amiro-os / core / inc / aos_system.h @ 47e89ebf
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | e545e620 | Thomas Schöpping | |
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | 53710ca3 | Marc Rothmann | /**
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20 | * @file aos_system.h
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21 | * @brief System macros and structures.
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22 | *
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23 | * @addtogroup aos_system
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24 | * @{
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25 | */
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26 | |||
27 | 6ff06bbf | Thomas Schöpping | #ifndef AMIROOS_SYSTEM_H
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28 | #define AMIROOS_SYSTEM_H
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29 | e545e620 | Thomas Schöpping | |
30 | 3940ba8a | Thomas Schöpping | #include <amiroos.h> |
31 | e545e620 | Thomas Schöpping | #include <chprintf.h> |
32 | |||
33 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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34 | /* CONSTANTS */
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35 | /******************************************************************************/
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36 | |||
37 | e545e620 | Thomas Schöpping | /**
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38 | ba516b61 | Thomas Schöpping | * @brief Resolution of the system time measurement.
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39 | e545e620 | Thomas Schöpping | */
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40 | ba516b61 | Thomas Schöpping | #define AOS_SYSTEM_TIME_RESOLUTION ((MICROSECONDS_PER_SECOND + CH_CFG_ST_FREQUENCY - 1) / CH_CFG_ST_FREQUENCY) |
41 | e545e620 | Thomas Schöpping | |
42 | /**
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43 | ba516b61 | Thomas Schöpping | * @brief System event flag which is emitted when a shutdown was initiated.
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44 | e545e620 | Thomas Schöpping | */
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45 | ba516b61 | Thomas Schöpping | #define AOS_SYSTEM_EVENTFLAGS_SHUTDOWN (eventflags_t)(1 << 0) |
46 | e545e620 | Thomas Schöpping | |
47 | /**
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48 | * @brief System event flag which is emitted when a shutdown to transportation mode was initiated.
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49 | */
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50 | ba516b61 | Thomas Schöpping | #define AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 1)) |
51 | e545e620 | Thomas Schöpping | |
52 | /**
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53 | * @brief System event flag which is emitted when a shutdown to deepsleep mode was initiated.
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54 | */
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55 | ba516b61 | Thomas Schöpping | #define AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 2)) |
56 | e545e620 | Thomas Schöpping | |
57 | /**
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58 | * @brief System event flag which is emitted when a shutdown to hibernate mode was initiated.
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59 | */
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60 | ba516b61 | Thomas Schöpping | #define AOS_SYSTEM_EVENTFLAGS_HIBERNATE (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 3)) |
61 | e545e620 | Thomas Schöpping | |
62 | /**
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63 | * @brief System event flag which is emitted when a system restart was initiated.
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64 | */
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65 | ba516b61 | Thomas Schöpping | #define AOS_SYSTEM_EVENTFLAGS_RESTART (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 4)) |
66 | e545e620 | Thomas Schöpping | |
67 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
68 | |||
69 | /**
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70 | e545e620 | Thomas Schöpping | * @brief Major version of the implemented SSSP.
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71 | */
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72 | 933df08e | Thomas Schöpping | #define AOS_SYSTEM_SSSP_VERSION_MAJOR 1 |
73 | e545e620 | Thomas Schöpping | |
74 | /**
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75 | * @brief Minor version of the implemented SSSP.
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76 | */
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77 | 933df08e | Thomas Schöpping | #define AOS_SYSTEM_SSSP_VERSION_MINOR 4 |
78 | |||
79 | /**
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80 | * @brief Timeout delay according to SSSP.
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81 | * @details SSSP defines timeouts to be ten times longer than the signal delay time.
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82 | */
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83 | #define AOS_SYSTEM_SSSP_TIMEOUT (10 * AMIROOS_CFG_SSSP_SIGNALDELAY) |
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84 | e545e620 | Thomas Schöpping | |
85 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
86 | f3ac1c96 | Thomas Schöpping | |
87 | /******************************************************************************/
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88 | /* SETTINGS */
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89 | /******************************************************************************/
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90 | |||
91 | /******************************************************************************/
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92 | /* CHECKS */
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93 | /******************************************************************************/
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94 | |||
95 | /******************************************************************************/
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96 | /* DATA STRUCTURES AND TYPES */
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97 | /******************************************************************************/
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98 | |||
99 | /**
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100 | * @brief Enumerator to identify shutdown types.
