amiro-os / core / src / aos_main.cpp @ 23437e98
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file aos_main.cpp
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* @brief Main function.
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* @details Main function with SSSP and initialization,
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* extendable via hooks.
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*
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* @addtogroup aos_system
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* @{
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*/
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#include <amiroos.h> |
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/*
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* hook to add further includes
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*/
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#if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)
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#include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER
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#endif
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/**
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* @brief Event mask to identify I/O events.
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*/
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#define IOEVENT_MASK EVENT_MASK(0) |
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/**
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* @brief Event mask to identify OS events.
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*/
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#define OSEVENT_MASK EVENT_MASK(1) |
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/**
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* @brief Event mask to idetify CAN events.
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*/
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#define CANEVENT_MASK EVENT_MASK(2) |
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/**
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* @brief Event mask to idetify timeout events.
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*/
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#define TIMEOUTEVENT_MASK EVENT_MASK(3) |
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/**
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* @brief Event mask to idetify signal delay events.
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*/
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#define DELAYEVENT_MASK EVENT_MASK(4) |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief CAN message identifier for initialization of the SSSP stack initialization sequence.
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*/
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#define SSSP_STACKINIT_CANMSGID_INIT 0x003 |
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/**
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* @brief CAN message identifier for transmitting module IDs during the SSSP stack initialization sequence.
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*/
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#define SSSP_STACKINIT_CANMSGID_MODULEID 0x002 |
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/**
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* @brief CAN message identifier for abortion of the SSSP stack initialization sequence.
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*/
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#define SSSP_STACKINIT_CANMSGID_ABORT 0x001 |
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#else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
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/**
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* @brief Default shutdown mode if SSSP is unavailable.
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*/
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#define AOS_SHUTDOWN_DEFAULT AOS_SHUTDOWN_DEEPSLEEP
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#endif /* AMIROOS_CFG_SSSP_ENABLE */ |
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/**
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* @brief CAN message identifier for calender synchronization message.
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*/
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#define CALENDERSYNC_CANMSGID 0x004 |
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/**
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* @brief Listener object for I/O events.
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*/
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static event_listener_t _eventListenerIO;
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/**
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* @brief Listener object for OS events.
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*/
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static event_listener_t _eventListenerOS;
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#if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
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/**
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* @brief I/O channel for the programmer interface.
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*/
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static AosIOChannel _stdiochannel;
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief I/O shell channel for the programmer interface.
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*/
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static AosShellChannel _stdshellchannel;
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)*/ |
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#endif /* defined(MODULE_HAL_PROGIF) */ |
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/*
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* hook to add further static variables
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*/
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#if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
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AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
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#endif
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Prints an error message about an unexpected event.
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*
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* @param[in] mask The event mask.
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* @param[in] flags The event flags.
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*/
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static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
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{ |
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#if (AMIROOS_CFG_DBG == true) |
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aosprintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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#else
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(void)(mask);
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(void)(flags);
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#endif
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return;
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} |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Callback function to be used during SSSP stack initialization sequence.
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*
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* @param[in] par A pointer to an @p event_source_t to be fired.
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*/
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static void _ssspTimerCallback(void* par) |
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{ |
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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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return;
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} |
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#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
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/**
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* @brief Helper function to serialize data.
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*
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* @param[out] dst Pointer to the output buffer.
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* @param[in] src Data to be serialized.
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* @param[in] n Number of bytes to serialize.
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*/
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inline void _serialize(uint8_t* dst, const uint64_t src, const uint8_t n) |
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{ |
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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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return;
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} |
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/**
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* @brief Helper function to deserialize data.
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*
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* @param[in] src Pointer to the buffer of data to be deserialzed.
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* @param[in] n Number of bytes to deserialize.
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*
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* @return The deserialized 32 bit data.
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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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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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} |
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#if (HAL_USE_RTC == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Converter function to encode a TM value to a single unsigned 64 bit integer.
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*
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* @details Contents of the TM struct are mapped as follows:
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* bits |63 62|61 53|52 50|49 26|25 22|21 17|16 12|11 6|5 0|
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* #bits | 2 | 9 | 3 | 24 | 4 | 5 | 5 | 6 | 6 |
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* value | isdst | yday | wday | year | mon | mday | hour | min | sec |
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* range | special | [0, 365] | [0, 6] | [1900, ...] | [0, 11] | [1, 31] | [0, 23] | [0, 59] | [0, 61] |
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* The Daylight Saving Time Flag (isdsst) is encoded as follows:
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* DST not in effect -> 0
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* DST in effect -> 1
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* no information available -> 2
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*
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* @param[in] src Pointer to the TM struct to encode.
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*
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* @return An unsigned 64 bit integer, which holds the encoded time value.
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*/
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inline uint64_t _TM2U64(struct tm* src) |
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{ |
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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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} |
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/**
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* @brief Converter functiomn to retrieve the encoded TM value from an unsigned 64 bit integer.
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*
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* @details For information on the encoding, please refer to @p _TM2U64 function.
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*
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* @param[out] dst The TM struct to fill with the decoded values.
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* @param[in] src Unsigned 64 bit integer holding the encoded TM value.
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*/
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inline void _U642TM(struct tm* dst, const uint64_t src) |
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{ |
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aosDbgCheck(dst != NULL);
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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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return;
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} |
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#endif /* HAL_USE_RTC == TRUE */ |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Implementation of the SSSP module stack initialization sequence (startup phase 3).
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*
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* @return Shutdown value.
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* @retval AOS_SHUTDOWN_NONE No shutdown signal received
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* @retval AOS_SHUTDOWN_PASSIVE Shutdown signal received.
