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amiro-os / core / src / aos_system.c @ 50d6d0b6

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1
/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2020  Thomas Schöpping et al.
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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.
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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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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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/**
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 * @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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 */
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#include <amiroos.h>
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#include <stdarg.h>
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#include <string.h>
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#include <stdlib.h>
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#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) */
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39
/******************************************************************************/
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/* LOCAL DEFINITIONS                                                          */
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/******************************************************************************/
42

    
43
/**
44
 * @brief   Period of the system timer.
45
 */
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#define SYSTIMER_PERIOD               (TIME_MAX_SYSTIME - CH_CFG_ST_TIMEDELTA)
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48
/**
49
 * @brief   Width of the printable system info text.
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 */
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#define SYSTEM_INFO_WIDTH             80
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/**
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 * @brief   Width of the name column of the system info table.
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 */
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#define SYSTEM_INFO_NAMEWIDTH         20
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
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60
/**
61
 * @brief   Number of entries in the system shell input buffer.
62
 */
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#define SYSTEM_SHELL_BUFFERENTRIES    (1 + AMIROOS_CFG_SHELL_HISTLENGTH)
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65
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
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/******************************************************************************/
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/* EXPORTED VARIABLES                                                         */
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/******************************************************************************/
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/**
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 * @brief   Global system object.
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 */
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aos_system_t aos;
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/******************************************************************************/
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/* LOCAL TYPES                                                                */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES                                                            */
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/******************************************************************************/
83

    
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/*
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 * forward declarations
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 */
87
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
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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[]);
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#if (((CH_CFG_USE_REGISTRY == TRUE) || (CH_CFG_USE_THREADHIERARCHY == TRUE)) && (CH_DBG_STATISTICS == TRUE)) || defined(__DOXYGEN__)
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static int _shellcmd_cpuloadcb(BaseSequentialStream* stream, int argc, char* argv[]);
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#endif /* ((CH_CFG_USE_REGISTRY == TRUE) || (CH_CFG_USE_THREADHIERARCHY == TRUE)) && (CH_DBG_STATISTICS == TRUE) */
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]);
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
98

    
99
/**
100
 * @brief   Timer to accumulate system uptime.
101
 */
102
static virtual_timer_t _systimer;
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104
/**
105
 * @brief   Accumulated system uptime.
106
 */
107
static aos_timestamp_t _uptime;
108

    
109
/**
110
 * @brief   Timer register value of last accumulation.
111
 */
112
static systime_t _synctime;
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114
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
115

    
116
/**
117
 * @brief   System shell name.
118
 */
119
static const char _shell_name[] = "system shell";
120

    
121
/**
122
 * @brief   Shell thread working area.
123
 */
124
static THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE);
125

    
126
/**
127
 * @brief   Shell input buffer.
128
 */
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static char _shell_buffer[SYSTEM_SHELL_BUFFERENTRIES * AMIROOS_CFG_SHELL_LINEWIDTH];
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131
/**
132
 * @brief   Shell command to retrieve system information.
133
 */
134
static AOS_SHELL_COMMAND(_shellcmd_info, "module:info", _shellcmd_infocb);
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136
/**
137
 * @brief   Shell command to set or retrieve system configuration.
138
 */
139
static AOS_SHELL_COMMAND(_shellcmd_config, "module:config", _shellcmd_configcb);
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/**
142
 * @brief   Shell command to shutdown the system.
143
 */
144
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)
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static AOS_SHELL_COMMAND(_shellcmd_shutdown, "system:shutdown", _shellcmd_shutdowncb);
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#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */
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static AOS_SHELL_COMMAND(_shellcmd_shutdown, "module:shutdown", _shellcmd_shutdowncb);
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
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150
#if (((CH_CFG_USE_REGISTRY == TRUE) || (CH_CFG_USE_THREADHIERARCHY == TRUE)) && (CH_DBG_STATISTICS == TRUE)) || defined(__DOXYGEN__)
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152
/**
153
 * @brief   Shell command to read out CPU load.
154
 */
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static AOS_SHELL_COMMAND(_shellcmd_cpuload, "module:cpuload", _shellcmd_cpuloadcb);
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157
#endif /* ((CH_CFG_USE_REGISTRY == TRUE) || (CH_CFG_USE_THREADHIERARCHY == TRUE)) && (CH_DBG_STATISTICS == TRUE) */
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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/**
162
 * @brief   Shell command to run a test of the ChibiOS/RT kernel.
163
 */
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static AOS_SHELL_COMMAND(_shellcmd_kerneltest, "kernel:test", _shellcmd_kerneltestcb);
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166
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
167
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
168

    
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/******************************************************************************/
170
/* LOCAL FUNCTIONS                                                            */
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/******************************************************************************/
172

    
173
/**
174
 * @brief   Print a separator line.
175
 *
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 * @param[in] stream    Stream to print to or NULL to print to all system streams.
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 * @param[in] c         Character to use.
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 * @param[in] n         Length of the separator line.
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 *
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 * @return  Number of characters printed.
181
 */
182
static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n)
183
{
184
  aosDbgCheck(stream != NULL);
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  // print the specified character n times
187
  for (unsigned int i = 0; i < n; ++i) {
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    streamPut(stream, (uint8_t)c);
189
  }
190
  streamPut(stream, '\n');
191

