/core/src/aos_system.c - AMiRo-OS - Research for Cognitive Interaction

amiro-os / core / src / aos_system.c @ 0039ffcb

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       /*
       AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
       Copyright (C) 2016..2018  Thomas Schöpping et al.
       This program is free software: you can redistribute it and/or modify
       it under the terms of the GNU General Public License as published by
       the Free Software Foundation, either version 3 of the License, or
       (at your option) any later version.
       This program is distributed in the hope that it will be useful,
       but WITHOUT ANY WARRANTY; without even the implied warranty of
       MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
       GNU General Public License for more details.
       You should have received a copy of the GNU General Public License
       along with this program.  If not, see <http://www.gnu.org/licenses/>.
       */
       /**
        * @file    aos_system.c
        * @brief   System code.
        * @details Contains system initialization and shutdown routines
        *          and system shell commands.
+       *
        * @addtogroup aos_system
        * @{
        */
       #include <aos_system.h>
       #include <amiroos.h>
       #include <amiroblt.h>
       #include <module.h>
       #include <string.h>
       #include <stdlib.h>
       #if (AMIROOS_CFG_TESTS_ENABLE == true)
       #include <ch_test.h>
       #include <rt_test_root.h>
       #endif
       /**
        * @brief   Period of the system timer.
        */
       #define SYSTIMER_PERIOD               (TIME_MAX_SYSTIME - CH_CFG_ST_TIMEDELTA)
       /**
        * @brief   Width of the printable system info text.
        */
       #define SYSTEM_INFO_WIDTH             70
       /**
        * @brief   Width of the name column of the system info table.
        */
       #define SYSTEM_INFO_NAMEWIDTH         14
       /* forward declarations */
       static void _printSystemInfo(BaseSequentialStream* stream);
       #if (AMIROOS_CFG_SHELL_ENABLE == true)
       static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]);
       static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]);
       static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]);
       #endif /* AMIROOS_CFG_SHELL_ENABLE == true */
       #if (AMIROOS_CFG_TESTS_ENABLE == true)
       static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]);
       #endif /* AMIROOS_CFG_TESTS_ENABLE == true */
       /**
        * @brief   Timer to accumulate system uptime.
        */
       static virtual_timer_t _systimer;
       /**
        * @brief   Accumulated system uptime.
        */
       static aos_timestamp_t _uptime;
       /**
        * @brief   Timer register value of last accumulation.
        */
       static systime_t _synctime;
       #if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__)
       /**
        * @brief   Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP.
        */
       static virtual_timer_t _syssynctimer;
       /**
        * @brief   Last uptime of system wide time synchronization.
        */
       static aos_timestamp_t _syssynctime;
       #endif
       #if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
       /**
        * @brief   Offset between local clock and system wide synchronization signal.
        */
       static float _syssyncskew;
       /**
        * @brief   Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value.
        */
       #define SYSTEM_SYSSYNCSKEW_LPFACTOR   (0.1f / AOS_SYSTEM_TIME_RESOLUTION)
       #endif
       #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
       /**
        * @brief   Shell thread working area.
        */
       THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE);
       /**
        * @brief   Shell input buffer.
        */
       static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH];
       /**
        * @brief   Shell argument buffer.
        */
       static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS];
       /**
        * @brief   Shell command to retrieve system information.
        */
       static aos_shellcommand_t _shellcmd_info = {
         /* name     */ "module:info",
         /* callback */ _shellcmd_infocb,
         /* next     */ NULL,
       };
       /**
        * @brief   Shell command to set or retrieve system configuration.
        */
       static aos_shellcommand_t _shellcmd_config = {
         /* name     */ "module:config",
         /* callback */ _shellcmd_configcb,
         /* next     */ NULL,
       };
       /**
        * @brief   Shell command to shutdown the system.
        */
       static aos_shellcommand_t _shellcmd_shutdown = {
         /* name     */ "system:shutdown",
         /* callback */ _shellcmd_shutdowncb,
         /* next     */ NULL,
       };
       #endif /* AMIROOS_CFG_SHELL_ENABLE == true */
       #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
       /**
        * @brief   Shell kommand to run a test of the ChibiOS/RT kernel.
