amiro-os / core / src / aos_main.cpp @ 8be006e0
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file aos_main.cpp
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* @brief Main function.
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* @details Main function with SSSP and initialization,
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* extendable via hooks.
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*
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* @addtogroup aos_system
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* @{
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*/
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#include <amiroos.h> |
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#include <module.h> |
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/*
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* hook to add further includes
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*/
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#if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)
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#include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER
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#endif
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/**
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* @brief Event mask to identify I/O events.
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*/
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#define IOEVENT_MASK EVENT_MASK(0) |
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/**
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* @brief Event mask to identify OS events.
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*/
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#define OSEVENT_MASK EVENT_MASK(1) |
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/**
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* @brief Event mask to idetify CAN events.
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*/
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#define CANEVENT_MASK EVENT_MASK(2) |
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/**
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* @brief Event mask to idetify timeout events.
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*/
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#define TIMEOUTEVENT_MASK EVENT_MASK(3) |
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/**
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* @brief Event mask to idetify signal delay events.
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*/
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#define DELAYEVENT_MASK EVENT_MASK(4) |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief CAN message identifier for initialization of the SSSP stack initialization sequence.
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*/
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#define SSSP_STACKINIT_CANMSGID_INIT 0x003 |
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/**
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* @brief CAN message identifier for transmitting module IDs during the SSSP stack initialization sequence.
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*/
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#define SSSP_STACKINIT_CANMSGID_MODULEID 0x002 |
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/**
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* @brief CAN message identifier for abortion of the SSSP stack initialization sequence.
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*/
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#define SSSP_STACKINIT_CANMSGID_ABORT 0x001 |
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#else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
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/**
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* @brief Default shutdown mode if SSSP is unavailable.
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*/
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#define AOS_SHUTDOWN_DEFAULT AOS_SHUTDOWN_DEEPSLEEP
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#endif /* AMIROOS_CFG_SSSP_ENABLE */ |
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/**
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* @brief CAN message identifier for calender synchronization message.
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*/
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#define CALENDERSYNC_CANMSGID 0x004 |
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/**
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* @brief Listener object for I/O events.
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*/
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static event_listener_t _eventListenerIO;
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/**
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* @brief Listener object for OS events.
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*/
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static event_listener_t _eventListenerOS;
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#if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
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/**
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* @brief I/O channel for the programmer interface.
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*/
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static AosIOChannel _stdiochannel;
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief I/O shell channel for the programmer interface.
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*/
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static AosShellChannel _stdshellchannel;
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#endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
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#endif /* defined(MODULE_HAL_PROGIF) */ |
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/*
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* hook to add further static variables
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*/
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#if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
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AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
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#endif
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/**
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* @brief Prints an error message about an unexpected event.
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*
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* @param[in] mask The event mask.
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* @param[in] flags The event flags.
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*/
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static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
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{
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#if (AMIROOS_CFG_DBG == true) |
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aosprintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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#else
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(void)(mask);
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(void)(flags);
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#endif
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return;
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} |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Callback function to be used during SSSP stack initialization sequence.
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*
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* @param[in] par A pointer to an @p event_source_t to be fired.
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*/
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static void _ssspTimerCallback(void* par) |
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{
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aosDbgCheck(par != NULL);
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chSysLockFromISR(); |
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chEvtBroadcastI((event_source_t*)par); |
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chSysUnlockFromISR(); |
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return;
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} |
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#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
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/**
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* @brief Helper function to serialize data.
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*
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* @param[out] dst Pointer to the output buffer.
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* @param[in] src Data to be serialized.
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* @param[in] n Number of bytes to serialize.
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*/
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inline void _serialize(uint8_t* dst, const uint64_t src, const uint8_t n) |
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{
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aosDbgCheck(dst != NULL);
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aosDbgCheck(n > 0 && n <= 8); |
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for (uint8_t byte = 0; byte < n; ++byte) { |
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dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF); |
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} |
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return;
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} |
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/**
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* @brief Helper function to deserialize data.
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*
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* @param[in] src Pointer to the buffer of data to be deserialzed.
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* @param[in] n Number of bytes to deserialize.
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*
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* @return The deserialized 32 bit data.
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*/
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inline uint64_t _deserialize(uint8_t* src, const uint8_t n) |
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{
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aosDbgCheck(src != NULL);
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aosDbgCheck(n > 0 && n <= 8); |
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uint64_t result = 0;
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for (uint8_t byte = 0; byte < n; ++byte) { |
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result |= ((uint64_t)src[byte]) << (byte * 8);
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} |
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return result;
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} |
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/**
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* @brief Converter function to encode a TM value to a single unsigned 64 bit integer.
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*
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* @details Contents of the TM struct are mapped as follows:
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* bits |63 62|61 53|52 50|49 26|25 22|21 17|16 12|11 6|5 0|
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* #bits | 2 | 9 | 3 | 24 | 4 | 5 | 5 | 6 | 6 |
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* value | isdst | yday | wday | year | mon | mday | hour | min | sec |
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* range | special | [0, 365] | [0, 6] | [1900, ...] | [0, 11] | [1, 31] | [0, 23] | [0, 59] | [0, 61] |
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* The Daylight Saving Time Flag (isdsst) is encoded as follows:
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* DST not in effect -> 0
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* DST in effect -> 1
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* no information available -> 2
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*
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* @param[in] src Pointer to the TM struct to encode.
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*
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* @return An unsigned 64 bit integer, which holds the encoded time value.
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*/
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inline uint64_t _TM2U64(struct tm* src) |
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{
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aosDbgCheck(src != NULL);
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return (((uint64_t)(src->tm_sec & 0x0000003F) << (0)) | |
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((uint64_t)(src->tm_min & 0x0000003F) << (6)) | |
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((uint64_t)(src->tm_hour & 0x0000001F) << (12)) | |
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((uint64_t)(src->tm_mday & 0x0000001F) << (17)) | |
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((uint64_t)(src->tm_mon & 0x0000000F) << (22)) | |
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((uint64_t)(src->tm_year & 0x00FFFFFF) << (26)) | |
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((uint64_t)(src->tm_wday & 0x00000007) << (50)) | |
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((uint64_t)(src->tm_yday & 0x000001FF) << (53)) | |
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((uint64_t)((src->tm_isdst == 0) ? 0 : (src->tm_isdst > 0) ? 1 : 2) << (62))); |
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} |
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/**
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* @brief Converter functiomn to retrieve the encoded TM value from an unsigned 64 bit integer.
