amiro-os / core / src / aos_main.cpp @ bc7aed20
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file aos_main.cpp
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* @brief Main function.
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*
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* @addtogroup aos_system
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* @{
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*/
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#include <amiroos.h> |
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/*
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* hook to add further includes
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*/
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#if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)
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#include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER
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#endif /* defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER) */ |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/**
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* @brief Event mask to identify GPIO events.
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*/
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#define EVENTMASK_GPIO EVENT_MASK(0) |
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/**
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* @brief Event mask to identify OS events.
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*/
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#define EVENTMASK_OS EVENT_MASK(1) |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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#if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
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/**
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* @brief Event mask to identify SSSP timeout events (MSI only).
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*/
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#define EVENTMASK_SSSPTIMEOUT EVENT_MASK(2) |
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#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
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/**
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* @brief Event mask to identify SSSP delay events.
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*/
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#define EVENTMASK_SSSPDELAY EVENT_MASK(3) |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/**
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* @brief Listener object for GPIO events.
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*/
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static event_listener_t _eventListenerGPIO;
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/**
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* @brief Listener object for OS events.
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*/
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static event_listener_t _eventListenerOS;
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#if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
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/**
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* @brief I/O channel for the programmer interface.
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*/
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static AosIOChannel _stdiochannel;
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#endif /* defined(MODULE_HAL_PROGIF) */ |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief I/O shell channel for the programmer interface.
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*/
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static AosShellChannel _stdshellchannel;
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
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/*
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* hook to add further static variables
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*/
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#if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
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AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
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#endif /* defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES) */ |
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Prints an error message about an unexpected event.
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*
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* @param[in] mask The event mask.
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* @param[in] flags The event flags.
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*/
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inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
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{ |
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#if (AMIROOS_CFG_DBG == true) |
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aosDbgPrintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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#else /* (AMIROOS_CFG_DBG == true) */ |
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(void)(mask);
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(void)(flags);
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#endif /* (AMIROOS_CFG_DBG == true) */ |
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return;
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} |
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#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_RTC == TRUE)) || defined(__DOXYGEN__) |
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#if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__) |
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/**
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* @brief Converter function to encode a TM value to a single unsigned 64 bit integer.
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*
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* @details Contents of the TM struct are mapped as follows:
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* bits |63 62|61 53|52 50|49 26|25 22|21 17|16 12|11 6|5 0|
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* #bits | 2 | 9 | 3 | 24 | 4 | 5 | 5 | 6 | 6 |
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* value | isdst | yday | wday | year | mon | mday | hour | min | sec |
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* range | special | [0, 365] | [0, 6] | [1900, ...] | [0, 11] | [1, 31] | [0, 23] | [0, 59] | [0, 61] |
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* The Daylight Saving Time Flag (isdsst) is encoded as follows:
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* DST not in effect -> 0
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* DST in effect -> 1
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* no information available -> 2
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*
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* @param[in] src Pointer to the TM struct to encode.
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*
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* @return An unsigned 64 bit integer, which holds the encoded time value.
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*/
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inline uint64_t _TM2U64(struct tm* src) |
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{ |
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aosDbgCheck(src != NULL);
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return (((uint64_t)(src->tm_sec & 0x0000003F) << (0)) | |
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((uint64_t)(src->tm_min & 0x0000003F) << (6)) | |
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((uint64_t)(src->tm_hour & 0x0000001F) << (12)) | |
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((uint64_t)(src->tm_mday & 0x0000001F) << (17)) | |
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((uint64_t)(src->tm_mon & 0x0000000F) << (22)) | |
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((uint64_t)(src->tm_year & 0x00FFFFFF) << (26)) | |
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((uint64_t)(src->tm_wday & 0x00000007) << (50)) | |
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((uint64_t)(src->tm_yday & 0x000001FF) << (53)) | |
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((uint64_t)((src->tm_isdst == 0) ? 0 : (src->tm_isdst > 0) ? 1 : 2) << (62))); |
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} |
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/**
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* @brief Serializes 64 bit unsigned integer input and stores it in a byte array.
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* @details Serialization is performed in big-endian fashion.
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*
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* @param[out] dst Pointer to the output buffer.
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* @param[in] src Data to be serialized.
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*/
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inline void _serializeU64(uint8_t* dst, const uint64_t src) |
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{ |
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aosDbgCheck(dst != NULL);
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for (uint8_t byte = 0; byte < sizeof(uint64_t); ++byte) { |
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dst[byte] = ((src >> ((sizeof(uint64_t) - (byte+1)) * 8)) & 0xFF); |
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} |
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return;
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} |
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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#if (AMIROOS_CFG_SSSP_MASTER != true) || defined(__DOXYGEN__) |
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/**
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* @brief Deserialize 64 bit unsigned integer data from a buffer.
