amiro-os / core / src / aos_system.c @ 437900eb
History | View | Annotate | Download (43.4 KB)
1 |
/*
|
---|---|
2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
4 |
|
5 |
This program is free software: you can redistribute it and/or modify
|
6 |
it under the terms of the GNU General Public License as published by
|
7 |
the Free Software Foundation, either version 3 of the License, or
|
8 |
(at your option) any later version.
|
9 |
|
10 |
This program is distributed in the hope that it will be useful,
|
11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13 |
GNU General Public License for more details.
|
14 |
|
15 |
You should have received a copy of the GNU General Public License
|
16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
17 |
*/
|
18 |
|
19 |
/**
|
20 |
* @file aos_system.c
|
21 |
* @brief System code.
|
22 |
* @details Contains system initialization and shutdown routines
|
23 |
* and system shell commands.
|
24 |
*
|
25 |
* @addtogroup aos_system
|
26 |
* @{
|
27 |
*/
|
28 |
|
29 |
#include <amiroos.h> |
30 |
#include <stdarg.h> |
31 |
#include <string.h> |
32 |
#include <stdlib.h> |
33 |
|
34 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
35 |
#include <ch_test.h> |
36 |
#include <rt_test_root.h> |
37 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
38 |
|
39 |
/******************************************************************************/
|
40 |
/* LOCAL DEFINITIONS */
|
41 |
/******************************************************************************/
|
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.
|
55 |
*/
|
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 |
/******************************************************************************/
|
77 |
/* LOCAL TYPES */
|
78 |
/******************************************************************************/
|
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[]); |
89 |
static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]); |
90 |
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_SHELL_COMMAND(_shellcmd_info, "module:info", _shellcmd_infocb); |
151 |
|
152 |
/**
|
153 |
* @brief Shell command to set or retrieve system configuration.
|
154 |
*/
|
155 |
static AOS_SHELL_COMMAND(_shellcmd_config, "module:config", _shellcmd_configcb); |
156 |
|
157 |
/**
|
158 |
* @brief Shell command to shutdown the system.
|
159 |
*/
|
160 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
161 |
static AOS_SHELL_COMMAND(_shellcmd_shutdown, "system:shutdown", _shellcmd_shutdowncb); |
162 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
163 |
static AOS_SHELL_COMMAND(_shellcmd_shutdown, "module:shutdown", _shellcmd_shutdowncb); |
164 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
165 |
|
166 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
167 |
/**
|
168 |
* @brief Shell kommand to run a test of the ChibiOS/RT kernel.
|
169 |
*/
|
170 |
static AOS_SHELL_COMMAND(_shellcmd_kerneltest, "kernel:test", _shellcmd_kerneltestcb); |
171 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
172 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
173 |
|
174 |
/******************************************************************************/
|
175 |
/* LOCAL FUNCTIONS */
|
176 |
/******************************************************************************/
|
177 |
|
178 |
/**
|
179 |
* @brief Print a separator line.
|
180 |
*
|
181 |
* @param[in] stream Stream to print to or NULL to print to all system streams.
|
182 |
* @param[in] c Character to use.
|
183 |
* @param[in] n Length of the separator line.
|
184 |
*
|
185 |
* @return Number of characters printed.
|
186 |
*/
|
187 |
static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n) |
188 |
{ |
189 |
aosDbgCheck(stream != NULL);
|
190 |
|
191 |
// print the specified character n times
|
192 |
for (unsigned int i = 0; i < n; ++i) { |
193 |
streamPut(stream, c); |
194 |
} |
195 |
streamPut(stream, '\n');
|
196 |
|
197 |
return n+1; |
198 |
} |
199 |
|
200 |
/**
|
201 |
* @brief Print a system information line.
|
202 |
* @details Prints a system information line with the following format:
|
203 |
* "<name>[spaces]fmt"
|
204 |
* The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.
|
205 |
* Note that there is not trailing newline added implicitely.
|
206 |
*
|
207 |
* @param[in] stream Stream to print to or NULL to print to all system streams.
|
208 |
* @param[in] name Name of the entry/line.
|
209 |
* @param[in] namewidth Width of the name column.
|
210 |
* @param[in] fmt Formatted string of information content.
|
211 |
*
|
212 |
* @return Number of characters printed.
|
213 |
*/
|
214 |
static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...) |
215 |
{ |
216 |
aosDbgCheck(stream != NULL);
|
217 |
aosDbgCheck(name != NULL);
|
218 |
|
219 |
unsigned int n = 0; |
220 |
va_list ap; |
221 |
|
222 |
va_start(ap, fmt); |
223 |
n += chprintf(stream, name); |
224 |
while (n < namewidth) {
|
225 |
streamPut(stream, ' ');
|
226 |
++n; |
227 |
} |
228 |
n += chvprintf(stream, fmt, ap); |
229 |
va_end(ap); |
230 |
|
231 |
streamPut(stream, '\n');
|
232 |
++n; |
233 |
|
234 |
return n;
|
235 |
} |
236 |
|
237 |
/**
|
238 |
* @brief Prints information about the system.
|
239 |
*
|
240 |
* @param[in] stream Stream to print to.
