Revision 85e62aaf
| core/src/aos_main.cpp | ||
|---|---|---|
| 125 | 125 |
static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
| 126 | 126 |
{
|
| 127 | 127 |
#if (AMIROOS_CFG_DBG == true) |
| 128 |
aosprintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
|
|
| 128 |
aosprintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
|
|
| 129 | 129 |
#else |
| 130 |
(void)(mask); |
|
| 131 |
(void)(flags); |
|
| 130 |
(void)(mask);
|
|
| 131 |
(void)(flags);
|
|
| 132 | 132 |
#endif |
| 133 |
return; |
|
| 133 |
return;
|
|
| 134 | 134 |
} |
| 135 | 135 |
|
| 136 | 136 |
|
| ... | ... | |
| 142 | 142 |
*/ |
| 143 | 143 |
static void _ssspTimerCallback(void* par) |
| 144 | 144 |
{
|
| 145 |
aosDbgCheck(par != NULL); |
|
| 145 |
aosDbgCheck(par != NULL);
|
|
| 146 | 146 |
|
| 147 |
chSysLockFromISR(); |
|
| 148 |
chEvtBroadcastI((event_source_t*)par); |
|
| 149 |
chSysUnlockFromISR(); |
|
| 147 |
chSysLockFromISR();
|
|
| 148 |
chEvtBroadcastI((event_source_t*)par);
|
|
| 149 |
chSysUnlockFromISR();
|
|
| 150 | 150 |
|
| 151 |
return; |
|
| 151 |
return;
|
|
| 152 | 152 |
} |
| 153 | 153 |
#endif |
| 154 | 154 |
/** |
| ... | ... | |
| 160 | 160 |
*/ |
| 161 | 161 |
inline void _serialize(uint8_t* dst, const uint64_t src, const uint8_t n) |
| 162 | 162 |
{
|
| 163 |
aosDbgCheck(dst != NULL); |
|
| 164 |
aosDbgCheck(n > 0 && n <= 8); |
|
| 163 |
aosDbgCheck(dst != NULL);
|
|
| 164 |
aosDbgCheck(n > 0 && n <= 8);
|
|
| 165 | 165 |
|
| 166 |
for (uint8_t byte = 0; byte < n; ++byte) {
|
|
| 167 |
dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF); |
|
| 168 |
} |
|
| 166 |
for (uint8_t byte = 0; byte < n; ++byte) {
|
|
| 167 |
dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF);
|
|
| 168 |
}
|
|
| 169 | 169 |
|
| 170 |
return; |
|
| 170 |
return;
|
|
| 171 | 171 |
} |
| 172 | 172 |
|
| 173 | 173 |
/** |
| ... | ... | |
| 180 | 180 |
*/ |
| 181 | 181 |
inline uint64_t _deserialize(uint8_t* src, const uint8_t n) |
| 182 | 182 |
{
|
| 183 |
aosDbgCheck(src != NULL); |
|
| 184 |
aosDbgCheck(n > 0 && n <= 8); |
|
| 183 |
aosDbgCheck(src != NULL);
|
|
| 184 |
aosDbgCheck(n > 0 && n <= 8);
|
|
| 185 | 185 |
|
| 186 |
uint64_t result = 0; |
|
| 187 |
for (uint8_t byte = 0; byte < n; ++byte) {
|
|
| 188 |
result |= ((uint64_t)src[byte]) << (byte * 8); |
|
| 189 |
} |
|
| 186 |
uint64_t result = 0;
|
|
| 187 |
for (uint8_t byte = 0; byte < n; ++byte) {
|
|
| 188 |
result |= ((uint64_t)src[byte]) << (byte * 8);
|
|
| 189 |
}
|
|
| 190 | 190 |
|
| 191 |
return result; |
|
| 191 |
return result;
|
|
| 192 | 192 |
} |
| 193 | 193 |
|
| 194 | 194 |
/** |
| ... | ... | |
| 210 | 210 |
*/ |
| 211 | 211 |
inline uint64_t _TM2U64(struct tm* src) |
| 212 | 212 |
{
|
| 213 |
aosDbgCheck(src != NULL); |
|
| 214 |
|
|
| 215 |
return (((uint64_t)(src->tm_sec & 0x0000003F) << (0)) | |
|
| 216 |
((uint64_t)(src->tm_min & 0x0000003F) << (6)) | |
|
| 217 |
((uint64_t)(src->tm_hour & 0x0000001F) << (12)) | |
|
| 218 |
((uint64_t)(src->tm_mday & 0x0000001F) << (17)) | |
|
| 219 |
((uint64_t)(src->tm_mon & 0x0000000F) << (22)) | |
|
| 220 |
((uint64_t)(src->tm_year & 0x00FFFFFF) << (26)) | |
|
| 221 |
((uint64_t)(src->tm_wday & 0x00000007) << (50)) | |
|
| 222 |
((uint64_t)(src->tm_yday & 0x000001FF) << (53)) | |
|
| 223 |
((uint64_t)((src->tm_isdst == 0) ? 0 : (src->tm_isdst > 0) ? 1 : 2) << (62))); |
|
| 213 |
aosDbgCheck(src != NULL);
|
|
| 214 |
|
|
| 215 |
return (((uint64_t)(src->tm_sec & 0x0000003F) << (0)) |
|
|
| 216 |
((uint64_t)(src->tm_min & 0x0000003F) << (6)) |
|
|
| 217 |
((uint64_t)(src->tm_hour & 0x0000001F) << (12)) |
|
|
| 218 |
((uint64_t)(src->tm_mday & 0x0000001F) << (17)) |
|
|
| 219 |
((uint64_t)(src->tm_mon & 0x0000000F) << (22)) |
|
|
| 220 |
((uint64_t)(src->tm_year & 0x00FFFFFF) << (26)) |
|
|
| 221 |
((uint64_t)(src->tm_wday & 0x00000007) << (50)) |
|
|
| 222 |
((uint64_t)(src->tm_yday & 0x000001FF) << (53)) |
|
|
| 223 |
((uint64_t)((src->tm_isdst == 0) ? 0 : (src->tm_isdst > 0) ? 1 : 2) << (62)));
|
|
| 224 | 224 |
} |
| 225 | 225 |
|
| 226 | 226 |
/** |
| ... | ... | |
| 233 | 233 |
*/ |
| 234 | 234 |
inline void _U642TM(struct tm* dst, const uint64_t src) |
| 235 | 235 |
{
|
| 236 |
aosDbgCheck(dst != NULL); |
|
| 237 |
|
|
| 238 |
dst->tm_sec = (src >> 0) & 0x0000003F; |
|
| 239 |
dst->tm_min = (src >> 6) & 0x0000003F; |
|
| 240 |
dst->tm_hour = (src >> 12) & 0x0000001F; |
|
| 241 |
dst->tm_mday = (src >> 17) & 0x0000001F; |
|
| 242 |
dst->tm_mon = (src >> 22) & 0x0000000F; |
|
| 243 |
dst->tm_year = (src >> 26) & 0x00FFFFFF; |
|
| 244 |
dst->tm_wday = (src >> 50) & 0x00000007; |
|
| 245 |
dst->tm_yday = (src >> 53) & 0x000001FF; |
|
| 246 |
dst->tm_isdst = (((src >> 62) & 0x03) == 0) ? 0 : (((src >> 62) & 0x03) > 0) ? 1 : -1; |
|
| 247 |
|
|
| 248 |
return; |
|
| 236 |
aosDbgCheck(dst != NULL);
|
|
| 237 |
|
|
| 238 |
dst->tm_sec = (src >> 0) & 0x0000003F;
|
|
| 239 |
dst->tm_min = (src >> 6) & 0x0000003F;
|
|
| 240 |
dst->tm_hour = (src >> 12) & 0x0000001F;
|
|
| 241 |
dst->tm_mday = (src >> 17) & 0x0000001F;
|
|
| 242 |
dst->tm_mon = (src >> 22) & 0x0000000F;
|
|
| 243 |
dst->tm_year = (src >> 26) & 0x00FFFFFF;
|
|
| 244 |
dst->tm_wday = (src >> 50) & 0x00000007;
|
|
| 245 |
dst->tm_yday = (src >> 53) & 0x000001FF;
|
|
| 246 |
dst->tm_isdst = (((src >> 62) & 0x03) == 0) ? 0 : (((src >> 62) & 0x03) > 0) ? 1 : -1;
|
|
| 247 |
|
|
| 248 |
return;
|
|
| 249 | 249 |
} |
| 250 | 250 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 251 | 251 |
/** |
| ... | ... | |
| 257 | 257 |
*/ |
| 258 | 258 |
aos_shutdown_t _ssspModuleStackInitialization(void) |
| 259 | 259 |
{
|
| 260 |
// local types |
|
| 261 |
/** |
|
| 260 |
// local types
|
|
| 261 |
/**
|
|
| 262 | 262 |
* @brief States for the internal state machine to implement SSSP startup stage 3. |
| 263 | 263 |
*/ |
| 264 |
typedef enum {
|
|
| 265 |
STAGE_3_1, /**< Initiation of SSSP startup stage 3. */ |
|
| 266 |
STAGE_3_2, /**< Starting the sequence and broadcasting the first ID. */ |
|
| 267 |
STAGE_3_3_WAITFORFIRSTID, /**< Waiting for first ID after initiation. */ |
|
| 268 |
STAGE_3_3_WAITFORIDORSIG, /**< Waiting for next ID or activation of neighbor signal. */ |
|
| 269 |
STAGE_3_3_WAITFORID, /**< Waiting for next ID (after the module has set its own ID). */ |
|
| 270 |
STAGE_3_4_FINISH, /**< Successful finish of stage 3. */ |
|
| 271 |
STAGE_3_4_ABORT_ACTIVE, /**< Aborting stage 3 (active). */ |
|
| 272 |
STAGE_3_4_ABORT, /**< Aborting stage 3 (passive). */ |
|
| 273 |
} sssp_modulestackinitstage_t; |
|
| 274 |
|
|
| 275 |
typedef struct {
|
|
| 276 |
bool loop : 1; |
|
| 277 |
bool wfe : 1; |
|
| 278 |
bool wfe_next : 1; |
|
| 279 |
} flags_t; |
|
| 280 |
|
|
| 281 |
// local variables |
|
| 282 |
aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
|
| 283 |
sssp_modulestackinitstage_t stage = STAGE_3_1; |
|
| 284 |
eventmask_t eventmask = 0; |
|
| 285 |
eventflags_t ioflags; |
|
| 286 |
event_source_t eventSourceTimeout; |
|
| 287 |
event_source_t eventSourceDelay; |
|
| 288 |
event_listener_t eventListenerTimeout; |
|
| 289 |
event_listener_t eventListenerDelay; |
|
| 290 |
event_listener_t eventListenerCan; |
|
| 291 |
virtual_timer_t timerTimeout; |
|
| 292 |
virtual_timer_t timerDelay; |
|
| 293 |
CANTxFrame canTxFrame; |
|
| 294 |
CANRxFrame canRxFrame; |
|
| 264 |
typedef enum {
|
|
| 265 |
STAGE_3_1, /**< Initiation of SSSP startup stage 3. */
|
|
| 266 |
STAGE_3_2, /**< Starting the sequence and broadcasting the first ID. */
|
|
| 267 |
STAGE_3_3_WAITFORFIRSTID, /**< Waiting for first ID after initiation. */
|
|
| 268 |
STAGE_3_3_WAITFORIDORSIG, /**< Waiting for next ID or activation of neighbor signal. */
|
|
| 269 |
STAGE_3_3_WAITFORID, /**< Waiting for next ID (after the module has set its own ID). */
|
|
| 270 |
STAGE_3_4_FINISH, /**< Successful finish of stage 3. */
|
|
| 271 |
STAGE_3_4_ABORT_ACTIVE, /**< Aborting stage 3 (active). */
|
|
| 272 |
STAGE_3_4_ABORT, /**< Aborting stage 3 (passive). */
|
|
| 273 |
} sssp_modulestackinitstage_t;
|
|
| 274 |
|
|
