amiro-os / core / src / aos_main.cpp @ aed3754b
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | 53710ca3 | Marc Rothmann | /**
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20 | * @file aos_main.cpp
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21 | * @brief Main function.
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22 | * @details Main function with SSSP and initialization,
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23 | * extendable via hooks.
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24 | *
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25 | * @addtogroup aos_system
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26 | * @{
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27 | */
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28 | |||
29 | e545e620 | Thomas Schöpping | #include <amiroos.h> |
30 | cb835a3e | Thomas Schöpping | #include <module.h> |
31 | e545e620 | Thomas Schöpping | |
32 | b6b45e4c | Thomas Schöpping | /*
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33 | * hook to add further includes
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34 | */
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35 | 512abac1 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)
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36 | #include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER
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37 | b6b45e4c | Thomas Schöpping | #endif
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38 | |||
39 | e545e620 | Thomas Schöpping | /**
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40 | * @brief Event mask to identify I/O events.
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41 | */
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42 | 6b53f6bf | Thomas Schöpping | #define IOEVENT_MASK EVENT_MASK(0) |
43 | e545e620 | Thomas Schöpping | |
44 | /**
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45 | * @brief Event mask to identify OS events.
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46 | */
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47 | 6b53f6bf | Thomas Schöpping | #define OSEVENT_MASK EVENT_MASK(1) |
48 | e545e620 | Thomas Schöpping | |
49 | /**
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50 | 933df08e | Thomas Schöpping | * @brief Event mask to idetify CAN events.
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51 | */
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52 | #define CANEVENT_MASK EVENT_MASK(2) |
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53 | |||
54 | /**
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55 | * @brief Event mask to idetify timeout events.
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56 | */
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57 | #define TIMEOUTEVENT_MASK EVENT_MASK(3) |
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58 | |||
59 | /**
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60 | * @brief Event mask to idetify signal delay events.
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61 | */
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62 | #define DELAYEVENT_MASK EVENT_MASK(4) |
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63 | |||
64 | /**
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65 | * @brief CAN message identifier for initialization of the SSSP stack initialization sequence.
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66 | */
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67 | #define SSSP_STACKINIT_CANMSGID_INIT 0x003 |
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68 | |||
69 | /**
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70 | * @brief CAN message identifier for transmitting module IDs during the SSSP stack initialization sequence.
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71 | */
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72 | #define SSSP_STACKINIT_CANMSGID_MODULEID 0x002 |
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73 | |||
74 | /**
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75 | * @brief CAN message identifier for abortion of the SSSP stack initialization sequence.
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76 | */
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77 | #define SSSP_STACKINIT_CANMSGID_ABORT 0x001 |
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78 | |||
79 | /**
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80 | 9461fadc | Thomas Schöpping | * @brief CAN message identifier for calender synchronization message.
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81 | */
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82 | #define CALENDERSYNC_CANMSGID 0x004 |
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83 | |||
84 | /**
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85 | e545e620 | Thomas Schöpping | * @brief Listener object for I/O events.
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86 | */
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87 | static event_listener_t _eventListenerIO;
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88 | |||
89 | /**
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90 | * @brief Listener object for OS events.
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91 | */
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92 | static event_listener_t _eventListenerOS;
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93 | |||
94 | #if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
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95 | /**
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96 | ba516b61 | Thomas Schöpping | * @brief I/O channel for the programmer interface.
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97 | e545e620 | Thomas Schöpping | */
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98 | ba516b61 | Thomas Schöpping | static AosIOChannel _stdiochannel;
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99 | |||
100 | b8268050 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
101 | ba516b61 | Thomas Schöpping | /**
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102 | * @brief I/O shell channel for the programmer interface.
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103 | */
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104 | static AosShellChannel _stdshellchannel;
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105 | e545e620 | Thomas Schöpping | #endif
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106 | b8268050 | Thomas Schöpping | #endif
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107 | e545e620 | Thomas Schöpping | |
108 | b6b45e4c | Thomas Schöpping | /*
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109 | * hook to add further static variables
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110 | */
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111 | #if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
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112 | AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
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113 | #endif
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114 | |||
115 | e545e620 | Thomas Schöpping | /**
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116 | * @brief Prints an error message about an unexpected event.
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117 | *
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118 | * @param[in] mask The event mask.
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119 | * @param[in] flags The event flags.
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120 | */
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121 | 933df08e | Thomas Schöpping | static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
122 | e545e620 | Thomas Schöpping | { |
123 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_DBG == true) |
124 | 1e5f7648 | Thomas Schöpping | aosprintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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125 | 6b53f6bf | Thomas Schöpping | #else
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126 | 933df08e | Thomas Schöpping | (void)(mask);
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127 | (void)(flags);
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128 | 6b53f6bf | Thomas Schöpping | #endif
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129 | 3e1a9c79 | Thomas Schöpping | return;
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130 | 933df08e | Thomas Schöpping | } |
131 | |||
132 | /**
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133 | * @brief Callback function to be used during SSSP stack initialization sequence.
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134 | *
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135 | * @param[in] par A pointer to an @p event_source_t to be fired.
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136 | */
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137 | static void _ssspTimerCallback(void* par) |
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138 | { |
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139 | aosDbgCheck(par != NULL);
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140 | |||
141 | chSysLockFromISR(); |
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142 | chEvtBroadcastI((event_source_t*)par); |
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143 | chSysUnlockFromISR(); |
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144 | |||
145 | e545e620 | Thomas Schöpping | return;
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146 | } |
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147 | |||
148 | /**
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149 | 9461fadc | Thomas Schöpping | * @brief Helper function to serialize data.
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150 | 933df08e | Thomas Schöpping | *
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151 | * @param[out] dst Pointer to the output buffer.
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152 | 9461fadc | Thomas Schöpping | * @param[in] src Data to be serialized.
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153 | * @param[in] n Number of bytes to serialize.
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154 | 933df08e | Thomas Schöpping | */
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155 | 9461fadc | Thomas Schöpping | inline void _serialize(uint8_t* dst, const uint64_t src, const uint8_t n) |
156 | 933df08e | Thomas Schöpping | { |
157 | aosDbgCheck(dst != NULL);
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158 | 9461fadc | Thomas Schöpping | aosDbgCheck(n > 0 && n <= 8); |
159 | 933df08e | Thomas Schöpping | |
160 | 9461fadc | Thomas Schöpping | for (uint8_t byte = 0; byte < n; ++byte) { |
161 | 933df08e | Thomas Schöpping | dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF); |
162 | } |
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163 | |||
164 | return;
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165 | } |
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166 | |||
167 | /**
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168 | 9461fadc | Thomas Schöpping | * @brief Helper function to deserialize data.
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169 | 933df08e | Thomas Schöpping | *
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170 | * @param[in] src Pointer to the buffer of data to be deserialzed.
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171 | 9461fadc | Thomas Schöpping | * @param[in] n Number of bytes to deserialize.
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172 | 933df08e | Thomas Schöpping | *
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173 | * @return The deserialized 32 bit data.
