/core/src/aos_system.c - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / core / src / aos_system.c @ 5ab6a6a4

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+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
 Copyright (C) 2016..2018  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/>.
 */
-ca3
+/**
  * @file    aos_system.c
  * @brief   System code.
  * @details Contains system initialization and shutdown routines
  *          and system shell commands.
+ *
  * @addtogroup aos_system
  * @{
  */
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+#include <aos_system.h>
 #include <amiroos.h>
 #include <amiroblt.h>
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+#include <module.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)
 #include <ch_test.h>
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+#include <rt_test_root.h>
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+#endif
 /**
  * @brief   Period of the system timer.
  */
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+#define SYSTIMER_PERIOD               (TIME_MAX_SYSTIME - CH_CFG_ST_TIMEDELTA)
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+            Thomas Schöpping
 /**
  * @brief   Width of the printable system info text.
  */
 #define SYSTEM_INFO_WIDTH             70
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+/**
  * @brief   Width of the name column of the system info table.
  */
 #define SYSTEM_INFO_NAMEWIDTH         14
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+/* forward declarations */
 static void _printSystemInfo(BaseSequentialStream* stream);
 #if (AMIROOS_CFG_SHELL_ENABLE == true)
 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[]);
 #endif /* AMIROOS_CFG_SHELL_ENABLE == true */
 #if (AMIROOS_CFG_TESTS_ENABLE == true)
 static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]);
 #endif /* 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_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
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+#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
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+/**
  * @brief   Offset between local clock and system wide synchronization signal.
  */
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+static float _syssyncskew;
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+            Thomas Schöpping
 /**
  * @brief   Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value.
  */
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+#define SYSTEM_SYSSYNCSKEW_LPFACTOR   (0.1f / AOS_SYSTEM_TIME_RESOLUTION)
 #endif
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+#if (AMIROOS_CFG_SHELL_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_shellcommand_t _shellcmd_info = {
   /* name     */ "module:info",
   /* callback */ _shellcmd_infocb,
   /* next     */ NULL,
 };
 /**
  * @brief   Shell command to set or retrieve system configuration.
  */
 static aos_shellcommand_t _shellcmd_config = {
   /* name     */ "module:config",
   /* callback */ _shellcmd_configcb,
   /* next     */ NULL,
 };
 /**
  * @brief   Shell command to shutdown the system.
  */
 static aos_shellcommand_t _shellcmd_shutdown = {
   /* name     */ "system:shutdown",
   /* callback */ _shellcmd_shutdowncb,
   /* next     */ NULL,
 };
 #endif /* AMIROOS_CFG_SHELL_ENABLE == true */
 #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
 /**
  * @brief   Shell kommand to run a test of the ChibiOS/RT kernel.
  */
 static aos_shellcommand_t _shellcmd_kerneltest = {
   /* name     */ "kernel:test",
   /* callback */ _shellcmd_kerneltestcb,
   /* next     */ NULL,
 };
 #endif /* AMIROOS_CFG_TESTS_ENABLE == true */
 /**
  * @brief   Global system object.
  */
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+aos_system_t aos;
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+            Thomas Schöpping
 /**
  * @brief   Print a separator line.
+ *
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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.
  * @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.
+ *
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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.
  * @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);
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+  aosDbgCheck(name != NULL);
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+            Thomas Schöpping
   unsigned int n = 0;
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+  va_list ap;
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+            Thomas Schöpping
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+  va_start(ap, fmt);
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+  n += chprintf(stream, name);
   while (n < namewidth) {
     streamPut(stream, ' ');
     ++n;
+  }
   n += chvprintf(stream, fmt, ap);
   va_end(ap);
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+  streamPut(stream, '\n');
   ++n;
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+  return n;
+}
 /**
  * @brief   Prints information about the system.
+ *
  * @param[in] stream    Stream to print to.
  */