| 275 |
typedef struct {
|
|
| 276 |
bool loop : 1;
|
|
| 277 |
bool wfe : 1;
|
|
| 278 |
bool wfe_next : 1;
|
|
| 279 |
} flags_t;
|
|
| 280 |
|
|
| 281 |
// local variables
|
|
| 282 |
aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE;
|
|
| 283 |
sssp_modulestackinitstage_t stage = STAGE_3_1;
|
|
| 284 |
eventmask_t eventmask = 0;
|
|
| 285 |
eventflags_t ioflags;
|
|
| 286 |
event_source_t eventSourceTimeout;
|
|
| 287 |
event_source_t eventSourceDelay;
|
|
| 288 |
event_listener_t eventListenerTimeout;
|
|
| 289 |
event_listener_t eventListenerDelay;
|
|
| 290 |
event_listener_t eventListenerCan;
|
|
| 291 |
virtual_timer_t timerTimeout;
|
|
| 292 |
virtual_timer_t timerDelay;
|
|
| 293 |
CANTxFrame canTxFrame;
|
|
| 294 |
CANRxFrame canRxFrame;
|
|
| 295 | 295 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
| 296 |
aos_ssspmoduleid_t lastid = 0; |
|
| 297 |
#endif |
|
| 298 |
flags_t flags; |
|
| 299 |
|
|
| 300 |
// initialize local varibles |
|
| 301 |
chEvtObjectInit(&eventSourceTimeout); |
|
| 302 |
chEvtObjectInit(&eventSourceDelay); |
|
| 303 |
chVTObjectInit(&timerTimeout); |
|
| 304 |
chVTObjectInit(&timerDelay); |
|
| 305 |
canTxFrame.RTR = CAN_RTR_DATA; |
|
| 306 |
canTxFrame.IDE = CAN_IDE_STD; |
|
| 307 |
flags.loop = true; |
|
| 308 |
flags.wfe = false; // do not wait for events in the initial iteration of the FSM loop |
|
| 309 |
flags.wfe_next = true; |
|
| 310 |
|
|
| 311 |
// initialize system variables |
|
| 312 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
|
| 313 |
aos.sssp.moduleId = 0; |
|
| 314 |
|
|
| 315 |
// listen to events (timout, delay, CAN receive) |
|
| 316 |
chEvtRegisterMask(&eventSourceTimeout, &eventListenerTimeout, TIMEOUTEVENT_MASK); |
|
| 317 |
chEvtRegisterMask(&eventSourceDelay, &eventListenerDelay, DELAYEVENT_MASK); |
|
| 318 |
chEvtRegisterMask(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan, CANEVENT_MASK); |
|
| 319 |
|
|
| 320 |
/* |
|
| 296 |
aos_ssspmoduleid_t lastid = 0;
|
|
| 297 |
#endif |
|
| 298 |
flags_t flags;
|
|
| 299 |
|
|
| 300 |
// initialize local varibles
|
|
| 301 |
chEvtObjectInit(&eventSourceTimeout);
|
|
| 302 |
chEvtObjectInit(&eventSourceDelay);
|
|
| 303 |
chVTObjectInit(&timerTimeout);
|
|
| 304 |
chVTObjectInit(&timerDelay);
|
|
| 305 |
canTxFrame.RTR = CAN_RTR_DATA;
|
|
| 306 |
canTxFrame.IDE = CAN_IDE_STD;
|
|
| 307 |
flags.loop = true;
|
|
| 308 |
flags.wfe = false; // do not wait for events in the initial iteration of the FSM loop
|
|
| 309 |
flags.wfe_next = true;
|
|
| 310 |
|
|
| 311 |
// initialize system variables
|
|
| 312 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_1;
|
|
| 313 |
aos.sssp.moduleId = 0;
|
|
| 314 |
|
|
| 315 |
// listen to events (timout, delay, CAN receive)
|
|
| 316 |
chEvtRegisterMask(&eventSourceTimeout, &eventListenerTimeout, TIMEOUTEVENT_MASK);
|
|
| 317 |
chEvtRegisterMask(&eventSourceDelay, &eventListenerDelay, DELAYEVENT_MASK);
|
|
| 318 |
chEvtRegisterMask(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan, CANEVENT_MASK);
|
|
| 319 |
|
|
| 320 |
/*
|
|
| 321 | 321 |
* FSM in a loop. |
| 322 | 322 |
* |
| 323 | 323 |
* This is a fully event-based FSM for the module stack initialization |
| ... | ... | |
| 344 | 344 |
* delays: Depending on the current state, delays are required by SSSP |
| 345 | 345 |
* for timing of the sequential activation of signals. |
| 346 | 346 |
*/ |
| 347 |
aosDbgPrintf("SSSP stack initialization sequence:\n");
|
|
| 348 |
while (flags.loop) {
|
|
| 347 |
aosDbgPrintf("SSSP stack initialization sequence:\n");
|
|
| 348 |
while (flags.loop) {
|
|
| 349 | 349 |
#if (AMIROOS_CFG_DBG == true) |
| 350 |
switch (stage) {
|
|
| 351 |
case STAGE_3_1: |
|
| 352 |
aosDbgPrintf(">>> 3-1\n");
|
|
| 353 |
break; |
|
| 354 |
case STAGE_3_2: |
|
| 355 |
aosDbgPrintf(">>> 3-2\n");
|
|
| 356 |
break; |
|
| 357 |
case STAGE_3_3_WAITFORFIRSTID: |
|
| 358 |
aosDbgPrintf(">>> 3-3 (1st ID)\n");
|
|
| 359 |
break; |
|
| 360 |
case STAGE_3_3_WAITFORIDORSIG: |
|
| 361 |
aosDbgPrintf(">>> 3-3 (ID/sig)\n");
|
|
| 362 |
break; |
|
| 363 |
case STAGE_3_3_WAITFORID: |
|
| 364 |
aosDbgPrintf(">>> 3-3 (ID)\n");
|
|
| 365 |
break; |
|
| 366 |
case STAGE_3_4_FINISH: |
|
| 367 |
aosDbgPrintf(">>> 3-4 (finish)\n");
|
|
| 368 |
break; |
|
| 369 |
case STAGE_3_4_ABORT_ACTIVE: |
|
| 370 |
aosDbgPrintf(">>> 3-4 (active abort)\n");
|
|
| 371 |
break; |
|
| 372 |
case STAGE_3_4_ABORT: |
|
| 373 |
aosDbgPrintf(">>> 3-4 (abort)\n");
|
|
| 374 |
break; |
|
| 375 |
} |
|
| 350 |
switch (stage) {
|
|
| 351 |
case STAGE_3_1:
|
|
| 352 |
aosDbgPrintf(">>> 3-1\n");
|
|
| 353 |
break;
|
|
| 354 |
case STAGE_3_2:
|
|
| 355 |
aosDbgPrintf(">>> 3-2\n");
|
|
| 356 |
break;
|
|
| 357 |
case STAGE_3_3_WAITFORFIRSTID:
|
|
| 358 |
aosDbgPrintf(">>> 3-3 (1st ID)\n");
|
|
| 359 |
break;
|
|
| 360 |
case STAGE_3_3_WAITFORIDORSIG:
|
|
| 361 |
aosDbgPrintf(">>> 3-3 (ID/sig)\n");
|
|
| 362 |
break;
|
|
| 363 |
case STAGE_3_3_WAITFORID:
|
|
| 364 |
aosDbgPrintf(">>> 3-3 (ID)\n");
|
|
| 365 |
break;
|
|
| 366 |
case STAGE_3_4_FINISH:
|
|
| 367 |
aosDbgPrintf(">>> 3-4 (finish)\n");
|
|
| 368 |
break;
|
|
| 369 |
case STAGE_3_4_ABORT_ACTIVE:
|
|
| 370 |
aosDbgPrintf(">>> 3-4 (active abort)\n");
|
|
| 371 |
break;
|
|
| 372 |
case STAGE_3_4_ABORT:
|
|
| 373 |
aosDbgPrintf(">>> 3-4 (abort)\n");
|
|
| 374 |
break;
|
|
| 375 |
}
|
|
| 376 | 376 |
#endif |
| 377 | 377 |
|
| 378 |
// reset wfe flag for the next iteration |
|
| 379 |
flags.wfe_next = true; |
|
| 378 |
// reset wfe flag for the next iteration
|
|
| 379 |
flags.wfe_next = true;
|
|
| 380 | 380 |
|
| 381 |
// waiting for events may be skipped |
|
| 382 |
if (flags.wfe) {
|
|
| 383 |
// wait for any event to occur |
|
| 384 |
aosDbgPrintf("WFE...");
|
|
| 385 |
eventmask = chEvtWaitAnyTimeout(ALL_EVENTS, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)); |
|
| 386 |
aosDbgPrintf("\t0x%08X", eventmask);
|
|
| 387 |
} else {
|
|
| 388 |
aosDbgPrintf("WFE skipped");
|
|
| 389 |
} |
|
| 390 |
aos_timestamp_t uptime; |
|
| 391 |
aosSysGetUptime(&uptime); |
|
| 392 |
aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / 1000));
|
|
| 381 |
// waiting for events may be skipped
|
|
| 382 |
if (flags.wfe) {
|
|
| 383 |
// wait for any event to occur
|
|
| 384 |
aosDbgPrintf("WFE...");
|
|
| 385 |
eventmask = chEvtWaitAnyTimeout(ALL_EVENTS, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT));
|
|
| 386 |
aosDbgPrintf("\t0x%08X", eventmask);
|
|
| 387 |
} else {
|
|
| 388 |
aosDbgPrintf("WFE skipped");
|
|
| 389 |
}
|
|
| 390 |
aos_timestamp_t uptime;
|
|
| 391 |
aosSysGetUptime(&uptime);
|
|
| 392 |
aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / 1000));
|
|
| 393 | 393 |
|
| 394 |
/* |
|
| 394 |
/*
|
|
| 395 | 395 |
* execute some general tasks and high priority events |
| 396 | 396 |
*/ |
| 397 |
// no event occurred at all |
|
| 398 |
if ((flags.wfe) && (eventmask == 0)) {
|
|
| 399 |
aosDbgPrintf("ERR: no evt\n");
|
|
| 400 |
// enforce timeout event |
|
| 401 |
chEvtBroadcast(&eventSourceTimeout); |
|
| 402 |
continue; |
|
| 403 |
} |
|
| 404 |
// if an IO event occurred |
|
| 405 |
if (eventmask & _eventListenerIO.events) {
|
|
| 406 |
ioflags = chEvtGetAndClearFlags(&_eventListenerIO); |
|
| 407 |
aosDbgPrintf("INFO: IO evt (0x%08X)\n", ioflags);
|
|
| 408 |
// a power-down event occurred |
|
| 409 |
if (ioflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
|
| 410 |
aosDbgPrintf("PD evt\n");
|
|
| 411 |
// deactivate S and UP |
|
| 412 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 413 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
|
| 414 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
|
| 415 |
#endif |
|
| 416 |
// set shutdown flag and exit the loop |
|
| 417 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
|
| 418 |
break; |
|
| 419 |
} |
|
| 420 |
// the S signal was deactivated |
|
| 421 |
if (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC) {
|
|
| 422 |
apalControlGpioState_t sstate; |
|
| 423 |
apalControlGpioGet(&moduleSsspGpioSync, &sstate); |