        */
       static aos_shellcommand_t _shellcmd_kerneltest = {
         /* name     */ "kernel:test",
         /* callback */ _shellcmd_kerneltestcb,
         /* next     */ NULL,
       };
       #endif /* AMIROOS_CFG_TESTS_ENABLE == true */
       /**
        * @brief   Global system object.
        */
       aos_system_t aos;
       /**
        * @brief   Print a separator line.
+       *
        * @param[in] stream    Stream to print to or NULL to print to all system streams.
        * @param[in] c         Character to use.
        * @param[in] n         Length of the separator line.
+       *
        * @return  Number of characters printed.
        */
       static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n)
+      {
         aosDbgCheck(stream != NULL);
         // print the specified character n times
         for (unsigned int i = 0; i < n; ++i) {
           streamPut(stream, c);
+        }
         streamPut(stream, '\n');
         return n+1;
+      }
       /**
        * @brief   Print a system information line.
        * @details Prints a system information line with the following format:
        *            "<name>[spaces]fmt"
        *          The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.
        *          Note that there is not trailing newline added implicitely.
+       *
        * @param[in] stream      Stream to print to or NULL to print to all system streams.
        * @param[in] name        Name of the entry/line.
        * @param[in] namewidth   Width of the name column.
        * @param[in] fmt         Formatted string of information content.
+       *
        * @return  Number of characters printed.
        */
       static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...)
+      {
         aosDbgCheck(stream != NULL);
         aosDbgCheck(name != NULL);
         unsigned int n = 0;
         va_list ap;
         va_start(ap, fmt);
         n += chprintf(stream, name);
         while (n < namewidth) {
           streamPut(stream, ' ');
           ++n;
+        }
         n += chvprintf(stream, fmt, ap);
         va_end(ap);
         streamPut(stream, '\n');
         ++n;
         return n;
+      }
       /**
        * @brief   Prints information about the system.
+       *
        * @param[in] stream    Stream to print to.
        */
       static void _printSystemInfo(BaseSequentialStream* stream)
+      {
         aosDbgCheck(stream != NULL);
         // local variables
         struct tm dt;
         aosSysGetDateTime(&dt);
         // print static information about module and operating system
         _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
         _printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s (v%s)", BOARD_NAME, BOARD_VERSION);
       #ifdef PLATFORM_NAME
         _printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME);
       #endif
       #ifdef PORT_CORE_VARIANT_NAME
         _printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME);
       #endif
         _printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME);
         _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
         _printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (SSSP %u.%u)", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE, AOS_SYSTEM_SSSP_VERSION_MAJOR, AOS_SYSTEM_SSSP_VERSION_MINOR);
         _printSystemInfoLine(stream, "AMiRo-LLD" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (periphAL %u.%u)", AMIRO_LLD_VERSION_MAJOR, AMIRO_LLD_VERSION_MINOR, AMIRO_LLD_VERSION_PATCH, AMIRO_LLD_RELEASE_TYPE, PERIPHAL_VERSION_MAJOR, PERIPHAL_VERSION_MINOR);
         _printSystemInfoLine(stream, "ChibiOS/RT" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", CH_KERNEL_MAJOR, CH_KERNEL_MINOR, CH_KERNEL_PATCH, (CH_KERNEL_STABLE == 1) ? "stable" : "non-stable");
         _printSystemInfoLine(stream, "ChibiOS/HAL", SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", CH_HAL_MAJOR, CH_HAL_MINOR, CH_HAL_PATCH, (CH_HAL_STABLE == 1) ? "stable" : "non-stable");
         _printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s", (AMIROOS_CFG_DBG == true) ? "debug" : "release");
         _printSystemInfoLine(stream, "Compiler" , SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC
         _printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__);
         // print static information about the bootloader
         _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
         if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
           _printSystemInfoLine(stream, "AMiRo-BLT", SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (SSSP %u.%u)", BL_CALLBACK_TABLE_ADDRESS->vBootloader.major, BL_CALLBACK_TABLE_ADDRESS->vBootloader.minor, BL_CALLBACK_TABLE_ADDRESS->vBootloader.patch,
                                (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :
                                (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :
                                (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :
                                (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :
                                (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :
                                "<release type unknown>",
                                BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor);
           if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_MAJOR) {
             if (stream) {
