amiro-os / core / src / aos_sssp.c @ a93a1019
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2020 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file aos_sssp.c
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* @brief SSSP related code.
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*
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* @addtogroup aos_sssp
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* @{
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*/
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#include <amiroos.h> |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
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/**
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* @brief Weighting factor for smoothing the @p _syncskew value.
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*/
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#define SYNCSKEW_SMOOTHFACTOR (0.1f / AOS_SYSTEM_TIME_RESOLUTION) |
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#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/**
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* @brief Pointer to the system uptime.
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*/
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static aos_timestamp_t* _uptime;
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#if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__) |
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/**
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* @brief Timer to drive the S signal for system wide time synchronization during operation phase.
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*/
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static virtual_timer_t _synctimer;
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/**
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* @brief Last uptime of system wide time synchronization.
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*/
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static aos_timestamp_t _synctime;
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
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/**
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* @brief Offset between local clock and system wide synchronization signal.
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*/
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static float _syncskew; |
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#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
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/**
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* @brief A timer event based delays.
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* @details This timer must not be an AMiRo-OS timer, since delays occurr before system is initialized.
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*/
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static virtual_timer_t _delayTimer;
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/**
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* @brief Event source for the delay timer.
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*/
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static event_source_t _delayEventSource;
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/**
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* @brief Event listener for the delay event.
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*/
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static event_listener_t _delayEventListener;
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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#if (AMIROOS_CFG_SSSP_MASTER != true) || defined(__DOXYGEN__) |
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/**
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* @brief Callback function for the S signal interrupt.
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*
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* @param[in] args Pointer to the GPIO line identifier.
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*/
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static void _gpioCallbackSSignal(void *args) |
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{ |
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aosDbgCheck((args != NULL) && (*((ioline_t*)args) != PAL_NOLINE) && (PAL_PAD(*((ioline_t*)args)) < sizeof(eventflags_t) * 8)); |
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apalControlGpioState_t s; |
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aos_timestamp_t t; |
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chSysLockFromISR(); |
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// if the system is in operation phase
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if (aos.sssp.stage == AOS_SSSP_STAGE_OPERATION) {
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// read signal S
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apalControlGpioGet(moduleSsspSignalS(), &s); |
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// if S was toggled from on to off
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if (s == APAL_GPIO_OFF) {
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// get current uptime
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aosSysGetUptimeX(&t); |
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// align the uptime with the synchronization period
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t %= AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
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if (t < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) { |
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*_uptime -= t; |
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#if (AMIROOS_CFG_PROFILE == true) |
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_syncskew = ((1.0f - SYNCSKEW_SMOOTHFACTOR) * _syncskew) + (SYNCSKEW_SMOOTHFACTOR * t); |
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#endif /* (AMIROOS_CFG_PROFILE == true) */ |
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} else {
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t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - t; |
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*_uptime += t; |
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#if (AMIROOS_CFG_PROFILE == true) |
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_syncskew = ((1.0f - SYNCSKEW_SMOOTHFACTOR) * _syncskew) - (SYNCSKEW_SMOOTHFACTOR * t); |
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#endif /* (AMIROOS_CFG_PROFILE == true) */ |
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} |
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} |
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} |
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// broadcast event
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chEvtBroadcastFlagsI(&aos.events.gpio, AOS_GPIOEVENT_FLAG(PAL_PAD(*((ioline_t*)args)))); |
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chSysUnlockFromISR(); |
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return;
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} |
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#endif /* (AMIROOS_CFG_SSSP_MASTER != true) */ |
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#if (AMIROOS_CFG_SSSP_MASTER == true) || defined (__DOXYGEN__) |
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/**
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* @brief Periodic system synchronization callback function.
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* @details Toggles the S signal and reconfigures the system synchronization timer.
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*
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* @param[in] par Unused parameters.
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*/
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static void _syncTimerCallback(void* par) |
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{ |
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(void)par;
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// local variables
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apalControlGpioState_t state; |
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aos_timestamp_t uptime; |
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chSysLockFromISR(); |
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// toggle and read signal S
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apalGpioToggle(moduleSsspSignalS()->gpio); |
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apalControlGpioGet(moduleSsspSignalS(), &state); |
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// if S was toggled from off to on
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if (state == APAL_GPIO_ON) {
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// reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
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_synctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
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aosSysGetUptimeX(&uptime); |
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chVTSetI(&_synctimer, chTimeUS2I((time_usecs_t)(_synctime - uptime)), _syncTimerCallback, NULL);
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} |
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// if S was toggled from on to off
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else /* if (state == APAL_GPIO_OFF) */ { |
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// reconfigure the timer (lazy)
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chVTSetI(&_synctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _syncTimerCallback, NULL); |
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} |
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chSysUnlockFromISR(); |
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return;
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} |
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/**
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* @brief Start the timer that toggles S for synchronization of the system.
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* @note Must be called from a locked context.
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*/
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static inline void _syncTimerStartS(void) |
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{ |
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chDbgCheckClassS(); |
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// start synchronization timer
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// The first iteration of the timer is set to the next 'center' of a 'slice'.
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aos_timestamp_t t; |
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aosSysGetUptimeX(&t); |
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t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
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chVTSetI(&_synctimer, chTimeUS2I((time_usecs_t)((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)))), _syncTimerCallback, NULL); |
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return;
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} |
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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/**
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* @brief General callback function to be used for any local timers.
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*
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* @param[in] par A pointer to an @p event_source_t to be fired.
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*/
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static void _timerCallback(void* par) |
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{ |
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aosDbgCheck(par != NULL);
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chSysLockFromISR(); |
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chEvtBroadcastI((event_source_t*)par); |
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chSysUnlockFromISR(); |
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return;
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} |
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/**
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* @brief Waits for the S signal to switch to the desired state.
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*
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* @param[in] listener Pointer to the GPIO event listener to be used.
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* @param[in] signalstate Desired state of the S signal ti be waited for.
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* @param[out] received Output variable to store the received event mask to.
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*
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* @return Status, indicating whether the expected event was received.
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*/
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static inline aos_status_t _waitForS(event_listener_t* listener, apalControlGpioState_t signalstate, eventmask_t* received) |
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{ |
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aosDbgCheck(listener != NULL);
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aosDbgCheck(received != NULL);
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// local variables
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aos_status_t status = AOS_FAILURE; |
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// wait for the next event (do not apply any filters in order not to miss any events)
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*received = chEvtWaitOne(ALL_EVENTS); |
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// if the correct event was triggered
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if (*received & listener->events) {
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apalControlGpioState_t s; |
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apalControlGpioGet(moduleSsspSignalS(), &s); |
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chSysLock(); |
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// only check for the expected event
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if ((listener->flags & moduleSsspEventflagS()) && (s == signalstate)) {
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// unset the expected flags but keep any other ones
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listener->flags &= ~moduleSsspEventflagS(); |
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status = AOS_SUCCESS; |
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} |
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// if no further flags are set
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if (listener->flags == 0) { |
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// clear event
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*received &= ~(listener->events); |
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} |
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chSysUnlock(); |
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} |
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return status;
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} |
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/**
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* @brief Uses the local delay timer to setup a timed event and waits for it to fire.