|
241 |
*/
|
242 |
static void _printSystemInfo(BaseSequentialStream* stream) |
243 |
{ |
244 |
aosDbgCheck(stream != NULL);
|
245 |
|
246 |
// local variables
|
247 |
#if (HAL_USE_RTC == TRUE)
|
248 |
struct tm dt;
|
249 |
aosSysGetDateTime(&dt); |
250 |
#endif /* (HAL_USE_RTC == TRUE) */ |
251 |
|
252 |
// print static information about module and operating system
|
253 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
254 |
_printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s", BOARD_NAME); |
255 |
#if defined(PLATFORM_NAME)
|
256 |
_printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME); |
257 |
#endif /* defined(PLATFORM_NAME) */ |
258 |
#if defined(PORT_CORE_VARIANT_NAME)
|
259 |
_printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME); |
260 |
#endif /* defined(PORT_CORE_VARIANT_NAME) */ |
261 |
_printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME); |
262 |
_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
|
263 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
264 |
_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); |
265 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
266 |
_printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE); |
267 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
268 |
_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); |
269 |
_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"); |
270 |
_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"); |
271 |
_printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s", (AMIROOS_CFG_DBG == true) ? "debug" : "release"); |
272 |
_printSystemInfoLine(stream, "Compiler" , SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC |
273 |
_printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__); |
274 |
|
275 |
// print static information about the bootloader
|
276 |
_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
|
277 |
if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
|
278 |
_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, |
279 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :
|
280 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :
|
281 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :
|
282 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :
|
283 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :
|
284 |
"<release type unknown>",
|
285 |
BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor); |
286 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
287 |
if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_MAJOR) {
|
288 |
if (stream) {
|
289 |
chprintf(stream, "WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
|
290 |
} else {
|
291 |
aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
|
292 |
} |
293 |
} |
294 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
295 |
_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 |
296 |
} else {
|
297 |
if (stream) {
|
298 |
chprintf(stream, "Bootloader incompatible or not available.\n");
|
299 |
} else {
|
300 |
aosprintf("Bootloader incompatible or not available.\n");
|
301 |
} |
302 |
} |
303 |
|
304 |
// print dynamic information about the module
|
305 |
_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
|
306 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
307 |
if (aos.sssp.moduleId != 0) { |
308 |
_printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId); |
309 |
} else {
|
310 |
_printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available"); |
311 |
} |
312 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
313 |
#if (HAL_USE_RTC == TRUE)
|
314 |
_printSystemInfoLine(stream, "Date", SYSTEM_INFO_NAMEWIDTH, "%04u-%02u-%02u (%s)", |
315 |
dt.tm_year + 1900,
|
316 |
dt.tm_mon + 1,
|
317 |
dt.tm_mday, |
318 |
(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"); |
319 |
_printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u", dt.tm_hour, dt.tm_min, dt.tm_sec); |
320 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN != TRUE) |
321 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
322 |
_printSystemInfoLine(stream, "", SYSTEM_INFO_NAMEWIDTH, "Date & Time were not synchronized to slave modules."); |
323 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
324 |
_printSystemInfoLine(stream, "", SYSTEM_INFO_NAMEWIDTH, "Date & Time were not synchronized from master module."); |
325 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
326 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN != TRUE) */ |
327 |
#endif /* (HAL_USE_RTC == TRUE) */ |
328 |
|
329 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
330 |
|
331 |
return;
|
332 |
} |
333 |
|
334 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
335 |
/**
|
336 |
* @brief Callback function for the system:config shell command.
|
337 |
*
|
338 |
* @param[in] stream The I/O stream to use.
|
339 |
* @param[in] argc Number of arguments.
|
340 |
* @param[in] argv List of pointers to the arguments.
|
341 |
*
|
342 |
* @return An exit status.
|
343 |
* @retval AOS_OK The command was executed successfuly.
|
344 |
* @retval AOS_INVALIDARGUMENTS There was an issue with the arguemnts.
|
345 |
*/
|
346 |
static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]) |
347 |
{ |
348 |
aosDbgCheck(stream != NULL);
|
349 |
|
350 |
// local variables
|
351 |
int retval = AOS_INVALIDARGUMENTS;
|
352 |
|
353 |
// if there are additional arguments
|
354 |
if (argc > 1) { |
355 |
// if the user wants to set or retrieve the shell configuration
|
356 |
if (strcmp(argv[1], "--shell") == 0) { |
357 |
// if the user wants to modify the shell configuration
|
358 |
if (argc > 2) { |
359 |
// if the user wants to modify the prompt
