amiro-os / core / src / aos_main.cpp @ 78b92b33
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file aos_main.cpp
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* @brief Main function.
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* @details Main function with SSSP and initialization,
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* extendable via hooks.
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*
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* @addtogroup aos_system
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* @{
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*/
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#include <amiroos.h> |
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/*
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* hook to add further includes
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*/
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#if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)
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#include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER
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#endif /* defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER) */ |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/**
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* @brief Event mask to identify GPIO events.
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*/
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#define GPIOEVENT_MASK EVENT_MASK(0) |
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/**
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* @brief Event mask to identify OS events.
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*/
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#define OSEVENT_MASK EVENT_MASK(1) |
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/**
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* @brief Event mask to idetify CAN events.
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*/
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#define CANEVENT_MASK EVENT_MASK(2) |
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/**
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* @brief Event mask to idetify timeout events.
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*/
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#define TIMEOUTEVENT_MASK EVENT_MASK(3) |
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/**
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* @brief Event mask to idetify signal delay events.
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*/
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#define DELAYEVENT_MASK EVENT_MASK(4) |
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#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN == TRUE)) || defined(__DOXYGEN__) |
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#define SSSP_STAGE3_ENABLE true |
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#else /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN == TRUE) */ |
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#define SSSP_STAGE3_ENABLE false |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN == TRUE) */ |
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#if (SSSP_STAGE3_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief CAN message identifier for initialization of the SSSP stack initialization sequence.
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*/
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#define SSSP_STACKINIT_CANMSGID_INIT 0x003 |
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/**
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* @brief CAN message identifier for transmitting module IDs during the SSSP stack initialization sequence.
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*/
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#define SSSP_STACKINIT_CANMSGID_MODULEID 0x002 |
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/**
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* @brief CAN message identifier for abortion of the SSSP stack initialization sequence.
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*/
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#define SSSP_STACKINIT_CANMSGID_ABORT 0x001 |
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#endif /* (SSSP_STAGE3_ENABLE == true) */ |
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#if (AMIROOS_CFG_SSSP_ENABLE != true) || defined(__DOXYGEN__) |
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/**
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* @brief Default shutdown mode if SSSP is unavailable.
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*/
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#define AOS_SHUTDOWN_DEFAULT AOS_SHUTDOWN_DEEPSLEEP
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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#if (HAL_USE_CAN == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief CAN message identifier for calender synchronization message.
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*/
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#define CALENDERSYNC_CANMSGID 0x004 |
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#endif /* (HAL_USE_CAN == TRUE) */ |
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/**
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* @brief Listener object for GPIO events.
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*/
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static event_listener_t _eventListenerGPIO;
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/**
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* @brief Listener object for OS events.
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*/
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static event_listener_t _eventListenerOS;
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#if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
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/**
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* @brief I/O channel for the programmer interface.
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*/
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static AosIOChannel _stdiochannel;
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief I/O shell channel for the programmer interface.
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*/
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static AosShellChannel _stdshellchannel;
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
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#endif /* defined(MODULE_HAL_PROGIF) */ |
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/*
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* hook to add further static variables
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*/
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#if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
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AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
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#endif /* defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES) */ |
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Prints an error message about an unexpected event.
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*
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* @param[in] mask The event mask.
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* @param[in] flags The event flags.
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*/
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static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
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{
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#if (AMIROOS_CFG_DBG == true) |
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aosprintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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#else /* (AMIROOS_CFG_DBG == true) */ |
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(void)(mask);
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(void)(flags);
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#endif /* (AMIROOS_CFG_DBG == true) */ |
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return;
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} |
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#if (SSSP_STAGE3_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Callback function to be used during SSSP stack initialization sequence.
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*
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* @param[in] par A pointer to an @p event_source_t to be fired.
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*/
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static void _ssspTimerCallback(void* par) |
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{
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aosDbgCheck(par != NULL);
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chSysLockFromISR(); |
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chEvtBroadcastI((event_source_t*)par); |
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chSysUnlockFromISR(); |
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return;
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} |
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#endif /* (SSSP_STAGE3_ENABLE == true) */ |
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/**
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* @brief Helper function to serialize data.
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*
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* @param[out] dst Pointer to the output buffer.
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* @param[in] src Data to be serialized.
