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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018 Thomas Schöpping et al.
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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.
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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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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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/**
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* @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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*/
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#include <aos_system.h>
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#include <amiroos.h>
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#include <amiroblt.h>
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#include <module.h>
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#include <string.h>
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#include <stdlib.h>
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#if (AMIROOS_CFG_TESTS_ENABLE == true)
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#include <ch_test.h>
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#include <rt_test_root.h>
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#endif
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/**
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* @brief Period of the system timer.
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*/
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#define SYSTIMER_PERIOD (TIME_MAX_SYSTIME - CH_CFG_ST_TIMEDELTA)
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/**
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* @brief Width of the printable system info text.
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*/
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#define SYSTEM_INFO_WIDTH 70
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/**
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* @brief Width of the name column of the system info table.
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*/
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#define SYSTEM_INFO_NAMEWIDTH 14
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/* forward declarations */
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static void _printSystemInfo(BaseSequentialStream* stream);
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#if (AMIROOS_CFG_SHELL_ENABLE == true)
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static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]);
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static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]);
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static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]);
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#if (AMIROOS_CFG_TESTS_ENABLE == true)
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static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]);
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#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
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#endif /* AMIROOS_CFG_SHELL_ENABLE == true */
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/**
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* @brief Timer to accumulate system uptime.
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*/
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static virtual_timer_t _systimer;
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/**
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* @brief Accumulated system uptime.
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*/
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static aos_timestamp_t _uptime;
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/**
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* @brief Timer register value of last accumulation.
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*/
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static systime_t _synctime;
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#if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__)
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/**
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* @brief Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP.
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*/
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static virtual_timer_t _syssynctimer;
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/**
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* @brief Last uptime of system wide time synchronization.
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*/
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static aos_timestamp_t _syssynctime;
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#endif
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#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
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/**
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* @brief Offset between local clock and system wide synchronization signal.
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*/
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static float _syssyncskew;
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/**
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* @brief Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value.
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*/
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#define SYSTEM_SYSSYNCSKEW_LPFACTOR (0.1f / AOS_SYSTEM_TIME_RESOLUTION)
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#endif
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
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/**
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* @brief Shell thread working area.
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*/
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THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE);
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/**
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* @brief Shell input buffer.
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*/
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static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH];
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/**
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* @brief Shell argument buffer.
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*/
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static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS];
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/**
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* @brief Shell command to retrieve system information.
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*/
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static aos_shellcommand_t _shellcmd_info = {
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/* name */ "module:info",
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/* callback */ _shellcmd_infocb,
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/* next */ NULL,
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};
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/**
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* @brief Shell command to set or retrieve system configuration.
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*/
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static aos_shellcommand_t _shellcmd_config = {
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/* name */ "module:config",
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/* callback */ _shellcmd_configcb,
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/* next */ NULL,
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};
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/**
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* @brief Shell command to shutdown the system.
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*/
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static aos_shellcommand_t _shellcmd_shutdown = {
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/* name */ "system:shutdown",
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/* callback */ _shellcmd_shutdowncb,
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/* next */ NULL,
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};
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#endif /* AMIROOS_CFG_SHELL_ENABLE == true */
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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/**
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* @brief Shell kommand to run a test of the ChibiOS/RT kernel.
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*/
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static aos_shellcommand_t _shellcmd_kerneltest = {
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/* name */ "kernel:test",
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/* callback */ _shellcmd_kerneltestcb,
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/* next */ NULL,
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};
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#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
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/**
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* @brief Global system object.
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*/
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aos_system_t aos;
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/**
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* @brief Print a separator line.
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*
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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] c Character to use.
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* @param[in] n Length of the separator line.
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*
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* @return Number of characters printed.
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*/
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static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n)
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{
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aosDbgCheck(stream != NULL);
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// print the specified character n times
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for (unsigned int i = 0; i < n; ++i) {
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streamPut(stream, c);
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}
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streamPut(stream, '\n');
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return n+1;
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}
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/**
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* @brief Print a system information line.
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* @details Prints a system information line with the following format:
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* "<name>[spaces]fmt"
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* The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.
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* Note that there is not trailing newline added implicitely.
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*
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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.
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* @param[in] namewidth Width of the name column.
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* @param[in] fmt Formatted string of information content.
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*
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* @return Number of characters printed.
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*/
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static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...)
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{
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aosDbgCheck(stream != NULL);
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aosDbgCheck(name != NULL);
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unsigned int n = 0;
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va_list ap;
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va_start(ap, fmt);
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n += chprintf(stream, name);
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while (n < namewidth) {
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streamPut(stream, ' ');
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++n;
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}
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n += chvprintf(stream, fmt, ap);
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va_end(ap);
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streamPut(stream, '\n');
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++n;
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return n;
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}
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/**
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* @brief Prints information about the system.
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*
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* @param[in] stream Stream to print to.
