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1
/*
2
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019  Thomas Schöpping et al.
4

5
This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
9

10
This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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15
You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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19
/**
20
 * @file    aos_system.c
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 * @brief   System code.
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 * @details Contains system initialization and shutdown routines
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 *          and system shell commands.
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 *
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 * @addtogroup aos_system
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 * @{
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 */
28

    
29
#include <amiroos.h>
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#include <stdarg.h>
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#include <string.h>
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#include <stdlib.h>
33

    
34
#if (AMIROOS_CFG_TESTS_ENABLE == true)
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#include <ch_test.h>
36
#include <rt_test_root.h>
37
#endif
38

    
39
/******************************************************************************/
40
/* LOCAL DEFINITIONS                                                          */
41
/******************************************************************************/
42

    
43
/**
44
 * @brief   Period of the system timer.
45
 */
46
#define SYSTIMER_PERIOD               (TIME_MAX_SYSTIME - CH_CFG_ST_TIMEDELTA)
47

    
48
/**
49
 * @brief   Width of the printable system info text.
50
 */
51
#define SYSTEM_INFO_WIDTH             70
52

    
53
/**
54
 * @brief   Width of the name column of the system info table.
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 */
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#define SYSTEM_INFO_NAMEWIDTH         14
57

    
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#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
59

    
60
/**
61
 * @brief   Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value.
62
 */
63
#define SYSTEM_SYSSYNCSKEW_LPFACTOR   (0.1f / AOS_SYSTEM_TIME_RESOLUTION)
64

    
65
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */
66

    
67
/******************************************************************************/
68
/* EXPORTED VARIABLES                                                         */
69
/******************************************************************************/
70

    
71
/**
72
 * @brief   Global system object.
73
 */
74
aos_system_t aos;
75

    
76
/******************************************************************************/
77
/* LOCAL TYPES                                                                */
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/******************************************************************************/
79

    
80
/******************************************************************************/
81
/* LOCAL VARIABLES                                                            */
82
/******************************************************************************/
83

    
84
/*
85
 * forward declarations
86
 */
87
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
88
static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]);
89
static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]);
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static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]);
91
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
92
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]);
93
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
94
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
95

    
96
/**
97
 * @brief   Timer to accumulate system uptime.
98
 */
99
static virtual_timer_t _systimer;
100

    
101
/**
102
 * @brief   Accumulated system uptime.
103
 */
104
static aos_timestamp_t _uptime;
105

    
106
/**
107
 * @brief   Timer register value of last accumulation.
108
 */
109
static systime_t _synctime;
110

    
111
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined(__DOXYGEN__)
112
/**
113
 * @brief   Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP.
114
 */
115
static virtual_timer_t _syssynctimer;
116

    
117
/**
118
 * @brief   Last uptime of system wide time synchronization.
119
 */
120
static aos_timestamp_t _syssynctime;
121
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */
122

    
123
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
124
/**
125
 * @brief   Offset between local clock and system wide synchronization signal.
126
 */
127
static float _syssyncskew;
128

    
129
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */
130

    
131
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
132
/**
133
 * @brief   Shell thread working area.
134
 */
135
THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE);
136

    
137
/**
138
 * @brief   Shell input buffer.
139
 */
140
static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH];
141

    
142
/**
143
 * @brief   Shell argument buffer.
144
 */
145
static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS];
146

    
147
/**
148
 * @brief   Shell command to retrieve system information.
149
 */
150
static aos_shellcommand_t _shellcmd_info = {
151
  /* name     */ "module:info",
152
  /* callback */ _shellcmd_infocb,
153
  /* next     */ NULL,
154
};
155

    
156
/**
157
 * @brief   Shell command to set or retrieve system configuration.
158
 */
159
static aos_shellcommand_t _shellcmd_config = {
160
  /* name     */ "module:config",
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  /* callback */ _shellcmd_configcb,
162
  /* next     */ NULL,
163
};
164

    
165
/**
166
 * @brief   Shell command to shutdown the system.
167
 */
168
static aos_shellcommand_t _shellcmd_shutdown = {
169
#if (AMIROOS_CFG_SSSP_ENABLE == true)
170
  /* name     */ "system:shutdown",
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#else
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  /* name     */ "module:shutdown",
173
#endif
174
  /* callback */ _shellcmd_shutdowncb,
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  /* next     */ NULL,
176
};
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178
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
179
/**
180
 * @brief   Shell kommand to run a test of the ChibiOS/RT kernel.
181
 */
182
static aos_shellcommand_t _shellcmd_kerneltest = {
183
  /* name     */ "kernel:test",
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  /* callback */ _shellcmd_kerneltestcb,
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  /* next     */ NULL,
186
};
187
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
188
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
189

    
190
/******************************************************************************/
191
/* LOCAL FUNCTIONS                                                            */
192
/******************************************************************************/
193