|
360 |
if (strcmp(argv[2], "prompt") == 0) { |
361 |
// there must be a further argument
|
362 |
if (argc > 3) { |
363 |
// handle the option
|
364 |
if (strcmp(argv[3], "text") == 0) { |
365 |
aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
366 |
retval = AOS_OK; |
367 |
} |
368 |
else if (strcmp(argv[3], "minimal") == 0) { |
369 |
aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
370 |
retval = AOS_OK; |
371 |
} |
372 |
else if (strcmp(argv[3], "notime") == 0) { |
373 |
aos.shell.config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME); |
374 |
retval = AOS_OK; |
375 |
} |
376 |
else if (strcmp(argv[3], "uptime") == 0) { |
377 |
aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME; |
378 |
aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_UPTIME; |
379 |
retval = AOS_OK; |
380 |
} |
381 |
else if (strcmp(argv[3], "date&time") == 0) { |
382 |
aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME; |
383 |
aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME; |
384 |
retval = AOS_OK; |
385 |
} |
386 |
else {
|
387 |
chprintf(stream, "unknown option '%s'\n", argv[3]); |
388 |
return AOS_INVALIDARGUMENTS;
|
389 |
} |
390 |
} |
391 |
} |
392 |
// if the user wants to modify the string matching
|
393 |
else if (strcmp(argv[2], "match") == 0) { |
394 |
// there must be a further argument
|
395 |
if (argc > 3) { |
396 |
if (strcmp(argv[3], "casesensitive") == 0) { |
397 |
aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE; |
398 |
retval = AOS_OK; |
399 |
} |
400 |
else if (strcmp(argv[3], "caseinsensitive") == 0) { |
401 |
aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE; |
402 |
retval = AOS_OK; |
403 |
} |
404 |
} |
405 |
} |
406 |
} |
407 |
// if the user wants to retrieve the shell configuration
|
408 |
else {
|
409 |
chprintf(stream, "current shell configuration:\n");
|
410 |
chprintf(stream, " prompt text: %s\n",
|
411 |
(aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a"); |
412 |
char time[10]; |
413 |
switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
|
414 |
case AOS_SHELL_CONFIG_PROMPT_UPTIME:
|
415 |
strcpy(time, "uptime"); break; |
416 |
case AOS_SHELL_CONFIG_PROMPT_DATETIME:
|
417 |
strcpy(time, "date&time"); break; |
418 |
default:
|
419 |
strcpy(time, "no time"); break; |
420 |
} |
421 |
chprintf(stream, " prompt style: %s, %s\n",
|
422 |
(aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text", |
423 |
time); |
424 |
chprintf(stream, " input method: %s\n",
|
425 |
(aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert"); |
426 |
chprintf(stream, " text matching: %s\n",
|
427 |
(aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive"); |
428 |
retval = AOS_OK; |
429 |
} |
430 |
} |
431 |
# if (HAL_USE_RTC == TRUE)
|
432 |
// if the user wants to configure the date or time
|
433 |
else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) { |
434 |
struct tm dt;
|
435 |
aosSysGetDateTime(&dt); |
436 |
int val = atoi(argv[3]); |
437 |
if (strcmp(argv[2], "year") == 0 && val >= 1900) { |
438 |
dt.tm_year = val - 1900;
|
439 |
} |
440 |
else if (strcmp(argv[2], "month") == 0 && val > 0 && val <= 12) { |
441 |
dt.tm_mon = val - 1;
|
442 |
} |
443 |
else if (strcmp(argv[2], "day") == 0 && val > 0 && val <= 31) { |
444 |
dt.tm_mday = val; |
445 |
} |
446 |
else if (strcmp(argv[2], "hour") == 0 && val >= 0 && val < 24) { |
447 |
dt.tm_hour = val; |
448 |
} |
449 |
else if (strcmp(argv[2], "minute") == 0 && val >= 0 && val < 60) { |
450 |
dt.tm_min = val; |
451 |
} |
452 |
else if (strcmp(argv[2], "second") == 0 && val >= 0 && val < 60) { |
453 |
dt.tm_sec = val; |
454 |
} |
455 |
else {
|
456 |
chprintf(stream, "unknown option '%s' or invalid value '%s'\n", argv[2], argv[3]); |
457 |
return AOS_INVALIDARGUMENTS;
|
458 |
} |
459 |
dt.tm_wday = aosTimeDayOfWeekFromDate(dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900) % 7; |
460 |
aosSysSetDateTime(&dt); |
461 |
|
462 |
// read and print new date and time
|
463 |
aosSysGetDateTime(&dt); |
464 |
chprintf(stream, "date/time set to %04u-%02u-%02u %02u:%02u:%02u\n",
|
465 |
dt.tm_year+1900, dt.tm_mon+1, dt.tm_mday, |
466 |
dt.tm_hour, dt.tm_min, dt.tm_sec); |
467 |
|
468 |
retval = AOS_OK; |
469 |
} |
470 |
#endif /* (HAL_USE_RTC == TRUE) */ |
471 |
} |
472 |
|
473 |
// print help, if required
|
474 |
if (retval == AOS_INVALIDARGUMENTS) {
|
475 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
476 |
chprintf(stream, "Options:\n");
|
477 |
chprintf(stream, " --help\n");
|
478 |
chprintf(stream, " Print this help text.\n");
|
479 |
chprintf(stream, " --shell [OPT [VAL]]\n");
|
480 |
chprintf(stream, " Set or retrieve shell configuration.\n");
|
481 |
chprintf(stream, " Possible OPTs and VALs are:\n");
|
482 |
chprintf(stream, " prompt text|minimal|uptime|date&time|notime\n");
|
483 |
chprintf(stream, " Configures the prompt.\n");
|
484 |
chprintf(stream, " match casesensitive|caseinsenitive\n");
|
485 |
chprintf(stream, " Configures string matching.\n");
|
486 |
#if (HAL_USE_RTC == TRUE)
|
487 |
chprintf(stream, " --date&time OPT VAL\n");
|
488 |
chprintf(stream, " Set the date/time value of OPT to VAL.\n");
|
489 |
chprintf(stream, " Possible OPTs are:\n");
|
490 |
chprintf(stream, " year\n");
|
491 |
chprintf(stream, " month\n");
|
492 |
chprintf(stream, " day\n");
|
493 |
chprintf(stream, " hour\n");
|
494 |
chprintf(stream, " minute\n");
|
495 |
chprintf(stream, " second\n");
|
496 |
#endif /* (HAL_USE_RTC == TRUE) */ |
497 |
} |
498 |
|
499 |
return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval; |
500 |
} |
501 |
|
502 |
/**
|
503 |
* @brief Callback function for the system:info shell command.
