amiro-os / core / src / aos_main.cpp @ c53ef0b1
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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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static 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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aosprintf("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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/**
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* @brief Helper function to serialize data.
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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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* @param[in] n Number of bytes to serialize.
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*/
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inline void _serialize(uint8_t* dst, const uint64_t src, const uint8_t n) |
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{
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aosDbgCheck(dst != NULL);
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aosDbgCheck(n > 0 && n <= 8); |
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for (uint8_t byte = 0; byte < n; ++byte) { |
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dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF); |
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} |
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return;
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} |
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/**
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* @brief Helper function to deserialize data.
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*
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* @param[in] src Pointer to the buffer of data to be deserialzed.
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* @param[in] n Number of bytes to deserialize.
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*
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* @return The deserialized 32 bit data.
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*/
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inline uint64_t _deserialize(uint8_t* src, const uint8_t n) |
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{
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aosDbgCheck(src != NULL);
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aosDbgCheck(n > 0 && n <= 8); |
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uint64_t result = 0;
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for (uint8_t byte = 0; byte < n; ++byte) { |
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result |= ((uint64_t)src[byte]) << (byte * 8);
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} |
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return result;
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} |
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#if (HAL_USE_RTC == 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 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 /* (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.
|
| 426 |
* The received event could be caused by any listener.
|
| 427 |
*/
|
| 428 |
// GPIO event
|
| 429 |
if (eventmask & _eventListenerGPIO.events) {
|
| 430 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 431 |
// PD event
|
| 432 |
if (eventflags & moduleSsspEventflagPD()) {
|
| 433 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 434 |
} else {
|
| 435 |
#if defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK)
|
| 436 |
MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK(eventmask, eventflags); |
| 437 |
#else /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
| 438 |
/* silently ignore any other GPIO events */
|
| 439 |
#endif /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
| 440 |
} |
| 441 |
} |
| 442 |
// OS event
|
| 443 |
else if (eventmask & _eventListenerOS.events) { |
| 444 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 445 |
_unexpectedEventError(eventmask, eventflags); |
| 446 |
} |
| 447 |
// unknown event
|
| 448 |
else {
|
| 449 |
_unexpectedEventError(eventmask, 0);
|
| 450 |
} |
| 451 |
} |
| 452 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 453 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 454 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_1); |
| 455 |
} |
| 456 |
|
| 457 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_STARTUP == true) */ |
| 458 |
|
| 459 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
|
| 460 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
|
| 461 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
| 462 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
| 463 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
| 464 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
| 465 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1) */ |
| 466 |
|
| 467 |
/* periphery communication interfaces initialization */
|
| 468 |
#if defined(MODULE_INIT_PERIPHERY_IF)
|
| 469 |
// module specific initialization
|
| 470 |
MODULE_INIT_PERIPHERY_IF(); |
| 471 |
#endif /* defined(MODULE_INIT_PERIPHERY_IF) */ |
| 472 |
#if defined(MODULE_HAL_PROGIF)
|
| 473 |
// user interface
|
| 474 |
aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
| 475 |
aosIOChannelOutputEnable(&_stdiochannel); |
| 476 |
aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
| 477 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
| 478 |
aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
| 479 |
aosShellChannelInputEnable(&_stdshellchannel); |
| 480 |
aosShellChannelOutputEnable(&_stdshellchannel); |
| 481 |
aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
| 482 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
| 483 |
#endif /* defined(MODULE_HAL_PROGIF) */ |
| 484 |
|
| 485 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
|
| 486 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
|
| 487 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
| 488 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */ |
| 489 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
