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1
/*
2
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.
4

5
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.
9

10
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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15
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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19
/**
20
 * @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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 */
28

    
29
#include <amiroos.h>
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#include <stdarg.h>
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#include <string.h>
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#include <stdlib.h>
33

    
34
#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) */
38

    
39
/******************************************************************************/
40
/* LOCAL DEFINITIONS                                                          */
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/******************************************************************************/
42

    
43
/**
44
 * @brief   Period of the system timer.
45
 */
46
#define SYSTIMER_PERIOD               (TIME_MAX_SYSTIME - CH_CFG_ST_TIMEDELTA)
47

    
48
/**
49
 * @brief   Width of the printable system info text.
50
 */
51
#define SYSTEM_INFO_WIDTH             70
52

    
53
/**
54
 * @brief   Width of the name column of the system info table.
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 */
56
#define SYSTEM_INFO_NAMEWIDTH         14
57

    
58
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
59

    
60
/**
61
 * @brief   Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value.
62
 */
63
#define SYSTEM_SYSSYNCSKEW_LPFACTOR   (0.1f / AOS_SYSTEM_TIME_RESOLUTION)
64

    
65
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */
66

    
67
/******************************************************************************/
68
/* EXPORTED VARIABLES                                                         */
69
/******************************************************************************/
70

    
71
/**
72
 * @brief   Global system object.
73
 */
74
aos_system_t aos;
75

    
76
/******************************************************************************/
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/* LOCAL TYPES                                                                */
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/******************************************************************************/
79

    
80
/******************************************************************************/
81
/* LOCAL VARIABLES                                                            */
82
/******************************************************************************/
83

    
84
/*
85
 * forward declarations
86
 */
87
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
88
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[]);
91
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
92
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]);
93
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
94
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
95

    
96
/**
97
 * @brief   Timer to accumulate system uptime.
98
 */
99
static virtual_timer_t _systimer;
100

    
101
/**
102
 * @brief   Accumulated system uptime.
103
 */
104
static aos_timestamp_t _uptime;
105

    
106
/**
107
 * @brief   Timer register value of last accumulation.
108
 */
109
static systime_t _synctime;
110

    
111
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined(__DOXYGEN__)
112
/**
113
 * @brief   Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP.
114
 */
115
static virtual_timer_t _syssynctimer;
116

    
117
/**
118
 * @brief   Last uptime of system wide time synchronization.
119
 */
120
static aos_timestamp_t _syssynctime;
121
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */
122

    
123
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
124
/**
125
 * @brief   Offset between local clock and system wide synchronization signal.
126
 */
127
static float _syssyncskew;
128

    
129
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */
130

    
131
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
132
/**
133
 * @brief   Shell thread working area.
134
 */
135
THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE);
136

    
137
/**
138
 * @brief   Shell input buffer.
139
 */
140
static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH];
141

    
142
/**
143
 * @brief   Shell argument buffer.
144
 */
145
static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS];
146

    
147
/**
148
 * @brief   Shell command to retrieve system information.
149
 */
150
static aos_shellcommand_t _shellcmd_info = {
151
  /* name     */ "module:info",
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  /* callback */ _shellcmd_infocb,
153
  /* next     */ NULL,
154
};
155

    
156
/**
157
 * @brief   Shell command to set or retrieve system configuration.
158
 */
159
static aos_shellcommand_t _shellcmd_config = {
160
  /* name     */ "module:config",
161
  /* callback */ _shellcmd_configcb,
162
  /* next     */ NULL,
163
};
164

    
165
/**
166
 * @brief   Shell command to shutdown the system.
167
 */
168
static aos_shellcommand_t _shellcmd_shutdown = {
169
#if (AMIROOS_CFG_SSSP_ENABLE == true)
170
  /* name     */ "system:shutdown",
171
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */
172
  /* name     */ "module:shutdown",
173
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
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  /* callback */ _shellcmd_shutdowncb,
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  /* next     */ NULL,
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};
177

    
178
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
179
/**
180
 * @brief   Shell kommand to run a test of the ChibiOS/RT kernel.
181
 */
182
static aos_shellcommand_t _shellcmd_kerneltest = {
183
  /* name     */ "kernel:test",
184
  /* callback */ _shellcmd_kerneltestcb,
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  /* next     */ NULL,
186
};
187
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
188
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
189

    
190
/******************************************************************************/
191
/* LOCAL FUNCTIONS                                                            */
192
/******************************************************************************/
193

    
194
/**
195
 * @brief   Print a separator line.
196
 *
197
 * @param[in] stream    Stream to print to or NULL to print to all system streams.
198
 * @param[in] c         Character to use.
199
 * @param[in] n         Length of the separator line.
200
 *
201
 * @return  Number of characters printed.
202
 */
203
static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n)
204
{
205
  aosDbgCheck(stream != NULL);
206

    
207
  // print the specified character n times
208
  for (unsigned int i = 0; i < n; ++i) {
209
    streamPut(stream, c);
210
  }
211
  streamPut(stream, '\n');
212

