amiro-os / core / src / aos_main.cpp @ 891fd122
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | e545e620 | Thomas Schöpping | |
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | 53710ca3 | Marc Rothmann | /**
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20 | * @file aos_main.cpp
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21 | * @brief Main function.
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22 | * @details Main function with SSSP and initialization,
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23 | * extendable via hooks.
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24 | *
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25 | * @addtogroup aos_system
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26 | * @{
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27 | */
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28 | |||
29 | 3940ba8a | Thomas Schöpping | #include <amiroos.h> |
30 | e545e620 | Thomas Schöpping | |
31 | b6b45e4c | Thomas Schöpping | /*
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32 | * hook to add further includes
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33 | */
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34 | 512abac1 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)
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35 | #include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER
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36 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER) */ |
37 | b6b45e4c | Thomas Schöpping | |
38 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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39 | /* LOCAL DEFINITIONS */
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40 | /******************************************************************************/
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41 | |||
42 | e545e620 | Thomas Schöpping | /**
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43 | * @brief Event mask to identify I/O events.
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44 | */
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45 | 6b53f6bf | Thomas Schöpping | #define IOEVENT_MASK EVENT_MASK(0) |
46 | e545e620 | Thomas Schöpping | |
47 | /**
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48 | * @brief Event mask to identify OS events.
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49 | */
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50 | 6b53f6bf | Thomas Schöpping | #define OSEVENT_MASK EVENT_MASK(1) |
51 | e545e620 | Thomas Schöpping | |
52 | /**
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53 | 933df08e | Thomas Schöpping | * @brief Event mask to idetify CAN events.
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54 | */
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55 | #define CANEVENT_MASK EVENT_MASK(2) |
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56 | |||
57 | /**
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58 | * @brief Event mask to idetify timeout events.
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59 | */
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60 | #define TIMEOUTEVENT_MASK EVENT_MASK(3) |
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61 | |||
62 | /**
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63 | * @brief Event mask to idetify signal delay events.
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64 | */
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65 | #define DELAYEVENT_MASK EVENT_MASK(4) |
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66 | |||
67 | 891fd122 | Julian Leichert | /**
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68 | * @brief Event mask to identify rtcan message events.
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69 | */
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70 | #define RTCANEVENT_MASK EVENT_MASK(5) |
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71 | |||
72 | 75c1f470 | Thomas Schöpping | #if ((AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN == TRUE)) || defined(__DOXYGEN__) |
73 | #define SSSP_STAGE3_ENABLE true |
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74 | #else /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN == TRUE) */ |
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75 | #define SSSP_STAGE3_ENABLE false |
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76 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN == TRUE) */ |
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77 | |||
78 | #if (SSSP_STAGE3_ENABLE == true) || defined(__DOXYGEN__) |
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79 | 9ebb11a9 | Thomas Schöpping | |
80 | 933df08e | Thomas Schöpping | /**
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81 | * @brief CAN message identifier for initialization of the SSSP stack initialization sequence.
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82 | */
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83 | #define SSSP_STACKINIT_CANMSGID_INIT 0x003 |
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84 | |||
85 | /**
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86 | * @brief CAN message identifier for transmitting module IDs during the SSSP stack initialization sequence.
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87 | */
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88 | #define SSSP_STACKINIT_CANMSGID_MODULEID 0x002 |
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89 | |||
90 | /**
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91 | * @brief CAN message identifier for abortion of the SSSP stack initialization sequence.
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92 | */
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93 | #define SSSP_STACKINIT_CANMSGID_ABORT 0x001 |
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94 | |||
95 | 75c1f470 | Thomas Schöpping | #endif /* (SSSP_STAGE3_ENABLE == true) */ |
96 | 1d3e002f | Thomas Schöpping | |
97 | 75c1f470 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE != true) || defined(__DOXYGEN__) |
98 | 1d3e002f | Thomas Schöpping | /**
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99 | * @brief Default shutdown mode if SSSP is unavailable.
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100 | */
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101 | #define AOS_SHUTDOWN_DEFAULT AOS_SHUTDOWN_DEEPSLEEP
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102 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
103 | 9ebb11a9 | Thomas Schöpping | |
104 | 75c1f470 | Thomas Schöpping | #if (HAL_USE_CAN == TRUE) || defined(__DOXYGEN__)
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105 | 933df08e | Thomas Schöpping | /**
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106 | 9461fadc | Thomas Schöpping | * @brief CAN message identifier for calender synchronization message.
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107 | */
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108 | #define CALENDERSYNC_CANMSGID 0x004 |
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109 | 75c1f470 | Thomas Schöpping | #endif /* (HAL_USE_CAN == TRUE) */ |
110 | 9461fadc | Thomas Schöpping | |
111 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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112 | /* EXPORTED VARIABLES */
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113 | /******************************************************************************/
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114 | |||
115 | /******************************************************************************/
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116 | /* LOCAL TYPES */
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117 | /******************************************************************************/
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118 | |||
119 | /******************************************************************************/
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120 | /* LOCAL VARIABLES */
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121 | /******************************************************************************/
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122 | |||
123 | 9461fadc | Thomas Schöpping | /**
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124 | e545e620 | Thomas Schöpping | * @brief Listener object for I/O events.
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125 | */
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126 | static event_listener_t _eventListenerIO;
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127 | |||
128 | /**
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129 | * @brief Listener object for OS events.
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130 | */
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131 | static event_listener_t _eventListenerOS;
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132 | |||
133 | #if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
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134 | /**
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135 | ba516b61 | Thomas Schöpping | * @brief I/O channel for the programmer interface.
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136 | e545e620 | Thomas Schöpping | */
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137 | ba516b61 | Thomas Schöpping | static AosIOChannel _stdiochannel;
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138 | |||
139 | 2dd2e257 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
140 | ba516b61 | Thomas Schöpping | /**
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141 | * @brief I/O shell channel for the programmer interface.
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142 | */
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143 | static AosShellChannel _stdshellchannel;
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144 | 2dd2e257 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)*/ |
145 | 1d3e002f | Thomas Schöpping | #endif /* defined(MODULE_HAL_PROGIF) */ |
146 | e545e620 | Thomas Schöpping | |
147 | b6b45e4c | Thomas Schöpping | /*
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148 | * hook to add further static variables
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149 | */
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150 | #if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
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151 | AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
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152 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES) */ |
153 | b6b45e4c | Thomas Schöpping | |
154 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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155 | /* LOCAL FUNCTIONS */
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156 | /******************************************************************************/
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157 | |||
158 | e545e620 | Thomas Schöpping | /**
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159 | * @brief Prints an error message about an unexpected event.
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160 | *
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161 | * @param[in] mask The event mask.
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162 | * @param[in] flags The event flags.
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163 | */
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164 | 933df08e | Thomas Schöpping | static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
165 | e545e620 | Thomas Schöpping | { |
166 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_DBG == true) |
167 | 1e5f7648 | Thomas Schöpping | aosprintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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168 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_DBG == true) */ |
169 | 933df08e | Thomas Schöpping | (void)(mask);
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170 | (void)(flags);
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171 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_DBG == true) */ |
172 | 3e1a9c79 | Thomas Schöpping | return;
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173 | 933df08e | Thomas Schöpping | } |
174 | |||
175 | 75c1f470 | Thomas Schöpping | #if (SSSP_STAGE3_ENABLE == true) || defined(__DOXYGEN__) |
176 | 933df08e | Thomas Schöpping | /**
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177 | * @brief Callback function to be used during SSSP stack initialization sequence.
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178 | *
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179 | * @param[in] par A pointer to an @p event_source_t to be fired.
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180 | */
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181 | static void _ssspTimerCallback(void* par) |
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182 | { |
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183 | aosDbgCheck(par != NULL);
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184 | |||
185 | chSysLockFromISR(); |
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186 | chEvtBroadcastI((event_source_t*)par); |
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187 | chSysUnlockFromISR(); |
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188 | |||
189 | e545e620 | Thomas Schöpping | return;
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190 | } |
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191 | 75c1f470 | Thomas Schöpping | #endif /* (SSSP_STAGE3_ENABLE == true) */ |
192 | e545e620 | Thomas Schöpping | |
193 | /**
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194 | 9461fadc | Thomas Schöpping | * @brief Helper function to serialize data.
