amiro-os / os / core / src / aos_main.cpp @ 9461fadc
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | #include <amiroos.h> |
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20 | cb835a3e | Thomas Schöpping | #include <module.h> |
21 | e545e620 | Thomas Schöpping | |
22 | b6b45e4c | Thomas Schöpping | /*
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23 | * hook to add further includes
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24 | */
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25 | 512abac1 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)
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26 | #include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER
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27 | b6b45e4c | Thomas Schöpping | #endif
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28 | |||
29 | e545e620 | Thomas Schöpping | /**
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30 | * @brief Event mask to identify I/O events.
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31 | */
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32 | 6b53f6bf | Thomas Schöpping | #define IOEVENT_MASK EVENT_MASK(0) |
33 | e545e620 | Thomas Schöpping | |
34 | /**
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35 | * @brief Event mask to identify OS events.
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36 | */
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37 | 6b53f6bf | Thomas Schöpping | #define OSEVENT_MASK EVENT_MASK(1) |
38 | e545e620 | Thomas Schöpping | |
39 | /**
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40 | 933df08e | Thomas Schöpping | * @brief Event mask to idetify CAN events.
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41 | */
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42 | #define CANEVENT_MASK EVENT_MASK(2) |
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43 | |||
44 | /**
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45 | * @brief Event mask to idetify timeout events.
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46 | */
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47 | #define TIMEOUTEVENT_MASK EVENT_MASK(3) |
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48 | |||
49 | /**
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50 | * @brief Event mask to idetify signal delay events.
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51 | */
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52 | #define DELAYEVENT_MASK EVENT_MASK(4) |
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53 | |||
54 | /**
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55 | * @brief CAN message identifier for initialization of the SSSP stack initialization sequence.
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56 | */
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57 | #define SSSP_STACKINIT_CANMSGID_INIT 0x003 |
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58 | |||
59 | /**
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60 | * @brief CAN message identifier for transmitting module IDs during the SSSP stack initialization sequence.
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61 | */
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62 | #define SSSP_STACKINIT_CANMSGID_MODULEID 0x002 |
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63 | |||
64 | /**
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65 | * @brief CAN message identifier for abortion of the SSSP stack initialization sequence.
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66 | */
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67 | #define SSSP_STACKINIT_CANMSGID_ABORT 0x001 |
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68 | |||
69 | /**
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70 | 9461fadc | Thomas Schöpping | * @brief CAN message identifier for calender synchronization message.
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71 | */
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72 | #define CALENDERSYNC_CANMSGID 0x004 |
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73 | |||
74 | /**
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75 | e545e620 | Thomas Schöpping | * @brief Listener object for I/O events.
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76 | */
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77 | static event_listener_t _eventListenerIO;
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78 | |||
79 | /**
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80 | * @brief Listener object for OS events.
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81 | */
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82 | static event_listener_t _eventListenerOS;
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83 | |||
84 | #if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
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85 | /**
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86 | ba516b61 | Thomas Schöpping | * @brief I/O channel for the programmer interface.
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87 | e545e620 | Thomas Schöpping | */
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88 | ba516b61 | Thomas Schöpping | static AosIOChannel _stdiochannel;
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89 | |||
90 | b8268050 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
91 | ba516b61 | Thomas Schöpping | /**
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92 | * @brief I/O shell channel for the programmer interface.
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93 | */
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94 | static AosShellChannel _stdshellchannel;
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95 | e545e620 | Thomas Schöpping | #endif
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96 | b8268050 | Thomas Schöpping | #endif
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97 | e545e620 | Thomas Schöpping | |
98 | b6b45e4c | Thomas Schöpping | /*
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99 | * hook to add further static variables
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100 | */
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101 | #if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
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102 | AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
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103 | #endif
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104 | |||
105 | e545e620 | Thomas Schöpping | /**
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106 | * @brief Prints an error message about an unexpected event.
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107 | *
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108 | * @param[in] mask The event mask.
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109 | * @param[in] flags The event flags.
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110 | */
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111 | 933df08e | Thomas Schöpping | static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
112 | e545e620 | Thomas Schöpping | { |
113 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_DBG == true) |
114 | aosprintf("unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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115 | #else
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116 | 933df08e | Thomas Schöpping | (void)(mask);
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117 | (void)(flags);
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118 | 6b53f6bf | Thomas Schöpping | #endif
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119 | 933df08e | Thomas Schöpping | } |
120 | |||
121 | /**
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122 | * @brief Callback function to be used during SSSP stack initialization sequence.
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123 | *
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124 | * @param[in] par A pointer to an @p event_source_t to be fired.
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125 | */
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126 | static void _ssspTimerCallback(void* par) |
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127 | { |
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128 | aosDbgCheck(par != NULL);
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129 | |||
130 | chSysLockFromISR(); |
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131 | chEvtBroadcastI((event_source_t*)par); |
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132 | chSysUnlockFromISR(); |
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133 | |||
134 | e545e620 | Thomas Schöpping | return;
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135 | } |
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136 | |||
137 | /**
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138 | 9461fadc | Thomas Schöpping | * @brief Helper function to serialize data.
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139 | 933df08e | Thomas Schöpping | *
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140 | * @param[out] dst Pointer to the output buffer.
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141 | 9461fadc | Thomas Schöpping | * @param[in] src Data to be serialized.
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142 | * @param[in] n Number of bytes to serialize.
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143 | 933df08e | Thomas Schöpping | */
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144 | 9461fadc | Thomas Schöpping | inline void _serialize(uint8_t* dst, const uint64_t src, const uint8_t n) |
145 | 933df08e | Thomas Schöpping | { |
146 | aosDbgCheck(dst != NULL);
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147 | 9461fadc | Thomas Schöpping | aosDbgCheck(n > 0 && n <= 8); |
148 | 933df08e | Thomas Schöpping | |
149 | 9461fadc | Thomas Schöpping | for (uint8_t byte = 0; byte < n; ++byte) { |
150 | 933df08e | Thomas Schöpping | dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF); |
151 | } |
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152 | |||
153 | return;
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154 | } |
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155 | |||
156 | /**
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157 | 9461fadc | Thomas Schöpping | * @brief Helper function to deserialize data.
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158 | 933df08e | Thomas Schöpping | *
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159 | * @param[in] src Pointer to the buffer of data to be deserialzed.
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160 | 9461fadc | Thomas Schöpping | * @param[in] n Number of bytes to deserialize.
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161 | 933df08e | Thomas Schöpping | *
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162 | * @return The deserialized 32 bit data.