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*
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* @param[in] dt Delay time in microseconds to be set to the timer.
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* @param[in] mask Event mask to be used for the delay timer.
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* @param[out] received Output variable to store the received event mask to.
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*
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* @return Status, indicating whether the expected event (delay timer) was received.
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*/
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static inline aos_status_t _delay(uint32_t dt, eventmask_t mask, eventmask_t* received) |
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{ |
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aosDbgCheck(dt != TIME_IMMEDIATE); |
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aosDbgCheck(mask != 0);
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aosDbgCheck(received != NULL);
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// arm the delay timer once
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if (!chVTIsArmed(&_delayTimer)) {
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chEvtRegisterMask(&_delayEventSource, &_delayEventListener, mask); |
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chVTSet(&_delayTimer, chTimeUS2I(dt), _timerCallback, &_delayEventSource); |
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} |
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// wait for any event to occur (do not apply any filters in order not to miss any events)
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*received = chEvtWaitOne(ALL_EVENTS); |
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// if the timer event was received, cleanup
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if (*received & _delayEventListener.events) {
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chEvtUnregister(&_delayEventSource, &_delayEventListener); |
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*received &= ~(_delayEventListener.events); |
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return AOS_SUCCESS;
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} |
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return AOS_FAILURE;
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} |
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#if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
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/**
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* @brief Serialize a BCB message.
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* @details The individual primitives are serialized in big-endian fashion.
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*
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* @param[out] buffer Buffer to write the serialized message to.
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* @param[in] message The message to be serialized.
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*/
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static aos_status_t _serializeBcbMessage(uint8_t* buffer, aos_ssspbcbmessage_t message)
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{ |
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aosDbgCheck(buffer != NULL);
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// encode the message depending on its type
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switch (message.type) {
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case AOS_SSSP_BCBMESSAGE_MSIINIT:
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case AOS_SSSP_BCBMESSAGE_MSIABORT:
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{ |
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buffer[0] = message.type;
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return AOS_SUCCESS;
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} |
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case AOS_SSSP_BCBMESSAGE_MSIID:
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{ |
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buffer[0] = message.type;
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for (size_t byte = 0; byte < sizeof(aos_ssspmoduleid_t); ++byte) { |
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buffer[byte+1] = (message.payload.id >> ((sizeof(aos_ssspmoduleid_t) - (byte+1)) * 8)) & 0xFF; |
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} |
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return AOS_SUCCESS;
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} |
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default:
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{ |
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return AOS_FAILURE;
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} |
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} |
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} |
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/**
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* @brief Deserialize a BCB message.
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* @details The individual primitives must be serialized in big-endian fashion.
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*
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* @param[out] message Message object to be filled.
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* @param[in] buffer Buffer holding the serialized message.
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*/
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static aos_status_t _deserializeBcbMessage(aos_ssspbcbmessage_t* message, uint8_t* buffer)
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{ |
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aosDbgCheck(message != NULL);
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aosDbgCheck(buffer != NULL);
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// only decode the first byte, which contains the message type
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message->type = buffer[0];
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// decode the message depedning on its type
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switch (message->type) {
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case AOS_SSSP_BCBMESSAGE_MSIINIT:
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case AOS_SSSP_BCBMESSAGE_MSIABORT:
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{ |
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return AOS_SUCCESS;
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} |
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case AOS_SSSP_BCBMESSAGE_MSIID:
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{ |
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message->payload.id = 0;
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for (size_t byte = 0; byte < sizeof(aos_ssspmoduleid_t); ++byte) { |
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message->payload.id |= (aos_ssspmoduleid_t)(buffer[byte+1] << ((sizeof(aos_ssspmoduleid_t) - (byte+1)) * 8)); |
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} |
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return AOS_SUCCESS;
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} |
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default:
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{ |
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message->type = AOS_SSSP_BCBMESSAGE_INVALID; |
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return AOS_FAILURE;
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} |
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} |
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} |
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/**
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* @brief Common outro of the module stack initialization (MSI).
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* @details This function must be called on failure, success and if MSI is skipped.
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*
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* @param[in] msidata Pointer to the temporary data structure used during MSI.
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*/
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static void _msiOutro(aos_ssspmsidata_t* msidata) |
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{ |
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aosDbgCheck(msidata != NULL);
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// local variables
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eventmask_t mask = 0;
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// start the internal uptime aggregation
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chSysLock(); |
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aosSysStartUptimeS(); |
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#if (AMIROOS_CFG_SSSP_MASTER == true) |
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// start toggling S for system synchronization
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_syncTimerStartS(); |
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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chSysUnlock(); |
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// reset delay timer
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chVTIsArmed(&_delayTimer); |
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// unregister delay events
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mask |= _delayEventListener.events; |
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chEvtUnregister(&_delayEventSource, &_delayEventListener); |
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#if (AMIROOS_CFG_SSSP_STACK_END != true) |
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// deactivate UP signal
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apalControlGpioSet(moduleSsspSignalUP(), APAL_GPIO_OFF); |
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#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
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// reset timeout timer
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chVTReset(&msidata->timeout.timer); |
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// unregister timeout events
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mask |= msidata->timeout.eventlistener.events; |
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chEvtUnregister(&msidata->timeout.eventsource, &msidata->timeout.eventlistener); |
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// discard any pending timing events
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chEvtWaitAnyTimeout(mask, TIME_IMMEDIATE); |
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// proceed to operation phase
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aos.sssp.stage = AOS_SSSP_STAGE_OPERATION; |
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return;
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} |
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#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Initialize all SSSP related data.
