amiro-os / core / src / aos_sssp.c @ f606e2bf
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| 1 | cda14729 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2019 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | /**
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| 20 | * @file aos_sssp.c
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| 21 | * @brief SSSP related code.
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| 22 | *
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| 23 | * @addtogroup aos_sssp
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | #include <amiroos.h> |
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| 28 | |||
| 29 | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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| 30 | |||
| 31 | /******************************************************************************/
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| 32 | /* LOCAL DEFINITIONS */
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| 33 | /******************************************************************************/
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| 34 | |||
| 35 | c218345a | Thomas Schöpping | #if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
| 36 | |||
| 37 | /**
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| 38 | * @brief Weighting factor for smoothing the @p _syncskew value.
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| 39 | */
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| 40 | #define SYNCSKEW_SMOOTHFACTOR (0.1f / AOS_SYSTEM_TIME_RESOLUTION) |
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| 41 | |||
| 42 | #endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
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| 43 | |||
| 44 | cda14729 | Thomas Schöpping | /******************************************************************************/
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| 45 | /* EXPORTED VARIABLES */
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| 46 | /******************************************************************************/
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| 47 | |||
| 48 | /******************************************************************************/
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| 49 | /* LOCAL TYPES */
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| 50 | /******************************************************************************/
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| 51 | |||
| 52 | /******************************************************************************/
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| 53 | /* LOCAL VARIABLES */
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| 54 | /******************************************************************************/
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| 55 | |||
| 56 | /**
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| 57 | c218345a | Thomas Schöpping | * @brief Pointer to the system uptime.
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| 58 | */
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| 59 | static aos_timestamp_t* _uptime;
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| 60 | |||
| 61 | #if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__) |
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| 62 | |||
| 63 | /**
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| 64 | * @brief Timer to drive the S signal for system wide time synchronization during operation phase.
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| 65 | */
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| 66 | static virtual_timer_t _synctimer;
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| 67 | |||
| 68 | /**
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| 69 | * @brief Last uptime of system wide time synchronization.
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| 70 | */
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| 71 | static aos_timestamp_t _synctime;
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| 72 | |||
| 73 | #endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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| 74 | |||
| 75 | #if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
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| 76 | |||
| 77 | /**
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| 78 | * @brief Offset between local clock and system wide synchronization signal.
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| 79 | */
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| 80 | static float _syncskew; |
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| 81 | |||
| 82 | #endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
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| 83 | |||
| 84 | /**
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| 85 | cda14729 | Thomas Schöpping | * @brief A timer event based delays.
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| 86 | c53ef0b1 | Thomas Schöpping | * @details This timer must not be an AMiRo-OS timer, since delays occurr before system is initialized.
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| 87 | cda14729 | Thomas Schöpping | */
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| 88 | static virtual_timer_t _delayTimer;
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| 89 | |||
| 90 | /**
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| 91 | * @brief Event source for the delay timer.
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| 92 | */
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| 93 | c53ef0b1 | Thomas Schöpping | static event_source_t _delayEventSource;
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| 94 | cda14729 | Thomas Schöpping | |
| 95 | /**
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| 96 | * @brief Event listener for the delay event.
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| 97 | */
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| 98 | c53ef0b1 | Thomas Schöpping | static event_listener_t _delayEventListener;
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| 99 | cda14729 | Thomas Schöpping | |
| 100 | /******************************************************************************/
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| 101 | /* LOCAL FUNCTIONS */
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| 102 | /******************************************************************************/
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| 103 | |||
| 104 | c218345a | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_MASTER != true) || defined(__DOXYGEN__) |
| 105 | |||
| 106 | /**
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| 107 | c53ef0b1 | Thomas Schöpping | * @brief Callback function for the S signal interrupt.
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| 108 | c218345a | Thomas Schöpping | *
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| 109 | * @param[in] args Pointer to the GPIO line identifier.