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101 | */
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102 | typedef enum aos_shutdown { |
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103 | AOS_SHUTDOWN_NONE, /**< Default value if no shutdown action was initiated */
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104 | AOS_SHUTDOWN_PASSIVE, /**< Passive shutdown (initiated by another module). */
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105 | AOS_SHUTDOWN_HIBERNATE, /**< Active shutdown to hibernate mode. */
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106 | AOS_SHUTDOWN_DEEPSLEEP, /**< Active shutdown to deepsleep mode. */
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107 | AOS_SHUTDOWN_TRANSPORTATION, /**< Active shutdown to transportation mode. */
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108 | AOS_SHUTDOWN_RESTART, /**< Active saystem restart request. */
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109 | } aos_shutdown_t; |
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110 | |||
111 | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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112 | |||
113 | e545e620 | Thomas Schöpping | /**
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114 | 933df08e | Thomas Schöpping | * @brief Enumerator of the several stages of SSSP.
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115 | e545e620 | Thomas Schöpping | */
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116 | typedef enum aos_ssspstage { |
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117 | 933df08e | Thomas Schöpping | AOS_SSSP_STARTUP_1_1 = 0x10, /**< Identifier of SSSP startup phase stage 1-1. */ |
118 | AOS_SSSP_STARTUP_1_2 = 0x11, /**< Identifier of SSSP startup phase stage 1-2. */ |
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119 | AOS_SSSP_STARTUP_1_3 = 0x12, /**< Identifier of SSSP startup phase stage 1-3. */ |
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120 | AOS_SSSP_STARTUP_2_1 = 0x14, /**< Identifier of SSSP startup phase stage 2-1. */ |
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121 | AOS_SSSP_STARTUP_2_2 = 0x15, /**< Identifier of SSSP startup phase stage 2-2. */ |
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122 | AOS_SSSP_STARTUP_3_1 = 0x18, /**< Identifier of SSSP startup phase stage 3-1. */ |
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123 | AOS_SSSP_STARTUP_3_2 = 0x19, /**< Identifier of SSSP startup phase stage 3-2. */ |
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124 | AOS_SSSP_STARTUP_3_3 = 0x1A, /**< Identifier of SSSP startup phase stage 3-3. */ |
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125 | AOS_SSSP_STARTUP_3_4 = 0x1B, /**< Identifier of SSSP startup phase stage 3-4. */ |
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126 | AOS_SSSP_OPERATION = 0x20, /**< Identifier of SSSP operation pahse. */ |
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127 | AOS_SSSP_SHUTDOWN_1_1 = 0x30, /**< Identifier of SSSP shutdown phase stage 1-1. */ |
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128 | AOS_SSSP_SHUTDOWN_1_2 = 0x31, /**< Identifier of SSSP shutdown phase stage 1-2. */ |
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129 | AOS_SSSP_SHUTDOWN_1_3 = 0x32, /**< Identifier of SSSP shutdown phase stage 1-3. */ |
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130 | AOS_SSSP_SHUTDOWN_2_1 = 0x34, /**< Identifier of SSSP shutdown phase stage 2-1. */ |
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131 | AOS_SSSP_SHUTDOWN_2_2 = 0x35, /**< Identifier of SSSP shutdown phase stage 2-2. */ |
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132 | AOS_SSSP_SHUTDOWN_3 = 0x38, /**< Identifier of SSSP shutdown phase stage 3. */ |
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133 | e545e620 | Thomas Schöpping | } aos_ssspstage_t; |
134 | |||
135 | /**
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136 | 933df08e | Thomas Schöpping | * @brief Type to represent module IDs.
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137 | */
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138 | typedef uint16_t aos_ssspmoduleid_t;
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139 | |||
140 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
141 | 9ebb11a9 | Thomas Schöpping | |
142 | 933df08e | Thomas Schöpping | /**
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143 | e545e620 | Thomas Schöpping | * @brief AMiRo-OS base system structure.
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144 | */
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145 | typedef struct aos_system { |
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146 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
147 | e545e620 | Thomas Schöpping | /**
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148 | 6b53f6bf | Thomas Schöpping | * @brief SSSP relevant data.
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149 | e545e620 | Thomas Schöpping | */
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150 | 6b53f6bf | Thomas Schöpping | struct {
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151 | /**
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152 | * @brief Current SSSP stage of the system.
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153 | */
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154 | aos_ssspstage_t stage; |
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155 | 933df08e | Thomas Schöpping | |
156 | /**
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157 | * @brief Module identifier.
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158 | * @details A value of 0 indicates an uninitialized ID.
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159 | * The vlaues 0 and ~0 are reserved und must not be set.
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160 | */
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161 | aos_ssspmoduleid_t moduleId; |
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162 | 6b53f6bf | Thomas Schöpping | } sssp; |
163 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
164 | e545e620 | Thomas Schöpping | |
165 | /**
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166 | ba516b61 | Thomas Schöpping | * @brief System I/O stream.
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167 | */
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168 | AosIOStream iostream; |
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169 | |||
170 | /**
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171 | e545e620 | Thomas Schöpping | * @brief Event structure.