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174 | */
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175 | 9461fadc | Thomas Schöpping | inline uint64_t _deserialize(uint8_t* src, const uint8_t n) |
176 | 933df08e | Thomas Schöpping | { |
177 | aosDbgCheck(src != NULL);
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178 | 9461fadc | Thomas Schöpping | aosDbgCheck(n > 0 && n <= 8); |
179 | 933df08e | Thomas Schöpping | |
180 | 9461fadc | Thomas Schöpping | uint64_t result = 0;
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181 | for (uint8_t byte = 0; byte < n; ++byte) { |
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182 | result |= ((uint64_t)src[byte]) << (byte * 8);
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183 | } |
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184 | |||
185 | return result;
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186 | } |
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187 | |||
188 | /**
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189 | * @brief Converter function to encode a TM value to a single unsigned 64 bit integer.
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190 | *
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191 | * @details Contents of the TM struct are mapped as follows:
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192 | * bits |63 62|61 53|52 50|49 26|25 22|21 17|16 12|11 6|5 0|
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193 | * #bits | 2 | 9 | 3 | 24 | 4 | 5 | 5 | 6 | 6 |
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194 | * value | isdst | yday | wday | year | mon | mday | hour | min | sec |
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195 | * range | special | [0, 365] | [0, 6] | [1900, ...] | [0, 11] | [1, 31] | [0, 23] | [0, 59] | [0, 61] |
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196 | * The Daylight Saving Time Flag (isdsst) is encoded as follows:
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197 | * DST not in effect -> 0
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198 | * DST in effect -> 1
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199 | * no information available -> 2
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200 | *
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201 | * @param[in] src Pointer to the TM struct to encode.
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202 | *
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203 | * @return An unsigned 64 bit integer, which holds the encoded time value.
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204 | */
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205 | inline uint64_t _TM2U64(struct tm* src) |
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206 | { |
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207 | aosDbgCheck(src != NULL);
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208 | |||
209 | return (((uint64_t)(src->tm_sec & 0x0000003F) << (0)) | |
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210 | ((uint64_t)(src->tm_min & 0x0000003F) << (6)) | |
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211 | ((uint64_t)(src->tm_hour & 0x0000001F) << (12)) | |
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212 | ((uint64_t)(src->tm_mday & 0x0000001F) << (17)) | |
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213 | ((uint64_t)(src->tm_mon & 0x0000000F) << (22)) | |
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214 | ((uint64_t)(src->tm_year & 0x00FFFFFF) << (26)) | |
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215 | ((uint64_t)(src->tm_wday & 0x00000007) << (50)) | |
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216 | ((uint64_t)(src->tm_yday & 0x000001FF) << (53)) | |
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217 | ((uint64_t)((src->tm_isdst == 0) ? 0 : (src->tm_isdst > 0) ? 1 : 2) << (62))); |
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218 | } |
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219 | |||
220 | /**
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221 | * @brief Converter functiomn to retrieve the encoded TM value from an unsigned 64 bit integer.
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222 | *
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223 | * @details For information on the encoding, please refer to @p _TM2U64 function.
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224 | *
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225 | * @param[out] dst The TM struct to fill with the decoded values.
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226 | * @param[in] src Unsigned 64 bit integer holding the encoded TM value.
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227 | */
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228 | inline void _U642TM(struct tm* dst, const uint64_t src) |
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229 | { |
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230 | aosDbgCheck(dst != NULL);
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231 | |||
232 | dst->tm_sec = (src >> 0) & 0x0000003F; |
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233 | dst->tm_min = (src >> 6) & 0x0000003F; |
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234 | dst->tm_hour = (src >> 12) & 0x0000001F; |
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235 | dst->tm_mday = (src >> 17) & 0x0000001F; |
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236 | dst->tm_mon = (src >> 22) & 0x0000000F; |
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237 | dst->tm_year = (src >> 26) & 0x00FFFFFF; |
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238 | dst->tm_wday = (src >> 50) & 0x00000007; |
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239 | dst->tm_yday = (src >> 53) & 0x000001FF; |
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240 | dst->tm_isdst = (((src >> 62) & 0x03) == 0) ? 0 : (((src >> 62) & 0x03) > 0) ? 1 : -1; |
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241 | |||
242 | return;
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243 | 933df08e | Thomas Schöpping | } |
244 | |||
245 | /**
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246 | * @brief Implementation of the SSSP module stack initialization sequence (startup phase 3).
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247 | *
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248 | * @return Shutdown value.
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249 | * @retval AOS_SHUTDOWN_NONE No shutdown signal received
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250 | * @retval AOS_SHUTDOWN_PASSIVE Shutdown signal received.
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251 | */
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252 | aos_shutdown_t _ssspModuleStackInitialization(void)
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253 | { |
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254 | // local types
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255 | /**
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256 | * @brief States for the internal state machine to implement SSSP startup stage 3.
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257 | */
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258 | typedef enum { |
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259 | STAGE_3_1, /**< Initiation of SSSP startup stage 3. */
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260 | STAGE_3_2, /**< Starting the sequence and broadcasting the first ID. */
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261 | STAGE_3_3_WAITFORFIRSTID, /**< Waiting for first ID after initiation. */
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262 | STAGE_3_3_WAITFORIDORSIG, /**< Waiting for next ID or activation of neighbor signal. */
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263 | STAGE_3_3_WAITFORID, /**< Waiting for next ID (after the module has set its own ID). */
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264 | STAGE_3_4_FINISH, /**< Successful finish of stage 3. */
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265 | STAGE_3_4_ABORT_ACTIVE, /**< Aborting stage 3 (active). */
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266 | STAGE_3_4_ABORT, /**< Aborting stage 3 (passive). */
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267 | } sssp_modulestackinitstage_t; |
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268 | |||
269 | typedef struct { |
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270 | bool loop : 1; |
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271 | bool wfe : 1; |
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272 | bool wfe_next : 1; |
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273 | } flags_t; |
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274 | |||
275 | // local variables
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276 | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
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277 | sssp_modulestackinitstage_t stage = STAGE_3_1; |
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278 | eventmask_t eventmask = 0;
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279 | eventflags_t ioflags; |
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280 | event_source_t eventSourceTimeout; |
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281 | event_source_t eventSourceDelay; |
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282 | event_listener_t eventListenerTimeout; |
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283 | event_listener_t eventListenerDelay; |
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284 | event_listener_t eventListenerCan; |
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285 | virtual_timer_t timerTimeout; |
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286 | virtual_timer_t timerDelay; |
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287 | CANTxFrame canTxFrame; |
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288 | CANRxFrame canRxFrame; |
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289 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
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290 | aos_ssspmoduleid_t lastid = 0;
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291 | #endif
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292 | flags_t flags; |
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293 | |||
294 | // initialize local varibles
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295 | chEvtObjectInit(&eventSourceTimeout); |
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296 | chEvtObjectInit(&eventSourceDelay); |
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297 | chVTObjectInit(&timerTimeout); |
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298 | chVTObjectInit(&timerDelay); |
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299 | canTxFrame.RTR = CAN_RTR_DATA; |
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300 | canTxFrame.IDE = CAN_IDE_STD; |
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301 | flags.loop = true;
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302 | flags.wfe = false; // do not wait for events in the initial iteration of the FSM loop |
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303 | flags.wfe_next = true;
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304 | |||
305 | // initialize system variables
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306 | aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
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307 | aos.sssp.moduleId = 0;
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308 | |||
309 | // listen to events (timout, delay, CAN receive)
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310 | chEvtRegisterMask(&eventSourceTimeout, &eventListenerTimeout, TIMEOUTEVENT_MASK); |
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311 | chEvtRegisterMask(&eventSourceDelay, &eventListenerDelay, DELAYEVENT_MASK); |
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312 | chEvtRegisterMask(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan, CANEVENT_MASK); |
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313 | |||
314 | /*
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315 | * FSM in a loop.
