Revision cda14729 core/src/aos_main.cpp
| core/src/aos_main.cpp | ||
|---|---|---|
| 19 | 19 |
/** |
| 20 | 20 |
* @file aos_main.cpp |
| 21 | 21 |
* @brief Main function. |
| 22 |
* @details Main function with SSSP and initialization, |
|
| 23 |
* extendable via hooks. |
|
| 24 | 22 |
* |
| 25 | 23 |
* @addtogroup aos_system |
| 26 | 24 |
* @{
|
| ... | ... | |
| 40 | 38 |
/******************************************************************************/ |
| 41 | 39 |
|
| 42 | 40 |
/** |
| 43 |
* @brief Event mask to identify I/O events.
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* @brief Event mask to identify GPIO events.
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| 44 | 42 |
*/ |
| 45 |
#define IOEVENT_MASK EVENT_MASK(0)
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#define EVENTMASK_GPIO EVENT_MASK(0)
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/** |
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* @brief Event mask to identify OS events. |
| 49 | 47 |
*/ |
| 50 |
#define OSEVENT_MASK EVENT_MASK(1)
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#define EVENTMASK_OS EVENT_MASK(1)
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/** |
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* @brief Event mask to idetify CAN events. |
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*/ |
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#define CANEVENT_MASK EVENT_MASK(2) |
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/** |
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* @brief Event mask to idetify timeout events. |
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*/ |
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#define TIMEOUTEVENT_MASK EVENT_MASK(3) |
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/** |
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* @brief Event mask to idetify signal delay events. |
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*/ |
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#define DELAYEVENT_MASK EVENT_MASK(4) |
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#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN == TRUE)) || defined(__DOXYGEN__) |
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#define SSSP_STAGE3_ENABLE true |
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#else /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN == TRUE) */ |
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#define SSSP_STAGE3_ENABLE false |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN == TRUE) */ |
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#if (SSSP_STAGE3_ENABLE == true) || defined(__DOXYGEN__) |
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/** |
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* @brief CAN message identifier for initialization of the SSSP stack initialization sequence. |
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*/ |
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#define SSSP_STACKINIT_CANMSGID_INIT 0x003 |
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/** |
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* @brief CAN message identifier for transmitting module IDs during the SSSP stack initialization sequence. |
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*/ |
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#define SSSP_STACKINIT_CANMSGID_MODULEID 0x002 |
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| 50 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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| 84 | 51 |
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| 85 | 52 |
/** |
| 86 |
* @brief CAN message identifier for abortion of the SSSP stack initialization sequence.
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* @brief Event mask to identify SSSP timer events.
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| 87 | 54 |
*/ |
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#define SSSP_STACKINIT_CANMSGID_ABORT 0x001
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#define EVENTMASK_SSSPTIMER EVENT_MASK(2)
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#endif /* (SSSP_STAGE3_ENABLE == true) */ |
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#if (AMIROOS_CFG_SSSP_ENABLE != true) || defined(__DOXYGEN__) |
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/** |
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* @brief Default shutdown mode if SSSP is unavailable. |
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*/ |
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#define AOS_SHUTDOWN_DEFAULT AOS_SHUTDOWN_DEEPSLEEP |
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| 97 | 57 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 98 | 58 |
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| 99 |
#if (HAL_USE_CAN == TRUE) || defined(__DOXYGEN__) |
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/** |
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* @brief CAN message identifier for calender synchronization message. |
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*/ |
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#define CALENDERSYNC_CANMSGID 0x004 |
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#endif /* (HAL_USE_CAN == TRUE) */ |
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|
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/******************************************************************************/ |
| 107 | 60 |
/* EXPORTED VARIABLES */ |
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/******************************************************************************/ |
| ... | ... | |
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/******************************************************************************/ |
| 117 | 70 |
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/** |
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* @brief Listener object for I/O events.
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* @brief Listener object for GPIO events.
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*/ |
| 121 |
static event_listener_t _eventListenerIO; |
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static event_listener_t _eventListenerGPIO;
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/** |
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* @brief Listener object for OS events. |
| ... | ... | |
| 126 | 79 |
static event_listener_t _eventListenerOS; |
| 127 | 80 |
|
| 128 | 81 |
#if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__) |
| 82 |
|
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/** |
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* @brief I/O channel for the programmer interface. |
| 131 | 85 |
*/ |
| 132 | 86 |
static AosIOChannel _stdiochannel; |
| 133 | 87 |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/** |
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* @brief I/O shell channel for the programmer interface. |
| 137 | 94 |
*/ |
| 138 | 95 |
static AosShellChannel _stdshellchannel; |
| 139 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)*/ |
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| 140 | 97 |
#endif /* defined(MODULE_HAL_PROGIF) */ |
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/* |
| ... | ... | |
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return; |
| 168 | 125 |
} |
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#if (SSSP_STAGE3_ENABLE == true) || defined(__DOXYGEN__) |
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/** |
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* @brief Callback function to be used during SSSP stack initialization sequence. |
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* |
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* @param[in] par A pointer to an @p event_source_t to be fired. |
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*/ |
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static void _ssspTimerCallback(void* par) |
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{
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| 178 |
aosDbgCheck(par != NULL); |
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|
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chSysLockFromISR(); |
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chEvtBroadcastI((event_source_t*)par); |
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chSysUnlockFromISR(); |
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| 184 |
return; |
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} |
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#endif /* (SSSP_STAGE3_ENABLE == true) */ |
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|
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/** |
| 189 | 128 |
* @brief Helper function to serialize data. |
| 190 | 129 |
* |
| ... | ... | |
| 286 | 225 |
|
| 287 | 226 |
#endif /* (HAL_USE_RTC == TRUE) */ |
| 288 | 227 |
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#if (SSSP_STAGE3_ENABLE) || defined(__DOXYGEN__) |
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/** |
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* @brief Implementation of the SSSP module stack initialization sequence (startup phase 3). |
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* |
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* @return Shutdown value. |
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* @retval AOS_SHUTDOWN_NONE No shutdown signal received |
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* @retval AOS_SHUTDOWN_PASSIVE Shutdown signal received. |
|
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*/ |
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aos_shutdown_t _ssspModuleStackInitialization(void) |
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{
|
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// local types |
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/** |
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* @brief States for the internal state machine to implement SSSP startup stage 3. |
|
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*/ |
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typedef enum {
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STAGE_3_1, /**< Initiation of SSSP startup stage 3. */ |
|
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STAGE_3_2, /**< Starting the sequence and broadcasting the first ID. */ |