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*/
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void aosSsspInit(aos_timestamp_t* system_uptime)
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{ |
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aosDbgCheck(system_uptime != NULL);
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#if (AMIROOS_CFG_SSSP_STARTUP == true) |
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// AMiRo-OS has to perform the basic initialization
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aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_1_1; |
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#else /* (AMIROOS_CFG_SSSP_STARTUP == true) */ |
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// basic initialization was already performed by a bootloader
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aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_2_1; |
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#endif /* (AMIROOS_CFG_SSSP_STARTUP == true) */ |
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// module ID is initialized as 'invalid'
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aos.sssp.moduleId = AOS_SSSP_MODULEID_INVALID; |
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#if (AMIROOS_CFG_DBG == true) |
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// check all SSSP signals for correct state
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{ |
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apalControlGpioState_t state; |
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apalControlGpioGet(moduleSsspSignalS(), &state); |
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aosDbgAssert(state == APAL_GPIO_ON); |
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apalControlGpioGet(moduleSsspSignalPD(), &state); |
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aosDbgAssert(state == APAL_GPIO_OFF); |
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#if (AMIROOS_CFG_SSSP_MSI == true) |
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#if (AMIROOS_CFG_SSSP_STACK_START != true) |
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apalControlGpioGet(moduleSsspSignalDN(), &state); |
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aosDbgAssert(state == APAL_GPIO_OFF); |
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#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
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#if (AMIROOS_CFG_SSSP_STACK_END != true) |
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apalControlGpioGet(moduleSsspSignalUP(), &state); |
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aosDbgAssert(state == APAL_GPIO_OFF); |
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#endif /* (AMIROOS_CFG_SSSP_END_START != true) */ |
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#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
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} |
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#endif /* (AMIROOS_CFG_DBG == true) */ |
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// initialize static variables
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_uptime = system_uptime; |
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#if (AMIROOS_CFG_SSSP_MASTER == true) |
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chVTObjectInit(&_synctimer); |
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_synctime = 0;
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
476 |
_syncskew = 0.0f; |
477 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
478 |
chVTObjectInit(&_delayTimer); |
479 |
chEvtObjectInit(&_delayEventSource); |
480 |
|
481 |
// signal interrupt setup
|
482 |
palSetLineCallback(moduleSsspSignalPD()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalPD()->gpio->line); |
483 |
palEnableLineEvent(moduleSsspSignalPD()->gpio->line, APAL2CH_EDGE(moduleSsspSignalPD()->meta.edge)); |
484 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
485 |
palSetLineCallback(moduleSsspSignalS()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalS()->gpio->line); |
486 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
487 |
palSetLineCallback(moduleSsspSignalS()->gpio->line, _gpioCallbackSSignal, &moduleSsspSignalS()->gpio->line); |
488 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
489 |
palEnableLineEvent(moduleSsspSignalS()->gpio->line, APAL2CH_EDGE(moduleSsspSignalS()->meta.edge)); |
490 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
491 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
492 |
palSetLineCallback(moduleSsspSignalDN()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalDN()->gpio->line); |
493 |
palEnableLineEvent(moduleSsspSignalDN()->gpio->line, APAL2CH_EDGE(moduleSsspSignalDN()->meta.edge)); |
494 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
495 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
496 |
palSetLineCallback(moduleSsspSignalUP()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalUP()->gpio->line); |
497 |
palEnableLineEvent(moduleSsspSignalUP()->gpio->line, APAL2CH_EDGE(moduleSsspSignalUP()->meta.edge)); |
498 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
499 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
500 |
|
501 |
return;
|
502 |
} |
503 |
|
504 |
/**
|
505 |
* @brief Proceed to the next SSSP stage.
|
506 |
* @note Calling this function when in operation phase is invalid.
|
507 |
* The function aosSsspShutdownInit() must be used instead.
|
508 |
*
|
509 |
* @param[in] listener An optional listener, in case the system has to wait for a specific event.
|
510 |
* @param[in] mask If the stage transition involves a timer event (handled internally by this function),
|
511 |
* the given input value of this parameter defines the mask to be used for that event.
|
512 |
* In case a listener was specified, the according mask is retrieved from the listener but this parameter is still used as input for sanity checks.
|
513 |
* @param[out] received Output variable to store the received event mask to.
|
514 |
*
|
515 |
* @return Status, indicating whether proceeding in the protocol was successful.
|
516 |
*/
|
517 |
aos_status_t aosSsspProceed(event_listener_t* listener, eventmask_t mask, eventmask_t* received) |
518 |
{ |
519 |
// local variables
|
520 |
#pragma GCC diagnostic push
|
521 |
#pragma GCC diagnostic ignored "-Wunused-but-set-variable" |
522 |
static aos_ssspstage_t laststage = AOS_SSSP_STAGE_UNDEFINED;
|
523 |
#pragma GCC diagnostic pop
|
524 |
aos_ssspstage_t nextstage = aos.sssp.stage; |
525 |
|
526 |
// behaviour depends on current SSSP stage of the system
|
527 |
switch (aos.sssp.stage) {
|
528 |
#if (AMIROOS_CFG_SSSP_STARTUP == true) |
529 |
|
530 |
/*
|
531 |
* Deactivate S signal.
|
532 |
* Master node delays execution by one period AOS_SSSP_DELAY.
|
533 |
*/
|
534 |
case AOS_SSSP_STAGE_STARTUP_1_1:
|
535 |
{ |
536 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
537 |
aosDbgCheck(listener == NULL);
|
538 |
aosDbgCheck(mask != 0);
|
539 |
aosDbgCheck(received != NULL);
|
540 |
|
541 |
// delay execution and deactivate the S signal on success
|
542 |
if (_delay(AOS_SSSP_DELAY, mask, received) == AOS_SUCCESS) {
|
543 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
544 |
nextstage = AOS_SSSP_STAGE_STARTUP_1_2; |
545 |
} |
546 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
547 |
aosDbgCheck(listener == NULL);
|
548 |
aosDbgCheck(mask == 0);
|
549 |
aosDbgCheck(received == NULL);
|
550 |
|
551 |
// deactivate S signal and proceed
|
552 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
553 |
nextstage = AOS_SSSP_STAGE_STARTUP_1_2; |
554 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
555 |
break;
|
556 |
} |
557 |
|
558 |
/*
|
559 |
* Wait for the S signal to become inactive.
|
560 |
*/
|
561 |
case AOS_SSSP_STAGE_STARTUP_1_2:
|
562 |
{ |
563 |
aosDbgCheck(listener != NULL);
|
564 |
aosDbgCheck(mask == listener->events); |
565 |
aosDbgCheck(received != NULL);
|
566 |
|
567 |
// wait for the S signal to become inactive and proceed on success
|
568 |
if (_waitForS(listener, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
|
569 |
nextstage = AOS_SSSP_STAGE_STARTUP_1_3; |
570 |
} |
571 |
break;
|
572 |
} |
573 |
|
574 |
/*
|
575 |
* Wait for the S signal to be activated by the master module.
|
576 |
* The master delays execution by one period AOS_SSSP_DELAY.
|
577 |
*/
|
578 |
case AOS_SSSP_STAGE_STARTUP_1_3:
|
579 |
{ |
580 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
581 |
aosDbgCheck(listener == NULL);
|
582 |
aosDbgCheck(mask != 0);
|
583 |
aosDbgCheck(received != NULL);
|
584 |
|
585 |
// delay execution and deactivate the S signal on success
|
586 |
if (_delay(AOS_SSSP_DELAY, mask, received) == AOS_SUCCESS) {
|
587 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
588 |
nextstage = AOS_SSSP_STAGE_STARTUP_2_1; |
589 |
} |
590 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
591 |
aosDbgCheck(listener != NULL);
|
592 |
aosDbgCheck(mask == listener->events); |
593 |
aosDbgCheck(received != NULL);
|
594 |
|
595 |
// wait for the S signal to become active and activate it as well and proceed on success
|
596 |
if (_waitForS(listener, APAL_GPIO_ON, received) == AOS_SUCCESS) {
|
597 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
598 |
nextstage = AOS_SSSP_STAGE_STARTUP_2_1; |
599 |
} |
600 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
601 |
break;
|
602 |
} |
603 |
|
604 |
#endif /* (AMIROOS_CFG_SSSP_STARTUP == true) */ |
605 |
|
606 |
/*
|
607 |
* Deactivate S signal.
