amiro-os / core / inc / aos_sssp.h @ a93a1019
History | View | Annotate | Download (17 KB)
1 |
/*
|
---|---|
2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
3 |
Copyright (C) 2016..2020 Thomas Schöpping et al.
|
4 |
|
5 |
This program is free software: you can redistribute it and/or modify
|
6 |
it under the terms of the GNU General Public License as published by
|
7 |
the Free Software Foundation, either version 3 of the License, or
|
8 |
(at your option) any later version.
|
9 |
|
10 |
This program is distributed in the hope that it will be useful,
|
11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13 |
GNU General Public License for more details.
|
14 |
|
15 |
You should have received a copy of the GNU General Public License
|
16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
17 |
*/
|
18 |
|
19 |
/**
|
20 |
* @file aos_sssp.h
|
21 |
* @brief SSSP related macros, structures and functions.
|
22 |
*
|
23 |
* @addtogroup aos_sssp
|
24 |
* @{
|
25 |
*/
|
26 |
|
27 |
#ifndef AMIROOS_SSSP_H
|
28 |
#define AMIROOS_SSSP_H
|
29 |
|
30 |
#include <amiroos.h> |
31 |
|
32 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
33 |
|
34 |
/******************************************************************************/
|
35 |
/* CONSTANTS */
|
36 |
/******************************************************************************/
|
37 |
|
38 |
/**
|
39 |
* @brief Major version of the implemented SSSP.
|
40 |
*/
|
41 |
#define AOS_SSSP_VERSION_MAJOR 1 |
42 |
|
43 |
/**
|
44 |
* @brief Minor version of the implemented SSSP.
|
45 |
*/
|
46 |
#define AOS_SSSP_VERSION_MINOR 4 |
47 |
|
48 |
/**
|
49 |
* @brief Time of delays in microseconds.
|
50 |
*/
|
51 |
#define AOS_SSSP_DELAY AMIROOS_CFG_SSSP_SIGNALDELAY
|
52 |
|
53 |
/**
|
54 |
* @brief Timeout delay in microseconds according to SSSP.
|
55 |
* @details SSSP 1.x defines timeouts to be ten times longer than the signal delay time.
|
56 |
*/
|
57 |
#define AOS_SSSP_TIMEOUT (10 * AOS_SSSP_DELAY) |
58 |
|
59 |
/**
|
60 |
* @brief Value to indicate an invalid module ID.
|
61 |
*/
|
62 |
#define AOS_SSSP_MODULEID_INVALID ((aos_ssspmoduleid_t)0) |
63 |
|
64 |
/**
|
65 |
* @brief Value for broadcasting, adressing all modules.
|
66 |
* @note This value is identical to @p AOS_SSSP_MODULEID_INVALID since in the case that no module IDs were applied, addressing of specific modules is not possible, thus every communication would be a broadcast.
|
67 |
*/
|
68 |
#define AOS_SSSP_MODULEID_BROADCAST ((aos_ssspmoduleid_t)0) |
69 |
|
70 |
/******************************************************************************/
|
71 |
/* SETTINGS */
|
72 |
/******************************************************************************/
|
73 |
|
74 |
/******************************************************************************/
|
75 |
/* CHECKS */
|
76 |
/******************************************************************************/
|
77 |
|
78 |
#if (!(AMIROOS_CFG_SSSP_MODULEIDWIDTH == 8) && \ |
79 |
!(AMIROOS_CFG_SSSP_MODULEIDWIDTH == 16) && \
|
80 |
!(AMIROOS_CFG_SSSP_MODULEIDWIDTH == 32) && \
|
81 |
!(AMIROOS_CFG_SSSP_MODULEIDWIDTH == 64))
|
82 |
#error "AMIROOS_CFG_SSSP_MODULEIDWIDTH set to an invalid value." |
83 |
#endif
|
84 |
|
85 |
/******************************************************************************/
|
86 |
/* DATA STRUCTURES AND TYPES */
|
87 |
/******************************************************************************/
|
88 |
|
89 |
/**
|
90 |
* @brief Enumeration of the several stages of SSSP.
