Revision b2053cb5

View differences:

os/core/core.mk
36 36
                  $(AMIROOS_CORE_DIR)src/aos_system.c \
37 37
                  $(AMIROOS_CORE_DIR)src/aos_thread.c \
38 38
                  $(AMIROOS_CORE_DIR)src/aos_timer.c \
39
                  $(AMIROOS_CORE_DIR)src/aos_unittest.c\
40
                  $(AMIROOS_CORE_DIR)src/main.c
39
                  $(AMIROOS_CORE_DIR)src/aos_unittest.c
40

  
41
# C++ source files
42
AMIROOSCORECPPSRC = $(AMIROOS_CORE_DIR)src/aos_main.cpp
41 43

  
os/core/src/aos_main.cpp
1
/*
2
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
3
Copyright (C) 2016..2018  Thomas Schöpping et al.
4

  
5
This program is free software: you can redistribute it and/or modify
6
it under the terms of the GNU General Public License as published by
7
the Free Software Foundation, either version 3 of the License, or
8
(at your option) any later version.
9

  
10
This program is distributed in the hope that it will be useful,
11
but WITHOUT ANY WARRANTY; without even the implied warranty of
12
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13
GNU General Public License for more details.
14

  
15
You should have received a copy of the GNU General Public License
16
along with this program.  If not, see <http://www.gnu.org/licenses/>.
17
*/
18

  
19
#include <hal.h>
20
#include <ch.h>
21
#include <amiroos.h>
22

  
23
/**
24
 * @brief   Event mask to identify I/O events.
25
 */
26
#define IOEVENT_MASK                            EVENT_MASK(0)
27

  
28
/**
29
 * @brief   Event mask to identify OS events.
30
 */
31
#define OSEVENT_MASK                            EVENT_MASK(1)
32

  
33
/**
34
 * @brief   Listener object for I/O events.
35
 */
36
static event_listener_t _eventListenerIO;
37

  
38
/**
39
 * @brief   Listener object for OS events.
40
 */
41
static event_listener_t _eventListenerOS;
42

  
43
#if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
44
/**
45
 * @brief   I/O channel for the programmer interface.
46
 */
47
static AosIOChannel _stdiochannel;
48

  
49
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
50
/**
51
 * @brief   I/O shell channel for the programmer interface.
52
 */
53
static AosShellChannel _stdshellchannel;
54
#endif
55
#endif
56

  
57
/**
58
 * @brief   Prints an error message about an unexpected event.
59
 *
60
 * @param[in] mask    The event mask.
61
 * @param[in] flags   The event flags.
62
 */
63
static inline void _unexpectedEventError(eventmask_t mask, eventflags_t flags)
64
{
65
  aosprintf("unexpected/unknown event recieved. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
66
  return;
67
}
68

  
69
/**
70
 * @brief   Application entry point.
71
 */
72
int main(void)
73
{
74
  // local variables
75
  eventmask_t eventmask = 0;
76
  eventflags_t eventflags = 0;
77
  aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE;
78
#if defined(AMIROOS_CFG_MAIN_EXTRA_VARIABLES)
79
  AMIROOS_CFG_MAIN_EXTRA_VARIABLES
80
#endif
81

  
82
  /*
83
   * ##########################################################################
84
   * # system initialization                                                  #
85
   * ##########################################################################
86
   */
87

  
88
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
89
  AMIROOS_CFG_MAIN_INIT_HOOK_0();
90
#endif
91

  
92
  /* hardware, kernel, and operating system initialization */
93
  // ChibiOS/HAL and custom hal additions (if any)
94
  halInit();
95
#ifdef MODULE_INIT_HAL_EXTRA
96
  MODULE_INIT_HAL_EXTRA();
97
#endif
98

  
99
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
100
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
101
  AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS);
102
#else
103
  AMIROOS_CFG_MAIN_INIT_HOOK_1();
104
#endif
105
#endif
106

  
107
  // ChibiOS/RT kernel and custom kernel additions (if any)
108
  chSysInit();
109
#ifdef MODULE_INIT_KERNEL_EXTRA
110
  MODULE_INIT_KERNEL_EXTRA();
111
#endif
112

