AMiRo-OS

#ifndef IN_CCM

/*

 * @brief Makro to store data in the core coupled memory (ccm).

 *        Example:

 *        int compute_buffer[128] IN_CCM;

 *

 * @note The ccm is not connected to any bus system.

 */

#define IN_CCM  __attribute__((section(".ccm"))) __attribute__((aligned(4)))

#endif

#ifndef IN_ETH

/*

 * @brief Makro to store data in the ethernet memory (eth).

 *        Example:

 *        int dma_buffer[128] IN_ETH;

 *

 * @note The eth is a dedicated memory block with its own DMA controller.

 */

#define IN_ETH  __attribute__((section(".eth"))) __attribute__((aligned(4)))

#endif

#define BL_CALLBACK_TABLE_ADDR  (0x08000000 + 0x01C0)

#define BL_MAGIC_NUMBER         ((uint32_t)0xFF669900u)

#define SHUTDOWN_NONE             0

#define SHUTDOWN_TRANSPORTATION   1

#define SHUTDOWN_DEEPSLEEP        2

#define SHUTDOWN_HIBERNATE        3

#define SHUTDOWN_RESTART          4

#define SHUTDOWN_HANDLE_REQUEST   5

#include <ch.hpp>

#include <shell.h>

#include <chprintf.h>

#include <wakeup.h>

#include <cstdlib>

#include <cstring>

#include <amiro/util/util.h>

#include <global.hpp>

#include <exti.hpp>

using namespace amiro;

using namespace constants::PowerManagement;

Global global;

void shutdownTimeoutISR(void *arg) {

  (void) arg;

}

void systemStop() {

//  VirtualTimer shutdownTimeout;

  uint8_t i;

  // tell all boards that it's time to shut down

  global.robot.broadcastShutdown();

  global.userThread.requestTerminate();

  global.userThread.wait();

  // kill bluetooth

  boardBluetoothSetState(0);

  global.adc1_vsys.requestTerminate();

  global.adc1_vsys.wait();

  for (i = 0; i < global.vcnl4020.size(); ++i) {

    global.vcnl4020[i].requestTerminate();

    global.vcnl4020[i].wait();

  }

  for (i = 0; i < global.bq27500.size(); ++i) {

    global.bq27500[i].requestTerminate();

    global.bq27500[i].wait();

  }

  for (i = 0; i < global.ina219.size(); ++i) {

    global.ina219[i].requestTerminate();

    global.ina219[i].wait();

  }

//  boardWriteIoPower(0);

  global.mpr121.configure(&global.mpr121_stdby_config);

  /* cannot shut down touch, b/c we need it to

   * clear any interrupt, so WKUP is not blocked

   */

  // stop I²C

  for (i = 0; i < global.V_I2C1.size(); ++i)

    global.V_I2C1[i].stop();

  for (i = 0; i < global.V_I2C2.size(); ++i)

    global.V_I2C2[i].stop();

  global.mpr121.requestTerminate();

  global.mpr121.wait();

  global.HW_I2C2.stop();

  global.HW_I2C1.stop();

  // stop all threads

  global.robot.terminate();

//  // 60 sec timeout

//  palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_HIGH);

//  chVTSet(&shutdownTimeout, MS2ST(60000), shutdownTimeoutISR, NULL);

//  // wait for all boards to release SYS_INT_N

//  while (palReadPad(GPIOC, GPIOC_SYS_INT_N)!=PAL_HIGH && chVTIsArmedI(&shutdownTimeout)) {

//    BaseThread::sleep(MS2ST(1)); /* must sleep for VT, else it will never fire */

//  }

//  chVTReset(&shutdownTimeout);

//  chprintf((BaseSequentialStream*) &SD1, "Stop\n");

//  boardWriteSystemPower(0);

//  boardWriteLed(1);

//  boardStop(0x00, 0x00);

//  /*

//   * HSI-PLL domain now.

