amiro-os / core / inc / aos_system.h @ 3106e8cc
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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..2019 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.h
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* @brief System macros and structures.
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*
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* @addtogroup aos_system
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* @{
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*/
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#ifndef AMIROOS_SYSTEM_H
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#define AMIROOS_SYSTEM_H
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#include <amiroos.h> |
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#include <chprintf.h> |
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/******************************************************************************/
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/* CONSTANTS */
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/******************************************************************************/
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/**
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* @brief Resolution of the system time measurement.
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*/
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#define AOS_SYSTEM_TIME_RESOLUTION ((MICROSECONDS_PER_SECOND + CH_CFG_ST_FREQUENCY - 1) / CH_CFG_ST_FREQUENCY) |
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/**
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* @brief System event flag which is emitted when a shutdown was initiated.
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*/
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#define AOS_SYSTEM_EVENTFLAGS_SHUTDOWN (eventflags_t)(1 << 0) |
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/**
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* @brief System event flag which is emitted when a shutdown to transportation mode was initiated.
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*/
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#define AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 1)) |
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/**
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* @brief System event flag which is emitted when a shutdown to deepsleep mode was initiated.
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*/
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#define AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 2)) |
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/**
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* @brief System event flag which is emitted when a shutdown to hibernate mode was initiated.
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*/
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#define AOS_SYSTEM_EVENTFLAGS_HIBERNATE (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 3)) |
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/**
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* @brief System event flag which is emitted when a system restart was initiated.
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*/
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#define AOS_SYSTEM_EVENTFLAGS_RESTART (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 4)) |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Major version of the implemented SSSP.
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*/
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#define AOS_SYSTEM_SSSP_VERSION_MAJOR 1 |
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/**
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* @brief Minor version of the implemented SSSP.
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*/
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#define AOS_SYSTEM_SSSP_VERSION_MINOR 4 |
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/**
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* @brief Timeout delay according to SSSP.
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* @details SSSP defines timeouts to be ten times longer than the signal delay time.
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*/
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#define AOS_SYSTEM_SSSP_TIMEOUT (10 * AMIROOS_CFG_SSSP_SIGNALDELAY) |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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/******************************************************************************/
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/* SETTINGS */
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/******************************************************************************/
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/******************************************************************************/
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/* CHECKS */
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/******************************************************************************/
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/******************************************************************************/
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/* DATA STRUCTURES AND TYPES */
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/******************************************************************************/
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/**
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* @brief Enumerator to identify shutdown types.
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*/
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typedef enum aos_shutdown { |
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AOS_SHUTDOWN_NONE, /**< Default value if no shutdown action was initiated */
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AOS_SHUTDOWN_PASSIVE, /**< Passive shutdown (initiated by another module). */
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AOS_SHUTDOWN_HIBERNATE, /**< Active shutdown to hibernate mode. */
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AOS_SHUTDOWN_DEEPSLEEP, /**< Active shutdown to deepsleep mode. */
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AOS_SHUTDOWN_TRANSPORTATION, /**< Active shutdown to transportation mode. */
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AOS_SHUTDOWN_RESTART, /**< Active saystem restart request. */
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} aos_shutdown_t; |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Enumerator of the several stages of SSSP.