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*/
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aos_shutdown_t _ssspModuleStackInitialization(void)
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{ |
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// local types
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/**
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* @brief States for the internal state machine to implement SSSP startup stage 3.
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*/
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typedef enum { |
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STAGE_3_1, /**< Initiation of SSSP startup stage 3. */
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STAGE_3_2, /**< Starting the sequence and broadcasting the first ID. */
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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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STAGE_3_3_WAITFORID, /**< Waiting for next ID (after the module has set its own ID). */
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STAGE_3_4_FINISH, /**< Successful finish of stage 3. */
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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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typedef struct { |
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bool loop : 1; |
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bool wfe : 1; |
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bool wfe_next : 1; |
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} flags_t; |
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// local variables
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aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
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sssp_modulestackinitstage_t stage = STAGE_3_1; |
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eventmask_t eventmask = 0;
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eventflags_t ioflags = 0;
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event_source_t eventSourceTimeout; |
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event_source_t eventSourceDelay; |
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event_listener_t eventListenerTimeout; |
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event_listener_t eventListenerDelay; |
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event_listener_t eventListenerCan; |
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virtual_timer_t timerTimeout; |
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virtual_timer_t timerDelay; |
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CANTxFrame canTxFrame; |
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CANRxFrame canRxFrame; |
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#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
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aos_ssspmoduleid_t lastid = 0;
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#endif
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flags_t flags; |
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aos_timestamp_t uptime; |
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// initialize local varibles
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chEvtObjectInit(&eventSourceTimeout); |
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chEvtObjectInit(&eventSourceDelay); |
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chVTObjectInit(&timerTimeout); |
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chVTObjectInit(&timerDelay); |
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canTxFrame.RTR = CAN_RTR_DATA; |
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canTxFrame.IDE = CAN_IDE_STD; |
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flags.loop = true;
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flags.wfe = false; // do not wait for events in the initial iteration of the FSM loop |
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flags.wfe_next = true;
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// initialize system variables
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aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
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aos.sssp.moduleId = 0;
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// listen to events (timout, delay, CAN receive)
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chEvtRegisterMask(&eventSourceTimeout, &eventListenerTimeout, TIMEOUTEVENT_MASK); |
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chEvtRegisterMask(&eventSourceDelay, &eventListenerDelay, DELAYEVENT_MASK); |
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chEvtRegisterMask(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan, CANEVENT_MASK); |
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/*
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* FSM in a loop.
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*
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* This is a fully event-based FSM for the module stack initialization
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* sequence, defined by SSSP as startup stage 3. There are five different
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* events that can occur at this point:
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* I/O events: The input level of an input pin has changed. Such events must
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* be handled differently depending on the current state. Most
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* of the time, however, such events can be ignored.
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* OS events: Such events are only available after this stage completed and
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* thus should never occur. However, there is an optional hook
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* to handle such events, nevertheless.
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* CAN events: At least one CAN message was received. Note that this event
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* will only fire again if all input buffers have been cleared.
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* timeouts: If some module does not support the sequence of there is any
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* issue, such a case is detected via timeouts and must be
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* handled accordingly (see abort state). In some cases, it is
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* possible that a timeout event occurres 'simultaneously' with
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* some other event. This can be caused by several timing issues
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* and is a valid situation. As a result, any other events
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* should be handled before the timeout event. If the other
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* events are expected and valid, this implementation requires
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* the timeout event flag to be cleared explicitely. Otherwise
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* it is evaluated at the end of each iteration of the loop.
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* delays: Depending on the current state, delays are required by SSSP
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* for timing of the sequential activation of signals.
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*/
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aosDbgPrintf("SSSP stack initialization sequence:\n");
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while (flags.loop) {
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#if (AMIROOS_CFG_DBG == true) |
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switch (stage) {
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case STAGE_3_1:
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aosDbgPrintf(">>> 3-1\n");
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break;
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case STAGE_3_2:
