Revision 6b53f6bf
| modules/DiWheelDrive_1-1/aosconf.h | ||
|---|---|---|
| 28 | 28 |
|
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#include <stdbool.h> |
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/*===========================================================================*/ |
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/** |
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* @name Kernel parameters and options |
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* @{
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*/ |
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/*===========================================================================*/ |
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|
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/* |
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* Include an external configuration file to override the following default settings only if required. |
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*/ |
| ... | ... | |
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#include <osconf.h> |
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#endif |
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|
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/*===========================================================================*/ |
|
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/** |
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* @brief Flag to set the module as SSSP master. |
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*/ |
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#if !defined(OS_CFG_SSSP_MASTER) |
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#define AMIROOS_CFG_SSSP_MASTER false |
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#else |
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#define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER |
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#endif |
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|
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/** |
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* @brief Time boundary for robot wide clock synchronization in microseconds. |
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* @details Whenever the SSSP S (snychronization) signal gets logically deactivated, |
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* All modules need to align their local uptime to the nearest multiple of this value. |
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* @name Kernel parameters and options |
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* @{
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*/ |
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#if !defined(OS_CFG_SSSP_SYSSYNCPERIOD) |
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#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
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#else |
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#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD |
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#endif |
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/*===========================================================================*/ |
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/** |
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* @brief Flag to enable/disable debug API. |
| ... | ... | |
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/*===========================================================================*/ |
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/** |
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* @name SSSP (Startup Shutdown Synchronization Protocol) configuration. |
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* @{
|
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*/ |
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/*===========================================================================*/ |
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|
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/** |
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* @brief Flag to set the module as SSSP master. |
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* @details There must be only one module with this flag set to true in a system. |
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*/ |
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#if !defined(OS_CFG_SSSP_MASTER) |
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#define AMIROOS_CFG_SSSP_MASTER false |
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#else |
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#define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER |
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#endif |
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|
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/** |
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* @brief Time boundary for robot wide clock synchronization in microseconds. |
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* @details Whenever the SSSP S (snychronization) signal gets logically deactivated, |
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* All modules need to align their local uptime to the nearest multiple of this value. |
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*/ |
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#if !defined(OS_CFG_SSSP_SYSSYNCPERIOD) |
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#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
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#else |
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#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD |
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#endif |
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|
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/** @} */ |
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|
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/*===========================================================================*/ |
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/** |
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* @name System shell options |
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* @{
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*/ |
| modules/DiWheelDrive_1-1/module.c | ||
|---|---|---|
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(void)extp; |
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chSysLockFromISR(); |
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chEvtBroadcastFlagsI(&aos.events.io.source, (1 << channel));
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chEvtBroadcastFlagsI(&aos.events.io, (1 << channel)); |
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chSysUnlockFromISR(); |
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return; |
| ... | ... | |
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*/ |
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/*===========================================================================*/ |
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apalControlGpio_t moduleSsspPd = {
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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const char* moduleShellPrompt = "DiWheelDrive"; |
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#endif |
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|
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/** @} */ |
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|
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/*===========================================================================*/ |
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/** |
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* @name Startup Shutdown Synchronization Protocol (SSSP) |
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* @{
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*/ |