|
| 424 |
if (sstate == APAL_GPIO_OFF) {
|
|
| 425 |
aosDbgPrintf("-S evt\n");
|
|
| 426 |
// either finish or abort |
|
| 427 |
if ((stage == STAGE_3_3_WAITFORID) && (aos.sssp.moduleId != 0)) {
|
|
| 428 |
stage = STAGE_3_4_FINISH; |
|
| 429 |
} else if (stage != STAGE_3_4_ABORT) {
|
|
| 430 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 431 |
} |
|
| 397 |
// no event occurred at all |
|
| 398 |
if ((flags.wfe) && (eventmask == 0)) {
|
|
| 399 |
aosDbgPrintf("ERR: no evt\n");
|
|
| 400 |
// enforce timeout event |
|
| 401 |
chEvtBroadcast(&eventSourceTimeout); |
|
| 402 |
continue; |
|
| 432 | 403 |
} |
| 433 |
} |
|
| 434 |
} |
|
| 435 |
// an OS event occurred |
|
| 436 |
if (eventmask & _eventListenerOS.events) {
|
|
| 437 |
aosDbgPrintf("WARN: OS evt\n");
|
|
| 438 |
// get the flags |
|
| 439 |
eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
|
| 440 |
// there should be no OS events at this point |
|
| 404 |
// if an IO event occurred |
|
| 405 |
if (eventmask & _eventListenerIO.events) {
|
|
| 406 |
ioflags = chEvtGetAndClearFlags(&_eventListenerIO); |
|
| 407 |
aosDbgPrintf("INFO: IO evt (0x%08X)\n", ioflags);
|
|
| 408 |
// a power-down event occurred |
|
| 409 |
if (ioflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
|
| 410 |
aosDbgPrintf("PD evt\n");
|
|
| 411 |
// deactivate S and UP |
|
| 412 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 413 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
|
| 414 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
|
| 415 |
#endif |
|
| 416 |
// set shutdown flag and exit the loop |
|
| 417 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
|
| 418 |
break; |
|
| 419 |
} |
|
| 420 |
// the S signal was deactivated |
|
| 421 |
if (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC) {
|
|
| 422 |
apalControlGpioState_t sstate; |
|
| 423 |
apalControlGpioGet(&moduleSsspGpioSync, &sstate); |
|
| 424 |
if (sstate == APAL_GPIO_OFF) {
|
|
| 425 |
aosDbgPrintf("-S evt\n");
|
|
| 426 |
// either finish or abort |
|
| 427 |
if ((stage == STAGE_3_3_WAITFORID) && (aos.sssp.moduleId != 0)) {
|
|
| 428 |
stage = STAGE_3_4_FINISH; |
|
| 429 |
} else if (stage != STAGE_3_4_ABORT) {
|
|
| 430 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 431 |
} |
|
| 432 |
} |
|
| 433 |
} |
|
| 434 |
} |
|
| 435 |
// an OS event occurred |
|
| 436 |
if (eventmask & _eventListenerOS.events) {
|
|
| 437 |
aosDbgPrintf("WARN: OS evt\n");
|
|
| 438 |
// get the flags |
|
| 439 |
eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
|
| 440 |
// there should be no OS events at this point |
|
| 441 | 441 |
#ifdef MODULE_SSSP_STARTUP_3_OSEVENT_HOOK |
| 442 |
MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags); |
|
| 442 |
MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags);
|
|
| 443 | 443 |
#else |
| 444 |
_unexpectedEventError(eventmask, oseventflags); |
|
| 444 |
_unexpectedEventError(eventmask, oseventflags);
|
|
| 445 | 445 |
#endif |
| 446 |
} |
|
| 447 |
// if a CAN event occurred |
|
| 448 |
if ((eventmask & eventListenerCan.events)) {
|
|
| 449 |
// fetch message |
|
| 450 |
if (flags.wfe) {
|
|
| 451 |
canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE); |
|
| 452 |
aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
|
| 453 |
} |
|
| 454 |
// identify and handle abort messgaes |
|
| 455 |
if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
|
| 456 |
stage = STAGE_3_4_ABORT; |
|
| 457 |
} |
|
| 458 |
// warn if a unexpected message was received |
|
| 459 |
else if ((canRxFrame.SID != SSSP_STACKINIT_CANMSGID_INIT) && |
|
| 460 |
(canRxFrame.SID != SSSP_STACKINIT_CANMSGID_MODULEID)) {
|
|
| 461 |
aosDbgPrintf("WARN: unknown msg\n");
|
|
| 462 |
} |
|
| 463 |
// any further pending messages are fetched at the end of the loop |
|
| 464 |
} |
|
| 465 |
// if a timeout event occurred |
|
| 466 |
if (eventmask & eventListenerTimeout.events) {
|
|
| 467 |
// is handled at the end of the loop (or must be cleared by FSM) |
|
| 468 |
} |
|
| 469 |
// if a delay event occurred |
|
| 470 |
if (eventmask & eventListenerDelay.events) {
|
|
| 471 |
// is handled by FSM |
|
| 472 |
} |
|
| 446 |
}
|
|
| 447 |
// if a CAN event occurred
|
|
| 448 |
if ((eventmask & eventListenerCan.events)) {
|
|
| 449 |
// fetch message
|
|
| 450 |
if (flags.wfe) {
|
|
| 451 |
canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE);
|
|
| 452 |
aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
|
| 453 |
}
|
|
| 454 |
// identify and handle abort messgaes
|
|
| 455 |
if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
|
| 456 |
stage = STAGE_3_4_ABORT;
|
|
| 457 |
}
|
|
| 458 |
// warn if a unexpected message was received
|
|
| 459 |
else if ((canRxFrame.SID != SSSP_STACKINIT_CANMSGID_INIT) &&
|
|
| 460 |
(canRxFrame.SID != SSSP_STACKINIT_CANMSGID_MODULEID)) {
|
|
| 461 |
aosDbgPrintf("WARN: unknown msg\n");
|
|
| 462 |
}
|
|
| 463 |
// any further pending messages are fetched at the end of the loop
|
|
| 464 |
}
|
|
| 465 |
// if a timeout event occurred
|
|
| 466 |
if (eventmask & eventListenerTimeout.events) {
|
|
| 467 |
// is handled at the end of the loop (or must be cleared by FSM)
|
|
| 468 |
}
|
|
| 469 |
// if a delay event occurred
|
|
| 470 |
if (eventmask & eventListenerDelay.events) {
|
|
| 471 |
// is handled by FSM
|
|
| 472 |
}
|
|
| 473 | 473 |
|
| 474 |
/* |
|
| 474 |
/*
|
|
| 475 | 475 |
* this is the actual FSM |
| 476 | 476 |
*/ |
| 477 |
switch (stage) {
|
|
| 478 |
case STAGE_3_1: |
|
| 479 |
{
|
|
| 480 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
|
| 477 |
switch (stage) {
|
|
| 478 |
case STAGE_3_1:
|
|
| 479 |
{
|
|
| 480 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_1;
|
|
| 481 | 481 |
|
| 482 |
// there was no event at all (skipped wfe) |
|
| 483 |
if (eventmask == 0 && flags.wfe == false) {
|
|
| 482 |
// there was no event at all (skipped wfe)
|
|
| 483 |
if (eventmask == 0 && flags.wfe == false) {
|
|
| 484 | 484 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 485 |
// initialize the stage by transmitting an according CAN message |
|
| 486 |
aosDbgPrintf("CAN -> init\n");
|
|
| 487 |
canTxFrame.DLC = 0; |
|
| 488 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_INIT; |
|
| 489 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
|
| 490 |
chEvtBroadcast(&eventSourceTimeout); |
|
| 491 |
break; |
|
| 492 |
} |
|
| 493 |
// activate S |
|
| 494 |
aosDbgPrintf("S+\n");
|
|
| 495 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
|
| 485 |
// initialize the stage by transmitting an according CAN message
|
|
| 486 |
aosDbgPrintf("CAN -> init\n");
|
|
| 487 |
canTxFrame.DLC = 0;
|
|
| 488 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_INIT;
|
|
| 489 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
|
| 490 |
chEvtBroadcast(&eventSourceTimeout);
|
|
| 491 |
break;
|
|
| 492 |
}
|
|
| 493 |
// activate S
|
|
| 494 |
aosDbgPrintf("S+\n");
|
|
| 495 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON);
|
|
| 496 | 496 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
| 497 |
// proceed immediately |
|
| 498 |
stage = STAGE_3_2; |
|
| 499 |
flags.wfe_next = false; |
|
| 497 |
// proceed immediately
|
|
| 498 |
stage = STAGE_3_2;
|
|
| 499 |
flags.wfe_next = false;
|
|
| 500 | 500 |
#else |
| 501 |
// set the timeout timer |
|
| 502 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 503 |
// proceed |
|
| 504 |
stage = STAGE_3_3_WAITFORFIRSTID; |
|
| 501 |
// set the timeout timer
|
|
| 502 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);
|
|
| 503 |
// proceed
|
|
| 504 |
stage = STAGE_3_3_WAITFORFIRSTID;
|
|
| 505 | 505 |
#endif |
| 506 | 506 |
#else |
| 507 |
// set the timeout timer |
|
| 508 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 507 |
// set the timeout timer
|
|
| 508 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);
|
|
| 509 | 509 |
#endif |
| 510 |
} |
|
| 510 |
}
|
|
| 511 | 511 |
|
| 512 | 512 |
#if (AMIROOS_CFG_SSSP_MASTER != true) |
| 513 |