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* @details Data is assumed to be serialized in big-endian fashion.
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*
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* @param[in] src Pointer to the buffer of data to be deserialzed.
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*
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* @return Deserialized 64 bit data.
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*/
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inline uint64_t _deserializeU64(uint8_t* src)
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{ |
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aosDbgCheck(src != NULL);
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uint64_t result = 0;
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for (uint8_t byte = 0; byte < sizeof(uint64_t); ++byte) { |
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result |= ((uint64_t)src[byte] << ((sizeof(uint64_t) - (byte+1)) * 8)); |
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} |
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return result;
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} |
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/**
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* @brief Converter functiomn to retrieve the encoded TM value from an unsigned 64 bit integer.
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*
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* @details For information on the encoding, please refer to @p _TM2U64 function.
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*
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* @param[out] dst The TM struct to fill with the decoded values.
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* @param[in] src Unsigned 64 bit integer holding the encoded TM value.
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*/
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inline void _U642TM(struct tm* dst, const uint64_t src) |
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{ |
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aosDbgCheck(dst != NULL);
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dst->tm_sec = (src >> 0) & 0x0000003F; |
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dst->tm_min = (src >> 6) & 0x0000003F; |
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dst->tm_hour = (src >> 12) & 0x0000001F; |
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dst->tm_mday = (src >> 17) & 0x0000001F; |
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dst->tm_mon = (src >> 22) & 0x0000000F; |
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dst->tm_year = (src >> 26) & 0x00FFFFFF; |
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dst->tm_wday = (src >> 50) & 0x00000007; |
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dst->tm_yday = (src >> 53) & 0x000001FF; |
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dst->tm_isdst = (((src >> 62) & 0x03) == 0) ? 0 : (((src >> 62) & 0x03) > 0) ? 1 : -1; |
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return;
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} |
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#endif /* (AMIROOS_CFG_SSSP_MASTER != true) */ |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_RTC == TRUE) */ |
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/**
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* @brief Application entry point.
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*/
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int main(void) |
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{ |
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// local variables
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eventmask_t eventmask = 0;
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eventflags_t eventflags = 0;
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aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
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#if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)
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AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
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#endif /* defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES) */ |
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/*
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* ##########################################################################
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* # system initialization #
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* ##########################################################################
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*/
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/* hardware, kernel, and operating system initialization */
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// ChibiOS/HAL and custom hal additions (if any)
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halInit(); |
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#if defined(MODULE_INIT_HAL_EXTRA)
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MODULE_INIT_HAL_EXTRA(); |
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#endif /* defined(MODULE_INIT_HAL_EXTRA) */ |
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// ChibiOS/RT kernel and custom kernel additions (if any)
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chSysInit(); |
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#if defined(MODULE_INIT_KERNEL_EXTRA)
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MODULE_INIT_KERNEL_EXTRA(); |
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#endif /* defined(MODULE_INIT_KERNEL_EXTRA) */ |
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// AMiRo-OS, additional interrupts and custom OS additions (if any)
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#if (AMIROOS_CFG_SHELL_ENABLE == true) |
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aosSysInit(moduleShellPrompt); |
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#else /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
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aosSysInit(NULL);
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
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#if defined(MODULE_INIT_INTERRUPTS)
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MODULE_INIT_INTERRUPTS(); |
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#endif
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#if defined(MODULE_INIT_OS_EXTRA)
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MODULE_INIT_OS_EXTRA(); |
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#endif /* defined(MODULE_INIT_OS_EXTRA) */ |
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/* event associations */
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#if (AMIROOS_CFG_SSSP_ENABLE == true) |
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{ |
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eventflags_t flagsmask = AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK | moduleSsspEventflagPD() | moduleSsspEventflagS(); |
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#if (AMIROOS_CFG_SSSP_MSI == true) |
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#if (AMIROOS_CFG_SSSP_STACK_START != true) |
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flagsmask |= moduleSsspEventflagDN(); |
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#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
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#if (AMIROOS_CFG_SSSP_STACK_END != true) |
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flagsmask |= moduleSsspEventflagUP(); |
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#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
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#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
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chEvtRegisterMaskWithFlags(&aos.events.gpio, &_eventListenerGPIO, EVENTMASK_GPIO, flagsmask); |
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} |
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#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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if (AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) {
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chEvtRegisterMaskWithFlags(&aos.events.gpio, &_eventListenerGPIO, EVENTMASK_GPIO, AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK); |
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} |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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chEvtRegisterMask(&aos.events.os, &_eventListenerOS, EVENTMASK_OS); |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_STARTUP == true) |
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/* perform SSSP basic initialization stage */
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#if defined(MODULE_SSSP_BASICINIT_HOOK)
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#if defined(MODULE_SSSP_BASICINIT_HOOK_ARGS)
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MODULE_SSSP_BASICINIT_HOOK(MODULE_SSSP_BASICINIT_HOOK_ARGS); |
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#else /* defined(MODULE_SSSP_BASICINIT_HOOK_ARGS) */ |
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MODULE_SSSP_BASICINIT_HOOK(); |
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#endif /* defined(MODULE_SSSP_BASICINIT_HOOK_ARGS) */ |
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#endif /* defined(MODULE_SSSP_BASICINIT_HOOK) */ |
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// proceed to startup stage 1.2
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#if (AMIROOS_CFG_SSSP_MASTER == true) |
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while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, EVENTMASK_SSSPDELAY, &eventmask) != AOS_SUCCESS)) { |
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/*
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* This code is executed if the received event was not about the delay.
