amiro-os / core / src / aos_sssp.c @ f5363588
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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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#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
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/**
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* @brief Weighting factor for smoothing the @p _syncskew value.
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*/
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#define SYNCSKEW_SMOOTHFACTOR (0.1f / AOS_SYSTEM_TIME_RESOLUTION) |
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#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
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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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/**
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* @brief Pointer to the system uptime.
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*/
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static aos_timestamp_t* _uptime;
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#if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__) |
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/**
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* @brief Timer to drive the S signal for system wide time synchronization during operation phase.
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*/
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static virtual_timer_t _synctimer;
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/**
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* @brief Last uptime of system wide time synchronization.
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*/
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static aos_timestamp_t _synctime;
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
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/**
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* @brief Offset between local clock and system wide synchronization signal.
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*/
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static float _syncskew; |
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#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
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/**
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* @brief A timer event based delays.
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* @details This timer must not be an AMiRo-OS timer, since delays occurr before system is initialized.
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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 _delayEventSource;
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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 _delayEventListener;
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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 Callback function for the S signal interrupt.
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*
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* @param[in] args Pointer to the GPIO line identifier.
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*/
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static void _gpioCallbackSSignal(void *args) |
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{
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aosDbgCheck((args != NULL) && (*((ioline_t*)args) != PAL_NOLINE) && (PAL_PAD(*((ioline_t*)args)) < sizeof(eventflags_t) * 8)); |
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apalControlGpioState_t s; |
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aos_timestamp_t t; |
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chSysLockFromISR(); |
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// if the system is in operation phase
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if (aos.sssp.stage == AOS_SSSP_STAGE_OPERATION) {
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// read signal S
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apalControlGpioGet(moduleSsspSignalS(), &s); |
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// if S was toggled from on to off
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if (s == APAL_GPIO_OFF) {
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// get current uptime
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aosSysGetUptimeX(&t); |
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// align the uptime with the synchronization period
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t %= AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
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if (t < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) { |
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*_uptime -= t; |
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#if (AMIROOS_CFG_PROFILE == true) |
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_syncskew = ((1.0f - SYNCSKEW_SMOOTHFACTOR) * _syncskew) + (SYNCSKEW_SMOOTHFACTOR * t); |
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#endif /* (AMIROOS_CFG_PROFILE == true) */ |
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} else {
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t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - t; |
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*_uptime += t; |
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#if (AMIROOS_CFG_PROFILE == true) |
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_syncskew = ((1.0f - SYNCSKEW_SMOOTHFACTOR) * _syncskew) - (SYNCSKEW_SMOOTHFACTOR * t); |
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#endif /* (AMIROOS_CFG_PROFILE == true) */ |
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} |
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} |
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} |
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// broadcast event
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chEvtBroadcastFlagsI(&aos.events.gpio, AOS_GPIOEVENT_FLAG(PAL_PAD(*((ioline_t*)args)))); |
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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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#if (AMIROOS_CFG_SSSP_MASTER == true) || defined (__DOXYGEN__) |
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/**
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* @brief Periodic system synchronization callback function.
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* @details Toggles the S signal and reconfigures the system synchronization timer.
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*
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* @param[in] par Unused parameters.
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*/
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static void _syncTimerCallback(void* par) |
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{
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(void)par;
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// local variables
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apalControlGpioState_t state; |
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aos_timestamp_t uptime; |
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chSysLockFromISR(); |
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// toggle and read signal S
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apalGpioToggle(moduleSsspSignalS()->gpio); |
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apalControlGpioGet(moduleSsspSignalS(), &state); |
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// if S was toggled from off to on
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if (state == APAL_GPIO_ON) {
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// reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
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_synctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
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aosSysGetUptimeX(&uptime); |
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chVTSetI(&_synctimer, chTimeUS2I((time_usecs_t)(_synctime - uptime)), _syncTimerCallback, NULL);
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} |
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// if S was toggled from on to off
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else /* if (state == APAL_GPIO_OFF) */ { |
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// reconfigure the timer (lazy)
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chVTSetI(&_synctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _syncTimerCallback, NULL); |
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} |
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chSysUnlockFromISR(); |
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return;
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} |
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/**
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* @brief Start the timer that toggles S for synchronization of the system.
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* @note Must be called from a locked context.
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*/
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static inline void _syncTimerStartS(void) |
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{
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chDbgCheckClassS(); |
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// start synchronization timer
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// The first iteration of the timer is set to the next 'center' of a 'slice'.
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aos_timestamp_t t; |
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aosSysGetUptimeX(&t); |
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t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
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chVTSetI(&_synctimer, chTimeUS2I((time_usecs_t)((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)))), _syncTimerCallback, NULL); |
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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 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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/**
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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] 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, apalControlGpioState_t signalstate, eventmask_t* received) |
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{
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aosDbgCheck(listener != NULL);
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aosDbgCheck(received != NULL);
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// local variables
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aos_status_t status = AOS_FAILURE; |
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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(moduleSsspSignalS(), &s); |
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chSysLock(); |
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// only check for the expected event
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if ((listener->flags & moduleSsspEventflagS()) && (s == signalstate)) {
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// unset the expected flags but keep any other ones
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listener->flags &= ~moduleSsspEventflagS(); |
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status = AOS_SUCCESS; |
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} |
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// if no further flags are set
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if (listener->flags == 0) { |
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// clear event
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*received &= ~(listener->events); |
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} |
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chSysUnlock(); |
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} |
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return status;
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} |
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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[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, 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 (!chVTIsArmed(&_delayTimer)) {
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chEvtRegisterMask(&_delayEventSource, &_delayEventListener, mask); |
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chVTSet(&_delayTimer, chTimeUS2I(dt), _timerCallback, &_delayEventSource); |
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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 & _delayEventListener.events) {
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chEvtUnregister(&_delayEventSource, &_delayEventListener); |
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*received &= ~(_delayEventListener.events); |
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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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#if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
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/**
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* @brief Serialize a BCB message.
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* @details The individual primitives are serialized in big-endian fashion.
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*
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* @param[out] buffer Buffer to write the serialized message to.
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* @param[in] message The message to be serialized.
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*/
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aos_status_t _serializeBcbMessage(uint8_t* buffer, aos_ssspbcbmessage_t message) |
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{
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aosDbgCheck(buffer != NULL);
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// encode the message depending on its type
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switch (message.type) {
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case AOS_SSSP_BCBMESSAGE_MSIINIT:
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case AOS_SSSP_BCBMESSAGE_MSIABORT:
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{
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buffer[0] = message.type;
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return AOS_SUCCESS;
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} |
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case AOS_SSSP_BCBMESSAGE_MSIID:
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{
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buffer[0] = message.type;
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for (size_t byte = 0; byte < sizeof(aos_ssspmoduleid_t); ++byte) { |
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buffer[byte+1] = (message.payload.id >> ((sizeof(aos_ssspmoduleid_t) - (byte+1)) * 8)) & 0xFF; |
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} |
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return AOS_SUCCESS;
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} |
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default:
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{
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return AOS_FAILURE;
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} |
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} |
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} |
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/**
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* @brief Deserialize a BCB message.
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* @details The individual primitives must be serialized in big-endian fashion.
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*
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* @param[out] message Message object to be filled.
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* @param[in] buffer Buffer holding the serialized message.