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195 | 933df08e | Thomas Schöpping | *
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196 | * @param[out] dst Pointer to the output buffer.
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197 | 9461fadc | Thomas Schöpping | * @param[in] src Data to be serialized.
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198 | * @param[in] n Number of bytes to serialize.
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199 | 933df08e | Thomas Schöpping | */
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200 | 9461fadc | Thomas Schöpping | inline void _serialize(uint8_t* dst, const uint64_t src, const uint8_t n) |
201 | 933df08e | Thomas Schöpping | { |
202 | aosDbgCheck(dst != NULL);
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203 | 9461fadc | Thomas Schöpping | aosDbgCheck(n > 0 && n <= 8); |
204 | 933df08e | Thomas Schöpping | |
205 | 9461fadc | Thomas Schöpping | for (uint8_t byte = 0; byte < n; ++byte) { |
206 | 933df08e | Thomas Schöpping | dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF); |
207 | } |
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208 | |||
209 | return;
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210 | } |
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211 | |||
212 | /**
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213 | 9461fadc | Thomas Schöpping | * @brief Helper function to deserialize data.
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214 | 933df08e | Thomas Schöpping | *
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215 | * @param[in] src Pointer to the buffer of data to be deserialzed.
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216 | 9461fadc | Thomas Schöpping | * @param[in] n Number of bytes to deserialize.
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217 | 933df08e | Thomas Schöpping | *
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218 | * @return The deserialized 32 bit data.
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219 | */
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220 | 9461fadc | Thomas Schöpping | inline uint64_t _deserialize(uint8_t* src, const uint8_t n) |
221 | 933df08e | Thomas Schöpping | { |
222 | aosDbgCheck(src != NULL);
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223 | 9461fadc | Thomas Schöpping | aosDbgCheck(n > 0 && n <= 8); |
224 | 933df08e | Thomas Schöpping | |
225 | 9461fadc | Thomas Schöpping | uint64_t result = 0;
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226 | for (uint8_t byte = 0; byte < n; ++byte) { |
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227 | result |= ((uint64_t)src[byte]) << (byte * 8);
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228 | } |
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229 | |||
230 | return result;
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231 | } |
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232 | |||
233 | 23437e98 | Thomas Schöpping | #if (HAL_USE_RTC == TRUE) || defined(__DOXYGEN__)
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234 | |||
235 | 9461fadc | Thomas Schöpping | /**
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236 | * @brief Converter function to encode a TM value to a single unsigned 64 bit integer.
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237 | *
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238 | * @details Contents of the TM struct are mapped as follows:
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239 | * bits |63 62|61 53|52 50|49 26|25 22|21 17|16 12|11 6|5 0|
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240 | * #bits | 2 | 9 | 3 | 24 | 4 | 5 | 5 | 6 | 6 |
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241 | * value | isdst | yday | wday | year | mon | mday | hour | min | sec |
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242 | * range | special | [0, 365] | [0, 6] | [1900, ...] | [0, 11] | [1, 31] | [0, 23] | [0, 59] | [0, 61] |
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243 | * The Daylight Saving Time Flag (isdsst) is encoded as follows:
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244 | * DST not in effect -> 0
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245 | * DST in effect -> 1
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246 | * no information available -> 2
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247 | *
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248 | * @param[in] src Pointer to the TM struct to encode.
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249 | *
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250 | * @return An unsigned 64 bit integer, which holds the encoded time value.
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251 | */
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252 | inline uint64_t _TM2U64(struct tm* src) |
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253 | { |
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254 | aosDbgCheck(src != NULL);
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255 | |||
256 | return (((uint64_t)(src->tm_sec & 0x0000003F) << (0)) | |
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257 | ((uint64_t)(src->tm_min & 0x0000003F) << (6)) | |
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258 | ((uint64_t)(src->tm_hour & 0x0000001F) << (12)) | |
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259 | ((uint64_t)(src->tm_mday & 0x0000001F) << (17)) | |
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260 | ((uint64_t)(src->tm_mon & 0x0000000F) << (22)) | |
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261 | ((uint64_t)(src->tm_year & 0x00FFFFFF) << (26)) | |
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262 | ((uint64_t)(src->tm_wday & 0x00000007) << (50)) | |
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263 | ((uint64_t)(src->tm_yday & 0x000001FF) << (53)) | |
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264 | ((uint64_t)((src->tm_isdst == 0) ? 0 : (src->tm_isdst > 0) ? 1 : 2) << (62))); |
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265 | } |
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266 | |||
267 | /**
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268 | * @brief Converter functiomn to retrieve the encoded TM value from an unsigned 64 bit integer.
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269 | *
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270 | * @details For information on the encoding, please refer to @p _TM2U64 function.
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271 | *
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272 | * @param[out] dst The TM struct to fill with the decoded values.
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273 | * @param[in] src Unsigned 64 bit integer holding the encoded TM value.
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274 | */
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275 | inline void _U642TM(struct tm* dst, const uint64_t src) |
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276 | { |
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277 | aosDbgCheck(dst != NULL);
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278 | |||
279 | dst->tm_sec = (src >> 0) & 0x0000003F; |
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280 | dst->tm_min = (src >> 6) & 0x0000003F; |
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281 | dst->tm_hour = (src >> 12) & 0x0000001F; |
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282 | dst->tm_mday = (src >> 17) & 0x0000001F; |
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283 | dst->tm_mon = (src >> 22) & 0x0000000F; |
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284 | dst->tm_year = (src >> 26) & 0x00FFFFFF; |
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285 | dst->tm_wday = (src >> 50) & 0x00000007; |
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286 | dst->tm_yday = (src >> 53) & 0x000001FF; |
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287 | dst->tm_isdst = (((src >> 62) & 0x03) == 0) ? 0 : (((src >> 62) & 0x03) > 0) ? 1 : -1; |
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288 | |||
289 | return;
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290 | 933df08e | Thomas Schöpping | } |
291 | |||
292 | 7de0cc90 | Thomas Schöpping | #endif /* (HAL_USE_RTC == TRUE) */ |
293 | 23437e98 | Thomas Schöpping | |
294 | 75c1f470 | Thomas Schöpping | #if (SSSP_STAGE3_ENABLE) || defined(__DOXYGEN__)
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295 | 933df08e | Thomas Schöpping | /**
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296 | * @brief Implementation of the SSSP module stack initialization sequence (startup phase 3).
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297 | *
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298 | * @return Shutdown value.
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299 | * @retval AOS_SHUTDOWN_NONE No shutdown signal received
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300 | * @retval AOS_SHUTDOWN_PASSIVE Shutdown signal received.
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301 | */
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302 | aos_shutdown_t _ssspModuleStackInitialization(void)
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303 | { |
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304 | // local types
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305 | /**
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306 | * @brief States for the internal state machine to implement SSSP startup stage 3.