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316 | *
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317 | * This is a fully event-based FSM for the module stack initialization
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318 | * sequence, defined by SSSP as startup stage 3. There are five different
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319 | * events that can occur at this point:
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320 | * I/O events: The input level of an input pin has changed. Such events must
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321 | * be handled differently depending on the current state. Most
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322 | * of the time, however, such events can be ignored.
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323 | * OS events: Such events are only available after this stage completed and
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324 | * thus should never occur. However, there is an optional hook
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325 | * to handle such events, nevertheless.
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326 | * CAN events: At least one CAN message was received. Note that this event
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327 | * will only fire again if all input buffers have been cleared.
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328 | * timeouts: If some module does not support the sequence of there is any
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329 | * issue, such a case is detected via timeouts and must be
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330 | * handled accordingly (see abort state). In some cases, it is
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331 | * possible that a timeout event occurres 'simultaneously' with
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332 | * some other event. This can be caused by several timing issues
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333 | * and is a valid situation. As a result, any other events
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334 | * should be handled before the timeout event. If the other
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335 | * events are expected and valid, this implementation requires
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336 | * the timeout event flag to be cleared explicitely. Otherwise
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337 | * it is evaluated at the end of each iteration of the loop.
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338 | * delays: Depending on the current state, delays are required by SSSP
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339 | * for timing of the sequential activation of signals.
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340 | */
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341 | aosDbgPrintf("SSSP stack initialization sequence:\n");
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342 | while (flags.loop) {
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343 | #if (AMIROOS_CFG_DBG == true) |
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344 | switch (stage) {
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345 | case STAGE_3_1:
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346 | aosDbgPrintf(">>> 3-1\n");
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347 | break;
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348 | case STAGE_3_2:
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349 | aosDbgPrintf(">>> 3-2\n");
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350 | break;
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351 | case STAGE_3_3_WAITFORFIRSTID:
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352 | aosDbgPrintf(">>> 3-3 (1st ID)\n");
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353 | break;
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354 | case STAGE_3_3_WAITFORIDORSIG:
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355 | aosDbgPrintf(">>> 3-3 (ID/sig)\n");
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356 | break;
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357 | case STAGE_3_3_WAITFORID:
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358 | aosDbgPrintf(">>> 3-3 (ID)\n");
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359 | break;
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360 | case STAGE_3_4_FINISH:
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361 | aosDbgPrintf(">>> 3-4 (finish)\n");
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362 | break;
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363 | case STAGE_3_4_ABORT_ACTIVE:
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364 | 9461fadc | Thomas Schöpping | aosDbgPrintf(">>> 3-4 (active abort)\n");
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365 | 933df08e | Thomas Schöpping | break;
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366 | case STAGE_3_4_ABORT:
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367 | aosDbgPrintf(">>> 3-4 (abort)\n");
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368 | break;
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369 | } |
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370 | #endif
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371 | |||
372 | // reset wfe flag for the next iteration
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373 | flags.wfe_next = true;
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374 | |||
375 | // waiting for events may be skipped
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376 | if (flags.wfe) {
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377 | // wait for any event to occur
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378 | aosDbgPrintf("WFE...");
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379 | 1e5f7648 | Thomas Schöpping | eventmask = chEvtWaitAnyTimeout(ALL_EVENTS, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)); |
380 | 933df08e | Thomas Schöpping | aosDbgPrintf("\t0x%08X", eventmask);
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381 | } else {
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382 | aosDbgPrintf("WFE skipped");
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383 | } |
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384 | aos_timestamp_t uptime; |
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385 | aosSysGetUptime(&uptime); |
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386 | aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / 1000)); |
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387 | |||
388 | /*
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389 | * execute some general tasks and high priority events
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390 | */
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391 | // no event occurred at all
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392 | if ((flags.wfe) && (eventmask == 0)) { |
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393 | aosDbgPrintf("ERR: no evt\n");
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394 | // enforce timeout event
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395 | chEvtBroadcast(&eventSourceTimeout); |
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396 | continue;
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397 | } |
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398 | // if an IO event occurred
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399 | 9461fadc | Thomas Schöpping | if (eventmask & _eventListenerIO.events) {
