amiro-os / core / src / aos_system.c.autosave @ 27d0378b
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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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|
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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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|
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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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|
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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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/** |
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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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|
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#include <aos_system.h> |
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|
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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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/** |
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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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/** |
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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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/** |
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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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|
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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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/** |
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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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/** |
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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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/** |
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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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|
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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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/** |
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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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|
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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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/** |
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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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|
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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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/** |
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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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/** |
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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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/** |
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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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/** |
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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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/** |
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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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|
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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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/** |
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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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/** |
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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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|
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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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|
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return n+1; |
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} |
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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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|
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unsigned int n = 0; |
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va_list ap; |
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|
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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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|
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streamPut(stream, '\n'); |
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++n; |
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|
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return n; |
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} |
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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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|
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// local variables |
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struct tm dt; |
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aosSysGetDateTime(&dt); |
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|
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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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|
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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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|
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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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|
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_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH); |
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|
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return; |
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} |
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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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|
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// local variables |
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int retval = AOS_INVALID_ARGUMENTS; |
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|
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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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} |
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// if the user wants to modify the string matching |
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else if (strcmp(argv[2], "match") == 0) { |
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// there must be a further argument |
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if (argc > 3) { |
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if (strcmp(argv[3], "casesensitive") == 0) { |
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aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE; |
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retval = AOS_OK; |
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} |
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else if (strcmp(argv[3], "caseinsensitive") == 0) { |
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aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE; |
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retval = AOS_OK; |
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} |
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} |
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} |
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} |
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// if the user wants to retrieve the shell configuration |
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else { |
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chprintf(stream, "current shell configuration:\n"); |
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chprintf(stream, " prompt text: %s\n", |
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(aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a"); |
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char time[10]; |
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switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) { |
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case AOS_SHELL_CONFIG_PROMPT_UPTIME: |
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strcpy(time, "uptime"); break; |
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case AOS_SHELL_CONFIG_PROMPT_DATETIME: |
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strcpy(time, "date&time"); break; |
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default: |
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strcpy(time, "no time"); break; |
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} |
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chprintf(stream, " prompt style: %s, %s\n", |
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(aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text", |
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time); |
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chprintf(stream, " input method: %s\n", |
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(aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert"); |
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chprintf(stream, " text matching: %s\n", |
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(aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive"); |
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retval = AOS_OK; |
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} |
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} |
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// if the user wants to configure the date or time |
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else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) { |
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struct tm dt; |
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aosSysGetDateTime(&dt); |
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unsigned int val = atoi(argv[3]); |
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if (strcmp(argv[2], "year") == 0) { |
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dt.tm_year = val - 1900; |
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} |
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else if (strcmp(argv[2], "month") == 0 && val <= 12) { |
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dt.tm_mon = val - 1; |
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} |
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else if (strcmp(argv[2], "day") == 0 && val <= 31) { |
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dt.tm_mday = val; |
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} |
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else if (strcmp(argv[2], "hour") == 0 && val < 24) { |
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dt.tm_hour = val; |
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} |
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else if (strcmp(argv[2], "minute") == 0 && val < 60) { |
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dt.tm_min = val; |
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} |
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else if (strcmp(argv[2], "second") == 0 && val < 60) { |
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dt.tm_sec = val; |
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} |
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else { |
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chprintf(stream, "unknown option '%s' or value '%s'\n", argv[2], argv[3]); |
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return AOS_INVALID_ARGUMENTS; |
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} |
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dt.tm_wday = aosTimeDayOfWeekFromDate(dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900) % 7; |
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aosSysSetDateTime(&dt); |
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|
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// read and print new date and time |
430 |
aosSysGetDateTime(&dt); |
431 |
chprintf(stream, "date/time set to %02u:%02u:%02u @ %02u-%02u-%04u\n", |
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dt.tm_hour, dt.tm_min, dt.tm_sec, |
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dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900); |
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|
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retval = AOS_OK; |
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} |
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} |
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|
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// print help, if required |
440 |
if (retval == AOS_INVALID_ARGUMENTS) { |
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chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
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chprintf(stream, "Options:\n"); |
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chprintf(stream, " --help\n"); |
444 |
chprintf(stream, " Print this help text.\n"); |
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chprintf(stream, " --shell [OPT [VAL]]\n"); |
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chprintf(stream, " Set or retrieve shell configuration.\n"); |
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chprintf(stream, " Possible OPTs and VALs are:\n"); |
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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 |
/** @} */ |