amiro-os / os / core / src / aos_main.cpp @ 6b53f6bf
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | #include <amiroos.h> |
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20 | cb835a3e | Thomas Schöpping | #include <module.h> |
21 | e545e620 | Thomas Schöpping | |
22 | b6b45e4c | Thomas Schöpping | /*
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23 | * hook to add further includes
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24 | */
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25 | 512abac1 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)
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26 | #include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER
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27 | b6b45e4c | Thomas Schöpping | #endif
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28 | |||
29 | e545e620 | Thomas Schöpping | /**
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30 | * @brief Event mask to identify I/O events.
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31 | */
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32 | 6b53f6bf | Thomas Schöpping | #define IOEVENT_MASK EVENT_MASK(0) |
33 | e545e620 | Thomas Schöpping | |
34 | /**
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35 | * @brief Event mask to identify OS events.
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36 | */
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37 | 6b53f6bf | Thomas Schöpping | #define OSEVENT_MASK EVENT_MASK(1) |
38 | e545e620 | Thomas Schöpping | |
39 | /**
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40 | * @brief Listener object for I/O events.
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41 | */
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42 | static event_listener_t _eventListenerIO;
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43 | |||
44 | /**
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45 | * @brief Listener object for OS events.
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46 | */
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47 | static event_listener_t _eventListenerOS;
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48 | |||
49 | #if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
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50 | /**
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51 | ba516b61 | Thomas Schöpping | * @brief I/O channel for the programmer interface.
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52 | e545e620 | Thomas Schöpping | */
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53 | ba516b61 | Thomas Schöpping | static AosIOChannel _stdiochannel;
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54 | |||
55 | b8268050 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
56 | ba516b61 | Thomas Schöpping | /**
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57 | * @brief I/O shell channel for the programmer interface.
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58 | */
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59 | static AosShellChannel _stdshellchannel;
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60 | e545e620 | Thomas Schöpping | #endif
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61 | b8268050 | Thomas Schöpping | #endif
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62 | e545e620 | Thomas Schöpping | |
63 | b6b45e4c | Thomas Schöpping | /*
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64 | * hook to add further static variables
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65 | */
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66 | #if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
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67 | AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
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68 | #endif
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69 | |||
70 | e545e620 | Thomas Schöpping | /**
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71 | * @brief Prints an error message about an unexpected event.
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72 | *
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73 | * @param[in] mask The event mask.
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74 | * @param[in] flags The event flags.
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75 | */
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76 | static inline void _unexpectedEventError(eventmask_t mask, eventflags_t flags) |
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77 | { |
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78 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_DBG == true) |
79 | aosprintf("unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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80 | #else
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81 | (void)mask;
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82 | (void)flags;
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83 | #endif
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84 | e545e620 | Thomas Schöpping | return;
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85 | } |
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86 | |||
87 | /**
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88 | * @brief Application entry point.
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89 | */
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90 | int main(void) |
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91 | { |
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92 | // local variables
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93 | eventmask_t eventmask = 0;
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94 | eventflags_t eventflags = 0;
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95 | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
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96 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)
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97 | AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
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98 | e545e620 | Thomas Schöpping | #endif
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99 | |||
100 | /*
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101 | * ##########################################################################
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102 | * # system initialization #
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103 | * ##########################################################################
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104 | */
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105 | |||
106 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
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107 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS)
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108 | AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS); |
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109 | #else
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110 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_0(); |
111 | #endif
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112 | b6b45e4c | Thomas Schöpping | #endif
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113 | e545e620 | Thomas Schöpping | |
114 | /* hardware, kernel, and operating system initialization */
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115 | // ChibiOS/HAL and custom hal additions (if any)
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116 | halInit(); |
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117 | #ifdef MODULE_INIT_HAL_EXTRA
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118 | MODULE_INIT_HAL_EXTRA(); |
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119 | #endif
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120 | |||
121 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
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122 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
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123 | AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
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124 | #else
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125 | AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
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126 | #endif
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127 | #endif
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128 | |||
129 | // ChibiOS/RT kernel and custom kernel additions (if any)
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130 | chSysInit(); |
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131 | #ifdef MODULE_INIT_KERNEL_EXTRA
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132 | MODULE_INIT_KERNEL_EXTRA(); |
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133 | #endif
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134 | |||
135 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
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136 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
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137 | AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
