Revision c53ef0b1 core/src/aos_sssp.c
| core/src/aos_sssp.c | ||
|---|---|---|
| 83 | 83 |
|
| 84 | 84 |
/** |
| 85 | 85 |
* @brief A timer event based delays. |
| 86 |
* @details This timer must not be an AMiRo-OS timer, since delays occurr before system is initialized. |
|
| 86 | 87 |
*/ |
| 87 | 88 |
static virtual_timer_t _delayTimer; |
| 88 | 89 |
|
| 89 | 90 |
/** |
| 90 | 91 |
* @brief Event source for the delay timer. |
| 91 | 92 |
*/ |
| 92 |
static event_source_t _eventSourceDelay;
|
|
| 93 |
static event_source_t _delayEventSource;
|
|
| 93 | 94 |
|
| 94 | 95 |
/** |
| 95 | 96 |
* @brief Event listener for the delay event. |
| 96 | 97 |
*/ |
| 97 |
static event_listener_t _eventListenerDelay;
|
|
| 98 |
static event_listener_t _delayEventListener;
|
|
| 98 | 99 |
|
| 99 | 100 |
/******************************************************************************/ |
| 100 | 101 |
/* LOCAL FUNCTIONS */ |
| ... | ... | |
| 103 | 104 |
#if (AMIROOS_CFG_SSSP_MASTER != true) || defined(__DOXYGEN__) |
| 104 | 105 |
|
| 105 | 106 |
/** |
| 106 |
* @brief Callback function for the Sync signal interrupt.
|
|
| 107 |
* @brief Callback function for the S signal interrupt. |
|
| 107 | 108 |
* |
| 108 | 109 |
* @param[in] args Pointer to the GPIO line identifier. |
| 109 | 110 |
*/ |
| ... | ... | |
| 119 | 120 |
// if the system is in operation phase |
| 120 | 121 |
if (aos.sssp.stage == AOS_SSSP_STAGE_OPERATION) {
|
| 121 | 122 |
// read signal S |
| 122 |
apalControlGpioGet(&moduleSsspGpioS, &s);
|
|
| 123 |
apalControlGpioGet(moduleSsspSignalS(), &s);
|
|
| 123 | 124 |
// if S was toggled from on to off |
| 124 | 125 |
if (s == APAL_GPIO_OFF) {
|
| 125 | 126 |
// get current uptime |
| ... | ... | |
| 154 | 155 |
|
| 155 | 156 |
/** |
| 156 | 157 |
* @brief Periodic system synchronization callback function. |
| 157 |
* @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.
|
|
| 158 |
* @details Toggles the S signal and reconfigures the system synchronization timer. |
|
| 158 | 159 |
* |
| 159 | 160 |
* @param[in] par Unused parameters. |
| 160 | 161 |
*/ |
| ... | ... | |
| 162 | 163 |
{
|
| 163 | 164 |
(void)par; |
| 164 | 165 |
|
| 166 |
// local variables |
|
| 165 | 167 |
apalControlGpioState_t state; |
| 166 | 168 |
aos_timestamp_t uptime; |
| 167 | 169 |
|
| 168 | 170 |
chSysLockFromISR(); |
| 169 | 171 |
// toggle and read signal S |
| 170 |
apalGpioToggle(moduleSsspGpioS.gpio);
|
|
| 171 |
apalControlGpioGet(&moduleSsspGpioS, &state);
|
|
| 172 |
apalGpioToggle(moduleSsspSignalS()->gpio);
|
|
| 173 |
apalControlGpioGet(moduleSsspSignalS(), &state);
|
|
| 172 | 174 |
// if S was toggled from off to on |
| 173 | 175 |
if (state == APAL_GPIO_ON) {
|
| 174 | 176 |
// reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time |
| 175 | 177 |
_synctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
| 176 | 178 |
aosSysGetUptimeX(&uptime); |
| 177 |
chVTSetI(&_synctimer, chTimeUS2I(_synctime - uptime), _syncTimerCallback, NULL);
|
|
| 179 |
chVTSetI(&_synctimer, chTimeUS2I((time_usecs_t)(_synctime - uptime)), _syncTimerCallback, NULL);
|
|
| 178 | 180 |
} |
| 179 | 181 |
// if S was toggled from on to off |
| 180 | 182 |
else /* if (state == APAL_GPIO_OFF) */ {
|
| ... | ... | |
| 199 | 201 |
aos_timestamp_t t; |
| 200 | 202 |
aosSysGetUptimeX(&t); |
| 201 | 203 |
t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
| 202 |
chVTSetI(&_synctimer, chTimeUS2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _syncTimerCallback, NULL);
|
|
| 204 |
chVTSetI(&_synctimer, chTimeUS2I((time_usecs_t)((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)))), _syncTimerCallback, NULL);
|
|
| 203 | 205 |
|
| 204 | 206 |
return; |
| 205 | 207 |
} |
| ... | ... | |
| 226 | 228 |
* @brief Waits for the S signal to switch to the desired state. |
| 227 | 229 |
* |
| 228 | 230 |
* @param[in] listener Pointer to the GPIO event listener to be used. |
| 229 |
* @param[in] flags Event flags to listen to by the event listener (indicating a S signal event). |
|
| 230 | 231 |
* @param[in] signalstate Desired state of the S signal ti be waited for. |
| 231 | 232 |
* @param[out] received Output variable to store the received event mask to. |
| 232 | 233 |
* |
| 233 | 234 |
* @return Status, indicating whether the expected event was received. |
| 234 | 235 |
*/ |
| 235 |
static inline aos_status_t _waitForS(event_listener_t* listener, eventflags_t flags, apalControlGpioState_t signalstate, eventmask_t* received)
|
|
| 236 |
static inline aos_status_t _waitForS(event_listener_t* listener, apalControlGpioState_t signalstate, eventmask_t* received) |
|
| 236 | 237 |
{
|
| 237 | 238 |
aosDbgCheck(listener != NULL); |
| 238 |
aosDbgCheck(flags != 0); |
|
| 239 | 239 |
aosDbgCheck(received != NULL); |
| 240 | 240 |
|
| 241 |
// local variables |
|
| 242 |
aos_status_t status = AOS_FAILURE; |
|
| 243 |
|
|
| 241 | 244 |
// wait for the next event (do not apply any filters in order not to miss any events) |
| 242 | 245 |
*received = chEvtWaitOne(ALL_EVENTS); |
| 243 | 246 |
// if the correct event was triggered |
| 244 |
if (*received == listener->events) {
|
|
| 247 |
if (*received & listener->events) {
|
|
| 245 | 248 |
apalControlGpioState_t s; |
| 246 |
apalControlGpioGet(&moduleSsspGpioS, &s); |
|
| 249 |
apalControlGpioGet(moduleSsspSignalS(), &s); |
|
| 250 |
chSysLock(); |
|
| 247 | 251 |
// only check for the expected event |
| 248 |
if (flags & listener->flags && s == signalstate) {
|
|
| 252 |
if ((listener->flags & moduleSsspEventflagS()) && (s == signalstate)) {
|
|
| 249 | 253 |
// unset the expected flags but keep any other ones |
| 250 |
listener->flags &= ~flags;
|
|
| 251 |
return AOS_SUCCESS;
|
|
| 254 |
listener->flags &= ~moduleSsspEventflagS();
|
|
| 255 |
status = AOS_SUCCESS;
|
|
| 252 | 256 |
} |
| 257 |
// if no further flags are set |
|
| 258 |
if (listener->flags == 0) {
|
|
| 259 |
// clear event |
|
| 260 |
*received &= ~(listener->events); |
|
| 261 |
} |
|
| 262 |
chSysUnlock(); |
|
| 253 | 263 |
} |
| 254 | 264 |
|
| 255 |
return AOS_FAILURE;
|
|
| 265 |
return status;
|
|
| 256 | 266 |
} |
| 257 | 267 |
|
| 258 | 268 |
/** |
| ... | ... | |
| 260 | 270 |
* |
| 261 | 271 |
* @param[in] dt Delay time in microseconds to be set to the timer. |
| 262 | 272 |
* @param[in] mask Event mask to be used for the delay timer. |
| 263 |
* @param[in] arm_timer Flag to indicate whether the timer has to be armed yet (i.e. on first call of this function). |
|
| 264 | 273 |
* @param[out] received Output variable to store the received event mask to. |
| 265 | 274 |
* |
| 266 | 275 |
* @return Status, indicating whether the expected event (delay timer) was received. |
| 267 | 276 |
*/ |
| 268 |
static inline aos_status_t _delay(uint32_t dt, eventmask_t mask, bool arm_timer, eventmask_t* received)
|
|
| 277 |
static inline aos_status_t _delay(uint32_t dt, eventmask_t mask, eventmask_t* received) |
