AMiRo-OS

 */

#if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)

#include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER

/******************************************************************************/

/* LOCAL DEFINITIONS                                                          */

 */

#define SSSP_STACKINIT_CANMSGID_ABORT           0x001

/**

 * @brief   Default shutdown mode if SSSP is unavailable.

 */

#define AOS_SHUTDOWN_DEFAULT                    AOS_SHUTDOWN_DEEPSLEEP

/**

 * @brief   CAN message identifier for calender synchronization message.

 */

#if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)

AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES

/******************************************************************************/

/* LOCAL FUNCTIONS                                                            */

{

#if (AMIROOS_CFG_DBG == true)

  aosprintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);

  (void)(mask);

  (void)(flags);

  return;

}

  return;

}

/**

 * @brief   Helper function to serialize data.

  return;

}

#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)

/**

  CANRxFrame canRxFrame;

#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true)

  aos_ssspmoduleid_t lastid = 0;

  flags_t flags;

  aos_timestamp_t uptime;

        aosDbgPrintf(">>> 3-4 (abort)\n");

        break;

    }

    // reset wfe flag for the next iteration

    flags.wfe_next = true;

#if (AMIROOS_CFG_SSSP_STACK_END != true)

        aosDbgPrintf("disabling UP\n");

        apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF);

        // set shutdown flag and exit the loop

        shutdown = AOS_SHUTDOWN_PASSIVE;

        break;

      // get the flags

      eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS);

      // there should be no OS events at this point

      MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags);

      _unexpectedEventError(eventmask, oseventflags);

    }

    // if a CAN event occurred

    if ((eventmask & eventListenerCan.events)) {

          // proceed immediately

          stage = STAGE_3_2;

          flags.wfe_next = false;

          // set the timeout timer

          chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);

          // proceed

          stage = STAGE_3_3_WAITFORFIRSTID;

          // set the timeout timer

          chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);

        }

#if (AMIROOS_CFG_SSSP_MASTER != true)

            // proceed

            stage = STAGE_3_2;

            flags.wfe_next = false;

            // set the timeout timer

            chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);

            // proceed

            stage = STAGE_3_3_WAITFORFIRSTID;

          }

        }

        break;

      } /* end of STAGE_3_1 */

            chEvtBroadcast(&eventSourceTimeout);

            break;

          }

          lastid = aos.sssp.moduleId;

#if (AMIROOS_CFG_SSSP_STACK_END == true)

          // sequence is already over

          // deactivate S

          apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);

          // proceed

          stage = STAGE_3_3_WAITFORID;

          // set the delay timer so the UP signal is activated later

          chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay);

        }

        // if a delay event occurred

          // proceed

          stage = STAGE_3_3_WAITFORID;

        }

        break;

      } /* end of STAGE_3_2 */

            eventmask &= ~(eventListenerTimeout.events);

          }

        }

        break;

      } /* end of STAGE_3_3_WAITFORFIRSTID */

          // activate UP

          aosDbgPrintf("enabling UP\n");

          apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON);

          // deactivate S

          aosDbgPrintf("disabling S\n");

          apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);

          // proceed

          stage = STAGE_3_3_WAITFORID;

        }

        break;

      } /* end of STAGE_3_3_WAITFORIDORSIG */

            // Plausibility of the received ID is not checked at this point but is done by other modules still in a previous stage.

            lastid = _deserialize(canRxFrame.data8, 4);

            aosDbgPrintf("ID (%u)\n", lastid);

            // restart timeout timer

            chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);

            chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);

            eventmask &= ~(eventListenerTimeout.events);

          }

        }

        break;

      } /* end of STAGE_3_3_WAITFORID */

#if (AMIROOS_CFG_SSSP_STACK_END != true)

  aosDbgPrintf("disabling UP\n");

  apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF);

  aosDbgPrintf("disabling S\n");

  apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);

  aosSysGetUptime(&uptime);

  return shutdown;

}

/**

 * @brief   Application entry point.

  aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE;

#if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)

  AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES

  /*

   * ##########################################################################

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS);

  AMIROOS_CFG_MAIN_INIT_HOOK_0();

  /* hardware, kernel, and operating system initialization */

  // ChibiOS/HAL and custom hal additions (if any)

  halInit();

  MODULE_INIT_HAL_EXTRA();

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS);

  AMIROOS_CFG_MAIN_INIT_HOOK_1();

  // ChibiOS/RT kernel and custom kernel additions (if any)

  chSysInit();

  MODULE_INIT_KERNEL_EXTRA();

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS);

  AMIROOS_CFG_MAIN_INIT_HOOK_2();

  // AMiRo-OS and custom OS additions (if any)

#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)

  aosSysInit(moduleShellPrompt);

  aosSysInit();

  MODULE_INIT_OS_EXTRA();

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS);

  AMIROOS_CFG_MAIN_INIT_HOOK_3();

