amiro-os / core / src / aos_main.cpp @ c5cd2fe4
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | 96621a83 | Thomas Schöpping | Copyright (C) 2016..2020 Thomas Schöpping et al.
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4 | e545e620 | Thomas Schöpping | |
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | 53710ca3 | Marc Rothmann | /**
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20 | * @file aos_main.cpp
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21 | * @brief Main function.
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22 | *
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23 | * @addtogroup aos_system
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24 | * @{
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25 | */
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26 | |||
27 | 3940ba8a | Thomas Schöpping | #include <amiroos.h> |
28 | e545e620 | Thomas Schöpping | |
29 | b6b45e4c | Thomas Schöpping | /*
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30 | * hook to add further includes
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31 | */
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32 | 512abac1 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)
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33 | #include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER
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34 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER) */ |
35 | b6b45e4c | Thomas Schöpping | |
36 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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37 | /* LOCAL DEFINITIONS */
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38 | /******************************************************************************/
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39 | |||
40 | e545e620 | Thomas Schöpping | /**
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41 | cda14729 | Thomas Schöpping | * @brief Event mask to identify GPIO events.
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42 | e545e620 | Thomas Schöpping | */
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43 | cda14729 | Thomas Schöpping | #define EVENTMASK_GPIO EVENT_MASK(0) |
44 | e545e620 | Thomas Schöpping | |
45 | /**
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46 | * @brief Event mask to identify OS events.
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47 | */
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48 | cda14729 | Thomas Schöpping | #define EVENTMASK_OS EVENT_MASK(1) |
49 | e545e620 | Thomas Schöpping | |
50 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
51 | 933df08e | Thomas Schöpping | |
52 | c53ef0b1 | Thomas Schöpping | |
53 | #if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
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54 | |||
55 | /**
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56 | * @brief Event mask to identify SSSP timeout events (MSI only).
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57 | */
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58 | #define EVENTMASK_SSSPTIMEOUT EVENT_MASK(2) |
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59 | |||
60 | #endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
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61 | |||
62 | 933df08e | Thomas Schöpping | /**
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63 | c53ef0b1 | Thomas Schöpping | * @brief Event mask to identify SSSP delay events.
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64 | 933df08e | Thomas Schöpping | */
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65 | c53ef0b1 | Thomas Schöpping | #define EVENTMASK_SSSPDELAY EVENT_MASK(3) |
66 | 933df08e | Thomas Schöpping | |
67 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
68 | 9ebb11a9 | Thomas Schöpping | |
69 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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70 | /* EXPORTED VARIABLES */
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71 | /******************************************************************************/
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72 | |||
73 | /******************************************************************************/
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74 | /* LOCAL TYPES */
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75 | /******************************************************************************/
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76 | |||
77 | /******************************************************************************/
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78 | /* LOCAL VARIABLES */
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79 | /******************************************************************************/
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80 | |||
81 | 3da12676 | Thomas Schöpping | #if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
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82 | |||
83 | /**
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84 | * @brief Name of the main thread.
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85 | */
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86 | static const char _threadName[] = "control (main)"; |
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87 | |||
88 | #endif /* (CH_CFG_USE_REGISTRY == TRUE) */ |
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89 | |||
90 | 9461fadc | Thomas Schöpping | /**
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91 | cda14729 | Thomas Schöpping | * @brief Listener object for GPIO events.
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92 | e545e620 | Thomas Schöpping | */
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93 | cda14729 | Thomas Schöpping | static event_listener_t _eventListenerGPIO;
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94 | e545e620 | Thomas Schöpping | |
95 | /**
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96 | * @brief Listener object for OS events.
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97 | */
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98 | static event_listener_t _eventListenerOS;
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99 | |||
100 | #if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
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101 | cda14729 | Thomas Schöpping | |
102 | e545e620 | Thomas Schöpping | /**
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103 | ba516b61 | Thomas Schöpping | * @brief I/O channel for the programmer interface.
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104 | e545e620 | Thomas Schöpping | */
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105 | ba516b61 | Thomas Schöpping | static AosIOChannel _stdiochannel;
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106 | |||
107 | afcf6d89 | Thomas Schöpping | #endif /* defined(MODULE_HAL_PROGIF) */ |
108 | cda14729 | Thomas Schöpping | |
109 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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110 | |||
111 | ba516b61 | Thomas Schöpping | /**
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112 | * @brief I/O shell channel for the programmer interface.
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113 | */
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114 | static AosShellChannel _stdshellchannel;
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115 | cda14729 | Thomas Schöpping | |
116 | 47e89ebf | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
117 | e545e620 | Thomas Schöpping | |
118 | b6b45e4c | Thomas Schöpping | /*
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119 | * hook to add further static variables
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120 | */
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121 | #if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
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122 | AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
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123 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES) */ |
124 | b6b45e4c | Thomas Schöpping | |
125 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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126 | /* LOCAL FUNCTIONS */
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127 | /******************************************************************************/
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128 | |||
129 | e545e620 | Thomas Schöpping | /**
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130 | * @brief Prints an error message about an unexpected event.
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131 | *
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132 | * @param[in] mask The event mask.
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133 | * @param[in] flags The event flags.
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134 | */
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135 | 88c47fd9 | Thomas Schöpping | static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
136 | e545e620 | Thomas Schöpping | { |
137 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_DBG == true) |
138 | bc7aed20 | Thomas Schöpping | aosDbgPrintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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139 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_DBG == true) */ |
140 | 933df08e | Thomas Schöpping | (void)(mask);
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141 | (void)(flags);
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142 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_DBG == true) */ |
143 | 3e1a9c79 | Thomas Schöpping | return;
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144 | 933df08e | Thomas Schöpping | } |
145 | |||
146 | bc7aed20 | Thomas Schöpping | #if ((AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_RTC == TRUE)) || defined(__DOXYGEN__) |
147 | #if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__) |
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148 | 23437e98 | Thomas Schöpping | |
149 | 9461fadc | Thomas Schöpping | /**
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150 | * @brief Converter function to encode a TM value to a single unsigned 64 bit integer.
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151 | *
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152 | * @details Contents of the TM struct are mapped as follows:
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153 | * bits |63 62|61 53|52 50|49 26|25 22|21 17|16 12|11 6|5 0|
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154 | * #bits | 2 | 9 | 3 | 24 | 4 | 5 | 5 | 6 | 6 |
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155 | * value | isdst | yday | wday | year | mon | mday | hour | min | sec |
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156 | * range | special | [0, 365] | [0, 6] | [1900, ...] | [0, 11] | [1, 31] | [0, 23] | [0, 59] | [0, 61] |
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157 | * The Daylight Saving Time Flag (isdsst) is encoded as follows:
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158 | * DST not in effect -> 0
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159 | * DST in effect -> 1
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160 | * no information available -> 2
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161 | *
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162 | * @param[in] src Pointer to the TM struct to encode.
