amiro-os / os / core / src / aos_main.cpp @ 933df08e
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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 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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| 4 | |||
| 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 | #include <amiroos.h> |
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| 20 | cb835a3e | Thomas Schöpping | #include <module.h> |
| 21 | e545e620 | Thomas Schöpping | |
| 22 | b6b45e4c | Thomas Schöpping | /*
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| 23 | * hook to add further includes
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| 24 | */
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| 25 | 512abac1 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)
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| 26 | #include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER
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| 27 | b6b45e4c | Thomas Schöpping | #endif
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| 28 | |||
| 29 | e545e620 | Thomas Schöpping | /**
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| 30 | * @brief Event mask to identify I/O events.
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| 31 | */
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| 32 | 6b53f6bf | Thomas Schöpping | #define IOEVENT_MASK EVENT_MASK(0) |
| 33 | e545e620 | Thomas Schöpping | |
| 34 | /**
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| 35 | * @brief Event mask to identify OS events.
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| 36 | */
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| 37 | 6b53f6bf | Thomas Schöpping | #define OSEVENT_MASK EVENT_MASK(1) |
| 38 | e545e620 | Thomas Schöpping | |
| 39 | /**
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| 40 | 933df08e | Thomas Schöpping | * @brief Event mask to idetify CAN events.
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| 41 | */
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| 42 | #define CANEVENT_MASK EVENT_MASK(2) |
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| 43 | |||
| 44 | /**
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| 45 | * @brief Event mask to idetify timeout events.
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| 46 | */
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| 47 | #define TIMEOUTEVENT_MASK EVENT_MASK(3) |
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| 48 | |||
| 49 | /**
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| 50 | * @brief Event mask to idetify signal delay events.
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| 51 | */
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| 52 | #define DELAYEVENT_MASK EVENT_MASK(4) |
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| 53 | |||
| 54 | /**
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| 55 | * @brief CAN message identifier for initialization of the SSSP stack initialization sequence.
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| 56 | */
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| 57 | #define SSSP_STACKINIT_CANMSGID_INIT 0x003 |
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| 58 | |||
| 59 | /**
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| 60 | * @brief CAN message identifier for transmitting module IDs during the SSSP stack initialization sequence.
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| 61 | */
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| 62 | #define SSSP_STACKINIT_CANMSGID_MODULEID 0x002 |
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| 63 | |||
| 64 | /**
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| 65 | * @brief CAN message identifier for abortion of the SSSP stack initialization sequence.
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| 66 | */
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| 67 | #define SSSP_STACKINIT_CANMSGID_ABORT 0x001 |
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| 68 | |||
| 69 | /**
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| 70 | e545e620 | Thomas Schöpping | * @brief Listener object for I/O events.
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| 71 | */
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| 72 | static event_listener_t _eventListenerIO;
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| 73 | |||
| 74 | /**
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| 75 | * @brief Listener object for OS events.
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| 76 | */
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| 77 | static event_listener_t _eventListenerOS;
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| 78 | |||
| 79 | #if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
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| 80 | /**
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| 81 | ba516b61 | Thomas Schöpping | * @brief I/O channel for the programmer interface.
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| 82 | e545e620 | Thomas Schöpping | */
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| 83 | ba516b61 | Thomas Schöpping | static AosIOChannel _stdiochannel;
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| 84 | |||
| 85 | b8268050 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 86 | ba516b61 | Thomas Schöpping | /**
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| 87 | * @brief I/O shell channel for the programmer interface.
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| 88 | */
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| 89 | static AosShellChannel _stdshellchannel;
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| 90 | e545e620 | Thomas Schöpping | #endif
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| 91 | b8268050 | Thomas Schöpping | #endif
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| 92 | e545e620 | Thomas Schöpping | |
| 93 | b6b45e4c | Thomas Schöpping | /*
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| 94 | * hook to add further static variables
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| 95 | */
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| 96 | #if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
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| 97 | AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
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| 98 | #endif
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| 99 | |||
| 100 | e545e620 | Thomas Schöpping | /**
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| 101 | * @brief Prints an error message about an unexpected event.
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| 102 | *
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| 103 | * @param[in] mask The event mask.
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| 104 | * @param[in] flags The event flags.
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| 105 | */
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| 106 | 933df08e | Thomas Schöpping | static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
| 107 | e545e620 | Thomas Schöpping | {
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| 108 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_DBG == true) |
| 109 | aosprintf("unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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| 110 | #else
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| 111 | 933df08e | Thomas Schöpping | (void)(mask);
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| 112 | (void)(flags);
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| 113 | 6b53f6bf | Thomas Schöpping | #endif
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| 114 | 933df08e | Thomas Schöpping | } |
| 115 | |||
| 116 | /**
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| 117 | * @brief Callback function to be used during SSSP stack initialization sequence.
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| 118 | *
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| 119 | * @param[in] par A pointer to an @p event_source_t to be fired.
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| 120 | */
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| 121 | static void _ssspTimerCallback(void* par) |
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| 122 | {
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| 123 | aosDbgCheck(par != NULL);
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| 124 | |||
| 125 | chSysLockFromISR(); |
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| 126 | chEvtBroadcastI((event_source_t*)par); |
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| 127 | chSysUnlockFromISR(); |
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| 128 | |||
| 129 | e545e620 | Thomas Schöpping | return;
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| 130 | } |
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| 131 | |||
| 132 | /**
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| 133 | 933df08e | Thomas Schöpping | * @brief Helper function to serialize 32 bit data.
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| 134 | *
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| 135 | * @param[out] dst Pointer to the output buffer.
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| 136 | * @param[in] src 32 bit data to be serielized.
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| 137 | */
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| 138 | inline void _canSerialize32(uint8_t* dst, const uint32_t src) |
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| 139 | {
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| 140 | aosDbgCheck(dst != NULL);
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| 141 | |||
| 142 | for (uint8_t byte = 0; byte < 4; ++byte) { |
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| 143 | dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF); |
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| 144 | } |
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| 145 | |||
| 146 | return;
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| 147 | } |
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| 148 | |||
| 149 | /**
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| 150 | * @brief Helper function to deserialize 32 bit data.
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| 151 | *
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| 152 | * @param[in] src Pointer to the buffer of data to be deserialzed.
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| 153 | *
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| 154 | * @return The deserialized 32 bit data.