    
213
  return n+1;
214
}
215

    
216
/**
217
 * @brief   Print a system information line.
218
 * @details Prints a system information line with the following format:
219
 *            "<name>[spaces]fmt"
220
 *          The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.
221
 *          Note that there is not trailing newline added implicitely.
222
 *
223
 * @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.
225
 * @param[in] namewidth   Width of the name column.
226
 * @param[in] fmt         Formatted string of information content.
227
 *
228
 * @return  Number of characters printed.
229
 */
230
static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...)
231
{
232
  aosDbgCheck(stream != NULL);
233
  aosDbgCheck(name != NULL);
234

    
235
  unsigned int n = 0;
236
  va_list ap;
237

    
238
  va_start(ap, fmt);
239
  n += chprintf(stream, name);
240
  while (n < namewidth) {
241
    streamPut(stream, ' ');
242
    ++n;
243
  }
244
  n += chvprintf(stream, fmt, ap);
245
  va_end(ap);
246

    
247
  streamPut(stream, '\n');
248
  ++n;
249

    
250
  return n;
251
}
252

    
253
/**
254
 * @brief   Prints information about the system.
255
 *
256
 * @param[in] stream    Stream to print to.
257
 */
258
static void _printSystemInfo(BaseSequentialStream* stream)
259
{
260
  aosDbgCheck(stream != NULL);
261

    
262
  // local variables
263
#if (HAL_USE_RTC == TRUE)
264
  struct tm dt;
265
  aosSysGetDateTime(&dt);
266
#endif /* (HAL_USE_RTC == TRUE) */
267

    
268
  // print static information about module and operating system
269
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
270
  _printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s", BOARD_NAME);
271
#if defined(PLATFORM_NAME)
272
  _printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME);
273
#endif /* defined(PLATFORM_NAME) */
274
#if defined(PORT_CORE_VARIANT_NAME)
275
  _printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME);
276
#endif /* defined(PORT_CORE_VARIANT_NAME) */
277
  _printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME);
278
  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
279
#if (AMIROOS_CFG_SSSP_ENABLE == true)
280
  _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);
281
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */
282
  _printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE);
283
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
284
  _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);
285
  _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");
286
  _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");
287
  _printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s", (AMIROOS_CFG_DBG == true) ? "debug" : "release");
288
  _printSystemInfoLine(stream, "Compiler" , SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC
289
  _printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__);
290

    
291
  // print static information about the bootloader
292
  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
293
  if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
294
    _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,
295
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :
296
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :
297
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :
298
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :
299
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :
300
                         "<release type unknown>",
301
                         BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor);
302
#if (AMIROOS_CFG_SSSP_ENABLE == true)
303
    if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_MAJOR) {
304
      if (stream) {
305
        chprintf(stream, "WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
306
      } else {
307
        aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
308
      }
309
    }
310
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
311
    _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
312
  } else {
313
    if (stream) {
314
      chprintf(stream, "Bootloader incompatible or not available.\n");
315
    } else {
316
      aosprintf("Bootloader incompatible or not available.\n");
317
    }
318
  }
319

    
320
  // print dynamic information about the module
321
  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
322
#if (AMIROOS_CFG_SSSP_ENABLE == true)
323
  if (aos.sssp.moduleId != 0) {
324
    _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId);
325
  } else {
326
    _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available");
327
  }
328
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
329
#if (HAL_USE_RTC == TRUE)
330
  _printSystemInfoLine(stream, "Date", SYSTEM_INFO_NAMEWIDTH, "%04u-%02u-%02u (%s)",
331
                       dt.tm_year + 1900,
332
                       dt.tm_mon + 1,
333
                       dt.tm_mday,
334
                       (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");
335
  _printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u", dt.tm_hour, dt.tm_min, dt.tm_sec);
336
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN != TRUE)
337
#if (AMIROOS_CFG_SSSP_MASTER == true)
338
  _printSystemInfoLine(stream, "", SYSTEM_INFO_NAMEWIDTH, "Date & Time were not synchronized to slave modules.");
339
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */
340
  _printSystemInfoLine(stream, "", SYSTEM_INFO_NAMEWIDTH, "Date & Time were not synchronized from master module.");
341
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */
342
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN != TRUE) */
343
#endif /* (HAL_USE_RTC == TRUE) */
344

    
345
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
346

    
347
  return;
348
}
349

    
350
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
351
/**
352
 * @brief   Callback function for the system:config shell command.
353
 *
354
 * @param[in] stream    The I/O stream to use.
355
 * @param[in] argc      Number of arguments.
356
 * @param[in] argv      List of pointers to the arguments.
357
 *
358
 * @return              An exit status.
359
 * @retval  AOS_OK                  The command was executed successfuly.
360
 * @retval  AOS_INVALID_ARGUMENTS   There was an issue with the arguemnts.
361
 */
362
static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[])
363
{
364
  aosDbgCheck(stream != NULL);
365

