amiro-os / core / src / aos_main.cpp @ 510b93cc
History | View | Annotate | Download (34.1 KB)
1 | e545e620 | Thomas Schöpping | /*
|
---|---|---|---|
2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
|
4 | e545e620 | Thomas Schöpping | |
5 | This program is free software: you can redistribute it and/or modify
|
||
6 | it under the terms of the GNU General Public License as published by
|
||
7 | the Free Software Foundation, either version 3 of the License, or
|
||
8 | (at your option) any later version.
|
||
9 | |||
10 | This program is distributed in the hope that it will be useful,
|
||
11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
13 | GNU General Public License for more details.
|
||
14 | |||
15 | You should have received a copy of the GNU General Public License
|
||
16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
17 | */
|
||
18 | |||
19 | 53710ca3 | Marc Rothmann | /**
|
20 | * @file aos_main.cpp
|
||
21 | * @brief Main function.
|
||
22 | *
|
||
23 | * @addtogroup aos_system
|
||
24 | * @{
|
||
25 | */
|
||
26 | |||
27 | 3940ba8a | Thomas Schöpping | #include <amiroos.h> |
28 | e545e620 | Thomas Schöpping | |
29 | b6b45e4c | Thomas Schöpping | /*
|
30 | * hook to add further includes
|
||
31 | */
|
||
32 | 512abac1 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)
|
33 | #include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER
|
||
34 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER) */ |
35 | b6b45e4c | Thomas Schöpping | |
36 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
37 | /* LOCAL DEFINITIONS */
|
||
38 | /******************************************************************************/
|
||
39 | |||
40 | e545e620 | Thomas Schöpping | /**
|
41 | cda14729 | Thomas Schöpping | * @brief Event mask to identify GPIO events.
|
42 | e545e620 | Thomas Schöpping | */
|
43 | cda14729 | Thomas Schöpping | #define EVENTMASK_GPIO EVENT_MASK(0) |
44 | e545e620 | Thomas Schöpping | |
45 | /**
|
||
46 | * @brief Event mask to identify OS events.
|
||
47 | */
|
||
48 | cda14729 | Thomas Schöpping | #define EVENTMASK_OS EVENT_MASK(1) |
49 | e545e620 | Thomas Schöpping | |
50 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
51 | 933df08e | Thomas Schöpping | |
52 | /**
|
||
53 | cda14729 | Thomas Schöpping | * @brief Event mask to identify SSSP timer events.
|
54 | 933df08e | Thomas Schöpping | */
|
55 | cda14729 | Thomas Schöpping | #define EVENTMASK_SSSPTIMER EVENT_MASK(2) |
56 | 933df08e | Thomas Schöpping | |
57 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
58 | 9ebb11a9 | Thomas Schöpping | |
59 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
60 | /* EXPORTED VARIABLES */
|
||
61 | /******************************************************************************/
|
||
62 | |||
63 | /******************************************************************************/
|
||
64 | /* LOCAL TYPES */
|
||
65 | /******************************************************************************/
|
||
66 | |||
67 | /******************************************************************************/
|
||
68 | /* LOCAL VARIABLES */
|
||
69 | /******************************************************************************/
|
||
70 | |||
71 | 9461fadc | Thomas Schöpping | /**
|
72 | cda14729 | Thomas Schöpping | * @brief Listener object for GPIO events.
|
73 | e545e620 | Thomas Schöpping | */
|
74 | cda14729 | Thomas Schöpping | static event_listener_t _eventListenerGPIO;
|
75 | e545e620 | Thomas Schöpping | |
76 | /**
|
||
77 | * @brief Listener object for OS events.
|
||
78 | */
|
||
79 | static event_listener_t _eventListenerOS;
|
||
80 | |||
81 | #if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
|
||
82 | cda14729 | Thomas Schöpping | |
83 | e545e620 | Thomas Schöpping | /**
|
84 | ba516b61 | Thomas Schöpping | * @brief I/O channel for the programmer interface.
|
85 | e545e620 | Thomas Schöpping | */
|
86 | ba516b61 | Thomas Schöpping | static AosIOChannel _stdiochannel;
|
87 | |||
88 | cda14729 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
89 | |||
90 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
||
91 | |||
92 | ba516b61 | Thomas Schöpping | /**
|
93 | * @brief I/O shell channel for the programmer interface.
|
||
94 | */
|
||
95 | static AosShellChannel _stdshellchannel;
|
||
96 | cda14729 | Thomas Schöpping | |
97 | 1d3e002f | Thomas Schöpping | #endif /* defined(MODULE_HAL_PROGIF) */ |
98 | e545e620 | Thomas Schöpping | |
99 | b6b45e4c | Thomas Schöpping | /*
|
100 | * hook to add further static variables
|
||
101 | */
|
||
102 | #if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
|
||
103 | AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
||
104 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES) */ |
105 | b6b45e4c | Thomas Schöpping | |
106 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
107 | /* LOCAL FUNCTIONS */
|
||
108 | /******************************************************************************/
|
||
109 | |||
110 | e545e620 | Thomas Schöpping | /**
|
111 | * @brief Prints an error message about an unexpected event.
|
||
112 | *
|
||
113 | * @param[in] mask The event mask.
|
||
114 | * @param[in] flags The event flags.
|
||
115 | */
|
||
116 | 933df08e | Thomas Schöpping | static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
117 | e545e620 | Thomas Schöpping | { |
118 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_DBG == true) |
119 | 1e5f7648 | Thomas Schöpping | aosprintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
|
120 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_DBG == true) */ |
121 | 933df08e | Thomas Schöpping | (void)(mask);
|
122 | (void)(flags);
|
||
123 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_DBG == true) */ |
124 | 3e1a9c79 | Thomas Schöpping | return;
|
125 | 933df08e | Thomas Schöpping | } |
126 | |||
127 | e545e620 | Thomas Schöpping | /**
|
128 | 9461fadc | Thomas Schöpping | * @brief Helper function to serialize data.