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*/
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static void _printSystemInfo(BaseSequentialStream* stream)
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{
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aosDbgCheck(stream != NULL);
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// local variables
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struct tm dt;
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aosSysGetDateTime(&dt);
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// print static information about module and operating system
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_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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_printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s (v%s)", BOARD_NAME, BOARD_VERSION);
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#ifdef PLATFORM_NAME
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_printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME);
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#endif
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#ifdef PORT_CORE_VARIANT_NAME
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_printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME);
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#endif
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_printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME);
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_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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_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);
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_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);
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_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");
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_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");
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_printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s", (AMIROOS_CFG_DBG == true) ? "debug" : "release");
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_printSystemInfoLine(stream, "Compiler" , SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC
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_printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__);
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// print static information about the bootloader
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_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
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_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,
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :
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"<release type unknown>",
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BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor);
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if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_MAJOR) {
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if (stream) {
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chprintf(stream, "WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
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} else {
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aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
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}
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}
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_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
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} else {
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if (stream) {
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chprintf(stream, "Bootloader incompatible or not available.\n");
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} else {
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aosprintf("Bootloader incompatible or not available.\n");
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}
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}
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// print dynamic information about the module
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_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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if (aos.sssp.moduleId != 0) {
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_printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId);
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} else {
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_printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available");
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}
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_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",
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dt.tm_mday,
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dt.tm_mon + 1,
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dt.tm_year + 1900);
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_printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u", dt.tm_hour, dt.tm_min, dt.tm_sec);
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_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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return;
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}
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
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/**
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* @brief Callback function for the system:config shell command.
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*
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* @param[in] stream The I/O stream to use.
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* @param[in] argc Number of arguments.
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* @param[in] argv List of pointers to the arguments.
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*
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* @return An exit status.
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* @retval AOS_OK The command was executed successfuly.
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* @retval AOS_INVALID_ARGUMENTS There was an issue with the arguemnts.
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*/
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static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[])
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{
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aosDbgCheck(stream != NULL);
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// local variables
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int retval = AOS_INVALID_ARGUMENTS;
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// if there are additional arguments
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if (argc > 1) {
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// if the user wants to set or retrieve the shell configuration
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if (strcmp(argv[1], "--shell") == 0) {
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// if the user wants to modify the shell configuration
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if (argc > 2) {
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// if the user wants to modify the prompt
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if (strcmp(argv[2], "prompt") == 0) {
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// there must be a further argument
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if (argc > 3) {
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// handle the option
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if (strcmp(argv[3], "text") == 0) {
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aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL;
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retval = AOS_OK;
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}
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else if (strcmp(argv[3], "minimal") == 0) {
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aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL;
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retval = AOS_OK;
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}
