amiro-os / os / core / src / aos_system.c @ 3e1a9c79
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | #include <aos_system.h> |
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20 | |||
21 | #include <amiroos.h> |
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22 | #include <amiroblt.h> |
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23 | 8399aeae | Thomas Schöpping | #include <module.h> |
24 | e545e620 | Thomas Schöpping | #include <string.h> |
25 | 8399aeae | Thomas Schöpping | #include <stdlib.h> |
26 | e545e620 | Thomas Schöpping | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
27 | #include <ch_test.h> |
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28 | #endif
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29 | |||
30 | /**
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31 | * @brief Period of the system timer.
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32 | */
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33 | #define SYSTIMER_PERIOD (TIME_MAXIMUM - CH_CFG_ST_TIMEDELTA)
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34 | |||
35 | /**
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36 | * @brief Width of the printable system info text.
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37 | */
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38 | #define SYSTEM_INFO_WIDTH 70 |
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39 | |||
40 | ba516b61 | Thomas Schöpping | /**
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41 | * @brief Width of the name column of the system info table.
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42 | */
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43 | #define SYSTEM_INFO_NAMEWIDTH 14 |
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44 | |||
45 | e545e620 | Thomas Schöpping | /* forward declarations */
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46 | static void _printSystemInfo(BaseSequentialStream* stream); |
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47 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
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48 | static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]); |
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49 | static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]); |
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50 | static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]); |
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51 | #endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
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52 | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
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53 | static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]); |
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54 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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55 | |||
56 | /**
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57 | * @brief Timer to accumulate system uptime.
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58 | */
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59 | static virtual_timer_t _systimer;
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60 | |||
61 | /**
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62 | * @brief Accumulated system uptime.
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63 | */
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64 | static aos_timestamp_t _uptime;
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65 | |||
66 | /**
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67 | * @brief Timer register value of last accumulation.
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68 | */
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69 | static systime_t _synctime;
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70 | |||
71 | #if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__) |
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72 | /**
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73 | * @brief Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP.
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74 | */
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75 | static virtual_timer_t _syssynctimer;
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76 | |||
77 | /**
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78 | * @brief Last uptime of system wide time synchronization.
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79 | */
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80 | static aos_timestamp_t _syssynctime;
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81 | #endif
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82 | |||
83 | 3e1a9c79 | Thomas Schöpping | #if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
84 | static float _syssyncskew; |
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85 | #define SYSTEM_SYSSYNCSKEW_LPFACTOR (0.1f / AOS_SYSTEM_TIME_RESOLUTION) |
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86 | #endif
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87 | |||
88 | e545e620 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
89 | /**
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90 | * @brief Shell thread working area.
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91 | */
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92 | THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE); |
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93 | |||
94 | /**
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95 | * @brief Shell input buffer.
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96 | */
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97 | static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH]; |
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98 | |||
99 | /**
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100 | * @brief Shell argument buffer.
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101 | */
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102 | static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS]; |
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103 | |||
104 | /**
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105 | * @brief Shell command to retrieve system information.
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106 | */
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107 | static aos_shellcommand_t _shellcmd_info = {
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108 | /* name */ "module:info", |
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109 | /* callback */ _shellcmd_infocb,
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110 | /* next */ NULL, |
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111 | }; |
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112 | |||
113 | /**
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114 | * @brief Shell command to set or retrieve system configuration.
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115 | */
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116 | static aos_shellcommand_t _shellcmd_config = {
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117 | /* name */ "module:config", |
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118 | /* callback */ _shellcmd_configcb,
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119 | /* next */ NULL, |
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120 | }; |
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121 | |||
122 | /**
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123 | * @brief Shell command to shutdown the system.
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124 | */
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125 | static aos_shellcommand_t _shellcmd_shutdown = {
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126 | /* name */ "system:shutdown", |
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127 | /* callback */ _shellcmd_shutdowncb,
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128 | /* next */ NULL, |
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129 | }; |
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130 | #endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
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131 | |||
132 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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133 | /**
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134 | * @brief Shell kommand to run a test of the ChibiOS/RT kernel.
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135 | */
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136 | static aos_shellcommand_t _shellcmd_kerneltest = {
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137 | /* name */ "kernel:test", |
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138 | /* callback */ _shellcmd_kerneltestcb,
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139 | /* next */ NULL, |
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140 | }; |
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141 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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142 | |||
143 | /**
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144 | * @brief Global system object.
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145 | */
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146 | 6b53f6bf | Thomas Schöpping | aos_system_t aos; |
147 | e545e620 | Thomas Schöpping | |
148 | /**
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149 | * @brief Print a separator line.
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150 | *
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151 | ba516b61 | Thomas Schöpping | * @param[in] stream Stream to print to or NULL to print to all system streams.
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152 | e545e620 | Thomas Schöpping | * @param[in] c Character to use.
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153 | * @param[in] n Length of the separator line.
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154 | *
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155 | * @return Number of characters printed.
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156 | */
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157 | static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n) |
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158 | { |
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159 | aosDbgCheck(stream != NULL);
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160 | |||
161 | // print the specified character n times
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162 | for (unsigned int i = 0; i < n; ++i) { |
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163 | streamPut(stream, c); |
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164 | } |
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165 | streamPut(stream, '\n');
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166 | |||
167 | return n+1; |
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168 | } |
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169 | |||
170 | /**
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171 | * @brief Print a system information line.
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172 | * @details Prints a system information line with the following format:
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173 | * "<name>[spaces]fmt"
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174 | * The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.
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175 | * Note that there is not trailing newline added implicitely.
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176 | *
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177 | ba516b61 | Thomas Schöpping | * @param[in] stream Stream to print to or NULL to print to all system streams.
