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 <aos_system.h>

#include <amiroos.h>

#include <amiroblt.h>

#include <module.h>

#include <string.h>

#include <stdlib.h>

#if (AMIROOS_CFG_TESTS_ENABLE == true)

#include <ch_test.h>

#include <rt_test_root.h>

#endif

/**

 * @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

/* 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[]);

#if (AMIROOS_CFG_TESTS_ENABLE == true)

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

#endif /* AMIROOS_CFG_TESTS_ENABLE == true */

#endif /* AMIROOS_CFG_SHELL_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

#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;

/**

 * @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) */

#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 = {

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  /* name     */ "system:shutdown",

#else

  /* name     */ "module:shutdown",

#endif

  /* 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.

 */

aos_system_t aos;

/**

 * @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);