  
113
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
114
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
115
  AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS);
116
#else
117
  AMIROOS_CFG_MAIN_INIT_HOOK_2();
118
#endif
119
#endif
120

  
121
  // AMiRo-OS and custom OS additions (if any)
122
  aosSysInit(&MODULE_HAL_EXT,
123
             &moduleHalExtConfig,
124
             &moduleSsspPd,
125
             &moduleSsspSync,
126
             MODULE_OS_IOEVENTFLAGS_SYSPD,
127
             MODULE_OS_IOEVENTFLAGS_SYSSYNC,
128
             moduleShellPrompt);
129
#ifdef MODULE_INIT_OS_EXTRA
130
  MODULE_INIT_OS_EXTRA();
131
#endif
132

  
133
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
134
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
135
  AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS);
136
#else
137
  AMIROOS_CFG_MAIN_INIT_HOOK_3();
138
#endif
139
#endif
140

  
141
#if (AMIROOS_CFG_TESTS_ENABLE == true)
142
#if defined(MODULE_INIT_TESTS)
143
  MODULE_INIT_TESTS();
144
#else
145
  #warning "MODULE_INIT_TESTS not defined"
146
#endif
147
#endif
148

  
149
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
150
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
151
  AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS);
152
#else
153
  AMIROOS_CFG_MAIN_INIT_HOOK_4();
154
#endif
155
#endif
156

  
157
  /* event associations */
158
  chEvtRegisterMask(&aos.events.io.source, &_eventListenerIO, IOEVENT_MASK);
159
  chEvtRegisterMask(&aos.events.os.source, &_eventListenerOS, OSEVENT_MASK);
160

  
161
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
162
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
163
  AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS);
164
#else
165
  AMIROOS_CFG_MAIN_INIT_HOOK_5();
166
#endif
167
#endif
168

  
169
  /* periphery communication initialization */
170
  // CAN (mandatory)
171
  canStart(&MODULE_HAL_CAN, &moduleHalCanConfig);
172
  // module specific initialization (if any)
173
#ifdef MODULE_INIT_PERIPHERY_COMM
174
  MODULE_INIT_PERIPHERY_COMM();
175
#endif
176
  // user interface (if any)
177
#ifdef MODULE_HAL_PROGIF
178
  aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF);
179
  aosIOChannelOutputEnable(&_stdiochannel);
180
  aosIOStreamAddChannel(&aos.iostream, &_stdiochannel);
181
#if (AMIROOS_CFG_SHELL_ENABLE == true)
182
  aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF);
183
  aosShellChannelInputEnable(&_stdshellchannel);
184
  aosShellChannelOutputEnable(&_stdshellchannel);
185
  aosShellStreamAddChannel(&aos.shell->stream, &_stdshellchannel);
186
#endif
187
#endif
188

  
189
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)
190
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)
191
  AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS);
192
#else
193
  AMIROOS_CFG_MAIN_INIT_HOOK_6();
194
#endif
195
#endif
196

  
197
  /* module is ready -> print welcome prompt */
198
  aosprintf("\n");
199
  aosprintf("######################################################################\n");
200
  aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini   #\n");
201
  aosprintf("# Robot (AMiRo) platform.                                            #\n");
202
  aosprintf("# Copyright (C) 2016..2018  Thomas Schöpping et al.                  #\n");
203
  aosprintf("#                                                                    #\n");
204
  aosprintf("# This is free software; see the source for copying conditions.      #\n");
205
  aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR  #\n");
206
  aosprintf("# A PARTICULAR PURPOSE.                                              #\n");
207
  aosprintf("# The development of this software was supported by the Excellence   #\n");
208
  aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence   #\n");
209
  aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft  #\n");
210
  aosprintf("# (DFG) in the context of the German Excellence Initiative.          #\n");
211
  aosprintf("######################################################################\n");
212
  aosprintf("\n");
213

  
214
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)
215
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)
216
  AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS);
217
#else
218
  AMIROOS_CFG_MAIN_INIT_HOOK_7();
219
#endif
220
#endif
221