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| 155 | */
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| 156 | inline uint32_t _canDeserialize32(uint8_t* src)
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| 157 | {
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| 158 | aosDbgCheck(src != NULL);
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| 159 | |||
| 160 | return ((uint32_t)src[0]) | (((uint32_t)src[1]) << 8) | (((uint32_t)src[2]) << 16) | (((uint32_t)src[3]) << 24); |
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| 161 | } |
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| 162 | |||
| 163 | /**
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| 164 | * @brief Implementation of the SSSP module stack initialization sequence (startup phase 3).
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| 165 | *
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| 166 | * @return Shutdown value.
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| 167 | * @retval AOS_SHUTDOWN_NONE No shutdown signal received
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| 168 | * @retval AOS_SHUTDOWN_PASSIVE Shutdown signal received.
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| 169 | */
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| 170 | aos_shutdown_t _ssspModuleStackInitialization(void)
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| 171 | {
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| 172 | // local types
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| 173 | /**
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| 174 | * @brief States for the internal state machine to implement SSSP startup stage 3.
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| 175 | */
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| 176 | typedef enum { |
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| 177 | STAGE_3_1, /**< Initiation of SSSP startup stage 3. */
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| 178 | STAGE_3_2, /**< Starting the sequence and broadcasting the first ID. */
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| 179 | STAGE_3_3_WAITFORFIRSTID, /**< Waiting for first ID after initiation. */
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| 180 | STAGE_3_3_WAITFORIDORSIG, /**< Waiting for next ID or activation of neighbor signal. */
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| 181 | STAGE_3_3_WAITFORID, /**< Waiting for next ID (after the module has set its own ID). */
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| 182 | STAGE_3_4_FINISH, /**< Successful finish of stage 3. */
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| 183 | STAGE_3_4_ABORT_ACTIVE, /**< Aborting stage 3 (active). */
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| 184 | STAGE_3_4_ABORT, /**< Aborting stage 3 (passive). */
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| 185 | } sssp_modulestackinitstage_t; |
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| 186 | |||
| 187 | typedef struct { |
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| 188 | bool loop : 1; |
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| 189 | bool wfe : 1; |
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| 190 | bool wfe_next : 1; |
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| 191 | } flags_t; |
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| 192 | |||
| 193 | // local variables
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| 194 | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
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| 195 | sssp_modulestackinitstage_t stage = STAGE_3_1; |
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| 196 | eventmask_t eventmask = 0;
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| 197 | eventflags_t ioflags; |
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| 198 | event_source_t eventSourceTimeout; |
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| 199 | event_source_t eventSourceDelay; |
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| 200 | event_listener_t eventListenerTimeout; |
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| 201 | event_listener_t eventListenerDelay; |
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| 202 | event_listener_t eventListenerCan; |
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| 203 | virtual_timer_t timerTimeout; |
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| 204 | virtual_timer_t timerDelay; |
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| 205 | CANTxFrame canTxFrame; |
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| 206 | CANRxFrame canRxFrame; |
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| 207 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
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| 208 | aos_ssspmoduleid_t lastid = 0;
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| 209 | #endif
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| 210 | flags_t flags; |
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| 211 | |||
| 212 | // initialize local varibles
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| 213 | chEvtObjectInit(&eventSourceTimeout); |
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| 214 | chEvtObjectInit(&eventSourceDelay); |
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| 215 | chVTObjectInit(&timerTimeout); |
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| 216 | chVTObjectInit(&timerDelay); |
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| 217 | canTxFrame.RTR = CAN_RTR_DATA; |
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| 218 | canTxFrame.IDE = CAN_IDE_STD; |
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| 219 | flags.loop = true;
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| 220 | flags.wfe = false; // do not wait for events in the initial iteration of the FSM loop |
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| 221 | flags.wfe_next = true;
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| 222 | |||
| 223 | // initialize system variables
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| 224 | aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
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| 225 | aos.sssp.moduleId = 0;
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| 226 | |||
| 227 | // listen to events (timout, delay, CAN receive)
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| 228 | chEvtRegisterMask(&eventSourceTimeout, &eventListenerTimeout, TIMEOUTEVENT_MASK); |
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| 229 | chEvtRegisterMask(&eventSourceDelay, &eventListenerDelay, DELAYEVENT_MASK); |
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| 230 | chEvtRegisterMask(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan, CANEVENT_MASK); |
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| 231 | |||
| 232 | /*
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| 233 | * FSM in a loop.
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| 234 | *
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| 235 | * This is a fully event-based FSM for the module stack initialization
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| 236 | * sequence, defined by SSSP as startup stage 3. There are five different
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| 237 | * events that can occur at this point:
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| 238 | * I/O events: The input level of an input pin has changed. Such events must
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| 239 | * be handled differently depending on the current state. Most
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| 240 | * of the time, however, such events can be ignored.
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| 241 | * OS events: Such events are only available after this stage completed and
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| 242 | * thus should never occur. However, there is an optional hook
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| 243 | * to handle such events, nevertheless.
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| 244 | * CAN events: At least one CAN message was received. Note that this event
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| 245 | * will only fire again if all input buffers have been cleared.
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| 246 | * timeouts: If some module does not support the sequence of there is any
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| 247 | * issue, such a case is detected via timeouts and must be
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| 248 | * handled accordingly (see abort state). In some cases, it is
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| 249 | * possible that a timeout event occurres 'simultaneously' with
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| 250 | * some other event. This can be caused by several timing issues
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| 251 | * and is a valid situation. As a result, any other events
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| 252 | * should be handled before the timeout event. If the other
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| 253 | * events are expected and valid, this implementation requires
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| 254 | * the timeout event flag to be cleared explicitely. Otherwise
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| 255 | * it is evaluated at the end of each iteration of the loop.
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| 256 | * delays: Depending on the current state, delays are required by SSSP
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| 257 | * for timing of the sequential activation of signals.
