AMiRo-OS

This is done via the optional AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK macro, which

should be defined in the module.h file. Example:

  #define AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK                \

    (AOS_IOEVENT_FLAG(padX) | AOS_IOEVENT_FLAG(padY) | AOS_IOEVENT_FLAG(padZ))

When AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK has been defined correctly, the main

thread will be notified by the according events and execute its event handling

routine. Hence you have to implement another macro in module.h to handle the

custom event(s) appropriately: MODULE_MAIN_LOOP_IO_EVENT(eventflags). As you can

see, the variable 'eventflags' is propagated to the hook. This variable is a

mask, that allows to identify the GPIO pad(s), which caused the event, by the

bits set. Following the example above, you can check which GPIOs have caused

events by using if-clauses in the implementation of the hook:

  #define MODULE_MAIN_LOOP_IO_EVENT(eventflags) {           \

    if (eventflags & AOS_IOEVENT_FLAG(padX)) {              \

          AOS_IOEVENT_FLAG(padZ))) {                        \

2) define the AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK macro.

3) implement the MODULE_MAIN_LOOP_IO_EVENT(eventflags) hook.

#define AMIROOS_VERSION_MINOR         0

#define AMIROOS_VERSION_PATCH         1

/* Bootloader (AMiRo-BLT) */

#include <amiroblt.h>

/* configuration */

#include <aosconf.h>

#if !defined(_AMIRO_OS_CFG_)

#error "invalid AMiRo-OS configuration file"

#elif (AMIRO_OS_CFG_VERSION_MAJOR != AMIROOS_VERSION_MAJOR) || (AMIRO_OS_CFG_VERSION_MINOR < AMIROOS_VERSION_MINOR)

#error "incompatible AMiRo-OS configuration file"

#endif

/* core headers */

/* module specifications */

AMIROOS_BOOTLOADER_INC = $(AMIROBLT)/Target/Source/AMiRo

# if (AMIROOS_CFG_SSSP_ENABLE == true)

    #pragma message "AMiRo-OS shell enabled implicitely via AMIROOS_CFG_TESTS_ENABLE"

#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */

 * @brief   System event flag which is emitted when a shutdown was initiated.

#define AOS_SYSTEM_EVENTFLAGS_SHUTDOWN          (eventflags_t)(1 << 0)

#define AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION    (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 1))

#define AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP         (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 2))

#define AOS_SYSTEM_EVENTFLAGS_HIBERNATE         (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 3))

#define AOS_SYSTEM_EVENTFLAGS_RESTART           (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 4))

#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   Major version of the implemented SSSP.

 */

#define AOS_SYSTEM_SSSP_VERSION_MAJOR           1

/**

 * @brief   Minor version of the implemented SSSP.

 */

#define AOS_SYSTEM_SSSP_VERSION_MINOR           4

/**

 * @brief   Timeout delay according to SSSP.

 * @details SSSP defines timeouts to be ten times longer than the signal delay time.

 */

#define AOS_SYSTEM_SSSP_TIMEOUT                 (10 * AMIROOS_CFG_SSSP_SIGNALDELAY)

#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */

#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   Enumerator of the several stages of SSSP.

 */

typedef enum aos_ssspstage {

  AOS_SSSP_STARTUP_1_1  = 0x10, /**< Identifier of SSSP startup phase stage 1-1. */

  AOS_SSSP_STARTUP_1_2  = 0x11, /**< Identifier of SSSP startup phase stage 1-2. */

  AOS_SSSP_STARTUP_1_3  = 0x12, /**< Identifier of SSSP startup phase stage 1-3. */

  AOS_SSSP_STARTUP_2_1  = 0x14, /**< Identifier of SSSP startup phase stage 2-1. */

  AOS_SSSP_STARTUP_2_2  = 0x15, /**< Identifier of SSSP startup phase stage 2-2. */

  AOS_SSSP_STARTUP_3_1  = 0x18, /**< Identifier of SSSP startup phase stage 3-1. */

  AOS_SSSP_STARTUP_3_2  = 0x19, /**< Identifier of SSSP startup phase stage 3-2. */

  AOS_SSSP_STARTUP_3_3  = 0x1A, /**< Identifier of SSSP startup phase stage 3-3. */

