay event occurred
|
||
596 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
597 | 933df08e | Thomas Schöpping | // activate UP
|
598 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("enabling UP\n");
|
599 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
600 | // deactivate S
|
||
601 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling S\n");
|
602 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
603 | // explicitely clear timeout event flag
|
||
604 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
605 | eventmask &= ~(eventListenerTimeout.events); |
||
606 | 933df08e | Thomas Schöpping | // proceed
|
607 | stage = STAGE_3_3_WAITFORID; |
||
608 | } |
||
609 | #endif
|
||
610 | |||
611 | break;
|
||
612 | } /* end of STAGE_3_2 */
|
||
613 | |||
614 | case STAGE_3_3_WAITFORFIRSTID:
|
||
615 | { |
||
616 | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
||
617 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
618 | |||
619 | // a CAN message was received
|
||
620 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
621 | 933df08e | Thomas Schöpping | // 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 | 9461fadc | Thomas Schöpping | aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4)); |
627 | 933df08e | Thomas Schöpping | // validate received ID
|
628 | 9461fadc | Thomas Schöpping | if (lastid < _deserialize(canRxFrame.data8, 4)) { |
629 | 933df08e | Thomas Schöpping | // store received ID
|
630 | 9461fadc | Thomas Schöpping | lastid = _deserialize(canRxFrame.data8, 4);
|
631 | 933df08e | Thomas Schöpping | // restart timeout timer
|
632 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
633 | 933df08e | Thomas Schöpping | // 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;
|
||
640 | } |
||
641 | // explicitely clear timeout event flag
|
||
642 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
643 | eventmask &= ~(eventListenerTimeout.events); |
||
644 | 933df08e | Thomas Schöpping | } |
645 | } |
||
646 | #endif
|
||
647 | break;
|
||
648 | } /* end of STAGE_3_3_WAITFORFIRSTID */
|
||
649 | |||
650 | case STAGE_3_3_WAITFORIDORSIG:
|
||
651 | { |
||
652 | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
||
653 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
654 | |||
655 | // a CAN message was received
|
||
656 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
657 | 933df08e | Thomas Schöpping | // 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 | 9461fadc | Thomas Schöpping | aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4)); |
663 | 933df08e | Thomas Schöpping | // validate received ID
|
664 | 9461fadc | Thomas Schöpping | if (lastid < _deserialize(canRxFrame.data8, 4)) { |
665 | 933df08e | Thomas Schöpping | // store received ID
|
666 | 9461fadc | Thomas Schöpping | lastid = _deserialize(canRxFrame.data8, 4);
|
667 | 933df08e | Thomas Schöpping | // restart timeout timer
|
668 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
669 | 933df08e | Thomas Schöpping | } else {
|
670 | aosDbgPrintf("ERR: invalid ID\n");
|
||
671 | // abort
|
||
672 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
673 | flags.wfe_next = false;
|
||
674 | } |
||
675 | // explicitely clear timeout event flag
|
||
676 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
677 | eventmask &= ~(eventListenerTimeout.events); |
||
678 | 933df08e | Thomas Schöpping | } |
679 | } |
||
680 | |||
681 | // if an IO event was received (DN signal)
|
||
682 | 9461fadc | Thomas Schöpping | if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_DN)) {
|
683 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("DN evt\n");
|
684 | 933df08e | Thomas Schöpping | // reset timeout timer
|
685 | chVTReset(&timerTimeout); |
||
686 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
687 | eventmask &= ~(eventListenerTimeout.events); |
||
688 | 933df08e | Thomas Schöpping | // 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 | 9461fadc | Thomas Schöpping | _serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
694 | 933df08e | Thomas Schöpping | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
695 | chEvtBroadcast(&eventSourceTimeout); |
||
696 | break;
|
||
697 | } |
||
698 | // set delay timer
|
||
699 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
700 | 933df08e | Thomas Schöpping | } |
701 | |||
702 | // if a delay event occurred
|
||
703 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
704 | 933df08e | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
705 | // activate UP
|
||
706 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("enabling UP\n");
|
707 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
708 | #endif
|
||
709 | // deactivate S
|
||
710 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling S\n");
|
711 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
712 | // reset the timeout timer
|
||
713 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
714 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
715 | eventmask &= ~(eventListenerTimeout.events); |
||
716 | 933df08e | Thomas Schöpping | // proceed
|
717 | stage = STAGE_3_3_WAITFORID; |
||
718 | } |
||
719 | #endif
|
||
720 | |||
721 | break;
|
||
722 | } /* end of STAGE_3_3_WAITFORIDORSIG */
|
||
723 | |||
724 | case STAGE_3_3_WAITFORID:
|
||
725 | { |
||
726 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
727 | |||
728 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
729 | // a CAN message was received
|
||
730 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
731 | 933df08e | Thomas Schöpping | // 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) { |
||
736 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
||
737 | // Plausibility of the received ID is not checked at this point but is done by other modules still in a previous stage.