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400 | 933df08e | Thomas Schöpping | ioflags = chEvtGetAndClearFlags(&_eventListenerIO); |
401 | aosDbgPrintf("INFO: IO evt (0x%08X)\n", ioflags);
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402 | // a power-down event occurred
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403 | if (ioflags & MODULE_SSSP_EVENTFLAGS_PD) {
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404 | aosDbgPrintf("PD evt\n");
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405 | // deactivate S and UP
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406 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
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407 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
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408 | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
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409 | #endif
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410 | // set shutdown flag and exit the loop
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411 | shutdown = AOS_SHUTDOWN_PASSIVE; |
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412 | break;
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413 | } |
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414 | // the S signal was deactivated
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415 | if (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC) {
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416 | apalControlGpioState_t sstate; |
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417 | apalControlGpioGet(&moduleSsspGpioSync, &sstate); |
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418 | if (sstate == APAL_GPIO_OFF) {
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||
419 | aosDbgPrintf("-S evt\n");
|
||
420 | // either finish or abort
|
||
421 | if ((stage == STAGE_3_3_WAITFORID) && (aos.sssp.moduleId != 0)) { |
||
422 | stage = STAGE_3_4_FINISH; |
||
423 | } else if (stage != STAGE_3_4_ABORT) { |
||
424 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
425 | } |
||
426 | } |
||
427 | } |
||
428 | } |
||
429 | // an OS event occurred
|
||
430 | 9461fadc | Thomas Schöpping | if (eventmask & _eventListenerOS.events) {
|
431 | 933df08e | Thomas Schöpping | aosDbgPrintf("WARN: OS evt\n");
|
432 | // get the flags
|
||
433 | eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
434 | // there should be no OS events at this point
|
||
435 | #ifdef MODULE_SSSP_STARTUP_3_OSEVENT_HOOK
|
||
436 | MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags); |
||
437 | #else
|
||
438 | _unexpectedEventError(eventmask, oseventflags); |
||
439 | #endif
|
||
440 | } |
||
441 | // if a CAN event occurred
|
||
442 | 9461fadc | Thomas Schöpping | if ((eventmask & eventListenerCan.events)) {
|
443 | 933df08e | Thomas Schöpping | // fetch message
|
444 | if (flags.wfe) {
|
||
445 | canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE); |
||
446 | aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
||
447 | } |
||
448 | // identify and handle abort messgaes
|
||
449 | if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
||
450 | stage = STAGE_3_4_ABORT; |
||
451 | } |
||
452 | // warn if a unexpected message was received
|
||
453 | else if ((canRxFrame.SID != SSSP_STACKINIT_CANMSGID_INIT) && |
||
454 | (canRxFrame.SID != SSSP_STACKINIT_CANMSGID_MODULEID)) { |
||
455 | aosDbgPrintf("WARN: unknown msg\n");
|
||
456 | } |
||
457 | // any further pending messages are fetched at the end of the loop
|
||
458 | } |
||
459 | // if a timeout event occurred
|
||
460 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerTimeout.events) {
|
461 | 933df08e | Thomas Schöpping | // is handled at the end of the loop (or must be cleared by FSM)
|
462 | } |
||
463 | // if a delay event occurred
|
||
464 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
465 | 933df08e | Thomas Schöpping | // is handled by FSM
|
466 | } |
||
467 | |||
468 | /*
|
||
469 | * this is the actual FSM
|
||
470 | */
|
||
471 | switch (stage) {
|
||
472 | case STAGE_3_1:
|
||
473 | { |
||
474 | aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
||
475 | |||
476 | // there was no event at all (skipped wfe)
|
||
477 | if (eventmask == 0 && flags.wfe == false) { |
||
478 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
479 | // initialize the stage by transmitting an according CAN message
|
||
480 | aosDbgPrintf("CAN -> init\n");
|
||
481 | canTxFrame.DLC = 0;
|
||
482 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_INIT; |
||
483 | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
||
484 | chEvtBroadcast(&eventSourceTimeout); |
||
485 | break;
|
||
486 | } |
||
487 | // activate S
|
||
488 | aosDbgPrintf("S+\n");
|
||
489 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
||
490 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
491 | // proceed immediately
|
||
492 | stage = STAGE_3_2; |
||
493 | flags.wfe_next = false;
|
||
494 | #else
|
||
495 | // set the timeout timer
|
||
496 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
497 | 933df08e | Thomas Schöpping | // proceed
|
498 | stage = STAGE_3_3_WAITFORFIRSTID; |
||
499 | #endif
|
||
500 | #else
|
||
501 | // set the timeout timer
|
||
502 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
503 | 933df08e | Thomas Schöpping | #endif
|
504 | } |
||
505 | |||
506 | #if (AMIROOS_CFG_SSSP_MASTER != true) |
||
507 | // a CAN message was received
|
||
508 | 9461fadc | Thomas Schöpping | else if (eventmask & eventListenerCan.events) { |
509 | 933df08e | Thomas Schöpping | // if an initiation message was received
|
510 | if (canRxFrame.DLC == 0 && |
||
511 | canRxFrame.RTR == CAN_RTR_DATA && |
||
512 | canRxFrame.IDE == CAN_IDE_STD && |
||
513 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) { |
||
514 | aosDbgPrintf("init msg\n");
|
||
515 | // reset the timeout timer and clear pending flags
|
||
516 | chVTReset(&timerTimeout); |
||
517 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
518 | eventmask &= ~(eventListenerTimeout.events); |
||
519 | 933df08e | Thomas Schöpping | // activate S
|
520 | aosDbgPrintf("S+\n");
|
||
521 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
||
522 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
523 | // proceed
|
||
524 | stage = STAGE_3_2; |
||
525 | flags.wfe_next = false;
|
||
526 | #else
|
||
527 | // set the timeout timer
|
||
528 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
529 | 933df08e | Thomas Schöpping | // proceed
|
530 | stage = STAGE_3_3_WAITFORFIRSTID; |
||
531 | #endif
|
||
532 | } |
||
533 | } |
||
534 | #endif
|
||
535 | |||
536 | break;
|
||
537 | } /* end of STAGE_3_1 */
|
||
538 | |||
539 | case STAGE_3_2:
|
||
540 | { |
||
541 | #if (AMIROOS_CFG_SSSP_STACK_START == true) |
||
542 | aos.sssp.stage = AOS_SSSP_STARTUP_3_2; |
||
543 | |||
544 | // if this stage was just entered
|
||
545 | if (flags.wfe == false) { |
||
546 | // set the module ID
|
||
547 | aos.sssp.moduleId = 1;
|
||
548 | // broadcast module ID
|
||
549 | aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
||
550 | canTxFrame.DLC = 4;
|
||
551 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
||
552 | 9461fadc | Thomas Schöpping | _serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
553 | 933df08e | Thomas Schöpping | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
554 | chEvtBroadcast(&eventSourceTimeout); |
||
555 | break;
|
||
556 | } |
||
557 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
||
558 | lastid = aos.sssp.moduleId; |
||
559 | #endif
|
||
560 | #if (AMIROOS_CFG_SSSP_STACK_END == true) |
||
561 | // sequence is already over
|
||
562 | // deactivate S
|
||