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178 | e545e620 | Thomas Schöpping | * @param[in] name Name of the entry/line.
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179 | * @param[in] namewidth Width of the name column.
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180 | * @param[in] fmt Formatted string of information content.
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181 | *
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182 | * @return Number of characters printed.
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183 | */
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184 | static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...) |
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185 | { |
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186 | aosDbgCheck(stream != NULL);
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187 | ba516b61 | Thomas Schöpping | aosDbgCheck(name != NULL);
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188 | e545e620 | Thomas Schöpping | |
189 | unsigned int n = 0; |
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190 | ba516b61 | Thomas Schöpping | va_list ap; |
191 | e545e620 | Thomas Schöpping | |
192 | ba516b61 | Thomas Schöpping | va_start(ap, fmt); |
193 | e545e620 | Thomas Schöpping | n += chprintf(stream, name); |
194 | while (n < namewidth) {
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195 | streamPut(stream, ' ');
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196 | ++n; |
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197 | } |
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198 | n += chvprintf(stream, fmt, ap); |
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199 | va_end(ap); |
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200 | |||
201 | 933df08e | Thomas Schöpping | streamPut(stream, '\n');
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202 | ++n; |
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203 | |||
204 | e545e620 | Thomas Schöpping | return n;
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205 | } |
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206 | |||
207 | /**
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208 | * @brief Prints information about the system.
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209 | *
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210 | * @param[in] stream Stream to print to.
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211 | */
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212 | ba516b61 | Thomas Schöpping | static void _printSystemInfo(BaseSequentialStream* stream) |
213 | e545e620 | Thomas Schöpping | { |
214 | aosDbgCheck(stream != NULL);
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215 | |||
216 | 933df08e | Thomas Schöpping | // local variables
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217 | struct tm dt;
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218 | aosSysGetDateTime(&dt); |
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219 | |||
220 | // print static information about module and operating system
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221 | e545e620 | Thomas Schöpping | _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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222 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s (v%s)", BOARD_NAME, BOARD_VERSION); |
223 | e545e620 | Thomas Schöpping | #ifdef PLATFORM_NAME
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224 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME); |
225 | e545e620 | Thomas Schöpping | #endif
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226 | #ifdef PORT_CORE_VARIANT_NAME
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227 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME); |
228 | e545e620 | Thomas Schöpping | #endif
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229 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME); |
230 | e545e620 | Thomas Schöpping | _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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231 | 933df08e | Thomas Schöpping | _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); |
232 | _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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233 | _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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234 | _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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235 | _printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s", (AMIROOS_CFG_DBG == true) ? "debug" : "release"); |
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236 | _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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237 | _printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__); |
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238 | |||
239 | // print static information about the bootloader
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240 | e545e620 | Thomas Schöpping | _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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241 | if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
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242 | 933df08e | Thomas Schöpping | _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, |
243 | e545e620 | Thomas Schöpping | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :
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244 | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :
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245 | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :
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246 | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :
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247 | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :
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248 | "<release type unknown>",
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249 | BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor); |
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250 | 933df08e | Thomas Schöpping | if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_MAJOR) {
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251 | ba516b61 | Thomas Schöpping | if (stream) {
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252 | chprintf(stream, "WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
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253 | } else {
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254 | aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
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255 | } |
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256 | } |
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257 | 933df08e | Thomas Schöpping | _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 |
258 | e545e620 | Thomas Schöpping | } else {
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259 | ba516b61 | Thomas Schöpping | if (stream) {
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260 | chprintf(stream, "Bootloader incompatible or not available.\n");
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261 | } else {
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262 | aosprintf("Bootloader incompatible or not available.\n");
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263 | } |
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264 | e545e620 | Thomas Schöpping | } |
265 | 933df08e | Thomas Schöpping | |
266 | // print dynamic information about the module
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267 | 8399aeae | Thomas Schöpping | _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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268 | 933df08e | Thomas Schöpping | if (aos.sssp.moduleId != 0) { |
269 | _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId); |
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270 | } else {
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271 | _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available"); |
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272 | } |
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273 | _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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274 | 8399aeae | Thomas Schöpping | dt.tm_mday, |
275 | dt.tm_mon + 1,
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276 | dt.tm_year + 1900);
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277 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u", dt.tm_hour, dt.tm_min, dt.tm_sec); |
278 | |||
279 | e545e620 | Thomas Schöpping | _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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280 | |||
281 | return;
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282 | } |
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283 | |||
284 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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285 | /**
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286 | * @brief Callback function for the system:config shell command.
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287 | *
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288 | * @param[in] stream The I/O stream to use.
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289 | * @param[in] argc Number of arguments.
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290 | * @param[in] argv List of pointers to the arguments.
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291 | *
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292 | * @return An exit status.
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293 | * @retval AOS_OK The command was executed successfuly.
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294 | * @retval AOS_INVALID_ARGUMENTS There was an issue with the arguemnts.