  AOS_SSSP_STARTUP_3_4  = 0x1B, /**< Identifier of SSSP startup phase stage 3-4. */

  AOS_SSSP_OPERATION    = 0x20, /**< Identifier of SSSP operation pahse. */

  AOS_SSSP_SHUTDOWN_1_1 = 0x30, /**< Identifier of SSSP shutdown phase stage 1-1. */

  AOS_SSSP_SHUTDOWN_1_2 = 0x31, /**< Identifier of SSSP shutdown phase stage 1-2. */

  AOS_SSSP_SHUTDOWN_1_3 = 0x32, /**< Identifier of SSSP shutdown phase stage 1-3. */

  AOS_SSSP_SHUTDOWN_2_1 = 0x34, /**< Identifier of SSSP shutdown phase stage 2-1. */

  AOS_SSSP_SHUTDOWN_2_2 = 0x35, /**< Identifier of SSSP shutdown phase stage 2-2. */

  AOS_SSSP_SHUTDOWN_3   = 0x38, /**< Identifier of SSSP shutdown phase stage 3. */

} aos_ssspstage_t;

/**

 * @brief   Type to represent module IDs.

 */

typedef uint16_t aos_ssspmoduleid_t;

#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */

#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)

  /**

   * @brief   SSSP relevant data.

   */

  struct {

    /**

     * @brief   Current SSSP stage of the system.

     */

    aos_ssspstage_t stage;

    /**

     * @brief   Module identifier.

     * @details A value of 0 indicates an uninitialized ID.

     *          The vlaues 0 and ~0 are reserved und must not be set.

     */

    aos_ssspmoduleid_t moduleId;

  } sssp;

#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */

     * @brief   I/O event source.

    event_source_t io;

#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */

#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)

#else /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */

  eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener);

#if (HAL_USE_RTC == TRUE)

  void aosSysShutdownFinal(aos_shutdown_t shutdown);

  palcallback_t aosSysGetStdExtiCallback(void);

#if (AMIROOS_CFG_DBG == true) && (CH_DBG_FILL_THREADS == TRUE)

#define AOS_IOEVENT_FLAG(pad)                   ((eventflags_t)1 << pad)

 * @details Main function with SSSP and initialization,

 *          extendable via hooks.

 * @brief   Event mask to identify I/O events.

#define IOEVENT_MASK                            EVENT_MASK(0)

#define OSEVENT_MASK                            EVENT_MASK(1)

/**

 * @brief   Event mask to idetify CAN events.

 */

#define CANEVENT_MASK                           EVENT_MASK(2)

/**

 * @brief   Event mask to idetify timeout events.

 */

#define TIMEOUTEVENT_MASK                       EVENT_MASK(3)

/**

 * @brief   Event mask to idetify signal delay events.

 */

#define DELAYEVENT_MASK                         EVENT_MASK(4)

#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN == TRUE)) || defined(__DOXYGEN__)

#define SSSP_STAGE3_ENABLE                      true

#else /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN == TRUE) */

#define SSSP_STAGE3_ENABLE                      false

#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN == TRUE) */

#if (SSSP_STAGE3_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   CAN message identifier for initialization of the SSSP stack initialization sequence.

 */

#define SSSP_STACKINIT_CANMSGID_INIT            0x003

/**

 * @brief   CAN message identifier for transmitting module IDs during the SSSP stack initialization sequence.

 */

#define SSSP_STACKINIT_CANMSGID_MODULEID        0x002

 * @brief   CAN message identifier for abortion of the SSSP stack initialization sequence.

#define SSSP_STACKINIT_CANMSGID_ABORT           0x001

#endif /* (SSSP_STAGE3_ENABLE == true) */

#if (AMIROOS_CFG_SSSP_ENABLE != true) || defined(__DOXYGEN__)

/**

 * @brief   Default shutdown mode if SSSP is unavailable.

 */

#define AOS_SHUTDOWN_DEFAULT                    AOS_SHUTDOWN_DEEPSLEEP

#if (HAL_USE_CAN == TRUE) || defined(__DOXYGEN__)

/**

 * @brief   CAN message identifier for calender synchronization message.

 */

#define CALENDERSYNC_CANMSGID                   0x004

#endif /* (HAL_USE_CAN == TRUE) */

 * @brief   Listener object for I/O events.

static event_listener_t _eventListenerIO;

#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)*/

#if (SSSP_STAGE3_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   Callback function to be used during SSSP stack initialization sequence.