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else if (strcmp(argv[3], "notime") == 0) {
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aos.shell.config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME);
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retval = AOS_OK;
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}
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else if (strcmp(argv[3], "uptime") == 0) {
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aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME;
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aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_UPTIME;
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retval = AOS_OK;
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}
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else if (strcmp(argv[3], "date&time") == 0) {
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aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME;
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aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME;
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retval = AOS_OK;
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}
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else {
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chprintf(stream, "unknown option '%s'\n", argv[3]);
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return AOS_INVALID_ARGUMENTS;
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}
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}
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359 |
}
|
|
360 |
// if the user wants to modify the string matching
|
|
361 |
else if (strcmp(argv[2], "match") == 0) {
|
|
362 |
// there must be a further argument
|
|
363 |
if (argc > 3) {
|
|
364 |
if (strcmp(argv[3], "casesensitive") == 0) {
|
|
365 |
aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE;
|
|
366 |
retval = AOS_OK;
|
|
367 |
}
|
|
368 |
else if (strcmp(argv[3], "caseinsensitive") == 0) {
|
|
369 |
aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE;
|
|
370 |
retval = AOS_OK;
|
|
371 |
}
|
|
372 |
}
|
|
373 |
}
|
|
374 |
}
|
|
375 |
// if the user wants to retrieve the shell configuration
|
|
376 |
else {
|
|
377 |
chprintf(stream, "current shell configuration:\n");
|
|
378 |
chprintf(stream, " prompt text: %s\n",
|
|
379 |
(aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a");
|
|
380 |
char time[10];
|
|
381 |
switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
|
|
382 |
case AOS_SHELL_CONFIG_PROMPT_UPTIME:
|
|
383 |
strcpy(time, "uptime"); break;
|
|
384 |
case AOS_SHELL_CONFIG_PROMPT_DATETIME:
|
|
385 |
strcpy(time, "date&time"); break;
|
|
386 |
default:
|
|
387 |
strcpy(time, "no time"); break;
|
|
388 |
}
|
|
389 |
chprintf(stream, " prompt style: %s, %s\n",
|
|
390 |
(aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text",
|
|
391 |
time);
|
|
392 |
chprintf(stream, " input method: %s\n",
|
|
393 |
(aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert");
|
|
394 |
chprintf(stream, " text matching: %s\n",
|
|
395 |
(aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive");
|
|
396 |
retval = AOS_OK;
|
|
397 |
}
|
|
398 |
}
|
|
399 |
// if the user wants to configure the date or time
|
|
400 |
else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) {
|
|
401 |
struct tm dt;
|
|
402 |
aosSysGetDateTime(&dt);
|
|
403 |
unsigned int val = atoi(argv[3]);
|
|
404 |
if (strcmp(argv[2], "year") == 0) {
|
|
405 |
dt.tm_year = val - 1900;
|
|
406 |
}
|
|
407 |
else if (strcmp(argv[2], "month") == 0 && val <= 12) {
|
|
408 |
dt.tm_mon = val - 1;
|
|
409 |
}
|
|
410 |
else if (strcmp(argv[2], "day") == 0 && val <= 31) {
|
|
411 |
dt.tm_mday = val;
|
|
412 |
}
|
|
413 |
else if (strcmp(argv[2], "hour") == 0 && val < 24) {
|
|
414 |
dt.tm_hour = val;
|
|
415 |
}
|
|
416 |
else if (strcmp(argv[2], "minute") == 0 && val < 60) {
|
|
417 |
dt.tm_min = val;
|
|
418 |
}
|
|
419 |
else if (strcmp(argv[2], "second") == 0 && val < 60) {
|
|
420 |
dt.tm_sec = val;
|
|
421 |
}
|
|
422 |
else {
|
|
423 |
chprintf(stream, "unknown option '%s' or value '%s'\n", argv[2], argv[3]);
|
|
424 |
return AOS_INVALID_ARGUMENTS;
|
|
425 |
}
|
|
426 |
dt.tm_wday = aosTimeDayOfWeekFromDate(dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900) % 7;
|
|
427 |
aosSysSetDateTime(&dt);
|
|
428 |
|
|
429 |
// read and print new date and time
|
|
430 |
aosSysGetDateTime(&dt);
|
|
431 |
chprintf(stream, "date/time set to %02u:%02u:%02u @ %02u-%02u-%04u\n",
|
|
432 |
dt.tm_hour, dt.tm_min, dt.tm_sec,
|
|
433 |
dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900);
|
|
434 |
|
|
435 |
retval = AOS_OK;
|
|
436 |
}
|
|
437 |
}
|
|
438 |
|
|
439 |
// print help, if required
|
|
440 |
if (retval == AOS_INVALID_ARGUMENTS) {
|
|
441 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]);
|
|
442 |
chprintf(stream, "Options:\n");
|
|
443 |
chprintf(stream, " --help\n");
|
|
444 |
chprintf(stream, " Print this help text.\n");
|
|
445 |
chprintf(stream, " --shell [OPT [VAL]]\n");
|
|
446 |
chprintf(stream, " Set or retrieve shell configuration.\n");
|
|
447 |
chprintf(stream, " Possible OPTs and VALs are:\n");
|
|
448 |
chprintf(stream, " prompt text|minimal|uptime|date&time|notime\n");
|
|
449 |
chprintf(stream, " Configures the prompt.\n");
|
|
450 |
chprintf(stream, " match casesensitive|caseinsenitive\n");
|
|
451 |
chprintf(stream, " Configures string matching.\n");
|
|
452 |
chprintf(stream, " --date&time OPT VAL\n");
|
|
453 |
chprintf(stream, " Set the date/time value of OPT to VAL.\n");
|
|
454 |
chprintf(stream, " Possible OPTs are:\n");
|
|
455 |
chprintf(stream, " year\n");
|
|
456 |
chprintf(stream, " month\n");
|
|
457 |
chprintf(stream, " day\n");
|
|
458 |
chprintf(stream, " hour\n");
|
|
459 |
chprintf(stream, " minute\n");
|
|
460 |
chprintf(stream, " second\n");
|
|
461 |
}
|
|
462 |
|
|
463 |
return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval;
|
|
464 |
}
|
|
465 |
|
|
466 |
/**
|
|
467 |
* @brief Callback function for the system:info shell command.
|
|
468 |
*
|
|
469 |
* @param[in] stream The I/O stream to use.
|
|
470 |
* @param[in] argc Number of arguments.
|
|
471 |
* @param[in] argv List of pointers to the arguments.
|
|
472 |
*
|
|
473 |
* @return An exit status.
|
|
474 |
* @retval AOS_OK The command was executed successfully.
|
|
475 |
*/
|
|
476 |
static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[])
|
|
477 |
{
|
|
478 |
aosDbgCheck(stream != NULL);
|
|
479 |
|
|
480 |
(void)argc;
|
|
481 |
(void)argv;
|
|
482 |
|
|
483 |
// print system information
|
|
484 |
_printSystemInfo(stream);
|
|
485 |
|
|
486 |
// print time measurement precision
|
|
487 |
chprintf(stream, "module time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
|
|
488 |
|
|
489 |
// print system uptime
|
|
490 |
aos_timestamp_t uptime;
|
|
491 |
aosSysGetUptime(&uptime);
|
|
492 |
chprintf(stream, "The system is running for\n");
|
|
493 |
chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
|
|
494 |
chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
|
|
495 |
chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
|
|
496 |
chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
|
|
497 |
chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
|
|
498 |
chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
|
|
499 |
#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)
|
|
500 |
chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", _syssyncskew, AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
|
|
501 |
#endif /* AMIROOS_CFG_SSSP_MASTER != true && AMIROOS_CFG_PROFILE == true */
|
|
502 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
|
503 |
|
|
504 |
#if (AMIROOS_CFG_SHELL_ENABLE == true)
|
|
505 |
// print shell info
|
|
506 |
chprintf(stream, "System shell information:\n");
|
|
507 |
chprintf(stream, "\tnumber of commands: %u\n", aosShellCountCommands(&aos.shell));
|
|
508 |
chprintf(stream, "\tmaximum line width: %u characters\n", aos.shell.linesize);
|
|
509 |
chprintf(stream, "\tmaximum #arguments: %u\n", aos.shell.arglistsize);
|
|
510 |
chprintf(stream, "\tshell thread stack size: %u bytes\n", aosThdGetStacksize(aos.shell.thread));
|
|
511 |
#if (CH_DBG_FILL_THREADS == TRUE)
|
|
512 |
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);
|
|
513 |
#endif /* CH_DBG_FILL_THREADS == TRUE */
|
|
514 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
|
515 |
#endif /* AMIROOS_CFG_SHELL_ENABLE == true */
|
|
516 |
|
|
517 |
return AOS_OK;
|
|
518 |
}
|
|
519 |
|
|
520 |
/**
|
|
521 |
* @brief Callback function for the sytem:shutdown shell command.