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295 | */
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296 | static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]) |
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297 | { |
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298 | ba516b61 | Thomas Schöpping | aosDbgCheck(stream != NULL);
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299 | |||
300 | e545e620 | Thomas Schöpping | // local variables
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301 | int retval = AOS_INVALID_ARGUMENTS;
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302 | |||
303 | // if there are additional arguments
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304 | if (argc > 1) { |
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305 | // if the user wants to set or retrieve the shell configuration
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306 | if (strcmp(argv[1], "--shell") == 0) { |
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307 | // if the user wants to modify the shell configuration
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308 | if (argc > 2) { |
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309 | // if the user wants to modify the prompt
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310 | if (strcmp(argv[2], "prompt") == 0) { |
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311 | // there must be a further argument
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312 | if (argc > 3) { |
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313 | // handle the option
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314 | if (strcmp(argv[3], "text") == 0) { |
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315 | 6b53f6bf | Thomas Schöpping | aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
316 | e545e620 | Thomas Schöpping | retval = AOS_OK; |
317 | } |
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318 | else if (strcmp(argv[3], "minimal") == 0) { |
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319 | 6b53f6bf | Thomas Schöpping | aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
320 | e545e620 | Thomas Schöpping | retval = AOS_OK; |
321 | } |
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322 | else if (strcmp(argv[3], "notime") == 0) { |
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323 | 6b53f6bf | Thomas Schöpping | aos.shell.config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME); |
324 | e545e620 | Thomas Schöpping | retval = AOS_OK; |
325 | } |
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326 | else if (strcmp(argv[3], "uptime") == 0) { |
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327 | 6b53f6bf | Thomas Schöpping | aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME; |
328 | aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_UPTIME; |
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329 | e545e620 | Thomas Schöpping | retval = AOS_OK; |
330 | } |
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331 | 8399aeae | Thomas Schöpping | else if (strcmp(argv[3], "date&time") == 0) { |
332 | 6b53f6bf | Thomas Schöpping | aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME; |
333 | aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME; |
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334 | 8399aeae | Thomas Schöpping | retval = AOS_OK; |
335 | } |
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336 | else {
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337 | chprintf(stream, "unknown option '%s'\n", argv[3]); |
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338 | return AOS_INVALID_ARGUMENTS;
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339 | } |
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340 | e545e620 | Thomas Schöpping | } |
341 | } |
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342 | // if the user wants to modify the string matching
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343 | else if (strcmp(argv[2], "match") == 0) { |
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344 | // there must be a further argument
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345 | if (argc > 3) { |
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346 | if (strcmp(argv[3], "casesensitive") == 0) { |
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347 | 6b53f6bf | Thomas Schöpping | aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE; |
348 | e545e620 | Thomas Schöpping | retval = AOS_OK; |
349 | } |
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350 | else if (strcmp(argv[3], "caseinsensitive") == 0) { |
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351 | 6b53f6bf | Thomas Schöpping | aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE; |
352 | e545e620 | Thomas Schöpping | retval = AOS_OK; |
353 | } |
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354 | } |
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355 | } |
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356 | } |
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357 | // if the user wants to retrieve the shell configuration
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358 | else {
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359 | chprintf(stream, "current shell configuration:\n");
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360 | chprintf(stream, " prompt text: %s\n",
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361 | 6b53f6bf | Thomas Schöpping | (aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a"); |
362 | 8399aeae | Thomas Schöpping | char time[10]; |
363 | 6b53f6bf | Thomas Schöpping | switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
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364 | 8399aeae | Thomas Schöpping | case AOS_SHELL_CONFIG_PROMPT_UPTIME:
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365 | strcpy(time, "uptime"); break; |
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366 | case AOS_SHELL_CONFIG_PROMPT_DATETIME:
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367 | strcpy(time, "date&time"); break; |
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368 | default:
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369 | strcpy(time, "no time"); break; |
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370 | } |
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371 | e545e620 | Thomas Schöpping | chprintf(stream, " prompt style: %s, %s\n",
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372 | 6b53f6bf | Thomas Schöpping | (aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text", |
373 | 8399aeae | Thomas Schöpping | time); |
374 | e545e620 | Thomas Schöpping | chprintf(stream, " input method: %s\n",
|
375 | 6b53f6bf | Thomas Schöpping | (aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert"); |
376 | e545e620 | Thomas Schöpping | chprintf(stream, " text matching: %s\n",
|
377 | 6b53f6bf | Thomas Schöpping | (aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive"); |
378 | e545e620 | Thomas Schöpping | retval = AOS_OK; |
379 | } |
||
380 | } |
||
381 | 8399aeae | Thomas Schöpping | // if the user wants to configure the date or time
|
382 | else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) { |
||
383 | struct tm dt;
|
||
384 | aosSysGetDateTime(&dt); |
||
385 | unsigned int val = atoi(argv[3]); |
||
386 | if (strcmp(argv[2], "year") == 0) { |
||
387 | dt.tm_year = val - 1900;
|
||
388 | } |
||
389 | else if (strcmp(argv[2], "month") == 0 && val <= 12) { |
||
390 | dt.tm_mon = val - 1;
|
||
391 | } |
||