    
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  return n+1;
193
}
194

    
195
/**
196
 * @brief   Print a system information line.
197
 * @details Prints a system information line with the following format:
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 *            "<name>[spaces]fmt"
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 *          The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.
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 *          Note that there is not trailing newline added implicitely.
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 *
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 * @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.
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 * @param[in] namewidth   Minimum width of the name column.
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 * @param[in] fmt         Formatted string of information content.
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 *
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 * @return  Number of characters printed.
208
 */
209
static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...)
210
{
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  aosDbgCheck(stream != NULL);
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  aosDbgCheck(name != NULL);
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214
  unsigned int n = 0;
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  va_list ap;
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217
  va_start(ap, fmt);
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  n += (unsigned int)chprintf(stream, name);
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  // print at least a single space character
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  do {
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    streamPut(stream, ' ');
222
    ++n;
223
  } while (n < namewidth);
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  n += (unsigned int)chvprintf(stream, fmt, ap);
225
  va_end(ap);
226

    
227
  streamPut(stream, '\n');
228
  ++n;
229

    
230
  return n;
231
}
232

    
233
/**
234
 * @brief   Prints information about the system.
235
 *
236
 * @param[in] stream    Stream to print to.
237
 */
238
static void _printSystemInfo(BaseSequentialStream* stream)
239
{
240
  aosDbgCheck(stream != NULL);
241

    
242
  // local variables
243
#if (HAL_USE_RTC == TRUE)
244
  struct tm dt;
245
  aosSysGetDateTime(&dt);
246
#endif /* (HAL_USE_RTC == TRUE) */
247

    
248
  // print static information about module and operating system
249
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
250
  _printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s", BOARD_NAME);
251
#if defined(PLATFORM_NAME)
252
  _printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME);
253
#endif /* defined(PLATFORM_NAME) */
254
#if defined(PORT_CORE_VARIANT_NAME)
255
  _printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME);
256
#endif /* defined(PORT_CORE_VARIANT_NAME) */
257
  _printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME);
258
  _printSystemInfoLine(stream, "Core Frequency", SYSTEM_INFO_NAMEWIDTH, "%u MHz", SystemCoreClock / 1000000);
259
  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
260
#if (AMIROOS_CFG_SSSP_ENABLE == true)
261
  _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_SSSP_VERSION_MAJOR, AOS_SSSP_VERSION_MINOR);
262
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */
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  _printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE);
264
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
265
  _printSystemInfoLine(stream, "AMiRo-LLD" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (periphAL %u.%u)", AMIROLLD_VERSION_MAJOR, AMIROLLD_VERSION_MINOR, AMIROLLD_VERSION_PATCH, AMIROLLD_RELEASE_TYPE, PERIPHAL_VERSION_MAJOR, PERIPHAL_VERSION_MINOR);
266
  _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");
267
  _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");
268
  _printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s", (AMIROOS_CFG_DBG == true) ? "debug" : "release");
269
  _printSystemInfoLine(stream, "Compiler" , SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC
270
  _printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__);
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272
  // print static information about the bootloader
273
#if (AMIROOS_CFG_BOOTLOADER != AOS_BOOTLOADER_NONE)
274
  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
275
#endif /* (AMIROOS_CFG_BOOTLOADER != AOS_BOOTLOADER_NONE) */
276
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
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_SSSP_VERSION_MAJOR) {
288
      const char* msg = "WARNING: AMiRo-BLT and AMiRo-OS implement incompatible SSSP versions!\n";
289
      stream ? chprintf(stream, msg) : aosprintf(msg);
290
    }
291
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
292
    _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
293
  } else {
294
    const char* msg = "WARNING: AMiRo-BLT incompatible or not available.\n";
295
    stream ? chprintf(stream, "%s", msg) : aosprintf("%s", msg);
296
  }
297
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */
298

    
299
#if defined(AMIROOS_CFG_SYSINFO_HOOK)
300
  // print module specific information
301
  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
302
  AMIROOS_CFG_SYSINFO_HOOK();
303
#endif /* defined(AMIROOS_CFG_SYSINFO_HOOK) */
304

    
305
  // print dynamic information about the module
306
  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
307
#if (AMIROOS_CFG_SSSP_ENABLE == true)
308
  if (aos.sssp.moduleId != 0) {
309
    _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId);
310
  } else {
311
    _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available");
312
  }
313
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
314
#if (HAL_USE_RTC == TRUE)
315
  _printSystemInfoLine(stream, "Date", SYSTEM_INFO_NAMEWIDTH, "%04u-%02u-%02u (%s)",
316
                       dt.tm_year + 1900,
317
                       dt.tm_mon + 1,
318
                       dt.tm_mday,
319
                       (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");
320
  _printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u", dt.tm_hour, dt.tm_min, dt.tm_sec);
321
#endif /* (HAL_USE_RTC == TRUE) */
322