               chprintf(stream, "WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
             } else {
               aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
+            }
+          }
           _printSystemInfoLine(stream, "Compiler", SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", (BL_CALLBACK_TABLE_ADDRESS->vCompiler.identifier == BL_VERSION_ID_GCC) ? "GCC" : "<compiler unknown>", BL_CALLBACK_TABLE_ADDRESS->vCompiler.major, BL_CALLBACK_TABLE_ADDRESS->vCompiler.minor, BL_CALLBACK_TABLE_ADDRESS->vCompiler.patch); // TODO: support other compilers than GCC
         } else {
           if (stream) {
             chprintf(stream, "Bootloader incompatible or not available.\n");
           } else {
             aosprintf("Bootloader incompatible or not available.\n");
+          }
+        }
         // print dynamic information about the module
         _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
         if (aos.sssp.moduleId != 0) {
           _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId);
         } else {
           _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available");
+        }
         _printSystemInfoLine(stream, "Date", SYSTEM_INFO_NAMEWIDTH, "%s %02u-%02u-%04u", (dt.tm_wday == 0) ? "Sunday" : (dt.tm_wday == 1) ? "Monday" : (dt.tm_wday == 2) ? "Tuesday" : (dt.tm_wday == 3) ? "Wednesday" : (dt.tm_wday == 4) ? "Thursday" : (dt.tm_wday == 5) ? "Friday" : "Saturday",
                              dt.tm_mday,
                              dt.tm_mon + 1,
                              dt.tm_year + 1900);
         _printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u", dt.tm_hour, dt.tm_min, dt.tm_sec);
         _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
         return;
+      }
       #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
       /**
        * @brief   Callback function for the system:config shell command.
+       *
        * @param[in] stream    The I/O stream to use.
        * @param[in] argc      Number of arguments.
        * @param[in] argv      List of pointers to the arguments.
+       *
        * @return              An exit status.
        * @retval  AOS_OK                  The command was executed successfuly.
        * @retval  AOS_INVALID_ARGUMENTS   There was an issue with the arguemnts.
        */
       static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         aosDbgCheck(stream != NULL);
         // local variables
         int retval = AOS_INVALID_ARGUMENTS;
         // if there are additional arguments
         if (argc > 1) {
           // if the user wants to set or retrieve the shell configuration
           if (strcmp(argv[1], "--shell") == 0) {
             // if the user wants to modify the shell configuration
             if (argc > 2) {
               // if the user wants to modify the prompt
               if (strcmp(argv[2], "prompt") == 0) {
                 // there must be a further argument
                 if (argc > 3) {
                   // handle the option
                   if (strcmp(argv[3], "text") == 0) {
                     aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL;
                     retval = AOS_OK;
+                  }
                   else if (strcmp(argv[3], "minimal") == 0) {
                     aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL;
                     retval = AOS_OK;
+                  }
                   else if (strcmp(argv[3], "notime") == 0) {
                     aos.shell.config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME);
                     retval = AOS_OK;
+                  }
                   else if (strcmp(argv[3], "uptime") == 0) {
                     aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME;
                     aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_UPTIME;
                     retval = AOS_OK;
+                  }
                   else if (strcmp(argv[3], "date&time") == 0) {
                     aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME;
                     aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME;
                     retval = AOS_OK;
+                  }
                   else {
                     chprintf(stream, "unknown option '%s'\n", argv[3]);
                     return AOS_INVALID_ARGUMENTS;
+                  }
+                }
+              }
               // if the user wants to modify the string matching
               else if (strcmp(argv[2], "match") == 0) {
                 // there must be a further argument
                 if (argc > 3) {
                   if (strcmp(argv[3], "casesensitive") == 0) {
                     aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE;
                     retval = AOS_OK;
+                  }
                   else if (strcmp(argv[3], "caseinsensitive") == 0) {
                     aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE;
                     retval = AOS_OK;
+                  }
+                }
+              }
+            }
             // if the user wants to retrieve the shell configuration
             else {
               chprintf(stream, "current shell configuration:\n");
               chprintf(stream, "  prompt text:   %s\n",
                        (aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a");
               char time[10];
               switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