    
366
  // local variables
367
  int retval = AOS_INVALID_ARGUMENTS;
368

    
369
  // if there are additional arguments
370
  if (argc > 1) {
371
    // if the user wants to set or retrieve the shell configuration
372
    if (strcmp(argv[1], "--shell") == 0) {
373
      // if the user wants to modify the shell configuration
374
      if (argc > 2) {
375
        // if the user wants to modify the prompt
376
        if (strcmp(argv[2], "prompt") == 0) {
377
          // there must be a further argument
378
          if (argc > 3) {
379
            // handle the option
380
            if (strcmp(argv[3], "text") == 0) {
381
              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL;
382
              retval = AOS_OK;
383
            }
384
            else if (strcmp(argv[3], "minimal") == 0) {
385
              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL;
386
              retval = AOS_OK;
387
            }
388
            else if (strcmp(argv[3], "notime") == 0) {
389
              aos.shell.config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME);
390
              retval = AOS_OK;
391
            }
392
            else if (strcmp(argv[3], "uptime") == 0) {
393
              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME;
394
              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_UPTIME;
395
              retval = AOS_OK;
396
            }
397
            else if (strcmp(argv[3], "date&time") == 0) {
398
              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME;
399
              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME;
400
              retval = AOS_OK;
401
            }
402
            else {
403
              chprintf(stream, "unknown option '%s'\n", argv[3]);
404
              return AOS_INVALID_ARGUMENTS;
405
            }
406
          }
407
        }
408
        // if the user wants to modify the string matching
409
        else if (strcmp(argv[2], "match") == 0) {
410
          // there must be a further argument
411
          if (argc > 3) {
412
            if (strcmp(argv[3], "casesensitive") == 0) {
413
              aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE;
414
              retval = AOS_OK;
415
            }
416
            else if (strcmp(argv[3], "caseinsensitive") == 0) {
417
              aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE;
418
              retval = AOS_OK;
419
            }
420
          }
421
        }
422
      }
423
      // if the user wants to retrieve the shell configuration
424
      else {
425
        chprintf(stream, "current shell configuration:\n");
426
        chprintf(stream, "  prompt text:   %s\n",
427
                 (aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a");
428
        char time[10];
429
        switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
430
          case AOS_SHELL_CONFIG_PROMPT_UPTIME:
431
            strcpy(time, "uptime"); break;
432
          case AOS_SHELL_CONFIG_PROMPT_DATETIME:
433
            strcpy(time, "date&time"); break;
434
          default:
435
            strcpy(time, "no time"); break;
436
        }
437
        chprintf(stream, "  prompt style:  %s, %s\n",
438
                 (aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text",
439
                 time);
440
        chprintf(stream, "  input method:  %s\n",
441
                 (aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert");
442
        chprintf(stream, "  text matching: %s\n",
443
                 (aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive");
444
        retval = AOS_OK;
445
      }
446
    }
447
# if (HAL_USE_RTC == TRUE)
448
    // if the user wants to configure the date or time
449
    else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) {
450
      struct tm dt;
451
      aosSysGetDateTime(&dt);
452
      int val = atoi(argv[3]);
453
      if (strcmp(argv[2], "year") == 0 && val >= 1900) {
454
        dt.tm_year = val - 1900;
455
      }
456
      else if (strcmp(argv[2], "month") == 0 && val > 0 && val <= 12) {
457
        dt.tm_mon = val - 1;
458
      }
459
      else if (strcmp(argv[2], "day") == 0 && val > 0 && val <= 31) {
460
        dt.tm_mday = val;
461
      }
462
      else if (strcmp(argv[2], "hour") == 0 && val >= 0 && val < 24) {
463
        dt.tm_hour = val;
464
      }
465
      else if (strcmp(argv[2], "minute") == 0 && val >= 0 && val < 60) {
466
        dt.tm_min = val;
467
      }
468
      else if (strcmp(argv[2], "second") == 0 && val >= 0 && val < 60) {
469
        dt.tm_sec = val;
470
      }
471
      else {
472
        chprintf(stream, "unknown option '%s' or invalid value '%s'\n", argv[2], argv[3]);
473
        return AOS_INVALID_ARGUMENTS;
474
      }
475
      dt.tm_wday = aosTimeDayOfWeekFromDate(dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900) % 7;
476
      aosSysSetDateTime(&dt);
477

    
478
      // read and print new date and time
479
      aosSysGetDateTime(&dt);
480
      chprintf(stream, "date/time set to %02u:%02u:%02u @ %02u-%02u-%04u\n",
481
               dt.tm_hour, dt.tm_min, dt.tm_sec,
482
               dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900);
483

    
484
      retval = AOS_OK;
485
    }
486
#endif /* (HAL_USE_RTC == TRUE) */
487
  }
488