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138 | #else
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139 | AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
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140 | #endif
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141 | #endif
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142 | |||
143 | // AMiRo-OS and custom OS additions (if any)
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144 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
145 | aosSysInit(moduleShellPrompt); |
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146 | #else
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147 | aosSysInit(); |
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148 | #endif
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149 | e545e620 | Thomas Schöpping | #ifdef MODULE_INIT_OS_EXTRA
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150 | MODULE_INIT_OS_EXTRA(); |
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151 | #endif
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152 | |||
153 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
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154 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
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155 | AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
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156 | #else
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157 | AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
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158 | #endif
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159 | #endif
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160 | |||
161 | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
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162 | #if defined(MODULE_INIT_TESTS)
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163 | MODULE_INIT_TESTS(); |
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164 | #else
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165 | ba516b61 | Thomas Schöpping | #warning "MODULE_INIT_TESTS not defined" |
166 | e545e620 | Thomas Schöpping | #endif
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167 | #endif
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168 | |||
169 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
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170 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
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171 | AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
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172 | #else
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173 | AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
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174 | #endif
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175 | #endif
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176 | |||
177 | /* event associations */
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178 | 6b53f6bf | Thomas Schöpping | chEvtRegisterMask(&aos.events.io, &_eventListenerIO, IOEVENT_MASK); |
179 | chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK); |
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180 | e545e620 | Thomas Schöpping | |
181 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
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182 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
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183 | AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
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184 | #else
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185 | AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
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186 | #endif
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187 | #endif
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188 | |||
189 | /* periphery communication initialization */
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190 | // CAN (mandatory)
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191 | canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); |
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192 | // module specific initialization (if any)
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193 | #ifdef MODULE_INIT_PERIPHERY_COMM
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194 | MODULE_INIT_PERIPHERY_COMM(); |
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195 | #endif
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196 | // user interface (if any)
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197 | #ifdef MODULE_HAL_PROGIF
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198 | ba516b61 | Thomas Schöpping | aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
199 | aosIOChannelOutputEnable(&_stdiochannel); |
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200 | aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
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201 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
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202 | dd8738ea | Thomas Schöpping | aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
203 | ba516b61 | Thomas Schöpping | aosShellChannelInputEnable(&_stdshellchannel); |
204 | aosShellChannelOutputEnable(&_stdshellchannel); |
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205 | 6b53f6bf | Thomas Schöpping | aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
206 | ba516b61 | Thomas Schöpping | #endif
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207 | e545e620 | Thomas Schöpping | #endif
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208 | |||
209 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)
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210 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)
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211 | AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS); |
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212 | #else
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213 | AMIROOS_CFG_MAIN_INIT_HOOK_6(); |
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214 | #endif
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215 | #endif
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216 | |||
217 | /* module is ready -> print welcome prompt */
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218 | aosprintf("\n");
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219 | aosprintf("######################################################################\n");
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220 | aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
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221 | aosprintf("# Robot (AMiRo) platform. #\n");
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222 | aosprintf("# Copyright (C) 2016..2018 Thomas Schöpping et al. #\n");
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223 | aosprintf("# #\n");
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224 | aosprintf("# This is free software; see the source for copying conditions. #\n");
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225 | aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
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226 | aosprintf("# A PARTICULAR PURPOSE. #\n");
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227 | aosprintf("# The development of this software was supported by the Excellence #\n");
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228 | aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
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229 | aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
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230 | aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
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231 | aosprintf("######################################################################\n");
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232 | aosprintf("\n");
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233 | |||
234 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)
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235 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)
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236 | AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS); |
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237 | #else
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238 | AMIROOS_CFG_MAIN_INIT_HOOK_7(); |
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239 | #endif
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240 | #endif
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241 | |||
242 | 6b53f6bf | Thomas Schöpping | /* SSSP startup OS synchronization phase (end of startup stage 2) */
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243 | e545e620 | Thomas Schöpping | while ((eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) { |
244 | /*
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245 | * This code is executed if the received event was not about the SYS_SYNC control signal.
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246 | * The returned event could be caused by any listener (not only the argument).