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* @param[in] n Number of bytes to serialize.
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*/
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inline void _serialize(uint8_t* dst, const uint64_t src, const uint8_t n) |
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{
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aosDbgCheck(dst != NULL);
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aosDbgCheck(n > 0 && n <= 8); |
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for (uint8_t byte = 0; byte < n; ++byte) { |
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dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF); |
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} |
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return;
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} |
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/**
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* @brief Helper function to deserialize data.
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*
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* @param[in] src Pointer to the buffer of data to be deserialzed.
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* @param[in] n Number of bytes to deserialize.
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*
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* @return The deserialized 32 bit data.
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*/
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inline uint64_t _deserialize(uint8_t* src, const uint8_t n) |
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{
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aosDbgCheck(src != NULL);
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aosDbgCheck(n > 0 && n <= 8); |
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uint64_t result = 0;
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for (uint8_t byte = 0; byte < n; ++byte) { |
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result |= ((uint64_t)src[byte]) << (byte * 8);
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} |
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return result;
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} |
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#if (HAL_USE_RTC == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Converter function to encode a TM value to a single unsigned 64 bit integer.
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*
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* @details Contents of the TM struct are mapped as follows:
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* bits |63 62|61 53|52 50|49 26|25 22|21 17|16 12|11 6|5 0|
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* #bits | 2 | 9 | 3 | 24 | 4 | 5 | 5 | 6 | 6 |
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* value | isdst | yday | wday | year | mon | mday | hour | min | sec |
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* range | special | [0, 365] | [0, 6] | [1900, ...] | [0, 11] | [1, 31] | [0, 23] | [0, 59] | [0, 61] |
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* The Daylight Saving Time Flag (isdsst) is encoded as follows:
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* DST not in effect -> 0
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* DST in effect -> 1
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* no information available -> 2
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*
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* @param[in] src Pointer to the TM struct to encode.
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*
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* @return An unsigned 64 bit integer, which holds the encoded time value.
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*/
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inline uint64_t _TM2U64(struct tm* src) |
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{
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aosDbgCheck(src != NULL);
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return (((uint64_t)(src->tm_sec & 0x0000003F) << (0)) | |
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((uint64_t)(src->tm_min & 0x0000003F) << (6)) | |
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((uint64_t)(src->tm_hour & 0x0000001F) << (12)) | |
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((uint64_t)(src->tm_mday & 0x0000001F) << (17)) | |
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((uint64_t)(src->tm_mon & 0x0000000F) << (22)) | |
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((uint64_t)(src->tm_year & 0x00FFFFFF) << (26)) | |
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((uint64_t)(src->tm_wday & 0x00000007) << (50)) | |
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((uint64_t)(src->tm_yday & 0x000001FF) << (53)) | |
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((uint64_t)((src->tm_isdst == 0) ? 0 : (src->tm_isdst > 0) ? 1 : 2) << (62))); |
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} |
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/**
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* @brief Converter functiomn to retrieve the encoded TM value from an unsigned 64 bit integer.
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*
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* @details For information on the encoding, please refer to @p _TM2U64 function.
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*
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* @param[out] dst The TM struct to fill with the decoded values.
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* @param[in] src Unsigned 64 bit integer holding the encoded TM value.
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*/
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inline void _U642TM(struct tm* dst, const uint64_t src) |
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{
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aosDbgCheck(dst != NULL);
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dst->tm_sec = (src >> 0) & 0x0000003F; |
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dst->tm_min = (src >> 6) & 0x0000003F; |
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dst->tm_hour = (src >> 12) & 0x0000001F; |
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dst->tm_mday = (src >> 17) & 0x0000001F; |
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dst->tm_mon = (src >> 22) & 0x0000000F; |
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dst->tm_year = (src >> 26) & 0x00FFFFFF; |
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dst->tm_wday = (src >> 50) & 0x00000007; |
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dst->tm_yday = (src >> 53) & 0x000001FF; |
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dst->tm_isdst = (((src >> 62) & 0x03) == 0) ? 0 : (((src >> 62) & 0x03) > 0) ? 1 : -1; |
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return;
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} |
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#endif /* (HAL_USE_RTC == TRUE) */ |
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#if (SSSP_STAGE3_ENABLE) || defined(__DOXYGEN__)
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/**
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* @brief Implementation of the SSSP module stack initialization sequence (startup phase 3).