    
194
/**
195
 * @brief   Print a separator line.
196
 *
197
 * @param[in] stream    Stream to print to or NULL to print to all system streams.
198
 * @param[in] c         Character to use.
199
 * @param[in] n         Length of the separator line.
200
 *
201
 * @return  Number of characters printed.
202
 */
203
static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n)
204
{
205
  aosDbgCheck(stream != NULL);
206

    
207
  // print the specified character n times
208
  for (unsigned int i = 0; i < n; ++i) {
209
    streamPut(stream, c);
210
  }
211
  streamPut(stream, '\n');
212

    
213
  return n+1;
214
}
215

    
216
/**
217
 * @brief   Print a system information line.
218
 * @details Prints a system information line with the following format:
219
 *            "<name>[spaces]fmt"
220
 *          The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.
221
 *          Note that there is not trailing newline added implicitely.
222
 *
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 * @param[in] stream      Stream to print to or NULL to print to all system streams.
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 * @param[in] name        Name of the entry/line.
225
 * @param[in] namewidth   Width of the name column.
226
 * @param[in] fmt         Formatted string of information content.
227
 *
228
 * @return  Number of characters printed.
229
 */
230
static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...)
231
{
232
  aosDbgCheck(stream != NULL);
233
  aosDbgCheck(name != NULL);
234

    
235
  unsigned int n = 0;
236
  va_list ap;
237

    
238
  va_start(ap, fmt);
239
  n += chprintf(stream, name);
240
  while (n < namewidth) {
241
    streamPut(stream, ' ');
242
    ++n;
243
  }
244
  n += chvprintf(stream, fmt, ap);
245
  va_end(ap);
246

    
247
  streamPut(stream, '\n');
248
  ++n;
249

    
250
  return n;
251
}
252

    
253
/**
254
 * @brief   Prints information about the system.
255
 *
256
 * @param[in] stream    Stream to print to.
257
 */
258
static void _printSystemInfo(BaseSequentialStream* stream)
259
{
260
  aosDbgCheck(stream != NULL);
261

    
262
  // local variables
263
#if (HAL_USE_RTC == TRUE)
264
  struct tm dt;
265
  aosSysGetDateTime(&dt);
266
#endif /* HAL_USE_RTC == TRUE */
267

    
268
  // print static information about module and operating system
269
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
270
  _printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s", BOARD_NAME);
271
#ifdef PLATFORM_NAME
272
  _printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME);
273
#endif
274
#ifdef PORT_CORE_VARIANT_NAME
275
  _printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME);
276
#endif
277
  _printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME);
278
  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
279
#if (AMIROOS_CFG_SSSP_ENABLE == true)
280
  _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);
281
#else
282
  _printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE);
283
#endif
284
  _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);
285
  _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");
286
  _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");
287
  _printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s", (AMIROOS_CFG_DBG == true) ? "debug" : "release");
288
  _printSystemInfoLine(stream, "Compiler" , SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC
289
  _printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__);
290

    
291
  // print static information about the bootloader
292
  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
293
  if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
294
    _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,
295
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :
296
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :
297
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :
298
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :
299
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :
300
                         "<release type unknown>",
301
                         BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor);
302
#if (AMIROOS_CFG_SSSP_ENABLE == true)
303
    if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_MAJOR) {
304
      if (stream) {
305
        chprintf(stream, "WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
306
      } else {
307
        aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
308
      }
309
    }
310
#endif
311
    _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
312
  } else {
313
    if (stream) {
314
      chprintf(stream, "Bootloader incompatible or not available.\n");
315
    } else {
316
      aosprintf("Bootloader incompatible or not available.\n");
317
    }
318
  }
319

    
320
  // print dynamic information about the module
321
  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
322
#if (AMIROOS_CFG_SSSP_ENABLE == true)
323
  if (aos.sssp.moduleId != 0) {
324
    _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId);
325
  } else {
326
    _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available");
327
  }
328
#endif
329
#if (HAL_USE_RTC == TRUE)
330
  _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",
331
                       dt.tm_mday,
332
                       dt.tm_mon + 1,
333
                       dt.tm_year + 1900);
334
  _printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u", dt.tm_hour, dt.tm_min, dt.tm_sec);
335
#endif /* HAL_USE_RTC == TRUE */
336

    
337
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
338

    
339
  return;
340
}
341

    
342
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
343
/**
344
 * @brief   Callback function for the system:config shell command.
345
 *
346
 * @param[in] stream    The I/O stream to use.
347
 * @param[in] argc      Number of arguments.
348
 * @param[in] argv      List of pointers to the arguments.
349
 *
350
 * @return              An exit status.
351
 * @retval  AOS_OK                  The command was executed successfuly.
352
 * @retval  AOS_INVALID_ARGUMENTS   There was an issue with the arguemnts.
353
 */
354
static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[])
355
{
356
  aosDbgCheck(stream != NULL);
357