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* The received event could be casued by any listener.
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*/
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// GPIO event
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if (eventmask & _eventListenerGPIO.events) {
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eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
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// PD event
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if (eventflags & moduleSsspEventflagPD()) {
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shutdown = AOS_SHUTDOWN_PASSIVE; |
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} else {
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#if defined(MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK)
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MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK(eventmask, eventflags); |
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#else /* defined(MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK) */ |
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/* silently ignore any other GPIO events */
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#endif /* defined(MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK) */ |
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} |
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} |
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// OS event
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else if (eventmask & _eventListenerOS.events) { |
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eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
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_unexpectedEventError(eventmask, eventflags); |
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} |
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// unknown event
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else {
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_unexpectedEventError(eventmask, 0);
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} |
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} |
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if (shutdown == AOS_SHUTDOWN_NONE) {
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aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_1_2); |
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} |
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#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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if (shutdown == AOS_SHUTDOWN_NONE) {
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aosSsspProceed(NULL, 0, NULL); |
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aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_1_2); |
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} |
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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// proceed to startup stage 1.3
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while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS)) {
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/*
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* This code is executed if the received event was not about a deactivation of the snychronization signal.
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* The received event could be caused by any listener.
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*/
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// GPIO event
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if (eventmask & _eventListenerGPIO.events) {
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eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
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// PD event
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if (eventflags & moduleSsspEventflagPD()) {
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shutdown = AOS_SHUTDOWN_PASSIVE; |
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} else {
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#if defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK)
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MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK(eventmask, eventflags); |
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#else /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
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/* silently ignore any other GPIO events */
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#endif /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
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} |
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} |
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// OS event
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else if (eventmask & _eventListenerOS.events) { |
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eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
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_unexpectedEventError(eventmask, eventflags); |
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} |
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// unknown event
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else {
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_unexpectedEventError(eventmask, 0);
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} |
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} |
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if (shutdown == AOS_SHUTDOWN_NONE) {
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aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_1_3); |
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} |
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// proceed to startup stage 2.1
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#if (AMIROOS_CFG_SSSP_MASTER == true) |
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while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, EVENTMASK_SSSPDELAY, &eventmask) != AOS_SUCCESS)) { |
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/*
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* This code is executed if the received event was not about the delay.
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* The received event could be caused by any listener.
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*/
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// GPIO event
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if (eventmask & _eventListenerGPIO.events) {
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eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
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// PD event
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if (eventflags & moduleSsspEventflagPD()) {
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shutdown = AOS_SHUTDOWN_PASSIVE; |
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} else {
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#if defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK)
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MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK(eventmask, eventflags); |
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#else /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
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/* silently ignore any other GPIO events */
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#endif /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
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} |
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} |
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// OS event
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else if (eventmask & _eventListenerOS.events) { |
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eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
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_unexpectedEventError(eventmask, eventflags); |
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} |
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// unknown event
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else {
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_unexpectedEventError(eventmask, 0);
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} |
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} |
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#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS)) {
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/*
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* This code is executed if the received event was not about a deactivation of the snychronization signal.
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* The received event could be caused by any listener.