|
129 | 933df08e | Thomas Schöpping | *
|
130 | * @param[out] dst Pointer to the output buffer.
|
||
131 | 9461fadc | Thomas Schöpping | * @param[in] src Data to be serialized.
|
132 | * @param[in] n Number of bytes to serialize.
|
||
133 | 933df08e | Thomas Schöpping | */
|
134 | 9461fadc | Thomas Schöpping | inline void _serialize(uint8_t* dst, const uint64_t src, const uint8_t n) |
135 | 933df08e | Thomas Schöpping | { |
136 | aosDbgCheck(dst != NULL);
|
||
137 | 9461fadc | Thomas Schöpping | aosDbgCheck(n > 0 && n <= 8); |
138 | 933df08e | Thomas Schöpping | |
139 | 9461fadc | Thomas Schöpping | for (uint8_t byte = 0; byte < n; ++byte) { |
140 | 933df08e | Thomas Schöpping | dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF); |
141 | } |
||
142 | |||
143 | return;
|
||
144 | } |
||
145 | |||
146 | /**
|
||
147 | 9461fadc | Thomas Schöpping | * @brief Helper function to deserialize data.
|
148 | 933df08e | Thomas Schöpping | *
|
149 | * @param[in] src Pointer to the buffer of data to be deserialzed.
|
||
150 | 9461fadc | Thomas Schöpping | * @param[in] n Number of bytes to deserialize.
|
151 | 933df08e | Thomas Schöpping | *
|
152 | * @return The deserialized 32 bit data.
|
||
153 | */
|
||
154 | 9461fadc | Thomas Schöpping | inline uint64_t _deserialize(uint8_t* src, const uint8_t n) |
155 | 933df08e | Thomas Schöpping | { |
156 | aosDbgCheck(src != NULL);
|
||
157 | 9461fadc | Thomas Schöpping | aosDbgCheck(n > 0 && n <= 8); |
158 | 933df08e | Thomas Schöpping | |
159 | 9461fadc | Thomas Schöpping | uint64_t result = 0;
|
160 | for (uint8_t byte = 0; byte < n; ++byte) { |
||
161 | result |= ((uint64_t)src[byte]) << (byte * 8);
|
||
162 | } |
||
163 | |||
164 | return result;
|
||
165 | } |
||
166 | |||
167 | 23437e98 | Thomas Schöpping | #if (HAL_USE_RTC == TRUE) || defined(__DOXYGEN__)
|
168 | |||
169 | 9461fadc | Thomas Schöpping | /**
|
170 | * @brief Converter function to encode a TM value to a single unsigned 64 bit integer.
|
||
171 | *
|
||
172 | * @details Contents of the TM struct are mapped as follows:
|
||
173 | * bits |63 62|61 53|52 50|49 26|25 22|21 17|16 12|11 6|5 0|
|
||
174 | * #bits | 2 | 9 | 3 | 24 | 4 | 5 | 5 | 6 | 6 |
|
||
175 | * value | isdst | yday | wday | year | mon | mday | hour | min | sec |
|
||
176 | * range | special | [0, 365] | [0, 6] | [1900, ...] | [0, 11] | [1, 31] | [0, 23] | [0, 59] | [0, 61] |
|
||
177 | * The Daylight Saving Time Flag (isdsst) is encoded as follows:
|
||
178 | * DST not in effect -> 0
|
||
179 | * DST in effect -> 1
|
||
180 | * no information available -> 2
|
||
181 | *
|
||
182 | * @param[in] src Pointer to the TM struct to encode.
|
||
183 | *
|
||
184 | * @return An unsigned 64 bit integer, which holds the encoded time value.
|
||
185 | */
|
||
186 | inline uint64_t _TM2U64(struct tm* src) |
||
187 | { |
||
188 | aosDbgCheck(src != NULL);
|
||
189 | |||
190 | return (((uint64_t)(src->tm_sec & 0x0000003F) << (0)) | |
||
191 | ((uint64_t)(src->tm_min & 0x0000003F) << (6)) | |
||
192 | ((uint64_t)(src->tm_hour & 0x0000001F) << (12)) | |
||
193 | ((uint64_t)(src->tm_mday & 0x0000001F) << (17)) | |
||
194 | ((uint64_t)(src->tm_mon & 0x0000000F) << (22)) | |
||
195 | ((uint64_t)(src->tm_year & 0x00FFFFFF) << (26)) | |
||
196 | ((uint64_t)(src->tm_wday & 0x00000007) << (50)) | |
||
197 | ((uint64_t)(src->tm_yday & 0x000001FF) << (53)) | |
||
198 | ((uint64_t)((src->tm_isdst == 0) ? 0 : (src->tm_isdst > 0) ? 1 : 2) << (62))); |
||
199 | } |
||
200 | |||
201 | /**
|
||
202 | * @brief Converter functiomn to retrieve the encoded TM value from an unsigned 64 bit integer.
|
||
203 | *
|
||
204 | * @details For information on the encoding, please refer to @p _TM2U64 function.
|
||
205 | *
|
||
206 | * @param[out] dst The TM struct to fill with the decoded values.
|
||
207 | * @param[in] src Unsigned 64 bit integer holding the encoded TM value.