|
91 |
*/
|
92 |
typedef enum { |
93 |
AOS_SSSP_STAGE_UNDEFINED = 0x00000000, /**< Identifier of yet undefined stage variable. */ |
94 |
AOS_SSSP_STAGE_STARTUP = 0x10000000, /**< Identifier of SSSP startup phase. */ |
95 |
AOS_SSSP_STAGE_STARTUP_1 = 0x11000000, /**< Identifier of SSSP startup phase stage 1. */ |
96 |
AOS_SSSP_STAGE_STARTUP_1_1 = 0x11100000, /**< Identifier of SSSP startup phase stage 1-1. */ |
97 |
AOS_SSSP_STAGE_STARTUP_1_2 = 0x11200000, /**< Identifier of SSSP startup phase stage 1-2. */ |
98 |
AOS_SSSP_STAGE_STARTUP_1_3 = 0x11300000, /**< Identifier of SSSP startup phase stage 1-3. */ |
99 |
AOS_SSSP_STAGE_STARTUP_2 = 0x12000000, /**< Identifier of SSSP startup phase stage 2. */ |
100 |
AOS_SSSP_STAGE_STARTUP_2_1 = 0x12100000, /**< Identifier of SSSP startup phase stage 2-1. */ |
101 |
AOS_SSSP_STAGE_STARTUP_2_2 = 0x12200000, /**< Identifier of SSSP startup phase stage 2-2. */ |
102 |
AOS_SSSP_STAGE_STARTUP_3 = 0x13000000, /**< Identifier of SSSP startup phase stage 3. */ |
103 |
AOS_SSSP_STAGE_STARTUP_3_1 = 0x13100000, /**< Identifier of SSSP startup phase stage 3-1. */ |
104 |
AOS_SSSP_STAGE_STARTUP_3_1_BROADCASTINIT = 0x13110001, /**< Identifier of SSSP startup phase stage 3-1 broadcast initialization (master only). */ |
105 |
AOS_SSSP_STAGE_STARTUP_3_1_WAITFORINIT = 0x13110002, /**< Identifier of SSSP startup phase stage 3-1 waiting for broadcast (non-master only). */ |
106 |
AOS_SSSP_STAGE_STARTUP_3_2 = 0x13200000, /**< Identifier of SSSP startup phase stage 3-2. */ |
107 |
AOS_SSSP_STAGE_STARTUP_3_3 = 0x13300000, /**< Identifier of SSSP startup phase stage 3-3. */ |
108 |
AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT = 0x13310000, /**< Identifier of SSSP startup phase stage 3-3 waiting for an event to occurr. */ |
109 |
AOS_SSSP_STAGE_STARTUP_3_3_BROADCASTID = 0x13320000, /**< Identifier of SSSP startup phase stage 3-3 broadcasting identifier. */ |
110 |
AOS_SSSP_STAGE_STARTUP_3_4 = 0x13400000, /**< Identifier of SSSP startup phase stage 3-4. */ |
111 |
AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION = 0x13410000, /**< Identifier of SSSP startup phase stage 3-4 completion. */ |
112 |
AOS_SSSP_STAGE_STARTUP_3_4_ABORTION = 0x13420000, /**< Identifier of SSSP startup phase stage 3-4 abortion. */ |
113 |
AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT = 0x13421000, /**< Identifier of SSSP startup phase stage 3-4 abortion initialization. */ |
114 |
AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_SYNC = 0x13422000, /**< Identifier of SSSP startup phase stage 3-4 abortion synchronization. */ |
115 |
AOS_SSSP_STAGE_OPERATION = 0x20000000, /**< Identifier of SSSP operation phase. */ |
116 |
AOS_SSSP_STAGE_SHUTDOWN = 0x30000000, /**< Identifier of SSSP shutdown phase. */ |
117 |
AOS_SSSP_STAGE_SHUTDOWN_1 = 0x31000000, /**< Identifier of SSSP shutdown phase stage 1. */ |
118 |
AOS_SSSP_STAGE_SHUTDOWN_1_1 = 0x31100000, /**< Identifier of SSSP shutdown phase stage 1-1. */ |
119 |
AOS_SSSP_STAGE_SHUTDOWN_1_2 = 0x31200000, /**< Identifier of SSSP shutdown phase stage 1-2. */ |
120 |
AOS_SSSP_STAGE_SHUTDOWN_1_3 = 0x31300000, /**< Identifier of SSSP shutdown phase stage 1-3. */ |
121 |
AOS_SSSP_STAGE_SHUTDOWN_2 = 0x32000000, /**< Identifier of SSSP shutdown phase stage 2. */ |
122 |
AOS_SSSP_STAGE_SHUTDOWN_2_1 = 0x32100000, /**< Identifier of SSSP shutdown phase stage 2-1. */ |
123 |
AOS_SSSP_STAGE_SHUTDOWN_2_2 = 0x32200000, /**< Identifier of SSSP shutdown phase stage 2-2. */ |
124 |
AOS_SSSP_STAGE_SHUTDOWN_2_3 = 0x32300000, /**< Identifier of SSSP shutdown phase stage 2-3. */ |
125 |
} aos_ssspstage_t; |
126 |
|
127 |
/**
|
128 |
* @brief Type to represent module IDs.