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*/
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aos_status_t _deserializeBcbMessage(aos_ssspbcbmessage_t* message, uint8_t* buffer) |
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{
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aosDbgCheck(message != NULL);
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aosDbgCheck(buffer != NULL);
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// only decode the first byte, which contains the message type
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message->type = buffer[0];
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// decode the message depedning on its type
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switch (message->type) {
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case AOS_SSSP_BCBMESSAGE_MSIINIT:
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case AOS_SSSP_BCBMESSAGE_MSIABORT:
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{
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return AOS_SUCCESS;
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} |
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case AOS_SSSP_BCBMESSAGE_MSIID:
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{
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message->payload.id = 0;
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for (size_t byte = 0; byte < sizeof(aos_ssspmoduleid_t); ++byte) { |
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message->payload.id |= (aos_ssspmoduleid_t)(buffer[byte+1] << ((sizeof(aos_ssspmoduleid_t) - (byte+1)) * 8)); |
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} |
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return AOS_SUCCESS;
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} |
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default:
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{
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message->type = AOS_SSSP_BCBMESSAGE_INVALID; |
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return AOS_FAILURE;
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} |
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} |
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} |
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/**
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* @brief Common outro of the module stack initialization (MSI).
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* @details This function must be called on failure, success and if MSI is skipped.
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*
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* @param[in] msidata Pointer to the temporary data structure used during MSI.
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*/
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void _msiOutro(aos_ssspmsidata_t* msidata)
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{
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aosDbgCheck(msidata != NULL);
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// local variables
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eventmask_t mask = 0;
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// start the internal uptime aggregation
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chSysLock(); |
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aosSysStartUptimeS(); |
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#if (AMIROOS_CFG_SSSP_MASTER == true) |
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// start toggling S for system synchronization
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_syncTimerStartS(); |
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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chSysUnlock(); |
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// reset delay timer
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chVTIsArmed(&_delayTimer); |
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// unregister delay events
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mask |= _delayEventListener.events; |
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chEvtUnregister(&_delayEventSource, &_delayEventListener); |
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#if (AMIROOS_CFG_SSSP_STACK_END != true) |
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// deactivate UP signal
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apalControlGpioSet(moduleSsspSignalUP(), APAL_GPIO_OFF); |
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#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
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// reset timeout timer
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chVTReset(&msidata->timeout.timer); |
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// unregister timeout events
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mask |= msidata->timeout.eventlistener.events; |
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chEvtUnregister(&msidata->timeout.eventsource, &msidata->timeout.eventlistener); |
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// discard any pending timing events
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chEvtWaitAnyTimeout(mask, TIME_IMMEDIATE); |
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// proceed to operation phase
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aos.sssp.stage = AOS_SSSP_STAGE_OPERATION; |
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return;
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} |
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#endif /* (AMIROOS_CFG_SSSP_MSI == 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(aos_timestamp_t* system_uptime)
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{
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aosDbgCheck(system_uptime != NULL);
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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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#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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#endif /* (AMIROOS_CFG_SSSP_STARTUP == 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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#if (AMIROOS_CFG_DBG == true) |
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// check all SSSP signals for correct state
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{
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apalControlGpioState_t state; |
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apalControlGpioGet(moduleSsspSignalS(), &state); |
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aosDbgAssert(state == APAL_GPIO_ON); |
| 454 |
apalControlGpioGet(moduleSsspSignalPD(), &state); |
| 455 |
aosDbgAssert(state == APAL_GPIO_OFF); |
| 456 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
| 457 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 458 |
apalControlGpioGet(moduleSsspSignalDN(), &state); |
| 459 |
aosDbgAssert(state == APAL_GPIO_OFF); |
| 460 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
| 461 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 462 |
apalControlGpioGet(moduleSsspSignalUP(), &state); |
| 463 |
aosDbgAssert(state == APAL_GPIO_OFF); |
| 464 |
#endif /* (AMIROOS_CFG_SSSP_END_START != true) */ |
| 465 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 466 |
} |
| 467 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
| 468 |
|
| 469 |
// initialize static variables
|
| 470 |
_uptime = system_uptime; |
| 471 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 472 |
chVTObjectInit(&_synctimer); |
| 473 |
_synctime = 0;
|
| 474 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 475 |
#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
| 476 |
_syncskew = 0.0f; |
| 477 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
| 478 |
chVTObjectInit(&_delayTimer); |
| 479 |
chEvtObjectInit(&_delayEventSource); |
| 480 |
|
| 481 |
// signal interrupt setup
|
| 482 |
palSetLineCallback(moduleSsspSignalPD()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalPD()->gpio->line); |
| 483 |
palEnableLineEvent(moduleSsspSignalPD()->gpio->line, APAL2CH_EDGE(moduleSsspSignalPD()->meta.edge)); |
| 484 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 485 |
palSetLineCallback(moduleSsspSignalS()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalS()->gpio->line); |
| 486 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 487 |
palSetLineCallback(moduleSsspSignalS()->gpio->line, _gpioCallbackSSignal, &moduleSsspSignalS()->gpio->line); |
| 488 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 489 |
palEnableLineEvent(moduleSsspSignalS()->gpio->line, APAL2CH_EDGE(moduleSsspSignalS()->meta.edge)); |
| 490 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
| 491 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 492 |
palSetLineCallback(moduleSsspSignalDN()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalDN()->gpio->line); |
| 493 |
palEnableLineEvent(moduleSsspSignalDN()->gpio->line, APAL2CH_EDGE(moduleSsspSignalDN()->meta.edge)); |
| 494 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
| 495 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 496 |
palSetLineCallback(moduleSsspSignalUP()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalUP()->gpio->line); |
| 497 |
palEnableLineEvent(moduleSsspSignalUP()->gpio->line, APAL2CH_EDGE(moduleSsspSignalUP()->meta.edge)); |
| 498 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
| 499 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 500 |
|
| 501 |
return;
|
| 502 |
} |
| 503 |
|
| 504 |
/**
|
| 505 |
* @brief Proceed to the next SSSP stage.
|
| 506 |
* @note Calling this function when in operation phase is invalid.
|
| 507 |
* The function aosSsspShutdownInit() must be used instead.
|
| 508 |
*
|
| 509 |
* @param[in] listener An optional listener, in case the system has to wait for a specific event.
|
| 510 |
* @param[in] mask If the stage transition involves a timer event (handled internally by this function),
|
| 511 |
* the given input value of this parameter defines the mask to be used for that event.
|
| 512 |
* 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.
|
| 513 |
* @param[out] received Output variable to store the received event mask to.
|
| 514 |
*
|
| 515 |
* @return Status, indicating whether proceeding in the protocol was successful.
|
| 516 |
*/
|
| 517 |
aos_status_t aosSsspProceed(event_listener_t* listener, eventmask_t mask, eventmask_t* received) |
| 518 |
{
|
| 519 |
// local variables
|
| 520 |
#pragma GCC diagnostic push
|
| 521 |
#pragma GCC diagnostic ignored "-Wunused-but-set-variable" |
| 522 |
static aos_ssspstage_t laststage = AOS_SSSP_STAGE_UNDEFINED;
|
| 523 |
#pragma GCC diagnostic pop
|
| 524 |
aos_ssspstage_t nextstage = aos.sssp.stage; |
| 525 |
|
| 526 |
// behaviour depends on current SSSP stage of the system
|
| 527 |
switch (aos.sssp.stage) {
|
| 528 |
#if (AMIROOS_CFG_SSSP_STARTUP == true) |
| 529 |
|
| 530 |
/*
|
| 531 |
* Deactivate S signal.