392 | else if (strcmp(argv[2], "day") == 0 && val <= 31) { |
||
393 | dt.tm_mday = val; |
||
394 | } |
||
395 | else if (strcmp(argv[2], "hour") == 0 && val < 24) { |
||
396 | dt.tm_hour = val; |
||
397 | } |
||
398 | else if (strcmp(argv[2], "minute") == 0 && val < 60) { |
||
399 | dt.tm_min = val; |
||
400 | } |
||
401 | else if (strcmp(argv[2], "second") == 0 && val < 60) { |
||
402 | dt.tm_sec = val; |
||
403 | } |
||
404 | else {
|
||
405 | chprintf(stream, "unknown option '%s' or value '%s'\n", argv[2], argv[3]); |
||
406 | return AOS_INVALID_ARGUMENTS;
|
||
407 | } |
||
408 | dt.tm_wday = aosTimeDayOfWeekFromDate(dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900) % 7; |
||
409 | aosSysSetDateTime(&dt); |
||
410 | |||
411 | // read and print new date and time
|
||
412 | aosSysGetDateTime(&dt); |
||
413 | chprintf(stream, "date/time set to %02u:%02u:%02u @ %02u-%02u-%04u\n",
|
||
414 | dt.tm_hour, dt.tm_min, dt.tm_sec, |
||
415 | dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900); |
||
416 | |||
417 | retval = AOS_OK; |
||
418 | } |
||
419 | e545e620 | Thomas Schöpping | } |
420 | |||
421 | // print help, if required
|
||
422 | if (retval == AOS_INVALID_ARGUMENTS) {
|
||
423 | chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
||
424 | chprintf(stream, "Options:\n");
|
||
425 | chprintf(stream, " --help\n");
|
||
426 | chprintf(stream, " Print this help text.\n");
|
||
427 | chprintf(stream, " --shell [OPT [VAL]]\n");
|
||
428 | chprintf(stream, " Set or retrieve shell configuration.\n");
|
||
429 | chprintf(stream, " Possible OPTs and VALs are:\n");
|
||
430 | 8399aeae | Thomas Schöpping | chprintf(stream, " prompt text|minimal|uptime|date&time|notime\n");
|
431 | e545e620 | Thomas Schöpping | chprintf(stream, " Configures the prompt.\n");
|
432 | chprintf(stream, " match casesensitive|caseinsenitive\n");
|
||
433 | chprintf(stream, " Configures string matching.\n");
|
||
434 | 8399aeae | Thomas Schöpping | chprintf(stream, " --date&time OPT VAL\n");
|
435 | chprintf(stream, " Set the date/time value of OPT to VAL.\n");
|
||
436 | chprintf(stream, " Possible OPTs are:\n");
|
||
437 | chprintf(stream, " year\n");
|
||
438 | chprintf(stream, " month\n");
|
||
439 | chprintf(stream, " day\n");
|
||
440 | chprintf(stream, " hour\n");
|
||
441 | chprintf(stream, " minute\n");
|
||
442 | chprintf(stream, " second\n");
|
||
443 | e545e620 | Thomas Schöpping | } |
444 | |||
445 | return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval; |
||
446 | } |
||
447 | |||
448 | /**
|
||
449 | * @brief Callback function for the system:info shell command.
|
||
450 | *
|
||
451 | * @param[in] stream The I/O stream to use.
|
||
452 | * @param[in] argc Number of arguments.
|
||
453 | * @param[in] argv List of pointers to the arguments.
|
||
454 | *
|
||
455 | * @return An exit status.
|
||
456 | * @retval AOS_OK The command was executed successfully.
|
||
457 | */
|
||
458 | static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
459 | { |
||
460 | ba516b61 | Thomas Schöpping | aosDbgCheck(stream != NULL);
|
461 | |||
462 | e545e620 | Thomas Schöpping | (void)argc;
|
463 | (void)argv;
|
||
464 | |||
465 | // print system information
|
||
466 | _printSystemInfo(stream); |
||
467 | |||
468 | // print time measurement precision
|
||
469 | 3e1a9c79 | Thomas Schöpping | chprintf(stream, "module time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
|
470 | e545e620 | Thomas Schöpping | |
471 | // print system uptime
|
||
472 | aos_timestamp_t uptime; |
||
473 | aosSysGetUptime(&uptime); |
||
474 | chprintf(stream, "The system is running for\n");
|
||
475 | chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
|
||
476 | chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
|
||
477 | chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
|
||
478 | chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
|
||
479 | chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
|
||
480 | chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
|
||
481 | 3e1a9c79 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
482 | chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", _syssyncskew, AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
|
||
483 | #endif
|
||
484 | _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
||
485 | e545e620 | Thomas Schöpping | |
486 | return AOS_OK;
|
||
487 | } |
||
488 | |||
489 | /**
|
||
490 | * @brief Callback function for the sytem:shutdown shell command.
|
||
491 | *
|
||
492 | * @param[in] stream The I/O stream to use.
|
||
493 | * @param[in] argc Number of arguments.
|
||
494 | * @param[in] argv List of pointers to the arguments.
|
||
495 | *
|
||
496 | * @return An exit status.
|
||
497 | * @retval AOS_OK The command was executed successfully.
|
||
498 | * @retval AOS_INVALID_ARGUMENTS There was an issue with the arguments.
|
||
499 | */
|
||
500 | static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
501 | { |
||
502 | ba516b61 | Thomas Schöpping | aosDbgCheck(stream != NULL);
|
503 | |||
504 | e545e620 | Thomas Schöpping | // print help text
|
505 | if (argc != 2 || strcmp(argv[1], "--help") == 0) { |
||
506 | chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
||
507 | chprintf(stream, "Options:\n");
|
||
508 | chprintf(stream, " --help\n");
|
||
509 | chprintf(stream, " Print this help text.\n");
|
||
510 | chprintf(stream, " --hibernate, -h\n");
|
||
511 | chprintf(stream, " Shutdown to hibernate mode.\n");
|
||
512 | chprintf(stream, " Least energy saving, but allows charging via pins.\n");
|
||
513 | chprintf(stream, " --deepsleep, -d\n");
|
||
514 | chprintf(stream, " Shutdown to deepsleep mode.\n");
|
||
515 | chprintf(stream, " Minimum energy consumption while allowing charging via plug.\n");
|
||
516 | chprintf(stream, " --transportation, -t\n");
|
||
517 | chprintf(stream, " Shutdown to transportation mode.\n");
|
||
518 | chprintf(stream, " Minimum energy consumption with all interrupts disabled (no charging).\n");
|
||
519 | chprintf(stream, " --restart, -r\n");
|
||
520 | chprintf(stream, " Shutdown and restart system.\n");
|
||
521 | |||
522 | return (argc != 2) ? AOS_INVALID_ARGUMENTS : AOS_OK; |
||
523 | } |
||
524 | // handle argument
|
||
525 | else {
|
||
526 | if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) { |
||
527 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
528 | ba516b61 | Thomas Schöpping | chThdTerminate(currp); |
529 | e545e620 | Thomas Schöpping | return AOS_OK;
|
530 | } |
||
531 | else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) { |
||
532 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
533 | ba516b61 | Thomas Schöpping | chThdTerminate(currp); |
534 | e545e620 | Thomas Schöpping | return AOS_OK;
|
535 | } |
||
536 | else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) { |
||
537 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
538 | ba516b61 | Thomas Schöpping | chThdTerminate(currp); |
539 | e545e620 | Thomas Schöpping | return AOS_OK;
|
540 | } |
||
541 | else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) { |
||
542 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
543 | ba516b61 | Thomas Schöpping | chThdTerminate(currp); |
544 | e545e620 | Thomas Schöpping | return AOS_OK;
|
545 | } |
||
546 | else {
|
||
547 | chprintf(stream, "unknown argument %s\n", argv[1]); |
||
548 | return AOS_INVALID_ARGUMENTS;
|
||
549 | } |
||
550 | } |
||
551 | } |
||
552 | #endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
||
553 | |||
554 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
555 | /**
|
||
556 | * @brief Callback function for the kernel:test shell command.
