amiro-os / core / src / aos_main.cpp @ cacd990c
History | View | Annotate | Download (38.637 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2020 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file aos_main.cpp
|
| 21 |
* @brief Main function.
|
| 22 |
*
|
| 23 |
* @addtogroup aos_system
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#include <amiroos.h> |
| 28 |
|
| 29 |
/*
|
| 30 |
* hook to add further includes
|
| 31 |
*/
|
| 32 |
#if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER)
|
| 33 |
#include AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER
|
| 34 |
#endif /* defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE_HEADER) */ |
| 35 |
|
| 36 |
/******************************************************************************/
|
| 37 |
/* LOCAL DEFINITIONS */
|
| 38 |
/******************************************************************************/
|
| 39 |
|
| 40 |
/**
|
| 41 |
* @brief Event mask to identify GPIO events.
|
| 42 |
*/
|
| 43 |
#define EVENTMASK_GPIO EVENT_MASK(0) |
| 44 |
|
| 45 |
/**
|
| 46 |
* @brief Event mask to identify OS events.
|
| 47 |
*/
|
| 48 |
#define EVENTMASK_OS EVENT_MASK(1) |
| 49 |
|
| 50 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
| 51 |
|
| 52 |
|
| 53 |
#if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
| 54 |
|
| 55 |
/**
|
| 56 |
* @brief Event mask to identify SSSP timeout events (MSI only).
|
| 57 |
*/
|
| 58 |
#define EVENTMASK_SSSPTIMEOUT EVENT_MASK(2) |
| 59 |
|
| 60 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 61 |
|
| 62 |
/**
|
| 63 |
* @brief Event mask to identify SSSP delay events.
|
| 64 |
*/
|
| 65 |
#define EVENTMASK_SSSPDELAY EVENT_MASK(3) |
| 66 |
|
| 67 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 68 |
|
| 69 |
/******************************************************************************/
|
| 70 |
/* EXPORTED VARIABLES */
|
| 71 |
/******************************************************************************/
|
| 72 |
|
| 73 |
/******************************************************************************/
|
| 74 |
/* LOCAL TYPES */
|
| 75 |
/******************************************************************************/
|
| 76 |
|
| 77 |
/******************************************************************************/
|
| 78 |
/* LOCAL VARIABLES */
|
| 79 |
/******************************************************************************/
|
| 80 |
|
| 81 |
/**
|
| 82 |
* @brief Listener object for GPIO events.
|
| 83 |
*/
|
| 84 |
static event_listener_t _eventListenerGPIO;
|
| 85 |
|
| 86 |
/**
|
| 87 |
* @brief Listener object for OS events.
|
| 88 |
*/
|
| 89 |
static event_listener_t _eventListenerOS;
|
| 90 |
|
| 91 |
#if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
|
| 92 |
|
| 93 |
/**
|
| 94 |
* @brief I/O channel for the programmer interface.
|
| 95 |
*/
|
| 96 |
static AosIOChannel _stdiochannel;
|
| 97 |
|
| 98 |
#endif /* defined(MODULE_HAL_PROGIF) */ |
| 99 |
|
| 100 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 101 |
|
| 102 |
/**
|
| 103 |
* @brief I/O shell channel for the programmer interface.
|
| 104 |
*/
|
| 105 |
static AosShellChannel _stdshellchannel;
|
| 106 |
|
| 107 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
| 108 |
|
| 109 |
/*
|
| 110 |
* hook to add further static variables
|
| 111 |
*/
|
| 112 |
#if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
|
| 113 |
AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
| 114 |
#endif /* defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES) */ |
| 115 |
|
| 116 |
/******************************************************************************/
|
| 117 |
/* LOCAL FUNCTIONS */
|
| 118 |
/******************************************************************************/
|
| 119 |
|
| 120 |
/**
|
| 121 |
* @brief Prints an error message about an unexpected event.
|
| 122 |
*
|
| 123 |
* @param[in] mask The event mask.
|
| 124 |
* @param[in] flags The event flags.
|
| 125 |
*/
|
| 126 |
static inline void _unexpectedEventError(const eventmask_t mask, const eventflags_t flags) |
| 127 |
{
|
| 128 |
#if (AMIROOS_CFG_DBG == true) |
| 129 |
aosDbgPrintf("CTRL: unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
|
| 130 |
#else /* (AMIROOS_CFG_DBG == true) */ |
| 131 |
(void)(mask);
|
| 132 |
(void)(flags);
|
| 133 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
| 134 |
return;
|
| 135 |
} |
| 136 |
|
| 137 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_RTC == TRUE)) || defined(__DOXYGEN__) |
| 138 |
#if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__) |
| 139 |
|
| 140 |
/**
|
| 141 |
* @brief Converter function to encode a TM value to a single unsigned 64 bit integer.
|
| 142 |
*
|
| 143 |
* @details Contents of the TM struct are mapped as follows:
|
| 144 |
* bits |63 62|61 53|52 50|49 26|25 22|21 17|16 12|11 6|5 0|
|
| 145 |
* #bits | 2 | 9 | 3 | 24 | 4 | 5 | 5 | 6 | 6 |
|
| 146 |
* value | isdst | yday | wday | year | mon | mday | hour | min | sec |
|
| 147 |
* range | special | [0, 365] | [0, 6] | [1900, ...] | [0, 11] | [1, 31] | [0, 23] | [0, 59] | [0, 61] |
|
| 148 |
* The Daylight Saving Time Flag (isdsst) is encoded as follows:
|
| 149 |
* DST not in effect -> 0
|
| 150 |
* DST in effect -> 1
|
| 151 |
* no information available -> 2
|
| 152 |
*
|
| 153 |
* @param[in] src Pointer to the TM struct to encode.
