AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

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

 */

static systime_t _synctime;

/**

 * @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

/**

 * @brief   Offset between local clock and system wide synchronization signal.

 */

 * @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)

#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   Shell command to shutdown the system.

 */

static aos_shellcommand_t _shellcmd_shutdown = {

  /* name     */ "system:shutdown",

  /* callback */ _shellcmd_shutdowncb,

  /* next     */ NULL,

};

  // 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

  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  _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);

#endif

  _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");

  // 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_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");

  // 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 {

  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));

  chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", _syssyncskew, AMIROOS_CFG_SSSP_SYSSYNCPERIOD);

#endif /* AMIROOS_CFG_SSSP_MASTER != true && AMIROOS_CFG_PROFILE == true */

  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);

#if (AMIROOS_CFG_SHELL_ENABLE == true)

  // print shell info

  chprintf(stream, "System shell information:\n");

  chprintf(stream, "\tnumber of commands:      %u\n", aosShellCountCommands(&aos.shell));

  chprintf(stream, "\tmaximum line width:      %u characters\n", aos.shell.linesize);

  chprintf(stream, "\tmaximum #arguments:      %u\n", aos.shell.arglistsize);

  chprintf(stream, "\tshell thread stack size: %u bytes\n", aosThdGetStacksize(aos.shell.thread));

#if (CH_DBG_FILL_THREADS == TRUE)

  chprintf(stream, "\tstack peak utilization:  %u bytes (%.2f%%)\n", aosThdGetStackPeakUtilization(aos.shell.thread), (float)aosThdGetStackPeakUtilization(aos.shell.thread) / (float)aosThdGetStacksize(aos.shell.thread) * 100.0f);

#endif /* CH_DBG_FILL_THREADS == TRUE */

  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);

#endif /* AMIROOS_CFG_SHELL_ENABLE == true */

{

  aosDbgCheck(stream != NULL);

  // print help text

  if (argc != 2 || strcmp(argv[1], "--help") == 0) {

    chprintf(stream, "Usage: %s OPTION\n", argv[0]);

      return AOS_INVALID_ARGUMENTS;

    }

  }

}

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

#endif /* AMIROOS_CFG_TESTS_ENABLE == true */

#endif /* AMIROOS_CFG_SHELL_ENABLE == true */

/**

 * @brief   Generic callback function for GPIO interrupts.

 *

  aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8));

  chSysLockFromISR();

  chSysUnlockFromISR();

  return;

}

/**

 * @brief   Callback function for the Sync signal interrupt.

 *

    }

  }

  // broadcast event

  chSysUnlockFromISR();

  return;

}

/**

 * @brief   Callback function for the uptime accumulation timer.

  return;

}

/**

 * @brief   Periodic system synchronization callback function.

 * @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.

  return;

}

/**

 * @brief   AMiRo-OS system initialization.

  /* set local variables */

  chVTObjectInit(&_systimer);

  _synctime = 0;

  _uptime = 0;

#if (AMIROOS_CFG_SSSP_MASTER == true)

  chVTObjectInit(&_syssynctimer);

  _syssynctime = 0;

#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;

#endif

  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

  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();

#if (AMIROOS_CFG_TESTS_ENABLE == true)

  aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest);

#endif

  return;

}

    chSysUnlock();

  }

#endif

  // print system information;

  _printSystemInfo((BaseSequentialStream*)&aos.iostream);

  return;

}

/**

 * @brief   Implements the SSSP startup synchronization step.

 *

    return m;

  }

}

/**

 * @brief   Retrieves the system uptime.

  // update the system SSSP stage

  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1;

  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_RESTART);

      aosprintf("restarting system...\n");

      break;

      break;

  }

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  // update the system SSSP stage

  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2;

#endif

  return;

}

  // disable all interrupts

  irqDeinit();

  // update the system SSSP stage

  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3;

#endif

  }

  return;