AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    aos_main.cpp

 * @brief   Main function.

 * @details Main function with SSSP and initialization,

 *          extendable via hooks.

 *

 * @addtogroup aos_system

 * @{

 */

#include <amiroos.h>

/*

 * hook to add further includes

 */

#if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)

#include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER

#endif /* defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER) */

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

/* LOCAL DEFINITIONS                                                          */

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

/**

 * @brief   Event mask to identify I/O events.

 */

#define IOEVENT_MASK                            EVENT_MASK(0)

/**

 * @brief   Event mask to identify OS events.

 */

#define OSEVENT_MASK                            EVENT_MASK(1)

/**

 * @brief   Event mask to idetify CAN events.

 */

#define CANEVENT_MASK                           EVENT_MASK(2)

/**

 * @brief   Event mask to idetify timeout events.

 */

#define TIMEOUTEVENT_MASK                       EVENT_MASK(3)

/**

 * @brief   Event mask to idetify signal delay events.

 */

#define DELAYEVENT_MASK                         EVENT_MASK(4)

/**

 * @brief Event mask to identify rtcan message events.

 */

#define RTCANEVENT_MASK                         EVENT_MASK(5)

#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN == TRUE)) || defined(__DOXYGEN__)

#define SSSP_STAGE3_ENABLE                      true

#else /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN == TRUE) */

#define SSSP_STAGE3_ENABLE                      false

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

#if (SSSP_STAGE3_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   CAN message identifier for initialization of the SSSP stack initialization sequence.

 */

#define SSSP_STACKINIT_CANMSGID_INIT            0x003

/**

 * @brief   CAN message identifier for transmitting module IDs during the SSSP stack initialization sequence.

 */

#define SSSP_STACKINIT_CANMSGID_MODULEID        0x002

/**

 * @brief   CAN message identifier for abortion of the SSSP stack initialization sequence.

 */

#define SSSP_STACKINIT_CANMSGID_ABORT           0x001

#endif /* (SSSP_STAGE3_ENABLE == true) */

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

/**

 * @brief   Default shutdown mode if SSSP is unavailable.

 */

#define AOS_SHUTDOWN_DEFAULT                    AOS_SHUTDOWN_DEEPSLEEP

#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */

#if (HAL_USE_CAN == TRUE) || defined(__DOXYGEN__)

/**

 * @brief   CAN message identifier for calender synchronization message.

 */

#define CALENDERSYNC_CANMSGID                   0x004

#endif /* (HAL_USE_CAN == TRUE) */

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

/* EXPORTED VARIABLES                                                         */

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

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

/* LOCAL TYPES                                                                */

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

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

/* LOCAL VARIABLES                                                            */

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

/**

 * @brief   Listener object for I/O events.

 */

static event_listener_t _eventListenerIO;

/**

 * @brief   Listener object for OS events.

 */

static event_listener_t _eventListenerOS;

#if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)

/**

 * @brief   I/O channel for the programmer interface.

 */

static AosIOChannel _stdiochannel;

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

/**

 * @brief   I/O shell channel for the programmer interface.

 */

static AosShellChannel _stdshellchannel;

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)*/

#endif /* defined(MODULE_HAL_PROGIF) */

/*

 * hook to add further static variables

 */

#if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)

AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES

#endif /* defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES) */

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

/* LOCAL FUNCTIONS                                                            */

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

/**

 * @brief   Prints an error message about an unexpected event.

 *

 * @param[in] mask    The event mask.

 * @param[in] flags   The event flags.

 */

static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags)

{

#if (AMIROOS_CFG_DBG == true)

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

#else /* (AMIROOS_CFG_DBG == true) */

  (void)(mask);

  (void)(flags);

#endif /* (AMIROOS_CFG_DBG == true) */

  return;

}

#if (SSSP_STAGE3_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   Callback function to be used during SSSP stack initialization sequence.

 *

 * @param[in] par   A pointer to an @p event_source_t to be fired.

 */

static void _ssspTimerCallback(void* par)

{

  aosDbgCheck(par != NULL);

  chSysLockFromISR();

  chEvtBroadcastI((event_source_t*)par);

  chSysUnlockFromISR();

  return;

}

#endif /* (SSSP_STAGE3_ENABLE == true) */

/**

 * @brief   Helper function to serialize data.

 *

 * @param[out]  dst   Pointer to the output buffer.

 * @param[in]   src   Data to be serialized.

 * @param[in]   n     Number of bytes to serialize.

 */

inline void _serialize(uint8_t* dst, const uint64_t src, const uint8_t n)

{

  aosDbgCheck(dst != NULL);

  aosDbgCheck(n > 0 && n <= 8);

  for (uint8_t byte = 0; byte < n; ++byte) {

    dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF);

  }