|
||
208 | */
|
||
209 | inline void _U642TM(struct tm* dst, const uint64_t src) |
||
210 | { |
||
211 | aosDbgCheck(dst != NULL);
|
||
212 | |||
213 | dst->tm_sec = (src >> 0) & 0x0000003F; |
||
214 | dst->tm_min = (src >> 6) & 0x0000003F; |
||
215 | dst->tm_hour = (src >> 12) & 0x0000001F; |
||
216 | dst->tm_mday = (src >> 17) & 0x0000001F; |
||
217 | dst->tm_mon = (src >> 22) & 0x0000000F; |
||
218 | dst->tm_year = (src >> 26) & 0x00FFFFFF; |
||
219 | dst->tm_wday = (src >> 50) & 0x00000007; |
||
220 | dst->tm_yday = (src >> 53) & 0x000001FF; |
||
221 | dst->tm_isdst = (((src >> 62) & 0x03) == 0) ? 0 : (((src >> 62) & 0x03) > 0) ? 1 : -1; |
||
222 | |||
223 | return;
|
||
224 | 933df08e | Thomas Schöpping | } |
225 | |||
226 | 7de0cc90 | Thomas Schöpping | #endif /* (HAL_USE_RTC == TRUE) */ |
227 | 23437e98 | Thomas Schöpping | |
228 | 933df08e | Thomas Schöpping | /**
|
229 | e545e620 | Thomas Schöpping | * @brief Application entry point.
|
230 | */
|
||
231 | int main(void) |
||
232 | { |
||
233 | // local variables
|
||
234 | eventmask_t eventmask = 0;
|
||
235 | eventflags_t eventflags = 0;
|
||
236 | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
||
237 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)
|
238 | AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
||
239 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES) */ |
240 | e545e620 | Thomas Schöpping | |
241 | /*
|
||
242 | * ##########################################################################
|
||
243 | * # system initialization #
|
||
244 | * ##########################################################################
|
||
245 | */
|
||
246 | |||
247 | /* hardware, kernel, and operating system initialization */
|
||
248 | // ChibiOS/HAL and custom hal additions (if any)
|
||
249 | halInit(); |
||
250 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_INIT_HAL_EXTRA)
|
251 | e545e620 | Thomas Schöpping | MODULE_INIT_HAL_EXTRA(); |
252 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_INIT_HAL_EXTRA) */ |
253 | e545e620 | Thomas Schöpping | |
254 | // ChibiOS/RT kernel and custom kernel additions (if any)
|
||
255 | chSysInit(); |
||
256 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_INIT_KERNEL_EXTRA)
|
257 | e545e620 | Thomas Schöpping | MODULE_INIT_KERNEL_EXTRA(); |
258 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_INIT_KERNEL_EXTRA) */ |
259 | e545e620 | Thomas Schöpping | |
260 | 3106e8cc | Thomas Schöpping | // AMiRo-OS, additional interrupts and custom OS additions (if any)
|
261 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
262 | 6b53f6bf | Thomas Schöpping | aosSysInit(moduleShellPrompt); |
263 | cda14729 | Thomas Schöpping | #else /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
264 | 6b53f6bf | Thomas Schöpping | aosSysInit(); |
265 | cda14729 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
266 | 3106e8cc | Thomas Schöpping | #if defined(MODULE_INIT_INTERRUPTS)
|
267 | MODULE_INIT_INTERRUPTS(); |
||
268 | #endif
|
||
269 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_INIT_OS_EXTRA)
|
270 | e545e620 | Thomas Schöpping | MODULE_INIT_OS_EXTRA(); |
271 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_INIT_OS_EXTRA) */ |
272 | e545e620 | Thomas Schöpping | |
273 | /* event associations */
|
||
274 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
275 | cda14729 | Thomas Schöpping | { |
276 | eventflags_t flagsmask = AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK | MODULE_SSSP_EVENTFLAG_PD | MODULE_SSSP_EVENTFLAG_S; |
||
277 | 2920c6b7 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
278 | cda14729 | Thomas Schöpping | flagsmask |= MODULE_SSSP_EVENTFLAG_DN; |
279 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
280 | 2920c6b7 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
281 | cda14729 | Thomas Schöpping | flagsmask |= MODULE_SSSP_EVENTFLAG_UP; |
282 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
283 | cda14729 | Thomas Schöpping | chEvtRegisterMaskWithFlags(&aos.events.gpio, &_eventListenerGPIO, EVENTMASK_GPIO, flagsmask); |
284 | } |
||
285 | #else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
||
286 | if (AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) {
|
||
287 | chEvtRegisterMaskWithFlags(&aos.events.gpio, &_eventListenerGPIO, EVENTMASK_GPIO, AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK); |
||
288 | } |
||
289 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
290 | cda14729 | Thomas Schöpping | chEvtRegisterMask(&aos.events.os, &_eventListenerOS, EVENTMASK_OS); |
291 | |||
292 | #if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_STARTUP == true) |
||
293 | |||
294 | /* perform SSSP basic initialization stage */
|
||
295 | |||
296 | #if defined(MODULE_SSSP_BASICINIT_HOOK)
|
||
297 | #if defined(MODULE_SSSP_BASICINIT_HOOK_ARGS)
|
||
298 | MODULE_SSSP_BASICINIT_HOOK(MODULE_SSSP_BASICINIT_HOOK_ARGS); |
||
299 | #else /* defined(MODULE_SSSP_BASICINIT_HOOK_ARGS) */ |
||
300 | MODULE_SSSP_BASICINIT_HOOK(); |
||
301 | #endif /* defined(MODULE_SSSP_BASICINIT_HOOK_ARGS) */ |
||
302 | #endif /* defined(MODULE_SSSP_BASICINIT_HOOK) */ |
||
303 | |||
304 | // proceed to startup stage 1.2
|
||
305 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
306 | while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, 0, EVENTMASK_SSSPTIMER, &eventmask) != AOS_SUCCESS)) { |
||
307 | /*
|
||
308 | * This code is executed if the received event was not about the delay.