|
| 532 |
* Master node delays execution by one period AOS_SSSP_DELAY.
|
| 533 |
*/
|
| 534 |
case AOS_SSSP_STAGE_STARTUP_1_1:
|
| 535 |
{
|
| 536 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 537 |
aosDbgCheck(listener == NULL);
|
| 538 |
aosDbgCheck(mask != 0);
|
| 539 |
aosDbgCheck(received != NULL);
|
| 540 |
|
| 541 |
// delay execution and deactivate the S signal on success
|
| 542 |
if (_delay(AOS_SSSP_DELAY, mask, received) == AOS_SUCCESS) {
|
| 543 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
| 544 |
nextstage = AOS_SSSP_STAGE_STARTUP_1_2; |
| 545 |
} |
| 546 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 547 |
aosDbgCheck(listener == NULL);
|
| 548 |
aosDbgCheck(mask == 0);
|
| 549 |
aosDbgCheck(received == NULL);
|
| 550 |
|
| 551 |
// deactivate S signal and proceed
|
| 552 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
| 553 |
nextstage = AOS_SSSP_STAGE_STARTUP_1_2; |
| 554 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 555 |
break;
|
| 556 |
} |
| 557 |
|
| 558 |
/*
|
| 559 |
* Wait for the S signal to become inactive.
|
| 560 |
*/
|
| 561 |
case AOS_SSSP_STAGE_STARTUP_1_2:
|
| 562 |
{
|
| 563 |
aosDbgCheck(listener != NULL);
|
| 564 |
aosDbgCheck(mask == listener->events); |
| 565 |
aosDbgCheck(received != NULL);
|
| 566 |
|
| 567 |
// wait for the S signal to become inactive and proceed on success
|
| 568 |
if (_waitForS(listener, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
|
| 569 |
nextstage = AOS_SSSP_STAGE_STARTUP_1_3; |
| 570 |
} |
| 571 |
break;
|
| 572 |
} |
| 573 |
|
| 574 |
/*
|
| 575 |
* Wait for the S signal to be activated by the master module.
|
| 576 |
* The master delays execution by one period AOS_SSSP_DELAY.
|
| 577 |
*/
|
| 578 |
case AOS_SSSP_STAGE_STARTUP_1_3:
|
| 579 |
{
|
| 580 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 581 |
aosDbgCheck(listener == NULL);
|
| 582 |
aosDbgCheck(mask != 0);
|
| 583 |
aosDbgCheck(received != NULL);
|
| 584 |
|
| 585 |
// delay execution and deactivate the S signal on success
|
| 586 |
if (_delay(AOS_SSSP_DELAY, mask, received) == AOS_SUCCESS) {
|
| 587 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
| 588 |
nextstage = AOS_SSSP_STAGE_STARTUP_2_1; |
| 589 |
} |
| 590 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 591 |
aosDbgCheck(listener != NULL);
|
| 592 |
aosDbgCheck(mask == listener->events); |
| 593 |
aosDbgCheck(received != NULL);
|
| 594 |
|
| 595 |
// wait for the S signal to become active and activate it as well and proceed on success
|
| 596 |
if (_waitForS(listener, APAL_GPIO_ON, received) == AOS_SUCCESS) {
|
| 597 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
| 598 |
nextstage = AOS_SSSP_STAGE_STARTUP_2_1; |
| 599 |
} |
| 600 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 601 |
break;
|
| 602 |
} |
| 603 |
|
| 604 |
#endif /* (AMIROOS_CFG_SSSP_STARTUP == true) */ |
| 605 |
|
| 606 |
/*
|
| 607 |
* Deactivate S signal.
|
| 608 |
* Master node delays execution by one period AOS_SSSP_DELAY
|
| 609 |
*/
|
| 610 |
case AOS_SSSP_STAGE_STARTUP_2_1:
|
| 611 |
{
|
| 612 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 613 |
aosDbgCheck(listener == NULL);
|
| 614 |
aosDbgCheck(mask != 0);
|
| 615 |
aosDbgCheck(received != NULL);
|
| 616 |
|
| 617 |
// delay execution and deactivate the S signal on success
|
| 618 |
if (_delay(AOS_SSSP_DELAY, mask, received) == AOS_SUCCESS) {
|
| 619 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
| 620 |
nextstage = AOS_SSSP_STAGE_STARTUP_2_2; |
| 621 |
} else {
|
| 622 |
aosprintf(".");
|
| 623 |
} |
| 624 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 625 |
aosDbgCheck(listener == NULL);
|
| 626 |
aosDbgCheck(mask == 0);
|
| 627 |
aosDbgCheck(received == NULL);
|
| 628 |
|
| 629 |
// deactivate S signal and proceed
|
| 630 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
| 631 |
nextstage = AOS_SSSP_STAGE_STARTUP_2_2; |
| 632 |
mask = 0;
|
| 633 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 634 |
break;
|
| 635 |
} |
| 636 |
|
| 637 |
/*
|
| 638 |
* Wait for the S signal to become inactive.
|
| 639 |
* When proceeding to operation phase, the master starts toggling S for synchronization
|
| 640 |
*/
|
| 641 |
case AOS_SSSP_STAGE_STARTUP_2_2:
|
| 642 |
{
|
| 643 |
aosDbgCheck(listener != NULL);
|
| 644 |
aosDbgCheck(mask == listener->events); |
| 645 |
aosDbgCheck(received != NULL);
|
| 646 |
|
| 647 |
// wait for the S signal to become inactive and proceed on success
|
| 648 |
if (_waitForS(listener, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
|
| 649 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
| 650 |
nextstage = AOS_SSSP_STAGE_STARTUP_3; |
| 651 |
#else /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 652 |
// start the internal uptime aggregation
|
| 653 |
chSysLock(); |
| 654 |
aosSysStartUptimeS(); |
| 655 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 656 |
// start toggling S for system synchronization
|
| 657 |
_syncTimerStartS(); |
| 658 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 659 |
chSysUnlock(); |
| 660 |
nextstage = AOS_SSSP_STAGE_OPERATION; |
| 661 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 662 |
} |
| 663 |
break;
|
| 664 |
} |
| 665 |
|
| 666 |
/*
|
| 667 |
* PLEASE NOTE:
|
| 668 |
* Stage transitions during MSI are not hanlded by thins function but are executed in aosSsspMsi().
|
| 669 |
*/
|
| 670 |
|
| 671 |
/*
|
| 672 |
* Invalid operation.
|
| 673 |
* Shutdon must be initiatid via the aosSsspShutdownInit() function.
|
| 674 |
*/
|
| 675 |
case AOS_SSSP_STAGE_OPERATION:
|
| 676 |
{
|
| 677 |
aosDbgAssertMsg(false, "in order to exit operation phase, aosSsspShutdownInit() function must be used"); |
| 678 |
break;
|
| 679 |
} |
| 680 |
|
| 681 |
/*
|
| 682 |
* Delay execution by one perion AOS_SSSP_DELAY, deactivate the SYNC signal and proceed.
