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

amiro-os / os / core / src / aos_system.c @ 2674917e

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-            e545e620
+/*
 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/>.
 */
 #include <aos_system.h>
 #include <amiroos.h>
 #include <amiroblt.h>
-aeae
+#include <module.h>
-            e545e620
+#include <string.h>
-aeae
+#include <stdlib.h>
-            e545e620
+#if (AMIROOS_CFG_TESTS_ENABLE == true)
 #include <ch_test.h>
 #endif
 /**
  * @brief   Period of the system timer.
  */
 #define SYSTIMER_PERIOD               (TIME_MAXIMUM - CH_CFG_ST_TIMEDELTA)
 /**
  * @brief   Width of the printable system info text.
  */
 #define SYSTEM_INFO_WIDTH             70
-            ba516b61
+/**
  * @brief   Width of the name column of the system info table.
  */
 #define SYSTEM_INFO_NAMEWIDTH         14
-            e545e620
+/* 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
-e1a9c79
+#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
-            2674917e
+/**
  * @brief   Offset between local clock and system wide synchronization signal.
  */
-e1a9c79
+static float _syssyncskew;
-            2674917e
+            Thomas Schöpping
 /**
  * @brief   Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value.
  */
-e1a9c79
+#define SYSTEM_SYSSYNCSKEW_LPFACTOR   (0.1f / AOS_SYSTEM_TIME_RESOLUTION)
 #endif
-            e545e620
+#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.
  */
-b53f6bf
+aos_system_t aos;
-            e545e620
+            Thomas Schöpping
 /**
  * @brief   Print a separator line.
+ *
-            ba516b61
+ * @param[in] stream    Stream to print to or NULL to print to all system streams.
-            e545e620
+ * @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.
+ *
-            ba516b61
+ * @param[in] stream      Stream to print to or NULL to print to all system streams.
-            e545e620
+ * @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);
-            ba516b61
+  aosDbgCheck(name != NULL);
-            e545e620
+            Thomas Schöpping
   unsigned int n = 0;
-            ba516b61
+  va_list ap;
-            e545e620
+            Thomas Schöpping
-            ba516b61
+  va_start(ap, fmt);
-            e545e620
+  n += chprintf(stream, name);
   while (n < namewidth) {
     streamPut(stream, ' ');
     ++n;
+  }
   n += chvprintf(stream, fmt, ap);
   va_end(ap);
-df08e
+  streamPut(stream, '\n');
   ++n;
-            e545e620
+  return n;
+}
 /**
  * @brief   Prints information about the system.
+ *
  * @param[in] stream    Stream to print to.
  */
-            ba516b61
+static void _printSystemInfo(BaseSequentialStream* stream)
-            e545e620
+            Thomas Schöpping
   aosDbgCheck(stream != NULL);
-df08e
+  // local variables
   struct tm dt;
   aosSysGetDateTime(&dt);
   // print static information about module and operating system
-            e545e620
+  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
-df08e
+  _printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s (v%s)", BOARD_NAME, BOARD_VERSION);
-            e545e620
+#ifdef PLATFORM_NAME
-df08e
+  _printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME);
-            e545e620
+#endif
 #ifdef PORT_CORE_VARIANT_NAME
-df08e
+  _printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME);
-            e545e620
+#endif
-df08e
+  _printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME);
-            e545e620
+  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
-df08e
+  _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
-            e545e620
+  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
   if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
-df08e
+    _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,
-            e545e620
+                         (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);
-df08e
+    if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_MAJOR) {
-            ba516b61
+      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");
+      }
+    }
-df08e
+    _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
-            e545e620
+  } else {
-            ba516b61
+    if (stream) {
       chprintf(stream, "Bootloader incompatible or not available.\n");
     } else {
       aosprintf("Bootloader incompatible or not available.\n");
+    }
-            e545e620
+            Thomas Schöpping
-df08e
+            Thomas Schöpping
   // print dynamic information about the module
-aeae
+  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
-df08e
+  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",
-aeae
+                       dt.tm_mday,
                        dt.tm_mon + 1,
                        dt.tm_year + 1900);
-df08e
+  _printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u", dt.tm_hour, dt.tm_min, dt.tm_sec);
-            e545e620
+  _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[])
+{
-            ba516b61
+  aosDbgCheck(stream != NULL);
-            e545e620
+  // 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) {
-b53f6bf
+              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL;
-            e545e620
+              retval = AOS_OK;