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aosDbgPrintf(">>> 3-2\n");
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break;
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case STAGE_3_3_WAITFORFIRSTID:
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aosDbgPrintf(">>> 3-3 (1st ID)\n");
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break;
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case STAGE_3_3_WAITFORIDORSIG:
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aosDbgPrintf(">>> 3-3 (ID/sig)\n");
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break;
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case STAGE_3_3_WAITFORID:
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aosDbgPrintf(">>> 3-3 (ID)\n");
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break;
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case STAGE_3_4_FINISH:
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aosDbgPrintf(">>> 3-4 (finish)\n");
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break;
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case STAGE_3_4_ABORT_ACTIVE:
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aosDbgPrintf(">>> 3-4 (active abort)\n");
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break;
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case STAGE_3_4_ABORT:
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aosDbgPrintf(">>> 3-4 (abort)\n");
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break;
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} |
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#endif
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// reset wfe flag for the next iteration
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flags.wfe_next = true;
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// waiting for events (may be skipped)
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if (flags.wfe) {
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// wait for any event to occur
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aosDbgPrintf("WFE...");
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eventmask = chEvtWaitAnyTimeout(ALL_EVENTS, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)); |
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aosDbgPrintf("\t0x%08X", eventmask);
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} else {
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aosDbgPrintf("WFE skipped");
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eventmask = 0;
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} |
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aosSysGetUptime(&uptime); |
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aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / MICROSECONDS_PER_MILLISECOND));
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/*
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* execute some general tasks and high priority events
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*/
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// no event occurred at all
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if ((flags.wfe) && (eventmask == 0)) { |
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aosDbgPrintf("ERR: no evt\n");
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// enforce timeout event
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chEvtBroadcast(&eventSourceTimeout); |
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continue;
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} |
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// if an IO event occurred
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if (eventmask & _eventListenerIO.events) {
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ioflags = chEvtGetAndClearFlags(&_eventListenerIO); |
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aosDbgPrintf("INFO: IO evt (0x%08X)\n", ioflags);
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// a power-down event occurred
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if (ioflags & MODULE_SSSP_EVENTFLAGS_PD) {
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aosDbgPrintf("PD evt\n");
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// deactivate S and UP
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aosDbgPrintf("disabling S\n");
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apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
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#if (AMIROOS_CFG_SSSP_STACK_END != true) |
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aosDbgPrintf("disabling UP\n");
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apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
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#endif
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// set shutdown flag and exit the loop
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shutdown = AOS_SHUTDOWN_PASSIVE; |
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break;
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} |
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// the S signal was deactivated
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if (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC) {
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apalControlGpioState_t sstate; |
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apalControlGpioGet(&moduleSsspGpioSync, &sstate); |
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if (sstate == APAL_GPIO_ON) {
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aosDbgPrintf("S evt (enabled)\n");
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} else {
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aosDbgPrintf("S evt (disabled)\n");
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// either finish or abort
|
463 |
if ((stage == STAGE_3_3_WAITFORID) && (aos.sssp.moduleId != 0)) { |
464 |
stage = STAGE_3_4_FINISH; |
465 |
} else if (stage != STAGE_3_4_ABORT) { |
466 |
stage = STAGE_3_4_ABORT_ACTIVE; |
467 |
} |
468 |
} |
469 |
} |
470 |
} |
471 |
// an OS event occurred
|
472 |
if (eventmask & _eventListenerOS.events) {
|
473 |
aosDbgPrintf("WARN: OS evt\n");
|
474 |
// get the flags
|
475 |
eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
476 |
// there should be no OS events at this point
|
477 |
#ifdef MODULE_SSSP_STARTUP_3_OSEVENT_HOOK
|
478 |
MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags); |
479 |
#else
|
480 |
_unexpectedEventError(eventmask, oseventflags); |
481 |
#endif
|
482 |
} |
483 |
// if a CAN event occurred
|
484 |
if ((eventmask & eventListenerCan.events)) {
|
485 |
aosDbgPrintf("CAN evt\n");
|
486 |
// fetch message
|
487 |
if (flags.wfe) {
|
488 |
canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE); |
489 |
aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
490 |
} |
491 |
// identify and handle abort messgaes
|
492 |
if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
493 |
stage = STAGE_3_4_ABORT; |
494 |
} |
495 |
// warn if a unexpected message was received
|
496 |
else if ((canRxFrame.SID != SSSP_STACKINIT_CANMSGID_INIT) && |
497 |
(canRxFrame.SID != SSSP_STACKINIT_CANMSGID_MODULEID)) { |
498 |
aosDbgPrintf("WARN: unknown msg\n");
|
499 |
} |
500 |
// any further pending messages are fetched at the end of the loop
|
501 |
} |
502 |
// if a timeout event occurred
|
503 |
if (eventmask & eventListenerTimeout.events) {
|
504 |
aosDbgPrintf("timeout evt\n");
|
505 |
// is handled at the end of the loop (or must be cleared by FSM)
|
506 |
} |
507 |
// if a delay event occurred
|
508 |
if (eventmask & eventListenerDelay.events) {
|
509 |
aosDbgPrintf("delay evt\n");
|
510 |
// is handled by FSM
|
511 |
} |
512 |
|
513 |
/*
|
514 |
* this is the actual FSM
|
515 |
*/
|
516 |
switch (stage) {
|
517 |
case STAGE_3_1:
|
518 |
{ |
519 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
520 |
|
521 |
// there was no event at all (skipped wfe)
|
522 |
if (eventmask == 0 && flags.wfe == false) { |
523 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
524 |
// initialize the stage by transmitting an according CAN message
|
525 |
aosDbgPrintf("CAN -> init\n");
|
526 |
canTxFrame.DLC = 0;
|
527 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_INIT; |
