amiro-os / core / src / aos_sssp.c @ cda14729
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file aos_sssp.c
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* @brief SSSP related code.
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*
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* @addtogroup aos_sssp
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* @{
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*/
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#include <amiroos.h> |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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#if (AMIROOS_CFG_SSSP_MASTER == true) || defined (__DOXYGEN__) |
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/**
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* @brief A timer event based delays.
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*/
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static virtual_timer_t _delayTimer;
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/**
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* @brief Event source for the delay timer.
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*/
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static event_source_t _eventSourceDelay;
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/**
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* @brief Event listener for the delay event.
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*/
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static event_listener_t _eventListenerDelay;
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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#if (AMIROOS_CFG_SSSP_MASTER == true) || defined (__DOXYGEN__) |
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/**
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* @brief General callback function to be used for any local timers.
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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 _timerCallback(void* par) |
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{
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aosDbgCheck(par != NULL);
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chSysLockFromISR(); |
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chEvtBroadcastI((event_source_t*)par); |
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chSysUnlockFromISR(); |
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return;
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} |
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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/**
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* @brief Waits for the S signal to switch to the desired state.
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*
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* @param[in] listener Pointer to the GPIO event listener to be used.
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* @param[in] flags Event flags to listen to by the event listener (indicating a S signal event).
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* @param[in] signalstate Desired state of the S signal ti be waited for.
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* @param[out] received Output variable to store the received event mask to.
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*
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* @return Status, indicating whether the expected event was received.
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*/
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static inline aos_status_t _waitForS(event_listener_t* listener, eventflags_t flags, apalControlGpioState_t signalstate, eventmask_t* received) |
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{
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aosDbgCheck(listener != NULL);
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aosDbgCheck(flags != 0);
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aosDbgCheck(received != NULL);
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// wait for the next event (do not apply any filters in order not to miss any events)
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*received = chEvtWaitOne(ALL_EVENTS); |
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// if the correct event was triggered
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if (*received == listener->events) {
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apalControlGpioState_t s; |
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apalControlGpioGet(&moduleSsspGpioS, &s); |
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// only check for the expected event
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if (flags & listener->flags && s == signalstate) {
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// unset the expected flags but keep any other ones
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listener->flags &= ~flags; |
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return AOS_SUCCESS;
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} |
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} |
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return AOS_FAILURE;
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} |
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#if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__) |
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/**
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* @brief Uses the local delay timer to setup a timed event and waits for it to fire.
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*
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* @param[in] dt Delay time in microseconds to be set to the timer.
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* @param[in] mask Event mask to be used for the delay timer.
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* @param[in] arm_timer Flag to indicate whether the timer has to be armed yet (i.e. on first call of this function).
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* @param[out] received Output variable to store the received event mask to.
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*
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* @return Status, indicating whether the expected event (delay timer) was received.
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*/
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static inline aos_status_t _delay(uint32_t dt, eventmask_t mask, bool arm_timer, eventmask_t* received) |
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{
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aosDbgCheck(dt != TIME_IMMEDIATE); |
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aosDbgCheck(mask != 0);
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aosDbgCheck(received != NULL);
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// arm the delay timer once
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if (arm_timer) {
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chEvtRegisterMask(&_eventSourceDelay, &_eventListenerDelay, mask); |
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chVTSet(&_delayTimer, chTimeUS2I(dt), _timerCallback, &_eventSourceDelay); |
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} |
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// wait for any event to occur (do not apply any filters in order not to miss any events)
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*received = chEvtWaitOne(ALL_EVENTS); |
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// if the timer event was received, cleanup
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if (*received & _eventListenerDelay.events) {
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chEvtUnregister(&_eventSourceDelay, &_eventListenerDelay); |
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return AOS_SUCCESS;
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} |
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return AOS_FAILURE;
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} |
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Initialize all SSSP related data.