|
608 |
* Master node delays execution by one period AOS_SSSP_DELAY
|
609 |
*/
|
610 |
case AOS_SSSP_STAGE_STARTUP_2_1:
|
611 |
{ |
612 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
613 |
aosDbgCheck(listener == NULL);
|
614 |
aosDbgCheck(mask != 0);
|
615 |
aosDbgCheck(received != NULL);
|
616 |
|
617 |
// delay execution and deactivate the S signal on success
|
618 |
if (_delay(AOS_SSSP_DELAY, mask, received) == AOS_SUCCESS) {
|
619 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
620 |
nextstage = AOS_SSSP_STAGE_STARTUP_2_2; |
621 |
} else {
|
622 |
aosprintf(".");
|
623 |
} |
624 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
625 |
aosDbgCheck(listener == NULL);
|
626 |
aosDbgCheck(mask == 0);
|
627 |
aosDbgCheck(received == NULL);
|
628 |
|
629 |
// deactivate S signal and proceed
|
630 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
631 |
nextstage = AOS_SSSP_STAGE_STARTUP_2_2; |
632 |
mask = 0;
|
633 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
634 |
break;
|
635 |
} |
636 |
|
637 |
/*
|
638 |
* Wait for the S signal to become inactive.
|
639 |
* When proceeding to operation phase, the master starts toggling S for synchronization
|
640 |
*/
|
641 |
case AOS_SSSP_STAGE_STARTUP_2_2:
|
642 |
{ |
643 |
aosDbgCheck(listener != NULL);
|
644 |
aosDbgCheck(mask == listener->events); |
645 |
aosDbgCheck(received != NULL);
|
646 |
|
647 |
// wait for the S signal to become inactive and proceed on success
|
648 |
if (_waitForS(listener, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
|
649 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
650 |
nextstage = AOS_SSSP_STAGE_STARTUP_3; |
651 |
#else /* (AMIROOS_CFG_SSSP_MSI == true) */ |
652 |
// start the internal uptime aggregation
|
653 |
chSysLock(); |
654 |
aosSysStartUptimeS(); |
655 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
656 |
// start toggling S for system synchronization
|
657 |
_syncTimerStartS(); |
658 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
659 |
chSysUnlock(); |
660 |
nextstage = AOS_SSSP_STAGE_OPERATION; |
661 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
662 |
} |
663 |
break;
|
664 |
} |
665 |
|
666 |
/*
|
667 |
* PLEASE NOTE:
|
668 |
* Stage transitions during MSI are not hanlded by thins function but are executed in aosSsspMsi().
|
669 |
*/
|
670 |
|
671 |
/*
|
672 |
* Invalid operation.
|
673 |
* Shutdon must be initiatid via the aosSsspShutdownInit() function.
|
674 |
*/
|
675 |
case AOS_SSSP_STAGE_OPERATION:
|
676 |
{ |
677 |
aosDbgAssertMsg(false, "in order to exit operation phase, aosSsspShutdownInit() function must be used"); |
678 |
break;
|
679 |
} |
680 |
|
681 |
/*
|
682 |
* Delay execution by one perion AOS_SSSP_DELAY, deactivate the SYNC signal and proceed.
|
683 |
* NOTE: Actually only the module that initiated the shutdown has to delay execution here.
|
684 |
* For the sake of simlicity though, each module delays execution.
|
685 |
*/
|
686 |
case AOS_SSSP_STAGE_SHUTDOWN_1_2:
|
687 |
{ |
688 |
aosDbgCheck(listener == NULL);
|
689 |
aosDbgCheck(mask == 0);
|
690 |
aosDbgCheck(received == NULL);
|
691 |
|
692 |
// delay execution
|
693 |
aosThdUSleep(AOS_SSSP_DELAY); |
694 |
// deactivate S signal
|
695 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
696 |
nextstage = AOS_SSSP_STAGE_SHUTDOWN_1_3; |
697 |
break;
|
698 |
} |
699 |
|
700 |
#if (AMIROOS_CFG_SSSP_SHUTDOWN == true) |
701 |
|
702 |
/*
|
703 |
* Wait for S signal to become inactive.
|
704 |
*/
|
705 |
case AOS_SSSP_STAGE_SHUTDOWN_1_3:
|
706 |
{ |
707 |
aosDbgCheck(listener != NULL);
|
708 |
aosDbgCheck(mask == listener->events); |
709 |
aosDbgCheck(received != NULL);
|
710 |
|
711 |
// wait for the S signal to become inactive and proceed on success
|
712 |
if (_waitForS(listener, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
|
713 |
nextstage = AOS_SSSP_STAGE_SHUTDOWN_2_1; |
714 |
} |
715 |
break;
|
716 |
} |
717 |
|
718 |
/*
|
719 |
* Evaluate PD signal to determine whether a shutdown or restart is requested.
|
720 |
* The logical state is returned by the function call.
|
721 |
*/
|
722 |
case AOS_SSSP_STAGE_SHUTDOWN_2_1:
|
723 |
{ |
724 |
aosDbgCheck(listener == NULL);
|
725 |
aosDbgCheck(mask == 0);
|
726 |
aosDbgCheck(received != NULL);
|
727 |
|
728 |
// evaluate PD signal
|
729 |
apalControlGpioState_t pd; |
730 |
apalControlGpioGet(moduleSsspSignalPD(), &pd); |
731 |
*received = (pd == APAL_GPIO_ON) ? (eventmask_t)~0 : 0; |
732 |
nextstage = AOS_SSSP_STAGE_SHUTDOWN_2_2; |
733 |
break;
|
734 |
} |
735 |
|
736 |
/*
|
737 |
* Proceed with no further actions required.
|
738 |
*/
|
739 |
case AOS_SSSP_STAGE_SHUTDOWN_2_2:
|
740 |
{ |
741 |
aosDbgCheck(listener == NULL);
|
742 |
aosDbgCheck(mask == 0);
|
743 |
aosDbgCheck(received == NULL);
|
744 |
|
745 |
nextstage = AOS_SSSP_STAGE_SHUTDOWN_2_3; |
746 |
break;
|
747 |
} |
748 |
|
749 |
#endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
750 |
|
751 |
default:
|
752 |
{ |
753 |
// this case must never occur!
|
754 |
aosDbgAssertMsg(false, "Invalid SSSP stage tranition occurred"); |
755 |
break;
|
756 |
} |
757 |
} /* end of switch (aos.sssp.stage) */
|
758 |
|
759 |
// outro and return
|
760 |
laststage = aos.sssp.stage; |
761 |
const aos_status_t status = (nextstage > aos.sssp.stage) ? AOS_SUCCESS : AOS_FAILURE;
|
762 |
aos.sssp.stage = nextstage; |
763 |
|
764 |
return status;
|
765 |
} |
766 |
|
767 |
#if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
768 |
|
769 |
/**
|
770 |
* @brief Initialize MSI data structure.
|
771 |
*
|
772 |
* @param[out] msidata Pointer to the MSI data structure to be initialized.
|
773 |
* @param[in] delayMask Event maks used for delay events.
|
774 |
* @param[in] timeoutMask Event mask used for timeout events.
|
775 |
* @param[in] gpioListener Event listener for GPIO events.