|
||
557 | *
|
||
558 | * @param[in] stream The I/O stream to use.
|
||
559 | * @param[in] argc Number of arguments.
|
||
560 | * @param[in] argv List of pointers to the arguments.
|
||
561 | *
|
||
562 | * @return An exit status.
|
||
563 | */
|
||
564 | static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
565 | { |
||
566 | ba516b61 | Thomas Schöpping | aosDbgCheck(stream != NULL);
|
567 | |||
568 | e545e620 | Thomas Schöpping | (void)argc;
|
569 | (void)argv;
|
||
570 | |||
571 | tprio_t prio = chThdGetPriorityX(); |
||
572 | chThdSetPriority(HIGHPRIO - 5); // some tests increase priorirty by 5, so this is the maximum priority permitted |
||
573 | msg_t retval = test_execute(stream); |
||
574 | chThdSetPriority(prio); |
||
575 | |||
576 | return retval;
|
||
577 | } |
||
578 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
||
579 | |||
580 | /**
|
||
581 | * @brief Callback function for the PD signal interrupt.
|
||
582 | *
|
||
583 | * @param[in] extp Pointer to the interrupt driver object.
|
||
584 | * @param[in] channel Interrupt channel identifier.
|
||
585 | */
|
||
586 | static void _signalPdCallback(EXTDriver* extp, expchannel_t channel) |
||
587 | { |
||
588 | (void)extp;
|
||
589 | |||
590 | chSysLockFromISR(); |
||
591 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlagsI(&aos.events.io, (1 << channel));
|
592 | e545e620 | Thomas Schöpping | chSysUnlockFromISR(); |
593 | |||
594 | return;
|
||
595 | } |
||
596 | |||
597 | /**
|
||
598 | * @brief Callback function for the Sync signal interrupt.
|
||
599 | *
|
||
600 | * @param[in] extp Pointer to the interrupt driver object.
|
||
601 | * @param[in] channel Interrupt channel identifier.
|
||
602 | */
|
||
603 | static void _signalSyncCallback(EXTDriver* extp, expchannel_t channel) |
||
604 | { |
||
605 | (void)extp;
|
||
606 | |||
607 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
608 | chSysLockFromISR(); |
||
609 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlagsI(&aos.events.io, (1 << channel));
|
610 | e545e620 | Thomas Schöpping | chSysUnlockFromISR(); |
611 | #else
|
||
612 | apalControlGpioState_t s_state; |
||
613 | aos_timestamp_t uptime; |
||
614 | |||
615 | chSysLockFromISR(); |
||
616 | 9461fadc | Thomas Schöpping | // if the system is in operation phase
|
617 | if (aos.sssp.stage == AOS_SSSP_OPERATION) {
|
||
618 | // read signal S
|
||
619 | apalControlGpioGet(&moduleSsspGpioSync, &s_state); |
||
620 | // if S was toggled from on to off
|
||
621 | if (s_state == APAL_GPIO_OFF) {
|
||
622 | // get current uptime
|
||
623 | aosSysGetUptimeX(&uptime); |
||
624 | // align the uptime with the synchronization period
|
||
625 | if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) { |
||
626 | _uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
||
627 | 3e1a9c79 | Thomas Schöpping | #if (AMIROOS_CFG_PROFILE == true) |
628 | _syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) + (SYSTEM_SYSSYNCSKEW_LPFACTOR * (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD)); |
||
629 | #endif
|
||
630 | 9461fadc | Thomas Schöpping | } else {
|
631 | _uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
||
632 | 3e1a9c79 | Thomas Schöpping | #if (AMIROOS_CFG_PROFILE == true) |
633 | _syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) - (SYSTEM_SYSSYNCSKEW_LPFACTOR * (AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD))); |
||
634 | #endif
|
||
635 | 9461fadc | Thomas Schöpping | } |
636 | e545e620 | Thomas Schöpping | } |
637 | } |
||
638 | // broadcast event
|
||
639 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlagsI(&aos.events.io, (1 << channel));
|
640 | e545e620 | Thomas Schöpping | chSysUnlockFromISR(); |
641 | #endif
|
||
642 | |||
643 | return;
|
||
644 | } |
||
645 | |||
646 | /**
|
||
647 | * @brief Callback function for the uptime accumulation timer.