|
||
309 | * The received event could be casued by any listener.
|
||
310 | */
|
||
311 | // GPIO event
|
||
312 | if (eventmask & _eventListenerGPIO.events) {
|
||
313 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
314 | // PD event
|
||
315 | if (eventflags & MODULE_SSSP_EVENTFLAG_PD) {
|
||
316 | shutdown = AOS_SHUTDOWN_PASSIVE; |
||
317 | } else {
|
||
318 | #if defined(MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK)
|
||
319 | MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK(eventmask, eventflags); |
||
320 | #else /* defined(MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK) */ |
||
321 | /* silently ignore any other GPIO events */
|
||
322 | #endif /* defined(MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK) */ |
||
323 | } |
||
324 | } |
||
325 | // OS event
|
||
326 | else if (eventmask & _eventListenerOS.events) { |
||
327 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
328 | _unexpectedEventError(eventmask, eventflags); |
||
329 | } |
||
330 | // unknown event
|
||
331 | else {
|
||
332 | _unexpectedEventError(eventmask, 0);
|
||
333 | } |
||
334 | 2920c6b7 | Thomas Schöpping | } |
335 | cda14729 | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
336 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_1_2); |
||
337 | } |
||
338 | #else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
||
339 | if (shutdown == AOS_SHUTDOWN_NONE) {
|
||
340 | aosSsspProceed(NULL, 0, 0, NULL); |
||
341 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_1_2); |
||
342 | } |
||
343 | #endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
||
344 | e545e620 | Thomas Schöpping | |
345 | cda14729 | Thomas Schöpping | // proceed to startup stage 1.3
|
346 | while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, MODULE_SSSP_EVENTFLAG_S, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS)) {
|
||
347 | /*
|
||
348 | * This code is executed if the received event was not about a deactivation of the snychronization signal.
|
||
349 | * The received event could be caused by any listener.
|
||
350 | */
|
||
351 | // GPIO event
|
||
352 | if (eventmask & _eventListenerGPIO.events) {
|
||
353 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
354 | // PD event
|
||
355 | if (eventflags & MODULE_SSSP_EVENTFLAG_PD) {
|
||
356 | shutdown = AOS_SHUTDOWN_PASSIVE; |
||
357 | } else {
|
||
358 | #if defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK)
|
||
359 | MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK(eventmask, eventflags); |
||
360 | #else /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
||
361 | /* silently ignore any other GPIO events */
|
||
362 | #endif /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
||
363 | } |
||
364 | } |
||
365 | // OS event
|
||
366 | else if (eventmask & _eventListenerOS.events) { |
||
367 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
368 | _unexpectedEventError(eventmask, eventflags); |
||
369 | } |
||
370 | // unknown event
|
||
371 | else {
|
||
372 | _unexpectedEventError(eventmask, 0);
|
||
373 | } |
||
374 | } |
||
375 | if (shutdown == AOS_SHUTDOWN_NONE) {
|
||
376 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_1_3); |
||
377 | } |
||
378 | |||
379 | // proceed to startup stage 2.1
|
||
380 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
381 | while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, 0, EVENTMASK_SSSPTIMER, &eventmask) != AOS_SUCCESS)) { |
||
382 | /*
|
||
383 | * This code is executed if the received event was not about the delay.
|
||
384 | * The received event could be caused by any listener.
|
||
385 | */
|
||
386 | // GPIO event
|
||
387 | if (eventmask & _eventListenerGPIO.events) {
|
||
388 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
389 | // PD event
|
||
390 | if (eventflags & MODULE_SSSP_EVENTFLAG_PD) {
|
||
391 | shutdown = AOS_SHUTDOWN_PASSIVE; |
||
392 | } else {
|
||
393 | #if defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK)
|
||
394 | MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK(eventmask, eventflags); |
||
395 | #else /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
||
396 | /* silently ignore any other GPIO events */
|
||
397 | #endif /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
||
398 | } |
||
399 | } |
||
400 | // OS event
|
||
401 | else if (eventmask & _eventListenerOS.events) { |
||
402 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
403 | _unexpectedEventError(eventmask, eventflags); |
||
404 | } |
||
405 | // unknown event
|
||
406 | else {
|
||
407 | _unexpectedEventError(eventmask, 0);
|
||
408 | } |
||
409 | } |
||
410 | #else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
||
411 | 510b93cc | Thomas Schöpping | while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, MODULE_SSSP_EVENTFLAG_S, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS)) {
|
412 | cda14729 | Thomas Schöpping | /*
|
413 | * This code is executed if the received event was not about a deactivation of the snychronization signal.
|
||
414 | * The received event could be caused by any listener.