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*/
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// GPIO event
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if (eventmask & _eventListenerGPIO.events) {
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eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
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// PD event
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if (eventflags & moduleSsspEventflagPD()) {
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shutdown = AOS_SHUTDOWN_PASSIVE; |
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} else {
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#if defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK)
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MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK(eventmask, eventflags); |
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#else /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
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/* silently ignore any other GPIO events */
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442 |
#endif /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
443 |
} |
444 |
} |
445 |
// OS event
|
446 |
else if (eventmask & _eventListenerOS.events) { |
447 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
448 |
_unexpectedEventError(eventmask, eventflags); |
449 |
} |
450 |
// unknown event
|
451 |
else {
|
452 |
_unexpectedEventError(eventmask, 0);
|
453 |
} |
454 |
} |
455 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
456 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
457 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_1); |
458 |
} |
459 |
|
460 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_STARTUP == true) */ |
461 |
|
462 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
|
463 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
|
464 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
465 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
466 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
467 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
468 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1) */ |
469 |
|
470 |
/* periphery communication interfaces initialization */
|
471 |
#if defined(MODULE_INIT_PERIPHERY_IF)
|
472 |
// module specific initialization
|
473 |
MODULE_INIT_PERIPHERY_IF(); |
474 |
#endif /* defined(MODULE_INIT_PERIPHERY_IF) */ |
475 |
#if defined(MODULE_HAL_PROGIF)
|
476 |
// user interface
|
477 |
aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
478 |
aosIOChannelOutputEnable(&_stdiochannel); |
479 |
aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
480 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
481 |
aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
482 |
aosShellChannelInputEnable(&_stdshellchannel); |
483 |
aosShellChannelOutputEnable(&_stdshellchannel); |
484 |
aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
485 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
486 |
#endif /* defined(MODULE_HAL_PROGIF) */ |
487 |
|
488 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
|
489 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
|
490 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
491 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */ |
492 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
493 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */ |
494 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2) */ |
495 |
|
496 |
/* module is ready -> print welcome prompt */
|
497 |
aosprintf("\n");
|
498 |
aosprintf("######################################################################\n");
|
499 |
aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
500 |
aosprintf("# Robot (AMiRo) platform. #\n");
|
501 |
aosprintf("# Copyright (C) 2016..2019 Thomas Schöpping et al. #\n");
|
502 |
aosprintf("# #\n");
|
503 |
aosprintf("# This is free software; see the source for copying conditions. #\n");
|
504 |
aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
|
505 |
aosprintf("# A PARTICULAR PURPOSE. #\n");
|
506 |
aosprintf("# The development of this software was supported by the Excellence #\n");
|
507 |
aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
|
508 |
aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
|
509 |
aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
|
510 |
aosprintf("######################################################################\n");
|
511 |
aosprintf("\n");
|
512 |
|
513 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
|
514 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
|
515 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
516 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */ |
517 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
518 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */ |
519 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3) */ |
520 |
|
521 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
522 |
#if defined(MODULE_INIT_TESTS)
|
523 |
MODULE_INIT_TESTS(); |
524 |
#else /* defined(MODULE_INIT_TESTS) */ |
525 |
#warning "AMIROOS_CFG_TESTS_ENABLE set to true, but MODULE_INIT_TESTS() not defined" |
526 |
#endif /* defined(MODULE_INIT_TESTS) */ |
527 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
528 |
|
529 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
|
530 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
|
531 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
532 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */ |
533 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
534 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */ |
535 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4) */ |
536 |
|
537 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
538 |
|
539 |
// proceed to startup stage 2.2
|
540 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
541 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, EVENTMASK_SSSPDELAY, &eventmask) != AOS_SUCCESS)) { |
542 |
/*
|
543 |
* This code is executed if the received event was not about the delay.
|
544 |
* The received event could be caused by any listener.
|
545 |
*/
|
546 |
// GPIO event
|
547 |
if (eventmask & _eventListenerGPIO.events) {
|
548 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
549 |
// PD event
|
550 |
if (eventflags & moduleSsspEventflagPD()) {
|
551 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
552 |
} else {
|
553 |
#if defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK)
|
554 |
MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK(eventmask, eventflags); |
555 |
#else /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
556 |
/* silently ignore any other GPIO events */
|
557 |
#endif /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
558 |
} |
559 |
} |
560 |
// OS event
|
561 |
else if (eventmask & _eventListenerOS.events) { |
562 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
563 |
_unexpectedEventError(eventmask, eventflags); |
564 |
} |
565 |
// unknown event
|
566 |
else {
|
567 |
_unexpectedEventError(eventmask, 0);
|
568 |
} |
569 |
} |
570 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
571 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_2); |
572 |
} |
573 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
574 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
575 |
aosSsspProceed(NULL, 0, NULL); |
576 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_2); |
577 |
} |
578 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
579 |
|
580 |
// proceed to startup stage 3 (MSI is enabled), or to operation phase (no MSI)
|
581 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS)) {
|
582 |
/*
|
583 |
* This code is executed if the received event was not about a deactivation of the snychronization signal.