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163 | *
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164 | * @return An unsigned 64 bit integer, which holds the encoded time value.
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165 | */
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166 | 88c47fd9 | Thomas Schöpping | static inline uint64_t _TM2U64(struct tm* src) |
167 | 9461fadc | Thomas Schöpping | { |
168 | aosDbgCheck(src != NULL);
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169 | |||
170 | return (((uint64_t)(src->tm_sec & 0x0000003F) << (0)) | |
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171 | ((uint64_t)(src->tm_min & 0x0000003F) << (6)) | |
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172 | ((uint64_t)(src->tm_hour & 0x0000001F) << (12)) | |
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173 | ((uint64_t)(src->tm_mday & 0x0000001F) << (17)) | |
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174 | ((uint64_t)(src->tm_mon & 0x0000000F) << (22)) | |
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175 | ((uint64_t)(src->tm_year & 0x00FFFFFF) << (26)) | |
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176 | ((uint64_t)(src->tm_wday & 0x00000007) << (50)) | |
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177 | ((uint64_t)(src->tm_yday & 0x000001FF) << (53)) | |
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178 | ((uint64_t)((src->tm_isdst == 0) ? 0 : (src->tm_isdst > 0) ? 1 : 2) << (62))); |
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179 | } |
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180 | |||
181 | /**
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182 | bc7aed20 | Thomas Schöpping | * @brief Serializes 64 bit unsigned integer input and stores it in a byte array.
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183 | * @details Serialization is performed in big-endian fashion.
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184 | *
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185 | * @param[out] dst Pointer to the output buffer.
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186 | * @param[in] src Data to be serialized.
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187 | */
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188 | 88c47fd9 | Thomas Schöpping | static inline void _serializeU64(uint8_t* dst, const uint64_t src) |
189 | bc7aed20 | Thomas Schöpping | { |
190 | aosDbgCheck(dst != NULL);
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191 | |||
192 | for (uint8_t byte = 0; byte < sizeof(uint64_t); ++byte) { |
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193 | dst[byte] = ((src >> ((sizeof(uint64_t) - (byte+1)) * 8)) & 0xFF); |
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194 | } |
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195 | |||
196 | return;
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197 | } |
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198 | |||
199 | #endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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200 | #if (AMIROOS_CFG_SSSP_MASTER != true) || defined(__DOXYGEN__) |
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201 | |||
202 | /**
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203 | * @brief Deserialize 64 bit unsigned integer data from a buffer.
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204 | * @details Data is assumed to be serialized in big-endian fashion.
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205 | *
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206 | * @param[in] src Pointer to the buffer of data to be deserialzed.
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207 | *
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208 | * @return Deserialized 64 bit data.
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209 | */
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210 | 88c47fd9 | Thomas Schöpping | static inline uint64_t _deserializeU64(uint8_t* src) |
211 | bc7aed20 | Thomas Schöpping | { |
212 | aosDbgCheck(src != NULL);
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213 | |||
214 | uint64_t result = 0;
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215 | for (uint8_t byte = 0; byte < sizeof(uint64_t); ++byte) { |
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216 | result |= ((uint64_t)src[byte] << ((sizeof(uint64_t) - (byte+1)) * 8)); |
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217 | } |
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218 | |||
219 | return result;
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220 | } |
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221 | |||
222 | /**
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223 | 9461fadc | Thomas Schöpping | * @brief Converter functiomn to retrieve the encoded TM value from an unsigned 64 bit integer.
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224 | *
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225 | * @details For information on the encoding, please refer to @p _TM2U64 function.
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226 | *
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227 | * @param[out] dst The TM struct to fill with the decoded values.
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228 | * @param[in] src Unsigned 64 bit integer holding the encoded TM value.
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229 | */
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230 | 88c47fd9 | Thomas Schöpping | static inline void _U642TM(struct tm* dst, const uint64_t src) |
231 | 9461fadc | Thomas Schöpping | { |
232 | aosDbgCheck(dst != NULL);
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233 | |||
234 | dst->tm_sec = (src >> 0) & 0x0000003F; |
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235 | dst->tm_min = (src >> 6) & 0x0000003F; |
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236 | dst->tm_hour = (src >> 12) & 0x0000001F; |
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237 | dst->tm_mday = (src >> 17) & 0x0000001F; |
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238 | dst->tm_mon = (src >> 22) & 0x0000000F; |
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239 | dst->tm_year = (src >> 26) & 0x00FFFFFF; |
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240 | dst->tm_wday = (src >> 50) & 0x00000007; |
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241 | dst->tm_yday = (src >> 53) & 0x000001FF; |
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242 | dst->tm_isdst = (((src >> 62) & 0x03) == 0) ? 0 : (((src >> 62) & 0x03) > 0) ? 1 : -1; |
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243 | |||
244 | return;
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245 | 933df08e | Thomas Schöpping | } |
246 | |||
247 | bc7aed20 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_MASTER != true) */ |
248 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_RTC == TRUE) */ |
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249 | 23437e98 | Thomas Schöpping | |
250 | 933df08e | Thomas Schöpping | /**
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251 | e545e620 | Thomas Schöpping | * @brief Application entry point.