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STAGE_3_3_WAITFORFIRSTID, /**< Waiting for first ID after initiation. */ |
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STAGE_3_3_WAITFORIDORSIG, /**< Waiting for next ID or activation of neighbor signal. */ |
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STAGE_3_3_WAITFORID, /**< Waiting for next ID (after the module has set its own ID). */ |
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STAGE_3_4_FINISH, /**< Successful finish of stage 3. */ |
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STAGE_3_4_ABORT_ACTIVE, /**< Aborting stage 3 (active). */ |
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STAGE_3_4_ABORT, /**< Aborting stage 3 (passive). */ |
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} sssp_modulestackinitstage_t; |
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|
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typedef struct {
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bool loop : 1; |
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bool wfe : 1; |
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bool wfe_next : 1; |
|
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} flags_t; |
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|
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// local variables |
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aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
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sssp_modulestackinitstage_t stage = STAGE_3_1; |
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eventmask_t eventmask = 0; |
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eventflags_t ioflags = 0; |
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event_source_t eventSourceTimeout; |
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event_source_t eventSourceDelay; |
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event_listener_t eventListenerTimeout; |
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event_listener_t eventListenerDelay; |
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event_listener_t eventListenerCan; |
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virtual_timer_t timerTimeout; |
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virtual_timer_t timerDelay; |
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CANTxFrame canTxFrame; |
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CANRxFrame canRxFrame; |
|
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#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
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aos_ssspmoduleid_t lastid = 0; |
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#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) */ |
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flags_t flags; |
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aos_timestamp_t uptime; |
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|
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// initialize local varibles |
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chEvtObjectInit(&eventSourceTimeout); |
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chEvtObjectInit(&eventSourceDelay); |
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chVTObjectInit(&timerTimeout); |
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chVTObjectInit(&timerDelay); |
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canTxFrame.RTR = CAN_RTR_DATA; |
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canTxFrame.IDE = CAN_IDE_STD; |
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flags.loop = true; |
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flags.wfe = false; // do not wait for events in the initial iteration of the FSM loop |
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flags.wfe_next = true; |
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|
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// initialize system variables |
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aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
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aos.sssp.moduleId = 0; |
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|
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// listen to events (timout, delay, CAN receive) |
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chEvtRegisterMask(&eventSourceTimeout, &eventListenerTimeout, TIMEOUTEVENT_MASK); |
|
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chEvtRegisterMask(&eventSourceDelay, &eventListenerDelay, DELAYEVENT_MASK); |
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chEvtRegisterMask(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan, CANEVENT_MASK); |
|
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|
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/* |
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* FSM in a loop. |
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* |
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* This is a fully event-based FSM for the module stack initialization |
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* sequence, defined by SSSP as startup stage 3. There are five different |
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* events that can occur at this point: |
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* I/O events: The input level of an input pin has changed. Such events must |
|
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* be handled differently depending on the current state. Most |
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* of the time, however, such events can be ignored. |
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* OS events: Such events are only available after this stage completed and |
|
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* thus should never occur. However, there is an optional hook |
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* to handle such events, nevertheless. |
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* CAN events: At least one CAN message was received. Note that this event |
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* will only fire again if all input buffers have been cleared. |
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* timeouts: If some module does not support the sequence of there is any |
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* issue, such a case is detected via timeouts and must be |
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* handled accordingly (see abort state). In some cases, it is |
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* possible that a timeout event occurres 'simultaneously' with |
|
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* some other event. This can be caused by several timing issues |
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* and is a valid situation. As a result, any other events |
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* should be handled before the timeout event. If the other |
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* events are expected and valid, this implementation requires |
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| 382 |
* the timeout event flag to be cleared explicitely. Otherwise |
|
| 383 |
* it is evaluated at the end of each iteration of the loop. |
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* delays: Depending on the current state, delays are required by SSSP |
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* for timing of the sequential activation of signals. |
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*/ |
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aosDbgPrintf("SSSP stack initialization sequence:\n");
|
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while (flags.loop) {
|
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#if (AMIROOS_CFG_DBG == true) |
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switch (stage) {
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case STAGE_3_1: |
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aosDbgPrintf(">>> 3-1\n");
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break; |
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| 394 |
case STAGE_3_2: |
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aosDbgPrintf(">>> 3-2\n");
|
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break; |
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case STAGE_3_3_WAITFORFIRSTID: |
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aosDbgPrintf(">>> 3-3 (1st ID)\n");
|
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| 399 |
break; |
|
| 400 |
case STAGE_3_3_WAITFORIDORSIG: |
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aosDbgPrintf(">>> 3-3 (ID/sig)\n");
|
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| 402 |
break; |
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case STAGE_3_3_WAITFORID: |
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aosDbgPrintf(">>> 3-3 (ID)\n");
|
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break; |
|
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case STAGE_3_4_FINISH: |
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aosDbgPrintf(">>> 3-4 (finish)\n");
|
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break; |
|
| 409 |
case STAGE_3_4_ABORT_ACTIVE: |
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aosDbgPrintf(">>> 3-4 (active abort)\n");
|
|
| 411 |
break; |
|
| 412 |
case STAGE_3_4_ABORT: |
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aosDbgPrintf(">>> 3-4 (abort)\n");
|
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break; |
|
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} |
|
| 416 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
|
| 417 |
|
|
| 418 |
// reset wfe flag for the next iteration |
|
| 419 |
flags.wfe_next = true; |
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| 420 |
|
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| 421 |
// waiting for events (may be skipped) |
|
| 422 |
if (flags.wfe) {
|
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| 423 |
// wait for any event to occur |
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aosDbgPrintf("WFE...");
|
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| 425 |
eventmask = chEvtWaitAnyTimeout(ALL_EVENTS, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)); |