|
| 269 | 278 |
{
|
| 270 | 279 |
aosDbgCheck(dt != TIME_IMMEDIATE); |
| 271 | 280 |
aosDbgCheck(mask != 0); |
| 272 | 281 |
aosDbgCheck(received != NULL); |
| 273 | 282 |
|
| 274 | 283 |
// arm the delay timer once |
| 275 |
if (arm_timer) {
|
|
| 276 |
chEvtRegisterMask(&_eventSourceDelay, &_eventListenerDelay, mask);
|
|
| 277 |
chVTSet(&_delayTimer, chTimeUS2I(dt), _timerCallback, &_eventSourceDelay);
|
|
| 284 |
if (!chVTIsArmed(&_delayTimer)) {
|
|
| 285 |
chEvtRegisterMask(&_delayEventSource, &_delayEventListener, mask);
|
|
| 286 |
chVTSet(&_delayTimer, chTimeUS2I(dt), _timerCallback, &_delayEventSource);
|
|
| 278 | 287 |
} |
| 279 | 288 |
|
| 280 | 289 |
// wait for any event to occur (do not apply any filters in order not to miss any events) |
| 281 | 290 |
*received = chEvtWaitOne(ALL_EVENTS); |
| 282 | 291 |
|
| 283 | 292 |
// if the timer event was received, cleanup |
| 284 |
if (*received & _eventListenerDelay.events) {
|
|
| 285 |
chEvtUnregister(&_eventSourceDelay, &_eventListenerDelay); |
|
| 293 |
if (*received & _delayEventListener.events) {
|
|
| 294 |
chEvtUnregister(&_delayEventSource, &_delayEventListener); |
|
| 295 |
*received &= ~(_delayEventListener.events); |
|
| 286 | 296 |
return AOS_SUCCESS; |
| 287 | 297 |
} |
| 288 | 298 |
|
| 289 | 299 |
return AOS_FAILURE; |
| 290 | 300 |
} |
| 291 | 301 |
|
| 302 |
#if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
|
| 303 |
|
|
| 304 |
/** |
|
| 305 |
* @brief Serialize a BCB message. |
|
| 306 |
* @details The individual primitives are serialized in big-endian fashion. |
|
| 307 |
* |
|
| 308 |
* @param[out] buffer Buffer to write the serialized message to. |
|
| 309 |
* @param[in] message The message to be serialized. |
|
| 310 |
*/ |
|
| 311 |
aos_status_t _serializeBcbMessage(uint8_t* buffer, aos_ssspbcbmessage_t message) |
|
| 312 |
{
|
|
| 313 |
aosDbgCheck(buffer != NULL); |
|
| 314 |
|
|
| 315 |
// encode the message depending on its type |
|
| 316 |
switch (message.type) {
|
|
| 317 |
case AOS_SSSP_BCBMESSAGE_MSIINIT: |
|
| 318 |
case AOS_SSSP_BCBMESSAGE_MSIABORT: |
|
| 319 |
{
|
|
| 320 |
buffer[0] = message.type; |
|
| 321 |
return AOS_SUCCESS; |
|
| 322 |
} |
|
| 323 |
case AOS_SSSP_BCBMESSAGE_MSIID: |
|
| 324 |
{
|
|
| 325 |
buffer[0] = message.type; |
|
| 326 |
for (size_t byte = 0; byte < sizeof(aos_ssspmoduleid_t); ++byte) {
|
|
| 327 |
buffer[byte+1] = (message.payload.id >> (8 * (sizeof(aos_ssspmoduleid_t) - (byte+1)))) & 0xFF; |
|
| 328 |
} |
|
| 329 |
return AOS_SUCCESS; |
|
| 330 |
} |
|
| 331 |
default: |
|
| 332 |
{
|
|
| 333 |
return AOS_FAILURE; |
|
| 334 |
} |
|
| 335 |
} |
|
| 336 |
} |
|
| 337 |
|
|
| 338 |
/** |
|
| 339 |
* @brief Deserialize a BCB message. |
|
| 340 |
* @details The individual primitives must be serialized in big-endian fashion. |
|
| 341 |
* |
|
| 342 |
* @param[out] message Message object to be filled. |
|
| 343 |
* @param[in] buffer Buffer holding the serialized message. |
|
| 344 |
*/ |
|
| 345 |
aos_status_t _deserializeBcbMessage(aos_ssspbcbmessage_t* message, uint8_t* buffer) |
|
| 346 |
{
|
|
| 347 |
aosDbgCheck(message != NULL); |
|
| 348 |
aosDbgCheck(buffer != NULL); |
|
| 349 |
|
|
| 350 |
// only decode the first byte, which contains the message type |
|
| 351 |
message->type = buffer[0]; |
|
| 352 |
|
|
| 353 |
// decode the message depedning on its type |
|
| 354 |
switch (message->type) {
|
|
| 355 |
case AOS_SSSP_BCBMESSAGE_MSIINIT: |
|
| 356 |
case AOS_SSSP_BCBMESSAGE_MSIABORT: |
|
| 357 |
{
|
|
| 358 |
return AOS_SUCCESS; |
|
| 359 |
} |
|
| 360 |
case AOS_SSSP_BCBMESSAGE_MSIID: |
|
| 361 |
{
|
|
| 362 |
message->payload.id = 0; |
|
| 363 |
for (size_t byte = 0; byte < sizeof(aos_ssspmoduleid_t); ++byte) {
|
|
| 364 |
message->payload.id |= (aos_ssspmoduleid_t)(buffer[byte+1] << (8 * (sizeof(aos_ssspmoduleid_t) - (byte+1)))); |
|
| 365 |
} |
|
| 366 |
return AOS_SUCCESS; |
|
| 367 |
} |
|
| 368 |
default: |
|
| 369 |
{
|
|
| 370 |
message->type = AOS_SSSP_BCBMESSAGE_INVALID; |
|
| 371 |
return AOS_FAILURE; |
|
| 372 |
} |
|
| 373 |
} |
|
| 374 |
} |
|
| 375 |
|
|
| 376 |
/** |
|
| 377 |
* @brief Common outro of the module stack initialization (MSI). |
|
| 378 |
* @details This function must be called on failure, success and if MSI is skipped. |
|
| 379 |
* |
|
| 380 |
* @param[in] msidata Pointer to the temporary data structure used during MSI. |
|
| 381 |
*/ |
|
| 382 |
void _msiOutro(aos_ssspmsidata_t* msidata) |
|
| 383 |
{
|
|
| 384 |
aosDbgCheck(msidata != NULL); |
|
| 385 |
|
|
| 386 |
// local variables |
|
| 387 |
eventmask_t mask = 0; |
|
| 388 |
|
|
| 389 |
// start the internal uptime aggregation |
|
| 390 |
chSysLock(); |
|
| 391 |
aosSysStartUptimeS(); |
|
| 392 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
|
| 393 |
// start toggling S for system synchronization |
|
| 394 |
_syncTimerStartS(); |
|
| 395 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 396 |
chSysUnlock(); |
|
| 397 |
|
|
| 398 |
// reset delay timer |
|
| 399 |
chVTIsArmed(&_delayTimer); |
|
| 400 |
// unregister delay events |
|
| 401 |
mask |= _delayEventListener.events; |
|
| 402 |
chEvtUnregister(&_delayEventSource, &_delayEventListener); |
|
| 403 |
|
|
| 404 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
|
| 405 |
// deactivate UP signal |
|
| 406 |
apalControlGpioSet(moduleSsspSignalUP(), APAL_GPIO_OFF); |
|
| 407 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
|
| 408 |
|
|
| 409 |
// reset timeout timer |
|
| 410 |
chVTReset(&msidata->timeout.timer); |
|
| 411 |
// unregister timeout events |
|
| 412 |
mask |= msidata->timeout.eventlistener.events; |
|
| 413 |
chEvtUnregister(&msidata->timeout.eventsource, &msidata->timeout.eventlistener); |
|
| 414 |
|
|
| 415 |
// discard any pending timing events |
|
| 416 |
chEvtWaitAnyTimeout(mask, TIME_IMMEDIATE); |
|
| 417 |
|
|
| 418 |
// proceed to operation phase |
|
| 419 |
aos.sssp.stage = AOS_SSSP_STAGE_OPERATION; |
|
| 420 |
|
|
| 421 |
return; |
|
| 422 |
} |
|
| 423 |
|
|
| 424 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
|
| 425 |
|
|
| 292 | 426 |
/******************************************************************************/ |
| 293 | 427 |
/* EXPORTED FUNCTIONS */ |
| 294 | 428 |
/******************************************************************************/ |
| ... | ... | |
| 300 | 434 |
{
|
| 301 | 435 |
aosDbgCheck(system_uptime != NULL); |
| 302 | 436 |
|
| 303 |
// local variables |
|
| 304 |
apalControlGpioState_t state; |
|
| 305 |
|
|
| 306 | 437 |
#if (AMIROOS_CFG_SSSP_STARTUP == true) |
| 307 | 438 |
// AMiRo-OS has to perform the basic initialization |
| 308 | 439 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_1_1; |
| ... | ... | |
| 311 | 442 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_2_1; |
| 312 | 443 |
#endif /* (AMIROOS_CFG_SSSP_STARTUP == true) */ |
| 313 | 444 |
|
| 445 |