563 | aosDbgPrintf("S-\n");
|
||
564 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
565 | // proceed
|
||
566 | stage = STAGE_3_3_WAITFORID; |
||
567 | #else
|
||
568 | // set the delay timer so the UP signal is activated later
|
||
569 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
570 | 933df08e | Thomas Schöpping | #endif
|
571 | } |
||
572 | |||
573 | // if a delay event occurred
|
||
574 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
575 | 933df08e | Thomas Schöpping | // activate UP
|
576 | aosDbgPrintf("UP+\n");
|
||
577 | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
||
578 | // deactivate S
|
||
579 | aosDbgPrintf("S-\n");
|
||
580 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
581 | // explicitely clear timeout event flag
|
||
582 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
583 | eventmask &= ~(eventListenerTimeout.events); |
||
584 | 933df08e | Thomas Schöpping | // proceed
|
585 | stage = STAGE_3_3_WAITFORID; |
||
586 | } |
||
587 | #endif
|
||
588 | |||
589 | break;
|
||
590 | } /* end of STAGE_3_2 */
|
||
591 | |||
592 | case STAGE_3_3_WAITFORFIRSTID:
|
||
593 | { |
||
594 | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
||
595 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
596 | |||
597 | // a CAN message was received
|
||
598 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
599 | 933df08e | Thomas Schöpping | // if an ID message was received
|
600 | if (canRxFrame.DLC == 4 && |
||
601 | canRxFrame.RTR == CAN_RTR_DATA && |
||
602 | canRxFrame.IDE == CAN_IDE_STD && |
||
603 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) { |
||
604 | 9461fadc | Thomas Schöpping | aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4)); |
605 | 933df08e | Thomas Schöpping | // validate received ID
|
606 | 9461fadc | Thomas Schöpping | if (lastid < _deserialize(canRxFrame.data8, 4)) { |
607 | 933df08e | Thomas Schöpping | // store received ID
|
608 | 9461fadc | Thomas Schöpping | lastid = _deserialize(canRxFrame.data8, 4);
|
609 | 933df08e | Thomas Schöpping | // restart timeout timer
|
610 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
611 | 933df08e | Thomas Schöpping | // proceed
|
612 | stage = STAGE_3_3_WAITFORIDORSIG; |
||
613 | } else {
|
||
614 | aosDbgPrintf("ERR: invalid ID\n");
|
||
615 | // abort
|
||
616 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
617 | flags.wfe_next = false;
|
||
618 | } |
||
619 | // explicitely clear timeout event flag
|
||
620 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
621 | eventmask &= ~(eventListenerTimeout.events); |
||
622 | 933df08e | Thomas Schöpping | } |
623 | } |
||
624 | #endif
|
||
625 | break;
|
||
626 | } /* end of STAGE_3_3_WAITFORFIRSTID */
|
||
627 | |||
628 | case STAGE_3_3_WAITFORIDORSIG:
|
||
629 | { |
||
630 | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
||
631 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
632 | |||
633 | // a CAN message was received
|
||
634 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
635 | 933df08e | Thomas Schöpping | // if an ID message was received
|
636 | if (canRxFrame.DLC == 4 && |
||
637 | canRxFrame.RTR == CAN_RTR_DATA && |
||
638 | canRxFrame.IDE == CAN_IDE_STD && |
||
639 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) { |
||
640 | 9461fadc | Thomas Schöpping | aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4)); |
641 | 933df08e | Thomas Schöpping | // validate received ID
|
642 | 9461fadc | Thomas Schöpping | if (lastid < _deserialize(canRxFrame.data8, 4)) { |
643 | 933df08e | Thomas Schöpping | // store received ID
|
644 | 9461fadc | Thomas Schöpping | lastid = _deserialize(canRxFrame.data8, 4);
|
645 | 933df08e | Thomas Schöpping | // restart timeout timer
|
646 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
647 | 933df08e | Thomas Schöpping | } else {
|
648 | aosDbgPrintf("ERR: invalid ID\n");
|
||
649 | // abort
|
||
650 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
651 | flags.wfe_next = false;
|
||
652 | } |
||
653 | // explicitely clear timeout event flag
|
||
654 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
655 | eventmask &= ~(eventListenerTimeout.events); |
||
656 | 933df08e | Thomas Schöpping | } |
657 | } |
||
658 | |||
659 | // if an IO event was received (DN signal)
|
||
660 | 9461fadc | Thomas Schöpping | if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_DN)) {
|
661 | 933df08e | Thomas Schöpping | aosDbgPrintf("DN <-\n");
|
662 | // reset timeout timer
|
||
663 | chVTReset(&timerTimeout); |
||
664 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
665 | eventmask &= ~(eventListenerTimeout.events); |
||
666 | 933df08e | Thomas Schöpping | // increment and broadcast ID
|
667 | aos.sssp.moduleId = lastid + 1;
|
||
668 | aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
||
669 | canTxFrame.DLC = 4;
|
||
670 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
||
671 | 9461fadc | Thomas Schöpping | _serialize(canTxFrame.data8, aos.sssp.moduleId, 4);
|
672 | 933df08e | Thomas Schöpping | if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
673 | chEvtBroadcast(&eventSourceTimeout); |
||
674 | break;
|
||
675 | } |
||
676 | // set delay timer
|
||
677 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
678 | 933df08e | Thomas Schöpping | } |
679 | |||
680 | // if a delay event occurred
|
||
681 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
682 | 933df08e | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
683 | // activate UP
|
||
684 | aosDbgPrintf("UP+\n");
|
||
685 | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
||
686 | #endif
|
||
687 | // deactivate S
|
||
688 | aosDbgPrintf("S-\n");
|
||
689 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
690 | // reset the timeout timer
|
||
691 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
692 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
693 | eventmask &= ~(eventListenerTimeout.events); |
||
694 | 933df08e | Thomas Schöpping | // proceed
|
695 | stage = STAGE_3_3_WAITFORID; |
||
696 | } |
||
697 | #endif
|
||
698 | |||
699 | break;
|
||
700 | } /* end of STAGE_3_3_WAITFORIDORSIG */
|
||
701 | |||
702 | case STAGE_3_3_WAITFORID:
|
||
703 | { |
||
704 | aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
||
705 | |||
706 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
707 | // a CAN message was received
|
||
708 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
709 | 933df08e | Thomas Schöpping | // if an ID message was received
|
710 | if (canRxFrame.DLC == 4 && |
||
711 | canRxFrame.RTR == CAN_RTR_DATA && |
||
712 | canRxFrame.IDE == CAN_IDE_STD && |
||
713 | canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) { |
||
714 | #if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
||
715 | // Plausibility of the received ID is not checked at this point but is done by other modules still in a previous stage.
|
||
716 | 9461fadc | Thomas Schöpping | lastid = _deserialize(canRxFrame.data8, 4);
|
717 | 933df08e | Thomas Schöpping | aosDbgPrintf("ID (%u)\n", lastid);
|
718 | #endif
|
||
719 | // restart timeout timer
|
||
720 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
721 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
722 | eventmask &= ~(eventListenerTimeout.events); |
||
723 | 933df08e | Thomas Schöpping | } |
724 | } |
||
725 | #endif
|
||
726 | |||
727 | break;
|
||
728 | } /* end of STAGE_3_3_WAITFORID */
|
||
729 | |||
730 | case STAGE_3_4_FINISH:
|
||
731 | { |
||
732 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
733 | |||
734 | // if an IO event was received (S signal)
|
||
735 | 9461fadc | Thomas Schöpping | if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
736 | 933df08e | Thomas Schöpping | // reset the timeout timer
|