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aosDbgPrintf("\t0x%08X", eventmask);
|
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| 427 |
} else {
|
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| 428 |
aosDbgPrintf("WFE skipped");
|
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| 429 |
eventmask = 0; |
|
| 430 |
} |
|
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aosSysGetUptime(&uptime); |
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| 432 |
aosDbgPrintf("\t%04ums\n", (uint32_t)(uptime / MICROSECONDS_PER_MILLISECOND));
|
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| 433 |
|
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| 434 |
/* |
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* execute some general tasks and high priority events |
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*/ |
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// no event occurred at all |
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| 438 |
if ((flags.wfe) && (eventmask == 0)) {
|
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| 439 |
aosDbgPrintf("ERR: no evt\n");
|
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| 440 |
// enforce timeout event |
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| 441 |
chEvtBroadcast(&eventSourceTimeout); |
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continue; |
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} |
|
| 444 |
// if an IO event occurred |
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| 445 |
if (eventmask & _eventListenerIO.events) {
|
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ioflags = chEvtGetAndClearFlags(&_eventListenerIO); |
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aosDbgPrintf("INFO: IO evt (0x%08X)\n", ioflags);
|
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| 448 |
// a power-down event occurred |
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| 449 |
if (ioflags & MODULE_SSSP_EVENTFLAGS_PD) {
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| 450 |
aosDbgPrintf("PD evt\n");
|
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| 451 |
// deactivate S and UP |
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| 452 |
aosDbgPrintf("disabling S\n");
|
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| 453 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 454 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
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| 455 |
aosDbgPrintf("disabling UP\n");
|
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| 456 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
|
| 457 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
|
| 458 |
// set shutdown flag and exit the loop |
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| 459 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
|
| 460 |
break; |
|
| 461 |
} |
|
| 462 |
// the S signal was deactivated |
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| 463 |
if (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC) {
|
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apalControlGpioState_t sstate; |
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apalControlGpioGet(&moduleSsspGpioSync, &sstate); |
|
| 466 |
if (sstate == APAL_GPIO_ON) {
|
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| 467 |
aosDbgPrintf("S evt (enabled)\n");
|
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| 468 |
} else {
|
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| 469 |
aosDbgPrintf("S evt (disabled)\n");
|
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| 470 |
// either finish or abort |
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| 471 |
if ((stage == STAGE_3_3_WAITFORID) && (aos.sssp.moduleId != 0)) {
|
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| 472 |
stage = STAGE_3_4_FINISH; |
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| 473 |
} else if (stage != STAGE_3_4_ABORT) {
|
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| 474 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 475 |
} |
|
| 476 |
} |
|
| 477 |
} |
|
| 478 |
} |
|
| 479 |
// an OS event occurred |
|
| 480 |
if (eventmask & _eventListenerOS.events) {
|
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| 481 |
aosDbgPrintf("WARN: OS evt\n");
|
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| 482 |
// get the flags |
|
| 483 |
eventflags_t oseventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
|
| 484 |
// there should be no OS events at this point |
|
| 485 |
#if defined(MODULE_SSSP_STARTUP_3_OSEVENT_HOOK) |
|
| 486 |
MODULE_SSSP_STARTUP_3_OSEVENT_HOOK(eventmask, eventflags); |
|
| 487 |
#else /* defined(MODULE_SSSP_STARTUP_3_OSEVENT_HOOK) */ |
|
| 488 |
_unexpectedEventError(eventmask, oseventflags); |
|
| 489 |
#endif /* defined(MODULE_SSSP_STARTUP_3_OSEVENT_HOOK) */ |
|
| 490 |
} |
|
| 491 |
// if a CAN event occurred |
|
| 492 |
if ((eventmask & eventListenerCan.events)) {
|
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| 493 |
aosDbgPrintf("CAN evt\n");
|
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| 494 |
// fetch message |
|
| 495 |
if (flags.wfe) {
|
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| 496 |
canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE); |
|
| 497 |
aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
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| 498 |
} |
|
| 499 |
// identify and handle abort messgaes |
|
| 500 |
if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
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| 501 |
stage = STAGE_3_4_ABORT; |
|
| 502 |
} |
|
| 503 |
// warn if a unexpected message was received |
|
| 504 |
else if ((canRxFrame.SID != SSSP_STACKINIT_CANMSGID_INIT) && |
|
| 505 |
(canRxFrame.SID != SSSP_STACKINIT_CANMSGID_MODULEID)) {
|
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| 506 |
aosDbgPrintf("WARN: unknown msg\n");
|
|
| 507 |
} |
|
| 508 |
// any further pending messages are fetched at the end of the loop |
|
| 509 |
} |
|
| 510 |
// if a timeout event occurred |
|
| 511 |
if (eventmask & eventListenerTimeout.events) {
|
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| 512 |
aosDbgPrintf("timeout evt\n");
|
|
| 513 |
// is handled at the end of the loop (or must be cleared by FSM) |
|
| 514 |
} |
|
| 515 |
// if a delay event occurred |
|
| 516 |
if (eventmask & eventListenerDelay.events) {
|
|
| 517 |
aosDbgPrintf("delay evt\n");
|
|
| 518 |
// is handled by FSM |
|
| 519 |
} |
|
| 520 |
|
|
| 521 |
/* |
|
| 522 |
* this is the actual FSM |
|
| 523 |
*/ |
|
| 524 |
switch (stage) {
|
|
| 525 |
case STAGE_3_1: |
|
| 526 |
{
|
|
| 527 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_1; |
|
| 528 |
|
|
| 529 |
// there was no event at all (skipped wfe) |
|
| 530 |
if (eventmask == 0 && flags.wfe == false) {
|
|
| 531 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
|
| 532 |
// initialize the stage by transmitting an according CAN message |
|
| 533 |
aosDbgPrintf("CAN -> init\n");
|
|
| 534 |
canTxFrame.DLC = 0; |
|
| 535 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_INIT; |
|
| 536 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
|
| 537 |
chEvtBroadcast(&eventSourceTimeout); |
|
| 538 |
break; |
|
| 539 |
} |
|
| 540 |
// activate S |
|
| 541 |
aosDbgPrintf("enabling S\n");
|
|
| 542 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
|
| 543 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
|
| 544 |
// proceed immediately |
|
| 545 |
stage = STAGE_3_2; |
|
| 546 |
flags.wfe_next = false; |
|
| 547 |
#else /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
|
| 548 |
// set the timeout timer |
|
| 549 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 550 |
// proceed |
|
| 551 |
stage = STAGE_3_3_WAITFORFIRSTID; |
|
| 552 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
|
| 553 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 554 |
// set the timeout timer |
|
| 555 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 556 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 557 |
} |
|
| 558 |
|
|
| 559 |
#if (AMIROOS_CFG_SSSP_MASTER != true) |
|
| 560 |
// a CAN message was received |
|
| 561 |
else if (eventmask & eventListenerCan.events) {
|
|
| 562 |
// if an initiation message was received |
|
| 563 |
if (canRxFrame.DLC == 0 && |
|
| 564 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 565 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 566 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_INIT) {
|
|
| 567 |
aosDbgPrintf("init msg\n");
|
|
| 568 |
// reset the timeout timer and clear pending flags |
|
| 569 |
chVTReset(&timerTimeout); |
|
| 570 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 571 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 572 |
// activate S |
|
| 573 |
aosDbgPrintf("enabling S\n");
|
|
| 574 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
|
| 575 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
|
| 576 |
// proceed |
|
| 577 |
stage = STAGE_3_2; |
|
| 578 |
flags.wfe_next = false; |
|
| 579 |
#else /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
|
| 580 |
// set the timeout timer |
|
| 581 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 582 |
// proceed |
|
| 583 |
stage = STAGE_3_3_WAITFORFIRSTID; |
|
| 584 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
|
| 585 |
} |
|
| 586 |
} |
|
| 587 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) */ |
|
| 588 |
|
|
| 589 |
break; |
|
| 590 |
} /* end of STAGE_3_1 */ |
|
| 591 |
|
|
| 592 |
case STAGE_3_2: |
|
| 593 |
{
|
|
| 594 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
|
| 595 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_2; |
|
| 596 |
|
|
| 597 |
// if this stage was just entered |
|
| 598 |
if (flags.wfe == false) {
|
|
| 599 |
// set the module ID |
|
| 600 |
aos.sssp.moduleId = 1; |
|
| 601 |
// broadcast module ID |
|
| 602 |
aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
|
| 603 |
canTxFrame.DLC = 4; |
|
| 604 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
|
| 605 |
_serialize(canTxFrame.data8, aos.sssp.moduleId, 4); |
|
| 606 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
|
| 607 |
chEvtBroadcast(&eventSourceTimeout); |
|
| 608 |
break; |
|
| 609 |
} |
|
| 610 |
#if (AMIROOS_CFG_DBG == true) |
|
| 611 |
lastid = aos.sssp.moduleId; |
|
| 612 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
|
| 613 |
#if (AMIROOS_CFG_SSSP_STACK_END == true) |
|