 *

 * @param[in] par   A pointer to an @p event_source_t to be fired.

 */

static void _ssspTimerCallback(void* par)

{

  aosDbgCheck(par != NULL);

  chSysLockFromISR();

  chEvtBroadcastI((event_source_t*)par);

  chSysUnlockFromISR();

  return;

}

#endif /* (SSSP_STAGE3_ENABLE == true) */

#if (SSSP_STAGE3_ENABLE) || defined(__DOXYGEN__)

/**

 * @brief   Implementation of the SSSP module stack initialization sequence (startup phase 3).

 *

 * @return Shutdown value.

 * @retval AOS_SHUTDOWN_NONE      No shutdown signal received

 * @retval AOS_SHUTDOWN_PASSIVE   Shutdown signal received.

 */

aos_shutdown_t _ssspModuleStackInitialization(void)

{

  // local types

  /**

   * @brief   States for the internal state machine to implement SSSP startup stage 3.

   */

  typedef enum {

    STAGE_3_1,                  /**< Initiation of SSSP startup stage 3. */

    STAGE_3_2,                  /**< Starting the sequence and broadcasting the first ID. */

    STAGE_3_3_WAITFORFIRSTID,   /**< Waiting for first ID after initiation. */

    STAGE_3_3_WAITFORIDORSIG,   /**< Waiting for next ID or activation of neighbor signal. */

    STAGE_3_3_WAITFORID,        /**< Waiting for next ID (after the module has set its own ID). */

    STAGE_3_4_FINISH,           /**< Successful finish of stage 3. */

    STAGE_3_4_ABORT_ACTIVE,     /**< Aborting stage 3 (active). */

    STAGE_3_4_ABORT,            /**< Aborting stage 3 (passive). */

  } sssp_modulestackinitstage_t;

  typedef struct {

    bool loop     : 1;

    bool wfe      : 1;

    bool wfe_next : 1;

  } flags_t;

  // local variables

  aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE;

  sssp_modulestackinitstage_t stage = STAGE_3_1;

  eventmask_t eventmask = 0;

  eventflags_t ioflags = 0;

  event_source_t eventSourceTimeout;

  event_source_t eventSourceDelay;

  event_listener_t eventListenerTimeout;

  event_listener_t eventListenerDelay;

  event_listener_t eventListenerCan;

  virtual_timer_t timerTimeout;

  virtual_timer_t timerDelay;

  CANTxFrame canTxFrame;

  CANRxFrame canRxFrame;

#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true)

  aos_ssspmoduleid_t lastid = 0;

#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) */

  flags_t flags;

  aos_timestamp_t uptime;

  // initialize local varibles

  chEvtObjectInit(&eventSourceTimeout);

  chEvtObjectInit(&eventSourceDelay);

  chVTObjectInit(&timerTimeout);

  chVTObjectInit(&timerDelay);

  canTxFrame.RTR = CAN_RTR_DATA;

  canTxFrame.IDE = CAN_IDE_STD;

  flags.loop = true;

  flags.wfe = false; // do not wait for events in the initial iteration of the FSM loop

  flags.wfe_next = true;

  // initialize system variables

  aos.sssp.stage = AOS_SSSP_STARTUP_3_1;

  aos.sssp.moduleId = 0;

  // listen to events (timout, delay, CAN receive)

  chEvtRegisterMask(&eventSourceTimeout, &eventListenerTimeout, TIMEOUTEVENT_MASK);

  chEvtRegisterMask(&eventSourceDelay, &eventListenerDelay, DELAYEVENT_MASK);

  chEvtRegisterMask(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan, CANEVENT_MASK);

  /*

   * FSM in a loop.

   *

   * This is a fully event-based FSM for the module stack initialization

   * sequence, defined by SSSP as startup stage 3. There are five different

   * events that can occur at this point:

   *  I/O events: The input level of an input pin has changed. Such events must

   *              be handled differently depending on the current state. Most

   *              of the time, however, such events can be ignored.

   *  OS events:  Such events are only available after this stage completed and

   *              thus should never occur. However, there is an optional hook

   *              to handle such events, nevertheless.