    
358
  // local variables
359
  int retval = AOS_INVALID_ARGUMENTS;
360

    
361
  // if there are additional arguments
362
  if (argc > 1) {
363
    // if the user wants to set or retrieve the shell configuration
364
    if (strcmp(argv[1], "--shell") == 0) {
365
      // if the user wants to modify the shell configuration
366
      if (argc > 2) {
367
        // if the user wants to modify the prompt
368
        if (strcmp(argv[2], "prompt") == 0) {
369
          // there must be a further argument
370
          if (argc > 3) {
371
            // handle the option
372
            if (strcmp(argv[3], "text") == 0) {
373
              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL;
374
              retval = AOS_OK;
375
            }
376
            else if (strcmp(argv[3], "minimal") == 0) {
377
              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL;
378
              retval = AOS_OK;
379
            }
380
            else if (strcmp(argv[3], "notime") == 0) {
381
              aos.shell.config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME);
382
              retval = AOS_OK;
383
            }
384
            else if (strcmp(argv[3], "uptime") == 0) {
385
              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME;
386
              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_UPTIME;
387
              retval = AOS_OK;
388
            }
389
            else if (strcmp(argv[3], "date&time") == 0) {
390
              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME;
391
              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME;
392
              retval = AOS_OK;
393
            }
394
            else {
395
              chprintf(stream, "unknown option '%s'\n", argv[3]);
396
              return AOS_INVALID_ARGUMENTS;
397
            }
398
          }
399
        }
400
        // if the user wants to modify the string matching
401
        else if (strcmp(argv[2], "match") == 0) {
402
          // there must be a further argument
403
          if (argc > 3) {
404
            if (strcmp(argv[3], "casesensitive") == 0) {
405
              aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE;
406
              retval = AOS_OK;
407
            }
408
            else if (strcmp(argv[3], "caseinsensitive") == 0) {
409
              aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE;
410
              retval = AOS_OK;
411
            }
412
          }
413
        }
414
      }
415
      // if the user wants to retrieve the shell configuration
416
      else {
417
        chprintf(stream, "current shell configuration:\n");
418
        chprintf(stream, "  prompt text:   %s\n",
419
                 (aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a");
420
        char time[10];
421
        switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
422
          case AOS_SHELL_CONFIG_PROMPT_UPTIME:
423
            strcpy(time, "uptime"); break;
424
          case AOS_SHELL_CONFIG_PROMPT_DATETIME:
425
            strcpy(time, "date&time"); break;
426
          default:
427
            strcpy(time, "no time"); break;
428
        }
429
        chprintf(stream, "  prompt style:  %s, %s\n",
430
                 (aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text",
431
                 time);
432
        chprintf(stream, "  input method:  %s\n",
433
                 (aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert");
434
        chprintf(stream, "  text matching: %s\n",
435
                 (aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive");
436
        retval = AOS_OK;
437
      }
438
    }
439
# if (HAL_USE_RTC == TRUE)
440
    // if the user wants to configure the date or time
441
    else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) {
442
      struct tm dt;
443
      aosSysGetDateTime(&dt);
444
      int val = atoi(argv[3]);
445
      if (strcmp(argv[2], "year") == 0 && val >= 1900) {
446
        dt.tm_year = val - 1900;
447
      }
448
      else if (strcmp(argv[2], "month") == 0 && val > 0 && val <= 12) {
449
        dt.tm_mon = val - 1;
450
      }
451
      else if (strcmp(argv[2], "day") == 0 && val > 0 && val <= 31) {
452
        dt.tm_mday = val;
453
      }
454
      else if (strcmp(argv[2], "hour") == 0 && val >= 0 && val < 24) {
455
        dt.tm_hour = val;
456
      }
457
      else if (strcmp(argv[2], "minute") == 0 && val >= 0 && val < 60) {
458
        dt.tm_min = val;
459
      }
460
      else if (strcmp(argv[2], "second") == 0 && val >= 0 && val < 60) {
461
        dt.tm_sec = val;
462
      }
463
      else {
464
        chprintf(stream, "unknown option '%s' or invalid value '%s'\n", argv[2], argv[3]);
465
        return AOS_INVALID_ARGUMENTS;
466
      }
467
      dt.tm_wday = aosTimeDayOfWeekFromDate(dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900) % 7;
468
      aosSysSetDateTime(&dt);
469

    
470
      // read and print new date and time
471
      aosSysGetDateTime(&dt);
472
      chprintf(stream, "date/time set to %02u:%02u:%02u @ %02u-%02u-%04u\n",
473
               dt.tm_hour, dt.tm_min, dt.tm_sec,
474
               dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900);
475

    
476
      retval = AOS_OK;
477
    }
478
#endif /* HAL_USE_RTC == TRUE */
479
  }
480