|
| 154 |
*
|
| 155 |
* @return An unsigned 64 bit integer, which holds the encoded time value.
|
| 156 |
*/
|
| 157 |
static inline uint64_t _TM2U64(struct tm* src) |
| 158 |
{
|
| 159 |
aosDbgCheck(src != NULL);
|
| 160 |
|
| 161 |
return (((uint64_t)(src->tm_sec & 0x0000003F) << (0)) | |
| 162 |
((uint64_t)(src->tm_min & 0x0000003F) << (6)) | |
| 163 |
((uint64_t)(src->tm_hour & 0x0000001F) << (12)) | |
| 164 |
((uint64_t)(src->tm_mday & 0x0000001F) << (17)) | |
| 165 |
((uint64_t)(src->tm_mon & 0x0000000F) << (22)) | |
| 166 |
((uint64_t)(src->tm_year & 0x00FFFFFF) << (26)) | |
| 167 |
((uint64_t)(src->tm_wday & 0x00000007) << (50)) | |
| 168 |
((uint64_t)(src->tm_yday & 0x000001FF) << (53)) | |
| 169 |
((uint64_t)((src->tm_isdst == 0) ? 0 : (src->tm_isdst > 0) ? 1 : 2) << (62))); |
| 170 |
} |
| 171 |
|
| 172 |
/**
|
| 173 |
* @brief Serializes 64 bit unsigned integer input and stores it in a byte array.
|
| 174 |
* @details Serialization is performed in big-endian fashion.
|
| 175 |
*
|
| 176 |
* @param[out] dst Pointer to the output buffer.
|
| 177 |
* @param[in] src Data to be serialized.
|
| 178 |
*/
|
| 179 |
static inline void _serializeU64(uint8_t* dst, const uint64_t src) |
| 180 |
{
|
| 181 |
aosDbgCheck(dst != NULL);
|
| 182 |
|
| 183 |
for (uint8_t byte = 0; byte < sizeof(uint64_t); ++byte) { |
| 184 |
dst[byte] = ((src >> ((sizeof(uint64_t) - (byte+1)) * 8)) & 0xFF); |
| 185 |
} |
| 186 |
|
| 187 |
return;
|
| 188 |
} |
| 189 |
|
| 190 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 191 |
#if (AMIROOS_CFG_SSSP_MASTER != true) || defined(__DOXYGEN__) |
| 192 |
|
| 193 |
/**
|
| 194 |
* @brief Deserialize 64 bit unsigned integer data from a buffer.
|
| 195 |
* @details Data is assumed to be serialized in big-endian fashion.
|
| 196 |
*
|
| 197 |
* @param[in] src Pointer to the buffer of data to be deserialzed.
|
| 198 |
*
|
| 199 |
* @return Deserialized 64 bit data.
|
| 200 |
*/
|
| 201 |
static inline uint64_t _deserializeU64(uint8_t* src) |
| 202 |
{
|
| 203 |
aosDbgCheck(src != NULL);
|
| 204 |
|
| 205 |
uint64_t result = 0;
|
| 206 |
for (uint8_t byte = 0; byte < sizeof(uint64_t); ++byte) { |
| 207 |
result |= ((uint64_t)src[byte] << ((sizeof(uint64_t) - (byte+1)) * 8)); |
| 208 |
} |
| 209 |
|
| 210 |
return result;
|
| 211 |
} |
| 212 |
|
| 213 |
/**
|
| 214 |
* @brief Converter functiomn to retrieve the encoded TM value from an unsigned 64 bit integer.
|
| 215 |
*
|
| 216 |
* @details For information on the encoding, please refer to @p _TM2U64 function.
|
| 217 |
*
|
| 218 |
* @param[out] dst The TM struct to fill with the decoded values.
|
| 219 |
* @param[in] src Unsigned 64 bit integer holding the encoded TM value.
|
| 220 |
*/
|
| 221 |
static inline void _U642TM(struct tm* dst, const uint64_t src) |
| 222 |
{
|
| 223 |
aosDbgCheck(dst != NULL);
|
| 224 |
|
| 225 |
dst->tm_sec = (src >> 0) & 0x0000003F; |
| 226 |
dst->tm_min = (src >> 6) & 0x0000003F; |
| 227 |
dst->tm_hour = (src >> 12) & 0x0000001F; |
| 228 |
dst->tm_mday = (src >> 17) & 0x0000001F; |
| 229 |
dst->tm_mon = (src >> 22) & 0x0000000F; |
| 230 |
dst->tm_year = (src >> 26) & 0x00FFFFFF; |
| 231 |
dst->tm_wday = (src >> 50) & 0x00000007; |
| 232 |
dst->tm_yday = (src >> 53) & 0x000001FF; |
| 233 |
dst->tm_isdst = (((src >> 62) & 0x03) == 0) ? 0 : (((src >> 62) & 0x03) > 0) ? 1 : -1; |
| 234 |
|
| 235 |
return;
|
| 236 |
} |
| 237 |
|
| 238 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) */ |
| 239 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_RTC == TRUE) */ |
| 240 |
|
| 241 |
/**
|
| 242 |
* @brief Application entry point.