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*/
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typedef enum aos_ssspstage { |
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AOS_SSSP_STARTUP_1_1 = 0x10, /**< Identifier of SSSP startup phase stage 1-1. */ |
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AOS_SSSP_STARTUP_1_2 = 0x11, /**< Identifier of SSSP startup phase stage 1-2. */ |
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AOS_SSSP_STARTUP_1_3 = 0x12, /**< Identifier of SSSP startup phase stage 1-3. */ |
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AOS_SSSP_STARTUP_2_1 = 0x14, /**< Identifier of SSSP startup phase stage 2-1. */ |
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AOS_SSSP_STARTUP_2_2 = 0x15, /**< Identifier of SSSP startup phase stage 2-2. */ |
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AOS_SSSP_STARTUP_3_1 = 0x18, /**< Identifier of SSSP startup phase stage 3-1. */ |
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AOS_SSSP_STARTUP_3_2 = 0x19, /**< Identifier of SSSP startup phase stage 3-2. */ |
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AOS_SSSP_STARTUP_3_3 = 0x1A, /**< Identifier of SSSP startup phase stage 3-3. */ |
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AOS_SSSP_STARTUP_3_4 = 0x1B, /**< Identifier of SSSP startup phase stage 3-4. */ |
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AOS_SSSP_OPERATION = 0x20, /**< Identifier of SSSP operation pahse. */ |
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AOS_SSSP_SHUTDOWN_1_1 = 0x30, /**< Identifier of SSSP shutdown phase stage 1-1. */ |
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AOS_SSSP_SHUTDOWN_1_2 = 0x31, /**< Identifier of SSSP shutdown phase stage 1-2. */ |
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AOS_SSSP_SHUTDOWN_1_3 = 0x32, /**< Identifier of SSSP shutdown phase stage 1-3. */ |
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AOS_SSSP_SHUTDOWN_2_1 = 0x34, /**< Identifier of SSSP shutdown phase stage 2-1. */ |
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AOS_SSSP_SHUTDOWN_2_2 = 0x35, /**< Identifier of SSSP shutdown phase stage 2-2. */ |
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AOS_SSSP_SHUTDOWN_3 = 0x38, /**< Identifier of SSSP shutdown phase stage 3. */ |
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} aos_ssspstage_t; |
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/**
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* @brief Type to represent module IDs.
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*/
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typedef uint16_t aos_ssspmoduleid_t;
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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/**
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* @brief AMiRo-OS base system structure.
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*/
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typedef struct aos_system { |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief SSSP relevant data.
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*/
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struct {
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/**
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* @brief Current SSSP stage of the system.
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*/
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aos_ssspstage_t stage; |
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/**
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* @brief Module identifier.
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* @details A value of 0 indicates an uninitialized ID.
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* The vlaues 0 and ~0 are reserved und must not be set.
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*/
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aos_ssspmoduleid_t moduleId; |
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} sssp; |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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/**
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* @brief System I/O stream.
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*/
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AosIOStream iostream; |
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/**
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* @brief Event structure.
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*/
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struct {
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/**
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* @brief I/O event source.
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*/
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event_source_t io; |
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/**
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* @brief OS event source.
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*/
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event_source_t os; |
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} events; |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Pointer to the shell object.
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*/
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aos_shell_t shell; |
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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} aos_system_t; |
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/******************************************************************************/
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/* MACROS */
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/******************************************************************************/
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/**
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* @brief Printf function that uses the default system I/O stream.
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*
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* @param[in] fmt Formatted string to print.
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*/
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#define aosprintf(fmt, ...) chprintf((BaseSequentialStream*)&aos.iostream, fmt, ##__VA_ARGS__) |
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/******************************************************************************/
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/* EXTERN DECLARATIONS */
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/******************************************************************************/
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/**
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* @brief Global system object.
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*/
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extern aos_system_t aos;
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#if defined(__cplusplus)
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extern "C" { |
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#endif /* defined(__cplusplus) */ |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
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void aosSysInit(const char* shellPrompt); |
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#else /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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void aosSysInit(void); |
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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void aosSysStart(void); |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined (__DOXYGEN__) |
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eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener); |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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void aosSysGetUptimeX(aos_timestamp_t* ut);
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#if (HAL_USE_RTC == TRUE)
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void aosSysGetDateTime(struct tm* dt); |
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void aosSysSetDateTime(struct tm* dt); |
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#endif /* (HAL_USE_RTC == TRUE) */ |
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void aosSysShutdownInit(aos_shutdown_t shutdown);
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void aosSysStop(void); |
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void aosSysDeinit(void); |
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void aosSysShutdownFinal(aos_shutdown_t shutdown);
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palcallback_t aosSysGetStdIntCallback(void);
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#if defined(__cplusplus)
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} |
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#endif /* defined(__cplusplus) */ |
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/******************************************************************************/
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/* INLINE FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Retrieves the system uptime.
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*
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* @param[out] ut Pointer to the system uptime.
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*/
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static inline void aosSysGetUptime(aos_timestamp_t* ut) |
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{ |
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chSysLock(); |
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aosSysGetUptimeX(ut); |
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chSysUnlock(); |
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} |
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#endif /* AMIROOS_SYSTEM_H */ |
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/** @} */
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