| 614 |
// sequence is already over |
|
| 615 |
// deactivate S |
|
| 616 |
aosDbgPrintf("disabling S\n");
|
|
| 617 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 618 |
// proceed |
|
| 619 |
stage = STAGE_3_3_WAITFORID; |
|
| 620 |
#else /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
|
| 621 |
// set the delay timer so the UP signal is activated later |
|
| 622 |
chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
|
| 623 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
|
| 624 |
} |
|
| 625 |
|
|
| 626 |
// if a delay event occurred |
|
| 627 |
if (eventmask & eventListenerDelay.events) {
|
|
| 628 |
// activate UP |
|
| 629 |
aosDbgPrintf("enabling UP\n");
|
|
| 630 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
|
| 631 |
// deactivate S |
|
| 632 |
aosDbgPrintf("disabling S\n");
|
|
| 633 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 634 |
// explicitely clear timeout event flag |
|
| 635 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 636 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 637 |
// proceed |
|
| 638 |
stage = STAGE_3_3_WAITFORID; |
|
| 639 |
} |
|
| 640 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
|
| 641 |
|
|
| 642 |
break; |
|
| 643 |
} /* end of STAGE_3_2 */ |
|
| 644 |
|
|
| 645 |
case STAGE_3_3_WAITFORFIRSTID: |
|
| 646 |
{
|
|
| 647 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
|
| 648 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
|
| 649 |
|
|
| 650 |
// a CAN message was received |
|
| 651 |
if (eventmask & eventListenerCan.events) {
|
|
| 652 |
// if an ID message was received |
|
| 653 |
if (canRxFrame.DLC == 4 && |
|
| 654 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 655 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 656 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
|
| 657 |
aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4));
|
|
| 658 |
// validate received ID |
|
| 659 |
if (lastid < _deserialize(canRxFrame.data8, 4)) {
|
|
| 660 |
// store received ID |
|
| 661 |
lastid = _deserialize(canRxFrame.data8, 4); |
|
| 662 |
// restart timeout timer |
|
| 663 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 664 |
// proceed |
|
| 665 |
stage = STAGE_3_3_WAITFORIDORSIG; |
|
| 666 |
} else {
|
|
| 667 |
aosDbgPrintf("ERR: invalid ID\n");
|
|
| 668 |
// abort |
|
| 669 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 670 |
flags.wfe_next = false; |
|
| 671 |
} |
|
| 672 |
// explicitely clear timeout event flag |
|
| 673 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 674 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 675 |
} |
|
| 676 |
} |
|
| 677 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
|
| 678 |
break; |
|
| 679 |
} /* end of STAGE_3_3_WAITFORFIRSTID */ |
|
| 680 |
|
|
| 681 |
case STAGE_3_3_WAITFORIDORSIG: |
|
| 682 |
{
|
|
| 683 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
|
| 684 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
|
| 685 |
|
|
| 686 |
// a CAN message was received |
|
| 687 |
if (eventmask & eventListenerCan.events) {
|
|
| 688 |
// if an ID message was received |
|
| 689 |
if (canRxFrame.DLC == 4 && |
|
| 690 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 691 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 692 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
|
| 693 |
aosDbgPrintf("ID (%u)\n", (uint32_t)_deserialize(canRxFrame.data8, 4));
|
|
| 694 |
// validate received ID |
|
| 695 |
if (lastid < _deserialize(canRxFrame.data8, 4)) {
|
|
| 696 |
// store received ID |
|
| 697 |
lastid = _deserialize(canRxFrame.data8, 4); |
|
| 698 |
// restart timeout timer |
|
| 699 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 700 |
} else {
|
|
| 701 |
aosDbgPrintf("ERR: invalid ID\n");
|
|
| 702 |
// abort |
|
| 703 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 704 |
flags.wfe_next = false; |
|
| 705 |
} |
|
| 706 |
// explicitely clear timeout event flag |
|
| 707 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 708 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 709 |
} |
|
| 710 |
} |
|
| 711 |
|
|
| 712 |
// if an IO event was received (DN signal) |
|
| 713 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_DN)) {
|
|
| 714 |
aosDbgPrintf("DN evt\n");
|
|
| 715 |
// reset timeout timer |
|
| 716 |
chVTReset(&timerTimeout); |
|
| 717 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 718 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 719 |
// increment and broadcast ID |
|
| 720 |
aos.sssp.moduleId = lastid + 1; |
|
| 721 |
aosDbgPrintf("CAN -> ID (%u)\n", aos.sssp.moduleId);
|
|
| 722 |
canTxFrame.DLC = 4; |
|
| 723 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_MODULEID; |
|
| 724 |
_serialize(canTxFrame.data8, aos.sssp.moduleId, 4); |
|
| 725 |
if (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_IMMEDIATE) != MSG_OK) {
|
|
| 726 |
chEvtBroadcast(&eventSourceTimeout); |
|
| 727 |
break; |
|
| 728 |
} |
|
| 729 |
// set delay timer |
|
| 730 |
chVTSet(&timerDelay, chTimeUS2I(AMIROOS_CFG_SSSP_SIGNALDELAY), _ssspTimerCallback, &eventSourceDelay); |
|
| 731 |
} |
|
| 732 |
|
|
| 733 |
// if a delay event occurred |
|
| 734 |
if (eventmask & eventListenerDelay.events) {
|
|
| 735 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
|
| 736 |
// activate UP |
|
| 737 |
aosDbgPrintf("enabling UP\n");
|
|
| 738 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_ON); |
|
| 739 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
|
| 740 |
// deactivate S |
|
| 741 |
aosDbgPrintf("disabling S\n");
|
|
| 742 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 743 |
// reset the timeout timer |
|
| 744 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 745 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 746 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 747 |
// proceed |
|
| 748 |
stage = STAGE_3_3_WAITFORID; |
|
| 749 |
} |
|
| 750 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
|
| 751 |
|
|
| 752 |
break; |
|
| 753 |
} /* end of STAGE_3_3_WAITFORIDORSIG */ |
|
| 754 |
|
|
| 755 |
case STAGE_3_3_WAITFORID: |
|
| 756 |
{
|
|
| 757 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_3; |
|
| 758 |
|
|
| 759 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
|
| 760 |
// a CAN message was received |
|
| 761 |
if (eventmask & eventListenerCan.events) {
|
|
| 762 |
// if an ID message was received |
|
| 763 |
if (canRxFrame.DLC == 4 && |
|
| 764 |
canRxFrame.RTR == CAN_RTR_DATA && |
|
| 765 |
canRxFrame.IDE == CAN_IDE_STD && |
|
| 766 |
canRxFrame.SID == SSSP_STACKINIT_CANMSGID_MODULEID) {
|
|
| 767 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) |
|
| 768 |
// Plausibility of the received ID is not checked at this point but is done by other modules still in a previous stage. |
|
| 769 |
lastid = _deserialize(canRxFrame.data8, 4); |
|
| 770 |
aosDbgPrintf("ID (%u)\n", lastid);
|
|
| 771 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) || (AMIROOS_CFG_DBG == true) */ |
|
| 772 |
// restart timeout timer |
|
| 773 |
chVTSet(&timerTimeout, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceTimeout); |
|
| 774 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 775 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 776 |
} |
|
| 777 |
} |
|
| 778 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
|
| 779 |
|
|
| 780 |
break; |
|
| 781 |
} /* end of STAGE_3_3_WAITFORID */ |
|
| 782 |
|
|
| 783 |
case STAGE_3_4_FINISH: |
|
| 784 |
{
|
|
| 785 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
|
| 786 |
|
|
| 787 |
// if an IO event was received (S signal) |
|
| 788 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
|
| 789 |
// reset the timeout timer |
|
| 790 |
chVTReset(&timerTimeout); |
|
| 791 |
chEvtWaitAnyTimeout(eventListenerTimeout.events, TIME_IMMEDIATE); |
|
| 792 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 793 |
//set the delay timer |
|
| 794 |
chVTSet(&timerDelay, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT), _ssspTimerCallback, &eventSourceDelay); |
|
| 795 |
} |
|
| 796 |
|
|
| 797 |
// if a CAN event was received |
|
| 798 |
if (eventmask & eventListenerCan.events) {
|
|
| 799 |
// if an abort message was received |
|
| 800 |
if (canRxFrame.SID == SSSP_STACKINIT_CANMSGID_ABORT) {
|
|
| 801 |
aosDbgPrintf("abort msg\n");
|
|
| 802 |
// reset the delay timer |
|
| 803 |
chVTReset(&timerDelay); |
|
| 804 |
chEvtWaitAnyTimeout(eventListenerDelay.events, TIME_IMMEDIATE); |
|
| 805 |
eventmask &= ~(eventListenerDelay.events); |
|
| 806 |
// proceed |
|
| 807 |
stage = STAGE_3_4_ABORT; |
|
| 808 |
} |
|
| 809 |
} |
|
| 810 |
|
|
| 811 |
// if a delay timer event occurred |
|
| 812 |
if (eventmask & eventListenerDelay.events) {
|
|
| 813 |
aosDbgPrintf("sequence sucessful\n");
|
|
| 814 |
// sequence finished sucessfully |
|
| 815 |
flags.loop = false; |
|
| 816 |
} |
|
| 817 |
|
|
| 818 |
break; |
|
| 819 |
} /* end of STAGE_3_4_FINISH */ |
|
| 820 |
|
|
| 821 |
case STAGE_3_4_ABORT_ACTIVE: |
|
| 822 |
{
|
|
| 823 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
|
| 824 |
|
|
| 825 |
// emit abort message |
|
| 826 |
canTxFrame.DLC = 0; |
|
| 827 |
canTxFrame.SID = SSSP_STACKINIT_CANMSGID_ABORT; |
|
| 828 |
canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canTxFrame, TIME_INFINITE); |
|
| 829 |
aosDbgPrintf("CAN -> abort\n");
|
|
| 830 |
// clear timeout flag |
|
| 831 |
eventmask &= ~(eventListenerTimeout.events); |
|
| 832 |
// proceed immediately |
|
| 833 |
stage = STAGE_3_4_ABORT; |
|
| 834 |
flags.wfe_next = false; |
|
| 835 |
break; |
|
| 836 |
} /* end of STAGE_3_4_ABORT_ACTIVE */ |
|
| 837 |
|
|
| 838 |
case STAGE_3_4_ABORT: |
|
| 839 |
{
|
|
| 840 |
aos.sssp.stage = AOS_SSSP_STARTUP_3_4; |
|
| 841 |
|
|
| 842 |
// deactivate S |
|
| 843 |
aosDbgPrintf("disabling SYNC\n");
|
|
| 844 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 845 |
// invalidate module ID |
|
| 846 |
aos.sssp.moduleId = 0; |
|
| 847 |
|
|
| 848 |
// if an IO event was received (S signal) |
|
| 849 |
if ((eventmask & _eventListenerIO.events) && (ioflags & MODULE_SSSP_EVENTFLAGS_SYNC)) {
|
|
| 850 |
aosDbgPrintf("sequence aborted\n");
|
|
| 851 |
// exit the sequence |
|
| 852 |
flags.loop = false; |
|
| 853 |
} |
|
| 854 |
|
|
| 855 |
break; |
|
| 856 |
} /* end of STAGE_3_4_ABORT */ |
|
| 857 |
} /* end of switch(stage) */ |
|
| 858 |
|
|
| 859 |
// fetch pending CAN message (if any) |
|
| 860 |
if ((eventmask & eventListenerCan.events) && (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &canRxFrame, TIME_IMMEDIATE) == MSG_OK)) {
|
|
| 861 |