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*
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* @return Shutdown value.
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* @retval AOS_SHUTDOWN_NONE No shutdown signal received
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* @retval AOS_SHUTDOWN_PASSIVE Shutdown signal received.
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*/
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aos_shutdown_t _ssspModuleStackInitialization(void)
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{
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// local types
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/**
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* @brief States for the internal state machine to implement SSSP startup stage 3.
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*/
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typedef enum { |
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STAGE_3_1, /**< Initiation of SSSP startup stage 3. */
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STAGE_3_2, /**< Starting the sequence and broadcasting the first ID. */
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STAGE_3_3_WAITFORFIRSTID, /**< Waiting for first ID after initiation. */
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STAGE_3_3_WAITFORIDORSIG, /**< Waiting for next ID or activation of neighbor signal. */
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STAGE_3_3_WAITFORID, /**< Waiting for next ID (after the module has set its own ID). */
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STAGE_3_4_FINISH, /**< Successful finish of stage 3. */
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STAGE_3_4_ABORT_ACTIVE, /**< Aborting stage 3 (active). */
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STAGE_3_4_ABORT, /**< Aborting stage 3 (passive). */
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} sssp_modulestackinitstage_t; |
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typedef struct { |
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bool loop : 1; |
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bool wfe : 1; |
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bool wfe_next : 1; |
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} flags_t; |
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// local variables
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aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
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sssp_modulestackinitstage_t stage = STAGE_3_1; |
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eventmask_t eventmask = 0;
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eventflags_t ioflags = 0;
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event_source_t eventSourceTimeout; |
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event_source_t eventSourceDelay; |
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event_listener_t eventListenerTimeout; |
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event_listener_t eventListenerDelay; |
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event_listener_t eventListenerCan; |
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virtual_timer_t timerTimeout; |
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virtual_timer_t timerDelay; |
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CANTxFrame canTxFrame; |
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CANRxFrame canRxFrame; |
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#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
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aos_ssspmoduleid_t lastid = 0;
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#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) */ |
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flags_t flags; |
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aos_timestamp_t uptime; |
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// initialize local varibles
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chEvtObjectInit(&eventSourceTimeout); |
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chEvtObjectInit(&eventSourceDelay); |
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chVTObjectInit(&timerTimeout); |
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chVTObjectInit(&timerDelay); |
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canTxFrame.RTR = CAN_RTR_DATA; |
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canTxFrame.IDE = CAN_IDE_STD; |
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flags.loop = true;
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flags.wfe = false; // do not wait for events in the initial iteration of the FSM loop |
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flags.wfe_next = true;
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// initialize system variables
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aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
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aos.sssp.moduleId = 0;
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// listen to events (timout, delay, CAN receive)
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chEvtRegisterMask(&eventSourceTimeout, &eventListenerTimeout, TIMEOUTEVENT_MASK); |
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chEvtRegisterMask(&eventSourceDelay, &eventListenerDelay, DELAYEVENT_MASK); |
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chEvtRegisterMask(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan, CANEVENT_MASK); |
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/*
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* FSM in a loop.
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*
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* This is a fully event-based FSM for the module stack initialization
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* sequence, defined by SSSP as startup stage 3. There are five different
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* events that can occur at this point:
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* I/O events: The input level of an input pin has changed. Such events must
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* be handled differently depending on the current state. Most
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* of the time, however, such events can be ignored.
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* OS events: Such events are only available after this stage completed and
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* thus should never occur. However, there is an optional hook
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* to handle such events, nevertheless.
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* CAN events: At least one CAN message was received. Note that this event
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* will only fire again if all input buffers have been cleared.
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* timeouts: If some module does not support the sequence of there is any
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* issue, such a case is detected via timeouts and must be
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* handled accordingly (see abort state). In some cases, it is
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* possible that a timeout event occurres 'simultaneously' with
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* some other event. This can be caused by several timing issues
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* and is a valid situation. As a result, any other events
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* should be handled before the timeout event. If the other
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* events are expected and valid, this implementation requires
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* the timeout event flag to be cleared explicitely. Otherwise
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* it is evaluated at the end of each iteration of the loop.
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* delays: Depending on the current state, delays are required by SSSP
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* for timing of the sequential activation of signals.