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163 | */
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164 | 9461fadc | Thomas Schöpping | inline uint64_t _deserialize(uint8_t* src, const uint8_t n) |
165 | 933df08e | Thomas Schöpping | { |
166 | aosDbgCheck(src != NULL);
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167 | 9461fadc | Thomas Schöpping | aosDbgCheck(n > 0 && n <= 8); |
168 | 933df08e | Thomas Schöpping | |
169 | 9461fadc | Thomas Schöpping | uint64_t result = 0;
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170 | for (uint8_t byte = 0; byte < n; ++byte) { |
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171 | result |= ((uint64_t)src[byte]) << (byte * 8);
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172 | } |
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173 | |||
174 | return result;
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175 | } |
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176 | |||
177 | /**
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178 | * @brief Converter function to encode a TM value to a single unsigned 64 bit integer.
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179 | *
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180 | * @details Contents of the TM struct are mapped as follows:
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181 | * bits |63 62|61 53|52 50|49 26|25 22|21 17|16 12|11 6|5 0|
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182 | * #bits | 2 | 9 | 3 | 24 | 4 | 5 | 5 | 6 | 6 |
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183 | * value | isdst | yday | wday | year | mon | mday | hour | min | sec |
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184 | * range | special | [0, 365] | [0, 6] | [1900, ...] | [0, 11] | [1, 31] | [0, 23] | [0, 59] | [0, 61] |
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185 | * The Daylight Saving Time Flag (isdsst) is encoded as follows:
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186 | * DST not in effect -> 0
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187 | * DST in effect -> 1
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188 | * no information available -> 2
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189 | *
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190 | * @param[in] src Pointer to the TM struct to encode.
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191 | *
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192 | * @return An unsigned 64 bit integer, which holds the encoded time value.
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193 | */
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194 | inline uint64_t _TM2U64(struct tm* src) |
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195 | { |
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196 | aosDbgCheck(src != NULL);
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197 | |||
198 | return (((uint64_t)(src->tm_sec & 0x0000003F) << (0)) | |
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199 | ((uint64_t)(src->tm_min & 0x0000003F) << (6)) | |
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200 | ((uint64_t)(src->tm_hour & 0x0000001F) << (12)) | |
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201 | ((uint64_t)(src->tm_mday & 0x0000001F) << (17)) | |
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202 | ((uint64_t)(src->tm_mon & 0x0000000F) << (22)) | |
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203 | ((uint64_t)(src->tm_year & 0x00FFFFFF) << (26)) | |
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204 | ((uint64_t)(src->tm_wday & 0x00000007) << (50)) | |
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205 | ((uint64_t)(src->tm_yday & 0x000001FF) << (53)) | |
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206 | ((uint64_t)((src->tm_isdst == 0) ? 0 : (src->tm_isdst > 0) ? 1 : 2) << (62))); |
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207 | } |
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208 | |||
209 | /**
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210 | * @brief Converter functiomn to retrieve the encoded TM value from an unsigned 64 bit integer.
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211 | *
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212 | * @details For information on the encoding, please refer to @p _TM2U64 function.
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213 | *
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214 | * @param[out] dst The TM struct to fill with the decoded values.
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215 | * @param[in] src Unsigned 64 bit integer holding the encoded TM value.
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216 | */
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217 | inline void _U642TM(struct tm* dst, const uint64_t src) |
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218 | { |
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219 | aosDbgCheck(dst != NULL);
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220 | |||
221 | dst->tm_sec = (src >> 0) & 0x0000003F; |
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222 | dst->tm_min = (src >> 6) & 0x0000003F; |
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223 | dst->tm_hour = (src >> 12) & 0x0000001F; |
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224 | dst->tm_mday = (src >> 17) & 0x0000001F; |
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225 | dst->tm_mon = (src >> 22) & 0x0000000F; |
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226 | dst->tm_year = (src >> 26) & 0x00FFFFFF; |
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227 | dst->tm_wday = (src >> 50) & 0x00000007; |
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228 | dst->tm_yday = (src >> 53) & 0x000001FF; |
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229 | dst->tm_isdst = (((src >> 62) & 0x03) == 0) ? 0 : (((src >> 62) & 0x03) > 0) ? 1 : -1; |
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230 | |||
231 | return;
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232 | 933df08e | Thomas Schöpping | } |
233 | |||
234 | /**
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235 | * @brief Implementation of the SSSP module stack initialization sequence (startup phase 3).
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236 | *
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237 | * @return Shutdown value.
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238 | * @retval AOS_SHUTDOWN_NONE No shutdown signal received
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239 | * @retval AOS_SHUTDOWN_PASSIVE Shutdown signal received.
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240 | */
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241 | aos_shutdown_t _ssspModuleStackInitialization(void)
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242 | { |
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243 | // local types
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244 | /**
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245 | * @brief States for the internal state machine to implement SSSP startup stage 3.
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246 | */
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247 | typedef enum { |
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248 | STAGE_3_1, /**< Initiation of SSSP startup stage 3. */
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249 | STAGE_3_2, /**< Starting the sequence and broadcasting the first ID. */
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250 | STAGE_3_3_WAITFORFIRSTID, /**< Waiting for first ID after initiation. */
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251 | STAGE_3_3_WAITFORIDORSIG, /**< Waiting for next ID or activation of neighbor signal. */
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252 | STAGE_3_3_WAITFORID, /**< Waiting for next ID (after the module has set its own ID). */
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253 | STAGE_3_4_FINISH, /**< Successful finish of stage 3. */
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254 | STAGE_3_4_ABORT_ACTIVE, /**< Aborting stage 3 (active). */
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255 | STAGE_3_4_ABORT, /**< Aborting stage 3 (passive). */
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256 | } sssp_modulestackinitstage_t; |
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257 | |||
258 | typedef struct { |
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259 | bool loop : 1; |
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260 | bool wfe : 1; |
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261 | bool wfe_next : 1; |
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262 | } flags_t; |
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263 | |||
264 | // local variables
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265 | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
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266 | sssp_modulestackinitstage_t stage = STAGE_3_1; |
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267 | eventmask_t eventmask = 0;
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268 | eventflags_t ioflags; |
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269 | event_source_t eventSourceTimeout; |
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270 | event_source_t eventSourceDelay; |
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271 | event_listener_t eventListenerTimeout; |
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272 | event_listener_t eventListenerDelay; |
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273 | event_listener_t eventListenerCan; |
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274 | virtual_timer_t timerTimeout; |
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275 | virtual_timer_t timerDelay; |
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276 | CANTxFrame canTxFrame; |
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277 | CANRxFrame canRxFrame; |
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278 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
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279 | aos_ssspmoduleid_t lastid = 0;
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280 | #endif
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281 | flags_t flags; |
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282 | |||
283 | // initialize local varibles
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284 | chEvtObjectInit(&eventSourceTimeout); |
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285 | chEvtObjectInit(&eventSourceDelay); |
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286 | chVTObjectInit(&timerTimeout); |
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287 | chVTObjectInit(&timerDelay); |
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288 | canTxFrame.RTR = CAN_RTR_DATA; |
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289 | canTxFrame.IDE = CAN_IDE_STD; |
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290 | flags.loop = true;
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291 | flags.wfe = false; // do not wait for events in the initial iteration of the FSM loop |
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292 | flags.wfe_next = true;
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293 | |||
294 | // initialize system variables
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295 | aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
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296 | aos.sssp.moduleId = 0;
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297 | |||
298 | // listen to events (timout, delay, CAN receive)
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299 | chEvtRegisterMask(&eventSourceTimeout, &eventListenerTimeout, TIMEOUTEVENT_MASK); |
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300 | chEvtRegisterMask(&eventSourceDelay, &eventListenerDelay, DELAYEVENT_MASK); |
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301 | chEvtRegisterMask(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan, CANEVENT_MASK); |
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302 | |||
303 | /*
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304 | * FSM in a loop.
