Revision 933df08e os/core/src/aos_main.cpp
| os/core/src/aos_main.cpp | ||
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| 37 | 37 |
#define OSEVENT_MASK EVENT_MASK(1) |
| 38 | 38 |
|
| 39 | 39 |
/** |
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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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/** |
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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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/** |
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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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* @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(eventmask_t mask, eventflags_t flags)
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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("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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(void)(mask);
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(void)(flags);
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#endif |
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} |
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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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/** |
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* @brief Helper function to serialize 32 bit data. |
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* |
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* @param[out] dst Pointer to the output buffer. |
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* @param[in] src 32 bit data to be serielized. |
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*/ |
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inline void _canSerialize32(uint8_t* dst, const uint32_t src) |
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{
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aosDbgCheck(dst != NULL); |
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for (uint8_t byte = 0; byte < 4; ++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 32 bit 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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* |
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* @return The deserialized 32 bit data. |
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*/ |
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inline uint32_t _canDeserialize32(uint8_t* src) |
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{
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aosDbgCheck(src != NULL); |
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return ((uint32_t)src[0]) | (((uint32_t)src[1]) << 8) | (((uint32_t)src[2]) << 16) | (((uint32_t)src[3]) << 24); |
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} |
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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; |
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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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// 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 (avtive 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, LL_US2ST(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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} |
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aos_timestamp_t uptime; |
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aosSysGetUptime(&uptime); |
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aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / 1000));
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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 & IOEVENT_MASK) {
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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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apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
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#if (AMIROOS_CFG_SSSP_STACK_END != true) |
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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); |
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if (sstate == APAL_GPIO_OFF) {
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aosDbgPrintf("-S evt\n");
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// either finish or abort |
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if ((stage == STAGE_3_3_WAITFORID) && (aos.sssp.moduleId != 0)) {
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stage = STAGE_3_4_FINISH; |
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} else if (stage != STAGE_3_4_ABORT) {
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stage = STAGE_3_4_ABORT_ACTIVE; |
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} |
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} |
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} |
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} |
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// an OS event occurred |
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if (eventmask & OSEVENT_MASK) {
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aosDbgPrintf("WARN: OS evt\n");
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// get the flags |
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eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
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// there should be no OS events at this point |
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#ifdef MODULE_SSSP_STARTUP_3_OSEVENT_HOOK |
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MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags); |
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#else |
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_unexpectedEventError(eventmask, oseventflags); |
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#endif |
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} |
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// if a CAN event occurred |
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if ((eventmask & CANEVENT_MASK)) {
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// fetch message |
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if (flags.wfe) {
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canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE); |
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aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
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} |
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// identify and handle abort messgaes |
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if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
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stage = STAGE_3_4_ABORT; |
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} |
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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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aosDbgPrintf("WARN: unknown msg\n");
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} |
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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 |
|
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| 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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{
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| 392 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
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| 393 |
|
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| 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 |
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| 414 |
chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
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| 415 |
// proceed |
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| 416 |
stage = STAGE_3_3_WAITFORFIRSTID; |
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| 417 |
#endif |
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| 418 |
#else |
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| 419 |
// set the timeout timer |
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| 420 |
chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 421 |
#endif |
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| 422 |
} |
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| 423 |
|
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| 424 |
#if (AMIROOS_CFG_SSSP_MASTER != true) |
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| 425 |
// a CAN message was received |
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| 426 |
else if (eventmask & CANEVENT_MASK) {
|
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| 427 |
// if an initiation message was received |
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| 428 |
if (canRxFrame.DLC == 0 && |
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| 429 |
canRxFrame.RTR == CAN_RTR_DATA && |
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| 430 |
canRxFrame.IDE == CAN_IDE_STD && |
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| 431 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) {
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| 432 |
aosDbgPrintf("init msg\n");
|
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| 433 |
// reset the timeout timer and clear pending flags |
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| 434 |
chVTReset(&timerTimeout); |
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| 435 |
chEvtWaitAnyTimeout(TIMEOUTEVENT_MASK, TIME_IMMEDIATE); |
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| 436 |
eventmask &= ~TIMEOUTEVENT_MASK; |
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| 437 |
// activate S |
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| 438 |
aosDbgPrintf("S+\n");
|
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| 439 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
|
| 440 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
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| 441 |
// proceed |
|
| 442 |
stage = STAGE_3_2; |
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| 443 |
flags.wfe_next = false; |
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| 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; |
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| 449 |
#endif |
|
| 450 |
} |
|
| 451 |
} |
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| 452 |
#endif |
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| 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 |
/** |
|
| 88 | 760 |
* @brief Application entry point. |
| 89 | 761 |
*/ |
| 90 | 762 |
int main(void) |
| ... | ... | |
| 159 | 831 |
#endif |
| 160 | 832 |
|
| 161 | 833 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
| 162 |
#if defined(MODULE_INIT_TESTS) |
|
| 163 | 834 |
MODULE_INIT_TESTS(); |
| 164 |
#else |
|
| 165 |
#warning "MODULE_INIT_TESTS not defined" |
|
| 166 |
#endif |
|
| 167 | 835 |
#endif |
| 168 | 836 |
|
| 169 | 837 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4) |
| ... | ... | |
| 248 | 916 |
// unexpected IO events |
| 249 | 917 |
if (eventmask & _eventListenerIO.events) {
|
| 250 | 918 |
eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
| 251 |
#ifdef MODULE_SSSP_STARTUP_OSINIT_OUTRO_IOEVENT_HOOK
|
|
| 252 |
MODULE_SSSP_STARTUP_OSINIT_OUTRO_IOEVENT_HOOK(eventmask, eventflags);
|
|
| 919 |
#ifdef MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK
|
|
| 920 |
MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK(eventmask, eventflags);
|
|
| 253 | 921 |
#else |
| 254 | 922 |
_unexpectedEventError(eventmask, eventflags); |
| 255 | 923 |
#endif |
| ... | ... | |
| 259 | 927 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 260 | 928 |
_unexpectedEventError(eventmask, eventflags); |
| 261 | 929 |
} |
| 930 |
#if (AMIROOS_CFG_DBG == true) |
|
| 262 | 931 |
// unknown event (must never occur, thus disabled for release builds) |
| 263 | 932 |
else {
|
| 264 |
_unexpectedEventError(eventmask, eventflags);
|
|
| 933 |
_unexpectedEventError(eventmask, 0);
|
|
| 265 | 934 |
} |
| 935 |
#endif |
|
| 266 | 936 |
} |
| 267 | 937 |
|
| 938 |
/* |
|
| 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 |
|
|
| 268 | 945 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8) |
| 269 | 946 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS) |
| 270 | 947 |
AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS); |
| ... | ... | |
| 274 | 951 |
#endif |
| 275 | 952 |
|
| 276 | 953 |
/* completely start AMiRo-OS */ |
| 277 |
aosSysStart(); |
|
| 954 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
|
| 955 |
aosSysStart(); |
|
| 956 |
} |
|
| 278 | 957 |
|
| 279 | 958 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9) |
| 280 | 959 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS) |
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