AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    aos_system.h

 * @brief   System macros and structures.

 *

 * @addtogroup aos_system

 * @{

 */

#ifndef AMIROOS_SYSTEM_H

#define AMIROOS_SYSTEM_H

#include <amiroos.h>

#include <chprintf.h>

/******************************************************************************/

/* CONSTANTS                                                                  */

/******************************************************************************/

/**

 * @brief   Resolution of the system time measurement.

 */

#define AOS_SYSTEM_TIME_RESOLUTION              ((MICROSECONDS_PER_SECOND + CH_CFG_ST_FREQUENCY - 1) / CH_CFG_ST_FREQUENCY)

/**

 * @brief   System event flag mask for shutdown related events.

 */

#define AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_MASK     ((eventflags_t)0x1F)

/**

 * @brief   System event flag which is emitted when a passive shutdown was initiated.

 */

#define AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_PASSIVE  ((eventflags_t)(1 << 0))

/**

 * @brief   System event flag which is emitted when a shutdown to transportation mode was initiated.

 */

#define AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_TRANSPORTATION ((eventflags_t)(1 << 1))

/**

 * @brief   System event flag which is emitted when a shutdown to deepsleep mode was initiated.

 */

#define AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_DEEPSLEEP ((eventflags_t)(1 << 2))

/**

 * @brief   System event flag which is emitted when a shutdown to hibernate mode was initiated.

 */

#define AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_HIBERNATE ((eventflags_t)(1 << 3))

/**

 * @brief   System event flag which is emitted when a system restart was initiated.

 */

#define AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_RESTART ((eventflags_t)(1 << 4))

/******************************************************************************/

/* SETTINGS                                                                   */

/******************************************************************************/

/******************************************************************************/

/* CHECKS                                                                     */

/******************************************************************************/

/******************************************************************************/

/* DATA STRUCTURES AND TYPES                                                  */

/******************************************************************************/

/**

 * @brief   Enumerator to identify shutdown types.

 */

typedef enum aos_shutdown {

  AOS_SHUTDOWN_NONE,            /**< Default value if no shutdown action was initiated */

#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)

  AOS_SHUTDOWN_PASSIVE,         /**< Passive shutdown (initiated by another module). */

#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */

#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE) || defined (__DOXYGEN__)

  AOS_SHUTDOWN_ACTIVE,          /**< Active shutdown. */

#endif /* (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE) */

#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT) || defined (__DOXYGEN__)

  AOS_SHUTDOWN_HIBERNATE,       /**< Active shutdown to hibernate mode. */

  AOS_SHUTDOWN_DEEPSLEEP,       /**< Active shutdown to deepsleep mode. */

  AOS_SHUTDOWN_TRANSPORTATION,  /**< Active shutdown to transportation mode. */

  AOS_SHUTDOWN_RESTART,         /**< Active saystem restart request. */

#endif /* (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT) */

} aos_shutdown_t;

/**

 * @brief   AMiRo-OS base system structure.

 */

typedef struct aos_system {

  /**

   * @brief   System I/O stream.

   */

  AosIOStream iostream;

  /**

   * @brief   Event structure.

   */

  struct {

    /**

     * @brief   GPIO event source.

     */

    event_source_t gpio;

    /**

     * @brief   OS event source.

     */

    event_source_t os;

  } events;

#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)

  /**

   * @brief   Pointer to the shell object.

   */

  aos_shell_t shell;

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */

#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)

  /**

   * @brief   SSSP relevant data.

   */

  aos_ssspdata_t sssp;

#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */

} aos_system_t;

/******************************************************************************/

/* MACROS                                                                     */

/******************************************************************************/

/**

 * @brief   Printf function that uses the default system I/O stream.

 *

 * @param[in] fmt   Formatted string to print.

 */

#define aosprintf(fmt, ...)                     chprintf((BaseSequentialStream*)&aos.iostream, fmt, ##__VA_ARGS__)

/******************************************************************************/

/* EXTERN DECLARATIONS                                                        */

/******************************************************************************/

/**

 * @brief   Global system object.

 */

extern aos_system_t aos;

#if defined(__cplusplus)

extern "C" {

#endif /* defined(__cplusplus) */

  void aosSysInit(const char* shellPrompt);

  void aosSysStart(void);

  void aosSysStartUptimeS(void);

  void aosSysGetUptimeX(aos_timestamp_t* ut);

#if (HAL_USE_RTC == TRUE) || defined(__DOXYGEN__)

  void aosSysGetDateTime(struct tm* dt);

  void aosSysSetDateTime(struct tm* dt);

#endif /* (HAL_USE_RTC == TRUE) */

  void aosSysShutdownInit(aos_shutdown_t shutdown);

  void aosSysStop(void);

  void aosSysDeinit(void);

#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_SHUTDOWN != true)) ||               \

    ((AMIROOS_CFG_SSSP_ENABLE != true) && (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)) || \

    defined(__DOXYGEN__)

  void aosSysShutdownToBootloader(aos_shutdown_t shutdown);

#endif /* ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_SHUTDOWN != true)) || ((AMIROOS_CFG_SSSP_ENABLE != true) && (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)) */

  palcallback_t aosSysGetStdGpioCallback(void);

#if defined(__cplusplus)

}

#endif /* defined(__cplusplus) */

/******************************************************************************/

/* INLINE FUNCTIONS                                                           */

/******************************************************************************/

/**

 * @brief   Retrieves the system uptime.

 *

 * @param[out] ut   Pointer to the system uptime.

 */

static inline void aosSysGetUptime(aos_timestamp_t* ut)

{

  chSysLock();

  aosSysGetUptimeX(ut);

  chSysUnlock();

}

#endif /* AMIROOS_SYSTEM_H */

/** @} */