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305 | *
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306 | * This is a fully event-based FSM for the module stack initialization
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307 | * sequence, defined by SSSP as startup stage 3. There are five different
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308 | * events that can occur at this point:
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309 | * I/O events: The input level of an input pin has changed. Such events must
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310 | * be handled differently depending on the current state. Most
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311 | * of the time, however, such events can be ignored.
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312 | * OS events: Such events are only available after this stage completed and
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313 | * thus should never occur. However, there is an optional hook
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314 | * to handle such events, nevertheless.
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315 | * CAN events: At least one CAN message was received. Note that this event
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316 | * will only fire again if all input buffers have been cleared.
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317 | * timeouts: If some module does not support the sequence of there is any
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318 | * issue, such a case is detected via timeouts and must be
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319 | * handled accordingly (see abort state). In some cases, it is
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320 | * possible that a timeout event occurres 'simultaneously' with
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321 | * some other event. This can be caused by several timing issues
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322 | * and is a valid situation. As a result, any other events
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323 | * should be handled before the timeout event. If the other
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324 | * events are expected and valid, this implementation requires
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325 | * the timeout event flag to be cleared explicitely. Otherwise
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326 | * it is evaluated at the end of each iteration of the loop.
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327 | * delays: Depending on the current state, delays are required by SSSP
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328 | * for timing of the sequential activation of signals.
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329 | */
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330 | aosDbgPrintf("SSSP stack initialization sequence:\n");
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331 | while (flags.loop) {
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332 | #if (AMIROOS_CFG_DBG == true) |
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333 | switch (stage) {
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334 | case STAGE_3_1:
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335 | aosDbgPrintf(">>> 3-1\n");
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336 | break;
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337 | case STAGE_3_2:
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338 | aosDbgPrintf(">>> 3-2\n");
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339 | break;
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340 | case STAGE_3_3_WAITFORFIRSTID:
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341 | aosDbgPrintf(">>> 3-3 (1st ID)\n");
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342 | break;
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343 | case STAGE_3_3_WAITFORIDORSIG:
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344 | aosDbgPrintf(">>> 3-3 (ID/sig)\n");
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345 | break;
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346 | case STAGE_3_3_WAITFORID:
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347 | aosDbgPrintf(">>> 3-3 (ID)\n");
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348 | break;
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349 | case STAGE_3_4_FINISH:
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350 | aosDbgPrintf(">>> 3-4 (finish)\n");
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351 | break;
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352 | case STAGE_3_4_ABORT_ACTIVE:
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353 | 9461fadc | Thomas Schöpping | aosDbgPrintf(">>> 3-4 (active abort)\n");
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354 | 933df08e | Thomas Schöpping | break;
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355 | case STAGE_3_4_ABORT:
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356 | aosDbgPrintf(">>> 3-4 (abort)\n");
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357 | break;
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358 | } |
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359 | #endif
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360 | |||
361 | // reset wfe flag for the next iteration
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362 | flags.wfe_next = true;
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363 | |||
364 | // waiting for events may be skipped
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365 | if (flags.wfe) {
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366 | // wait for any event to occur
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367 | aosDbgPrintf("WFE...");
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368 | eventmask = chEvtWaitAnyTimeout(ALL_EVENTS, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT)); |
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369 | aosDbgPrintf("\t0x%08X", eventmask);
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370 | } else {
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371 | aosDbgPrintf("WFE skipped");
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372 | } |
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373 | aos_timestamp_t uptime; |
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374 | aosSysGetUptime(&uptime); |
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375 | aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / 1000)); |
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376 | |||
377 | /*
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378 | * execute some general tasks and high priority events
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379 | */
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380 | // no event occurred at all
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381 | if ((flags.wfe) && (eventmask == 0)) { |
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382 | aosDbgPrintf("ERR: no evt\n");
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383 | // enforce timeout event
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384 | chEvtBroadcast(&eventSourceTimeout); |
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385 | continue;
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386 | } |
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387 | // if an IO event occurred
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388 | 9461fadc | Thomas Schöpping | if (eventmask & _eventListenerIO.events) {