    
323
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
324

    
325
  return;
326
}
327

    
328
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
329
/**
330
 * @brief   Callback function for the system:config shell command.
331
 *
332
 * @param[in] stream    The I/O stream to use.
333
 * @param[in] argc      Number of arguments.
334
 * @param[in] argv      List of pointers to the arguments.
335
 *
336
 * @return              An exit status.
337
 * @retval  AOS_OK                  The command was executed successfuly.
338
 * @retval  AOS_INVALIDARGUMENTS    There was an issue with the arguemnts.
339
 */
340
static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[])
341
{
342
  aosDbgCheck(stream != NULL);
343

    
344
  // local variables
345
  int retval = AOS_INVALIDARGUMENTS;
346

    
347
  // if there are additional arguments
348
  if (argc > 1) {
349
    // if the user wants to set or retrieve the shell configuration
350
    if (strcmp(argv[1], "--shell") == 0) {
351
      // if the user wants to modify the shell configuration
352
      if (argc > 2) {
353
        // if the user wants to modify the prompt
354
        if (strcmp(argv[2], "prompt") == 0) {
355
          // there must be a further argument
356
          if (argc > 3) {
357
            // handle the option
358
            if (strcmp(argv[3], "text") == 0) {
359
              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL;
360
              retval = AOS_OK;
361
            }
362
            else if (strcmp(argv[3], "minimal") == 0) {
363
              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL;
364
              retval = AOS_OK;
365
            }
366
            else if (strcmp(argv[3], "notime") == 0) {
367
              aos.shell.config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME);
368
              retval = AOS_OK;
369
            }
370
            else if (strcmp(argv[3], "uptime") == 0) {
371
              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME;
372
              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_UPTIME;
373
              retval = AOS_OK;
374
            }
375
            else if (strcmp(argv[3], "date&time") == 0) {
376
              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME;
377
              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME;
378
              retval = AOS_OK;
379
            }
380
            else {
381
              chprintf(stream, "unknown option '%s'\n", argv[3]);
382
              return AOS_INVALIDARGUMENTS;
383
            }
384
          }
385
        }
386
        // if the user wants to modify the string matching
387
        else if (strcmp(argv[2], "match") == 0) {
388
          // there must be a further argument
389
          if (argc > 3) {
390
            if (strcmp(argv[3], "casesensitive") == 0) {
391
              aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE;
392
              retval = AOS_OK;
393
            }
394
            else if (strcmp(argv[3], "caseinsensitive") == 0) {
395
              aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE;
396
              retval = AOS_OK;
397
            }
398
          }
399
        }
400
      }
401
      // if the user wants to retrieve the shell configuration
402
      else {
403
        chprintf(stream, "current shell configuration:\n");
404
        chprintf(stream, "\tprompt text:   %s\n",
405
                 (aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a");
406
        char time[10];
407
        switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
408
          case AOS_SHELL_CONFIG_PROMPT_UPTIME:
409
            strcpy(time, "uptime"); break;
410
          case AOS_SHELL_CONFIG_PROMPT_DATETIME:
411
            strcpy(time, "date&time"); break;
412
          default:
413
            strcpy(time, "no time"); break;
414
        }
415
        chprintf(stream, "\tprompt style:  %s, %s\n",
416
                 (aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text",
417
                 time);
418
        chprintf(stream, "\tinput method:  %s\n",
419
                 (aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert");
420
        chprintf(stream, "\ttext matching: %s\n",
421
                 (aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive");
422
        retval = AOS_OK;
423
      }
424
    }
425
# if (HAL_USE_RTC == TRUE)
426
    // if the user wants to configure the date or time
427
    else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) {
428
      struct tm dt;
429
      aosSysGetDateTime(&dt);
430
      int val = atoi(argv[3]);
431
      if (strcmp(argv[2], "year") == 0 && val >= 1900) {
432
        dt.tm_year = val - 1900;
433
      }
434
      else if (strcmp(argv[2], "month") == 0 && val > 0 && val <= 12) {
435
        dt.tm_mon = val - 1;
436
      }
437
      else if (strcmp(argv[2], "day") == 0 && val > 0 && val <= 31) {
438
        dt.tm_mday = val;
439
      }
440
      else if (strcmp(argv[2], "hour") == 0 && val >= 0 && val < 24) {
441
        dt.tm_hour = val;
442
      }
443
      else if (strcmp(argv[2], "minute") == 0 && val >= 0 && val < 60) {
444
        dt.tm_min = val;
445
      }
446
      else if (strcmp(argv[2], "second") == 0 && val >= 0 && val < 60) {
447
        dt.tm_sec = val;
448
      }
449
      else {
450
        chprintf(stream, "unknown option '%s' or invalid value '%s'\n", argv[2], argv[3]);
451
        return AOS_INVALIDARGUMENTS;
452
      }
453
      dt.tm_wday = aosTimeDayOfWeekFromDate((uint16_t)dt.tm_mday, (uint8_t)dt.tm_mon+1, (uint16_t)dt.tm_year+1900) % DAYS_PER_WEEK;
454
      aosSysSetDateTime(&dt);
455

    
456
      // read and print new date and time
457
      aosSysGetDateTime(&dt);
458
      chprintf(stream, "date/time set to %04u-%02u-%02u %02u:%02u:%02u\n",
459
               dt.tm_year+1900, dt.tm_mon+1, dt.tm_mday,
460
               dt.tm_hour, dt.tm_min, dt.tm_sec);
461