aosDbgPrintf("CAN <- 0x%03X\n", canRxFrame.SID);
|
|
| 862 |
flags.wfe_next = false; |
|
| 863 |
} |
|
| 864 |
|
|
| 865 |
// handle unhandled timeout events |
|
| 866 |
if (eventmask & eventListenerTimeout.events) {
|
|
| 867 |
aosDbgPrintf("ERR: timeout evt\n");
|
|
| 868 |
// abort |
|
| 869 |
flags.wfe_next = false; |
|
| 870 |
stage = STAGE_3_4_ABORT_ACTIVE; |
|
| 871 |
} |
|
| 872 |
|
|
| 873 |
// apply wfe value for next iteration |
|
| 874 |
flags.wfe = flags.wfe_next; |
|
| 875 |
} /* end of FSM loop */ |
|
| 876 |
|
|
| 877 |
// unregister all events (timeout, delay, CAN receive) |
|
| 878 |
chEvtUnregister(&eventSourceTimeout, &eventListenerTimeout); |
|
| 879 |
chEvtUnregister(&eventSourceDelay, &eventListenerDelay); |
|
| 880 |
chEvtUnregister(&MODULE_HAL_CAN.rxfull_event, &eventListenerCan); |
|
| 881 |
// clear any pending events (timeout, delay, CAN receive) |
|
| 882 |
chEvtWaitAllTimeout(TIMEOUTEVENT_MASK | DELAYEVENT_MASK | CANEVENT_MASK, TIME_IMMEDIATE); |
|
| 883 |
|
|
| 884 |
// reset all control signals |
|
| 885 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
|
| 886 |
aosDbgPrintf("disabling UP\n");
|
|
| 887 |
apalControlGpioSet(&moduleSsspGpioUp, APAL_GPIO_OFF); |
|
| 888 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
|
| 889 |
aosDbgPrintf("disabling S\n");
|
|
| 890 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 891 |
aosSysGetUptime(&uptime); |
|
| 892 |
aosDbgPrintf("done\t%04ums\n", (uint32_t)(uptime / MICROSECONDS_PER_MILLISECOND));
|
|
| 893 |
|
|
| 894 |
return shutdown; |
|
| 895 |
} |
|
| 896 |
#endif /* (SSSP_STAGE3_ENABLE == true) */ |
|
| 897 |
|
|
| 898 | 228 |
/** |
| 899 | 229 |
* @brief Application entry point. |
| 900 | 230 |
*/ |
| ... | ... | |
| 903 | 233 |
// local variables |
| 904 | 234 |
eventmask_t eventmask = 0; |
| 905 | 235 |
eventflags_t eventflags = 0; |
| 906 |
eventflags_t ioeventflagsmask = AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK; |
|
| 907 | 236 |
aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
| 908 | 237 |
#if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES) |
| 909 | 238 |
AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
| ... | ... | |
| 915 | 244 |
* ########################################################################## |
| 916 | 245 |
*/ |
| 917 | 246 |
|
| 918 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0) |
|
| 919 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS) |
|
| 920 |
AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS); |
|
| 921 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS) */ |
|
| 922 |
AMIROOS_CFG_MAIN_INIT_HOOK_0(); |
|
| 923 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS) */ |
|
| 924 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_0) */ |
|
| 925 |
|
|
| 926 | 247 |
/* hardware, kernel, and operating system initialization */ |
| 927 | 248 |
// ChibiOS/HAL and custom hal additions (if any) |
| 928 | 249 |
halInit(); |
| ... | ... | |
| 930 | 251 |
MODULE_INIT_HAL_EXTRA(); |
| 931 | 252 |
#endif /* defined(MODULE_INIT_HAL_EXTRA) */ |
| 932 | 253 |
|
| 933 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1) |
|
| 934 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) |
|
| 935 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
|
| 936 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
|
| 937 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
|
| 938 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
|
| 939 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1) */ |
|
| 940 |
|
|
| 941 | 254 |
// ChibiOS/RT kernel and custom kernel additions (if any) |
| 942 | 255 |
chSysInit(); |
| 943 | 256 |
#if defined(MODULE_INIT_KERNEL_EXTRA) |
| 944 | 257 |
MODULE_INIT_KERNEL_EXTRA(); |
| 945 | 258 |
#endif /* defined(MODULE_INIT_KERNEL_EXTRA) */ |
| 946 | 259 |
|
| 947 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2) |
|
| 948 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) |
|
| 949 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
|
| 950 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */ |
|
| 951 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
|
| 952 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */ |
|
| 953 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2) */ |
|
| 954 |
|
|
| 955 | 260 |
// AMiRo-OS, additional interrupts and custom OS additions (if any) |
| 956 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)
|
|
| 261 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
|
| 957 | 262 |
aosSysInit(moduleShellPrompt); |
| 958 |
#else /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
|
|
| 263 |
#else /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
|
| 959 | 264 |
aosSysInit(); |
| 960 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
|
|
| 265 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
|
| 961 | 266 |
#if defined(MODULE_INIT_INTERRUPTS) |
| 962 | 267 |
MODULE_INIT_INTERRUPTS(); |
| 963 | 268 |
#endif |
| ... | ... | |
| 965 | 270 |
MODULE_INIT_OS_EXTRA(); |
| 966 | 271 |
#endif /* defined(MODULE_INIT_OS_EXTRA) */ |
| 967 | 272 |
|
| 968 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3) |
|
| 969 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) |
|
| 970 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
|
| 971 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */ |
|
| 972 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
|
| 973 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */ |
|
| 974 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3) */ |
|
| 975 |
|
|
| 976 | 273 |
/* event associations */ |
| 977 | 274 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 978 |
ioeventflagsmask |= MODULE_SSSP_EVENTFLAGS_PD | MODULE_SSSP_EVENTFLAGS_SYNC; |
|
| 275 |
{
|
|
| 276 |
eventflags_t flagsmask = AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK | MODULE_SSSP_EVENTFLAG_PD | MODULE_SSSP_EVENTFLAG_S; |
|
| 979 | 277 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 980 |
ioeventflagsmask |= MODULE_SSSP_EVENTFLAGS_DN;
|
|
| 278 |
flagsmask |= MODULE_SSSP_EVENTFLAG_DN;
|
|
| 981 | 279 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
| 982 | 280 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 983 |
ioeventflagsmask |= MODULE_SSSP_EVENTFLAGS_UP;
|
|
| 281 |
flagsmask |= MODULE_SSSP_EVENTFLAG_UP;
|
|
| 984 | 282 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
| 283 |
chEvtRegisterMaskWithFlags(&aos.events.gpio, &_eventListenerGPIO, EVENTMASK_GPIO, flagsmask); |
|
| 284 |
} |
|
| 285 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 286 |
if (AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) {
|
|
| 287 |
chEvtRegisterMaskWithFlags(&aos.events.gpio, &_eventListenerGPIO, EVENTMASK_GPIO, AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK); |
|
| 288 |
} |
|
| 985 | 289 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 986 |
if (ioeventflagsmask != 0) {
|
|
| 987 |
chEvtRegisterMaskWithFlags(&aos.events.io, &_eventListenerIO, IOEVENT_MASK, ioeventflagsmask); |
|
| 290 |
chEvtRegisterMask(&aos.events.os, &_eventListenerOS, EVENTMASK_OS); |
|
| 291 |
|
|
| 292 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_STARTUP == true) |
|
| 293 |
|
|
| 294 |
/* perform SSSP basic initialization stage */ |
|
| 295 |
|
|
| 296 |
#if defined(MODULE_SSSP_BASICINIT_HOOK) |
|
| 297 |
#if defined(MODULE_SSSP_BASICINIT_HOOK_ARGS) |
|
| 298 |
MODULE_SSSP_BASICINIT_HOOK(MODULE_SSSP_BASICINIT_HOOK_ARGS); |
|
| 299 |
#else /* defined(MODULE_SSSP_BASICINIT_HOOK_ARGS) */ |
|
| 300 |
MODULE_SSSP_BASICINIT_HOOK(); |
|
| 301 |
#endif /* defined(MODULE_SSSP_BASICINIT_HOOK_ARGS) */ |
|
| 302 |
#endif /* defined(MODULE_SSSP_BASICINIT_HOOK) */ |
|
| 303 |
|
|
| 304 |
// proceed to startup stage 1.2 |
|
| 305 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
|
| 306 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, 0, EVENTMASK_SSSPTIMER, &eventmask) != AOS_SUCCESS)) {
|
|
| 307 |
/* |
|
| 308 |
* This code is executed if the received event was not about the delay. |
|
| 309 |
* The received event could be casued by any listener. |
|
| 310 |
*/ |
|
| 311 |
// GPIO event |
|
| 312 |
if (eventmask & _eventListenerGPIO.events) {
|
|
| 313 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
|
| 314 |
// PD event |
|
| 315 |
if (eventflags & MODULE_SSSP_EVENTFLAG_PD) {
|
|
| 316 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
|
| 317 |
} else {
|
|
| 318 |
#if defined(MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK) |
|
| 319 |
MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK(eventmask, eventflags); |
|
| 320 |
#else /* defined(MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK) */ |
|
| 321 |
/* silently ignore any other GPIO events */ |
|
| 322 |
#endif /* defined(MODULE_SSSP_STARTUP_1_1_GPIOEVENT_HOOK) */ |
|
| 323 |
} |
|
| 324 |
} |
|
| 325 |
// OS event |
|
| 326 |
else if (eventmask & _eventListenerOS.events) {
|
|
| 327 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
|
| 328 |
_unexpectedEventError(eventmask, eventflags); |
|
| 329 |
} |
|
| 330 |
// unknown event |
|
| 331 |
else {
|
|
| 332 |
_unexpectedEventError(eventmask, 0); |
|
| 333 |
} |
|
| 988 | 334 |
} |
| 989 |
chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK); |
|
| 335 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
|
| 336 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_1_2); |
|
| 337 |
} |
|
| 338 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 339 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
|
| 340 |
aosSsspProceed(NULL, 0, 0, NULL); |
|
| 341 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_1_2); |
|
| 342 |
} |
|
| 343 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 990 | 344 |
|
| 991 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4) |
|
| 992 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) |
|
| 993 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
|
| 994 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */ |
|
| 995 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
|
| 996 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */ |
|
| 997 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4) */ |
|
| 345 |
// proceed to startup stage 1.3 |
|
| 346 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, MODULE_SSSP_EVENTFLAG_S, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS)) {
|
|
| 347 |
/* |
|
| 348 |
* This code is executed if the received event was not about a deactivation of the snychronization signal. |
|
| 349 |
* The received event could be caused by any listener. |
|
| 350 |