|
||
738 | 9461fadc | Thomas Schöpping | lastid = _deserialize(canRxFrame.data8, 4);
|
739 | 933df08e | Thomas Schöpping | aosDbgPrintf("ID (%u)\n", lastid);
|
740 | #endif
|
||
741 | // restart timeout timer
|
||
742 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
743 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
744 | eventmask &= ~(eventListenerTimeout.events); |
||
745 | 933df08e | Thomas Schöpping | } |
746 | } |
||
747 | #endif
|
||
748 | |||
749 | break;
|
||
750 | } /* end of STAGE_3_3_WAITFORID */
|
||
751 | |||
752 | case STAGE_3_4_FINISH:
|
||
753 | { |
||
754 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
755 | |||
756 | // if an IO event was received (S signal)
|
||
757 | 9461fadc | Thomas Schöpping | if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
758 | 933df08e | Thomas Schöpping | // reset the timeout timer
|
759 | chVTReset(&timerTimeout); |
||
760 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
761 | eventmask &= ~(eventListenerTimeout.events); |
||
762 | 933df08e | Thomas Schöpping | //set the delay timer
|
763 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerDelay, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceDelay); |
764 | 933df08e | Thomas Schöpping | } |
765 | |||
766 | // if a CAN event was received
|
||
767 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
768 | 933df08e | Thomas Schöpping | // 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 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerDelay.events, TIME_IMMEDIATE); |
774 | eventmask &= ~(eventListenerDelay.events); |
||
775 | 933df08e | Thomas Schöpping | // proceed
|
776 | stage = STAGE_3_4_ABORT; |
||
777 | } |
||
778 | } |
||
779 | |||
780 | // if a delay timer event occurred
|
||
781 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
782 | 933df08e | Thomas Schöpping | aosDbgPrintf("sequence sucessful\n");
|
783 | // sequence finished sucessfully
|
||
784 | flags.loop = false;
|
||
785 | } |
||
786 | |||
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 | 9461fadc | Thomas Schöpping | eventmask &= ~(eventListenerTimeout.events); |
801 | 933df08e | Thomas Schöpping | // 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 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling SYNC\n");
|
813 | 933df08e | Thomas Schöpping | 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 | 9461fadc | Thomas Schöpping | if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
819 | 933df08e | Thomas Schöpping | aosDbgPrintf("sequence aborted\n");
|
820 | // exit the sequence
|
||
821 | flags.loop = false;
|
||
822 | } |
||
823 | |||
824 | break;
|
||
825 | } /* end of STAGE_3_4_ABORT */
|
||
826 | 1d3e002f | Thomas Schöpping | } /* end of switch(stage) */
|
827 | 933df08e | Thomas Schöpping | |
828 | // fetch pending CAN message (if any)
|
||
829 | 9461fadc | Thomas Schöpping | if ((eventmask & eventListenerCan.events) && (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE) == MSG_OK)) {
|
830 | 933df08e | Thomas Schöpping | aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
831 | flags.wfe_next = false;
|
||
832 | } |
||
833 | |||
834 | // handle unhandled timeout events
|
||
835 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerTimeout.events) {
|
836 | 933df08e | Thomas Schöpping | aosDbgPrintf("ERR: timeout evt\n");
|
837 | // abort
|
||
838 | flags.wfe_next = false;
|
||
839 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
840 | } |
||
841 | |||
842 | // apply wfe value for next iteration
|
||
843 | flags.wfe = flags.wfe_next; |
||
844 | 1e5f7648 | Thomas Schöpping | } /* end of FSM loop */
|
845 | 933df08e | Thomas Schöpping | |
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
|
||
854 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
855 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling UP\n");
|
856 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
857 | #endif
|
||
858 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling S\n");
|
859 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
860 | 1d3e002f | Thomas Schöpping | aosSysGetUptime(&uptime); |
861 | aosDbgPrintf("done\t%04ums\n", (uint32_t)(uptime / MICROSECONDS_PER_MILLISECOND));
|
||
862 | 933df08e | Thomas Schöpping | |
863 | return shutdown;
|
||
864 | } |
||
865 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
866 | 933df08e | Thomas Schöpping | |
867 | /**
|
||
868 | e545e620 | Thomas Schöpping | * @brief Application entry point.