|
504 |
*
|
505 |
* @param[in] stream The I/O stream to use.
|
506 |
* @param[in] argc Number of arguments.
|
507 |
* @param[in] argv List of pointers to the arguments.
|
508 |
*
|
509 |
* @return An exit status.
|
510 |
* @retval AOS_OK The command was executed successfully.
|
511 |
*/
|
512 |
static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]) |
513 |
{ |
514 |
aosDbgCheck(stream != NULL);
|
515 |
|
516 |
(void)argc;
|
517 |
(void)argv;
|
518 |
|
519 |
// print system information
|
520 |
_printSystemInfo(stream); |
521 |
|
522 |
// print time measurement precision
|
523 |
chprintf(stream, "module time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
|
524 |
|
525 |
// print system uptime
|
526 |
aos_timestamp_t uptime; |
527 |
aosSysGetUptime(&uptime); |
528 |
chprintf(stream, "The system is running for\n");
|
529 |
chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
|
530 |
chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
|
531 |
chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
|
532 |
chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
|
533 |
chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
|
534 |
chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
|
535 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
536 |
chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", _syssyncskew, AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
|
537 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
538 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
539 |
|
540 |
// print shell info
|
541 |
chprintf(stream, "System shell information:\n");
|
542 |
chprintf(stream, "\tcommands available: %u\n", aosShellCountCommands(&aos.shell));
|
543 |
chprintf(stream, "\tline width: %u characters\n", aos.shell.input.width);
|
544 |
chprintf(stream, "\tmaximum arguments: %u\n", aos.shell.arglistsize);
|
545 |
#if (AMIROOS_CFG_DBG == true) |
546 |
chprintf(stream, "\tthread stack size: %u bytes\n", aosThdGetStacksize(aos.shell.thread));
|
547 |
#if (CH_DBG_FILL_THREADS == TRUE)
|
548 |
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); |
549 |
#endif /* (CH_DBG_FILL_THREADS == TRUE) */ |
550 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
551 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
552 |
|
553 |
return AOS_OK;
|
554 |
} |
555 |
|
556 |
/**
|
557 |
* @brief Callback function for the sytem:shutdown shell command.
|
558 |
*
|
559 |
* @param[in] stream The I/O stream to use.
|
560 |
* @param[in] argc Number of arguments.
|
561 |
* @param[in] argv List of pointers to the arguments.
|
562 |
*
|
563 |
* @return An exit status.
|
564 |
* @retval AOS_OK The command was executed successfully.
|
565 |
* @retval AOS_INVALIDARGUMENTS There was an issue with the arguments.
|
566 |
*/
|
567 |
static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]) |
568 |
{ |
569 |
aosDbgCheck(stream != NULL);
|
570 |
|
571 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
572 |
// print help text
|
573 |
if (argc != 2 || strcmp(argv[1], "--help") == 0) { |
574 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
575 |
chprintf(stream, "Options:\n");
|
576 |
chprintf(stream, " --help\n");
|
577 |
chprintf(stream, " Print this help text.\n");
|
578 |
chprintf(stream, " --hibernate, -h\n");
|
579 |
chprintf(stream, " Shutdown to hibernate mode.\n");
|
580 |
chprintf(stream, " Least energy saving, but allows charging via pins.\n");
|
581 |
chprintf(stream, " --deepsleep, -d\n");
|
582 |
chprintf(stream, " Shutdown to deepsleep mode.\n");
|
583 |
chprintf(stream, " Minimum energy consumption while allowing charging via plug.\n");
|
584 |
chprintf(stream, " --transportation, -t\n");
|
585 |
chprintf(stream, " Shutdown to transportation mode.\n");
|
586 |
chprintf(stream, " Minimum energy consumption with all interrupts disabled (no charging).\n");
|
587 |
chprintf(stream, " --restart, -r\n");
|
588 |
chprintf(stream, " Shutdown and restart system.\n");
|
589 |
|
590 |
return (argc != 2) ? AOS_INVALIDARGUMENTS : AOS_OK; |
591 |
} |
592 |
// handle argument
|
593 |
else {
|
594 |
if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) { |
595 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
596 |
chThdTerminate(chThdGetSelfX()); |
597 |
return AOS_OK;
|
598 |
} |
599 |
else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) { |
600 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
601 |
chThdTerminate(chThdGetSelfX()); |
602 |
return AOS_OK;
|
603 |
} |
604 |
else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) { |
605 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
606 |
chThdTerminate(chThdGetSelfX()); |
607 |
return AOS_OK;
|
608 |
} |
609 |
else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) { |
610 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
611 |
chThdTerminate(chThdGetSelfX()); |
612 |
return AOS_OK;
|
613 |
} |
614 |
else {
|
615 |
chprintf(stream, "unknown argument %s\n", argv[1]); |
616 |
return AOS_INVALIDARGUMENTS;
|
617 |
} |
618 |
} |
619 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
620 |
(void)argv;
|
621 |
(void)argc;
|
622 |
|
623 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
624 |
chThdTerminate(chThdGetSelfX()); |
625 |
return AOS_OK;
|
626 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
627 |
} |
628 |
|
629 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
630 |
/**
|
631 |
* @brief Callback function for the kernel:test shell command.