|
776 |
*/
|
777 |
void aosSsspMsiInit(aos_ssspmsidata_t* msidata, eventmask_t delayMask, eventmask_t timeoutMask, event_listener_t* gpioListener)
|
778 |
{ |
779 |
aosDbgCheck(msidata != NULL);
|
780 |
aosDbgCheck(gpioListener != NULL);
|
781 |
|
782 |
// register delay events
|
783 |
chEvtRegisterMask(&_delayEventSource, &_delayEventListener, delayMask); |
784 |
|
785 |
// initialize timeout related data
|
786 |
chVTObjectInit(&msidata->timeout.timer); |
787 |
chEvtObjectInit(&msidata->timeout.eventsource); |
788 |
chEvtRegisterMask(&msidata->timeout.eventsource, &msidata->timeout.eventlistener, timeoutMask); |
789 |
|
790 |
// set GPIO event information
|
791 |
msidata->signals.eventlistener = gpioListener; |
792 |
|
793 |
// initialize BCB related data
|
794 |
msidata->bcb.lastid = AOS_SSSP_MODULEID_INVALID; |
795 |
|
796 |
return;
|
797 |
} |
798 |
|
799 |
/**
|
800 |
* @brief Execute module stack initialization (MSI).
|
801 |
*
|
802 |
* @param[in] msidata Data required for MSI.
|
803 |
* @param[out] received Output variable to store the received event mask to.
|
804 |
*/
|
805 |
void aosSsspMsi(aos_ssspmsidata_t* msidata, eventmask_t* received)
|
806 |
{ |
807 |
aosDbgCheck(msidata != NULL);
|
808 |
aosDbgCheck(received != NULL);
|
809 |
|
810 |
/*
|
811 |
* execute anything that does not depend on BCB messages or events
|
812 |
*/
|
813 |
switch (aos.sssp.stage) {
|
814 |
case AOS_SSSP_STAGE_STARTUP_3:
|
815 |
case AOS_SSSP_STAGE_STARTUP_3_1:
|
816 |
{ |
817 |
aosDbgPrintf(">>> MSI init\n");
|
818 |
// setup timeout timer
|
819 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
820 |
// proceed
|
821 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
822 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_1_BROADCASTINIT; |
823 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
824 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_1_WAITFORINIT; |
825 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
826 |
break;
|
827 |
} |
828 |
|
829 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
830 |
case AOS_SSSP_STAGE_STARTUP_3_1_BROADCASTINIT:
|
831 |
{ |
832 |
aosDbgPrintf("%u\tsend INIT\t", chVTGetSystemTime());
|
833 |
// send init command
|
834 |
msidata->bcb.message.type = AOS_SSSP_BCBMESSAGE_MSIINIT; |
835 |
_serializeBcbMessage(msidata->bcb.buffer, msidata->bcb.message); |
836 |
if (moduleSsspBcbTransmit(msidata->bcb.buffer, sizeof(aos_ssspbcbmessage_t)) == AOS_SSSP_BCB_SUCCESS) { |
837 |
aosDbgPrintf("ok\tS+\t");
|
838 |
// activate S
|
839 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
840 |
// restart timeout timer
|
841 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
842 |
// proceed
|
843 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
844 |
aosDbgPrintf("->start\n");
|
845 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_2; |
846 |
#else /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
847 |
aosDbgPrintf("->count\n");
|
848 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT; |
849 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
850 |
} else {
|
851 |
aosDbgPrintf("fail\t->retry\n");
|
852 |
// retry in next iteration
|
853 |
} |
854 |
break;
|
855 |
} |
856 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
857 |
|
858 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
859 |
case AOS_SSSP_STAGE_STARTUP_3_2:
|
860 |
{ |
861 |
aosDbgPrintf("%u\tstart\t", chVTGetSystemTime());
|
862 |
// set the own module ID
|
863 |
aos.sssp.moduleId = 1;
|
864 |
// broadcast the new ID
|
865 |
msidata->bcb.message.type = AOS_SSSP_BCBMESSAGE_MSIID; |
866 |
msidata->bcb.message.payload.id = aos.sssp.moduleId; |
867 |
aosDbgPrintf("bc ID (%u)\t", msidata->bcb.message.payload.id);
|
868 |
_serializeBcbMessage(msidata->bcb.buffer, msidata->bcb.message); |
869 |
if (moduleSsspBcbTransmit(msidata->bcb.buffer, sizeof(aos_ssspbcbmessage_t)) == AOS_SSSP_BCB_SUCCESS) { |
870 |
aosDbgPrintf("ok\t->count\n");
|
871 |
// restart timeout timer
|
872 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
873 |
// set delay timer so UP will be activated and S deactivated later
|
874 |
chVTSet(&_delayTimer, chTimeUS2I(AOS_SSSP_DELAY), _timerCallback, &_delayEventSource); |
875 |
// store the transmitted ID
|
876 |
msidata->bcb.lastid = msidata->bcb.message.payload.id; |
877 |
// proceed
|
878 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT; |
879 |
} else {
|
880 |
aosDbgPrintf("fail\t->retry\n");
|
881 |
// retry next iteration
|
882 |
} |
883 |
break;
|
884 |
} |
885 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
886 |
|
887 |
case AOS_SSSP_STAGE_STARTUP_3_3_BROADCASTID:
|
888 |
{ |
889 |
// broadcast ID
|
890 |
msidata->bcb.message.type = AOS_SSSP_BCBMESSAGE_MSIID; |
891 |
msidata->bcb.message.payload.id = aos.sssp.moduleId; |
892 |
aosDbgPrintf("%u\tbc ID (%u)\t", chVTGetSystemTime(), msidata->bcb.message.payload.id);
|
893 |
_serializeBcbMessage(msidata->bcb.buffer, msidata->bcb.message); |
894 |
if (moduleSsspBcbTransmit(msidata->bcb.buffer, sizeof(aos_ssspbcbmessage_t)) == AOS_SSSP_BCB_SUCCESS) { |
895 |
aosDbgPrintf("ok->count\n");
|
896 |
// restart timeout timer
|
897 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
898 |
// set delay timer so UP will be activated and S deactivated later
|
899 |
chVTSet(&_delayTimer, chTimeUS2I(AOS_SSSP_DELAY), _timerCallback, &_delayEventSource); |
900 |
// store the transmitted ID
|
901 |
msidata->bcb.lastid = msidata->bcb.message.payload.id; |
902 |
// return to receiving
|
903 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT; |
904 |
} else {
|
905 |
aosDbgPrintf("fail\t->retry\n");
|
906 |
// retry next iteration
|
907 |
} |
908 |
break;
|
909 |
} |
910 |
|
911 |
case AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT:
|
912 |
{ |
913 |
aosDbgPrintf("%u\tabort\t", chVTGetSystemTime());
|
914 |
// reset timeout timer
|
915 |
chVTReset(&msidata->timeout.timer); |
916 |
// transmit abort message
|
917 |
msidata->bcb.message.type = AOS_SSSP_BCBMESSAGE_MSIABORT; |
918 |
_serializeBcbMessage(msidata->bcb.buffer, msidata->bcb.message); |
919 |
if (moduleSsspBcbTransmit(msidata->bcb.buffer, sizeof(aos_ssspbcbmessage_t)) == AOS_SSSP_BCB_SUCCESS) { |
920 |
aosDbgPrintf("ok\tS-\t->sync\n");
|
921 |
// deactivate S
|
922 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
923 |
// proceed
|
924 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_SYNC; |
925 |
} else {
|
926 |
aosDbgPrintf("fail\t->retry\n");
|
927 |
// retry next iteration
|
928 |
} |
929 |
break;
|
930 |
} |
931 |
|
932 |
default:
|
933 |
{ |
934 |
// all other stages depend on events or BCB messages and are thus handled below
|
935 |
break;
|
936 |
} |
937 |
} |
938 |
|
939 |
/*
|
940 |
* handle BCB messages
|
941 |
*/
|
942 |
msidata->bcb.status = moduleSsspBcbReceive(msidata->bcb.buffer, sizeof(aos_ssspbcbmessage_t));
|
943 |
switch (msidata->bcb.status) {
|
944 |
|
945 |
/* VALID BCB MESSAGE
|
946 |
* A message was received via BCB that seems to be plausible.