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307 | */
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308 | typedef enum { |
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309 | STAGE_3_1, /**< Initiation of SSSP startup stage 3. */
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310 | STAGE_3_2, /**< Starting the sequence and broadcasting the first ID. */
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311 | STAGE_3_3_WAITFORFIRSTID, /**< Waiting for first ID after initiation. */
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312 | STAGE_3_3_WAITFORIDORSIG, /**< Waiting for next ID or activation of neighbor signal. */
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313 | STAGE_3_3_WAITFORID, /**< Waiting for next ID (after the module has set its own ID). */
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314 | STAGE_3_4_FINISH, /**< Successful finish of stage 3. */
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315 | STAGE_3_4_ABORT_ACTIVE, /**< Aborting stage 3 (active). */
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316 | STAGE_3_4_ABORT, /**< Aborting stage 3 (passive). */
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317 | } sssp_modulestackinitstage_t; |
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318 | |||
319 | typedef struct { |
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320 | bool loop : 1; |
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321 | bool wfe : 1; |
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322 | bool wfe_next : 1; |
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323 | } flags_t; |
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324 | |||
325 | // local variables
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326 | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
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327 | sssp_modulestackinitstage_t stage = STAGE_3_1; |
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328 | eventmask_t eventmask = 0;
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329 | 1d3e002f | Thomas Schöpping | eventflags_t ioflags = 0;
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330 | 933df08e | Thomas Schöpping | event_source_t eventSourceTimeout; |
331 | event_source_t eventSourceDelay; |
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332 | event_listener_t eventListenerTimeout; |
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333 | event_listener_t eventListenerDelay; |
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334 | event_listener_t eventListenerCan; |
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335 | virtual_timer_t timerTimeout; |
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336 | virtual_timer_t timerDelay; |
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337 | CANTxFrame canTxFrame; |
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338 | CANRxFrame canRxFrame; |
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339 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
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340 | aos_ssspmoduleid_t lastid = 0;
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341 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) */ |
342 | 933df08e | Thomas Schöpping | flags_t flags; |
343 | 1d3e002f | Thomas Schöpping | aos_timestamp_t uptime; |
344 | 933df08e | Thomas Schöpping | |
345 | // initialize local varibles
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346 | chEvtObjectInit(&eventSourceTimeout); |
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347 | chEvtObjectInit(&eventSourceDelay); |
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348 | chVTObjectInit(&timerTimeout); |
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349 | chVTObjectInit(&timerDelay); |
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350 | canTxFrame.RTR = CAN_RTR_DATA; |
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351 | canTxFrame.IDE = CAN_IDE_STD; |
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352 | flags.loop = true;
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353 | flags.wfe = false; // do not wait for events in the initial iteration of the FSM loop |
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354 | flags.wfe_next = true;
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355 | |||
356 | // initialize system variables
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357 | aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
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358 | aos.sssp.moduleId = 0;
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359 | |||
360 | // listen to events (timout, delay, CAN receive)
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361 | chEvtRegisterMask(&eventSourceTimeout, &eventListenerTimeout, TIMEOUTEVENT_MASK); |
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362 | chEvtRegisterMask(&eventSourceDelay, &eventListenerDelay, DELAYEVENT_MASK); |
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363 | chEvtRegisterMask(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan, CANEVENT_MASK); |
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364 | |||
365 | /*
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366 | * FSM in a loop.
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367 | *
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368 | * This is a fully event-based FSM for the module stack initialization
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369 | * sequence, defined by SSSP as startup stage 3. There are five different
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370 | * events that can occur at this point:
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371 | * I/O events: The input level of an input pin has changed. Such events must
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372 | * be handled differently depending on the current state. Most
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373 | * of the time, however, such events can be ignored.
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374 | * OS events: Such events are only available after this stage completed and
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375 | * thus should never occur. However, there is an optional hook
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376 | * to handle such events, nevertheless.
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377 | * CAN events: At least one CAN message was received. Note that this event
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378 | * will only fire again if all input buffers have been cleared.
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379 | * timeouts: If some module does not support the sequence of there is any
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380 | * issue, such a case is detected via timeouts and must be
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381 | * handled accordingly (see abort state). In some cases, it is
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382 | * possible that a timeout event occurres 'simultaneously' with
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383 | * some other event. This can be caused by several timing issues
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384 | * and is a valid situation. As a result, any other events
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385 | * should be handled before the timeout event. If the other
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386 | * events are expected and valid, this implementation requires
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387 | * the timeout event flag to be cleared explicitely. Otherwise
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388 | * it is evaluated at the end of each iteration of the loop.
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389 | * delays: Depending on the current state, delays are required by SSSP
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390 | * for timing of the sequential activation of signals.
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391 | */
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392 | aosDbgPrintf("SSSP stack initialization sequence:\n");
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393 | while (flags.loop) {
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394 | #if (AMIROOS_CFG_DBG == true) |
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395 | switch (stage) {
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396 | case STAGE_3_1:
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397 | aosDbgPrintf(">>> 3-1\n");
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398 | break;
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399 | case STAGE_3_2:
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400 | aosDbgPrintf(">>> 3-2\n");
|
||
401 | break;
|
||
402 | case STAGE_3_3_WAITFORFIRSTID:
|
||
403 | aosDbgPrintf(">>> 3-3 (1st ID)\n");
|
||
404 | break;
|
||
405 | case STAGE_3_3_WAITFORIDORSIG:
|
||
406 | aosDbgPrintf(">>> 3-3 (ID/sig)\n");
|
||
407 | break;
|
||
408 | case STAGE_3_3_WAITFORID:
|
||
409 | aosDbgPrintf(">>> 3-3 (ID)\n");
|
||
410 | break;
|
||
411 | case STAGE_3_4_FINISH:
|
||
412 | aosDbgPrintf(">>> 3-4 (finish)\n");
|
||
413 | break;
|
||
414 | case STAGE_3_4_ABORT_ACTIVE:
|
||
415 | 9461fadc | Thomas Schöpping | aosDbgPrintf(">>> 3-4 (active abort)\n");
|
416 | 933df08e | Thomas Schöpping | break;
|
417 | case STAGE_3_4_ABORT:
|
||
418 | aosDbgPrintf(">>> 3-4 (abort)\n");
|
||
419 | break;
|
||
420 | } |
||
421 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_DBG == true) */ |
422 | 933df08e | Thomas Schöpping | |
423 | // reset wfe flag for the next iteration
|
||
424 | flags.wfe_next = true;
|
||
425 | |||