    
481
  // print help, if required
482
  if (retval == AOS_INVALID_ARGUMENTS) {
483
    chprintf(stream, "Usage: %s OPTION\n", argv[0]);
484
    chprintf(stream, "Options:\n");
485
    chprintf(stream, "  --help\n");
486
    chprintf(stream, "    Print this help text.\n");
487
    chprintf(stream, "  --shell [OPT [VAL]]\n");
488
    chprintf(stream, "    Set or retrieve shell configuration.\n");
489
    chprintf(stream, "    Possible OPTs and VALs are:\n");
490
    chprintf(stream, "      prompt text|minimal|uptime|date&time|notime\n");
491
    chprintf(stream, "        Configures the prompt.\n");
492
    chprintf(stream, "      match casesensitive|caseinsenitive\n");
493
    chprintf(stream, "        Configures string matching.\n");
494
#if (HAL_USE_RTC == TRUE)
495
    chprintf(stream, "  --date&time OPT VAL\n");
496
    chprintf(stream, "    Set the date/time value of OPT to VAL.\n");
497
    chprintf(stream, "    Possible OPTs are:\n");
498
    chprintf(stream, "      year\n");
499
    chprintf(stream, "      month\n");
500
    chprintf(stream, "      day\n");
501
    chprintf(stream, "      hour\n");
502
    chprintf(stream, "      minute\n");
503
    chprintf(stream, "      second\n");
504
#endif /* HAL_USE_RTC == TRUE */
505
  }
506

    
507
  return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval;
508
}
509

    
510
/**
511
 * @brief   Callback function for the system:info shell command.
512
 *
513
 * @param[in] stream    The I/O stream to use.
514
 * @param[in] argc      Number of arguments.
515
 * @param[in] argv      List of pointers to the arguments.
516
 *
517
 * @return            An exit status.
518
 * @retval  AOS_OK    The command was executed successfully.
519
 */
520
static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[])
521
{
522
  aosDbgCheck(stream != NULL);
523

    
524
  (void)argc;
525
  (void)argv;
526

    
527
  // print system information
528
  _printSystemInfo(stream);
529

    
530
  // print time measurement precision
531
  chprintf(stream, "module time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
532

    
533
  // print system uptime
534
  aos_timestamp_t uptime;
535
  aosSysGetUptime(&uptime);
536
  chprintf(stream, "The system is running for\n");
537
  chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
538
  chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
539
  chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
540
  chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
541
  chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
542
  chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
543
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)
544
  chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", _syssyncskew, AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
545
#endif /* AMIROOS_CFG_SSSP_MASTER != true && AMIROOS_CFG_PROFILE == true */
546
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
547

    
548
  // print shell info
549
  chprintf(stream, "System shell information:\n");
550
  chprintf(stream, "\tcommands available:     %u\n", aosShellCountCommands(&aos.shell));
551
  chprintf(stream, "\tline width:             %u characters\n", aos.shell.linesize);
552
  chprintf(stream, "\tmaximum arguments:      %u\n", aos.shell.arglistsize);
553
#if (AMIROOS_CFG_DBG == true)
554
  chprintf(stream, "\tthread stack size:      %u bytes\n", aosThdGetStacksize(aos.shell.thread));
555
#if (CH_DBG_FILL_THREADS == TRUE)
556
  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);
557
#endif /* CH_DBG_FILL_THREADS == TRUE */
558
#endif /* AMIROOS_CFG_DBG == true */
559
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
560

    
561
  return AOS_OK;
562
}
563

    
564
/**
565
 * @brief   Callback function for the sytem:shutdown shell command.
566
 *
567
 * @param[in] stream    The I/O stream to use.
568
 * @param[in] argc      Number of arguments.
569
 * @param[in] argv      List of pointers to the arguments.
570
 *
571
 * @return              An exit status.
572
 * @retval  AOS_OK                  The command was executed successfully.
573
 * @retval  AOS_INVALID_ARGUMENTS   There was an issue with the arguments.
574
 */
575
static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[])
576
{
577
  aosDbgCheck(stream != NULL);
578

    
579
#if (AMIROOS_CFG_SSSP_ENABLE == true)
580
  // print help text
581
  if (argc != 2 || strcmp(argv[1], "--help") == 0) {
582
    chprintf(stream, "Usage: %s OPTION\n", argv[0]);
583
    chprintf(stream, "Options:\n");
584
    chprintf(stream, "  --help\n");
585
    chprintf(stream, "    Print this help text.\n");
586
    chprintf(stream, "  --hibernate, -h\n");
587
    chprintf(stream, "    Shutdown to hibernate mode.\n");
588
    chprintf(stream, "    Least energy saving, but allows charging via pins.\n");
589
    chprintf(stream, "  --deepsleep, -d\n");
590
    chprintf(stream, "    Shutdown to deepsleep mode.\n");
591
    chprintf(stream, "    Minimum energy consumption while allowing charging via plug.\n");
592
    chprintf(stream, "  --transportation, -t\n");
593
    chprintf(stream, "    Shutdown to transportation mode.\n");
594
    chprintf(stream, "    Minimum energy consumption with all interrupts disabled (no charging).\n");
595
    chprintf(stream, "  --restart, -r\n");
596
    chprintf(stream, "    Shutdown and restart system.\n");
597