|
584 |
* The received event could be caused by any listener.
|
585 |
*/
|
586 |
// GPIO event
|
587 |
if (eventmask & _eventListenerGPIO.events) {
|
588 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
589 |
// PD event
|
590 |
if (eventflags & moduleSsspEventflagPD()) {
|
591 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
592 |
} else {
|
593 |
#if defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK)
|
594 |
MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK(eventmask, eventflags); |
595 |
#else /* defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK) */ |
596 |
/* silently ignore any other GPIO events */
|
597 |
#endif /* defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK) */ |
598 |
} |
599 |
} |
600 |
// OS event
|
601 |
else if (eventmask & _eventListenerOS.events) { |
602 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
603 |
_unexpectedEventError(eventmask, eventflags); |
604 |
} |
605 |
// unknown event
|
606 |
else {
|
607 |
_unexpectedEventError(eventmask, 0);
|
608 |
} |
609 |
} |
610 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
611 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
612 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3); |
613 |
#else /* (AMIROOS_CFG_SSSP_MSI == true) */ |
614 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_OPERATION); |
615 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
616 |
} |
617 |
|
618 |
/*
|
619 |
* There must be no delay at this point, thus no hook allowed.
|
620 |
*/
|
621 |
|
622 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
623 |
{ |
624 |
// initialize temporary MSI data
|
625 |
aos_ssspmsidata_t msidata; |
626 |
aosSsspMsiInit(&msidata, EVENTMASK_SSSPDELAY, EVENTMASK_SSSPTIMEOUT, &_eventListenerGPIO); |
627 |
|
628 |
// execute module stack initialization (MSI) but react to unrelated events as well
|
629 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aos.sssp.stage != AOS_SSSP_STAGE_OPERATION)) {
|
630 |
// execute MSI routine
|
631 |
aosSsspMsi(&msidata, &eventmask); |
632 |
// handly event (if any)
|
633 |
if (eventmask) {
|
634 |
// GPIO event
|
635 |
if (eventmask & _eventListenerGPIO.events) {
|
636 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
637 |
// PD event
|
638 |
if (eventflags & moduleSsspEventflagPD()) {
|
639 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
640 |
} else {
|
641 |
#if defined(MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK)
|
642 |
MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK(eventmask, eventflags); |
643 |
#else /* defined(MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK) */ |
644 |
/* silently ignore any other GPIO events */
|
645 |
#endif /* defined(MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK) */ |
646 |
} |
647 |
} |
648 |
// OS event
|
649 |
else if (eventmask & _eventListenerOS.events) { |
650 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
651 |
_unexpectedEventError(eventmask, eventflags); |
652 |
} |
653 |
// unknown event
|
654 |
else {
|
655 |
_unexpectedEventError(eventmask, 0);
|
656 |
} |
657 |
} |
658 |
} |
659 |
} |
660 |
|
661 |
#if (HAL_USE_RTC == TRUE)
|
662 |
|
663 |
/*
|
664 |
* calendar synchronization
|
665 |
*
|
666 |
* Although calendar synchronization does not inherently rely on SSSP, this
|
667 |
* implementation uses the moduleSsspBcbX() functions, defined by SSSP in
|
668 |
* order to save redundant code. Furthermore, it is rather unlikely that
|
669 |
* system wide synchronization of calendars is desired when SSSP is disabled
|
670 |
* anyway.