*/ |
|
| 351 |
// GPIO event |
|
| 352 |
if (eventmask & _eventListenerGPIO.events) {
|
|
| 353 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
|
| 354 |
// PD event |
|
| 355 |
if (eventflags & MODULE_SSSP_EVENTFLAG_PD) {
|
|
| 356 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
|
| 357 |
} else {
|
|
| 358 |
#if defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) |
|
| 359 |
MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK(eventmask, eventflags); |
|
| 360 |
#else /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
|
| 361 |
/* silently ignore any other GPIO events */ |
|
| 362 |
#endif /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
|
| 363 |
} |
|
| 364 |
} |
|
| 365 |
// OS event |
|
| 366 |
else if (eventmask & _eventListenerOS.events) {
|
|
| 367 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
|
| 368 |
_unexpectedEventError(eventmask, eventflags); |
|
| 369 |
} |
|
| 370 |
// unknown event |
|
| 371 |
else {
|
|
| 372 |
_unexpectedEventError(eventmask, 0); |
|
| 373 |
} |
|
| 374 |
} |
|
| 375 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
|
| 376 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_1_3); |
|
| 377 |
} |
|
| 378 |
|
|
| 379 |
// proceed to startup stage 2.1 |
|
| 380 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
|
| 381 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, 0, EVENTMASK_SSSPTIMER, &eventmask) != AOS_SUCCESS)) {
|
|
| 382 |
/* |
|
| 383 |
* This code is executed if the received event was not about the delay. |
|
| 384 |
* The received event could be caused by any listener. |
|
| 385 |
*/ |
|
| 386 |
// GPIO event |
|
| 387 |
if (eventmask & _eventListenerGPIO.events) {
|
|
| 388 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
|
| 389 |
// PD event |
|
| 390 |
if (eventflags & MODULE_SSSP_EVENTFLAG_PD) {
|
|
| 391 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
|
| 392 |
} else {
|
|
| 393 |
#if defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) |
|
| 394 |
MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK(eventmask, eventflags); |
|
| 395 |
#else /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
|
| 396 |
/* silently ignore any other GPIO events */ |
|
| 397 |
#endif /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */ |
|
| 398 |
} |
|
| 399 |
} |
|
| 400 |
// OS event |
|
| 401 |
else if (eventmask & _eventListenerOS.events) {
|
|
| 402 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
|
| 403 |
_unexpectedEventError(eventmask, eventflags); |
|
| 404 |
} |
|
| 405 |
// unknown event |
|
| 406 |
else {
|
|
| 407 |
_unexpectedEventError(eventmask, 0); |
|
| 408 |
} |
|
| 409 |
} |
|
| 410 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 411 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, MODULE_SSSP_EVENTFLAG_S, EVENTMASK_GPIO, &eventmask) != AOS_SUCCES)) {
|
|
| 412 |
/* |
|
| 413 |
* This code is executed if the received event was not about a deactivation of the snychronization signal. |
|
| 414 |
* The received event could be caused by any listener. |
|
| 415 |
*/ |
|
| 416 |
// GPIO event |
|
| 417 |
if (eventmask & _eventListenerGPIO.events) {
|
|
| 418 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
|
| 419 |
// PD event |
|
| 420 |
if (eventflags & MODULE_SSSP_EVENTFLAG_PD) {
|
|
| 421 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
|
| 422 |
} else {
|
|
| 423 |
#if defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) |
|
| 424 |
MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK(eventmask, eventflags); |
|
| 425 |
#else /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
|
| 426 |
/* silently ignore any other GPIO events */ |
|
| 427 |
#endif /* defined(MODULE_SSSP_STARTUP_1_2_GPIOEVENT_HOOK) */ |
|
| 428 |
} |
|
| 429 |
} |
|
| 430 |
// OS event |
|
| 431 |
else if (eventmask & _eventListenerOS.events) {
|
|
| 432 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
|
| 433 |
_unexpectedEventError(eventmask, eventflags); |
|
| 434 |
} |
|
| 435 |
// unknown event |
|
| 436 |
else {
|
|
| 437 |
_unexpectedEventError(eventmask, 0); |
|
| 438 |
} |
|
| 439 |
} |
|
| 440 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 441 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
|
| 442 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_1); |
|
| 443 |
} |
|
| 444 |
|
|
| 445 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_STARTUP == true) */ |
|
| 446 |
|
|
| 447 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1) |
|
| 448 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) |
|
| 449 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
|
| 450 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
|
| 451 |
AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
|
| 452 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS) */ |
|
| 453 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_1) */ |
|
| 998 | 454 |
|
| 999 | 455 |
/* periphery communication interfaces initialization */ |
| 1000 |
// module specific initialization (if any) |
|
| 1001 | 456 |
#if defined(MODULE_INIT_PERIPHERY_IF) |
| 457 |
// module specific initialization |
|
| 1002 | 458 |
MODULE_INIT_PERIPHERY_IF(); |
| 1003 | 459 |
#endif /* defined(MODULE_INIT_PERIPHERY_IF) */ |
| 1004 |
#if ((SSSP_STAGE3_ENABLE == true) && (HAL_USE_CAN == TRUE)) |
|
| 1005 |
// CAN |
|
| 1006 |
if (MODULE_HAL_CAN.state == CAN_STOP) {
|
|
| 1007 |
canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); |
|
| 1008 |
} |
|
| 1009 |
#endif /* (SSSP_STAGE3_ENABLE == true) && (HAL_USE_CAN == TRUE) */ |
|
| 1010 |
// user interface (if any) |
|
| 1011 | 460 |
#if defined(MODULE_HAL_PROGIF) |
| 461 |
// user interface |
|
| 1012 | 462 |
aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
| 1013 | 463 |
aosIOChannelOutputEnable(&_stdiochannel); |
| 1014 | 464 |
aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
| 1015 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)
|
|
| 465 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
|
| 1016 | 466 |
aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
| 1017 | 467 |
aosShellChannelInputEnable(&_stdshellchannel); |
| 1018 | 468 |
aosShellChannelOutputEnable(&_stdshellchannel); |
| 1019 | 469 |
aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel); |
| 1020 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
|
|
| 470 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
|
| 1021 | 471 |
#endif /* defined(MODULE_HAL_PROGIF) */ |
| 1022 | 472 |
|
| 1023 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
|
|
| 1024 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
|
|
| 1025 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS);
|
|
| 1026 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */
|
|
| 1027 |
AMIROOS_CFG_MAIN_INIT_HOOK_5();
|
|
| 1028 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */
|
|
| 1029 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5) */
|
|
| 473 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
|
|
| 474 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
|
|
| 475 |
AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS);
|
|
| 476 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */
|
|
| 477 |
AMIROOS_CFG_MAIN_INIT_HOOK_2();
|
|
| 478 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS) */
|
|
| 479 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_2) */
|
|
| 1030 | 480 |
|
| 1031 | 481 |
/* module is ready -> print welcome prompt */ |
| 1032 | 482 |
aosprintf("\n");
|
| ... | ... | |
| 1045 | 495 |
aosprintf("######################################################################\n");
|
| 1046 | 496 |
aosprintf("\n");
|
| 1047 | 497 |
|
| 1048 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)
|
|
| 1049 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)
|
|
| 1050 |
AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS);
|
|
| 1051 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS) */
|
|
| 1052 |
AMIROOS_CFG_MAIN_INIT_HOOK_6();
|
|
| 1053 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS) */
|
|
| 1054 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_6) */
|
|
| 498 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
|
|
| 499 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
|
|
| 500 |
AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS);
|
|
| 501 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */
|
|
| 502 |
AMIROOS_CFG_MAIN_INIT_HOOK_3();
|
|
| 503 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS) */
|
|
| 504 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_3) */
|
|
| 1055 | 505 |
|
| 1056 | 506 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
| 1057 | 507 |
#if defined(MODULE_INIT_TESTS) |
| ... | ... | |
| 1061 | 511 |
#endif /* defined(MODULE_INIT_TESTS) */ |
| 1062 | 512 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 1063 | 513 |
|
| 1064 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)
|
|
| 1065 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)
|
|
| 1066 |
AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS);
|
|
| 1067 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS) */
|
|
| 1068 |
AMIROOS_CFG_MAIN_INIT_HOOK_7();
|
|
| 1069 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS) */
|
|
| 1070 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_7) */
|
|
| 514 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
|
|
| 515 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
|
|
| 516 |
AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS);
|
|
| 517 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */
|
|
| 518 |
AMIROOS_CFG_MAIN_INIT_HOOK_4();
|
|
| 519 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS) */
|
|
| 520 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_4) */
|
|
| 1071 | 521 |
|
| 1072 | 522 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 1073 |
/* SSSP startup OS synchronization phase (end of startup stage 2) */ |
|
| 1074 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) {
|
|
| 523 |
|
|
| 524 |
// proceed to startup stage 2.2 |
|
| 525 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
|
| 526 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(NULL, 0, EVENTMASK_SSSPTIMER, &eventmask) != AOS_SUCCESS)) {
|
|
| 1075 | 527 |
/* |
| 1076 |
* This code is executed if the received event was not about the SYS_SYNC control signal.
|
|
| 1077 |
* The returned event could be caused by any listener (not only the argument).
|
|
| 528 |
* This code is executed if the received event was not about the delay.
|
|
| 529 |
* The received event could be caused by any listener.