    
598
    return (argc != 2) ? AOS_INVALID_ARGUMENTS : AOS_OK;
599
  }
600
  // handle argument
601
  else {
602
    if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) {
603
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE);
604
      chThdTerminate(chThdGetSelfX());
605
      return AOS_OK;
606
    }
607
    else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) {
608
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP);
609
      chThdTerminate(chThdGetSelfX());
610
      return AOS_OK;
611
    }
612
    else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) {
613
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION);
614
      chThdTerminate(chThdGetSelfX());
615
      return AOS_OK;
616
    }
617
    else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) {
618
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART);
619
      chThdTerminate(chThdGetSelfX());
620
      return AOS_OK;
621
    }
622
    else {
623
      chprintf(stream, "unknown argument %s\n", argv[1]);
624
      return AOS_INVALID_ARGUMENTS;
625
    }
626
  }
627
#else /* AMIROOS_CFG_SSSP_ENABLE == false */
628
  (void)argv;
629
  (void)argc;
630

    
631
  chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN);
632
  chThdTerminate(chThdGetSelfX());
633
  return AOS_OK;
634
#endif /* AMIROOS_CFG_SSSP_ENABLE */
635
}
636

    
637
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
638
/**
639
 * @brief   Callback function for the kernel:test shell command.
640
 *
641
 * @param[in] stream    The I/O stream to use.
642
 * @param[in] argc      Number of arguments.
643
 * @param[in] argv      List of pointers to the arguments.
644
 *
645
 * @return      An exit status.
646
 */
647
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[])
648
{
649
  aosDbgCheck(stream != NULL);
650

    
651
  (void)argc;
652
  (void)argv;
653

    
654
  msg_t retval = test_execute(stream, &rt_test_suite);
655

    
656
  return retval;
657
}
658
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
659
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
660

    
661
// suppress warning in case no interrupt GPIOs are defined
662
#pragma GCC diagnostic push
663
#pragma GCC diagnostic ignored "-Wunused-function"
664
/**
665
 * @brief   Generic callback function for GPIO interrupts.
666
 *
667
 * @param[in] args   Pointer to the GPIO pad identifier.
668
 */
669
static void _intCallback(void* args)
670
{
671
  aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8));
672

    
673
  chSysLockFromISR();
674
  chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(*((iopadid_t*)args)));
675
  chSysUnlockFromISR();
676

    
677
  return;
678
}
679
#pragma GCC diagnostic pop
680

    
681
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true)) || defined(__DOXYGEN__)
682
/**
683
 * @brief   Callback function for the Sync signal interrupt.
684
 *
685
 * @param[in] args   Pointer to the GPIO pad identifier.
686
 */
687
static void _signalSyncCallback(void *args)
688
{
689
  aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8));
690

    
691
  apalControlGpioState_t s_state;
692
  aos_timestamp_t uptime;
693

    
694
  chSysLockFromISR();
695
  // if the system is in operation phase
696
  if (aos.sssp.stage == AOS_SSSP_OPERATION) {
697
    // read signal S
698
    apalControlGpioGet(&moduleSsspGpioSync, &s_state);
699
    // if S was toggled from on to off
700
    if (s_state == APAL_GPIO_OFF) {
701
      // get current uptime
702
      aosSysGetUptimeX(&uptime);
703
      // align the uptime with the synchronization period
704
      if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) {
705
        _uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD;
706
#if (AMIROOS_CFG_PROFILE == true)
707
        _syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) + (SYSTEM_SYSSYNCSKEW_LPFACTOR * (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD));
708
#endif
709
      } else {
710
        _uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
711
#if (AMIROOS_CFG_PROFILE == true)
712
        _syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) - (SYSTEM_SYSSYNCSKEW_LPFACTOR * (AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD)));
713
#endif
714
      }
715
    }
716
  }
717
  // broadcast event
718
  chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(*((iopadid_t*)args)));
719
  chSysUnlockFromISR();
720

    
721
  return;
722
}
723
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) */
724

    
725
/**
726
 * @brief   Callback function for the uptime accumulation timer.
727
 *
728
 * @param[in] par   Generic parameter.
729
 */
730
static void _uptimeCallback(void* par)
731
{
732
  (void)par;
733

    
734
  chSysLockFromISR();
735
  // read current time in system ticks
736
  register const systime_t st = chVTGetSystemTimeX();
737
  // update the uptime variables
738
  _uptime += chTimeI2US(chTimeDiffX(_synctime, st));
739
  _synctime = st;
740
  // enable the timer again
741
  chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
742
  chSysUnlockFromISR();
743

    
744
  return;
745
}
746

    
747
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined (__DOXYGEN__)
748
/**
749
 * @brief   Periodic system synchronization callback function.
750
 * @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.
751
 *
752
 * @param[in] par   Unuesed parameters.
753
 */
754
static void _sysSyncTimerCallback(void* par)
755
{
756
  (void)par;
757