+            }
             else if (strcmp(argv[3], "minimal") == 0) {
-b53f6bf
+              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL;
-            e545e620
+              retval = AOS_OK;
+            }
             else if (strcmp(argv[3], "notime") == 0) {
-b53f6bf
+              aos.shell.config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME);
-            e545e620
+              retval = AOS_OK;
+            }
             else if (strcmp(argv[3], "uptime") == 0) {
-b53f6bf
+              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME;
               aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_UPTIME;
-            e545e620
+              retval = AOS_OK;
+            }
-aeae
+            else if (strcmp(argv[3], "date&time") == 0) {
-b53f6bf
+              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME;
               aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME;
-aeae
+              retval = AOS_OK;
+            }
             else {
               chprintf(stream, "unknown option '%s'\n", argv[3]);
               return AOS_INVALID_ARGUMENTS;
+            }
-            e545e620
+            Thomas Schöpping
+        }
         // 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) {
-b53f6bf
+              aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE;
-            e545e620
+              retval = AOS_OK;
+            }
             else if (strcmp(argv[3], "caseinsensitive") == 0) {
-b53f6bf
+              aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE;
-            e545e620
+              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",
-b53f6bf
+                 (aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a");
-aeae
+        char time[10];
-b53f6bf
+        switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
-aeae
+          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;
+        }
-            e545e620
+        chprintf(stream, "  prompt style:  %s, %s\n",
-b53f6bf
+                 (aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text",
-aeae
+                 time);
-            e545e620
+        chprintf(stream, "  input method:  %s\n",
-b53f6bf
+                 (aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert");
-            e545e620
+        chprintf(stream, "  text matching: %s\n",
-b53f6bf
+                 (aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive");
-            e545e620
+        retval = AOS_OK;
+      }
+    }
-aeae
+    // 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;
+    }
-            e545e620
+            Thomas Schöpping
   // 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");
-aeae
+    chprintf(stream, "      prompt text|minimal|uptime|date&time|notime\n");
-            e545e620
+    chprintf(stream, "        Configures the prompt.\n");
     chprintf(stream, "      match casesensitive|caseinsenitive\n");
     chprintf(stream, "        Configures string matching.\n");
-aeae
+    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");
-            e545e620
+            Thomas Schöpping
   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[])
+{
-            ba516b61
+  aosDbgCheck(stream != NULL);
-            e545e620
+  (void)argc;
   (void)argv;
   // print system information
   _printSystemInfo(stream);
   // print time measurement precision
-e1a9c79
+  chprintf(stream, "module time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
-            e545e620
+            Thomas Schöpping
   // 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));
-e1a9c79
+#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);
-            e545e620
+            Thomas Schöpping
   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[])
+{
-            ba516b61
+  aosDbgCheck(stream != NULL);
-            e545e620
+  // 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) {
-b53f6bf
+      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE);
-            ba516b61
+      chThdTerminate(currp);
-            e545e620
+      return AOS_OK;
+    }
     else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) {
-b53f6bf
+      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP);
-            ba516b61
+      chThdTerminate(currp);
-            e545e620
+      return AOS_OK;
+    }
     else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) {
-b53f6bf
+      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION);
-            ba516b61
+      chThdTerminate(currp);
-            e545e620
+      return AOS_OK;
+    }
     else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) {
-b53f6bf
+      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART);
-            ba516b61
+      chThdTerminate(currp);
-            e545e620
+      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[])
+{
-            ba516b61
+  aosDbgCheck(stream != NULL);
-            e545e620
+  (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);
   chThdSetPriority(prio);
   return retval;
+}
 #endif /* AMIROOS_CFG_TESTS_ENABLE == true */
 /**
  * @brief   Callback function for the PD signal interrupt.
+ *
  * @param[in] extp      Pointer to the interrupt driver object.