|
947 |
* The first BCB message initiates the sequence once.
|
948 |
* During MSI an arbitrary number of IDs will be received.
|
949 |
* Abort messages can be received at any time.
|
950 |
*/
|
951 |
case AOS_SSSP_BCB_SUCCESS:
|
952 |
{ |
953 |
aosDbgPrintf("%u\tBCB\t", chVTGetSystemTime());
|
954 |
// deserialize message and handle types differently
|
955 |
_deserializeBcbMessage(&msidata->bcb.message, msidata->bcb.buffer); |
956 |
switch (msidata->bcb.message.type) {
|
957 |
// initialization message
|
958 |
case AOS_SSSP_BCBMESSAGE_MSIINIT:
|
959 |
{ |
960 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
961 |
aosDbgPrintf("INIT\t->abort\n");
|
962 |
// initiate abortion
|
963 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
964 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
965 |
aosDbgPrintf("INIT\t");
|
966 |
// check for correct SSSP stage
|
967 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_1_WAITFORINIT) {
|
968 |
aosDbgPrintf("S+\t");
|
969 |
// activate S
|
970 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
971 |
// restart timeout timer
|
972 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
973 |
// proceed
|
974 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
975 |
aosDbgPrintf("->start\n");
|
976 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_2; |
977 |
#else /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
978 |
aosDbgPrintf("->count\n");
|
979 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT; |
980 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
981 |
} else {
|
982 |
aosDbgPrintf("->abort\n");
|
983 |
// initiate abortion
|
984 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
985 |
} |
986 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
987 |
break;
|
988 |
} |
989 |
// ID message
|
990 |
case AOS_SSSP_BCBMESSAGE_MSIID:
|
991 |
{ |
992 |
aosDbgPrintf("ID (%u)\t", msidata->bcb.message.payload.id);
|
993 |
// check for correct stage and whether ID was increased
|
994 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT &&
|
995 |
msidata->bcb.message.payload.id > msidata->bcb.lastid) { |
996 |
aosDbgPrintf("ok\n");
|
997 |
// restart timeout timer
|
998 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
999 |
// store ID
|
1000 |
msidata->bcb.lastid = msidata->bcb.message.payload.id; |
1001 |
} else {
|
1002 |
aosDbgPrintf("fail\t->abort\n");
|
1003 |
// initiate abortion
|
1004 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
1005 |
} |
1006 |
break;
|
1007 |
} |
1008 |
// abort message
|
1009 |
case AOS_SSSP_BCBMESSAGE_MSIABORT:
|
1010 |
{ |
1011 |
aosDbgPrintf("ABORT\tS-\t->sync\n");
|
1012 |
// reset timeout timer
|
1013 |
chVTReset(&msidata->timeout.timer); |
1014 |
// deactivate S
|
1015 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
1016 |
// proceed to abort synchronization
|
1017 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_SYNC; |
1018 |
break;
|
1019 |
} |
1020 |
// invalid message
|
1021 |
default:
|
1022 |
{ |
1023 |
aosDbgPrintf("invalid\t->abort\n");
|
1024 |
// initiate abortion
|
1025 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
1026 |
break;
|
1027 |
} |
1028 |
} |
1029 |
return;
|
1030 |
} |
1031 |
|
1032 |
/* INVALID BCB MESSAGE
|
1033 |
* An obviously invalid message was received via BCB.
|
1034 |
*/
|
1035 |
case AOS_SSSP_BCB_INVALIDMSG:
|
1036 |
{ |
1037 |
// error but ignore
|
1038 |
aosDbgPrintf("WARNING: unknown message received via BCB\n");
|
1039 |
break;
|
1040 |
} |
1041 |
|
1042 |
/* NO BCB MESSAGE
|
1043 |
* No message was received via BCB at all.
|
1044 |
*/
|
1045 |
case AOS_SSSP_BCB_ERROR:
|
1046 |
{ |
1047 |
// do nothing and proceed
|
1048 |
break;
|
1049 |
} |
1050 |
} |
1051 |
|
1052 |
/*
|
1053 |
* handle events
|
1054 |
*/
|
1055 |
*received = chEvtWaitOneTimeout(ALL_EVENTS, TIME_IMMEDIATE); |
1056 |
/* TIMEOUT EVENT
|
1057 |
* Timeouts can occur at any time during MSI after they have been initialized.
|
1058 |
* As soon as the module has made it to the 3.4 completion stage, there will be no more timeouts, though.
|
1059 |
*/
|
1060 |
if (*received & msidata->timeout.eventlistener.events) {
|
1061 |
aosDbgPrintf("%u\ttimeout\t", chVTGetSystemTime());
|
1062 |
// special cases
|
1063 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_1_WAITFORINIT ||
|
1064 |
aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION) { |
1065 |
// master did not initiate the sequence
|
1066 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_1_WAITFORINIT) {
|
1067 |
aosDbgPrintf("no init\t->operation\n");
|
1068 |
// invalidate module ID
|
1069 |
aos.sssp.moduleId = AOS_SSSP_MODULEID_INVALID; |
1070 |
aosDbgPrintf("<<< MSI skipped\n");
|
1071 |
} |
1072 |
// no abort messages received after completion
|
1073 |
else /* if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION) */ { |
1074 |
aosDbgPrintf("success\t->operation\n");
|
1075 |
aosDbgPrintf("<<< MSI completed\n");
|
1076 |
} |
1077 |
// cleanup and proceed to operation phase
|
1078 |
_msiOutro(msidata); |
1079 |
} |
1080 |
// general timeout
|
1081 |
else {
|
1082 |
aosDbgPrintf("->abort\n");
|
1083 |
// initiate active abort
|
1084 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
1085 |
} |
1086 |
// clear event
|
1087 |
chEvtGetAndClearFlags(&msidata->timeout.eventlistener); |
1088 |
*received &= ~(msidata->timeout.eventlistener.events); |
1089 |
} |
1090 |
/* DELAY EVENT
|
1091 |
* Delays are only used to toggle the UP signal.