|
| 683 |
* NOTE: Actually only the module that initiated the shutdown has to delay execution here.
|
| 684 |
* For the sake of simlicity though, each module delays execution.
|
| 685 |
*/
|
| 686 |
case AOS_SSSP_STAGE_SHUTDOWN_1_2:
|
| 687 |
{
|
| 688 |
aosDbgCheck(listener == NULL);
|
| 689 |
aosDbgCheck(mask == 0);
|
| 690 |
aosDbgCheck(received == NULL);
|
| 691 |
|
| 692 |
// delay execution
|
| 693 |
aosThdUSleep(AOS_SSSP_DELAY); |
| 694 |
// deactivate S signal
|
| 695 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
| 696 |
nextstage = AOS_SSSP_STAGE_SHUTDOWN_1_3; |
| 697 |
break;
|
| 698 |
} |
| 699 |
|
| 700 |
#if (AMIROOS_CFG_SSSP_SHUTDOWN == true) |
| 701 |
|
| 702 |
/*
|
| 703 |
* Wait for S signal to become inactive.
|
| 704 |
*/
|
| 705 |
case AOS_SSSP_STAGE_SHUTDOWN_1_3:
|
| 706 |
{
|
| 707 |
aosDbgCheck(listener != NULL);
|
| 708 |
aosDbgCheck(mask == listener->events); |
| 709 |
aosDbgCheck(received != NULL);
|
| 710 |
|
| 711 |
// wait for the S signal to become inactive and proceed on success
|
| 712 |
if (_waitForS(listener, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
|
| 713 |
nextstage = AOS_SSSP_STAGE_SHUTDOWN_2_1; |
| 714 |
} |
| 715 |
break;
|
| 716 |
} |
| 717 |
|
| 718 |
/*
|
| 719 |
* Evaluate PD signal to determine whether a shutdown or restart is requested.
|
| 720 |
* The logical state is returned by the function call.
|
| 721 |
*/
|
| 722 |
case AOS_SSSP_STAGE_SHUTDOWN_2_1:
|
| 723 |
{
|
| 724 |
aosDbgCheck(listener == NULL);
|
| 725 |
aosDbgCheck(mask == 0);
|
| 726 |
aosDbgCheck(received != NULL);
|
| 727 |
|
| 728 |
// evaluate PD signal
|
| 729 |
apalControlGpioState_t pd; |
| 730 |
apalControlGpioGet(moduleSsspSignalPD(), &pd); |
| 731 |
*received = (pd == APAL_GPIO_ON) ? (eventmask_t)~0 : 0; |
| 732 |
nextstage = AOS_SSSP_STAGE_SHUTDOWN_2_2; |
| 733 |
break;
|
| 734 |
} |
| 735 |
|
| 736 |
/*
|
| 737 |
* Proceed with no further actions required.
|
| 738 |
*/
|
| 739 |
case AOS_SSSP_STAGE_SHUTDOWN_2_2:
|
| 740 |
{
|
| 741 |
aosDbgCheck(listener == NULL);
|
| 742 |
aosDbgCheck(mask == 0);
|
| 743 |
aosDbgCheck(received == NULL);
|
| 744 |
|
| 745 |
nextstage = AOS_SSSP_STAGE_SHUTDOWN_2_3; |
| 746 |
break;
|
| 747 |
} |
| 748 |
|
| 749 |
#endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
| 750 |
|
| 751 |
default:
|
| 752 |
{
|
| 753 |
// this case must never occur!
|
| 754 |
aosDbgAssertMsg(false, "Invalid SSSP stage tranition occurred"); |
| 755 |
break;
|
| 756 |
} |
| 757 |
} /* end of switch (aos.sssp.stage) */
|
| 758 |
|
| 759 |
// outro and return
|
| 760 |
laststage = aos.sssp.stage; |
| 761 |
const aos_status_t status = (nextstage > aos.sssp.stage) ? AOS_SUCCESS : AOS_FAILURE;
|
| 762 |
aos.sssp.stage = nextstage; |
| 763 |
|
| 764 |
return status;
|
| 765 |
} |
| 766 |
|
| 767 |
#if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
| 768 |
|
| 769 |
/**
|
| 770 |
* @brief Initialize MSI data structure.
|
| 771 |
*
|
| 772 |
* @param[out] msidata Pointer to the MSI data structure to be initialized.
|
| 773 |
* @param[in] delayMask Event maks used for delay events.
|
| 774 |
* @param[in] timeoutMask Event mask used for timeout events.
|
| 775 |
* @param[in] gpioListener Event listener for GPIO events.
|
| 776 |
*/
|
| 777 |
void aosSsspMsiInit(aos_ssspmsidata_t* msidata, eventmask_t delayMask, eventmask_t timeoutMask, event_listener_t* gpioListener)
|
| 778 |
{
|
| 779 |
aosDbgCheck(msidata != NULL);
|
| 780 |
aosDbgCheck(gpioListener != NULL);
|
| 781 |
|
| 782 |
// register delay events
|
| 783 |
chEvtRegisterMask(&_delayEventSource, &_delayEventListener, delayMask); |
| 784 |
|
| 785 |
// initialize timeout related data
|
| 786 |
chVTObjectInit(&msidata->timeout.timer); |
| 787 |
chEvtObjectInit(&msidata->timeout.eventsource); |
| 788 |
chEvtRegisterMask(&msidata->timeout.eventsource, &msidata->timeout.eventlistener, timeoutMask); |
| 789 |
|
| 790 |
// set GPIO event information
|
| 791 |
msidata->signals.eventlistener = gpioListener; |
| 792 |
|
| 793 |
// initialize BCB related data
|
| 794 |
msidata->bcb.lastid = AOS_SSSP_MODULEID_INVALID; |
| 795 |
|
| 796 |
return;
|
| 797 |
} |
| 798 |
|
| 799 |
/**
|
| 800 |
* @brief Execute module stack initialization (MSI).
|
| 801 |
*
|
| 802 |
* @param[in] msidata Data required for MSI.
|
| 803 |
* @param[out] received Output variable to store the received event mask to.