// module ID is initialized as 'invalid' |
|
| 446 |
aos.sssp.moduleId = AOS_SSSP_MODULEID_INVALID; |
|
| 447 |
|
|
| 448 |
#if (AMIROOS_CFG_DBG == true) |
|
| 314 | 449 |
// check all SSSP signals for correct state |
| 315 |
apalControlGpioGet(&moduleSsspGpioS, &state); |
|
| 316 |
aosDbgAssert(state == APAL_GPIO_ON); |
|
| 317 |
apalControlGpioGet(&moduleSsspGpioPD, &state); |
|
| 318 |
aosDbgAssert(state == APAL_GPIO_OFF); |
|
| 450 |
{
|
|
| 451 |
apalControlGpioState_t state; |
|
| 452 |
apalControlGpioGet(moduleSsspSignalS(), &state); |
|
| 453 |
aosDbgAssert(state == APAL_GPIO_ON); |
|
| 454 |
apalControlGpioGet(moduleSsspSignalPD(), &state); |
|
| 455 |
aosDbgAssert(state == APAL_GPIO_OFF); |
|
| 319 | 456 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
| 320 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
|
| 321 |
apalControlGpioGet(&moduleSsspGpioUP, &state); |
|
| 322 |
aosDbgAssert(state == APAL_GPIO_OFF); |
|
| 323 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
|
| 324 | 457 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 325 |
apalControlGpioGet(&moduleSsspGpioDN, &state);
|
|
| 326 |
aosDbgAssert(state == APAL_GPIO_OFF); |
|
| 458 |
apalControlGpioGet(moduleSsspSignalDN(), &state);
|
|
| 459 |
aosDbgAssert(state == APAL_GPIO_OFF);
|
|
| 327 | 460 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
| 461 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
|
| 462 |
apalControlGpioGet(moduleSsspSignalUP(), &state); |
|
| 463 |
aosDbgAssert(state == APAL_GPIO_OFF); |
|
| 464 |
#endif /* (AMIROOS_CFG_SSSP_END_START != true) */ |
|
| 328 | 465 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 329 |
|
|
| 330 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
|
| 331 |
// module ID is initialized as 'invalid' |
|
| 332 |
aos.sssp.moduleId = AOS_SSSP_MODULEID_INVALID; |
|
| 333 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
|
| 466 |
} |
|
| 467 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
|
| 334 | 468 |
|
| 335 | 469 |
// initialize static variables |
| 336 | 470 |
_uptime = system_uptime; |
| ... | ... | |
| 342 | 476 |
_syncskew = 0.0f; |
| 343 | 477 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
| 344 | 478 |
chVTObjectInit(&_delayTimer); |
| 345 |
chEvtObjectInit(&_eventSourceDelay);
|
|
| 479 |
chEvtObjectInit(&_delayEventSource);
|
|
| 346 | 480 |
|
| 347 | 481 |
// signal interrupt setup |
| 348 |
palSetLineCallback(moduleSsspGpioPD.gpio->line, aosSysGetStdGpioCallback(), &moduleSsspGpioPD.gpio->line);
|
|
| 349 |
palEnableLineEvent(moduleSsspGpioPD.gpio->line, APAL2CH_EDGE(moduleSsspGpioPD.meta.edge));
|
|
| 482 |
palSetLineCallback(moduleSsspSignalPD()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalPD()->gpio->line);
|
|
| 483 |
palEnableLineEvent(moduleSsspSignalPD()->gpio->line, APAL2CH_EDGE(moduleSsspSignalPD()->meta.edge));
|
|
| 350 | 484 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 351 |
palSetLineCallback(moduleSsspGpioS.gpio->line, aosSysGetStdGpioCallback(), &moduleSsspGpioS.gpio->line);
|
|
| 485 |
palSetLineCallback(moduleSsspSignalS()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalS()->gpio->line);
|
|
| 352 | 486 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 353 |
palSetLineCallback(moduleSsspGpioS.gpio->line, _gpioCallbackSSignal, &moduleSsspGpioS.gpio->line);
|
|
| 487 |
palSetLineCallback(moduleSsspSignalS()->gpio->line, _gpioCallbackSSignal, &moduleSsspSignalS()->gpio->line);
|
|
| 354 | 488 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 355 |
palEnableLineEvent(moduleSsspGpioS.gpio->line, APAL2CH_EDGE(moduleSsspGpioS.meta.edge));
|
|
| 489 |
palEnableLineEvent(moduleSsspSignalS()->gpio->line, APAL2CH_EDGE(moduleSsspSignalS()->meta.edge));
|
|
| 356 | 490 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
| 357 | 491 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 358 |
palSetLineCallback(moduleSsspGpioDN.gpio->line, aosSysGetStdGpioCallback(), &moduleSsspGpioDN.gpio->line);
|
|
| 359 |
palEnableLineEvent(moduleSsspGpioDN.gpio->line, APAL2CH_EDGE(moduleSsspGpioDN.meta.edge));
|
|
| 492 |
palSetLineCallback(moduleSsspSignalDN()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalDN()->gpio->line);
|
|
| 493 |
palEnableLineEvent(moduleSsspSignalDN()->gpio->line, APAL2CH_EDGE(moduleSsspSignalDN()->meta.edge));
|
|
| 360 | 494 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
| 361 | 495 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 362 |
palSetLineCallback(moduleSsspGpioUP.gpio->line, aosSysGetStdGpioCallback(), &moduleSsspGpioUP.gpio->line);
|
|
| 363 |
palEnableLineEvent(moduleSsspGpioUP.gpio->line, APAL2CH_EDGE(moduleSsspGpioUP.meta.edge));
|
|
| 496 |
palSetLineCallback(moduleSsspSignalUP()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalUP()->gpio->line);
|
|
| 497 |
palEnableLineEvent(moduleSsspSignalUP()->gpio->line, APAL2CH_EDGE(moduleSsspSignalUP()->meta.edge));
|
|
| 364 | 498 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
| 365 | 499 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 366 | 500 |
|
| ... | ... | |
| 373 | 507 |
* The function aosSsspShutdownInit() must be used instead. |
| 374 | 508 |
* |
| 375 | 509 |
* @param[in] listener An optional listener, in case the system has to wait for a specific event. |
| 376 |
* @param[in] flags The relevant flags to wait for (mandatory if a listener is given). |
|
| 377 | 510 |
* @param[in] mask If the stage transition involves a timer event (handled internally by this function), |
| 378 | 511 |
* the given input value of this parameter defines the mask to be used for that event. |
| 379 | 512 |
* In case a listener was specified, the according mask is retrieved from the listener but this parameter is still used as input for sanity checks. |
| ... | ... | |
| 381 | 514 |
* |
| 382 | 515 |
* @return Status, indicating whether proceeding in the protocol was successful. |
| 383 | 516 |
*/ |
| 384 |
aos_status_t aosSsspProceed(event_listener_t* listener, eventflags_t flags, eventmask_t mask, eventmask_t* received)
|
|
| 517 |
aos_status_t aosSsspProceed(event_listener_t* listener, eventmask_t mask, eventmask_t* received) |
|
| 385 | 518 |
{
|
| 386 | 519 |
// local variables |
| 387 | 520 |
#pragma GCC diagnostic push |
| ... | ... | |
| 402 | 535 |
{
|
| 403 | 536 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 404 | 537 |
aosDbgCheck(listener == NULL); |
| 405 |
aosDbgCheck(flags == 0); |
|
| 406 | 538 |
aosDbgCheck(mask != 0); |
| 407 | 539 |
aosDbgCheck(received != NULL); |
| 408 | 540 |
|
| 409 | 541 |
// delay execution and deactivate the S signal on success |
| 410 |
if (_delay(AOS_SSSP_DELAY, mask, (laststage != AOS_SSSP_STAGE_STARTUP_1_1), received) == AOS_SUCCESS) {
|
|
| 411 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_OFF);
|
|
| 542 |
if (_delay(AOS_SSSP_DELAY, mask, received) == AOS_SUCCESS) {
|
|