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| 258 | */
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| 259 | aosDbgPrintf("SSSP stack initialization sequence:\n");
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| 260 | while (flags.loop) {
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| 261 | #if (AMIROOS_CFG_DBG == true) |
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| 262 | switch (stage) {
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| 263 | case STAGE_3_1:
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| 264 | aosDbgPrintf(">>> 3-1\n");
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| 265 | break;
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| 266 | case STAGE_3_2:
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| 267 | aosDbgPrintf(">>> 3-2\n");
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| 268 | break;
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| 269 | case STAGE_3_3_WAITFORFIRSTID:
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| 270 | aosDbgPrintf(">>> 3-3 (1st ID)\n");
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| 271 | break;
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| 272 | case STAGE_3_3_WAITFORIDORSIG:
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| 273 | aosDbgPrintf(">>> 3-3 (ID/sig)\n");
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| 274 | break;
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| 275 | case STAGE_3_3_WAITFORID:
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| 276 | aosDbgPrintf(">>> 3-3 (ID)\n");
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| 277 | break;
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| 278 | case STAGE_3_4_FINISH:
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| 279 | aosDbgPrintf(">>> 3-4 (finish)\n");
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| 280 | break;
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| 281 | case STAGE_3_4_ABORT_ACTIVE:
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| 282 | aosDbgPrintf(">>> 3-4 (avtive abort)\n");
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| 283 | break;
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| 284 | case STAGE_3_4_ABORT:
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| 285 | aosDbgPrintf(">>> 3-4 (abort)\n");
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| 286 | break;
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| 287 | } |
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| 288 | #endif
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| 289 | |||
| 290 | // reset wfe flag for the next iteration
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| 291 | flags.wfe_next = true;
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| 292 | |||
| 293 | // waiting for events may be skipped
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| 294 | if (flags.wfe) {
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| 295 | // wait for any event to occur
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| 296 | aosDbgPrintf("WFE...");
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| 297 | eventmask = chEvtWaitAnyTimeout(ALL_EVENTS, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT)); |
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| 298 | aosDbgPrintf("\t0x%08X", eventmask);
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| 299 | } else {
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| 300 | aosDbgPrintf("WFE skipped");
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| 301 | } |
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| 302 | aos_timestamp_t uptime; |
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| 303 | aosSysGetUptime(&uptime); |
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| 304 | aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / 1000)); |
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| 305 | |||
| 306 | /*
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| 307 | * execute some general tasks and high priority events
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| 308 | */
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| 309 | // no event occurred at all
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| 310 | if ((flags.wfe) && (eventmask == 0)) { |
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| 311 | aosDbgPrintf("ERR: no evt\n");
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| 312 | // enforce timeout event
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| 313 | chEvtBroadcast(&eventSourceTimeout); |
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| 314 | continue;
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| 315 | } |
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| 316 | // if an IO event occurred
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| 317 | if (eventmask & IOEVENT_MASK) {
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| 318 | ioflags = chEvtGetAndClearFlags(&_eventListenerIO); |
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| 319 | aosDbgPrintf("INFO: IO evt (0x%08X)\n", ioflags);
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| 320 | // a power-down event occurred
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| 321 | if (ioflags & MODULE_SSSP_EVENTFLAGS_PD) {
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| 322 | aosDbgPrintf("PD evt\n");
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| 323 | // deactivate S and UP
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| 324 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
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| 325 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
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| 326 | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
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| 327 | #endif
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| 328 | // set shutdown flag and exit the loop
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| 329 | shutdown = AOS_SHUTDOWN_PASSIVE; |
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| 330 | break;
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| 331 | } |
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| 332 | // the S signal was deactivated
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| 333 | if (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC) {
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| 334 | apalControlGpioState_t sstate; |
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| 335 | apalControlGpioGet(&moduleSsspGpioSync, &sstate); |
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| 336 | if (sstate == APAL_GPIO_OFF) {
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| 337 | aosDbgPrintf("-S evt\n");
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| 338 | // either finish or abort
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| 339 | if ((stage == STAGE_3_3_WAITFORID) && (aos.sssp.moduleId != 0)) { |
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| 340 | stage = STAGE_3_4_FINISH; |
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| 341 | } else if (stage != STAGE_3_4_ABORT) { |