|
869 | */
|
||
870 | int main(void) |
||
871 | { |
||
872 | // local variables
|
||
873 | eventmask_t eventmask = 0;
|
||
874 | eventflags_t eventflags = 0;
|
||
875 | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
||
876 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)
|
877 | AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
||
878 | e545e620 | Thomas Schöpping | #endif
|
879 | |||
880 | /*
|
||
881 | * ##########################################################################
|
||
882 | * # system initialization #
|
||
883 | * ##########################################################################
|
||
884 | */
|
||
885 | |||
886 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
|
||
887 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS)
|
888 | AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS); |
||
889 | #else
|
||
890 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_0(); |
891 | #endif
|
||
892 | b6b45e4c | Thomas Schöpping | #endif
|
893 | e545e620 | Thomas Schöpping | |
894 | /* hardware, kernel, and operating system initialization */
|
||
895 | // ChibiOS/HAL and custom hal additions (if any)
|
||
896 | halInit(); |
||
897 | #ifdef MODULE_INIT_HAL_EXTRA
|
||
898 | MODULE_INIT_HAL_EXTRA(); |
||
899 | #endif
|
||
900 | |||
901 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
|
||
902 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
|
||
903 | AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
||
904 | #else
|
||
905 | AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
||
906 | #endif
|
||
907 | #endif
|
||
908 | |||
909 | // ChibiOS/RT kernel and custom kernel additions (if any)
|
||
910 | chSysInit(); |
||
911 | #ifdef MODULE_INIT_KERNEL_EXTRA
|
||
912 | MODULE_INIT_KERNEL_EXTRA(); |
||
913 | #endif
|
||
914 | |||
915 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
|
||
916 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
|
||
917 | AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
||
918 | #else
|
||
919 | AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
||
920 | #endif
|
||
921 | #endif
|
||
922 | |||
923 | // AMiRo-OS and custom OS additions (if any)
|
||
924 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
925 | aosSysInit(moduleShellPrompt); |
||
926 | #else
|
||
927 | aosSysInit(); |
||
928 | #endif
|
||
929 | e545e620 | Thomas Schöpping | #ifdef MODULE_INIT_OS_EXTRA
|
930 | MODULE_INIT_OS_EXTRA(); |
||
931 | #endif
|
||
932 | |||
933 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
|
||
934 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
|
||
935 | AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
||
936 | #else
|
||
937 | AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
||
938 | #endif
|
||
939 | #endif
|
||
940 | |||
941 | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
||
942 | 9461fadc | Thomas Schöpping | #if defined(MODULE_INIT_TESTS)
|
943 | e545e620 | Thomas Schöpping | MODULE_INIT_TESTS(); |
944 | 9461fadc | Thomas Schöpping | #else
|
945 | #warning "MODULE_INIT_TESTS not defined" |
||
946 | #endif
|
||
947 | e545e620 | Thomas Schöpping | #endif
|
948 | |||
949 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
|
||
950 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
|
||
951 | AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
||
952 | #else
|
||
953 | AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
||
954 | #endif
|
||
955 | #endif
|
||
956 | |||
957 | /* event associations */
|
||
958 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
959 | 1e5f7648 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_START == true) && (AMIROOS_CFG_SSSP_STACK_END == true) |
960 | chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC); |
||
961 | #elif (AMIROOS_CFG_SSSP_STACK_START == true) |
||
962 | chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_UP); |
||
963 | #elif (AMIROOS_CFG_SSSP_STACK_END == true) |
||
964 | chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_DN); |