|
| 804 |
*/
|
| 805 |
void aosSsspMsi(aos_ssspmsidata_t* msidata, eventmask_t* received)
|
| 806 |
{
|
| 807 |
aosDbgCheck(msidata != NULL);
|
| 808 |
aosDbgCheck(received != NULL);
|
| 809 |
|
| 810 |
/*
|
| 811 |
* execute anything that does not depend on BCB messages or events
|
| 812 |
*/
|
| 813 |
switch (aos.sssp.stage) {
|
| 814 |
case AOS_SSSP_STAGE_STARTUP_3:
|
| 815 |
case AOS_SSSP_STAGE_STARTUP_3_1:
|
| 816 |
{
|
| 817 |
aosDbgPrintf(">>> MSI init\n");
|
| 818 |
// setup timeout timer
|
| 819 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
| 820 |
// proceed
|
| 821 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 822 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_1_BROADCASTINIT; |
| 823 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 824 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_1_WAITFORINIT; |
| 825 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 826 |
break;
|
| 827 |
} |
| 828 |
|
| 829 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 830 |
case AOS_SSSP_STAGE_STARTUP_3_1_BROADCASTINIT:
|
| 831 |
{
|
| 832 |
aosDbgPrintf("%u\tsend INIT\t", chVTGetSystemTime());
|
| 833 |
// send init command
|
| 834 |
msidata->bcb.message.type = AOS_SSSP_BCBMESSAGE_MSIINIT; |
| 835 |
_serializeBcbMessage(msidata->bcb.buffer, msidata->bcb.message); |
| 836 |
if (moduleSsspBcbTransmit(msidata->bcb.buffer, sizeof(aos_ssspbcbmessage_t)) == AOS_SSSP_BCB_SUCCESS) { |
| 837 |
aosDbgPrintf("ok\tS+\t");
|
| 838 |
// activate S
|
| 839 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
| 840 |
// restart timeout timer
|
| 841 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
| 842 |
// proceed
|
| 843 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
| 844 |
aosDbgPrintf("->start\n");
|
| 845 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_2; |
| 846 |
#else /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
| 847 |
aosDbgPrintf("->count\n");
|
| 848 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT; |
| 849 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
| 850 |
} else {
|
| 851 |
aosDbgPrintf("fail\t->retry\n");
|
| 852 |
// retry in next iteration
|
| 853 |
} |
| 854 |
break;
|
| 855 |
} |
| 856 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 857 |
|
| 858 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
| 859 |
case AOS_SSSP_STAGE_STARTUP_3_2:
|
| 860 |
{
|
| 861 |
aosDbgPrintf("%u\tstart\t", chVTGetSystemTime());
|
| 862 |
// set the own module ID
|
| 863 |
aos.sssp.moduleId = 1;
|
| 864 |
// broadcast the new ID
|
| 865 |
msidata->bcb.message.type = AOS_SSSP_BCBMESSAGE_MSIID; |
| 866 |
msidata->bcb.message.payload.id = aos.sssp.moduleId; |
| 867 |
aosDbgPrintf("bc ID (%u)\t", msidata->bcb.message.payload.id);
|
| 868 |
_serializeBcbMessage(msidata->bcb.buffer, msidata->bcb.message); |
| 869 |
if (moduleSsspBcbTransmit(msidata->bcb.buffer, sizeof(aos_ssspbcbmessage_t)) == AOS_SSSP_BCB_SUCCESS) { |
| 870 |
aosDbgPrintf("ok\t->count\n");
|
| 871 |
// restart timeout timer
|
| 872 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
| 873 |
// set delay timer so UP will be activated and S deactivated later
|
| 874 |
chVTSet(&_delayTimer, chTimeUS2I(AOS_SSSP_DELAY), _timerCallback, &_delayEventSource); |
| 875 |
// store the transmitted ID
|
| 876 |
msidata->bcb.lastid = msidata->bcb.message.payload.id; |
| 877 |
// proceed
|
| 878 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT; |
| 879 |
} else {
|
| 880 |
aosDbgPrintf("fail\t->retry\n");
|
| 881 |
// retry next iteration
|
| 882 |
} |
| 883 |
break;
|
| 884 |
} |
| 885 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
| 886 |
|
| 887 |
case AOS_SSSP_STAGE_STARTUP_3_3_BROADCASTID:
|
| 888 |
{
|
| 889 |
// broadcast ID
|
| 890 |
msidata->bcb.message.type = AOS_SSSP_BCBMESSAGE_MSIID; |
| 891 |
msidata->bcb.message.payload.id = aos.sssp.moduleId; |
| 892 |
aosDbgPrintf("%u\tbc ID (%u)\t", chVTGetSystemTime(), msidata->bcb.message.payload.id);
|
| 893 |
_serializeBcbMessage(msidata->bcb.buffer, msidata->bcb.message); |
| 894 |
if (moduleSsspBcbTransmit(msidata->bcb.buffer, sizeof(aos_ssspbcbmessage_t)) == AOS_SSSP_BCB_SUCCESS) { |
| 895 |
aosDbgPrintf("ok->count\n");
|
| 896 |
// restart timeout timer
|
| 897 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
| 898 |
// set delay timer so UP will be activated and S deactivated later
|
| 899 |
chVTSet(&_delayTimer, chTimeUS2I(AOS_SSSP_DELAY), _timerCallback, &_delayEventSource); |
| 900 |
// store the transmitted ID
|
| 901 |
msidata->bcb.lastid = msidata->bcb.message.payload.id; |
| 902 |
// return to receiving
|
| 903 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT; |
| 904 |
} else {
|
| 905 |
aosDbgPrintf("fail\t->retry\n");
|
| 906 |
// retry next iteration
|
| 907 |
} |
| 908 |
break;
|
| 909 |
} |
| 910 |
|
| 911 |
case AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT:
|
| 912 |
{
|
| 913 |
aosDbgPrintf("%u\tabort\t", chVTGetSystemTime());
|
| 914 |
// reset timeout timer
|
| 915 |
chVTReset(&msidata->timeout.timer); |
| 916 |
// transmit abort message
|
| 917 |
msidata->bcb.message.type = AOS_SSSP_BCBMESSAGE_MSIABORT; |
| 918 |
_serializeBcbMessage(msidata->bcb.buffer, msidata->bcb.message); |
| 919 |
if (moduleSsspBcbTransmit(msidata->bcb.buffer, sizeof(aos_ssspbcbmessage_t)) == AOS_SSSP_BCB_SUCCESS) { |
| 920 |
aosDbgPrintf("ok\tS-\t->sync\n");
|
| 921 |
// deactivate S
|
| 922 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
| 923 |
// proceed
|
| 924 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_SYNC; |
| 925 |
} else {
|
| 926 |
aosDbgPrintf("fail\t->retry\n");
|
| 927 |
// retry next iteration
|
| 928 |
} |
| 929 |
break;
|
| 930 |
} |
| 931 |
|
| 932 |
default:
|
| 933 |
{
|
| 934 |
// all other stages depend on events or BCB messages and are thus handled below
|
| 935 |
break;
|
| 936 |
} |
| 937 |
} |
| 938 |
|
| 939 |
/*
|
| 940 |
* handle BCB messages
|
| 941 |
*/
|
| 942 |
msidata->bcb.status = moduleSsspBcbReceive(msidata->bcb.buffer, sizeof(aos_ssspbcbmessage_t));
|
| 943 |
switch (msidata->bcb.status) {
|
| 944 |
|
| 945 |
/* VALID BCB MESSAGE
|
| 946 |
* A message was received via BCB that seems to be plausible.
|
| 947 |
* The first BCB message initiates the sequence once.
|
| 948 |
* During MSI an arbitrary number of IDs will be received.
|
| 949 |
* Abort messages can be received at any time.