|
|
522 |
*
|
|
523 |
* @param[in] stream The I/O stream to use.
|
|
524 |
* @param[in] argc Number of arguments.
|
|
525 |
* @param[in] argv List of pointers to the arguments.
|
|
526 |
*
|
|
527 |
* @return An exit status.
|
|
528 |
* @retval AOS_OK The command was executed successfully.
|
|
529 |
* @retval AOS_INVALID_ARGUMENTS There was an issue with the arguments.
|
|
530 |
*/
|
|
531 |
static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[])
|
|
532 |
{
|
|
533 |
aosDbgCheck(stream != NULL);
|
|
534 |
|
|
535 |
// print help text
|
|
536 |
if (argc != 2 || strcmp(argv[1], "--help") == 0) {
|
|
537 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]);
|
|
538 |
chprintf(stream, "Options:\n");
|
|
539 |
chprintf(stream, " --help\n");
|
|
540 |
chprintf(stream, " Print this help text.\n");
|
|
541 |
chprintf(stream, " --hibernate, -h\n");
|
|
542 |
chprintf(stream, " Shutdown to hibernate mode.\n");
|
|
543 |
chprintf(stream, " Least energy saving, but allows charging via pins.\n");
|
|
544 |
chprintf(stream, " --deepsleep, -d\n");
|
|
545 |
chprintf(stream, " Shutdown to deepsleep mode.\n");
|
|
546 |
chprintf(stream, " Minimum energy consumption while allowing charging via plug.\n");
|
|
547 |
chprintf(stream, " --transportation, -t\n");
|
|
548 |
chprintf(stream, " Shutdown to transportation mode.\n");
|
|
549 |
chprintf(stream, " Minimum energy consumption with all interrupts disabled (no charging).\n");
|
|
550 |
chprintf(stream, " --restart, -r\n");
|
|
551 |
chprintf(stream, " Shutdown and restart system.\n");
|
|
552 |
|
|
553 |
return (argc != 2) ? AOS_INVALID_ARGUMENTS : AOS_OK;
|
|
554 |
}
|
|
555 |
// handle argument
|
|
556 |
else {
|
|
557 |
if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) {
|
|
558 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE);
|
|
559 |
chThdTerminate(chThdGetSelfX());
|
|
560 |
return AOS_OK;
|
|
561 |
}
|
|
562 |
else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) {
|
|
563 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP);
|
|
564 |
chThdTerminate(chThdGetSelfX());
|
|
565 |
return AOS_OK;
|
|
566 |
}
|
|
567 |
else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) {
|
|
568 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION);
|
|
569 |
chThdTerminate(chThdGetSelfX());
|
|
570 |
return AOS_OK;
|
|
571 |
}
|
|
572 |
else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) {
|
|
573 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART);
|
|
574 |
chThdTerminate(chThdGetSelfX());
|
|
575 |
return AOS_OK;
|
|
576 |
}
|
|
577 |
else {
|
|
578 |
chprintf(stream, "unknown argument %s\n", argv[1]);
|
|
579 |
return AOS_INVALID_ARGUMENTS;
|
|
580 |
}
|
|
581 |
}
|
|
582 |
}
|
|
583 |
|
|
584 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
|
|
585 |
/**
|
|
586 |
* @brief Callback function for the kernel:test shell command.
|
|
587 |
*
|
|
588 |
* @param[in] stream The I/O stream to use.
|
|
589 |
* @param[in] argc Number of arguments.
|
|
590 |
* @param[in] argv List of pointers to the arguments.
|
|
591 |
*
|
|
592 |
* @return An exit status.
|
|
593 |
*/
|
|
594 |
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[])
|
|
595 |
{
|
|
596 |
aosDbgCheck(stream != NULL);
|
|
597 |
|
|
598 |
(void)argc;
|
|
599 |
(void)argv;
|
|
600 |
|
|
601 |
msg_t retval = test_execute(stream, &rt_test_suite);
|
|
602 |
|
|
603 |
return retval;
|
|
604 |
}
|
|
605 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
|
|
606 |
#endif /* AMIROOS_CFG_SHELL_ENABLE == true */
|
|
607 |
|
|
608 |
/**
|
|
609 |
* @brief Generic callback function for GPIO interrupts.
|
|
610 |
*
|
|
611 |
* @param[in] args Pointer to the GPIO pad identifier.