|
| 243 |
*/
|
| 244 |
int main(void) |
| 245 |
{
|
| 246 |
// local variables
|
| 247 |
eventmask_t eventmask = 0;
|
| 248 |
eventflags_t eventflags = 0;
|
| 249 |
aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
| 250 |
#if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)
|
| 251 |
AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
| 252 |
#endif /* defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES) */ |
| 253 |
|
| 254 |
/*
|
| 255 |
* ##########################################################################
|
| 256 |
* # system initialization #
|
| 257 |
* ##########################################################################
|
| 258 |
*/
|
| 259 |
|
| 260 |
/* hardware, kernel, and operating system initialization */
|
| 261 |
// ChibiOS/HAL and custom hal additions (if any)
|
| 262 |
halInit(); |
| 263 |
#if defined(MODULE_INIT_HAL_EXTRA)
|
| 264 |
MODULE_INIT_HAL_EXTRA(); |
| 265 |
#endif /* defined(MODULE_INIT_HAL_EXTRA) */ |
| 266 |
|
| 267 |
// ChibiOS/RT kernel and custom kernel additions (if any)
|
| 268 |
chSysInit(); |
| 269 |
#if defined(MODULE_INIT_KERNEL_EXTRA)
|
| 270 |
MODULE_INIT_KERNEL_EXTRA(); |
| 271 |
#endif /* defined(MODULE_INIT_KERNEL_EXTRA) */ |
| 272 |
|
| 273 |
// AMiRo-OS, additional interrupts and custom OS additions (if any)
|
| 274 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
| 275 |
aosSysInit(moduleShellPrompt); |
| 276 |
#else /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
| 277 |
aosSysInit(NULL);
|
| 278 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
| 279 |
#if defined(MODULE_INIT_INTERRUPTS)
|
| 280 |
MODULE_INIT_INTERRUPTS(); |
| 281 |
#endif
|
| 282 |
#if defined(MODULE_INIT_OS_EXTRA)
|
| 283 |
MODULE_INIT_OS_EXTRA(); |
| 284 |
#endif /* defined(MODULE_INIT_OS_EXTRA) */ |
| 285 |
|
| 286 |
/* event associations */
|
| 287 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 288 |
{
|
| 289 |
eventflags_t flagsmask = AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK | moduleSsspEventflagPD() | moduleSsspEventflagS(); |
| 290 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
| 291 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 292 |
flagsmask |= moduleSsspEventflagDN(); |
| 293 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
| 294 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 295 |
flagsmask |= moduleSsspEventflagUP(); |
| 296 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
| 297 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 298 |
chEvtRegisterMaskWithFlags(&aos.events.gpio, &_eventListenerGPIO, EVENTMASK_GPIO, flagsmask); |
| 299 |
} |
| 300 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 301 |
if (AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) {
|
| 302 |
chEvtRegisterMaskWithFlags(&aos.events.gpio, &_eventListenerGPIO, EVENTMASK_GPIO, AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK); |
| 303 |
} |
| 304 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 305 |
chEvtRegisterMask(&aos.events.os, &_eventListenerOS, EVENTMASK_OS); |
| 306 |
|
| 307 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_STARTUP == true) |
| 308 |
|
| 309 |
/* perform SSSP basic initialization stage */
|
| 310 |
|
| 311 |
#if defined(MODULE_SSSP_BASICINIT_HOOK)
|
| 312 |
#if defined(MODULE_SSSP_BASICINIT_HOOK_ARGS)
|
| 313 |
MODULE_SSSP_BASICINIT_HOOK(MODULE_SSSP_BASICINIT_HOOK_ARGS); |
| 314 |
#else /* defined(MODULE_SSSP_BASICINIT_HOOK_ARGS) */ |
| 315 |
MODULE_SSSP_BASICINIT_HOOK(); |
| 316 |
#endif /* defined(MODULE_SSSP_BASICINIT_HOOK_ARGS) */ |
| 317 |
#endif /* defined(MODULE_SSSP_BASICINIT_HOOK) */ |
| 318 |
|
| 319 |
// proceed to startup stage 1.2
|
| 320 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 321 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, EVENTMASK_SSSPDELAY, &eventmask) != AOS_SUCCESS)) { |
| 322 |
/*
|
| 323 |
* This code is executed if the received event was not about the delay.
|
| 324 |
* The received event could be casued by any listener.
|
| 325 |
*/
|
| 326 |
// GPIO event
|
| 327 |
if (eventmask & _eventListenerGPIO.events) {
|
| 328 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 329 |
// PD event
|
| 330 |
if (eventflags & moduleSsspEventflagPD()) {
|
| 331 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 332 |
} else {
|
| 333 |
#if defined(MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK)
|
| 334 |
MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK(eventmask, eventflags); |
| 335 |
#else /* defined(MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK) */ |
| 336 |
/* silently ignore any other GPIO events */
|
| 337 |
#endif /* defined(MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK) */ |
| 338 |
} |
| 339 |
} |
| 340 |
// OS event
|
| 341 |
else if (eventmask & _eventListenerOS.events) { |
| 342 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 343 |
_unexpectedEventError(eventmask, eventflags); |
| 344 |
} |
| 345 |
// unknown event
|
| 346 |
else {
|
| 347 |
_unexpectedEventError(eventmask, 0);
|
| 348 |
} |
| 349 |
} |
| 350 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 351 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_1_2); |
| 352 |
} |
| 353 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 354 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 355 |
aosSsspProceed(NULL, 0, NULL); |
| 356 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_1_2); |
| 357 |
} |
| 358 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 359 |
|
| 360 |
// proceed to startup stage 1.3
|
| 361 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS)) {
|
| 362 |
/*
|
| 363 |
* This code is executed if the received event was not about a deactivation of the snychronization signal.
|
| 364 |
* The received event could be caused by any listener.