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| 110 | */
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| 111 | static void _gpioCallbackSSignal(void *args) |
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| 112 | {
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| 113 | aosDbgCheck((args != NULL) && (*((ioline_t*)args) != PAL_NOLINE) && (PAL_PAD(*((ioline_t*)args)) < sizeof(eventflags_t) * 8)); |
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| 114 | |||
| 115 | apalControlGpioState_t s; |
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| 116 | aos_timestamp_t t; |
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| 117 | |||
| 118 | chSysLockFromISR(); |
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| 119 | |||
| 120 | // if the system is in operation phase
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| 121 | if (aos.sssp.stage == AOS_SSSP_STAGE_OPERATION) {
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| 122 | // read signal S
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| 123 | c53ef0b1 | Thomas Schöpping | apalControlGpioGet(moduleSsspSignalS(), &s); |
| 124 | c218345a | Thomas Schöpping | // if S was toggled from on to off
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| 125 | if (s == APAL_GPIO_OFF) {
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| 126 | // get current uptime
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| 127 | aosSysGetUptimeX(&t); |
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| 128 | // align the uptime with the synchronization period
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| 129 | t %= AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
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| 130 | if (t < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) { |
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| 131 | *_uptime -= t; |
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| 132 | #if (AMIROOS_CFG_PROFILE == true) |
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| 133 | _syncskew = ((1.0f - SYNCSKEW_SMOOTHFACTOR) * _syncskew) + (SYNCSKEW_SMOOTHFACTOR * t); |
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| 134 | #endif /* (AMIROOS_CFG_PROFILE == true) */ |
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| 135 | } else {
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| 136 | t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - t; |
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| 137 | *_uptime += t; |
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| 138 | #if (AMIROOS_CFG_PROFILE == true) |
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| 139 | _syncskew = ((1.0f - SYNCSKEW_SMOOTHFACTOR) * _syncskew) - (SYNCSKEW_SMOOTHFACTOR * t); |
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| 140 | #endif /* (AMIROOS_CFG_PROFILE == true) */ |
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| 141 | } |
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| 142 | } |
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| 143 | } |
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| 144 | |||
| 145 | // broadcast event
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| 146 | chEvtBroadcastFlagsI(&aos.events.gpio, AOS_GPIOEVENT_FLAG(PAL_PAD(*((ioline_t*)args)))); |
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| 147 | chSysUnlockFromISR(); |
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| 148 | |||
| 149 | return;
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| 150 | } |
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| 151 | |||
| 152 | #endif /* (AMIROOS_CFG_SSSP_MASTER != true) */ |
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| 153 | |||
| 154 | #if (AMIROOS_CFG_SSSP_MASTER == true) || defined (__DOXYGEN__) |
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| 155 | |||
| 156 | /**
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| 157 | * @brief Periodic system synchronization callback function.
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| 158 | c53ef0b1 | Thomas Schöpping | * @details Toggles the S signal and reconfigures the system synchronization timer.
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| 159 | c218345a | Thomas Schöpping | *
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| 160 | * @param[in] par Unused parameters.
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| 161 | */
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| 162 | static void _syncTimerCallback(void* par) |
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| 163 | {
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| 164 | (void)par;
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| 165 | |||
| 166 | c53ef0b1 | Thomas Schöpping | // local variables
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| 167 | c218345a | Thomas Schöpping | apalControlGpioState_t state; |
| 168 | aos_timestamp_t uptime; |
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| 169 | |||
| 170 | chSysLockFromISR(); |
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| 171 | // toggle and read signal S
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| 172 | c53ef0b1 | Thomas Schöpping | apalGpioToggle(moduleSsspSignalS()->gpio); |
| 173 | apalControlGpioGet(moduleSsspSignalS(), &state); |
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| 174 | c218345a | Thomas Schöpping | // if S was toggled from off to on
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| 175 | if (state == APAL_GPIO_ON) {
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| 176 | // reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
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| 177 | _synctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
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| 178 | aosSysGetUptimeX(&uptime); |
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| 179 | c53ef0b1 | Thomas Schöpping | chVTSetI(&_synctimer, chTimeUS2I((time_usecs_t)(_synctime - uptime)), _syncTimerCallback, NULL);
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| 180 | c218345a | Thomas Schöpping | } |
| 181 | // if S was toggled from on to off
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| 182 | else /* if (state == APAL_GPIO_OFF) */ { |
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| 183 | // reconfigure the timer (lazy)
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| 184 | chVTSetI(&_synctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _syncTimerCallback, NULL); |
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| 185 | } |
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| 186 | chSysUnlockFromISR(); |
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| 187 | |||
| 188 | return;
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| 189 | } |
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| 190 | |||
| 191 | /**
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| 192 | * @brief Start the timer that toggles S for synchronization of the system.