|
1092 |
*/
|
1093 |
else if (*received & _delayEventListener.events) { |
1094 |
aosDbgPrintf("%u\tdelay\t", chVTGetSystemTime());
|
1095 |
#if (AMIROOS_CFG_SSSP_STACK_END == true) |
1096 |
apalControlGpioState_t s; |
1097 |
aosDbgPrintf("S-\t");
|
1098 |
// deactivate S
|
1099 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
1100 |
// verify deactivation
|
1101 |
apalControlGpioGet(moduleSsspSignalS(), &s); |
1102 |
if (s == APAL_GPIO_OFF) {
|
1103 |
aosDbgPrintf("ok\t->done\n");
|
1104 |
// set the timeout timer so no abort messages are missed
|
1105 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
1106 |
// proceed to the completion stage
|
1107 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION; |
1108 |
} else {
|
1109 |
aosDbgPrintf("fail\t->abort\n");
|
1110 |
// initiate active abort
|
1111 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
1112 |
} |
1113 |
#else /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
1114 |
apalControlGpioState_t s; |
1115 |
// read the current state of the UP signal
|
1116 |
apalControlGpioGet(moduleSsspSignalUP(), &s); |
1117 |
if (s == APAL_GPIO_OFF) {
|
1118 |
aosDbgPrintf("UP+ & S-\n");
|
1119 |
// activate UP in order to trigger the next module
|
1120 |
apalControlGpioSet(moduleSsspSignalUP(), APAL_GPIO_ON); |
1121 |
// deactivate S
|
1122 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
1123 |
// set the delay timer so the UP signal will get deactivated again later
|
1124 |
chVTSet(&_delayTimer, chTimeUS2I(AOS_SSSP_DELAY), _timerCallback, &_delayEventSource); |
1125 |
} else {
|
1126 |
aosDbgPrintf("UP-\n");
|
1127 |
// deactvate UP
|
1128 |
apalControlGpioSet(moduleSsspSignalUP(), APAL_GPIO_OFF); |
1129 |
} |
1130 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
1131 |
// clear event
|
1132 |
chEvtGetAndClearFlags(&_delayEventListener); |
1133 |
*received &= ~(_delayEventListener.events); |
1134 |
} |
1135 |
/* GPIO EVENT
|
1136 |
* GPIO events can occurr at any time, but only DN and S events are expected.
|
1137 |
* DN may be activated only once per module to trigger the counting process and is deactivated briefly after activation.
|
1138 |
* S must only deactivate when MSI is comleted by the last module in the stack.
|
1139 |
*/
|
1140 |
else if (*received & msidata->signals.eventlistener->events) { |
1141 |
aosDbgPrintf("%u\tGPIO\t", chVTGetSystemTime());
|
1142 |
apalControlGpioState_t s; |
1143 |
// fetch event flags
|
1144 |
eventflags_t flags = chEvtGetAndClearFlags(msidata->signals.eventlistener); |
1145 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
1146 |
// if the DN signal was triggered
|
1147 |
if (flags & moduleSsspEventflagDN()) {
|
1148 |
// read the signal state
|
1149 |
apalControlGpioGet(moduleSsspSignalDN(), &s); |
1150 |
// rising edge
|
1151 |
if (s == APAL_GPIO_ON) {
|
1152 |
aosDbgPrintf("+DN\t");
|
1153 |
// Correct SSSP stage and no ID assigned yet?
|
1154 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT &&
|
1155 |
aos.sssp.moduleId == AOS_SSSP_MODULEID_INVALID) { |
1156 |
// set the own module ID
|
1157 |
aos.sssp.moduleId = msidata->bcb.lastid + 1;
|
1158 |
aosDbgPrintf("set ID (%u)\t->bc ID\n", aos.sssp.moduleId);
|
1159 |
// proceed to broadcasting
|
1160 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_3_BROADCASTID; |
1161 |
} |
1162 |
// incorrect SSSP stage or ID already assigned (triggered for a second time)
|
1163 |
else {
|
1164 |
aosDbgPrintf("->abort\n");
|
1165 |
// initiate active abort
|
1166 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
1167 |
} |
1168 |
} |
1169 |
// falling egde
|
1170 |
else {
|
1171 |
aosDbgPrintf("-DN\n");
|
1172 |
// ignored
|
1173 |
} |
1174 |
// clear DN flags
|
1175 |
flags &= ~moduleSsspEventflagDN(); |
1176 |
} |
1177 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
1178 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
1179 |
// if the UP signal was triggered
|
1180 |
if (flags & moduleSsspEventflagUP()) {
|
1181 |
/*
|
1182 |
* The UP signal is acting as output only.
|
1183 |
* Any events resulting from toggling the signal are thus ignored.
|
1184 |
*/
|
1185 |
aosDbgPrintf("?UP\n");
|
1186 |
// clear UP flags
|
1187 |
flags &= ~moduleSsspEventflagUP(); |
1188 |
} |
1189 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
1190 |
// if the S signal was triggered
|
1191 |
if (flags & moduleSsspEventflagS()) {
|
1192 |
// read the signal state
|
1193 |
apalControlGpioGet(moduleSsspSignalS(), &s); |
1194 |
// rising edge
|
1195 |
if (s == APAL_GPIO_ON) {
|
1196 |
aosDbgPrintf("+S\n");
|
1197 |
// ignored
|
1198 |
} |
1199 |
// falling edge
|
1200 |
else {
|
1201 |
aosDbgPrintf("-S\t");
|
1202 |
// special case
|
1203 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_SYNC) {
|
1204 |
aosDbgPrintf("->operation\n");
|
1205 |
// invalidate module ID
|
1206 |
aos.sssp.moduleId = AOS_SSSP_MODULEID_INVALID; |
1207 |
// proceed
|
1208 |
aosDbgPrintf("<<< MSI aborted\n");
|
1209 |
_msiOutro(msidata); |
1210 |
} |
1211 |
#if (AMIROOS_CFG_SSSP_STACK_END == true) |
1212 |
// Correct SSSP stage?
|
1213 |
else if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION) { |
1214 |
aosDbgPrintf("ok\n");
|
1215 |
// ignored
|
1216 |
} else {
|
1217 |
aosDbgPrintf("->abort\n");
|
1218 |
// initialize abortion
|
1219 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
1220 |
} |
1221 |
#else /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
1222 |
// Correct SSSP stage and ID assigned?
|
1223 |
else if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT && |
1224 |
aos.sssp.moduleId != AOS_SSSP_MODULEID_INVALID) { |
1225 |
aosDbgPrintf("->done\n");
|
1226 |
// set the timeout timer so no abort messages are missed
|
1227 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
1228 |
// proceed to the completion stage
|
1229 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION; |
1230 |
} else {
|
1231 |
aosDbgPrintf("->abort\n");
|
1232 |
// initiate abortion
|
1233 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
1234 |
} |
1235 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
1236 |
} |
1237 |
// clear S flags
|
1238 |
flags &= ~moduleSsspEventflagS(); |
1239 |
} |
1240 |
// any further flags set?