|
671 |
*/
|
672 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
673 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
674 |
// temporary variables
|
675 |
struct tm t;
|
676 |
uint8_t buffer[sizeof(uint64_t)];
|
677 |
|
678 |
// get current date/time
|
679 |
aosSysGetDateTime(&t); |
680 |
// encode & serialize
|
681 |
_serializeU64(buffer, _TM2U64(&t)); |
682 |
// transmit
|
683 |
aosDbgPrintf("transmitting current date/time...\t");
|
684 |
if (moduleSsspBcbTransmit(buffer, sizeof(uint64_t)) == AOS_SSSP_BCB_SUCCESS) { |
685 |
aosDbgPrintf("ok\n");
|
686 |
} else {
|
687 |
aosDbgPrintf("fail\n");
|
688 |
} |
689 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
690 |
// temporary variables
|
691 |
aos_timestamp_t start, now; |
692 |
aos_ssspbcbstatus_t bcbstatus; |
693 |
uint8_t buffer[sizeof(uint64_t)];
|
694 |
struct tm t;
|
695 |
|
696 |
// receive
|
697 |
aosDbgPrintf("receiving current date/time...\t");
|
698 |
aosSysGetUptime(&start); |
699 |
do {
|
700 |
bcbstatus = moduleSsspBcbReceive(buffer, sizeof(uint64_t));
|
701 |
aosSysGetUptime(&now); |
702 |
} while ((bcbstatus != AOS_SSSP_BCB_SUCCESS) && ((now - start) < AOS_SSSP_TIMEOUT));
|
703 |
// if something was received
|
704 |
if (bcbstatus == AOS_SSSP_BCB_SUCCESS) {
|
705 |
// deserialize & decode
|
706 |
_U642TM(&t, _deserializeU64(buffer)); |
707 |
// set current date/time
|
708 |
aosSysSetDateTime(&t); |
709 |
aosDbgPrintf("ok\n");
|
710 |
} else {
|
711 |
aosDbgPrintf("fail\n");
|
712 |
} |
713 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
714 |
} |
715 |
|
716 |
#endif /* (HAL_USE_RTC == TRUE) */ |
717 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
718 |
|
719 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
720 |
|
721 |
/* completely start AMiRo-OS */
|
722 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
723 |
aosSysStart(); |
724 |
} |
725 |
|
726 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
|
727 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
|
728 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
729 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */ |
730 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
731 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */ |
732 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5) */ |
733 |
|
734 |
/*
|
735 |
* ##########################################################################
|
736 |
* # infinite loop #
|
737 |
* ##########################################################################
|
738 |
*/
|
739 |
|
740 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
741 |
/* ignore all SSSP signal events, except for PD and configured events */
|
742 |
eventflags = moduleSsspEventflagS(); |
743 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
744 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
745 |
eventflags |= moduleSsspEventflagDN(); |
746 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
747 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
748 |
eventflags |= moduleSsspEventflagUP(); |
749 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
750 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
751 |
eventflags &= ~((eventflags_t)AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK); |
752 |
_eventListenerGPIO.wflags &= ~eventflags; |
753 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
754 |
|
755 |
// sleep until a shutdown event is received
|
756 |
while (shutdown == AOS_SHUTDOWN_NONE) {
|
757 |
// wait for an event
|
758 |
#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
759 |
eventmask = chEvtWaitOneTimeout(ALL_EVENTS, chTimeUS2I(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
760 |
#else /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) */ |
761 |
eventmask = chEvtWaitOne(ALL_EVENTS); |
762 |
#endif /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) */ |
763 |
|
764 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
|
765 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
|
766 |
AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
767 |
#else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */ |
768 |
AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
769 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */ |
770 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1) */ |
771 |
|
772 |
switch (eventmask) {
|
773 |
// if this was an GPIO event
|
774 |
case EVENTMASK_GPIO:
|
775 |
// evaluate flags
|
776 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
777 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
778 |
// PD event
|
779 |
if (eventflags & moduleSsspEventflagPD()) {
|
780 |
aosSsspShutdownInit(false);
|
781 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
782 |
} |
783 |
// all other events
|
784 |
#if defined(MODULE_MAIN_LOOP_GPIOEVENT)
|
785 |
else {
|
786 |
MODULE_MAIN_LOOP_GPIOEVENT(eventflags); |
787 |
} |
788 |
#endif /* defined(MODULE_MAIN_LOOP_GPIOEVENT) */ |
789 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
790 |
#if defined(MODULE_MAIN_LOOP_GPIOEVENT)
|
791 |
MODULE_MAIN_LOOP_GPIOEVENT(eventflags); |
792 |
#endif /* defined(MODULE_MAIN_LOOP_GPIOEVENT) */ |
793 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
794 |
break;
|
795 |
|
796 |
// if this was an OS event
|
797 |
case EVENTMASK_OS:
|
798 |
// evaluate flags
|
799 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
800 |
switch (eventflags) {
|
801 |
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE)
|
802 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_MASK:
|
803 |
shutdown = AOS_SHUTDOWN_ACTIVE; |
804 |
break;
|
805 |
#elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
|
806 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_HIBERNATE:
|
807 |
shutdown = AOS_SHUTDOWN_HIBERNATE; |
808 |
break;
|
809 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_DEEPSLEEP:
|
810 |
shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
811 |
break;
|
812 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_TRANSPORTATION:
|
813 |
shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
814 |
break;
|
815 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_RESTART:
|
816 |
shutdown = AOS_SHUTDOWN_RESTART; |
817 |
break;
|
818 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_PASSIVE:
|
819 |
_unexpectedEventError(eventmask, eventflags); |
820 |
break;
|
821 |
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */ |
822 |
default:
|
823 |
_unexpectedEventError(eventmask, eventflags); |
824 |
break;
|
825 |
} |
826 |
break;
|
827 |
|
828 |
// if this was any other event (should be impossible to occur)
|
829 |
default:
|
830 |
eventflags = 0;
|
831 |
#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0) |
832 |
_unexpectedEventError(eventmask, eventflags); |
833 |
#endif /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0) */ |
834 |
break;
|
835 |
} |
836 |
|
837 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
838 |
|
839 |
/*
|
840 |
* Re-anable the S signal GPIO event.