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172 | */
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173 | struct {
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174 | |||
175 | /**
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176 | 6b53f6bf | Thomas Schöpping | * @brief I/O event source.
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177 | e545e620 | Thomas Schöpping | */
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178 | 6b53f6bf | Thomas Schöpping | event_source_t io; |
179 | e545e620 | Thomas Schöpping | |
180 | /**
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181 | 6b53f6bf | Thomas Schöpping | * @brief OS event source.
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182 | e545e620 | Thomas Schöpping | */
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183 | 6b53f6bf | Thomas Schöpping | event_source_t os; |
184 | e545e620 | Thomas Schöpping | } events; |
185 | |||
186 | 47e89ebf | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
187 | 7de0cc90 | Thomas Schöpping | |
188 | e545e620 | Thomas Schöpping | /**
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189 | * @brief Pointer to the shell object.
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190 | */
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191 | 6b53f6bf | Thomas Schöpping | aos_shell_t shell; |
192 | 7de0cc90 | Thomas Schöpping | |
193 | 47e89ebf | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
194 | e545e620 | Thomas Schöpping | |
195 | } aos_system_t; |
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196 | |||
197 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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198 | /* MACROS */
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199 | /******************************************************************************/
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200 | e545e620 | Thomas Schöpping | |
201 | ba516b61 | Thomas Schöpping | /**
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202 | * @brief Printf function that uses the default system I/O stream.
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203 | 933df08e | Thomas Schöpping | *
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204 | * @param[in] fmt Formatted string to print.
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205 | ba516b61 | Thomas Schöpping | */
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206 | #define aosprintf(fmt, ...) chprintf((BaseSequentialStream*)&aos.iostream, fmt, ##__VA_ARGS__) |
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207 | |||
208 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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209 | /* EXTERN DECLARATIONS */
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210 | /******************************************************************************/
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211 | |||
212 | /**
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213 | * @brief Global system object.
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214 | */
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215 | extern aos_system_t aos;
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216 | |||
217 | 7de0cc90 | Thomas Schöpping | #if defined(__cplusplus)
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218 | e545e620 | Thomas Schöpping | extern "C" { |
219 | 7de0cc90 | Thomas Schöpping | #endif /* defined(__cplusplus) */ |
220 | 6b53f6bf | Thomas Schöpping | void aosSysInit(const char* shellPrompt); |
221 | e545e620 | Thomas Schöpping | void aosSysStart(void); |
222 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined (__DOXYGEN__) |
223 | e545e620 | Thomas Schöpping | eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener); |
224 | 7de0cc90 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
225 | e545e620 | Thomas Schöpping | void aosSysGetUptimeX(aos_timestamp_t* ut);
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226 | 23437e98 | Thomas Schöpping | #if (HAL_USE_RTC == TRUE)
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227 | 8399aeae | Thomas Schöpping | void aosSysGetDateTime(struct tm* dt); |
228 | void aosSysSetDateTime(struct tm* dt); |
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229 | 7de0cc90 | Thomas Schöpping | #endif /* (HAL_USE_RTC == TRUE) */ |
230 | e545e620 | Thomas Schöpping | void aosSysShutdownInit(aos_shutdown_t shutdown);
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231 | void aosSysStop(void); |
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232 | void aosSysDeinit(void); |
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233 | 1e5f7648 | Thomas Schöpping | void aosSysShutdownFinal(aos_shutdown_t shutdown);
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234 | 56dc4779 | Thomas Schöpping | palcallback_t aosSysGetStdExtiCallback(void);
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235 | 7de0cc90 | Thomas Schöpping | #if defined(__cplusplus)
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236 | e545e620 | Thomas Schöpping | } |
237 | 7de0cc90 | Thomas Schöpping | #endif /* defined(__cplusplus) */ |
238 | e545e620 | Thomas Schöpping | |
239 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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240 | /* INLINE FUNCTIONS */
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241 | /******************************************************************************/
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242 | |||
243 | e545e620 | Thomas Schöpping | /**
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244 | * @brief Retrieves the system uptime.
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245 | *
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246 | acc97cbf | Thomas Schöpping | * @param[out] ut Pointer to the system uptime.
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247 | e545e620 | Thomas Schöpping | */
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248 | 9ff01927 | Thomas Schöpping | static inline void aosSysGetUptime(aos_timestamp_t* ut) |
249 | { |
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250 | chSysLock(); |
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251 | aosSysGetUptimeX(ut); |
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252 | chSysUnlock(); |
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253 | e545e620 | Thomas Schöpping | } |
254 | |||
255 | 6ff06bbf | Thomas Schöpping | #endif /* AMIROOS_SYSTEM_H */ |
256 | 53710ca3 | Marc Rothmann | |
257 | /** @} */ |