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*
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* @details For information on the encoding, please refer to @p _TM2U64 function.
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*
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* @param[out] dst The TM struct to fill with the decoded values.
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* @param[in] src Unsigned 64 bit integer holding the encoded TM value.
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*/
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inline void _U642TM(struct tm* dst, const uint64_t src) |
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{
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aosDbgCheck(dst != NULL);
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dst->tm_sec = (src >> 0) & 0x0000003F; |
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dst->tm_min = (src >> 6) & 0x0000003F; |
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dst->tm_hour = (src >> 12) & 0x0000001F; |
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dst->tm_mday = (src >> 17) & 0x0000001F; |
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dst->tm_mon = (src >> 22) & 0x0000000F; |
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dst->tm_year = (src >> 26) & 0x00FFFFFF; |
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dst->tm_wday = (src >> 50) & 0x00000007; |
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dst->tm_yday = (src >> 53) & 0x000001FF; |
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dst->tm_isdst = (((src >> 62) & 0x03) == 0) ? 0 : (((src >> 62) & 0x03) > 0) ? 1 : -1; |
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return;
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} |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Implementation of the SSSP module stack initialization sequence (startup phase 3).
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*
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* @return Shutdown value.
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* @retval AOS_SHUTDOWN_NONE No shutdown signal received
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* @retval AOS_SHUTDOWN_PASSIVE Shutdown signal received.
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*/
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aos_shutdown_t _ssspModuleStackInitialization(void)
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{
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// local types
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/**
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* @brief States for the internal state machine to implement SSSP startup stage 3.
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*/
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typedef enum { |
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STAGE_3_1, /**< Initiation of SSSP startup stage 3. */
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STAGE_3_2, /**< Starting the sequence and broadcasting the first ID. */
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STAGE_3_3_WAITFORFIRSTID, /**< Waiting for first ID after initiation. */
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STAGE_3_3_WAITFORIDORSIG, /**< Waiting for next ID or activation of neighbor signal. */
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STAGE_3_3_WAITFORID, /**< Waiting for next ID (after the module has set its own ID). */
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STAGE_3_4_FINISH, /**< Successful finish of stage 3. */
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STAGE_3_4_ABORT_ACTIVE, /**< Aborting stage 3 (active). */
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STAGE_3_4_ABORT, /**< Aborting stage 3 (passive). */
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} sssp_modulestackinitstage_t; |
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typedef struct { |
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bool loop : 1; |
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bool wfe : 1; |
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bool wfe_next : 1; |
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} flags_t; |
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// local variables
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aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
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sssp_modulestackinitstage_t stage = STAGE_3_1; |
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eventmask_t eventmask = 0;
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eventflags_t ioflags = 0;
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event_source_t eventSourceTimeout; |
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event_source_t eventSourceDelay; |
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event_listener_t eventListenerTimeout; |
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event_listener_t eventListenerDelay; |
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event_listener_t eventListenerCan; |
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virtual_timer_t timerTimeout; |
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virtual_timer_t timerDelay; |
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CANTxFrame canTxFrame; |
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CANRxFrame canRxFrame; |
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#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
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aos_ssspmoduleid_t lastid = 0;
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#endif
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flags_t flags; |
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aos_timestamp_t uptime; |
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// initialize local varibles
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chEvtObjectInit(&eventSourceTimeout); |
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chEvtObjectInit(&eventSourceDelay); |
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chVTObjectInit(&timerTimeout); |
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chVTObjectInit(&timerDelay); |
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canTxFrame.RTR = CAN_RTR_DATA; |
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canTxFrame.IDE = CAN_IDE_STD; |
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flags.loop = true;
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flags.wfe = false; // do not wait for events in the initial iteration of the FSM loop |
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flags.wfe_next = true;
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// initialize system variables
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aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
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aos.sssp.moduleId = 0;
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// listen to events (timout, delay, CAN receive)
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chEvtRegisterMask(&eventSourceTimeout, &eventListenerTimeout, TIMEOUTEVENT_MASK); |
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chEvtRegisterMask(&eventSourceDelay, &eventListenerDelay, DELAYEVENT_MASK); |
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chEvtRegisterMask(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan, CANEVENT_MASK); |
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/*
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* FSM in a loop.
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*
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* This is a fully event-based FSM for the module stack initialization
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* sequence, defined by SSSP as startup stage 3. There are five different
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* events that can occur at this point:
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* I/O events: The input level of an input pin has changed. Such events must
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* be handled differently depending on the current state. Most
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* of the time, however, such events can be ignored.
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* OS events: Such events are only available after this stage completed and
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* thus should never occur. However, there is an optional hook
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* to handle such events, nevertheless.
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* CAN events: At least one CAN message was received. Note that this event
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* will only fire again if all input buffers have been cleared.
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* timeouts: If some module does not support the sequence of there is any
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* issue, such a case is detected via timeouts and must be
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* handled accordingly (see abort state). In some cases, it is
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* possible that a timeout event occurres 'simultaneously' with
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* some other event. This can be caused by several timing issues
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* and is a valid situation. As a result, any other events
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* should be handled before the timeout event. If the other
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* events are expected and valid, this implementation requires
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* the timeout event flag to be cleared explicitely. Otherwise
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* it is evaluated at the end of each iteration of the loop.
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* delays: Depending on the current state, delays are required by SSSP
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* for timing of the sequential activation of signals.