|
| 950 |
*/
|
| 951 |
case AOS_SSSP_BCB_SUCCESS:
|
| 952 |
{
|
| 953 |
aosDbgPrintf("%u\tBCB\t", chVTGetSystemTime());
|
| 954 |
// deserialize message and handle types differently
|
| 955 |
_deserializeBcbMessage(&msidata->bcb.message, msidata->bcb.buffer); |
| 956 |
switch (msidata->bcb.message.type) {
|
| 957 |
// initialization message
|
| 958 |
case AOS_SSSP_BCBMESSAGE_MSIINIT:
|
| 959 |
{
|
| 960 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 961 |
aosDbgPrintf("INIT\t->abort\n");
|
| 962 |
// initiate abortion
|
| 963 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
| 964 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 965 |
aosDbgPrintf("INIT\t");
|
| 966 |
// check for correct SSSP stage
|
| 967 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_1_WAITFORINIT) {
|
| 968 |
aosDbgPrintf("S+\t");
|
| 969 |
// activate S
|
| 970 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
| 971 |
// restart timeout timer
|
| 972 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
| 973 |
// proceed
|
| 974 |
#if (AMIROOS_CFG_SSSP_STACK_START == true) |
| 975 |
aosDbgPrintf("->start\n");
|
| 976 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_2; |
| 977 |
#else /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
| 978 |
aosDbgPrintf("->count\n");
|
| 979 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT; |
| 980 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START == true) */ |
| 981 |
} else {
|
| 982 |
aosDbgPrintf("->abort\n");
|
| 983 |
// initiate abortion
|
| 984 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
| 985 |
} |
| 986 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 987 |
break;
|
| 988 |
} |
| 989 |
// ID message
|
| 990 |
case AOS_SSSP_BCBMESSAGE_MSIID:
|
| 991 |
{
|
| 992 |
aosDbgPrintf("ID (%u)\t", msidata->bcb.message.payload.id);
|
| 993 |
// check for correct stage and whether ID was increased
|
| 994 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT &&
|
| 995 |
msidata->bcb.message.payload.id > msidata->bcb.lastid) {
|
| 996 |
aosDbgPrintf("ok\n");
|
| 997 |
// restart timeout timer
|
| 998 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
| 999 |
// store ID
|
| 1000 |
msidata->bcb.lastid = msidata->bcb.message.payload.id; |
| 1001 |
} else {
|
| 1002 |
aosDbgPrintf("fail\t->abort\n");
|
| 1003 |
// initiate abortion
|
| 1004 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
| 1005 |
} |
| 1006 |
break;
|
| 1007 |
} |
| 1008 |
// abort message
|
| 1009 |
case AOS_SSSP_BCBMESSAGE_MSIABORT:
|
| 1010 |
{
|
| 1011 |
aosDbgPrintf("ABORT\tS-\t->sync\n");
|
| 1012 |
// reset timeout timer
|
| 1013 |
chVTReset(&msidata->timeout.timer); |
| 1014 |
// deactivate S
|
| 1015 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
| 1016 |
// proceed to abort synchronization
|
| 1017 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_SYNC; |
| 1018 |
break;
|
| 1019 |
} |
| 1020 |
// invalid message
|
| 1021 |
default:
|
| 1022 |
{
|
| 1023 |
aosDbgPrintf("invalid\t->abort\n");
|
| 1024 |
// initiate abortion
|
| 1025 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
| 1026 |
break;
|
| 1027 |
} |
| 1028 |
} |
| 1029 |
return;
|
| 1030 |
} |
| 1031 |
|
| 1032 |
/* INVALID BCB MESSAGE
|
| 1033 |
* An obviously invalid message was received via BCB.
|
| 1034 |
*/
|
| 1035 |
case AOS_SSSP_BCB_INVALIDMSG:
|
| 1036 |
{
|
| 1037 |
// error but ignore
|
| 1038 |
aosDbgPrintf("WARNING: unknown message received via BCB\n");
|
| 1039 |
break;
|
| 1040 |
} |
| 1041 |
|
| 1042 |
/* NO BCB MESSAGE
|
| 1043 |
* No message was received via BCB at all.
|
| 1044 |
*/
|
| 1045 |
case AOS_SSSP_BCB_ERROR:
|
| 1046 |
{
|
| 1047 |
// do nothing and proceed
|
| 1048 |
break;
|
| 1049 |
} |
| 1050 |
} |
| 1051 |
|
| 1052 |
/*
|
| 1053 |
* handle events
|
| 1054 |
*/
|
| 1055 |
*received = chEvtWaitOneTimeout(ALL_EVENTS, TIME_IMMEDIATE); |
| 1056 |
/* TIMEOUT EVENT
|
| 1057 |
* Timeouts can occur at any time during MSI after they have been initialized.
|
| 1058 |
* As soon as the module has made it to the 3.4 completion stage, there will be no more timeouts, though.
|
| 1059 |
*/
|
| 1060 |
if (*received & msidata->timeout.eventlistener.events) {
|
| 1061 |
aosDbgPrintf("%u\ttimeout\t", chVTGetSystemTime());
|
| 1062 |
// special cases
|
| 1063 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_1_WAITFORINIT ||
|
| 1064 |
aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION) {
|
| 1065 |
// master did not initiate the sequence
|
| 1066 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_1_WAITFORINIT) {
|
| 1067 |
aosDbgPrintf("no init\t->operation\n");
|
| 1068 |
// invalidate module ID
|
| 1069 |
aos.sssp.moduleId = AOS_SSSP_MODULEID_INVALID; |
| 1070 |
aosDbgPrintf("<<< MSI skipped\n");
|
| 1071 |
} |
| 1072 |
// no abort messages received after completion
|
| 1073 |
else /* if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION) */ { |
| 1074 |
aosDbgPrintf("success\t->operation\n");
|
| 1075 |
aosDbgPrintf("<<< MSI completed\n");
|
| 1076 |
} |
| 1077 |
// cleanup and proceed to operation phase
|
| 1078 |
_msiOutro(msidata); |
| 1079 |
} |
| 1080 |
// general timeout
|
| 1081 |
else {
|
| 1082 |
aosDbgPrintf("->abort\n");
|
| 1083 |
// initiate active abort
|
| 1084 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
| 1085 |
} |
| 1086 |
// clear event
|
| 1087 |
chEvtGetAndClearFlags(&msidata->timeout.eventlistener); |
| 1088 |
*received &= ~(msidata->timeout.eventlistener.events); |
| 1089 |
} |
| 1090 |
/* DELAY EVENT
|
| 1091 |
* Delays are only used to toggle the UP signal.
|
| 1092 |
*/
|
| 1093 |
else if (*received & _delayEventListener.events) { |
| 1094 |
aosDbgPrintf("%u\tdelay\t", chVTGetSystemTime());
|
| 1095 |
#if (AMIROOS_CFG_SSSP_STACK_END == true) |
| 1096 |
apalControlGpioState_t s; |
| 1097 |
aosDbgPrintf("S-\t");
|
| 1098 |
// deactivate S
|
| 1099 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
| 1100 |
// verify deactivation
|
| 1101 |
apalControlGpioGet(moduleSsspSignalS(), &s); |
| 1102 |
if (s == APAL_GPIO_OFF) {
|
| 1103 |
aosDbgPrintf("ok\t->done\n");
|
| 1104 |
// set the timeout timer so no abort messages are missed
|
| 1105 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
| 1106 |
// proceed to the completion stage
|
| 1107 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION; |
| 1108 |
} else {
|
| 1109 |
aosDbgPrintf("fail\t->abort\n");
|
| 1110 |
// initiate active abort
|
| 1111 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
| 1112 |
} |
| 1113 |
#else /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
| 1114 |
apalControlGpioState_t s; |
| 1115 |
// read the current state of the UP signal
|
| 1116 |
apalControlGpioGet(moduleSsspSignalUP(), &s); |
| 1117 |
if (s == APAL_GPIO_OFF) {
|
| 1118 |
aosDbgPrintf("UP+ & S-\n");
|
| 1119 |
// activate UP in order to trigger the next module
|
| 1120 |
apalControlGpioSet(moduleSsspSignalUP(), APAL_GPIO_ON); |
| 1121 |
// deactivate S
|
| 1122 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
| 1123 |
// set the delay timer so the UP signal will get deactivated again later
|
| 1124 |
chVTSet(&_delayTimer, chTimeUS2I(AOS_SSSP_DELAY), _timerCallback, &_delayEventSource); |
| 1125 |
} else {
|
| 1126 |
aosDbgPrintf("UP-\n");
|
| 1127 |
// deactvate UP
|
| 1128 |
apalControlGpioSet(moduleSsspSignalUP(), APAL_GPIO_OFF); |
| 1129 |
} |
| 1130 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
| 1131 |
// clear event
|
| 1132 |
chEvtGetAndClearFlags(&_delayEventListener); |
| 1133 |
*received &= ~(_delayEventListener.events); |
| 1134 |
} |
| 1135 |
/* GPIO EVENT
|
| 1136 |
* GPIO events can occurr at any time, but only DN and S events are expected.