  /* event associations */

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  ioeventflagsmask |= MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC;

#if (AMIROOS_CFG_SSSP_STACK_START != true)

  ioeventflagsmask |= MODULE_SSSP_EVENTFLAGS_DN;

#if (AMIROOS_CFG_SSSP_STACK_END != true)

  ioeventflagsmask |= MODULE_SSSP_EVENTFLAGS_UP;

  if (ioeventflagsmask != 0) {

    chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, ioeventflagsmask);

  }

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS);

  AMIROOS_CFG_MAIN_INIT_HOOK_4();

  /* periphery communication initialization */

  // module specific initialization (if any)

  MODULE_INIT_PERIPHERY_COMM();

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  // CAN (mandatory)

  canStart(&MODULE_HAL_CAN, &moduleHalCanConfig);

  // user interface (if any)

  aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF);

  aosIOChannelOutputEnable(&_stdiochannel);

  aosIOStreamAddChannel(&aos.iostream, &_stdiochannel);

  aosShellChannelInputEnable(&_stdshellchannel);

  aosShellChannelOutputEnable(&_stdshellchannel);

  aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel);

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS);

  AMIROOS_CFG_MAIN_INIT_HOOK_5();

  /* module is ready -> print welcome prompt */

  aosprintf("\n");

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS);

  AMIROOS_CFG_MAIN_INIT_HOOK_6();

#if (AMIROOS_CFG_TESTS_ENABLE == true)

#if defined(MODULE_INIT_TESTS)

  MODULE_INIT_TESTS();

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS);

  AMIROOS_CFG_MAIN_INIT_HOOK_7();

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  /* SSSP startup OS synchronization phase (end of startup stage 2) */

      if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {

        shutdown = AOS_SHUTDOWN_PASSIVE;

      } else {

        MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK(eventmask, eventflags);

        // ignore any other IO events

      }

    }

    // OS event

  if (shutdown == AOS_SHUTDOWN_NONE) {

    shutdown = _ssspModuleStackInitialization();

  }

  /*

   * There must be no delays at this point, thus no hook is allowed.

    canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE);

    aosDbgPrintf("done\n");

    CANRxFrame frame;

    uint64_t encoded;

    struct tm t;

#if (AMIROOS_CFG_DBG == true)

    // increase timeout in debug mode due to additional delays introduced by the many prinf() calls

    if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, chTimeUS2I(10 * AOS_SYSTEM_SSSP_TIMEOUT)) == MSG_OK) {

    if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)) == MSG_OK) {

      // validate message

      if (frame.DLC == 8 &&

          frame.RTR == CAN_RTR_DATA &&

    } else {

      aosDbgPrintf("fail (timeout)\n");

    }

    aosDbgPrintf("\n");

  }

#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_RTC == TRUE) */

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS);

  AMIROOS_CFG_MAIN_INIT_HOOK_8();

  /* completely start AMiRo-OS */

  if (shutdown == AOS_SHUTDOWN_NONE) {

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS);

  AMIROOS_CFG_MAIN_INIT_HOOK_9();

  /*

   * ##########################################################################

    // wait for an event

#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0)

    eventmask = chEvtWaitOneTimeout(ALL_EVENTS, chTimeUS2I(AMIROOS_CFG_MAIN_LOOP_TIMEOUT));

    eventmask = chEvtWaitOne(ALL_EVENTS);

#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)

#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)

    AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS);

    AMIROOS_CFG_MAIN_LOOP_HOOK_0();

    switch (eventmask) {

      // if this was an I/O event

          shutdown = AOS_SHUTDOWN_PASSIVE;

        }

        // all other events

        else {

          MODULE_MAIN_LOOP_IO_EVENT(eventflags);

        }

        MODULE_MAIN_LOOP_IO_EVENT(eventflags);

        break;

      // if this was an OS event

          case AOS_SYSTEM_EVENTFLAGS_RESTART:

            shutdown = AOS_SHUTDOWN_RESTART;

            break;

          case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN:

            shutdown = AOS_SHUTDOWN_DEFAULT;

            break;

          default:

            _unexpectedEventError(eventmask, eventflags);

            break;

        eventflags = 0;

#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0)

        _unexpectedEventError(eventmask, eventflags);

        break;

    }

#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)

#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)

    AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS);

    AMIROOS_CFG_MAIN_LOOP_HOOK_1();

  }

  /*

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS);

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0();

  // initialize/acknowledge shutdown

  aosSysShutdownInit(shutdown);

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS);

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1();

  // stop system threads

  aosSysStop();

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS);

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2();

  // deinitialize system

  aosSysDeinit();

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS);

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3();

  /* stop all periphery communication */

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  // CAN (mandatory)

  canStop(&MODULE_HAL_CAN);

  MODULE_SHUTDOWN_PERIPHERY_COMM();

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS);

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4();

  // finally hand over to bootloader

  aosSysShutdownFinal(shutdown);