amiro-os / os / core / src / main.c @ 76ca5065
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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..2018 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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#include <hal.h> |
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#include <ch.h> |
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#include <amiroos.h> |
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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 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 SSM output for the programmer interface.
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*/
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static ssm_output_t _ssmProgIfOutput;
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#endif
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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(eventmask_t mask, eventflags_t flags) |
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{
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aosprintf("unexpected/unknown event recieved. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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return;
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} |
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/**
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* @brief Application entry point.
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*/
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int main(void) |
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{
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// local variables
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eventmask_t eventmask = 0;
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eventflags_t eventflags = 0;
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aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
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#if defined(AMIROOS_CFG_MAIN_EXTRA_VARIABLES)
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AMIROOS_CFG_MAIN_EXTRA_VARIABLES |
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#endif
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/*
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* ##########################################################################
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* # system initialization #
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* ##########################################################################
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*/
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
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AMIROOS_CFG_MAIN_INIT_HOOK_0(); |
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#endif
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/* hardware, kernel, and operating system initialization */
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// ChibiOS/HAL and custom hal additions (if any)
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halInit(); |
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#ifdef MODULE_INIT_HAL_EXTRA
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MODULE_INIT_HAL_EXTRA(); |
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#endif
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
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AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
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#else
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AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
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#endif
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#endif
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// ChibiOS/RT kernel and custom kernel additions (if any)
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chSysInit(); |
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#ifdef MODULE_INIT_KERNEL_EXTRA
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MODULE_INIT_KERNEL_EXTRA(); |
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#endif
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
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AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
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#else
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AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
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#endif
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#endif
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// AMiRo-OS and custom OS additions (if any)
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aosSysInit(&MODULE_HAL_EXT, |
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&moduleHalExtConfig, |
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&moduleSsspPd, |
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&moduleSsspSync, |
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MODULE_OS_IOEVENTFLAGS_SYSPD, |
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MODULE_OS_IOEVENTFLAGS_SYSSYNC, |
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moduleShellPrompt); |
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#ifdef MODULE_INIT_OS_EXTRA
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MODULE_INIT_OS_EXTRA(); |
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#endif
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
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AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
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#else
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AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
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#endif
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#endif
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#if (AMIROOS_CFG_TESTS_ENABLE == true) |
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#if defined(MODULE_INIT_TESTS)
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MODULE_INIT_TESTS(); |
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#else
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#warning "MODULE_INIT_TESTS no defined" |
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#endif
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#endif
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
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AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
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#else
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AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
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#endif
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#endif
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/* event associations */
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chEvtRegisterMask(&aos.events.io.source, &_eventListenerIO, IOEVENT_MASK); |
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chEvtRegisterMask(&aos.events.os.source, &_eventListenerOS, OSEVENT_MASK); |
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
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AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
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#else
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AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
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#endif
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#endif
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/* periphery communication initialization */
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// CAN (mandatory)
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canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); |
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// module specific initialization (if any)
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#ifdef MODULE_INIT_PERIPHERY_COMM
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MODULE_INIT_PERIPHERY_COMM(); |
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#endif
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// user interface (if any)
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#ifdef MODULE_HAL_PROGIF
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ssmOutputInit(&_ssmProgIfOutput, (BaseSequentialStream*)&MODULE_HAL_PROGIF); |
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ssmAddOutput(aos.ssm, &_ssmProgIfOutput); |
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ssmEnableOutput(aos.ssm, _ssmProgIfOutput.stream); |
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ssmSetInput(aos.ssm, (BaseSequentialStream*)&MODULE_HAL_PROGIF); |
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#endif
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)
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AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS); |
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#else
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AMIROOS_CFG_MAIN_INIT_HOOK_6(); |
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#endif
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#endif
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/* module is ready -> print welcome prompt */
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aosprintf("\n");
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aosprintf("######################################################################\n");
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aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
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aosprintf("# Robot (AMiRo) platform. #\n");
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aosprintf("# Copyright (C) 2016..2018 Thomas Schöpping et al. #\n");
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aosprintf("# #\n");
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aosprintf("# This is free software; see the source for copying conditions. #\n");
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aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
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aosprintf("# A PARTICULAR PURPOSE. #\n");
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aosprintf("# The development of this software was supported by the Excellence #\n");
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aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
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aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
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aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
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aosprintf("######################################################################\n");
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aosprintf("\n");
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)
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AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS); |
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#else
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AMIROOS_CFG_MAIN_INIT_HOOK_7(); |
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#endif
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#endif
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/* SSSP startup outro (end of startup stage 2) synchronization */
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while ((eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) { |
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/*
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* This code is executed if the received event was not about the SYS_SYNC control signal.