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389 | 933df08e | Thomas Schöpping | ioflags = chEvtGetAndClearFlags(&_eventListenerIO); |
390 | aosDbgPrintf("INFO: IO evt (0x%08X)\n", ioflags);
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391 | // a power-down event occurred
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392 | if (ioflags & MODULE_SSSP_EVENTFLAGS_PD) {
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393 | aosDbgPrintf("PD evt\n");
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394 | // deactivate S and UP
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395 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
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396 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
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397 | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
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398 | #endif
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399 | // set shutdown flag and exit the loop
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400 | shutdown = AOS_SHUTDOWN_PASSIVE; |
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401 | break;
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402 | } |
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403 | // the S signal was deactivated
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404 | if (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC) {
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405 | apalControlGpioState_t sstate; |
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406 | apalControlGpioGet(&moduleSsspGpioSync, &sstate); |
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407 | if (sstate == APAL_GPIO_OFF) {
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408 | aosDbgPrintf("-S evt\n");
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409 | // either finish or abort
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410 | if ((stage == STAGE_3_3_WAITFORID) && (aos.sssp.moduleId != 0)) { |
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411 | stage = STAGE_3_4_FINISH; |
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412 | } else if (stage != STAGE_3_4_ABORT) { |
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413 | stage = STAGE_3_4_ABORT_ACTIVE; |
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414 | } |
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415 | } |
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416 | } |
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417 | } |
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418 | // an OS event occurred
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419 | 9461fadc | Thomas Schöpping | if (eventmask & _eventListenerOS.events) {
|
420 | 933df08e | Thomas Schöpping | aosDbgPrintf("WARN: OS evt\n");
|
421 | // get the flags
|
||
422 | eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
423 | // there should be no OS events at this point
|
||
424 | #ifdef MODULE_SSSP_STARTUP_3_OSEVENT_HOOK
|
||
425 | MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags); |
||
426 | #else
|
||
427 | _unexpectedEventError(eventmask, oseventflags); |
||
428 | #endif
|
||
429 | } |
||
430 | // if a CAN event occurred
|
||
431 | 9461fadc | Thomas Schöpping | if ((eventmask & eventListenerCan.events)) {
|
432 | 933df08e | Thomas Schöpping | // fetch message
|
433 | if (flags.wfe) {
|
||
434 | canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE); |
||
435 | aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
||
436 | } |
||
437 | // identify and handle abort messgaes
|
||
438 | if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
||
439 | stage = STAGE_3_4_ABORT; |
||
440 | } |
||
441 | // warn if a unexpected message was received
|
||
442 | else if ((canRxFrame.SID != SSSP_STACKINIT_CANMSGID_INIT) && |
||
443 | (canRxFrame.SID != SSSP_STACKINIT_CANMSGID_MODULEID)) { |
||
444 | aosDbgPrintf("WARN: unknown msg\n");
|
||
445 | } |
||
446 | // any further pending messages are fetched at the end of the loop
|
||
447 | } |
||
448 | // if a timeout event occurred
|
||
449 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerTimeout.events) {
|
450 | 933df08e | Thomas Schöpping | // is handled at the end of the loop (or must be cleared by FSM)
|
451 | } |
||
452 | // if a delay event occurred
|
||
453 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
454 | 933df08e | Thomas Schöpping | // is handled by FSM
|
455 | } |
||
456 | |||
457 | /*
|
||
458 | * this is the actual FSM
|
||
459 | */
|
||
460 | switch (stage) {
|
||
461 | case STAGE_3_1:
|
||
462 | { |
||
463 | aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
||
464 | |||
465 | // there was no event at all (skipped wfe)
|
||
466 | if (eventmask == 0 && flags.wfe == false) { |
||
467 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
468 | // initialize the stage by transmitting an according CAN message
|
||
469 | aosDbgPrintf("CAN -> init\n");
|
||
470 | canTxFrame.DLC = 0;
|
||
471 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_INIT; |
||
472 | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
||
473 | chEvtBroadcast(&eventSourceTimeout); |
||
474 | break;
|
||
475 | } |
||
476 | // activate S
|
||
477 | aosDbgPrintf("S+\n");
|
||
478 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
||
479 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
480 | // proceed immediately
|
||
481 | stage = STAGE_3_2; |
||
482 | flags.wfe_next = false;
|
||
483 | #else
|
||
484 | // set the timeout timer
|
||
485 | chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
||
486 | // proceed
|
||
487 | stage = STAGE_3_3_WAITFORFIRSTID; |
||
488 | #endif
|
||
489 | #else
|
||
490 | // set the timeout timer
|
||
491 | chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
||
492 | #endif
|
||
493 | } |
||
494 | |||
495 | #if (AMIROOS_CFG_SSSP_MASTER != true) |
||
496 | // a CAN message was received
|
||
497 | 9461fadc | Thomas Schöpping | else if (eventmask & eventListenerCan.events) { |
498 | 933df08e | Thomas Schöpping | // if an initiation message was received
|
499 | if (canRxFrame.DLC == 0 && |
||
500 | canRxFrame.RTR == CAN_RTR_DATA && |
||
501 | canRxFrame.IDE == CAN_IDE_STD && |
||
502 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) { |
||
503 | aosDbgPrintf("init msg\n");
|
||
504 | // reset the timeout timer and clear pending flags
|
||
505 | chVTReset(&timerTimeout); |
||
506 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
507 | eventmask &= ~(eventListenerTimeout.events); |
||
508 | 933df08e | Thomas Schöpping | // activate S
|
509 | aosDbgPrintf("S+\n");
|
||
510 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
||
511 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
512 | // proceed
|
||
513 | stage = STAGE_3_2; |
||
514 | flags.wfe_next = false;
|
||
515 | #else
|
||
516 | // set the timeout timer
|
||
517 | chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
||
518 | // proceed
|
||
519 | stage = STAGE_3_3_WAITFORFIRSTID; |
||
520 | #endif
|
||
521 | } |
||
522 | } |
||
523 | #endif
|
||
524 | |||
525 | break;
|
||
526 | } /* end of STAGE_3_1 */
|
||
527 | |||
528 | case STAGE_3_2:
|
||
529 | { |
||
530 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
531 | aos.sssp.stage = AOS_SSSP_STARTUP_3_2; |
||
532 | |||
533 | // if this stage was just entered
|
||
534 | if (flags.wfe == false) { |
||
535 | // set the module ID
|
||
536 | aos.sssp.moduleId = 1;
|
||
537 | // broadcast module ID
|
||
538 | aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
||