   *  CAN events: At least one CAN message was received. Note that this event

   *              will only fire again if all input buffers have been cleared.

   *  timeouts:   If some module does not support the sequence of there is any

   *              issue, such a case is detected via timeouts and must be

   *              handled accordingly (see abort state). In some cases, it is

   *              possible that a timeout event occurres 'simultaneously' with

   *              some other event. This can be caused by several timing issues

   *              and is a valid situation. As a result, any other events

   *              should be handled before the timeout event. If the other

   *              events are expected and valid, this implementation requires

   *              the timeout event flag to be cleared explicitely. Otherwise

   *              it is evaluated at the end of each iteration of the loop.

   *  delays:     Depending on the current state, delays are required by SSSP

   *              for timing of the sequential activation of signals.

   */

  aosDbgPrintf("SSSP stack initialization sequence:\n");

  while (flags.loop) {

#if (AMIROOS_CFG_DBG == true)

    switch (stage) {

      case STAGE_3_1:

        aosDbgPrintf(">>> 3-1\n");

        break;

      case STAGE_3_2:

        aosDbgPrintf(">>> 3-2\n");

        break;

      case STAGE_3_3_WAITFORFIRSTID:

        aosDbgPrintf(">>> 3-3 (1st ID)\n");

        break;

      case STAGE_3_3_WAITFORIDORSIG:

        aosDbgPrintf(">>> 3-3 (ID/sig)\n");

        break;

      case STAGE_3_3_WAITFORID:

        aosDbgPrintf(">>> 3-3 (ID)\n");

        break;

      case STAGE_3_4_FINISH:

        aosDbgPrintf(">>> 3-4 (finish)\n");

        break;

      case STAGE_3_4_ABORT_ACTIVE:

        aosDbgPrintf(">>> 3-4 (active abort)\n");

        break;

      case STAGE_3_4_ABORT:

        aosDbgPrintf(">>> 3-4 (abort)\n");

        break;

    }

#endif /* (AMIROOS_CFG_DBG == true) */

    // reset wfe flag for the next iteration

    flags.wfe_next = true;

    // waiting for events (may be skipped)

    if (flags.wfe) {

      // wait for any event to occur

      aosDbgPrintf("WFE...");

      eventmask = chEvtWaitAnyTimeout(ALL_EVENTS, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT));

      aosDbgPrintf("\t0x%08X", eventmask);

    } else {

      aosDbgPrintf("WFE skipped");

      eventmask = 0;

    }

    aosSysGetUptime(&uptime);

    aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / MICROSECONDS_PER_MILLISECOND));

    /*

     * execute some general tasks and high priority events

     */

    // no event occurred at all

    if ((flags.wfe) && (eventmask == 0)) {

      aosDbgPrintf("ERR: no evt\n");

      // enforce timeout event

      chEvtBroadcast(&eventSourceTimeout);

      continue;

    }

    // if an IO event occurred

    if (eventmask & _eventListenerIO.events) {

      ioflags = chEvtGetAndClearFlags(&_eventListenerIO);

      aosDbgPrintf("INFO: IO evt (0x%08X)\n", ioflags);

      // a power-down event occurred

      if (ioflags & MODULE_SSSP_EVENTFLAGS_PD) {

        aosDbgPrintf("PD evt\n");

        // deactivate S and UP

        aosDbgPrintf("disabling S\n");

        apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);

#if (AMIROOS_CFG_SSSP_STACK_END != true)

        aosDbgPrintf("disabling UP\n");

        apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF);

#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */

        // set shutdown flag and exit the loop

        shutdown = AOS_SHUTDOWN_PASSIVE;

        break;

      }

      // the S signal was deactivated

      if (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC) {

        apalControlGpioState_t sstate;

        apalControlGpioGet(&moduleSsspGpioSync, &sstate);

        if (sstate == APAL_GPIO_ON) {

          aosDbgPrintf("S evt (enabled)\n");

        } else {

          aosDbgPrintf("S evt (disabled)\n");

          // either finish or abort

          if ((stage == STAGE_3_3_WAITFORID) && (aos.sssp.moduleId != 0)) {

            stage = STAGE_3_4_FINISH;

          } else if (stage != STAGE_3_4_ABORT) {

            stage = STAGE_3_4_ABORT_ACTIVE;