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* The returned event could be caused by any listener (not only the argument).
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*/
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// unexpected IO events
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if (eventmask & _eventListenerIO.events) {
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eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
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#ifdef MODULE_SSP_STARTUP_OUTRO_IO_EVENT
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MODULE_SSP_STARTUP_OUTRO_IO_EVENT(eventmask, eventflags); |
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#else
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_unexpectedEventError(eventmask, eventflags); |
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#endif
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} |
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// unexpected OS event
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else if (eventmask & _eventListenerOS.events) { |
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eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
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_unexpectedEventError(eventmask, eventflags); |
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} |
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#if (AMIROOS_CFG_DBG == true) |
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// unknown event (must never occur, thus disabled for release builds)
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else {
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eventflags = 0;
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_unexpectedEventError(eventmask, eventflags); |
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} |
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#endif
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} |
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)
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AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS); |
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#else
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AMIROOS_CFG_MAIN_INIT_HOOK_8(); |
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#endif
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#endif
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/* completely start AMiRo-OS */
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aosSysStart(); |
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)
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#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)
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AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS); |
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#else
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AMIROOS_CFG_MAIN_INIT_HOOK_9(); |
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#endif
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#endif
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/*
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* ##########################################################################
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* # infinite loop #
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* ##########################################################################
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*/
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// sleep until a shutdown event is received
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while (shutdown == AOS_SHUTDOWN_NONE) {
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// wait for an event
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#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
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eventmask = chEvtWaitOneTimeout(ALL_EVENTS, US2ST_LLD(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
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#else
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eventmask = chEvtWaitOne(ALL_EVENTS); |
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#endif
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#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)
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#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)
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AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS); |
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#else
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AMIROOS_CFG_MAIN_LOOP_HOOK_0(); |
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#endif
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#endif
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switch (eventmask) {
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// if this was an I/O event
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case IOEVENT_MASK:
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// evaluate flags
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eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
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// PD event
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if (eventflags & MODULE_OS_IOEVENTFLAGS_SYSPD) {
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shutdown = AOS_SHUTDOWN_PASSIVE; |
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} |
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// all other events
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#ifdef MODULE_MAIN_LOOP_IO_EVENT
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else {
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MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags); |
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} |
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#endif
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break;
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// if this was an OS event
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case OSEVENT_MASK:
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// evaluate flags
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eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
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switch (eventflags) {
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case AOS_SYSTEM_EVENTFLAGS_HIBERNATE:
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shutdown = AOS_SHUTDOWN_HIBERNATE; |
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break;
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case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP:
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shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
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break;
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case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION:
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shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
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break;
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case AOS_SYSTEM_EVENTFLAGS_RESTART:
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shutdown = AOS_SHUTDOWN_RESTART; |
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break;
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default:
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_unexpectedEventError(eventmask, eventflags); |
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break;
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} |
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break;
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// if this was any other event (should be impossible to occur)
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default:
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eventflags = 0;
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_unexpectedEventError(eventmask, eventflags); |
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break;
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} |
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#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
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#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
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AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
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#else
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AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
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#endif
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#endif
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} |
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/*
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* ##########################################################################
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* # system shutdown #
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* ##########################################################################
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*/
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)
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AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS); |
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#else
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AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(); |
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#endif
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#endif
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// initialize/acknowledge shutdown
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aosSysShutdownInit(shutdown); |
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
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AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
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#else
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AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
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#endif
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#endif
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// stop system threads
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aosSysStop(); |
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
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AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
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#else
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AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
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#endif
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#endif
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// deinitialize system
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aosSysDeinit(); |
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
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AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
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#else
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AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
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#endif
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#endif
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/* stop all periphery communication */
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// CAN (mandatory)
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canStop(&MODULE_HAL_CAN); |
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#ifdef MODULE_SHUTDOWN_PERIPHERY_COMM
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MODULE_SHUTDOWN_PERIPHERY_COMM(); |
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#endif
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
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#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
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AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
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#else
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AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
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#endif
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#endif
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// finally hand over to bootloader
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aosSysShutdownFinal(&MODULE_HAL_EXT, shutdown); |
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/*
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* ##########################################################################
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* # after shutdown/restart #
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* ##########################################################################
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*
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* NOTE: This code will not be executed, since the bootloader callbacks will stop/restart the MCU.
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* It is included nevertheless for the sake of completeness and to explicitely indicate,
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* which subsystems should NOT be shut down.
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*/
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// return an error, since this code should not be executed
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return -1; |
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} |