| 490 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */ |
| 491 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2) */ |
| 492 |
|
| 493 |
/* module is ready -> print welcome prompt */
|
| 494 |
aosprintf("\n");
|
| 495 |
aosprintf("######################################################################\n");
|
| 496 |
aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
| 497 |
aosprintf("# Robot (AMiRo) platform. #\n");
|
| 498 |
aosprintf("# Copyright (C) 2016..2019 Thomas Schöpping et al. #\n");
|
| 499 |
aosprintf("# #\n");
|
| 500 |
aosprintf("# This is free software; see the source for copying conditions. #\n");
|
| 501 |
aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
|
| 502 |
aosprintf("# A PARTICULAR PURPOSE. #\n");
|
| 503 |
aosprintf("# The development of this software was supported by the Excellence #\n");
|
| 504 |
aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
|
| 505 |
aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
|
| 506 |
aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
|
| 507 |
aosprintf("######################################################################\n");
|
| 508 |
aosprintf("\n");
|
| 509 |
|
| 510 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
|
| 511 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
|
| 512 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
| 513 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */ |
| 514 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
| 515 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */ |
| 516 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3) */ |
| 517 |
|
| 518 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
| 519 |
#if defined(MODULE_INIT_TESTS)
|
| 520 |
MODULE_INIT_TESTS(); |
| 521 |
#else /* defined(MODULE_INIT_TESTS) */ |
| 522 |
#warning "AMIROOS_CFG_TESTS_ENABLE set to true, but MODULE_INIT_TESTS() not defined" |
| 523 |
#endif /* defined(MODULE_INIT_TESTS) */ |
| 524 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 525 |
|
| 526 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
|
| 527 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
|
| 528 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
| 529 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */ |
| 530 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
| 531 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */ |
| 532 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4) */ |
| 533 |
|
| 534 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 535 |
|
| 536 |
// proceed to startup stage 2.2
|
| 537 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 538 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, EVENTMASK_SSSPDELAY, &eventmask) != AOS_SUCCESS)) { |
| 539 |
/*
|
| 540 |
* This code is executed if the received event was not about the delay.
|
| 541 |
* The received event could be caused by any listener.
|
| 542 |
*/
|
| 543 |
// GPIO event
|
| 544 |
if (eventmask & _eventListenerGPIO.events) {
|
| 545 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 546 |
// PD event
|
| 547 |
if (eventflags & moduleSsspEventflagPD()) {
|
| 548 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 549 |
} else {
|
| 550 |
#if defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK)
|
| 551 |
MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK(eventmask, eventflags); |
| 552 |
#else /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
| 553 |
/* silently ignore any other GPIO events */
|
| 554 |
#endif /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
| 555 |
} |
| 556 |
} |
| 557 |
// OS event
|
| 558 |
else if (eventmask & _eventListenerOS.events) { |
| 559 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 560 |
_unexpectedEventError(eventmask, eventflags); |
| 561 |
} |
| 562 |
// unknown event
|
| 563 |
else {
|
| 564 |
_unexpectedEventError(eventmask, 0);
|
| 565 |
} |
| 566 |
} |
| 567 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 568 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_2); |
| 569 |
} |
| 570 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 571 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 572 |
aosSsspProceed(NULL, 0, NULL); |
| 573 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_2); |
| 574 |
} |
| 575 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 576 |
|
| 577 |
// proceed to startup stage 3 (MSI is enabled), or to operation phase (no MSI)
|
| 578 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS)) {
|
| 579 |
/*
|
| 580 |
* This code is executed if the received event was not about a deactivation of the snychronization signal.
|
| 581 |
* The received event could be caused by any listener.
|
| 582 |
*/
|
| 583 |
// GPIO event
|
| 584 |
if (eventmask & _eventListenerGPIO.events) {
|
| 585 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 586 |
// PD event
|
| 587 |
if (eventflags & moduleSsspEventflagPD()) {
|
| 588 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 589 |
} else {
|
| 590 |
#if defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK)
|
| 591 |
MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK(eventmask, eventflags); |
| 592 |
#else /* defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK) */ |
| 593 |
/* silently ignore any other GPIO events */
|
| 594 |
#endif /* defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK) */ |
| 595 |
} |
| 596 |
} |
| 597 |
// OS event
|
| 598 |
else if (eventmask & _eventListenerOS.events) { |
| 599 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 600 |
_unexpectedEventError(eventmask, eventflags); |
| 601 |
} |
| 602 |
// unknown event
|
| 603 |
else {
|
| 604 |
_unexpectedEventError(eventmask, 0);
|
| 605 |
} |
| 606 |
} |
| 607 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 608 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
| 609 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3); |
| 610 |
#else /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 611 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_OPERATION); |
| 612 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 613 |
} |
| 614 |
|
| 615 |
/*
|
| 616 |
* There must be no delay at this point, thus no hook allowed.