|
||
648 | *
|
||
649 | * @param[in] par Generic parameter.
|
||
650 | */
|
||
651 | static void _uptimeCallback(void* par) |
||
652 | { |
||
653 | (void)par;
|
||
654 | |||
655 | chSysLockFromISR(); |
||
656 | // read current time in system ticks
|
||
657 | register const systime_t st = chVTGetSystemTimeX(); |
||
658 | // update the uptime variables
|
||
659 | _uptime += LL_ST2US(st - _synctime); |
||
660 | _synctime = st; |
||
661 | // enable the timer again
|
||
662 | chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
||
663 | chSysUnlockFromISR(); |
||
664 | |||
665 | return;
|
||
666 | } |
||
667 | |||
668 | #if (AMIROOS_CFG_SSSP_MASTER == true) || defined (__DOXYGEN__) |
||
669 | /**
|
||
670 | * @brief Periodic system synchronization callback function.
|
||
671 | * @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.
|
||
672 | *
|
||
673 | * @param[in] par Unuesed parameters.
|
||
674 | */
|
||
675 | static void _sysSyncTimerCallback(void* par) |
||
676 | { |
||
677 | (void)par;
|
||
678 | |||
679 | apalControlGpioState_t s_state; |
||
680 | aos_timestamp_t uptime; |
||
681 | |||
682 | chSysLockFromISR(); |
||
683 | 9461fadc | Thomas Schöpping | // toggle and read signal S
|
684 | apalGpioToggle(moduleSsspGpioSync.gpio); |
||
685 | 6b53f6bf | Thomas Schöpping | apalControlGpioGet(&moduleSsspGpioSync, &s_state); |
686 | e545e620 | Thomas Schöpping | // if S was toggled from off to on
|
687 | if (s_state == APAL_GPIO_ON) {
|
||
688 | // reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
|
||
689 | _syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
||
690 | aosSysGetUptimeX(&uptime); |
||
691 | chVTSetI(&_syssynctimer, LL_US2ST(_syssynctime - uptime), _sysSyncTimerCallback, NULL);
|
||
692 | } |
||
693 | // if S was toggled from on to off
|
||
694 | else /* if (s_state == APAL_GPIO_OFF) */ { |
||
695 | // reconfigure the timer (lazy)
|
||
696 | chVTSetI(&_syssynctimer, LL_US2ST(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL); |
||
697 | } |
||
698 | chSysUnlockFromISR(); |
||
699 | |||
700 | return;
|
||
701 | } |
||
702 | #endif
|
||
703 | |||
704 | /**
|
||
705 | * @brief AMiRo-OS system initialization.
|
||
706 | * @note Must be called from the system control thread (usually main thread).
|
||
707 | *
|
||
708 | * @param[in] shellPrompt String to be printed as prompt of the system shell.
|
||
709 | */
|
||
710 | 6b53f6bf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
711 | void aosSysInit(const char* shellPrompt) |
||
712 | #else
|
||
713 | void aosSysInit(void) |
||
714 | #endif
|
||
715 | e545e620 | Thomas Schöpping | { |
716 | // set control thread to maximum priority
|
||
717 | 512abac1 | Thomas Schöpping | chThdSetPriority(AOS_THD_CTRLPRIO); |
718 | e545e620 | Thomas Schöpping | |
719 | // set local variables
|
||
720 | chVTObjectInit(&_systimer); |
||
721 | _synctime = 0;
|
||
722 | _uptime = 0;
|
||
723 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
724 | chVTObjectInit(&_syssynctimer); |
||
725 | _syssynctime = 0;
|
||
726 | #endif
|
||
727 | 3e1a9c79 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
728 | _syssyncskew = 0.0f; |
||
729 | #endif
|
||
730 | e545e620 | Thomas Schöpping | |
731 | // set aos configuration
|
||
732 | 6b53f6bf | Thomas Schöpping | aos.sssp.stage = AOS_SSSP_STARTUP_2_1; |
733 | aos.sssp.moduleId = 0;
|
||
734 | ba516b61 | Thomas Schöpping | aosIOStreamInit(&aos.iostream); |
735 | 6b53f6bf | Thomas Schöpping | chEvtObjectInit(&aos.events.io); |
736 | chEvtObjectInit(&aos.events.os); |
||
737 | e545e620 | Thomas Schöpping | |
738 | // setup external interrupt system
|
||
739 | 6b53f6bf | Thomas Schöpping | moduleHalExtConfig.channels[moduleSsspGpioPd.gpio->pad].cb = _signalPdCallback; |
740 | moduleHalExtConfig.channels[moduleSsspGpioSync.gpio->pad].cb = _signalSyncCallback; |
||
741 | extStart(&MODULE_HAL_EXT, &moduleHalExtConfig); |
||
742 | e545e620 | Thomas Schöpping | |
743 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
||
744 | // init shell
|
||
745 | 6b53f6bf | Thomas Schöpping | aosShellInit(&aos.shell, |
746 | &aos.events.os, |
||
747 | e545e620 | Thomas Schöpping | shellPrompt, |
748 | _shell_line, |
||
749 | AMIROOS_CFG_SHELL_LINEWIDTH, |
||
750 | _shell_arglist, |
||
751 | AMIROOS_CFG_SHELL_MAXARGS); |
||
752 | // add system commands
|
||
753 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &_shellcmd_config); |
754 | aosShellAddCommand(&aos.shell, &_shellcmd_info); |
||
755 | aosShellAddCommand(&aos.shell, &_shellcmd_shutdown); |
||
756 | e545e620 | Thomas Schöpping | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
757 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest); |
758 | e545e620 | Thomas Schöpping | #endif
|
759 | #endif
|
||
760 | |||
761 | return;
|
||
762 | } |
||
763 | |||
764 | /**
|
||
765 | * @brief Starts the system and all system threads.