528 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
529 |
chEvtBroadcast(&eventSourceTimeout); |
530 |
break;
|
531 |
} |
532 |
// activate S
|
533 |
aosDbgPrintf("enabling S\n");
|
534 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
535 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
536 |
// proceed immediately
|
537 |
stage = STAGE_3_2; |
538 |
flags.wfe_next = false;
|
539 |
#else
|
540 |
// set the timeout timer
|
541 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
542 |
// proceed
|
543 |
stage = STAGE_3_3_WAITFORFIRSTID; |
544 |
#endif
|
545 |
#else
|
546 |
// set the timeout timer
|
547 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
548 |
#endif
|
549 |
} |
550 |
|
551 |
#if (AMIROOS_CFG_SSSP_MASTER != true) |
552 |
// a CAN message was received
|
553 |
else if (eventmask & eventListenerCan.events) { |
554 |
// if an initiation message was received
|
555 |
if (canRxFrame.DLC == 0 && |
556 |
canRxFrame.RTR == CAN_RTR_DATA && |
557 |
canRxFrame.IDE == CAN_IDE_STD && |
558 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) { |
559 |
aosDbgPrintf("init msg\n");
|
560 |
// reset the timeout timer and clear pending flags
|
561 |
chVTReset(&timerTimeout); |
562 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
563 |
eventmask &= ~(eventListenerTimeout.events); |
564 |
// activate S
|
565 |
aosDbgPrintf("enabling S\n");
|
566 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
567 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
568 |
// proceed
|
569 |
stage = STAGE_3_2; |
570 |
flags.wfe_next = false;
|
571 |
#else
|
572 |
// set the timeout timer
|
573 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
574 |
// proceed
|
575 |
stage = STAGE_3_3_WAITFORFIRSTID; |
576 |
#endif
|
577 |
} |
578 |
} |
579 |
#endif
|
580 |
|
581 |
break;
|
582 |
} /* end of STAGE_3_1 */
|
583 |
|
584 |
case STAGE_3_2:
|
585 |
{ |
586 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
587 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_2; |
588 |
|
589 |
// if this stage was just entered
|
590 |
if (flags.wfe == false) { |
591 |
// set the module ID
|
592 |
aos.sssp.moduleId = 1;
|
593 |
// broadcast module ID
|
594 |
aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
595 |
canTxFrame.DLC = 4;
|
596 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
597 |
_serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
598 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
599 |
chEvtBroadcast(&eventSourceTimeout); |
600 |
break;
|
601 |
} |
602 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
603 |
lastid = aos.sssp.moduleId; |
604 |
#endif
|
605 |
#if (AMIROOS_CFG_SSSP_STACK_END == true) |
606 |
// sequence is already over
|
607 |
// deactivate S
|
608 |
aosDbgPrintf("disabling S\n");
|
609 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
610 |
// proceed
|
611 |
stage = STAGE_3_3_WAITFORID; |
612 |
#else
|
613 |
// set the delay timer so the UP signal is activated later
|
614 |
chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
615 |
#endif
|
616 |
} |
617 |
|
618 |
// if a delay event occurred
|
619 |
if (eventmask & eventListenerDelay.events) {
|
620 |
// activate UP
|
621 |
aosDbgPrintf("enabling UP\n");
|
622 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
623 |
// deactivate S
|
624 |
aosDbgPrintf("disabling S\n");
|
625 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
626 |
// explicitely clear timeout event flag
|
627 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
628 |
eventmask &= ~(eventListenerTimeout.events); |
629 |
// proceed
|
630 |
stage = STAGE_3_3_WAITFORID; |
631 |
} |
632 |
#endif
|
633 |
|
634 |
break;
|
635 |
} /* end of STAGE_3_2 */
|
636 |
|
637 |
case STAGE_3_3_WAITFORFIRSTID:
|
638 |
{ |
639 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
640 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
641 |
|
642 |
// a CAN message was received
|
643 |
if (eventmask & eventListenerCan.events) {
|
644 |
// if an ID message was received
|
645 |
if (canRxFrame.DLC == 4 && |
646 |
canRxFrame.RTR == CAN_RTR_DATA && |
647 |
canRxFrame.IDE == CAN_IDE_STD && |
648 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) { |
649 |
aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4)); |
650 |
// validate received ID
|
651 |
if (lastid < _deserialize(canRxFrame.data8, 4)) { |
652 |
// store received ID
|
653 |
lastid = _deserialize(canRxFrame.data8, 4);
|
654 |
// restart timeout timer
|
655 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
656 |
// proceed
|
657 |
stage = STAGE_3_3_WAITFORIDORSIG; |
658 |
} else {
|
659 |
aosDbgPrintf("ERR: invalid ID\n");
|
660 |
// abort
|
661 |
stage = STAGE_3_4_ABORT_ACTIVE; |
662 |
flags.wfe_next = false;
|
663 |
} |
664 |
// explicitely clear timeout event flag
|
665 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
666 |
eventmask &= ~(eventListenerTimeout.events); |
667 |
} |
668 |
} |
669 |
#endif
|
670 |
break;
|
671 |
} /* end of STAGE_3_3_WAITFORFIRSTID */
|
672 |
|
673 |
case STAGE_3_3_WAITFORIDORSIG:
|
674 |
{ |
675 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
676 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
677 |
|
678 |
// a CAN message was received
|
679 |
if (eventmask & eventListenerCan.events) {
|
680 |
// if an ID message was received
|
681 |
if (canRxFrame.DLC == 4 && |
682 |
canRxFrame.RTR == CAN_RTR_DATA && |
683 |
canRxFrame.IDE == CAN_IDE_STD && |
684 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) { |
685 |
aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4)); |
686 |
// validate received ID
|
687 |
if (lastid < _deserialize(canRxFrame.data8, 4)) { |
688 |
// store received ID
|
689 |
lastid = _deserialize(canRxFrame.data8, 4);
|
690 |
// restart timeout timer
|
691 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
692 |
} else {
|
693 |
aosDbgPrintf("ERR: invalid ID\n");
|
694 |
// abort
|
695 |
stage = STAGE_3_4_ABORT_ACTIVE; |
696 |
flags.wfe_next = false;
|
697 |
} |
698 |
// explicitely clear timeout event flag
|
699 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
700 |
eventmask &= ~(eventListenerTimeout.events); |
701 |
} |
702 |
} |
703 |
|
704 |
// if an IO event was received (DN signal)
|
705 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_DN)) {
|
706 |
aosDbgPrintf("DN evt\n");
|
707 |
// reset timeout timer
|
708 |
chVTReset(&timerTimeout); |
709 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
710 |
eventmask &= ~(eventListenerTimeout.events); |
711 |
// increment and broadcast ID
|
712 |
aos.sssp.moduleId = lastid + 1;
|
713 |
aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
714 |
canTxFrame.DLC = 4;
|
715 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
716 |
_serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
717 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
718 |
chEvtBroadcast(&eventSourceTimeout); |
719 |
break;
|
720 |
} |
721 |
// set delay timer
|
722 |
chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
723 |
} |
724 |
|
725 |
// if a delay event occurred
|
726 |
if (eventmask & eventListenerDelay.events) {
|
727 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
728 |
// activate UP
|
729 |
aosDbgPrintf("enabling UP\n");
|
730 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
731 |
#endif
|
732 |
// deactivate S
|
733 |
aosDbgPrintf("disabling S\n");
|
734 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
735 |
// reset the timeout timer
|
736 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
737 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
738 |
eventmask &= ~(eventListenerTimeout.events); |
739 |
// proceed
|
740 |
stage = STAGE_3_3_WAITFORID; |
741 |
} |
742 |
#endif
|
743 |
|
744 |
break;
|
745 |
} /* end of STAGE_3_3_WAITFORIDORSIG */
|
746 |
|
747 |
case STAGE_3_3_WAITFORID:
|
748 |
{ |
749 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
750 |
|
751 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
752 |
// a CAN message was received
|
753 |
if (eventmask & eventListenerCan.events) {
|
754 |
// if an ID message was received
|
755 |
if (canRxFrame.DLC == 4 && |
756 |
canRxFrame.RTR == CAN_RTR_DATA && |
757 |
canRxFrame.IDE == CAN_IDE_STD && |
758 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) { |
759 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
760 |
// Plausibility of the received ID is not checked at this point but is done by other modules still in a previous stage.