539 | canTxFrame.DLC = 4;
|
||
540 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
||
541 | 9461fadc | Thomas Schöpping | _serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
542 | 933df08e | Thomas Schöpping | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
543 | chEvtBroadcast(&eventSourceTimeout); |
||
544 | break;
|
||
545 | } |
||
546 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
||
547 | lastid = aos.sssp.moduleId; |
||
548 | #endif
|
||
549 | #if (AMIROOS_CFG_SSSP_STACK_END == true) |
||
550 | // sequence is already over
|
||
551 | // deactivate S
|
||
552 | aosDbgPrintf("S-\n");
|
||
553 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
554 | // proceed
|
||
555 | stage = STAGE_3_3_WAITFORID; |
||
556 | #else
|
||
557 | // set the delay timer so the UP signal is activated later
|
||
558 | chVTSet(&timerDelay, LL_US2ST(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
||
559 | #endif
|
||
560 | } |
||
561 | |||
562 | // if a delay event occurred
|
||
563 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
564 | 933df08e | Thomas Schöpping | // activate UP
|
565 | aosDbgPrintf("UP+\n");
|
||
566 | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
||
567 | // deactivate S
|
||
568 | aosDbgPrintf("S-\n");
|
||
569 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
570 | // explicitely clear timeout event flag
|
||
571 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
572 | eventmask &= ~(eventListenerTimeout.events); |
||
573 | 933df08e | Thomas Schöpping | // proceed
|
574 | stage = STAGE_3_3_WAITFORID; |
||
575 | } |
||
576 | #endif
|
||
577 | |||
578 | break;
|
||
579 | } /* end of STAGE_3_2 */
|
||
580 | |||
581 | case STAGE_3_3_WAITFORFIRSTID:
|
||
582 | { |
||
583 | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
||
584 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
585 | |||
586 | // a CAN message was received
|
||
587 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
588 | 933df08e | Thomas Schöpping | // if an ID message was received
|
589 | if (canRxFrame.DLC == 4 && |
||
590 | canRxFrame.RTR == CAN_RTR_DATA && |
||
591 | canRxFrame.IDE == CAN_IDE_STD && |
||
592 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) { |
||
593 | 9461fadc | Thomas Schöpping | aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4)); |
594 | 933df08e | Thomas Schöpping | // validate received ID
|
595 | 9461fadc | Thomas Schöpping | if (lastid < _deserialize(canRxFrame.data8, 4)) { |
596 | 933df08e | Thomas Schöpping | // store received ID
|
597 | 9461fadc | Thomas Schöpping | lastid = _deserialize(canRxFrame.data8, 4);
|
598 | 933df08e | Thomas Schöpping | // restart timeout timer
|
599 | chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
||
600 | // proceed
|
||
601 | stage = STAGE_3_3_WAITFORIDORSIG; |
||
602 | } else {
|
||
603 | aosDbgPrintf("ERR: invalid ID\n");
|
||
604 | // abort
|
||
605 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
606 | flags.wfe_next = false;
|
||
607 | } |
||
608 | // explicitely clear timeout event flag
|
||
609 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
610 | eventmask &= ~(eventListenerTimeout.events); |
||
611 | 933df08e | Thomas Schöpping | } |
612 | } |
||
613 | #endif
|
||
614 | break;
|
||
615 | } /* end of STAGE_3_3_WAITFORFIRSTID */
|
||
616 | |||
617 | case STAGE_3_3_WAITFORIDORSIG:
|
||
618 | { |
||
619 | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
||
620 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
621 | |||
622 | // a CAN message was received
|
||
623 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
624 | 933df08e | Thomas Schöpping | // if an ID message was received
|
625 | if (canRxFrame.DLC == 4 && |
||
626 | canRxFrame.RTR == CAN_RTR_DATA && |
||
627 | canRxFrame.IDE == CAN_IDE_STD && |
||
628 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) { |
||
629 | 9461fadc | Thomas Schöpping | aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4)); |
630 | 933df08e | Thomas Schöpping | // validate received ID
|
631 | 9461fadc | Thomas Schöpping | if (lastid < _deserialize(canRxFrame.data8, 4)) { |
632 | 933df08e | Thomas Schöpping | // store received ID
|
633 | 9461fadc | Thomas Schöpping | lastid = _deserialize(canRxFrame.data8, 4);
|
634 | 933df08e | Thomas Schöpping | // restart timeout timer
|
635 | chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
||
636 | } else {
|
||
637 | aosDbgPrintf("ERR: invalid ID\n");
|
||
638 | // abort
|
||
639 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
640 | flags.wfe_next = false;
|
||
641 | } |
||
642 | // explicitely clear timeout event flag
|
||
643 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
644 | eventmask &= ~(eventListenerTimeout.events); |
||
645 | 933df08e | Thomas Schöpping | } |
646 | } |
||
647 | |||
648 | // if an IO event was received (DN signal)
|
||
649 | 9461fadc | Thomas Schöpping | if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_DN)) {
|
650 | 933df08e | Thomas Schöpping | aosDbgPrintf("DN <-\n");
|
651 | // reset timeout timer
|
||
652 | chVTReset(&timerTimeout); |
||
653 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
654 | eventmask &= ~(eventListenerTimeout.events); |
||
655 | 933df08e | Thomas Schöpping | // increment and broadcast ID
|
656 | aos.sssp.moduleId = lastid + 1;
|
||
657 | aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
||
658 | canTxFrame.DLC = 4;
|
||
659 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
||
660 | 9461fadc | Thomas Schöpping | _serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
661 | 933df08e | Thomas Schöpping | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
662 | chEvtBroadcast(&eventSourceTimeout); |
||
663 | break;
|
||
664 | } |
||
665 | // set delay timer
|
||
666 | chVTSet(&timerDelay, LL_US2ST(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
||
667 | } |
||
668 | |||
669 | // if a delay event occurred
|
||
670 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
671 | 933df08e | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
672 | // activate UP
|
||
673 | aosDbgPrintf("UP+\n");
|
||
674 | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
||
675 | #endif
|
||
676 | // deactivate S
|
||
677 | aosDbgPrintf("S-\n");
|
||
678 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
679 | // reset the timeout timer
|
||
680 | chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
||
681 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
682 | eventmask &= ~(eventListenerTimeout.events); |
||
683 | 933df08e | Thomas Schöpping | // proceed
|
684 | stage = STAGE_3_3_WAITFORID; |
||
685 | } |
||
686 | #endif
|
||
687 | |||
688 | break;
|
||
689 | } /* end of STAGE_3_3_WAITFORIDORSIG */
|
||
690 | |||
691 | case STAGE_3_3_WAITFORID:
|
||
692 | { |
||
693 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
694 | |||
695 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
696 | // a CAN message was received
|
||
697 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
698 | 933df08e | Thomas Schöpping | // if an ID message was received
|
699 | if (canRxFrame.DLC == 4 && |
||
700 | canRxFrame.RTR == CAN_RTR_DATA && |
||
701 | canRxFrame.IDE == CAN_IDE_STD && |
||
702 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) { |
||
703 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
||
704 | // Plausibility of the received ID is not checked at this point but is done by other modules still in a previous stage.
|
||
705 | 9461fadc | Thomas Schöpping | lastid = _deserialize(canRxFrame.data8, 4);
|
706 | 933df08e | Thomas Schöpping | aosDbgPrintf("ID (%u)\n", lastid);
|
707 | #endif
|
||
708 | // restart timeout timer
|
||