|
129 |
*/
|
130 |
#if (AMIROOS_CFG_SSSP_MODULEIDWIDTH == 8) |
131 |
typedef uint8_t aos_ssspmoduleid_t;
|
132 |
#elif (AMIROOS_CFG_SSSP_MODULEIDWIDTH == 16) || defined(__DOXYGEN__) |
133 |
typedef uint16_t aos_ssspmoduleid_t;
|
134 |
#elif (AMIROOS_CFG_SSSP_MODULEIDWIDTH == 32) |
135 |
typedef uint32_t aos_ssspmoduleid_t;
|
136 |
#elif (AMIROOS_CFG_SSSP_MODULEIDWIDTH == 64) |
137 |
typedef uint64_t aos_ssspmoduleid_t;
|
138 |
#endif
|
139 |
|
140 |
/**
|
141 |
* @brief Data structure holding module-wide SSSP information.
|
142 |
*/
|
143 |
typedef struct { |
144 |
/**
|
145 |
* @brief Current execution stage of SSSP.
|
146 |
*/
|
147 |
aos_ssspstage_t stage; |
148 |
|
149 |
/**
|
150 |
* @brief Module identifier.
|
151 |
* @details A value of @p AOS_SSSP_MODULEID_INVALID indicates an uninitialized ID.
|
152 |
*/
|
153 |
aos_ssspmoduleid_t moduleId; |
154 |
|
155 |
} aos_ssspdata_t; |
156 |
|
157 |
#if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
158 |
|
159 |
/**
|
160 |
* @brief Type to qualify attempts to transmitt/receive mesages via BCB.
|
161 |
*/
|
162 |
typedef enum { |
163 |
AOS_SSSP_BCB_SUCCESS, /**< BCB access was sucessfull. */
|
164 |
AOS_SSSP_BCB_ERROR, /**< BCB access failed or no message was available. */
|
165 |
AOS_SSSP_BCB_INVALIDMSG, /**< Invalid BCB message detected. */
|
166 |
} aos_ssspbcbstatus_t; |
167 |
|
168 |
/**
|
169 |
* @brief Data structure to be transmitted via BCB during module stack initialization (MSI).
|
170 |
*/
|
171 |
typedef struct { |
172 |
|
173 |
/**
|
174 |
* @brief Type of the message.
|
175 |
*/
|
176 |
uint8_t type; |
177 |
|
178 |
/**
|
179 |
* @brief Message payload.
|
180 |
* @details Payload depends on message type.
|
181 |
*/
|
182 |
union {
|
183 |
/**
|
184 |
* @brief Transmitted ID.
|
185 |
* @details This field is only used for @p SSSP_MSI_ID type messages.
|
186 |
*/
|
187 |
aos_ssspmoduleid_t id; |
188 |
} payload PACKED_VAR; |
189 |
|
190 |
} PACKED_VAR aos_ssspbcbmessage_t; |
191 |
|
192 |
/*
|
193 |
* Available BCB messages:
|
194 |
*/
|
195 |
#define AOS_SSSP_BCBMESSAGE_INVALID 0 /**< Invalid BCB message. */ |
196 |
#define AOS_SSSP_BCBMESSAGE_MSIINIT 1 /**< MSI initialization message. */ |
197 |
#define AOS_SSSP_BCBMESSAGE_MSIID 2 /**< MSI identifier message. */ |
198 |
#define AOS_SSSP_BCBMESSAGE_MSIABORT 3 /**< MSI abort message. */ |
199 |
|
200 |
/**
|
201 |
* @brief Data structure required for the module stack initialization (MSI) phase.
|
202 |
*/
|
203 |
typedef struct { |
204 |
|
205 |
/**
|
206 |
* @brief Timout related data.
|
207 |
*/
|
208 |
struct {
|
209 |
/**
|
210 |
* @brief Timer to trigger potential timeouts.
|
211 |
* @details This timer must not be an AMiRo-OS timer, since delays occurr before system is initialized.
