AMiRo-OS

#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)

/**

 * @brief   Weighting factor for smoothing the @p _syncskew value.

 */

#define SYNCSKEW_SMOOTHFACTOR                   (0.1f / AOS_SYSTEM_TIME_RESOLUTION)

#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */

 * @brief   Pointer to the system uptime.

 */

static aos_timestamp_t* _uptime;

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

/**

 * @brief   Timer to drive the S signal for system wide time synchronization during operation phase.

 */

static virtual_timer_t _synctimer;

/**

 * @brief   Last uptime of system wide time synchronization.

 */

static aos_timestamp_t _synctime;

#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */

#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)

/**

 * @brief   Offset between local clock and system wide synchronization signal.

 */

static float _syncskew;

#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */

/**

#if (AMIROOS_CFG_SSSP_MASTER != true) || defined(__DOXYGEN__)

/**

 * @brief   Callback function for the Sync signal interrupt.

 *

 * @param[in] args   Pointer to the GPIO line identifier.

 */

static void _gpioCallbackSSignal(void *args)

{

  aosDbgCheck((args != NULL) && (*((ioline_t*)args) != PAL_NOLINE) && (PAL_PAD(*((ioline_t*)args)) < sizeof(eventflags_t) * 8));

  apalControlGpioState_t s;

  aos_timestamp_t t;

  chSysLockFromISR();

  // if the system is in operation phase

  if (aos.sssp.stage == AOS_SSSP_STAGE_OPERATION) {

    // read signal S

    apalControlGpioGet(&moduleSsspGpioS, &s);

    // if S was toggled from on to off

    if (s == APAL_GPIO_OFF) {

      // get current uptime

      aosSysGetUptimeX(&t);

      // align the uptime with the synchronization period

      t %= AMIROOS_CFG_SSSP_SYSSYNCPERIOD;

      if (t < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) {

        *_uptime -= t;

#if (AMIROOS_CFG_PROFILE == true)

        _syncskew = ((1.0f - SYNCSKEW_SMOOTHFACTOR) * _syncskew) + (SYNCSKEW_SMOOTHFACTOR * t);

#endif /* (AMIROOS_CFG_PROFILE == true) */

      } else {

        t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - t;

        *_uptime += t;

#if (AMIROOS_CFG_PROFILE == true)

        _syncskew = ((1.0f - SYNCSKEW_SMOOTHFACTOR) * _syncskew) - (SYNCSKEW_SMOOTHFACTOR * t);

#endif /* (AMIROOS_CFG_PROFILE == true) */

      }

    }

  }

  // broadcast event

  chEvtBroadcastFlagsI(&aos.events.gpio, AOS_GPIOEVENT_FLAG(PAL_PAD(*((ioline_t*)args))));

  chSysUnlockFromISR();

  return;

}

#endif /* (AMIROOS_CFG_SSSP_MASTER != true) */

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

/**

 * @brief   Periodic system synchronization callback function.

 * @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.

 *

 * @param[in] par   Unused parameters.

 */

static void _syncTimerCallback(void* par)

{

  (void)par;

  apalControlGpioState_t state;

  aos_timestamp_t uptime;

  chSysLockFromISR();

  // toggle and read signal S

  apalGpioToggle(moduleSsspGpioS.gpio);

  apalControlGpioGet(&moduleSsspGpioS, &state);

  // if S was toggled from off to on

  if (state == APAL_GPIO_ON) {

    // reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time

    _synctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD;

    aosSysGetUptimeX(&uptime);

    chVTSetI(&_synctimer, chTimeUS2I(_synctime - uptime), _syncTimerCallback, NULL);

  }

  // if S was toggled from on to off

  else /* if (state == APAL_GPIO_OFF) */ {

    // reconfigure the timer (lazy)

    chVTSetI(&_synctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _syncTimerCallback, NULL);

  }

  chSysUnlockFromISR();

  return;

}

/**

 * @brief   Start the timer that toggles S for synchronization of the system.

 * @note    Must be called from a locked context.