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*/
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aosDbgPrintf("SSSP stack initialization sequence:\n");
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while (flags.loop) {
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#if (AMIROOS_CFG_DBG == true) |
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switch (stage) {
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case STAGE_3_1:
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aosDbgPrintf(">>> 3-1\n");
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break;
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case STAGE_3_2:
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aosDbgPrintf(">>> 3-2\n");
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break;
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case STAGE_3_3_WAITFORFIRSTID:
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aosDbgPrintf(">>> 3-3 (1st ID)\n");
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break;
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case STAGE_3_3_WAITFORIDORSIG:
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aosDbgPrintf(">>> 3-3 (ID/sig)\n");
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break;
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case STAGE_3_3_WAITFORID:
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aosDbgPrintf(">>> 3-3 (ID)\n");
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break;
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case STAGE_3_4_FINISH:
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aosDbgPrintf(">>> 3-4 (finish)\n");
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break;
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case STAGE_3_4_ABORT_ACTIVE:
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aosDbgPrintf(">>> 3-4 (active abort)\n");
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break;
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case STAGE_3_4_ABORT:
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aosDbgPrintf(">>> 3-4 (abort)\n");
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break;
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} |
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#endif
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// reset wfe flag for the next iteration
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flags.wfe_next = true;
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// waiting for events (may be skipped)
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if (flags.wfe) {
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// wait for any event to occur
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aosDbgPrintf("WFE...");
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eventmask = chEvtWaitAnyTimeout(ALL_EVENTS, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)); |
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aosDbgPrintf("\t0x%08X", eventmask);
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} else {
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aosDbgPrintf("WFE skipped");
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eventmask = 0;
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} |
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aosSysGetUptime(&uptime); |
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aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / MICROSECONDS_PER_MILLISECOND));
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/*
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* execute some general tasks and high priority events
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*/
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// no event occurred at all
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if ((flags.wfe) && (eventmask == 0)) { |
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aosDbgPrintf("ERR: no evt\n");
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// enforce timeout event
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chEvtBroadcast(&eventSourceTimeout); |
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continue;
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} |
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// if an IO event occurred
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if (eventmask & _eventListenerIO.events) {
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ioflags = chEvtGetAndClearFlags(&_eventListenerIO); |
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aosDbgPrintf("INFO: IO evt (0x%08X)\n", ioflags);
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// a power-down event occurred
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if (ioflags & MODULE_SSSP_EVENTFLAGS_PD) {
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aosDbgPrintf("PD evt\n");
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// deactivate S and UP
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aosDbgPrintf("disabling S\n");
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apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
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#if (AMIROOS_CFG_SSSP_STACK_END != true) |
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aosDbgPrintf("disabling UP\n");
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apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
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#endif
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// set shutdown flag and exit the loop
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shutdown = AOS_SHUTDOWN_PASSIVE; |
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break;
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} |
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// the S signal was deactivated
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if (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC) {
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apalControlGpioState_t sstate; |
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apalControlGpioGet(&moduleSsspGpioSync, &sstate); |
| 435 |
if (sstate == APAL_GPIO_ON) {
|
| 436 |
aosDbgPrintf("S evt (enabled)\n");
|
| 437 |
} else {
|
| 438 |
aosDbgPrintf("S evt (disabled)\n");
|
| 439 |
// either finish or abort
|
| 440 |
if ((stage == STAGE_3_3_WAITFORID) && (aos.sssp.moduleId != 0)) { |
| 441 |
stage = STAGE_3_4_FINISH; |
| 442 |
} else if (stage != STAGE_3_4_ABORT) { |
| 443 |
stage = STAGE_3_4_ABORT_ACTIVE; |
| 444 |
} |
| 445 |
} |
| 446 |
} |
| 447 |
} |
| 448 |
// an OS event occurred
|
| 449 |
if (eventmask & _eventListenerOS.events) {
|
| 450 |
aosDbgPrintf("WARN: OS evt\n");
|
| 451 |
// get the flags
|
| 452 |
eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 453 |
// there should be no OS events at this point
|
| 454 |
#ifdef MODULE_SSSP_STARTUP_3_OSEVENT_HOOK
|
| 455 |
MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags); |
| 456 |
#else
|
| 457 |
_unexpectedEventError(eventmask, oseventflags); |
| 458 |
#endif
|
| 459 |
} |
| 460 |
// if a CAN event occurred
|
| 461 |
if ((eventmask & eventListenerCan.events)) {
|
| 462 |
aosDbgPrintf("CAN evt\n");
|
| 463 |
// fetch message
|
| 464 |
if (flags.wfe) {
|
| 465 |
canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE); |
| 466 |
aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
| 467 |
} |
| 468 |
// identify and handle abort messgaes
|
| 469 |
if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
| 470 |
stage = STAGE_3_4_ABORT; |
| 471 |
} |
| 472 |
// warn if a unexpected message was received
|
| 473 |
else if ((canRxFrame.SID != SSSP_STACKINIT_CANMSGID_INIT) && |
| 474 |
(canRxFrame.SID != SSSP_STACKINIT_CANMSGID_MODULEID)) {
|
| 475 |
aosDbgPrintf("WARN: unknown msg\n");
|
| 476 |
} |
| 477 |
// any further pending messages are fetched at the end of the loop
|
| 478 |
} |
| 479 |
// if a timeout event occurred
|
| 480 |
if (eventmask & eventListenerTimeout.events) {
|
| 481 |
aosDbgPrintf("timeout evt\n");
|
| 482 |
// is handled at the end of the loop (or must be cleared by FSM)
|
| 483 |
} |
| 484 |
// if a delay event occurred
|
| 485 |
if (eventmask & eventListenerDelay.events) {
|
| 486 |
aosDbgPrintf("delay evt\n");
|
| 487 |
// is handled by FSM
|
| 488 |
} |
| 489 |
|
| 490 |
/*
|
| 491 |
* this is the actual FSM
|
| 492 |
*/
|
| 493 |
switch (stage) {
|
| 494 |
case STAGE_3_1:
|
| 495 |
{
|
| 496 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
| 497 |
|
| 498 |
// there was no event at all (skipped wfe)
|
| 499 |
if (eventmask == 0 && flags.wfe == false) { |
| 500 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 501 |