||
965 | #else
|
||
966 | chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_DN | MODULE_SSSP_EVENTFLAGS_UP); |
||
967 | #endif
|
||
968 | 1d3e002f | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
969 | 6b53f6bf | Thomas Schöpping | chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK); |
970 | e545e620 | Thomas Schöpping | |
971 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
|
||
972 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
|
||
973 | AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
||
974 | #else
|
||
975 | AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
||
976 | #endif
|
||
977 | #endif
|
||
978 | |||
979 | /* periphery communication initialization */
|
||
980 | // CAN (mandatory)
|
||
981 | canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); |
||
982 | // module specific initialization (if any)
|
||
983 | #ifdef MODULE_INIT_PERIPHERY_COMM
|
||
984 | MODULE_INIT_PERIPHERY_COMM(); |
||
985 | #endif
|
||
986 | // user interface (if any)
|
||
987 | #ifdef MODULE_HAL_PROGIF
|
||
988 | ba516b61 | Thomas Schöpping | aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
989 | aosIOChannelOutputEnable(&_stdiochannel); |
||
990 | aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
||
991 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
||
992 | dd8738ea | Thomas Schöpping | aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
993 | ba516b61 | Thomas Schöpping | aosShellChannelInputEnable(&_stdshellchannel); |
994 | aosShellChannelOutputEnable(&_stdshellchannel); |
||
995 | 6b53f6bf | Thomas Schöpping | aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
996 | ba516b61 | Thomas Schöpping | #endif
|
997 | e545e620 | Thomas Schöpping | #endif
|
998 | |||
999 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)
|
||
1000 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)
|
||
1001 | AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS); |
||
1002 | #else
|
||
1003 | AMIROOS_CFG_MAIN_INIT_HOOK_6(); |
||
1004 | #endif
|
||
1005 | #endif
|
||
1006 | |||
1007 | /* module is ready -> print welcome prompt */
|
||
1008 | aosprintf("\n");
|
||
1009 | aosprintf("######################################################################\n");
|
||
1010 | aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
||
1011 | aosprintf("# Robot (AMiRo) platform. #\n");
|
||
1012 | aosprintf("# Copyright (C) 2016..2018 Thomas Schöpping et al. #\n");
|
||
1013 | aosprintf("# #\n");
|
||
1014 | aosprintf("# This is free software; see the source for copying conditions. #\n");
|
||
1015 | aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
|
||
1016 | aosprintf("# A PARTICULAR PURPOSE. #\n");
|
||
1017 | aosprintf("# The development of this software was supported by the Excellence #\n");
|
||
1018 | aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
|
||
1019 | aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
|
||
1020 | aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
|
||
1021 | aosprintf("######################################################################\n");
|
||
1022 | aosprintf("\n");
|
||
1023 | |||
1024 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)
|
||
1025 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)
|
||
1026 | AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS); |
||
1027 | #else
|
||
1028 | AMIROOS_CFG_MAIN_INIT_HOOK_7(); |
||
1029 | #endif
|
||
1030 | #endif
|
||
1031 | |||
1032 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
1033 | 6b53f6bf | Thomas Schöpping | /* SSSP startup OS synchronization phase (end of startup stage 2) */
|
1034 | 9461fadc | Thomas Schöpping | while ((shutdown == AOS_SHUTDOWN_NONE) && (eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) { |
1035 | e545e620 | Thomas Schöpping | /*
|
1036 | * This code is executed if the received event was not about the SYS_SYNC control signal.
|
||
1037 | * The returned event could be caused by any listener (not only the argument).