|
632 |
*
|
633 |
* @param[in] stream The I/O stream to use.
|
634 |
* @param[in] argc Number of arguments.
|
635 |
* @param[in] argv List of pointers to the arguments.
|
636 |
*
|
637 |
* @return An exit status.
|
638 |
*/
|
639 |
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]) |
640 |
{ |
641 |
aosDbgCheck(stream != NULL);
|
642 |
|
643 |
(void)argc;
|
644 |
(void)argv;
|
645 |
|
646 |
msg_t retval = test_execute(stream, &rt_test_suite); |
647 |
|
648 |
return retval;
|
649 |
} |
650 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
651 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
652 |
|
653 |
// suppress warning in case no interrupt GPIOs are defined
|
654 |
#pragma GCC diagnostic push
|
655 |
#pragma GCC diagnostic ignored "-Wunused-function" |
656 |
/**
|
657 |
* @brief Generic callback function for GPIO interrupts.
|
658 |
*
|
659 |
* @param[in] args Pointer to the GPIO line identifier.
|
660 |
*/
|
661 |
static void _intCallback(void* args) |
662 |
{ |
663 |
aosDbgCheck((args != NULL) && (*((ioline_t*)args) != PAL_NOLINE) && (PAL_PAD(*((ioline_t*)args)) < sizeof(eventflags_t) * 8)); |
664 |
|
665 |
chSysLockFromISR(); |
666 |
chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(PAL_PAD(*((ioline_t*)args)))); |
667 |
chSysUnlockFromISR(); |
668 |
|
669 |
return;
|
670 |
} |
671 |
#pragma GCC diagnostic pop
|
672 |
|
673 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true)) || defined(__DOXYGEN__) |
674 |
/**
|
675 |
* @brief Callback function for the Sync signal interrupt.
|
676 |
*
|
677 |
* @param[in] args Pointer to the GPIO line identifier.
|
678 |
*/
|
679 |
static void _signalSyncCallback(void *args) |
680 |
{ |
681 |
aosDbgCheck((args != NULL) && (*((ioline_t*)args) != PAL_NOLINE) && (PAL_PAD(*((ioline_t*)args)) < sizeof(eventflags_t) * 8)); |
682 |
|
683 |
apalControlGpioState_t s_state; |
684 |
aos_timestamp_t uptime; |
685 |
|
686 |
chSysLockFromISR(); |
687 |
// if the system is in operation phase
|
688 |
if (aos.sssp.stage == AOS_SSSP_OPERATION) {
|
689 |
// read signal S
|
690 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state); |
691 |
// if S was toggled from on to off
|
692 |
if (s_state == APAL_GPIO_OFF) {
|
693 |
// get current uptime
|
694 |
aosSysGetUptimeX(&uptime); |
695 |
// align the uptime with the synchronization period
|
696 |
if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) { |
697 |
_uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
698 |
#if (AMIROOS_CFG_PROFILE == true) |
699 |
_syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) + (SYSTEM_SYSSYNCSKEW_LPFACTOR * (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD)); |
700 |
#endif /* (AMIROOS_CFG_PROFILE == true) */ |
701 |
} else {
|
702 |
_uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
703 |
#if (AMIROOS_CFG_PROFILE == true) |
704 |
_syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) - (SYSTEM_SYSSYNCSKEW_LPFACTOR * (AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD))); |
705 |
#endif /* (AMIROOS_CFG_PROFILE == true) */ |
706 |
} |
707 |
} |
708 |
} |
709 |
// broadcast event
|
710 |
chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(PAL_PAD(*((ioline_t*)args)))); |
711 |
chSysUnlockFromISR(); |
712 |
|
713 |
return;
|
714 |
} |
715 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) */ |
716 |
|
717 |
/**
|
718 |
* @brief Callback function for the uptime accumulation timer.
|
719 |
*
|
720 |
* @param[in] par Generic parameter.
|
721 |
*/
|
722 |
static void _uptimeCallback(void* par) |
723 |
{ |
724 |
(void)par;
|
725 |
|
726 |
chSysLockFromISR(); |
727 |
// read current time in system ticks
|
728 |
register const systime_t st = chVTGetSystemTimeX(); |
729 |
// update the uptime variables
|
730 |
_uptime += chTimeI2US(chTimeDiffX(_synctime, st)); |
731 |
_synctime = st; |
732 |
// enable the timer again
|
733 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
734 |
chSysUnlockFromISR(); |
735 |
|
736 |
return;
|
737 |
} |
738 |
|
739 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined (__DOXYGEN__) |
740 |
/**
|
741 |
* @brief Periodic system synchronization callback function.
|
742 |
* @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.
|
743 |
*
|
744 |
* @param[in] par Unuesed parameters.