// a CAN message was received |
|
| 514 |
else if (eventmask & eventListenerCan.events) {
|
|
| 515 |
// if an initiation message was received |
|
| 516 |
if (canRxFrame.DLC == 0 && |
|
| 517 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 518 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 519 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) {
|
|
| 520 |
aosDbgPrintf("init msg\n");
|
|
| 521 |
// reset the timeout timer and clear pending flags |
|
| 522 |
chVTReset(&timerTimeout); |
|
| 523 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 524 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 525 |
// activate S |
|
| 526 |
aosDbgPrintf("S+\n");
|
|
| 527 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
|
| 513 |
// a CAN message was received
|
|
| 514 |
else if (eventmask & eventListenerCan.events) {
|
|
| 515 |
// if an initiation message was received
|
|
| 516 |
if (canRxFrame.DLC == 0 &&
|
|
| 517 |
canRxFrame.RTR == CAN_RTR_DATA &&
|
|
| 518 |
canRxFrame.IDE == CAN_IDE_STD &&
|
|
| 519 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) {
|
|
| 520 |
aosDbgPrintf("init msg\n");
|
|
| 521 |
// reset the timeout timer and clear pending flags
|
|
| 522 |
chVTReset(&timerTimeout);
|
|
| 523 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);
|
|
| 524 |
eventmask &= ~(eventListenerTimeout.events);
|
|
| 525 |
// activate S
|
|
| 526 |
aosDbgPrintf("S+\n");
|
|
| 527 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON);
|
|
| 528 | 528 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
| 529 |
// proceed |
|
| 530 |
stage = STAGE_3_2; |
|
| 531 |
flags.wfe_next = false; |
|
| 529 |
// proceed
|
|
| 530 |
stage = STAGE_3_2;
|
|
| 531 |
flags.wfe_next = false;
|
|
| 532 | 532 |
#else |
| 533 |
// set the timeout timer |
|
| 534 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 535 |
// proceed |
|
| 536 |
stage = STAGE_3_3_WAITFORFIRSTID; |
|
| 533 |
// set the timeout timer
|
|
| 534 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);
|
|
| 535 |
// proceed
|
|
| 536 |
stage = STAGE_3_3_WAITFORFIRSTID;
|
|
| 537 | 537 |
#endif |
| 538 |
} |
|
| 539 |
} |
|
| 538 |
}
|
|
| 539 |
}
|
|
| 540 | 540 |
#endif |
| 541 | 541 |
|
| 542 |
break; |
|
| 543 |
} /* end of STAGE_3_1 */ |
|
| 542 |
break;
|
|
| 543 |
} /* end of STAGE_3_1 */
|
|
| 544 | 544 |
|
| 545 |
case STAGE_3_2: |
|
| 546 |
{
|
|
| 545 |
case STAGE_3_2:
|
|
| 546 |
{
|
|
| 547 | 547 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
| 548 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_2; |
|
| 549 |
|
|
| 550 |
// if this stage was just entered |
|
| 551 |
if (flags.wfe == false) {
|
|
| 552 |
// set the module ID |
|
| 553 |
aos.sssp.moduleId = 1; |
|
| 554 |
// broadcast module ID |
|
| 555 |
aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
|
| 556 |
canTxFrame.DLC = 4; |
|
| 557 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
|
| 558 |
_serialize(canTxFrame.data8, aos.sssp.moduleId, 4); |
|
| 559 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
|
| 560 |
chEvtBroadcast(&eventSourceTimeout); |
|
| 561 |
break; |
|
| 562 |
} |
|
| 548 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_2;
|
|
| 549 |
|
|
| 550 |
// if this stage was just entered
|
|
| 551 |
if (flags.wfe == false) {
|
|
| 552 |
// set the module ID
|
|
| 553 |
aos.sssp.moduleId = 1;
|
|
| 554 |
// broadcast module ID
|
|
| 555 |
aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
|
| 556 |
canTxFrame.DLC = 4;
|
|
| 557 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID;
|
|
| 558 |
_serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
|
| 559 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
|
| 560 |
chEvtBroadcast(&eventSourceTimeout);
|
|
| 561 |
break;
|
|
| 562 |
}
|
|
| 563 | 563 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
| 564 |
lastid = aos.sssp.moduleId; |
|
| 564 |
lastid = aos.sssp.moduleId;
|
|
| 565 | 565 |
#endif |
| 566 | 566 |
#if (AMIROOS_CFG_SSSP_STACK_END == true) |
| 567 |
// sequence is already over |
|
| 568 |
// deactivate S |
|
| 569 |
aosDbgPrintf("S-\n");
|
|
| 570 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 571 |
// proceed |
|
| 572 |
stage = STAGE_3_3_WAITFORID; |
|
| 567 |
// sequence is already over
|
|
| 568 |
// deactivate S
|
|
| 569 |
aosDbgPrintf("S-\n");
|
|
| 570 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);
|
|
| 571 |
// proceed
|
|
| 572 |
stage = STAGE_3_3_WAITFORID;
|
|
| 573 | 573 |
#else |
| 574 |
// set the delay timer so the UP signal is activated later |
|
| 575 |
chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
|
| 574 |
// set the delay timer so the UP signal is activated later
|
|
| 575 |
chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay);
|
|
| 576 | 576 |
#endif |
| 577 |
} |
|
| 577 |
}
|
|
| 578 | 578 |
|
| 579 |
// if a delay event occurred |
|
| 580 |
if (eventmask & eventListenerDelay.events) {
|
|
| 581 |
// activate UP |
|
| 582 |
aosDbgPrintf("UP+\n");
|
|
| 583 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
|
| 584 |
// deactivate S |
|
| 585 |
aosDbgPrintf("S-\n");
|
|
| 586 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 587 |
// explicitely clear timeout event flag |
|
| 588 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 589 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 590 |
// proceed |
|
| 591 |
stage = STAGE_3_3_WAITFORID; |
|
| 592 |
} |
|
| 579 |
// if a delay event occurred
|
|
| 580 |
if (eventmask & eventListenerDelay.events) {
|
|
| 581 |
// activate UP
|
|
| 582 |
aosDbgPrintf("UP+\n");
|
|
| 583 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON);
|
|
| 584 |
// deactivate S
|
|
| 585 |
aosDbgPrintf("S-\n");
|
|
| 586 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);
|
|
| 587 |
// explicitely clear timeout event flag
|
|
| 588 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);
|
|
| 589 |
eventmask &= ~(eventListenerTimeout.events);
|
|
| 590 |
// proceed
|
|
| 591 |
stage = STAGE_3_3_WAITFORID;
|
|
| 592 |
}
|
|
| 593 | 593 |
#endif |
| 594 | 594 |
|
| 595 |
break; |
|
| 596 |
} /* end of STAGE_3_2 */ |
|
| 595 |
break;
|
|
| 596 |
} /* end of STAGE_3_2 */
|
|
| 597 | 597 |
|
| 598 |
case STAGE_3_3_WAITFORFIRSTID: |
|
| 599 |
{
|
|
| 598 |
case STAGE_3_3_WAITFORFIRSTID:
|
|
| 599 |
{
|
|
| 600 | 600 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 601 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
|
| 602 |
|
|
| 603 |
// a CAN message was received |
|
| 604 |
if (eventmask & eventListenerCan.events) {
|
|
| 605 |
// if an ID message was received |
|
| 606 |
if (canRxFrame.DLC == 4 && |
|
| 607 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 608 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 609 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
|
| 610 |
aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4));
|
|
| 611 |
// validate received ID |
|
| 612 |
if (lastid < _deserialize(canRxFrame.data8, 4)) {
|
|
| 613 |
// store received ID |
|
| 614 |
lastid = _deserialize(canRxFrame.data8, 4); |
|
| 615 |
// restart timeout timer |
|
| 616 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 617 |
// proceed |
|
| 618 |
stage = STAGE_3_3_WAITFORIDORSIG; |
|
| 619 |
} else {
|
|
| 620 |
aosDbgPrintf("ERR: invalid ID\n");
|
|
| 621 |
// abort |
|
| 622 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 623 |
flags.wfe_next = false; |
|
| 601 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
|
| 602 |
|
|
| 603 |
// a CAN message was received |
|
| 604 |
if (eventmask & eventListenerCan.events) {
|
|
| 605 |
// if an ID message was received |
|
| 606 |
if (canRxFrame.DLC == 4 && |
|
| 607 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 608 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 609 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
|
| 610 |
aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4));
|
|
| 611 |
// validate received ID |
|
| 612 |
if (lastid < _deserialize(canRxFrame.data8, 4)) {
|
|