|
||
1038 | */
|
||
1039 | 9461fadc | Thomas Schöpping | // IO event
|
1040 | e545e620 | Thomas Schöpping | if (eventmask & _eventListenerIO.events) {
|
1041 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
||
1042 | 9461fadc | Thomas Schöpping | // PD event
|
1043 | if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
||
1044 | shutdown = AOS_SHUTDOWN_PASSIVE; |
||
1045 | } else {
|
||
1046 | 933df08e | Thomas Schöpping | #ifdef MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK
|
1047 | 9461fadc | Thomas Schöpping | MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK(eventmask, eventflags); |
1048 | e545e620 | Thomas Schöpping | #else
|
1049 | 9461fadc | Thomas Schöpping | // ignore any other IO events
|
1050 | e545e620 | Thomas Schöpping | #endif
|
1051 | 9461fadc | Thomas Schöpping | } |
1052 | e545e620 | Thomas Schöpping | } |
1053 | 9461fadc | Thomas Schöpping | // OS event
|
1054 | e545e620 | Thomas Schöpping | else if (eventmask & _eventListenerOS.events) { |
1055 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
1056 | _unexpectedEventError(eventmask, eventflags); |
||
1057 | } |
||
1058 | 9461fadc | Thomas Schöpping | // unknown event
|
1059 | e545e620 | Thomas Schöpping | else {
|
1060 | 933df08e | Thomas Schöpping | _unexpectedEventError(eventmask, 0);
|
1061 | e545e620 | Thomas Schöpping | } |
1062 | } |
||
1063 | |||
1064 | 933df08e | Thomas Schöpping | /*
|
1065 | * There must be no delays at this point, thus no hook is allowed.
|
||
1066 | */
|
||
1067 | |||
1068 | /* SSSP startup stage 3 (module stack initialization) */
|
||
1069 | 9461fadc | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
1070 | shutdown = _ssspModuleStackInitialization(); |
||
1071 | } |
||
1072 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
1073 | 9461fadc | Thomas Schöpping | |
1074 | /*
|
||
1075 | * There must be no delays at this point, thus no hook is allowed.
|
||
1076 | */
|
||
1077 | |||
1078 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
1079 | /* synchronize calendars */
|
||
1080 | 9461fadc | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
1081 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
1082 | CANTxFrame frame; |
||
1083 | struct tm t;
|
||
1084 | uint64_t encoded; |
||
1085 | |||
1086 | frame.DLC = 8;
|
||
1087 | frame.RTR = CAN_RTR_DATA; |
||
1088 | frame.IDE = CAN_IDE_STD; |
||
1089 | frame.SID = CALENDERSYNC_CANMSGID; |
||
1090 | |||
1091 | aosDbgPrintf("transmitting current date/time...\t");
|
||
1092 | // get current date & time
|
||
1093 | aosSysGetDateTime(&t); |
||
1094 | // encode
|
||
1095 | encoded = _TM2U64(&t); |
||
1096 | // serialize
|
||
1097 | _serialize(frame.data8, encoded, 8);
|
||
1098 | // transmit
|
||
1099 | canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE); |
||
1100 | |||
1101 | aosDbgPrintf("done\n");
|
||
1102 | 9ebb11a9 | Thomas Schöpping | #else /* AMIROOS_CFG_SSSP_MASTER == false */ |
1103 | 9461fadc | Thomas Schöpping | CANRxFrame frame; |
1104 | uint64_t encoded; |
||
1105 | struct tm t;
|
||
1106 | |||
1107 | aosDbgPrintf("receiving current date/time...\t");
|
||
1108 | // receive message
|
||
1109 | 1e5f7648 | Thomas Schöpping | if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)) == MSG_OK) {
|
1110 | 9461fadc | Thomas Schöpping | // validate message
|
1111 | if (frame.DLC == 8 && |
||
1112 | frame.RTR == CAN_RTR_DATA && |
||
1113 | frame.IDE == CAN_IDE_STD && |
||
1114 | frame.SID == CALENDERSYNC_CANMSGID) { |
||
1115 | // deserialize
|
||
1116 | encoded = _deserialize(frame.data8, 8);
|
||
1117 | // decode
|
||
1118 | _U642TM(&t, encoded); |
||
1119 | // set current date & time
|
||
1120 | aosSysSetDateTime(&t); |
||
1121 | aosDbgPrintf("success\n");
|
||
1122 | } else {
|
||
1123 | aosDbgPrintf("fail (invalid message)\n");
|
||
1124 | } |
||
1125 | } else {
|
||
1126 | aosDbgPrintf("fail (timeout)\n");
|
||
1127 | } |
||
1128 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_MASTER == false */ |
1129 | 9461fadc | Thomas Schöpping | aosDbgPrintf("\n");
|
1130 | } |
||
1131 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