|
761 |
lastid = _deserialize(canRxFrame.data8, 4);
|
762 |
aosDbgPrintf("ID (%u)\n", lastid);
|
763 |
#endif
|
764 |
// restart timeout timer
|
765 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
766 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
767 |
eventmask &= ~(eventListenerTimeout.events); |
768 |
} |
769 |
} |
770 |
#endif
|
771 |
|
772 |
break;
|
773 |
} /* end of STAGE_3_3_WAITFORID */
|
774 |
|
775 |
case STAGE_3_4_FINISH:
|
776 |
{ |
777 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
778 |
|
779 |
// if an IO event was received (S signal)
|
780 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
781 |
// reset the timeout timer
|
782 |
chVTReset(&timerTimeout); |
783 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
784 |
eventmask &= ~(eventListenerTimeout.events); |
785 |
//set the delay timer
|
786 |
chVTSet(&timerDelay, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceDelay); |
787 |
} |
788 |
|
789 |
// if a CAN event was received
|
790 |
if (eventmask & eventListenerCan.events) {
|
791 |
// if an abort message was received
|
792 |
if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
793 |
aosDbgPrintf("abort msg\n");
|
794 |
// reset the delay timer
|
795 |
chVTReset(&timerDelay); |
796 |
chEvtWaitAnyTimeout(eventListenerDelay.events, TIME_IMMEDIATE); |
797 |
eventmask &= ~(eventListenerDelay.events); |
798 |
// proceed
|
799 |
stage = STAGE_3_4_ABORT; |
800 |
} |
801 |
} |
802 |
|
803 |
// if a delay timer event occurred
|
804 |
if (eventmask & eventListenerDelay.events) {
|
805 |
aosDbgPrintf("sequence sucessful\n");
|
806 |
// sequence finished sucessfully
|
807 |
flags.loop = false;
|
808 |
} |
809 |
|
810 |
break;
|
811 |
} /* end of STAGE_3_4_FINISH */
|
812 |
|
813 |
case STAGE_3_4_ABORT_ACTIVE:
|
814 |
{ |
815 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
816 |
|
817 |
// emit abort message
|
818 |
canTxFrame.DLC = 0;
|
819 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_ABORT; |
820 |
canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_INFINITE); |
821 |
aosDbgPrintf("CAN -> abort\n");
|
822 |
// clear timeout flag
|
823 |
eventmask &= ~(eventListenerTimeout.events); |
824 |
// proceed immediately
|
825 |
stage = STAGE_3_4_ABORT; |
826 |
flags.wfe_next = false;
|
827 |
break;
|
828 |
} /* end of STAGE_3_4_ABORT_ACTIVE */
|
829 |
|
830 |
case STAGE_3_4_ABORT:
|
831 |
{ |
832 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
833 |
|
834 |
// deactivate S
|
835 |
aosDbgPrintf("disabling SYNC\n");
|
836 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
837 |
// invalidate module ID
|
838 |
aos.sssp.moduleId = 0;
|
839 |
|
840 |
// if an IO event was received (S signal)
|
841 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
842 |
aosDbgPrintf("sequence aborted\n");
|
843 |
// exit the sequence
|
844 |
flags.loop = false;
|
845 |
} |
846 |
|
847 |
break;
|
848 |
} /* end of STAGE_3_4_ABORT */
|
849 |
} /* end of switch(stage) */
|
850 |
|
851 |
// fetch pending CAN message (if any)
|
852 |
if ((eventmask & eventListenerCan.events) && (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE) == MSG_OK)) {
|
853 |
aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
854 |
flags.wfe_next = false;
|
855 |
} |
856 |
|
857 |
// handle unhandled timeout events
|
858 |
if (eventmask & eventListenerTimeout.events) {
|
859 |
aosDbgPrintf("ERR: timeout evt\n");
|
860 |
// abort
|
861 |
flags.wfe_next = false;
|
862 |
stage = STAGE_3_4_ABORT_ACTIVE; |
863 |
} |
864 |
|
865 |
// apply wfe value for next iteration
|
866 |
flags.wfe = flags.wfe_next; |
867 |
} /* end of FSM loop */
|
868 |
|
869 |
// unregister all events (timeout, delay, CAN receive)
|
870 |
chEvtUnregister(&eventSourceTimeout, &eventListenerTimeout); |
871 |
chEvtUnregister(&eventSourceDelay, &eventListenerDelay); |
872 |
chEvtUnregister(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan); |
873 |
// clear any pending events (timeout, delay, CAN receive)
|
874 |
chEvtWaitAllTimeout(TIMEOUTEVENT_MASK | DELAYEVENT_MASK | CANEVENT_MASK, TIME_IMMEDIATE); |
875 |
|
876 |
// reset all control signals
|
877 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
878 |
aosDbgPrintf("disabling UP\n");
|
879 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
880 |
#endif
|
881 |
aosDbgPrintf("disabling S\n");
|
882 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
883 |
aosSysGetUptime(&uptime); |
884 |
aosDbgPrintf("done\t%04ums\n", (uint32_t)(uptime / MICROSECONDS_PER_MILLISECOND));
|
885 |
|
886 |
return shutdown;
|
887 |
} |
888 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
889 |
|
890 |
/**
|
891 |
* @brief Application entry point.