| 543 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF);
|
|
| 412 | 544 |
nextstage = AOS_SSSP_STAGE_STARTUP_1_2; |
| 413 | 545 |
} |
| 414 | 546 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 415 | 547 |
aosDbgCheck(listener == NULL); |
| 416 |
aosDbgCheck(flags == 0); |
|
| 417 | 548 |
aosDbgCheck(mask == 0); |
| 418 | 549 |
aosDbgCheck(received == NULL); |
| 419 | 550 |
|
| 420 | 551 |
// deactivate S signal and proceed |
| 421 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_OFF);
|
|
| 552 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF);
|
|
| 422 | 553 |
nextstage = AOS_SSSP_STAGE_STARTUP_1_2; |
| 423 | 554 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 424 | 555 |
break; |
| ... | ... | |
| 430 | 561 |
case AOS_SSSP_STAGE_STARTUP_1_2: |
| 431 | 562 |
{
|
| 432 | 563 |
aosDbgCheck(listener != NULL); |
| 433 |
aosDbgCheck(flags != 0); |
|
| 434 | 564 |
aosDbgCheck(mask == listener->events); |
| 435 | 565 |
aosDbgCheck(received != NULL); |
| 436 | 566 |
|
| 437 | 567 |
// wait for the S signal to become inactive and proceed on success |
| 438 |
if (_waitForS(listener, flags, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
|
|
| 568 |
if (_waitForS(listener, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
|
|
| 439 | 569 |
nextstage = AOS_SSSP_STAGE_STARTUP_1_3; |
| 440 | 570 |
} |
| 441 | 571 |
break; |
| ... | ... | |
| 449 | 579 |
{
|
| 450 | 580 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 451 | 581 |
aosDbgCheck(listener == NULL); |
| 452 |
aosDbgCheck(flags == 0); |
|
| 453 | 582 |
aosDbgCheck(mask != 0); |
| 454 | 583 |
aosDbgCheck(received != NULL); |
| 455 | 584 |
|
| 456 | 585 |
// delay execution and deactivate the S signal on success |
| 457 |
if (_delay(AOS_SSSP_DELAY, mask, (laststage != AOS_SSSP_STAGE_STARTUP_1_3), received) == AOS_SUCCESS) {
|
|
| 458 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_ON);
|
|
| 586 |
if (_delay(AOS_SSSP_DELAY, mask, received) == AOS_SUCCESS) {
|
|
| 587 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON);
|
|
| 459 | 588 |
nextstage = AOS_SSSP_STAGE_STARTUP_2_1; |
| 460 | 589 |
} |
| 461 | 590 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 462 | 591 |
aosDbgCheck(listener != NULL); |
| 463 |
aosDbgCheck(flags != 0); |
|
| 464 | 592 |
aosDbgCheck(mask == listener->events); |
| 465 | 593 |
aosDbgCheck(received != NULL); |
| 466 | 594 |
|
| 467 | 595 |
// wait for the S signal to become active and activate it as well and proceed on success |
| 468 |
if (_waitForS(listener, flags, APAL_GPIO_ON, received) == AOS_SUCCESS) {
|
|
| 469 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_ON);
|
|
| 596 |
if (_waitForS(listener, APAL_GPIO_ON, received) == AOS_SUCCESS) {
|
|
| 597 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON);
|
|
| 470 | 598 |
nextstage = AOS_SSSP_STAGE_STARTUP_2_1; |
| 471 | 599 |
} |
| 472 | 600 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| ... | ... | |
| 483 | 611 |
{
|
| 484 | 612 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 485 | 613 |
aosDbgCheck(listener == NULL); |
| 486 |
aosDbgCheck(flags == 0); |
|
| 487 | 614 |
aosDbgCheck(mask != 0); |
| 488 | 615 |
aosDbgCheck(received != NULL); |
| 489 | 616 |
|
| 490 | 617 |
// delay execution and deactivate the S signal on success |
| 491 |
if (_delay(AOS_SSSP_DELAY, mask, (laststage != AOS_SSSP_STAGE_STARTUP_2_1), received) == AOS_SUCCESS) {
|
|
| 492 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_OFF);
|
|
| 618 |
if (_delay(AOS_SSSP_DELAY, mask, received) == AOS_SUCCESS) {
|
|
| 619 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF);
|
|
| 493 | 620 |
nextstage = AOS_SSSP_STAGE_STARTUP_2_2; |
| 621 |
} else {
|
|
| 622 |
aosprintf(".");
|
|
| 494 | 623 |
} |
| 495 | 624 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 496 | 625 |
aosDbgCheck(listener == NULL); |
| 497 |
aosDbgCheck(flags == 0); |
|
| 498 | 626 |
aosDbgCheck(mask == 0); |
| 499 | 627 |
aosDbgCheck(received == NULL); |
| 500 | 628 |
|
| 501 | 629 |
// deactivate S signal and proceed |
| 502 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_OFF);
|
|
| 630 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF);
|
|
| 503 | 631 |
nextstage = AOS_SSSP_STAGE_STARTUP_2_2; |
| 504 | 632 |
mask = 0; |
| 505 | 633 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| ... | ... | |
| 513 | 641 |
case AOS_SSSP_STAGE_STARTUP_2_2: |
| 514 | 642 |
{
|
| 515 | 643 |
aosDbgCheck(listener != NULL); |
| 516 |
aosDbgCheck(flags != 0); |
|
| 517 | 644 |
aosDbgCheck(mask == listener->events); |
| 518 | 645 |
aosDbgCheck(received != NULL); |
| 519 | 646 |
|
| 520 | 647 |
// wait for the S signal to become inactive and proceed on success |
| 521 |
if (_waitForS(listener, flags, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
|
|
| 648 |
if (_waitForS(listener, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
|
|
| 522 | 649 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
| 523 | 650 |
nextstage = AOS_SSSP_STAGE_STARTUP_3; |
| 524 | 651 |
#else /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 525 |
chSysLock(); |
|
| 526 | 652 |
// start the internal uptime aggregation |
| 653 |
chSysLock(); |
|
| 527 | 654 |
aosSysStartUptimeS(); |
| 528 | 655 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 529 | 656 |
// start toggling S for system synchronization |
| ... | ... | |
| 536 | 663 |
break; |
| 537 | 664 |
} |
| 538 | 665 |
|
| 539 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
|
| 540 |
|
|
| 541 |
//TODO |
|
| 542 |
|
|
| 543 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
|
| 666 |
/* |
|
| 667 |
* PLEASE NOTE: |
|
| 668 |
* Stage transitions during MSI are not hanlded by thins function but are executed in aosSsspMsi(). |
|
| 669 |
*/ |
|
| 544 | 670 |
|
| 545 | 671 |
/* |
| 546 | 672 |
* Invalid operation. |
| ... | ... | |
| 560 | 686 |
case AOS_SSSP_STAGE_SHUTDOWN_1_2: |
| 561 | 687 |
{
|
| 562 | 688 |
aosDbgCheck(listener == NULL); |
| 563 |
aosDbgCheck(flags == 0); |
|
| 564 | 689 |
aosDbgCheck(mask == 0); |
| 565 | 690 |
aosDbgCheck(received == NULL); |
| 566 | 691 |
|
| 567 | 692 |
// delay execution |
| 568 | 693 |
aosThdUSleep(AOS_SSSP_DELAY); |
| 569 | 694 |
// deactivate S signal |
| 570 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_OFF);
|
|
| 695 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF);
|
|
| 571 | 696 |
nextstage = AOS_SSSP_STAGE_SHUTDOWN_1_3; |
| 572 | 697 |
break; |
| 573 | 698 |
} |
| ... | ... | |
| 580 | 705 |
case AOS_SSSP_STAGE_SHUTDOWN_1_3: |
| 581 | 706 |
{
|
| 582 | 707 |
aosDbgCheck(listener != NULL); |
| 583 |
aosDbgCheck(flags != 0); |
|
| 584 | 708 |
aosDbgCheck(mask == listener->events); |
| 585 | 709 |
aosDbgCheck(received != NULL); |
| 586 | 710 |
|
| 587 | 711 |
// wait for the S signal to become inactive and proceed on success |
| 588 |
if (_waitForS(listener, flags, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