    
462
      retval = AOS_OK;
463
    }
464
#endif /* (HAL_USE_RTC == TRUE) */
465
  }
466

    
467
  // print help, if required
468
  if (retval == AOS_INVALIDARGUMENTS) {
469
    chprintf(stream, "Usage: %s OPTION\n", argv[0]);
470
    chprintf(stream, "Options:\n");
471
    chprintf(stream, "  --help\n");
472
    chprintf(stream, "    Print this help text.\n");
473
    chprintf(stream, "  --shell [OPT [VAL]]\n");
474
    chprintf(stream, "    Set or retrieve shell configuration.\n");
475
    chprintf(stream, "    Possible OPTs and VALs are:\n");
476
    chprintf(stream, "      prompt text|minimal|uptime|date&time|notime\n");
477
    chprintf(stream, "        Configures the prompt.\n");
478
    chprintf(stream, "      match casesensitive|caseinsenitive\n");
479
    chprintf(stream, "        Configures string matching.\n");
480
#if (HAL_USE_RTC == TRUE)
481
    chprintf(stream, "  --date&time OPT VAL\n");
482
    chprintf(stream, "    Set the date/time value of OPT to VAL.\n");
483
    chprintf(stream, "    Possible OPTs are:\n");
484
    chprintf(stream, "      year\n");
485
    chprintf(stream, "      month\n");
486
    chprintf(stream, "      day\n");
487
    chprintf(stream, "      hour\n");
488
    chprintf(stream, "      minute\n");
489
    chprintf(stream, "      second\n");
490
#endif /* (HAL_USE_RTC == TRUE) */
491
  }
492

    
493
  return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval;
494
}
495

    
496
/**
497
 * @brief   Callback function for the system:info shell command.
498
 *
499
 * @param[in] stream    The I/O stream to use.
500
 * @param[in] argc      Number of arguments.
501
 * @param[in] argv      List of pointers to the arguments.
502
 *
503
 * @return            An exit status.
504
 * @retval  AOS_OK    The command was executed successfully.
505
 */
506
static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[])
507
{
508
  aosDbgCheck(stream != NULL);
509

    
510
  (void)argc;
511
  (void)argv;
512

    
513
  // print system information
514
  _printSystemInfo(stream);
515

    
516
  // print time measurement precision
517
  chprintf(stream, "module time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
518

    
519
  // print system uptime
520
  aos_timestamp_t uptime;
521
  aosSysGetUptime(&uptime);
522
  chprintf(stream, "The system is running for\n");
523
  chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
524
  chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
525
  chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
526
  chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
527
  chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
528
  chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
529
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)
530
  chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", (double)aosSsspGetSyncSkew(), AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
531
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */
532
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
533

    
534
  // print shell info
535
  chprintf(stream, "System shell information:\n");
536
  chprintf(stream, "\tcommands available:     %u\n", aosShellCountCommands(&aos.shell));
537
  chprintf(stream, "\tinput width:            %u characters\n", aos.shell.input.linewidth);
538
  chprintf(stream, "\tmaximum arguments:      %u\n", aos.shell.input.nargs);
539
  chprintf(stream, "\thistory size:           %u\n", aos.shell.input.nentries - 1);
540
#if (AMIROOS_CFG_DBG == true)
541
  chprintf(stream, "\tthread stack size:      %u bytes\n", aosThdGetStacksize(aos.shell.thread));
542
#if (CH_DBG_FILL_THREADS == TRUE)
543
  {
544
    const size_t utilization = aosThdGetStackPeakUtilization(aos.shell.thread);
545
    chprintf(stream, "\tstack peak utilization: %u bytes (%.2f%%)\n", utilization, (double)((float)utilization / (float)(aosThdGetStacksize(aos.shell.thread)) * 100.0f));
546
  }
547
#endif /* (CH_DBG_FILL_THREADS == TRUE) */
548
#endif /* (AMIROOS_CFG_DBG == true) */
549
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
550

    
551
  return AOS_OK;
552
}
553

    
554
/**
555
 * @brief   Callback function for the sytem:shutdown or module:shutdown shell command.
556
 *
557
 * @param[in] stream    The I/O stream to use.
558
 * @param[in] argc      Number of arguments.
559
 * @param[in] argv      List of pointers to the arguments.
560
 *
561
 * @return              An exit status.
562
 * @retval  AOS_OK                  The command was executed successfully.
563
 * @retval  AOS_INVALIDARGUMENTS   There was an issue with the arguments.
564
 */
565
static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[])
566
{
567
  aosDbgCheck(stream != NULL);
568

    
569
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE)
570

    
571
  (void)argv;
572

    
573
  if (argc != 1) {
574
    // error
575
    chprintf(stream, "ERROR: no arguments allowed.\n");
576
    return AOS_INVALIDARGUMENTS;
577
  } else {
578
    // broadcast shutdown event
579
    chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_MASK);
580
    // set terminate flag so no further prompt will be printed
581
    chThdTerminate(chThdGetSelfX());
582
    return AOS_OK;
583
  }
584