// initialize the stage by transmitting an according CAN message
|
| 502 |
aosDbgPrintf("CAN -> init\n");
|
| 503 |
canTxFrame.DLC = 0;
|
| 504 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_INIT; |
| 505 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
| 506 |
chEvtBroadcast(&eventSourceTimeout); |
| 507 |
break;
|
| 508 |
} |
| 509 |
// activate S
|
| 510 |
aosDbgPrintf("enabling S\n");
|
| 511 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
| 512 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
| 513 |
// proceed immediately
|
| 514 |
stage = STAGE_3_2; |
| 515 |
flags.wfe_next = false;
|
| 516 |
#else
|
| 517 |
// set the timeout timer
|
| 518 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 519 |
// proceed
|
| 520 |
stage = STAGE_3_3_WAITFORFIRSTID; |
| 521 |
#endif
|
| 522 |
#else
|
| 523 |
// set the timeout timer
|
| 524 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 525 |
#endif
|
| 526 |
} |
| 527 |
|
| 528 |
#if (AMIROOS_CFG_SSSP_MASTER != true) |
| 529 |
// a CAN message was received
|
| 530 |
else if (eventmask & eventListenerCan.events) { |
| 531 |
// if an initiation message was received
|
| 532 |
if (canRxFrame.DLC == 0 && |
| 533 |
canRxFrame.RTR == CAN_RTR_DATA && |
| 534 |
canRxFrame.IDE == CAN_IDE_STD && |
| 535 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) {
|
| 536 |
aosDbgPrintf("init msg\n");
|
| 537 |
// reset the timeout timer and clear pending flags
|
| 538 |
chVTReset(&timerTimeout); |
| 539 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 540 |
eventmask &= ~(eventListenerTimeout.events); |
| 541 |
// activate S
|
| 542 |
aosDbgPrintf("enabling S\n");
|
| 543 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
| 544 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
| 545 |
// proceed
|
| 546 |
stage = STAGE_3_2; |
| 547 |
flags.wfe_next = false;
|
| 548 |
#else
|
| 549 |
// set the timeout timer
|
| 550 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 551 |
// proceed
|
| 552 |
stage = STAGE_3_3_WAITFORFIRSTID; |
| 553 |
#endif
|
| 554 |
} |
| 555 |
} |
| 556 |
#endif
|
| 557 |
|
| 558 |
break;
|
| 559 |
} /* end of STAGE_3_1 */
|
| 560 |
|
| 561 |
case STAGE_3_2:
|
| 562 |
{
|
| 563 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
| 564 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_2; |
| 565 |
|
| 566 |
// if this stage was just entered
|
| 567 |
if (flags.wfe == false) { |
| 568 |
// set the module ID
|
| 569 |
aos.sssp.moduleId = 1;
|
| 570 |
// broadcast module ID
|
| 571 |
aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
| 572 |
canTxFrame.DLC = 4;
|
| 573 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
| 574 |
_serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
| 575 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
| 576 |
chEvtBroadcast(&eventSourceTimeout); |
| 577 |
break;
|
| 578 |
} |
| 579 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
| 580 |
lastid = aos.sssp.moduleId; |
| 581 |
#endif
|
| 582 |
#if (AMIROOS_CFG_SSSP_STACK_END == true) |
| 583 |
// sequence is already over
|
| 584 |
// deactivate S
|
| 585 |
aosDbgPrintf("disabling S\n");
|
| 586 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
| 587 |
// proceed
|
| 588 |
stage = STAGE_3_3_WAITFORID; |
| 589 |
#else
|
| 590 |
// set the delay timer so the UP signal is activated later
|
| 591 |
chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
| 592 |
#endif
|
| 593 |
} |
| 594 |
|
| 595 |
// if a delay event occurred
|
| 596 |
if (eventmask & eventListenerDelay.events) {
|
| 597 |
// activate UP
|
| 598 |
aosDbgPrintf("enabling UP\n");
|
| 599 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
| 600 |
// deactivate S
|
| 601 |
aosDbgPrintf("disabling S\n");
|
| 602 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
| 603 |
// explicitely clear timeout event flag
|
| 604 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 605 |
eventmask &= ~(eventListenerTimeout.events); |
| 606 |
// proceed
|
| 607 |
stage = STAGE_3_3_WAITFORID; |
| 608 |
} |
| 609 |
#endif
|
| 610 |
|
| 611 |
break;
|
| 612 |
} /* end of STAGE_3_2 */
|
| 613 |
|
| 614 |
case STAGE_3_3_WAITFORFIRSTID:
|
| 615 |
{
|
| 616 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 617 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
| 618 |
|
| 619 |
// a CAN message was received
|
| 620 |
if (eventmask & eventListenerCan.events) {
|
| 621 |
// if an ID message was received
|
| 622 |
if (canRxFrame.DLC == 4 && |
| 623 |
canRxFrame.RTR == CAN_RTR_DATA && |
| 624 |
canRxFrame.IDE == CAN_IDE_STD && |
| 625 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
| 626 |
aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4)); |
| 627 |
// validate received ID
|
| 628 |
if (lastid < _deserialize(canRxFrame.data8, 4)) { |
| 629 |
// store received ID
|
| 630 |
lastid = _deserialize(canRxFrame.data8, 4);
|
| 631 |
// restart timeout timer
|
| 632 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 633 |
// proceed
|
| 634 |
stage = STAGE_3_3_WAITFORIDORSIG; |
| 635 |
} else {
|
| 636 |
aosDbgPrintf("ERR: invalid ID\n");
|
| 637 |
// abort
|
| 638 |
stage = STAGE_3_4_ABORT_ACTIVE; |
| 639 |
flags.wfe_next = false;
|
| 640 |
} |
| 641 |
// explicitely clear timeout event flag
|
| 642 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 643 |
eventmask &= ~(eventListenerTimeout.events); |
| 644 |
} |
| 645 |
} |
| 646 |
#endif
|
| 647 |
break;
|
| 648 |
} /* end of STAGE_3_3_WAITFORFIRSTID */
|
| 649 |
|
| 650 |
case STAGE_3_3_WAITFORIDORSIG:
|
| 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 |
if (eventmask & eventListenerCan.events) {
|
| 657 |
// 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 |
aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4)); |
| 663 |
// validate received ID
|
| 664 |
if (lastid < _deserialize(canRxFrame.data8, 4)) { |
| 665 |
// store received ID
|
| 666 |
lastid = _deserialize(canRxFrame.data8, 4);
|
| 667 |
// restart timeout timer
|
| 668 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 669 |
} else {
|
| 670 |
aosDbgPrintf("ERR: invalid ID\n");
|
| 671 |
// abort
|
| 672 |
stage = STAGE_3_4_ABORT_ACTIVE; |
| 673 |
flags.wfe_next = false;
|
| 674 |
} |
| 675 |
// explicitely clear timeout event flag
|
| 676 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 677 |
eventmask &= ~(eventListenerTimeout.events); |
| 678 |
} |
| 679 |
} |
| 680 |
|
| 681 |
// if an IO event was received (DN signal)
|
| 682 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_DN)) {
|
| 683 |
aosDbgPrintf("DN evt\n");
|
| 684 |
// reset timeout timer
|
| 685 |
chVTReset(&timerTimeout); |
| 686 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 687 |
eventmask &= ~(eventListenerTimeout.events); |
| 688 |
// increment and broadcast ID
|
| 689 |
aos.sssp.moduleId = lastid + 1;
|
| 690 |
aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
| 691 |
canTxFrame.DLC = 4;
|
| 692 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
| 693 |
_serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
| 694 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
| 695 |
chEvtBroadcast(&eventSourceTimeout); |
| 696 |
break;
|
| 697 |
} |
| 698 |
// set delay timer
|
| 699 |
chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
| 700 |
} |
| 701 |
|
| 702 |
// if a delay event occurred
|
| 703 |
if (eventmask & eventListenerDelay.events) {
|
| 704 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 705 |
// activate UP
|
| 706 |
aosDbgPrintf("enabling UP\n");
|
| 707 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
| 708 |
#endif
|
| 709 |
// deactivate S
|
| 710 |
aosDbgPrintf("disabling S\n");
|
| 711 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
| 712 |
// reset the timeout timer
|
| 713 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 714 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 715 |
eventmask &= ~(eventListenerTimeout.events); |
| 716 |
// proceed
|
| 717 |
stage = STAGE_3_3_WAITFORID; |
| 718 |
} |
| 719 |
#endif
|
| 720 |
|
| 721 |
break;
|
| 722 |
} /* end of STAGE_3_3_WAITFORIDORSIG */
|
| 723 |
|
| 724 |
case STAGE_3_3_WAITFORID:
|
| 725 |
{
|
| 726 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
| 727 |
|
| 728 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 729 |
// a CAN message was received
|
| 730 |
if (eventmask & eventListenerCan.events) {
|
| 731 |
// if an ID message was received
|
| 732 |
if (canRxFrame.DLC == 4 && |
| 733 |
canRxFrame.RTR == CAN_RTR_DATA && |
| 734 |
canRxFrame.IDE == CAN_IDE_STD && |
| 735 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
| 736 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
| 737 |
// Plausibility of the received ID is not checked at this point but is done by other modules still in a previous stage.