  
222
  /* SSSP startup outro (end of startup stage 2) synchronization */
223
  while ((eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) {
224
    /*
225
     * This code is executed if the received event was not about the SYS_SYNC control signal.
226
     * The returned event could be caused by any listener (not only the argument).
227
     */
228
    // unexpected IO events
229
    if (eventmask & _eventListenerIO.events) {
230
      eventflags = chEvtGetAndClearFlags(&_eventListenerIO);
231
#ifdef MODULE_SSP_STARTUP_OUTRO_IO_EVENT
232
      MODULE_SSP_STARTUP_OUTRO_IO_EVENT(eventmask, eventflags);
233
#else
234
      _unexpectedEventError(eventmask, eventflags);
235
#endif
236
    }
237
    // unexpected OS event
238
    else if (eventmask & _eventListenerOS.events) {
239
      eventflags = chEvtGetAndClearFlags(&_eventListenerOS);
240
      _unexpectedEventError(eventmask, eventflags);
241
    }
242
#if (AMIROOS_CFG_DBG == true)
243
    // unknown event (must never occur, thus disabled for release builds)
244
    else {
245
      eventflags = 0;
246
      _unexpectedEventError(eventmask, eventflags);
247
    }
248
#endif
249
  }
250

  
251
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)
252
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)
253
  AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS);
254
#else
255
  AMIROOS_CFG_MAIN_INIT_HOOK_8();
256
#endif
257
#endif
258

  
259
  /* completely start AMiRo-OS */
260
  aosSysStart();
261

  
262
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)
263
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)
264
  AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS);
265
#else
266
  AMIROOS_CFG_MAIN_INIT_HOOK_9();
267
#endif
268
#endif
269

  
270
  /*
271
   * ##########################################################################
272
   * # infinite loop                                                          #
273
   * ##########################################################################
274
   */
275

  
276
  // sleep until a shutdown event is received
277
  while (shutdown == AOS_SHUTDOWN_NONE) {
278
    // wait for an event
279
#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0)
280
    eventmask = chEvtWaitOneTimeout(ALL_EVENTS, US2ST_LLD(AMIROOS_CFG_MAIN_LOOP_TIMEOUT));
281
#else
282
    eventmask = chEvtWaitOne(ALL_EVENTS);
283
#endif
284

  
285
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)
286
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)
287
    AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS);
288
#else
289
    AMIROOS_CFG_MAIN_LOOP_HOOK_0();
290
#endif
291
#endif
292

  
293
    switch (eventmask) {
294
      // if this was an I/O event
295
      case IOEVENT_MASK:
296
        // evaluate flags
297
        eventflags = chEvtGetAndClearFlags(&_eventListenerIO);
298
        // PD event
299
        if (eventflags & MODULE_OS_IOEVENTFLAGS_SYSPD) {
300
          shutdown = AOS_SHUTDOWN_PASSIVE;
301
        }
302
        // all other events
303
#ifdef MODULE_MAIN_LOOP_IO_EVENT
304
        else {
305
          MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags);
306
        }
307
#endif
308
        break;
309

  
310
      // if this was an OS event
311
      case OSEVENT_MASK:
312
        // evaluate flags
313
        eventflags = chEvtGetAndClearFlags(&_eventListenerOS);
314
        switch (eventflags) {
315
          case AOS_SYSTEM_EVENTFLAGS_HIBERNATE:
316
            shutdown = AOS_SHUTDOWN_HIBERNATE;
317
            break;
318
          case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP:
319
            shutdown = AOS_SHUTDOWN_DEEPSLEEP;
320
            break;
321
          case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION:
322
            shutdown = AOS_SHUTDOWN_TRANSPORTATION;
323
            break;
324
          case AOS_SYSTEM_EVENTFLAGS_RESTART:
325
            shutdown = AOS_SHUTDOWN_RESTART;
326
            break;
327
          default:
328
            _unexpectedEventError(eventmask, eventflags);
329
            break;
330
        }
331
        break;
332

  
333
      // if this was any other event (should be impossible to occur)
334
      default:
335
        eventflags = 0;
336
        _unexpectedEventError(eventmask, eventflags);
337
        break;
338
    }
339

  
340
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
341
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
342
    AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS);
343
#else
344
    AMIROOS_CFG_MAIN_LOOP_HOOK_1();
345
#endif
346
#endif
347
  }
348