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252 | */
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253 | int main(void) |
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254 | { |
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255 | // local variables
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256 | eventmask_t eventmask = 0;
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257 | eventflags_t eventflags = 0;
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258 | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
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259 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)
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260 | AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
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261 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES) */ |
262 | e545e620 | Thomas Schöpping | |
263 | /*
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264 | * ##########################################################################
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265 | * # system initialization #
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266 | * ##########################################################################
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267 | */
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268 | |||
269 | /* hardware, kernel, and operating system initialization */
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270 | // ChibiOS/HAL and custom hal additions (if any)
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271 | halInit(); |
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272 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_INIT_HAL_EXTRA)
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273 | e545e620 | Thomas Schöpping | MODULE_INIT_HAL_EXTRA(); |
274 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_INIT_HAL_EXTRA) */ |
275 | e545e620 | Thomas Schöpping | |
276 | // ChibiOS/RT kernel and custom kernel additions (if any)
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277 | chSysInit(); |
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278 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_INIT_KERNEL_EXTRA)
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279 | e545e620 | Thomas Schöpping | MODULE_INIT_KERNEL_EXTRA(); |
280 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_INIT_KERNEL_EXTRA) */ |
281 | 3da12676 | Thomas Schöpping | #if (CH_CFG_USE_REGISTRY == TRUE)
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282 | currp->name = _threadName; |
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283 | #endif /* (CH_CFG_USE_REGISTRY == TRUE) */ |
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284 | e545e620 | Thomas Schöpping | |
285 | 3106e8cc | Thomas Schöpping | // AMiRo-OS, additional interrupts and custom OS additions (if any)
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286 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
287 | 6b53f6bf | Thomas Schöpping | aosSysInit(moduleShellPrompt); |
288 | cda14729 | Thomas Schöpping | #else /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
289 | 47e89ebf | Thomas Schöpping | aosSysInit(NULL);
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290 | cda14729 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
291 | 3106e8cc | Thomas Schöpping | #if defined(MODULE_INIT_INTERRUPTS)
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292 | MODULE_INIT_INTERRUPTS(); |
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293 | #endif
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294 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_INIT_OS_EXTRA)
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295 | e545e620 | Thomas Schöpping | MODULE_INIT_OS_EXTRA(); |
296 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_INIT_OS_EXTRA) */ |
297 | e545e620 | Thomas Schöpping | |
298 | /* event associations */
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299 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
300 | cda14729 | Thomas Schöpping | { |
301 | c53ef0b1 | Thomas Schöpping | eventflags_t flagsmask = AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK | moduleSsspEventflagPD() | moduleSsspEventflagS(); |
302 | c218345a | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_MSI == true) |
303 | 2920c6b7 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
304 | c53ef0b1 | Thomas Schöpping | flagsmask |= moduleSsspEventflagDN(); |
305 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
306 | 2920c6b7 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
307 | c53ef0b1 | Thomas Schöpping | flagsmask |= moduleSsspEventflagUP(); |
308 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
309 | c218345a | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
310 | cda14729 | Thomas Schöpping | chEvtRegisterMaskWithFlags(&aos.events.gpio, &_eventListenerGPIO, EVENTMASK_GPIO, flagsmask); |
311 | } |
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312 | #else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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313 | if (AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) {
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314 | chEvtRegisterMaskWithFlags(&aos.events.gpio, &_eventListenerGPIO, EVENTMASK_GPIO, AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK); |
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315 | } |
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316 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
317 | cda14729 | Thomas Schöpping | chEvtRegisterMask(&aos.events.os, &_eventListenerOS, EVENTMASK_OS); |
318 | |||
319 | #if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_STARTUP == true) |
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320 | |||
321 | /* perform SSSP basic initialization stage */
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322 | |||
323 | #if defined(MODULE_SSSP_BASICINIT_HOOK)
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324 | #if defined(MODULE_SSSP_BASICINIT_HOOK_ARGS)
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325 | MODULE_SSSP_BASICINIT_HOOK(MODULE_SSSP_BASICINIT_HOOK_ARGS); |
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326 | #else /* defined(MODULE_SSSP_BASICINIT_HOOK_ARGS) */ |
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327 | MODULE_SSSP_BASICINIT_HOOK(); |
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328 | #endif /* defined(MODULE_SSSP_BASICINIT_HOOK_ARGS) */ |
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329 | #endif /* defined(MODULE_SSSP_BASICINIT_HOOK) */ |
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330 | |||
331 | // proceed to startup stage 1.2
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332 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
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333 | c53ef0b1 | Thomas Schöpping | while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, EVENTMASK_SSSPDELAY, &eventmask) != AOS_SUCCESS)) { |
334 | cda14729 | Thomas Schöpping | /*
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335 | * This code is executed if the received event was not about the delay.
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336 | * The received event could be casued by any listener.
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337 | */
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338 | // GPIO event
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339 | if (eventmask & _eventListenerGPIO.events) {
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340 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
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341 | // PD event
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342 | c53ef0b1 | Thomas Schöpping | if (eventflags & moduleSsspEventflagPD()) {
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343 | cda14729 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
344 | } else {
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345 | #if defined(MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK)
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346 | MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK(eventmask, eventflags); |
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347 | #else /* defined(MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK) */ |
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348 | /* silently ignore any other GPIO events */
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349 | #endif /* defined(MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK) */ |
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350 | } |
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351 | } |
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352 | // OS event
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353 | else if (eventmask & _eventListenerOS.events) { |
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354 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
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355 | _unexpectedEventError(eventmask, eventflags); |
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356 | } |
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357 | // unknown event
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358 | else {
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359 | _unexpectedEventError(eventmask, 0);
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360 | } |
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361 | 2920c6b7 | Thomas Schöpping | } |
362 | cda14729 | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
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363 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_1_2); |
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364 | } |
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365 | #else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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366 | if (shutdown == AOS_SHUTDOWN_NONE) {
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367 | c53ef0b1 | Thomas Schöpping | aosSsspProceed(NULL, 0, NULL); |
368 | cda14729 | Thomas Schöpping | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_1_2); |
369 | } |
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370 | #endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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371 | e545e620 | Thomas Schöpping | |
372 | cda14729 | Thomas Schöpping | // proceed to startup stage 1.3
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373 | c53ef0b1 | Thomas Schöpping | while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS)) {
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374 | cda14729 | Thomas Schöpping | /*
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375 | * This code is executed if the received event was not about a deactivation of the snychronization signal.
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376 | * The received event could be caused by any listener.
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377 | */
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378 | // GPIO event
|
||
379 | if (eventmask & _eventListenerGPIO.events) {
|
||
380 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
381 | // PD event
|
||
382 | c53ef0b1 | Thomas Schöpping | if (eventflags & moduleSsspEventflagPD()) {
|
383 | cda14729 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
384 | } else {
|
||
385 | #if defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK)
|
||
386 | MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK(eventmask, eventflags); |
||
387 | #else /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
||
388 | /* silently ignore any other GPIO events */
|
||
389 | #endif /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
||
390 | } |
||
391 | } |
||
392 | // OS event
|
||
393 | else if (eventmask & _eventListenerOS.events) { |
||
394 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
395 | _unexpectedEventError(eventmask, eventflags); |
||
396 | } |
||
397 | // unknown event
|
||
398 | else {
|
||
399 | _unexpectedEventError(eventmask, 0);
|
||
400 | } |
||
401 | } |
||
402 | if (shutdown == AOS_SHUTDOWN_NONE) {
|
||
403 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_1_3); |
||
404 | } |
||
405 | |||
406 | // proceed to startup stage 2.1
|
||
407 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
408 | c53ef0b1 | Thomas Schöpping | while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, EVENTMASK_SSSPDELAY, &eventmask) != AOS_SUCCESS)) { |
409 | cda14729 | Thomas Schöpping | /*
|
410 | * This code is executed if the received event was not about the delay.