|
| 617 |
*/
|
| 618 |
|
| 619 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
| 620 |
{
|
| 621 |
// initialize temporary MSI data
|
| 622 |
aos_ssspmsidata_t msidata; |
| 623 |
aosSsspMsiInit(&msidata, EVENTMASK_SSSPDELAY, EVENTMASK_SSSPTIMEOUT, &_eventListenerGPIO); |
| 624 |
|
| 625 |
// execute module stack initialization (MSI) but react to unrelated events as well
|
| 626 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aos.sssp.stage != AOS_SSSP_STAGE_OPERATION)) {
|
| 627 |
// execute MSI routine
|
| 628 |
aosSsspMsi(&msidata, &eventmask); |
| 629 |
// handly event (if any)
|
| 630 |
if (eventmask) {
|
| 631 |
// GPIO event
|
| 632 |
if (eventmask & _eventListenerGPIO.events) {
|
| 633 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 634 |
// PD event
|
| 635 |
if (eventflags & moduleSsspEventflagPD()) {
|
| 636 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 637 |
} else {
|
| 638 |
#if defined(MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK)
|
| 639 |
MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK(eventmask, eventflags); |
| 640 |
#else /* defined(MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK) */ |
| 641 |
/* silently ignore any other GPIO events */
|
| 642 |
#endif /* defined(MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK) */ |
| 643 |
} |
| 644 |
} |
| 645 |
// OS event
|
| 646 |
else if (eventmask & _eventListenerOS.events) { |
| 647 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 648 |
_unexpectedEventError(eventmask, eventflags); |
| 649 |
} |
| 650 |
// unknown event
|
| 651 |
else {
|
| 652 |
_unexpectedEventError(eventmask, 0);
|
| 653 |
} |
| 654 |
} |
| 655 |
} |
| 656 |
} |
| 657 |
|
| 658 |
#if (HAL_USE_RTC == TRUE)
|
| 659 |
|
| 660 |
//TODO: Calendar synchronization
|
| 661 |
|
| 662 |
#endif /* (HAL_USE_RTC == TRUE) */ |
| 663 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 664 |
|
| 665 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 666 |
|
| 667 |
/* completely start AMiRo-OS */
|
| 668 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 669 |
aosSysStart(); |
| 670 |
} |
| 671 |
|
| 672 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
|
| 673 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
|
| 674 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
| 675 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */ |
| 676 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
| 677 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */ |
| 678 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5) */ |
| 679 |
|
| 680 |
/*
|
| 681 |
* ##########################################################################
|
| 682 |
* # infinite loop #
|
| 683 |
* ##########################################################################
|
| 684 |
*/
|
| 685 |
|
| 686 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 687 |
/* ignore all SSSP signal events, except for PD and configured events */
|
| 688 |
eventflags = moduleSsspEventflagS(); |
| 689 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
| 690 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 691 |
eventflags |= moduleSsspEventflagDN(); |
| 692 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
| 693 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 694 |
eventflags |= moduleSsspEventflagUP(); |
| 695 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
| 696 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 697 |
eventflags &= ~((eventflags_t)AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK); |
| 698 |
_eventListenerGPIO.wflags &= ~eventflags; |
| 699 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 700 |
|
| 701 |
// sleep until a shutdown event is received
|
| 702 |
while (shutdown == AOS_SHUTDOWN_NONE) {
|
| 703 |
// wait for an event