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/*===========================================================================*/ |
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apalControlGpio_t moduleSsspGpioPd = {
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/* GPIO */ &moduleGpioSysPd, |
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/* meta */ {
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/* active state */ APAL_GPIO_ACTIVE_LOW, |
| ... | ... | |
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}, |
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}; |
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apalControlGpio_t moduleSsspSync = {
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apalControlGpio_t moduleSsspGpioSync = {
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/* GPIO */ &moduleGpioSysSync, |
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/* meta */ {
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/* active state */ APAL_GPIO_ACTIVE_LOW, |
| ... | ... | |
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}, |
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}; |
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const char* moduleShellPrompt = "DiWheelDrive"; |
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/** @} */ |
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/*===========================================================================*/ |
| ... | ... | |
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} |
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static ut_hmc5883ldata_t _utHmc5883lData = {
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/* HMC driver */ &moduleLldCompass, |
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/* event source */ &aos.events.io.source,
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/* event source */ &aos.events.io, |
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/* event flags */ (1 << MODULE_GPIO_EXTCHANNEL_COMPASSDRDY), |
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/* timeout */ MICROSECONDS_PER_SECOND, |
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}; |
| ... | ... | |
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static ut_l3g4200ddata_t _utL3g4200dData = {
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/* driver */ &moduleLldGyroscope, |
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/* SPI configuration */ &moduleHalSpiGyroscopeConfig, |
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/* event source */ &aos.events.io.source,
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/* event source */ &aos.events.io, |
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/* event flags */ (1 << MODULE_GPIO_EXTCHANNEL_GYRODRDY), |
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}; |
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aos_unittest_t moduleUtAlldL3g4200d = {
|
| ... | ... | |
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static ut_lis331dlhdata_t _utLis331dlhData = {
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/* driver */ &moduleLldAccelerometer, |
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/* SPI configuration */ &moduleHalSpiAccelerometerConfig, |
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/* event source */ &aos.events.io.source,
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/* event source */ &aos.events.io, |
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/* event flags */ (1 << MODULE_GPIO_EXTCHANNEL_ACCELINT), |
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}; |
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aos_unittest_t moduleUtAlldLis331dlh = {
|
| ... | ... | |
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static ut_vcnl4020data_t _utVcnl4020Data = {
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/* driver */ &moduleLldProximity, |
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/* timeout */ MICROSECONDS_PER_SECOND, |
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/* event source */ &aos.events.io.source,
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/* event source */ &aos.events.io, |
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/* event flags */ (1 << MODULE_GPIO_EXTCHANNEL_IRINT), |
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}; |
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aos_unittest_t moduleUtAlldVcnl4020 = {
|
| modules/DiWheelDrive_1-1/module.h | ||
|---|---|---|
| 342 | 342 |
*/ |
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#define MODULE_OS_IOEVENTFLAGS_ACCELINT ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_ACCELINT)) |
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/** |
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* @brief PD signal for SSSP. |
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*/ |
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extern apalControlGpio_t moduleSsspPd; |
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|
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/** |
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* @brief SYNC signal for SSSP. |
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*/ |
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extern apalControlGpio_t moduleSsspSync; |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/** |
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* @brief Shell prompt text. |
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*/ |
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extern const char* moduleShellPrompt; |
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#endif |
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|
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/** |
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* @brief Additional HAL initialization hook. |
| ... | ... | |
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*/ |
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#define MODULE_INIT_TESTS() { \
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/* add unit-test shell commands */ \ |
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aosShellAddCommand(aos.shell, &moduleUtAlldA3906.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldHmc5883l.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldIna219.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldL3g4200d.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldLed.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldLis331dlh.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldLtc4412.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldPca9544a.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldTps62113.shellcmd); \
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aosShellAddCommand(aos.shell, &moduleUtAlldVcnl4020.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldA3906.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldHmc5883l.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldL3g4200d.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldLis331dlh.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldLtc4412.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd); \
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aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd); \
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} |
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|
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/** |
| ... | ... | |
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} |
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|
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/** |
| 412 |
* @brief Hook to handle IO events during SSSP startup synchronization. |
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*/ |
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#define MODULE_SSP_STARTUP_OUTRO_IO_EVENT(mask, flags) { \
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/* ignore all events */ \ |
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(void)mask; \ |