                 case AOS_SHELL_CONFIG_PROMPT_UPTIME:
                   strcpy(time, "uptime"); break;
                 case AOS_SHELL_CONFIG_PROMPT_DATETIME:
                   strcpy(time, "date&time"); break;
                 default:
                   strcpy(time, "no time"); break;
+              }
               chprintf(stream, "  prompt style:  %s, %s\n",
                        (aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text",
                        time);
               chprintf(stream, "  input method:  %s\n",
                        (aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert");
               chprintf(stream, "  text matching: %s\n",
                        (aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive");
               retval = AOS_OK;
+            }
+          }
           // if the user wants to configure the date or time
           else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) {
             struct tm dt;
             aosSysGetDateTime(&dt);
             unsigned int val = atoi(argv[3]);
             if (strcmp(argv[2], "year") == 0) {
               dt.tm_year = val - 1900;
+            }
             else if (strcmp(argv[2], "month") == 0 && val <= 12) {
               dt.tm_mon = val - 1;
+            }
             else if (strcmp(argv[2], "day") == 0 && val <= 31) {
               dt.tm_mday = val;
+            }
             else if (strcmp(argv[2], "hour") == 0 && val < 24) {
               dt.tm_hour = val;
+            }
             else if (strcmp(argv[2], "minute") == 0 && val < 60) {
               dt.tm_min = val;
+            }
             else if (strcmp(argv[2], "second") == 0 && val < 60) {
               dt.tm_sec = val;
+            }
             else {
               chprintf(stream, "unknown option '%s' or value '%s'\n", argv[2], argv[3]);
               return AOS_INVALID_ARGUMENTS;
+            }
             dt.tm_wday = aosTimeDayOfWeekFromDate(dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900) % 7;
             aosSysSetDateTime(&dt);
             // read and print new date and time
             aosSysGetDateTime(&dt);
             chprintf(stream, "date/time set to %02u:%02u:%02u @ %02u-%02u-%04u\n",
                      dt.tm_hour, dt.tm_min, dt.tm_sec,
                      dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900);
             retval = AOS_OK;
+          }
+        }
         // print help, if required
         if (retval == AOS_INVALID_ARGUMENTS) {
           chprintf(stream, "Usage: %s OPTION\n", argv[0]);
           chprintf(stream, "Options:\n");
           chprintf(stream, "  --help\n");
           chprintf(stream, "    Print this help text.\n");
           chprintf(stream, "  --shell [OPT [VAL]]\n");
           chprintf(stream, "    Set or retrieve shell configuration.\n");
           chprintf(stream, "    Possible OPTs and VALs are:\n");
           chprintf(stream, "      prompt text|minimal|uptime|date&time|notime\n");
           chprintf(stream, "        Configures the prompt.\n");
           chprintf(stream, "      match casesensitive|caseinsenitive\n");
           chprintf(stream, "        Configures string matching.\n");
           chprintf(stream, "  --date&time OPT VAL\n");
           chprintf(stream, "    Set the date/time value of OPT to VAL.\n");
           chprintf(stream, "    Possible OPTs are:\n");
           chprintf(stream, "      year\n");
           chprintf(stream, "      month\n");
           chprintf(stream, "      day\n");
           chprintf(stream, "      hour\n");
           chprintf(stream, "      minute\n");
           chprintf(stream, "      second\n");
+        }
         return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval;
+      }
       /**
        * @brief   Callback function for the system:info shell command.
+       *
        * @param[in] stream    The I/O stream to use.
        * @param[in] argc      Number of arguments.
        * @param[in] argv      List of pointers to the arguments.
+       *
        * @return            An exit status.
        * @retval  AOS_OK    The command was executed successfully.
        */
       static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         aosDbgCheck(stream != NULL);
         (void)argc;
         (void)argv;
         // print system information
         _printSystemInfo(stream);
         // print time measurement precision
         chprintf(stream, "module time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
         // print system uptime
         aos_timestamp_t uptime;
         aosSysGetUptime(&uptime);
         chprintf(stream, "The system is running for\n");
         chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
         chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
         chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
         chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
         chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
         chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
       #if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)
         chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", _syssyncskew, AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
       #endif
         _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
         return AOS_OK;
+      }
       /**
        * @brief   Callback function for the sytem:shutdown shell command.