|
||
415 | */
|
||
416 | // GPIO event
|
||
417 | if (eventmask & _eventListenerGPIO.events) {
|
||
418 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
419 | // PD event
|
||
420 | if (eventflags & MODULE_SSSP_EVENTFLAG_PD) {
|
||
421 | shutdown = AOS_SHUTDOWN_PASSIVE; |
||
422 | } else {
|
||
423 | #if defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK)
|
||
424 | MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK(eventmask, eventflags); |
||
425 | #else /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
||
426 | /* silently ignore any other GPIO events */
|
||
427 | #endif /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
||
428 | } |
||
429 | } |
||
430 | // OS event
|
||
431 | else if (eventmask & _eventListenerOS.events) { |
||
432 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
433 | _unexpectedEventError(eventmask, eventflags); |
||
434 | } |
||
435 | // unknown event
|
||
436 | else {
|
||
437 | _unexpectedEventError(eventmask, 0);
|
||
438 | } |
||
439 | } |
||
440 | #endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
||
441 | if (shutdown == AOS_SHUTDOWN_NONE) {
|
||
442 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_1); |
||
443 | } |
||
444 | |||
445 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_STARTUP == true) */ |
||
446 | |||
447 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
|
||
448 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
|
||
449 | AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
||
450 | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
||
451 | AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
||
452 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
||
453 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1) */ |
||
454 | e545e620 | Thomas Schöpping | |
455 | 4c72a54c | Thomas Schöpping | /* periphery communication interfaces initialization */
|
456 | #if defined(MODULE_INIT_PERIPHERY_IF)
|
||
457 | cda14729 | Thomas Schöpping | // module specific initialization
|
458 | 4c72a54c | Thomas Schöpping | MODULE_INIT_PERIPHERY_IF(); |
459 | #endif /* defined(MODULE_INIT_PERIPHERY_IF) */ |
||
460 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_HAL_PROGIF)
|
461 | cda14729 | Thomas Schöpping | // user interface
|
462 | ba516b61 | Thomas Schöpping | aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
463 | aosIOChannelOutputEnable(&_stdiochannel); |
||
464 | aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
||
465 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
466 | dd8738ea | Thomas Schöpping | aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
467 | ba516b61 | Thomas Schöpping | aosShellChannelInputEnable(&_stdshellchannel); |
468 | aosShellChannelOutputEnable(&_stdshellchannel); |
||
469 | 6b53f6bf | Thomas Schöpping | aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
470 | cda14729 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
471 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_HAL_PROGIF) */ |
472 | e545e620 | Thomas Schöpping | |
473 | cda14729 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
|
474 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
|
||
475 | AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
||
476 | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */ |
||
477 | AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
||
478 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */ |
||
479 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2) */ |
||
480 | e545e620 | Thomas Schöpping | |
481 | /* module is ready -> print welcome prompt */
|
||
482 | aosprintf("\n");
|
||
483 | aosprintf("######################################################################\n");
|
||
484 | aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
||
485 | aosprintf("# Robot (AMiRo) platform. #\n");
|
||
486 | 84f0ce9e | Thomas Schöpping | aosprintf("# Copyright (C) 2016..2019 Thomas Schöpping et al. #\n");
|
487 | e545e620 | Thomas Schöpping | aosprintf("# #\n");
|
488 | aosprintf("# This is free software; see the source for copying conditions. #\n");
|
||
489 | aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
|
||
490 | aosprintf("# A PARTICULAR PURPOSE. #\n");
|
||
491 | aosprintf("# The development of this software was supported by the Excellence #\n");
|
||
492 | aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
|
||
493 | aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
|
||
494 | aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
|
||
495 | aosprintf("######################################################################\n");
|
||
496 | aosprintf("\n");
|
||
497 | |||
498 | cda14729 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
|
499 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
|
||
500 | AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
||
501 | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */ |
||
502 | AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
||
503 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */ |
||
504 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3) */ |
||
505 | 7de40828 | Thomas Schöpping | |
506 | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
||
507 | #if defined(MODULE_INIT_TESTS)
|
||
508 | MODULE_INIT_TESTS(); |
||
509 | 7de0cc90 | Thomas Schöpping | #else /* defined(MODULE_INIT_TESTS) */ |
510 | #warning "AMIROOS_CFG_TESTS_ENABLE set to true, but MODULE_INIT_TESTS() not defined" |
||
511 | #endif /* defined(MODULE_INIT_TESTS) */ |
||
512 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
||
513 | 7de40828 | Thomas Schöpping | |
514 | cda14729 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
|
515 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
|
||
516 | AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
||
517 | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */ |
||
518 | AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
||
519 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */ |
||
520 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4) */ |
||
521 | e545e620 | Thomas Schöpping | |
522 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
523 | cda14729 | Thomas Schöpping | |
524 | // proceed to startup stage 2.2
|
||
525 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
526 | while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, 0, EVENTMASK_SSSPTIMER, &eventmask) != AOS_SUCCESS)) { |
||
527 | e545e620 | Thomas Schöpping | /*
|
528 | cda14729 | Thomas Schöpping | * This code is executed if the received event was not about the delay.
|
529 | * The received event could be caused by any listener.
|
||
530 | e545e620 | Thomas Schöpping | */
|
531 | cda14729 | Thomas Schöpping | // GPIO event
|
532 | if (eventmask & _eventListenerGPIO.events) {
|
||
533 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
534 | 9461fadc | Thomas Schöpping | // PD event
|
535 | cda14729 | Thomas Schöpping | if (eventflags & MODULE_SSSP_EVENTFLAG_PD) {
|
536 | 9461fadc | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
537 | } else {
|
||
538 | cda14729 | Thomas Schöpping | #if defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK)
|
539 | MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK(eventmask, eventflags); |
||
540 | #else /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
||
541 | /* silently ignore any other GPIO events */
|
||
542 | #endif /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
||
543 | 9461fadc | Thomas Schöpping | } |
544 | e545e620 | Thomas Schöpping | } |
545 | 9461fadc | Thomas Schöpping | // OS event
|
546 | e545e620 | Thomas Schöpping | else if (eventmask & _eventListenerOS.events) { |
547 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
548 | _unexpectedEventError(eventmask, eventflags); |
||
549 | } |
||
550 | 9461fadc | Thomas Schöpping | // unknown event
|
551 | e545e620 | Thomas Schöpping | else {
|
552 | 933df08e | Thomas Schöpping | _unexpectedEventError(eventmask, 0);
|
553 | e545e620 | Thomas Schöpping | } |
554 | } |
||
555 | 9461fadc | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
556 | cda14729 | Thomas Schöpping | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_2); |
557 | 9461fadc | Thomas Schöpping | } |
558 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
559 | cda14729 | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
560 | aosSsspProceed(NULL, 0, 0, NULL); |
||
561 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_2); |
||
562 | } |
||
563 | #endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
||
564 | 9461fadc | Thomas Schöpping | |
565 | cda14729 | Thomas Schöpping | // proceed to startup stage 3 (MSI is enabled), or to operation phase (no MSI)
|
566 | while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, MODULE_SSSP_EVENTFLAG_S, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS)) {
|
||
567 | /*
|
||
568 | * This code is executed if the received event was not about a deactivation of the snychronization signal.