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| 342 | stage = STAGE_3_4_ABORT_ACTIVE; |
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| 343 | } |
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| 344 | } |
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| 345 | } |
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| 346 | } |
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| 347 | // an OS event occurred
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| 348 | if (eventmask & OSEVENT_MASK) {
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| 349 | aosDbgPrintf("WARN: OS evt\n");
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| 350 | // get the flags
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| 351 | eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
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| 352 | // there should be no OS events at this point
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| 353 | #ifdef MODULE_SSSP_STARTUP_3_OSEVENT_HOOK
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| 354 | MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags); |
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| 355 | #else
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| 356 | _unexpectedEventError(eventmask, oseventflags); |
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| 357 | #endif
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| 358 | } |
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| 359 | // if a CAN event occurred
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| 360 | if ((eventmask & CANEVENT_MASK)) {
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| 361 | // fetch message
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| 362 | if (flags.wfe) {
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| 363 | canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE); |
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| 364 | aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
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| 365 | } |
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| 366 | // identify and handle abort messgaes
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| 367 | if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
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| 368 | stage = STAGE_3_4_ABORT; |
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| 369 | } |
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| 370 | // warn if a unexpected message was received
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| 371 | else if ((canRxFrame.SID != SSSP_STACKINIT_CANMSGID_INIT) && |
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| 372 | (canRxFrame.SID != SSSP_STACKINIT_CANMSGID_MODULEID)) {
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| 373 | aosDbgPrintf("WARN: unknown msg\n");
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| 374 | } |
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| 375 | // any further pending messages are fetched at the end of the loop
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| 376 | } |
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| 377 | // if a timeout event occurred
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| 378 | if (eventmask & TIMEOUTEVENT_MASK) {
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| 379 | // is handled at the end of the loop (or must be cleared by FSM)
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| 380 | } |
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| 381 | // if a delay event occurred
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| 382 | if (eventmask & DELAYEVENT_MASK) {
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| 383 | // is handled by FSM
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| 384 | } |
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| 385 | |||
| 386 | /*
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| 387 | * this is the actual FSM
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| 388 | */
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| 389 | switch (stage) {
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| 390 | case STAGE_3_1:
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| 391 | {
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| 392 | aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
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| 393 | |||
| 394 | // there was no event at all (skipped wfe)
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| 395 | if (eventmask == 0 && flags.wfe == false) { |
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| 396 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
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| 397 | // initialize the stage by transmitting an according CAN message
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| 398 | aosDbgPrintf("CAN -> init\n");
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| 399 | canTxFrame.DLC = 0;
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| 400 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_INIT; |
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| 401 | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
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| 402 | chEvtBroadcast(&eventSourceTimeout); |
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| 403 | break;
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| 404 | } |
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| 405 | // activate S
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| 406 | aosDbgPrintf("S+\n");
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| 407 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
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| 408 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
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| 409 | // proceed immediately
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| 410 | stage = STAGE_3_2; |
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| 411 | flags.wfe_next = false;
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| 412 | #else
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| 413 | // set the timeout timer
|
||
| 414 | chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
||
| 415 | // proceed
|
||
| 416 | stage = STAGE_3_3_WAITFORFIRSTID; |
||
| 417 | #endif
|
||
| 418 | #else
|
||
| 419 | // set the timeout timer
|
||
| 420 | chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
||
| 421 | #endif
|
||
| 422 | } |
||
| 423 | |||
| 424 | #if (AMIROOS_CFG_SSSP_MASTER != true) |
||
| 425 | // a CAN message was received
|
||
| 426 | else if (eventmask & CANEVENT_MASK) { |
||
| 427 | // if an initiation message was received
|
||
| 428 | if (canRxFrame.DLC == 0 && |
||
| 429 | canRxFrame.RTR == CAN_RTR_DATA && |
||
| 430 | canRxFrame.IDE == CAN_IDE_STD && |
||
| 431 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) {
|
||
| 432 | aosDbgPrintf("init msg\n");
|
||
| 433 | // reset the timeout timer and clear pending flags
|
||