|
745 |
*/
|
746 |
static void _sysSyncTimerCallback(void* par) |
747 |
{ |
748 |
(void)par;
|
749 |
|
750 |
apalControlGpioState_t s_state; |
751 |
aos_timestamp_t uptime; |
752 |
|
753 |
chSysLockFromISR(); |
754 |
// toggle and read signal S
|
755 |
apalGpioToggle(moduleSsspGpioSync.gpio); |
756 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state); |
757 |
// if S was toggled from off to on
|
758 |
if (s_state == APAL_GPIO_ON) {
|
759 |
// reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
|
760 |
_syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
761 |
aosSysGetUptimeX(&uptime); |
762 |
chVTSetI(&_syssynctimer, chTimeUS2I(_syssynctime - uptime), _sysSyncTimerCallback, NULL);
|
763 |
} |
764 |
// if S was toggled from on to off
|
765 |
else /* if (s_state == APAL_GPIO_OFF) */ { |
766 |
// reconfigure the timer (lazy)
|
767 |
chVTSetI(&_syssynctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL); |
768 |
} |
769 |
chSysUnlockFromISR(); |
770 |
|
771 |
return;
|
772 |
} |
773 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */ |
774 |
|
775 |
/******************************************************************************/
|
776 |
/* EXPORTED FUNCTIONS */
|
777 |
/******************************************************************************/
|
778 |
|
779 |
/**
|
780 |
* @brief AMiRo-OS system initialization.
|
781 |
* @note Must be called from the system control thread (usually main thread).
|
782 |
*
|
783 |
* @param[in] shellPrompt String to be printed as prompt of the system shell.
|
784 |
*/
|
785 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
786 |
void aosSysInit(const char* shellPrompt) |
787 |
#else /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
788 |
void aosSysInit(void) |
789 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
790 |
{ |
791 |
/* set control thread to maximum priority */
|
792 |
chThdSetPriority(AOS_THD_CTRLPRIO); |
793 |
|
794 |
/* set local variables */
|
795 |
chVTObjectInit(&_systimer); |
796 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
797 |
_synctime = 0;
|
798 |
_uptime = 0;
|
799 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
800 |
chVTObjectInit(&_syssynctimer); |
801 |
_syssynctime = 0;
|
802 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
803 |
#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
804 |
_syssyncskew = 0.0f; |
805 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
806 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
807 |
// start the uptime counter
|
808 |
chSysLock(); |
809 |
_synctime = chVTGetSystemTimeX(); |
810 |
_uptime = 0;
|
811 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
812 |
chSysUnlock(); |
813 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
814 |
|
815 |
/* initialize aos configuration */
|
816 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
817 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_1; |
818 |
aos.sssp.moduleId = 0;
|
819 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
820 |
aosIOStreamInit(&aos.iostream); |
821 |
chEvtObjectInit(&aos.events.io); |
822 |
chEvtObjectInit(&aos.events.os); |
823 |
|
824 |
/* interrupt setup */
|
825 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
826 |
// PD signal
|
827 |
palSetLineCallback(moduleSsspGpioPd.gpio->line, _intCallback, &moduleSsspGpioPd.gpio->line); |
828 |
palEnableLineEvent(moduleSsspGpioPd.gpio->line, APAL2CH_EDGE(moduleSsspGpioPd.meta.edge)); |
829 |
// SYNC signal
|
830 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
831 |
palSetLineCallback(moduleSsspGpioSync.gpio->line, _intCallback, &moduleSsspGpioSync.gpio->line); |
832 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
833 |
palSetLineCallback(moduleSsspGpioSync.gpio->line, _signalSyncCallback, &moduleSsspGpioSync.gpio->line); |
834 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
835 |
palEnableLineEvent(moduleSsspGpioSync.gpio->line, APAL2CH_EDGE(moduleSsspGpioSync.meta.edge)); |
836 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
837 |
// DN signal
|
838 |
palSetLineCallback(moduleSsspGpioDn.gpio->line, _intCallback, &moduleSsspGpioDn.gpio->line); |
839 |
palEnableLineEvent(moduleSsspGpioDn.gpio->line, APAL2CH_EDGE(moduleSsspGpioDn.meta.edge)); |
840 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
841 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
842 |
// UP signal
|
843 |
palSetLineCallback(moduleSsspGpioUp.gpio->line, _intCallback, &moduleSsspGpioUp.gpio->line); |
844 |
palEnableLineEvent(moduleSsspGpioUp.gpio->line, APAL2CH_EDGE(moduleSsspGpioUp.meta.edge)); |
845 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
846 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
847 |
|
848 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
849 |
/* init shell */
|
850 |
aosShellInit(&aos.shell, |
851 |
&aos.events.os, |
852 |
shellPrompt, |
853 |
_shell_line, |
854 |
AMIROOS_CFG_SHELL_LINEWIDTH, |
855 |
_shell_arglist, |
856 |
AMIROOS_CFG_SHELL_MAXARGS); |
857 |
// add system commands
|
858 |
aosShellAddCommand(&aos.shell, &_shellcmd_config); |
859 |
aosShellAddCommand(&aos.shell, &_shellcmd_info); |
860 |
aosShellAddCommand(&aos.shell, &_shellcmd_shutdown); |
861 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
862 |
aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest); |
863 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
864 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
865 |
|
866 |
return;
|
867 |
} |
868 |
|
869 |
/**
|
870 |
* @brief Starts the system and all system threads.
|
871 |
*/
|
872 |
inline void aosSysStart(void) |
873 |
{ |
874 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
875 |
// update the system SSSP stage
|
876 |
aos.sssp.stage = AOS_SSSP_OPERATION; |
877 |
|
878 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
879 |
{ |
880 |
chSysLock(); |
881 |
// start the system synchronization counter
|
882 |
// The first iteration of the timer is set to the next 'center' of a 'slice'.