426 | 1d3e002f | Thomas Schöpping | // waiting for events (may be skipped)
|
427 | 933df08e | Thomas Schöpping | if (flags.wfe) {
|
428 | // wait for any event to occur
|
||
429 | aosDbgPrintf("WFE...");
|
||
430 | 1e5f7648 | Thomas Schöpping | eventmask = chEvtWaitAnyTimeout(ALL_EVENTS, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)); |
431 | 933df08e | Thomas Schöpping | aosDbgPrintf("\t0x%08X", eventmask);
|
432 | } else {
|
||
433 | aosDbgPrintf("WFE skipped");
|
||
434 | 1d3e002f | Thomas Schöpping | eventmask = 0;
|
435 | 933df08e | Thomas Schöpping | } |
436 | aosSysGetUptime(&uptime); |
||
437 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / MICROSECONDS_PER_MILLISECOND));
|
438 | 933df08e | Thomas Schöpping | |
439 | /*
|
||
440 | * execute some general tasks and high priority events
|
||
441 | */
|
||
442 | // no event occurred at all
|
||
443 | if ((flags.wfe) && (eventmask == 0)) { |
||
444 | aosDbgPrintf("ERR: no evt\n");
|
||
445 | // enforce timeout event
|
||
446 | chEvtBroadcast(&eventSourceTimeout); |
||
447 | continue;
|
||
448 | } |
||
449 | // if an IO event occurred
|
||
450 | 9461fadc | Thomas Schöpping | if (eventmask & _eventListenerIO.events) {
|
451 | 933df08e | Thomas Schöpping | ioflags = chEvtGetAndClearFlags(&_eventListenerIO); |
452 | aosDbgPrintf("INFO: IO evt (0x%08X)\n", ioflags);
|
||
453 | // a power-down event occurred
|
||
454 | if (ioflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
||
455 | aosDbgPrintf("PD evt\n");
|
||
456 | // deactivate S and UP
|
||
457 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling S\n");
|
458 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
459 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
460 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling UP\n");
|
461 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
462 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
463 | 933df08e | Thomas Schöpping | // set shutdown flag and exit the loop
|
464 | shutdown = AOS_SHUTDOWN_PASSIVE; |
||
465 | break;
|
||
466 | } |
||
467 | // the S signal was deactivated
|
||
468 | if (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC) {
|
||
469 | apalControlGpioState_t sstate; |
||
470 | apalControlGpioGet(&moduleSsspGpioSync, &sstate); |
||
471 | 1d3e002f | Thomas Schöpping | if (sstate == APAL_GPIO_ON) {
|
472 | aosDbgPrintf("S evt (enabled)\n");
|
||
473 | } else {
|
||
474 | aosDbgPrintf("S evt (disabled)\n");
|
||
475 | 933df08e | Thomas Schöpping | // either finish or abort
|
476 | if ((stage == STAGE_3_3_WAITFORID) && (aos.sssp.moduleId != 0)) { |
||
477 | stage = STAGE_3_4_FINISH; |
||
478 | } else if (stage != STAGE_3_4_ABORT) { |
||
479 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
480 | } |
||
481 | } |
||
482 | } |
||
483 | } |
||
484 | // an OS event occurred
|
||
485 | 9461fadc | Thomas Schöpping | if (eventmask & _eventListenerOS.events) {
|
486 | 933df08e | Thomas Schöpping | aosDbgPrintf("WARN: OS evt\n");
|
487 | // get the flags
|
||
488 | eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
489 | // there should be no OS events at this point
|
||
490 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_SSSP_STARTUP_3_OSEVENT_HOOK)
|
491 | 933df08e | Thomas Schöpping | MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags); |
492 | 7de0cc90 | Thomas Schöpping | #else /* defined(MODULE_SSSP_STARTUP_3_OSEVENT_HOOK) */ |
493 | 933df08e | Thomas Schöpping | _unexpectedEventError(eventmask, oseventflags); |
494 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_SSSP_STARTUP_3_OSEVENT_HOOK) */ |
495 | 933df08e | Thomas Schöpping | } |
496 | // if a CAN event occurred
|
||
497 | 9461fadc | Thomas Schöpping | if ((eventmask & eventListenerCan.events)) {
|
498 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("CAN evt\n");
|
499 | 933df08e | Thomas Schöpping | // fetch message
|
500 | if (flags.wfe) {
|
||
501 | canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE); |
||
502 | aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
||
503 | } |
||
504 | // identify and handle abort messgaes
|
||
505 | if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
||
506 | stage = STAGE_3_4_ABORT; |
||
507 | } |
||
508 | // warn if a unexpected message was received
|
||
509 | else if ((canRxFrame.SID != SSSP_STACKINIT_CANMSGID_INIT) && |
||
510 | (canRxFrame.SID != SSSP_STACKINIT_CANMSGID_MODULEID)) { |
||
511 | aosDbgPrintf("WARN: unknown msg\n");
|
||
512 | } |
||
513 | // any further pending messages are fetched at the end of the loop
|
||
514 | } |
||
515 | // if a timeout event occurred
|
||
516 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerTimeout.events) {
|
517 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("timeout evt\n");
|
518 | 933df08e | Thomas Schöpping | // is handled at the end of the loop (or must be cleared by FSM)
|
519 | } |
||
520 | // if a delay event occurred
|
||
521 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
522 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("delay evt\n");
|
523 | 933df08e | Thomas Schöpping | // is handled by FSM
|
524 | } |
||
525 | |||
526 | /*
|
||
527 | * this is the actual FSM
|
||
528 | */
|
||
529 | switch (stage) {
|
||
530 | case STAGE_3_1:
|
||
531 | { |
||
532 | aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
||
533 | |||
534 | // there was no event at all (skipped wfe)
|
||
535 | if (eventmask == 0 && flags.wfe == false) { |
||
536 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
537 | // initialize the stage by transmitting an according CAN message
|
||
538 | aosDbgPrintf("CAN -> init\n");
|
||
539 | canTxFrame.DLC = 0;
|
||
540 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_INIT; |
||
541 | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
||
542 | chEvtBroadcast(&eventSourceTimeout); |
||
543 | break;
|
||
544 | } |
||
545 | // activate S
|
||
546 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("enabling S\n");
|
547 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
548 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
549 | // proceed immediately
|
||
550 | stage = STAGE_3_2; |
||
551 | flags.wfe_next = false;
|
||
552 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
553 | 933df08e | Thomas Schöpping | // set the timeout timer
|
554 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
555 | 933df08e | Thomas Schöpping | // proceed
|
556 | stage = STAGE_3_3_WAITFORFIRSTID; |
||
557 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
558 | #else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
||
559 | 933df08e | Thomas Schöpping | // set the timeout timer
|
560 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
561 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
562 | 933df08e | Thomas Schöpping | } |
563 | |||
564 | #if (AMIROOS_CFG_SSSP_MASTER != true) |
||
565 | // a CAN message was received
|
||
566 | 9461fadc | Thomas Schöpping | else if (eventmask & eventListenerCan.events) { |
567 | 933df08e | Thomas Schöpping | // if an initiation message was received
|
568 | if (canRxFrame.DLC == 0 && |
||
569 | canRxFrame.RTR == CAN_RTR_DATA && |
||
570 | canRxFrame.IDE == CAN_IDE_STD && |
||
571 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) { |
||
572 | aosDbgPrintf("init msg\n");
|
||
573 | // reset the timeout timer and clear pending flags
|
||
574 | chVTReset(&timerTimeout); |
||
575 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
576 | eventmask &= ~(eventListenerTimeout.events); |
||
577 | 933df08e | Thomas Schöpping | // activate S
|
578 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("enabling S\n");
|
579 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
580 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
581 | // proceed
|
||
582 | stage = STAGE_3_2; |
||
583 | flags.wfe_next = false;
|
||
584 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
585 | 933df08e | Thomas Schöpping | // set the timeout timer
|
586 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
587 | 933df08e | Thomas Schöpping | // proceed
|
588 | stage = STAGE_3_3_WAITFORFIRSTID; |
||
589 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
590 | 933df08e | Thomas Schöpping | } |
591 | } |
||
592 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_MASTER != true) */ |
593 | 933df08e | Thomas Schöpping | |
594 | break;
|
||
595 | } /* end of STAGE_3_1 */
|
||
596 | |||
597 | case STAGE_3_2:
|
||
598 | { |
||
599 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
600 | aos.sssp.stage = AOS_SSSP_STARTUP_3_2; |
||
601 | |||
602 | // if this stage was just entered
|
||
603 | if (flags.wfe == false) { |
||
604 | // set the module ID
|
||
605 | aos.sssp.moduleId = 1;
|
||
606 | // broadcast module ID
|
||
607 | aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
||
608 | canTxFrame.DLC = 4;
|
||
609 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
||
610 | 9461fadc | Thomas Schöpping | _serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
611 | 933df08e | Thomas Schöpping | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
612 | chEvtBroadcast(&eventSourceTimeout); |
||
613 | break;
|
||
614 | } |
||
615 | 7de0cc90 | Thomas Schöpping | #if (AMIROOS_CFG_DBG == true) |
616 | 933df08e | Thomas Schöpping | lastid = aos.sssp.moduleId; |
617 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_DBG == true) */ |
618 | 933df08e | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_END == true) |
619 | // sequence is already over
|
||
620 | // deactivate S
|
||
621 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling S\n");
|
622 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
623 | // proceed
|
||
624 | stage = STAGE_3_3_WAITFORID; |
||
625 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
626 | 933df08e | Thomas Schöpping | // set the delay timer so the UP signal is activated later
|
