AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#include <hal.h>

#include <ch.h>

#include <amiroos.h>

/*

 * hook to add further includes

 */

#if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE)

AMIROOS_CFG_MAIN_EXTRA_INCLUDE

#endif

/**

 * @brief   Event mask to identify I/O events.

 */

#define IOEVENT_MASK                            EVENT_MASK(0)

/**

 * @brief   Event mask to identify OS events.

 */

#define OSEVENT_MASK                            EVENT_MASK(1)

/**

 * @brief   Listener object for I/O events.

 */

static event_listener_t _eventListenerIO;

/**

 * @brief   Listener object for OS events.

 */

static event_listener_t _eventListenerOS;

#if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)

/**

 * @brief   I/O channel for the programmer interface.

 */

static AosIOChannel _stdiochannel;

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

/**

 * @brief   I/O shell channel for the programmer interface.

 */

static AosShellChannel _stdshellchannel;

#endif

#endif

/*

 * hook to add further static variables

 */

#if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)

AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES

#endif

/**

 * @brief   Prints an error message about an unexpected event.

 *

 * @param[in] mask    The event mask.

 * @param[in] flags   The event flags.

 */

static inline void _unexpectedEventError(eventmask_t mask, eventflags_t flags)

{

  aosprintf("unexpected/unknown event recieved. mask: 0x%08X; flags: 0x%08X\n", mask, flags);

  return;

}

/**

 * @brief   Application entry point.

 */

int main(void)

{

  // local variables

  eventmask_t eventmask = 0;

  eventflags_t eventflags = 0;

  aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE;

#if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)

  AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES

#endif

  /*

   * ##########################################################################

   * # system initialization                                                  #

   * ##########################################################################

   */

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS);

#else

  AMIROOS_CFG_MAIN_INIT_HOOK_0();

#endif

#endif

  /* hardware, kernel, and operating system initialization */

  // ChibiOS/HAL and custom hal additions (if any)

  halInit();

#ifdef MODULE_INIT_HAL_EXTRA

  MODULE_INIT_HAL_EXTRA();

#endif

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS);

#else

  AMIROOS_CFG_MAIN_INIT_HOOK_1();

#endif

#endif

  // ChibiOS/RT kernel and custom kernel additions (if any)

  chSysInit();

#ifdef MODULE_INIT_KERNEL_EXTRA

  MODULE_INIT_KERNEL_EXTRA();

#endif

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS);

#else

  AMIROOS_CFG_MAIN_INIT_HOOK_2();

#endif

#endif

  // AMiRo-OS and custom OS additions (if any)

  aosSysInit(&MODULE_HAL_EXT,

             &moduleHalExtConfig,

             &moduleSsspPd,

             &moduleSsspSync,

             MODULE_OS_IOEVENTFLAGS_SYSPD,

             MODULE_OS_IOEVENTFLAGS_SYSSYNC,

             moduleShellPrompt);

#ifdef MODULE_INIT_OS_EXTRA

  MODULE_INIT_OS_EXTRA();

#endif

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS);

#else

  AMIROOS_CFG_MAIN_INIT_HOOK_3();

#endif

#endif

#if (AMIROOS_CFG_TESTS_ENABLE == true)

#if defined(MODULE_INIT_TESTS)

  MODULE_INIT_TESTS();

#else

  #warning "MODULE_INIT_TESTS not defined"

#endif

#endif

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS);

#else

  AMIROOS_CFG_MAIN_INIT_HOOK_4();

#endif

#endif

  /* event associations */

  chEvtRegisterMask(&aos.events.io.source, &_eventListenerIO, IOEVENT_MASK);

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

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS);

#else

  AMIROOS_CFG_MAIN_INIT_HOOK_5();

#endif

#endif

  /* periphery communication initialization */

  // CAN (mandatory)

  canStart(&MODULE_HAL_CAN, &moduleHalCanConfig);

  // module specific initialization (if any)

#ifdef MODULE_INIT_PERIPHERY_COMM

  MODULE_INIT_PERIPHERY_COMM();

#endif

  // user interface (if any)

#ifdef MODULE_HAL_PROGIF

  aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF);

  aosIOChannelOutputEnable(&_stdiochannel);

  aosIOStreamAddChannel(&aos.iostream, &_stdiochannel);

#if (AMIROOS_CFG_SHELL_ENABLE == true)

  aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF);

  aosShellChannelInputEnable(&_stdshellchannel);

  aosShellChannelOutputEnable(&_stdshellchannel);

  aosShellStreamAddChannel(&aos.shell->stream, &_stdshellchannel);

#endif

#endif

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS);

#else

  AMIROOS_CFG_MAIN_INIT_HOOK_6();

#endif

#endif

  /* module is ready -> print welcome prompt */

  aosprintf("\n");

  aosprintf("######################################################################\n");

  aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini   #\n");

  aosprintf("# Robot (AMiRo) platform.                                            #\n");

  aosprintf("# Copyright (C) 2016..2018  Thomas Schöpping et al.                  #\n");

  aosprintf("#                                                                    #\n");

  aosprintf("# This is free software; see the source for copying conditions.      #\n");

  aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR  #\n");

  aosprintf("# A PARTICULAR PURPOSE.                                              #\n");

  aosprintf("# The development of this software was supported by the Excellence   #\n");

  aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence   #\n");

  aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft  #\n");

  aosprintf("# (DFG) in the context of the German Excellence Initiative.          #\n");

  aosprintf("######################################################################\n");

  aosprintf("\n");

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS);

#else

  AMIROOS_CFG_MAIN_INIT_HOOK_7();

#endif

#endif

  /* SSSP startup outro (end of startup stage 2) synchronization */

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

    /*

     * This code is executed if the received event was not about the SYS_SYNC control signal.