|
| 738 |
lastid = _deserialize(canRxFrame.data8, 4);
|
| 739 |
aosDbgPrintf("ID (%u)\n", lastid);
|
| 740 |
#endif
|
| 741 |
// restart timeout timer
|
| 742 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
| 743 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 744 |
eventmask &= ~(eventListenerTimeout.events); |
| 745 |
} |
| 746 |
} |
| 747 |
#endif
|
| 748 |
|
| 749 |
break;
|
| 750 |
} /* end of STAGE_3_3_WAITFORID */
|
| 751 |
|
| 752 |
case STAGE_3_4_FINISH:
|
| 753 |
{
|
| 754 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
| 755 |
|
| 756 |
// if an IO event was received (S signal)
|
| 757 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
| 758 |
// reset the timeout timer
|
| 759 |
chVTReset(&timerTimeout); |
| 760 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
| 761 |
eventmask &= ~(eventListenerTimeout.events); |
| 762 |
//set the delay timer
|
| 763 |
chVTSet(&timerDelay, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceDelay); |
| 764 |
} |
| 765 |
|
| 766 |
// if a CAN event was received
|
| 767 |
if (eventmask & eventListenerCan.events) {
|
| 768 |
// if an abort message was received
|
| 769 |
if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
| 770 |
aosDbgPrintf("abort msg\n");
|
| 771 |
// reset the delay timer
|
| 772 |
chVTReset(&timerDelay); |
| 773 |
chEvtWaitAnyTimeout(eventListenerDelay.events, TIME_IMMEDIATE); |
| 774 |
eventmask &= ~(eventListenerDelay.events); |
| 775 |
// proceed
|
| 776 |
stage = STAGE_3_4_ABORT; |
| 777 |
} |
| 778 |
} |
| 779 |
|
| 780 |
// if a delay timer event occurred
|
| 781 |
if (eventmask & eventListenerDelay.events) {
|
| 782 |
aosDbgPrintf("sequence sucessful\n");
|
| 783 |
// sequence finished sucessfully
|
| 784 |
flags.loop = false;
|
| 785 |
} |
| 786 |
|
| 787 |
break;
|
| 788 |
} /* end of STAGE_3_4_FINISH */
|
| 789 |
|
| 790 |
case STAGE_3_4_ABORT_ACTIVE:
|
| 791 |
{
|
| 792 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
| 793 |
|
| 794 |
// emit abort message
|
| 795 |
canTxFrame.DLC = 0;
|
| 796 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_ABORT; |
| 797 |
canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_INFINITE); |
| 798 |
aosDbgPrintf("CAN -> abort\n");
|
| 799 |
// clear timeout flag
|
| 800 |
eventmask &= ~(eventListenerTimeout.events); |
| 801 |
// proceed immediately
|
| 802 |
stage = STAGE_3_4_ABORT; |
| 803 |
flags.wfe_next = false;
|
| 804 |
break;
|
| 805 |
} /* end of STAGE_3_4_ABORT_ACTIVE */
|
| 806 |
|
| 807 |
case STAGE_3_4_ABORT:
|
| 808 |
{
|
| 809 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
| 810 |
|
| 811 |
// deactivate S
|
| 812 |
aosDbgPrintf("disabling SYNC\n");
|
| 813 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
| 814 |
// invalidate module ID
|
| 815 |
aos.sssp.moduleId = 0;
|
| 816 |
|
| 817 |
// if an IO event was received (S signal)
|
| 818 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
| 819 |
aosDbgPrintf("sequence aborted\n");
|
| 820 |
// exit the sequence
|
| 821 |
flags.loop = false;
|
| 822 |
} |
| 823 |
|
| 824 |
break;
|
| 825 |
} /* end of STAGE_3_4_ABORT */
|
| 826 |
} /* end of switch(stage) */
|
| 827 |
|
| 828 |
// fetch pending CAN message (if any)
|
| 829 |
if ((eventmask & eventListenerCan.events) && (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE) == MSG_OK)) {
|
| 830 |
aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
| 831 |
flags.wfe_next = false;
|
| 832 |
} |
| 833 |
|
| 834 |
// handle unhandled timeout events
|
| 835 |
if (eventmask & eventListenerTimeout.events) {
|
| 836 |
aosDbgPrintf("ERR: timeout evt\n");
|
| 837 |
// abort
|
| 838 |
flags.wfe_next = false;
|
| 839 |
stage = STAGE_3_4_ABORT_ACTIVE; |
| 840 |
} |
| 841 |
|
| 842 |
// apply wfe value for next iteration
|
| 843 |
flags.wfe = flags.wfe_next; |
| 844 |
} /* end of FSM loop */
|
| 845 |
|
| 846 |
// unregister all events (timeout, delay, CAN receive)
|
| 847 |
chEvtUnregister(&eventSourceTimeout, &eventListenerTimeout); |
| 848 |
chEvtUnregister(&eventSourceDelay, &eventListenerDelay); |
| 849 |
chEvtUnregister(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan); |
| 850 |
// clear any pending events (timeout, delay, CAN receive)
|
| 851 |
chEvtWaitAllTimeout(TIMEOUTEVENT_MASK | DELAYEVENT_MASK | CANEVENT_MASK, TIME_IMMEDIATE); |
| 852 |
|
| 853 |
// reset all control signals
|
| 854 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 855 |
aosDbgPrintf("disabling UP\n");
|
| 856 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
| 857 |
#endif
|
| 858 |
aosDbgPrintf("disabling S\n");
|
| 859 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
| 860 |
aosSysGetUptime(&uptime); |
| 861 |
aosDbgPrintf("done\t%04ums\n", (uint32_t)(uptime / MICROSECONDS_PER_MILLISECOND));
|
| 862 |
|
| 863 |
return shutdown;
|
| 864 |
} |
| 865 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
| 866 |
|
| 867 |
/**
|
| 868 |
* @brief Application entry point.