|
| 365 |
*/
|
| 366 |
// GPIO event
|
| 367 |
if (eventmask & _eventListenerGPIO.events) {
|
| 368 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 369 |
// PD event
|
| 370 |
if (eventflags & moduleSsspEventflagPD()) {
|
| 371 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 372 |
} else {
|
| 373 |
#if defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK)
|
| 374 |
MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK(eventmask, eventflags); |
| 375 |
#else /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
| 376 |
/* silently ignore any other GPIO events */
|
| 377 |
#endif /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
| 378 |
} |
| 379 |
} |
| 380 |
// OS event
|
| 381 |
else if (eventmask & _eventListenerOS.events) { |
| 382 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 383 |
_unexpectedEventError(eventmask, eventflags); |
| 384 |
} |
| 385 |
// unknown event
|
| 386 |
else {
|
| 387 |
_unexpectedEventError(eventmask, 0);
|
| 388 |
} |
| 389 |
} |
| 390 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 391 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_1_3); |
| 392 |
} |
| 393 |
|
| 394 |
// proceed to startup stage 2.1
|
| 395 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 396 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, EVENTMASK_SSSPDELAY, &eventmask) != AOS_SUCCESS)) { |
| 397 |
/*
|
| 398 |
* This code is executed if the received event was not about the delay.
|
| 399 |
* The received event could be caused by any listener.
|
| 400 |
*/
|
| 401 |
// GPIO event
|
| 402 |
if (eventmask & _eventListenerGPIO.events) {
|
| 403 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 404 |
// PD event
|
| 405 |
if (eventflags & moduleSsspEventflagPD()) {
|
| 406 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 407 |
} else {
|
| 408 |
#if defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK)
|
| 409 |
MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK(eventmask, eventflags); |
| 410 |
#else /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
| 411 |
/* silently ignore any other GPIO events */
|
| 412 |
#endif /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
| 413 |
} |
| 414 |
} |
| 415 |
// OS event
|
| 416 |
else if (eventmask & _eventListenerOS.events) { |
| 417 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 418 |
_unexpectedEventError(eventmask, eventflags); |
| 419 |
} |
| 420 |
// unknown event
|
| 421 |
else {
|
| 422 |
_unexpectedEventError(eventmask, 0);
|
| 423 |
} |
| 424 |
} |
| 425 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 426 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS)) {
|
| 427 |
/*
|
| 428 |
* This code is executed if the received event was not about a deactivation of the snychronization signal.
|
| 429 |
* The received event could be caused by any listener.
|
| 430 |
*/
|
| 431 |
// GPIO event
|
| 432 |
if (eventmask & _eventListenerGPIO.events) {
|
| 433 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 434 |
// PD event
|
| 435 |
if (eventflags & moduleSsspEventflagPD()) {
|
| 436 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 437 |
} else {
|
| 438 |
#if defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK)
|
| 439 |
MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK(eventmask, eventflags); |
| 440 |
#else /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
| 441 |
/* silently ignore any other GPIO events */
|
| 442 |
#endif /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
| 443 |
} |
| 444 |
} |
| 445 |
// OS event
|
| 446 |
else if (eventmask & _eventListenerOS.events) { |
| 447 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 448 |
_unexpectedEventError(eventmask, eventflags); |
| 449 |
} |
| 450 |
// unknown event
|
| 451 |
else {
|
| 452 |
_unexpectedEventError(eventmask, 0);
|
| 453 |
} |
| 454 |
} |
| 455 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 456 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 457 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_1); |
| 458 |
} |
| 459 |
|
| 460 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_STARTUP == true) */ |
| 461 |
|
| 462 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
|
| 463 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
|
| 464 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
| 465 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
| 466 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
| 467 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
| 468 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1) */ |
| 469 |
|
| 470 |
/* periphery communication interfaces initialization */
|
| 471 |
#if defined(MODULE_INIT_PERIPHERY_IF)
|
| 472 |
// module specific initialization
|
| 473 |
MODULE_INIT_PERIPHERY_IF(); |
| 474 |
#endif /* defined(MODULE_INIT_PERIPHERY_IF) */ |
| 475 |
#if defined(MODULE_HAL_PROGIF)
|
| 476 |
// user interface
|
| 477 |
aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
| 478 |
aosIOChannelOutputEnable(&_stdiochannel); |
| 479 |
aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
| 480 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
| 481 |
aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
| 482 |
aosShellChannelInputEnable(&_stdshellchannel); |
| 483 |
aosShellChannelOutputEnable(&_stdshellchannel); |
| 484 |
aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
| 485 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
| 486 |
#endif /* defined(MODULE_HAL_PROGIF) */ |
| 487 |
|
| 488 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
|
| 489 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
|
| 490 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
| 491 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */ |
| 492 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
| 493 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */ |
| 494 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2) */ |
| 495 |
|
| 496 |
/* module is ready -> print welcome prompt */
|
| 497 |
aosprintf("\n");
|
| 498 |
aosprintf("######################################################################\n");
|
| 499 |
aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
|
| 500 |
aosprintf("# Robot (AMiRo) platform. #\n");
|
| 501 |
aosprintf("# Copyright (C) 2016..2020 Thomas Schöpping et al. #\n");
|
| 502 |
aosprintf("# #\n");
|
| 503 |
aosprintf("# This is free software; see the source for copying conditions. #\n");
|
| 504 |
aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
|
| 505 |
aosprintf("# A PARTICULAR PURPOSE. #\n");
|
| 506 |
aosprintf("# The development of this software was supported by the Excellence #\n");
|
| 507 |
aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
|
| 508 |
aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
|
| 509 |
aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
|
| 510 |
aosprintf("######################################################################\n");
|
| 511 |
aosprintf("\n");
|
| 512 |
|
| 513 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
|
| 514 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
|
| 515 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
| 516 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */ |
| 517 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
| 518 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */ |
| 519 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3) */ |
| 520 |
|
| 521 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
| 522 |
#if defined(MODULE_INIT_TESTS)
|
| 523 |
MODULE_INIT_TESTS(); |
| 524 |
#else /* defined(MODULE_INIT_TESTS) */ |
| 525 |
#warning "AMIROOS_CFG_TESTS_ENABLE set to true, but MODULE_INIT_TESTS() not defined" |
| 526 |
#endif /* defined(MODULE_INIT_TESTS) */ |
| 527 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 528 |
|
| 529 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
|
| 530 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
|
| 531 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
| 532 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */ |
| 533 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
| 534 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */ |
| 535 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4) */ |
| 536 |
|
| 537 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 538 |
|
| 539 |
// proceed to startup stage 2.2
|
| 540 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 541 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, EVENTMASK_SSSPDELAY, &eventmask) != AOS_SUCCESS)) { |
| 542 |
/*
|
| 543 |
* This code is executed if the received event was not about the delay.