  * @param[in] channel   Interrupt channel identifier.
  */
 static void _signalPdCallback(EXTDriver* extp, expchannel_t channel)
+{
   (void)extp;
   chSysLockFromISR();
-b53f6bf
+  chEvtBroadcastFlagsI(&aos.events.io, (1 << channel));
-            e545e620
+  chSysUnlockFromISR();
   return;
+}
 /**
  * @brief   Callback function for the Sync signal interrupt.
+ *
  * @param[in] extp      Pointer to the interrupt driver object.
  * @param[in] channel   Interrupt channel identifier.
  */
 static void _signalSyncCallback(EXTDriver* extp, expchannel_t channel)
+{
   (void)extp;
 #if (AMIROOS_CFG_SSSP_MASTER == true)
   chSysLockFromISR();
-b53f6bf
+  chEvtBroadcastFlagsI(&aos.events.io, (1 << channel));
-            e545e620
+  chSysUnlockFromISR();
 #else
   apalControlGpioState_t s_state;
   aos_timestamp_t uptime;
   chSysLockFromISR();
-fadc
+  // 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;
-e1a9c79
+#if (AMIROOS_CFG_PROFILE == true)
         _syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) + (SYSTEM_SYSSYNCSKEW_LPFACTOR * (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD));
 #endif
-fadc
+      } else {
         _uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
-e1a9c79
+#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
-fadc
+            Thomas Schöpping
-            e545e620
+            Thomas Schöpping
+  }
   // broadcast event
-b53f6bf
+  chEvtBroadcastFlagsI(&aos.events.io, (1 << channel));
-            e545e620
+  chSysUnlockFromISR();
 #endif
   return;
+}
 /**
  * @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 += LL_ST2US(st - _synctime);
   _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();
-fadc
+  // toggle and read signal S
   apalGpioToggle(moduleSsspGpioSync.gpio);
-b53f6bf
+  apalControlGpioGet(&moduleSsspGpioSync, &s_state);
-            e545e620
+  // 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, LL_US2ST(_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, LL_US2ST(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.
  */
-b53f6bf
+#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
 void aosSysInit(const char* shellPrompt)
 #else
 void aosSysInit(void)
 #endif
-            e545e620
+            Thomas Schöpping
   // set control thread to maximum priority
-abac1
+  chThdSetPriority(AOS_THD_CTRLPRIO);
-            e545e620
+            Thomas Schöpping
   // set local variables
   chVTObjectInit(&_systimer);
   _synctime = 0;
   _uptime = 0;
 #if (AMIROOS_CFG_SSSP_MASTER == true)
   chVTObjectInit(&_syssynctimer);
   _syssynctime = 0;
 #endif
-e1a9c79
+#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)
   _syssyncskew = 0.0f;
 #endif
-            e545e620
+            Thomas Schöpping
   // set aos configuration
-b53f6bf
+  aos.sssp.stage = AOS_SSSP_STARTUP_2_1;
   aos.sssp.moduleId = 0;
-            ba516b61
+  aosIOStreamInit(&aos.iostream);
-b53f6bf
+  chEvtObjectInit(&aos.events.io);
   chEvtObjectInit(&aos.events.os);
-            e545e620
+            Thomas Schöpping
   // setup external interrupt system
-b53f6bf
+  moduleHalExtConfig.channels[moduleSsspGpioPd.gpio->pad].cb = _signalPdCallback;
   moduleHalExtConfig.channels[moduleSsspGpioSync.gpio->pad].cb = _signalSyncCallback;
   extStart(&MODULE_HAL_EXT, &moduleHalExtConfig);
-            e545e620
+            Thomas Schöpping
 #if (AMIROOS_CFG_SHELL_ENABLE == true)
   // init shell
-b53f6bf
+  aosShellInit(&aos.shell,
                &aos.events.os,
-            e545e620
+               shellPrompt,
                _shell_line,
                AMIROOS_CFG_SHELL_LINEWIDTH,
                _shell_arglist,
                AMIROOS_CFG_SHELL_MAXARGS);
   // add system commands
-b53f6bf
+  aosShellAddCommand(&aos.shell, &_shellcmd_config);
   aosShellAddCommand(&aos.shell, &_shellcmd_info);
   aosShellAddCommand(&aos.shell, &_shellcmd_shutdown);
-            e545e620
+#if (AMIROOS_CFG_TESTS_ENABLE == true)
-b53f6bf
+  aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest);
-            e545e620
+#endif
 #endif
   return;
+}
 /**
  * @brief   Starts the system and all system threads.
  */
 inline void aosSysStart(void)
+{
   // update the system SSSP stage
-b53f6bf
+  aos.sssp.stage = AOS_SSSP_OPERATION;
-            e545e620
+            Thomas Schöpping
-fadc
+#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, LL_US2ST((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL);
     chSysUnlock();
+  }
 #endif
-            ba516b61
+  // print system information;
   _printSystemInfo((BaseSequentialStream*)&aos.iostream);
-            e545e620
+  aosprintf("\n");
 #if (AMIROOS_CFG_SHELL_ENABLE == true)
   // start system shell thread
-b53f6bf
+  aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
-            e545e620
+#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
-b53f6bf
+  aos.sssp.stage = AOS_SSSP_STARTUP_2_2;
-            e545e620
+            Thomas Schöpping
   // deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase)
-b53f6bf
+  apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);
-            e545e620
+            Thomas Schöpping
   // 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);
-b53f6bf
+  apalControlGpioGet(&moduleSsspGpioSync, &s);
-            e545e620
+            Thomas Schöpping
   // 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 &&
-b53f6bf
+      f == MODULE_SSSP_EVENTFLAGS_SYNC &&
-            e545e620
+      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 + LL_ST2US(chVTGetSystemTimeX() - _synctime);
   return;
+}
 /**
-aeae
+ * @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;
+}
 /**
-            e545e620
+ * @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
-b53f6bf
+  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1;
-            e545e620
+            Thomas Schöpping
   // activate the SYS_PD control signal only, if this module initiated the shutdown
   chSysLock();
   if (shutdown != AOS_SHUTDOWN_PASSIVE) {
-b53f6bf
+    apalControlGpioSet(&moduleSsspGpioPd, APAL_GPIO_ON);
-            e545e620
+            Thomas Schöpping
   // activate the SYS_SYNC signal
-b53f6bf
+  apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON);
-            e545e620
+  chSysUnlock();
   switch (shutdown) {
     case AOS_SHUTDOWN_PASSIVE:
-b53f6bf
+      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN);
-            e545e620
+      aosprintf("shutdown request received...\n");
       break;
     case AOS_SHUTDOWN_HIBERNATE:
-b53f6bf
+      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE);
-            e545e620
+      aosprintf("shutdown to hibernate mode...\n");
       break;
     case AOS_SHUTDOWN_DEEPSLEEP:
-b53f6bf
+      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP);
-            e545e620
+      aosprintf("shutdown to deepsleep mode...\n");
       break;
     case AOS_SHUTDOWN_TRANSPORTATION:
-b53f6bf
+      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION);
-            e545e620
+      aosprintf("shutdown to transportation mode...\n");
       break;
     case AOS_SHUTDOWN_RESTART:
-b53f6bf
+      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART);
-            e545e620
+      aosprintf("restarting system...\n");
       break;
    // must never occur
    case AOS_SHUTDOWN_NONE:
    default:
       break;
+  }
   // update the system SSSP stage
-b53f6bf
+  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2;
-            e545e620
+            Thomas Schöpping
   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)
-b53f6bf
+  chThdWait(aos.shell.thread);
-            e545e620
+#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] extDrv      Pointer to the interrupt driver.
  * @param[in] shutdown    Type of shutdown.
  */
 void aosSysShutdownFinal(EXTDriver* extDrv, aos_shutdown_t shutdown)
+{
   // check arguments
   aosDbgCheck(extDrv != NULL);
   aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
   // stop external interrupt system
   extStop(extDrv);
   // update the system SSSP stage
-b53f6bf
+  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3;
-            e545e620
+            Thomas Schöpping
   // 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;
+}