    
758
  apalControlGpioState_t s_state;
759
  aos_timestamp_t uptime;
760

    
761
  chSysLockFromISR();
762
  // toggle and read signal S
763
  apalGpioToggle(moduleSsspGpioSync.gpio);
764
  apalControlGpioGet(&moduleSsspGpioSync, &s_state);
765
  // if S was toggled from off to on
766
  if (s_state == APAL_GPIO_ON) {
767
    // reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
768
    _syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD;
769
    aosSysGetUptimeX(&uptime);
770
    chVTSetI(&_syssynctimer, chTimeUS2I(_syssynctime - uptime), _sysSyncTimerCallback, NULL);
771
  }
772
  // if S was toggled from on to off
773
  else /* if (s_state == APAL_GPIO_OFF) */ {
774
    // reconfigure the timer (lazy)
775
    chVTSetI(&_syssynctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL);
776
  }
777
  chSysUnlockFromISR();
778

    
779
  return;
780
}
781
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */
782

    
783
/******************************************************************************/
784
/* EXPORTED FUNCTIONS                                                         */
785
/******************************************************************************/
786

    
787
/**
788
 * @brief   AMiRo-OS system initialization.
789
 * @note    Must be called from the system control thread (usually main thread).
790
 *
791
 * @param[in] shellPrompt   String to be printed as prompt of the system shell.
792
 */
793
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
794
void aosSysInit(const char* shellPrompt)
795
#else
796
void aosSysInit(void)
797
#endif
798
{
799
  /* set control thread to maximum priority */
800
  chThdSetPriority(AOS_THD_CTRLPRIO);
801

    
802
  /* set local variables */
803
  chVTObjectInit(&_systimer);
804
#if (AMIROOS_CFG_SSSP_ENABLE == true)
805
  _synctime = 0;
806
  _uptime = 0;
807
#if (AMIROOS_CFG_SSSP_MASTER == true)
808
  chVTObjectInit(&_syssynctimer);
809
  _syssynctime = 0;
810
#endif
811
#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)
812
  _syssyncskew = 0.0f;
813
#endif
814
#else /* AMIROOS_CFG_SSSP_ENABLE == false */
815
  // start the uptime counter
816
  chSysLock();
817
  _synctime = chVTGetSystemTimeX();
818
  _uptime = 0;
819
  chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
820
  chSysUnlock();
821
#endif /* AMIROOS_CFG_SSSP_ENABLE */
822

    
823
  /* initialize aos configuration */
824
#if (AMIROOS_CFG_SSSP_ENABLE == true)
825
  aos.sssp.stage = AOS_SSSP_STARTUP_2_1;
826
  aos.sssp.moduleId = 0;
827
#endif
828
  aosIOStreamInit(&aos.iostream);
829
  chEvtObjectInit(&aos.events.io);
830
  chEvtObjectInit(&aos.events.os);
831

    
832
  /* interrupt setup */
833
#if (AMIROOS_CFG_SSSP_ENABLE == true)
834
  // PD signal
835
  palSetPadCallback(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, _intCallback, &moduleSsspGpioPd.gpio->pad);
836
  palEnablePadEvent(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, APAL2CH_EDGE(moduleSsspGpioPd.meta.edge));
837
  // SYNC signal
838
#if (AMIROOS_CFG_SSSP_MASTER == true)
839
  palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _intCallback, &moduleSsspGpioSync.gpio->pad);
840
#else
841
  palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _signalSyncCallback, &moduleSsspGpioSync.gpio->pad);
842
#endif
843
  palEnablePadEvent(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, APAL2CH_EDGE(moduleSsspGpioSync.meta.edge));
844
#if (AMIROOS_CFG_SSSP_STACK_START != true)
845
  // DN signal
846
  palSetPadCallback(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, _intCallback, &moduleSsspGpioDn.gpio->pad);
847
  palEnablePadEvent(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, APAL2CH_EDGE(moduleSsspGpioDn.meta.edge));
848
#endif
849
#if (AMIROOS_CFG_SSSP_STACK_END != true)
850
  // UP signal
851
  palSetPadCallback(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, _intCallback, &moduleSsspGpioUp.gpio->pad);
852
  palEnablePadEvent(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, APAL2CH_EDGE(moduleSsspGpioUp.meta.edge));
853
#endif
854
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */
855
#ifdef MODULE_INIT_INTERRUPTS
856
  // further interrupt signals
857
  MODULE_INIT_INTERRUPTS();
858
#endif
859

    
860
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)
861
  /* init shell */
862
  aosShellInit(&aos.shell,
863
               &aos.events.os,
864
               shellPrompt,
865
               _shell_line,
866
               AMIROOS_CFG_SHELL_LINEWIDTH,
867
               _shell_arglist,
868
               AMIROOS_CFG_SHELL_MAXARGS);
869
  // add system commands
870
  aosShellAddCommand(&aos.shell, &_shellcmd_config);
871
  aosShellAddCommand(&aos.shell, &_shellcmd_info);
872
  aosShellAddCommand(&aos.shell, &_shellcmd_shutdown);
873
#if (AMIROOS_CFG_TESTS_ENABLE == true)
874
  aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest);
875
#endif
876
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
877