    
489
  // print help, if required
490
  if (retval == AOS_INVALID_ARGUMENTS) {
491
    chprintf(stream, "Usage: %s OPTION\n", argv[0]);
492
    chprintf(stream, "Options:\n");
493
    chprintf(stream, "  --help\n");
494
    chprintf(stream, "    Print this help text.\n");
495
    chprintf(stream, "  --shell [OPT [VAL]]\n");
496
    chprintf(stream, "    Set or retrieve shell configuration.\n");
497
    chprintf(stream, "    Possible OPTs and VALs are:\n");
498
    chprintf(stream, "      prompt text|minimal|uptime|date&time|notime\n");
499
    chprintf(stream, "        Configures the prompt.\n");
500
    chprintf(stream, "      match casesensitive|caseinsenitive\n");
501
    chprintf(stream, "        Configures string matching.\n");
502
#if (HAL_USE_RTC == TRUE)
503
    chprintf(stream, "  --date&time OPT VAL\n");
504
    chprintf(stream, "    Set the date/time value of OPT to VAL.\n");
505
    chprintf(stream, "    Possible OPTs are:\n");
506
    chprintf(stream, "      year\n");
507
    chprintf(stream, "      month\n");
508
    chprintf(stream, "      day\n");
509
    chprintf(stream, "      hour\n");
510
    chprintf(stream, "      minute\n");
511
    chprintf(stream, "      second\n");
512
#endif /* (HAL_USE_RTC == TRUE) */
513
  }
514

    
515
  return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval;
516
}
517

    
518
/**
519
 * @brief   Callback function for the system:info shell command.
520
 *
521
 * @param[in] stream    The I/O stream to use.
522
 * @param[in] argc      Number of arguments.
523
 * @param[in] argv      List of pointers to the arguments.
524
 *
525
 * @return            An exit status.
526
 * @retval  AOS_OK    The command was executed successfully.
527
 */
528
static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[])
529
{
530
  aosDbgCheck(stream != NULL);
531

    
532
  (void)argc;
533
  (void)argv;
534

    
535
  // print system information
536
  _printSystemInfo(stream);
537

    
538
  // print time measurement precision
539
  chprintf(stream, "module time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
540

    
541
  // print system uptime
542
  aos_timestamp_t uptime;
543
  aosSysGetUptime(&uptime);
544
  chprintf(stream, "The system is running for\n");
545
  chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
546
  chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
547
  chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
548
  chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
549
  chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
550
  chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
551
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)
552
  chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", _syssyncskew, AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
553
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */
554
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
555

    
556
  // print shell info
557
  chprintf(stream, "System shell information:\n");
558
  chprintf(stream, "\tcommands available:     %u\n", aosShellCountCommands(&aos.shell));
559
  chprintf(stream, "\tline width:             %u characters\n", aos.shell.linesize);
560
  chprintf(stream, "\tmaximum arguments:      %u\n", aos.shell.arglistsize);
561
#if (AMIROOS_CFG_DBG == true)
562
  chprintf(stream, "\tthread stack size:      %u bytes\n", aosThdGetStacksize(aos.shell.thread));
563
#if (CH_DBG_FILL_THREADS == TRUE)
564
  chprintf(stream, "\tstack peak utilization: %u bytes (%.2f%%)\n", aosThdGetStackPeakUtilization(aos.shell.thread), (float)aosThdGetStackPeakUtilization(aos.shell.thread) / (float)aosThdGetStacksize(aos.shell.thread) * 100.0f);
565
#endif /* (CH_DBG_FILL_THREADS == TRUE) */
566
#endif /* (AMIROOS_CFG_DBG == true) */
567
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
568

    
569
  return AOS_OK;
570
}
571

    
572
/**
573
 * @brief   Callback function for the sytem:shutdown shell command.
574
 *
575
 * @param[in] stream    The I/O stream to use.
576
 * @param[in] argc      Number of arguments.
577
 * @param[in] argv      List of pointers to the arguments.
578
 *
579
 * @return              An exit status.
580
 * @retval  AOS_OK                  The command was executed successfully.
581
 * @retval  AOS_INVALID_ARGUMENTS   There was an issue with the arguments.
582
 */
583
static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[])
584
{
585
  aosDbgCheck(stream != NULL);
586

    
587
#if (AMIROOS_CFG_SSSP_ENABLE == true)
588
  // print help text
589
  if (argc != 2 || strcmp(argv[1], "--help") == 0) {
590
    chprintf(stream, "Usage: %s OPTION\n", argv[0]);
591
    chprintf(stream, "Options:\n");
592
    chprintf(stream, "  --help\n");
593
    chprintf(stream, "    Print this help text.\n");
594
    chprintf(stream, "  --hibernate, -h\n");
595
    chprintf(stream, "    Shutdown to hibernate mode.\n");
596
    chprintf(stream, "    Least energy saving, but allows charging via pins.\n");
597
    chprintf(stream, "  --deepsleep, -d\n");
598
    chprintf(stream, "    Shutdown to deepsleep mode.\n");
599
    chprintf(stream, "    Minimum energy consumption while allowing charging via plug.\n");
600
    chprintf(stream, "  --transportation, -t\n");
601
    chprintf(stream, "    Shutdown to transportation mode.\n");
602
    chprintf(stream, "    Minimum energy consumption with all interrupts disabled (no charging).\n");
603
    chprintf(stream, "  --restart, -r\n");
604
    chprintf(stream, "    Shutdown and restart system.\n");
605