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*/
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aosDbgPrintf("SSSP stack initialization sequence:\n");
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while (flags.loop) {
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#if (AMIROOS_CFG_DBG == true) |
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switch (stage) {
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case STAGE_3_1:
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aosDbgPrintf(">>> 3-1\n");
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break;
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case STAGE_3_2:
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aosDbgPrintf(">>> 3-2\n");
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break;
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case STAGE_3_3_WAITFORFIRSTID:
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aosDbgPrintf(">>> 3-3 (1st ID)\n");
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break;
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case STAGE_3_3_WAITFORIDORSIG:
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aosDbgPrintf(">>> 3-3 (ID/sig)\n");
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break;
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case STAGE_3_3_WAITFORID:
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aosDbgPrintf(">>> 3-3 (ID)\n");
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break;
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case STAGE_3_4_FINISH:
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aosDbgPrintf(">>> 3-4 (finish)\n");
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break;
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case STAGE_3_4_ABORT_ACTIVE:
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aosDbgPrintf(">>> 3-4 (active abort)\n");
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break;
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case STAGE_3_4_ABORT:
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aosDbgPrintf(">>> 3-4 (abort)\n");
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break;
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} |
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#endif /* (AMIROOS_CFG_DBG == true) */ |
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// reset wfe flag for the next iteration
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flags.wfe_next = true;
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// waiting for events (may be skipped)
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if (flags.wfe) {
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// wait for any event to occur
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aosDbgPrintf("WFE...");
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eventmask = chEvtWaitAnyTimeout(ALL_EVENTS, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)); |
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aosDbgPrintf("\t0x%08X", eventmask);
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} else {
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aosDbgPrintf("WFE skipped");
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eventmask = 0;
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} |
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aosSysGetUptime(&uptime); |
| 435 |
aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / MICROSECONDS_PER_MILLISECOND));
|
| 436 |
|
| 437 |
/*
|
| 438 |
* execute some general tasks and high priority events
|
| 439 |
*/
|
| 440 |
// no event occurred at all
|
| 441 |
if ((flags.wfe) && (eventmask == 0)) { |
| 442 |
aosDbgPrintf("ERR: no evt\n");
|
| 443 |
// enforce timeout event
|
| 444 |
chEvtBroadcast(&eventSourceTimeout); |
| 445 |
continue;
|
| 446 |
} |
| 447 |
// if an IO event occurred
|
| 448 |
if (eventmask & _eventListenerGPIO.events) {
|
| 449 |
ioflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 450 |
aosDbgPrintf("INFO: IO evt (0x%08X)\n", ioflags);
|
| 451 |
// a power-down event occurred
|
| 452 |
if (ioflags & MODULE_SSSP_EVENTFLAG_PD) {
|
| 453 |
aosDbgPrintf("PD evt\n");
|
| 454 |
// deactivate S and UP
|
| 455 |
aosDbgPrintf("disabling S\n");
|
| 456 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_OFF); |
| 457 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 458 |
aosDbgPrintf("disabling UP\n");