|
||
766 | */
|
||
767 | inline void aosSysStart(void) |
||
768 | { |
||
769 | // update the system SSSP stage
|
||
770 | 6b53f6bf | Thomas Schöpping | aos.sssp.stage = AOS_SSSP_OPERATION; |
771 | e545e620 | Thomas Schöpping | |
772 | 9461fadc | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_MASTER == true) |
773 | { |
||
774 | chSysLock(); |
||
775 | // start the system synchronization counter
|
||
776 | // The first iteration of the timer is set to the next 'center' of a 'slice'.
|
||
777 | aos_timestamp_t t; |
||
778 | aosSysGetUptimeX(&t); |
||
779 | t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
||
780 | chVTSetI(&_syssynctimer, LL_US2ST((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL); |
||
781 | chSysUnlock(); |
||
782 | } |
||
783 | #endif
|
||
784 | |||
785 | ba516b61 | Thomas Schöpping | // print system information;
|
786 | _printSystemInfo((BaseSequentialStream*)&aos.iostream); |
||
787 | e545e620 | Thomas Schöpping | aosprintf("\n");
|
788 | |||
789 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
||
790 | // start system shell thread
|
||
791 | 6b53f6bf | Thomas Schöpping | aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
|
792 | e545e620 | Thomas Schöpping | #endif
|
793 | |||
794 | return;
|
||
795 | } |
||
796 | |||
797 | /**
|
||
798 | * @brief Implements the SSSP startup synchronization step.
|
||
799 | *
|
||
800 | * @param[in] syncEvtListener Event listener that receives the Sync event.
|
||
801 | *
|
||
802 | * @return If another event that the listener is interested in was received, its mask is returned.
|
||
803 | * Otherwise an empty mask (0) is returned.
|
||
804 | */
|
||
805 | eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener) |
||
806 | { |
||
807 | aosDbgCheck(syncEvtListener != NULL);
|
||
808 | |||
809 | // local variables
|
||
810 | eventmask_t m; |
||
811 | eventflags_t f; |
||
812 | apalControlGpioState_t s; |
||
813 | |||
814 | // update the system SSSP stage
|
||
815 | 6b53f6bf | Thomas Schöpping | aos.sssp.stage = AOS_SSSP_STARTUP_2_2; |
816 | e545e620 | Thomas Schöpping | |
817 | // deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase)
|
||
818 | 6b53f6bf | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
819 | e545e620 | Thomas Schöpping | |
820 | // wait for any event to occur (do not apply any filter in order not to miss any event)
|
||
821 | m = chEvtWaitOne(ALL_EVENTS); |
||
822 | f = chEvtGetAndClearFlags(syncEvtListener); |
||
823 | 6b53f6bf | Thomas Schöpping | apalControlGpioGet(&moduleSsspGpioSync, &s); |
824 | e545e620 | Thomas Schöpping | |
825 | // if the event was a system event,
|
||
826 | // and it was fired because of the SysSync control signal,
|
||
827 | // and the SysSync control signal has been deactivated
|
||
828 | if (m & syncEvtListener->events &&
|
||
829 | 6b53f6bf | Thomas Schöpping | f == MODULE_SSSP_EVENTFLAGS_SYNC && |
830 | e545e620 | Thomas Schöpping | s == APAL_GPIO_OFF) { |
831 | chSysLock(); |
||
832 | // start the uptime counter
|
||
833 | _synctime = chVTGetSystemTimeX(); |
||
834 | _uptime = 0;
|
||
835 | chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
||
836 | chSysUnlock(); |
||
837 | |||
838 | return 0; |
||
839 | } |
||
840 | // an unexpected event occurred
|
||
841 | else {
|
||
842 | // reassign the flags to the event and return the event mask
|
||
843 | syncEvtListener->flags |= f; |
||
844 | return m;
|
||
845 | } |
||
846 | } |
||
847 | |||
848 | /**
|
||
849 | * @brief Retrieves the system uptime.
|
||
850 | *
|
||
851 | * @param[out] ut The system uptime.
|
||
852 | */
|
||
853 | inline void aosSysGetUptimeX(aos_timestamp_t* ut) |
||
854 | { |
||
855 | aosDbgCheck(ut != NULL);
|
||
856 | |||
857 | *ut = _uptime + LL_ST2US(chVTGetSystemTimeX() - _synctime); |
||
858 | |||
859 | return;
|
||
860 | } |
||
861 | |||
862 | /**
|
||
863 | 8399aeae | Thomas Schöpping | * @brief retrieves the date and time from the MCU clock.
|
864 | *
|
||
865 | * @param[out] td The date and time.
|
||
866 | */
|
||
867 | void aosSysGetDateTime(struct tm* dt) |
||
868 | { |
||
869 | aosDbgCheck(dt != NULL);
|
||
870 | |||
871 | RTCDateTime rtc; |
||
872 | rtcGetTime(&MODULE_HAL_RTC, &rtc); |
||
873 | rtcConvertDateTimeToStructTm(&rtc, dt, NULL);
|
||
874 | |||
875 | return;
|
||
876 | } |
||
877 | |||
878 | /**
|
||
879 | * @brief set the date and time of the MCU clock.
|
||
880 | *
|
||
881 | * @param[in] dt The date and time to set.