    
606
    return (argc != 2) ? AOS_INVALID_ARGUMENTS : AOS_OK;
607
  }
608
  // handle argument
609
  else {
610
    if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) {
611
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE);
612
      chThdTerminate(chThdGetSelfX());
613
      return AOS_OK;
614
    }
615
    else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) {
616
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP);
617
      chThdTerminate(chThdGetSelfX());
618
      return AOS_OK;
619
    }
620
    else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) {
621
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION);
622
      chThdTerminate(chThdGetSelfX());
623
      return AOS_OK;
624
    }
625
    else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) {
626
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART);
627
      chThdTerminate(chThdGetSelfX());
628
      return AOS_OK;
629
    }
630
    else {
631
      chprintf(stream, "unknown argument %s\n", argv[1]);
632
      return AOS_INVALID_ARGUMENTS;
633
    }
634
  }
635
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */
636
  (void)argv;
637
  (void)argc;
638

    
639
  chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN);
640
  chThdTerminate(chThdGetSelfX());
641
  return AOS_OK;
642
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
643
}
644

    
645
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
646
/**
647
 * @brief   Callback function for the kernel:test shell command.
648
 *
649
 * @param[in] stream    The I/O stream to use.
650
 * @param[in] argc      Number of arguments.
651
 * @param[in] argv      List of pointers to the arguments.
652
 *
653
 * @return      An exit status.
654
 */
655
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[])
656
{
657
  aosDbgCheck(stream != NULL);
658

    
659
  (void)argc;
660
  (void)argv;
661

    
662
  msg_t retval = test_execute(stream, &rt_test_suite);
663

    
664
  return retval;
665
}
666
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
667
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
668

    
669
// suppress warning in case no interrupt GPIOs are defined
670
#pragma GCC diagnostic push
671
#pragma GCC diagnostic ignored "-Wunused-function"
672
/**
673
 * @brief   Generic callback function for GPIO interrupts.
674
 *
675
 * @param[in] args   Pointer to the GPIO pad identifier.
676
 */
677
static void _intCallback(void* args)
678
{
679
  aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8));
680

    
681
  chSysLockFromISR();
682
  chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(*((iopadid_t*)args)));
683
  chSysUnlockFromISR();
684

    
685
  return;
686
}
687
#pragma GCC diagnostic pop
688

    
689
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true)) || defined(__DOXYGEN__)
690
/**
691
 * @brief   Callback function for the Sync signal interrupt.
692
 *
693
 * @param[in] args   Pointer to the GPIO pad identifier.
694
 */
695
static void _signalSyncCallback(void *args)
696
{
697
  aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8));
698

    
699
  apalControlGpioState_t s_state;
700
  aos_timestamp_t uptime;
701

    
702
  chSysLockFromISR();
703
  // if the system is in operation phase
704
  if (aos.sssp.stage == AOS_SSSP_OPERATION) {
705
    // read signal S
706
    apalControlGpioGet(&moduleSsspGpioSync, &s_state);
707
    // if S was toggled from on to off
708
    if (s_state == APAL_GPIO_OFF) {
709
      // get current uptime
710
      aosSysGetUptimeX(&uptime);
711
      // align the uptime with the synchronization period
712
      if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) {
713
        _uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD;
714
#if (AMIROOS_CFG_PROFILE == true)
715
        _syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) + (SYSTEM_SYSSYNCSKEW_LPFACTOR * (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD));
716
#endif /* (AMIROOS_CFG_PROFILE == true) */
717
      } else {
718
        _uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
719
#if (AMIROOS_CFG_PROFILE == true)
720
        _syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) - (SYSTEM_SYSSYNCSKEW_LPFACTOR * (AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD)));
721
#endif /* (AMIROOS_CFG_PROFILE == true) */
722
      }
723
    }
724
  }
725
  // broadcast event
726
  chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(*((iopadid_t*)args)));
727
  chSysUnlockFromISR();
728

    
729
  return;
730
}
731
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) */
732

    
733
/**
734
 * @brief   Callback function for the uptime accumulation timer.
735
 *
736
 * @param[in] par   Generic parameter.
737
 */
738
static void _uptimeCallback(void* par)
739
{
740
  (void)par;
741

    
742
  chSysLockFromISR();
743
  // read current time in system ticks
744
  register const systime_t st = chVTGetSystemTimeX();
745
  // update the uptime variables
746
  _uptime += chTimeI2US(chTimeDiffX(_synctime, st));
747
  _synctime = st;
748
  // enable the timer again
749
  chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
750
  chSysUnlockFromISR();
751

    
752
  return;
753
}
754

    
755
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined (__DOXYGEN__)
756
/**
757
 * @brief   Periodic system synchronization callback function.
758
 * @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.
759
 *
760
 * @param[in] par   Unuesed parameters.
761
 */
762
static void _sysSyncTimerCallback(void* par)
763
{
764
  (void)par;
765