| 434 | chVTReset(&timerTimeout); |
||
| 435 | chEvtWaitAnyTimeout(TIMEOUTEVENT_MASK, TIME_IMMEDIATE); |
||
| 436 | eventmask &= ~TIMEOUTEVENT_MASK; |
||
| 437 | // activate S
|
||
| 438 | aosDbgPrintf("S+\n");
|
||
| 439 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
||
| 440 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
| 441 | // proceed
|
||
| 442 | stage = STAGE_3_2; |
||
| 443 | flags.wfe_next = false;
|
||
| 444 | #else
|
||
| 445 | // set the timeout timer
|
||
| 446 | chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
||
| 447 | // proceed
|
||
| 448 | stage = STAGE_3_3_WAITFORFIRSTID; |
||
| 449 | #endif
|
||
| 450 | } |
||
| 451 | } |
||
| 452 | #endif
|
||
| 453 | |||
| 454 | break;
|
||
| 455 | } /* end of STAGE_3_1 */
|
||
| 456 | |||
| 457 | case STAGE_3_2:
|
||
| 458 | {
|
||
| 459 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
| 460 | aos.sssp.stage = AOS_SSSP_STARTUP_3_2; |
||
| 461 | |||
| 462 | // if this stage was just entered
|
||
| 463 | if (flags.wfe == false) { |
||
| 464 | // set the module ID
|
||
| 465 | aos.sssp.moduleId = 1;
|
||
| 466 | // broadcast module ID
|
||
| 467 | aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
||
| 468 | canTxFrame.DLC = 4;
|
||
| 469 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
||
| 470 | _canSerialize32(canTxFrame.data8, aos.sssp.moduleId); |
||
| 471 | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
||
| 472 | chEvtBroadcast(&eventSourceTimeout); |
||
| 473 | break;
|
||
| 474 | } |
||
| 475 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
||
| 476 | lastid = aos.sssp.moduleId; |
||
| 477 | #endif
|
||
| 478 | #if (AMIROOS_CFG_SSSP_STACK_END == true) |
||
| 479 | // sequence is already over
|
||
| 480 | // deactivate S
|
||
| 481 | aosDbgPrintf("S-\n");
|
||
| 482 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
| 483 | // proceed
|
||
| 484 | stage = STAGE_3_3_WAITFORID; |
||
| 485 | #else
|
||
| 486 | // set the delay timer so the UP signal is activated later
|
||
| 487 | chVTSet(&timerDelay, LL_US2ST(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
||
| 488 | #endif
|
||
| 489 | } |
||
| 490 | |||
| 491 | // if a delay event occurred
|
||
| 492 | if (eventmask & DELAYEVENT_MASK) {
|
||
| 493 | // activate UP
|
||
| 494 | aosDbgPrintf("UP+\n");
|
||
| 495 | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
||
| 496 | // deactivate S
|
||
| 497 | aosDbgPrintf("S-\n");
|
||
| 498 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
| 499 | // explicitely clear timeout event flag
|
||
| 500 | chEvtWaitAnyTimeout(TIMEOUTEVENT_MASK, TIME_IMMEDIATE); |
||
| 501 | eventmask &= ~TIMEOUTEVENT_MASK; |
||
| 502 | // proceed
|
||
| 503 | stage = STAGE_3_3_WAITFORID; |
||
| 504 | } |
||
| 505 | #endif
|
||
| 506 | |||
| 507 | break;
|
||
| 508 | } /* end of STAGE_3_2 */
|
||
| 509 | |||
| 510 | case STAGE_3_3_WAITFORFIRSTID:
|
||
| 511 | {
|
||
| 512 | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
||
| 513 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
| 514 | |||
| 515 | // a CAN message was received
|
||
| 516 | if (eventmask & CANEVENT_MASK) {
|
||
| 517 | // if an ID message was received
|
||
| 518 | if (canRxFrame.DLC == 4 && |
||
| 519 | canRxFrame.RTR == CAN_RTR_DATA && |
||
| 520 | canRxFrame.IDE == CAN_IDE_STD && |
||
| 521 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
||
| 522 | aosDbgPrintf("ID (%u)\n", _canDeserialize32(canRxFrame.data8));
|
||
| 523 | // validate received ID
|
||
| 524 | if (lastid < _canDeserialize32(canRxFrame.data8)) {
|
||
| 525 | // store received ID
|
||
| 526 | lastid = _canDeserialize32(canRxFrame.data8); |
||
| 527 | // restart timeout timer
|
||
| 528 | chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
||
| 529 | // proceed
|
||
| 530 | stage = STAGE_3_3_WAITFORIDORSIG; |
||
| 531 | } else {
|
||
| 532 | aosDbgPrintf("ERR: invalid ID\n");
|
||
| 533 | // abort
|
||
| 534 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
| 535 | flags.wfe_next = false;
|
||
| 536 | } |
||
| 537 | // explicitely clear timeout event flag
|
||
| 538 | chEvtWaitAnyTimeout(TIMEOUTEVENT_MASK, TIME_IMMEDIATE); |
||
| 539 | eventmask &= ~TIMEOUTEVENT_MASK; |
||
| 540 | } |
||
| 541 | } |
||
| 542 | #endif
|
||
| 543 | break;
|
||
| 544 | } /* end of STAGE_3_3_WAITFORFIRSTID */
|
||
| 545 | |||
| 546 | case STAGE_3_3_WAITFORIDORSIG:
|
||
| 547 | {
|
||
| 548 | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
||
| 549 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
| 550 | |||
| 551 | // a CAN message was received
|
||
| 552 | if (eventmask & CANEVENT_MASK) {
|
||
| 553 | // if an ID message was received
|
||
| 554 | if (canRxFrame.DLC == 4 && |
||
| 555 | canRxFrame.RTR == CAN_RTR_DATA && |
||
| 556 | canRxFrame.IDE == CAN_IDE_STD && |
||
| 557 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
||
| 558 | aosDbgPrintf("ID (%u)\n", _canDeserialize32(canRxFrame.data8));
|
||
| 559 | // validate received ID
|
||
| 560 | if (lastid < _canDeserialize32(canRxFrame.data8)) {
|
||
| 561 | // store received ID
|
||
| 562 | lastid = _canDeserialize32(canRxFrame.data8); |
||
| 563 | // restart timeout timer
|
||
| 564 | chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
||
| 565 | } else {
|
||
| 566 | aosDbgPrintf("ERR: invalid ID\n");
|
||
| 567 | // abort
|
||
| 568 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
| 569 | flags.wfe_next = false;
|
||
| 570 | } |
||
| 571 | // explicitely clear timeout event flag
|
||
| 572 | chEvtWaitAnyTimeout(TIMEOUTEVENT_MASK, TIME_IMMEDIATE); |
||
| 573 | eventmask &= ~TIMEOUTEVENT_MASK; |
||
| 574 | } |
||
| 575 | } |
||
| 576 | |||
| 577 | // if an IO event was received (DN signal)
|
||
| 578 | if ((eventmask & IOEVENT_MASK) && (ioflags & MODULE_SSSP_EVENTFLAGS_DN)) {
|
||
| 579 | aosDbgPrintf("DN <-\n");
|
||
| 580 | // reset timeout timer
|
||
| 581 | chVTReset(&timerTimeout); |
||
| 582 | chEvtWaitAnyTimeout(TIMEOUTEVENT_MASK, TIME_IMMEDIATE); |
||
| 583 | eventmask &= ~TIMEOUTEVENT_MASK; |
||
| 584 | // increment and broadcast ID
|
||
| 585 | aos.sssp.moduleId = lastid + 1;
|
||
| 586 | aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
||
| 587 | canTxFrame.DLC = 4;
|
||
| 588 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
||
| 589 | _canSerialize32(canTxFrame.data8, aos.sssp.moduleId); |
||
| 590 | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
||
| 591 | chEvtBroadcast(&eventSourceTimeout); |
||
| 592 | break;
|
||
| 593 | } |
||
| 594 | // set delay timer
|
||
| 595 | chVTSet(&timerDelay, LL_US2ST(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
||
| 596 | } |
||
| 597 | |||
| 598 | // if a delay event occurred
|
||
| 599 | if (eventmask & DELAYEVENT_MASK) {
|
||
| 600 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
| 601 | // activate UP
|
||
| 602 | aosDbgPrintf("UP+\n");
|
||
| 603 | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
||
| 604 | #endif
|
||
| 605 | // deactivate S
|
||
| 606 | aosDbgPrintf("S-\n");
|
||
| 607 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
| 608 | // reset the timeout timer
|
||
| 609 | chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
||
| 610 | chEvtWaitAnyTimeout(TIMEOUTEVENT_MASK, TIME_IMMEDIATE); |
||