    
878
  return;
879
}
880

    
881
/**
882
 * @brief   Starts the system and all system threads.
883
 */
884
inline void aosSysStart(void)
885
{
886
#if (AMIROOS_CFG_SSSP_ENABLE == true)
887
  // update the system SSSP stage
888
  aos.sssp.stage = AOS_SSSP_OPERATION;
889

    
890
#if (AMIROOS_CFG_SSSP_MASTER == true)
891
  {
892
    chSysLock();
893
    // start the system synchronization counter
894
    // The first iteration of the timer is set to the next 'center' of a 'slice'.
895
    aos_timestamp_t t;
896
    aosSysGetUptimeX(&t);
897
    t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
898
    chVTSetI(&_syssynctimer, chTimeUS2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL);
899
    chSysUnlock();
900
  }
901
#endif
902
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */
903

    
904
  // print system information;
905
  _printSystemInfo((BaseSequentialStream*)&aos.iostream);
906
  aosprintf("\n");
907

    
908
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)
909
  // start system shell thread
910
#if (CH_CFG_USE_THREADHIERARCHY == TRUE)
911
  aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell, &ch.mainthread);
912
#else
913
  aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
914
#endif
915
#endif
916

    
917
  return;
918
}
919

    
920
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)
921
/**
922
 * @brief   Implements the SSSP startup synchronization step.
923
 *
924
 * @param[in] syncEvtListener   Event listener that receives the Sync event.
925
 *
926
 * @return    If another event that the listener is interested in was received, its mask is returned.
927
 *            Otherwise an empty mask (0) is returned.
928
 */
929
eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener)
930
{
931
  aosDbgCheck(syncEvtListener != NULL);
932

    
933
  // local variables
934
  eventmask_t m;
935
  eventflags_t f;
936
  apalControlGpioState_t s;
937

    
938
  // update the system SSSP stage
939
  aos.sssp.stage = AOS_SSSP_STARTUP_2_2;
940

    
941
  // deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase)
942
  apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);
943

    
944
  // wait for any event to occur (do not apply any filter in order not to miss any event)
945
  m = chEvtWaitOne(ALL_EVENTS);
946
  f = chEvtGetAndClearFlags(syncEvtListener);
947
  apalControlGpioGet(&moduleSsspGpioSync, &s);
948

    
949
  // if the event was a system event,
950
  //   and it was fired because of the SysSync control signal,
951
  //   and the SysSync control signal has been deactivated
952
  if (m & syncEvtListener->events &&
953
      f == MODULE_SSSP_EVENTFLAGS_SYNC &&
954
      s == APAL_GPIO_OFF) {
955
    chSysLock();
956
    // start the uptime counter
957
    _synctime = chVTGetSystemTimeX();
958
    _uptime = 0;
959
    chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
960
    chSysUnlock();
961

    
962
    return 0;
963
  }
964
  // an unexpected event occurred
965
  else {
966
    // reassign the flags to the event and return the event mask
967
    syncEvtListener->flags |= f;
968
    return m;
969
  }
970
}
971
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */
972

    
973
/**
974
 * @brief   Retrieves the system uptime.
975
 *
976
 * @param[out] ut   The system uptime.
977
 */
978
inline void aosSysGetUptimeX(aos_timestamp_t* ut)
979
{
980
  aosDbgCheck(ut != NULL);
981

    
982
  *ut = _uptime + chTimeI2US(chTimeDiffX(_synctime, chVTGetSystemTimeX()));
983

    
984
  return;
985
}
986

    
987
#if (HAL_USE_RTC == TRUE) || defined(__DOXYGEN__)
988

    
989
/**
990
 * @brief   retrieves the date and time from the MCU clock.
991
 *
992
 * @param[out] td   The date and time.
993
 */
994
void aosSysGetDateTime(struct tm* dt)
995
{
996
  aosDbgCheck(dt != NULL);
997

    
998
  RTCDateTime rtc;
999
  rtcGetTime(&MODULE_HAL_RTC, &rtc);
1000
  rtcConvertDateTimeToStructTm(&rtc, dt, NULL);
1001

    
1002
  return;
1003
}
1004

    
1005
/**
1006
 * @brief   set the date and time of the MCU clock.
1007
 *
1008
 * @param[in] dt    The date and time to set.
1009
 */
1010
void aosSysSetDateTime(struct tm* dt)
1011
{
1012
  aosDbgCheck(dt != NULL);
1013