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(void)flags; \ |
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} |
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|
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/** |
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* @brief Periphery communication interface deinitialization hook. |
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*/ |
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#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
|
| ... | ... | |
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|
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/*===========================================================================*/ |
| 440 | 423 |
/** |
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* @name Startup Shutdown Synchronization Protocol (SSSP) |
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* @{
|
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*/ |
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/*===========================================================================*/ |
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|
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/** |
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* @brief PD signal GPIO. |
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*/ |
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extern apalControlGpio_t moduleSsspGpioPd; |
|
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|
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/** |
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* @brief SYNC signal GPIO. |
|
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*/ |
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extern apalControlGpio_t moduleSsspGpioSync; |
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|
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/** |
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* @brief Event flags for PD signal events. |
|
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*/ |
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#define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD |
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|
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/** |
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* @brief Event flags for Sync signal events. |
|
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*/ |
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#define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC |
|
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|
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/** |
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* @brief Hook to handle IO events during SSSP startup synchronization. |
|
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*/ |
|
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#define MODULE_SSSP_STARTUP_OSINIT_OUTRO_IOEVENT_HOOK(mask, flags) { \
|
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/* ignore all events */ \ |
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(void)mask; \ |
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(void)flags; \ |
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} |
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|
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/** @} */ |
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|
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/*===========================================================================*/ |
|
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/** |
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* @name Low-level drivers |
| 442 | 463 |
* @{
|
| 443 | 464 |
*/ |
| modules/LightRing_1-0/aosconf.h | ||
|---|---|---|
| 28 | 28 |
|
| 29 | 29 |
#include <stdbool.h> |
| 30 | 30 |
|
| 31 |
/*===========================================================================*/ |
|
| 32 |
/** |
|
| 33 |
* @name Kernel parameters and options |
|
| 34 |
* @{
|
|
| 35 |
*/ |
|
| 36 |
/*===========================================================================*/ |
|
| 37 |
|
|
| 38 | 31 |
/* |
| 39 | 32 |
* Include an external configuration file to override the following default settings only if required. |
| 40 | 33 |
*/ |
| ... | ... | |
| 42 | 35 |
#include <osconf.h> |
| 43 | 36 |
#endif |
| 44 | 37 |
|
| 38 |
/*===========================================================================*/ |
|
| 45 | 39 |
/** |
| 46 |
* @brief Flag to set the module as SSSP master. |
|
| 47 |
*/ |
|
| 48 |
#if !defined(OS_CFG_SSSP_MASTER) |
|
| 49 |
#define AMIROOS_CFG_SSSP_MASTER false |
|
| 50 |
#else |
|
| 51 |
#define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER |
|
| 52 |
#endif |
|
| 53 |
|
|
| 54 |
/** |
|
| 55 |
* @brief Time boundary for robot wide clock synchronization in microseconds. |
|
| 56 |
* @details Whenever the SSSP S (snychronization) signal gets logically deactivated, |
|
| 57 |
* All modules need to align their local uptime to the nearest multiple of this value. |
|
| 40 |
* @name Kernel parameters and options |
|
| 41 |
* @{
|
|
| 58 | 42 |
*/ |
| 59 |
#if !defined(OS_CFG_SSSP_SYSSYNCPERIOD) |
|
| 60 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
|
| 61 |
#else |
|
| 62 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD |
|
| 63 |
#endif |
|
| 43 |
/*===========================================================================*/ |
|
| 64 | 44 |
|
| 65 | 45 |
/** |
| 66 | 46 |
* @brief Flag to enable/disable debug API. |
| ... | ... | |
| 103 | 83 |
|
| 104 | 84 |
/*===========================================================================*/ |
| 105 | 85 |
/** |
| 86 |
* @name SSSP (Startup Shutdown Synchronization Protocol) configuration. |
|
| 87 |
* @{
|
|
| 88 |
*/ |
|
| 89 |
/*===========================================================================*/ |
|
| 90 |
|
|
| 91 |
/** |
|
| 92 |
* @brief Flag to set the module as SSSP master. |
|
| 93 |
* @details There must be only one module with this flag set to true in a system. |
|
| 94 |
*/ |
|
| 95 |
#if !defined(OS_CFG_SSSP_MASTER) |
|
| 96 |
#define AMIROOS_CFG_SSSP_MASTER false |
|
| 97 |
#else |
|
| 98 |
#define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER |
|
| 99 |
#endif |
|
| 100 |
|
|
| 101 |
/** |
|
| 102 |
* @brief Time boundary for robot wide clock synchronization in microseconds. |
|
| 103 |
* @details Whenever the SSSP S (snychronization) signal gets logically deactivated, |
|
| 104 |
* All modules need to align their local uptime to the nearest multiple of this value. |
|
| 105 |
*/ |
|
| 106 |
#if !defined(OS_CFG_SSSP_SYSSYNCPERIOD) |
|
| 107 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
|
| 108 |
#else |
|
| 109 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD |
|
| 110 |
#endif |
|
| 111 |
|
|
| 112 |
/** @} */ |
|
| 113 |
|
|
| 114 |
/*===========================================================================*/ |
|
| 115 |
/** |
|
| 106 | 116 |
* @name System shell options |
| 107 | 117 |
* @{
|
| 108 | 118 |
*/ |
| modules/LightRing_1-0/module.c | ||
|---|---|---|
| 36 | 36 |
(void)extp; |
| 37 | 37 |
|
| 38 | 38 |
chSysLockFromISR(); |
| 39 |
chEvtBroadcastFlagsI(&aos.events.io.source, (1 << channel));
|
|
| 39 |
chEvtBroadcastFlagsI(&aos.events.io, (1 << channel)); |
|
| 40 | 40 |
chSysUnlockFromISR(); |
| 41 | 41 |
|
| 42 | 42 |
return; |
| ... | ... | |
| 219 | 219 |
*/ |
| 220 | 220 |
/*===========================================================================*/ |
| 221 | 221 |
|
| 222 |
apalControlGpio_t moduleSsspPd = {
|
|
| 222 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
|
| 223 |
const char* moduleShellPrompt = "LightRing"; |
|
| 224 |
#endif |
|
| 225 |
|
|
| 226 |
/** @} */ |
|
| 227 |
|
|
| 228 |
/*===========================================================================*/ |
|
| 229 |
/** |
|
| 230 |
* @name Startup Shutdown Synchronization Protocol (SSSP) |
|
| 231 |
* @{
|
|
| 232 |
*/ |
|
| 233 |
/*===========================================================================*/ |
|
| 234 |
|
|