  
349
  /*
350
   * ##########################################################################
351
   * # system shutdown                                                        #
352
   * ##########################################################################
353
   */
354

  
355
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)
356
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)
357
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS);
358
#else
359
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0();
360
#endif
361
#endif
362

  
363
  // initialize/acknowledge shutdown
364
  aosSysShutdownInit(shutdown);
365

  
366
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
367
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
368
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS);
369
#else
370
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1();
371
#endif
372
#endif
373

  
374
  // stop system threads
375
  aosSysStop();
376

  
377
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
378
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
379
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS);
380
#else
381
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2();
382
#endif
383
#endif
384

  
385
  // deinitialize system
386
  aosSysDeinit();
387

  
388
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
389
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
390
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS);
391
#else
392
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3();
393
#endif
394
#endif
395

  
396
  /* stop all periphery communication */
397
  // CAN (mandatory)
398
  canStop(&MODULE_HAL_CAN);
399
#ifdef MODULE_SHUTDOWN_PERIPHERY_COMM
400
  MODULE_SHUTDOWN_PERIPHERY_COMM();
401
#endif
402

  
403
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
404
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
405
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS);
406
#else
407
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4();
408
#endif
409
#endif
410

  
411
  // finally hand over to bootloader
412
  aosSysShutdownFinal(&MODULE_HAL_EXT, shutdown);
413

  
414
  /*
415
   * ##########################################################################
416
   * # after shutdown/restart                                                 #
417
   * ##########################################################################
418
   *
419
   * NOTE: This code will not be executed, since the bootloader callbacks will stop/restart the MCU.
420
   *       It is included nevertheless for the sake of completeness and to explicitely indicate,
421
   *       which subsystems should NOT be shut down.
422
   */
423

  
424
  // return an error, since this code should not be executed
425
  return -1;
426
}
os/core/src/main.c
1
/*
2
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
3
Copyright (C) 2016..2018  Thomas Schöpping et al.
4

  
5
This program is free software: you can redistribute it and/or modify
6
it under the terms of the GNU General Public License as published by
7
the Free Software Foundation, either version 3 of the License, or
8
(at your option) any later version.
9

  
10
This program is distributed in the hope that it will be useful,
11
but WITHOUT ANY WARRANTY; without even the implied warranty of
12
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13
GNU General Public License for more details.
14

  
15
You should have received a copy of the GNU General Public License
16
along with this program.  If not, see <http://www.gnu.org/licenses/>.
17
*/
18

  
19
#include <hal.h>
20
#include <ch.h>
21
#include <amiroos.h>
22

  
23
/**
24
 * @brief   Event mask to identify I/O events.
25
 */
26
#define IOEVENT_MASK                            EVENT_MASK(0)
27

  
28
/**
29
 * @brief   Event mask to identify OS events.
30
 */
31
#define OSEVENT_MASK                            EVENT_MASK(1)
32

  
33
/**
34
 * @brief   Listener object for I/O events.
35
 */
36
static event_listener_t _eventListenerIO;
37

  
38
/**
39
 * @brief   Listener object for OS events.
40
 */
41
static event_listener_t _eventListenerOS;
42

  
43
#if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
44
/**
45
 * @brief   I/O channel for the programmer interface.
46
 */
47
static AosIOChannel _stdiochannel;
48

  
49
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
50
/**
51
 * @brief   I/O shell channel for the programmer interface.
52
 */
53
static AosShellChannel _stdshellchannel;
54
#endif
55
#endif
56

  
57
/**
58
 * @brief   Prints an error message about an unexpected event.
59
 *
60
 * @param[in] mask    The event mask.
61
 * @param[in] flags   The event flags.
62
 */
63
static inline void _unexpectedEventError(eventmask_t mask, eventflags_t flags)
64
{
65
  aosprintf("unexpected/unknown event recieved. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
66
  return;
67
}
68

  
69
/**
70
 * @brief   Application entry point.
71
 */
72
int main(void)
73
{
74
  // local variables
75
  eventmask_t eventmask = 0;
76
  eventflags_t eventflags = 0;
77
  aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE;
78
#if defined(AMIROOS_CFG_MAIN_EXTRA_VARIABLES)
79
  AMIROOS_CFG_MAIN_EXTRA_VARIABLES
80
#endif
81