|
883 |
aos_timestamp_t t; |
884 |
aosSysGetUptimeX(&t); |
885 |
t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
886 |
chVTSetI(&_syssynctimer, chTimeUS2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL); |
887 |
chSysUnlock(); |
888 |
} |
889 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
890 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
891 |
|
892 |
// print system information;
|
893 |
_printSystemInfo((BaseSequentialStream*)&aos.iostream); |
894 |
aosprintf("\n");
|
895 |
|
896 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
897 |
// start system shell thread
|
898 |
#if (CH_CFG_USE_THREADHIERARCHY == TRUE)
|
899 |
aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell, &ch.mainthread);
|
900 |
#else /* (CH_CFG_USE_THREADHIERARCHY == TRUE) */ |
901 |
aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
|
902 |
#endif /* (CH_CFG_USE_THREADHIERARCHY == TRUE) */ |
903 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
904 |
|
905 |
return;
|
906 |
} |
907 |
|
908 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
909 |
/**
|
910 |
* @brief Implements the SSSP startup synchronization step.
|
911 |
*
|
912 |
* @param[in] syncEvtListener Event listener that receives the Sync event.
|
913 |
*
|
914 |
* @return If another event that the listener is interested in was received, its mask is returned.
|
915 |
* Otherwise an empty mask (0) is returned.
|
916 |
*/
|
917 |
eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener) |
918 |
{ |
919 |
aosDbgCheck(syncEvtListener != NULL);
|
920 |
|
921 |
// local variables
|
922 |
eventmask_t m; |
923 |
eventflags_t f; |
924 |
apalControlGpioState_t s; |
925 |
|
926 |
// update the system SSSP stage
|
927 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_2; |
928 |
|
929 |
// deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase)
|
930 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
931 |
|
932 |
// wait for any event to occur (do not apply any filter in order not to miss any event)
|
933 |
m = chEvtWaitOne(ALL_EVENTS); |
934 |
f = chEvtGetAndClearFlags(syncEvtListener); |
935 |
apalControlGpioGet(&moduleSsspGpioSync, &s); |
936 |
|
937 |
// if the event was a system event,
|
938 |
// and it was fired because of the SysSync control signal,
|
939 |
// and the SysSync control signal has been deactivated
|
940 |
if (m & syncEvtListener->events &&
|
941 |
f == MODULE_SSSP_EVENTFLAGS_SYNC && |
942 |
s == APAL_GPIO_OFF) { |
943 |
chSysLock(); |
944 |
// start the uptime counter
|
945 |
_synctime = chVTGetSystemTimeX(); |
946 |
_uptime = 0;
|
947 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
948 |
chSysUnlock(); |
949 |
|
950 |
return 0; |
951 |
} |
952 |
// an unexpected event occurred
|
953 |
else {
|
954 |
// reassign the flags to the event and return the event mask
|
955 |
syncEvtListener->flags |= f; |
956 |
return m;
|
957 |
} |
958 |
} |
959 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
960 |
|
961 |
/**
|
962 |
* @brief Retrieves the system uptime.
|
963 |
*
|
964 |
* @param[out] ut The system uptime.
|
965 |
*/
|
966 |
inline void aosSysGetUptimeX(aos_timestamp_t* ut) |
967 |
{ |
968 |
aosDbgCheck(ut != NULL);
|
969 |
|
970 |
*ut = _uptime + chTimeI2US(chTimeDiffX(_synctime, chVTGetSystemTimeX())); |
971 |
|
972 |
return;
|
973 |
} |
974 |
|
975 |
#if (HAL_USE_RTC == TRUE) || defined(__DOXYGEN__)
|
976 |
|
977 |
/**
|
978 |
* @brief retrieves the date and time from the MCU clock.
|
979 |
*
|
980 |
* @param[out] td The date and time.
|
981 |
*/
|
982 |
void aosSysGetDateTime(struct tm* dt) |
983 |
{ |
984 |
aosDbgCheck(dt != NULL);
|
985 |
|
986 |
RTCDateTime rtc; |
987 |
rtcGetTime(&MODULE_HAL_RTC, &rtc); |
988 |
rtcConvertDateTimeToStructTm(&rtc, dt, NULL);
|
989 |
|
990 |
return;
|
991 |
} |
992 |
|
993 |
/**
|
994 |
* @brief set the date and time of the MCU clock.
|
995 |
*
|
996 |
* @param[in] dt The date and time to set.
|
997 |
*/
|
998 |
void aosSysSetDateTime(struct tm* dt) |
999 |
{ |
1000 |
aosDbgCheck(dt != NULL);
|
1001 |
|
1002 |
RTCDateTime rtc; |
1003 |
rtcConvertStructTmToDateTime(dt, 0, &rtc);
|
1004 |
rtcSetTime(&MODULE_HAL_RTC, &rtc); |
1005 |
|
1006 |
return;
|
1007 |
} |
1008 |
|
1009 |
#endif /* (HAL_USE_RTC == TRUE) */ |
1010 |
|
1011 |
/**
|
1012 |
* @brief Initializes/Acknowledges a system shutdown/restart request.
|
1013 |
* @note This functions should be called from the thread with highest priority.