|
||
569 | * The received event could be caused by any listener.
|
||
570 | */
|
||
571 | // GPIO event
|
||
572 | if (eventmask & _eventListenerGPIO.events) {
|
||
573 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
574 | // PD event
|
||
575 | if (eventflags & MODULE_SSSP_EVENTFLAG_PD) {
|
||
576 | shutdown = AOS_SHUTDOWN_PASSIVE; |
||
577 | 9461fadc | Thomas Schöpping | } else {
|
578 | cda14729 | Thomas Schöpping | #if defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK)
|
579 | MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK(eventmask, eventflags); |
||
580 | #else /* defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK) */ |
||
581 | /* silently ignore any other GPIO events */
|
||
582 | #endif /* defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK) */ |
||
583 | 9461fadc | Thomas Schöpping | } |
584 | } |
||
585 | cda14729 | Thomas Schöpping | // OS event
|
586 | else if (eventmask & _eventListenerOS.events) { |
||
587 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
588 | _unexpectedEventError(eventmask, eventflags); |
||
589 | } |
||
590 | // unknown event
|
||
591 | else {
|
||
592 | _unexpectedEventError(eventmask, 0);
|
||
593 | } |
||
594 | } |
||
595 | if (shutdown == AOS_SHUTDOWN_NONE) {
|
||
596 | #if (AMIROOS_CFG_SSSP_MSI == true) |
||
597 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_1); |
||
598 | #else /* (AMIROOS_CFG_SSSP_MSI == true) */ |
||
599 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_OPERATION); |
||
600 | #endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
||
601 | 9461fadc | Thomas Schöpping | } |
602 | 933df08e | Thomas Schöpping | |
603 | cda14729 | Thomas Schöpping | // start the internal system uptime counter
|
604 | aosSysStartUptime(); |
||
605 | |||
606 | /*
|
||
607 | * There must be no delays at this point, thus no hook allowed.
|
||
608 | */
|
||
609 | |||
610 | #if (AMIROOS_CFG_SSSP_MSI == true) |
||
611 | |||
612 | //TODO
|
||
613 | |||
614 | #endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
||
615 | |||
616 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
||
617 | e545e620 | Thomas Schöpping | |
618 | /* completely start AMiRo-OS */
|
||
619 | 933df08e | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
620 | aosSysStart(); |
||
621 | } |
||
622 | e545e620 | Thomas Schöpping | |
623 | cda14729 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
|
624 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
|
||
625 | AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
||
626 | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */ |
||
627 | AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
||
628 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */ |
||
629 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5) */ |
||
630 | e545e620 | Thomas Schöpping | |
631 | /*
|
||
632 | * ##########################################################################
|
||
633 | * # infinite loop #
|
||
634 | * ##########################################################################
|
||
635 | */
|
||
636 | |||
637 | // sleep until a shutdown event is received
|
||
638 | while (shutdown == AOS_SHUTDOWN_NONE) {
|
||
639 | // wait for an event
|
||
640 | #if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
||
641 | 1e5f7648 | Thomas Schöpping | eventmask = chEvtWaitOneTimeout(ALL_EVENTS, chTimeUS2I(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
642 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) */ |
643 | e545e620 | Thomas Schöpping | eventmask = chEvtWaitOne(ALL_EVENTS); |
644 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) */ |
645 | e545e620 | Thomas Schöpping | |
646 | cda14729 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
|
647 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
|
||
648 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
||
649 | #else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */ |
||
650 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
||
651 | #endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */ |
||
652 | #endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1) */ |
||
653 | e545e620 | Thomas Schöpping | |
654 | switch (eventmask) {
|
||
655 | cda14729 | Thomas Schöpping | // if this was an GPIO event
|
656 | case EVENTMASK_GPIO:
|
||
657 | e545e620 | Thomas Schöpping | // evaluate flags
|
658 | cda14729 | Thomas Schöpping | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
659 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
660 | e545e620 | Thomas Schöpping | // PD event
|
661 | cda14729 | Thomas Schöpping | if (eventflags & MODULE_SSSP_EVENTFLAG_PD) {
|
662 | aosSsspShutdownInit(); |
||
663 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
664 | } |
||
665 | // all other events
|
||
666 | cda14729 | Thomas Schöpping | #if defined(MODULE_MAIN_LOOP_GPIOEVENT)
|
667 | e545e620 | Thomas Schöpping | else {
|
668 | cda14729 | Thomas Schöpping | MODULE_MAIN_LOOP_GPIOEVENT(eventflags); |
669 | e545e620 | Thomas Schöpping | } |
670 | cda14729 | Thomas Schöpping | #endif /* defined(MODULE_MAIN_LOOP_GPIOEVENT) */ |
671 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
672 | cda14729 | Thomas Schöpping | #if defined(MODULE_MAIN_LOOP_GPIOEVENT)
|
673 | MODULE_MAIN_LOOP_GPIOEVENT(eventflags); |
||
674 | #endif /* defined(MODULE_MAIN_LOOP_GPIOEVENT) */ |
||
675 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
676 | e545e620 | Thomas Schöpping | break;
|
677 | |||
678 | // if this was an OS event
|
||
679 | cda14729 | Thomas Schöpping | case EVENTMASK_OS:
|
680 | e545e620 | Thomas Schöpping | // evaluate flags
|
681 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
682 | switch (eventflags) {
|
||
683 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE)
|
684 | case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_MASK:
|
||
685 | shutdown = AOS_SHUTDOWN_ACTIVE; |
||
686 | break;
|
||
687 | #elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
|
||
688 | case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_HIBERNATE:
|
||
689 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_HIBERNATE; |