| 613 |
// store received ID |
|
| 614 |
lastid = _deserialize(canRxFrame.data8, 4); |
|
| 615 |
// restart timeout timer |
|
| 616 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 617 |
// proceed |
|
| 618 |
stage = STAGE_3_3_WAITFORIDORSIG; |
|
| 619 |
} else {
|
|
| 620 |
aosDbgPrintf("ERR: invalid ID\n");
|
|
| 621 |
// abort |
|
| 622 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 623 |
flags.wfe_next = false; |
|
| 624 |
} |
|
| 625 |
// explicitely clear timeout event flag |
|
| 626 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 627 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 628 |
} |
|
| 624 | 629 |
} |
| 625 |
// explicitely clear timeout event flag |
|
| 626 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 627 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 628 |
} |
|
| 629 |
} |
|
| 630 | 630 |
#endif |
| 631 |
break; |
|
| 632 |
} /* end of STAGE_3_3_WAITFORFIRSTID */ |
|
| 631 |
break;
|
|
| 632 |
} /* end of STAGE_3_3_WAITFORFIRSTID */
|
|
| 633 | 633 |
|
| 634 |
case STAGE_3_3_WAITFORIDORSIG: |
|
| 635 |
{
|
|
| 634 |
case STAGE_3_3_WAITFORIDORSIG:
|
|
| 635 |
{
|
|
| 636 | 636 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 637 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
|
| 638 |
|
|
| 639 |
// a CAN message was received |
|
| 640 |
if (eventmask & eventListenerCan.events) {
|
|
| 641 |
// if an ID message was received |
|
| 642 |
if (canRxFrame.DLC == 4 && |
|
| 643 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 644 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 645 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
|
| 646 |
aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4));
|
|
| 647 |
// validate received ID |
|
| 648 |
if (lastid < _deserialize(canRxFrame.data8, 4)) {
|
|
| 649 |
// store received ID |
|
| 650 |
lastid = _deserialize(canRxFrame.data8, 4); |
|
| 651 |
// restart timeout timer |
|
| 652 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 653 |
} else {
|
|
| 654 |
aosDbgPrintf("ERR: invalid ID\n");
|
|
| 655 |
// abort |
|
| 656 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 657 |
flags.wfe_next = false; |
|
| 637 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
|
| 638 |
|
|
| 639 |
// a CAN message was received |
|
| 640 |
if (eventmask & eventListenerCan.events) {
|
|
| 641 |
// if an ID message was received |
|
| 642 |
if (canRxFrame.DLC == 4 && |
|
| 643 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 644 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 645 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
|
| 646 |
aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4));
|
|
| 647 |
// validate received ID |
|
| 648 |
if (lastid < _deserialize(canRxFrame.data8, 4)) {
|
|
| 649 |
// store received ID |
|
| 650 |
lastid = _deserialize(canRxFrame.data8, 4); |
|
| 651 |
// restart timeout timer |
|
| 652 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 653 |
} else {
|
|
| 654 |
aosDbgPrintf("ERR: invalid ID\n");
|
|
| 655 |
// abort |
|
| 656 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 657 |
flags.wfe_next = false; |
|
| 658 |
} |
|
| 659 |
// explicitely clear timeout event flag |
|
| 660 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 661 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 662 |
} |
|
| 658 | 663 |
} |
| 659 |
// explicitely clear timeout event flag |
|
| 660 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 661 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 662 |
} |
|
| 663 |
} |
|
| 664 | 664 |
|
| 665 |
// if an IO event was received (DN signal) |
|
| 666 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_DN)) {
|
|
| 667 |
aosDbgPrintf("DN <-\n");
|
|
| 668 |
// reset timeout timer |
|
| 669 |
chVTReset(&timerTimeout); |
|
| 670 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 671 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 672 |
// increment and broadcast ID |
|
| 673 |
aos.sssp.moduleId = lastid + 1; |
|
| 674 |
aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
|
| 675 |
canTxFrame.DLC = 4; |
|
| 676 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
|
| 677 |
_serialize(canTxFrame.data8, aos.sssp.moduleId, 4); |
|
| 678 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
|
| 679 |
chEvtBroadcast(&eventSourceTimeout); |
|
| 680 |
break; |
|
| 681 |
} |
|
| 682 |
// set delay timer |
|
| 683 |
chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
|
| 684 |
} |
|
| 665 |
// if an IO event was received (DN signal)
|
|
| 666 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_DN)) {
|
|
| 667 |
aosDbgPrintf("DN <-\n");
|
|
| 668 |
// reset timeout timer
|
|
| 669 |
chVTReset(&timerTimeout);
|
|
| 670 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);
|
|
| 671 |
eventmask &= ~(eventListenerTimeout.events);
|
|
| 672 |
// increment and broadcast ID
|
|
| 673 |
aos.sssp.moduleId = lastid + 1;
|
|
| 674 |
aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
|
| 675 |
canTxFrame.DLC = 4;
|
|
| 676 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID;
|
|
| 677 |
_serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
|
| 678 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
|
| 679 |
chEvtBroadcast(&eventSourceTimeout);
|
|
| 680 |
break;
|
|
| 681 |
}
|
|
| 682 |
// set delay timer
|
|
| 683 |
chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay);
|
|
| 684 |
}
|
|
| 685 | 685 |
|
| 686 |
// if a delay event occurred |
|
| 687 |
if (eventmask & eventListenerDelay.events) {
|
|
| 686 |
// if a delay event occurred
|
|
| 687 |
if (eventmask & eventListenerDelay.events) {
|
|
| 688 | 688 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 689 |
// activate UP |
|
| 690 |
aosDbgPrintf("UP+\n");
|
|
| 691 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
|
| 692 |
#endif |
|
| 693 |
// deactivate S |
|
| 694 |
aosDbgPrintf("S-\n");
|
|
| 695 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 696 |
// reset the timeout timer |
|
| 697 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 698 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 699 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 700 |
// proceed |
|
| 701 |
stage = STAGE_3_3_WAITFORID; |
|
| 702 |
} |
|
| 689 |
// activate UP
|
|
| 690 |
aosDbgPrintf("UP+\n");
|
|
| 691 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON);
|
|
| 692 |
#endif |
|
| 693 |
// deactivate S
|
|
| 694 |
aosDbgPrintf("S-\n");
|
|
| 695 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);
|
|
| 696 |
// reset the timeout timer
|
|
| 697 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);
|
|
| 698 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);
|
|
| 699 |
eventmask &= ~(eventListenerTimeout.events);
|
|
| 700 |
// proceed
|
|
| 701 |
stage = STAGE_3_3_WAITFORID;
|
|
| 702 |
}
|
|
| 703 | 703 |
#endif |
| 704 | 704 |
|
| 705 |
break; |
|
| 706 |
} /* end of STAGE_3_3_WAITFORIDORSIG */ |
|
| 705 |
break;
|
|
| 706 |
} /* end of STAGE_3_3_WAITFORIDORSIG */
|
|
| 707 | 707 |
|
| 708 |
case STAGE_3_3_WAITFORID: |
|
| 709 |
{
|
|
| 710 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
|
| 708 |
case STAGE_3_3_WAITFORID:
|
|
| 709 |
{
|
|
| 710 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3;
|
|
| 711 | 711 |
|
| 712 | 712 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 713 |
// a CAN message was received |
|
| 714 |
if (eventmask & eventListenerCan.events) {
|
|
| 715 |
// if an ID message was received |
|
| 716 |
if (canRxFrame.DLC == 4 && |
|
| 717 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 718 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 719 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
|
| 713 |
// a CAN message was received
|
|
| 714 |
if (eventmask & eventListenerCan.events) {
|
|
| 715 |
// if an ID message was received
|
|
| 716 |
if (canRxFrame.DLC == 4 &&
|
|
| 717 |
canRxFrame.RTR == CAN_RTR_DATA &&
|
|
| 718 |
canRxFrame.IDE == CAN_IDE_STD &&
|
|
| 719 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