|
||
411 | * The received event could be caused by any listener.
|
||
412 | */
|
||
413 | // GPIO event
|
||
414 | if (eventmask & _eventListenerGPIO.events) {
|
||
415 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
416 | // PD event
|
||
417 | c53ef0b1 | Thomas Schöpping | if (eventflags & moduleSsspEventflagPD()) {
|
418 | cda14729 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
419 | } else {
|
||
420 | #if defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK)
|
||
421 | MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK(eventmask, eventflags); |
||
422 | #else /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
||
423 | /* silently ignore any other GPIO events */
|
||
424 | #endif /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
||
425 | } |
||
426 | } |
||
427 | // OS event
|
||
428 | else if (eventmask & _eventListenerOS.events) { |
||
429 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
430 | _unexpectedEventError(eventmask, eventflags); |
||
431 | } |
||
432 | // unknown event
|
||
433 | else {
|
||
434 | _unexpectedEventError(eventmask, 0);
|
||
435 | } |
||
436 | } |
||
437 | #else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
||
438 | c53ef0b1 | Thomas Schöpping | while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS)) {
|
439 | cda14729 | Thomas Schöpping | /*
|
440 | * This code is executed if the received event was not about a deactivation of the snychronization signal.
|
||
441 | * The received event could be caused by any listener.
|
||
442 | */
|
||
443 | // GPIO event
|
||
444 | if (eventmask & _eventListenerGPIO.events) {
|
||
445 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
446 | // PD event
|
||
447 | c53ef0b1 | Thomas Schöpping | if (eventflags & moduleSsspEventflagPD()) {
|
448 | cda14729 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
449 | } else {
|
||
450 | #if defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK)
|
||
451 | MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK(eventmask, eventflags); |
||
452 | #else /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
||
453 | /* silently ignore any other GPIO events */
|
||
454 | #endif /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
||
455 | } |
||
456 | } |
||
457 | // OS event
|
||
458 | else if (eventmask & _eventListenerOS.events) { |
||
459 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
460 | _unexpectedEventError(eventmask, eventflags); |
||
461 | } |
||
462 | // unknown event
|
||
463 | else {
|
||
464 | _unexpectedEventError(eventmask, 0);
|
||
465 | } |
||
466 | } |
||
467 | #endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
||
468 | if (shutdown == AOS_SHUTDOWN_NONE) {
|
||
469 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_1); |
||
470 | } |
||
471 | |||
472 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_STARTUP == true) */ |
||
473 | |||
474 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
|
||
475 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
|
||
476 | AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
||
477 | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
||
478 | AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
||
479 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
||
480 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1) */ |
||
481 | e545e620 | Thomas Schöpping | |
482 | 4c72a54c | Thomas Schöpping | /* periphery communication interfaces initialization */
|
483 | #if defined(MODULE_INIT_PERIPHERY_IF)
|
||
484 | cda14729 | Thomas Schöpping | // module specific initialization
|
485 | 4c72a54c | Thomas Schöpping | MODULE_INIT_PERIPHERY_IF(); |
486 | #endif /* defined(MODULE_INIT_PERIPHERY_IF) */ |
||
487 | 7de0cc90 | Thomas Schöpping | #if defined(MODULE_HAL_PROGIF)
|
488 | cda14729 | Thomas Schöpping | // user interface
|
489 | ba516b61 | Thomas Schöpping | aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
490 | aosIOChannelOutputEnable(&_stdiochannel); |
||
491 | aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
||
492 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
493 | dd8738ea | Thomas Schöpping | aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
494 | ba516b61 | Thomas Schöpping | aosShellChannelInputEnable(&_stdshellchannel); |
495 | aosShellChannelOutputEnable(&_stdshellchannel); |
||
496 | 6b53f6bf | Thomas Schöpping | aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
497 | cda14729 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
498 | 7de0cc90 | Thomas Schöpping | #endif /* defined(MODULE_HAL_PROGIF) */ |
499 | e545e620 | Thomas Schöpping | |
500 | cda14729 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
|
501 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
|
||
502 | AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
||
503 | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */ |
||
504 | AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
||
505 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */ |
||
506 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2) */ |
||
507 | e545e620 | Thomas Schöpping | |
508 | /* module is ready -> print welcome prompt */
|
||
509 | aosprintf("\n");
|
||
510 | aosprintf("######################################################################\n");
|
||
511 | aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
||
512 | aosprintf("# Robot (AMiRo) platform. #\n");
|
||
513 | 96621a83 | Thomas Schöpping | aosprintf("# Copyright (C) 2016..2020 Thomas Schöpping et al. #\n");
|
514 | e545e620 | Thomas Schöpping | aosprintf("# #\n");
|
515 | aosprintf("# This is free software; see the source for copying conditions. #\n");
|
||
516 | aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
|
||
517 | aosprintf("# A PARTICULAR PURPOSE. #\n");
|
||
518 | aosprintf("# The development of this software was supported by the Excellence #\n");
|
||
519 | aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
|
||
520 | aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
|
||
521 | aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
|
||
522 | aosprintf("######################################################################\n");
|
||
523 | aosprintf("\n");
|
||
524 | |||
525 | cda14729 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
|
526 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
|
||
527 | AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
||
528 | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */ |
||
529 | AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
||
530 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */ |
||
531 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3) */ |
||
532 | 7de40828 | Thomas Schöpping | |
533 | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
||
534 | #if defined(MODULE_INIT_TESTS)
|
||
535 | MODULE_INIT_TESTS(); |
||
536 | 7de0cc90 | Thomas Schöpping | #else /* defined(MODULE_INIT_TESTS) */ |
537 | #warning "AMIROOS_CFG_TESTS_ENABLE set to true, but MODULE_INIT_TESTS() not defined" |
||
538 | #endif /* defined(MODULE_INIT_TESTS) */ |
||
539 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
||
540 | 7de40828 | Thomas Schöpping | |
541 | cda14729 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
|
542 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
|
||
543 | AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
||
544 | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */ |
||
545 | AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
||
546 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */ |
||
547 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4) */ |
||
548 | e545e620 | Thomas Schöpping | |
549 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
550 | cda14729 | Thomas Schöpping | |
551 | // proceed to startup stage 2.2
|
||
552 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
553 | c53ef0b1 | Thomas Schöpping | while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, EVENTMASK_SSSPDELAY, &eventmask) != AOS_SUCCESS)) { |
554 | e545e620 | Thomas Schöpping | /*
|
555 | cda14729 | Thomas Schöpping | * This code is executed if the received event was not about the delay.