          }

        }

      }

    }

    // an OS event occurred

    if (eventmask & _eventListenerOS.events) {

      aosDbgPrintf("WARN: OS evt\n");

      // get the flags

      eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS);

      // there should be no OS events at this point

#if defined(MODULE_SSSP_STARTUP_3_OSEVENT_HOOK)

      MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags);

#else /* defined(MODULE_SSSP_STARTUP_3_OSEVENT_HOOK) */

      _unexpectedEventError(eventmask, oseventflags);

#endif /* defined(MODULE_SSSP_STARTUP_3_OSEVENT_HOOK) */

    }

    // if a CAN event occurred

    if ((eventmask & eventListenerCan.events)) {

      aosDbgPrintf("CAN evt\n");

      // fetch message

      if (flags.wfe) {

        canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE);

        aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);

      }

      // identify and handle abort messgaes

      if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {

        stage = STAGE_3_4_ABORT;

      }

      // warn if a unexpected message was received

      else if ((canRxFrame.SID != SSSP_STACKINIT_CANMSGID_INIT) &&

               (canRxFrame.SID != SSSP_STACKINIT_CANMSGID_MODULEID)) {

        aosDbgPrintf("WARN: unknown msg\n");

      }

      // any further pending messages are fetched at the end of the loop

    }

    // if a timeout event occurred

    if (eventmask & eventListenerTimeout.events) {

      aosDbgPrintf("timeout evt\n");

      // is handled at the end of the loop (or must be cleared by FSM)

    }

    // if a delay event occurred

    if (eventmask & eventListenerDelay.events) {

      aosDbgPrintf("delay evt\n");

      // is handled by FSM

    }

    /*

     * this is the actual FSM

     */

    switch (stage) {

      case STAGE_3_1:

      {

        aos.sssp.stage = AOS_SSSP_STARTUP_3_1;

        // there was no event at all (skipped wfe)

        if (eventmask == 0 && flags.wfe == false) {

#if (AMIROOS_CFG_SSSP_MASTER == true)

          // initialize the stage by transmitting an according CAN message

          aosDbgPrintf("CAN -> init\n");

          canTxFrame.DLC = 0;

          canTxFrame.SID = SSSP_STACKINIT_CANMSGID_INIT;

          if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {

            chEvtBroadcast(&eventSourceTimeout);

            break;

          }

          // activate S

          aosDbgPrintf("enabling S\n");

          apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON);

#if (AMIROOS_CFG_SSSP_STACK_START == true)

          // proceed immediately

          stage = STAGE_3_2;

          flags.wfe_next = false;

#else /* (AMIROOS_CFG_SSSP_STACK_START == true) */

          // set the timeout timer

          chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);

          // proceed

          stage = STAGE_3_3_WAITFORFIRSTID;

#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */

#else /* (AMIROOS_CFG_SSSP_MASTER == true) */

          // set the timeout timer

          chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);

#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */

        }

#if (AMIROOS_CFG_SSSP_MASTER != true)

        // a CAN message was received

        else if (eventmask & eventListenerCan.events) {

          // if an initiation message was received

          if (canRxFrame.DLC == 0 &&

              canRxFrame.RTR == CAN_RTR_DATA &&

              canRxFrame.IDE == CAN_IDE_STD &&

              canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) {

            aosDbgPrintf("init msg\n");

            // reset the timeout timer and clear pending flags

            chVTReset(&timerTimeout);

            chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);

            eventmask &= ~(eventListenerTimeout.events);

            // activate S

            aosDbgPrintf("enabling S\n");

            apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON);

#if (AMIROOS_CFG_SSSP_STACK_START == true)

            // proceed

            stage = STAGE_3_2;

            flags.wfe_next = false;

#else /* (AMIROOS_CFG_SSSP_STACK_START == true) */

            // set the timeout timer

            chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);

            // proceed

            stage = STAGE_3_3_WAITFORFIRSTID;

#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */

          }

        }

#endif /* (AMIROOS_CFG_SSSP_MASTER != true) */

        break;

      } /* end of STAGE_3_1 */

      case STAGE_3_2:

      {

#if (AMIROOS_CFG_SSSP_STACK_START == true)

        aos.sssp.stage = AOS_SSSP_STARTUP_3_2;