| 235 |
apalControlGpio_t moduleSsspGpioPd = {
|
|
| 223 | 236 |
/* GPIO */ &moduleGpioSysPd, |
| 224 | 237 |
/* meta */ {
|
| 225 | 238 |
/* active state */ APAL_GPIO_ACTIVE_LOW, |
| ... | ... | |
| 228 | 241 |
}, |
| 229 | 242 |
}; |
| 230 | 243 |
|
| 231 |
apalControlGpio_t moduleSsspSync = {
|
|
| 244 |
apalControlGpio_t moduleSsspGpioSync = {
|
|
| 232 | 245 |
/* GPIO */ &moduleGpioSysSync, |
| 233 | 246 |
/* meta */ {
|
| 234 | 247 |
/* active state */ APAL_GPIO_ACTIVE_LOW, |
| ... | ... | |
| 237 | 250 |
}, |
| 238 | 251 |
}; |
| 239 | 252 |
|
| 240 |
const char* moduleShellPrompt = "LightRing"; |
|
| 241 |
|
|
| 242 | 253 |
/** @} */ |
| 243 | 254 |
|
| 244 | 255 |
/*===========================================================================*/ |
| modules/LightRing_1-0/module.h | ||
|---|---|---|
| 215 | 215 |
*/ |
| 216 | 216 |
#define MODULE_OS_IOEVENTFLAGS_SYSSYNC ((eventflags_t)(1 << MODULE_GPIO_EXTCHANNEL_SYSSYNC)) |
| 217 | 217 |
|
| 218 |
/** |
|
| 219 |
* @brief PD signal for SSSP. |
|
| 220 |
*/ |
|
| 221 |
extern apalControlGpio_t moduleSsspPd; |
|
| 222 |
|
|
| 223 |
/** |
|
| 224 |
* @brief SYNC signal for SSSP. |
|
| 225 |
*/ |
|
| 226 |
extern apalControlGpio_t moduleSsspSync; |
|
| 227 |
|
|
| 218 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
|
| 228 | 219 |
/** |
| 229 | 220 |
* @brief Shell prompt text. |
| 230 | 221 |
*/ |
| 231 | 222 |
extern const char* moduleShellPrompt; |
| 223 |
#endif |
|
| 232 | 224 |
|
| 233 | 225 |
/** |
| 234 | 226 |
* @brief Unit test initialization hook. |
| 235 | 227 |
*/ |
| 236 | 228 |
#define MODULE_INIT_TESTS() { \
|
| 237 | 229 |
/* add unit-test shell commands */ \ |
| 238 |
aosShellAddCommand(aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \
|
|
| 239 |
aosShellAddCommand(aos.shell, &moduleUtAlldTlc5947.shellcmd); \
|
|
| 240 |
aosShellAddCommand(aos.shell, &moduleUtAlldTps2051bdbv.shellcmd); \
|
|
| 230 |
aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \
|
|
| 231 |
aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd); \
|
|
| 232 |
aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd); \
|
|
| 241 | 233 |
} |
| 242 | 234 |
|
| 243 | 235 |
/** |
| ... | ... | |
| 255 | 247 |
} |
| 256 | 248 |
|
| 257 | 249 |
/** |
| 258 |
* @brief Hook to handle IO events during SSSP startup synchronization. |
|
| 259 |
*/ |
|
| 260 |
#define MODULE_SSP_STARTUP_OUTRO_IO_EVENT(mask, flags) { \
|
|
| 261 |
/* ignore all events */ \ |
|
| 262 |
(void)mask; \ |
|
| 263 |
(void)flags; \ |
|
| 264 |
} |
|
| 265 |
|
|
| 266 |
/** |
|
| 267 | 250 |
* @brief Periphery communication interface deinitialization hook. |
| 268 | 251 |
*/ |
| 269 | 252 |
#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
|
| ... | ... | |
| 278 | 261 |
|
| 279 | 262 |
/*===========================================================================*/ |
| 280 | 263 |
/** |
| 264 |
* @name Startup Shutdown Synchronization Protocol (SSSP) |
|
| 265 |
* @{
|
|
| 266 |
*/ |
|
| 267 |
/*===========================================================================*/ |
|
| 268 |
|
|
| 269 |
/** |
|
| 270 |
* @brief PD signal GPIO. |
|
| 271 |
*/ |
|
| 272 |
extern apalControlGpio_t moduleSsspGpioPd; |
|
| 273 |
|
|
| 274 |
/** |
|
| 275 |
* @brief SYNC signal GPIO. |
|
| 276 |
*/ |
|
| 277 |
extern apalControlGpio_t moduleSsspGpioSync; |
|
| 278 |
|
|
| 279 |
/** |
|
| 280 |
* @brief Event flags for PD signal events. |
|
| 281 |
*/ |
|
| 282 |
#define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD |
|
| 283 |
|
|
| 284 |
/** |
|
| 285 |
* @brief Event flags for Sync signal events. |
|
| 286 |
*/ |
|
| 287 |
#define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC |
|
| 288 |
|
|
| 289 |
/** |
|
| 290 |
* @brief Hook to handle IO events during SSSP startup synchronization. |
|
| 291 |
*/ |
|
| 292 |
#define MODULE_SSSP_STARTUP_OSINIT_OUTRO_IOEVENT_HOOK(mask, flags) { \
|
|
| 293 |
/* ignore all events */ \ |
|
| 294 |
(void)mask; \ |
|
| 295 |
(void)flags; \ |
|
| 296 |
} |
|
| 297 |
|
|
| 298 |
/** @} */ |
|
| 299 |
|
|
| 300 |
/*===========================================================================*/ |
|
| 301 |
/** |
|
| 281 | 302 |
* @name Low-level drivers |
| 282 | 303 |
* @{
|
| 283 | 304 |
*/ |
| modules/PowerManagement_1-1/aosconf.h | ||
|---|---|---|
| 28 | 28 |
|
| 29 | 29 |
#include <stdbool.h> |
| 30 | 30 |
|
| 31 |
/*===========================================================================*/ |
|
| 32 |
/** |
|
| 33 |
* @name Kernel parameters and options |
|
| 34 |
* @{
|
|
| 35 |
*/ |
|
| 36 |
/*===========================================================================*/ |
|
| 37 |
|
|
| 38 | 31 |
/* |
| 39 | 32 |
* Include an external configuration file to override the following default settings only if required. |
| 40 | 33 |
*/ |
| ... | ... | |
| 42 | 35 |
#include <osconf.h> |
| 43 | 36 |
#endif |
| 44 | 37 |
|
| 38 |
/*===========================================================================*/ |
|
| 45 | 39 |
/** |
| 46 |
* @brief Flag to set the module as SSSP master. |
|
| 47 |
*/ |
|
| 48 |
#if !defined(OS_CFG_SSSP_MASTER) |
|
| 49 |
#define AMIROOS_CFG_SSSP_MASTER true |
|
| 50 |
#else |
|
| 51 |
#define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER |
|
| 52 |
#endif |
|
| 53 |
|
|
| 54 |
/** |
|
| 55 |
* @brief Time boundary for robot wide clock synchronization in microseconds. |
|
| 56 |
* @details Whenever the SSSP S (snychronization) signal gets logically deactivated, |
|
| 57 |
* All modules need to align their local uptime to the nearest multiple of this value. |
|
| 40 |
* @name Kernel parameters and options |
|
| 41 |
* @{
|
|
| 58 | 42 |
*/ |
| 59 |
#if !defined(OS_CFG_SSSP_SYSSYNCPERIOD) |
|
| 60 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
|
| 61 |
#else |
|
| 62 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD |
|
| 63 |
#endif |
|
| 43 |
/*===========================================================================*/ |
|
| 64 | 44 |
|
| 65 | 45 |
/** |
| 66 | 46 |
* @brief Flag to enable/disable debug API. |
| ... | ... | |
| 103 | 83 |
|
| 104 | 84 |
/*===========================================================================*/ |
| 105 | 85 |
/** |
| 86 |
* @name SSSP (Startup Shutdown Synchronization Protocol) configuration. |
|
| 87 |
* @{
|
|
| 88 |
*/ |
|
| 89 |
/*===========================================================================*/ |
|
| 90 |
|
|
| 91 |
/** |
|
| 92 |
* @brief Flag to set the module as SSSP master. |
|
| 93 |
* @details There must be only one module with this flag set to true in a system. |
|
| 94 |
*/ |
|
| 95 |
#if !defined(OS_CFG_SSSP_MASTER) |
|
| 96 |
#define AMIROOS_CFG_SSSP_MASTER true |
|
| 97 |
#else |
|
| 98 |
#define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER |
|
| 99 |
#endif |
|
| 100 |
|
|
| 101 |
/** |
|
| 102 |
* @brief Time boundary for robot wide clock synchronization in microseconds. |
|
| 103 |
* @details Whenever the SSSP S (snychronization) signal gets logically deactivated, |
|
| 104 |
* All modules need to align their local uptime to the nearest multiple of this value. |
|
| 105 |
*/ |
|
| 106 |
#if !defined(OS_CFG_SSSP_SYSSYNCPERIOD) |
|
| 107 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
|
| 108 |
#else |
|
| 109 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD |
|
| 110 |
#endif |
|
| 111 |
|
|
| 112 |
/** @} */ |
|
| 113 |
|
|
| 114 |
/*===========================================================================*/ |
|
| 115 |
/** |
|
| 106 | 116 |
* @name System shell options |
| 107 | 117 |
* @{
|
| 108 | 118 |
*/ |
| modules/PowerManagement_1-1/module.c | ||
|---|---|---|
| 36 | 36 |
(void)extp; |
| 37 | 37 |
|
| 38 | 38 |
chSysLockFromISR(); |
| 39 |
chEvtBroadcastFlagsI(&aos.events.io.source, (1 << channel));
|
|
| 39 |
chEvtBroadcastFlagsI(&aos.events.io, (1 << channel)); |
|
| 40 | 40 |
chSysUnlockFromISR(); |
| 41 | 41 |
|
| 42 | 42 |
return; |
| ... | ... | |
| 355 | 355 |
*/ |
| 356 | 356 |
/*===========================================================================*/ |
| 357 | 357 |
|
| 358 |
apalControlGpio_t moduleSsspPd = {
|
|
| 358 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
|
| 359 |