1132 | 933df08e | Thomas Schöpping | |
1133 | e545e620 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)
|
1134 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)
|
||
1135 | AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS); |
||
1136 | #else
|
||
1137 | AMIROOS_CFG_MAIN_INIT_HOOK_8(); |
||
1138 | #endif
|
||
1139 | #endif
|
||
1140 | |||
1141 | /* completely start AMiRo-OS */
|
||
1142 | 933df08e | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
1143 | aosSysStart(); |
||
1144 | } |
||
1145 | e545e620 | Thomas Schöpping | |
1146 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)
|
||
1147 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)
|
||
1148 | AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS); |
||
1149 | #else
|
||
1150 | AMIROOS_CFG_MAIN_INIT_HOOK_9(); |
||
1151 | #endif
|
||
1152 | #endif
|
||
1153 | |||
1154 | /*
|
||
1155 | * ##########################################################################
|
||
1156 | * # infinite loop #
|
||
1157 | * ##########################################################################
|
||
1158 | */
|
||
1159 | |||
1160 | // sleep until a shutdown event is received
|
||
1161 | while (shutdown == AOS_SHUTDOWN_NONE) {
|
||
1162 | // wait for an event
|
||
1163 | #if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
||
1164 | 1e5f7648 | Thomas Schöpping | eventmask = chEvtWaitOneTimeout(ALL_EVENTS, chTimeUS2I(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
1165 | e545e620 | Thomas Schöpping | #else
|
1166 | eventmask = chEvtWaitOne(ALL_EVENTS); |
||
1167 | #endif
|
||
1168 | |||
1169 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)
|
||
1170 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)
|
||
1171 | AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS); |
||
1172 | #else
|
||
1173 | AMIROOS_CFG_MAIN_LOOP_HOOK_0(); |
||
1174 | #endif
|
||
1175 | #endif
|
||
1176 | |||
1177 | switch (eventmask) {
|
||
1178 | // if this was an I/O event
|
||
1179 | 6b53f6bf | Thomas Schöpping | case IOEVENT_MASK:
|
1180 | e545e620 | Thomas Schöpping | // evaluate flags
|
1181 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
||
1182 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
1183 | e545e620 | Thomas Schöpping | // PD event
|
1184 | 6b53f6bf | Thomas Schöpping | if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
1185 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
1186 | } |
||
1187 | // all other events
|
||
1188 | #ifdef MODULE_MAIN_LOOP_IO_EVENT
|
||
1189 | else {
|
||
1190 | MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags); |
||
1191 | } |
||
1192 | #endif
|
||
1193 | 41fc7088 | Thomas Schöpping | #else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
1194 | #ifdef MODULE_MAIN_LOOP_IO_EVENT
|
||
1195 | MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags); |
||
1196 | #endif
|
||
1197 | #endif /* AMIROOS_CFG_SSSP_ENABLE */ |
||
1198 | e545e620 | Thomas Schöpping | break;
|
1199 | |||
1200 | // if this was an OS event
|
||
1201 | 6b53f6bf | Thomas Schöpping | case OSEVENT_MASK:
|
1202 | e545e620 | Thomas Schöpping | // evaluate flags
|
1203 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
1204 | switch (eventflags) {
|
||
1205 | 1d3e002f | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
1206 | e545e620 | Thomas Schöpping | case AOS_SYSTEM_EVENTFLAGS_HIBERNATE:
|
1207 | shutdown = AOS_SHUTDOWN_HIBERNATE; |
||
1208 | break;
|
||
1209 | case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP:
|
||
1210 | shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
||
1211 | break;
|
||
1212 | case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION:
|
||
1213 | shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
||
1214 | break;
|
||
1215 | case AOS_SYSTEM_EVENTFLAGS_RESTART:
|
||
1216 | shutdown = AOS_SHUTDOWN_RESTART; |
||
1217 | break;
|
||
1218 | 1d3e002f | Thomas Schöpping | #else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
1219 | case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN:
|
||
1220 | shutdown = AOS_SHUTDOWN_DEFAULT; |
||
1221 | break;
|
||
1222 | #endif /* AMIROOS_CFG_SSSP_ENABLE */ |
||