| 611 | eventmask &= ~TIMEOUTEVENT_MASK; |
||
| 612 | // proceed
|
||
| 613 | stage = STAGE_3_3_WAITFORID; |
||
| 614 | } |
||
| 615 | #endif
|
||
| 616 | |||
| 617 | break;
|
||
| 618 | } /* end of STAGE_3_3_WAITFORIDORSIG */
|
||
| 619 | |||
| 620 | case STAGE_3_3_WAITFORID:
|
||
| 621 | {
|
||
| 622 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
| 623 | |||
| 624 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
| 625 | // a CAN message was received
|
||
| 626 | if (eventmask & CANEVENT_MASK) {
|
||
| 627 | // if an ID message was received
|
||
| 628 | if (canRxFrame.DLC == 4 && |
||
| 629 | canRxFrame.RTR == CAN_RTR_DATA && |
||
| 630 | canRxFrame.IDE == CAN_IDE_STD && |
||
| 631 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
||
| 632 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
||
| 633 | // Plausibility of the received ID is not checked at this point but is done by other modules still in a previous stage.
|
||
| 634 | lastid = _canDeserialize32(canRxFrame.data8); |
||
| 635 | aosDbgPrintf("ID (%u)\n", lastid);
|
||
| 636 | #endif
|
||
| 637 | // restart timeout timer
|
||
| 638 | chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
||
| 639 | chEvtWaitAnyTimeout(TIMEOUTEVENT_MASK, TIME_IMMEDIATE); |
||
| 640 | eventmask &= ~TIMEOUTEVENT_MASK; |
||
| 641 | } |
||
| 642 | } |
||
| 643 | #endif
|
||
| 644 | |||
| 645 | break;
|
||
| 646 | } /* end of STAGE_3_3_WAITFORID */
|
||
| 647 | |||
| 648 | case STAGE_3_4_FINISH:
|
||
| 649 | {
|
||
| 650 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
| 651 | |||
| 652 | // if an IO event was received (S signal)
|
||
| 653 | if ((eventmask & IOEVENT_MASK) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
||
| 654 | // reset the timeout timer
|
||
| 655 | chVTReset(&timerTimeout); |
||
| 656 | chEvtWaitAnyTimeout(TIMEOUTEVENT_MASK, TIME_IMMEDIATE); |
||
| 657 | eventmask &= ~TIMEOUTEVENT_MASK; |
||
| 658 | //set the delay timer
|
||
| 659 | chVTSet(&timerDelay, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceDelay); |
||
| 660 | } |
||
| 661 | |||
| 662 | // if a CAN event was received
|
||
| 663 | if (eventmask & CANEVENT_MASK) {
|
||
| 664 | // if an abort message was received
|
||
| 665 | if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
||
| 666 | aosDbgPrintf("abort msg\n");
|
||
| 667 | // reset the delay timer
|
||
| 668 | chVTReset(&timerDelay); |
||
| 669 | chEvtWaitAnyTimeout(DELAYEVENT_MASK, TIME_IMMEDIATE); |
||
| 670 | eventmask &= ~DELAYEVENT_MASK; |
||
| 671 | // proceed
|
||
| 672 | stage = STAGE_3_4_ABORT; |
||
| 673 | } |
||
| 674 | } |
||
| 675 | |||
| 676 | // if a delay timer event occurred
|
||
| 677 | if (eventmask & DELAYEVENT_MASK) {
|
||
| 678 | aosDbgPrintf("sequence sucessful\n");
|
||
| 679 | // sequence finished sucessfully
|
||
| 680 | flags.loop = false;
|
||
| 681 | } |
||
| 682 | |||
| 683 | break;
|
||
| 684 | } /* end of STAGE_3_4_FINISH */
|
||
| 685 | |||
| 686 | case STAGE_3_4_ABORT_ACTIVE:
|
||
| 687 | {
|
||
| 688 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
| 689 | |||
| 690 | // emit abort message
|
||
| 691 | canTxFrame.DLC = 0;
|
||
| 692 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_ABORT; |
||
| 693 | canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_INFINITE); |
||
| 694 | aosDbgPrintf("CAN -> abort\n");
|
||
| 695 | // clear timeout flag
|
||
| 696 | eventmask &= ~TIMEOUTEVENT_MASK; |
||
| 697 | // proceed immediately
|
||
| 698 | stage = STAGE_3_4_ABORT; |
||
| 699 | flags.wfe_next = false;
|
||
| 700 | break;
|
||
| 701 | } /* end of STAGE_3_4_ABORT_ACTIVE */
|
||
| 702 | |||
| 703 | case STAGE_3_4_ABORT:
|
||
| 704 | {
|
||
| 705 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
| 706 | |||
| 707 | // deactivate S
|
||
| 708 | aosDbgPrintf("S-\n");
|
||
| 709 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
| 710 | // invalidate module ID
|
||
| 711 | aos.sssp.moduleId = 0;
|
||
| 712 | |||
| 713 | // if an IO event was received (S signal)
|
||
| 714 | if ((eventmask & IOEVENT_MASK) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
||
| 715 | aosDbgPrintf("sequence aborted\n");
|
||
| 716 | // exit the sequence
|
||
| 717 | flags.loop = false;
|
||
| 718 | } |
||
| 719 | |||
| 720 | break;
|
||
| 721 | } /* end of STAGE_3_4_ABORT */
|
||
| 722 | } |
||
| 723 | |||
| 724 | // fetch pending CAN message (if any)
|
||
| 725 | if ((eventmask & CANEVENT_MASK) && (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE) == MSG_OK)) {
|
||
| 726 | aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
||
| 727 | flags.wfe_next = false;
|
||
| 728 | } |
||
| 729 | |||
| 730 | // handle unhandled timeout events
|
||
| 731 | if (eventmask & TIMEOUTEVENT_MASK) {
|
||
| 732 | aosDbgPrintf("ERR: timeout evt\n");
|
||
| 733 | // abort
|
||
| 734 | flags.wfe_next = false;
|
||
| 735 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
| 736 | } |
||
| 737 | |||
| 738 | // apply wfe value for next iteration
|
||
| 739 | flags.wfe = flags.wfe_next; |
||
| 740 | } |
||
| 741 | aosDbgPrintf("\n");
|
||
| 742 | |||
| 743 | // unregister all events (timeout, delay, CAN receive)
|
||
| 744 | chEvtUnregister(&eventSourceTimeout, &eventListenerTimeout); |
||
| 745 | chEvtUnregister(&eventSourceDelay, &eventListenerDelay); |
||
| 746 | chEvtUnregister(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan); |
||
| 747 | // clear any pending events (timeout, delay, CAN receive)
|
||
| 748 | chEvtWaitAllTimeout(TIMEOUTEVENT_MASK | DELAYEVENT_MASK | CANEVENT_MASK, TIME_IMMEDIATE); |
||
| 749 | |||
| 750 | // reset all control signals
|
||
| 751 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
| 752 | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
||
| 753 | #endif
|
||
| 754 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
| 755 | |||
| 756 | return shutdown;
|
||
| 757 | } |
||
| 758 | |||
| 759 | /**
|
||
| 760 | e545e620 | Thomas Schöpping | * @brief Application entry point.
|
| 761 | */
|
||
| 762 | int main(void) |
||
| 763 | {
|
||
| 764 | // local variables
|
||
| 765 | eventmask_t eventmask = 0;
|
||
| 766 | eventflags_t eventflags = 0;
|
||
| 767 | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
||
| 768 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)
|
| 769 | AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
||
| 770 | e545e620 | Thomas Schöpping | #endif
|
| 771 | |||
| 772 | /*
|
||
| 773 | * ##########################################################################
|
||
| 774 | * # system initialization #
|
||
| 775 | * ##########################################################################
|
||
| 776 | */
|
||
| 777 | |||
| 778 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
|
||
| 779 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS)
|
| 780 | AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS); |
||
| 781 | #else
|
||
| 782 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_0(); |
| 783 | #endif
|
||
| 784 | b6b45e4c | Thomas Schöpping | #endif
|
| 785 | e545e620 | Thomas Schöpping | |
| 786 | /* hardware, kernel, and operating system initialization */
|
||
| 787 | // ChibiOS/HAL and custom hal additions (if any)
|
||
| 788 | halInit(); |
||
| 789 | #ifdef MODULE_INIT_HAL_EXTRA
|
||