|
556 | * The received event could be caused by any listener.
|
||
557 | e545e620 | Thomas Schöpping | */
|
558 | cda14729 | Thomas Schöpping | // GPIO event
|
559 | if (eventmask & _eventListenerGPIO.events) {
|
||
560 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
561 | 9461fadc | Thomas Schöpping | // PD event
|
562 | c53ef0b1 | Thomas Schöpping | if (eventflags & moduleSsspEventflagPD()) {
|
563 | 9461fadc | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
564 | } else {
|
||
565 | cda14729 | Thomas Schöpping | #if defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK)
|
566 | MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK(eventmask, eventflags); |
||
567 | #else /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
||
568 | /* silently ignore any other GPIO events */
|
||
569 | #endif /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
||
570 | 9461fadc | Thomas Schöpping | } |
571 | e545e620 | Thomas Schöpping | } |
572 | 9461fadc | Thomas Schöpping | // OS event
|
573 | e545e620 | Thomas Schöpping | else if (eventmask & _eventListenerOS.events) { |
574 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
575 | _unexpectedEventError(eventmask, eventflags); |
||
576 | } |
||
577 | 9461fadc | Thomas Schöpping | // unknown event
|
578 | e545e620 | Thomas Schöpping | else {
|
579 | 933df08e | Thomas Schöpping | _unexpectedEventError(eventmask, 0);
|
580 | e545e620 | Thomas Schöpping | } |
581 | } |
||
582 | 9461fadc | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
583 | cda14729 | Thomas Schöpping | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_2); |
584 | 9461fadc | Thomas Schöpping | } |
585 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
586 | cda14729 | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
587 | c53ef0b1 | Thomas Schöpping | aosSsspProceed(NULL, 0, NULL); |
588 | cda14729 | Thomas Schöpping | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_2); |
589 | } |
||
590 | #endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
||
591 | 9461fadc | Thomas Schöpping | |
592 | cda14729 | Thomas Schöpping | // proceed to startup stage 3 (MSI is enabled), or to operation phase (no MSI)
|
593 | c53ef0b1 | Thomas Schöpping | while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS)) {
|
594 | cda14729 | Thomas Schöpping | /*
|
595 | * This code is executed if the received event was not about a deactivation of the snychronization signal.
|
||
596 | * The received event could be caused by any listener.
|
||
597 | */
|
||
598 | // GPIO event
|
||
599 | if (eventmask & _eventListenerGPIO.events) {
|
||
600 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
601 | // PD event
|
||
602 | c53ef0b1 | Thomas Schöpping | if (eventflags & moduleSsspEventflagPD()) {
|
603 | cda14729 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
604 | 9461fadc | Thomas Schöpping | } else {
|
605 | cda14729 | Thomas Schöpping | #if defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK)
|
606 | MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK(eventmask, eventflags); |
||
607 | #else /* defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK) */ |
||
608 | /* silently ignore any other GPIO events */
|
||
609 | #endif /* defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK) */ |
||
610 | 9461fadc | Thomas Schöpping | } |
611 | } |
||
612 | cda14729 | Thomas Schöpping | // OS event
|
613 | else if (eventmask & _eventListenerOS.events) { |
||
614 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
615 | _unexpectedEventError(eventmask, eventflags); |
||
616 | } |
||
617 | // unknown event
|
||
618 | else {
|
||
619 | _unexpectedEventError(eventmask, 0);
|
||
620 | } |
||
621 | } |
||
622 | if (shutdown == AOS_SHUTDOWN_NONE) {
|
||
623 | #if (AMIROOS_CFG_SSSP_MSI == true) |
||
624 | c53ef0b1 | Thomas Schöpping | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3); |
625 | cda14729 | Thomas Schöpping | #else /* (AMIROOS_CFG_SSSP_MSI == true) */ |
626 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_OPERATION); |
||
627 | #endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
||
628 | 9461fadc | Thomas Schöpping | } |
629 | 933df08e | Thomas Schöpping | |
630 | cda14729 | Thomas Schöpping | /*
|
631 | c218345a | Thomas Schöpping | * There must be no delay at this point, thus no hook allowed.
|
632 | cda14729 | Thomas Schöpping | */
|
633 | |||
634 | #if (AMIROOS_CFG_SSSP_MSI == true) |
||
635 | c53ef0b1 | Thomas Schöpping | { |
636 | // initialize temporary MSI data
|
||
637 | aos_ssspmsidata_t msidata; |
||
638 | aosSsspMsiInit(&msidata, EVENTMASK_SSSPDELAY, EVENTMASK_SSSPTIMEOUT, &_eventListenerGPIO); |
||
639 | |||
640 | // execute module stack initialization (MSI) but react to unrelated events as well
|
||
641 | while ((shutdown == AOS_SHUTDOWN_NONE) && (aos.sssp.stage != AOS_SSSP_STAGE_OPERATION)) {
|
||
642 | // execute MSI routine
|
||
643 | aosSsspMsi(&msidata, &eventmask); |
||
644 | // handly event (if any)
|
||
645 | if (eventmask) {
|
||
646 | // GPIO event
|
||
647 | if (eventmask & _eventListenerGPIO.events) {
|
||
648 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
649 | // PD event
|
||
650 | if (eventflags & moduleSsspEventflagPD()) {
|
||
651 | shutdown = AOS_SHUTDOWN_PASSIVE; |
||
652 | } else {
|
||
653 | #if defined(MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK)
|
||
654 | MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK(eventmask, eventflags); |
||
655 | #else /* defined(MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK) */ |
||
656 | /* silently ignore any other GPIO events */
|
||
657 | #endif /* defined(MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK) */ |
||
658 | } |
||
659 | } |
||
660 | // OS event
|
||
661 | else if (eventmask & _eventListenerOS.events) { |
||
662 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
663 | _unexpectedEventError(eventmask, eventflags); |
||
664 | } |
||
665 | // unknown event
|
||
666 | else {
|
||
667 | _unexpectedEventError(eventmask, 0);
|
||
668 | } |
||
669 | } |
||
670 | } |
||
671 | } |
||
672 | cda14729 | Thomas Schöpping | |
673 | c218345a | Thomas Schöpping | #if (HAL_USE_RTC == TRUE)
|
674 | |||
675 | bc7aed20 | Thomas Schöpping | /*
|
676 | * calendar synchronization
|
||
677 | *
|
||
678 | * Although calendar synchronization does not inherently rely on SSSP, this
|
||
679 | * implementation uses the moduleSsspBcbX() functions, defined by SSSP in
|
||
680 | * order to save redundant code. Furthermore, it is rather unlikely that
|
||
681 | * system wide synchronization of calendars is desired when SSSP is disabled
|
||
682 | * anyway.