|
| 869 |
*/
|
| 870 |
int main(void) |
| 871 |
{
|
| 872 |
// local variables
|
| 873 |
eventmask_t eventmask = 0;
|
| 874 |
eventflags_t eventflags = 0;
|
| 875 |
eventflags_t eventflagsmask = AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK; |
| 876 |
aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
| 877 |
#if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)
|
| 878 |
AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
| 879 |
#endif
|
| 880 |
|
| 881 |
/*
|
| 882 |
* ##########################################################################
|
| 883 |
* # system initialization #
|
| 884 |
* ##########################################################################
|
| 885 |
*/
|
| 886 |
|
| 887 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
|
| 888 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS)
|
| 889 |
AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS); |
| 890 |
#else
|
| 891 |
AMIROOS_CFG_MAIN_INIT_HOOK_0(); |
| 892 |
#endif
|
| 893 |
#endif
|
| 894 |
|
| 895 |
/* hardware, kernel, and operating system initialization */
|
| 896 |
// ChibiOS/HAL and custom hal additions (if any)
|
| 897 |
halInit(); |
| 898 |
#ifdef MODULE_INIT_HAL_EXTRA
|
| 899 |
MODULE_INIT_HAL_EXTRA(); |
| 900 |
#endif
|
| 901 |
|
| 902 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
|
| 903 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
|
| 904 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
| 905 |
#else
|
| 906 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
| 907 |
#endif
|
| 908 |
#endif
|
| 909 |
|
| 910 |
// ChibiOS/RT kernel and custom kernel additions (if any)
|
| 911 |
chSysInit(); |
| 912 |
#ifdef MODULE_INIT_KERNEL_EXTRA
|
| 913 |
MODULE_INIT_KERNEL_EXTRA(); |
| 914 |
#endif
|
| 915 |
|
| 916 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
|
| 917 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
|
| 918 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
| 919 |
#else
|
| 920 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
| 921 |
#endif
|
| 922 |
#endif
|
| 923 |
|
| 924 |
// AMiRo-OS and custom OS additions (if any)
|
| 925 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
| 926 |
aosSysInit(moduleShellPrompt); |
| 927 |
#else
|
| 928 |
aosSysInit(); |
| 929 |
#endif
|
| 930 |
#ifdef MODULE_INIT_OS_EXTRA
|
| 931 |
MODULE_INIT_OS_EXTRA(); |
| 932 |
#endif
|
| 933 |
|
| 934 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
|
| 935 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
|
| 936 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
| 937 |
#else
|
| 938 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
| 939 |
#endif
|
| 940 |
#endif
|
| 941 |
|
| 942 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
| 943 |
#if defined(MODULE_INIT_TESTS)
|
| 944 |
MODULE_INIT_TESTS(); |
| 945 |
#else
|
| 946 |
#warning "MODULE_INIT_TESTS not defined" |
| 947 |
#endif
|
| 948 |
#endif
|
| 949 |
|
| 950 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
|
| 951 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
|
| 952 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
| 953 |
#else
|
| 954 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
| 955 |
#endif
|
| 956 |
#endif
|
| 957 |
|
| 958 |
/* event associations */
|
| 959 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 960 |
eventflagsmask |= MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC; |
| 961 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 962 |
eventflagsmask |= MODULE_SSSP_EVENTFLAGS_DN; |
| 963 |
#endif
|
| 964 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 965 |
eventflagsmask |= MODULE_SSSP_EVENTFLAGS_UP; |
| 966 |
#endif
|
| 967 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
| 968 |
if (eventflagsmask != 0) { |
| 969 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, eventflagsmask); |
| 970 |
} |
| 971 |
chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK); |
| 972 |
|
| 973 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
|
| 974 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
|
| 975 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
| 976 |
#else
|
| 977 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
| 978 |
#endif
|
| 979 |
#endif
|
| 980 |
|
| 981 |
/* periphery communication initialization */
|
| 982 |
// CAN (mandatory)
|
| 983 |
canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); |
| 984 |
// module specific initialization (if any)
|
| 985 |
#ifdef MODULE_INIT_PERIPHERY_COMM
|
| 986 |
MODULE_INIT_PERIPHERY_COMM(); |
| 987 |
#endif
|
| 988 |
// user interface (if any)
|
| 989 |
#ifdef MODULE_HAL_PROGIF
|
| 990 |
aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
| 991 |
aosIOChannelOutputEnable(&_stdiochannel); |
| 992 |
aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
| 993 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
| 994 |
aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
| 995 |
aosShellChannelInputEnable(&_stdshellchannel); |
| 996 |
aosShellChannelOutputEnable(&_stdshellchannel); |
| 997 |
aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
| 998 |
#endif
|
| 999 |
#endif
|
| 1000 |
|
| 1001 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)
|
| 1002 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)
|
| 1003 |
AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS); |
| 1004 |
#else
|
| 1005 |
AMIROOS_CFG_MAIN_INIT_HOOK_6(); |
| 1006 |
#endif
|
| 1007 |
#endif
|
| 1008 |
|
| 1009 |
/* module is ready -> print welcome prompt */
|
| 1010 |
aosprintf("\n");
|
| 1011 |
aosprintf("######################################################################\n");
|
| 1012 |
aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
| 1013 |
aosprintf("# Robot (AMiRo) platform. #\n");
|
| 1014 |
aosprintf("# Copyright (C) 2016..2019 Thomas Schöpping et al. #\n");
|
| 1015 |
aosprintf("# #\n");
|
| 1016 |
aosprintf("# This is free software; see the source for copying conditions. #\n");
|
| 1017 |
aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
|
| 1018 |
aosprintf("# A PARTICULAR PURPOSE. #\n");
|
| 1019 |
aosprintf("# The development of this software was supported by the Excellence #\n");
|
| 1020 |
aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
|
| 1021 |
aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
|
| 1022 |
aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
|
| 1023 |
aosprintf("######################################################################\n");
|
| 1024 |
aosprintf("\n");
|
| 1025 |
|
| 1026 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)
|
| 1027 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)
|
| 1028 |
AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS); |
| 1029 |
#else
|
| 1030 |
AMIROOS_CFG_MAIN_INIT_HOOK_7(); |
| 1031 |
#endif
|
| 1032 |
#endif
|
| 1033 |
|
| 1034 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 1035 |
/* SSSP startup OS synchronization phase (end of startup stage 2) */
|
| 1036 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) { |
| 1037 |
/*
|
| 1038 |
* This code is executed if the received event was not about the SYS_SYNC control signal.