627 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
628 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
629 | 933df08e | Thomas Schöpping | } |
630 | |||
631 | // if a delay event occurred
|
||
632 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
633 | 933df08e | Thomas Schöpping | // activate UP
|
634 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("enabling UP\n");
|
635 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
636 | // deactivate S
|
||
637 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling S\n");
|
638 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
639 | // explicitely clear timeout event flag
|
||
640 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
641 | eventmask &= ~(eventListenerTimeout.events); |
||
642 | 933df08e | Thomas Schöpping | // proceed
|
643 | stage = STAGE_3_3_WAITFORID; |
||
644 | } |
||
645 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
646 | 933df08e | Thomas Schöpping | |
647 | break;
|
||
648 | } /* end of STAGE_3_2 */
|
||
649 | |||
650 | case STAGE_3_3_WAITFORFIRSTID:
|
||
651 | { |
||
652 | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
||
653 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
654 | |||
655 | // a CAN message was received
|
||
656 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
657 | 933df08e | Thomas Schöpping | // if an ID message was received
|
658 | if (canRxFrame.DLC == 4 && |
||
659 | canRxFrame.RTR == CAN_RTR_DATA && |
||
660 | canRxFrame.IDE == CAN_IDE_STD && |
||
661 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) { |
||
662 | 9461fadc | Thomas Schöpping | aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4)); |
663 | 933df08e | Thomas Schöpping | // validate received ID
|
664 | 9461fadc | Thomas Schöpping | if (lastid < _deserialize(canRxFrame.data8, 4)) { |
665 | 933df08e | Thomas Schöpping | // store received ID
|
666 | 9461fadc | Thomas Schöpping | lastid = _deserialize(canRxFrame.data8, 4);
|
667 | 933df08e | Thomas Schöpping | // restart timeout timer
|
668 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
669 | 933df08e | Thomas Schöpping | // proceed
|
670 | stage = STAGE_3_3_WAITFORIDORSIG; |
||
671 | } else {
|
||
672 | aosDbgPrintf("ERR: invalid ID\n");
|
||
673 | // abort
|
||
674 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
675 | flags.wfe_next = false;
|
||
676 | } |
||
677 | // explicitely clear timeout event flag
|
||
678 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
679 | eventmask &= ~(eventListenerTimeout.events); |
||
680 | 933df08e | Thomas Schöpping | } |
681 | } |
||
682 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
683 | 933df08e | Thomas Schöpping | break;
|
684 | } /* end of STAGE_3_3_WAITFORFIRSTID */
|
||
685 | |||
686 | case STAGE_3_3_WAITFORIDORSIG:
|
||
687 | { |
||
688 | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
||
689 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
690 | |||
691 | // a CAN message was received
|
||
692 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
693 | 933df08e | Thomas Schöpping | // if an ID message was received
|
694 | if (canRxFrame.DLC == 4 && |
||
695 | canRxFrame.RTR == CAN_RTR_DATA && |
||
696 | canRxFrame.IDE == CAN_IDE_STD && |
||
697 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) { |
||
698 | 9461fadc | Thomas Schöpping | aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4)); |
699 | 933df08e | Thomas Schöpping | // validate received ID
|
700 | 9461fadc | Thomas Schöpping | if (lastid < _deserialize(canRxFrame.data8, 4)) { |
701 | 933df08e | Thomas Schöpping | // store received ID
|
702 | 9461fadc | Thomas Schöpping | lastid = _deserialize(canRxFrame.data8, 4);
|
703 | 933df08e | Thomas Schöpping | // restart timeout timer
|
704 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
705 | 933df08e | Thomas Schöpping | } else {
|
706 | aosDbgPrintf("ERR: invalid ID\n");
|
||
707 | // abort
|
||
708 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
709 | flags.wfe_next = false;
|
||
710 | } |
||
711 | // explicitely clear timeout event flag
|
||
712 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
713 | eventmask &= ~(eventListenerTimeout.events); |
||
714 | 933df08e | Thomas Schöpping | } |
715 | } |
||
716 | |||
717 | // if an IO event was received (DN signal)
|
||
718 | 9461fadc | Thomas Schöpping | if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_DN)) {
|
719 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("DN evt\n");
|
720 | 933df08e | Thomas Schöpping | // reset timeout timer
|
721 | chVTReset(&timerTimeout); |
||
722 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
723 | eventmask &= ~(eventListenerTimeout.events); |
||
724 | 933df08e | Thomas Schöpping | // increment and broadcast ID
|
725 | aos.sssp.moduleId = lastid + 1;
|
||
726 | aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
||
727 | canTxFrame.DLC = 4;
|
||
728 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
||
729 | 9461fadc | Thomas Schöpping | _serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
730 | 933df08e | Thomas Schöpping | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
731 | chEvtBroadcast(&eventSourceTimeout); |
||
732 | break;
|
||
733 | } |
||
734 | // set delay timer
|
||
735 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
736 | 933df08e | Thomas Schöpping | } |
737 | |||
738 | // if a delay event occurred
|
||
739 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
740 | 933df08e | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
741 | // activate UP
|
||
742 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("enabling UP\n");
|
743 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
744 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
745 | 933df08e | Thomas Schöpping | // deactivate S
|
746 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling S\n");
|
747 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
748 | // reset the timeout timer
|
||
749 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
750 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
751 | eventmask &= ~(eventListenerTimeout.events); |
||
752 | 933df08e | Thomas Schöpping | // proceed
|
753 | stage = STAGE_3_3_WAITFORID; |
||
754 | } |
||
755 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
756 | 933df08e | Thomas Schöpping | |
757 | break;
|
||
758 | } /* end of STAGE_3_3_WAITFORIDORSIG */
|
||
759 | |||
760 | case STAGE_3_3_WAITFORID:
|
||
761 | { |
||
762 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
763 | |||
764 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
765 | // a CAN message was received
|
||
766 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
767 | 933df08e | Thomas Schöpping | // if an ID message was received
|
768 | if (canRxFrame.DLC == 4 && |
||
769 | canRxFrame.RTR == CAN_RTR_DATA && |
||
770 | canRxFrame.IDE == CAN_IDE_STD && |
||
771 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) { |
||
772 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
||
773 | // Plausibility of the received ID is not checked at this point but is done by other modules still in a previous stage.
|
||
774 | 9461fadc | Thomas Schöpping | lastid = _deserialize(canRxFrame.data8, 4);
|
775 | 933df08e | Thomas Schöpping | aosDbgPrintf("ID (%u)\n", lastid);
|
776 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) */ |
777 | 933df08e | Thomas Schöpping | // restart timeout timer
|
778 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
779 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
780 | eventmask &= ~(eventListenerTimeout.events); |
||
781 | 933df08e | Thomas Schöpping | } |
782 | } |
||
783 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
784 | 933df08e | Thomas Schöpping | |
785 | break;
|
||
786 | } /* end of STAGE_3_3_WAITFORID */
|
||
787 | |||
788 | case STAGE_3_4_FINISH:
|
||
789 | { |
||
790 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
791 | |||
792 | // if an IO event was received (S signal)
|
||
793 | 9461fadc | Thomas Schöpping | if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
794 | 933df08e | Thomas Schöpping | // reset the timeout timer
|
795 | chVTReset(&timerTimeout); |
||
796 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
797 | eventmask &= ~(eventListenerTimeout.events); |
||
798 | 933df08e | Thomas Schöpping | //set the delay timer
|
799 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerDelay, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceDelay); |
800 | 933df08e | Thomas Schöpping | } |
801 | |||
802 | // if a CAN event was received
|
||
803 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
804 | 933df08e | Thomas Schöpping | // if an abort message was received
|
805 | if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
||
806 | aosDbgPrintf("abort msg\n");
|
||
807 | // reset the delay timer
|
||
808 | chVTReset(&timerDelay); |
||
809 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerDelay.events, TIME_IMMEDIATE); |
810 | eventmask &= ~(eventListenerDelay.events); |
||
811 | 933df08e | Thomas Schöpping | // proceed
|
812 | stage = STAGE_3_4_ABORT; |
||
813 | } |
||
814 | } |
||
815 | |||
816 | // if a delay timer event occurred
|
||
817 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
818 | 933df08e | Thomas Schöpping | aosDbgPrintf("sequence sucessful\n");
|
819 | // sequence finished sucessfully
|
||
820 | flags.loop = false;
|
||
821 | } |
||
822 | |||
823 | break;
|
||
824 | } /* end of STAGE_3_4_FINISH */
|
||
825 | |||
826 | case STAGE_3_4_ABORT_ACTIVE:
|
||
827 | { |
||
828 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
829 | |||
830 | // emit abort message
|
||
831 | canTxFrame.DLC = 0;
|
||
832 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_ABORT; |
||
833 | canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_INFINITE); |
||
834 | aosDbgPrintf("CAN -> abort\n");
|
||
835 | // clear timeout flag
|