+       *
        * @param[in] stream    The I/O stream to use.
        * @param[in] argc      Number of arguments.
        * @param[in] argv      List of pointers to the arguments.
+       *
        * @return              An exit status.
        * @retval  AOS_OK                  The command was executed successfully.
        * @retval  AOS_INVALID_ARGUMENTS   There was an issue with the arguments.
        */
       static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         aosDbgCheck(stream != NULL);
         // print help text
         if (argc != 2 || strcmp(argv[1], "--help") == 0) {
           chprintf(stream, "Usage: %s OPTION\n", argv[0]);
           chprintf(stream, "Options:\n");
           chprintf(stream, "  --help\n");
           chprintf(stream, "    Print this help text.\n");
           chprintf(stream, "  --hibernate, -h\n");
           chprintf(stream, "    Shutdown to hibernate mode.\n");
           chprintf(stream, "    Least energy saving, but allows charging via pins.\n");
           chprintf(stream, "  --deepsleep, -d\n");
           chprintf(stream, "    Shutdown to deepsleep mode.\n");
           chprintf(stream, "    Minimum energy consumption while allowing charging via plug.\n");
           chprintf(stream, "  --transportation, -t\n");
           chprintf(stream, "    Shutdown to transportation mode.\n");
           chprintf(stream, "    Minimum energy consumption with all interrupts disabled (no charging).\n");
           chprintf(stream, "  --restart, -r\n");
           chprintf(stream, "    Shutdown and restart system.\n");
           return (argc != 2) ? AOS_INVALID_ARGUMENTS : AOS_OK;
+        }
         // handle argument
         else {
           if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) {
             chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE);
             chThdTerminate(currp);
             return AOS_OK;
+          }
           else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) {
             chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP);
             chThdTerminate(currp);
             return AOS_OK;
+          }
           else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) {
             chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION);
             chThdTerminate(currp);
             return AOS_OK;
+          }
           else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) {
             chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART);
             chThdTerminate(currp);
             return AOS_OK;
+          }
           else {
             chprintf(stream, "unknown argument %s\n", argv[1]);
             return AOS_INVALID_ARGUMENTS;
+          }
+        }
+      }
       #endif /* AMIROOS_CFG_SHELL_ENABLE == true */
       #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
       /**
        * @brief   Callback function for the kernel:test shell command.
+       *
        * @param[in] stream    The I/O stream to use.
        * @param[in] argc      Number of arguments.
        * @param[in] argv      List of pointers to the arguments.
+       *
        * @return      An exit status.
        */
       static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[])
+      {
         aosDbgCheck(stream != NULL);
         (void)argc;
         (void)argv;
         msg_t retval = test_execute(stream, &rt_test_suite);
         return retval;
+      }
       #endif /* AMIROOS_CFG_TESTS_ENABLE == true */
       /**
        * @brief   Generic callback function for GPIO interrupts.
+       *
        * @param[in] args   Pointer to the GPIO pad identifier.
        */
       static void _intCallback(void* args)
+      {
         aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8));
         chSysLockFromISR();
         chEvtBroadcastFlagsI(&aos.events.io, (eventflags_t)1 << *((iopadid_t*)args));
         chSysUnlockFromISR();
         return;
+      }
       #if (AMIROOS_CFG_SSSP_MASTER != true) || defined(__DOXYGEN__)
       /**
        * @brief   Callback function for the Sync signal interrupt.
+       *
        * @param[in] args   Pointer to the GPIO pad identifier.