    
585
#elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
586

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

    
605
    return (argc != 2) ? AOS_INVALIDARGUMENTS : AOS_OK;
606
  }
607
  // handle argument
608
  else {
609
    if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) {
610
      // broadcast shutdown event
611
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_HIBERNATE);
612
      // set terminate flag so no further prompt will be printed
613
      chThdTerminate(chThdGetSelfX());
614
      return AOS_OK;
615
    }
616
    else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) {
617
      // broadcast shutdown event
618
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_DEEPSLEEP);
619
      // set terminate flag so no further prompt will be printed
620
      chThdTerminate(chThdGetSelfX());
621
      return AOS_OK;
622
    }
623
    else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) {
624
      // broadcast shutdown event
625
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_TRANSPORTATION);
626
      // set terminate flag so no further prompt will be printed
627
      chThdTerminate(chThdGetSelfX());
628
      return AOS_OK;
629
    }
630
    else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) {
631
      // broadcast shutdown event
632
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_RESTART);
633
      // set terminate flag so no further prompt will be printed
634
      chThdTerminate(chThdGetSelfX());
635
      return AOS_OK;
636
    }
637
    else {
638
      chprintf(stream, "unknown argument %s\n", argv[1]);
639
      return AOS_INVALIDARGUMENTS;
640
    }
641
  }
642

    
643
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */
644
}
645

    
646
#if (((CH_CFG_USE_REGISTRY == TRUE) || (CH_CFG_USE_THREADHIERARCHY == TRUE)) && (CH_DBG_STATISTICS == TRUE)) || defined(__DOXYGEN__)
647

    
648
/**
649
 * @brief   Callback function for the module:cpuload shell command.
650
 *
651
 * @param[in] stream    The I/O stream to use.
652
 * @param[in] argc      Number of arguments.
653
 * @param[in] argv      List of pointers to arguments.
654
 *
655
 * @return      An exit status.
656
 */
657
static int _shellcmd_cpuloadcb(BaseSequentialStream* stream, int argc, char* argv[])
658
{
659
  aosDbgCheck(stream != NULL);
660

    
661
  (void)argc;
662
  (void)argv;
663

    
664
  // local variables
665
  rttime_t sum = 0;
666
  thread_t* thd = aosThreadGetFirst();
667

    
668
  // accumulate system load
669
  do {
670
    sum += thd->stats.cumulative;
671
    thd = aosThreadGetNext(thd);
672
  } while (thd);
673
  sum += ch.kernel_stats.m_crit_thd.cumulative;
674
  sum += ch.kernel_stats.m_crit_isr.cumulative;
675

    
676
  // retrieve, calculate and print performance measures
677
  chprintf(stream, "threads & critical zones:\n");
678
  thd = aosThreadGetFirst();
679
  do {
680
#if (CH_CFG_USE_REGISTRY == TRUE)
681
    chprintf(stream, "\t%22s: %6.2f%%\n",
682
             (thd->name != NULL) ? thd->name : "<unnamed thread>",
683
             (double)((float)thd->stats.cumulative / (float)sum * 100.f));
684
#else
685
    chprintf(stream, "\t     thread 0x%08X: %6.2f%%\n", (unsigned int)thd, (double)((float)thd->stats.cumulative / (float)sum * 100.f));
686
#endif
687
    thd = aosThreadGetNext(thd);
688
  } while (thd);
689
  chprintf(stream, "\t%22s: %6.2f%%\n",
690
           "thread critical zones",
691
           (double)((float)ch.kernel_stats.m_crit_thd.cumulative / (float)sum * 100.f));
692
  chprintf(stream, "\t%22s: %6.2f%%\n",
693
           "ISR critical zones",
694
           (double)((float)ch.kernel_stats.m_crit_isr.cumulative / (float)sum * 100.f));
695

    
696
  // retrieve further real-time statistics
697
  chprintf(stream, "\nworst critical zones:\n");
698
  chprintf(stream, "\tthreads: %uus (%u clock cycles)\n",
699
           RTC2US(SystemCoreClock, ch.kernel_stats.m_crit_thd.worst),
700
           ch.kernel_stats.m_crit_thd.worst);
701
  chprintf(stream, "\t   ISRs: %uus (%u clock cycles)\n",
702
           RTC2US(SystemCoreClock, ch.kernel_stats.m_crit_isr.worst),
703
           ch.kernel_stats.m_crit_isr.worst);
704

    
705
  return 0;
706
}
707

    
708
#endif /* ((CH_CFG_USE_REGISTRY == TRUE) || (CH_CFG_USE_THREADHIERARCHY == TRUE)) && (CH_DBG_STATISTICS == TRUE) */
709

    
710
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
711

    
712
/**
713
 * @brief   Callback function for the kernel:test shell command.
714
 *
715
 * @param[in] stream    The I/O stream to use.
716
 * @param[in] argc      Number of arguments.
717
 * @param[in] argv      List of pointers to the arguments.
718
 *
719
 * @return      An exit status.
720
 */
721
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[])
722
{
723
  aosDbgCheck(stream != NULL);
724

    
725
  (void)argc;
726
  (void)argv;
727

    
728
  msg_t retval = test_execute(stream, &rt_test_suite);
729

    
730
  return retval;
731
}
732

    
733
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
734
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
735