|
841 |
* Note that events for the optional signals UP and DN are not enabled as they are not utilized during SSSP shutdown phase.
|
842 |
*/
|
843 |
chSysLock(); |
844 |
_eventListenerGPIO.wflags |= moduleSsspEventflagS(); |
845 |
chSysUnlock(); |
846 |
|
847 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
848 |
|
849 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2)
|
850 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS)
|
851 |
AMIROOS_CFG_MAIN_LOOP_HOOK_2(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS); |
852 |
#else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS) */ |
853 |
AMIROOS_CFG_MAIN_LOOP_HOOK_2(); |
854 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS) */ |
855 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2) */ |
856 |
} |
857 |
|
858 |
/*
|
859 |
* ##########################################################################
|
860 |
* # system shutdown #
|
861 |
* ##########################################################################
|
862 |
*/
|
863 |
|
864 |
aosDbgAssert(shutdown != AOS_SHUTDOWN_NONE); |
865 |
|
866 |
// initialize/acknowledge shutdown
|
867 |
aosSysShutdownInit(shutdown); |
868 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
869 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_1_2); |
870 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
871 |
|
872 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
|
873 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
|
874 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
875 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS) */ |
876 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
877 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS) */ |
878 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1) */ |
879 |
|
880 |
// wait for all threads to terminate
|
881 |
aosSysStop(); |
882 |
|
883 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
|
884 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
|
885 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
886 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS) */ |
887 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
888 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS) */ |
889 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2) */ |
890 |
|
891 |
// deinitialize system
|
892 |
aosSysDeinit(); |
893 |
|
894 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
|
895 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
|
896 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
897 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS) */ |
898 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
899 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS) */ |
900 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3) */ |
901 |
|
902 |
/* stop all periphery communication interfaces */
|
903 |
#if defined(MODULE_SHUTDOWN_PERIPHERY_IF)
|
904 |
MODULE_SHUTDOWN_PERIPHERY_IF(); |
905 |
#endif /* defined(MODULE_SHUTDOWN_PERIPHERY_IF) */ |
906 |
|
907 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
|
908 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
|
909 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
910 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS) */ |
911 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
912 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS) */ |
913 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4) */ |
914 |
|
915 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
916 |
|
917 |
// proceed to SSSP shutdown stage 1.3
|
918 |
aosSsspProceed(NULL, 0, NULL); |
919 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_1_3); |
920 |
|
921 |
#if (AMIROOS_CFG_SSSP_SHUTDOWN == true) |
922 |
|
923 |
/* AMiRo-OS performs SSSP shutdown phase
|
924 |
* NOTE:
|
925 |
* The initiating module could deactivate PD at this point to indicate a restart rather than a shutdown request.
|
926 |
* AMiRo-OS does not support restart though, thus the signal is not changed.
|
927 |
*/
|
928 |
|
929 |
// proceed to SSSP shutdown stage 2.1
|
930 |
while (aosSsspProceed(&_eventListenerGPIO, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS) {
|
931 |
/*
|
932 |
* This code is executed if the received event was not about a deactivation of the synchronization signal.
|
933 |
* The received event could be caused by any listener.
|
934 |
*/
|
935 |
// GPIO event
|
936 |
if (eventmask & _eventListenerGPIO.events) {
|
937 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
938 |
#if defined(MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK)
|
939 |
MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK(eventmask, eventflags); |
940 |
#else /* defined(MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK) */ |
941 |
/* silently ignore any other GPIO events */
|
942 |
#endif /* defined(MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK) */ |
943 |
} |
944 |
// OS event
|
945 |
else if (eventmask & _eventListenerOS.events) { |
946 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
947 |
_unexpectedEventError(eventmask, eventflags); |
948 |
} |
949 |
// unknown event
|
950 |
else {
|
951 |
_unexpectedEventError(eventmask, 0);
|
952 |
} |
953 |
} |
954 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_2_1); |
955 |
|
956 |
// proceed to SSSP shutdown stage 2.2
|
957 |
aosSsspProceed(NULL, 0, &eventmask); |
958 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_2_2); |
959 |
if (shutdown == AOS_SHUTDOWN_PASSIVE) {
|
960 |
aosDbgPrintf("%s request received\n", eventmask ? "shutdown" : "restart"); |
961 |
} |
962 |
/* NOTE:
|
963 |
* Actually the call of aosSsspProceed() returned an indicator, whether a shutdown or restart has been initiated.