|
|
| 712 |
if (_waitForS(listener, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
|
|
| 589 | 713 |
nextstage = AOS_SSSP_STAGE_SHUTDOWN_2_1; |
| 590 | 714 |
} |
| 591 | 715 |
break; |
| ... | ... | |
| 598 | 722 |
case AOS_SSSP_STAGE_SHUTDOWN_2_1: |
| 599 | 723 |
{
|
| 600 | 724 |
aosDbgCheck(listener == NULL); |
| 601 |
aosDbgCheck(flags == 0); |
|
| 602 | 725 |
aosDbgCheck(mask == 0); |
| 603 | 726 |
aosDbgCheck(received != NULL); |
| 604 | 727 |
|
| 605 | 728 |
// evaluate PD signal |
| 606 | 729 |
apalControlGpioState_t pd; |
| 607 |
apalControlGpioGet(&moduleSsspGpioPD, &pd);
|
|
| 730 |
apalControlGpioGet(moduleSsspSignalPD(), &pd);
|
|
| 608 | 731 |
*received = (pd == APAL_GPIO_ON) ? (eventmask_t)~0 : 0; |
| 609 | 732 |
nextstage = AOS_SSSP_STAGE_SHUTDOWN_2_2; |
| 610 | 733 |
break; |
| ... | ... | |
| 616 | 739 |
case AOS_SSSP_STAGE_SHUTDOWN_2_2: |
| 617 | 740 |
{
|
| 618 | 741 |
aosDbgCheck(listener == NULL); |
| 619 |
aosDbgCheck(flags == 0); |
|
| 620 | 742 |
aosDbgCheck(mask == 0); |
| 621 | 743 |
aosDbgCheck(received == NULL); |
| 622 | 744 |
|
| ... | ... | |
| 642 | 764 |
return status; |
| 643 | 765 |
} |
| 644 | 766 |
|
| 767 |
#if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
|
| 768 |
|
|
| 769 |
/** |
|
| 770 |
* @brief Initialize MSI data structure. |
|
| 771 |
* |
|
| 772 |
* @param[out] msidata Pointer to the MSI data structure to be initialized. |
|
| 773 |
* @param[in] delayMask Event maks used for delay events. |
|
| 774 |
* @param[in] timeoutMask Event mask used for timeout events. |
|
| 775 |
* @param[in] gpioListener Event listener for GPIO events. |
|
| 776 |
*/ |
|
| 777 |
void aosSsspMsiInit(aos_ssspmsidata_t* msidata, eventmask_t delayMask, eventmask_t timeoutMask, event_listener_t* gpioListener) |
|
| 778 |
{
|
|
| 779 |
aosDbgCheck(msidata != NULL); |
|
| 780 |
aosDbgCheck(gpioListener != NULL); |
|
| 781 |
|
|
| 782 |
// register delay events |
|
| 783 |
chEvtRegisterMask(&_delayEventSource, &_delayEventListener, delayMask); |
|
| 784 |
|
|
| 785 |
// initialize timeout related data |
|
| 786 |
chVTObjectInit(&msidata->timeout.timer); |
|
| 787 |
chEvtObjectInit(&msidata->timeout.eventsource); |
|
| 788 |
chEvtRegisterMask(&msidata->timeout.eventsource, &msidata->timeout.eventlistener, timeoutMask); |
|
| 789 |
|
|
| 790 |
// set GPIO event information |
|
| 791 |
msidata->signals.eventlistener = gpioListener; |
|
| 792 |
|
|
| 793 |
// initialize BCB related data |
|
| 794 |
msidata->bcb.lastid = AOS_SSSP_MODULEID_INVALID; |
|
| 795 |
|
|
| 796 |
return; |
|
| 797 |
} |
|
| 798 |
|
|
| 799 |
/** |
|
| 800 |
* @brief Execute module stack initialization (MSI). |
|
| 801 |
* |
|
| 802 |
* @param[in] msidata Data required for MSI. |
|
| 803 |
* @param[out] received Output variable to store the received event mask to. |
|
| 804 |
*/ |
|
| 805 |
void aosSsspMsi(aos_ssspmsidata_t* msidata, eventmask_t* received) |
|
| 806 |
{
|
|
| 807 |
aosDbgCheck(msidata != NULL); |
|
| 808 |
aosDbgCheck(received != NULL); |
|
| 809 |
|
|
| 810 |
/* |
|
| 811 |
* execute anything that does not depend on BCB messages or events |
|
| 812 |
*/ |
|
| 813 |
switch (aos.sssp.stage) {
|
|
| 814 |
case AOS_SSSP_STAGE_STARTUP_3: |
|
| 815 |
case AOS_SSSP_STAGE_STARTUP_3_1: |
|
| 816 |
{
|
|
| 817 |
aosDbgPrintf(">>> MSI init\n");
|
|
| 818 |
// setup timeout timer |
|
| 819 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
|
| 820 |
// proceed |
|
| 821 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
|
| 822 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_1_BROADCASTINIT; |
|
| 823 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 824 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_1_WAITFORINIT; |
|
| 825 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 826 |
break; |
|
| 827 |
} |
|
| 828 |
|
|
| 829 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
|
| 830 |
case AOS_SSSP_STAGE_STARTUP_3_1_BROADCASTINIT: |
|
| 831 |
{
|
|
| 832 |
aosDbgPrintf("%u\tsend INIT\t", chVTGetSystemTime());
|
|
| 833 |
// send init command |
|
| 834 |
msidata->bcb.message.type = AOS_SSSP_BCBMESSAGE_MSIINIT; |
|
| 835 |
_serializeBcbMessage(msidata->bcb.buffer, msidata->bcb.message); |
|
| 836 |
if (moduleSsspBcbTransmit(msidata->bcb.buffer, sizeof(aos_ssspbcbmessage_t)) == AOS_SSSP_BCB_SUCCESS) {
|
|
| 837 |
aosDbgPrintf("ok\tS+\t");
|
|
| 838 |
// activate S |
|
| 839 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
|
| 840 |
// restart timeout timer |
|
| 841 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
|
| 842 |
// proceed |
|
| 843 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
|
| 844 |
aosDbgPrintf("->start\n");
|
|
| 845 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_2; |
|
| 846 |
#else /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
|
| 847 |
aosDbgPrintf("->count\n");
|
|
| 848 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT; |
|
| 849 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
|
| 850 |
} else {
|
|
| 851 |
aosDbgPrintf("fail\t->retry\n");
|
|
| 852 |
// retry in next iteration |
|
| 853 |
} |
|
| 854 |
break; |
|
| 855 |
} |
|
| 856 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 857 |
|
|
| 858 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
|
| 859 |
case AOS_SSSP_STAGE_STARTUP_3_2: |
|
| 860 |
{
|
|
| 861 |
aosDbgPrintf("%u\tstart\t", chVTGetSystemTime());
|
|
| 862 |
// set the own module ID |
|
| 863 |
aos.sssp.moduleId = 1; |
|
| 864 |
// broadcast the new ID |
|
| 865 |
msidata->bcb.message.type = AOS_SSSP_BCBMESSAGE_MSIID; |
|
| 866 |
msidata->bcb.message.payload.id = aos.sssp.moduleId; |
|
| 867 |
aosDbgPrintf("bc ID (%u)\t", msidata->bcb.message.payload.id);
|
|
| 868 |
_serializeBcbMessage(msidata->bcb.buffer, msidata->bcb.message); |
|
| 869 |
if (moduleSsspBcbTransmit(msidata->bcb.buffer, sizeof(aos_ssspbcbmessage_t)) == AOS_SSSP_BCB_SUCCESS) {
|
|
| 870 |
aosDbgPrintf("ok\t->count\n");
|
|
| 871 |
// restart timeout timer |
|
| 872 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
|
| 873 |
// set delay timer so UP will be activated and S deactivated later |
|
| 874 |
chVTSet(&_delayTimer, chTimeUS2I(AOS_SSSP_DELAY), _timerCallback, &_delayEventSource); |
|
| 875 |
// store the transmitted ID |
|
| 876 |
msidata->bcb.lastid = msidata->bcb.message.payload.id; |
|
| 877 |
// proceed |
|
| 878 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT; |
|
| 879 |
} else {
|
|
| 880 |
aosDbgPrintf("fail\t->retry\n");
|
|
| 881 |
// retry next iteration |
|
| 882 |
} |
|
| 883 |
break; |
|
| 884 |
} |
|
| 885 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
|
| 886 |
|
|
| 887 |
case AOS_SSSP_STAGE_STARTUP_3_3_BROADCASTID: |
|
| 888 |
{
|
|
| 889 |
// broadcast ID |
|
| 890 |
msidata->bcb.message.type = AOS_SSSP_BCBMESSAGE_MSIID; |
|
| 891 |
msidata->bcb.message.payload.id = aos.sssp.moduleId; |
|
| 892 |