|
|
612 |
*/
|
|
613 |
static void _intCallback(void* args)
|
|
614 |
{
|
|
615 |
aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8));
|
|
616 |
|
|
617 |
chSysLockFromISR();
|
|
618 |
chEvtBroadcastFlagsI(&aos.events.io, (eventflags_t)1 << *((iopadid_t*)args));
|
|
619 |
chSysUnlockFromISR();
|
|
620 |
|
|
621 |
return;
|
|
622 |
}
|
|
623 |
|
|
624 |
#if (AMIROOS_CFG_SSSP_MASTER != true) || defined(__DOXYGEN__)
|
|
625 |
/**
|
|
626 |
* @brief Callback function for the Sync signal interrupt.
|
|
627 |
*
|
|
628 |
* @param[in] args Pointer to the GPIO pad identifier.
|
|
629 |
*/
|
|
630 |
static void _signalSyncCallback(void *args)
|
|
631 |
{
|
|
632 |
aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8));
|
|
633 |
|
|
634 |
apalControlGpioState_t s_state;
|
|
635 |
aos_timestamp_t uptime;
|
|
636 |
|
|
637 |
chSysLockFromISR();
|
|
638 |
// if the system is in operation phase
|
|
639 |
if (aos.sssp.stage == AOS_SSSP_OPERATION) {
|
|
640 |
// read signal S
|
|
641 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state);
|
|
642 |
// if S was toggled from on to off
|
|
643 |
if (s_state == APAL_GPIO_OFF) {
|
|
644 |
// get current uptime
|
|
645 |
aosSysGetUptimeX(&uptime);
|
|
646 |
// align the uptime with the synchronization period
|
|
647 |
if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) {
|
|
648 |
_uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD;
|
|
649 |
#if (AMIROOS_CFG_PROFILE == true)
|
|
650 |
_syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) + (SYSTEM_SYSSYNCSKEW_LPFACTOR * (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD));
|
|
651 |
#endif
|
|
652 |
} else {
|
|
653 |
_uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
|
|
654 |
#if (AMIROOS_CFG_PROFILE == true)
|
|
655 |
_syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) - (SYSTEM_SYSSYNCSKEW_LPFACTOR * (AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD)));
|
|
656 |
#endif
|
|
657 |
}
|
|
658 |
}
|
|
659 |
}
|
|
660 |
// broadcast event
|
|
661 |
chEvtBroadcastFlagsI(&aos.events.io, (eventflags_t)1 << *((iopadid_t*)args));
|
|
662 |
chSysUnlockFromISR();
|
|
663 |
|
|
664 |
return;
|
|
665 |
}
|
|
666 |
#endif
|
|
667 |
|
|
668 |
/**
|
|
669 |
* @brief Callback function for the uptime accumulation timer.
|
|
670 |
*
|
|
671 |
* @param[in] par Generic parameter.
|
|
672 |
*/
|
|
673 |
static void _uptimeCallback(void* par)
|
|
674 |
{
|
|
675 |
(void)par;
|
|
676 |
|
|
677 |
chSysLockFromISR();
|
|
678 |
// read current time in system ticks
|
|
679 |
register const systime_t st = chVTGetSystemTimeX();
|
|
680 |
// update the uptime variables
|
|
681 |
_uptime += chTimeI2US(chTimeDiffX(_synctime, st));
|
|
682 |
_synctime = st;
|
|
683 |
// enable the timer again
|
|
684 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
|
685 |
chSysUnlockFromISR();
|
|
686 |
|
|
687 |
return;
|
|
688 |
}
|
|
689 |
|
|
690 |
#if (AMIROOS_CFG_SSSP_MASTER == true) || defined (__DOXYGEN__)
|
|
691 |
/**
|
|
692 |
* @brief Periodic system synchronization callback function.
|
|
693 |
* @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.
|
|
694 |
*
|
|
695 |
* @param[in] par Unuesed parameters.
|
|
696 |
*/
|
|
697 |
static void _sysSyncTimerCallback(void* par)
|
|
698 |
{
|
|
699 |
(void)par;
|
|
700 |
|
|
701 |
apalControlGpioState_t s_state;
|
|
702 |
aos_timestamp_t uptime;
|
|
703 |
|
|
704 |
chSysLockFromISR();
|
|
705 |
// toggle and read signal S
|
|
706 |
apalGpioToggle(moduleSsspGpioSync.gpio);
|
|
707 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state);
|
|
708 |
// if S was toggled from off to on
|
|
709 |
if (s_state == APAL_GPIO_ON) {
|
|
710 |
// reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
|
|
711 |
_syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD;
|
|
712 |
aosSysGetUptimeX(&uptime);
|
|
713 |
chVTSetI(&_syssynctimer, chTimeUS2I(_syssynctime - uptime), _sysSyncTimerCallback, NULL);
|
|
714 |
}
|
|
715 |
// if S was toggled from on to off
|
|
716 |
else /* if (s_state == APAL_GPIO_OFF) */ {
|
|
717 |
// reconfigure the timer (lazy)
|
|
718 |
chVTSetI(&_syssynctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL);
|
|
719 |
}
|
|
720 |
chSysUnlockFromISR();
|
|
721 |
|
|
722 |
return;
|
|
723 |
}
|
|
724 |
#endif
|
|
725 |
|
|
726 |
/**
|
|
727 |
* @brief AMiRo-OS system initialization.
|
|
728 |
* @note Must be called from the system control thread (usually main thread).