     * The returned event could be caused by any listener (not only the argument).

     */

    // unexpected IO events

    if (eventmask & _eventListenerIO.events) {

      eventflags = chEvtGetAndClearFlags(&_eventListenerIO);

#ifdef MODULE_SSP_STARTUP_OUTRO_IO_EVENT

      MODULE_SSP_STARTUP_OUTRO_IO_EVENT(eventmask, eventflags);

#else

      _unexpectedEventError(eventmask, eventflags);

#endif

    }

    // unexpected OS event

    else if (eventmask & _eventListenerOS.events) {

      eventflags = chEvtGetAndClearFlags(&_eventListenerOS);

      _unexpectedEventError(eventmask, eventflags);

    }

#if (AMIROOS_CFG_DBG == true)

    // unknown event (must never occur, thus disabled for release builds)

    else {

      eventflags = 0;

      _unexpectedEventError(eventmask, eventflags);

    }

#endif

  }

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS);

#else

  AMIROOS_CFG_MAIN_INIT_HOOK_8();

#endif

#endif

  /* completely start AMiRo-OS */

  aosSysStart();

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)

#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)

  AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS);

#else

  AMIROOS_CFG_MAIN_INIT_HOOK_9();

#endif

#endif

  /*

   * ##########################################################################

   * # infinite loop                                                          #

   * ##########################################################################

   */

  // sleep until a shutdown event is received

  while (shutdown == AOS_SHUTDOWN_NONE) {

    // wait for an event

#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0)

    eventmask = chEvtWaitOneTimeout(ALL_EVENTS, US2ST_LLD(AMIROOS_CFG_MAIN_LOOP_TIMEOUT));

#else

    eventmask = chEvtWaitOne(ALL_EVENTS);

#endif

#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)

#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)

    AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS);

#else

    AMIROOS_CFG_MAIN_LOOP_HOOK_0();

#endif

#endif

    switch (eventmask) {

      // if this was an I/O event

      case IOEVENT_MASK:

        // evaluate flags

        eventflags = chEvtGetAndClearFlags(&_eventListenerIO);

        // PD event

        if (eventflags & MODULE_OS_IOEVENTFLAGS_SYSPD) {

          shutdown = AOS_SHUTDOWN_PASSIVE;

        }

        // all other events

#ifdef MODULE_MAIN_LOOP_IO_EVENT

        else {

          MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags);

        }

#endif

        break;

      // if this was an OS event

      case OSEVENT_MASK:

        // evaluate flags

        eventflags = chEvtGetAndClearFlags(&_eventListenerOS);

        switch (eventflags) {

          case AOS_SYSTEM_EVENTFLAGS_HIBERNATE:

            shutdown = AOS_SHUTDOWN_HIBERNATE;

            break;

          case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP:

            shutdown = AOS_SHUTDOWN_DEEPSLEEP;

            break;

          case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION:

            shutdown = AOS_SHUTDOWN_TRANSPORTATION;

            break;

          case AOS_SYSTEM_EVENTFLAGS_RESTART:

            shutdown = AOS_SHUTDOWN_RESTART;

            break;

          default:

            _unexpectedEventError(eventmask, eventflags);

            break;

        }

        break;

      // if this was any other event (should be impossible to occur)

      default:

        eventflags = 0;

        _unexpectedEventError(eventmask, eventflags);

        break;

    }

#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)

#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)

    AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS);

#else

    AMIROOS_CFG_MAIN_LOOP_HOOK_1();

#endif

#endif

  }

  /*

   * ##########################################################################

   * # system shutdown                                                        #

   * ##########################################################################

   */

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS);

#else

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0();

#endif

#endif

  // initialize/acknowledge shutdown

  aosSysShutdownInit(shutdown);

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS);

#else

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1();

#endif

#endif

  // stop system threads

  aosSysStop();

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS);

#else

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2();

#endif

#endif

  // deinitialize system

  aosSysDeinit();

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS);

#else

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3();

#endif

#endif

  /* stop all periphery communication */

  // CAN (mandatory)

  canStop(&MODULE_HAL_CAN);

#ifdef MODULE_SHUTDOWN_PERIPHERY_COMM

  MODULE_SHUTDOWN_PERIPHERY_COMM();

#endif

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)

#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS);

#else

    AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4();

#endif

#endif

  // finally hand over to bootloader

  aosSysShutdownFinal(&MODULE_HAL_EXT, shutdown);

  /*

   * ##########################################################################

   * # after shutdown/restart                                                 #

   * ##########################################################################

   *

   * NOTE: This code will not be executed, since the bootloader callbacks will stop/restart the MCU.

   *       It is included nevertheless for the sake of completeness and to explicitely indicate,

   *       which subsystems should NOT be shut down.

   */

  // return an error, since this code should not be executed

  return -1;

}