|
1241 |
if (flags) {
|
1242 |
aosDbgPrintf("0x%08X\n", flags);
|
1243 |
// reassign remaining flags and do not clear event mask
|
1244 |
msidata->signals.eventlistener->flags |= flags; |
1245 |
} else {
|
1246 |
// clear event
|
1247 |
*received &= ~(msidata->signals.eventlistener->events); |
1248 |
} |
1249 |
} |
1250 |
/* OTHER EVENT
|
1251 |
* Any other events may occur as well but are not handled by this function
|
1252 |
*/
|
1253 |
else if (*received != 0){ |
1254 |
aosDbgPrintf("%u\tOTHER\t0x%08X\n", chVTGetSystemTime(), *received);
|
1255 |
// do not clear the event mask
|
1256 |
} |
1257 |
|
1258 |
return;
|
1259 |
} |
1260 |
|
1261 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
1262 |
|
1263 |
#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
1264 |
|
1265 |
/**
|
1266 |
* @brief Retrieve the offset between local clock and system synchronization signal.
|
1267 |
*
|
1268 |
* @return
|
1269 |
*/
|
1270 |
inline float aosSsspGetSyncSkew(void) |
1271 |
{ |
1272 |
return _syncskew;
|
1273 |
} |
1274 |
|
1275 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
1276 |
|
1277 |
/**
|
1278 |
* @brief Leave the operation pahse and initiate or acknowledge shutdown.
|
1279 |
*
|
1280 |
* @param[in] active Flag, indicating whether the shutdon shall be activeliy initiated (true) or a passive request was received (false).
|
1281 |
*/
|
1282 |
void aosSsspShutdownInit(bool active) |
1283 |
{ |
1284 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_OPERATION); |
1285 |
|
1286 |
// proceed to shutdown phase
|
1287 |
aos.sssp.stage = AOS_SSSP_STAGE_SHUTDOWN_1_1; |
1288 |
|
1289 |
// activate PD if this was an active shutdown initiation
|
1290 |
if (active) {
|
1291 |
apalControlGpioSet(moduleSsspSignalPD(), APAL_GPIO_ON); |
1292 |
} |
1293 |
|
1294 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
1295 |
// stop toggling S
|
1296 |
chVTReset(&_synctimer); |
1297 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
1298 |
|
1299 |
// activate S
|
1300 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
1301 |
|
1302 |
// proceed in the shutdown phase
|
1303 |
aos.sssp.stage = AOS_SSSP_STAGE_SHUTDOWN_1_2; |
1304 |
|
1305 |
return;
|
1306 |
} |
1307 |
|
1308 |
#if (AMIROOS_CFG_SSSP_SHUTDOWN == true) || defined(__DOXYGEN__) |
1309 |
|
1310 |
/**
|
1311 |
* @brief Sequnetially broadcast an identifier via S to specify a specific way to shutdown or restart.
|
1312 |
*
|
1313 |
* @param[in] identifier Identifier to be broadcasted.
|
1314 |
*/
|
1315 |
void aosSsspShutdownBroadcastIdentifier(unsigned int identifier) |
1316 |
{ |
1317 |
// only broadcast anything if a identifier greater than 0 was specified
|
1318 |
if (identifier > 0) { |
1319 |
// broadcast identifier
|
1320 |
for (unsigned int pulse = 0; pulse < identifier; ++pulse) { |
1321 |
// wait one delay time with S being deactivated
|
1322 |
aosThdUSleep(AOS_SSSP_DELAY); |
1323 |
|
1324 |
// activate S for one AOS_SSSP_DELAY.
|
1325 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
1326 |
aosThdUSleep(AOS_SSSP_DELAY); |
1327 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
1328 |
} |
1329 |
} |
1330 |
|
1331 |
// let a timeout pass and return
|
1332 |
aosThdUSleep(AOS_SSSP_TIMEOUT); |
1333 |
|
1334 |
return;
|
1335 |
} |
1336 |
|
1337 |
/**
|
1338 |
* @brief Wait for a pulse during the SSSP shutdown disambiguation procedure.
|
1339 |
* @details Whenever a pulse is received, the identifier is incremented.
|
1340 |
* Otherwise the internal timer is configured and will eventually trigger a timeout event.
|
1341 |
*
|
1342 |
* @param[in] gpiolistener Event listener for GPIO events.
|
1343 |
* @param[in] sflags Event flags to be set by edges on the S signal.
|
1344 |
* @param[in] timermask Event maks to use for the internal timer.
|
1345 |
* @param[in,out] identifier Identifier variable to increment.
|
1346 |
*
|
1347 |
* @return The event mask of whatever event was received during this function call.
|
1348 |
*/
|
1349 |
eventmask_t aosSsspShutdownWaitForIdentifierPulse(event_listener_t* gpiolistener, const eventflags_t sflags, eventmask_t timermask, unsigned int* identifier) |
1350 |
{ |
1351 |
aosDbgCheck(gpiolistener != NULL);
|
1352 |
aosDbgCheck(sflags != 0);
|
1353 |
aosDbgCheck(timermask != 0);
|
1354 |
aosDbgCheck(identifier != NULL);
|
1355 |
|
1356 |
// local variables
|
1357 |
eventmask_t mask; |
1358 |
eventflags_t flags; |
1359 |
apalControlGpioState_t sstate; |
1360 |
|
1361 |
// arm the timer once
|
1362 |
if (!chVTIsArmed(&_delayTimer)) {
|
1363 |
chEvtRegisterMask(&_delayEventSource, &_delayEventListener, timermask); |
1364 |
chVtSet(&_delayTimer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &_delayEventSource); |
1365 |
} |
1366 |
|
1367 |
// wait for any event to occur (do not apply any filters in order not to miss any events)
|
1368 |
mask = chEvtWaitOne(ALL_EVENTS); |
1369 |
|
1370 |
// GPIO event
|
1371 |
if (mask & gpiolistener->events) {
|
1372 |
// retrieve flags without clearing them
|
1373 |
flags = gpiolistener->flags; |
1374 |
apalControlGpioGet(moduleSsspSignalS(), &sstate); |
1375 |
if (flags == sflags) {
|
1376 |
apalControlGpioGet(moduleSsspSignalS(), &sstate); |
1377 |
// if this was the end of a pulse
|
1378 |
if (sstate == APAL_GPIO_OFF) {
|
1379 |
// restart the timer
|
1380 |
chVtSet(&_delayTimer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &_delayEventSource); |
1381 |
// increment the identifier
|
1382 |
++(*identifier); |
1383 |
} |
1384 |
} |
1385 |
} |
1386 |
// timer event
|
1387 |
else if (mask & _delayEventListener.events) { |
1388 |
// unregister event
|
1389 |
chEvtUnregister(&_delayEventSource, &_delayEventListener); |
1390 |
} |
1391 |
// any further events must be handled externally
|
1392 |
|
1393 |
return mask;
|
1394 |
} |
1395 |
|
1396 |
#endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
1397 |
|
1398 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
1399 |
|
1400 |
/** @} */
|