|
| 544 |
* The received event could be caused by any listener.
|
| 545 |
*/
|
| 546 |
// GPIO event
|
| 547 |
if (eventmask & _eventListenerGPIO.events) {
|
| 548 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 549 |
// PD event
|
| 550 |
if (eventflags & moduleSsspEventflagPD()) {
|
| 551 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 552 |
} else {
|
| 553 |
#if defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK)
|
| 554 |
MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK(eventmask, eventflags); |
| 555 |
#else /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
| 556 |
/* silently ignore any other GPIO events */
|
| 557 |
#endif /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
| 558 |
} |
| 559 |
} |
| 560 |
// OS event
|
| 561 |
else if (eventmask & _eventListenerOS.events) { |
| 562 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 563 |
_unexpectedEventError(eventmask, eventflags); |
| 564 |
} |
| 565 |
// unknown event
|
| 566 |
else {
|
| 567 |
_unexpectedEventError(eventmask, 0);
|
| 568 |
} |
| 569 |
} |
| 570 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 571 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_2); |
| 572 |
} |
| 573 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 574 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 575 |
aosSsspProceed(NULL, 0, NULL); |
| 576 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_2); |
| 577 |
} |
| 578 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 579 |
|
| 580 |
// proceed to startup stage 3 (MSI is enabled), or to operation phase (no MSI)
|
| 581 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS)) {
|
| 582 |
/*
|
| 583 |
* This code is executed if the received event was not about a deactivation of the snychronization signal.
|
| 584 |
* The received event could be caused by any listener.
|
| 585 |
*/
|
| 586 |
// GPIO event
|
| 587 |
if (eventmask & _eventListenerGPIO.events) {
|
| 588 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 589 |
// PD event
|
| 590 |
if (eventflags & moduleSsspEventflagPD()) {
|
| 591 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 592 |
} else {
|
| 593 |
#if defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK)
|
| 594 |
MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK(eventmask, eventflags); |
| 595 |
#else /* defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK) */ |
| 596 |
/* silently ignore any other GPIO events */
|
| 597 |
#endif /* defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK) */ |
| 598 |
} |
| 599 |
} |
| 600 |
// OS event
|
| 601 |
else if (eventmask & _eventListenerOS.events) { |
| 602 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 603 |
_unexpectedEventError(eventmask, eventflags); |
| 604 |
} |
| 605 |
// unknown event
|
| 606 |
else {
|
| 607 |
_unexpectedEventError(eventmask, 0);
|
| 608 |
} |
| 609 |
} |
| 610 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 611 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
| 612 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3); |
| 613 |
#else /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 614 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_OPERATION); |
| 615 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 616 |
} |
| 617 |
|
| 618 |
/*
|
| 619 |
* There must be no delay at this point, thus no hook allowed.
|
| 620 |
*/
|
| 621 |
|
| 622 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
| 623 |
{
|
| 624 |
// initialize temporary MSI data
|
| 625 |
aos_ssspmsidata_t msidata; |
| 626 |
aosSsspMsiInit(&msidata, EVENTMASK_SSSPDELAY, EVENTMASK_SSSPTIMEOUT, &_eventListenerGPIO); |
| 627 |
|
| 628 |
// execute module stack initialization (MSI) but react to unrelated events as well
|
| 629 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aos.sssp.stage != AOS_SSSP_STAGE_OPERATION)) {
|
| 630 |
// execute MSI routine
|
| 631 |
aosSsspMsi(&msidata, &eventmask); |
| 632 |
// handly event (if any)
|
| 633 |
if (eventmask) {
|
| 634 |
// GPIO event
|
| 635 |
if (eventmask & _eventListenerGPIO.events) {
|
| 636 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 637 |
// PD event
|
| 638 |
if (eventflags & moduleSsspEventflagPD()) {
|
| 639 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 640 |
} else {
|
| 641 |
#if defined(MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK)
|
| 642 |
MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK(eventmask, eventflags); |
| 643 |
#else /* defined(MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK) */ |
| 644 |
/* silently ignore any other GPIO events */
|
| 645 |
#endif /* defined(MODULE_SSSP_STARTUP_3_GPIOEVENT_HOOK) */ |
| 646 |
} |
| 647 |
} |
| 648 |
// OS event
|
| 649 |
else if (eventmask & _eventListenerOS.events) { |
| 650 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 651 |
_unexpectedEventError(eventmask, eventflags); |
| 652 |
} |
| 653 |
// unknown event
|
| 654 |
else {
|
| 655 |
_unexpectedEventError(eventmask, 0);
|
| 656 |
} |
| 657 |
} |
| 658 |
} |
| 659 |
} |
| 660 |
|
| 661 |
#if (HAL_USE_RTC == TRUE)
|
| 662 |
|
| 663 |
/*
|
| 664 |
* calendar synchronization
|
| 665 |
*
|
| 666 |
* Although calendar synchronization does not inherently rely on SSSP, this
|
| 667 |
* implementation uses the moduleSsspBcbX() functions, defined by SSSP in
|
| 668 |
* order to save redundant code. Furthermore, it is rather unlikely that
|
| 669 |
* system wide synchronization of calendars is desired when SSSP is disabled
|
| 670 |
* anyway.
