amiro-os / core / src / aos_system.c @ 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.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 <amiroos.h> |
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#include <stdarg.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 /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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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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* @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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#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
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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 /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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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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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/*
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* forward declarations
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*/
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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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) || defined(__DOXYGEN__) |
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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) || (AMIROOS_CFG_TESTS_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_ENABLE == true) && (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 /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */ |
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#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (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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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
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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 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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#if (AMIROOS_CFG_SSSP_ENABLE == true) |
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/* name */ "system:shutdown", |
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#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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/* name */ "module:shutdown", |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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/* callback */ _shellcmd_shutdowncb,
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/* next */ NULL, |
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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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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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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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// 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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#if (HAL_USE_RTC == TRUE)
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struct tm dt;
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aosSysGetDateTime(&dt); |
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#endif /* (HAL_USE_RTC == TRUE) */ |
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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", BOARD_NAME); |
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#if defined(PLATFORM_NAME)
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_printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME); |
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#endif /* defined(PLATFORM_NAME) */ |
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#if defined(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 /* defined(PORT_CORE_VARIANT_NAME) */ |
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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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#if (AMIROOS_CFG_SSSP_ENABLE == true) |
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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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#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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_printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE); |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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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 (AMIROOS_CFG_SSSP_ENABLE == true) |
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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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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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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, "Bootload |