|
||
683 | */
|
||
684 | if (shutdown == AOS_SHUTDOWN_NONE) {
|
||
685 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
686 | // temporary variables
|
||
687 | struct tm t;
|
||
688 | uint8_t buffer[sizeof(uint64_t)];
|
||
689 | |||
690 | // get current date/time
|
||
691 | aosSysGetDateTime(&t); |
||
692 | // encode & serialize
|
||
693 | _serializeU64(buffer, _TM2U64(&t)); |
||
694 | // transmit
|
||
695 | aosDbgPrintf("transmitting current date/time...\t");
|
||
696 | if (moduleSsspBcbTransmit(buffer, sizeof(uint64_t)) == AOS_SSSP_BCB_SUCCESS) { |
||
697 | aosDbgPrintf("ok\n");
|
||
698 | } else {
|
||
699 | aosDbgPrintf("fail\n");
|
||
700 | } |
||
701 | #else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
||
702 | // temporary variables
|
||
703 | aos_timestamp_t start, now; |
||
704 | aos_ssspbcbstatus_t bcbstatus; |
||
705 | uint8_t buffer[sizeof(uint64_t)];
|
||
706 | struct tm t;
|
||
707 | |||
708 | // receive
|
||
709 | aosDbgPrintf("receiving current date/time...\t");
|
||
710 | aosSysGetUptime(&start); |
||
711 | do {
|
||
712 | bcbstatus = moduleSsspBcbReceive(buffer, sizeof(uint64_t));
|
||
713 | aosSysGetUptime(&now); |
||
714 | } while ((bcbstatus != AOS_SSSP_BCB_SUCCESS) && ((now - start) < AOS_SSSP_TIMEOUT));
|
||
715 | // if something was received
|
||
716 | if (bcbstatus == AOS_SSSP_BCB_SUCCESS) {
|
||
717 | // deserialize & decode
|
||
718 | _U642TM(&t, _deserializeU64(buffer)); |
||
719 | // set current date/time
|
||
720 | aosSysSetDateTime(&t); |
||
721 | aosDbgPrintf("ok\n");
|
||
722 | } else {
|
||
723 | aosDbgPrintf("fail\n");
|
||
724 | } |
||
725 | #endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
||
726 | } |
||
727 | c218345a | Thomas Schöpping | |
728 | #endif /* (HAL_USE_RTC == TRUE) */ |
||
729 | cda14729 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
730 | |||
731 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
||
732 | e545e620 | Thomas Schöpping | |
733 | /* completely start AMiRo-OS */
|
||
734 | 933df08e | Thomas Schöpping | if (shutdown == AOS_SHUTDOWN_NONE) {
|
735 | aosSysStart(); |
||
736 | } |
||
737 | e545e620 | Thomas Schöpping | |
738 | cda14729 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
|
739 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
|
||
740 | AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
||
741 | #else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */ |
||
742 | AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
||
743 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */ |
||
744 | #endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5) */ |
||
745 | e545e620 | Thomas Schöpping | |
746 | /*
|
||
747 | * ##########################################################################
|
||
748 | * # infinite loop #
|
||
749 | * ##########################################################################
|
||
750 | */
|
||
751 | |||
752 | c218345a | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
753 | /* ignore all SSSP signal events, except for PD and configured events */
|
||
754 | c53ef0b1 | Thomas Schöpping | eventflags = moduleSsspEventflagS(); |
755 | c218345a | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_MSI == true) |
756 | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
||
757 | c53ef0b1 | Thomas Schöpping | eventflags |= moduleSsspEventflagDN(); |
758 | c218345a | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
759 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
760 | c53ef0b1 | Thomas Schöpping | eventflags |= moduleSsspEventflagUP(); |
761 | c218345a | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
762 | #endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
||
763 | eventflags &= ~((eventflags_t)AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK); |
||
764 | _eventListenerGPIO.wflags &= ~eventflags; |
||
765 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
||
766 | |||
767 | e545e620 | Thomas Schöpping | // sleep until a shutdown event is received
|
768 | while (shutdown == AOS_SHUTDOWN_NONE) {
|
||
769 | // wait for an event
|
||
770 | #if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
||
771 | 1e5f7648 | Thomas Schöpping | eventmask = chEvtWaitOneTimeout(ALL_EVENTS, chTimeUS2I(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
772 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) */ |
773 | e545e620 | Thomas Schöpping | eventmask = chEvtWaitOne(ALL_EVENTS); |
774 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) */ |
775 | e545e620 | Thomas Schöpping | |
776 | cda14729 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
|
777 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
|
||
778 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
||
779 | #else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */ |
||
780 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
||
781 | #endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */ |
||
782 | #endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1) */ |
||
783 | e545e620 | Thomas Schöpping | |
784 | switch (eventmask) {
|
||
785 | cda14729 | Thomas Schöpping | // if this was an GPIO event
|
786 | case EVENTMASK_GPIO:
|
||
787 | e545e620 | Thomas Schöpping | // evaluate flags
|
788 | cda14729 | Thomas Schöpping | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
789 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
790 | e545e620 | Thomas Schöpping | // PD event
|
791 | c53ef0b1 | Thomas Schöpping | if (eventflags & moduleSsspEventflagPD()) {
|
792 | c218345a | Thomas Schöpping | aosSsspShutdownInit(false);
|
793 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_PASSIVE; |
794 | } |
||
795 | // all other events
|
||
796 | cda14729 | Thomas Schöpping | #if defined(MODULE_MAIN_LOOP_GPIOEVENT)
|
797 | e545e620 | Thomas Schöpping | else {
|
798 | cda14729 | Thomas Schöpping | MODULE_MAIN_LOOP_GPIOEVENT(eventflags); |
799 | e545e620 | Thomas Schöpping | } |
800 | cda14729 | Thomas Schöpping | #endif /* defined(MODULE_MAIN_LOOP_GPIOEVENT) */ |
801 | 7de0cc90 | Thomas Schöpping | #else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
802 | cda14729 | Thomas Schöpping | #if defined(MODULE_MAIN_LOOP_GPIOEVENT)
|
803 | MODULE_MAIN_LOOP_GPIOEVENT(eventflags); |
||
804 | #endif /* defined(MODULE_MAIN_LOOP_GPIOEVENT) */ |
||
805 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
806 | e545e620 | Thomas Schöpping | break;
|
807 | |||
808 | // if this was an OS event
|
||
809 | cda14729 | Thomas Schöpping | case EVENTMASK_OS:
|
810 | e545e620 | Thomas Schöpping | // evaluate flags
|
811 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
812 | switch (eventflags) {
|
||
813 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE)
|
814 | case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_MASK:
|
||
815 | shutdown = AOS_SHUTDOWN_ACTIVE; |
||
816 | break;
|
||
817 | #elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