709 | chVTSet(&timerTimeout, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
||
710 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
711 | eventmask &= ~(eventListenerTimeout.events); |
||
712 | 933df08e | Thomas Schöpping | } |
713 | } |
||
714 | #endif
|
||
715 | |||
716 | break;
|
||
717 | } /* end of STAGE_3_3_WAITFORID */
|
||
718 | |||
719 | case STAGE_3_4_FINISH:
|
||
720 | { |
||
721 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
722 | |||
723 | // if an IO event was received (S signal)
|
||
724 | 9461fadc | Thomas Schöpping | if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
725 | 933df08e | Thomas Schöpping | // reset the timeout timer
|
726 | chVTReset(&timerTimeout); |
||
727 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
728 | eventmask &= ~(eventListenerTimeout.events); |
||
729 | 933df08e | Thomas Schöpping | //set the delay timer
|
730 | chVTSet(&timerDelay, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceDelay); |
||
731 | } |
||
732 | |||
733 | // if a CAN event was received
|
||
734 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
735 | 933df08e | Thomas Schöpping | // if an abort message was received
|
736 | if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
||
737 | aosDbgPrintf("abort msg\n");
|
||
738 | // reset the delay timer
|
||
739 | chVTReset(&timerDelay); |
||
740 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerDelay.events, TIME_IMMEDIATE); |
741 | eventmask &= ~(eventListenerDelay.events); |
||
742 | 933df08e | Thomas Schöpping | // proceed
|
743 | stage = STAGE_3_4_ABORT; |
||
744 | } |
||
745 | } |
||
746 | |||
747 | // if a delay timer event occurred
|
||
748 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
749 | 933df08e | Thomas Schöpping | aosDbgPrintf("sequence sucessful\n");
|
750 | // sequence finished sucessfully
|
||
751 | flags.loop = false;
|
||
752 | } |
||
753 | |||
754 | break;
|
||
755 | } /* end of STAGE_3_4_FINISH */
|
||
756 | |||
757 | case STAGE_3_4_ABORT_ACTIVE:
|
||
758 | { |
||
759 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
760 | |||
761 | // emit abort message
|
||
762 | canTxFrame.DLC = 0;
|
||
763 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_ABORT; |
||
764 | canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_INFINITE); |
||
765 | aosDbgPrintf("CAN -> abort\n");
|
||
766 | // clear timeout flag
|
||
767 | 9461fadc | Thomas Schöpping | eventmask &= ~(eventListenerTimeout.events); |
768 | 933df08e | Thomas Schöpping | // proceed immediately
|
769 | stage = STAGE_3_4_ABORT; |
||
770 | flags.wfe_next = false;
|
||
771 | break;
|
||
772 | } /* end of STAGE_3_4_ABORT_ACTIVE */
|
||
773 | |||
774 | case STAGE_3_4_ABORT:
|
||
775 | { |
||
776 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
777 | |||
778 | // deactivate S
|
||
779 | aosDbgPrintf("S-\n");
|
||
780 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
781 | // invalidate module ID
|
||
782 | aos.sssp.moduleId = 0;
|
||
783 | |||
784 | // if an IO event was received (S signal)
|
||
785 | 9461fadc | Thomas Schöpping | if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
786 | 933df08e | Thomas Schöpping | aosDbgPrintf("sequence aborted\n");
|
787 | // exit the sequence
|
||
788 | flags.loop = false;
|
||
789 | } |
||
790 | |||
791 | break;
|
||
792 | } /* end of STAGE_3_4_ABORT */
|
||
793 | } |
||
794 | |||
795 | // fetch pending CAN message (if any)
|
||
796 | 9461fadc | Thomas Schöpping | if ((eventmask & eventListenerCan.events) && (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE) == MSG_OK)) {
|
797 | 933df08e | Thomas Schöpping | aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
798 | flags.wfe_next = false;
|
||
799 | } |
||
800 | |||
801 | // handle unhandled timeout events
|
||
802 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerTimeout.events) {
|
803 | 933df08e | Thomas Schöpping | aosDbgPrintf("ERR: timeout evt\n");
|
804 | // abort
|
||
805 | flags.wfe_next = false;
|
||
806 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
807 | } |
||
808 | |||
809 | // apply wfe value for next iteration
|
||
810 | flags.wfe = flags.wfe_next; |
||
811 | } |
||
812 | aosDbgPrintf("\n");
|
||
813 | |||
814 | // unregister all events (timeout, delay, CAN receive)
|
||
815 | chEvtUnregister(&eventSourceTimeout, &eventListenerTimeout); |
||
816 | chEvtUnregister(&eventSourceDelay, &eventListenerDelay); |
||
817 | chEvtUnregister(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan); |
||
818 | // clear any pending events (timeout, delay, CAN receive)
|
||
819 | chEvtWaitAllTimeout(TIMEOUTEVENT_MASK | DELAYEVENT_MASK | CANEVENT_MASK, TIME_IMMEDIATE); |
||
820 | |||
821 | // reset all control signals
|
||
822 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
823 | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
||
824 | #endif
|
||
825 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
826 | |||
827 | return shutdown;
|
||
828 | } |
||
829 | |||
830 | /**
|
||
831 | e545e620 | Thomas Schöpping | * @brief Application entry point.
|
832 | */
|
||
833 | int main(void) |
||
834 | { |
||
835 | // local variables
|
||
836 | eventmask_t eventmask = 0;
|
||
837 | eventflags_t eventflags = 0;
|
||
838 | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
||
839 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)
|
840 | AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
||
841 | e545e620 | Thomas Schöpping | #endif
|
842 | |||
843 | /*
|
||
844 | * ##########################################################################
|
||
845 | * # system initialization #
|
||
846 | * ##########################################################################
|
||
847 | */
|
||
848 | |||
849 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
|
||
850 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS)
|
851 | AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS); |
||
852 | #else
|
||
853 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_0(); |
854 | #endif
|
||
855 | b6b45e4c | Thomas Schöpping | #endif
|
856 | e545e620 | Thomas Schöpping | |
857 | /* hardware, kernel, and operating system initialization */
|
||
858 | // ChibiOS/HAL and custom hal additions (if any)
|
||
859 | halInit(); |
||
860 | #ifdef MODULE_INIT_HAL_EXTRA
|
||
861 | MODULE_INIT_HAL_EXTRA(); |
||
862 | #endif
|
||
863 | |||
864 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
|
||
865 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
|
||
866 | AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
||
867 | #else
|
||
868 | AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
||
869 | #endif
|
||
870 | #endif
|
||
871 | |||
872 | // ChibiOS/RT kernel and custom kernel additions (if any)
|
||
873 | chSysInit(); |
||
874 | #ifdef MODULE_INIT_KERNEL_EXTRA
|
||
875 | MODULE_INIT_KERNEL_EXTRA(); |
||
876 | #endif
|
||
877 | |||
878 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
|
||
879 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
|
||
880 | AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
||
881 | #else
|
||
882 | AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
||
883 | #endif
|
||
884 | #endif
|
||
885 | |||
886 | // AMiRo-OS and custom OS additions (if any)
|
||
887 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
888 | aosSysInit(moduleShellPrompt); |
||
889 | #else
|
||
890 | aosSysInit(); |
||
891 | #endif
|
||
892 | e545e620 | Thomas Schöpping | #ifdef MODULE_INIT_OS_EXTRA
|
893 | MODULE_INIT_OS_EXTRA(); |
||
894 | #endif
|
||
895 | |||
896 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
|
||
897 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
|
||
898 | AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
||
899 | #else
|
||