|
| 704 |
#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
| 705 |
eventmask = chEvtWaitOneTimeout(ALL_EVENTS, chTimeUS2I(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
| 706 |
#else /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) */ |
| 707 |
eventmask = chEvtWaitOne(ALL_EVENTS); |
| 708 |
#endif /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) */ |
| 709 |
|
| 710 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
|
| 711 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
|
| 712 |
AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
| 713 |
#else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */ |
| 714 |
AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
| 715 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */ |
| 716 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1) */ |
| 717 |
|
| 718 |
switch (eventmask) {
|
| 719 |
// if this was an GPIO event
|
| 720 |
case EVENTMASK_GPIO:
|
| 721 |
// evaluate flags
|
| 722 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 723 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 724 |
// PD event
|
| 725 |
if (eventflags & moduleSsspEventflagPD()) {
|
| 726 |
aosSsspShutdownInit(false);
|
| 727 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 728 |
} |
| 729 |
// all other events
|
| 730 |
#if defined(MODULE_MAIN_LOOP_GPIOEVENT)
|
| 731 |
else {
|
| 732 |
MODULE_MAIN_LOOP_GPIOEVENT(eventflags); |
| 733 |
} |
| 734 |
#endif /* defined(MODULE_MAIN_LOOP_GPIOEVENT) */ |
| 735 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 736 |
#if defined(MODULE_MAIN_LOOP_GPIOEVENT)
|
| 737 |
MODULE_MAIN_LOOP_GPIOEVENT(eventflags); |
| 738 |
#endif /* defined(MODULE_MAIN_LOOP_GPIOEVENT) */ |
| 739 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 740 |
break;
|
| 741 |
|
| 742 |
// if this was an OS event
|
| 743 |
case EVENTMASK_OS:
|
| 744 |
// evaluate flags
|
| 745 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 746 |
switch (eventflags) {
|
| 747 |
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE)
|
| 748 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_MASK:
|
| 749 |
shutdown = AOS_SHUTDOWN_ACTIVE; |
| 750 |
break;
|
| 751 |
#elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
|
| 752 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_HIBERNATE:
|
| 753 |
shutdown = AOS_SHUTDOWN_HIBERNATE; |
| 754 |
break;
|
| 755 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_DEEPSLEEP:
|
| 756 |
shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
| 757 |
break;
|
| 758 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_TRANSPORTATION:
|
| 759 |
shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
| 760 |
break;
|
| 761 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_RESTART:
|
| 762 |
shutdown = AOS_SHUTDOWN_RESTART; |
| 763 |
break;
|
| 764 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_PASSIVE:
|
| 765 |
_unexpectedEventError(eventmask, eventflags); |
| 766 |
break;
|
| 767 |
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */ |
| 768 |
default:
|
| 769 |
_unexpectedEventError(eventmask, eventflags); |
| 770 |
break;
|
| 771 |
} |
| 772 |
break;
|
| 773 |
|
| 774 |
// if this was any other event (should be impossible to occur)
|
| 775 |
default:
|
| 776 |
eventflags = 0;
|
| 777 |
#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0) |
| 778 |
_unexpectedEventError(eventmask, eventflags); |
| 779 |
#endif /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0) */ |
| 780 |
break;
|
| 781 |
} |
| 782 |
|
| 783 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 784 |
|
| 785 |
/*
|
| 786 |
* Re-anable the S signal GPIO event.
|
| 787 |
* Note that events for the optional signals UP and DN are not enabled as they are not utilized during SSSP shutdown phase.