|
|
| 1078 | 530 |
*/ |
| 1079 |
// IO event |
|
| 1080 |
if (eventmask & _eventListenerIO.events) {
|
|
| 1081 |
eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
|
| 531 |
// GPIO event
|
|
| 532 |
if (eventmask & _eventListenerGPIO.events) {
|
|
| 533 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO);
|
|
| 1082 | 534 |
// PD event |
| 1083 |
if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
|
| 535 |
if (eventflags & MODULE_SSSP_EVENTFLAG_PD) {
|
|
| 1084 | 536 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 1085 | 537 |
} else {
|
| 1086 |
#if defined(MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK)
|
|
| 1087 |
MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK(eventmask, eventflags);
|
|
| 1088 |
#else /* defined(MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK) */
|
|
| 1089 |
// ignore any other IO events
|
|
| 1090 |
#endif /* defined(MODULE_SSSP_STARTUP_2_2_IOEVENT_HOOK) */
|
|
| 538 |
#if defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK)
|
|
| 539 |
MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK(eventmask, eventflags);
|
|
| 540 |
#else /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */
|
|
| 541 |
/* silently ignore any other GPIO events */
|
|
| 542 |
#endif /* defined(MODULE_SSSP_STARTUP_1_3_GPIOEVENT_HOOK) */
|
|
| 1091 | 543 |
} |
| 1092 | 544 |
} |
| 1093 | 545 |
// OS event |
| ... | ... | |
| 1100 | 552 |
_unexpectedEventError(eventmask, 0); |
| 1101 | 553 |
} |
| 1102 | 554 |
} |
| 1103 |
|
|
| 1104 |
#if (HAL_USE_CAN == TRUE) |
|
| 1105 |
|
|
| 1106 |
/* |
|
| 1107 |
* There must be no delays at this point, thus no hook is allowed. |
|
| 1108 |
*/ |
|
| 1109 |
|
|
| 1110 |
/* SSSP startup stage 3 (module stack initialization) */ |
|
| 1111 | 555 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 1112 |
shutdown = _ssspModuleStackInitialization();
|
|
| 556 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_2);
|
|
| 1113 | 557 |
} |
| 1114 |
|
|
| 1115 |
/* |
|
| 1116 |
* There must be no delays at this point, thus no hook is allowed. |
|
| 1117 |
*/ |
|
| 1118 |
|
|
| 1119 |
#if (HAL_USE_RTC == TRUE) |
|
| 1120 |
/* synchronize calendars */ |
|
| 1121 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
|
| 1122 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
|
| 1123 |
CANTxFrame frame; |
|
| 1124 |
struct tm t; |
|
| 1125 |
uint64_t encoded; |
|
| 1126 |
|
|
| 1127 |
frame.DLC = 8; |
|
| 1128 |
frame.RTR = CAN_RTR_DATA; |
|
| 1129 |
frame.IDE = CAN_IDE_STD; |
|
| 1130 |
frame.SID = CALENDERSYNC_CANMSGID; |
|
| 1131 |
|
|
| 1132 |
aosDbgPrintf("transmitting current date/time...\t");
|
|
| 1133 |
// get current date & time |
|
| 1134 |
aosSysGetDateTime(&t); |
|
| 1135 |
// encode |
|
| 1136 |
encoded = _TM2U64(&t); |
|
| 1137 |
// serialize |
|
| 1138 |
_serialize(frame.data8, encoded, 8); |
|
| 1139 |
// transmit |
|
| 1140 |
canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE); |
|
| 1141 |
|
|
| 1142 |
aosDbgPrintf("done\n");
|
|
| 1143 | 558 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 1144 |
CANRxFrame frame; |
|
| 1145 |
uint64_t encoded; |
|
| 1146 |
struct tm t; |
|
| 559 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
|
| 560 |
aosSsspProceed(NULL, 0, 0, NULL); |
|
| 561 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_2_2); |
|
| 562 |
} |
|
| 563 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 1147 | 564 |
|
| 1148 |
aosDbgPrintf("receiving current date/time...\t");
|
|
| 1149 |
// receive message |
|
| 1150 |
#if (AMIROOS_CFG_DBG == true) |
|
| 1151 |
// increase timeout in debug mode due to additional delays introduced by the many prinf() calls |
|
| 1152 |
if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, chTimeUS2I(10 * AOS_SYSTEM_SSSP_TIMEOUT)) == MSG_OK) {
|
|
| 1153 |
#else /* (AMIROOS_CFG_DBG == true) */ |
|
| 1154 |
if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, chTimeUS2I(AOS_SYSTEM_SSSP_TIMEOUT)) == MSG_OK) {
|
|
| 1155 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
|
| 1156 |
// validate message |
|
| 1157 |
if (frame.DLC == 8 && |
|
| 1158 |
frame.RTR == CAN_RTR_DATA && |
|
| 1159 |
frame.IDE == CAN_IDE_STD && |
|
| 1160 |
frame.SID == CALENDERSYNC_CANMSGID) {
|
|
| 1161 |
// deserialize |
|
| 1162 |
encoded = _deserialize(frame.data8, 8); |
|
| 1163 |
// decode |
|
| 1164 |
_U642TM(&t, encoded); |
|
| 1165 |
// set current date & time |
|
| 1166 |
aosSysSetDateTime(&t); |
|
| 1167 |
aosDbgPrintf("success\n");
|
|
| 565 |
// proceed to startup stage 3 (MSI is enabled), or to operation phase (no MSI) |
|
| 566 |
while ((shutdown == AOS_SHUTDOWN_NONE) && (aosSsspProceed(&_eventListenerGPIO, MODULE_SSSP_EVENTFLAG_S, EVENTMASK_GPIO, &eventmask) != AOS_SUCCESS)) {
|
|
| 567 |
/* |
|
| 568 |
* This code is executed if the received event was not about a deactivation of the snychronization signal. |
|
| 569 |
* The received event could be caused by any listener. |
|
| 570 |
*/ |
|
| 571 |
// GPIO event |
|
| 572 |
if (eventmask & _eventListenerGPIO.events) {
|
|
| 573 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO); |
|
| 574 |
// PD event |
|
| 575 |
if (eventflags & MODULE_SSSP_EVENTFLAG_PD) {
|
|
| 576 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
|
| 1168 | 577 |
} else {
|
| 1169 |
aosDbgPrintf("fail (invalid message)\n");
|
|
| 578 |
#if defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK) |
|
| 579 |
MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK(eventmask, eventflags); |
|
| 580 |
#else /* defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK) */ |
|
| 581 |
/* silently ignore any other GPIO events */ |
|
| 582 |
#endif /* defined(MODULE_SSSP_STARTUP_2_2_GPIOEVENT_HOOK) */ |
|
| 1170 | 583 |
} |
| 1171 |
} else {
|
|
| 1172 |
aosDbgPrintf("fail (timeout)\n");
|
|
| 1173 | 584 |
} |
| 1174 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 1175 |
aosDbgPrintf("\n");
|
|
| 585 |
// OS event |
|
| 586 |
else if (eventmask & _eventListenerOS.events) {
|
|
| 587 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
|
| 588 |
_unexpectedEventError(eventmask, eventflags); |
|
| 589 |
} |
|
| 590 |
// unknown event |
|
| 591 |
else {
|
|
| 592 |
_unexpectedEventError(eventmask, 0); |
|
| 593 |
} |
|
| 594 |
} |
|
| 595 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
|
| 596 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
|
| 597 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_1); |
|
| 598 |
#else /* (AMIROOS_CFG_SSSP_MSI == true) */ |
|
| 599 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_OPERATION); |
|
| 600 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
|
| 1176 | 601 |
} |
| 1177 |
#endif /* (HAL_USE_RTC == TRUE) */ |
|
| 1178 |
#endif /* (HAL_USE_CAN == TRUE) */ |
|
| 1179 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 1180 | 602 |
|
| 1181 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8) |
|
| 1182 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS) |
|
| 1183 |
AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS); |
|
| 1184 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS) */ |
|
| 1185 |
AMIROOS_CFG_MAIN_INIT_HOOK_8(); |
|
| 1186 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS) */ |
|
| 1187 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_8) */ |
|
| 603 |
// start the internal system uptime counter |
|
| 604 |
aosSysStartUptime(); |
|
| 605 |
|
|
| 606 |
/* |
|
| 607 |
* There must be no delays at this point, thus no hook allowed. |
|
| 608 |
*/ |
|
| 609 |
|
|
| 610 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
|
| 611 |
|
|
| 612 |
//TODO |
|
| 613 |
|
|
| 614 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
|
| 615 |
|
|
| 616 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 1188 | 617 |
|
| 1189 | 618 |
/* completely start AMiRo-OS */ |
| 1190 | 619 |
if (shutdown == AOS_SHUTDOWN_NONE) {
|
| 1191 | 620 |
aosSysStart(); |
| 1192 | 621 |
} |
| 1193 | 622 |
|
| 1194 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)
|
|
| 1195 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)
|
|
| 1196 |
AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS);
|
|
| 1197 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS) */
|
|
| 1198 |
AMIROOS_CFG_MAIN_INIT_HOOK_9();
|
|
| 1199 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS) */
|
|
| 1200 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_9) */
|
|
| 623 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
|
|
| 624 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
|
|
| 625 |
AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS);
|
|
| 626 |
#else /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */
|
|
| 627 |
AMIROOS_CFG_MAIN_INIT_HOOK_5();
|
|
| 628 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) */
|
|
| 629 |
#endif /* defined(AMIROOS_CFG_MAIN_INIT_HOOK_5) */
|
|
| 1201 | 630 |
|
| 1202 | 631 |
/* |
| 1203 | 632 |
* ########################################################################## |
| ... | ... | |
| 1214 | 643 |
eventmask = chEvtWaitOne(ALL_EVENTS); |
| 1215 | 644 |