|
|
729 |
*
|
|
730 |
* @param[in] shellPrompt String to be printed as prompt of the system shell.
|
|
731 |
*/
|
|
732 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
|
|
733 |
void aosSysInit(const char* shellPrompt)
|
|
734 |
#else
|
|
735 |
void aosSysInit(void)
|
|
736 |
#endif
|
|
737 |
{
|
|
738 |
/* set control thread to maximum priority */
|
|
739 |
chThdSetPriority(AOS_THD_CTRLPRIO);
|
|
740 |
|
|
741 |
/* set local variables */
|
|
742 |
chVTObjectInit(&_systimer);
|
|
743 |
_synctime = 0;
|
|
744 |
_uptime = 0;
|
|
745 |
#if (AMIROOS_CFG_SSSP_MASTER == true)
|
|
746 |
chVTObjectInit(&_syssynctimer);
|
|
747 |
_syssynctime = 0;
|
|
748 |
#endif
|
|
749 |
#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)
|
|
750 |
_syssyncskew = 0.0f;
|
|
751 |
#endif
|
|
752 |
|
|
753 |
/* initialize aos configuration */
|
|
754 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_1;
|
|
755 |
aos.sssp.moduleId = 0;
|
|
756 |
aosIOStreamInit(&aos.iostream);
|
|
757 |
chEvtObjectInit(&aos.events.io);
|
|
758 |
chEvtObjectInit(&aos.events.os);
|
|
759 |
|
|
760 |
/* interrupt setup */
|
|
761 |
// PD signal
|
|
762 |
palSetPadCallback(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, _intCallback, &moduleSsspGpioPd.gpio->pad);
|
|
763 |
palEnablePadEvent(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, APAL2CH_EDGE(moduleSsspGpioPd.meta.edge));
|
|
764 |
// SYNC signal
|
|
765 |
#if (AMIROOS_CFG_SSSP_MASTER == true)
|
|
766 |
palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _intCallback, &moduleSsspGpioSync.gpio->pad);
|
|
767 |
#else
|
|
768 |
palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _signalSyncCallback, &moduleSsspGpioSync.gpio->pad);
|
|
769 |
#endif
|
|
770 |
palEnablePadEvent(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, APAL2CH_EDGE(moduleSsspGpioSync.meta.edge));
|
|
771 |
#if (AMIROOS_CFG_SSSP_STACK_START != true)
|
|
772 |
// DN signal
|
|
773 |
palSetPadCallback(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, _intCallback, &moduleSsspGpioDn.gpio->pad);
|
|
774 |
palEnablePadEvent(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, APAL2CH_EDGE(moduleSsspGpioDn.meta.edge));
|
|
775 |
#endif
|
|
776 |
#if (AMIROOS_CFG_SSSP_STACK_END != true)
|
|
777 |
// UP signal
|
|
778 |
palSetPadCallback(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, _intCallback, &moduleSsspGpioUp.gpio->pad);
|
|
779 |
palEnablePadEvent(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, APAL2CH_EDGE(moduleSsspGpioUp.meta.edge));
|
|
780 |
#endif
|
|
781 |
#ifdef MODULE_INIT_INTERRUPTS
|
|
782 |
// further interrupt signals
|
|
783 |
MODULE_INIT_INTERRUPTS();
|
|
784 |
#endif
|
|
785 |
|
|
786 |
#if (AMIROOS_CFG_SHELL_ENABLE == true)
|
|
787 |
/* init shell */
|
|
788 |
aosShellInit(&aos.shell,
|
|
789 |
&aos.events.os,
|
|
790 |
shellPrompt,
|
|
791 |
_shell_line,
|
|
792 |
AMIROOS_CFG_SHELL_LINEWIDTH,
|
|
793 |
_shell_arglist,
|
|
794 |
AMIROOS_CFG_SHELL_MAXARGS);
|
|
795 |
// add system commands
|
|
796 |
aosShellAddCommand(&aos.shell, &_shellcmd_config);
|
|
797 |
aosShellAddCommand(&aos.shell, &_shellcmd_info);
|
|
798 |
aosShellAddCommand(&aos.shell, &_shellcmd_shutdown);
|
|
799 |
#if (AMIROOS_CFG_TESTS_ENABLE == true)
|
|
800 |
aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest);
|
|
801 |
#endif
|
|
802 |
#endif
|
|
803 |
|
|
804 |
return;
|
|
805 |
}
|
|
806 |
|
|
807 |
/**
|
|
808 |
* @brief Starts the system and all system threads.
|
|
809 |
*/
|
|
810 |
inline void aosSysStart(void)
|
|
811 |
{
|
|
812 |
// update the system SSSP stage
|
|
813 |
aos.sssp.stage = AOS_SSSP_OPERATION;
|
|
814 |
|
|
815 |
#if (AMIROOS_CFG_SSSP_MASTER == true)
|
|
816 |
{
|
|
817 |
chSysLock();
|
|
818 |
// start the system synchronization counter
|
|
819 |
// The first iteration of the timer is set to the next 'center' of a 'slice'.