1223 | e545e620 | Thomas Schöpping | default:
|
1224 | _unexpectedEventError(eventmask, eventflags); |
||
1225 | break;
|
||
1226 | } |
||
1227 | break;
|
||
1228 | |||
1229 | // if this was any other event (should be impossible to occur)
|
||
1230 | default:
|
||
1231 | eventflags = 0;
|
||
1232 | 41fc7088 | Thomas Schöpping | #if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0) |
1233 | e545e620 | Thomas Schöpping | _unexpectedEventError(eventmask, eventflags); |
1234 | 41fc7088 | Thomas Schöpping | #endif
|
1235 | e545e620 | Thomas Schöpping | break;
|
1236 | } |
||
1237 | |||
1238 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
|
||
1239 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
|
||
1240 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
||
1241 | #else
|
||
1242 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
||
1243 | #endif
|
||
1244 | #endif
|
||
1245 | } |
||
1246 | |||
1247 | /*
|
||
1248 | * ##########################################################################
|
||
1249 | * # system shutdown #
|
||
1250 | * ##########################################################################
|
||
1251 | */
|
||
1252 | |||
1253 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)
|
||
1254 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)
|
||
1255 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS); |
||
1256 | #else
|
||
1257 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(); |
||
1258 | #endif
|
||
1259 | #endif
|
||
1260 | |||
1261 | // initialize/acknowledge shutdown
|
||
1262 | aosSysShutdownInit(shutdown); |
||
1263 | |||
1264 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
|
||
1265 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
|
||
1266 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
||
1267 | #else
|
||
1268 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
||
1269 | #endif
|
||
1270 | #endif
|
||
1271 | |||
1272 | // stop system threads
|
||
1273 | aosSysStop(); |
||
1274 | |||
1275 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
|
||
1276 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
|
||
1277 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
||
1278 | #else
|
||
1279 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
||
1280 | #endif
|
||
1281 | #endif
|
||
1282 | |||
1283 | // deinitialize system
|
||
1284 | aosSysDeinit(); |
||
1285 | |||
1286 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
|
||
1287 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
|
||
1288 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
||
1289 | #else
|
||
1290 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
||
1291 | #endif
|
||
1292 | #endif
|
||
1293 | |||
1294 | /* stop all periphery communication */
|
||
1295 | // CAN (mandatory)
|
||
1296 | canStop(&MODULE_HAL_CAN); |
||
1297 | #ifdef MODULE_SHUTDOWN_PERIPHERY_COMM
|
||
1298 | MODULE_SHUTDOWN_PERIPHERY_COMM(); |
||
1299 | #endif
|
||
1300 | |||
1301 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
|
||
1302 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
|
||
1303 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
||
1304 | #else
|
||
1305 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
||
1306 | #endif
|
||
1307 | #endif
|
||
1308 | |||
1309 | // finally hand over to bootloader
|
||
1310 | 1e5f7648 | Thomas Schöpping | aosSysShutdownFinal(shutdown); |
1311 | e545e620 | Thomas Schöpping | |
1312 | /*
|
||
1313 | * ##########################################################################
|
||
1314 | * # after shutdown/restart #
|
||
1315 | * ##########################################################################
|
||
1316 | *
|
||
1317 | * NOTE: This code will not be executed, since the bootloader callbacks will stop/restart the MCU.
|
||
1318 | * It is included nevertheless for the sake of completeness and to explicitely indicate,
|
||
1319 | * which subsystems should NOT be shut down.
|
||
1320 | */
|
||
1321 | |||
1322 | // return an error, since this code should not be executed
|
||
1323 | return -1; |
||
1324 | } |
||
1325 | 53710ca3 | Marc Rothmann | |
1326 | /** @} */ |