|
| 720 | 720 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
| 721 |
// Plausibility of the received ID is not checked at this point but is done by other modules still in a previous stage. |
|
| 722 |
lastid = _deserialize(canRxFrame.data8, 4); |
|
| 723 |
aosDbgPrintf("ID (%u)\n", lastid);
|
|
| 724 |
#endif |
|
| 725 |
// restart timeout timer |
|
| 726 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 727 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 728 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 729 |
} |
|
| 730 |
} |
|
| 721 |
// Plausibility of the received ID is not checked at this point but is done by other modules still in a previous stage.
|
|
| 722 |
lastid = _deserialize(canRxFrame.data8, 4);
|
|
| 723 |
aosDbgPrintf("ID (%u)\n", lastid);
|
|
| 724 |
#endif |
|
| 725 |
// restart timeout timer
|
|
| 726 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);
|
|
| 727 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);
|
|
| 728 |
eventmask &= ~(eventListenerTimeout.events);
|
|
| 729 |
}
|
|
| 730 |
}
|
|
| 731 | 731 |
#endif |
| 732 | 732 |
|
| 733 |
break; |
|
| 734 |
} /* end of STAGE_3_3_WAITFORID */ |
|
| 733 |
break; |
|
| 734 |
} /* end of STAGE_3_3_WAITFORID */ |
|
| 735 |
|
|
| 736 |
case STAGE_3_4_FINISH: |
|
| 737 |
{
|
|
| 738 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
|
| 739 |
|
|
| 740 |
// if an IO event was received (S signal) |
|
| 741 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
|
| 742 |
// reset the timeout timer |
|
| 743 |
chVTReset(&timerTimeout); |
|
| 744 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 745 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 746 |
//set the delay timer |
|
| 747 |
chVTSet(&timerDelay, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceDelay); |
|
| 748 |
} |
|
| 735 | 749 |
|
| 736 |
case STAGE_3_4_FINISH: |
|
| 737 |
{
|
|
| 738 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
|
| 750 |
// if a CAN event was received |
|
| 751 |
if (eventmask & eventListenerCan.events) {
|
|
| 752 |
// if an abort message was received |
|
| 753 |
if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
|
| 754 |
aosDbgPrintf("abort msg\n");
|
|
| 755 |
// reset the delay timer |
|
| 756 |
chVTReset(&timerDelay); |
|
| 757 |
chEvtWaitAnyTimeout(eventListenerDelay.events, TIME_IMMEDIATE); |
|
| 758 |
eventmask &= ~(eventListenerDelay.events); |
|
| 759 |
// proceed |
|
| 760 |
stage = STAGE_3_4_ABORT; |
|
| 761 |
} |
|
| 762 |
} |
|
| 739 | 763 |
|
| 740 |
// if an IO event was received (S signal) |
|
| 741 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
|
| 742 |
// reset the timeout timer |
|
| 743 |
chVTReset(&timerTimeout); |
|
| 744 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 745 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 746 |
//set the delay timer |
|
| 747 |
chVTSet(&timerDelay, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceDelay); |
|
| 748 |
} |
|
| 764 |
// if a delay timer event occurred |
|
| 765 |
if (eventmask & eventListenerDelay.events) {
|
|
| 766 |
aosDbgPrintf("sequence sucessful\n");
|
|
| 767 |
// sequence finished sucessfully |
|
| 768 |
flags.loop = false; |
|
| 769 |
} |
|
| 749 | 770 |
|
| 750 |
// if a CAN event was received |
|
| 751 |
if (eventmask & eventListenerCan.events) {
|
|
| 752 |
// if an abort message was received |
|
| 753 |
if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
|
| 754 |
aosDbgPrintf("abort msg\n");
|
|
| 755 |
// reset the delay timer |
|
| 756 |
chVTReset(&timerDelay); |
|
| 757 |
chEvtWaitAnyTimeout(eventListenerDelay.events, TIME_IMMEDIATE); |
|
| 758 |
eventmask &= ~(eventListenerDelay.events); |
|
| 759 |
// proceed |
|
| 771 |
break; |
|
| 772 |
} /* end of STAGE_3_4_FINISH */ |
|
| 773 |
|
|
| 774 |
case STAGE_3_4_ABORT_ACTIVE: |
|
| 775 |
{
|
|
| 776 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
|
| 777 |
|
|
| 778 |
// emit abort message |
|
| 779 |
canTxFrame.DLC = 0; |
|
| 780 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_ABORT; |
|
| 781 |
canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_INFINITE); |
|
| 782 |
aosDbgPrintf("CAN -> abort\n");
|
|
| 783 |
// clear timeout flag |
|
| 784 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 785 |
// proceed immediately |
|
| 760 | 786 |
stage = STAGE_3_4_ABORT; |
| 761 |
} |
|
| 762 |
} |
|
| 787 |
flags.wfe_next = false; |
|
| 788 |
break; |
|
| 789 |
} /* end of STAGE_3_4_ABORT_ACTIVE */ |
|
| 790 |
|
|
| 791 |
case STAGE_3_4_ABORT: |
|
| 792 |
{
|
|
| 793 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
|
| 794 |
|
|
| 795 |
// deactivate S |
|
| 796 |
aosDbgPrintf("S-\n");
|
|
| 797 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 798 |
// invalidate module ID |
|
| 799 |
aos.sssp.moduleId = 0; |
|
| 800 |
|
|
| 801 |
// if an IO event was received (S signal) |
|
| 802 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
|
| 803 |
aosDbgPrintf("sequence aborted\n");
|
|
| 804 |
// exit the sequence |
|
| 805 |
flags.loop = false; |
|
| 806 |
} |
|
| 763 | 807 |
|
| 764 |
// if a delay timer event occurred |
|
| 765 |
if (eventmask & eventListenerDelay.events) {
|
|
| 766 |
aosDbgPrintf("sequence sucessful\n");
|
|
| 767 |
// sequence finished sucessfully |
|
| 768 |
flags.loop = false; |
|
| 808 |
break; |
|
| 809 |
} /* end of STAGE_3_4_ABORT */ |
|
| 769 | 810 |
} |
| 770 | 811 |
|
| 771 |
break; |
|
| 772 |
} /* end of STAGE_3_4_FINISH */ |
|
| 773 |
|
|
| 774 |
case STAGE_3_4_ABORT_ACTIVE: |
|
| 775 |
{
|
|
| 776 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
|
| 777 |
|
|
| 778 |
// emit abort message |
|
| 779 |
canTxFrame.DLC = 0; |
|
| 780 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_ABORT; |
|
| 781 |
canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_INFINITE); |
|
| 782 |
aosDbgPrintf("CAN -> abort\n");
|
|
| 783 |
// clear timeout flag |
|
| 784 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 785 |
// proceed immediately |
|
| 786 |
stage = STAGE_3_4_ABORT; |
|
| 787 |
flags.wfe_next = false; |
|
| 788 |
break; |
|
| 789 |
} /* end of STAGE_3_4_ABORT_ACTIVE */ |
|
| 790 |
|
|
| 791 |
case STAGE_3_4_ABORT: |
|
| 792 |
{
|
|
| 793 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
|
| 794 |
|
|
| 795 |
// deactivate S |
|
| 796 |
aosDbgPrintf("S-\n");
|
|
| 797 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 798 |
// invalidate module ID |
|
| 799 |
aos.sssp.moduleId = 0; |
|
| 800 |
|
|
| 801 |
// if an IO event was received (S signal) |
|
| 802 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
|
| 803 |
aosDbgPrintf("sequence aborted\n");
|
|
| 804 |
// exit the sequence |
|
| 805 |
flags.loop = false; |
|
| 812 |
// fetch pending CAN message (if any) |
|
| 813 |
if ((eventmask & eventListenerCan.events) && (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE) == MSG_OK)) {
|
|
| 814 |
aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
|
| 815 |
flags.wfe_next = false; |
|
| 806 | 816 |
} |
| 807 | 817 |
|
| 808 |
break; |
|
| 809 |
} /* end of STAGE_3_4_ABORT */ |
|
| 810 |
} |
|
| 811 |
|
|
| 812 |
// fetch pending CAN message (if any) |
|
| 813 |
if ((eventmask & eventListenerCan.events) && (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE) == MSG_OK)) {
|
|
| 814 |
aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
|
| 815 |
flags.wfe_next = false; |
|
| 816 |
} |
|
| 817 |
|
|
| 818 |
// handle unhandled timeout events |
|
| 819 |
if (eventmask & eventListenerTimeout.events) {
|
|
| 820 |
aosDbgPrintf("ERR: timeout evt\n");
|
|
| 821 |
// abort |
|
| 822 |
flags.wfe_next = false; |
|
| 823 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 824 |
} |
|
| 818 |
// handle unhandled timeout events |
|
| 819 |
if (eventmask & eventListenerTimeout.events) {
|
|
| 820 |
aosDbgPrintf("ERR: timeout evt\n");
|
|
| 821 |
// abort |
|
| 822 |
flags.wfe_next = false; |
|
| 823 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 824 |
} |
|
| 825 | 825 |
