amiro-os / core / inc / aos_sssp.h @ cda14729
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1 | cda14729 | 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 | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | |||
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 | /**
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20 | * @file aos_sssp.h
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21 | * @brief SSSP related macros, structures and functions.
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22 | *
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23 | * @addtogroup aos_sssp
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24 | * @{
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25 | */
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26 | |||
27 | #ifndef AMIROOS_SSSP_H
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28 | #define AMIROOS_SSSP_H
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29 | |||
30 | #include <amiroos.h> |
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31 | |||
32 | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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33 | |||
34 | /******************************************************************************/
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35 | /* CONSTANTS */
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36 | /******************************************************************************/
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37 | |||
38 | /**
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39 | * @brief Major version of the implemented SSSP.
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40 | */
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41 | #define AOS_SSSP_VERSION_MAJOR 1 |
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42 | |||
43 | /**
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44 | * @brief Minor version of the implemented SSSP.
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45 | */
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46 | #define AOS_SSSP_VERSION_MINOR 4 |
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47 | |||
48 | /**
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49 | * @brief Time of delays in microseconds.
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50 | */
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51 | #define AOS_SSSP_DELAY AMIROOS_CFG_SSSP_SIGNALDELAY
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52 | |||
53 | /**
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54 | * @brief Timeout delay in microseconds according to SSSP.
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55 | * @details SSSP 1.x defines timeouts to be ten times longer than the signal delay time.
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56 | */
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57 | #define AOS_SSSP_TIMEOUT (10 * AOS_SSSP_DELAY) |
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58 | |||
59 | /**
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60 | * @brief Value to indicate an invalid module ID.
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61 | */
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62 | #define AOS_SSSP_MODULEID_INVALID ((aos_ssspmoduleid_t)0) |
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63 | |||
64 | /**
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65 | * @brief Value for broadcasting, adressing all modules.
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66 | * @note This value is identical to @p AOS_SSSP_MODULEID_INVALID since in the case that no module IDs were applied, addressing of specific modules is not possible, thus every communication would be a broadcast.
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67 | */
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68 | #define AOS_SSSP_MODULEID_BROADCAST ((aos_ssspmoduleid_t)0) |
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69 | |||
70 | /******************************************************************************/
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71 | /* SETTINGS */
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72 | /******************************************************************************/
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73 | |||
74 | /******************************************************************************/
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75 | /* CHECKS */
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76 | /******************************************************************************/
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77 | |||
78 | #if (AMIROOS_CFG_SSSP_MSI == true) |
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79 | #error "SSSP module stack initialization (MSI not implemented yet" |
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80 | #endif
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81 | |||
82 | /******************************************************************************/
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83 | /* DATA STRUCTURES AND TYPES */
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84 | /******************************************************************************/
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85 | |||
86 | /**
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87 | * @brief Enumeration of the several stages of SSSP.
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88 | */
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89 | typedef enum { |
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90 | AOS_SSSP_STAGE_UNDEFINED = 0x0000, /**< Identifier of yet undefined stage variable. */ |
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91 | AOS_SSSP_STAGE_STARTUP = 0x1000, /**< Identifier of SSSP startup phase. */ |
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92 | AOS_SSSP_STAGE_STARTUP_1 = 0x1100, /**< Identifier of SSSP startup phase stage 1. */ |
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93 | AOS_SSSP_STAGE_STARTUP_1_1 = 0x1110, /**< Identifier of SSSP startup phase stage 1-1. */ |
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94 | AOS_SSSP_STAGE_STARTUP_1_2 = 0x1120, /**< Identifier of SSSP startup phase stage 1-2. */ |
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95 | AOS_SSSP_STAGE_STARTUP_1_3 = 0x1130, /**< Identifier of SSSP startup phase stage 1-3. */ |
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96 | AOS_SSSP_STAGE_STARTUP_2 = 0x1200, /**< Identifier of SSSP startup phase stage 2. */ |
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97 | AOS_SSSP_STAGE_STARTUP_2_1 = 0x1210, /**< Identifier of SSSP startup phase stage 2-1. */ |
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98 | AOS_SSSP_STAGE_STARTUP_2_2 = 0x1220, /**< Identifier of SSSP startup phase stage 2-2. */ |
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99 | AOS_SSSP_STAGE_STARTUP_3 = 0x1300, /**< Identifier of SSSP startup phase stage 3. */ |
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100 | AOS_SSSP_STAGE_STARTUP_3_1 = 0x1310, /**< Identifier of SSSP startup phase stage 3-1. */ |
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101 | AOS_SSSP_STAGE_STARTUP_3_2 = 0x1320, /**< Identifier of SSSP startup phase stage 3-2. */ |