|
964 |
* Since AMiRo-OS does not support restart, this return value is ignored and shutdown is assumed.
|
965 |
*/
|
966 |
|
967 |
// the initiating module broadcasts the shutdown identifier
|
968 |
if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
969 |
// since AMiRo-OS does not support multiple ways to shutdown or restart, the special identifier 0 is broadcasted.
|
970 |
aosSsspShutdownBroadcastIdentifier(0);
|
971 |
} |
972 |
// passive modules receive the broadcasted identifier
|
973 |
else {
|
974 |
unsigned int identifier = 0; |
975 |
|
976 |
// receive the identifier, which specifies the type of shutdown/restart
|
977 |
while ((eventmask = aosSsspShutdownWaitForIdentifierPulse(&_eventListenerGPIO, moduleSsspEventflagS(), EVENTMASK_SSSPDELAY, &identifier)) != EVENTMASK_SSSPDELAY) {
|
978 |
// GPIO event
|
979 |
if (eventmask & _eventListenerGPIO.events) {
|
980 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
981 |
#if defined(MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK)
|
982 |
MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK(eventmask, eventflags); |
983 |
#else /* defined(MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK) */ |
984 |
/* silently ignore any other GPIO events */
|
985 |
#endif /* defined(MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK) */ |
986 |
/* silently ignore any GPIO events */
|
987 |
} |
988 |
// OS event
|
989 |
else if (eventmask & _eventListenerOS.events) { |
990 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
991 |
_unexpectedEventError(eventmask, eventflags); |
992 |
} |
993 |
// unknown event
|
994 |
else {
|
995 |
_unexpectedEventError(eventmask, 0);
|
996 |
} |
997 |
} |
998 |
|
999 |
// Since AMiRo-OS does not support multiple ways to shutdown or restart, the identifier is ignored.
|
1000 |
} |
1001 |
|
1002 |
// proceed to SSSP shutdown stage 2.3
|
1003 |
aosSsspProceed(NULL, 0, NULL); |
1004 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_2_3); |
1005 |
|
1006 |
/*
|
1007 |
* Since AMiRo-OS does only support one basic shutdown and no restart at all, the final shutdown is kept very simple.
|
1008 |
*/
|
1009 |
|
1010 |
// disable interrupts
|
1011 |
irqDeinit(); |
1012 |
chSysDisable(); |
1013 |
|
1014 |
chThdExit(MSG_OK); |
1015 |
return MSG_OK;
|
1016 |
|
1017 |
#else /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
1018 |
|
1019 |
/* hand over to the bootloader to perform SSSP shutdown phase */
|
1020 |
aosSysShutdownToBootloader(shutdown); |
1021 |
|
1022 |
aosDbgAssertMsg(false, "AMiRo-OS must not proceed to this point!"); |
1023 |
chThdExit(MSG_RESET); |
1024 |
return MSG_RESET;
|
1025 |
|
1026 |
#endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
1027 |
|
1028 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
1029 |
|
1030 |
/*
|
1031 |
* Depending on the configured bootloader, trivial shutdown is either executed by AMiRo-OS or by that bootloader.
|
1032 |
*/
|
1033 |
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE)
|
1034 |
|
1035 |
/* AMiRo-OS performs trivial shutdown */
|
1036 |
|
1037 |
// disable interrupts
|
1038 |
irqDeinit(); |
1039 |
chSysDisable(); |
1040 |
|
1041 |
chThdExit(MSG_OK); |
1042 |
return MSG_OK;
|
1043 |
|
1044 |
#elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
|
1045 |
|
1046 |
/* AMiRo-BLT performns shutdown */
|
1047 |
aosSysShutdownToBootloader(shutdown); |
1048 |
|
1049 |
aosDbgAssertMsg(false, "AMiRo-OS must not proceed to this point!"); |
1050 |
chThdExit(MSG_RESET); |
1051 |
return MSG_RESET;
|
1052 |
|
1053 |
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */ |
1054 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
1055 |
} |
1056 |
|
1057 |
/******************************************************************************/
|
1058 |
/* EXPORTED FUNCTIONS */
|
1059 |
/******************************************************************************/
|
1060 |
|
1061 |
/** @} */
|