|
892 |
*/
|
893 |
int main(void) |
894 |
{ |
895 |
// local variables
|
896 |
eventmask_t eventmask = 0;
|
897 |
eventflags_t eventflags = 0;
|
898 |
eventflags_t ioeventflagsmask = AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK; |
899 |
aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
900 |
#if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)
|
901 |
AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
902 |
#endif
|
903 |
|
904 |
/*
|
905 |
* ##########################################################################
|
906 |
* # system initialization #
|
907 |
* ##########################################################################
|
908 |
*/
|
909 |
|
910 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
|
911 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS)
|
912 |
AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS); |
913 |
#else
|
914 |
AMIROOS_CFG_MAIN_INIT_HOOK_0(); |
915 |
#endif
|
916 |
#endif
|
917 |
|
918 |
/* hardware, kernel, and operating system initialization */
|
919 |
// ChibiOS/HAL and custom hal additions (if any)
|
920 |
halInit(); |
921 |
#ifdef MODULE_INIT_HAL_EXTRA
|
922 |
MODULE_INIT_HAL_EXTRA(); |
923 |
#endif
|
924 |
|
925 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
|
926 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
|
927 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
928 |
#else
|
929 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
930 |
#endif
|
931 |
#endif
|
932 |
|
933 |
// ChibiOS/RT kernel and custom kernel additions (if any)
|
934 |
chSysInit(); |
935 |
#ifdef MODULE_INIT_KERNEL_EXTRA
|
936 |
MODULE_INIT_KERNEL_EXTRA(); |
937 |
#endif
|
938 |
|
939 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
|
940 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
|
941 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
942 |
#else
|
943 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
944 |
#endif
|
945 |
#endif
|
946 |
|
947 |
// AMiRo-OS and custom OS additions (if any)
|
948 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
949 |
aosSysInit(moduleShellPrompt); |
950 |
#else
|
951 |
aosSysInit(); |
952 |
#endif
|
953 |
#ifdef MODULE_INIT_OS_EXTRA
|
954 |
MODULE_INIT_OS_EXTRA(); |
955 |
#endif
|
956 |
|
957 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
|
958 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
|
959 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
960 |
#else
|
961 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
962 |
#endif
|
963 |
#endif
|
964 |
|
965 |
/* event associations */
|
966 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
967 |
ioeventflagsmask |= MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC; |
968 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
969 |
ioeventflagsmask |= MODULE_SSSP_EVENTFLAGS_DN; |
970 |
#endif
|
971 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
972 |
ioeventflagsmask |= MODULE_SSSP_EVENTFLAGS_UP; |
973 |
#endif
|
974 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
975 |
if (ioeventflagsmask != 0) { |
976 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, ioeventflagsmask); |
977 |
} |
978 |
chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK); |
979 |
|
980 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
|
981 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
|
982 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
983 |
#else
|
984 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
985 |
#endif
|
986 |
#endif
|
987 |
|
988 |
/* periphery communication initialization */
|
989 |
// module specific initialization (if any)
|
990 |
#ifdef MODULE_INIT_PERIPHERY_COMM
|
991 |
MODULE_INIT_PERIPHERY_COMM(); |
992 |
#endif
|
993 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
994 |
// CAN (mandatory)
|
995 |
canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); |
996 |
#endif
|
997 |
// user interface (if any)
|
998 |
#ifdef MODULE_HAL_PROGIF
|
999 |
aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
1000 |
aosIOChannelOutputEnable(&_stdiochannel); |
1001 |
aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
1002 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
1003 |
aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
1004 |
aosShellChannelInputEnable(&_stdshellchannel); |
1005 |
aosShellChannelOutputEnable(&_stdshellchannel); |
1006 |
aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
1007 |
#endif
|
1008 |
#endif
|
1009 |
|
1010 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
|
1011 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
|
1012 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
1013 |
#else
|
1014 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
1015 |
#endif
|
1016 |
#endif
|
1017 |
|
1018 |
/* module is ready -> print welcome prompt */
|
1019 |
aosprintf("\n");
|
1020 |
aosprintf("######################################################################\n");
|
1021 |
aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
1022 |
aosprintf("# Robot (AMiRo) platform. #\n");
|
1023 |
aosprintf("# Copyright (C) 2016..2019 Thomas Schöpping et al. #\n");
|
1024 |
aosprintf("# #\n");
|
1025 |
aosprintf("# This is free software; see the source for copying conditions. #\n");
|
1026 |
aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
|
1027 |
aosprintf("# A PARTICULAR PURPOSE. #\n");
|
1028 |
aosprintf("# The development of this software was supported by the Excellence #\n");
|
1029 |
aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
|
1030 |
aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
|
1031 |
aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
|
1032 |
aosprintf("######################################################################\n");
|
1033 |
aosprintf("\n");
|
1034 |
|
1035 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)
|
1036 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)
|
1037 |
AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS); |
1038 |
#else
|
1039 |
AMIROOS_CFG_MAIN_INIT_HOOK_6(); |
1040 |
#endif
|
1041 |
#endif
|
1042 |
|
1043 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
1044 |
#if defined(MODULE_INIT_TESTS)
|
1045 |
MODULE_INIT_TESTS(); |
1046 |
#else
|
1047 |
#warning "MODULE_INIT_TESTS() not defined" |
1048 |
#endif
|
1049 |
#endif
|
1050 |
|
1051 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)
|
1052 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)
|
1053 |
AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS); |
1054 |
#else
|
1055 |
AMIROOS_CFG_MAIN_INIT_HOOK_7(); |
1056 |
#endif
|
1057 |
#endif
|
1058 |
|
1059 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
1060 |
/* SSSP startup OS synchronization phase (end of startup stage 2) */
|
1061 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) { |
1062 |
/*
|
1063 |
* This code is executed if the received event was not about the SYS_SYNC control signal.