|
|
820 |
aos_timestamp_t t;
|
|
821 |
aosSysGetUptimeX(&t);
|
|
822 |
t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
|
|
823 |
chVTSetI(&_syssynctimer, chTimeUS2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL);
|
|
824 |
chSysUnlock();
|
|
825 |
}
|
|
826 |
#endif
|
|
827 |
|
|
828 |
// print system information;
|
|
829 |
_printSystemInfo((BaseSequentialStream*)&aos.iostream);
|
|
830 |
aosprintf("\n");
|
|
831 |
|
|
832 |
#if (AMIROOS_CFG_SHELL_ENABLE == true)
|
|
833 |
// start system shell thread
|
|
834 |
#if (CH_CFG_USE_THREADHIERARCHY == TRUE)
|
|
835 |
aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell, &ch.mainthread);
|
|
836 |
#else
|
|
837 |
aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
|
|
838 |
#endif
|
|
839 |
#endif
|
|
840 |
|
|
841 |
return;
|
|
842 |
}
|
|
843 |
|
|
844 |
/**
|
|
845 |
* @brief Implements the SSSP startup synchronization step.
|
|
846 |
*
|
|
847 |
* @param[in] syncEvtListener Event listener that receives the Sync event.
|
|
848 |
*
|
|
849 |
* @return If another event that the listener is interested in was received, its mask is returned.
|
|
850 |
* Otherwise an empty mask (0) is returned.
|
|
851 |
*/
|
|
852 |
eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener)
|
|
853 |
{
|
|
854 |
aosDbgCheck(syncEvtListener != NULL);
|
|
855 |
|
|
856 |
// local variables
|
|
857 |
eventmask_t m;
|
|
858 |
eventflags_t f;
|
|
859 |
apalControlGpioState_t s;
|
|
860 |
|
|
861 |
// update the system SSSP stage
|
|
862 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_2;
|
|
863 |
|
|
864 |
// deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase)
|
|
865 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);
|
|
866 |
|
|
867 |
// wait for any event to occur (do not apply any filter in order not to miss any event)
|
|
868 |
m = chEvtWaitOne(ALL_EVENTS);
|
|
869 |
f = chEvtGetAndClearFlags(syncEvtListener);
|
|
870 |
apalControlGpioGet(&moduleSsspGpioSync, &s);
|
|
871 |
|
|
872 |
// if the event was a system event,
|
|
873 |
// and it was fired because of the SysSync control signal,
|
|
874 |
// and the SysSync control signal has been deactivated
|
|
875 |
if (m & syncEvtListener->events &&
|
|
876 |
f == MODULE_SSSP_EVENTFLAGS_SYNC &&
|
|
877 |
s == APAL_GPIO_OFF) {
|
|
878 |
chSysLock();
|
|
879 |
// start the uptime counter
|
|
880 |
_synctime = chVTGetSystemTimeX();
|
|
881 |
_uptime = 0;
|
|
882 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
|
883 |
chSysUnlock();
|
|
884 |
|
|
885 |
return 0;
|
|
886 |
}
|
|
887 |
// an unexpected event occurred
|
|
888 |
else {
|
|
889 |
// reassign the flags to the event and return the event mask
|
|
890 |
syncEvtListener->flags |= f;
|
|
891 |
return m;
|
|
892 |
}
|
|
893 |
}
|
|
894 |
|
|
895 |
/**
|
|
896 |
* @brief Retrieves the system uptime.
|
|
897 |
*
|
|
898 |
* @param[out] ut The system uptime.
|
|
899 |
*/
|
|
900 |
inline void aosSysGetUptimeX(aos_timestamp_t* ut)
|
|
901 |
{
|
|
902 |
aosDbgCheck(ut != NULL);
|
|
903 |
|
|
904 |
*ut = _uptime + chTimeI2US(chTimeDiffX(_synctime, chVTGetSystemTimeX()));
|
|
905 |
|
|
906 |
return;
|
|
907 |
}
|
|
908 |
|
|
909 |
/**
|
|
910 |
* @brief retrieves the date and time from the MCU clock.
|
|
911 |
*
|
|
912 |
* @param[out] td The date and time.
|
|
913 |
*/
|
|
914 |
void aosSysGetDateTime(struct tm* dt)
|
|
915 |
{
|
|
916 |
aosDbgCheck(dt != NULL);
|
|
917 |
|
|
918 |
RTCDateTime rtc;
|
|
919 |
rtcGetTime(&MODULE_HAL_RTC, &rtc);
|
|
920 |
rtcConvertDateTimeToStructTm(&rtc, dt, NULL);
|
|
921 |
|
|
922 |
return;
|
|
923 |
}
|
|
924 |
|
|
925 |
/**
|
|
926 |
* @brief set the date and time of the MCU clock.
|
|
927 |
*
|
|
928 |
* @param[in] dt The date and time to set.
|
|
929 |
*/
|
|
930 |
void aosSysSetDateTime(struct tm* dt)
|
|
931 |
{
|
|
932 |
aosDbgCheck(dt != NULL);
|
|
933 |
|
|
934 |
RTCDateTime rtc;
|
|
935 |
rtcConvertStructTmToDateTime(dt, 0, &rtc);
|
|
936 |
rtcSetTime(&, &rtc);
|
|
937 |
|
|
938 |
return;
|
|
939 |
}
|
|
940 |
|
|
941 |
/**
|
|
942 |
* @brief Initializes/Acknowledges a system shutdown/restart request.