|
| 788 |
*/
|
| 789 |
chSysLock(); |
| 790 |
_eventListenerGPIO.wflags |= moduleSsspEventflagS(); |
| 791 |
chSysUnlock(); |
| 792 |
|
| 793 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 794 |
|
| 795 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2)
|
| 796 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS)
|
| 797 |
AMIROOS_CFG_MAIN_LOOP_HOOK_2(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS); |
| 798 |
#else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS) */ |
| 799 |
AMIROOS_CFG_MAIN_LOOP_HOOK_2(); |
| 800 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS) */ |
| 801 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2) */ |
| 802 |
} |
| 803 |
|
| 804 |
/*
|
| 805 |
* ##########################################################################
|
| 806 |
* # system shutdown #
|
| 807 |
* ##########################################################################
|
| 808 |
*/
|
| 809 |
|
| 810 |
aosDbgAssert(shutdown != AOS_SHUTDOWN_NONE); |
| 811 |
|
| 812 |
// initialize/acknowledge shutdown
|
| 813 |
aosSysShutdownInit(shutdown); |
| 814 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 815 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_1_2); |
| 816 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 817 |
|
| 818 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
|
| 819 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
|
| 820 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
| 821 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS) */ |
| 822 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
| 823 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS) */ |
| 824 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1) */ |
| 825 |
|
| 826 |
// wait for all threads to terminate
|
| 827 |
aosSysStop(); |
| 828 |
|
| 829 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
|
| 830 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
|
| 831 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
| 832 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS) */ |
| 833 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
| 834 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS) */ |
| 835 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2) */ |
| 836 |
|
| 837 |
// deinitialize system
|
| 838 |
aosSysDeinit(); |
| 839 |
|
| 840 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
|
| 841 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
|
| 842 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
| 843 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS) */ |
| 844 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
| 845 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS) */ |
| 846 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3) */ |
| 847 |
|
| 848 |
/* stop all periphery communication interfaces */
|
| 849 |
#if defined(MODULE_SHUTDOWN_PERIPHERY_IF)
|
| 850 |
MODULE_SHUTDOWN_PERIPHERY_IF(); |
| 851 |
#endif /* defined(MODULE_SHUTDOWN_PERIPHERY_IF) */ |
| 852 |
|
| 853 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
|
| 854 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
|
| 855 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
| 856 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS) */ |
| 857 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
| 858 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS) */ |
| 859 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4) */ |
| 860 |
|
| 861 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 862 |
|
| 863 |
// proceed to SSSP shutdown stage 1.3
|
| 864 |
aosSsspProceed(NULL, 0, NULL); |
| 865 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_1_3); |
| 866 |
|
| 867 |
#if (AMIROOS_CFG_SSSP_SHUTDOWN == true) |
| 868 |
|
| 869 |
/* AMiRo-OS performs SSSP shutdown phase
|
| 870 |
* NOTE:
|
| 871 |
* The initiating module could deactivate PD at this point to indicate a restart rather than a shutdown request.
|
| 872 |
* AMiRo-OS does not support restart though, thus the signal is not changed.
|
| 873 |
*/
|
| 874 |
|
| 875 |
// proceed to SSSP shutdown stage 2.1
|
| 876 |
while (aosSsspProceed(&_eventListenerGPIO, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS) {
|
| 877 |
/*
|
| 878 |
* This code is executed if the received event was not about a deactivation of the synchronization signal.
|
| 879 |
* The received event could be caused by any listener.
|
| 880 |
*/
|
| 881 |
// GPIO event
|
| 882 |
if (eventmask & _eventListenerGPIO.events) {
|
| 883 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 884 |
#if defined(MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK)
|
| 885 |
MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK(eventmask, eventflags); |
| 886 |
#else /* defined(MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK) */ |
| 887 |
/* silently ignore any other GPIO events */
|
| 888 |
#endif /* defined(MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK) */ |
| 889 |
} |
| 890 |
// OS event
|
| 891 |
else if (eventmask & _eventListenerOS.events) { |
| 892 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 893 |
_unexpectedEventError(eventmask, eventflags); |
| 894 |
} |
| 895 |
// unknown event
|
| 896 |
else {
|
| 897 |
_unexpectedEventError(eventmask, 0);
|
| 898 |
} |
| 899 |
} |
| 900 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_2_1); |
| 901 |
|
| 902 |
// proceed to SSSP shutdown stage 2.2
|
| 903 |
aosSsspProceed(NULL, 0, &eventmask); |
| 904 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_2_2); |
| 905 |
if (shutdown == AOS_SHUTDOWN_PASSIVE) {
|
| 906 |
aosDbgPrintf("%s request received\n", eventmask ? "shutdown" : "restart"); |
| 907 |
} |
| 908 |
/* NOTE:
|
| 909 |
* Actually the call of aosSsspProceed() returned an indicator, whether a shutdown or restart has been initiated.
|
| 910 |
* Since AMiRo-OS does not support restart, this return value is ignored and shutdown is assumed.
|
| 911 |
*/
|
| 912 |
|
| 913 |
// the initiating module broadcasts the shutdown identifier
|
| 914 |
if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
| 915 |
// since AMiRo-OS does not support multiple ways to shutdown or restart, the special identifier 0 is broadcasted.