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*/
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void aosSsspInit(void) |
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{
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#if (AMIROOS_CFG_SSSP_MSI == true) |
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// module ID is initialized as 'invalid'
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aos.sssp.moduleId = AOS_SSSP_MODULEID_INVALID; |
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#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
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#if (AMIROOS_CFG_SSSP_STARTUP == true) |
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// AMiRo-OS has to perform the basic initialization
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aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_1_1; |
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#if (AMIROOS_CFG_DBG == true) |
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// check whether the initial signal configuration is correct
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{
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apalControlGpioState_t state; |
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// S signal
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apalControlGpioGet(&moduleSsspGpioS, &state); |
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aosDbgAssert(state == APAL_GPIO_ON); |
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// PD signal
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apalControlGpioGet(&moduleSsspGpioPD, &state); |
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aosDbgAssert(state == APAL_GPIO_OFF); |
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} |
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#endif /* (AMIROOS_CFG_DBG == true) */ |
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#else /* (AMIROOS_CFG_SSSP_STARTUP == true) */ |
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// basic initialization was already performed by a bootloader
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aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_2_1; |
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#if (AMIROOS_CFG_DBG == true) |
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// check whether the initial signal configuration is correct
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{
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apalControlGpioState_t state; |
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// S signal
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apalControlGpioGet(&moduleSsspGpioS, &state); |
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aosDbgAssert(state == APAL_GPIO_ON); |
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// PD signal
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apalControlGpioGet(&moduleSsspGpioPD, &state); |
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aosDbgAssert(state == APAL_GPIO_OFF); |
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} |
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#endif /* (AMIROOS_CFG_DBG == true) */ |
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#endif /* (AMIROOS_CFG_SSSP_STARTUP == true) */ |
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#if (AMIROOS_CFG_SSSP_MASTER == true) |
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// initialize static variables
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chVTObjectInit(&_delayTimer); |
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chEvtObjectInit(&_eventSourceDelay); |
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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return;
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} |
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/**
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* @brief Proceed to the next SSSP stage.
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*
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* @param[in] listener An optional listener, in case the system has to wait for a specific event.
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* @param[in] flags The relevant flags to wait for (mandatory if a listener is given).
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* @param[in] mask If the stage transition involves a timer event (handled internally by this function),
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* the given input value of this parameter defines the mask to be used for that event.
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* In case a listener was specified, the according mask is retrieved from the listener but this parameter is still used as input for sanity checks.
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* @param[out] received Output variable to store the received event mask to.
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*
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* @return Status, indicating whether proceeding in the protocol was successful.
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*/
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aos_status_t aosSsspProceed(event_listener_t* listener, eventflags_t flags, eventmask_t mask, eventmask_t* received) |
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{
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// local variables
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wunused-but-set-variable" |
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static aos_ssspstage_t laststage = AOS_SSSP_STAGE_UNDEFINED;
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#pragma GCC diagnostic pop
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aos_ssspstage_t nextstage = aos.sssp.stage; |
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// behaviour depends on current SSSP stage of the system
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switch (aos.sssp.stage) {
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#if (AMIROOS_CFG_SSSP_STARTUP == true) |
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/*
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* Deactivate S signal.
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* Master node delays execution by one period AOS_SSSP_DELAY.
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*/
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case AOS_SSSP_STAGE_STARTUP_1_1:
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{
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#if (AMIROOS_CFG_SSSP_MASTER == true) |
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aosDbgCheck(listener == NULL);
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aosDbgCheck(flags == 0);
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aosDbgCheck(mask != 0);
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aosDbgCheck(received != NULL);
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// delay execution and deactivate the S signal on success
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if (_delay(AOS_SSSP_DELAY, mask, (laststage != AOS_SSSP_STAGE_STARTUP_1_1), received) == AOS_SUCCESS) {
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apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_OFF); |
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nextstage = AOS_SSSP_STAGE_STARTUP_1_2; |
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} |
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#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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aosDbgCheck(listener == NULL);
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aosDbgCheck(flags == 0);
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aosDbgCheck(mask == 0);
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aosDbgCheck(received == NULL);
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// deactivate S signal and proceed
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apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_OFF); |
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nextstage = AOS_SSSP_STAGE_STARTUP_1_2; |
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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break;
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} |
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/*
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* Wait for the S signal to become inactive.