  
82
  /*
83
   * ##########################################################################
84
   * # system initialization                                                  #
85
   * ##########################################################################
86
   */
87

  
88
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
89
  AMIROOS_CFG_MAIN_INIT_HOOK_0();
90
#endif
91

  
92
  /* hardware, kernel, and operating system initialization */
93
  // ChibiOS/HAL and custom hal additions (if any)
94
  halInit();
95
#ifdef MODULE_INIT_HAL_EXTRA
96
  MODULE_INIT_HAL_EXTRA();
97
#endif
98

  
99
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
100
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
101
  AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS);
102
#else
103
  AMIROOS_CFG_MAIN_INIT_HOOK_1();
104
#endif
105
#endif
106

  
107
  // ChibiOS/RT kernel and custom kernel additions (if any)
108
  chSysInit();
109
#ifdef MODULE_INIT_KERNEL_EXTRA
110
  MODULE_INIT_KERNEL_EXTRA();
111
#endif
112

  
113
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
114
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
115
  AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS);
116
#else
117
  AMIROOS_CFG_MAIN_INIT_HOOK_2();
118
#endif
119
#endif
120

  
121
  // AMiRo-OS and custom OS additions (if any)
122
  aosSysInit(&MODULE_HAL_EXT,
123
             &moduleHalExtConfig,
124
             &moduleSsspPd,
125
             &moduleSsspSync,
126
             MODULE_OS_IOEVENTFLAGS_SYSPD,
127
             MODULE_OS_IOEVENTFLAGS_SYSSYNC,
128
             moduleShellPrompt);
129
#ifdef MODULE_INIT_OS_EXTRA
130
  MODULE_INIT_OS_EXTRA();
131
#endif
132

  
133
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
134
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
135
  AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS);
136
#else
137
  AMIROOS_CFG_MAIN_INIT_HOOK_3();
138
#endif
139
#endif
140

  
141
#if (AMIROOS_CFG_TESTS_ENABLE == true)
142
#if defined(MODULE_INIT_TESTS)
143
  MODULE_INIT_TESTS();
144
#else
145
  #warning "MODULE_INIT_TESTS not defined"
146
#endif
147
#endif
148

  
149
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
150
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
151
  AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS);
152
#else
153
  AMIROOS_CFG_MAIN_INIT_HOOK_4();
154
#endif
155
#endif
156

  
157
  /* event associations */
158
  chEvtRegisterMask(&aos.events.io.source, &_eventListenerIO, IOEVENT_MASK);
159
  chEvtRegisterMask(&aos.events.os.source, &_eventListenerOS, OSEVENT_MASK);
160

  
161
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
162
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
163
  AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS);
164
#else
165
  AMIROOS_CFG_MAIN_INIT_HOOK_5();
166
#endif
167
#endif
168

  
169
  /* periphery communication initialization */
170
  // CAN (mandatory)
171
  canStart(&MODULE_HAL_CAN, &moduleHalCanConfig);
172
  // module specific initialization (if any)
173
#ifdef MODULE_INIT_PERIPHERY_COMM
174
  MODULE_INIT_PERIPHERY_COMM();
175
#endif
176
  // user interface (if any)
177
#ifdef MODULE_HAL_PROGIF
178
  aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF);
179
  aosIOChannelOutputEnable(&_stdiochannel);
180
  aosIOStreamAddChannel(&aos.iostream, &_stdiochannel);
181
#if (AMIROOS_CFG_SHELL_ENABLE == true)
182
  aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF);
183
  aosShellChannelInputEnable(&_stdshellchannel);
184
  aosShellChannelOutputEnable(&_stdshellchannel);
185
  aosShellStreamAddChannel(&aos.shell->stream, &_stdshellchannel);
186
#endif
187
#endif
188

  
189
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)
190
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)
191
  AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS);
192
#else
193
  AMIROOS_CFG_MAIN_INIT_HOOK_6();
194
#endif
195
#endif
196