|
| 916 |
aosSsspShutdownBroadcastIdentifier(0);
|
| 917 |
} |
| 918 |
// passive modules receive the broadcasted identifier
|
| 919 |
else {
|
| 920 |
unsigned int identifier = 0; |
| 921 |
|
| 922 |
// receive the identifier, which specifies the type of shutdown/restart
|
| 923 |
while ((eventmask = aosSsspShutdownWaitForIdentifierPulse(&_eventListenerGPIO, moduleSsspEventflagS(), EVENTMASK_SSSPDELAY, &identifier)) != EVENTMASK_SSSPDELAY) {
|
| 924 |
// GPIO event
|
| 925 |
if (eventmask & _eventListenerGPIO.events) {
|
| 926 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 927 |
#if defined(MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK)
|
| 928 |
MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK(eventmask, eventflags); |
| 929 |
#else /* defined(MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK) */ |
| 930 |
/* silently ignore any other GPIO events */
|
| 931 |
#endif /* defined(MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK) */ |
| 932 |
/* silently ignore any GPIO events */
|
| 933 |
} |
| 934 |
// OS event
|
| 935 |
else if (eventmask & _eventListenerOS.events) { |
| 936 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 937 |
_unexpectedEventError(eventmask, eventflags); |
| 938 |
} |
| 939 |
// unknown event
|
| 940 |
else {
|
| 941 |
_unexpectedEventError(eventmask, 0);
|
| 942 |
} |
| 943 |
} |
| 944 |
|
| 945 |
// Since AMiRo-OS does not support multiple ways to shutdown or restart, the identifier is ignored.
|
| 946 |
} |
| 947 |
|
| 948 |
// proceed to SSSP shutdown stage 2.3
|
| 949 |
aosSsspProceed(NULL, 0, NULL); |
| 950 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_2_3); |
| 951 |
|
| 952 |
/*
|
| 953 |
* Since AMiRo-OS does only support one basic shutdown and no restart at all, the final shutdown is kept very simple.
|
| 954 |
*/
|
| 955 |
|
| 956 |
// disable interrupts
|
| 957 |
irqDeinit(); |
| 958 |
chSysDisable(); |
| 959 |
|
| 960 |
chThdExit(MSG_OK); |
| 961 |
return MSG_OK;
|
| 962 |
|
| 963 |
#else /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
| 964 |
|
| 965 |
/* hand over to the bootloader to perform SSSP shutdown phase */
|
| 966 |
aosSysShutdownToBootloader(shutdown); |
| 967 |
|
| 968 |
aosDbgAssertMsg(false, "AMiRo-OS must not proceed to this point!"); |
| 969 |
chThdExit(MSG_RESET); |
| 970 |
return MSG_RESET;
|
| 971 |
|
| 972 |
#endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
| 973 |
|
| 974 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 975 |
|
| 976 |
/*
|
| 977 |
* Depending on the configured bootloader, trivial shutdown is either executed by AMiRo-OS or by that bootloader.
|
| 978 |
*/
|
| 979 |
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE)
|
| 980 |
|
| 981 |
/* AMiRo-OS performs trivial shutdown */
|
| 982 |
|
| 983 |
// disable interrupts
|
| 984 |
irqDeinit(); |
| 985 |
chSysDisable(); |
| 986 |
|
| 987 |
chThdExit(MSG_OK); |
| 988 |
return MSG_OK;
|
| 989 |
|
| 990 |
#elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
|
| 991 |
|
| 992 |
/* AMiRo-BLT performns shutdown */
|
| 993 |
aosSysShutdownToBootloader(shutdown); |
| 994 |
|
| 995 |
aosDbgAssertMsg(false, "AMiRo-OS must not proceed to this point!"); |
| 996 |
chThdExit(MSG_RESET); |
| 997 |
return MSG_RESET;
|
| 998 |
|
| 999 |
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */ |
| 1000 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 1001 |
} |
| 1002 |
|
| 1003 |
/******************************************************************************/
|
| 1004 |
/* EXPORTED FUNCTIONS */
|
| 1005 |
/******************************************************************************/
|
| 1006 |
|
| 1007 |
/** @} */
|