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*/
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case AOS_SSSP_STAGE_STARTUP_1_2:
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{
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aosDbgCheck(listener != NULL);
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aosDbgCheck(flags != 0);
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aosDbgCheck(mask == listener->events); |
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aosDbgCheck(received != NULL);
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// wait for the S signal to become inactive and proceed on success
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if (_waitForS(listener, flags, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
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nextstage = AOS_SSSP_STAGE_STARTUP_1_3; |
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} |
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break;
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} |
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/*
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* Wait for the S signal to be activated by the master module.
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* The master delays execution by one period AOS_SSSP_DELAY.
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*/
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case AOS_SSSP_STAGE_STARTUP_1_3:
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{
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#if (AMIROOS_CFG_SSSP_MASTER == true) |
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aosDbgCheck(listener == NULL);
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aosDbgCheck(flags == 0);
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aosDbgCheck(mask != 0);
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aosDbgCheck(received != NULL);
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// delay execution and deactivate the S signal on success
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if (_delay(AOS_SSSP_DELAY, mask, (laststage != AOS_SSSP_STAGE_STARTUP_1_3), received) == AOS_SUCCESS) {
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apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_ON); |
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nextstage = AOS_SSSP_STAGE_STARTUP_2_1; |
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} |
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#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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aosDbgCheck(listener != NULL);
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aosDbgCheck(flags != 0);
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aosDbgCheck(mask == listener->events); |
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aosDbgCheck(received != NULL);
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// wait for the S signal to become active and activate it as well and proceed on success
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if (_waitForS(listener, flags, APAL_GPIO_ON, received) == AOS_SUCCESS) {
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apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_ON); |
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nextstage = AOS_SSSP_STAGE_STARTUP_2_1; |
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} |
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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break;
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} |
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#endif /* (AMIROOS_CFG_SSSP_STARTUP == true) */ |
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/*
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* Deactivate S signal.
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* Master node delays execution by one period AOS_SSSP_DELAY
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*/
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case AOS_SSSP_STAGE_STARTUP_2_1:
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{
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#if (AMIROOS_CFG_SSSP_MASTER == true) |
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aosDbgCheck(listener == NULL);
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aosDbgCheck(flags == 0);
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aosDbgCheck(mask != 0);
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aosDbgCheck(received != NULL);
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// delay execution and deactivate the S signal on success
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if (_delay(AOS_SSSP_DELAY, mask, (laststage != AOS_SSSP_STAGE_STARTUP_2_1), received) == AOS_SUCCESS) {
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apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_OFF); |
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nextstage = AOS_SSSP_STAGE_STARTUP_2_2; |
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} |
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#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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aosDbgCheck(listener == NULL);
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aosDbgCheck(flags == 0);
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aosDbgCheck(mask == 0);
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aosDbgCheck(received == NULL);
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// deactivate S signal and proceed
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apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_OFF); |
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nextstage = AOS_SSSP_STAGE_STARTUP_2_2; |
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mask = 0;
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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break;
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} |
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/*
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* Wait for the S signal to become inactive.
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*/
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case AOS_SSSP_STAGE_STARTUP_2_2:
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{
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aosDbgCheck(listener != NULL);
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aosDbgCheck(flags != 0);
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aosDbgCheck(mask == listener->events); |
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aosDbgCheck(received != NULL);
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// wait for the S signal to become inactive and proceed on success
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if (_waitForS(listener, flags, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
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#if (AMIROOS_CFG_SSSP_MSI == true) |
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nextstage = AOS_SSSP_STAGE_STARTUP_3; |
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#else /* (AMIROOS_CFG_SSSP_MSI == true) */ |
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nextstage = AOS_SSSP_STAGE_OPERATION; |
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#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
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} |
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break;
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} |
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#if (AMIROOS_CFG_SSSP_MSI == true) |
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//TODO
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#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
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/*
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* Delay execution by one perion AOS_SSSP_DELAY, deactivate the SYNC signal and proceed.
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* NOTE: Actually only the module that initiated the shutdown has to delay execution here.
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* For the sake of simlicity though, each module delays execution.