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| 193 | * @note Must be called from a locked context.
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| 194 | */
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| 195 | static inline void _syncTimerStartS(void) |
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| 196 | {
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| 197 | chDbgCheckClassS(); |
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| 198 | |||
| 199 | // start synchronization timer
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| 200 | // The first iteration of the timer is set to the next 'center' of a 'slice'.
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| 201 | aos_timestamp_t t; |
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| 202 | aosSysGetUptimeX(&t); |
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| 203 | t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
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| 204 | c53ef0b1 | Thomas Schöpping | 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); |
| 205 | c218345a | Thomas Schöpping | |
| 206 | return;
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| 207 | } |
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| 208 | |||
| 209 | #endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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| 210 | |||
| 211 | cda14729 | Thomas Schöpping | /**
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| 212 | * @brief General callback function to be used for any local timers.
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| 213 | *
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| 214 | * @param[in] par A pointer to an @p event_source_t to be fired.
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| 215 | */
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| 216 | static void _timerCallback(void* par) |
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| 217 | {
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| 218 | aosDbgCheck(par != NULL);
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| 219 | |||
| 220 | chSysLockFromISR(); |
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| 221 | chEvtBroadcastI((event_source_t*)par); |
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| 222 | chSysUnlockFromISR(); |
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| 223 | |||
| 224 | return;
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| 225 | } |
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| 226 | |||
| 227 | /**
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| 228 | * @brief Waits for the S signal to switch to the desired state.
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| 229 | *
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| 230 | * @param[in] listener Pointer to the GPIO event listener to be used.
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| 231 | * @param[in] signalstate Desired state of the S signal ti be waited for.
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| 232 | * @param[out] received Output variable to store the received event mask to.
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| 233 | *
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| 234 | * @return Status, indicating whether the expected event was received.
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| 235 | */
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| 236 | c53ef0b1 | Thomas Schöpping | static inline aos_status_t _waitForS(event_listener_t* listener, apalControlGpioState_t signalstate, eventmask_t* received) |
| 237 | cda14729 | Thomas Schöpping | {
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| 238 | aosDbgCheck(listener != NULL);
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| 239 | aosDbgCheck(received != NULL);
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| 240 | |||
| 241 | c53ef0b1 | Thomas Schöpping | // local variables
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| 242 | aos_status_t status = AOS_FAILURE; |
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| 243 | |||
| 244 | cda14729 | Thomas Schöpping | // wait for the next event (do not apply any filters in order not to miss any events)
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| 245 | *received = chEvtWaitOne(ALL_EVENTS); |
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| 246 | // if the correct event was triggered
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| 247 | c53ef0b1 | Thomas Schöpping | if (*received & listener->events) {
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| 248 | cda14729 | Thomas Schöpping | apalControlGpioState_t s; |
| 249 | c53ef0b1 | Thomas Schöpping | apalControlGpioGet(moduleSsspSignalS(), &s); |
| 250 | chSysLock(); |
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| 251 | cda14729 | Thomas Schöpping | // only check for the expected event
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| 252 | c53ef0b1 | Thomas Schöpping | if ((listener->flags & moduleSsspEventflagS()) && (s == signalstate)) {
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| 253 | cda14729 | Thomas Schöpping | // unset the expected flags but keep any other ones
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| 254 | c53ef0b1 | Thomas Schöpping | listener->flags &= ~moduleSsspEventflagS(); |
| 255 | status = AOS_SUCCESS; |
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| 256 | cda14729 | Thomas Schöpping | } |
| 257 | c53ef0b1 | Thomas Schöpping | // if no further flags are set
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| 258 | if (listener->flags == 0) { |
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| 259 | // clear event
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| 260 | *received &= ~(listener->events); |
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| 261 | } |
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| 262 | chSysUnlock(); |
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| 263 | cda14729 | Thomas Schöpping | } |
| 264 | |||
| 265 | c53ef0b1 | Thomas Schöpping | return status;
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| 266 | cda14729 | Thomas Schöpping | } |
| 267 | |||
| 268 | /**
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| 269 | * @brief Uses the local delay timer to setup a timed event and waits for it to fire.