|
||
882 | */
|
||
883 | void aosSysSetDateTime(struct tm* dt) |
||
884 | { |
||
885 | aosDbgCheck(dt != NULL);
|
||
886 | |||
887 | RTCDateTime rtc; |
||
888 | rtcConvertStructTmToDateTime(dt, 0, &rtc);
|
||
889 | rtcSetTime(&MODULE_HAL_RTC, &rtc); |
||
890 | |||
891 | return;
|
||
892 | } |
||
893 | |||
894 | /**
|
||
895 | e545e620 | Thomas Schöpping | * @brief Initializes/Acknowledges a system shutdown/restart request.
|
896 | * @note This functions should be called from the thread with highest priority.
|
||
897 | *
|
||
898 | * @param[in] shutdown Type of shutdown.
|
||
899 | */
|
||
900 | void aosSysShutdownInit(aos_shutdown_t shutdown)
|
||
901 | { |
||
902 | // check arguments
|
||
903 | aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
||
904 | |||
905 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
906 | // deactivate the system synchronization timer
|
||
907 | chVTReset(&_syssynctimer); |
||
908 | #endif
|
||
909 | |||
910 | // update the system SSSP stage
|
||
911 | 6b53f6bf | Thomas Schöpping | aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1; |
912 | e545e620 | Thomas Schöpping | |
913 | // activate the SYS_PD control signal only, if this module initiated the shutdown
|
||
914 | chSysLock(); |
||
915 | if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
||
916 | 6b53f6bf | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioPd, APAL_GPIO_ON); |
917 | e545e620 | Thomas Schöpping | } |
918 | // activate the SYS_SYNC signal
|
||
919 | 6b53f6bf | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
920 | e545e620 | Thomas Schöpping | chSysUnlock(); |
921 | |||
922 | switch (shutdown) {
|
||
923 | case AOS_SHUTDOWN_PASSIVE:
|
||
924 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
925 | e545e620 | Thomas Schöpping | aosprintf("shutdown request received...\n");
|
926 | break;
|
||
927 | case AOS_SHUTDOWN_HIBERNATE:
|
||
928 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
929 | e545e620 | Thomas Schöpping | aosprintf("shutdown to hibernate mode...\n");
|
930 | break;
|
||
931 | case AOS_SHUTDOWN_DEEPSLEEP:
|
||
932 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
933 | e545e620 | Thomas Schöpping | aosprintf("shutdown to deepsleep mode...\n");
|
934 | break;
|
||
935 | case AOS_SHUTDOWN_TRANSPORTATION:
|
||
936 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
937 | e545e620 | Thomas Schöpping | aosprintf("shutdown to transportation mode...\n");
|
938 | break;
|
||
939 | case AOS_SHUTDOWN_RESTART:
|
||
940 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
941 | e545e620 | Thomas Schöpping | aosprintf("restarting system...\n");
|
942 | break;
|
||
943 | // must never occur
|
||
944 | case AOS_SHUTDOWN_NONE:
|
||
945 | default:
|
||
946 | break;
|
||
947 | } |
||
948 | |||
949 | // update the system SSSP stage
|
||
950 | 6b53f6bf | Thomas Schöpping | aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2; |
951 | e545e620 | Thomas Schöpping | |
952 | return;
|
||
953 | } |
||
954 | |||
955 | /**
|
||
956 | * @brief Stops the system and all related threads (not the thread this function is called from).
|
||
957 | */
|
||
958 | void aosSysStop(void) |
||
959 | { |
||
960 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
||
961 | 6b53f6bf | Thomas Schöpping | chThdWait(aos.shell.thread); |
962 | e545e620 | Thomas Schöpping | #endif
|
963 | |||
964 | return;
|
||
965 | } |
||
966 | |||
967 | /**
|
||
968 | * @brief Deinitialize all system variables.
|
||
969 | */
|
||
970 | void aosSysDeinit(void) |
||
971 | { |
||
972 | return;
|
||
973 | } |
||
974 | |||
975 | /**
|
||
976 | * @brief Finally shuts down the system and calls the bootloader callback function.
|
||
977 | * @note This function should be called from the thtead with highest priority.
|
||
978 | *
|
||
979 | * @param[in] extDrv Pointer to the interrupt driver.
|
||
980 | * @param[in] shutdown Type of shutdown.
|
||
981 | */
|
||
982 | void aosSysShutdownFinal(EXTDriver* extDrv, aos_shutdown_t shutdown)
|
||
983 | { |
||
984 | // check arguments
|
||
985 | aosDbgCheck(extDrv != NULL);
|
||
986 | aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
||
987 | |||
988 | // stop external interrupt system
|
||
989 | extStop(extDrv); |
||
990 | |||
991 | // update the system SSSP stage
|
||
992 | 6b53f6bf | Thomas Schöpping | aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3; |
993 | e545e620 | Thomas Schöpping | |
994 | // call bootloader callback depending on arguments
|
||
995 | switch (shutdown) {
|
||
996 | case AOS_SHUTDOWN_PASSIVE:
|
||
997 | BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest(); |
||
998 | break;
|
||
999 | case AOS_SHUTDOWN_HIBERNATE:
|
||
1000 | BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate(); |
||
1001 | break;
|
||
1002 | case AOS_SHUTDOWN_DEEPSLEEP:
|
||
1003 | BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep(); |
||
1004 | break;
|
||
1005 | case AOS_SHUTDOWN_TRANSPORTATION:
|
||
1006 | BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation(); |
||
1007 | break;
|
||
1008 | case AOS_SHUTDOWN_RESTART:
|
||
1009 | BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart(); |
||
1010 | break;
|
||
1011 | // must never occur
|
||
1012 | case AOS_SHUTDOWN_NONE:
|
||
1013 | default:
|
||
1014 | break;
|
||
1015 | } |
||
1016 | |||
1017 | return;
|
||
1018 | } |