|
| 1039 |
* The returned event could be caused by any listener (not only the argument).
|
| 1040 |
*/
|
| 1041 |
// IO event
|
| 1042 |
if (eventmask & _eventListenerIO.events) {
|
| 1043 |
eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
| 1044 |
// PD event
|
| 1045 |
if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
| 1046 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 1047 |
} else {
|
| 1048 |
#ifdef MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK
|
| 1049 |
MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK(eventmask, eventflags); |
| 1050 |
#else
|
| 1051 |
// ignore any other IO events
|
| 1052 |
#endif
|
| 1053 |
} |
| 1054 |
} |
| 1055 |
// OS event
|
| 1056 |
else if (eventmask & _eventListenerOS.events) { |
| 1057 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 1058 |
_unexpectedEventError(eventmask, eventflags); |
| 1059 |
} |
| 1060 |
// unknown event
|
| 1061 |
else {
|
| 1062 |
_unexpectedEventError(eventmask, 0);
|
| 1063 |
} |
| 1064 |
} |
| 1065 |
|
| 1066 |
/*
|
| 1067 |
* There must be no delays at this point, thus no hook is allowed.
|
| 1068 |
*/
|
| 1069 |
|
| 1070 |
/* SSSP startup stage 3 (module stack initialization) */
|
| 1071 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 1072 |
shutdown = _ssspModuleStackInitialization(); |
| 1073 |
} |
| 1074 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
| 1075 |
|
| 1076 |
/*
|
| 1077 |
* There must be no delays at this point, thus no hook is allowed.
|
| 1078 |
*/
|
| 1079 |
|
| 1080 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 1081 |
/* synchronize calendars */
|
| 1082 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 1083 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 1084 |
CANTxFrame frame; |
| 1085 |
struct tm t;
|
| 1086 |
uint64_t encoded; |
| 1087 |
|
| 1088 |
frame.DLC = 8;
|
| 1089 |
frame.RTR = CAN_RTR_DATA; |
| 1090 |
frame.IDE = CAN_IDE_STD; |
| 1091 |
frame.SID = CALENDERSYNC_CANMSGID; |
| 1092 |
|
| 1093 |
aosDbgPrintf("transmitting current date/time...\t");
|
| 1094 |
// get current date & time
|
| 1095 |
aosSysGetDateTime(&t); |
| 1096 |
// encode
|
| 1097 |
encoded = _TM2U64(&t); |
| 1098 |
// serialize
|
| 1099 |
_serialize(frame.data8, encoded, 8);
|
| 1100 |
// transmit
|
| 1101 |
canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE); |
| 1102 |
|
| 1103 |
aosDbgPrintf("done\n");
|
| 1104 |
#else /* AMIROOS_CFG_SSSP_MASTER == false */ |
| 1105 |
CANRxFrame frame; |
| 1106 |
uint64_t encoded; |
| 1107 |
struct tm t;
|
| 1108 |
|
| 1109 |
aosDbgPrintf("receiving current date/time...\t");
|
| 1110 |
// receive message
|
| 1111 |
if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)) == MSG_OK) {
|
| 1112 |
// validate message
|
| 1113 |
if (frame.DLC == 8 && |
| 1114 |
frame.RTR == CAN_RTR_DATA && |
| 1115 |
frame.IDE == CAN_IDE_STD && |
| 1116 |
frame.SID == CALENDERSYNC_CANMSGID) {
|
| 1117 |
// deserialize
|
| 1118 |
encoded = _deserialize(frame.data8, 8);
|
| 1119 |
// decode
|
| 1120 |
_U642TM(&t, encoded); |
| 1121 |
// set current date & time
|
| 1122 |
aosSysSetDateTime(&t); |
| 1123 |
aosDbgPrintf("success\n");
|
| 1124 |
} else {
|
| 1125 |
aosDbgPrintf("fail (invalid message)\n");
|
| 1126 |
} |
| 1127 |
} else {
|
| 1128 |
aosDbgPrintf("fail (timeout)\n");
|
| 1129 |
} |
| 1130 |
#endif /* AMIROOS_CFG_SSSP_MASTER == false */ |
| 1131 |
aosDbgPrintf("\n");
|
| 1132 |
} |
| 1133 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
| 1134 |
|
| 1135 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)
|
| 1136 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)
|
| 1137 |
AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS); |
| 1138 |
#else
|
| 1139 |
AMIROOS_CFG_MAIN_INIT_HOOK_8(); |
| 1140 |
#endif
|
| 1141 |
#endif
|
| 1142 |
|
| 1143 |
/* completely start AMiRo-OS */
|
| 1144 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 1145 |
aosSysStart(); |
| 1146 |
} |
| 1147 |
|
| 1148 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)
|
| 1149 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)
|
| 1150 |
AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS); |
| 1151 |
#else
|
| 1152 |
AMIROOS_CFG_MAIN_INIT_HOOK_9(); |
| 1153 |
#endif
|
| 1154 |
#endif
|
| 1155 |
|
| 1156 |
/*
|
| 1157 |
* ##########################################################################
|
| 1158 |
* # infinite loop #
|
| 1159 |
* ##########################################################################
|
| 1160 |
*/
|
| 1161 |
|
| 1162 |
// sleep until a shutdown event is received
|
| 1163 |
while (shutdown == AOS_SHUTDOWN_NONE) {
|
| 1164 |
// wait for an event
|
| 1165 |
#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
| 1166 |
eventmask = chEvtWaitOneTimeout(ALL_EVENTS, chTimeUS2I(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
| 1167 |
#else
|
| 1168 |
eventmask = chEvtWaitOne(ALL_EVENTS); |
| 1169 |
#endif
|
| 1170 |
|
| 1171 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)
|
| 1172 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)
|
| 1173 |
AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS); |
| 1174 |
#else
|
| 1175 |
AMIROOS_CFG_MAIN_LOOP_HOOK_0(); |
| 1176 |
#endif
|
| 1177 |
#endif
|
| 1178 |
|
| 1179 |
switch (eventmask) {
|
| 1180 |
// if this was an I/O event
|
| 1181 |
case IOEVENT_MASK:
|
| 1182 |
// evaluate flags
|
| 1183 |
eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
| 1184 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 1185 |
// PD event