aosDbgPrintf("%u\tbc ID (%u)\t", chVTGetSystemTime(), msidata->bcb.message.payload.id);
|
|
| 893 |
_serializeBcbMessage(msidata->bcb.buffer, msidata->bcb.message); |
|
| 894 |
if (moduleSsspBcbTransmit(msidata->bcb.buffer, sizeof(aos_ssspbcbmessage_t)) == AOS_SSSP_BCB_SUCCESS) {
|
|
| 895 |
aosDbgPrintf("ok->count\n");
|
|
| 896 |
// restart timeout timer |
|
| 897 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
|
| 898 |
// set delay timer so UP will be activated and S deactivated later |
|
| 899 |
chVTSet(&_delayTimer, chTimeUS2I(AOS_SSSP_DELAY), _timerCallback, &_delayEventSource); |
|
| 900 |
// store the transmitted ID |
|
| 901 |
msidata->bcb.lastid = msidata->bcb.message.payload.id; |
|
| 902 |
// return to receiving |
|
| 903 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT; |
|
| 904 |
} else {
|
|
| 905 |
aosDbgPrintf("fail\t->retry\n");
|
|
| 906 |
// retry next iteration |
|
| 907 |
} |
|
| 908 |
break; |
|
| 909 |
} |
|
| 910 |
|
|
| 911 |
case AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT: |
|
| 912 |
{
|
|
| 913 |
aosDbgPrintf("%u\tabort\t", chVTGetSystemTime());
|
|
| 914 |
// reset timeout timer |
|
| 915 |
chVTReset(&msidata->timeout.timer); |
|
| 916 |
// transmit abort message |
|
| 917 |
msidata->bcb.message.type = AOS_SSSP_BCBMESSAGE_MSIABORT; |
|
| 918 |
_serializeBcbMessage(msidata->bcb.buffer, msidata->bcb.message); |
|
| 919 |
if (moduleSsspBcbTransmit(msidata->bcb.buffer, sizeof(aos_ssspbcbmessage_t)) == AOS_SSSP_BCB_SUCCESS) {
|
|
| 920 |
aosDbgPrintf("ok\tS-\t->sync\n");
|
|
| 921 |
// deactivate S |
|
| 922 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
|
| 923 |
// proceed |
|
| 924 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_SYNC; |
|
| 925 |
} else {
|
|
| 926 |
aosDbgPrintf("fail\t->retry\n");
|
|
| 927 |
// retry next iteration |
|
| 928 |
} |
|
| 929 |
break; |
|
| 930 |
} |
|
| 931 |
|
|
| 932 |
default: |
|
| 933 |
{
|
|
| 934 |
// all other stages depend on events or BCB messages and are thus handled below |
|
| 935 |
break; |
|
| 936 |
} |
|
| 937 |
} |
|
| 938 |
|
|
| 939 |
/* |
|
| 940 |
* handle BCB messages |
|
| 941 |
*/ |
|
| 942 |
msidata->bcb.status = moduleSsspBcbReceive(msidata->bcb.buffer, sizeof(aos_ssspbcbmessage_t)); |
|
| 943 |
switch (msidata->bcb.status) {
|
|
| 944 |
|
|
| 945 |
/* VALID BCB MESSAGE |
|
| 946 |
* A message was received via BCB that seems to be plausible. |
|
| 947 |
* The first BCB message initiates the sequence once. |
|
| 948 |
* During MSI an arbitrary number of IDs will be received. |
|
| 949 |
* Abort messages can be received at any time. |
|
| 950 |
*/ |
|
| 951 |
case AOS_SSSP_BCB_SUCCESS: |
|
| 952 |
{
|
|
| 953 |
aosDbgPrintf("%u\tBCB\t", chVTGetSystemTime());
|
|
| 954 |
// deserialize message and handle types differently |
|
| 955 |
_deserializeBcbMessage(&msidata->bcb.message, msidata->bcb.buffer); |
|
| 956 |
switch (msidata->bcb.message.type) {
|
|
| 957 |
// initialization message |
|
| 958 |
case AOS_SSSP_BCBMESSAGE_MSIINIT: |
|
| 959 |
{
|
|
| 960 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
|
| 961 |
aosDbgPrintf("INIT\t->abort\n");
|
|
| 962 |
// initiate abortion |
|
| 963 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
|
| 964 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 965 |
aosDbgPrintf("INIT\t");
|
|
| 966 |
// check for correct SSSP stage |
|
| 967 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_1_WAITFORINIT) {
|
|
| 968 |
aosDbgPrintf("S+\t");
|
|
| 969 |
// activate S |
|
| 970 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
|
| 971 |
// restart timeout timer |
|
| 972 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
|
| 973 |
// proceed |
|
| 974 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
|
| 975 |
aosDbgPrintf("->start\n");
|
|
| 976 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_2; |
|
| 977 |
#else /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
|
| 978 |
aosDbgPrintf("->count\n");
|
|
| 979 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT; |
|
| 980 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
|
| 981 |
} else {
|
|
| 982 |
aosDbgPrintf("->abort\n");
|
|
| 983 |
// initiate abortion |
|
| 984 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
|
| 985 |
} |
|
| 986 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 987 |
break; |
|
| 988 |
} |
|
| 989 |
// ID message |
|
| 990 |
case AOS_SSSP_BCBMESSAGE_MSIID: |
|
| 991 |
{
|
|
| 992 |
aosDbgPrintf("ID (%u)\t", msidata->bcb.message.payload.id);
|
|
| 993 |
// check for correct stage and whether ID was increased |
|
| 994 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT && |
|
| 995 |
msidata->bcb.message.payload.id > msidata->bcb.lastid) {
|
|
| 996 |
aosDbgPrintf("ok\n");
|
|
| 997 |
// restart timeout timer |
|
| 998 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
|
| 999 |
// store ID |
|
| 1000 |
msidata->bcb.lastid = msidata->bcb.message.payload.id; |
|
| 1001 |
} else {
|
|
| 1002 |
aosDbgPrintf("fail\t->abort\n");
|
|
| 1003 |
// initiate abortion |
|
| 1004 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
|
| 1005 |
} |
|
| 1006 |
break; |
|
| 1007 |
} |
|
| 1008 |
// abort message |
|
| 1009 |
case AOS_SSSP_BCBMESSAGE_MSIABORT: |
|
| 1010 |
{
|
|
| 1011 |
aosDbgPrintf("ABORT\tS-\t->sync\n");
|
|
| 1012 |
// reset timeout timer |
|
| 1013 |
chVTReset(&msidata->timeout.timer); |
|
| 1014 |
// deactivate S |
|
| 1015 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
|
| 1016 |
// proceed to abort synchronization |
|
| 1017 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_SYNC; |
|
| 1018 |
break; |
|
| 1019 |
} |
|
| 1020 |
// invalid message |
|
| 1021 |
default: |
|
| 1022 |
{
|
|
| 1023 |
aosDbgPrintf("invalid\t->abort\n");
|
|
| 1024 |
// initiate abortion |
|
| 1025 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
|
| 1026 |
break; |
|
| 1027 |
} |
|
| 1028 |
} |
|
| 1029 |
return; |
|
| 1030 |
} |
|
| 1031 |
|
|
| 1032 |
/* INVALID BCB MESSAGE |
|
| 1033 |
* An obviously invalid message was received via BCB. |
|
| 1034 |
*/ |
|
| 1035 |
case AOS_SSSP_BCB_INVALIDMSG: |
|
| 1036 |
{
|
|
| 1037 |
// error but ignore |
|
| 1038 |
aosDbgPrintf("WARNING: unknown message received via BCB\n");
|
|
| 1039 |
break; |
|
| 1040 |
} |
|
| 1041 |
|
|
| 1042 |
/* NO BCB MESSAGE |
|
| 1043 |
* No message was received via BCB at all. |
|
| 1044 |
*/ |
|
| 1045 |
case AOS_SSSP_BCB_ERROR: |
|
| 1046 |
{
|
|
| 1047 |
// do nothing and proceed |
|
| 1048 |
break; |
|
| 1049 |
} |
|
| 1050 |
} |
|
| 1051 |
|
|
| 1052 |
/* |
|
| 1053 |
* handle events |
|
| 1054 |
*/ |
|
| 1055 |
*received = chEvtWaitOneTimeout(ALL_EVENTS, TIME_IMMEDIATE); |
|
| 1056 |
/* TIMEOUT EVENT |
|
| 1057 |
* Timeouts can occur at any time during MSI after they have been initialized. |
|
| 1058 |
* As soon as the module has made it to the 3.4 completion stage, there will be no more timeouts, though. |