#endif /* (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) */ |
| 1216 | 645 |
|
| 1217 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)
|
|
| 1218 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)
|
|
| 1219 |
AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS);
|
|
| 1220 |
#else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS) */
|
|
| 1221 |
AMIROOS_CFG_MAIN_LOOP_HOOK_0();
|
|
| 1222 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS) */
|
|
| 1223 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0) */
|
|
| 646 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
|
|
| 647 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
|
|
| 648 |
AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS);
|
|
| 649 |
#else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */
|
|
| 650 |
AMIROOS_CFG_MAIN_LOOP_HOOK_1();
|
|
| 651 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */
|
|
| 652 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1) */
|
|
| 1224 | 653 |
|
| 1225 | 654 |
switch (eventmask) {
|
| 1226 |
// if this was an I/O event
|
|
| 1227 |
case IOEVENT_MASK:
|
|
| 655 |
// if this was an GPIO event
|
|
| 656 |
case EVENTMASK_GPIO:
|
|
| 1228 | 657 |
// evaluate flags |
| 1229 |
eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
|
| 658 |
eventflags = chEvtGetAndClearFlags(&_eventListenerGPIO);
|
|
| 1230 | 659 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 1231 | 660 |
// PD event |
| 1232 |
if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
|
| 661 |
if (eventflags & MODULE_SSSP_EVENTFLAG_PD) {
|
|
| 662 |
aosSsspShutdownInit(); |
|
| 1233 | 663 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 1234 | 664 |
} |
| 1235 | 665 |
// all other events |
| 1236 |
#if defined(MODULE_MAIN_LOOP_IO_EVENT)
|
|
| 666 |
#if defined(MODULE_MAIN_LOOP_GPIOEVENT)
|
|
| 1237 | 667 |
else {
|
| 1238 |
MODULE_MAIN_LOOP_IO_EVENT(eventflags);
|
|
| 668 |
MODULE_MAIN_LOOP_GPIOEVENT(eventflags);
|
|
| 1239 | 669 |
} |
| 1240 |
#endif /* defined(MODULE_MAIN_LOOP_IO_EVENT) */
|
|
| 670 |
#endif /* defined(MODULE_MAIN_LOOP_GPIOEVENT) */
|
|
| 1241 | 671 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 1242 |
#if defined(MODULE_MAIN_LOOP_IO_EVENT)
|
|
| 1243 |
MODULE_MAIN_LOOP_IO_EVENT(eventflags);
|
|
| 1244 |
#endif /* defined(MODULE_MAIN_LOOP_IO_EVENT) */
|
|
| 672 |
#if defined(MODULE_MAIN_LOOP_GPIOEVENT)
|
|
| 673 |
MODULE_MAIN_LOOP_GPIOEVENT(eventflags);
|
|
| 674 |
#endif /* defined(MODULE_MAIN_LOOP_GPIOEVENT) */
|
|
| 1245 | 675 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 1246 | 676 |
break; |
| 1247 | 677 |
|
| 1248 | 678 |
// if this was an OS event |
| 1249 |
case OSEVENT_MASK:
|
|
| 679 |
case EVENTMASK_OS:
|
|
| 1250 | 680 |
// evaluate flags |
| 1251 | 681 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 1252 | 682 |
switch (eventflags) {
|
| 1253 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
|
| 1254 |
case AOS_SYSTEM_EVENTFLAGS_HIBERNATE: |
|
| 683 |
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE) |
|
| 684 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_MASK: |
|
| 685 |
shutdown = AOS_SHUTDOWN_ACTIVE; |
|
| 686 |
break; |
|
| 687 |
#elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT) |
|
| 688 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_HIBERNATE: |
|
| 1255 | 689 |
shutdown = AOS_SHUTDOWN_HIBERNATE; |
| 1256 | 690 |
break; |
| 1257 |
case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP: |
|
| 691 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_DEEPSLEEP:
|
|
| 1258 | 692 |
shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
| 1259 | 693 |
break; |
| 1260 |
case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION: |
|
| 694 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_TRANSPORTATION:
|
|
| 1261 | 695 |
shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
| 1262 | 696 |
break; |
| 1263 |
case AOS_SYSTEM_EVENTFLAGS_RESTART: |
|
| 697 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_RESTART:
|
|
| 1264 | 698 |
shutdown = AOS_SHUTDOWN_RESTART; |
| 1265 | 699 |
break; |
| 1266 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 1267 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN: |
|
| 1268 |
shutdown = AOS_SHUTDOWN_DEFAULT; |
|
| 700 |
case AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_PASSIVE: |
|
| 701 |
_unexpectedEventError(eventmask, eventflags); |
|
| 1269 | 702 |
break; |
| 1270 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
|
|
| 703 |
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */
|
|
| 1271 | 704 |
default: |
| 1272 | 705 |
_unexpectedEventError(eventmask, eventflags); |
| 1273 | 706 |
break; |
| ... | ... | |
| 1283 | 716 |
break; |
| 1284 | 717 |
} |
| 1285 | 718 |
|
| 1286 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
|
|
| 1287 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
|
|
| 1288 |
AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS);
|
|
| 1289 |
#else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */
|
|
| 1290 |
AMIROOS_CFG_MAIN_LOOP_HOOK_1();
|
|
| 1291 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS) */
|
|
| 1292 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1) */
|
|
| 719 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2)
|
|
| 720 |
#if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS)
|
|
| 721 |
AMIROOS_CFG_MAIN_LOOP_HOOK_2(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS);
|
|
| 722 |
#else /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS) */
|
|
| 723 |
AMIROOS_CFG_MAIN_LOOP_HOOK_2();
|
|
| 724 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2_ARGS) */
|
|
| 725 |
#endif /* defined(AMIROOS_CFG_MAIN_LOOP_HOOK_2) */
|
|
| 1293 | 726 |
} |
| 1294 | 727 |
|
| 1295 | 728 |
/* |
| ... | ... | |
| 1298 | 731 |
* ########################################################################## |
| 1299 | 732 |
*/ |
| 1300 | 733 |
|
| 1301 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0) |
|
| 1302 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS) |
|
| 1303 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS); |
|
| 1304 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS) */ |
|
| 1305 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(); |
|
| 1306 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS) */ |
|
| 1307 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0) */ |
|
| 734 |
aosDbgAssert(shutdown != AOS_SHUTDOWN_NONE); |
|
| 1308 | 735 |
|
| 1309 | 736 |
// initialize/acknowledge shutdown |
| 1310 | 737 |
aosSysShutdownInit(shutdown); |
| 738 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
|
| 739 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_SHUTDOWN_1_2); |
|
| 740 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 1311 | 741 |
|
| 1312 | 742 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1) |
| 1313 | 743 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS) |
| 1314 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS);
|
|
| 744 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
|
| 1315 | 745 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS) */ |
| 1316 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1();
|
|
| 746 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
|
| 1317 | 747 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS) */ |
| 1318 | 748 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1) */ |
| 1319 | 749 |
|
| 1320 |
// stop system threads
|
|
| 750 |
// wait for all threads to terminate
|
|
| 1321 | 751 |
aosSysStop(); |
| 1322 | 752 |
|
| 1323 | 753 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2) |
| 1324 | 754 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS) |
| 1325 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS);
|
|
| 755 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
|
| 1326 | 756 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS) */ |
| 1327 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2();
|
|
| 757 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
|
| 1328 | 758 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS) */ |
| 1329 | 759 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2) */ |
| 1330 | 760 |
|
| ... | ... | |
| 1333 | 763 |
|
| 1334 | 764 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3) |
| 1335 | 765 |
#if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS) |
| 1336 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS);
|
|
| 766 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
|
| 1337 | 767 |
#else /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS) */ |
| 1338 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3();
|
|
| 768 |
AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
|
| 1339 | 769 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS) */ |
| 1340 | 770 |
#endif /* defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3) */ |
| 1341 | 771 |
|
| ... | ... | |
| 1343 | 773 |
#if defined(MODULE_SHUTDOWN_PERIPHERY_IF) |
| 1344 | 774 |
MODULE_SHUTDOWN_PERIPHERY_IF(); |
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