AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    aos_system.c

 * @brief   System code.

 * @details Contains system initialization and shutdown routines

 *          and system shell commands.

 *

 * @addtogroup aos_system

 * @{

 */

#include <amiroos.h>

#include <stdarg.h>

#include <string.h>

#include <stdlib.h>

#if (AMIROOS_CFG_TESTS_ENABLE == true)

#include <ch_test.h>

#include <rt_test_root.h>

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */

/******************************************************************************/

/* LOCAL DEFINITIONS                                                          */

/******************************************************************************/

/**

 * @brief   Period of the system timer.

 */

#define SYSTIMER_PERIOD               (TIME_MAX_SYSTIME - CH_CFG_ST_TIMEDELTA)

/**

 * @brief   Width of the printable system info text.

 */

#define SYSTEM_INFO_WIDTH             70

/**

 * @brief   Width of the name column of the system info table.

 */

#define SYSTEM_INFO_NAMEWIDTH         14

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

/**

 * @brief   Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value.

 */

#define SYSTEM_SYSSYNCSKEW_LPFACTOR   (0.1f / AOS_SYSTEM_TIME_RESOLUTION)

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

/******************************************************************************/

/* EXPORTED VARIABLES                                                         */

/******************************************************************************/

/**

 * @brief   Global system object.

 */

aos_system_t aos;

/******************************************************************************/

/* LOCAL TYPES                                                                */

/******************************************************************************/

/******************************************************************************/

/* LOCAL VARIABLES                                                            */

/******************************************************************************/

/*

 * forward declarations

 */

#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]);

static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]);

static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]);

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

static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]);

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */

/**

 * @brief   Timer to accumulate system uptime.

 */

static virtual_timer_t _systimer;

/**

 * @brief   Accumulated system uptime.

 */

static aos_timestamp_t _uptime;

/**

 * @brief   Timer register value of last accumulation.

 */

static systime_t _synctime;

#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined(__DOXYGEN__)

/**

 * @brief   Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP.

 */

static virtual_timer_t _syssynctimer;

/**

 * @brief   Last uptime of system wide time synchronization.

 */

static aos_timestamp_t _syssynctime;

#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */

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

/**

 * @brief   Offset between local clock and system wide synchronization signal.

 */

static float _syssyncskew;

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

#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   Shell thread working area.

 */

THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE);

/**

 * @brief   Shell input buffer.

 */

static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH];

/**

 * @brief   Shell argument buffer.

 */

static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS];

/**

 * @brief   Shell command to retrieve system information.

 */

static AOS_SHELL_COMMAND(_shellcmd_info, "module:info", _shellcmd_infocb);

/**

 * @brief   Shell command to set or retrieve system configuration.

 */

static AOS_SHELL_COMMAND(_shellcmd_config, "module:config", _shellcmd_configcb);

/**

 * @brief   Shell command to shutdown the system.

 */

#if (AMIROOS_CFG_SSSP_ENABLE == true)

static AOS_SHELL_COMMAND(_shellcmd_shutdown, "system:shutdown", _shellcmd_shutdowncb);

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

static AOS_SHELL_COMMAND(_shellcmd_shutdown, "module:shutdown", _shellcmd_shutdowncb);

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

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

/**

 * @brief   Shell kommand to run a test of the ChibiOS/RT kernel.

 */

static AOS_SHELL_COMMAND(_shellcmd_kerneltest, "kernel:test", _shellcmd_kerneltestcb);

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */

/******************************************************************************/

/* LOCAL FUNCTIONS                                                            */

/******************************************************************************/

/**

 * @brief   Print a separator line.

 *

 * @param[in] stream    Stream to print to or NULL to print to all system streams.

 * @param[in] c         Character to use.

 * @param[in] n         Length of the separator line.

 *

 * @return  Number of characters printed.

 */

static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n)

{

  aosDbgCheck(stream != NULL);

  // print the specified character n times

  for (unsigned int i = 0; i < n; ++i) {

    streamPut(stream, c);

  }

  streamPut(stream, '\n');

  return n+1;

}

/**

 * @brief   Print a system information line.

 * @details Prints a system information line with the following format:

 *            "<name>[spaces]fmt"

 *          The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.

 *          Note that there is not trailing newline added implicitely.

 *

 * @param[in] stream      Stream to print to or NULL to print to all system streams.

 * @param[in] name        Name of the entry/line.

 * @param[in] namewidth   Width of the name column.

 * @param[in] fmt         Formatted string of information content.

 *

 * @return  Number of characters printed.

 */

static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...)

{

  aosDbgCheck(stream != NULL);

  aosDbgCheck(name != NULL);

  unsigned int n = 0;

  va_list ap;

  va_start(ap, fmt);

  n += chprintf(stream, name);

  while (n < namewidth) {

    streamPut(stream, ' ');

    ++n;

  }

  n += chvprintf(stream, fmt, ap);

  va_end(ap);

  streamPut(stream, '\n');

  ++n;

  return n;

}

/**

 * @brief   Prints information about the system.

 *

 * @param[in] stream    Stream to print to.

 */

static void _printSystemInfo(BaseSequentialStream* stream)

{

  aosDbgCheck(stream != NULL);

  // local variables

#if (HAL_USE_RTC == TRUE)

  struct tm dt;

  aosSysGetDateTime(&dt);

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

  // print static information about module and operating system

  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);

  _printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s", BOARD_NAME);

#if defined(PLATFORM_NAME)

  _printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME);

#endif /* defined(PLATFORM_NAME) */

#if defined(PORT_CORE_VARIANT_NAME)

  _printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME);

#endif /* defined(PORT_CORE_VARIANT_NAME) */

  _printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME);

  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  _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);

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

  _printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE);

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

  _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);

  _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");

  _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");

  _printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s", (AMIROOS_CFG_DBG == true) ? "debug" : "release");

  _printSystemInfoLine(stream, "Compiler" , SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC

  _printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__);

  // print static information about the bootloader

  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);

  if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {

    _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,

                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :

                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :

                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :

                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :

                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :

                         "<release type unknown>",

                         BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor);

#if (AMIROOS_CFG_SSSP_ENABLE == true)

    if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_MAJOR) {

      if (stream) {

        chprintf(stream, "WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");

      } else {

        aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");

      }

    }

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

    _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

  } else {

    if (stream) {

      chprintf(stream, "Bootloader incompatible or not available.\n");

    } else {

      aosprintf("Bootloader incompatible or not available.\n");

    }

  }

  // print dynamic information about the module

  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  if (aos.sssp.moduleId != 0) {

    _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId);

  } else {