|
| 1186 |
if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
| 1187 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 1188 |
} |
| 1189 |
// all other events
|
| 1190 |
#ifdef MODULE_MAIN_LOOP_IO_EVENT
|
| 1191 |
else {
|
| 1192 |
MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags); |
| 1193 |
} |
| 1194 |
#endif
|
| 1195 |
#else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
| 1196 |
#ifdef MODULE_MAIN_LOOP_IO_EVENT
|
| 1197 |
MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags); |
| 1198 |
#endif
|
| 1199 |
#endif /* AMIROOS_CFG_SSSP_ENABLE */ |
| 1200 |
break;
|
| 1201 |
|
| 1202 |
// if this was an OS event
|
| 1203 |
case OSEVENT_MASK:
|
| 1204 |
// evaluate flags
|
| 1205 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 1206 |
switch (eventflags) {
|
| 1207 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 1208 |
case AOS_SYSTEM_EVENTFLAGS_HIBERNATE:
|
| 1209 |
shutdown = AOS_SHUTDOWN_HIBERNATE; |
| 1210 |
break;
|
| 1211 |
case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP:
|
| 1212 |
shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
| 1213 |
break;
|
| 1214 |
case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION:
|
| 1215 |
shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
| 1216 |
break;
|
| 1217 |
case AOS_SYSTEM_EVENTFLAGS_RESTART:
|
| 1218 |
shutdown = AOS_SHUTDOWN_RESTART; |
| 1219 |
break;
|
| 1220 |
#else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
| 1221 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN:
|
| 1222 |
shutdown = AOS_SHUTDOWN_DEFAULT; |
| 1223 |
break;
|
| 1224 |
#endif /* AMIROOS_CFG_SSSP_ENABLE */ |
| 1225 |
default:
|
| 1226 |
_unexpectedEventError(eventmask, eventflags); |
| 1227 |
break;
|
| 1228 |
} |
| 1229 |
break;
|
| 1230 |
|
| 1231 |
// if this was any other event (should be impossible to occur)
|
| 1232 |
default:
|
| 1233 |
eventflags = 0;
|
| 1234 |
#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0) |
| 1235 |
_unexpectedEventError(eventmask, eventflags); |
| 1236 |
#endif
|
| 1237 |
break;
|
| 1238 |
} |
| 1239 |
|
| 1240 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
|
| 1241 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
|
| 1242 |
AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
| 1243 |
#else
|
| 1244 |
AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
| 1245 |
#endif
|
| 1246 |
#endif
|
| 1247 |
} |
| 1248 |
|
| 1249 |
/*
|
| 1250 |
* ##########################################################################
|
| 1251 |
* # system shutdown #
|
| 1252 |
* ##########################################################################
|
| 1253 |
*/
|
| 1254 |
|
| 1255 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)
|
| 1256 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)
|
| 1257 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS); |
| 1258 |
#else
|
| 1259 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(); |
| 1260 |
#endif
|
| 1261 |
#endif
|
| 1262 |
|
| 1263 |
// initialize/acknowledge shutdown
|
| 1264 |
aosSysShutdownInit(shutdown); |
| 1265 |
|
| 1266 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
|
| 1267 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
|
| 1268 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
| 1269 |
#else
|
| 1270 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
| 1271 |
#endif
|
| 1272 |
#endif
|
| 1273 |
|
| 1274 |
// stop system threads
|
| 1275 |
aosSysStop(); |
| 1276 |
|
| 1277 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
|
| 1278 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
|
| 1279 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
| 1280 |
#else
|
| 1281 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
| 1282 |
#endif
|
| 1283 |
#endif
|
| 1284 |
|
| 1285 |
// deinitialize system
|
| 1286 |
aosSysDeinit(); |
| 1287 |
|
| 1288 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
|
| 1289 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
|
| 1290 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
| 1291 |
#else
|
| 1292 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
| 1293 |
#endif
|
| 1294 |
#endif
|
| 1295 |
|
| 1296 |
/* stop all periphery communication */
|
| 1297 |
// CAN (mandatory)
|
| 1298 |
canStop(&MODULE_HAL_CAN); |
| 1299 |
#ifdef MODULE_SHUTDOWN_PERIPHERY_COMM
|
| 1300 |
MODULE_SHUTDOWN_PERIPHERY_COMM(); |
| 1301 |
#endif
|
| 1302 |
|
| 1303 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
|
| 1304 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
|
| 1305 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
| 1306 |
#else
|
| 1307 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
| 1308 |
#endif
|
| 1309 |
#endif
|
| 1310 |
|
| 1311 |
// finally hand over to bootloader
|
| 1312 |
aosSysShutdownFinal(shutdown); |
| 1313 |
|
| 1314 |
/*
|
| 1315 |
* ##########################################################################
|
| 1316 |
* # after shutdown/restart #
|
| 1317 |
* ##########################################################################
|
| 1318 |
*
|
| 1319 |
* NOTE: This code will not be executed, since the bootloader callbacks will stop/restart the MCU.
|
| 1320 |
* It is included nevertheless for the sake of completeness and to explicitely indicate,
|
| 1321 |
* which subsystems should NOT be shut down.
|
| 1322 |
*/
|
| 1323 |
|
| 1324 |
// return an error, since this code should not be executed
|
| 1325 |
return -1; |
| 1326 |
} |
| 1327 |
|
| 1328 |
/** @} */
|