|
||
818 | case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_HIBERNATE:
|
||
819 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_HIBERNATE; |
820 | break;
|
||
821 | cda14729 | Thomas Schöpping | case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_DEEPSLEEP:
|
822 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
823 | break;
|
||
824 | cda14729 | Thomas Schöpping | case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_TRANSPORTATION:
|
825 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
826 | break;
|
||
827 | cda14729 | Thomas Schöpping | case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_RESTART:
|
828 | e545e620 | Thomas Schöpping | shutdown = AOS_SHUTDOWN_RESTART; |
829 | break;
|
||
830 | cda14729 | Thomas Schöpping | case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_PASSIVE:
|
831 | _unexpectedEventError(eventmask, eventflags); |
||
832 | 1d3e002f | Thomas Schöpping | break;
|
833 | cda14729 | Thomas Schöpping | #endif /* (AMIROOS_CFG_BOOTLOADER == X) */ |
834 | e545e620 | Thomas Schöpping | default:
|
835 | _unexpectedEventError(eventmask, eventflags); |
||
836 | break;
|
||
837 | } |
||
838 | break;
|
||
839 | |||
840 | // if this was any other event (should be impossible to occur)
|
||
841 | default:
|
||
842 | eventflags = 0;
|
||
843 | 41fc7088 | Thomas Schöpping | #if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0) |
844 | e545e620 | Thomas Schöpping | _unexpectedEventError(eventmask, eventflags); |
845 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0) */ |
846 | e545e620 | Thomas Schöpping | break;
|
847 | } |
||
848 | |||
849 | c218345a | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
850 | |||
851 | /*
|
||
852 | * Re-anable the S signal GPIO event.
|
||
853 | * Note that events for the optional signals UP and DN are not enabled as they are not utilized during SSSP shutdown phase.
|
||
854 | */
|
||
855 | chSysLock(); |
||
856 | c53ef0b1 | Thomas Schöpping | _eventListenerGPIO.wflags |= moduleSsspEventflagS(); |
857 | c218345a | Thomas Schöpping | chSysUnlock(); |
858 | |||
859 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
||
860 | |||
861 | cda14729 | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2)
|
862 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS)
|
||
863 | AMIROOS_CFG_MAIN_LOOP_HOOK_2(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS); |
||
864 | #else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS) */ |
||
865 | AMIROOS_CFG_MAIN_LOOP_HOOK_2(); |
||
866 | #endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS) */ |
||
867 | #endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2) */ |
||
868 | e545e620 | Thomas Schöpping | } |
869 | |||
870 | /*
|
||
871 | * ##########################################################################
|
||
872 | * # system shutdown #
|
||
873 | * ##########################################################################
|
||
874 | */
|
||
875 | |||
876 | cda14729 | Thomas Schöpping | aosDbgAssert(shutdown != AOS_SHUTDOWN_NONE); |
877 | e545e620 | Thomas Schöpping | |
878 | // initialize/acknowledge shutdown
|
||
879 | aosSysShutdownInit(shutdown); |
||
880 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
881 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_1_2); |
||
882 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
||
883 | e545e620 | Thomas Schöpping | |
884 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
|
||
885 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
|
||
886 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
887 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS) */ |
888 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
889 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS) */ |
890 | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1) */ |
||
891 | e545e620 | Thomas Schöpping | |
892 | cda14729 | Thomas Schöpping | // wait for all threads to terminate
|
893 | e545e620 | Thomas Schöpping | aosSysStop(); |
894 | |||
895 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
|
||
896 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
|
||
897 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
898 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS) */ |
899 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
900 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS) */ |
901 | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2) */ |
||
902 | e545e620 | Thomas Schöpping | |
903 | // deinitialize system
|
||
904 | aosSysDeinit(); |
||
905 | |||
906 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
|
||
907 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
|
||
908 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
909 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS) */ |
910 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
911 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS) */ |
912 | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3) */ |
||
913 | e545e620 | Thomas Schöpping | |
914 | 4c72a54c | Thomas Schöpping | /* stop all periphery communication interfaces */
|
915 | #if defined(MODULE_SHUTDOWN_PERIPHERY_IF)
|
||
916 | MODULE_SHUTDOWN_PERIPHERY_IF(); |
||
917 | #endif /* defined(MODULE_SHUTDOWN_PERIPHERY_IF) */ |
||
918 | e545e620 | Thomas Schöpping | |
919 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
|
||
920 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
|
||
921 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
922 | 7de0cc90 | Thomas Schöpping | #else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS) */ |
923 | cda14729 | Thomas Schöpping | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
924 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS) */ |
925 | #endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4) */ |
||
926 | e545e620 | Thomas Schöpping | |
927 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
928 | |||
929 | // proceed to SSSP shutdown stage 1.3
|
||
930 | c53ef0b1 | Thomas Schöpping | aosSsspProceed(NULL, 0, NULL); |
931 | cda14729 | Thomas Schöpping | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_1_3); |
932 | |||
933 | #if (AMIROOS_CFG_SSSP_SHUTDOWN == true) |
||
934 | |||
935 | /* AMiRo-OS performs SSSP shutdown phase
|
||
936 | * NOTE:
|
||
937 | * The initiating module could deactivate PD at this point to indicate a restart rather than a shutdown request.
|
||
938 | * AMiRo-OS does not support restart though, thus the signal is not changed.
|
||
939 | */
|
||
940 | |||
941 | // proceed to SSSP shutdown stage 2.1
|
||
942 | c53ef0b1 | Thomas Schöpping | while (aosSsspProceed(&_eventListenerGPIO, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS) {
|
943 | cda14729 | Thomas Schöpping | /*
|
944 | * This code is executed if the received event was not about a deactivation of the synchronization signal.