|
| 1059 |
*/ |
|
| 1060 |
if (*received & msidata->timeout.eventlistener.events) {
|
|
| 1061 |
aosDbgPrintf("%u\ttimeout\t", chVTGetSystemTime());
|
|
| 1062 |
// special cases |
|
| 1063 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_1_WAITFORINIT || |
|
| 1064 |
aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION) {
|
|
| 1065 |
// master did not initiate the sequence |
|
| 1066 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_1_WAITFORINIT) {
|
|
| 1067 |
aosDbgPrintf("no init\t->operation\n");
|
|
| 1068 |
// invalidate module ID |
|
| 1069 |
aos.sssp.moduleId = AOS_SSSP_MODULEID_INVALID; |
|
| 1070 |
aosDbgPrintf("<<< MSI skipped\n");
|
|
| 1071 |
} |
|
| 1072 |
// no abort messages received after completion |
|
| 1073 |
else /* if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION) */ {
|
|
| 1074 |
aosDbgPrintf("success\t->operation\n");
|
|
| 1075 |
aosDbgPrintf("<<< MSI completed\n");
|
|
| 1076 |
} |
|
| 1077 |
// cleanup and proceed to operation phase |
|
| 1078 |
_msiOutro(msidata); |
|
| 1079 |
} |
|
| 1080 |
// general timeout |
|
| 1081 |
else {
|
|
| 1082 |
aosDbgPrintf("->abort\n");
|
|
| 1083 |
// initiate active abort |
|
| 1084 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
|
| 1085 |
} |
|
| 1086 |
// clear event |
|
| 1087 |
chEvtGetAndClearFlags(&msidata->timeout.eventlistener); |
|
| 1088 |
*received &= ~(msidata->timeout.eventlistener.events); |
|
| 1089 |
} |
|
| 1090 |
/* DELAY EVENT |
|
| 1091 |
* Delays are only used to toggle the UP signal. |
|
| 1092 |
*/ |
|
| 1093 |
else if (*received & _delayEventListener.events) {
|
|
| 1094 |
aosDbgPrintf("%u\tdelay\t", chVTGetSystemTime());
|
|
| 1095 |
#if (AMIROOS_CFG_SSSP_STACK_END == true) |
|
| 1096 |
apalControlGpioState_t s; |
|
| 1097 |
aosDbgPrintf("S-\t");
|
|
| 1098 |
// deactivate S |
|
| 1099 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
|
| 1100 |
// verify deactivation |
|
| 1101 |
apalControlGpioGet(moduleSsspSignalS(), &s); |
|
| 1102 |
if (s == APAL_GPIO_OFF) {
|
|
| 1103 |
aosDbgPrintf("ok\t->done\n");
|
|
| 1104 |
// set the timeout timer so no abort messages are missed |
|
| 1105 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
|
| 1106 |
// proceed to the completion stage |
|
| 1107 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION; |
|
| 1108 |
} else {
|
|
| 1109 |
aosDbgPrintf("fail\t->abort\n");
|
|
| 1110 |
// initiate active abort |
|
| 1111 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
|
| 1112 |
} |
|
| 1113 |
#else /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
|
| 1114 |
apalControlGpioState_t s; |
|
| 1115 |
// read the current state of the UP signal |
|
| 1116 |
apalControlGpioGet(moduleSsspSignalUP(), &s); |
|
| 1117 |
if (s == APAL_GPIO_OFF) {
|
|
| 1118 |
aosDbgPrintf("UP+ & S-\n");
|
|
| 1119 |
// activate UP in order to trigger the next module |
|
| 1120 |
apalControlGpioSet(moduleSsspSignalUP(), APAL_GPIO_ON); |
|
| 1121 |
// deactivate S |
|
| 1122 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
|
| 1123 |
// set the delay timer so the UP signal will get deactivated again later |
|
| 1124 |
chVTSet(&_delayTimer, chTimeUS2I(AOS_SSSP_DELAY), _timerCallback, &_delayEventSource); |
|
| 1125 |
} else {
|
|
| 1126 |
aosDbgPrintf("UP-\n");
|
|
| 1127 |
// deactvate UP |
|
| 1128 |
apalControlGpioSet(moduleSsspSignalUP(), APAL_GPIO_OFF); |
|
| 1129 |
} |
|
| 1130 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
|
| 1131 |
// clear event |
|
| 1132 |
chEvtGetAndClearFlags(&_delayEventListener); |
|
| 1133 |
*received &= ~(_delayEventListener.events); |
|
| 1134 |
} |
|
| 1135 |
/* GPIO EVENT |
|
| 1136 |
* GPIO events can occurr at any time, but only DN and S events are expected. |
|
| 1137 |
* DN may be activated only once per module to trigger the counting process and is deactivated briefly after activation. |
|
| 1138 |
* S must only deactivate when MSI is comleted by the last module in the stack. |
|
| 1139 |
*/ |
|
| 1140 |
else if (*received & msidata->signals.eventlistener->events) {
|
|
| 1141 |
aosDbgPrintf("%u\tGPIO\t", chVTGetSystemTime());
|
|
| 1142 |
apalControlGpioState_t s; |
|
| 1143 |
// fetch event flags |
|
| 1144 |
eventflags_t flags = chEvtGetAndClearFlags(msidata->signals.eventlistener); |
|
| 1145 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
|
| 1146 |
// if the DN signal was triggered |
|
| 1147 |
if (flags & moduleSsspEventflagDN()) {
|
|
| 1148 |
// read the signal state |
|
| 1149 |
apalControlGpioGet(moduleSsspSignalDN(), &s); |
|
| 1150 |
// rising edge |
|
| 1151 |
if (s == APAL_GPIO_ON) {
|
|
| 1152 |
aosDbgPrintf("+DN\t");
|
|
| 1153 |
// Correct SSSP stage and no ID assigned yet? |
|
| 1154 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT && |
|
| 1155 |
aos.sssp.moduleId == AOS_SSSP_MODULEID_INVALID) {
|
|
| 1156 |
// set the own module ID |
|
| 1157 |
aos.sssp.moduleId = msidata->bcb.lastid + 1; |
|
| 1158 |
aosDbgPrintf("set ID (%u)\t->bc ID\n", aos.sssp.moduleId);
|
|
| 1159 |
// proceed to broadcasting |
|
| 1160 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_3_BROADCASTID; |
|
| 1161 |
} |
|
| 1162 |
// incorrect SSSP stage or ID already assigned (triggered for a second time) |
|
| 1163 |
else {
|
|
| 1164 |
aosDbgPrintf("->abort\n");
|
|
| 1165 |
// initiate active abort |
|
| 1166 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
|
| 1167 |
} |
|
| 1168 |
} |
|
| 1169 |
// falling egde |
|
| 1170 |
else {
|
|
| 1171 |
aosDbgPrintf("-DN\n");
|
|
| 1172 |
// ignored |
|
| 1173 |
} |
|
| 1174 |
// clear DN flags |
|
| 1175 |
flags &= ~moduleSsspEventflagDN(); |
|
| 1176 |
} |
|
| 1177 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
|
| 1178 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
|
| 1179 |
// if the UP signal was triggered |
|
| 1180 |
if (flags & moduleSsspEventflagUP()) {
|
|
| 1181 |
/* |
|
| 1182 |
* The UP signal is acting as output only. |
|
| 1183 |
* Any events resulting from toggling the signal are thus ignored. |
|
| 1184 |
*/ |
|
| 1185 |
aosDbgPrintf("?UP\n");
|
|
| 1186 |
// clear UP flags |
|
| 1187 |
flags &= ~moduleSsspEventflagUP(); |
|
| 1188 |
} |
|
| 1189 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
|
| 1190 |
// if the S signal was triggered |
|
| 1191 |
if (flags & moduleSsspEventflagS()) {
|
|
| 1192 |
// read the signal state |
|
| 1193 |
apalControlGpioGet(moduleSsspSignalS(), &s); |
|
| 1194 |
// rising edge |
|
| 1195 |
if (s == APAL_GPIO_ON) {
|
|
| 1196 |
aosDbgPrintf("+S\n");
|
|
| 1197 |
// ignored |
|
| 1198 |
} |
|
| 1199 |
// falling edge |
|
| 1200 |
else {
|
|
| 1201 |
aosDbgPrintf("-S\t");
|
|
| 1202 |
// special case |
|
| 1203 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_SYNC) {
|
|
| 1204 |
aosDbgPrintf("->operation\n");
|
|
| 1205 |
// invalidate module ID |
|
| 1206 |
aos.sssp.moduleId = AOS_SSSP_MODULEID_INVALID; |
|
| 1207 |