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| 270 | *
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| 271 | * @param[in] dt Delay time in microseconds to be set to the timer.
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| 272 | * @param[in] mask Event mask to be used for the delay timer.
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| 273 | * @param[out] received Output variable to store the received event mask to.
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| 274 | *
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| 275 | * @return Status, indicating whether the expected event (delay timer) was received.
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| 276 | */
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| 277 | c53ef0b1 | Thomas Schöpping | static inline aos_status_t _delay(uint32_t dt, eventmask_t mask, eventmask_t* received) |
| 278 | cda14729 | Thomas Schöpping | {
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| 279 | aosDbgCheck(dt != TIME_IMMEDIATE); |
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| 280 | aosDbgCheck(mask != 0);
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| 281 | aosDbgCheck(received != NULL);
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| 282 | |||
| 283 | // arm the delay timer once
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| 284 | c53ef0b1 | Thomas Schöpping | if (!chVTIsArmed(&_delayTimer)) {
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| 285 | chEvtRegisterMask(&_delayEventSource, &_delayEventListener, mask); |
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| 286 | chVTSet(&_delayTimer, chTimeUS2I(dt), _timerCallback, &_delayEventSource); |
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| 287 | cda14729 | Thomas Schöpping | } |
| 288 | |||
| 289 | // wait for any event to occur (do not apply any filters in order not to miss any events)
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| 290 | *received = chEvtWaitOne(ALL_EVENTS); |
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| 291 | |||
| 292 | // if the timer event was received, cleanup
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| 293 | c53ef0b1 | Thomas Schöpping | if (*received & _delayEventListener.events) {
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| 294 | chEvtUnregister(&_delayEventSource, &_delayEventListener); |
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| 295 | *received &= ~(_delayEventListener.events); |
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| 296 | cda14729 | Thomas Schöpping | return AOS_SUCCESS;
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| 297 | } |
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| 298 | |||
| 299 | return AOS_FAILURE;
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| 300 | } |
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| 301 | |||
| 302 | c53ef0b1 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_MSI == true) || defined(__DOXYGEN__) |
| 303 | |||
| 304 | /**
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| 305 | * @brief Serialize a BCB message.
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| 306 | * @details The individual primitives are serialized in big-endian fashion.
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| 307 | *
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| 308 | * @param[out] buffer Buffer to write the serialized message to.
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| 309 | * @param[in] message The message to be serialized.
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| 310 | */
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| 311 | aos_status_t _serializeBcbMessage(uint8_t* buffer, aos_ssspbcbmessage_t message) |
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| 312 | {
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| 313 | aosDbgCheck(buffer != NULL);
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| 314 | |||
| 315 | // encode the message depending on its type
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| 316 | switch (message.type) {
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| 317 | case AOS_SSSP_BCBMESSAGE_MSIINIT:
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| 318 | case AOS_SSSP_BCBMESSAGE_MSIABORT:
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| 319 | {
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| 320 | buffer[0] = message.type;
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| 321 | return AOS_SUCCESS;
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| 322 | } |
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| 323 | case AOS_SSSP_BCBMESSAGE_MSIID:
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| 324 | {
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| 325 | buffer[0] = message.type;
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| 326 | for (size_t byte = 0; byte < sizeof(aos_ssspmoduleid_t); ++byte) { |
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| 327 | bc7aed20 | Thomas Schöpping | buffer[byte+1] = (message.payload.id >> ((sizeof(aos_ssspmoduleid_t) - (byte+1)) * 8)) & 0xFF; |
| 328 | c53ef0b1 | Thomas Schöpping | } |
| 329 | return AOS_SUCCESS;
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| 330 | } |
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| 331 | default:
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| 332 | {
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| 333 | return AOS_FAILURE;
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| 334 | } |
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| 335 | } |
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| 336 | } |
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| 337 | |||
| 338 | /**
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| 339 | * @brief Deserialize a BCB message.
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| 340 | * @details The individual primitives must be serialized in big-endian fashion.