        */
       static void _signalSyncCallback(void *args)
+      {
         aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8));
         apalControlGpioState_t s_state;
         aos_timestamp_t uptime;
         chSysLockFromISR();
         // if the system is in operation phase
         if (aos.sssp.stage == AOS_SSSP_OPERATION) {
           // read signal S
           apalControlGpioGet(&moduleSsspGpioSync, &s_state);
           // if S was toggled from on to off
           if (s_state == APAL_GPIO_OFF) {
             // get current uptime
             aosSysGetUptimeX(&uptime);
             // align the uptime with the synchronization period
             if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) {
               _uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD;
       #if (AMIROOS_CFG_PROFILE == true)
               _syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) + (SYSTEM_SYSSYNCSKEW_LPFACTOR * (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD));
       #endif
             } else {
               _uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
       #if (AMIROOS_CFG_PROFILE == true)
               _syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) - (SYSTEM_SYSSYNCSKEW_LPFACTOR * (AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD)));
       #endif
+            }
+          }
+        }
         // broadcast event
         chEvtBroadcastFlagsI(&aos.events.io, (eventflags_t)1 << *((iopadid_t*)args));
         chSysUnlockFromISR();
         return;
+      }
       #endif
       /**
        * @brief   Callback function for the uptime accumulation timer.
+       *
        * @param[in] par   Generic parameter.
        */
       static void _uptimeCallback(void* par)
+      {
         (void)par;
         chSysLockFromISR();
         // read current time in system ticks
         register const systime_t st = chVTGetSystemTimeX();
         // update the uptime variables
         _uptime += chTimeI2US(chTimeDiffX(_synctime, st));
         _synctime = st;
         // enable the timer again
         chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
         chSysUnlockFromISR();
         return;
+      }
       #if (AMIROOS_CFG_SSSP_MASTER == true) || defined (__DOXYGEN__)
       /**
        * @brief   Periodic system synchronization callback function.
        * @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.
+       *
        * @param[in] par   Unuesed parameters.
        */
       static void _sysSyncTimerCallback(void* par)
+      {
         (void)par;
         apalControlGpioState_t s_state;
         aos_timestamp_t uptime;
         chSysLockFromISR();
         // toggle and read signal S
         apalGpioToggle(moduleSsspGpioSync.gpio);
         apalControlGpioGet(&moduleSsspGpioSync, &s_state);
         // if S was toggled from off to on
         if (s_state == APAL_GPIO_ON) {
           // reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
           _syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD;
           aosSysGetUptimeX(&uptime);
           chVTSetI(&_syssynctimer, chTimeUS2I(_syssynctime - uptime), _sysSyncTimerCallback, NULL);
+        }
         // if S was toggled from on to off
         else /* if (s_state == APAL_GPIO_OFF) */ {
           // reconfigure the timer (lazy)
           chVTSetI(&_syssynctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL);
+        }
         chSysUnlockFromISR();
         return;
+      }
       #endif
       /**
        * @brief   AMiRo-OS system initialization.
        * @note    Must be called from the system control thread (usually main thread).
+       *
        * @param[in] shellPrompt   String to be printed as prompt of the system shell.
        */
       #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
       void aosSysInit(const char* shellPrompt)
       #else
       void aosSysInit(void)
       #endif
+      {
         /* set control thread to maximum priority */
         chThdSetPriority(AOS_THD_CTRLPRIO);
         /* set local variables */
         chVTObjectInit(&_systimer);
         _synctime = 0;
         _uptime = 0;
       #if (AMIROOS_CFG_SSSP_MASTER == true)
         chVTObjectInit(&_syssynctimer);
         _syssynctime = 0;
       #endif
       #if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)
         _syssyncskew = 0.0f;
       #endif
         /* initialize aos configuration */
         aos.sssp.stage = AOS_SSSP_STARTUP_2_1;
         aos.sssp.moduleId = 0;
         aosIOStreamInit(&aos.iostream);
         chEvtObjectInit(&aos.events.io);
         chEvtObjectInit(&aos.events.os);
         /* interrupt setup */
         // PD signal
         palSetPadCallback(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, _intCallback, &moduleSsspGpioPd.gpio->pad);
         palEnablePadEvent(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, APAL2CH_EDGE(moduleSsspGpioPd.meta.edge));
         // SYNC signal
       #if (AMIROOS_CFG_SSSP_MASTER == true)
         palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _intCallback, &moduleSsspGpioSync.gpio->pad);
       #else
         palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _signalSyncCallback, &moduleSsspGpioSync.gpio->pad);
       #endif
         palEnablePadEvent(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, APAL2CH_EDGE(moduleSsspGpioSync.meta.edge));
       #if (AMIROOS_CFG_SSSP_STACK_START != true)
         // DN signal
         palSetPadCallback(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, _intCallback, &moduleSsspGpioDn.gpio->pad);
         palEnablePadEvent(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, APAL2CH_EDGE(moduleSsspGpioDn.meta.edge));
       #endif
       #if (AMIROOS_CFG_SSSP_STACK_END != true)
         // UP signal
         palSetPadCallback(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, _intCallback, &moduleSsspGpioUp.gpio->pad);
         palEnablePadEvent(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, APAL2CH_EDGE(moduleSsspGpioUp.meta.edge));
       #endif
       #ifdef MODULE_INIT_INTERRUPTS
         // further interrupt signals
         MODULE_INIT_INTERRUPTS();
       #endif
       #if (AMIROOS_CFG_SHELL_ENABLE == true)
         /* init shell */
         aosShellInit(&aos.shell,
                      &aos.events.os,
                      shellPrompt,
                      _shell_line,
                      AMIROOS_CFG_SHELL_LINEWIDTH,
                      _shell_arglist,
                      AMIROOS_CFG_SHELL_MAXARGS);
         // add system commands
         aosShellAddCommand(&aos.shell, &_shellcmd_config);
         aosShellAddCommand(&aos.shell, &_shellcmd_info);
         aosShellAddCommand(&aos.shell, &_shellcmd_shutdown);
       #if (AMIROOS_CFG_TESTS_ENABLE == true)
         aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest);
       #endif
       #endif
         return;
+      }
       /**
        * @brief   Starts the system and all system threads.
        */
       inline void aosSysStart(void)
+      {
         // update the system SSSP stage
         aos.sssp.stage = AOS_SSSP_OPERATION;
       #if (AMIROOS_CFG_SSSP_MASTER == true)
+        {
           chSysLock();
           // start the system synchronization counter
           // The first iteration of the timer is set to the next 'center' of a 'slice'.
           aos_timestamp_t t;
           aosSysGetUptimeX(&t);
           t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
           chVTSetI(&_syssynctimer, chTimeUS2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL);
           chSysUnlock();
+        }
       #endif
         // print system information;
         _printSystemInfo((BaseSequentialStream*)&aos.iostream);
         aosprintf("\n");
       #if (AMIROOS_CFG_SHELL_ENABLE == true)
         // start system shell thread
       #if (CH_CFG_USE_THREADHIERARCHY == TRUE)
         aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell, &ch.mainthread);
       #else
         aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
       #endif
       #endif
         return;
+      }
       /**
        * @brief   Implements the SSSP startup synchronization step.
+       *
        * @param[in] syncEvtListener   Event listener that receives the Sync event.
+       *
        * @return    If another event that the listener is interested in was received, its mask is returned.
        *            Otherwise an empty mask (0) is returned.
        */
       eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener)
+      {
         aosDbgCheck(syncEvtListener != NULL);
         // local variables
         eventmask_t m;
         eventflags_t f;
         apalControlGpioState_t s;
         // update the system SSSP stage
         aos.sssp.stage = AOS_SSSP_STARTUP_2_2;
         // deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase)
         apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);
         // wait for any event to occur (do not apply any filter in order not to miss any event)
         m = chEvtWaitOne(ALL_EVENTS);
         f = chEvtGetAndClearFlags(syncEvtListener);
         apalControlGpioGet(&moduleSsspGpioSync, &s);
         // if the event was a system event,
         //   and it was fired because of the SysSync control signal,
         //   and the SysSync control signal has been deactivated
         if (m & syncEvtListener->events &&
             f == MODULE_SSSP_EVENTFLAGS_SYNC &&
             s == APAL_GPIO_OFF) {
           chSysLock();
           // start the uptime counter
           _synctime = chVTGetSystemTimeX();
           _uptime = 0;
           chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
           chSysUnlock();
           return 0;
+        }
         // an unexpected event occurred
         else {
           // reassign the flags to the event and return the event mask
           syncEvtListener->flags |= f;
           return m;
+        }
+      }
       /**
        * @brief   Retrieves the system uptime.
+       *
        * @param[out] ut   The system uptime.
        */
       inline void aosSysGetUptimeX(aos_timestamp_t* ut)
+      {
         aosDbgCheck(ut != NULL);
         *ut = _uptime + chTimeI2US(chTimeDiffX(_synctime, chVTGetSystemTimeX()));
         return;
+      }
       /**
        * @brief   retrieves the date and time from the MCU clock.