const char* moduleShellPrompt = "PowerManagement"; |
|
| 360 |
#endif |
|
| 361 |
|
|
| 362 |
/** @} */ |
|
| 363 |
|
|
| 364 |
/*===========================================================================*/ |
|
| 365 |
/** |
|
| 366 |
* @name Startup Shutdown Synchronization Protocol (SSSP) |
|
| 367 |
* @{
|
|
| 368 |
*/ |
|
| 369 |
/*===========================================================================*/ |
|
| 370 |
|
|
| 371 |
apalControlGpio_t moduleSsspGpioPd = {
|
|
| 359 | 372 |
/* GPIO */ &moduleGpioSysPd, |
| 360 | 373 |
/* meta */ {
|
| 361 | 374 |
/* active state */ APAL_GPIO_ACTIVE_LOW, |
| ... | ... | |
| 364 | 377 |
}, |
| 365 | 378 |
}; |
| 366 | 379 |
|
| 367 |
apalControlGpio_t moduleSsspSync = {
|
|
| 380 |
apalControlGpio_t moduleSsspGpioSync = {
|
|
| 368 | 381 |
/* GPIO */ &moduleGpioSysSync, |
| 369 | 382 |
/* meta */ {
|
| 370 | 383 |
/* active state */ APAL_GPIO_ACTIVE_LOW, |
| ... | ... | |
| 373 | 386 |
}, |
| 374 | 387 |
}; |
| 375 | 388 |
|
| 376 |
const char* moduleShellPrompt = "PowerManagement"; |
|
| 377 |
|
|
| 378 | 389 |
/** @} */ |
| 379 | 390 |
|
| 380 | 391 |
/*===========================================================================*/ |
| ... | ... | |
| 857 | 868 |
static ut_mpr121data_t _utAlldMpr121Data= {
|
| 858 | 869 |
/* MPR121 driver */ &moduleLldTouch, |
| 859 | 870 |
/* timeout */ MICROSECONDS_PER_SECOND, |
| 860 |
/* event source */ &aos.events.io.source,
|
|
| 871 |
/* event source */ &aos.events.io, |
|
| 861 | 872 |
/* event flags */ (1 << MODULE_GPIO_EXTCHANNEL_TOUCHINT), |
| 862 | 873 |
}; |
| 863 | 874 |
aos_unittest_t moduleUtAlldMpr121 = {
|
| ... | ... | |
| 1119 | 1130 |
static ut_vcnl4020data_t _utAlldVcnl4020Data = {
|
| 1120 | 1131 |
/* driver */ NULL, |
| 1121 | 1132 |
/* timeout */ MICROSECONDS_PER_SECOND, |
| 1122 |
/* event source */ &aos.events.io.source,
|
|
| 1133 |
/* event source */ &aos.events.io, |
|
| 1123 | 1134 |
/* event flags */ 0, |
| 1124 | 1135 |
}; |
| 1125 | 1136 |
aos_unittest_t moduleUtAlldVcnl4020 = {
|
| modules/PowerManagement_1-1/module.h | ||
|---|---|---|
| 422 | 422 |
*/ |
| 423 | 423 |
#define MODULE_OS_IOEVENTFLAGS_SYSUARTUP ((eventflags_t)1 << MODULE_GPIO_EXTCHANNEL_SYSUARTUP) |
| 424 | 424 |
|
| 425 |
/** |
|
| 426 |
* @brief PD signal for SSSP. |
|
| 427 |
*/ |
|
| 428 |
extern apalControlGpio_t moduleSsspPd; |
|
| 429 |
|
|
| 430 |
/** |
|
| 431 |
* @brief SYNC signal for SSSP. |
|
| 432 |
*/ |
|
| 433 |
extern apalControlGpio_t moduleSsspSync; |
|
| 434 |
|
|
| 425 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
|
| 435 | 426 |
/** |
| 436 | 427 |
* @brief Shell prompt text. |
| 437 | 428 |
*/ |
| 438 | 429 |
extern const char* moduleShellPrompt; |
| 430 |
#endif |
|
| 439 | 431 |
|
| 440 | 432 |
/** |
| 441 | 433 |
* @brief Unit test initialization hook. |
| 442 | 434 |
*/ |
| 443 | 435 |
#define MODULE_INIT_TESTS() { \
|
| 444 | 436 |
/* add unit-test shell commands */ \ |
| 445 |
aosShellAddCommand(aos.shell, &moduleUtAdcVsys.shellcmd); \
|
|
| 446 |
aosShellAddCommand(aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \
|
|
| 447 |
aosShellAddCommand(aos.shell, &moduleUtAlldBq24103a.shellcmd); \
|
|
| 448 |
aosShellAddCommand(aos.shell, &moduleUtAlldBq27500.shellcmd); \
|
|
| 449 |
aosShellAddCommand(aos.shell, &moduleUtAlldBq27500Bq24103a.shellcmd); \
|
|
| 450 |
aosShellAddCommand(aos.shell, &moduleUtAlldIna219.shellcmd); \
|
|
| 451 |
aosShellAddCommand(aos.shell, &moduleUtAlldMpr121.shellcmd); \
|
|
| 452 |
aosShellAddCommand(aos.shell, &moduleUtAlldPca9544a.shellcmd); \
|
|
| 453 |
aosShellAddCommand(aos.shell, &moduleUtAlldPklcs1212e4001.shellcmd); \
|
|
| 454 |
aosShellAddCommand(aos.shell, &moduleUtAlldLed.shellcmd); \
|
|
| 455 |
aosShellAddCommand(aos.shell, &moduleUtAlldTps62113.shellcmd); \
|
|
| 456 |
aosShellAddCommand(aos.shell, &moduleUtAlldTps62113Ina219.shellcmd); \
|
|
| 457 |
aosShellAddCommand(aos.shell, &moduleUtAlldVcnl4020.shellcmd); \
|
|
| 437 |
aosShellAddCommand(&aos.shell, &moduleUtAdcVsys.shellcmd); \
|
|
| 438 |
aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd); \
|
|
| 439 |
aosShellAddCommand(&aos.shell, &moduleUtAlldBq24103a.shellcmd); \
|
|
| 440 |
aosShellAddCommand(&aos.shell, &moduleUtAlldBq27500.shellcmd); \
|
|
| 441 |
aosShellAddCommand(&aos.shell, &moduleUtAlldBq27500Bq24103a.shellcmd); \
|
|
| 442 |
aosShellAddCommand(&aos.shell, &moduleUtAlldIna219.shellcmd); \
|
|
| 443 |
aosShellAddCommand(&aos.shell, &moduleUtAlldMpr121.shellcmd); \
|
|
| 444 |
aosShellAddCommand(&aos.shell, &moduleUtAlldPca9544a.shellcmd); \
|
|
| 445 |
aosShellAddCommand(&aos.shell, &moduleUtAlldPklcs1212e4001.shellcmd); \
|
|
| 446 |
aosShellAddCommand(&aos.shell, &moduleUtAlldLed.shellcmd); \
|
|
| 447 |
aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113.shellcmd); \
|
|
| 448 |
aosShellAddCommand(&aos.shell, &moduleUtAlldTps62113Ina219.shellcmd); \
|
|
| 449 |
aosShellAddCommand(&aos.shell, &moduleUtAlldVcnl4020.shellcmd); \
|
|
| 458 | 450 |
} |
| 459 | 451 |
|
| 460 | 452 |
/** |
| ... | ... | |
| 489 | 481 |
} |
| 490 | 482 |
|
| 491 | 483 |
/** |
| 492 |
* @brief Hook to handle IO events during SSSP startup synchronization. |
|
| 493 |
*/ |
|
| 494 |
#define MODULE_SSP_STARTUP_OUTRO_IO_EVENT(mask, flags) { \
|
|
| 495 |
/* ignore all events */ \ |
|
| 496 |
(void)mask; \ |
|
| 497 |
(void)flags; \ |
|
| 498 |
} |
|
| 499 |
|
|
| 500 |
/** |
|
| 501 | 484 |
* @brief Periphery communication interface deinitialization hook. |
| 502 | 485 |
*/ |
| 503 | 486 |
#define MODULE_SHUTDOWN_PERIPHERY_COMM() { \
|
| ... | ... | |
| 515 | 498 |
|
| 516 | 499 |
/*===========================================================================*/ |
| 517 | 500 |
/** |
| 501 |
* @name Startup Shutdown Synchronization Protocol (SSSP) |
|
| 502 |
* @{
|
|
| 503 |
*/ |
|
| 504 |
/*===========================================================================*/ |
|
| 505 |
|
|
| 506 |
/** |
|
| 507 |
* @brief PD signal GPIO. |
|
| 508 |
*/ |
|
| 509 |
extern apalControlGpio_t moduleSsspGpioPd; |
|
| 510 |
|
|
| 511 |
/** |
|
| 512 |
* @brief SYNC signal GPIO. |
|
| 513 |
*/ |
|
| 514 |
extern apalControlGpio_t moduleSsspGpioSync; |
|
| 515 |
|
|
| 516 |
/** |
|
| 517 |
* @brief Event flags for PD signal events. |
|
| 518 |
*/ |
|
| 519 |
#define MODULE_SSSP_EVENTFLAGS_PD MODULE_OS_IOEVENTFLAGS_SYSPD |
|
| 520 |
|
|
| 521 |
/** |
|
| 522 |
* @brief Event flags for Sync signal events. |
|
| 523 |
*/ |
|
| 524 |
#define MODULE_SSSP_EVENTFLAGS_SYNC MODULE_OS_IOEVENTFLAGS_SYSSYNC |
|
| 525 |
|
|
| 526 |
/** |
|
| 527 |
* @brief Hook to handle IO events during SSSP startup synchronization. |
|
| 528 |
*/ |
|
| 529 |
#define MODULE_SSSP_STARTUP_OSINIT_OUTRO_IOEVENT_HOOK(mask, flags) { \
|
|
| 530 |
/* ignore all events */ \ |
|
| 531 |
(void)mask; \ |
|
| 532 |
(void)flags; \ |
|
| 533 |
} |
|
| 534 |
|
|
| 535 |
/** @} */ |
|
| 536 |
|
|
| 537 |
/*===========================================================================*/ |
|
| 538 |
/** |
|
| 518 | 539 |
* @name Low-level drivers |
| 519 | 540 |
* @{
|
| 520 | 541 |
*/ |
| os/amiroos.h | ||
|---|---|---|
| 54 | 54 |
|
| 55 | 55 |
/** @} */ |
| 56 | 56 |
|
| 57 |
/* core headers */
|
|
| 57 |
/* subsystems headers */
|
|
| 58 | 58 |
#include <aosconf.h> |
| 59 | 59 |
#include <hal.h> |
| 60 |
#if defined(HAL_USE_QEI) && (HAL_USE_QEI == TRUE) |
|
| 60 | 61 |
#include <hal_qei.h> |
| 62 |
#endif |
|
| 61 | 63 |
#include <ch.h> |
| 62 | 64 |
|
| 65 |
/* configuration check */ |
|
| 63 | 66 |
#if !defined(_AMIRO_OS_CFG_) |
| 64 | 67 |
#error "invalid AMiRo-OS configuration file" |
| 65 | 68 |
#endif |
| 66 | 69 |
#if (_AMIRO_OS_CFG_VERSION_MAJOR_ != AMIROOS_VERSION_MAJOR) || (_AMIRO_OS_CFG_VERSION_MINOR_ < AMIROOS_VERSION_MINOR) |
| 67 | 70 |
#error "incompatible AMiRo-OS configuration file" |
| 68 | 71 |
#endif |
| 69 |
|
|
| 70 | 72 |
#include "core/inc/aos_confcheck.h" |
| 73 |
|
|
| 74 |
/* core headers */ |
|
| 71 | 75 |
#include "core/inc/aos_debug.h" |
| 72 | 76 |
#include <core/inc/aos_iostream.h> |
| 73 | 77 |
#include "core/inc/aos_shell.h" |
| os/core/inc/aos_confcheck.h | ||
|---|---|---|
| 25 | 25 |
* Kernel parameters and options |