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*/
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case AOS_SSSP_STAGE_SHUTDOWN_1_2:
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{
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aosDbgCheck(listener == NULL);
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aosDbgCheck(flags == 0);
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aosDbgCheck(mask == 0);
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aosDbgCheck(received == NULL);
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// delay execution
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aosThdUSleep(AOS_SSSP_DELAY); |
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// deactivate S signal
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apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_OFF); |
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nextstage = AOS_SSSP_STAGE_SHUTDOWN_1_3; |
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break;
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} |
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#if (AMIROOS_CFG_SSSP_SHUTDOWN == true) |
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/*
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* Wait for S signal to become inactive.
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*/
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case AOS_SSSP_STAGE_SHUTDOWN_1_3:
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{
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aosDbgCheck(listener != NULL);
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aosDbgCheck(flags != 0);
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aosDbgCheck(mask == listener->events); |
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aosDbgCheck(received != NULL);
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// wait for the S signal to become inactive and proceed on success
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if (_waitForS(listener, flags, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
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nextstage = AOS_SSSP_STAGE_SHUTDOWN_2_1; |
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} |
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break;
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} |
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/*
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* Evaluate PD signal to determine whether a shutdown or restart is requested.
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* The logical state is returned by the function call.
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*/
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case AOS_SSSP_STAGE_SHUTDOWN_2_1:
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{
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aosDbgCheck(listener == NULL);
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aosDbgCheck(flags == 0);
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aosDbgCheck(mask == 0);
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aosDbgCheck(received != NULL);
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// evaluate PD signal
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apalControlGpioState_t pd; |
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apalControlGpioGet(&moduleSsspGpioPD, &pd); |
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*received = (pd == APAL_GPIO_ON) ? (eventmask_t)~0 : 0; |
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nextstage = AOS_SSSP_STAGE_SHUTDOWN_2_2; |
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break;
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} |
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/*
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* Proceed with no further actions required.
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*/
|
| 441 |
case AOS_SSSP_STAGE_SHUTDOWN_2_2:
|
| 442 |
{
|
| 443 |
aosDbgCheck(listener == NULL);
|
| 444 |
aosDbgCheck(flags == 0);
|
| 445 |
aosDbgCheck(mask == 0);
|
| 446 |
aosDbgCheck(received == NULL);
|
| 447 |
|
| 448 |
nextstage = AOS_SSSP_STAGE_SHUTDOWN_2_3; |
| 449 |
break;
|
| 450 |
} |
| 451 |
|
| 452 |
#endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
| 453 |
|
| 454 |
default:
|
| 455 |
{
|
| 456 |
// this case must never occur!
|
| 457 |
aosDbgAssertMsg(false, "Invalid SSSP stage tranition occurred"); |
| 458 |
break;
|
| 459 |
} |
| 460 |
} /* end of switch (aos.sssp.stage) */
|
| 461 |
|
| 462 |
// outro and return
|
| 463 |
laststage = aos.sssp.stage; |
| 464 |
const aos_status_t status = (nextstage > aos.sssp.stage) ? AOS_SUCCESS : AOS_FAILURE;
|
| 465 |
aos.sssp.stage = nextstage; |
| 466 |
|
| 467 |
return status;
|
| 468 |
} |
| 469 |
|
| 470 |
void aosSsspShutdownInit(void) |
| 471 |
{
|
| 472 |
// activate S signal
|
| 473 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_ON); |
| 474 |
// proceed to shutdown phase
|
| 475 |
aos.sssp.stage = AOS_SSSP_STAGE_SHUTDOWN_1_2; |
| 476 |
|
| 477 |
return;
|
| 478 |
} |
| 479 |
|
| 480 |
#if (AMIROOS_CFG_SSSP_SHUTDOWN == true) || defined(__DOXYGEN__) |
| 481 |
|
| 482 |
/**
|
| 483 |
* @brief Sequnetially broadcast an identifier via S to specify a specific way to shutdown or restart.
|
| 484 |
*
|
| 485 |
* @param[in] identifier Identifier to be broadcasted.