|
1064 |
* The returned event could be caused by any listener (not only the argument).
|
1065 |
*/
|
1066 |
// IO event
|
1067 |
if (eventmask & _eventListenerIO.events) {
|
1068 |
eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
1069 |
// PD event
|
1070 |
if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
1071 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
1072 |
} else {
|
1073 |
#ifdef MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK
|
1074 |
MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK(eventmask, eventflags); |
1075 |
#else
|
1076 |
// ignore any other IO events
|
1077 |
#endif
|
1078 |
} |
1079 |
} |
1080 |
// OS event
|
1081 |
else if (eventmask & _eventListenerOS.events) { |
1082 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
1083 |
_unexpectedEventError(eventmask, eventflags); |
1084 |
} |
1085 |
// unknown event
|
1086 |
else {
|
1087 |
_unexpectedEventError(eventmask, 0);
|
1088 |
} |
1089 |
} |
1090 |
|
1091 |
/*
|
1092 |
* There must be no delays at this point, thus no hook is allowed.
|
1093 |
*/
|
1094 |
|
1095 |
/* SSSP startup stage 3 (module stack initialization) */
|
1096 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
1097 |
shutdown = _ssspModuleStackInitialization(); |
1098 |
} |
1099 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
1100 |
|
1101 |
/*
|
1102 |
* There must be no delays at this point, thus no hook is allowed.
|
1103 |
*/
|
1104 |
|
1105 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_RTC == TRUE) |
1106 |
/* synchronize calendars */
|
1107 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
1108 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
1109 |
CANTxFrame frame; |
1110 |
struct tm t;
|
1111 |
uint64_t encoded; |
1112 |
|
1113 |
frame.DLC = 8;
|
1114 |
frame.RTR = CAN_RTR_DATA; |
1115 |
frame.IDE = CAN_IDE_STD; |
1116 |
frame.SID = CALENDERSYNC_CANMSGID; |
1117 |
|
1118 |
aosDbgPrintf("transmitting current date/time...\t");
|
1119 |
// get current date & time
|
1120 |
aosSysGetDateTime(&t); |
1121 |
// encode
|
1122 |
encoded = _TM2U64(&t); |
1123 |
// serialize
|
1124 |
_serialize(frame.data8, encoded, 8);
|
1125 |
// transmit
|
1126 |
canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE); |
1127 |
|
1128 |
aosDbgPrintf("done\n");
|
1129 |
#else /* AMIROOS_CFG_SSSP_MASTER == false */ |
1130 |
CANRxFrame frame; |
1131 |
uint64_t encoded; |
1132 |
struct tm t;
|
1133 |
|
1134 |
aosDbgPrintf("receiving current date/time...\t");
|
1135 |
// receive message
|
1136 |
#if (AMIROOS_CFG_DBG == true) |
1137 |
// increase timeout in debug mode due to additional delays introduced by the many prinf() calls
|
1138 |
if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, chTimeUS2I(10 * AOS_SYSTEM_SSSP_TIMEOUT)) == MSG_OK) { |
1139 |
#else
|
1140 |
if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)) == MSG_OK) {
|
1141 |
#endif
|
1142 |
// validate message
|
1143 |
if (frame.DLC == 8 && |
1144 |
frame.RTR == CAN_RTR_DATA && |
1145 |
frame.IDE == CAN_IDE_STD && |
1146 |
frame.SID == CALENDERSYNC_CANMSGID) { |
1147 |
// deserialize
|
1148 |
encoded = _deserialize(frame.data8, 8);
|
1149 |
// decode
|
1150 |
_U642TM(&t, encoded); |
1151 |
// set current date & time
|
1152 |
aosSysSetDateTime(&t); |
1153 |
aosDbgPrintf("success\n");
|
1154 |
} else {
|
1155 |
aosDbgPrintf("fail (invalid message)\n");
|
1156 |
} |
1157 |
} else {
|
1158 |
aosDbgPrintf("fail (timeout)\n");
|
1159 |
} |
1160 |
#endif /* AMIROOS_CFG_SSSP_MASTER == false */ |
1161 |
aosDbgPrintf("\n");
|
1162 |
} |
1163 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_RTC == TRUE) */ |
1164 |
|
1165 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)
|
1166 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)
|
1167 |
AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS); |
1168 |
#else
|
1169 |
AMIROOS_CFG_MAIN_INIT_HOOK_8(); |
1170 |
#endif
|
1171 |
#endif
|
1172 |
|
1173 |
/* completely start AMiRo-OS */
|
1174 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
1175 |
aosSysStart(); |
1176 |
} |
1177 |
|
1178 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)
|
1179 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)
|
1180 |
AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS); |
1181 |
#else
|
1182 |
AMIROOS_CFG_MAIN_INIT_HOOK_9(); |
1183 |
#endif
|
1184 |
#endif
|
1185 |
|
1186 |
/*
|
1187 |
* ##########################################################################
|
1188 |
* # infinite loop #
|
1189 |
* ##########################################################################
|
1190 |
*/
|
1191 |
|
1192 |
// sleep until a shutdown event is received
|
1193 |
while (shutdown == AOS_SHUTDOWN_NONE) {
|
1194 |
// wait for an event
|
1195 |
#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
1196 |
eventmask = chEvtWaitOneTimeout(ALL_EVENTS, chTimeUS2I(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
1197 |
#else
|
1198 |
eventmask = chEvtWaitOne(ALL_EVENTS); |
1199 |
#endif
|
1200 |
|
1201 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)
|
1202 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)
|
1203 |
AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS); |
1204 |
#else
|
1205 |
AMIROOS_CFG_MAIN_LOOP_HOOK_0(); |
1206 |
#endif
|
1207 |
#endif
|
1208 |
|
1209 |
switch (eventmask) {
|
1210 |
// if this was an I/O event
|
1211 |
case IOEVENT_MASK:
|
1212 |
// evaluate flags
|
1213 |
eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
1214 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