  
197
  /* module is ready -> print welcome prompt */
198
  aosprintf("\n");
199
  aosprintf("######################################################################\n");
200
  aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini   #\n");
201
  aosprintf("# Robot (AMiRo) platform.                                            #\n");
202
  aosprintf("# Copyright (C) 2016..2018  Thomas Schöpping et al.                  #\n");
203
  aosprintf("#                                                                    #\n");
204
  aosprintf("# This is free software; see the source for copying conditions.      #\n");
205
  aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR  #\n");
206
  aosprintf("# A PARTICULAR PURPOSE.                                              #\n");
207
  aosprintf("# The development of this software was supported by the Excellence   #\n");
208
  aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence   #\n");
209
  aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft  #\n");
210
  aosprintf("# (DFG) in the context of the German Excellence Initiative.          #\n");
211
  aosprintf("######################################################################\n");
212
  aosprintf("\n");
213

  
214
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)
215
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)
216
  AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS);
217
#else
218
  AMIROOS_CFG_MAIN_INIT_HOOK_7();
219
#endif
220
#endif
221

  
222
  /* SSSP startup outro (end of startup stage 2) synchronization */
223
  while ((eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) {
224
    /*
225
     * This code is executed if the received event was not about the SYS_SYNC control signal.
226
     * The returned event could be caused by any listener (not only the argument).
227
     */
228
    // unexpected IO events
229
    if (eventmask & _eventListenerIO.events) {
230
      eventflags = chEvtGetAndClearFlags(&_eventListenerIO);
231
#ifdef MODULE_SSP_STARTUP_OUTRO_IO_EVENT
232
      MODULE_SSP_STARTUP_OUTRO_IO_EVENT(eventmask, eventflags);
233
#else
234
      _unexpectedEventError(eventmask, eventflags);
235
#endif
236
    }
237
    // unexpected OS event
238
    else if (eventmask & _eventListenerOS.events) {
239
      eventflags = chEvtGetAndClearFlags(&_eventListenerOS);
240
      _unexpectedEventError(eventmask, eventflags);
241
    }
242
#if (AMIROOS_CFG_DBG == true)
243
    // unknown event (must never occur, thus disabled for release builds)
244
    else {
245
      eventflags = 0;
246
      _unexpectedEventError(eventmask, eventflags);
247
    }
248
#endif
249
  }
250

  
251
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)
252
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)
253
  AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS);
254
#else
255
  AMIROOS_CFG_MAIN_INIT_HOOK_8();
256
#endif
257
#endif
258

  
259
  /* completely start AMiRo-OS */
260
  aosSysStart();
261

  
262
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)
263
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)
264
  AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS);
265
#else
266
  AMIROOS_CFG_MAIN_INIT_HOOK_9();
267
#endif
268
#endif
269

  
270
  /*
271
   * ##########################################################################
272
   * # infinite loop                                                          #
273
   * ##########################################################################
274
   */
275

  
276
  // sleep until a shutdown event is received
277
  while (shutdown == AOS_SHUTDOWN_NONE) {
278
    // wait for an event
279
#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0)
280
    eventmask = chEvtWaitOneTimeout(ALL_EVENTS, US2ST_LLD(AMIROOS_CFG_MAIN_LOOP_TIMEOUT));
281
#else
282
    eventmask = chEvtWaitOne(ALL_EVENTS);
283
#endif
284

  
285
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)
286
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)
287
    AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS);
288
#else
289
    AMIROOS_CFG_MAIN_LOOP_HOOK_0();
290
#endif
291
#endif
292

  
293
    switch (eventmask) {
294
      // if this was an I/O event
295
      case IOEVENT_MASK:
296
        // evaluate flags
297
        eventflags = chEvtGetAndClearFlags(&_eventListenerIO);
298
        // PD event
299
        if (eventflags & MODULE_OS_IOEVENTFLAGS_SYSPD) {
300
          shutdown = AOS_SHUTDOWN_PASSIVE;
301
        }
302
        // all other events
303
#ifdef MODULE_MAIN_LOOP_IO_EVENT
304
        else {
305
          MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags);
306
        }
307
#endif
308
        break;
309