    
736
// suppress warning in case no interrupt GPIOs are defined
737
#pragma GCC diagnostic push
738
#pragma GCC diagnostic ignored "-Wunused-function"
739
/**
740
 * @brief   Generic callback function for GPIO interrupts.
741
 *
742
 * @param[in] args   Pointer to the GPIO line identifier.
743
 */
744
static void _gpioCallback(void* args)
745
{
746
  aosDbgCheck((args != NULL) && (*((ioline_t*)args) != PAL_NOLINE) && (PAL_PAD(*((ioline_t*)args)) < sizeof(eventflags_t) * 8));
747

    
748
  chSysLockFromISR();
749
  chEvtBroadcastFlagsI(&aos.events.gpio, AOS_GPIOEVENT_FLAG(PAL_PAD(*((ioline_t*)args))));
750
  chSysUnlockFromISR();
751

    
752
  return;
753
}
754
#pragma GCC diagnostic pop
755

    
756
/**
757
 * @brief   Callback function for the uptime accumulation timer.
758
 *
759
 * @param[in] par   Generic parameter.
760
 */
761
static void _uptimeCallback(void* par)
762
{
763
  (void)par;
764

    
765
  chSysLockFromISR();
766
  // read current time in system ticks
767
  register const systime_t st = chVTGetSystemTimeX();
768
  // update the uptime variables
769
  _uptime += chTimeI2US(chTimeDiffX(_synctime, st));
770
  _synctime = st;
771
  // enable the timer again
772
  chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
773
  chSysUnlockFromISR();
774

    
775
  return;
776
}
777

    
778
/**
779
 * @brief   Retrieve the number of active threads.
780
 *
781
 * @return  Number of active threads.
782
 */
783
static size_t _numActiveThreads(void)
784
{
785
  size_t threads = 0;
786

    
787
  thread_t* tp = aosThreadGetFirst();
788
  while (tp) {
789
    threads += (tp->state != CH_STATE_FINAL) ? 1 : 0;
790
    tp = aosThreadGetNext(tp);
791
  }
792

    
793
  return threads;
794
}
795

    
796
/******************************************************************************/
797
/* EXPORTED FUNCTIONS                                                         */
798
/******************************************************************************/
799

    
800
/**
801
 * @brief   AMiRo-OS system initialization.
802
 * @note    Must be called from the system control thread (usually main thread).
803
 *
804
 * @param[in] shellPrompt   String to be printed as prompt of the system shell.
805
 */
806
void aosSysInit(const char* shellPrompt)
807
{
808
  aosDbgCheck(shellPrompt != NULL || !AMIROOS_CFG_SHELL_ENABLE);
809

    
810
  /* set control thread to maximum priority */
811
  chThdSetPriority(AOS_THD_CTRLPRIO);
812

    
813
#if (AMIROOS_CFG_SSSP_ENABLE == true)
814
  aosSsspInit(&_uptime);
815
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
816

    
817
  /* set local variables */
818
  chVTObjectInit(&_systimer);
819
#if (AMIROOS_CFG_SSSP_ENABLE == true)
820
  // uptime counter is started when SSSP proceeds to operation phase
821
  _synctime = 0;
822
  _uptime = 0;
823
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */
824
  // start the uptime counter
825
  chSysLock();
826
  aosSysStartUptimeS();
827
  chSysUnlock();
828
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
829

    
830
  /* initialize aos configuration */
831
  aosIOStreamInit(&aos.iostream);
832
  chEvtObjectInit(&aos.events.gpio);
833
  chEvtObjectInit(&aos.events.os);
834

    
835
#if (AMIROOS_CFG_SHELL_ENABLE == true)
836

    
837
  /* init shell */
838
  aosShellInit(&aos.shell,
839
               _shell_name,
840
               shellPrompt,
841
               _shell_buffer,
842
               SYSTEM_SHELL_BUFFERENTRIES,
843
               AMIROOS_CFG_SHELL_LINEWIDTH,
844
               AMIROOS_CFG_SHELL_MAXARGS);
845
  // add system commands
846
  aosShellAddCommand(&aos.shell, &_shellcmd_config);
847
  aosShellAddCommand(&aos.shell, &_shellcmd_info);
848
  aosShellAddCommand(&aos.shell, &_shellcmd_shutdown);
849
#if (((CH_CFG_USE_REGISTRY == TRUE) || (CH_CFG_USE_THREADHIERARCHY == TRUE)) && (CH_DBG_STATISTICS == TRUE)) || defined(__DOXYGEN__)
850
  aosShellAddCommand(&aos.shell, &_shellcmd_cpuload);
851
#endif /* ((CH_CFG_USE_REGISTRY == TRUE) || (CH_CFG_USE_THREADHIERARCHY == TRUE)) && (CH_DBG_STATISTICS == TRUE) */
852
#if (AMIROOS_CFG_TESTS_ENABLE == true)
853
  aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest);
854
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
855

    
856
#else /* (AMIROOS_CFG_SHELL_ENABLE == true) */
857

    
858
  // suppress unused variable warnings
859
  (void)shellPrompt;
860

    
861
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
862

    
863
  return;
864
}
865

    
866
/**
867
 * @brief   Starts the system and all system threads.
868
 */
869
void aosSysStart(void)
870
{
871
  // print system information;
872
  _printSystemInfo((BaseSequentialStream*)&aos.iostream);
873
  aosprintf("\n");
874