|
212 |
*/
|
213 |
virtual_timer_t timer; |
214 |
|
215 |
/**
|
216 |
* @brief Event source to be triggered on timeout.
|
217 |
*/
|
218 |
event_source_t eventsource; |
219 |
|
220 |
/**
|
221 |
* @brief Event listener to inform the MSI thread about timeout events.
|
222 |
*/
|
223 |
event_listener_t eventlistener; |
224 |
} timeout; |
225 |
|
226 |
/**
|
227 |
* @brief Signal related data.
|
228 |
*/
|
229 |
struct {
|
230 |
/**
|
231 |
* @brief Pointer to an existing event listener, which informs about GPIO signal events.
|
232 |
*/
|
233 |
event_listener_t* eventlistener; |
234 |
} signals; |
235 |
|
236 |
/**
|
237 |
* @brief BCB related data.
|
238 |
*/
|
239 |
struct {
|
240 |
/**
|
241 |
* @brief Message object.
|
242 |
*/
|
243 |
aos_ssspbcbmessage_t message; |
244 |
|
245 |
/**
|
246 |
* @brief Buffer for (de)serialization BCB messages.
|
247 |
*/
|
248 |
uint8_t buffer[sizeof(aos_ssspbcbmessage_t)];
|
249 |
|
250 |
/**
|
251 |
* @brief Return status of last BCB access.
|
252 |
*/
|
253 |
aos_ssspbcbstatus_t status; |
254 |
|
255 |
/**
|
256 |
* @brief The most recently received identifier.
|
257 |
*/
|
258 |
aos_ssspmoduleid_t lastid; |
259 |
} bcb; |
260 |
|
261 |
} aos_ssspmsidata_t; |
262 |
|
263 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
264 |
|
265 |
/******************************************************************************/
|
266 |
/* MACROS */
|
267 |
/******************************************************************************/
|
268 |
|
269 |
/******************************************************************************/
|
270 |
/* EXTERN DECLARATIONS */
|
271 |
/******************************************************************************/
|
272 |
|
273 |
#if defined(__cplusplus)
|
274 |
extern "C" { |
275 |
#endif /* defined(__cplusplus) */ |
276 |
|
277 |
/*
|
278 |
* module specific interface functions
|
279 |
*/
|
280 |
#if !defined(moduleSsspSignalPD) || defined(__DOXYGEN__)
|
281 |
/**
|
282 |
* @brief Retrieve the control GPIO object for the PD signal.
|
283 |
* @return Pounter to the control GPIO object.
|
284 |
*/
|
285 |
apalControlGpio_t* moduleSsspSignalPD(void);
|
286 |
#endif /* !defined(moduleSsspSignalPD) */ |
287 |
#if !defined(moduleSsspEventflagPD) || defined(__DOXYGEN__)
|
288 |
/**
|
289 |
* @brief Retrieve the GPIO event flag set by a PD signal edge.
|
290 |
* @return Eventflag set on PD events.
|
291 |
*/
|
292 |
eventflags_t moduleSsspEventflagPD(void);
|
293 |
#endif /* !defined(moduleSsspEventflagPD) */ |
294 |
|
295 |
#if !defined(moduleSsspSignalS) || defined(__DOXYGEN__)
|
296 |
/**
|
297 |
* @brief Retrieve the control GPIO object for the S signal.
|
298 |
* @return Pounter to the control GPIO object.
|
299 |
*/
|
300 |
apalControlGpio_t* moduleSsspSignalS(void);
|
301 |
#endif /* !defined(moduleSsspSignalS) */ |
302 |
#if !defined(moduleSsspEventflagS) || defined(__DOXYGEN__)
|
303 |
/**
|
304 |
* @brief Retrieve the GPIO event flag set by a S signal edge.
|
305 |
* @return Eventflag set on S events.
|
306 |
*/
|
307 |
eventflags_t moduleSsspEventflagS(void);
|
308 |
#endif /* !defined(moduleSsspEventflagS) */ |
309 |
|
310 |
#if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
311 |
|
312 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) || defined(__DOXYGEN__) |
313 |
#if !defined(moduleSsspSignalDN) || defined(__DOXYGEN__)
|
314 |
/**
|
315 |
* @brief Retrieve the control GPIO object for the DN signal.
|
316 |
* @return Pounter to the control GPIO object.