// proceed |
|
| 1208 |
aosDbgPrintf("<<< MSI aborted\n");
|
|
| 1209 |
_msiOutro(msidata); |
|
| 1210 |
} |
|
| 1211 |
#if (AMIROOS_CFG_SSSP_STACK_END == true) |
|
| 1212 |
// Correct SSSP stage? |
|
| 1213 |
else if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION) {
|
|
| 1214 |
aosDbgPrintf("ok\n");
|
|
| 1215 |
// ignored |
|
| 1216 |
} else {
|
|
| 1217 |
aosDbgPrintf("->abort\n");
|
|
| 1218 |
// initialize abortion |
|
| 1219 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
|
| 1220 |
} |
|
| 1221 |
#else /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
|
| 1222 |
// Correct SSSP stage and ID assigned? |
|
| 1223 |
else if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT && |
|
| 1224 |
aos.sssp.moduleId != AOS_SSSP_MODULEID_INVALID) {
|
|
| 1225 |
aosDbgPrintf("->done\n");
|
|
| 1226 |
// set the timeout timer so no abort messages are missed |
|
| 1227 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
|
| 1228 |
// proceed to the completion stage |
|
| 1229 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION; |
|
| 1230 |
} else {
|
|
| 1231 |
aosDbgPrintf("->abort\n");
|
|
| 1232 |
// initiate abortion |
|
| 1233 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
|
| 1234 |
} |
|
| 1235 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
|
| 1236 |
} |
|
| 1237 |
// clear S flags |
|
| 1238 |
flags &= ~moduleSsspEventflagS(); |
|
| 1239 |
} |
|
| 1240 |
// any further flags set? |
|
| 1241 |
if (flags) {
|
|
| 1242 |
aosDbgPrintf("0x%08X\n", flags);
|
|
| 1243 |
// reassign remaining flags and do not clear event mask |
|
| 1244 |
msidata->signals.eventlistener->flags |= flags; |
|
| 1245 |
} else {
|
|
| 1246 |
// clear event |
|
| 1247 |
*received &= ~(msidata->signals.eventlistener->events); |
|
| 1248 |
} |
|
| 1249 |
} |
|
| 1250 |
/* OTHER EVENT |
|
| 1251 |
* Any other events may occur as well but are not handled by this function |
|
| 1252 |
*/ |
|
| 1253 |
else if (*received != 0){
|
|
| 1254 |
aosDbgPrintf("%u\tOTHER\t0x%08X\n", chVTGetSystemTime(), *received);
|
|
| 1255 |
// do not clear the event mask |
|
| 1256 |
} |
|
| 1257 |
|
|
| 1258 |
return; |
|
| 1259 |
} |
|
| 1260 |
|
|
| 1261 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
|
| 1262 |
|
|
| 1263 |
#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
|
| 1264 |
|
|
| 1265 |
/** |
|
| 1266 |
* @brief Retreive the offset between local clock and system synchronization signal. |
|
| 1267 |
* |
|
| 1268 |
* @return |
|
| 1269 |
*/ |
|
| 1270 |
inline float aosSsspGetSyncSkew(void) |
|
| 1271 |
{
|
|
| 1272 |
return _syncskew; |
|
| 1273 |
} |
|
| 1274 |
|
|
| 1275 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
|
| 1276 |
|
|
| 645 | 1277 |
/** |
| 646 | 1278 |
* @brief Leave the operation pahse and initiate or acknowledge shutdown. |
| 647 | 1279 |
* |
| ... | ... | |
| 656 | 1288 |
|
| 657 | 1289 |
// activate PD if this was an active shutdown initiation |
| 658 | 1290 |
if (active) {
|
| 659 |
apalControlGpioSet(&moduleSsspGpioPD, APAL_GPIO_ON);
|
|
| 1291 |
apalControlGpioSet(moduleSsspSignalPD(), APAL_GPIO_ON);
|
|
| 660 | 1292 |
} |
| 661 | 1293 |
|
| 662 | 1294 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| ... | ... | |
| 665 | 1297 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 666 | 1298 |
|
| 667 | 1299 |
// activate S |
| 668 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_ON);
|
|
| 1300 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON);
|
|
| 669 | 1301 |
|
| 670 | 1302 |
// proceed in the shutdown phase |
| 671 | 1303 |
aos.sssp.stage = AOS_SSSP_STAGE_SHUTDOWN_1_2; |
| ... | ... | |
| 690 | 1322 |
aosThdUSleep(AOS_SSSP_DELAY); |
| 691 | 1323 |
|
| 692 | 1324 |
// activate S for one AOS_SSSP_DELAY. |
| 693 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_ON);
|
|
| 1325 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON);
|
|
| 694 | 1326 |
aosThdUSleep(AOS_SSSP_DELAY); |
| 695 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_OFF);
|
|
| 1327 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF);
|
|
| 696 | 1328 |
} |
| 697 | 1329 |
} |
| 698 | 1330 |
|
| ... | ... | |
| 728 | 1360 |
|
| 729 | 1361 |
// arm the timer once |
| 730 | 1362 |
if (!chVTIsArmed(&_delayTimer)) {
|
| 731 |
chEvtRegisterMask(&_eventSourceDelay, &_eventListenerDelay, timermask);
|
|
| 732 |
chVTSet(&_delayTimer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &_eventSourceDelay);
|
|
| 1363 |
chEvtRegisterMask(&_delayEventSource, &_delayEventListener, timermask);
|
|
| 1364 |
chVtSet(&_delayTimer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &_delayEventSource);
|
|
| 733 | 1365 |
} |
| 734 | 1366 |
|
| 735 | 1367 |
// wait for any event to occur (do not apply any filters in order not to miss any events) |
| ... | ... | |
| 739 | 1371 |
if (mask & gpiolistener->events) {
|
| 740 | 1372 |
// retreive flags without clearing them |
| 741 | 1373 |
flags = gpiolistener->flags; |
| 742 |
apalControlGpioGet(&moduleSsspGpioS, &sstate);
|
|
| 1374 |
apalControlGpioGet(moduleSsspSignalS(), &sstate);
|
|
| 743 | 1375 |
if (flags == sflags) {
|
| 744 |
apalControlGpioGet(&moduleSsspGpioS, &sstate);
|
|
| 1376 |
apalControlGpioGet(moduleSsspSignalS(), &sstate);
|
|
| 745 | 1377 |
// if this was the end of a pulse |
| 746 | 1378 |
if (sstate == APAL_GPIO_OFF) {
|
| 747 | 1379 |
// restart the timer |
| 748 |
chVTReset(&_delayTimer); |
|
| 749 |
chVTSet(&_delayTimer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &_eventSourceDelay); |
|
| 1380 |
chVtSet(&_delayTimer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &_delayEventSource); |
|
| 750 | 1381 |
// increment the identifier |
| 751 | 1382 |
++(*identifier); |
| 752 | 1383 |
} |
| 753 | 1384 |
} |
| 754 | 1385 |
} |
| 755 | 1386 |
// timer event |
| 756 |
else if (mask & _eventListenerDelay.events) {
|
|
| 1387 |
else if (mask & _delayEventListener.events) {
|
|
| 757 | 1388 |
// unregister event |
| 758 |
chEvtUnregister(&_eventSourceDelay, &_eventListenerDelay);
|
|
| 1389 |
chEvtUnregister(&_delayEventSource, &_delayEventListener);
|
|
| 759 | 1390 |
} |
| 760 | 1391 |
// any further events must be handled externally |
| 761 | 1392 |
|
| ... | ... | |
| 764 | 1395 |
|
| 765 | 1396 |
#endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
| 766 | 1397 |
|
| 767 |
#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
|
| 768 |
|
|
| 769 |
/** |
|
| 770 |
* @brief Retreive the offset between local clock and system synchronization signal. |
|
| 771 |
* |
|
| 772 |
* @return |
|
| 773 |
*/ |
|
| 774 |
float aosSsspGetSyncSkew(void) |
|
| 775 |
{
|
|
| 776 |
return _syncskew; |
|
| 777 |
} |
|
| 778 |
|
|
| 779 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
|
| 780 |
|
|
| 781 | 1398 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 782 | 1399 |
|
| 783 | 1400 |
/** @} */ |
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