||
836 | 9461fadc | Thomas Schöpping | eventmask &= ~(eventListenerTimeout.events); |
837 | 933df08e | Thomas Schöpping | // proceed immediately
|
838 | stage = STAGE_3_4_ABORT; |
||
839 | flags.wfe_next = false;
|
||
840 | break;
|
||
841 | } /* end of STAGE_3_4_ABORT_ACTIVE */
|
||
842 | |||
843 | case STAGE_3_4_ABORT:
|
||
844 | { |
||
845 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
846 | |||
847 | // deactivate S
|
||
848 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling SYNC\n");
|
849 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
850 | // invalidate module ID
|
||
851 | aos.sssp.moduleId = 0;
|
||
852 | |||
853 | // if an IO event was received (S signal)
|
||
854 | 9461fadc | Thomas Schöpping | if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
855 | 933df08e | Thomas Schöpping | aosDbgPrintf("sequence aborted\n");
|
856 | // exit the sequence
|
||
857 | flags.loop = false;
|
||
858 | } |
||
859 | |||
860 | break;
|
||
861 | } /* end of STAGE_3_4_ABORT */
|
||
862 | 1d3e002f | Thomas Schöpping | } /* end of switch(stage) */
|
863 | 933df08e | Thomas Schöpping | |
864 | // fetch pending CAN message (if any)
|
||
865 | 9461fadc | Thomas Schöpping | if ((eventmask & eventListenerCan.events) && (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE) == MSG_OK)) {
|
866 | 933df08e | Thomas Schöpping | aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
867 | flags.wfe_next = false;
|
||
868 | } |
||
869 | |||
870 | // handle unhandled timeout events
|
||
871 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerTimeout.events) {
|
872 | 933df08e | Thomas Schöpping | aosDbgPrintf("ERR: timeout evt\n");
|
873 | // abort
|
||
874 | flags.wfe_next = false;
|
||
875 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
876 | } |
||
877 | |||
878 | // apply wfe value for next iteration
|
||
879 | flags.wfe = flags.wfe_next; |
||
880 | 1e5f7648 | Thomas Schöpping | } /* end of FSM loop */
|
881 | 933df08e | Thomas Schöpping | |
882 | // unregister all events (timeout, delay, CAN receive)
|
||
883 | chEvtUnregister(&eventSourceTimeout, &eventListenerTimeout); |
||
884 | chEvtUnregister(&eventSourceDelay, &eventListenerDelay); |
||
885 | chEvtUnregister(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan); |
||
886 | // clear any pending events (timeout, delay, CAN receive)
|
||
887 | chEvtWaitAllTimeout(TIMEOUTEVENT_MASK | DELAYEVENT_MASK | CANEVENT_MASK, TIME_IMMEDIATE); |
||
888 | |||
889 | // reset all control signals
|
||
890 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
891 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling UP\n");
|
892 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
893 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
894 | 1d3e002f | Thomas Schöpping | aosDbgPrintf("disabling S\n");
|
895 | 933df08e | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
896 | 1d3e002f | Thomas Schöpping | aosSysGetUptime(&uptime); |
897 | aosDbgPrintf("done\t%04ums\n", (uint32_t)(uptime / MICROSECONDS_PER_MILLISECOND));
|
||
898 | 933df08e | Thomas Schöpping | |
899 | return shutdown;
|
||
900 | } |
||
901 | 75c1f470 | Thomas Schöpping | #endif /* (SSSP_STAGE3_ENABLE == true) */ |
902 | 933df08e | Thomas Schöpping | |
903 | /**
|
||
904 | e545e620 | Thomas Schöpping | * @brief Application entry point.
|
905 | */
|
||
906 | int main(void) |
||
907 | { |
||
908 | // local variables
|
||
909 | eventmask_t eventmask = 0;
|
||
910 | eventflags_t eventflags = 0;
|
||
911 | e2377d9e | Thomas Schöpping | eventflags_t ioeventflagsmask = AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK; |
912 | e545e620 | Thomas Schöpping | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
913 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)
|
914 | AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
||
915 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES) */ |
916 | e545e620 | Thomas Schöpping | |
917 | /*
|
||
918 | * ##########################################################################
|
||
919 | * # system initialization #
|
||
920 | * ##########################################################################
|
||
921 | */
|
||
922 | |||
923 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
|
||
924 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS)
|
925 | AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS); |
||
926 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS) */ |
927 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_0(); |
928 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS) */ |
929 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_0) */ |
||
930 | e545e620 | Thomas Schöpping | |
931 | /* hardware, kernel, and operating system initialization */
|
||
932 | // ChibiOS/HAL and custom hal additions (if any)
|
||
933 | halInit(); |
||
934 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_INIT_HAL_EXTRA)
|
935 | e545e620 | Thomas Schöpping | MODULE_INIT_HAL_EXTRA(); |
936 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_INIT_HAL_EXTRA) */ |
937 | e545e620 | Thomas Schöpping | |
938 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
|
||
939 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
|
||
940 | AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
||
941 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
942 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
943 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
944 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1) */ |
||
945 | e545e620 | Thomas Schöpping | |
946 | // ChibiOS/RT kernel and custom kernel additions (if any)
|
||
947 | chSysInit(); |
||
948 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_INIT_KERNEL_EXTRA)
|
949 | e545e620 | Thomas Schöpping | MODULE_INIT_KERNEL_EXTRA(); |
950 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_INIT_KERNEL_EXTRA) */ |
951 | e545e620 | Thomas Schöpping | |
952 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
|
||
953 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
|
||
954 | AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
||
955 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */ |
956 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
957 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */ |
958 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2) */ |
||
959 | e545e620 | Thomas Schöpping | |
960 | // AMiRo-OS and custom OS additions (if any)
|
||
961 | 2dd2e257 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
962 | 6b53f6bf | Thomas Schöpping | aosSysInit(moduleShellPrompt); |
963 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
964 | 6b53f6bf | Thomas Schöpping | aosSysInit(); |
965 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
966 | #if defined(MODULE_INIT_OS_EXTRA)
|
||
967 | e545e620 | Thomas Schöpping | MODULE_INIT_OS_EXTRA(); |
968 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_INIT_OS_EXTRA) */ |
969 | e545e620 | Thomas Schöpping | |
970 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
|
||
971 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
|
||
972 | AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
||
973 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */ |
974 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
975 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */ |
976 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3) */ |
||
977 | e545e620 | Thomas Schöpping | |
978 | /* event associations */
|
||
979 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
980 | e2377d9e | Thomas Schöpping | ioeventflagsmask |= MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC; |
981 | 2920c6b7 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
982 | e2377d9e | Thomas Schöpping | ioeventflagsmask |= MODULE_SSSP_EVENTFLAGS_DN; |
983 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
984 | 2920c6b7 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
985 | e2377d9e | Thomas Schöpping | ioeventflagsmask |= MODULE_SSSP_EVENTFLAGS_UP; |
986 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
987 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
||
988 | e2377d9e | Thomas Schöpping | if (ioeventflagsmask != 0) { |
989 | chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, ioeventflagsmask); |
||
990 | 2920c6b7 | Thomas Schöpping | } |
991 | 6b53f6bf | Thomas Schöpping | chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK); |
992 | e545e620 | Thomas Schöpping | |
993 | 7de40828 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
|
994 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
|
||
995 | AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
||
996 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */ |
997 | 7de40828 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
998 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */ |
999 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4) */ |
||
1000 | e545e620 | Thomas Schöpping | |
1001 | /* periphery communication initialization */
|
||
1002 | // module specific initialization (if any)
|
||
1003 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_INIT_PERIPHERY_COMM)
|
1004 | e545e620 | Thomas Schöpping | MODULE_INIT_PERIPHERY_COMM(); |
1005 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_INIT_PERIPHERY_COMM) */ |
1006 | 75c1f470 | Thomas Schöpping | #if (SSSP_STAGE3_ENABLE == true ) |
1007 | // CAN
|
||
1008 | if (MODULE_HAL_CAN.state == CAN_STOP) {
|
||
1009 | canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); |
||
1010 | } |
||
1011 | #endif /* (SSSP_STAGE3_ENABLE == true) */ |
||
1012 | e545e620 | Thomas Schöpping | // user interface (if any)
|
1013 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_HAL_PROGIF)
|
1014 | ba516b61 | Thomas Schöpping | aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
1015 | aosIOChannelOutputEnable(&_stdiochannel); |
||