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102 | AOS_SSSP_STAGE_STARTUP_3_3 = 0x1330, /**< Identifier of SSSP startup phase stage 3-3. */ |
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103 | AOS_SSSP_STAGE_STARTUP_3_4 = 0x1340, /**< Identifier of SSSP startup phase stage 3-4. */ |
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104 | AOS_SSSP_STAGE_OPERATION = 0x2000, /**< Identifier of SSSP operation pahse. */ |
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105 | AOS_SSSP_STAGE_SHUTDOWN = 0x3000, /**< Identifier of SSSP shutdown phase. */ |
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106 | AOS_SSSP_STAGE_SHUTDOWN_1 = 0x3100, /**< Identifier of SSSP shutdown phase stage 1. */ |
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107 | AOS_SSSP_STAGE_SHUTDOWN_1_1 = 0x3110, /**< Identifier of SSSP shutdown phase stage 1-1. */ |
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108 | AOS_SSSP_STAGE_SHUTDOWN_1_2 = 0x3120, /**< Identifier of SSSP shutdown phase stage 1-2. */ |
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109 | AOS_SSSP_STAGE_SHUTDOWN_1_3 = 0x3130, /**< Identifier of SSSP shutdown phase stage 1-3. */ |
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110 | AOS_SSSP_STAGE_SHUTDOWN_2 = 0x3200, /**< Identifier of SSSP shutdown phase stage 2. */ |
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111 | AOS_SSSP_STAGE_SHUTDOWN_2_1 = 0x3210, /**< Identifier of SSSP shutdown phase stage 2-1. */ |
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112 | AOS_SSSP_STAGE_SHUTDOWN_2_2 = 0x3220, /**< Identifier of SSSP shutdown phase stage 2-2. */ |
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113 | AOS_SSSP_STAGE_SHUTDOWN_2_3 = 0x3230, /**< Identifier of SSSP shutdown phase stage 2-3. */ |
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114 | } aos_ssspstage_t; |
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115 | |||
116 | /**
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117 | * @brief Type to represent module IDs.
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118 | */
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119 | #if (AMIROOS_CFG_SSSP_MODULEIDWIDTH == 8) |
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120 | typedef uint8_t aos_ssspmoduleid_t;
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121 | #elif (AMIROOS_CFG_SSSP_MODULEIDWIDTH == 16) || defined(__DOXYGEN__) |
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122 | typedef uint16_t aos_ssspmoduleid_t;
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123 | #elif (AMIROOS_CFG_SSSP_MODULEIDWIDTH == 32) |
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124 | typedef uint32_t aos_ssspmoduleid_t;
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125 | #else
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126 | #error "AMIROOS_CFG_SSSP_MODULEIDWIDTH set to an invalid value." |
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127 | #endif
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128 | |||
129 | /**
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130 | * @brief Data structure holding module-wide SSSP information.
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131 | */
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132 | typedef struct { |
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133 | /**
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134 | * @brief Current execution stage of SSSP.
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135 | */
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136 | aos_ssspstage_t stage; |
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137 | |||
138 | #if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
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139 | |||
140 | /**
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141 | * @brief Module identifier.
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142 | * @details A value of @p AOS_SSSP_MODULEID_INVALID indicates an uninitialized ID.
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143 | * The values @p AOS_SSSP_MODULEID_INVALID and @p AOS_SSSP_MODULEID_ALL are reserved and must not be set.
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144 | */
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145 | aos_ssspmoduleid_t moduleId; |
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146 | |||
147 | #endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
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148 | |||
149 | } aos_ssspdata_t; |
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150 | |||
151 | /******************************************************************************/
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152 | /* MACROS */
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153 | /******************************************************************************/
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154 | |||
155 | /******************************************************************************/
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156 | /* EXTERN DECLARATIONS */
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157 | /******************************************************************************/
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158 | |||
159 | #if defined(__cplusplus)
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160 | extern "C" { |
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161 | #endif /* defined(__cplusplus) */ |
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162 | void aosSsspInit(void); |
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163 | aos_status_t aosSsspProceed(event_listener_t* listener, eventflags_t flags, eventmask_t mask, eventmask_t* received); |
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164 | void aosSsspShutdownInit(void); |
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165 | #if (AMIROOS_CFG_SSSP_SHUTDOWN == true) || defined(__DOXYGEN__) |
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166 | void aosSsspShutdownBroadcastIdentifier(unsigned int identifier); |
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167 | eventmask_t aosSsspShutdownWaitForIdentifierPulse(event_listener_t* gpiolistener, eventflags_t sflags, eventmask_t timermask, unsigned int* identifier); |
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168 | #endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
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169 | #if defined(__cplusplus)
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170 | } |
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171 | #endif /* defined(__cplusplus) */ |
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172 | |||
173 | /******************************************************************************/
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174 | /* INLINE FUNCTIONS */
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175 | /******************************************************************************/
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176 | |||
177 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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178 | |||
179 | #endif /* AMIROOS_SSSP_H */ |
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180 | |||
181 | /** @} */ |