1215 |
// PD event
|
1216 |
if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
1217 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
1218 |
} |
1219 |
// all other events
|
1220 |
#ifdef MODULE_MAIN_LOOP_IO_EVENT
|
1221 |
else {
|
1222 |
MODULE_MAIN_LOOP_IO_EVENT(eventflags); |
1223 |
} |
1224 |
#endif
|
1225 |
#else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
1226 |
#ifdef MODULE_MAIN_LOOP_IO_EVENT
|
1227 |
MODULE_MAIN_LOOP_IO_EVENT(eventflags); |
1228 |
#endif
|
1229 |
#endif /* AMIROOS_CFG_SSSP_ENABLE */ |
1230 |
break;
|
1231 |
|
1232 |
// if this was an OS event
|
1233 |
case OSEVENT_MASK:
|
1234 |
// evaluate flags
|
1235 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
1236 |
switch (eventflags) {
|
1237 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
1238 |
case AOS_SYSTEM_EVENTFLAGS_HIBERNATE:
|
1239 |
shutdown = AOS_SHUTDOWN_HIBERNATE; |
1240 |
break;
|
1241 |
case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP:
|
1242 |
shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
1243 |
break;
|
1244 |
case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION:
|
1245 |
shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
1246 |
break;
|
1247 |
case AOS_SYSTEM_EVENTFLAGS_RESTART:
|
1248 |
shutdown = AOS_SHUTDOWN_RESTART; |
1249 |
break;
|
1250 |
#else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
1251 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN:
|
1252 |
shutdown = AOS_SHUTDOWN_DEFAULT; |
1253 |
break;
|
1254 |
#endif /* AMIROOS_CFG_SSSP_ENABLE */ |
1255 |
default:
|
1256 |
_unexpectedEventError(eventmask, eventflags); |
1257 |
break;
|
1258 |
} |
1259 |
break;
|
1260 |
|
1261 |
// if this was any other event (should be impossible to occur)
|
1262 |
default:
|
1263 |
eventflags = 0;
|
1264 |
#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0) |
1265 |
_unexpectedEventError(eventmask, eventflags); |
1266 |
#endif
|
1267 |
break;
|
1268 |
} |
1269 |
|
1270 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
|
1271 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
|
1272 |
AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
1273 |
#else
|
1274 |
AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
1275 |
#endif
|
1276 |
#endif
|
1277 |
} |
1278 |
|
1279 |
/*
|
1280 |
* ##########################################################################
|
1281 |
* # system shutdown #
|
1282 |
* ##########################################################################
|
1283 |
*/
|
1284 |
|
1285 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)
|
1286 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)
|
1287 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS); |
1288 |
#else
|
1289 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(); |
1290 |
#endif
|
1291 |
#endif
|
1292 |
|
1293 |
// initialize/acknowledge shutdown
|
1294 |
aosSysShutdownInit(shutdown); |
1295 |
|
1296 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
|
1297 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
|
1298 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
1299 |
#else
|
1300 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
1301 |
#endif
|
1302 |
#endif
|
1303 |
|
1304 |
// stop system threads
|
1305 |
aosSysStop(); |
1306 |
|
1307 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
|
1308 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
|
1309 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
1310 |
#else
|
1311 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
1312 |
#endif
|
1313 |
#endif
|
1314 |
|
1315 |
// deinitialize system
|
1316 |
aosSysDeinit(); |
1317 |
|
1318 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
|
1319 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
|
1320 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
1321 |
#else
|
1322 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
1323 |
#endif
|
1324 |
#endif
|
1325 |
|
1326 |
/* stop all periphery communication */
|
1327 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
1328 |
// CAN (mandatory)
|
1329 |
canStop(&MODULE_HAL_CAN); |
1330 |
#endif
|
1331 |
#ifdef MODULE_SHUTDOWN_PERIPHERY_COMM
|
1332 |
MODULE_SHUTDOWN_PERIPHERY_COMM(); |
1333 |
#endif
|
1334 |
|
1335 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
|
1336 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
|
1337 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
1338 |
#else
|
1339 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
1340 |
#endif
|
1341 |
#endif
|
1342 |
|
1343 |
// finally hand over to bootloader
|
1344 |
aosSysShutdownFinal(shutdown); |
1345 |
|
1346 |
/*
|
1347 |
* ##########################################################################
|
1348 |
* # after shutdown/restart #
|
1349 |
* ##########################################################################
|
1350 |
*
|
1351 |
* NOTE: This code will not be executed, since the bootloader callbacks will stop/restart the MCU.
|
1352 |
* It is included nevertheless for the sake of completeness and to explicitely indicate,
|
1353 |
* which subsystems should NOT be shut down.
|
1354 |
*/
|
1355 |
|
1356 |
// return an error, since this code should not be executed
|
1357 |
return -1; |
1358 |
} |
1359 |
|
1360 |
/******************************************************************************/
|
1361 |
/* EXPORTED FUNCTIONS */
|
1362 |
/******************************************************************************/
|
1363 |
|
1364 |
/** @} */
|