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| 341 | *
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| 342 | * @param[out] message Message object to be filled.
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| 343 | * @param[in] buffer Buffer holding the serialized message.
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| 344 | */
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| 345 | aos_status_t _deserializeBcbMessage(aos_ssspbcbmessage_t* message, uint8_t* buffer) |
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| 346 | {
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| 347 | aosDbgCheck(message != NULL);
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| 348 | aosDbgCheck(buffer != NULL);
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| 349 | |||
| 350 | // only decode the first byte, which contains the message type
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| 351 | message->type = buffer[0];
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| 352 | |||
| 353 | // decode the message depedning on its type
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| 354 | switch (message->type) {
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| 355 | case AOS_SSSP_BCBMESSAGE_MSIINIT:
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| 356 | case AOS_SSSP_BCBMESSAGE_MSIABORT:
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| 357 | {
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| 358 | return AOS_SUCCESS;
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| 359 | } |
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| 360 | case AOS_SSSP_BCBMESSAGE_MSIID:
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| 361 | {
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| 362 | message->payload.id = 0;
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| 363 | for (size_t byte = 0; byte < sizeof(aos_ssspmoduleid_t); ++byte) { |
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| 364 | bc7aed20 | Thomas Schöpping | message->payload.id |= (aos_ssspmoduleid_t)(buffer[byte+1] << ((sizeof(aos_ssspmoduleid_t) - (byte+1)) * 8)); |
| 365 | c53ef0b1 | Thomas Schöpping | } |
| 366 | return AOS_SUCCESS;
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| 367 | } |
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| 368 | default:
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| 369 | {
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| 370 | message->type = AOS_SSSP_BCBMESSAGE_INVALID; |
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| 371 | return AOS_FAILURE;
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| 372 | } |
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| 373 | } |
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| 374 | } |
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| 375 | |||
| 376 | /**
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| 377 | * @brief Common outro of the module stack initialization (MSI).
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| 378 | * @details This function must be called on failure, success and if MSI is skipped.
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| 379 | *
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| 380 | * @param[in] msidata Pointer to the temporary data structure used during MSI.
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| 381 | */
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| 382 | void _msiOutro(aos_ssspmsidata_t* msidata)
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| 383 | {
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| 384 | aosDbgCheck(msidata != NULL);
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| 385 | |||
| 386 | // local variables
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| 387 | eventmask_t mask = 0;
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| 388 | |||
| 389 | // start the internal uptime aggregation
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| 390 | chSysLock(); |
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| 391 | aosSysStartUptimeS(); |
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| 392 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
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| 393 | // start toggling S for system synchronization
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| 394 | _syncTimerStartS(); |
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| 395 | #endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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| 396 | chSysUnlock(); |
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| 397 | |||
| 398 | // reset delay timer
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| 399 | chVTIsArmed(&_delayTimer); |
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| 400 | // unregister delay events
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| 401 | mask |= _delayEventListener.events; |
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| 402 | chEvtUnregister(&_delayEventSource, &_delayEventListener); |
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| 403 | |||
| 404 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
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| 405 | // deactivate UP signal
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| 406 | apalControlGpioSet(moduleSsspSignalUP(), APAL_GPIO_OFF); |
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| 407 | #endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
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| 408 | |||
| 409 | // reset timeout timer
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| 410 | chVTReset(&msidata->timeout.timer); |
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| 411 | // unregister timeout events
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| 412 | mask |= msidata->timeout.eventlistener.events; |
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| 413 | chEvtUnregister(&msidata->timeout.eventsource, &msidata->timeout.eventlistener); |
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| 414 | |||
| 415 | // discard any pending timing events
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| 416 | chEvtWaitAnyTimeout(mask, TIME_IMMEDIATE); |
||
| 417 | |||
| 418 | // proceed to operation phase
|
||
| 419 | aos.sssp.stage = AOS_SSSP_STAGE_OPERATION; |
||
| 420 | |||
| 421 | return;
|
||
| 422 | } |
||
| 423 | |||
| 424 | #endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
||
| 425 | |||
| 426 | cda14729 | Thomas Schöpping | /******************************************************************************/
|
| 427 | /* EXPORTED FUNCTIONS */
|
||
| 428 | /******************************************************************************/
|
||
| 429 | |||
| 430 | /**
|
||
| 431 | * @brief Initialize all SSSP related data.