737 | chVTReset(&timerTimeout); |
||
738 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
739 | eventmask &= ~(eventListenerTimeout.events); |
||
740 | 933df08e | Thomas Schöpping | //set the delay timer
|
741 | 1e5f7648 | Thomas Schöpping | chVTSet(&timerDelay, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceDelay); |
742 | 933df08e | Thomas Schöpping | } |
743 | |||
744 | // if a CAN event was received
|
||
745 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerCan.events) {
|
746 | 933df08e | Thomas Schöpping | // if an abort message was received
|
747 | if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
||
748 | aosDbgPrintf("abort msg\n");
|
||
749 | // reset the delay timer
|
||
750 | chVTReset(&timerDelay); |
||
751 | 9461fadc | Thomas Schöpping | chEvtWaitAnyTimeout(eventListenerDelay.events, TIME_IMMEDIATE); |
752 | eventmask &= ~(eventListenerDelay.events); |
||
753 | 933df08e | Thomas Schöpping | // proceed
|
754 | stage = STAGE_3_4_ABORT; |
||
755 | } |
||
756 | } |
||
757 | |||
758 | // if a delay timer event occurred
|
||
759 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerDelay.events) {
|
760 | 933df08e | Thomas Schöpping | aosDbgPrintf("sequence sucessful\n");
|
761 | // sequence finished sucessfully
|
||
762 | flags.loop = false;
|
||
763 | } |
||
764 | |||
765 | break;
|
||
766 | } /* end of STAGE_3_4_FINISH */
|
||
767 | |||
768 | case STAGE_3_4_ABORT_ACTIVE:
|
||
769 | { |
||
770 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
771 | |||
772 | // emit abort message
|
||
773 | canTxFrame.DLC = 0;
|
||
774 | canTxFrame.SID = SSSP_STACKINIT_CANMSGID_ABORT; |
||
775 | canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_INFINITE); |
||
776 | aosDbgPrintf("CAN -> abort\n");
|
||
777 | // clear timeout flag
|
||
778 | 9461fadc | Thomas Schöpping | eventmask &= ~(eventListenerTimeout.events); |
779 | 933df08e | Thomas Schöpping | // proceed immediately
|
780 | stage = STAGE_3_4_ABORT; |
||
781 | flags.wfe_next = false;
|
||
782 | break;
|
||
783 | } /* end of STAGE_3_4_ABORT_ACTIVE */
|
||
784 | |||
785 | case STAGE_3_4_ABORT:
|
||
786 | { |
||
787 | aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
||
788 | |||
789 | // deactivate S
|
||
790 | aosDbgPrintf("S-\n");
|
||
791 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
792 | // invalidate module ID
|
||
793 | aos.sssp.moduleId = 0;
|
||
794 | |||
795 | // if an IO event was received (S signal)
|
||
796 | 9461fadc | Thomas Schöpping | if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
797 | 933df08e | Thomas Schöpping | aosDbgPrintf("sequence aborted\n");
|
798 | // exit the sequence
|
||
799 | flags.loop = false;
|
||
800 | } |
||
801 | |||
802 | break;
|
||
803 | } /* end of STAGE_3_4_ABORT */
|
||
804 | } |
||
805 | |||
806 | // fetch pending CAN message (if any)
|
||
807 | 9461fadc | Thomas Schöpping | if ((eventmask & eventListenerCan.events) && (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE) == MSG_OK)) {
|
808 | 933df08e | Thomas Schöpping | aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
809 | flags.wfe_next = false;
|
||
810 | } |
||
811 | |||
812 | // handle unhandled timeout events
|
||
813 | 9461fadc | Thomas Schöpping | if (eventmask & eventListenerTimeout.events) {
|
814 | 933df08e | Thomas Schöpping | aosDbgPrintf("ERR: timeout evt\n");
|
815 | // abort
|
||
816 | flags.wfe_next = false;
|
||
817 | stage = STAGE_3_4_ABORT_ACTIVE; |
||
818 | } |
||
819 | |||
820 | // apply wfe value for next iteration
|
||
821 | flags.wfe = flags.wfe_next; |
||
822 | 1e5f7648 | Thomas Schöpping | } /* end of FSM loop */
|
823 | 933df08e | Thomas Schöpping | aosDbgPrintf("\n");
|
824 | |||
825 | // unregister all events (timeout, delay, CAN receive)
|
||
826 | chEvtUnregister(&eventSourceTimeout, &eventListenerTimeout); |
||
827 | chEvtUnregister(&eventSourceDelay, &eventListenerDelay); |
||
828 | chEvtUnregister(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan); |
||
829 | // clear any pending events (timeout, delay, CAN receive)
|
||
830 | chEvtWaitAllTimeout(TIMEOUTEVENT_MASK | DELAYEVENT_MASK | CANEVENT_MASK, TIME_IMMEDIATE); |
||
831 | |||
832 | // reset all control signals
|
||
833 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
834 | apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
||
835 | #endif
|
||
836 | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
||
837 | |||
838 | return shutdown;
|
||
839 | } |
||
840 | |||
841 | /**
|
||
842 | e545e620 | Thomas Schöpping | * @brief Application entry point.
|
843 | */
|
||
844 | int main(void) |
||
845 | { |
||
846 | // local variables
|
||
847 | eventmask_t eventmask = 0;
|
||
848 | eventflags_t eventflags = 0;
|
||
849 | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
||
850 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)
|
851 | AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
||
852 | e545e620 | Thomas Schöpping | #endif
|
853 | |||
854 | /*
|
||
855 | * ##########################################################################
|
||
856 | * # system initialization #
|
||
857 | * ##########################################################################
|
||
858 | */
|
||
859 | |||
860 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
|
||
861 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS)
|
862 | AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS); |
||
863 | #else
|
||
864 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_0(); |
865 | #endif
|
||
866 | b6b45e4c | Thomas Schöpping | #endif
|
867 | e545e620 | Thomas Schöpping | |
868 | /* hardware, kernel, and operating system initialization */
|
||
869 | // ChibiOS/HAL and custom hal additions (if any)
|
||
870 | halInit(); |
||
871 | #ifdef MODULE_INIT_HAL_EXTRA
|
||
872 | MODULE_INIT_HAL_EXTRA(); |
||
873 | #endif
|
||
874 | |||
875 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
|
||
876 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
|
||
877 | AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
||
878 | #else
|
||
879 | AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
||
880 | #endif
|
||
881 | #endif
|
||
882 | |||
883 | // ChibiOS/RT kernel and custom kernel additions (if any)
|
||
884 | chSysInit(); |
||
885 | #ifdef MODULE_INIT_KERNEL_EXTRA
|
||
886 | MODULE_INIT_KERNEL_EXTRA(); |
||
887 | #endif
|
||
888 | |||
889 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
|
||
890 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
|
||
891 | AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
||
892 | #else
|
||
893 | AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
||
894 | #endif
|
||
895 | #endif
|
||
896 | |||
897 | // AMiRo-OS and custom OS additions (if any)
|
||
898 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
899 | aosSysInit(moduleShellPrompt); |
||
900 | #else
|
||
901 | aosSysInit(); |
||
902 | #endif
|
||
903 | e545e620 | Thomas Schöpping | #ifdef MODULE_INIT_OS_EXTRA
|
904 | MODULE_INIT_OS_EXTRA(); |
||
905 | #endif
|
||
906 | |||
907 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
|
||
908 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
|
||
909 | AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
||
910 | #else
|
||
911 | AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
||
912 | #endif
|
||
913 | #endif
|
||
914 | |||
915 | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
||
916 | 9461fadc | Thomas Schöpping | #if defined(MODULE_INIT_TESTS)
|
917 | e545e620 | Thomas Schöpping | MODULE_INIT_TESTS(); |
918 | 9461fadc | Thomas Schöpping | #else
|
919 | #warning "MODULE_INIT_TESTS not defined" |
||
920 | #endif
|
||
921 | e545e620 | Thomas Schöpping | #endif
|
922 | |||
923 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
|
||