    
875
#if (AMIROOS_CFG_SHELL_ENABLE == true)
876
  // start system shell thread
877
#if (CH_CFG_USE_THREADHIERARCHY == TRUE)
878
  aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell, &ch.mainthread);
879
#else /* (CH_CFG_USE_THREADHIERARCHY == TRUE) */
880
  aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
881
#endif /* (CH_CFG_USE_THREADHIERARCHY == TRUE) */
882
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
883

    
884
  return;
885
}
886

    
887
/**
888
 * @brief   Start the system uptime measurement.
889
 * @note    Must be called from a locked context.
890
 */
891
void aosSysStartUptimeS(void)
892
{
893
  chDbgCheckClassS();
894

    
895
  // start the uptime aggregation counter
896
  _synctime = chVTGetSystemTimeX();
897
  _uptime = 0;
898
  chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
899

    
900
  return;
901
}
902

    
903
/**
904
 * @brief   Retrieves the system uptime.
905
 *
906
 * @param[out] ut   The system uptime.
907
 */
908
void aosSysGetUptimeX(aos_timestamp_t* ut)
909
{
910
  aosDbgCheck(ut != NULL);
911

    
912
  *ut = _uptime + chTimeI2US(chTimeDiffX(_synctime, chVTGetSystemTimeX()));
913

    
914
  return;
915
}
916

    
917
#if (HAL_USE_RTC == TRUE) || defined(__DOXYGEN__)
918

    
919
/**
920
 * @brief   retrieves the date and time from the MCU clock.
921
 *
922
 * @param[out] td   The date and time.
923
 */
924
void aosSysGetDateTime(struct tm* dt)
925
{
926
  aosDbgCheck(dt != NULL);
927

    
928
  RTCDateTime rtc;
929
  rtcGetTime(&MODULE_HAL_RTC, &rtc);
930
  rtcConvertDateTimeToStructTm(&rtc, dt, NULL);
931

    
932
  return;
933
}
934

    
935
/**
936
 * @brief   set the date and time of the MCU clock.
937
 *
938
 * @param[in] dt    The date and time to set.
939
 */
940
void aosSysSetDateTime(struct tm* dt)
941
{
942
  aosDbgCheck(dt != NULL);
943

    
944
  RTCDateTime rtc;
945
  rtcConvertStructTmToDateTime(dt, 0, &rtc);
946
  rtcSetTime(&MODULE_HAL_RTC, &rtc);
947

    
948
  return;
949
}
950

    
951
#endif /* (HAL_USE_RTC == TRUE) */
952

    
953
/**
954
 * @brief   Initializes/Acknowledges a system shutdown/restart request.
955
 * @note    This functions should be called from the thread with highest priority.
956
 *
957
 * @param[in] shutdown    Type of shutdown.
958
 */
959
void aosSysShutdownInit(aos_shutdown_t shutdown)
960
{
961
  // check arguments
962
  aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
963

    
964
#if (AMIROOS_CFG_SSSP_ENABLE == true)
965

    
966
  // activate the PD signal only if this module initiated the shutdown
967
  if (shutdown != AOS_SHUTDOWN_PASSIVE) {
968
    aosSsspShutdownInit(true);
969
  }
970

    
971
  switch (shutdown) {
972
    case AOS_SHUTDOWN_PASSIVE:
973
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_PASSIVE);
974
      aosprintf("shutdown request received...\n");
975
      break;
976
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE)
977
    case AOS_SHUTDOWN_ACTIVE:
978
      aosprintf("shutdown initiated...\n");
979
      break;
980
#elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
981
    case AOS_SHUTDOWN_HIBERNATE:
982
      aosprintf("shutdown to hibernate mode...\n");
983
      break;
984
    case AOS_SHUTDOWN_DEEPSLEEP:
985
      aosprintf("shutdown to deepsleep mode...\n");
986
      break;
987
    case AOS_SHUTDOWN_TRANSPORTATION:
988
      aosprintf("shutdown to transportation mode...\n");
989
      break;
990
    case AOS_SHUTDOWN_RESTART:
991
      aosprintf("restarting system...\n");
992
      break;
993
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */
994
    case AOS_SHUTDOWN_NONE:
995
      // must never occur
996
      aosDbgAssert(false);
997
      break;
998
  }
999

    
1000
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */
1001

    
1002
  aosprintf("shutdown initiated...\n");
1003

    
1004
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
1005

    
1006
  return;
1007
}
1008

    
1009
/**
1010
 * @brief   Stops the system and all related threads (not the thread this function is called from).
1011
 *
1012
 * @note    Only the control thread (detected by initial thread priority) may call this function.
1013
 */
1014
void aosSysStop(void)
1015
{
1016
  // only the control thread may call this function
1017
  aosDbgAssert(chThdGetPriorityX() == AOS_THD_CTRLPRIO);
1018

    
1019
  // local variables
1020
  tprio_t prio;
1021
  thread_t* tp;
1022
#if (AMIROOS_CFG_DBG == true)
1023
  aos_timestamp_t tprint = 0;
1024
  aos_timestamp_t tnow;
1025
#endif /* (AMIROOS_CFG_DBG == true) */
1026