1016 | aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
||
1017 | 2dd2e257 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
1018 | dd8738ea | Thomas Schöpping | aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
1019 | ba516b61 | Thomas Schöpping | aosShellChannelInputEnable(&_stdshellchannel); |
1020 | aosShellChannelOutputEnable(&_stdshellchannel); |
||
1021 | 6b53f6bf | Thomas Schöpping | aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
1022 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
1023 | #endif /* defined(MODULE_HAL_PROGIF) */ |
||
1024 | e545e620 | Thomas Schöpping | |
1025 | 7de40828 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
|
1026 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
|
||
1027 | AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
||
1028 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */ |
1029 | 7de40828 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
1030 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */ |
1031 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5) */ |
||
1032 | e545e620 | Thomas Schöpping | |
1033 | /* module is ready -> print welcome prompt */
|
||
1034 | aosprintf("\n");
|
||
1035 | aosprintf("######################################################################\n");
|
||
1036 | aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
||
1037 | aosprintf("# Robot (AMiRo) platform. #\n");
|
||
1038 | 84f0ce9e | Thomas Schöpping | aosprintf("# Copyright (C) 2016..2019 Thomas Schöpping et al. #\n");
|
1039 | e545e620 | Thomas Schöpping | aosprintf("# #\n");
|
1040 | aosprintf("# This is free software; see the source for copying conditions. #\n");
|
||
1041 | aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
|
||
1042 | aosprintf("# A PARTICULAR PURPOSE. #\n");
|
||
1043 | aosprintf("# The development of this software was supported by the Excellence #\n");
|
||
1044 | aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
|
||
1045 | aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
|
||
1046 | aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
|
||
1047 | aosprintf("######################################################################\n");
|
||
1048 | aosprintf("\n");
|
||
1049 | |||
1050 | 7de40828 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)
|
1051 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)
|
||
1052 | AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS); |
||
1053 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS) */ |
1054 | 7de40828 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_6(); |
1055 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS) */ |
1056 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_6) */ |
||
1057 | 7de40828 | Thomas Schöpping | |
1058 | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
||
1059 | #if defined(MODULE_INIT_TESTS)
|
||
1060 | MODULE_INIT_TESTS(); |
||
1061 | 7de0cc90 | Thomas Schöpping | #else /* defined(MODULE_INIT_TESTS) */ |
1062 | #warning "AMIROOS_CFG_TESTS_ENABLE set to true, but MODULE_INIT_TESTS() not defined" |
||
1063 | #endif /* defined(MODULE_INIT_TESTS) */ |
||
1064 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
||
1065 | 7de40828 | Thomas Schöpping | |
1066 | e545e620 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)
|
1067 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)
|
||
1068 | AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS); |
||
1069 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS) */ |
1070 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_7(); |
1071 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS) */ |
1072 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_7) */ |
||
1073 | e545e620 | Thomas Schöpping | |
1074 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
1075 | 6b53f6bf | Thomas Schöpping | /* SSSP startup OS synchronization phase (end of startup stage 2) */
|
1076 | 9461fadc | Thomas Schöpping | while ((shutdown == AOS_SHUTDOWN_NONE) && (eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) { |
1077 | e545e620 | Thomas Schöpping | /*
|
1078 | * This code is executed if the received event was not about the SYS_SYNC control signal.
|
||
1079 | * The returned event could be caused by any listener (not only the argument).
|
||
1080 | */
|
||
1081 | 9461fadc | Thomas Schöpping | // IO event
|
1082 | e545e620 | Thomas Schöpping | if (eventmask & _eventListenerIO.events) {
|
1083 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
||
1084 | 9461fadc | Thomas Schöpping | // PD event
|
1085 | if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
||
1086 | shutdown = AOS_SHUTDOWN_PASSIVE; |
||
1087 | } else {
|
||
1088 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK)
|
1089 | 9461fadc | Thomas Schöpping | MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK(eventmask, eventflags); |
1090 | 7de0cc90 | Thomas Schöpping | #else /* defined(MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK) */ |
1091 | 9461fadc | Thomas Schöpping | // ignore any other IO events
|
1092 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK) */ |
1093 | 9461fadc | Thomas Schöpping | } |
1094 | e545e620 | Thomas Schöpping | } |
1095 | 9461fadc | Thomas Schöpping | // OS event
|
1096 | e545e620 | Thomas Schöpping | else if (eventmask & _eventListenerOS.events) { |
1097 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
1098 | _unexpectedEventError(eventmask, eventflags); |
||
1099 | } |
||
1100 | 9461fadc | Thomas Schöpping | // unknown event
|
1101 | e545e620 | Thomas Schöpping | else {
|
1102 | 933df08e | Thomas Schöpping | _unexpectedEventError(eventmask, 0);
|
1103 | e545e620 | Thomas Schöpping | } |
1104 | } |
||
1105 | |||
1106 | 75c1f470 | Thomas Schöpping | #if (HAL_USE_CAN == TRUE)
|
1107 | |||
1108 | 933df08e | Thomas Schöpping | /*
|
1109 | * There must be no delays at this point, thus no hook is allowed.
|
||
1110 | */
|
||
1111 | |||
1112 | /* SSSP startup stage 3 (module stack initialization) */
|
||
1113 | 9461fadc | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
1114 | shutdown = _ssspModuleStackInitialization(); |
||
1115 | } |
||
1116 | |||
1117 | /*
|
||
1118 | * There must be no delays at this point, thus no hook is allowed.
|
||
1119 | */
|
||
1120 | |||
1121 | 75c1f470 | Thomas Schöpping | #if (HAL_USE_RTC == TRUE)
|
1122 | 9ebb11a9 | Thomas Schöpping | /* synchronize calendars */
|
1123 | 9461fadc | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
1124 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
1125 | CANTxFrame frame; |
||
1126 | struct tm t;
|
||
1127 | uint64_t encoded; |
||
1128 | |||
1129 | frame.DLC = 8;
|
||
1130 | frame.RTR = CAN_RTR_DATA; |
||
1131 | frame.IDE = CAN_IDE_STD; |
||
1132 | frame.SID = CALENDERSYNC_CANMSGID; |
||
1133 | |||
1134 | aosDbgPrintf("transmitting current date/time...\t");
|
||
1135 | // get current date & time
|
||
1136 | aosSysGetDateTime(&t); |
||
1137 | // encode
|
||
1138 | encoded = _TM2U64(&t); |
||
1139 | // serialize
|
||
1140 | _serialize(frame.data8, encoded, 8);
|
||
1141 | // transmit
|
||
1142 | canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE); |
||
1143 | |||
1144 | aosDbgPrintf("done\n");
|
||
1145 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
1146 | 9461fadc | Thomas Schöpping | CANRxFrame frame; |
1147 | uint64_t encoded; |
||
1148 | struct tm t;
|
||
1149 | |||
1150 | aosDbgPrintf("receiving current date/time...\t");
|
||
1151 | // receive message
|
||
1152 | 0278542c | Thomas Schöpping | #if (AMIROOS_CFG_DBG == true) |
1153 | // increase timeout in debug mode due to additional delays introduced by the many prinf() calls
|
||
1154 | if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, chTimeUS2I(10 * AOS_SYSTEM_SSSP_TIMEOUT)) == MSG_OK) { |
||
1155 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_DBG == true) */ |
1156 | 1e5f7648 | Thomas Schöpping | if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)) == MSG_OK) {
|
1157 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_DBG == true) */ |
1158 | 9461fadc | Thomas Schöpping | // validate message
|
1159 | if (frame.DLC == 8 && |
||
1160 | frame.RTR == CAN_RTR_DATA && |
||
1161 | frame.IDE == CAN_IDE_STD && |
||
1162 | frame.SID == CALENDERSYNC_CANMSGID) { |
||
1163 | // deserialize
|
||
1164 | encoded = _deserialize(frame.data8, 8);
|
||
1165 | // decode
|
||
1166 | _U642TM(&t, encoded); |
||
1167 | // set current date & time
|
||
1168 | aosSysSetDateTime(&t); |
||
1169 | aosDbgPrintf("success\n");
|
||
1170 | } else {
|
||
1171 | aosDbgPrintf("fail (invalid message)\n");
|
||
1172 | } |
||
1173 | } else {
|
||
1174 | aosDbgPrintf("fail (timeout)\n");
|
||
1175 | } |
||
1176 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
1177 | 9461fadc | Thomas Schöpping | aosDbgPrintf("\n");
|
1178 | } |
||
1179 | 75c1f470 | Thomas Schöpping | #endif /* (HAL_USE_RTC == TRUE) */ |
1180 | #endif /* (HAL_USE_CAN == TRUE) */ |
||
1181 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
||
1182 | 933df08e | Thomas Schöpping | |
1183 | e545e620 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)
|
1184 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)
|
||
1185 | AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS); |
||
1186 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS) */ |
1187 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_8(); |
1188 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS) */ |
1189 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_8) */ |
||
1190 | e545e620 | Thomas Schöpping | |
1191 | /* completely start AMiRo-OS */
|
||
1192 | 933df08e | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
1193 | aosSysStart(); |
||
1194 | } |
||
1195 | e545e620 | Thomas Schöpping | |
1196 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)
|
||
1197 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)
|
||