|
| 459 |
apalControlGpioSet(&moduleSsspGpioUP, APAL_GPIO_OFF); |
| 460 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
| 461 |
// set shutdown flag and exit the loop
|
| 462 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 463 |
break;
|
| 464 |
} |
| 465 |
// the S signal was deactivated
|
| 466 |
if (ioflags & MODULE_SSSP_EVENTFLAG_S) {
|
| 467 |
apalControlGpioState_t sstate; |
| 468 |
apalControlGpioGet(&moduleSsspGpioS, &sstate); |
| 469 |
if (sstate == APAL_GPIO_ON) {
|
| 470 |
aosDbgPrintf("S evt (enabled)\n");
|
| 471 |
} else {
|
| 472 |
aosDbgPrintf("S evt (disabled)\n");
|
| 473 |
// either finish or abort
|
| 474 |
if ((stage == STAGE_3_3_WAITFORID) && (aos.sssp.moduleId != 0)) { |
| 475 |
stage = STAGE_3_4_FINISH; |
| 476 |
} else if (stage != STAGE_3_4_ABORT) { |
| 477 |
stage = STAGE_3_4_ABORT_ACTIVE; |
| 478 |
} |
| 479 |
} |
| 480 |
} |
| 481 |
} |
| 482 |
// an OS event occurred
|
| 483 |
if (eventmask & _eventListenerOS.events) {
|
| 484 |
aosDbgPrintf("WARN: OS evt\n");
|
| 485 |
// get the flags
|
| 486 |
eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 487 |
// there should be no OS events at this point
|
| 488 |
#if defined(MODULE_SSSP_STARTUP_3_OSEVENT_HOOK)
|
| 489 |
MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags); |
| 490 |
#else /* defined(MODULE_SSSP_STARTUP_3_OSEVENT_HOOK) */ |
| 491 |
_unexpectedEventError(eventmask, oseventflags); |
| 492 |
#endif /* defined(MODULE_SSSP_STARTUP_3_OSEVENT_HOOK) */ |
| 493 |
} |
| 494 |
// if a CAN event occurred
|
| 495 |
if ((eventmask & eventListenerCan.events)) {
|
| 496 |
aosDbgPrintf("CAN evt\n");
|
| 497 |
// fetch message
|
| 498 |
if (flags.wfe) {
|
| 499 |
canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE); |
| 500 |
aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
| 501 |
} |
| 502 |
// identify and handle abort messgaes
|
| 503 |
if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
| 504 |
stage = STAGE_3_4_ABORT; |
| 505 |
} |
| 506 |
// warn if a unexpected message was received
|
| 507 |
else if ((canRxFrame.SID != SSSP_STACKINIT_CANMSGID_INIT) && |
| 508 |
(canRxFrame.SID != SSSP_STACKINIT_CANMSGID_MODULEID)) {
|
| 509 |
aosDbgPrintf("WARN: unknown msg\n");
|
| 510 |
} |
| 511 |
// any further pending messages are fetched at the end of the loop
|
| 512 |
} |
| 513 |
// if a timeout event occurred
|
| 514 |
if (eventmask & eventListenerTimeout.events) {
|
| 515 |
aosDbgPrintf("timeout evt\n");
|
| 516 |
// is handled at the end of the loop (or must be cleared by FSM)
|
| 517 |
} |
| 518 |
// if a delay event occurred
|
| 519 |
if (eventmask & eventListenerDelay.events) {
|
| 520 |
aosDbgPrintf("delay evt\n");
|
| 521 |
// is handled by FSM
|
| 522 |
} |
| 523 |
|
| 524 |
/*
|
| 525 |
* this is the actual FSM
|
| 526 |
*/
|
| 527 |
switch (stage) {
|
| 528 |
case STAGE_3_1:
|
| 529 |
{
|
| 530 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
| 531 |
|
| 532 |
// there was no event at all (skipped wfe)
|
| 533 |
if (eventmask == 0 && flags.wfe == false) { |
| 534 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 535 |
// initialize the stage by transmitting an according CAN message
|
| 536 |
aosDbgPrintf("CAN -> init\n");
|
| 537 |
canTxFrame.DLC = 0;
|
| 538 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_INIT; |
| 539 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
| 540 |
chEvtBroadcast(&eventSourceTimeout); |
| 541 |
break;
|
| 542 |
} |
| 543 |
// activate S
|
| 544 |
aosDbgPrintf("enabling S\n");
|
| 545 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_ON); |
| 546 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
| 547 |
// proceed immediately
|
| 548 |
stage = STAGE_3_2; |
| 549 |
flags.wfe_next = false;
|
| 550 |
#else /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
| 551 |
// set the timeout timer
|
| 552 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 553 |
// proceed
|
| 554 |
stage = STAGE_3_3_WAITFORFIRSTID; |
| 555 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
| 556 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 557 |
// set the timeout timer
|
| 558 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 559 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 560 |
} |
| 561 |
|
| 562 |
#if (AMIROOS_CFG_SSSP_MASTER != true) |
| 563 |
// a CAN message was received
|
| 564 |
else if (eventmask & eventListenerCan.events) { |
| 565 |
// if an initiation message was received