|
||
| 432 | */
|
||
| 433 | c218345a | Thomas Schöpping | void aosSsspInit(aos_timestamp_t* system_uptime)
|
| 434 | cda14729 | Thomas Schöpping | {
|
| 435 | c218345a | Thomas Schöpping | aosDbgCheck(system_uptime != NULL);
|
| 436 | |||
| 437 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STARTUP == true) |
| 438 | // AMiRo-OS has to perform the basic initialization
|
||
| 439 | aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_1_1; |
||
| 440 | #else /* (AMIROOS_CFG_SSSP_STARTUP == true) */ |
||
| 441 | // basic initialization was already performed by a bootloader
|
||
| 442 | aos.sssp.stage = AOS_SSSP_STAGE_STARTUP_2_1; |
||
| 443 | #endif /* (AMIROOS_CFG_SSSP_STARTUP == true) */ |
||
| 444 | |||
| 445 | c53ef0b1 | Thomas Schöpping | // module ID is initialized as 'invalid'
|
| 446 | aos.sssp.moduleId = AOS_SSSP_MODULEID_INVALID; |
||
| 447 | |||
| 448 | #if (AMIROOS_CFG_DBG == true) |
||
| 449 | 510b93cc | Thomas Schöpping | // check all SSSP signals for correct state
|
| 450 | c53ef0b1 | Thomas Schöpping | {
|
| 451 | apalControlGpioState_t state; |
||
| 452 | apalControlGpioGet(moduleSsspSignalS(), &state); |
||
| 453 | aosDbgAssert(state == APAL_GPIO_ON); |
||
| 454 | apalControlGpioGet(moduleSsspSignalPD(), &state); |
||
| 455 | aosDbgAssert(state == APAL_GPIO_OFF); |
||
| 456 | c218345a | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_MSI == true) |
| 457 | 510b93cc | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 458 | c53ef0b1 | Thomas Schöpping | apalControlGpioGet(moduleSsspSignalDN(), &state); |
| 459 | aosDbgAssert(state == APAL_GPIO_OFF); |
||
| 460 | 510b93cc | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
| 461 | c53ef0b1 | Thomas Schöpping | #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 | c218345a | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
| 466 | c53ef0b1 | Thomas Schöpping | } |
| 467 | #endif /* (AMIROOS_CFG_DBG == true) */ |
||
| 468 | 510b93cc | Thomas Schöpping | |
| 469 | cda14729 | Thomas Schöpping | // initialize static variables
|
| 470 | c218345a | Thomas Schöpping | _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 | cda14729 | Thomas Schöpping | chVTObjectInit(&_delayTimer); |
| 479 | c53ef0b1 | Thomas Schöpping | chEvtObjectInit(&_delayEventSource); |
| 480 | cda14729 | Thomas Schöpping | |
| 481 | c218345a | Thomas Schöpping | // signal interrupt setup
|
| 482 | c53ef0b1 | Thomas Schöpping | palSetLineCallback(moduleSsspSignalPD()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalPD()->gpio->line); |
| 483 | palEnableLineEvent(moduleSsspSignalPD()->gpio->line, APAL2CH_EDGE(moduleSsspSignalPD()->meta.edge)); |
||
| 484 | c218345a | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_MASTER == true) |
| 485 | c53ef0b1 | Thomas Schöpping | palSetLineCallback(moduleSsspSignalS()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalS()->gpio->line); |
| 486 | c218345a | Thomas Schöpping | #else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 487 | c53ef0b1 | Thomas Schöpping | palSetLineCallback(moduleSsspSignalS()->gpio->line, _gpioCallbackSSignal, &moduleSsspSignalS()->gpio->line); |
| 488 | c218345a | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 489 | c53ef0b1 | Thomas Schöpping | palEnableLineEvent(moduleSsspSignalS()->gpio->line, APAL2CH_EDGE(moduleSsspSignalS()->meta.edge)); |
| 490 | c218345a | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_MSI == true) |
| 491 | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
||
| 492 | c53ef0b1 | Thomas Schöpping | palSetLineCallback(moduleSsspSignalDN()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalDN()->gpio->line); |
| 493 | palEnableLineEvent(moduleSsspSignalDN()->gpio->line, APAL2CH_EDGE(moduleSsspSignalDN()->meta.edge)); |
||
| 494 | c218345a | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
| 495 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
| 496 | c53ef0b1 | Thomas Schöpping | palSetLineCallback(moduleSsspSignalUP()->gpio->line, aosSysGetStdGpioCallback(), &moduleSsspSignalUP()->gpio->line); |
| 497 | palEnableLineEvent(moduleSsspSignalUP()->gpio->line, APAL2CH_EDGE(moduleSsspSignalUP()->meta.edge)); |
||
| 498 | c218345a | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
| 499 | #endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
||
| 500 | |||
| 501 | cda14729 | Thomas Schöpping | return;
|
| 502 | } |
||
| 503 | |||
| 504 | /**
|
||
| 505 | * @brief Proceed to the next SSSP stage.
