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

Revision 1e5f7648 os/core/src/aos_system.c

     /**
      * @brief   Period of the system timer.
      */
     #define SYSTIMER_PERIOD               (TIME_MAX_INTERVAL - CH_CFG_ST_TIMEDELTA)
     #define SYSTIMER_PERIOD               (TIME_MAX_SYSTIME - CH_CFG_ST_TIMEDELTA)
     /**
      * @brief   Width of the printable system info text.
-...
       (void)argc;
       (void)argv;
       tprio_t prio = chThdGetPriorityX();
       chThdSetPriority(HIGHPRIO - 5); // some tests increase priorirty by 5, so this is the maximum priority permitted
       msg_t retval = test_execute(stream, &rt_test_suite);
       chThdSetPriority(prio);
       return retval;
+    }
     #endif /* AMIROOS_CFG_TESTS_ENABLE == true */
     /**
      * @brief   Callback function for the PD signal interrupt.
      * @brief   Generic callback function for GPIO interrupts.
+     *
      * @param[in] extp      Pointer to the interrupt driver object.
      * @param[in] channel   Interrupt channel identifier.
      * @param[in] args   Pointer to the GPIO pad identifier.
      */
     static void _signalPdCallback(void *args)
     static void _intCallback(void* args)
+    {
       (void)args;
       aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8));
       chSysLockFromISR();
       chEvtBroadcastFlagsI(&aos.events.io, 0);
       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] extp      Pointer to the interrupt driver object.
      * @param[in] channel   Interrupt channel identifier.
      * @param[in] args   Pointer to the GPIO pad identifier.
      */
     static void _signalSyncCallback(void *args)
+    {
       (void)args;
       aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8));
     #if (AMIROOS_CFG_SSSP_MASTER == true)
       chSysLockFromISR();
       chEvtBroadcastFlagsI(&aos.events.io, 0);
       chSysUnlockFromISR();
     #else
       apalControlGpioState_t s_state;
       aos_timestamp_t uptime;
-...
+        }
+      }
       // broadcast event
       chEvtBroadcastFlagsI(&aos.events.io, 0);
       chEvtBroadcastFlagsI(&aos.events.io, (eventflags_t)1 << *((iopadid_t*)args));
       chSysUnlockFromISR();
     #endif
       return;
+    }
     #endif
     /**
      * @brief   Callback function for the uptime accumulation timer.
-...
       // read current time in system ticks
       register const systime_t st = chVTGetSystemTimeX();
       // update the uptime variables
       _uptime += TIME_I2US(st - _synctime);
       _uptime += chTimeI2US(chTimeDiffX(_synctime, st));
       _synctime = st;
       // enable the timer again
       chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
-...
         // reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
         _syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD;
         aosSysGetUptimeX(&uptime);
         chVTSetI(&_syssynctimer, TIME_US2I(_syssynctime - uptime), _sysSyncTimerCallback, NULL);
         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, TIME_US2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL);
         chVTSetI(&_syssynctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL);
+      }
       chSysUnlockFromISR();
-...
     void aosSysInit(void)
     #endif
+    {
       // set control thread to maximum priority
       /* set control thread to maximum priority */
       chThdSetPriority(AOS_THD_CTRLPRIO);
       // set local variables
       /* set local variables */
       chVTObjectInit(&_systimer);
       _synctime = 0;
       _uptime = 0;
-...
       _syssyncskew = 0.0f;
     #endif
       // set aos configuration
       /* 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);
       // setup external interrupt system
       aosIntDriverInit(&moduleIntDriver, moduleIntConfig);
       chSysLock();
       palSetPadCallbackI(moduleGpioSysPd.port, moduleGpioSysPd.pad, _signalPdCallback, NULL);
       palSetPadCallbackI(moduleGpioSysSync.port, moduleGpioSysSync.pad, _signalSyncCallback, NULL);
       chSysUnlock();
       aosIntDriverStart(&moduleIntDriver);
       /* 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
       /* init shell */
       aosShellInit(&aos.shell,
                    &aos.events.os,
                    shellPrompt,
-...
         aos_timestamp_t t;
         aosSysGetUptimeX(&t);
         t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
         chVTSetI(&_syssynctimer, TIME_US2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL);
         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
-...
+    {
       aosDbgCheck(ut != NULL);
       *ut = _uptime + TIME_I2US(chVTGetSystemTimeX() - _synctime);
       *ut = _uptime + chTimeI2US(chTimeDiffX(_synctime, chVTGetSystemTimeX()));
       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] extDrv      Pointer to the interrupt driver.
      * @param[in] shutdown    Type of shutdown.
      */
     void aosSysShutdownFinal(aos_interrupt_driver_t* intDrv, aos_shutdown_t shutdown)
     void aosSysShutdownFinal(aos_shutdown_t shutdown)
+    {
       // check arguments
       aosDbgCheck(intDrv != NULL);
       aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
       // stop external interrupt system
       aosIntDriverStop(intDrv);
       // disable all interrupts
       irqDeinit();
       // update the system SSSP stage
       aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3;

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