AMiRo-OS

 * SSSP parameters and options

 */

#endif

  #endif

#endif

/*

#define AOS_SYSTEM_EVENTFLAGS_RESTART           (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 4))

/**

 * @brief   Major version of the implemented SSSP.

 */

#define AOS_SYSTEM_SSSP_VERSION_MAJOR           1

#define AOS_SYSTEM_SSSP_TIMEOUT                 (10 * AMIROOS_CFG_SSSP_SIGNALDELAY)

/**

 * @brief   Enumerator of the several stages of SSSP.

 */

typedef enum aos_ssspstage {

 */

typedef uint16_t aos_ssspmoduleid_t;

/**

 * @brief   AMiRo-OS base system structure.

 */

typedef struct aos_system {

  /**

   * @brief   SSSP relevant data.

   */

     */

    aos_ssspmoduleid_t moduleId;

  } sssp;

  /**

   * @brief   System I/O stream.

  void aosSysInit(void);

#endif

  void aosSysStart(void);

  eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener);

  void aosSysGetUptimeX(aos_timestamp_t* ut);

  void aosSysGetDateTime(struct tm* dt);

  void aosSysSetDateTime(struct tm* dt);

 */

#define DELAYEVENT_MASK                         EVENT_MASK(4)

/**

 * @brief   CAN message identifier for initialization of the SSSP stack initialization sequence.

 */

 */

#define SSSP_STACKINIT_CANMSGID_ABORT           0x001

/**

 * @brief   CAN message identifier for calender synchronization message.

 */

  return;

}

/**

 * @brief   Callback function to be used during SSSP stack initialization sequence.

 *

  return;

}

/**

 * @brief   Helper function to serialize data.

  return;

}

/**

 * @brief   Implementation of the SSSP module stack initialization sequence (startup phase 3).

 *

        aosDbgPrintf("PD evt\n");

        // deactivate S and UP

        apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);

        apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF);

        // set shutdown flag and exit the loop

        shutdown = AOS_SHUTDOWN_PASSIVE;

        break;

  return shutdown;

}

/**

 * @brief   Application entry point.

#endif

  /* event associations */

#if (AMIROOS_CFG_SSSP_STACK_START == true) && (AMIROOS_CFG_SSSP_STACK_END == true)

  chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC);

#elif (AMIROOS_CFG_SSSP_STACK_START == true)

#else

  chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_DN | MODULE_SSSP_EVENTFLAGS_UP);

#endif

  chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK);

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)

#endif

#endif

  /* SSSP startup OS synchronization phase (end of startup stage 2) */

  while ((shutdown == AOS_SHUTDOWN_NONE) && (eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) {

    /*

  if (shutdown == AOS_SHUTDOWN_NONE) {

    shutdown = _ssspModuleStackInitialization();

  }

  /*

   * There must be no delays at this point, thus no hook is allowed.

   */

  if (shutdown == AOS_SHUTDOWN_NONE) {

#if (AMIROOS_CFG_SSSP_MASTER == true)

    CANTxFrame frame;

    canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE);

    aosDbgPrintf("done\n");

    CANRxFrame frame;

    uint64_t encoded;

    struct tm t;

    } else {

      aosDbgPrintf("fail (timeout)\n");

    }

    aosDbgPrintf("\n");

  }

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)

      case IOEVENT_MASK:

        // evaluate flags

        eventflags = chEvtGetAndClearFlags(&_eventListenerIO);

        // PD event

        if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {

          shutdown = AOS_SHUTDOWN_PASSIVE;

        }

        // all other events

#ifdef MODULE_MAIN_LOOP_IO_EVENT

        else {

 */

static systime_t _synctime;

/**

 * @brief   Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP.

 */

static aos_timestamp_t _syssynctime;

#endif

/**

 * @brief   Offset between local clock and system wide synchronization signal.

 */

 * @brief   Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value.

 */

#define SYSTEM_SYSSYNCSKEW_LPFACTOR   (0.1f / AOS_SYSTEM_TIME_RESOLUTION)

#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)

/**

#endif

  _printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME);

  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);

  _printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (SSSP %u.%u)", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE, AOS_SYSTEM_SSSP_VERSION_MAJOR, AOS_SYSTEM_SSSP_VERSION_MINOR);

  _printSystemInfoLine(stream, "AMiRo-LLD" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (periphAL %u.%u)", AMIRO_LLD_VERSION_MAJOR, AMIRO_LLD_VERSION_MINOR, AMIRO_LLD_VERSION_PATCH, AMIRO_LLD_RELEASE_TYPE, PERIPHAL_VERSION_MAJOR, PERIPHAL_VERSION_MINOR);

  _printSystemInfoLine(stream, "ChibiOS/RT" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", CH_KERNEL_MAJOR, CH_KERNEL_MINOR, CH_KERNEL_PATCH, (CH_KERNEL_STABLE == 1) ? "stable" : "non-stable");

  _printSystemInfoLine(stream, "ChibiOS/HAL", SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", CH_HAL_MAJOR, CH_HAL_MINOR, CH_HAL_PATCH, (CH_HAL_STABLE == 1) ? "stable" : "non-stable");