        // if this stage was just entered

        if (flags.wfe == false) {

          // set the module ID

          aos.sssp.moduleId = 1;

          // broadcast module ID

          aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);

          canTxFrame.DLC = 4;

          canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID;

          _serialize(canTxFrame.data8, aos.sssp.moduleId, 4);

          if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {

            chEvtBroadcast(&eventSourceTimeout);

            break;

          }

#if (AMIROOS_CFG_DBG == true)

          lastid = aos.sssp.moduleId;

#endif /* (AMIROOS_CFG_DBG == true) */

#if (AMIROOS_CFG_SSSP_STACK_END == true)

          // sequence is already over

          // deactivate S

          aosDbgPrintf("disabling S\n");

          apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);

          // proceed

          stage = STAGE_3_3_WAITFORID;

#else /* (AMIROOS_CFG_SSSP_STACK_END == true) */

          // set the delay timer so the UP signal is activated later

          chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay);

#endif /* (AMIROOS_CFG_SSSP_STACK_END == true) */

        }

        // if a delay event occurred

        if (eventmask & eventListenerDelay.events) {

          // activate UP

          aosDbgPrintf("enabling UP\n");

          apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON);

          // deactivate S

          aosDbgPrintf("disabling S\n");

          apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);

          // explicitely clear timeout event flag

          chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);

          eventmask &= ~(eventListenerTimeout.events);

          // proceed

          stage = STAGE_3_3_WAITFORID;

        }

#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */

        break;

      } /* end of STAGE_3_2 */

      case STAGE_3_3_WAITFORFIRSTID:

      {

#if (AMIROOS_CFG_SSSP_STACK_START != true)

        aos.sssp.stage = AOS_SSSP_STARTUP_3_3;

        // a CAN message was received

        if (eventmask & eventListenerCan.events) {

          // if an ID message was received

          if (canRxFrame.DLC == 4 &&

              canRxFrame.RTR == CAN_RTR_DATA &&

              canRxFrame.IDE == CAN_IDE_STD &&

              canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {

            aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4));

            // validate received ID

            if (lastid < _deserialize(canRxFrame.data8, 4)) {

              // store received ID

              lastid = _deserialize(canRxFrame.data8, 4);

              // restart timeout timer

              chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);

              // proceed

              stage = STAGE_3_3_WAITFORIDORSIG;

            } else {

              aosDbgPrintf("ERR: invalid ID\n");

              // abort

              stage = STAGE_3_4_ABORT_ACTIVE;

              flags.wfe_next = false;

            }

            // explicitely clear timeout event flag

            chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);

            eventmask &= ~(eventListenerTimeout.events);

          }

        }

#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */

        break;

      } /* end of STAGE_3_3_WAITFORFIRSTID */

      case STAGE_3_3_WAITFORIDORSIG:

      {

#if (AMIROOS_CFG_SSSP_STACK_START != true)

        aos.sssp.stage = AOS_SSSP_STARTUP_3_3;

        // a CAN message was received

        if (eventmask & eventListenerCan.events) {

          // if an ID message was received

          if (canRxFrame.DLC == 4 &&

              canRxFrame.RTR == CAN_RTR_DATA &&

              canRxFrame.IDE == CAN_IDE_STD &&

              canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {

            aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4));

            // validate received ID

            if (lastid < _deserialize(canRxFrame.data8, 4)) {

              // store received ID

              lastid = _deserialize(canRxFrame.data8, 4);

              // restart timeout timer

              chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);

            } else {

              aosDbgPrintf("ERR: invalid ID\n");

              // abort

              stage = STAGE_3_4_ABORT_ACTIVE;

              flags.wfe_next = false;

            }

            // explicitely clear timeout event flag

            chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);

            eventmask &= ~(eventListenerTimeout.events);

          }

        }

        // if an IO event was received (DN signal)

        if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_DN)) {

          aosDbgPrintf("DN evt\n");

          // reset timeout timer

          chVTReset(&timerTimeout);

          chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);

          eventmask &= ~(eventListenerTimeout.events);

          // increment and broadcast ID

          aos.sssp.moduleId = lastid + 1;

          aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);

          canTxFrame.DLC = 4;

          canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID;