|
||
| 506 | c218345a | Thomas Schöpping | * @note Calling this function when in operation phase is invalid.
|
| 507 | * The function aosSsspShutdownInit() must be used instead.
|
||
| 508 | cda14729 | Thomas Schöpping | *
|
| 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 | c53ef0b1 | Thomas Schöpping | aos_status_t aosSsspProceed(event_listener_t* listener, eventmask_t mask, eventmask_t* received) |
| 518 | cda14729 | Thomas Schöpping | {
|
| 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 | c53ef0b1 | Thomas Schöpping | if (_delay(AOS_SSSP_DELAY, mask, received) == AOS_SUCCESS) {
|
| 543 | apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
||
| 544 | cda14729 | Thomas Schöpping | 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 | c53ef0b1 | Thomas Schöpping | apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
| 553 | cda14729 | Thomas Schöpping | 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 | c53ef0b1 | Thomas Schöpping | if (_waitForS(listener, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
|
| 569 | cda14729 | Thomas Schöpping | 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 | c53ef0b1 | Thomas Schöpping | if (_delay(AOS_SSSP_DELAY, mask, received) == AOS_SUCCESS) {
|
| 587 | apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
||
| 588 | cda14729 | Thomas Schöpping | 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 | c53ef0b1 | Thomas Schöpping | if (_waitForS(listener, APAL_GPIO_ON, received) == AOS_SUCCESS) {
|
| 597 | apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
||
| 598 | cda14729 | Thomas Schöpping | 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 | c53ef0b1 | Thomas Schöpping | if (_delay(AOS_SSSP_DELAY, mask, received) == AOS_SUCCESS) {
|
| 619 | apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
||
| 620 | cda14729 | Thomas Schöpping | nextstage = AOS_SSSP_STAGE_STARTUP_2_2; |
| 621 | c53ef0b1 | Thomas Schöpping | } else {
|
| 622 | aosprintf(".");
|
||
| 623 | cda14729 | Thomas Schöpping | } |
| 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 | c53ef0b1 | Thomas Schöpping | apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
| 631 | cda14729 | Thomas Schöpping | 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 | c218345a | Thomas Schöpping | * When proceeding to operation phase, the master starts toggling S for synchronization
|
| 640 | cda14729 | Thomas Schöpping | */
|
| 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 | c53ef0b1 | Thomas Schöpping | if (_waitForS(listener, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
|
| 649 | cda14729 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_MSI == true) |
| 650 | nextstage = AOS_SSSP_STAGE_STARTUP_3; |
||
| 651 | #else /* (AMIROOS_CFG_SSSP_MSI == true) */ |
||
| 652 | c218345a | Thomas Schöpping | // start the internal uptime aggregation
|
| 653 | c53ef0b1 | Thomas Schöpping | chSysLock(); |
| 654 | c218345a | Thomas Schöpping | 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 | cda14729 | Thomas Schöpping | nextstage = AOS_SSSP_STAGE_OPERATION; |
| 661 | #endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
||
| 662 | } |
||
| 663 | break;
|
||
| 664 | } |
||
| 665 | |||
| 666 | c53ef0b1 | Thomas Schöpping | /*
|
| 667 | * PLEASE NOTE:
|
||
| 668 | * Stage transitions during MSI are not hanlded by thins function but are executed in aosSsspMsi().