|
1014 |
*
|
1015 |
* @param[in] shutdown Type of shutdown.
|
1016 |
*/
|
1017 |
void aosSysShutdownInit(aos_shutdown_t shutdown)
|
1018 |
{ |
1019 |
// check arguments
|
1020 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
1021 |
|
1022 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
1023 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
1024 |
// deactivate the system synchronization timer
|
1025 |
chVTReset(&_syssynctimer); |
1026 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
1027 |
|
1028 |
// update the system SSSP stage
|
1029 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1; |
1030 |
|
1031 |
chSysLock(); |
1032 |
// activate the SYS_PD control signal only, if this module initiated the shutdown
|
1033 |
if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
1034 |
apalControlGpioSet(&moduleSsspGpioPd, APAL_GPIO_ON); |
1035 |
} |
1036 |
// activate the SYS_SYNC signal
|
1037 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
1038 |
chSysUnlock(); |
1039 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
1040 |
|
1041 |
switch (shutdown) {
|
1042 |
case AOS_SHUTDOWN_PASSIVE:
|
1043 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
1044 |
aosprintf("shutdown request received...\n");
|
1045 |
break;
|
1046 |
case AOS_SHUTDOWN_HIBERNATE:
|
1047 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
1048 |
aosprintf("shutdown to hibernate mode...\n");
|
1049 |
break;
|
1050 |
case AOS_SHUTDOWN_DEEPSLEEP:
|
1051 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
1052 |
aosprintf("shutdown to deepsleep mode...\n");
|
1053 |
break;
|
1054 |
case AOS_SHUTDOWN_TRANSPORTATION:
|
1055 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
1056 |
aosprintf("shutdown to transportation mode...\n");
|
1057 |
break;
|
1058 |
case AOS_SHUTDOWN_RESTART:
|
1059 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
1060 |
aosprintf("restarting system...\n");
|
1061 |
break;
|
1062 |
// must never occur
|
1063 |
case AOS_SHUTDOWN_NONE:
|
1064 |
default:
|
1065 |
break;
|
1066 |
} |
1067 |
|
1068 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
1069 |
// update the system SSSP stage
|
1070 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2; |
1071 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
1072 |
|
1073 |
return;
|
1074 |
} |
1075 |
|
1076 |
/**
|
1077 |
* @brief Stops the system and all related threads (not the thread this function is called from).
|
1078 |
*/
|
1079 |
void aosSysStop(void) |
1080 |
{ |
1081 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
1082 |
chThdWait(aos.shell.thread); |
1083 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
1084 |
|
1085 |
return;
|
1086 |
} |
1087 |
|
1088 |
/**
|
1089 |
* @brief Deinitialize all system variables.
|
1090 |
*/
|
1091 |
void aosSysDeinit(void) |
1092 |
{ |
1093 |
return;
|
1094 |
} |
1095 |
|
1096 |
/**
|
1097 |
* @brief Finally shuts down the system and calls the bootloader callback function.
|
1098 |
* @note This function should be called from the thtead with highest priority.
|
1099 |
*
|
1100 |
* @param[in] shutdown Type of shutdown.
|
1101 |
*/
|
1102 |
void aosSysShutdownFinal(aos_shutdown_t shutdown)
|
1103 |
{ |
1104 |
// check arguments
|
1105 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
1106 |
|
1107 |
// disable all interrupts
|
1108 |
irqDeinit(); |
1109 |
|
1110 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
1111 |
// update the system SSSP stage
|
1112 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3; |
1113 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
1114 |
|
1115 |
// validate bootloader
|
1116 |
if ((BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) &&
|
1117 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.major == BL_VERSION_MAJOR) && |
1118 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.minor >= BL_VERSION_MINOR)) { |
1119 |
// call bootloader callback depending on arguments
|
1120 |
switch (shutdown) {
|
1121 |
case AOS_SHUTDOWN_PASSIVE:
|
1122 |
BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest(); |
1123 |
break;
|
1124 |
case AOS_SHUTDOWN_HIBERNATE:
|
1125 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate(); |
1126 |
break;
|
1127 |
case AOS_SHUTDOWN_DEEPSLEEP:
|
1128 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep(); |
1129 |
break;
|
1130 |
case AOS_SHUTDOWN_TRANSPORTATION:
|
1131 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation(); |
1132 |
break;
|
1133 |
case AOS_SHUTDOWN_RESTART:
|
1134 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart(); |
1135 |
break;
|
1136 |
// must never occur
|
1137 |
case AOS_SHUTDOWN_NONE:
|
1138 |
default:
|
1139 |
break;
|
1140 |
} |
1141 |
} else {
|
1142 |
// fallback if bootloader was found to be invalid
|
1143 |
aosprintf("Bootloader incompatible or not available!\n");
|
1144 |
aosThdMSleep(10);
|
1145 |
chSysDisable(); |
1146 |
} |
1147 |
|
1148 |
return;
|
1149 |
} |
1150 |
|
1151 |
/**
|
1152 |
* @brief Generic callback function for GPIO interrupts.
|
1153 |
*
|
1154 |
* @param[in] args Pointer to the GPIO pad identifier.
|
1155 |
*/
|
1156 |
palcallback_t aosSysGetStdIntCallback(void)
|
1157 |
{ |
1158 |
return _intCallback;
|
1159 |
} |
1160 |
|
1161 |
/** @} */
|