|
317 |
*/
|
318 |
apalControlGpio_t* moduleSsspSignalDN(void);
|
319 |
#endif /* !defined(moduleSsspSignalDN) */ |
320 |
#if !defined(moduleSsspEventflagDN) || defined(__DOXYGEN__)
|
321 |
/**
|
322 |
* @brief Retrieve the GPIO event flag set by a DN signal edge.
|
323 |
* @return Eventflag set on DN events.
|
324 |
*/
|
325 |
eventflags_t moduleSsspEventflagDN(void);
|
326 |
#endif /* !defined(moduleSsspEventflagDN) */ |
327 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
328 |
|
329 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) || defined(__DOXYGEN__) |
330 |
#if !defined(moduleSsspSignalUP) || defined(__DOXYGEN__)
|
331 |
/**
|
332 |
* @brief Retrieve the control GPIO object for the UP signal.
|
333 |
* @return Pounter to the control GPIO object.
|
334 |
*/
|
335 |
apalControlGpio_t* moduleSsspSignalUP(void);
|
336 |
#endif /* !defined(moduleSsspSignalUP) */ |
337 |
#if !defined(moduleSsspEventflagUP) || defined(__DOXYGEN__)
|
338 |
/**
|
339 |
* @brief Retrieve the GPIO event flag set by a UP signal edge.
|
340 |
* @return Eventflag set on UP events.
|
341 |
*/
|
342 |
eventflags_t moduleSsspEventflagUP(void);
|
343 |
#endif /* !defined(moduleSsspEventflagUP) */ |
344 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
345 |
|
346 |
#if !defined(moduleSsspBcbTransmit) || defined(__DOXYGEN__)
|
347 |
/**
|
348 |
* @brief Transmit data via BCB.
|
349 |
*
|
350 |
* @param[in] buffer Pointer to a buffer, that holds the data to be sent.
|
351 |
* @param[in] length Length of the buffer in bytes.
|
352 |
*
|
353 |
* @return Status value, indicating whether the operation was successful.
|
354 |
*/
|
355 |
aos_ssspbcbstatus_t moduleSsspBcbTransmit(const uint8_t* buffer, size_t length);
|
356 |
|
357 |
/**
|
358 |
* @brief Receive a message from BCB.
|
359 |
* @note If a message is received, which is not defined by SSSP, the data may be irreversibly discarded by this function.
|
360 |
*
|
361 |
* @param[out] buffer Pointer to a buffer to store the received data to.
|
362 |
* @param[in] length Number of expected bytes to receive.
|
363 |
* Obviously, the buffer must be large enough.
|
364 |
*
|
365 |
* @return Status value, indicating whether the operation was successful.
|
366 |
*/
|
367 |
aos_ssspbcbstatus_t moduleSsspBcbReceive(uint8_t* buffer, size_t length); |
368 |
#endif /* !defined(moduleSsspBcbTransmit) */ |
369 |
|
370 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
371 |
|
372 |
/*
|
373 |
* API functions
|
374 |
*/
|
375 |
void aosSsspInit(aos_timestamp_t* system_uptime);
|
376 |
aos_status_t aosSsspProceed(event_listener_t* listener, eventmask_t mask, eventmask_t* received); |
377 |
#if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
378 |
void aosSsspMsiInit(aos_ssspmsidata_t* msidata, eventmask_t delayMask, eventmask_t timeoutMask, event_listener_t* gpioListener);
|
379 |
void aosSsspMsi(aos_ssspmsidata_t* msidata, eventmask_t* received);
|
380 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
381 |
#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
382 |
float aosSsspGetSyncSkew(void); |
383 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
384 |
void aosSsspShutdownInit(bool active); |
385 |
#if (AMIROOS_CFG_SSSP_SHUTDOWN == true) || defined(__DOXYGEN__) |
386 |
void aosSsspShutdownBroadcastIdentifier(unsigned int identifier); |
387 |
eventmask_t aosSsspShutdownWaitForIdentifierPulse(event_listener_t* gpiolistener, eventflags_t sflags, eventmask_t timermask, unsigned int* identifier); |
388 |
#endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
389 |
|
390 |
#if defined(__cplusplus)
|
391 |
} |
392 |
#endif /* defined(__cplusplus) */ |
393 |
|
394 |
/******************************************************************************/
|
395 |
/* INLINE FUNCTIONS */
|
396 |
/******************************************************************************/
|
397 |
|
398 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
399 |
|
400 |
#endif /* AMIROOS_SSSP_H */ |
401 |
|
402 |
/** @} */
|