| 26 | 26 |
*/ |
| 27 | 27 |
|
| 28 |
#ifndef AMIROOS_CFG_SSSP_MASTER |
|
| 29 |
#error "AMIROOS_CFG_SSSP_MASTER not defined in aosconf.h" |
|
| 30 |
#endif |
|
| 31 |
|
|
| 32 |
#ifndef AMIROOS_CFG_SSSP_SYSSYNCPERIOD |
|
| 33 |
#error "AMIROOS_CFG_SSSP_SYSSYNCPERIOD not defined in aosconf.h" |
|
| 34 |
#endif |
|
| 35 |
|
|
| 36 | 28 |
#ifndef AMIROOS_CFG_DBG |
| 37 | 29 |
#error "AMIROOS_CFG_DBG not defined in aosconf.h" |
| 38 | 30 |
#endif |
| ... | ... | |
| 50 | 42 |
#endif |
| 51 | 43 |
|
| 52 | 44 |
/* |
| 45 |
* SSSP parameters and options |
|
| 46 |
*/ |
|
| 47 |
|
|
| 48 |
#ifndef AMIROOS_CFG_SSSP_MASTER |
|
| 49 |
#error "AMIROOS_CFG_SSSP_MASTER not defined in aosconf.h" |
|
| 50 |
#endif |
|
| 51 |
|
|
| 52 |
#ifndef AMIROOS_CFG_SSSP_SYSSYNCPERIOD |
|
| 53 |
#error "AMIROOS_CFG_SSSP_SYSSYNCPERIOD not defined in aosconf.h" |
|
| 54 |
#endif |
|
| 55 |
|
|
| 56 |
/* |
|
| 53 | 57 |
* System shell options |
| 54 | 58 |
*/ |
| 55 | 59 |
|
| os/core/inc/aos_system.h | ||
|---|---|---|
| 103 | 103 |
* @brief AMiRo-OS base system structure. |
| 104 | 104 |
*/ |
| 105 | 105 |
typedef struct aos_system {
|
| 106 |
|
|
| 106 | 107 |
/** |
| 107 |
* @brief Current SSSP stage of the system.
|
|
| 108 |
* @brief SSSP relevant data.
|
|
| 108 | 109 |
*/ |
| 109 |
aos_ssspstage_t ssspStage; |
|
| 110 |
struct {
|
|
| 111 |
/** |
|
| 112 |
* @brief Current SSSP stage of the system. |
|
| 113 |
*/ |
|
| 114 |
aos_ssspstage_t stage; |
|
| 115 |
} sssp; |
|
| 110 | 116 |
|
| 111 | 117 |
/** |
| 112 | 118 |
* @brief System I/O stream. |
| ... | ... | |
| 119 | 125 |
struct {
|
| 120 | 126 |
|
| 121 | 127 |
/** |
| 122 |
* @brief I/O related events.
|
|
| 128 |
* @brief I/O event source.
|
|
| 123 | 129 |
*/ |
| 124 |
struct {
|
|
| 125 |
/** |
|
| 126 |
* @brief I/O event source. |
|
| 127 |
*/ |
|
| 128 |
event_source_t source; |
|
| 129 |
|
|
| 130 |
/** |
|
| 131 |
* @brief Event flags emitted when a PD signal interrupt occurs. |
|
| 132 |
*/ |
|
| 133 |
eventflags_t flagsSignalPd; |
|
| 134 |
|
|
| 135 |
/** |
|
| 136 |
* @brief Event flags emitted when a Sync signal interrupt occurs. |
|
| 137 |
*/ |
|
| 138 |
eventflags_t flagsSignalSync; |
|
| 139 |
} io; |
|
| 130 |
event_source_t io; |
|
| 140 | 131 |
|
| 141 | 132 |
/** |
| 142 |
* @brief Operating system events.
|
|
| 133 |
* @brief OS event source.
|
|
| 143 | 134 |
*/ |
| 144 |
struct {
|
|
| 145 |
/** |
|
| 146 |
* @brief OS event source. |
|
| 147 |
*/ |
|
| 148 |
event_source_t source; |
|
| 149 |
} os; |
|
| 135 |
event_source_t os; |
|
| 150 | 136 |
} events; |
| 151 | 137 |
|
| 152 | 138 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 153 | 139 |
/** |
| 154 | 140 |
* @brief Pointer to the shell object. |
| 155 | 141 |
*/ |
| 156 |
aos_shell_t* shell;
|
|
| 142 |
aos_shell_t shell; |
|
| 157 | 143 |
#endif |
| 158 | 144 |
|
| 159 | 145 |
} aos_system_t; |
| ... | ... | |
| 171 | 157 |
#ifdef __cplusplus |
| 172 | 158 |
extern "C" {
|
| 173 | 159 |
#endif |
| 174 |
void aosSysInit(EXTDriver* extDrv, EXTConfig* extCfg, apalControlGpio_t* gpioPd, apalControlGpio_t* gpioSync, eventflags_t flagsSignalPd, eventflags_t evtFlagsSync, const char* shellPrompt); |
|
| 160 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
|
| 161 |
void aosSysInit(const char* shellPrompt); |
|
| 162 |
#else |
|
| 163 |
void aosSysInit(void); |
|
| 164 |
#endif |
|
| 175 | 165 |
void aosSysStart(void); |
| 176 | 166 |
eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener); |
| 177 | 167 |
void aosSysGetUptimeX(aos_timestamp_t* ut); |
| os/core/src/aos_iostream.c | ||
|---|---|---|
| 21 | 21 |
#include <aos_debug.h> |
| 22 | 22 |
#include <chprintf.h> |
| 23 | 23 |
|
| 24 |
|
|
| 25 |
|
|
| 26 | 24 |
/** |
| 27 | 25 |
* @brief Implementation of the BaseAsynchronousChannel write() method (inherited from BaseSequentialStream). |
| 28 | 26 |
*/ |
| os/core/src/aos_main.cpp | ||
|---|---|---|
| 29 | 29 |
/** |
| 30 | 30 |
* @brief Event mask to identify I/O events. |
| 31 | 31 |
*/ |
| 32 |
#define _IOEVENT_MASK EVENT_MASK(0)
|
|
| 32 |
#define IOEVENT_MASK EVENT_MASK(0)
|
|
| 33 | 33 |
|
| 34 | 34 |
/** |
| 35 | 35 |
* @brief Event mask to identify OS events. |
| 36 | 36 |
*/ |
| 37 |
#define _OSEVENT_MASK EVENT_MASK(1)
|
|
| 37 |
#define OSEVENT_MASK EVENT_MASK(1)
|
|
| 38 | 38 |
|
| 39 | 39 |
/** |
| 40 | 40 |
* @brief Listener object for I/O events. |
| ... | ... | |
| 75 | 75 |
*/ |
| 76 | 76 |
static inline void _unexpectedEventError(eventmask_t mask, eventflags_t flags) |
| 77 | 77 |
{
|
| 78 |
aosprintf("unexpected/unknown event recieved. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
|
|
| 78 |
#if (AMIROOS_CFG_DBG == true) |
|
| 79 |
aosprintf("unexpected/unknown event received. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
|
|
| 80 |
#else |
|
| 81 |
(void)mask; |
|
| 82 |
(void)flags; |
|
| 83 |
#endif |
|
| 79 | 84 |
return; |
| 80 | 85 |
} |
| 81 | 86 |
|
| ... | ... | |
| 136 | 141 |
#endif |
| 137 | 142 |
|
| 138 | 143 |
// AMiRo-OS and custom OS additions (if any) |
| 139 |
aosSysInit(&MODULE_HAL_EXT, |
|
| 140 |
&moduleHalExtConfig, |
|
| 141 |
&moduleSsspPd, |
|
| 142 |
&moduleSsspSync, |
|
| 143 |
MODULE_OS_IOEVENTFLAGS_SYSPD, |
|
| 144 |
MODULE_OS_IOEVENTFLAGS_SYSSYNC, |
|
| 145 |
moduleShellPrompt); |
|
| 144 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
|
| 145 |
aosSysInit(moduleShellPrompt); |
|
| 146 |
#else |
|
| 147 |
aosSysInit(); |
|
| 148 |
#endif |
|
| 146 | 149 |
#ifdef MODULE_INIT_OS_EXTRA |
| 147 | 150 |
MODULE_INIT_OS_EXTRA(); |
| 148 | 151 |
#endif |
| ... | ... | |
| 172 | 175 |
#endif |
| 173 | 176 |
|
| 174 | 177 |
/* event associations */ |
| 175 |
chEvtRegisterMask(&aos.events.io.source, &_eventListenerIO, _IOEVENT_MASK);
|
|
| 176 |
chEvtRegisterMask(&aos.events.os.source, &_eventListenerOS, _OSEVENT_MASK);
|
|
| 178 |
chEvtRegisterMask(&aos.events.io, &_eventListenerIO, IOEVENT_MASK);
|
|
| 179 |
chEvtRegisterMask(&aos.events.os, &_eventListenerOS, OSEVENT_MASK);
|
|
| 177 | 180 |
|
| 178 | 181 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5) |
| 179 | 182 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS) |
| ... | ... | |
| 199 | 202 |
aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
| 200 | 203 |
aosShellChannelInputEnable(&_stdshellchannel); |
| 201 | 204 |
aosShellChannelOutputEnable(&_stdshellchannel); |
| 202 |
aosShellStreamAddChannel(&aos.shell->stream, &_stdshellchannel);
|
|
| 205 |
aosShellStreamAddChannel(&aos.shell.stream, &_stdshellchannel);
|
|
| 203 | 206 |
#endif |
| 204 | 207 |
#endif |
| 205 | 208 |
|
| ... | ... | |
| 236 | 239 |
#endif |
| 237 | 240 |
#endif |
| 238 | 241 |
|
| 239 |
/* SSSP startup outro (end of startup stage 2) synchronization */
|
|
| 242 |
/* SSSP startup OS synchronization phase (end of startup stage 2) */
|
|
| 240 | 243 |
while ((eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) {
|
| 241 | 244 |
/* |
| 242 | 245 |
* This code is executed if the received event was not about the SYS_SYNC control signal. |
| ... | ... | |
| 245 | 248 |
// unexpected IO events |
| 246 | 249 |
if (eventmask & _eventListenerIO.events) {
|
| 247 | 250 |
eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
| 248 |
#ifdef MODULE_SSP_STARTUP_OUTRO_IO_EVENT
|
|
| 249 |
MODULE_SSP_STARTUP_OUTRO_IO_EVENT(eventmask, eventflags);
|
|
| 251 |
#ifdef MODULE_SSSP_STARTUP_OSINIT_OUTRO_IOEVENT_HOOK
|
|
| 252 |
MODULE_SSSP_STARTUP_OSINIT_OUTRO_IOEVENT_HOOK(eventmask, eventflags);
|
|
| 250 | 253 |
#else |
| 251 | 254 |
_unexpectedEventError(eventmask, eventflags); |
| 252 | 255 |
#endif |
| ... | ... | |
| 256 | 259 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 257 | 260 |
_unexpectedEventError(eventmask, eventflags); |
| 258 | 261 |
} |
| 259 |
#if (AMIROOS_CFG_DBG == true) |
|
| 260 | 262 |
// unknown event (must never occur, thus disabled for release builds) |
| 261 | 263 |
else {
|
| 262 |
eventflags = 0; |
|
| 263 | 264 |
_unexpectedEventError(eventmask, eventflags); |
| 264 | 265 |
} |
| 265 |
#endif |
|
| 266 | 266 |
} |
| 267 | 267 |
|
| 268 | 268 |
#if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8) |
| ... | ... | |
| 309 | 309 |