//   */

//  //chprintf((BaseSequentialStream*) &SD1, "After Stop\n");

//  boardWriteLed(1);

//  while (true)

//    BaseThread::sleep(MS2ST(250));

  return;

}

void systemShutdown() {

  VirtualTimer shutdownTimeout;

  uint8_t i;

  // tell all boards that it's time to shut down

  global.robot.broadcastShutdown();

  // wait a little to make sure all boards got the message and had time to pull their SYS_PD_N pins down

  BaseThread::sleep(MS2ST(500));

  // stop the user thread

  global.userThread.requestTerminate();

  global.userThread.wait();

  // kill bluetooth

  boardBluetoothSetState(0);

  // stop all threads

  global.robot.terminate();

  global.adc1_vsys.requestTerminate();

  global.adc1_vsys.wait();

  for (i = 0; i < global.vcnl4020.size(); ++i) {

    global.vcnl4020[i].requestTerminate();

    global.vcnl4020[i].wait();

  }

  for (i = 0; i < global.bq27500.size(); ++i) {

    global.bq27500[i].requestTerminate();

    global.bq27500[i].wait();

  }

  for (i = 0; i < global.ina219.size(); ++i) {

    global.ina219[i].requestTerminate();

    global.ina219[i].wait();

  }

  // 60 sec timeout

  chVTSet(&shutdownTimeout, MS2ST(60000), shutdownTimeoutISR, NULL);

  // wait for all boards to release SYS_PD_N

  while (!palReadPad(GPIOC, GPIOC_SYS_PD_N) && chVTIsArmedI(&shutdownTimeout))

    BaseThread::sleep(MS2ST(1)); /* must sleep for VT, else it will never fire */

  chVTReset(&shutdownTimeout);

  boardWriteIoPower(0);

  global.mpr121.configure(&global.mpr121_stdby_config);

  /* cannot shut down touch, b/c we need it to

   * clear any interrupt, so WKUP is not blocked

   */

  // stop I²C

  for (i = 0; i < global.V_I2C1.size(); ++i)

    global.V_I2C1[i].stop();

  for (i = 0; i < global.V_I2C2.size(); ++i)

    global.V_I2C2[i].stop();

  boardWriteSystemPower(0);

  boardStandby();

}

void boardPeripheryCheck(BaseSequentialStream *chp) {

#ifndef AMIRO_NSELFTEST

  chprintf(chp, "\nCHECK: START\n");

  msg_t result = 0;

    // Check the proximitysensors

  for (uint8_t i = 0; i < global.vcnl4020.size(); i++) {

    result = global.vcnl4020[i].getCheck();

    if (result == global.vcnl4020[i].CHECK_OK)

      chprintf(chp, "VCNL4020: %d OK\n", i);

    else

      chprintf(chp, "VCNL4020: %d FAIL\n", i);

  }

  chprintf(chp, "----------------------------------------\n");

  // check the PowerPath controller

  chprintf(chp, "\n");

  if (global.ltc4412.isPluggedIn())

    chprintf(chp, "LTC4412: plugged in\n");

  else

    chprintf(chp, "LTC4412: not plugged in\n");

  chprintf(chp, "----------------------------------------\n");

  // Check the eeprom

  result = global.memory.getCheck();

  if ( result != global.memory.OK)

    chprintf(chp, "Memory Structure: FAIL\n");

  else

    chprintf(chp, "Memory Structure: OK\n");

  chprintf(chp, "----------------------------------------\n");

  // Check the power monitors

  INA219::BusVoltage bus_voltage;

  chprintf(chp, "\n");

  chprintf(chp, "INA219:\n");

  chprintf(chp, "\tVDD (3.3V):\n");

  uint8_t result_ina219_vdd = global.ina219[INA_VDD].selftest();

  chprintf(chp, "->\t");

  if (result_ina219_vdd == BaseSensor<>::NOT_IMPLEMENTED)

    chprintf(chp, "not implemented");

  else if (result_ina219_vdd != INA219::Driver::ST_OK)

    chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vdd);

  else

    chprintf(chp, "OK");

  chprintf(chp, "\n\n");

  chprintf(chp, "\tVIO1.8:\n");

  uint8_t result_ina219_vio18 = global.ina219[INA_VIO18].selftest();

  chprintf(chp, "->\t");

  if (result_ina219_vio18 == BaseSensor<>::NOT_IMPLEMENTED)

    chprintf(chp, "not implemented");

  else if (result_ina219_vio18 != INA219::Driver::ST_OK)

    chprintf(chp, &q