          _serialize(canTxFrame.data8, aos.sssp.moduleId, 4);

          if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {

            chEvtBroadcast(&eventSourceTimeout);

            break;

          }

          // set delay timer

          chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay);

        }

        // if a delay event occurred

        if (eventmask & eventListenerDelay.events) {

#if (AMIROOS_CFG_SSSP_STACK_END != true)

          // activate UP

          aosDbgPrintf("enabling UP\n");

          apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON);

#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */

          // deactivate S

          aosDbgPrintf("disabling S\n");

          apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);

          // reset the timeout timer

          chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);

          chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);

          eventmask &= ~(eventListenerTimeout.events);

          // proceed

          stage = STAGE_3_3_WAITFORID;

        }

#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */

        break;

      } /* end of STAGE_3_3_WAITFORIDORSIG */

      case STAGE_3_3_WAITFORID:

      {

        aos.sssp.stage = AOS_SSSP_STARTUP_3_3;

#if (AMIROOS_CFG_SSSP_STACK_END != true)

        // a CAN message was received

        if (eventmask & eventListenerCan.events) {

          // if an ID message was received

          if (canRxFrame.DLC == 4 &&

              canRxFrame.RTR == CAN_RTR_DATA &&

              canRxFrame.IDE == CAN_IDE_STD &&

              canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {

#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true)

            // Plausibility of the received ID is not checked at this point but is done by other modules still in a previous stage.

            lastid = _deserialize(canRxFrame.data8, 4);

            aosDbgPrintf("ID (%u)\n", lastid);

#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) */

            // restart timeout timer

            chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout);

            chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);

            eventmask &= ~(eventListenerTimeout.events);

          }

        }

#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */

        break;

      } /* end of STAGE_3_3_WAITFORID */

      case STAGE_3_4_FINISH:

      {

        aos.sssp.stage = AOS_SSSP_STARTUP_3_4;

        // if an IO event was received (S signal)

        if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {

          // reset the timeout timer

          chVTReset(&timerTimeout);

          chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE);

          eventmask &= ~(eventListenerTimeout.events);

          //set the delay timer

          chVTSet(&timerDelay, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceDelay);

        }

        // if a CAN event was received

        if (eventmask & eventListenerCan.events) {

          // if an abort message was received

          if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {

            aosDbgPrintf("abort msg\n");

            // reset the delay timer

            chVTReset(&timerDelay);

            chEvtWaitAnyTimeout(eventListenerDelay.events, TIME_IMMEDIATE);

            eventmask &= ~(eventListenerDelay.events);

            // proceed

            stage = STAGE_3_4_ABORT;

          }

        }

        // if a delay timer event occurred

        if (eventmask & eventListenerDelay.events) {

          aosDbgPrintf("sequence sucessful\n");

          // sequence finished sucessfully

          flags.loop = false;

        }

        break;

      } /* end of STAGE_3_4_FINISH */

      case STAGE_3_4_ABORT_ACTIVE:

      {

        aos.sssp.stage = AOS_SSSP_STARTUP_3_4;

        // emit abort message

        canTxFrame.DLC = 0;

        canTxFrame.SID = SSSP_STACKINIT_CANMSGID_ABORT;

        canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_INFINITE);

        aosDbgPrintf("CAN -> abort\n");

        // clear timeout flag

        eventmask &= ~(eventListenerTimeout.events);

        // proceed immediately

        stage = STAGE_3_4_ABORT;

        flags.wfe_next = false;

        break;

      } /* end of STAGE_3_4_ABORT_ACTIVE */

      case STAGE_3_4_ABORT:

      {

        aos.sssp.stage = AOS_SSSP_STARTUP_3_4;

        // deactivate S

        aosDbgPrintf("disabling SYNC\n");

        apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);

        // invalidate module ID

        aos.sssp.moduleId = 0;

        // if an IO event was received (S signal)

        if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {

          aosDbgPrintf("sequence aborted\n");

          // exit the sequence

          flags.loop = false;

        }

        break;

      } /* end of STAGE_3_4_ABORT */

    } /* end of switch(stage) */

    // fetch pending CAN message (if any)

    if ((eventmask & eventListenerCan.events) && (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE) == MSG_OK)) {

      aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);

      flags.wfe_next = false;