|
| 1137 |
* DN may be activated only once per module to trigger the counting process and is deactivated briefly after activation.
|
| 1138 |
* S must only deactivate when MSI is comleted by the last module in the stack.
|
| 1139 |
*/
|
| 1140 |
else if (*received & msidata->signals.eventlistener->events) { |
| 1141 |
aosDbgPrintf("%u\tGPIO\t", chVTGetSystemTime());
|
| 1142 |
apalControlGpioState_t s; |
| 1143 |
// fetch event flags
|
| 1144 |
eventflags_t flags = chEvtGetAndClearFlags(msidata->signals.eventlistener); |
| 1145 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 1146 |
// if the DN signal was triggered
|
| 1147 |
if (flags & moduleSsspEventflagDN()) {
|
| 1148 |
// read the signal state
|
| 1149 |
apalControlGpioGet(moduleSsspSignalDN(), &s); |
| 1150 |
// rising edge
|
| 1151 |
if (s == APAL_GPIO_ON) {
|
| 1152 |
aosDbgPrintf("+DN\t");
|
| 1153 |
// Correct SSSP stage and no ID assigned yet?
|
| 1154 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT &&
|
| 1155 |
aos.sssp.moduleId == AOS_SSSP_MODULEID_INVALID) {
|
| 1156 |
// set the own module ID
|
| 1157 |
aos.sssp.moduleId = msidata->bcb.lastid + 1;
|
| 1158 |
aosDbgPrintf("set ID (%u)\t->bc ID\n", aos.sssp.moduleId);
|
| 1159 |
// proceed to broadcasting
|
| 1160 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_3_BROADCASTID; |
| 1161 |
} |
| 1162 |
// incorrect SSSP stage or ID already assigned (triggered for a second time)
|
| 1163 |
else {
|
| 1164 |
aosDbgPrintf("->abort\n");
|
| 1165 |
// initiate active abort
|
| 1166 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
| 1167 |
} |
| 1168 |
} |
| 1169 |
// falling egde
|
| 1170 |
else {
|
| 1171 |
aosDbgPrintf("-DN\n");
|
| 1172 |
// ignored
|
| 1173 |
} |
| 1174 |
// clear DN flags
|
| 1175 |
flags &= ~moduleSsspEventflagDN(); |
| 1176 |
} |
| 1177 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
| 1178 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 1179 |
// if the UP signal was triggered
|
| 1180 |
if (flags & moduleSsspEventflagUP()) {
|
| 1181 |
/*
|
| 1182 |
* The UP signal is acting as output only.
|
| 1183 |
* Any events resulting from toggling the signal are thus ignored.
|
| 1184 |
*/
|
| 1185 |
aosDbgPrintf("?UP\n");
|
| 1186 |
// clear UP flags
|
| 1187 |
flags &= ~moduleSsspEventflagUP(); |
| 1188 |
} |
| 1189 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
| 1190 |
// if the S signal was triggered
|
| 1191 |
if (flags & moduleSsspEventflagS()) {
|
| 1192 |
// read the signal state
|
| 1193 |
apalControlGpioGet(moduleSsspSignalS(), &s); |
| 1194 |
// rising edge
|
| 1195 |
if (s == APAL_GPIO_ON) {
|
| 1196 |
aosDbgPrintf("+S\n");
|
| 1197 |
// ignored
|
| 1198 |
} |
| 1199 |
// falling edge
|
| 1200 |
else {
|
| 1201 |
aosDbgPrintf("-S\t");
|
| 1202 |
// special case
|
| 1203 |
if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_SYNC) {
|
| 1204 |
aosDbgPrintf("->operation\n");
|
| 1205 |
// invalidate module ID
|
| 1206 |
aos.sssp.moduleId = AOS_SSSP_MODULEID_INVALID; |
| 1207 |
// proceed
|
| 1208 |
aosDbgPrintf("<<< MSI aborted\n");
|
| 1209 |
_msiOutro(msidata); |
| 1210 |
} |
| 1211 |
#if (AMIROOS_CFG_SSSP_STACK_END == true) |
| 1212 |
// Correct SSSP stage?
|
| 1213 |
else if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION) { |
| 1214 |
aosDbgPrintf("ok\n");
|
| 1215 |
// ignored
|
| 1216 |
} else {
|
| 1217 |
aosDbgPrintf("->abort\n");
|
| 1218 |
// initialize abortion
|
| 1219 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
| 1220 |
} |
| 1221 |
#else /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
| 1222 |
// Correct SSSP stage and ID assigned?
|
| 1223 |
else if (aos.sssp.stage == AOS_SSSP_STAGE_STARTUP_3_3_WAIT4EVENT && |
| 1224 |
aos.sssp.moduleId != AOS_SSSP_MODULEID_INVALID) {
|
| 1225 |
aosDbgPrintf("->done\n");
|
| 1226 |
// set the timeout timer so no abort messages are missed
|
| 1227 |
chVTSet(&msidata->timeout.timer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &msidata->timeout.eventsource); |
| 1228 |
// proceed to the completion stage
|
| 1229 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_COMPLETION; |
| 1230 |
} else {
|
| 1231 |
aosDbgPrintf("->abort\n");
|
| 1232 |
// initiate abortion
|
| 1233 |
aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_3_4_ABORTION_INIT; |
| 1234 |
} |
| 1235 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END == true) */ |
| 1236 |
} |
| 1237 |
// clear S flags
|
| 1238 |
flags &= ~moduleSsspEventflagS(); |
| 1239 |
} |
| 1240 |
// any further flags set?
|
| 1241 |
if (flags) {
|
| 1242 |
aosDbgPrintf("0x%08X\n", flags);
|
| 1243 |
// reassign remaining flags and do not clear event mask
|
| 1244 |
msidata->signals.eventlistener->flags |= flags; |
| 1245 |
} else {
|
| 1246 |
// clear event
|
| 1247 |
*received &= ~(msidata->signals.eventlistener->events); |
| 1248 |
} |
| 1249 |
} |
| 1250 |
/* OTHER EVENT
|
| 1251 |
* Any other events may occur as well but are not handled by this function
|
| 1252 |
*/
|
| 1253 |
else if (*received != 0){ |
| 1254 |
aosDbgPrintf("%u\tOTHER\t0x%08X\n", chVTGetSystemTime(), *received);
|
| 1255 |
// do not clear the event mask
|
| 1256 |
} |
| 1257 |
|
| 1258 |
return;
|
| 1259 |
} |
| 1260 |
|
| 1261 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 1262 |
|
| 1263 |
#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
| 1264 |
|
| 1265 |
/**
|
| 1266 |
* @brief Retreive the offset between local clock and system synchronization signal.