924 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
|
||
925 | AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
||
926 | #else
|
||
927 | AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
||
928 | #endif
|
||
929 | #endif
|
||
930 | |||
931 | /* event associations */
|
||
932 | 1e5f7648 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_START == true) && (AMIROOS_CFG_SSSP_STACK_END == true) |
933 | chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC); |
||
934 | #elif (AMIROOS_CFG_SSSP_STACK_START == true) |
||
935 | chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_UP); |
||
936 | #elif (AMIROOS_CFG_SSSP_STACK_END == true) |
||
937 | chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_DN); |
||
938 | #else
|
||
939 | chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC | MODULE_SSSP_EVENTFLAGS_DN | MODULE_SSSP_EVENTFLAGS_UP); |
||
940 | #endif
|
||
941 | 6b53f6bf | Thomas Schöpping | chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK); |
942 | e545e620 | Thomas Schöpping | |
943 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
|
||
944 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
|
||
945 | AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
||
946 | #else
|
||
947 | AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
||
948 | #endif
|
||
949 | #endif
|
||
950 | |||
951 | /* periphery communication initialization */
|
||
952 | // CAN (mandatory)
|
||
953 | canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); |
||
954 | // module specific initialization (if any)
|
||
955 | #ifdef MODULE_INIT_PERIPHERY_COMM
|
||
956 | MODULE_INIT_PERIPHERY_COMM(); |
||
957 | #endif
|
||
958 | // user interface (if any)
|
||
959 | #ifdef MODULE_HAL_PROGIF
|
||
960 | ba516b61 | Thomas Schöpping | aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
961 | aosIOChannelOutputEnable(&_stdiochannel); |
||
962 | aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
||
963 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
||
964 | dd8738ea | Thomas Schöpping | aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
965 | ba516b61 | Thomas Schöpping | aosShellChannelInputEnable(&_stdshellchannel); |
966 | aosShellChannelOutputEnable(&_stdshellchannel); |
||
967 | 6b53f6bf | Thomas Schöpping | aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
968 | ba516b61 | Thomas Schöpping | #endif
|
969 | e545e620 | Thomas Schöpping | #endif
|
970 | |||
971 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)
|
||
972 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)
|
||
973 | AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS); |
||
974 | #else
|
||
975 | AMIROOS_CFG_MAIN_INIT_HOOK_6(); |
||
976 | #endif
|
||
977 | #endif
|
||
978 | |||
979 | /* module is ready -> print welcome prompt */
|
||
980 | aosprintf("\n");
|
||
981 | aosprintf("######################################################################\n");
|
||
982 | aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
||
983 | aosprintf("# Robot (AMiRo) platform. #\n");
|
||
984 | aosprintf("# Copyright (C) 2016..2018 Thomas Schöpping et al. #\n");
|
||
985 | aosprintf("# #\n");
|
||
986 | aosprintf("# This is free software; see the source for copying conditions. #\n");
|
||
987 | aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
|
||
988 | aosprintf("# A PARTICULAR PURPOSE. #\n");
|
||
989 | aosprintf("# The development of this software was supported by the Excellence #\n");
|
||
990 | aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
|
||
991 | aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
|
||
992 | aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
|
||
993 | aosprintf("######################################################################\n");
|
||
994 | aosprintf("\n");
|
||
995 | |||
996 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)
|
||
997 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)
|
||
998 | AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS); |
||
999 | #else
|
||
1000 | AMIROOS_CFG_MAIN_INIT_HOOK_7(); |
||
1001 | #endif
|
||
1002 | #endif
|
||
1003 | |||
1004 | 6b53f6bf | Thomas Schöpping | /* SSSP startup OS synchronization phase (end of startup stage 2) */
|
1005 | 9461fadc | Thomas Schöpping | while ((shutdown == AOS_SHUTDOWN_NONE) && (eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) { |
1006 | e545e620 | Thomas Schöpping | /*
|
1007 | * This code is executed if the received event was not about the SYS_SYNC control signal.
|
||
1008 | * The returned event could be caused by any listener (not only the argument).
|
||
1009 | */
|
||
1010 | 9461fadc | Thomas Schöpping | // IO event
|
1011 | e545e620 | Thomas Schöpping | if (eventmask & _eventListenerIO.events) {
|
1012 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
||
1013 | 9461fadc | Thomas Schöpping | // PD event
|
1014 | if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
||
1015 | shutdown = AOS_SHUTDOWN_PASSIVE; |
||
1016 | } else {
|
||
1017 | 933df08e | Thomas Schöpping | #ifdef MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK
|
1018 | 9461fadc | Thomas Schöpping | MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK(eventmask, eventflags); |
1019 | e545e620 | Thomas Schöpping | #else
|
1020 | 9461fadc | Thomas Schöpping | // ignore any other IO events
|
1021 | e545e620 | Thomas Schöpping | #endif
|
1022 | 9461fadc | Thomas Schöpping | } |
1023 | e545e620 | Thomas Schöpping | } |
1024 | 9461fadc | Thomas Schöpping | // OS event
|
1025 | e545e620 | Thomas Schöpping | else if (eventmask & _eventListenerOS.events) { |
1026 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
1027 | _unexpectedEventError(eventmask, eventflags); |
||
1028 | } |
||
1029 | 9461fadc | Thomas Schöpping | // unknown event
|
1030 | e545e620 | Thomas Schöpping | else {
|
1031 | 933df08e | Thomas Schöpping | _unexpectedEventError(eventmask, 0);
|
1032 | e545e620 | Thomas Schöpping | } |
1033 | } |
||
1034 | |||
1035 | 933df08e | Thomas Schöpping | /*
|
1036 | * There must be no delays at this point, thus no hook is allowed.
|
||
1037 | */
|
||
1038 | |||
1039 | /* SSSP startup stage 3 (module stack initialization) */
|
||
1040 | 9461fadc | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
1041 | shutdown = _ssspModuleStackInitialization(); |
||
1042 | } |
||
1043 | |||
1044 | /*
|
||
1045 | * There must be no delays at this point, thus no hook is allowed.
|
||
1046 | */
|
||
1047 | |||
1048 | /* snychronize calendars */
|
||
1049 | if (shutdown == AOS_SHUTDOWN_NONE) {
|
||
1050 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
1051 | CANTxFrame frame; |
||
1052 | struct tm t;
|
||
1053 | uint64_t encoded; |
||
1054 | |||
1055 | frame.DLC = 8;
|
||
1056 | frame.RTR = CAN_RTR_DATA; |
||
1057 | frame.IDE = CAN_IDE_STD; |
||
1058 | frame.SID = CALENDERSYNC_CANMSGID; |
||
1059 | |||
1060 | aosDbgPrintf("transmitting current date/time...\t");
|
||
1061 | // get current date & time
|
||
1062 | aosSysGetDateTime(&t); |
||
1063 | // encode
|
||
1064 | encoded = _TM2U64(&t); |
||
1065 | // serialize
|
||
1066 | _serialize(frame.data8, encoded, 8);
|
||
1067 | // transmit
|
||
1068 | canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE); |
||
1069 | |||
1070 | aosDbgPrintf("done\n");
|
||
1071 | #else
|
||
1072 | CANRxFrame frame; |
||
1073 | uint64_t encoded; |
||
1074 | struct tm t;
|
||
1075 | |||
1076 | aosDbgPrintf("receiving current date/time...\t");
|
||
1077 | // receive message
|
||
1078 | 1e5f7648 | Thomas Schöpping | if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)) == MSG_OK) {
|
1079 | 9461fadc | Thomas Schöpping | // validate message
|
1080 | if (frame.DLC == 8 && |
||
1081 | frame.RTR == CAN_RTR_DATA && |
||
1082 | frame.IDE == CAN_IDE_STD && |
||
1083 | frame.SID == CALENDERSYNC_CANMSGID) { |