 */

static inline void _syncTimerStartS(void)

{

  chDbgCheckClassS();

  // start synchronization timer

  // The first iteration of the timer is set to the next 'center' of a 'slice'.

  aos_timestamp_t t;

  aosSysGetUptimeX(&t);

  t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD);

  chVTSetI(&_synctimer, chTimeUS2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _syncTimerCallback, NULL);

  return;

}

#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */

void aosSsspInit(aos_timestamp_t* system_uptime)

  aosDbgCheck(system_uptime != NULL);

#if (AMIROOS_CFG_SSSP_MSI == true)

#endif /* (AMIROOS_CFG_SSSP_MSI == true) */

  _uptime = system_uptime;

#if (AMIROOS_CFG_SSSP_MASTER == true)

  chVTObjectInit(&_synctimer);

  _synctime = 0;

#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */

#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)

  _syncskew = 0.0f;

#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */

  // signal interrupt setup

  palSetLineCallback(moduleSsspGpioPD.gpio->line, aosSysGetStdGpioCallback(), &moduleSsspGpioPD.gpio->line);

  palEnableLineEvent(moduleSsspGpioPD.gpio->line, APAL2CH_EDGE(moduleSsspGpioPD.meta.edge));

#if (AMIROOS_CFG_SSSP_MASTER == true)

  palSetLineCallback(moduleSsspGpioS.gpio->line, aosSysGetStdGpioCallback(), &moduleSsspGpioS.gpio->line);

#else /* (AMIROOS_CFG_SSSP_MASTER == true) */

  palSetLineCallback(moduleSsspGpioS.gpio->line, _gpioCallbackSSignal, &moduleSsspGpioS.gpio->line);

#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */

  palEnableLineEvent(moduleSsspGpioS.gpio->line, APAL2CH_EDGE(moduleSsspGpioS.meta.edge));

#if (AMIROOS_CFG_SSSP_MSI == true)

#if (AMIROOS_CFG_SSSP_STACK_START != true)

  palSetLineCallback(moduleSsspGpioDN.gpio->line, aosSysGetStdGpioCallback(), &moduleSsspGpioDN.gpio->line);

  palEnableLineEvent(moduleSsspGpioDN.gpio->line, APAL2CH_EDGE(moduleSsspGpioDN.meta.edge));

#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */

#if (AMIROOS_CFG_SSSP_STACK_END != true)

  palSetLineCallback(moduleSsspGpioUP.gpio->line, aosSysGetStdGpioCallback(), &moduleSsspGpioUP.gpio->line);

  palEnableLineEvent(moduleSsspGpioUP.gpio->line, APAL2CH_EDGE(moduleSsspGpioUP.meta.edge));

#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */

#endif /* (AMIROOS_CFG_SSSP_MSI == true) */

 * @note    Calling this function when in operation phase is invalid.

 *          The function aosSsspShutdownInit() must be used instead.

     * When proceeding to operation phase, the master starts toggling S for synchronization

        chSysLock();

        // start the internal uptime aggregation

        aosSysStartUptimeS();

#if (AMIROOS_CFG_SSSP_MASTER == true)

        // start toggling S for system synchronization

        _syncTimerStartS();

#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */

        chSysUnlock();

     * Invalid operation.

     * Shutdon must be initiatid via the aosSsspShutdownInit() function.

     */

    case AOS_SSSP_STAGE_OPERATION:

    {

      aosDbgAssertMsg(false, "in order to exit operation phase, aosSsspShutdownInit() function must be used");

      break;

    }

    /*

/**

 * @brief   Leave the operation pahse and initiate or acknowledge shutdown.

 *

 * @param[in] active  Flag, indicating whether the shutdon shall be activeliy initiated (true) or a passive request was received (false).

 */

void aosSsspShutdownInit(bool active)

  aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_OPERATION);

  aos.sssp.stage = AOS_SSSP_STAGE_SHUTDOWN_1_1;

  // activate PD if this was an active shutdown initiation

  if (active) {

    apalControlGpioSet(&moduleSsspGpioPD, APAL_GPIO_ON);

  }

#if (AMIROOS_CFG_SSSP_MASTER == true)

  // stop toggling S

  chVTReset(&_synctimer);

#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */

  // activate S

  apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_ON);

  // proceed in the shutdown phase

#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)

/**

 * @brief   Retreive the offset between local clock and system synchronization signal.

 *

 * @return

 */

float aosSsspGetSyncSkew(void)

{

  return _syncskew;

}

#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */