amiro-os / os / core / src / aos_system.c @ 2674917e
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | #include <aos_system.h> |
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20 | |||
21 | #include <amiroos.h> |
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22 | #include <amiroblt.h> |
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23 | 8399aeae | Thomas Schöpping | #include <module.h> |
24 | e545e620 | Thomas Schöpping | #include <string.h> |
25 | 8399aeae | Thomas Schöpping | #include <stdlib.h> |
26 | e545e620 | Thomas Schöpping | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
27 | #include <ch_test.h> |
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28 | #endif
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29 | |||
30 | /**
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31 | * @brief Period of the system timer.
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32 | */
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33 | #define SYSTIMER_PERIOD (TIME_MAXIMUM - CH_CFG_ST_TIMEDELTA)
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34 | |||
35 | /**
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36 | * @brief Width of the printable system info text.
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37 | */
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38 | #define SYSTEM_INFO_WIDTH 70 |
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39 | |||
40 | ba516b61 | Thomas Schöpping | /**
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41 | * @brief Width of the name column of the system info table.
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42 | */
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43 | #define SYSTEM_INFO_NAMEWIDTH 14 |
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44 | |||
45 | e545e620 | Thomas Schöpping | /* forward declarations */
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46 | static void _printSystemInfo(BaseSequentialStream* stream); |
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47 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
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48 | static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]); |
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49 | static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]); |
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50 | static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]); |
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51 | #endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
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52 | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
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53 | static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]); |
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54 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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55 | |||
56 | /**
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57 | * @brief Timer to accumulate system uptime.
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58 | */
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59 | static virtual_timer_t _systimer;
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60 | |||
61 | /**
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62 | * @brief Accumulated system uptime.
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63 | */
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64 | static aos_timestamp_t _uptime;
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65 | |||
66 | /**
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67 | * @brief Timer register value of last accumulation.
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68 | */
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69 | static systime_t _synctime;
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70 | |||
71 | #if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__) |
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72 | /**
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73 | * @brief Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP.
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74 | */
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75 | static virtual_timer_t _syssynctimer;
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76 | |||
77 | /**
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78 | * @brief Last uptime of system wide time synchronization.
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79 | */
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80 | static aos_timestamp_t _syssynctime;
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81 | #endif
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82 | |||
83 | 3e1a9c79 | Thomas Schöpping | #if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
84 | 2674917e | Thomas Schöpping | /**
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85 | * @brief Offset between local clock and system wide synchronization signal.
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86 | */
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87 | 3e1a9c79 | Thomas Schöpping | static float _syssyncskew; |
88 | 2674917e | Thomas Schöpping | |
89 | /**
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90 | * @brief Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value.
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91 | */
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92 | 3e1a9c79 | Thomas Schöpping | #define SYSTEM_SYSSYNCSKEW_LPFACTOR (0.1f / AOS_SYSTEM_TIME_RESOLUTION) |
93 | #endif
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94 | |||
95 | e545e620 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
96 | /**
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97 | * @brief Shell thread working area.
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98 | */
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99 | THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE); |
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100 | |||
101 | /**
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102 | * @brief Shell input buffer.
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103 | */
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104 | static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH]; |
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105 | |||
106 | /**
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107 | * @brief Shell argument buffer.
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108 | */
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109 | static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS]; |
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110 | |||
111 | /**
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112 | * @brief Shell command to retrieve system information.
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113 | */
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114 | static aos_shellcommand_t _shellcmd_info = {
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115 | /* name */ "module:info", |
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116 | /* callback */ _shellcmd_infocb,
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117 | /* next */ NULL, |
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118 | }; |
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119 | |||
120 | /**
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121 | * @brief Shell command to set or retrieve system configuration.
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122 | */
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123 | static aos_shellcommand_t _shellcmd_config = {
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124 | /* name */ "module:config", |
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125 | /* callback */ _shellcmd_configcb,
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126 | /* next */ NULL, |
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127 | }; |
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128 | |||
129 | /**
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130 | * @brief Shell command to shutdown the system.
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131 | */
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132 | static aos_shellcommand_t _shellcmd_shutdown = {
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133 | /* name */ "system:shutdown", |
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134 | /* callback */ _shellcmd_shutdowncb,
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135 | /* next */ NULL, |
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136 | }; |
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137 | #endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
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138 | |||
139 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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140 | /**
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141 | * @brief Shell kommand to run a test of the ChibiOS/RT kernel.
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142 | */
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143 | static aos_shellcommand_t _shellcmd_kerneltest = {
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144 | /* name */ "kernel:test", |
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145 | /* callback */ _shellcmd_kerneltestcb,
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146 | /* next */ NULL, |
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147 | }; |
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148 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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149 | |||
150 | /**
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151 | * @brief Global system object.
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152 | */
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153 | 6b53f6bf | Thomas Schöpping | aos_system_t aos; |
154 | e545e620 | Thomas Schöpping | |
155 | /**
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156 | * @brief Print a separator line.
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157 | *
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158 | ba516b61 | Thomas Schöpping | * @param[in] stream Stream to print to or NULL to print to all system streams.
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159 | e545e620 | Thomas Schöpping | * @param[in] c Character to use.
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160 | * @param[in] n Length of the separator line.
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161 | *
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162 | * @return Number of characters printed.
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163 | */
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164 | static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n) |
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165 | { |
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166 | aosDbgCheck(stream != NULL);
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167 | |||
168 | // print the specified character n times
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169 | for (unsigned int i = 0; i < n; ++i) { |
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170 | streamPut(stream, c); |
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171 | } |
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172 | streamPut(stream, '\n');
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173 | |||
174 | return n+1; |
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175 | } |
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176 | |||
177 | /**
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178 | * @brief Print a system information line.
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179 | * @details Prints a system information line with the following format:
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180 | * "<name>[spaces]fmt"
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181 | * The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.
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182 | * Note that there is not trailing newline added implicitely.
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183 | *
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184 | ba516b61 | Thomas Schöpping | * @param[in] stream Stream to print to or NULL to print to all system streams.
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185 | e545e620 | Thomas Schöpping | * @param[in] name Name of the entry/line.
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186 | * @param[in] namewidth Width of the name column.
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187 | * @param[in] fmt Formatted string of information content.
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188 | *
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189 | * @return Number of characters printed.
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190 | */
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191 | static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...) |
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192 | { |
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193 | aosDbgCheck(stream != NULL);
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194 | ba516b61 | Thomas Schöpping | aosDbgCheck(name != NULL);
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195 | e545e620 | Thomas Schöpping | |
196 | unsigned int n = 0; |
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197 | ba516b61 | Thomas Schöpping | va_list ap; |
198 | e545e620 | Thomas Schöpping | |
199 | ba516b61 | Thomas Schöpping | va_start(ap, fmt); |
200 | e545e620 | Thomas Schöpping | n += chprintf(stream, name); |
201 | while (n < namewidth) {
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202 | streamPut(stream, ' ');
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203 | ++n; |
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204 | } |
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205 | n += chvprintf(stream, fmt, ap); |
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206 | va_end(ap); |
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207 | |||
208 | 933df08e | Thomas Schöpping | streamPut(stream, '\n');
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209 | ++n; |
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210 | |||
211 | e545e620 | Thomas Schöpping | return n;
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212 | } |
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213 | |||
214 | /**
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215 | * @brief Prints information about the system.
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216 | *
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217 | * @param[in] stream Stream to print to.
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218 | */
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219 | ba516b61 | Thomas Schöpping | static void _printSystemInfo(BaseSequentialStream* stream) |
220 | e545e620 | Thomas Schöpping | { |
221 | aosDbgCheck(stream != NULL);
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222 | |||
223 | 933df08e | Thomas Schöpping | // local variables
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224 | struct tm dt;
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225 | aosSysGetDateTime(&dt); |
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226 | |||
227 | // print static information about module and operating system
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228 | e545e620 | Thomas Schöpping | _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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229 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s (v%s)", BOARD_NAME, BOARD_VERSION); |
230 |