|
|
943 |
* @note This functions should be called from the thread with highest priority.
|
|
944 |
*
|
|
945 |
* @param[in] shutdown Type of shutdown.
|
|
946 |
*/
|
|
947 |
void aosSysShutdownInit(aos_shutdown_t shutdown)
|
|
948 |
{
|
|
949 |
// check arguments
|
|
950 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
|
|
951 |
|
|
952 |
#if (AMIROOS_CFG_SSSP_MASTER == true)
|
|
953 |
// deactivate the system synchronization timer
|
|
954 |
chVTReset(&_syssynctimer);
|
|
955 |
#endif
|
|
956 |
|
|
957 |
// update the system SSSP stage
|
|
958 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1;
|
|
959 |
|
|
960 |
// activate the SYS_PD control signal only, if this module initiated the shutdown
|
|
961 |
chSysLock();
|
|
962 |
if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
|
963 |
apalControlGpioSet(&moduleSsspGpioPd, APAL_GPIO_ON);
|
|
964 |
}
|
|
965 |
// activate the SYS_SYNC signal
|
|
966 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON);
|
|
967 |
chSysUnlock();
|
|
968 |
|
|
969 |
switch (shutdown) {
|
|
970 |
case AOS_SHUTDOWN_PASSIVE:
|
|
971 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN);
|
|
972 |
aosprintf("shutdown request received...\n");
|
|
973 |
break;
|
|
974 |
case AOS_SHUTDOWN_HIBERNATE:
|
|
975 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE);
|
|
976 |
aosprintf("shutdown to hibernate mode...\n");
|
|
977 |
break;
|
|
978 |
case AOS_SHUTDOWN_DEEPSLEEP:
|
|
979 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP);
|
|
980 |
aosprintf("shutdown to deepsleep mode...\n");
|
|
981 |
break;
|
|
982 |
case AOS_SHUTDOWN_TRANSPORTATION:
|
|
983 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION);
|
|
984 |
aosprintf("shutdown to transportation mode...\n");
|
|
985 |
break;
|
|
986 |
case AOS_SHUTDOWN_RESTART:
|
|
987 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART);
|
|
988 |
aosprintf("restarting system...\n");
|
|
989 |
break;
|
|
990 |
// must never occur
|
|
991 |
case AOS_SHUTDOWN_NONE:
|
|
992 |
default:
|
|
993 |
break;
|
|
994 |
}
|
|
995 |
|
|
996 |
// update the system SSSP stage
|
|
997 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2;
|
|
998 |
|
|
999 |
return;
|
|
1000 |
}
|
|
1001 |
|
|
1002 |
/**
|
|
1003 |
* @brief Stops the system and all related threads (not the thread this function is called from).
|
|
1004 |
*/
|
|
1005 |
void aosSysStop(void)
|
|
1006 |
{
|
|
1007 |
#if (AMIROOS_CFG_SHELL_ENABLE == true)
|
|
1008 |
chThdWait(aos.shell.thread);
|
|
1009 |
#endif
|
|
1010 |
|
|
1011 |
return;
|
|
1012 |
}
|
|
1013 |
|
|
1014 |
/**
|
|
1015 |
* @brief Deinitialize all system variables.
|
|
1016 |
*/
|
|
1017 |
void aosSysDeinit(void)
|
|
1018 |
{
|
|
1019 |
return;
|
|
1020 |
}
|
|
1021 |
|
|
1022 |
/**
|
|
1023 |
* @brief Finally shuts down the system and calls the bootloader callback function.
|
|
1024 |
* @note This function should be called from the thtead with highest priority.
|
|
1025 |
*
|
|
1026 |
* @param[in] shutdown Type of shutdown.
|
|
1027 |
*/
|
|
1028 |
void aosSysShutdownFinal(aos_shutdown_t shutdown)
|
|
1029 |
{
|
|
1030 |
// check arguments
|
|
1031 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
|
|
1032 |
|
|
1033 |
// disable all interrupts
|
|
1034 |
irqDeinit();
|
|
1035 |
|
|
1036 |
// update the system SSSP stage
|
|
1037 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3;
|
|
1038 |
|
|
1039 |
// call bootloader callback depending on arguments
|
|
1040 |
switch (shutdown) {
|
|
1041 |
case AOS_SHUTDOWN_PASSIVE:
|
|
1042 |
BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest();
|
|
1043 |
break;
|
|
1044 |
case AOS_SHUTDOWN_HIBERNATE:
|
|
1045 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate();
|
|
1046 |
break;
|
|
1047 |
case AOS_SHUTDOWN_DEEPSLEEP:
|
|
1048 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep();
|
|
1049 |
break;
|
|
1050 |
case AOS_SHUTDOWN_TRANSPORTATION:
|
|
1051 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation();
|
|
1052 |
break;
|
|
1053 |
case AOS_SHUTDOWN_RESTART:
|
|
1054 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart();
|
|
1055 |
break;
|
|
1056 |
// must never occur
|
|
1057 |
case AOS_SHUTDOWN_NONE:
|
|
1058 |
default:
|
|
1059 |
break;
|
|
1060 |
}
|
|
1061 |
|
|
1062 |
return;
|
|
1063 |
}
|
|
1064 |
|
|
1065 |
/** @} */
|