                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :

                         "<release type unknown>",

                         BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor);

    if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_MAJOR) {

      if (stream) {

        chprintf(stream, "WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");

        aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");

      }

    }

    _printSystemInfoLine(stream, "Compiler", SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", (BL_CALLBACK_TABLE_ADDRESS->vCompiler.identifier == BL_VERSION_ID_GCC) ? "GCC" : "<compiler unknown>", BL_CALLBACK_TABLE_ADDRESS->vCompiler.major, BL_CALLBACK_TABLE_ADDRESS->vCompiler.minor, BL_CALLBACK_TABLE_ADDRESS->vCompiler.patch); // TODO: support other compilers than GCC

  } else {

    if (stream) {

  // print dynamic information about the module

  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);

  if (aos.sssp.moduleId != 0) {

    _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId);

  } else {

    _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available");

  }

  _printSystemInfoLine(stream, "Date", SYSTEM_INFO_NAMEWIDTH, "%s %02u-%02u-%04u", (dt.tm_wday == 0) ? "Sunday" : (dt.tm_wday == 1) ? "Monday" : (dt.tm_wday == 2) ? "Tuesday" : (dt.tm_wday == 3) ? "Wednesday" : (dt.tm_wday == 4) ? "Thursday" : (dt.tm_wday == 5) ? "Friday" : "Saturday",

                       dt.tm_mday,

                       dt.tm_mon + 1,

  chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));

  chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));

  chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));

  chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", _syssyncskew, AMIROOS_CFG_SSSP_SYSSYNCPERIOD);

#endif /* AMIROOS_CFG_SSSP_MASTER != true && AMIROOS_CFG_PROFILE == true */

  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);

  return;

}

/**

 * @brief   Callback function for the Sync signal interrupt.

 *

  return;

}

/**

 * @brief   Callback function for the uptime accumulation timer.

  return;

}

/**

 * @brief   Periodic system synchronization callback function.

 * @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.

  return;

}

/**

 * @brief   AMiRo-OS system initialization.

  /* set local variables */

  chVTObjectInit(&_systimer);

  _synctime = 0;

  _uptime = 0;

#if (AMIROOS_CFG_SSSP_MASTER == true)

#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)

  _syssyncskew = 0.0f;

#endif

  /* initialize aos configuration */

  aos.sssp.stage = AOS_SSSP_STARTUP_2_1;

  aos.sssp.moduleId = 0;

  aosIOStreamInit(&aos.iostream);

  chEvtObjectInit(&aos.events.io);

  chEvtObjectInit(&aos.events.os);

  /* interrupt setup */

  // PD signal

  palSetPadCallback(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, _intCallback, &moduleSsspGpioPd.gpio->pad);

  palEnablePadEvent(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, APAL2CH_EDGE(moduleSsspGpioPd.meta.edge));

  palSetPadCallback(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, _intCallback, &moduleSsspGpioUp.gpio->pad);

  palEnablePadEvent(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, APAL2CH_EDGE(moduleSsspGpioUp.meta.edge));

#endif

#ifdef MODULE_INIT_INTERRUPTS

  // further interrupt signals

  MODULE_INIT_INTERRUPTS();

#if (AMIROOS_CFG_TESTS_ENABLE == true)

  aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest);

#endif

  return;

}

 */

inline void aosSysStart(void)

{

  // update the system SSSP stage

  aos.sssp.stage = AOS_SSSP_OPERATION;

    chSysUnlock();

  }

#endif

  // print system information;

  _printSystemInfo((BaseSequentialStream*)&aos.iostream);

  return;

}

/**

 * @brief   Implements the SSSP startup synchronization step.

 *

    return m;

  }

}

/**

 * @brief   Retrieves the system uptime.

  // check arguments

  aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);

#if (AMIROOS_CFG_SSSP_MASTER == true)

  // deactivate the system synchronization timer

  chVTReset(&_syssynctimer);

  // activate the SYS_SYNC signal

  apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON);

  chSysUnlock();

  switch (shutdown) {

    case AOS_SHUTDOWN_PASSIVE:

      break;

  }

  // update the system SSSP stage

  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2;

  return;

}

  // disable all interrupts

  irqDeinit();

  // update the system SSSP stage

  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3;

  // call bootloader callback depending on arguments

  switch (shutdown) {

*/

/**

 * @brief   AMiRo-OS Configuration file for the DiWheelDrive v1.1 module.

 * @details Contains the application specific AMiRo-OS settings.

 *

/*===========================================================================*/

/**

 * @brief   Flag to set the module as SSSP master.

 * @details There must be only one module with this flag set to true in a system.

 */

/*===========================================================================*/

/**

 * @brief   Flag to set the module as SSSP master.

 * @details There must be only one module with this flag set to true in a system.

 */

/*===========================================================================*/

/**

 * @brief   Flag to set the module as SSSP master.

 * @details There must be only one module with this flag set to true in a system.

 */