900 | AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
||
901 | #endif
|
||
902 | #endif
|
||
903 | |||
904 | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
||
905 | 9461fadc | Thomas Schöpping | #if defined(MODULE_INIT_TESTS)
|
906 | e545e620 | Thomas Schöpping | MODULE_INIT_TESTS(); |
907 | 9461fadc | Thomas Schöpping | #else
|
908 | #warning "MODULE_INIT_TESTS not defined" |
||
909 | #endif
|
||
910 | e545e620 | Thomas Schöpping | #endif
|
911 | |||
912 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
|
||
913 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
|
||
914 | AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
||
915 | #else
|
||
916 | AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
||
917 | #endif
|
||
918 | #endif
|
||
919 | |||
920 | /* event associations */
|
||
921 | 6b53f6bf | Thomas Schöpping | chEvtRegisterMask(&aos.events.io, &_eventListenerIO, IOEVENT_MASK); |
922 | chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK); |
||
923 | e545e620 | Thomas Schöpping | |
924 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
|
||
925 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
|
||
926 | AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
||
927 | #else
|
||
928 | AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
||
929 | #endif
|
||
930 | #endif
|
||
931 | |||
932 | /* periphery communication initialization */
|
||
933 | // CAN (mandatory)
|
||
934 | canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); |
||
935 | // module specific initialization (if any)
|
||
936 | #ifdef MODULE_INIT_PERIPHERY_COMM
|
||
937 | MODULE_INIT_PERIPHERY_COMM(); |
||
938 | #endif
|
||
939 | // user interface (if any)
|
||
940 | #ifdef MODULE_HAL_PROGIF
|
||
941 | ba516b61 | Thomas Schöpping | aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
942 | aosIOChannelOutputEnable(&_stdiochannel); |
||
943 | aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
||
944 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
||
945 | dd8738ea | Thomas Schöpping | aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
946 | ba516b61 | Thomas Schöpping | aosShellChannelInputEnable(&_stdshellchannel); |
947 | aosShellChannelOutputEnable(&_stdshellchannel); |
||
948 | 6b53f6bf | Thomas Schöpping | aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
949 | ba516b61 | Thomas Schöpping | #endif
|
950 | e545e620 | Thomas Schöpping | #endif
|
951 | |||
952 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)
|
||
953 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)
|
||
954 | AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS); |
||
955 | #else
|
||
956 | AMIROOS_CFG_MAIN_INIT_HOOK_6(); |
||
957 | #endif
|
||
958 | #endif
|
||
959 | |||
960 | /* module is ready -> print welcome prompt */
|
||
961 | aosprintf("\n");
|
||
962 | aosprintf("######################################################################\n");
|
||
963 | aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
||
964 | aosprintf("# Robot (AMiRo) platform. #\n");
|
||
965 | aosprintf("# Copyright (C) 2016..2018 Thomas Schöpping et al. #\n");
|
||
966 | aosprintf("# #\n");
|
||
967 | aosprintf("# This is free software; see the source for copying conditions. #\n");
|
||
968 | aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
|
||
969 | aosprintf("# A PARTICULAR PURPOSE. #\n");
|
||
970 | aosprintf("# The development of this software was supported by the Excellence #\n");
|
||
971 | aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
|
||
972 | aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
|
||
973 | aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
|
||
974 | aosprintf("######################################################################\n");
|
||
975 | aosprintf("\n");
|
||
976 | |||
977 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)
|
||
978 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)
|
||
979 | AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS); |
||
980 | #else
|
||
981 | AMIROOS_CFG_MAIN_INIT_HOOK_7(); |
||
982 | #endif
|
||
983 | #endif
|
||
984 | |||
985 | 6b53f6bf | Thomas Schöpping | /* SSSP startup OS synchronization phase (end of startup stage 2) */
|
986 | 9461fadc | Thomas Schöpping | while ((shutdown == AOS_SHUTDOWN_NONE) && (eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) { |
987 | e545e620 | Thomas Schöpping | /*
|
988 | * This code is executed if the received event was not about the SYS_SYNC control signal.
|
||
989 | * The returned event could be caused by any listener (not only the argument).
|
||
990 | */
|
||
991 | 9461fadc | Thomas Schöpping | // IO event
|
992 | e545e620 | Thomas Schöpping | if (eventmask & _eventListenerIO.events) {
|
993 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
||
994 | 9461fadc | Thomas Schöpping | // PD event
|
995 | if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
||
996 | shutdown = AOS_SHUTDOWN_PASSIVE; |
||
997 | } else {
|
||
998 | 933df08e | Thomas Schöpping | #ifdef MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK
|
999 | 9461fadc | Thomas Schöpping | MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK(eventmask, eventflags); |
1000 | e545e620 | Thomas Schöpping | #else
|
1001 | 9461fadc | Thomas Schöpping | // ignore any other IO events
|
1002 | e545e620 | Thomas Schöpping | #endif
|
1003 | 9461fadc | Thomas Schöpping | } |
1004 | e545e620 | Thomas Schöpping | } |
1005 | 9461fadc | Thomas Schöpping | // OS event
|
1006 | e545e620 | Thomas Schöpping | else if (eventmask & _eventListenerOS.events) { |
1007 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
1008 | _unexpectedEventError(eventmask, eventflags); |
||
1009 | } |
||
1010 | 9461fadc | Thomas Schöpping | // unknown event
|
1011 | e545e620 | Thomas Schöpping | else {
|
1012 | 933df08e | Thomas Schöpping | _unexpectedEventError(eventmask, 0);
|
1013 | e545e620 | Thomas Schöpping | } |
1014 | } |
||
1015 | |||
1016 | 933df08e | Thomas Schöpping | /*
|
1017 | * There must be no delays at this point, thus no hook is allowed.
|
||
1018 | */
|
||
1019 | |||
1020 | /* SSSP startup stage 3 (module stack initialization) */
|
||
1021 | 9461fadc | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
1022 | shutdown = _ssspModuleStackInitialization(); |
||
1023 | } |
||
1024 | |||
1025 | /*
|
||
1026 | * There must be no delays at this point, thus no hook is allowed.
|
||
1027 | */
|
||
1028 | |||
1029 | /* snychronize calendars */
|
||
1030 | if (shutdown == AOS_SHUTDOWN_NONE) {
|
||
1031 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
1032 | CANTxFrame frame; |
||
1033 | struct tm t;
|
||
1034 | uint64_t encoded; |
||
1035 | |||
1036 | frame.DLC = 8;
|
||
1037 | frame.RTR = CAN_RTR_DATA; |
||
1038 | frame.IDE = CAN_IDE_STD; |
||
1039 | frame.SID = CALENDERSYNC_CANMSGID; |
||
1040 | |||
1041 | aosDbgPrintf("transmitting current date/time...\t");
|
||
1042 | // get current date & time
|
||
1043 | aosSysGetDateTime(&t); |
||
1044 | // encode
|
||
1045 | encoded = _TM2U64(&t); |
||
1046 | // serialize
|
||
1047 | _serialize(frame.data8, encoded, 8);
|
||
1048 | // transmit
|
||
1049 | canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE); |
||
1050 | |||
1051 | aosDbgPrintf("done\n");
|
||
1052 | #else
|
||
1053 | CANRxFrame frame; |
||
1054 | uint64_t encoded; |
||
1055 | struct tm t;
|
||
1056 | |||
1057 | aosDbgPrintf("receiving current date/time...\t");
|
||
1058 | // receive message
|
||
1059 | if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, LL_US2ST(AOS_SYSTEM_SSSP_TIMEOUT)) == MSG_OK) {
|
||
1060 | // validate message
|
||
1061 | if (frame.DLC == 8 && |
||
1062 | frame.RTR == CAN_RTR_DATA && |
||
1063 | frame.IDE == CAN_IDE_STD && |
||