|
| 566 |
if (canRxFrame.DLC == 0 && |
| 567 |
canRxFrame.RTR == CAN_RTR_DATA && |
| 568 |
canRxFrame.IDE == CAN_IDE_STD && |
| 569 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) {
|
| 570 |
aosDbgPrintf("init msg\n");
|
| 571 |
// reset the timeout timer and clear pending flags
|
| 572 |
chVTReset(&timerTimeout); |
| 573 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 574 |
eventmask &= ~(eventListenerTimeout.events); |
| 575 |
// activate S
|
| 576 |
aosDbgPrintf("enabling S\n");
|
| 577 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_ON); |
| 578 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
| 579 |
// proceed
|
| 580 |
stage = STAGE_3_2; |
| 581 |
flags.wfe_next = false;
|
| 582 |
#else /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
| 583 |
// set the timeout timer
|
| 584 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 585 |
// proceed
|
| 586 |
stage = STAGE_3_3_WAITFORFIRSTID; |
| 587 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
| 588 |
} |
| 589 |
} |
| 590 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) */ |
| 591 |
|
| 592 |
break;
|
| 593 |
} /* end of STAGE_3_1 */
|
| 594 |
|
| 595 |
case STAGE_3_2:
|
| 596 |
{
|
| 597 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
| 598 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_2; |
| 599 |
|
| 600 |
// if this stage was just entered
|
| 601 |
if (flags.wfe == false) { |
| 602 |
// set the module ID
|
| 603 |
aos.sssp.moduleId = 1;
|
| 604 |
// broadcast module ID
|
| 605 |
aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
| 606 |
canTxFrame.DLC = 4;
|
| 607 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
| 608 |
_serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
| 609 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
| 610 |
chEvtBroadcast(&eventSourceTimeout); |
| 611 |
break;
|
| 612 |
} |
| 613 |
#if (AMIROOS_CFG_DBG == true) |
| 614 |
lastid = aos.sssp.moduleId; |
| 615 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
| 616 |
#if (AMIROOS_CFG_SSSP_STACK_END == true) |
| 617 |
// sequence is already over
|
| 618 |
// deactivate S
|
| 619 |
aosDbgPrintf("disabling S\n");
|
| 620 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
| 621 |
// proceed
|
| 622 |
stage = STAGE_3_3_WAITFORID; |
| 623 |
#else /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
| 624 |
// set the delay timer so the UP signal is activated later
|
| 625 |
chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
| 626 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
| 627 |
} |
| 628 |
|
| 629 |
// if a delay event occurred
|
| 630 |
if (eventmask & eventListenerDelay.events) {
|
| 631 |
// activate UP
|
| 632 |
aosDbgPrintf("enabling UP\n");
|
| 633 |
apalControlGpioSet(&moduleSsspGpioUP, APAL_GPIO_ON); |
| 634 |
// deactivate S
|
| 635 |
aosDbgPrintf("disabling S\n");
|
| 636 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_OFF); |
| 637 |
// explicitely clear timeout event flag
|
| 638 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 639 |
eventmask &= ~(eventListenerTimeout.events); |
| 640 |
// proceed
|
| 641 |
stage = STAGE_3_3_WAITFORID; |
| 642 |
} |
| 643 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
| 644 |
|
| 645 |
break;
|
| 646 |
} /* end of STAGE_3_2 */
|
| 647 |
|
| 648 |
case STAGE_3_3_WAITFORFIRSTID:
|
| 649 |
{
|
| 650 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 651 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
| 652 |
|
| 653 |
// a CAN message was received
|
| 654 |
if (eventmask & eventListenerCan.events) {
|
| 655 |
// if an ID message was received
|
| 656 |
if (canRxFrame.DLC == 4 && |
| 657 |
canRxFrame.RTR == CAN_RTR_DATA && |
| 658 |
canRxFrame.IDE == CAN_IDE_STD && |
| 659 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
| 660 |
aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4)); |
| 661 |
// validate received ID
|
| 662 |
if (lastid < _deserialize(canRxFrame.data8, 4)) { |
| 663 |
// store received ID
|
| 664 |
lastid = _deserialize(canRxFrame.data8, 4);
|
| 665 |
// restart timeout timer
|
| 666 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 667 |
// proceed
|
| 668 |
stage = STAGE_3_3_WAITFORIDORSIG; |
| 669 |
} else {
|
| 670 |
aosDbgPrintf("ERR: invalid ID\n");
|
| 671 |
// abort
|
| 672 |
stage = STAGE_3_4_ABORT_ACTIVE; |
| 673 |
flags.wfe_next = false;
|
| 674 |
} |
| 675 |
// explicitely clear timeout event flag
|
| 676 |