    
766
  apalControlGpioState_t s_state;
767
  aos_timestamp_t uptime;
768

    
769
  chSysLockFromISR();
770
  // toggle and read signal S
771
  apalGpioToggle(moduleSsspGpioSync.gpio);
772
  apalControlGpioGet(&moduleSsspGpioSync, &s_state);
773
  // if S was toggled from off to on
774
  if (s_state == APAL_GPIO_ON) {
775
    // reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
776
    _syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD;
777
    aosSysGetUptimeX(&uptime);
778
    chVTSetI(&_syssynctimer, chTimeUS2I(_syssynctime - uptime), _sysSyncTimerCallback, NULL);
779
  }
780
  // if S was toggled from on to off
781
  else /* if (s_state == APAL_GPIO_OFF) */ {
782
    // reconfigure the timer (lazy)
783
    chVTSetI(&_syssynctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL);
784
  }
785
  chSysUnlockFromISR();
786

    
787
  return;
788
}
789
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */
790

    
791
/******************************************************************************/
792
/* EXPORTED FUNCTIONS                                                         */
793
/******************************************************************************/
794

    
795
/**
796
 * @brief   AMiRo-OS system initialization.
797
 * @note    Must be called from the system control thread (usually main thread).
798
 *
799
 * @param[in] shellPrompt   String to be printed as prompt of the system shell.
800
 */
801
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
802
void aosSysInit(const char* shellPrompt)
803
#else /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
804
void aosSysInit(void)
805
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
806
{
807
  /* set control thread to maximum priority */
808
  chThdSetPriority(AOS_THD_CTRLPRIO);
809

    
810
  /* set local variables */
811
  chVTObjectInit(&_systimer);
812
#if (AMIROOS_CFG_SSSP_ENABLE == true)
813
  _synctime = 0;
814
  _uptime = 0;
815
#if (AMIROOS_CFG_SSSP_MASTER == true)
816
  chVTObjectInit(&_syssynctimer);
817
  _syssynctime = 0;
818
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */
819
#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)
820
  _syssyncskew = 0.0f;
821
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */
822
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */
823
  // start the uptime counter
824
  chSysLock();
825
  _synctime = chVTGetSystemTimeX();
826
  _uptime = 0;
827
  chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
828
  chSysUnlock();
829
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
830

    
831
  /* initialize aos configuration */
832
#if (AMIROOS_CFG_SSSP_ENABLE == true)
833
  aos.sssp.stage = AOS_SSSP_STARTUP_2_1;
834
  aos.sssp.moduleId = 0;
835
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
836
  aosIOStreamInit(&aos.iostream);
837
  chEvtObjectInit(&aos.events.io);
838
  chEvtObjectInit(&aos.events.os);
839

    
840
  /* interrupt setup */
841
#if (AMIROOS_CFG_SSSP_ENABLE == true)
842
  // PD signal
843
  palSetPadCallback(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, _intCallback, &moduleSsspGpioPd.gpio->pad);
844
  palEnablePadEvent(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, APAL2CH_EDGE(moduleSsspGpioPd.meta.edge));
845
  // SYNC signal
846
#if (AMIROOS_CFG_SSSP_MASTER == true)
847
  palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _intCallback, &moduleSsspGpioSync.gpio->pad);
848
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */
849
  palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _signalSyncCallback, &moduleSsspGpioSync.gpio->pad);
850
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */
851
  palEnablePadEvent(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, APAL2CH_EDGE(moduleSsspGpioSync.meta.edge));
852
#if (AMIROOS_CFG_SSSP_STACK_START != true)
853
  // DN signal
854
  palSetPadCallback(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, _intCallback, &moduleSsspGpioDn.gpio->pad);
855
  palEnablePadEvent(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, APAL2CH_EDGE(moduleSsspGpioDn.meta.edge));
856
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */
857
#if (AMIROOS_CFG_SSSP_STACK_END != true)
858
  // UP signal
859
  palSetPadCallback(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, _intCallback, &moduleSsspGpioUp.gpio->pad);
860
  palEnablePadEvent(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, APAL2CH_EDGE(moduleSsspGpioUp.meta.edge));
861
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */
862
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
863
#if defined(MODULE_INIT_INTERRUPTS)
864
  // further interrupt signals
865
  MODULE_INIT_INTERRUPTS();
866
#endif /* defined(MODULE_INIT_INTERRUPTS) */
867

    
868
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)
869
  /* init shell */
870
  aosShellInit(&aos.shell,
871
               &aos.events.os,
872
               shellPrompt,
873
               _shell_line,
874
               AMIROOS_CFG_SHELL_LINEWIDTH,
875
               _shell_arglist,
876
               AMIROOS_CFG_SHELL_MAXARGS);
877
  // add system commands
878
  aosShellAddCommand(&aos.shell, &_shellcmd_config);
879
  aosShellAddCommand(&aos.shell, &_shellcmd_info);
880
  aosShellAddCommand(&aos.shell, &_shellcmd_shutdown);
881
#if (AMIROOS_CFG_TESTS_ENABLE == true)
882
  aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest);
883
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
884
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
885