1064 | frame.SID == CALENDERSYNC_CANMSGID) { |
||
1065 | // deserialize
|
||
1066 | encoded = _deserialize(frame.data8, 8);
|
||
1067 | // decode
|
||
1068 | _U642TM(&t, encoded); |
||
1069 | // set current date & time
|
||
1070 | aosSysSetDateTime(&t); |
||
1071 | aosDbgPrintf("success\n");
|
||
1072 | } else {
|
||
1073 | aosDbgPrintf("fail (invalid message)\n");
|
||
1074 | } |
||
1075 | } else {
|
||
1076 | aosDbgPrintf("fail (timeout)\n");
|
||
1077 | } |
||
1078 | #endif
|
||
1079 | aosDbgPrintf("\n");
|
||
1080 | } |
||
1081 | 933df08e | Thomas Schöpping | |
1082 | e545e620 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)
|
1083 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)
|
||
1084 | AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS); |
||
1085 | #else
|
||
1086 | AMIROOS_CFG_MAIN_INIT_HOOK_8(); |
||
1087 | #endif
|
||
1088 | #endif
|
||
1089 | |||
1090 | /* completely start AMiRo-OS */
|
||
1091 | 933df08e | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
1092 | aosSysStart(); |
||
1093 | } |
||
1094 | e545e620 | Thomas Schöpping | |
1095 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)
|
||
1096 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)
|
||
1097 | AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS); |
||
1098 | #else
|
||
1099 | AMIROOS_CFG_MAIN_INIT_HOOK_9(); |
||
1100 | #endif
|
||
1101 | #endif
|
||
1102 | |||
1103 | /*
|
||
1104 | * ##########################################################################
|
||
1105 | * # infinite loop #
|
||
1106 | * ##########################################################################
|
||
1107 | */
|
||
1108 | |||
1109 | // sleep until a shutdown event is received
|
||
1110 | while (shutdown == AOS_SHUTDOWN_NONE) {
|
||
1111 | // wait for an event
|
||
1112 | #if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
||
1113 | 9461fadc | Thomas Schöpping | eventmask = chEvtWaitOneTimeout(ALL_EVENTS, LL_US2ST(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
1114 | e545e620 | Thomas Schöpping | #else
|
1115 | eventmask = chEvtWaitOne(ALL_EVENTS); |
||
1116 | #endif
|
||
1117 | |||
1118 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)
|
||
1119 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)
|
||
1120 | AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS); |
||
1121 | #else
|
||
1122 | AMIROOS_CFG_MAIN_LOOP_HOOK_0(); |
||
1123 | #endif
|
||
1124 | #endif
|
||
1125 | |||
1126 | switch (eventmask) {
|
||
1127 | // if this was an I/O event
|
||
1128 | 6b53f6bf | Thomas Schöpping | case IOEVENT_MASK:
|
1129 | e545e620 | Thomas Schöpping | // evaluate flags
|
1130 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
||
1131 | // PD event
|
||
1132 | 6b53f6bf | Thomas Schöpping | if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
1133 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
1134 | } |
||
1135 | // all other events
|
||
1136 | #ifdef MODULE_MAIN_LOOP_IO_EVENT
|
||
1137 | else {
|
||
1138 | MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags); |
||
1139 | } |
||
1140 | #endif
|
||
1141 | break;
|
||
1142 | |||
1143 | // if this was an OS event
|
||
1144 | 6b53f6bf | Thomas Schöpping | case OSEVENT_MASK:
|
1145 | e545e620 | Thomas Schöpping | // evaluate flags
|
1146 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
1147 | switch (eventflags) {
|
||
1148 | case AOS_SYSTEM_EVENTFLAGS_HIBERNATE:
|
||
1149 | shutdown = AOS_SHUTDOWN_HIBERNATE; |
||
1150 | break;
|
||
1151 | case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP:
|
||
1152 | shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
||
1153 | break;
|
||
1154 | case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION:
|
||
1155 | shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
||
1156 | break;
|
||
1157 | case AOS_SYSTEM_EVENTFLAGS_RESTART:
|
||
1158 | shutdown = AOS_SHUTDOWN_RESTART; |
||
1159 | break;
|
||
1160 | default:
|
||
1161 | _unexpectedEventError(eventmask, eventflags); |
||
1162 | break;
|
||
1163 | } |
||
1164 | break;
|
||
1165 | |||
1166 | // if this was any other event (should be impossible to occur)
|
||
1167 | default:
|
||
1168 | eventflags = 0;
|
||
1169 | _unexpectedEventError(eventmask, eventflags); |
||
1170 | break;
|
||
1171 | } |
||
1172 | |||
1173 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
|
||
1174 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
|
||
1175 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
||
1176 | #else
|
||
1177 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
||
1178 | #endif
|
||
1179 | #endif
|
||
1180 | } |
||
1181 | |||
1182 | /*
|
||
1183 | * ##########################################################################
|
||
1184 | * # system shutdown #
|
||
1185 | * ##########################################################################
|
||
1186 | */
|
||
1187 | |||
1188 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)
|
||
1189 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)
|
||
1190 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS); |
||
1191 | #else
|
||
1192 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(); |
||
1193 | #endif
|
||
1194 | #endif
|
||
1195 | |||
1196 | // initialize/acknowledge shutdown
|
||
1197 | aosSysShutdownInit(shutdown); |
||
1198 | |||
1199 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
|
||
1200 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
|
||
1201 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
||
1202 | #else
|
||
1203 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
||
1204 | #endif
|
||
1205 | #endif
|
||
1206 | |||
1207 | // stop system threads
|
||
1208 | aosSysStop(); |
||
1209 | |||
1210 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
|
||
1211 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
|
||
1212 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
||
1213 | #else
|
||
1214 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
||
1215 | #endif
|
||
1216 | #endif
|
||
1217 | |||
1218 | // deinitialize system
|
||
1219 | aosSysDeinit(); |
||
1220 | |||
1221 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
|
||
1222 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
|
||
1223 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
||
1224 | #else
|
||
1225 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
||
1226 | #endif
|
||
1227 | #endif
|
||
1228 | |||
1229 | /* stop all periphery communication */
|
||
1230 | // CAN (mandatory)
|
||
1231 | canStop(&MODULE_HAL_CAN); |
||
1232 | #ifdef MODULE_SHUTDOWN_PERIPHERY_COMM
|
||
1233 | MODULE_SHUTDOWN_PERIPHERY_COMM(); |
||
1234 | #endif
|
||
1235 | |||
1236 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
|
||
1237 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
|
||
1238 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
||
1239 | #else
|
||
1240 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
||
1241 | #endif
|
||
1242 | #endif
|
||
1243 | |||
1244 | // finally hand over to bootloader
|
||
1245 | aosSysShutdownFinal(&MODULE_HAL_EXT, shutdown); |
||
1246 | |||
1247 | /*
|
||
1248 | * ##########################################################################
|
||
1249 | * # after shutdown/restart #
|
||
1250 | * ##########################################################################
|
||
1251 | *
|
||
1252 | * NOTE: This code will not be executed, since the bootloader callbacks will stop/restart the MCU.
|
||
1253 | * It is included nevertheless for the sake of completeness and to explicitely indicate,
|
||
1254 | * which subsystems should NOT be shut down.
|
||
1255 | */
|
||
1256 | |||
1257 | // return an error, since this code should not be executed
|
||
1258 | return -1; |
||
1259 | } |