||
1084 | // deserialize
|
||
1085 | encoded = _deserialize(frame.data8, 8);
|
||
1086 | // decode
|
||
1087 | _U642TM(&t, encoded); |
||
1088 | // set current date & time
|
||
1089 | aosSysSetDateTime(&t); |
||
1090 | aosDbgPrintf("success\n");
|
||
1091 | } else {
|
||
1092 | aosDbgPrintf("fail (invalid message)\n");
|
||
1093 | } |
||
1094 | } else {
|
||
1095 | aosDbgPrintf("fail (timeout)\n");
|
||
1096 | } |
||
1097 | #endif
|
||
1098 | aosDbgPrintf("\n");
|
||
1099 | } |
||
1100 | 933df08e | Thomas Schöpping | |
1101 | e545e620 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)
|
1102 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)
|
||
1103 | AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS); |
||
1104 | #else
|
||
1105 | AMIROOS_CFG_MAIN_INIT_HOOK_8(); |
||
1106 | #endif
|
||
1107 | #endif
|
||
1108 | |||
1109 | /* completely start AMiRo-OS */
|
||
1110 | 933df08e | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
1111 | aosSysStart(); |
||
1112 | } |
||
1113 | e545e620 | Thomas Schöpping | |
1114 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)
|
||
1115 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)
|
||
1116 | AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS); |
||
1117 | #else
|
||
1118 | AMIROOS_CFG_MAIN_INIT_HOOK_9(); |
||
1119 | #endif
|
||
1120 | #endif
|
||
1121 | |||
1122 | /*
|
||
1123 | * ##########################################################################
|
||
1124 | * # infinite loop #
|
||
1125 | * ##########################################################################
|
||
1126 | */
|
||
1127 | |||
1128 | // sleep until a shutdown event is received
|
||
1129 | while (shutdown == AOS_SHUTDOWN_NONE) {
|
||
1130 | // wait for an event
|
||
1131 | #if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
||
1132 | 1e5f7648 | Thomas Schöpping | eventmask = chEvtWaitOneTimeout(ALL_EVENTS, chTimeUS2I(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
1133 | e545e620 | Thomas Schöpping | #else
|
1134 | eventmask = chEvtWaitOne(ALL_EVENTS); |
||
1135 | #endif
|
||
1136 | |||
1137 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)
|
||
1138 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)
|
||
1139 | AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS); |
||
1140 | #else
|
||
1141 | AMIROOS_CFG_MAIN_LOOP_HOOK_0(); |
||
1142 | #endif
|
||
1143 | #endif
|
||
1144 | |||
1145 | switch (eventmask) {
|
||
1146 | // if this was an I/O event
|
||
1147 | 6b53f6bf | Thomas Schöpping | case IOEVENT_MASK:
|
1148 | e545e620 | Thomas Schöpping | // evaluate flags
|
1149 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
||
1150 | // PD event
|
||
1151 | 6b53f6bf | Thomas Schöpping | if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
1152 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
1153 | } |
||
1154 | // all other events
|
||
1155 | #ifdef MODULE_MAIN_LOOP_IO_EVENT
|
||
1156 | else {
|
||
1157 | MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags); |
||
1158 | } |
||
1159 | #endif
|
||
1160 | break;
|
||
1161 | |||
1162 | // if this was an OS event
|
||
1163 | 6b53f6bf | Thomas Schöpping | case OSEVENT_MASK:
|
1164 | e545e620 | Thomas Schöpping | // evaluate flags
|
1165 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
1166 | switch (eventflags) {
|
||
1167 | case AOS_SYSTEM_EVENTFLAGS_HIBERNATE:
|
||
1168 | shutdown = AOS_SHUTDOWN_HIBERNATE; |
||
1169 | break;
|
||
1170 | case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP:
|
||
1171 | shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
||
1172 | break;
|
||
1173 | case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION:
|
||
1174 | shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
||
1175 | break;
|
||
1176 | case AOS_SYSTEM_EVENTFLAGS_RESTART:
|
||
1177 | shutdown = AOS_SHUTDOWN_RESTART; |
||
1178 | break;
|
||
1179 | default:
|
||
1180 | _unexpectedEventError(eventmask, eventflags); |
||
1181 | break;
|
||
1182 | } |
||
1183 | break;
|
||
1184 | |||
1185 | // if this was any other event (should be impossible to occur)
|
||
1186 | default:
|
||
1187 | eventflags = 0;
|
||
1188 | _unexpectedEventError(eventmask, eventflags); |
||
1189 | break;
|
||
1190 | } |
||
1191 | |||
1192 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
|
||
1193 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
|
||
1194 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
||
1195 | #else
|
||
1196 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
||
1197 | #endif
|
||
1198 | #endif
|
||
1199 | } |
||
1200 | |||
1201 | /*
|
||
1202 | * ##########################################################################
|
||
1203 | * # system shutdown #
|
||
1204 | * ##########################################################################
|
||
1205 | */
|
||
1206 | |||
1207 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)
|
||
1208 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)
|
||
1209 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS); |
||
1210 | #else
|
||
1211 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(); |
||
1212 | #endif
|
||
1213 | #endif
|
||
1214 | |||
1215 | // initialize/acknowledge shutdown
|
||
1216 | aosSysShutdownInit(shutdown); |
||
1217 | |||
1218 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
|
||
1219 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
|
||
1220 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
||
1221 | #else
|
||
1222 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
||
1223 | #endif
|
||
1224 | #endif
|
||
1225 | |||
1226 | // stop system threads
|
||
1227 | aosSysStop(); |
||
1228 | |||
1229 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
|
||
1230 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
|
||
1231 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
||
1232 | #else
|
||
1233 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
||
1234 | #endif
|
||
1235 | #endif
|
||
1236 | |||
1237 | // deinitialize system
|
||
1238 | aosSysDeinit(); |
||
1239 | |||
1240 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
|
||
1241 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
|
||
1242 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
||
1243 | #else
|
||
1244 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
||
1245 | #endif
|
||
1246 | #endif
|
||
1247 | |||
1248 | /* stop all periphery communication */
|
||
1249 | // CAN (mandatory)
|
||
1250 | canStop(&MODULE_HAL_CAN); |
||
1251 | #ifdef MODULE_SHUTDOWN_PERIPHERY_COMM
|
||
1252 | MODULE_SHUTDOWN_PERIPHERY_COMM(); |
||
1253 | #endif
|
||
1254 | |||
1255 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
|
||
1256 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
|
||
1257 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
||
1258 | #else
|
||
1259 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
||
1260 | #endif
|
||
1261 | #endif
|
||
1262 | |||
1263 | // finally hand over to bootloader
|
||
1264 | 1e5f7648 | Thomas Schöpping | aosSysShutdownFinal(shutdown); |
1265 | e545e620 | Thomas Schöpping | |
1266 | /*
|
||
1267 | * ##########################################################################
|
||
1268 | * # after shutdown/restart #
|
||
1269 | * ##########################################################################
|
||
1270 | *
|
||
1271 | * NOTE: This code will not be executed, since the bootloader callbacks will stop/restart the MCU.
|
||
1272 | * It is included nevertheless for the sake of completeness and to explicitely indicate,
|
||
1273 | * which subsystems should NOT be shut down.
|
||
1274 | */
|
||
1275 | |||
1276 | // return an error, since this code should not be executed
|
||
1277 | return -1; |
||
1278 | } |
||
1279 | 53710ca3 | Marc Rothmann | |
1280 | /** @} */ |