1198 | AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS); |
||
1199 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS) */ |
1200 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_9(); |
1201 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS) */ |
1202 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_9) */ |
||
1203 | e545e620 | Thomas Schöpping | |
1204 | /*
|
||
1205 | * ##########################################################################
|
||
1206 | * # infinite loop #
|
||
1207 | * ##########################################################################
|
||
1208 | */
|
||
1209 | |||
1210 | // sleep until a shutdown event is received
|
||
1211 | while (shutdown == AOS_SHUTDOWN_NONE) {
|
||
1212 | // wait for an event
|
||
1213 | #if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
||
1214 | 1e5f7648 | Thomas Schöpping | eventmask = chEvtWaitOneTimeout(ALL_EVENTS, chTimeUS2I(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
1215 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) */ |
1216 | e545e620 | Thomas Schöpping | eventmask = chEvtWaitOne(ALL_EVENTS); |
1217 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) */ |
1218 | e545e620 | Thomas Schöpping | |
1219 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)
|
||
1220 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)
|
||
1221 | AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS); |
||
1222 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS) */ |
1223 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_LOOP_HOOK_0(); |
1224 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS) */ |
1225 | #endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0) */ |
||
1226 | e545e620 | Thomas Schöpping | |
1227 | switch (eventmask) {
|
||
1228 | // if this was an I/O event
|
||
1229 | 6b53f6bf | Thomas Schöpping | case IOEVENT_MASK:
|
1230 | e545e620 | Thomas Schöpping | // evaluate flags
|
1231 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
||
1232 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
1233 | e545e620 | Thomas Schöpping | // PD event
|
1234 | 6b53f6bf | Thomas Schöpping | if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
1235 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
1236 | } |
||
1237 | // all other events
|
||
1238 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_MAIN_LOOP_IO_EVENT)
|
1239 | e545e620 | Thomas Schöpping | else {
|
1240 | 0963cf6c | Thomas Schöpping | MODULE_MAIN_LOOP_IO_EVENT(eventflags); |
1241 | e545e620 | Thomas Schöpping | } |
1242 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_MAIN_LOOP_IO_EVENT) */ |
1243 | #else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
||
1244 | #if defined(MODULE_MAIN_LOOP_IO_EVENT)
|
||
1245 | 0963cf6c | Thomas Schöpping | MODULE_MAIN_LOOP_IO_EVENT(eventflags); |
1246 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_MAIN_LOOP_IO_EVENT) */ |
1247 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
||
1248 | e545e620 | Thomas Schöpping | break;
|
1249 | |||
1250 | // if this was an OS event
|
||
1251 | 6b53f6bf | Thomas Schöpping | case OSEVENT_MASK:
|
1252 | e545e620 | Thomas Schöpping | // evaluate flags
|
1253 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
1254 | switch (eventflags) {
|
||
1255 | 1d3e002f | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
1256 | e545e620 | Thomas Schöpping | case AOS_SYSTEM_EVENTFLAGS_HIBERNATE:
|
1257 | shutdown = AOS_SHUTDOWN_HIBERNATE; |
||
1258 | break;
|
||
1259 | case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP:
|
||
1260 | shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
||
1261 | break;
|
||
1262 | case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION:
|
||
1263 | shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
||
1264 | break;
|
||
1265 | case AOS_SYSTEM_EVENTFLAGS_RESTART:
|
||
1266 | shutdown = AOS_SHUTDOWN_RESTART; |
||
1267 | break;
|
||
1268 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
1269 | 1d3e002f | Thomas Schöpping | case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN:
|
1270 | shutdown = AOS_SHUTDOWN_DEFAULT; |
||
1271 | break;
|
||
1272 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
1273 | e545e620 | Thomas Schöpping | default:
|
1274 | _unexpectedEventError(eventmask, eventflags); |
||
1275 | break;
|
||
1276 | } |
||
1277 | break;
|
||
1278 | |||
1279 | // if this was any other event (should be impossible to occur)
|
||
1280 | default:
|
||
1281 | eventflags = 0;
|
||
1282 | 41fc7088 | Thomas Schöpping | #if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0) |
1283 | e545e620 | Thomas Schöpping | _unexpectedEventError(eventmask, eventflags); |
1284 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0) */ |
1285 | e545e620 | Thomas Schöpping | break;
|
1286 | } |
||
1287 | |||
1288 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
|
||
1289 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
|
||
1290 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
||
1291 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */ |
1292 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
1293 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */ |
1294 | #endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1) */ |
||
1295 | e545e620 | Thomas Schöpping | } |
1296 | |||
1297 | /*
|
||
1298 | * ##########################################################################
|
||
1299 | * # system shutdown #
|
||
1300 | * ##########################################################################
|
||
1301 | */
|
||
1302 | |||
1303 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)
|
||
1304 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)
|
||
1305 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS); |
||
1306 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS) */ |
1307 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(); |
1308 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS) */ |
1309 | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0) */ |
||
1310 | e545e620 | Thomas Schöpping | |
1311 | // initialize/acknowledge shutdown
|
||
1312 | aosSysShutdownInit(shutdown); |
||
1313 | |||
1314 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
|
||
1315 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
|
||
1316 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
||
1317 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS) */ |
1318 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
1319 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS) */ |
1320 | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1) */ |
||
1321 | e545e620 | Thomas Schöpping | |
1322 | // stop system threads
|
||
1323 | aosSysStop(); |
||
1324 | |||
1325 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
|
||
1326 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
|
||
1327 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
||
1328 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS) */ |
1329 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
1330 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS) */ |
1331 | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2) */ |
||
1332 | e545e620 | Thomas Schöpping | |
1333 | // deinitialize system
|
||
1334 | aosSysDeinit(); |
||
1335 | |||
1336 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
|
||
1337 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
|
||
1338 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
||
1339 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS) */ |
1340 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
1341 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS) */ |
1342 | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3) */ |
||
1343 | e545e620 | Thomas Schöpping | |
1344 | /* stop all periphery communication */
|
||
1345 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_SHUTDOWN_PERIPHERY_COMM)
|
1346 | e545e620 | Thomas Schöpping | MODULE_SHUTDOWN_PERIPHERY_COMM(); |
1347 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_SHUTDOWN_PERIPHERY_COMM) */ |
1348 | 75c1f470 | Thomas Schöpping | #if (HAL_USE_CAN == TRUE)
|
1349 | if (MODULE_HAL_CAN.state != CAN_STOP) {
|
||
1350 | canStop(&MODULE_HAL_CAN); |
||
1351 | } |
||
1352 | #endif /* (HAL_USE_CAN == TRUE) */ |
||
1353 | e545e620 | Thomas Schöpping | |
1354 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
|
||
1355 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
|
||
1356 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
||
1357 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS) */ |
1358 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
1359 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS) */ |
1360 | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4) */ |
||
1361 | e545e620 | Thomas Schöpping | |
1362 | // finally hand over to bootloader
|
||
1363 | 1e5f7648 | Thomas Schöpping | aosSysShutdownFinal(shutdown); |
1364 | e545e620 | Thomas Schöpping | |
1365 | /*
|
||
1366 | * ##########################################################################
|
||
1367 | * # after shutdown/restart #
|
||
1368 | * ##########################################################################
|
||
1369 | *
|
||
1370 | * NOTE: This code will not be executed, since the bootloader callbacks will stop/restart the MCU.
|
||
1371 | * It is included nevertheless for the sake of completeness and to explicitely indicate,
|
||
1372 | * which subsystems should NOT be shut down.
|
||
1373 | */
|
||
1374 | |||
1375 | // return an error, since this code should not be executed
|
||
1376 | return -1; |
||
1377 | } |
||
1378 | 53710ca3 | Marc Rothmann | |
1379 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
1380 | /* EXPORTED FUNCTIONS */
|
||
1381 | /******************************************************************************/
|
||
1382 | |||
1383 | 53710ca3 | Marc Rothmann | /** @} */ |