690 | break;
|
||
691 | cda14729 | Thomas Schöpping | case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_DEEPSLEEP:
|
692 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
693 | break;
|
||
694 | cda14729 | Thomas Schöpping | case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_TRANSPORTATION:
|
695 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
696 | break;
|
||
697 | cda14729 | Thomas Schöpping | case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_RESTART:
|
698 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_RESTART; |
699 | break;
|
||
700 | cda14729 | Thomas Schöpping | case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_PASSIVE:
|
701 | _unexpectedEventError(eventmask, eventflags); |
||
702 | 1d3e002f | Thomas Schöpping | break;
|
703 | cda14729 | Thomas Schöpping | #endif /* (AMIROOS_CFG_BOOTLOADER == X) */ |
704 | e545e620 | Thomas Schöpping | default:
|
705 | _unexpectedEventError(eventmask, eventflags); |
||
706 | break;
|
||
707 | } |
||
708 | break;
|
||
709 | |||
710 | // if this was any other event (should be impossible to occur)
|
||
711 | default:
|
||
712 | eventflags = 0;
|
||
713 | 41fc7088 | Thomas Schöpping | #if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0) |
714 | e545e620 | Thomas Schöpping | _unexpectedEventError(eventmask, eventflags); |
715 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0) */ |
716 | e545e620 | Thomas Schöpping | break;
|
717 | } |
||
718 | |||
719 | cda14729 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2)
|
720 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS)
|
||
721 | AMIROOS_CFG_MAIN_LOOP_HOOK_2(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS); |
||
722 | #else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS) */ |
||
723 | AMIROOS_CFG_MAIN_LOOP_HOOK_2(); |
||
724 | #endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS) */ |
||
725 | #endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2) */ |
||
726 | e545e620 | Thomas Schöpping | } |
727 | |||
728 | /*
|
||
729 | * ##########################################################################
|
||
730 | * # system shutdown #
|
||
731 | * ##########################################################################
|
||
732 | */
|
||
733 | |||
734 | cda14729 | Thomas Schöpping | aosDbgAssert(shutdown != AOS_SHUTDOWN_NONE); |
735 | e545e620 | Thomas Schöpping | |
736 | // initialize/acknowledge shutdown
|
||
737 | aosSysShutdownInit(shutdown); |
||
738 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
739 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_1_2); |
||
740 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
||
741 | e545e620 | Thomas Schöpping | |
742 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
|
||
743 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
|
||
744 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
745 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS) */ |
746 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
747 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS) */ |
748 | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1) */ |
||
749 | e545e620 | Thomas Schöpping | |
750 | cda14729 | Thomas Schöpping | // wait for all threads to terminate
|
751 | e545e620 | Thomas Schöpping | aosSysStop(); |
752 | |||
753 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
|
||
754 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
|
||
755 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
756 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS) */ |
757 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
758 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS) */ |
759 | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2) */ |
||
760 | e545e620 | Thomas Schöpping | |
761 | // deinitialize system
|
||
762 | aosSysDeinit(); |
||
763 | |||
764 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
|
||
765 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
|
||
766 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
767 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS) */ |
768 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
769 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS) */ |
770 | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3) */ |
||
771 | e545e620 | Thomas Schöpping | |
772 | 4c72a54c | Thomas Schöpping | /* stop all periphery communication interfaces */
|
773 | #if defined(MODULE_SHUTDOWN_PERIPHERY_IF)
|
||
774 | MODULE_SHUTDOWN_PERIPHERY_IF(); |
||
775 | #endif /* defined(MODULE_SHUTDOWN_PERIPHERY_IF) */ |
||
776 | e545e620 | Thomas Schöpping | |
777 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
|
||
778 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
|
||
779 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
780 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS) */ |
781 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
782 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS) */ |
783 | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4) */ |
||
784 | e545e620 | Thomas Schöpping | |
785 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
786 | |||
787 | // proceed to SSSP shutdown stage 1.3
|
||
788 | aosSsspProceed(NULL, 0, 0, NULL); |
||
789 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_1_3); |
||
790 | |||
791 | #if (AMIROOS_CFG_SSSP_SHUTDOWN == true) |
||
792 | |||
793 | /* AMiRo-OS performs SSSP shutdown phase
|
||
794 | * NOTE:
|
||
795 | * The initiating module could deactivate PD at this point to indicate a restart rather than a shutdown request.
|
||
796 | * AMiRo-OS does not support restart though, thus the signal is not changed.
|
||
797 | */
|
||
798 | |||
799 | // proceed to SSSP shutdown stage 2.1
|
||
800 | while (aosSsspProceed(&_eventListenerGPIO, MODULE_SSSP_EVENTFLAG_S, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS) {
|
||
801 | /*
|
||
802 | * This code is executed if the received event was not about a deactivation of the synchronization signal.
|
||
803 | * The received event could be caused by any listener.