| 790 | MODULE_INIT_HAL_EXTRA(); |
||
| 791 | #endif
|
||
| 792 | |||
| 793 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
|
||
| 794 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
|
||
| 795 | AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
||
| 796 | #else
|
||
| 797 | AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
||
| 798 | #endif
|
||
| 799 | #endif
|
||
| 800 | |||
| 801 | // ChibiOS/RT kernel and custom kernel additions (if any)
|
||
| 802 | chSysInit(); |
||
| 803 | #ifdef MODULE_INIT_KERNEL_EXTRA
|
||
| 804 | MODULE_INIT_KERNEL_EXTRA(); |
||
| 805 | #endif
|
||
| 806 | |||
| 807 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
|
||
| 808 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
|
||
| 809 | AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
||
| 810 | #else
|
||
| 811 | AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
||
| 812 | #endif
|
||
| 813 | #endif
|
||
| 814 | |||
| 815 | // AMiRo-OS and custom OS additions (if any)
|
||
| 816 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
| 817 | aosSysInit(moduleShellPrompt); |
||
| 818 | #else
|
||
| 819 | aosSysInit(); |
||
| 820 | #endif
|
||
| 821 | e545e620 | Thomas Schöpping | #ifdef MODULE_INIT_OS_EXTRA
|
| 822 | MODULE_INIT_OS_EXTRA(); |
||
| 823 | #endif
|
||
| 824 | |||
| 825 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
|
||
| 826 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
|
||
| 827 | AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
||
| 828 | #else
|
||
| 829 | AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
||
| 830 | #endif
|
||
| 831 | #endif
|
||
| 832 | |||
| 833 | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
||
| 834 | MODULE_INIT_TESTS(); |
||
| 835 | #endif
|
||
| 836 | |||
| 837 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
|
||
| 838 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
|
||
| 839 | AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
||
| 840 | #else
|
||
| 841 | AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
||
| 842 | #endif
|
||
| 843 | #endif
|
||
| 844 | |||
| 845 | /* event associations */
|
||
| 846 | 6b53f6bf | Thomas Schöpping | chEvtRegisterMask(&aos.events.io, &_eventListenerIO, IOEVENT_MASK); |
| 847 | chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK); |
||
| 848 | e545e620 | Thomas Schöpping | |
| 849 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
|
||
| 850 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
|
||
| 851 | AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
||
| 852 | #else
|
||
| 853 | AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
||
| 854 | #endif
|
||
| 855 | #endif
|
||
| 856 | |||
| 857 | /* periphery communication initialization */
|
||
| 858 | // CAN (mandatory)
|
||
| 859 | canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); |
||
| 860 | // module specific initialization (if any)
|
||
| 861 | #ifdef MODULE_INIT_PERIPHERY_COMM
|
||
| 862 | MODULE_INIT_PERIPHERY_COMM(); |
||
| 863 | #endif
|
||
| 864 | // user interface (if any)
|
||
| 865 | #ifdef MODULE_HAL_PROGIF
|
||
| 866 | ba516b61 | Thomas Schöpping | aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
| 867 | aosIOChannelOutputEnable(&_stdiochannel); |
||
| 868 | aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
||
| 869 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
||
| 870 | dd8738ea | Thomas Schöpping | aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
| 871 | ba516b61 | Thomas Schöpping | aosShellChannelInputEnable(&_stdshellchannel); |
| 872 | aosShellChannelOutputEnable(&_stdshellchannel); |
||
| 873 | 6b53f6bf | Thomas Schöpping | aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
| 874 | ba516b61 | Thomas Schöpping | #endif
|
| 875 | e545e620 | Thomas Schöpping | #endif
|
| 876 | |||
| 877 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)
|
||
| 878 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)
|
||
| 879 | AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS); |
||
| 880 | #else
|
||
| 881 | AMIROOS_CFG_MAIN_INIT_HOOK_6(); |
||
| 882 | #endif
|
||
| 883 | #endif
|
||
| 884 | |||
| 885 | /* module is ready -> print welcome prompt */
|
||
| 886 | aosprintf("\n");
|
||
| 887 | aosprintf("######################################################################\n");
|
||
| 888 | aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
||
| 889 | aosprintf("# Robot (AMiRo) platform. #\n");
|
||
| 890 | aosprintf("# Copyright (C) 2016..2018 Thomas Schöpping et al. #\n");
|
||
| 891 | aosprintf("# #\n");
|
||
| 892 | aosprintf("# This is free software; see the source for copying conditions. #\n");
|
||
| 893 | aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
|
||
| 894 | aosprintf("# A PARTICULAR PURPOSE. #\n");
|
||
| 895 | aosprintf("# The development of this software was supported by the Excellence #\n");
|
||
| 896 | aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
|
||
| 897 | aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
|
||
| 898 | aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
|
||
| 899 | aosprintf("######################################################################\n");
|
||
| 900 | aosprintf("\n");
|
||
| 901 | |||
| 902 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)
|
||
| 903 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)
|
||
| 904 | AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS); |
||
| 905 | #else
|
||
| 906 | AMIROOS_CFG_MAIN_INIT_HOOK_7(); |
||
| 907 | #endif
|
||
| 908 | #endif
|
||
| 909 | |||
| 910 | 6b53f6bf | Thomas Schöpping | /* SSSP startup OS synchronization phase (end of startup stage 2) */
|
| 911 | e545e620 | Thomas Schöpping | while ((eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) { |
| 912 | /*
|
||
| 913 | * This code is executed if the received event was not about the SYS_SYNC control signal.
|
||
| 914 | * The returned event could be caused by any listener (not only the argument).
|
||
| 915 | */
|
||
| 916 | // unexpected IO events
|
||
| 917 | if (eventmask & _eventListenerIO.events) {
|
||
| 918 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
||
| 919 | 933df08e | Thomas Schöpping | #ifdef MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK
|
| 920 | MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK(eventmask, eventflags); |
||
| 921 | e545e620 | Thomas Schöpping | #else
|
| 922 | _unexpectedEventError(eventmask, eventflags); |
||
| 923 | #endif
|
||
| 924 | } |
||
| 925 | // unexpected OS event
|
||
| 926 | else if (eventmask & _eventListenerOS.events) { |
||
| 927 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
| 928 | _unexpectedEventError(eventmask, eventflags); |
||
| 929 | } |
||
| 930 | 933df08e | Thomas Schöpping | #if (AMIROOS_CFG_DBG == true) |
| 931 | e545e620 | Thomas Schöpping | // unknown event (must never occur, thus disabled for release builds)
|
| 932 | else {
|
||
| 933 | 933df08e | Thomas Schöpping | _unexpectedEventError(eventmask, 0);
|
| 934 | e545e620 | Thomas Schöpping | } |
| 935 | 933df08e | Thomas Schöpping | #endif
|
| 936 | e545e620 | Thomas Schöpping | } |
| 937 | |||
| 938 | 933df08e | Thomas Schöpping | /*
|
| 939 | * There must be no delays at this point, thus no hook is allowed.