|
||
| 669 | */
|
||
| 670 | cda14729 | Thomas Schöpping | |
| 671 | /*
|
||
| 672 | c218345a | Thomas Schöpping | * 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 | cda14729 | Thomas Schöpping | * 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 | c53ef0b1 | Thomas Schöpping | apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
| 696 | cda14729 | Thomas Schöpping | 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 | c53ef0b1 | Thomas Schöpping | if (_waitForS(listener, APAL_GPIO_OFF, received) == AOS_SUCCESS) {
|
| 713 | cda14729 | Thomas Schöpping | 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 | c53ef0b1 | Thomas Schöpping | apalControlGpioGet(moduleSsspSignalPD(), &pd); |
| 731 | cda14729 | Thomas Schöpping | *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 | c53ef0b1 | Thomas Schöpping | #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 | c218345a | Thomas Schöpping | /**
|
| 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 | cda14729 | Thomas Schöpping | {
|
| 1284 | c218345a | Thomas Schöpping | aosDbgAssert(aos.sssp.stage == AOS_SSSP_STAGE_OPERATION); |
| 1285 | |||
| 1286 | cda14729 | Thomas Schöpping | // proceed to shutdown phase
|
| 1287 | c218345a | Thomas Schöpping | aos.sssp.stage = AOS_SSSP_STAGE_SHUTDOWN_1_1; |
| 1288 | |||
| 1289 | // activate PD if this was an active shutdown initiation
|
||
| 1290 | if (active) {
|
||
| 1291 | c53ef0b1 | Thomas Schöpping | apalControlGpioSet(moduleSsspSignalPD(), APAL_GPIO_ON); |
| 1292 | c218345a | Thomas Schöpping | } |
| 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 | c53ef0b1 | Thomas Schöpping | apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
| 1301 | c218345a | Thomas Schöpping | |
| 1302 | // proceed in the shutdown phase
|
||
| 1303 | cda14729 | Thomas Schöpping | 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 | c53ef0b1 | Thomas Schöpping | apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_ON); |
| 1326 | cda14729 | Thomas Schöpping | aosThdUSleep(AOS_SSSP_DELAY); |
| 1327 | c53ef0b1 | Thomas Schöpping | apalControlGpioSet(moduleSsspSignalS(), APAL_GPIO_OFF); |
| 1328 | cda14729 | Thomas Schöpping | } |
| 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 | c53ef0b1 | Thomas Schöpping | chEvtRegisterMask(&_delayEventSource, &_delayEventListener, timermask); |
| 1364 | chVtSet(&_delayTimer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &_delayEventSource); |
||
| 1365 | cda14729 | Thomas Schöpping | } |
| 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 | c53ef0b1 | Thomas Schöpping | apalControlGpioGet(moduleSsspSignalS(), &sstate); |
| 1375 | cda14729 | Thomas Schöpping | if (flags == sflags) {
|
| 1376 | c53ef0b1 | Thomas Schöpping | apalControlGpioGet(moduleSsspSignalS(), &sstate); |
| 1377 | cda14729 | Thomas Schöpping | // if this was the end of a pulse
|
| 1378 | if (sstate == APAL_GPIO_OFF) {
|
||
| 1379 | // restart the timer
|
||
| 1380 | c53ef0b1 | Thomas Schöpping | chVtSet(&_delayTimer, chTimeUS2I(AOS_SSSP_TIMEOUT), _timerCallback, &_delayEventSource); |
| 1381 | cda14729 | Thomas Schöpping | // increment the identifier
|
| 1382 | ++(*identifier); |
||
| 1383 | } |
||
| 1384 | } |
||
| 1385 | } |
||
| 1386 | // timer event
|
||
| 1387 | c53ef0b1 | Thomas Schöpping | else if (mask & _delayEventListener.events) { |
| 1388 | cda14729 | Thomas Schöpping | // unregister event
|
| 1389 | c53ef0b1 | Thomas Schöpping | chEvtUnregister(&_delayEventSource, &_delayEventListener); |
| 1390 | cda14729 | Thomas Schöpping | } |
| 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 | /** @} */ |