|
| 310 | 310 |
switch (eventmask) {
|
| 311 | 311 |
// if this was an I/O event |
| 312 |
case _IOEVENT_MASK:
|
|
| 312 |
case IOEVENT_MASK: |
|
| 313 | 313 |
// evaluate flags |
| 314 | 314 |
eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
| 315 | 315 |
// PD event |
| 316 |
if (eventflags & MODULE_OS_IOEVENTFLAGS_SYSPD) {
|
|
| 316 |
if (eventflags & MODULE_SSSP_EVENTFLAGS_PD) {
|
|
| 317 | 317 |
shutdown = AOS_SHUTDOWN_PASSIVE; |
| 318 | 318 |
} |
| 319 | 319 |
// all other events |
| ... | ... | |
| 325 | 325 |
break; |
| 326 | 326 |
|
| 327 | 327 |
// if this was an OS event |
| 328 |
case _OSEVENT_MASK:
|
|
| 328 |
case OSEVENT_MASK: |
|
| 329 | 329 |
// evaluate flags |
| 330 | 330 |
eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
| 331 | 331 |
switch (eventflags) {
|
| os/core/src/aos_system.c | ||
|---|---|---|
| 54 | 54 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
| 55 | 55 |
|
| 56 | 56 |
/** |
| 57 |
* @brief PD signal GPIO. |
|
| 58 |
*/ |
|
| 59 |
static apalControlGpio_t* _gpioPd; |
|
| 60 |
|
|
| 61 |
/** |
|
| 62 |
* @brief Sync signal GPIO. |
|
| 63 |
*/ |
|
| 64 |
static apalControlGpio_t* _gpioSync; |
|
| 65 |
|
|
| 66 |
/** |
|
| 67 | 57 |
* @brief Timer to accumulate system uptime. |
| 68 | 58 |
*/ |
| 69 | 59 |
static virtual_timer_t _systimer; |
| ... | ... | |
| 92 | 82 |
|
| 93 | 83 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 94 | 84 |
/** |
| 95 |
* @brief System shell. |
|
| 96 |
*/ |
|
| 97 |
static aos_shell_t _shell; |
|
| 98 |
|
|
| 99 |
/** |
|
| 100 | 85 |
* @brief Shell thread working area. |
| 101 | 86 |
*/ |
| 102 | 87 |
THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE); |
| ... | ... | |
| 153 | 138 |
/** |
| 154 | 139 |
* @brief Global system object. |
| 155 | 140 |
*/ |
| 156 |
aos_system_t aos = {
|
|
| 157 |
/* SSSP stage */ AOS_SSSP_STARTUP_2_1, |
|
| 158 |
/* I/O stream */ {
|
|
| 159 |
/* channel */ NULL, |
|
| 160 |
}, |
|
| 161 |
/* event */ {
|
|
| 162 |
/* I/O */ {
|
|
| 163 |
/* source */ {
|
|
| 164 |
/* next listener */ NULL, |
|
| 165 |
}, |
|
| 166 |
/* flagsSignalPd */ 0, |
|
| 167 |
/* flagsSignalSync */ 0, |
|
| 168 |
}, |
|
| 169 |
/* OS */ {
|
|
| 170 |
/* source */ {
|
|
| 171 |
/* next listener */ NULL, |
|
| 172 |
} |
|
| 173 |
}, |
|
| 174 |
}, |
|
| 175 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
|
| 176 |
/* shell */ &_shell, |
|
| 177 |
#endif |
|
| 178 |
}; |
|
| 141 |
aos_system_t aos; |
|
| 179 | 142 |
|
| 180 | 143 |
/** |
| 181 | 144 |
* @brief Print a separator line. |
| ... | ... | |
| 328 | 291 |
if (argc > 3) {
|
| 329 | 292 |
// handle the option |
| 330 | 293 |
if (strcmp(argv[3], "text") == 0) {
|
| 331 |
aos.shell->config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL;
|
|
| 294 |
aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL;
|
|
| 332 | 295 |
retval = AOS_OK; |
| 333 | 296 |
} |
| 334 | 297 |
else if (strcmp(argv[3], "minimal") == 0) {
|
| 335 |
aos.shell->config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL;
|
|
| 298 |
aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL;
|
|
| 336 | 299 |
retval = AOS_OK; |
| 337 | 300 |
} |
| 338 | 301 |
else if (strcmp(argv[3], "notime") == 0) {
|
| 339 |
aos.shell->config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME);
|
|
| 302 |
aos.shell.config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME);
|
|
| 340 | 303 |
retval = AOS_OK; |
| 341 | 304 |
} |
| 342 | 305 |
else if (strcmp(argv[3], "uptime") == 0) {
|
| 343 |
aos.shell->config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME;
|
|
| 344 |
aos.shell->config |= AOS_SHELL_CONFIG_PROMPT_UPTIME;
|
|
| 306 |
aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME;
|
|
| 307 |
aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_UPTIME;
|
|
| 345 | 308 |
retval = AOS_OK; |
| 346 | 309 |
} |
| 347 | 310 |
else if (strcmp(argv[3], "date&time") == 0) {
|
| 348 |
aos.shell->config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME;
|
|
| 349 |
aos.shell->config |= AOS_SHELL_CONFIG_PROMPT_DATETIME;
|
|
| 311 |
aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME;
|
|
| 312 |
aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME;
|
|
| 350 | 313 |
retval = AOS_OK; |
| 351 | 314 |
} |
| 352 | 315 |
else {
|
| ... | ... | |
| 360 | 323 |
// there must be a further argument |
| 361 | 324 |
if (argc > 3) {
|
| 362 | 325 |
if (strcmp(argv[3], "casesensitive") == 0) {
|
| 363 |
aos.shell->config |= AOS_SHELL_CONFIG_MATCH_CASE;
|
|
| 326 |
aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE;
|
|
| 364 | 327 |
retval = AOS_OK; |
| 365 | 328 |
} |
| 366 | 329 |
else if (strcmp(argv[3], "caseinsensitive") == 0) {
|
| 367 |
aos.shell->config &= ~AOS_SHELL_CONFIG_MATCH_CASE;
|
|
| 330 |
aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE;
|
|
| 368 | 331 |
retval = AOS_OK; |
| 369 | 332 |
} |
| 370 | 333 |
} |
| ... | ... | |
| 374 | 337 |
else {
|
| 375 | 338 |
chprintf(stream, "current shell configuration:\n"); |
| 376 | 339 |
chprintf(stream, " prompt text: %s\n", |
| 377 |
(aos.shell->prompt != NULL) ? aos.shell->prompt : "n/a");
|
|
| 340 |
(aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a");
|
|
| 378 | 341 |
char time[10]; |
| 379 |
switch (aos.shell->config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
|
|
| 342 |
switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
|
|
| 380 | 343 |
case AOS_SHELL_CONFIG_PROMPT_UPTIME: |
| 381 | 344 |
strcpy(time, "uptime"); break; |
| 382 | 345 |
case AOS_SHELL_CONFIG_PROMPT_DATETIME: |
| ... | ... | |
| 385 | 348 |
strcpy(time, "no time"); break; |
| 386 | 349 |
} |
| 387 | 350 |
chprintf(stream, " prompt style: %s, %s\n", |
| 388 |
(aos.shell->config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text",
|
|
| 351 |
(aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text",
|
|
| 389 | 352 |
time); |
| 390 | 353 |
chprintf(stream, " input method: %s\n", |
| 391 |
(aos.shell->config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert");
|
|
| 354 |
(aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert");
|
|
| 392 | 355 |
chprintf(stream, " text matching: %s\n", |
| 393 |
(aos.shell->config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive");
|
|
| 356 |
(aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive");
|
|
| 394 | 357 |
retval = AOS_OK; |
| 395 | 358 |
} |
| 396 | 359 |
} |
| ... | ... | |
| 536 | 499 |
// handle argument |
| 537 | 500 |
else {
|
| 538 | 501 |
if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) {
|
| 539 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_HIBERNATE);
|
|
| 502 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
|
| 540 | 503 |
chThdTerminate(currp); |
| 541 | 504 |
return AOS_OK; |
| 542 | 505 |
} |
| 543 | 506 |
else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) {
|
| 544 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP);
|
|
| 507 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
|
| 545 | 508 |
chThdTerminate(currp); |
| 546 | 509 |
return AOS_OK; |
| 547 | 510 |
} |
| 548 | 511 |
else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) {
|
| 549 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION);
|
|
| 512 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
|
| 550 | 513 |
chThdTerminate(currp); |
| 551 | 514 |
return AOS_OK; |
| 552 | 515 |
} |
| 553 | 516 |
else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) {
|
| 554 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_RESTART);
|
|
| 517 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
|
| 555 | 518 |
chThdTerminate(currp); |
| 556 | 519 |
return AOS_OK; |
| 557 | 520 |
} |
| ... | ... | |
| 598 | 561 |
static void _signalPdCallback(EXTDriver* extp, expchannel_t channel) |
| 599 | 562 |
{
|
| 600 | 563 |
(void)extp; |
| 601 |
(void)channel; |
|
| 602 | 564 |
|
| 603 | 565 |
chSysLockFromISR(); |
| 604 |
chEvtBroadcastFlagsI(&aos.events.io.source, aos.events.io.flagsSignalPd);
|
|
| 566 |
chEvtBroadcastFlagsI(&aos.events.io, (1 << channel));
|
|
| 605 | 567 |
chSysUnlockFromISR(); |
| 606 | 568 |
|
| 607 | 569 |
return; |
| ... | ... | |
| 616 | 578 |