|
||
945 | * The received event could be caused by any listener.
|
||
946 | */
|
||
947 | // GPIO event
|
||
948 | if (eventmask & _eventListenerGPIO.events) {
|
||
949 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
950 | #if defined(MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK)
|
||
951 | MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK(eventmask, eventflags); |
||
952 | #else /* defined(MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK) */ |
||
953 | /* silently ignore any other GPIO events */
|
||
954 | #endif /* defined(MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK) */ |
||
955 | } |
||
956 | // OS event
|
||
957 | else if (eventmask & _eventListenerOS.events) { |
||
958 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
959 | _unexpectedEventError(eventmask, eventflags); |
||
960 | } |
||
961 | // unknown event
|
||
962 | else {
|
||
963 | _unexpectedEventError(eventmask, 0);
|
||
964 | } |
||
965 | } |
||
966 | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_2_1); |
||
967 | |||
968 | // proceed to SSSP shutdown stage 2.2
|
||
969 | c53ef0b1 | Thomas Schöpping | aosSsspProceed(NULL, 0, &eventmask); |
970 | cda14729 | Thomas Schöpping | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_2_2); |
971 | if (shutdown == AOS_SHUTDOWN_PASSIVE) {
|
||
972 | aosDbgPrintf("%s request received\n", eventmask ? "shutdown" : "restart"); |
||
973 | } |
||
974 | /* NOTE:
|
||
975 | * Actually the call of aosSsspProceed() returned an indicator, whether a shutdown or restart has been initiated.
|
||
976 | * Since AMiRo-OS does not support restart, this return value is ignored and shutdown is assumed.
|
||
977 | */
|
||
978 | |||
979 | // the initiating module broadcasts the shutdown identifier
|
||
980 | if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
||
981 | // since AMiRo-OS does not support multiple ways to shutdown or restart, the special identifier 0 is broadcasted.
|
||
982 | aosSsspShutdownBroadcastIdentifier(0);
|
||
983 | } |
||
984 | // passive modules receive the broadcasted identifier
|
||
985 | else {
|
||
986 | unsigned int identifier = 0; |
||
987 | |||
988 | // receive the identifier, which specifies the type of shutdown/restart
|
||
989 | c53ef0b1 | Thomas Schöpping | while ((eventmask = aosSsspShutdownWaitForIdentifierPulse(&_eventListenerGPIO, moduleSsspEventflagS(), EVENTMASK_SSSPDELAY, &identifier)) != EVENTMASK_SSSPDELAY) {
|
990 | cda14729 | Thomas Schöpping | // GPIO event
|
991 | if (eventmask & _eventListenerGPIO.events) {
|
||
992 | eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
||
993 | #if defined(MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK)
|
||
994 | MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK(eventmask, eventflags); |
||
995 | #else /* defined(MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK) */ |
||
996 | /* silently ignore any other GPIO events */
|
||
997 | #endif /* defined(MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK) */ |
||
998 | /* silently ignore any GPIO events */
|
||
999 | } |
||
1000 | // OS event
|
||
1001 | else if (eventmask & _eventListenerOS.events) { |
||
1002 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
||
1003 | _unexpectedEventError(eventmask, eventflags); |
||
1004 | } |
||
1005 | // unknown event
|
||
1006 | else {
|
||
1007 | _unexpectedEventError(eventmask, 0);
|
||
1008 | } |
||
1009 | } |
||
1010 | |||
1011 | // Since AMiRo-OS does not support multiple ways to shutdown or restart, the identifier is ignored.
|
||
1012 | } |
||
1013 | |||
1014 | // proceed to SSSP shutdown stage 2.3
|
||
1015 | c53ef0b1 | Thomas Schöpping | aosSsspProceed(NULL, 0, NULL); |
1016 | cda14729 | Thomas Schöpping | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_2_3); |
1017 | e545e620 | Thomas Schöpping | |
1018 | /*
|
||
1019 | cda14729 | Thomas Schöpping | * Since AMiRo-OS does only support one basic shutdown and no restart at all, the final shutdown is kept very simple.
|
1020 | e545e620 | Thomas Schöpping | */
|
1021 | |||
1022 | cda14729 | Thomas Schöpping | // disable interrupts
|
1023 | irqDeinit(); |
||
1024 | chSysDisable(); |
||
1025 | |||
1026 | chThdExit(MSG_OK); |
||
1027 | return MSG_OK;
|
||
1028 | |||
1029 | #else /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
||
1030 | |||
1031 | /* hand over to the bootloader to perform SSSP shutdown phase */
|
||
1032 | aosSysShutdownToBootloader(shutdown); |
||
1033 | |||
1034 | aosDbgAssertMsg(false, "AMiRo-OS must not proceed to this point!"); |
||
1035 | chThdExit(MSG_RESET); |
||
1036 | return MSG_RESET;
|
||
1037 | |||
1038 | #endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
||
1039 | |||
1040 | #else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
||
1041 | |||
1042 | /*
|
||
1043 | * Depending on the configured bootloader, trivial shutdown is either executed by AMiRo-OS or by that bootloader.
|
||
1044 | */
|
||
1045 | #if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE)
|
||
1046 | |||
1047 | /* AMiRo-OS performs trivial shutdown */
|
||
1048 | |||
1049 | // disable interrupts
|
||
1050 | irqDeinit(); |
||
1051 | chSysDisable(); |
||
1052 | |||
1053 | chThdExit(MSG_OK); |
||
1054 | return MSG_OK;
|
||
1055 | |||
1056 | #elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
|
||
1057 | |||
1058 | /* AMiRo-BLT performns shutdown */
|
||
1059 | aosSysShutdownToBootloader(shutdown); |
||
1060 | |||
1061 | aosDbgAssertMsg(false, "AMiRo-OS must not proceed to this point!"); |
||
1062 | chThdExit(MSG_RESET); |
||
1063 | return MSG_RESET;
|
||
1064 | |||
1065 | #endif /* (AMIROOS_CFG_BOOTLOADER == X) */ |
||
1066 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
||
1067 | e545e620 | Thomas Schöpping | } |
1068 | 53710ca3 | Marc Rothmann | |
1069 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
1070 | /* EXPORTED FUNCTIONS */
|
||
1071 | /******************************************************************************/
|
||
1072 | |||
1073 | 53710ca3 | Marc Rothmann | /** @} */ |