|
| 826 |
// apply wfe value for next iteration |
|
| 827 |
flags.wfe = flags.wfe_next; |
|
| 828 |
} /* end of FSM loop */ |
|
| 829 |
aosDbgPrintf("\n");
|
|
| 826 |
// apply wfe value for next iteration
|
|
| 827 |
flags.wfe = flags.wfe_next;
|
|
| 828 |
} /* end of FSM loop */
|
|
| 829 |
aosDbgPrintf("\n");
|
|
| 830 | 830 |
|
| 831 |
// unregister all events (timeout, delay, CAN receive) |
|
| 832 |
chEvtUnregister(&eventSourceTimeout, &eventListenerTimeout); |
|
| 833 |
chEvtUnregister(&eventSourceDelay, &eventListenerDelay); |
|
| 834 |
chEvtUnregister(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan); |
|
| 835 |
// clear any pending events (timeout, delay, CAN receive) |
|
| 836 |
chEvtWaitAllTimeout(TIMEOUTEVENT_MASK | DELAYEVENT_MASK | CANEVENT_MASK, TIME_IMMEDIATE); |
|
| 831 |
// unregister all events (timeout, delay, CAN receive)
|
|
| 832 |
chEvtUnregister(&eventSourceTimeout, &eventListenerTimeout);
|
|
| 833 |
chEvtUnregister(&eventSourceDelay, &eventListenerDelay);
|
|
| 834 |
chEvtUnregister(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan);
|
|
| 835 |
// clear any pending events (timeout, delay, CAN receive)
|
|
| 836 |
chEvtWaitAllTimeout(TIMEOUTEVENT_MASK | DELAYEVENT_MASK | CANEVENT_MASK, TIME_IMMEDIATE);
|
|
| 837 | 837 |
|
| 838 |
// reset all control signals |
|
| 838 |
// reset all control signals
|
|
| 839 | 839 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 840 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
|
| 840 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF);
|
|
| 841 | 841 |
#endif |
| 842 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 842 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);
|
|
| 843 | 843 |
|
| 844 |
return shutdown; |
|
| 844 |
return shutdown;
|
|
| 845 | 845 |
} |
| 846 | 846 |
#endif |
| 847 | 847 |
/** |
| ... | ... | |
| 849 | 849 |
*/ |
| 850 | 850 |
int main(void) |
| 851 | 851 |
{
|
| 852 |
// local variables |
|
| 853 |
eventmask_t eventmask = 0; |
|
| 854 |
eventflags_t eventflags = 0; |
|
| 855 |
aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
|
| 852 |
// local variables
|
|
| 853 |
eventmask_t eventmask = 0;
|
|
| 854 |
eventflags_t eventflags = 0;
|
|
| 855 |
aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE;
|
|
| 856 | 856 |
#if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES) |
| 857 |
AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
|
| 858 |
#endif |
|
| 859 |
|
|
| 860 |
/* |
|
| 861 |
* ########################################################################## |
|
| 862 |
* # system initialization # |
|
| 863 |
* ########################################################################## |
|
| 864 |
*/ |
|
| 865 |
|
|
| 866 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0) |
|
| 867 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS) |
|
| 868 |
AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS); |
|
| 857 |
AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES
|
|
| 858 |
#endif
|
|
| 859 |
|
|
| 860 |
/*
|
|
| 861 |
* ##########################################################################
|
|
| 862 |
* # system initialization #
|
|
| 863 |
* ##########################################################################
|
|
| 864 |
*/
|
|
| 865 |
|
|
| 866 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
|
|
| 867 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS)
|
|
| 868 |
AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS);
|
|
| 869 | 869 |
#else |
| 870 |
AMIROOS_CFG_MAIN_INIT_HOOK_0(); |
|
| 870 |
AMIROOS_CFG_MAIN_INIT_HOOK_0();
|
|
| 871 | 871 |
#endif |
| 872 | 872 |
#endif |
| 873 | 873 |
|
| 874 |
/* hardware, kernel, and operating system initialization */ |
|
| 875 |
// ChibiOS/HAL and custom hal additions (if any) |
|
| 876 |
halInit(); |
|
| 874 |
/* hardware, kernel, and operating system initialization */
|
|
| 875 |
// ChibiOS/HAL and custom hal additions (if any)
|
|
| 876 |
halInit();
|
|
| 877 | 877 |
#ifdef MODULE_INIT_HAL_EXTRA |
| 878 |
MODULE_INIT_HAL_EXTRA(); |
|
| 878 |
MODULE_INIT_HAL_EXTRA();
|
|
| 879 | 879 |
#endif |
| 880 | 880 |
|
| 881 | 881 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1) |
| 882 | 882 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) |
| 883 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
|
| 883 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS);
|
|
| 884 | 884 |
#else |
| 885 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
|
| 885 |
AMIROOS_CFG_MAIN_INIT_HOOK_1();
|
|
| 886 | 886 |
#endif |
| 887 | 887 |
#endif |
| 888 | 888 |
|
| 889 |
// ChibiOS/RT kernel and custom kernel additions (if any) |
|
| 890 |
chSysInit(); |
|
| 889 |
// ChibiOS/RT kernel and custom kernel additions (if any)
|
|
| 890 |
chSysInit();
|
|
| 891 | 891 |
#ifdef MODULE_INIT_KERNEL_EXTRA |
| 892 |
MODULE_INIT_KERNEL_EXTRA(); |
|
| 892 |
MODULE_INIT_KERNEL_EXTRA();
|
|
| 893 | 893 |
#endif |
| 894 | 894 |
|
| 895 | 895 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2) |
| 896 | 896 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) |
| 897 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
|
| 897 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS);
|
|
| 898 | 898 |
#else |
| 899 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
|
| 899 |
AMIROOS_CFG_MAIN_INIT_HOOK_2();
|
|
| 900 | 900 |
#endif |
| 901 | 901 |
#endif |
| 902 | 902 |
|
| 903 |
// AMiRo-OS and custom OS additions (if any) |
|
| 903 |
// AMiRo-OS and custom OS additions (if any)
|
|
| 904 | 904 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
| 905 |
aosSysInit(moduleShellPrompt); |
|
| 905 |
aosSysInit(moduleShellPrompt);
|
|
| 906 | 906 |
#else |
| 907 |
aosSysInit(); |
|
| 907 |
aosSysInit();
|
|
| 908 | 908 |
#endif |
| 909 | 909 |
#ifdef MODULE_INIT_OS_EXTRA |
| 910 |
MODULE_INIT_OS_EXTRA(); |
|
| 910 |
MODULE_INIT_OS_EXTRA();
|
|
| 911 | 911 |
#endif |
| 912 | 912 |
|
| 913 | 913 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3) |
| 914 | 914 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) |
| 915 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
|
| 915 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS);
|
|
| 916 | 916 |
#else |
| 917 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
|
| 917 |
AMIROOS_CFG_MAIN_INIT_HOOK_3();
|
|
| 918 | 918 |
#endif |
| 919 | 919 |
#endif |
| 920 | 920 |
|
| 921 | 921 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
| 922 | 922 |
#if defined(MODULE_INIT_TESTS) |
| 923 |
MODULE_INIT_TESTS(); |
|
| 923 |
MODULE_INIT_TESTS();
|
|
| 924 | 924 |
#else |
| 925 |
#warning "MODULE_INIT_TESTS not defined"
|
|
| 925 |
#warning "MODULE_INIT_TESTS not defined" |
|
| 926 | 926 |
#endif |
| 927 | 927 |
#endif |
| 928 | 928 |
|
| 929 | 929 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4) |
| 930 | 930 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) |
| 931 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
|
| 931 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS);
|
|
| 932 | 932 |
#else |
| 933 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
|
| 933 |
AMIROOS_CFG_MAIN_INIT_HOOK_4();
|
|
| 934 | 934 |
#endif |
| 935 | 935 |
#endif |
| 936 | 936 |
|
| 937 | 937 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 938 |
/* event associations */ |
|
| 938 |
/* event associations */
|
|
| 939 | 939 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) && (AMIROOS_CFG_SSSP_STACK_END == true) |
| 940 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC); |
|
| 940 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC);
|
|
| 941 | 941 |
#elif (AMIROOS_CFG_SSSP_STACK_START == true) |
| 942 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_UP); |
|
| 942 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_UP);
|
|
| 943 | 943 |
#elif (AMIROOS_CFG_SSSP_STACK_END == true) |
| 944 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_DN); |
|
| 944 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_DN);
|
|
| 945 | 945 |
#else |