|
| 486 |
*/
|
| 487 |
void aosSsspShutdownBroadcastIdentifier(unsigned int identifier) |
| 488 |
{
|
| 489 |
// only broadcast anything if a identifier greater than 0 was specified
|
| 490 |
if (identifier > 0) { |
| 491 |
// broadcast identifier
|
| 492 |
for (unsigned int pulse = 0; pulse < identifier; ++pulse) { |
| 493 |
// wait one delay time with S being deactivated
|
| 494 |
aosThdUSleep(AOS_SSSP_DELAY); |
| 495 |
|
| 496 |
// activate S for one AOS_SSSP_DELAY.
|
| 497 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_ON); |
| 498 |
aosThdUSleep(AOS_SSSP_DELAY); |
| 499 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_OFF); |
| 500 |
} |
| 501 |
} |
| 502 |
|
| 503 |
// let a timeout pass and return
|
| 504 |
aosThdUSleep(AOS_SSSP_TIMEOUT); |
| 505 |
|
| 506 |
return;
|
| 507 |
} |
| 508 |
|
| 509 |
/**
|
| 510 |
* @brief Wait for a pulse during the SSSP shutdown disambiguation procedure.
|
| 511 |
* @details Whenever a pulse is received, the identifier is incremented.
|
| 512 |
* Otherwise the internal timer is configured and will eventually trigger a timeout event.
|
| 513 |
*
|
| 514 |
* @param[in] gpiolistener Event listener for GPIO events.
|
| 515 |
* @param[in] sflags Event flags to be set by edges on the S signal.
|
| 516 |
* @param[in] timermask Event maks to use for the internal timer.
|
| 517 |
* @param[in,out] identifier Identifier variable to increment.
|
| 518 |
*
|
| 519 |
* @return The event mask of whatever event was received during this function call.
|
| 520 |
*/
|
| 521 |
eventmask_t aosSsspShutdownWaitForIdentifierPulse(event_listener_t* gpiolistener, const eventflags_t sflags, eventmask_t timermask, unsigned int* identifier) |
| 522 |
{
|
| 523 |
aosDbgCheck(gpiolistener != NULL);
|
| 524 |
aosDbgCheck(sflags != 0);
|
| 525 |
aosDbgCheck(timermask != 0);
|
| 526 |
aosDbgCheck(identifier != NULL);
|
| 527 |
|
| 528 |
// local variables
|
| 529 |
eventmask_t mask; |
| 530 |
eventflags_t flags; |
| 531 |
apalControlGpioState_t sstate; |
| 532 |
|
| 533 |
// arm the timer once
|
| 534 |
if (!chVTIsArmed(&_delayTimer)) {
|
| 535 |
chEvtRegisterMask(&_eventSourceDelay, &_eventListenerDelay, timermask); |
| 536 |
chVTSet(&_delayTimer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &_eventSourceDelay); |
| 537 |
} |
| 538 |
|
| 539 |
// wait for any event to occur (do not apply any filters in order not to miss any events)
|
| 540 |
mask = chEvtWaitOne(ALL_EVENTS); |
| 541 |
|
| 542 |
// GPIO event
|
| 543 |
if (mask & gpiolistener->events) {
|
| 544 |
// retreive flags without clearing them
|
| 545 |
flags = gpiolistener->flags; |
| 546 |
apalControlGpioGet(&moduleSsspGpioS, &sstate); |
| 547 |
if (flags == sflags) {
|
| 548 |
apalControlGpioGet(&moduleSsspGpioS, &sstate); |
| 549 |
// if this was the end of a pulse
|
| 550 |
if (sstate == APAL_GPIO_OFF) {
|
| 551 |
// restart the timer
|
| 552 |
chVTReset(&_delayTimer); |
| 553 |
chVTSet(&_delayTimer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &_eventSourceDelay); |
| 554 |
// increment the identifier
|
| 555 |
++(*identifier); |
| 556 |
} |
| 557 |
} |
| 558 |
} |
| 559 |
// timer event
|
| 560 |
else if (mask & _eventListenerDelay.events) { |
| 561 |
// unregister event
|
| 562 |
chEvtUnregister(&_eventSourceDelay, &_eventListenerDelay); |
| 563 |
} |
| 564 |
// any further events must be handled externally
|
| 565 |
|
| 566 |
return mask;
|
| 567 |
} |
| 568 |
|
| 569 |
#endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
| 570 |
|
| 571 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 572 |
|
| 573 |
/** @} */
|