amiro-os / os / core / src / aos_main.cpp @ 933df08e
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <amiroos.h> |
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#include <module.h> |
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/*
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* hook to add further includes
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*/
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#if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)
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#include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER
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#endif
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/**
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* @brief Event mask to identify I/O events.
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*/
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#define IOEVENT_MASK EVENT_MASK(0) |
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/**
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* @brief Event mask to identify OS events.
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*/
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#define OSEVENT_MASK EVENT_MASK(1) |
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/**
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* @brief Event mask to idetify CAN events.
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*/
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#define CANEVENT_MASK EVENT_MASK(2) |
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/**
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* @brief Event mask to idetify timeout events.
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*/
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#define TIMEOUTEVENT_MASK EVENT_MASK(3) |
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/**
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* @brief Event mask to idetify signal delay events.
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*/
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#define DELAYEVENT_MASK EVENT_MASK(4) |
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/**
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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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/**
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* @brief Listener object for OS events.
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*/
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static event_listener_t _eventListenerOS;
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#if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
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/**
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* @brief I/O channel for the programmer interface.
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*/
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static AosIOChannel _stdiochannel;
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief I/O shell channel for the programmer interface.
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*/
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static AosShellChannel _stdshellchannel;
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#endif
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#endif
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/*
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* hook to add further static variables
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*/
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#if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
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AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
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#endif
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/**
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* @brief Prints an error message about an unexpected event.
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*
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* @param[in] mask The event mask.
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* @param[in] flags The event flags.
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*/
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static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
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{ |
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#if (AMIROOS_CFG_DBG == true) |
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aosprintf("unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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#else
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(void)(mask);
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(void)(flags);
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#endif
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} |
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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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// warn if a unexpected message was received
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else if ((canRxFrame.SID != SSSP_STACKINIT_CANMSGID_INIT) && |
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(canRxFrame.SID != SSSP_STACKINIT_CANMSGID_MODULEID)) { |
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aosDbgPrintf("WARN: unknown msg\n");
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} |
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// any further pending messages are fetched at the end of the loop
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} |
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// if a timeout event occurred
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if (eventmask & TIMEOUTEVENT_MASK) {
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// is handled at the end of the loop (or must be cleared by FSM)
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} |
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// if a delay event occurred
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if (eventmask & DELAYEVENT_MASK) {
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// is handled by FSM
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} |
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/*
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* this is the actual FSM
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*/
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switch (stage) {
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case STAGE_3_1:
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{ |
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aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
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// there was no event at all (skipped wfe)
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if (eventmask == 0 && flags.wfe == false) { |
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#if (AMIROOS_CFG_SSSP_MASTER == true) |
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// initialize the stage by transmitting an according CAN message
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aosDbgPrintf("CAN -> init\n");
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canTxFrame.DLC = 0;
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canTxFrame.SID = SSSP_STACKINIT_CANMSGID_INIT; |
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if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
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chEvtBroadcast(&eventSourceTimeout); |
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break;
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} |
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// activate S
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aosDbgPrintf("S+\n");
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apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
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#if (AMIROOS_CFG_SSSP_STACK_START == true) |
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// proceed immediately
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stage = STAGE_3_2; |
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flags.wfe_next = false;
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#else
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// set the timeout timer
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chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
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// proceed
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stage = STAGE_3_3_WAITFORFIRSTID; |
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#endif
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#else
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// set the timeout timer
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chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
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#endif
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} |
423 |
|
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#if (AMIROOS_CFG_SSSP_MASTER != true) |
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// a CAN message was received
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else if (eventmask & CANEVENT_MASK) { |
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// if an initiation message was received
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if (canRxFrame.DLC == 0 && |
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canRxFrame.RTR == CAN_RTR_DATA && |
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canRxFrame.IDE == CAN_IDE_STD && |
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canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) { |
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aosDbgPrintf("init msg\n");
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// reset the timeout timer and clear pending flags
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chVTReset(&timerTimeout); |
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chEvtWaitAnyTimeout(TIMEOUTEVENT_MASK, TIME_IMMEDIATE); |
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eventmask &= ~TIMEOUTEVENT_MASK; |
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// activate S
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aosDbgPrintf("S+\n");
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apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
440 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
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// proceed
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stage = STAGE_3_2; |
443 |
flags.wfe_next = false;
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#else
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// set the timeout timer
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chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
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// proceed
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stage = STAGE_3_3_WAITFORFIRSTID; |
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#endif
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} |
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} |
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#endif
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break;
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} /* end of STAGE_3_1 */
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|
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case STAGE_3_2:
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{ |
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#if (AMIROOS_CFG_SSSP_STACK_START == true) |
460 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_2; |
461 |
|
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// if this stage was just entered
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if (flags.wfe == false) { |
464 |
// set the module ID
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aos.sssp.moduleId = 1;
|
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// broadcast module ID
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aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
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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 |
* @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 |
#if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)
|
769 |
AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
770 |
#endif
|
771 |
|
772 |
/*
|
773 |
* ##########################################################################
|
774 |
* # system initialization #
|
775 |
* ##########################################################################
|
776 |
*/
|
777 |
|
778 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
|
779 |
#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 |
AMIROOS_CFG_MAIN_INIT_HOOK_0(); |
783 |
#endif
|
784 |
#endif
|
785 |
|
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 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
817 |
aosSysInit(moduleShellPrompt); |
818 |
#else
|
819 |
aosSysInit(); |
820 |
#endif
|
821 |
#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 |
chEvtRegisterMask(&aos.events.io, &_eventListenerIO, IOEVENT_MASK); |
847 |
chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK); |
848 |
|
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 |
aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
867 |
aosIOChannelOutputEnable(&_stdiochannel); |
868 |
aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
869 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
870 |
aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
871 |
aosShellChannelInputEnable(&_stdshellchannel); |
872 |
aosShellChannelOutputEnable(&_stdshellchannel); |
873 |
aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
874 |
#endif
|
875 |
#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 |
/* SSSP startup OS synchronization phase (end of startup stage 2) */
|
911 |
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 |
#ifdef MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK
|
920 |
MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK(eventmask, eventflags); |
921 |
#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 |
#if (AMIROOS_CFG_DBG == true) |
931 |
// unknown event (must never occur, thus disabled for release builds)
|
932 |
else {
|
933 |
_unexpectedEventError(eventmask, 0);
|
934 |
} |
935 |
#endif
|
936 |
} |
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 |
|
945 |
#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 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
955 |
aosSysStart(); |
956 |
} |
957 |
|
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 |
case IOEVENT_MASK:
|
992 |
// evaluate flags
|
993 |
eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
994 |
// PD event
|
995 |
if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
996 |
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 |
case OSEVENT_MASK:
|
1008 |
// 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 |
} |