| 946 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_DN | MODULE_SSSP_EVENTFLAGS_UP); |
|
| 946 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_DN | MODULE_SSSP_EVENTFLAGS_UP);
|
|
| 947 | 947 |
#endif |
| 948 | 948 |
#endif // end of AMIROOS_CFG_SSSP_ENABLE condition |
| 949 |
chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK); |
|
| 949 |
chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK);
|
|
| 950 | 950 |
|
| 951 | 951 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5) |
| 952 | 952 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) |
| 953 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
|
| 953 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS);
|
|
| 954 | 954 |
#else |
| 955 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
|
| 955 |
AMIROOS_CFG_MAIN_INIT_HOOK_5();
|
|
| 956 | 956 |
#endif |
| 957 | 957 |
#endif |
| 958 | 958 |
|
| 959 |
/* periphery communication initialization */ |
|
| 960 |
// CAN (mandatory) |
|
| 961 |
canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); |
|
| 959 |
/* periphery communication initialization */
|
|
| 960 |
// CAN (mandatory)
|
|
| 961 |
canStart(&MODULE_HAL_CAN, &moduleHalCanConfig);
|
|
| 962 | 962 |
|
| 963 |
// module specific initialization (if any) |
|
| 963 |
// module specific initialization (if any)
|
|
| 964 | 964 |
#ifdef MODULE_INIT_PERIPHERY_COMM |
| 965 |
MODULE_INIT_PERIPHERY_COMM(); |
|
| 965 |
MODULE_INIT_PERIPHERY_COMM();
|
|
| 966 | 966 |
#endif |
| 967 |
// user interface (if any) |
|
| 967 |
// user interface (if any)
|
|
| 968 | 968 |
#ifdef MODULE_HAL_PROGIF |
| 969 |
aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
|
| 970 |
aosIOChannelOutputEnable(&_stdiochannel); |
|
| 971 |
aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
|
| 969 |
aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF);
|
|
| 970 |
aosIOChannelOutputEnable(&_stdiochannel);
|
|
| 971 |
aosIOStreamAddChannel(&aos.iostream, &_stdiochannel);
|
|
| 972 | 972 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
| 973 |
aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
|
| 974 |
aosShellChannelInputEnable(&_stdshellchannel); |
|
| 975 |
aosShellChannelOutputEnable(&_stdshellchannel); |
|
| 976 |
aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
|
| 973 |
aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF);
|
|
| 974 |
aosShellChannelInputEnable(&_stdshellchannel);
|
|
| 975 |
aosShellChannelOutputEnable(&_stdshellchannel);
|
|
| 976 |
aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel);
|
|
| 977 | 977 |
#endif |
| 978 | 978 |
#endif |
| 979 | 979 |
|
| 980 | 980 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6) |
| 981 | 981 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS) |
| 982 |
AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS); |
|
| 982 |
AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS);
|
|
| 983 | 983 |
#else |
| 984 |
AMIROOS_CFG_MAIN_INIT_HOOK_6(); |
|
| 985 |
#endif |
|
| 986 |
#endif |
|
| 987 |
for (unsigned int hase = 0; hase < 10; ++hase) {
|
|
| 988 |
//toggle LED |
|
| 989 |
palClearLine(LINE_LED_GREEN); |
|
| 990 |
chThdSleepMilliseconds(1500); |
|
| 991 |
palSetLine(LINE_LED_GREEN); |
|
| 992 |
chThdSleepMilliseconds(500); |
|
| 993 |
} |
|
| 994 |
chprintf((BaseSequentialStream*)&SD2, "Hallo Welt!\n"); |
|
| 995 |
|
|
| 996 |
/* module is ready -> print welcome prompt */ |
|
| 997 |
aosprintf("\n");
|
|
| 998 |
aosprintf("######################################################################\n");
|
|
| 999 |
aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
|
| 1000 |
aosprintf("# Robot (AMiRo) platform. #\n");
|
|
| 1001 |
aosprintf("# Copyright (C) 2016..2018 Thomas Schöpping et al. #\n");
|
|
| 1002 |
aosprintf("# #\n");
|
|
| 1003 |
aosprintf("# This is free software; see the source for copying conditions. #\n");
|
|
| 1004 |
aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
|
|
| 1005 |
aosprintf("# A PARTICULAR PURPOSE. #\n");
|
|
| 1006 |
aosprintf("# The development of this software was supported by the Excellence #\n");
|
|
| 1007 |
aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
|
|
| 1008 |
aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
|
|
| 1009 |
aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
|
|
| 1010 |
aosprintf("######################################################################\n");
|
|
| 1011 |
aosprintf("\n");
|
|
| 984 |
AMIROOS_CFG_MAIN_INIT_HOOK_6();
|
|
| 985 |
#endif |
|
| 986 |
#endif |
|
| 987 |
// for (unsigned int hase = 0; hase < 10; ++hase) {
|
|
| 988 |
// //toggle LED
|
|
| 989 |
// palClearLine(LINE_LED_GREEN);
|
|
| 990 |
// chThdSleepMilliseconds(1500);
|
|
| 991 |
// palSetLine(LINE_LED_GREEN);
|
|
| 992 |
// chThdSleepMilliseconds(500);
|
|
| 993 |
// }
|
|
| 994 |
// chprintf((BaseSequentialStream*)&SD2, "Hallo Welt!\n");
|
|
| 995 |
|
|
| 996 |
/* module is ready -> print welcome prompt */
|
|
| 997 |
aosprintf("\n");
|
|
| 998 |
aosprintf("######################################################################\n");
|
|
| 999 |
aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
|
| 1000 |
aosprintf("# Robot (AMiRo) platform. #\n");
|
|
| 1001 |
aosprintf("# Copyright (C) 2016..2018 Thomas Schöpping et al. #\n");
|
|
| 1002 |
aosprintf("# #\n");
|
|
| 1003 |
aosprintf("# This is free software; see the source for copying conditions. #\n");
|
|
| 1004 |
aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
|
|
| 1005 |
aosprintf("# A PARTICULAR PURPOSE. #\n");
|
|
| 1006 |
aosprintf("# The development of this software was supported by the Excellence #\n");
|
|
| 1007 |
aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
|
|
| 1008 |
aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
|
|
| 1009 |
aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
|
|
| 1010 |
aosprintf("######################################################################\n");
|
|
| 1011 |
aosprintf("\n");
|
|
| 1012 | 1012 |
|
| 1013 | 1013 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7) |
| 1014 | 1014 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS) |
| 1015 |
AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS); |
|
| 1015 |
AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS);
|
|
| 1016 | 1016 |
#else |
| 1017 |
AMIROOS_CFG_MAIN_INIT_HOOK_7(); |
|
| 1018 |
#endif |
|
| 1019 |
#endif |
|
| 1017 |
AMIROOS_CFG_MAIN_INIT_HOOK_7();
|
|
| 1018 |
#endif //AMIROOS_CFG_MAIN_INIT_HOOK_7
|
|
| 1019 |
#endif //AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS
|
|
| 1020 | 1020 |
|
| 1021 | 1021 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 1022 |
/* SSSP startup OS synchronization phase (end of startup stage 2) */ |
|
| 1023 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) {
|
|
| 1024 |
/* |
|
| 1022 |
/* SSSP startup OS synchronization phase (end of startup stage 2) */
|
|
| 1023 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) {
|
|
| 1024 |
/*
|
|
| 1025 | 1025 |
* This code is executed if the received event was not about the SYS_SYNC control signal. |
| 1026 | 1026 |
* The returned event could be caused by any listener (not only the argument). |
| 1027 | 1027 |
*/ |
| 1028 |
// IO event |
|
| 1029 |
if (eventmask & _eventListenerIO.events) {
|
|
| 1030 |
eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
|
| 1031 |
// PD event |
|
| 1032 |
if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
|
| 1033 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
|
| 1034 |
} else {
|
|
| 1028 |
// IO event
|
|
| 1029 |
if (eventmask & _eventListenerIO.events) {
|
|
| 1030 |
eventflags = chEvtGetAndClearFlags(&_eventListenerIO);
|
|
| 1031 |
// PD event
|
|
| 1032 |
if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
|
| 1033 |
shutdown = AOS_SHUTDOWN_PASSIVE;
|
|
| 1034 |
} else {
|
|
| 1035 | 1035 |
#ifdef MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK |
| 1036 |
MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK(eventmask, eventflags); |
|
Also available in: Unified diff