|
| 671 |
*/
|
| 672 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 673 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 674 |
// temporary variables
|
| 675 |
struct tm t;
|
| 676 |
uint8_t buffer[sizeof(uint64_t)];
|
| 677 |
|
| 678 |
// get current date/time
|
| 679 |
aosSysGetDateTime(&t); |
| 680 |
// encode & serialize
|
| 681 |
_serializeU64(buffer, _TM2U64(&t)); |
| 682 |
// transmit
|
| 683 |
aosDbgPrintf("transmitting current date/time...\t");
|
| 684 |
if (moduleSsspBcbTransmit(buffer, sizeof(uint64_t)) == AOS_SSSP_BCB_SUCCESS) { |
| 685 |
aosDbgPrintf("ok\n");
|
| 686 |
} else {
|
| 687 |
aosDbgPrintf("fail\n");
|
| 688 |
} |
| 689 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 690 |
// temporary variables
|
| 691 |
aos_timestamp_t start, now; |
| 692 |
aos_ssspbcbstatus_t bcbstatus; |
| 693 |
uint8_t buffer[sizeof(uint64_t)];
|
| 694 |
struct tm t;
|
| 695 |
|
| 696 |
// receive
|
| 697 |
aosDbgPrintf("receiving current date/time...\t");
|
| 698 |
aosSysGetUptime(&start); |
| 699 |
do {
|
| 700 |
bcbstatus = moduleSsspBcbReceive(buffer, sizeof(uint64_t));
|
| 701 |
aosSysGetUptime(&now); |
| 702 |
} while ((bcbstatus != AOS_SSSP_BCB_SUCCESS) && ((now - start) < AOS_SSSP_TIMEOUT));
|
| 703 |
// if something was received
|
| 704 |
if (bcbstatus == AOS_SSSP_BCB_SUCCESS) {
|
| 705 |
// deserialize & decode
|
| 706 |
_U642TM(&t, _deserializeU64(buffer)); |
| 707 |
// set current date/time
|
| 708 |
aosSysSetDateTime(&t); |
| 709 |
aosDbgPrintf("ok\n");
|
| 710 |
} else {
|
| 711 |
aosDbgPrintf("fail\n");
|
| 712 |
} |
| 713 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 714 |
} |
| 715 |
|
| 716 |
#endif /* (HAL_USE_RTC == TRUE) */ |
| 717 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 718 |
|
| 719 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 720 |
|
| 721 |
/* completely start AMiRo-OS */
|
| 722 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 723 |
aosSysStart(); |
| 724 |
} |
| 725 |
|
| 726 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
|
| 727 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
|
| 728 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
| 729 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */ |
| 730 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
| 731 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */ |
| 732 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5) */ |
| 733 |
|
| 734 |
/*
|
| 735 |
* ##########################################################################
|
| 736 |
* # infinite loop #
|
| 737 |
* ##########################################################################
|
| 738 |
*/
|
| 739 |
|
| 740 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 741 |
/* ignore all SSSP signal events, except for PD and configured events */
|
| 742 |
eventflags = moduleSsspEventflagS(); |
| 743 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
| 744 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 745 |
eventflags |= moduleSsspEventflagDN(); |
| 746 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
| 747 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 748 |
eventflags |= moduleSsspEventflagUP(); |
| 749 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
| 750 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 751 |
eventflags &= ~((eventflags_t)AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK); |
| 752 |
_eventListenerGPIO.wflags &= ~eventflags; |
| 753 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 754 |
|
| 755 |
// sleep until a shutdown event is received
|
| 756 |
while (shutdown == AOS_SHUTDOWN_NONE) {
|
| 757 |
// wait for an event
|
| 758 |
#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
| 759 |
eventmask = chEvtWaitOneTimeout(ALL_EVENTS, chTimeUS2I(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
| 760 |
#else /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) */ |
| 761 |
eventmask = chEvtWaitOne(ALL_EVENTS); |
| 762 |
#endif /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) */ |
| 763 |
|
| 764 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
|
| 765 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
|
| 766 |
AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
| 767 |
#else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */ |
| 768 |
AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
| 769 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */ |
| 770 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1) */ |
| 771 |
|
| 772 |
switch (eventmask) {
|
| 773 |
// if this was an GPIO event
|
| 774 |
case EVENTMASK_GPIO:
|
| 775 |
// evaluate flags
|
| 776 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 777 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 778 |
// PD event
|
| 779 |
if (eventflags & moduleSsspEventflagPD()) {
|
| 780 |
aosSsspShutdownInit(false);
|
| 781 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 782 |
} |
| 783 |
// all other events
|
| 784 |
#if defined(MODULE_MAIN_LOOP_GPIOEVENT)
|
| 785 |
else {
|
| 786 |
MODULE_MAIN_LOOP_GPIOEVENT(eventflags); |
| 787 |
} |
| 788 |
#endif /* defined(MODULE_MAIN_LOOP_GPIOEVENT) */ |
| 789 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 790 |
#if defined(MODULE_MAIN_LOOP_GPIOEVENT)
|
| 791 |
MODULE_MAIN_LOOP_GPIOEVENT(eventflags); |
| 792 |
#endif /* defined(MODULE_MAIN_LOOP_GPIOEVENT) */ |
| 793 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 794 |
break;
|
| 795 |
|
| 796 |
// if this was an OS event
|
| 797 |
case EVENTMASK_OS:
|
| 798 |
// evaluate flags
|
| 799 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 800 |
switch (eventflags) {
|
| 801 |
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE)
|
| 802 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_MASK:
|
| 803 |
shutdown = AOS_SHUTDOWN_ACTIVE; |
| 804 |
break;
|
| 805 |
#elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
|
| 806 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_HIBERNATE:
|
| 807 |
shutdown = AOS_SHUTDOWN_HIBERNATE; |
| 808 |
break;
|
| 809 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_DEEPSLEEP:
|
| 810 |
shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
| 811 |
break;
|
| 812 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_TRANSPORTATION:
|
| 813 |
shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
| 814 |
break;
|
| 815 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_RESTART:
|
| 816 |
shutdown = AOS_SHUTDOWN_RESTART; |
| 817 |
break;
|
| 818 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_PASSIVE:
|
| 819 |
_unexpectedEventError(eventmask, eventflags); |
| 820 |
break;
|
| 821 |
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */ |
| 822 |
default:
|
| 823 |
_unexpectedEventError(eventmask, eventflags); |
| 824 |
break;
|
| 825 |
} |
| 826 |
break;
|
| 827 |
|
| 828 |
// if this was any other event (should be impossible to occur)
|
| 829 |
default:
|
| 830 |
eventflags = 0;
|
| 831 |
#if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0) |
| 832 |
_unexpectedEventError(eventmask, eventflags); |
| 833 |
#endif /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT == 0) */ |
| 834 |
break;
|
| 835 |
} |
| 836 |
|
| 837 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 838 |
|
| 839 |
/*
|
| 840 |
* Re-anable the S signal GPIO event.