    
1014
  RTCDateTime rtc;
1015
  rtcConvertStructTmToDateTime(dt, 0, &rtc);
1016
  rtcSetTime(&MODULE_HAL_RTC, &rtc);
1017

    
1018
  return;
1019
}
1020

    
1021
#endif /* HAL_USE_RTC == TRUE */
1022

    
1023
/**
1024
 * @brief   Initializes/Acknowledges a system shutdown/restart request.
1025
 * @note    This functions should be called from the thread with highest priority.
1026
 *
1027
 * @param[in] shutdown    Type of shutdown.
1028
 */
1029
void aosSysShutdownInit(aos_shutdown_t shutdown)
1030
{
1031
  // check arguments
1032
  aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
1033

    
1034
#if (AMIROOS_CFG_SSSP_ENABLE == true)
1035
#if (AMIROOS_CFG_SSSP_MASTER == true)
1036
  // deactivate the system synchronization timer
1037
  chVTReset(&_syssynctimer);
1038
#endif
1039

    
1040
  // update the system SSSP stage
1041
  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1;
1042

    
1043
  chSysLock();
1044
  // activate the SYS_PD control signal only, if this module initiated the shutdown
1045
  if (shutdown != AOS_SHUTDOWN_PASSIVE) {
1046
    apalControlGpioSet(&moduleSsspGpioPd, APAL_GPIO_ON);
1047
  }
1048
  // activate the SYS_SYNC signal
1049
  apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON);
1050
  chSysUnlock();
1051
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */
1052

    
1053
  switch (shutdown) {
1054
    case AOS_SHUTDOWN_PASSIVE:
1055
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN);
1056
      aosprintf("shutdown request received...\n");
1057
      break;
1058
    case AOS_SHUTDOWN_HIBERNATE:
1059
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE);
1060
      aosprintf("shutdown to hibernate mode...\n");
1061
      break;
1062
    case AOS_SHUTDOWN_DEEPSLEEP:
1063
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP);
1064
      aosprintf("shutdown to deepsleep mode...\n");
1065
      break;
1066
    case AOS_SHUTDOWN_TRANSPORTATION:
1067
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION);
1068
      aosprintf("shutdown to transportation mode...\n");
1069
      break;
1070
    case AOS_SHUTDOWN_RESTART:
1071
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART);
1072
      aosprintf("restarting system...\n");
1073
      break;
1074
    // must never occur
1075
    case AOS_SHUTDOWN_NONE:
1076
    default:
1077
      break;
1078
  }
1079

    
1080
#if (AMIROOS_CFG_SSSP_ENABLE == true)
1081
  // update the system SSSP stage
1082
  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2;
1083
#endif
1084

    
1085
  return;
1086
}
1087

    
1088
/**
1089
 * @brief   Stops the system and all related threads (not the thread this function is called from).
1090
 */
1091
void aosSysStop(void)
1092
{
1093
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)
1094
  chThdWait(aos.shell.thread);
1095
#endif
1096

    
1097
  return;
1098
}
1099

    
1100
/**
1101
 * @brief   Deinitialize all system variables.
1102
 */
1103
void aosSysDeinit(void)
1104
{
1105
  return;
1106
}
1107

    
1108
/**
1109
 * @brief   Finally shuts down the system and calls the bootloader callback function.
1110
 * @note    This function should be called from the thtead with highest priority.
1111
 *
1112
 * @param[in] shutdown    Type of shutdown.
1113
 */
1114
void aosSysShutdownFinal(aos_shutdown_t shutdown)
1115
{
1116
  // check arguments
1117
  aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
1118

    
1119
  // disable all interrupts
1120
  irqDeinit();
1121

    
1122
#if (AMIROOS_CFG_SSSP_ENABLE == true)
1123
  // update the system SSSP stage
1124
  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3;
1125
#endif
1126

    
1127
  // validate bootloader
1128
  if ((BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) &&
1129
      (BL_CALLBACK_TABLE_ADDRESS->vBootloader.major == BL_VERSION_MAJOR) &&
1130
      (BL_CALLBACK_TABLE_ADDRESS->vBootloader.minor >= BL_VERSION_MINOR)) {
1131
    // call bootloader callback depending on arguments
1132
    switch (shutdown) {
1133
      case AOS_SHUTDOWN_PASSIVE:
1134
        BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest();
1135
        break;
1136
      case AOS_SHUTDOWN_HIBERNATE:
1137
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate();
1138
        break;
1139
      case AOS_SHUTDOWN_DEEPSLEEP:
1140
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep();
1141
        break;
1142
      case AOS_SHUTDOWN_TRANSPORTATION:
1143
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation();
1144
        break;
1145
      case AOS_SHUTDOWN_RESTART:
1146
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart();
1147
        break;
1148
      // must never occur
1149
      case AOS_SHUTDOWN_NONE:
1150
      default:
1151
        break;
1152
    }
1153
  } else {
1154
    // fallback if bootloader was found to be invalid
1155
    aosprintf("Bootloader incompatible or not available!\n");
1156
    aosThdMSleep(10);
1157
    chSysDisable();
1158
  }
1159

    
1160
  return;
1161
}
1162

    
1163
/** @} */