|
| 1267 |
*
|
| 1268 |
* @return
|
| 1269 |
*/
|
| 1270 |
inline float aosSsspGetSyncSkew(void) |
| 1271 |
{
|
| 1272 |
return _syncskew;
|
| 1273 |
} |
| 1274 |
|
| 1275 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
| 1276 |
|
| 1277 |
/**
|
| 1278 |
* @brief Leave the operation pahse and initiate or acknowledge shutdown.
|
| 1279 |
*
|
| 1280 |
* @param[in] active Flag, indicating whether the shutdon shall be activeliy initiated (true) or a passive request was received (false).
|
| 1281 |
*/
|
| 1282 |
void aosSsspShutdownInit(bool active) |
| 1283 |
{
|
| 1284 |
aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_OPERATION); |
| 1285 |
|
| 1286 |
// proceed to shutdown phase
|
| 1287 |
aos.sssp.stage = AOS_SSSP_STAGE_SHUTDOWN_1_1; |
| 1288 |
|
| 1289 |
// activate PD if this was an active shutdown initiation
|
| 1290 |
if (active) {
|
| 1291 |
apalControlGpioSet(moduleSsspSignalPD(), APAL_GPIO_ON); |
| 1292 |
} |
| 1293 |
|
| 1294 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 1295 |
// stop toggling S
|
| 1296 |
chVTReset(&_synctimer); |
| 1297 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 1298 |
|
| 1299 |
// activate S
|
| 1300 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
| 1301 |
|
| 1302 |
// proceed in the shutdown phase
|
| 1303 |
aos.sssp.stage = AOS_SSSP_STAGE_SHUTDOWN_1_2; |
| 1304 |
|
| 1305 |
return;
|
| 1306 |
} |
| 1307 |
|
| 1308 |
#if (AMIROOS_CFG_SSSP_SHUTDOWN == true) || defined(__DOXYGEN__) |
| 1309 |
|
| 1310 |
/**
|
| 1311 |
* @brief Sequnetially broadcast an identifier via S to specify a specific way to shutdown or restart.
|
| 1312 |
*
|
| 1313 |
* @param[in] identifier Identifier to be broadcasted.
|
| 1314 |
*/
|
| 1315 |
void aosSsspShutdownBroadcastIdentifier(unsigned int identifier) |
| 1316 |
{
|
| 1317 |
// only broadcast anything if a identifier greater than 0 was specified
|
| 1318 |
if (identifier > 0) { |
| 1319 |
// broadcast identifier
|
| 1320 |
for (unsigned int pulse = 0; pulse < identifier; ++pulse) { |
| 1321 |
// wait one delay time with S being deactivated
|
| 1322 |
aosThdUSleep(AOS_SSSP_DELAY); |
| 1323 |
|
| 1324 |
// activate S for one AOS_SSSP_DELAY.
|
| 1325 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
| 1326 |
aosThdUSleep(AOS_SSSP_DELAY); |
| 1327 |
apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
| 1328 |
} |
| 1329 |
} |
| 1330 |
|
| 1331 |
// let a timeout pass and return
|
| 1332 |
aosThdUSleep(AOS_SSSP_TIMEOUT); |
| 1333 |
|
| 1334 |
return;
|
| 1335 |
} |
| 1336 |
|
| 1337 |
/**
|
| 1338 |
* @brief Wait for a pulse during the SSSP shutdown disambiguation procedure.
|
| 1339 |
* @details Whenever a pulse is received, the identifier is incremented.
|
| 1340 |
* Otherwise the internal timer is configured and will eventually trigger a timeout event.
|
| 1341 |
*
|
| 1342 |
* @param[in] gpiolistener Event listener for GPIO events.
|
| 1343 |
* @param[in] sflags Event flags to be set by edges on the S signal.
|
| 1344 |
* @param[in] timermask Event maks to use for the internal timer.
|
| 1345 |
* @param[in,out] identifier Identifier variable to increment.
|
| 1346 |
*
|
| 1347 |
* @return The event mask of whatever event was received during this function call.
|
| 1348 |
*/
|
| 1349 |
eventmask_t aosSsspShutdownWaitForIdentifierPulse(event_listener_t* gpiolistener, const eventflags_t sflags, eventmask_t timermask, unsigned int* identifier) |
| 1350 |
{
|
| 1351 |
aosDbgCheck(gpiolistener != NULL);
|
| 1352 |
aosDbgCheck(sflags != 0);
|
| 1353 |
aosDbgCheck(timermask != 0);
|
| 1354 |
aosDbgCheck(identifier != NULL);
|
| 1355 |
|
| 1356 |
// local variables
|
| 1357 |
eventmask_t mask; |
| 1358 |
eventflags_t flags; |
| 1359 |
apalControlGpioState_t sstate; |
| 1360 |
|
| 1361 |
// arm the timer once
|
| 1362 |
if (!chVTIsArmed(&_delayTimer)) {
|
| 1363 |
chEvtRegisterMask(&_delayEventSource, &_delayEventListener, timermask); |
| 1364 |
chVtSet(&_delayTimer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &_delayEventSource); |
| 1365 |
} |
| 1366 |
|
| 1367 |
// wait for any event to occur (do not apply any filters in order not to miss any events)
|
| 1368 |
mask = chEvtWaitOne(ALL_EVENTS); |
| 1369 |
|
| 1370 |
// GPIO event
|
| 1371 |
if (mask & gpiolistener->events) {
|
| 1372 |
// retreive flags without clearing them
|
| 1373 |
flags = gpiolistener->flags; |
| 1374 |
apalControlGpioGet(moduleSsspSignalS(), &sstate); |
| 1375 |
if (flags == sflags) {
|
| 1376 |
apalControlGpioGet(moduleSsspSignalS(), &sstate); |
| 1377 |
// if this was the end of a pulse
|
| 1378 |
if (sstate == APAL_GPIO_OFF) {
|
| 1379 |
// restart the timer
|
| 1380 |
chVtSet(&_delayTimer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &_delayEventSource); |
| 1381 |
// increment the identifier
|
| 1382 |
++(*identifier); |
| 1383 |
} |
| 1384 |
} |
| 1385 |
} |
| 1386 |
// timer event
|
| 1387 |
else if (mask & _delayEventListener.events) { |
| 1388 |
// unregister event
|
| 1389 |
chEvtUnregister(&_delayEventSource, &_delayEventListener); |
| 1390 |
} |
| 1391 |
// any further events must be handled externally
|
| 1392 |
|
| 1393 |
return mask;
|
| 1394 |
} |
| 1395 |
|
| 1396 |
#endif /* (AMIROOS_CFG_SSSP_SHUTDOWN == true) */ |
| 1397 |
|
| 1398 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 1399 |
|
| 1400 |
/** @} */
|