|
| 841 |
* Note that events for the optional signals UP and DN are not enabled as they are not utilized during SSSP shutdown phase.
|
| 842 |
*/
|
| 843 |
chSysLock(); |
| 844 |
_eventListenerGPIO.wflags |= moduleSsspEventflagS(); |
| 845 |
chSysUnlock(); |
| 846 |
|
| 847 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 848 |
|
| 849 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2)
|
| 850 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS)
|
| 851 |
AMIROOS_CFG_MAIN_LOOP_HOOK_2(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS); |
| 852 |
#else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS) */ |
| 853 |
AMIROOS_CFG_MAIN_LOOP_HOOK_2(); |
| 854 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS) */ |
| 855 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2) */ |
| 856 |
} |
| 857 |
|
| 858 |
/*
|
| 859 |
* ##########################################################################
|
| 860 |
* # system shutdown #
|
| 861 |
* ##########################################################################
|
| 862 |
*/
|
| 863 |
|
| 864 |
aosDbgAssert(shutdown != AOS_SHUTDOWN_NONE); |
| 865 |
|
| 866 |
// initialize/acknowledge shutdown
|
| 867 |
aosSysShutdownInit(shutdown); |
| 868 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 869 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_1_2); |
| 870 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 871 |
|
| 872 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
|
| 873 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
|
| 874 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
| 875 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS) */ |
| 876 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
| 877 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS) */ |
| 878 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1) */ |
| 879 |
|
| 880 |
// wait for all threads to terminate
|
| 881 |
aosSysStop(); |
| 882 |
|
| 883 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
|
| 884 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
|
| 885 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
| 886 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS) */ |
| 887 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
| 888 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS) */ |
| 889 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2) */ |
| 890 |
|
| 891 |
// deinitialize system
|
| 892 |
aosSysDeinit(); |
| 893 |
|
| 894 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
|
| 895 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
|
| 896 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
| 897 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS) */ |
| 898 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
| 899 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS) */ |
| 900 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3) */ |
| 901 |
|
| 902 |
/* stop all periphery communication interfaces */
|
| 903 |
#if defined(MODULE_SHUTDOWN_PERIPHERY_IF)
|
| 904 |
MODULE_SHUTDOWN_PERIPHERY_IF(); |
| 905 |
#endif /* defined(MODULE_SHUTDOWN_PERIPHERY_IF) */ |
| 906 |
|
| 907 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
|
| 908 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
|
| 909 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
| 910 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS) */ |
| 911 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
| 912 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS) */ |
| 913 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4) */ |
| 914 |
|
| 915 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 916 |
|
| 917 |
// proceed to SSSP shutdown stage 1.3
|
| 918 |
aosSsspProceed(NULL, 0, NULL); |
| 919 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_1_3); |
| 920 |
|
| 921 |
#if (AMIROOS_CFG_SSSP_SHUTDOWN == true) |
| 922 |
|
| 923 |
/* AMiRo-OS performs SSSP shutdown phase
|
| 924 |
* NOTE:
|
| 925 |
* The initiating module could deactivate PD at this point to indicate a restart rather than a shutdown request.
|
| 926 |
* AMiRo-OS does not support restart though, thus the signal is not changed.
|
| 927 |
*/
|
| 928 |
|
| 929 |
// proceed to SSSP shutdown stage 2.1
|
| 930 |
while (aosSsspProceed(&_eventListenerGPIO, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS) {
|
| 931 |
/*
|
| 932 |
* This code is executed if the received event was not about a deactivation of the synchronization signal.
|
| 933 |
* The received event could be caused by any listener.