  
310
      // if this was an OS event
311
      case OSEVENT_MASK:
312
        // evaluate flags
313
        eventflags = chEvtGetAndClearFlags(&_eventListenerOS);
314
        switch (eventflags) {
315
          case AOS_SYSTEM_EVENTFLAGS_HIBERNATE:
316
            shutdown = AOS_SHUTDOWN_HIBERNATE;
317
            break;
318
          case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP:
319
            shutdown = AOS_SHUTDOWN_DEEPSLEEP;
320
            break;
321
          case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION:
322
            shutdown = AOS_SHUTDOWN_TRANSPORTATION;
323
            break;
324
          case AOS_SYSTEM_EVENTFLAGS_RESTART:
325
            shutdown = AOS_SHUTDOWN_RESTART;
326
            break;
327
          default:
328
            _unexpectedEventError(eventmask, eventflags);
329
            break;
330
        }
331
        break;
332

  
333
      // if this was any other event (should be impossible to occur)
334
      default:
335
        eventflags = 0;
336
        _unexpectedEventError(eventmask, eventflags);
337
        break;
338
    }
339

  
340
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
341
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
342
    AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS);
343
#else
344
    AMIROOS_CFG_MAIN_LOOP_HOOK_1();
345
#endif
346
#endif
347
  }
348

  
349
  /*
350
   * ##########################################################################
351
   * # system shutdown                                                        #
352
   * ##########################################################################
353
   */
354

  
355
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)
356
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)
357
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS);
358
#else
359
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0();
360
#endif
361
#endif
362

  
363
  // initialize/acknowledge shutdown
364
  aosSysShutdownInit(shutdown);
365

  
366
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
367
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
368
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS);
369
#else
370
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1();
371
#endif
372
#endif
373

  
374
  // stop system threads
375
  aosSysStop();
376

  
377
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
378
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
379
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS);
380
#else
381
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2();
382
#endif
383
#endif
384

  
385
  // deinitialize system
386
  aosSysDeinit();
387

  
388
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
389
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
390
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS);
391
#else
392
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3();
393
#endif
394
#endif
395

  
396
  /* stop all periphery communication */
397
  // CAN (mandatory)
398
  canStop(&MODULE_HAL_CAN);
399
#ifdef MODULE_SHUTDOWN_PERIPHERY_COMM
400
  MODULE_SHUTDOWN_PERIPHERY_COMM();
401
#endif
402

  
403
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
404
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
405
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS);
406
#else
407
    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4();
408
#endif
409
#endif
410

  
411
  // finally hand over to bootloader
412
  aosSysShutdownFinal(&MODULE_HAL_EXT, shutdown);
413

  
414
  /*
415
   * ##########################################################################
416
   * # after shutdown/restart                                                 #
417
   * ##########################################################################
418
   *
419
   * NOTE: This code will not be executed, since the bootloader callbacks will stop/restart the MCU.
420
   *       It is included nevertheless for the sake of completeness and to explicitely indicate,
421
   *       which subsystems should NOT be shut down.
422
   */
423

  
424
  // return an error, since this code should not be executed
425
  return -1;
426
}
os/modules/DiWheelDrive_1-1/Makefile
167 167

  
168 168
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
169 169
# setting.
170
CPPSRC = $(APPSCPPSRC)
170
CPPSRC = $(AMIROOSCORECPPSRC) \
171
         $(APPSCPPSRC)
171 172

  
172 173
# C sources to be compiled in ARM mode regardless of the global setting.
173 174
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
os/modules/LightRing_1-0/Makefile
167 167

  
168 168
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
169 169
# setting.
170
CPPSRC = $(APPSCPPSRC)
170
CPPSRC = $(AMIROOSCORECPPSRC) \
171
         $(APPSCPPSRC)
171 172

  
172 173
# C sources to be compiled in ARM mode regardless of the global setting.
173 174
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
os/modules/PowerManagement_1-1/Makefile
167 167

  
168 168
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
169 169
# setting.
170
CPPSRC = $(APPSCPPSRC)
170
CPPSRC = $(AMIROOSCORECPPSRC) \
171
         $(APPSCPPSRC)
171 172

  
172 173
# C sources to be compiled in ARM mode regardless of the global setting.
173 174
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler

Also available in: Unified diff