    
1027
  // wait until the calling thread is the only remaining active thread
1028
#if (CH_CFG_NO_IDLE_THREAD == TRUE)
1029
  while (_numActiveThreads() > 1) {
1030
#else /* (CH_CFG_NO_IDLE_THREAD == TRUE) */
1031
  while (_numActiveThreads() > 2) {
1032
#endif /* (CH_CFG_NO_IDLE_THREAD == TRUE) */
1033

    
1034
#if (AMIROOS_CFG_DBG == true)
1035
    aosSysGetUptime(&tnow);
1036
    // print a message once per second
1037
    if (tnow - tprint >= MICROSECONDS_PER_SECOND) {
1038
      aosDbgPrintf("waiting for all threads to terminate...\n");
1039
      tprint = tnow;
1040
    }
1041
#endif /* (AMIROOS_CFG_DBG == true) */
1042

    
1043
    // detect highest priority of all threads but the calling one
1044
    prio = NOPRIO;
1045
    chSysLock();
1046
    tp = aosThreadGetFirst();
1047
    while (tp) {
1048
      // skip the calling thread
1049
      if (tp != chThdGetSelfX()) {
1050
#if (CH_CFG_USE_MUTEXES == TRUE)
1051
        const tprio_t tprio = tp->realprio;
1052
#else /* (CH_CFG_USE_MUTEXES == TRUE) */
1053
        const tprio_t tprio = tp->prio;
1054
#endif /* (CH_CFG_USE_MUTEXES == TRUE) */
1055
        if (tprio > prio) {
1056
          prio = tprio;
1057
        }
1058
      }
1059
      tp = aosThreadGetNext(tp);
1060
    }
1061
    chSysUnlock();
1062

    
1063
    aosDbgAssert(prio <= chThdGetPriorityX());
1064

    
1065
    // lower calling thread priority as required or yield CPU to another thread with equal priority
1066
    if (prio < chThdGetPriorityX()) {
1067
      chThdSetPriority(prio);
1068
    } else {
1069
      chThdYield();
1070
    }
1071
  }
1072

    
1073
  // restore priority
1074
  chThdSetPriority(AOS_THD_CTRLPRIO);
1075

    
1076
  return;
1077
}
1078

    
1079
/**
1080
 * @brief   Deinitialize all system variables.
1081
 */
1082
void aosSysDeinit(void)
1083
{
1084
  return;
1085
}
1086

    
1087
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_SHUTDOWN != true)) ||                 \
1088
    ((AMIROOS_CFG_SSSP_ENABLE != true) && (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)) || \
1089
    defined(__DOXYGEN__)
1090

    
1091
/**
1092
 * @brief   Finally shuts down the system and calls the bootloader callback function.
1093
 * @note    This function should be called from the thtead with highest priority.
1094
 *
1095
 * @param[in] shutdown    Type of shutdown.
1096
 */
1097
void aosSysShutdownToBootloader(aos_shutdown_t shutdown)
1098
{
1099
  // check arguments
1100
  aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
1101

    
1102
  // disable all interrupts
1103
  irqDeinit();
1104

    
1105
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
1106
  // validate AMiRo-BLT
1107
  if ((BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) &&
1108
      (BL_CALLBACK_TABLE_ADDRESS->vBootloader.major == BL_VERSION_MAJOR) &&
1109
      (BL_CALLBACK_TABLE_ADDRESS->vBootloader.minor >= BL_VERSION_MINOR)) {
1110
    // call bootloader callback depending on arguments
1111
    switch (shutdown) {
1112
#if (AMIROOS_CFG_SSSP_ENABLE == true)
1113
      case AOS_SHUTDOWN_PASSIVE:
1114
        BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest();
1115
        break;
1116
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
1117
      case AOS_SHUTDOWN_HIBERNATE:
1118
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate();
1119
        break;
1120
      case AOS_SHUTDOWN_DEEPSLEEP:
1121
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep();
1122
        break;
1123
      case AOS_SHUTDOWN_TRANSPORTATION:
1124
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation();
1125
        break;
1126
      case AOS_SHUTDOWN_RESTART:
1127
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart();
1128
        break;
1129
      // must never occur
1130
      case AOS_SHUTDOWN_NONE:
1131
      default:
1132
        break;
1133
    }
1134
  } else {
1135
    // fallback if AMiRo-BLT was found to be invalid
1136
    aosprintf("ERROR: AMiRo-BLT incompatible or not available!\n");
1137
    aosThdMSleep(10);
1138
    chSysDisable();
1139
  }
1140
#endif /* (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT) */
1141

    
1142
  return;
1143
}
1144

    
1145
#endif /* ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_SHUTDOWN != true)) || ((AMIROOS_CFG_SSSP_ENABLE != true) && (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)) */
1146

    
1147
/**
1148
 * @brief   Generic callback function for GPIO interrupts.
1149
 *
1150
 * @return  Pointer to the callback function.
1151
 */
1152
palcallback_t aosSysGetStdGpioCallback(void)
1153
{
1154
  return _gpioCallback;
1155
}
1156

    
1157
/** @} */