    
886
  return;
887
}
888

    
889
/**
890
 * @brief   Starts the system and all system threads.
891
 */
892
inline void aosSysStart(void)
893
{
894
#if (AMIROOS_CFG_SSSP_ENABLE == true)
895
  // update the system SSSP stage
896
  aos.sssp.stage = AOS_SSSP_OPERATION;
897

    
898
#if (AMIROOS_CFG_SSSP_MASTER == true)
899
  {
900
    chSysLock();
901
    // start the system synchronization counter
902
    // The first iteration of the timer is set to the next 'center' of a 'slice'.
903
    aos_timestamp_t t;
904
    aosSysGetUptimeX(&t);
905
    t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
906
    chVTSetI(&_syssynctimer, chTimeUS2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL);
907
    chSysUnlock();
908
  }
909
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */
910
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
911

    
912
  // print system information;
913
  _printSystemInfo((BaseSequentialStream*)&aos.iostream);
914
  aosprintf("\n");
915

    
916
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)
917
  // start system shell thread
918
#if (CH_CFG_USE_THREADHIERARCHY == TRUE)
919
  aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell, &ch.mainthread);
920
#else /* (CH_CFG_USE_THREADHIERARCHY == TRUE) */
921
  aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
922
#endif /* (CH_CFG_USE_THREADHIERARCHY == TRUE) */
923
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
924

    
925
  return;
926
}
927

    
928
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)
929
/**
930
 * @brief   Implements the SSSP startup synchronization step.
931
 *
932
 * @param[in] syncEvtListener   Event listener that receives the Sync event.
933
 *
934
 * @return    If another event that the listener is interested in was received, its mask is returned.
935
 *            Otherwise an empty mask (0) is returned.
936
 */
937
eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener)
938
{
939
  aosDbgCheck(syncEvtListener != NULL);
940

    
941
  // local variables
942
  eventmask_t m;
943
  eventflags_t f;
944
  apalControlGpioState_t s;
945

    
946
  // update the system SSSP stage
947
  aos.sssp.stage = AOS_SSSP_STARTUP_2_2;
948

    
949
  // deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase)
950
  apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);
951

    
952
  // wait for any event to occur (do not apply any filter in order not to miss any event)
953
  m = chEvtWaitOne(ALL_EVENTS);
954
  f = chEvtGetAndClearFlags(syncEvtListener);
955
  apalControlGpioGet(&moduleSsspGpioSync, &s);
956

    
957
  // if the event was a system event,
958
  //   and it was fired because of the SysSync control signal,
959
  //   and the SysSync control signal has been deactivated
960
  if (m & syncEvtListener->events &&
961
      f == MODULE_SSSP_EVENTFLAGS_SYNC &&
962
      s == APAL_GPIO_OFF) {
963
    chSysLock();
964
    // start the uptime counter
965
    _synctime = chVTGetSystemTimeX();
966
    _uptime = 0;
967
    chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
968
    chSysUnlock();
969

    
970
    return 0;
971
  }
972
  // an unexpected event occurred
973
  else {
974
    // reassign the flags to the event and return the event mask
975
    syncEvtListener->flags |= f;
976
    return m;
977
  }
978
}
979
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
980

    
981
/**
982
 * @brief   Retrieves the system uptime.
983
 *
984
 * @param[out] ut   The system uptime.
985
 */
986
inline void aosSysGetUptimeX(aos_timestamp_t* ut)
987
{
988
  aosDbgCheck(ut != NULL);
989

    
990
  *ut = _uptime + chTimeI2US(chTimeDiffX(_synctime, chVTGetSystemTimeX()));
991

    
992
  return;
993
}
994

    
995
#if (HAL_USE_RTC == TRUE) || defined(__DOXYGEN__)
996

    
997
/**
998
 * @brief   retrieves the date and time from the MCU clock.
999
 *
1000
 * @param[out] td   The date and time.
1001
 */
1002
void aosSysGetDateTime(struct tm* dt)
1003
{
1004
  aosDbgCheck(dt != NULL);
1005

    
1006
  RTCDateTime rtc;
1007
  rtcGetTime(&MODULE_HAL_RTC, &rtc);
1008
  rtcConvertDateTimeToStructTm(&rtc, dt, NULL);
1009

    
1010
  return;
1011
}
1012

    
1013
/**
1014
 * @brief   set the date and time of the MCU clock.
1015
 *
1016
 * @param[in] dt    The date and time to set.
1017
 */
1018
void aosSysSetDateTime(struct tm* dt)
1019
{
1020
  aosDbgCheck(dt != NULL);
1021