|
| 934 |
*/
|
| 935 |
// GPIO event
|
| 936 |
if (eventmask & _eventListenerGPIO.events) {
|
| 937 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 938 |
#if defined(MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK)
|
| 939 |
MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK(eventmask, eventflags); |
| 940 |
#else /* defined(MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK) */ |
| 941 |
/* silently ignore any other GPIO events */
|
| 942 |
#endif /* defined(MODULE_SSSP_SHUTDOWN_1_3_GPIOEVENT_HOOK) */ |
| 943 |
} |
| 944 |
// OS event
|
| 945 |
else if (eventmask & _eventListenerOS.events) { |
| 946 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 947 |
_unexpectedEventError(eventmask, eventflags); |
| 948 |
} |
| 949 |
// unknown event
|
| 950 |
else {
|
| 951 |
_unexpectedEventError(eventmask, 0);
|
| 952 |
} |
| 953 |
} |
| 954 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_2_1); |
| 955 |
|
| 956 |
// proceed to SSSP shutdown stage 2.2
|
| 957 |
aosSsspProceed(NULL, 0, &eventmask); |
| 958 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_2_2); |
| 959 |
if (shutdown == AOS_SHUTDOWN_PASSIVE) {
|
| 960 |
aosDbgPrintf("%s request received\n", eventmask ? "shutdown" : "restart"); |
| 961 |
} |
| 962 |
/* NOTE:
|
| 963 |
* Actually the call of aosSsspProceed() returned an indicator, whether a shutdown or restart has been initiated.
|
| 964 |
* Since AMiRo-OS does not support restart, this return value is ignored and shutdown is assumed.
|
| 965 |
*/
|
| 966 |
|
| 967 |
// the initiating module broadcasts the shutdown identifier
|
| 968 |
if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
| 969 |
// since AMiRo-OS does not support multiple ways to shutdown or restart, the special identifier 0 is broadcasted.
|
| 970 |
aosSsspShutdownBroadcastIdentifier(0);
|
| 971 |
} |
| 972 |
// passive modules receive the broadcasted identifier
|
| 973 |
else {
|
| 974 |
unsigned int identifier = 0; |
| 975 |
|
| 976 |
// receive the identifier, which specifies the type of shutdown/restart
|
| 977 |
while ((eventmask = aosSsspShutdownWaitForIdentifierPulse(&_eventListenerGPIO, moduleSsspEventflagS(), EVENTMASK_SSSPDELAY, &identifier)) != EVENTMASK_SSSPDELAY) {
|
| 978 |
// GPIO event
|
| 979 |
if (eventmask & _eventListenerGPIO.events) {
|
| 980 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
| 981 |
#if defined(MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK)
|
| 982 |
MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK(eventmask, eventflags); |
| 983 |
#else /* defined(MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK) */ |
| 984 |
/* silently ignore any other GPIO events */
|
| 985 |
#endif /* defined(MODULE_SSSP_SHUTDOWN_2_2_GPIOEVENT_HOOK) */ |
| 986 |
/* silently ignore any GPIO events */
|
| 987 |
} |
| 988 |
// OS event
|
| 989 |
else if (eventmask & _eventListenerOS.events) { |
| 990 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 991 |
_unexpectedEventError(eventmask, eventflags); |
| 992 |
} |
| 993 |
// unknown event
|
| 994 |
else {
|
| 995 |
_unexpectedEventError(eventmask, 0);
|
| 996 |
} |
| 997 |
} |
| 998 |
|
| 999 |
// Since AMiRo-OS does not support multiple ways to shutdown or restart, the identifier is ignored.
|
| 1000 |
} |
| 1001 |
|
| 1002 |
// proceed to SSSP shutdown stage 2.3
|
| 1003 |
aosSsspProceed(NULL, 0, NULL); |
| 1004 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_2_3); |
| 1005 |
|
| 1006 |
/*
|
| 1007 |
* Since AMiRo-OS does only support one basic shutdown and no restart at all, the final shutdown is kept very simple.
|
| 1008 |
*/
|
| 1009 |
|
| 1010 |
// disable interrupts
|
| 1011 |
irqDeinit(); |
| 1012 |
chSysDisable(); |
| 1013 |
|
| 1014 |
chThdExit(MSG_OK); |
| 1015 |
return MSG_OK;
|
| 1016 |
|
| 1017 |
#else /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
| 1018 |
|
| 1019 |
/* hand over to the bootloader to perform SSSP shutdown phase */
|
| 1020 |
aosSysShutdownToBootloader(shutdown); |
| 1021 |
|
| 1022 |
aosDbgAssertMsg(false, "AMiRo-OS must not proceed to this point!"); |
| 1023 |
chThdExit(MSG_RESET); |
| 1024 |
return MSG_RESET;
|
| 1025 |
|
| 1026 |
#endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
| 1027 |
|
| 1028 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 1029 |
|
| 1030 |
/*
|
| 1031 |
* Depending on the configured bootloader, trivial shutdown is either executed by AMiRo-OS or by that bootloader.
|
| 1032 |
*/
|
| 1033 |
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE)
|
| 1034 |
|
| 1035 |
/* AMiRo-OS performs trivial shutdown */
|
| 1036 |
|
| 1037 |
// disable interrupts
|
| 1038 |
irqDeinit(); |
| 1039 |
chSysDisable(); |
| 1040 |
|
| 1041 |
chThdExit(MSG_OK); |
| 1042 |
return MSG_OK;
|
| 1043 |
|
| 1044 |
#elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
|
| 1045 |
|
| 1046 |
/* AMiRo-BLT performns shutdown */
|
| 1047 |
aosSysShutdownToBootloader(shutdown); |
| 1048 |
|
| 1049 |
aosDbgAssertMsg(false, "AMiRo-OS must not proceed to this point!"); |
| 1050 |
chThdExit(MSG_RESET); |
| 1051 |
return MSG_RESET;
|
| 1052 |
|
| 1053 |
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */ |
| 1054 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 1055 |
} |
| 1056 |
|
| 1057 |
/******************************************************************************/
|
| 1058 |
/* EXPORTED FUNCTIONS */
|
| 1059 |
/******************************************************************************/
|
| 1060 |
|
| 1061 |
/** @} */
|