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247 | */
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248 | // unexpected IO events
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249 | if (eventmask & _eventListenerIO.events) {
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250 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
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251 | 6b53f6bf | Thomas Schöpping | #ifdef MODULE_SSSP_STARTUP_OSINIT_OUTRO_IOEVENT_HOOK
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252 | MODULE_SSSP_STARTUP_OSINIT_OUTRO_IOEVENT_HOOK(eventmask, eventflags); |
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253 | e545e620 | Thomas Schöpping | #else
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254 | _unexpectedEventError(eventmask, eventflags); |
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255 | #endif
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256 | } |
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257 | // unexpected OS event
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258 | else if (eventmask & _eventListenerOS.events) { |
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259 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
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260 | _unexpectedEventError(eventmask, eventflags); |
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261 | } |
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262 | // unknown event (must never occur, thus disabled for release builds)
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263 | else {
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264 | _unexpectedEventError(eventmask, eventflags); |
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265 | } |
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266 | } |
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267 | |||
268 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)
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269 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)
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270 | AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS); |
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271 | #else
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272 | AMIROOS_CFG_MAIN_INIT_HOOK_8(); |
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273 | #endif
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274 | #endif
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275 | |||
276 | /* completely start AMiRo-OS */
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277 | aosSysStart(); |
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278 | |||
279 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)
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280 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)
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281 | AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS); |
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282 | #else
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283 | AMIROOS_CFG_MAIN_INIT_HOOK_9(); |
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284 | #endif
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285 | #endif
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286 | |||
287 | /*
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288 | * ##########################################################################
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289 | * # infinite loop #
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290 | * ##########################################################################
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291 | */
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292 | |||
293 | // sleep until a shutdown event is received
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294 | while (shutdown == AOS_SHUTDOWN_NONE) {
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295 | // wait for an event
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296 | #if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
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297 | eventmask = chEvtWaitOneTimeout(ALL_EVENTS, US2ST_LLD(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
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298 | #else
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299 | eventmask = chEvtWaitOne(ALL_EVENTS); |
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300 | #endif
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301 | |||
302 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)
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303 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)
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304 | AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS); |
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305 | #else
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306 | AMIROOS_CFG_MAIN_LOOP_HOOK_0(); |
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307 | #endif
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308 | #endif
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309 | |||
310 | switch (eventmask) {
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311 | // if this was an I/O event
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312 | 6b53f6bf | Thomas Schöpping | case IOEVENT_MASK:
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313 | e545e620 | Thomas Schöpping | // evaluate flags
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314 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
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315 | // PD event
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316 | 6b53f6bf | Thomas Schöpping | if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
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317 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
318 | } |
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319 | // all other events
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320 | #ifdef MODULE_MAIN_LOOP_IO_EVENT
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321 | else {
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322 | MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags); |
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323 | } |
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324 | #endif
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325 | break;
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326 | |||
327 | // if this was an OS event
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328 | 6b53f6bf | Thomas Schöpping | case OSEVENT_MASK:
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329 | e545e620 | Thomas Schöpping | // evaluate flags
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330 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
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331 | switch (eventflags) {
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332 | case AOS_SYSTEM_EVENTFLAGS_HIBERNATE:
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333 | shutdown = AOS_SHUTDOWN_HIBERNATE; |
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334 | break;
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335 | case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP:
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336 | shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
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337 | break;
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338 | case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION:
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339 | shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
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340 | break;
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341 | case AOS_SYSTEM_EVENTFLAGS_RESTART:
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342 | shutdown = AOS_SHUTDOWN_RESTART; |
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343 | break;
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344 | default:
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345 | _unexpectedEventError(eventmask, eventflags); |
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346 | break;
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347 | } |
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348 | break;
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349 | |||
350 | // if this was any other event (should be impossible to occur)
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351 | default:
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352 | eventflags = 0;
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353 | _unexpectedEventError(eventmask, eventflags); |
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354 | break;
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355 | } |
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356 | |||
357 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
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358 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
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359 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
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360 | #else
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361 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
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362 | #endif
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363 | #endif
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364 | } |
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365 | |||
366 | /*
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367 | * ##########################################################################
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368 | * # system shutdown #
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369 | * ##########################################################################
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370 | */
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371 | |||
372 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)
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373 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)
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374 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS); |
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375 | #else
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376 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(); |
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377 | #endif
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378 | #endif
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379 | |||
380 | // initialize/acknowledge shutdown
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381 | aosSysShutdownInit(shutdown); |
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382 | |||
383 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
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384 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
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385 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
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386 | #else
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387 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
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388 | #endif
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389 | #endif
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390 | |||
391 | // stop system threads
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392 | aosSysStop(); |
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393 | |||
394 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
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395 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
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396 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
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397 | #else
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398 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
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399 | #endif
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400 | #endif
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401 | |||
402 | // deinitialize system
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403 | aosSysDeinit(); |
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404 | |||
405 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
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406 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
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407 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
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408 | #else
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409 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
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410 | #endif
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411 | #endif
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412 | |||
413 | /* stop all periphery communication */
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414 | // CAN (mandatory)
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415 | canStop(&MODULE_HAL_CAN); |
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416 | #ifdef MODULE_SHUTDOWN_PERIPHERY_COMM
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417 | MODULE_SHUTDOWN_PERIPHERY_COMM(); |
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418 | #endif
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419 | |||
420 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
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421 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
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422 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
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423 | #else
|
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424 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
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425 | #endif
|
||
426 | #endif
|
||
427 | |||
428 | // finally hand over to bootloader
|
||
429 | aosSysShutdownFinal(&MODULE_HAL_EXT, shutdown); |
||
430 | |||
431 | /*
|
||
432 | * ##########################################################################
|
||
433 | * # after shutdown/restart #
|
||
434 | * ##########################################################################
|
||
435 | *
|
||
436 | * NOTE: This code will not be executed, since the bootloader callbacks will stop/restart the MCU.
|
||
437 | * It is included nevertheless for the sake of completeness and to explicitely indicate,
|
||
438 | * which subsystems should NOT be shut down.
|
||
439 | */
|
||
440 | |||
441 | // return an error, since this code should not be executed
|
||
442 | return -1; |
||
443 | } |