+       *
        * @param[out] td   The date and time.
        */
       void aosSysGetDateTime(struct tm* dt)
+      {
         aosDbgCheck(dt != NULL);
         RTCDateTime rtc;
         rtcGetTime(&MODULE_HAL_RTC, &rtc);
         rtcConvertDateTimeToStructTm(&rtc, dt, NULL);
         return;
+      }
       /**
        * @brief   set the date and time of the MCU clock.
+       *
        * @param[in] dt    The date and time to set.
        */
       void aosSysSetDateTime(struct tm* dt)
+      {
         aosDbgCheck(dt != NULL);
         RTCDateTime rtc;
         rtcConvertStructTmToDateTime(dt, 0, &rtc);
         rtcSetTime(&MODULE_HAL_RTC, &rtc);
         return;
+      }
       /**
        * @brief   Initializes/Acknowledges a system shutdown/restart request.
        * @note    This functions should be called from the thread with highest priority.
+       *
        * @param[in] shutdown    Type of shutdown.
        */
       void aosSysShutdownInit(aos_shutdown_t shutdown)
+      {
         // check arguments
         aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
       #if (AMIROOS_CFG_SSSP_MASTER == true)
         // deactivate the system synchronization timer
         chVTReset(&_syssynctimer);
       #endif
         // update the system SSSP stage
         aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1;
         // activate the SYS_PD control signal only, if this module initiated the shutdown
         chSysLock();
         if (shutdown != AOS_SHUTDOWN_PASSIVE) {
           apalControlGpioSet(&moduleSsspGpioPd, APAL_GPIO_ON);
+        }
         // activate the SYS_SYNC signal
         apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON);
         chSysUnlock();
         switch (shutdown) {
           case AOS_SHUTDOWN_PASSIVE:
             chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN);
             aosprintf("shutdown request received...\n");
             break;
           case AOS_SHUTDOWN_HIBERNATE:
             chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE);
             aosprintf("shutdown to hibernate mode...\n");
             break;
           case AOS_SHUTDOWN_DEEPSLEEP:
             chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP);
             aosprintf("shutdown to deepsleep mode...\n");
             break;
           case AOS_SHUTDOWN_TRANSPORTATION:
             chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION);
             aosprintf("shutdown to transportation mode...\n");
             break;
           case AOS_SHUTDOWN_RESTART:
             chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART);
             aosprintf("restarting system...\n");
             break;
          // must never occur
          case AOS_SHUTDOWN_NONE:
          default:
             break;
+        }
         // update the system SSSP stage
         aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2;
         return;
+      }
       /**
        * @brief   Stops the system and all related threads (not the thread this function is called from).
        */
       void aosSysStop(void)
+      {
       #if (AMIROOS_CFG_SHELL_ENABLE == true)
         chThdWait(aos.shell.thread);
       #endif
         return;
+      }
       /**
        * @brief   Deinitialize all system variables.
        */
       void aosSysDeinit(void)
+      {
         return;
+      }
       /**
        * @brief   Finally shuts down the system and calls the bootloader callback function.
        * @note    This function should be called from the thtead with highest priority.
+       *
        * @param[in] shutdown    Type of shutdown.
        */
       void aosSysShutdownFinal(aos_shutdown_t shutdown)
+      {
         // check arguments
         aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
         // disable all interrupts
         irqDeinit();
         // update the system SSSP stage
         aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3;
         // call bootloader callback depending on arguments
         switch (shutdown) {
           case AOS_SHUTDOWN_PASSIVE:
             BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest();
             break;
           case AOS_SHUTDOWN_HIBERNATE:
             BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate();
             break;
           case AOS_SHUTDOWN_DEEPSLEEP:
             BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep();
             break;
           case AOS_SHUTDOWN_TRANSPORTATION:
             BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation();
             break;
           case AOS_SHUTDOWN_RESTART:
             BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart();
             break;
           // must never occur
           case AOS_SHUTDOWN_NONE:
           default:
             break;
+        }
         return;
+      }
       /** @} */