|
||
| 940 | */
|
||
| 941 | |||
| 942 | /* SSSP startup stage 3 (module stack initialization) */
|
||
| 943 | shutdown = _ssspModuleStackInitialization(); |
||
| 944 | |||
| 945 | e545e620 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)
|
| 946 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)
|
||
| 947 | AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS); |
||
| 948 | #else
|
||
| 949 | AMIROOS_CFG_MAIN_INIT_HOOK_8(); |
||
| 950 | #endif
|
||
| 951 | #endif
|
||
| 952 | |||
| 953 | /* completely start AMiRo-OS */
|
||
| 954 | 933df08e | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 955 | aosSysStart(); |
||
| 956 | } |
||
| 957 | e545e620 | Thomas Schöpping | |
| 958 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)
|
||
| 959 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)
|
||
| 960 | AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS); |
||
| 961 | #else
|
||
| 962 | AMIROOS_CFG_MAIN_INIT_HOOK_9(); |
||
| 963 | #endif
|
||
| 964 | #endif
|
||
| 965 | |||
| 966 | /*
|
||
| 967 | * ##########################################################################
|
||
| 968 | * # infinite loop #
|
||
| 969 | * ##########################################################################
|
||
| 970 | */
|
||
| 971 | |||
| 972 | // sleep until a shutdown event is received
|
||
| 973 | while (shutdown == AOS_SHUTDOWN_NONE) {
|
||
| 974 | // wait for an event
|
||
| 975 | #if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
||
| 976 | eventmask = chEvtWaitOneTimeout(ALL_EVENTS, US2ST_LLD(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
||
| 977 | #else
|
||
| 978 | eventmask = chEvtWaitOne(ALL_EVENTS); |
||
| 979 | #endif
|
||
| 980 | |||
| 981 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)
|
||
| 982 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)
|
||
| 983 | AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS); |
||
| 984 | #else
|
||
| 985 | AMIROOS_CFG_MAIN_LOOP_HOOK_0(); |
||
| 986 | #endif
|
||
| 987 | #endif
|
||
| 988 | |||
| 989 | switch (eventmask) {
|
||
| 990 | // if this was an I/O event
|
||
| 991 | 6b53f6bf | Thomas Schöpping | case IOEVENT_MASK:
|
| 992 | e545e620 | Thomas Schöpping | // evaluate flags
|
| 993 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
||
| 994 | // PD event
|
||
| 995 | 6b53f6bf | Thomas Schöpping | if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
| 996 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
| 997 | } |
||
| 998 | // all other events
|
||
| 999 | #ifdef MODULE_MAIN_LOOP_IO_EVENT
|
||
| 1000 | else {
|
||
| 1001 | MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags); |
||
| 1002 | } |
||
| 1003 | #endif
|
||
| 1004 | break;
|
||
| 1005 | |||
| 1006 | // if this was an OS event
|
||
| 1007 | 6b53f6bf | Thomas Schöpping | case OSEVENT_MASK:
|
| 1008 | e545e620 | Thomas Schöpping | // evaluate flags
|
| 1009 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
| 1010 | switch (eventflags) {
|
||
| 1011 | case AOS_SYSTEM_EVENTFLAGS_HIBERNATE:
|
||
| 1012 | shutdown = AOS_SHUTDOWN_HIBERNATE; |
||
| 1013 | break;
|
||
| 1014 | case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP:
|
||
| 1015 | shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
||
| 1016 | break;
|
||
| 1017 | case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION:
|
||
| 1018 | shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
||
| 1019 | break;
|
||
| 1020 | case AOS_SYSTEM_EVENTFLAGS_RESTART:
|
||
| 1021 | shutdown = AOS_SHUTDOWN_RESTART; |
||
| 1022 | break;
|
||
| 1023 | default:
|
||
| 1024 | _unexpectedEventError(eventmask, eventflags); |
||
| 1025 | break;
|
||
| 1026 | } |
||
| 1027 | break;
|
||
| 1028 | |||
| 1029 | // if this was any other event (should be impossible to occur)
|
||
| 1030 | default:
|
||
| 1031 | eventflags = 0;
|
||
| 1032 | _unexpectedEventError(eventmask, eventflags); |
||
| 1033 | break;
|
||
| 1034 | } |
||
| 1035 | |||
| 1036 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
|
||
| 1037 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
|
||
| 1038 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
||
| 1039 | #else
|
||
| 1040 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
||
| 1041 | #endif
|
||
| 1042 | #endif
|
||
| 1043 | } |
||
| 1044 | |||
| 1045 | /*
|
||
| 1046 | * ##########################################################################
|
||
| 1047 | * # system shutdown #
|
||
| 1048 | * ##########################################################################
|
||
| 1049 | */
|
||
| 1050 | |||
| 1051 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)
|
||
| 1052 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)
|
||
| 1053 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS); |
||
| 1054 | #else
|
||
| 1055 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(); |
||
| 1056 | #endif
|
||
| 1057 | #endif
|
||
| 1058 | |||
| 1059 | // initialize/acknowledge shutdown
|
||
| 1060 | aosSysShutdownInit(shutdown); |
||
| 1061 | |||
| 1062 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
|
||
| 1063 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
|
||
| 1064 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
||
| 1065 | #else
|
||
| 1066 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
||
| 1067 | #endif
|
||
| 1068 | #endif
|
||
| 1069 | |||
| 1070 | // stop system threads
|
||
| 1071 | aosSysStop(); |
||
| 1072 | |||
| 1073 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
|
||
| 1074 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
|
||
| 1075 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
||
| 1076 | #else
|
||
| 1077 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
||
| 1078 | #endif
|
||
| 1079 | #endif
|
||
| 1080 | |||
| 1081 | // deinitialize system
|
||
| 1082 | aosSysDeinit(); |
||
| 1083 | |||
| 1084 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
|
||
| 1085 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
|
||
| 1086 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
||
| 1087 | #else
|
||
| 1088 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
||
| 1089 | #endif
|
||
| 1090 | #endif
|
||
| 1091 | |||
| 1092 | /* stop all periphery communication */
|
||
| 1093 | // CAN (mandatory)
|
||
| 1094 | canStop(&MODULE_HAL_CAN); |
||
| 1095 | #ifdef MODULE_SHUTDOWN_PERIPHERY_COMM
|
||
| 1096 | MODULE_SHUTDOWN_PERIPHERY_COMM(); |
||
| 1097 | #endif
|
||
| 1098 | |||
| 1099 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
|
||
| 1100 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
|
||
| 1101 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
||
| 1102 | #else
|
||
| 1103 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
||
| 1104 | #endif
|
||
| 1105 | #endif
|
||
| 1106 | |||
| 1107 | // finally hand over to bootloader
|
||
| 1108 | aosSysShutdownFinal(&MODULE_HAL_EXT, shutdown); |
||
| 1109 | |||
| 1110 | /*
|
||
| 1111 | * ##########################################################################
|
||
| 1112 | * # after shutdown/restart #
|
||
| 1113 | * ##########################################################################
|
||
| 1114 | *
|
||
| 1115 | * NOTE: This code will not be executed, since the bootloader callbacks will stop/restart the MCU.
|
||
| 1116 | * It is included nevertheless for the sake of completeness and to explicitely indicate,
|
||
| 1117 | * which subsystems should NOT be shut down.
|
||
| 1118 | */
|
||
| 1119 | |||
| 1120 | // return an error, since this code should not be executed
|
||
| 1121 | return -1; |
||
| 1122 | } |