|
||
804 | */
|
||
805 | // GPIO event
|
||
806 | if (eventmask & _eventListenerGPIO.events) {
|
||
807 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
808 | #if defined(MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK)
|
||
809 | MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK(eventmask, eventflags); |
||
810 | #else /* defined(MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK) */ |
||
811 | /* silently ignore any other GPIO events */
|
||
812 | #endif /* defined(MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK) */ |
||
813 | } |
||
814 | // OS event
|
||
815 | else if (eventmask & _eventListenerOS.events) { |
||
816 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
817 | _unexpectedEventError(eventmask, eventflags); |
||
818 | } |
||
819 | // unknown event
|
||
820 | else {
|
||
821 | _unexpectedEventError(eventmask, 0);
|
||
822 | } |
||
823 | } |
||
824 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_2_1); |
||
825 | |||
826 | // proceed to SSSP shutdown stage 2.2
|
||
827 | aosSsspProceed(NULL, 0, 0, &eventmask); |
||
828 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_2_2); |
||
829 | if (shutdown == AOS_SHUTDOWN_PASSIVE) {
|
||
830 | aosDbgPrintf("%s request received\n", eventmask ? "shutdown" : "restart"); |
||
831 | } |
||
832 | /* NOTE:
|
||
833 | * Actually the call of aosSsspProceed() returned an indicator, whether a shutdown or restart has been initiated.
|
||
834 | * Since AMiRo-OS does not support restart, this return value is ignored and shutdown is assumed.
|
||
835 | */
|
||
836 | |||
837 | // the initiating module broadcasts the shutdown identifier
|
||
838 | if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
||
839 | // since AMiRo-OS does not support multiple ways to shutdown or restart, the special identifier 0 is broadcasted.
|
||
840 | aosSsspShutdownBroadcastIdentifier(0);
|
||
841 | } |
||
842 | // passive modules receive the broadcasted identifier
|
||
843 | else {
|
||
844 | unsigned int identifier = 0; |
||
845 | |||
846 | // receive the identifier, which specifies the type of shutdown/restart
|
||
847 | while ((eventmask = aosSsspShutdownWaitForIdentifierPulse(&_eventListenerGPIO, MODULE_SSSP_EVENTFLAG_S, EVENTMASK_SSSPTIMER, &identifier)) != EVENTMASK_SSSPTIMER) {
|
||
848 | // GPIO event
|
||
849 | if (eventmask & _eventListenerGPIO.events) {
|
||
850 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
851 | #if defined(MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK)
|
||
852 | MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK(eventmask, eventflags); |
||
853 | #else /* defined(MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK) */ |
||
854 | /* silently ignore any other GPIO events */
|
||
855 | #endif /* defined(MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK) */ |
||
856 | /* silently ignore any GPIO events */
|
||
857 | } |
||
858 | // OS event
|
||
859 | else if (eventmask & _eventListenerOS.events) { |
||
860 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
861 | _unexpectedEventError(eventmask, eventflags); |
||
862 | } |
||
863 | // unknown event
|
||
864 | else {
|
||
865 | _unexpectedEventError(eventmask, 0);
|
||
866 | } |
||
867 | } |
||
868 | |||
869 | // Since AMiRo-OS does not support multiple ways to shutdown or restart, the identifier is ignored.
|
||
870 | } |
||
871 | |||
872 | // proceed to SSSP shutdown stage 2.3
|
||
873 | aosSsspProceed(NULL, 0, 0, NULL); |
||
874 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_2_3); |
||
875 | e545e620 | Thomas Schöpping | |
876 | /*
|
||
877 | cda14729 | Thomas Schöpping | * Since AMiRo-OS does only support one basic shutdown and no restart at all, the final shutdown is kept very simple.
|
878 | e545e620 | Thomas Schöpping | */
|
879 | |||
880 | cda14729 | Thomas Schöpping | // disable interrupts
|
881 | irqDeinit(); |
||
882 | chSysDisable(); |
||
883 | |||
884 | chThdExit(MSG_OK); |
||
885 | return MSG_OK;
|
||
886 | |||
887 | #else /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
||
888 | |||
889 | /* hand over to the bootloader to perform SSSP shutdown phase */
|
||
890 | aosSysShutdownToBootloader(shutdown); |
||
891 | |||
892 | aosDbgAssertMsg(false, "AMiRo-OS must not proceed to this point!"); |
||
893 | chThdExit(MSG_RESET); |
||
894 | return MSG_RESET;
|
||
895 | |||
896 | #endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
||
897 | |||
898 | #else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
||
899 | |||
900 | /*
|
||
901 | * Depending on the configured bootloader, trivial shutdown is either executed by AMiRo-OS or by that bootloader.
|
||
902 | */
|
||
903 | #if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE)
|
||
904 | |||
905 | /* AMiRo-OS performs trivial shutdown */
|
||
906 | |||
907 | // disable interrupts
|
||
908 | irqDeinit(); |
||
909 | chSysDisable(); |
||
910 | |||
911 | chThdExit(MSG_OK); |
||
912 | return MSG_OK;
|
||
913 | |||
914 | #elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
|
||
915 | |||
916 | /* AMiRo-BLT performns shutdown */
|
||
917 | aosSysShutdownToBootloader(shutdown); |
||
918 | |||
919 | aosDbgAssertMsg(false, "AMiRo-OS must not proceed to this point!"); |
||
920 | chThdExit(MSG_RESET); |
||
921 | return MSG_RESET;
|
||
922 | |||
923 | #endif /* (AMIROOS_CFG_BOOTLOADER == X) */ |
||
924 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
||
925 | e545e620 | Thomas Schöpping | } |
926 | 53710ca3 | Marc Rothmann | |
927 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
928 | /* EXPORTED FUNCTIONS */
|
||
929 | /******************************************************************************/
|
||
930 | |||
931 | 53710ca3 | Marc Rothmann | /** @} */ |