    
1022
  RTCDateTime rtc;
1023
  rtcConvertStructTmToDateTime(dt, 0, &rtc);
1024
  rtcSetTime(&MODULE_HAL_RTC, &rtc);
1025

    
1026
  return;
1027
}
1028

    
1029
#endif /* (HAL_USE_RTC == TRUE) */
1030

    
1031
/**
1032
 * @brief   Initializes/Acknowledges a system shutdown/restart request.
1033
 * @note    This functions should be called from the thread with highest priority.
1034
 *
1035
 * @param[in] shutdown    Type of shutdown.
1036
 */
1037
void aosSysShutdownInit(aos_shutdown_t shutdown)
1038
{
1039
  // check arguments
1040
  aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
1041

    
1042
#if (AMIROOS_CFG_SSSP_ENABLE == true)
1043
#if (AMIROOS_CFG_SSSP_MASTER == true)
1044
  // deactivate the system synchronization timer
1045
  chVTReset(&_syssynctimer);
1046
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */
1047

    
1048
  // update the system SSSP stage
1049
  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1;
1050

    
1051
  chSysLock();
1052
  // activate the SYS_PD control signal only, if this module initiated the shutdown
1053
  if (shutdown != AOS_SHUTDOWN_PASSIVE) {
1054
    apalControlGpioSet(&moduleSsspGpioPd, APAL_GPIO_ON);
1055
  }
1056
  // activate the SYS_SYNC signal
1057
  apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON);
1058
  chSysUnlock();
1059
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
1060

    
1061
  switch (shutdown) {
1062
    case AOS_SHUTDOWN_PASSIVE:
1063
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN);
1064
      aosprintf("shutdown request received...\n");
1065
      break;
1066
    case AOS_SHUTDOWN_HIBERNATE:
1067
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE);
1068
      aosprintf("shutdown to hibernate mode...\n");
1069
      break;
1070
    case AOS_SHUTDOWN_DEEPSLEEP:
1071
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP);
1072
      aosprintf("shutdown to deepsleep mode...\n");
1073
      break;
1074
    case AOS_SHUTDOWN_TRANSPORTATION:
1075
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION);
1076
      aosprintf("shutdown to transportation mode...\n");
1077
      break;
1078
    case AOS_SHUTDOWN_RESTART:
1079
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART);
1080
      aosprintf("restarting system...\n");
1081
      break;
1082
    // must never occur
1083
    case AOS_SHUTDOWN_NONE:
1084
    default:
1085
      break;
1086
  }
1087

    
1088
#if (AMIROOS_CFG_SSSP_ENABLE == true)
1089
  // update the system SSSP stage
1090
  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2;
1091
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
1092

    
1093
  return;
1094
}
1095

    
1096
/**
1097
 * @brief   Stops the system and all related threads (not the thread this function is called from).
1098
 */
1099
void aosSysStop(void)
1100
{
1101
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)
1102
  chThdWait(aos.shell.thread);
1103
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
1104

    
1105
  return;
1106
}
1107

    
1108
/**
1109
 * @brief   Deinitialize all system variables.
1110
 */
1111
void aosSysDeinit(void)
1112
{
1113
  return;
1114
}
1115

    
1116
/**
1117
 * @brief   Finally shuts down the system and calls the bootloader callback function.
1118
 * @note    This function should be called from the thtead with highest priority.
1119
 *
1120
 * @param[in] shutdown    Type of shutdown.
1121
 */
1122
void aosSysShutdownFinal(aos_shutdown_t shutdown)
1123
{
1124
  // check arguments
1125
  aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
1126

    
1127
  // disable all interrupts
1128
  irqDeinit();
1129

    
1130
#if (AMIROOS_CFG_SSSP_ENABLE == true)
1131
  // update the system SSSP stage
1132
  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3;
1133
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
1134

    
1135
  // validate bootloader
1136
  if ((BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) &&
1137
      (BL_CALLBACK_TABLE_ADDRESS->vBootloader.major == BL_VERSION_MAJOR) &&
1138
      (BL_CALLBACK_TABLE_ADDRESS->vBootloader.minor >= BL_VERSION_MINOR)) {
1139
    // call bootloader callback depending on arguments
1140
    switch (shutdown) {
1141
      case AOS_SHUTDOWN_PASSIVE:
1142
        BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest();
1143
        break;
1144
      case AOS_SHUTDOWN_HIBERNATE:
1145
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate();
1146
        break;
1147
      case AOS_SHUTDOWN_DEEPSLEEP:
1148
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep();
1149
        break;
1150
      case AOS_SHUTDOWN_TRANSPORTATION:
1151
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation();
1152
        break;
1153
      case AOS_SHUTDOWN_RESTART:
1154
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart();
1155
        break;
1156
      // must never occur
1157
      case AOS_SHUTDOWN_NONE:
1158
      default:
1159
        break;
1160
    }
1161
  } else {
1162
    // fallback if bootloader was found to be invalid
1163
    aosprintf("Bootloader incompatible or not available!\n");
1164
    aosThdMSleep(10);
1165
    chSysDisable();
1166
  }
1167

    
1168
  return;
1169
}
1170

    
1171
/** @} */