static void _signalSyncCallback(EXTDriver* extp, expchannel_t channel) |
| 617 | 579 |
{
|
| 618 | 580 |
(void)extp; |
| 619 |
(void)channel; |
|
| 620 | 581 |
|
| 621 | 582 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 622 | 583 |
chSysLockFromISR(); |
| 623 |
chEvtBroadcastFlagsI(&aos.events.io.source, aos.events.io.flagsSignalSync);
|
|
| 584 |
chEvtBroadcastFlagsI(&aos.events.io, (1 << channel));
|
|
| 624 | 585 |
chSysUnlockFromISR(); |
| 625 | 586 |
#else |
| 626 | 587 |
apalControlGpioState_t s_state; |
| ... | ... | |
| 630 | 591 |
// get current uptime |
| 631 | 592 |
aosSysGetUptimeX(&uptime); |
| 632 | 593 |
// read signal S |
| 633 |
apalControlGpioGet(_gpioSync, &s_state);
|
|
| 594 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state);
|
|
| 634 | 595 |
// if S was toggled from on to off during SSSP operation phase |
| 635 |
if (aos.ssspStage == AOS_SSSP_OPERATION && s_state == APAL_GPIO_OFF) {
|
|
| 596 |
if (aos.sssp.stage == AOS_SSSP_OPERATION && s_state == APAL_GPIO_OFF) {
|
|
| 636 | 597 |
// align the uptime with the synchronization period |
| 637 | 598 |
if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) {
|
| 638 | 599 |
_uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
| ... | ... | |
| 641 | 602 |
} |
| 642 | 603 |
} |
| 643 | 604 |
// broadcast event |
| 644 |
chEvtBroadcastFlagsI(&aos.events.io.source, aos.events.io.flagsSignalSync);
|
|
| 605 |
chEvtBroadcastFlagsI(&aos.events.io, (1 << channel));
|
|
| 645 | 606 |
chSysUnlockFromISR(); |
| 646 | 607 |
#endif |
| 647 | 608 |
|
| ... | ... | |
| 686 | 647 |
|
| 687 | 648 |
chSysLockFromISR(); |
| 688 | 649 |
// read and toggle signal S |
| 689 |
apalControlGpioGet(_gpioSync, &s_state);
|
|
| 650 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state);
|
|
| 690 | 651 |
s_state = (s_state == APAL_GPIO_ON) ? APAL_GPIO_OFF : APAL_GPIO_ON; |
| 691 |
apalControlGpioSet(_gpioSync, s_state);
|
|
| 652 |
apalControlGpioSet(&moduleSsspGpioSync, s_state);
|
|
| 692 | 653 |
// if S was toggled from off to on |
| 693 | 654 |
if (s_state == APAL_GPIO_ON) {
|
| 694 | 655 |
// reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time |
| ... | ... | |
| 711 | 672 |
* @brief AMiRo-OS system initialization. |
| 712 | 673 |
* @note Must be called from the system control thread (usually main thread). |
| 713 | 674 |
* |
| 714 |
* @param[in] extDrv Pointer to the interrupt driver. |
|
| 715 |
* @param[in] extCfg Configuration for the interrupt driver. |
|
| 716 |
* @param[in] gpioPd GPIO of the PD signal. |
|
| 717 |
* @param[in] gpioSync GPIO of the Sync signal |
|
| 718 |
* @param[in] evtFlagsPd Event flags to be set when a PD interrupt occurs. |
|
| 719 |
* @param[in] evtFlagsSync Event flags to be set when a Sync interrupt occurs. |
|
| 720 | 675 |
* @param[in] shellPrompt String to be printed as prompt of the system shell. |
| 721 |
* @param[in] stdio Default (usually physically) interface for I/O like shell. |
|
| 722 | 676 |
*/ |
| 723 |
void aosSysInit(EXTDriver* extDrv, |
|
| 724 |
EXTConfig* extCfg, |
|
| 725 |
apalControlGpio_t* gpioPd, |
|
| 726 |
apalControlGpio_t* gpioSync, |
|
| 727 |
eventflags_t evtFlagsPd, |
|
| 728 |
eventflags_t evtFlagsSync, |
|
| 729 |
const char* shellPrompt) |
|
| 677 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
|
| 678 |
void aosSysInit(const char* shellPrompt) |
|
| 679 |
#else |
|
| 680 |
void aosSysInit(void) |
|
| 681 |
#endif |
|
| 730 | 682 |
{
|
| 731 |
// check arguments |
|
| 732 |
aosDbgCheck(extDrv != NULL); |
|
| 733 |
aosDbgCheck(extCfg != NULL); |
|
| 734 |
aosDbgCheck(gpioPd != NULL); |
|
| 735 |
aosDbgCheck(gpioSync != NULL); |
|
| 736 |
|
|
| 737 | 683 |
// set control thread to maximum priority |
| 738 | 684 |
chThdSetPriority(AOS_THD_CTRLPRIO); |
| 739 | 685 |
|
| 740 | 686 |
// set local variables |
| 741 |
_gpioPd = gpioPd; |
|
| 742 |
_gpioSync = gpioSync; |
|
| 743 | 687 |
chVTObjectInit(&_systimer); |
| 744 | 688 |
_synctime = 0; |
| 745 | 689 |
_uptime = 0; |
| ... | ... | |
| 749 | 693 |
#endif |
| 750 | 694 |
|
| 751 | 695 |
// set aos configuration |
| 752 |
aos.ssspStage = AOS_SSSP_STARTUP_2_1; |
|
| 696 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_1; |
|
| 697 |
aos.sssp.moduleId = 0; |
|
| 753 | 698 |
aosIOStreamInit(&aos.iostream); |
| 754 |
chEvtObjectInit(&aos.events.io.source); |
|
| 755 |
chEvtObjectInit(&aos.events.os.source); |
|
| 756 |
aos.events.io.flagsSignalPd = evtFlagsPd; |
|
| 757 |
aos.events.io.flagsSignalSync = evtFlagsSync; |
|
| 699 |
chEvtObjectInit(&aos.events.io); |
|
| 700 |
chEvtObjectInit(&aos.events.os); |
|
| 758 | 701 |
|
| 759 | 702 |
// setup external interrupt system |
| 760 |
extCfg->channels[gpioPd->gpio->pad].cb = _signalPdCallback;
|
|
| 761 |
extCfg->channels[gpioSync->gpio->pad].cb = _signalSyncCallback;
|
|
| 762 |
extStart(extDrv, extCfg);
|
|
| 703 |
moduleHalExtConfig.channels[moduleSsspGpioPd.gpio->pad].cb = _signalPdCallback;
|
|
| 704 |
moduleHalExtConfig.channels[moduleSsspGpioSync.gpio->pad].cb = _signalSyncCallback;
|
|
| 705 |
extStart(&MODULE_HAL_EXT, &moduleHalExtConfig);
|
|
| 763 | 706 |
|
| 764 | 707 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
| 765 | 708 |
// init shell |
| 766 |
aosShellInit(aos.shell, |
|
| 767 |
&aos.events.os.source,
|
|
| 709 |
aosShellInit(&aos.shell,
|
|
| 710 |
&aos.events.os, |
|
| 768 | 711 |
shellPrompt, |
| 769 | 712 |
_shell_line, |
| 770 | 713 |
AMIROOS_CFG_SHELL_LINEWIDTH, |
| 771 | 714 |
_shell_arglist, |
| 772 | 715 |
AMIROOS_CFG_SHELL_MAXARGS); |
| 773 | 716 |
// add system commands |
| 774 |
aosShellAddCommand(aos.shell, &_shellcmd_config); |
|
| 775 |
aosShellAddCommand(aos.shell, &_shellcmd_info); |
|
| 776 |
aosShellAddCommand(aos.shell, &_shellcmd_shutdown); |
|
| 717 |
aosShellAddCommand(&aos.shell, &_shellcmd_config);
|
|
| 718 |
aosShellAddCommand(&aos.shell, &_shellcmd_info);
|
|
| 719 |
aosShellAddCommand(&aos.shell, &_shellcmd_shutdown);
|
|
| 777 | 720 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
| 778 |
aosShellAddCommand(aos.shell, &_shellcmd_kerneltest); |
|
| 721 |
aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest);
|
|
| 779 | 722 |
#endif |
| 780 |
#else |
|
| 781 |
(void)shellPrompt; |
|
| 782 | 723 |
#endif |
| 783 | 724 |
|
| 784 | 725 |
return; |
| ... | ... | |
| 790 | 731 |
inline void aosSysStart(void) |
| 791 | 732 |
{
|
| 792 | 733 |
// update the system SSSP stage |
| 793 |
aos.ssspStage = AOS_SSSP_OPERATION;
|
|
| 734 |
aos.sssp.stage = AOS_SSSP_OPERATION;
|
|
| 794 | 735 |
|
| 795 | 736 |
// print system information; |
| 796 | 737 |
_printSystemInfo((BaseSequentialStream*)&aos.iostream); |
| ... | ... | |
| 798 | 739 |
|
| 799 | 740 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
| 800 | 741 |
// start system shell thread |
| 801 |
aos.shell->thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, aos.shell);
|
|
| 742 |
aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
|
|
| 802 | 743 |
#endif |
| 803 | 744 |
|
| 804 | 745 |
return; |
| ... | ... | |
| 822 | 763 |
apalControlGpioState_t s; |
| 823 | 764 |
|
| 824 | 765 |
// update the system SSSP stage |
| 825 |
aos.ssspStage = AOS_SSSP_STARTUP_2_2;
|
|
| 766 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_2;
|
|
| 826 | 767 |
|
| 827 | 768 |
// deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase) |
| 828 |
apalControlGpioSet(_gpioSync, APAL_GPIO_OFF);
|
|
| 769 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);
|
|
| 829 | 770 |
|
| 830 | 771 |
// wait for any event to occur (do not apply any filter in order not to miss any event) |
| 831 | 772 |
m = chEvtWaitOne(ALL_EVENTS); |
| 832 | 773 |
f = chEvtGetAndClearFlags(syncEvtListener); |
| 833 |
apalControlGpioGet(_gpioSync, &s);
|
|
| 774 |
apalControlGpioGet(&moduleSsspGpioSync, &s);
|
|
| 834 | 775 |
|
| 835 | 776 |
// if the event was a system event, |
| 836 | 777 |
// and it was fired because of the SysSync control signal, |
| 837 | 778 |
// and the SysSync control signal has been deactivated |
| 838 | 779 |
if (m & syncEvtListener->events && |
| 839 |
f == aos.events.io.flagsSignalSync &&
|
|
| 780 |
f == MODULE_SSSP_EVENTFLAGS_SYNC &&
|
|
| 840 | 781 |
s == APAL_GPIO_OFF) {
|
| 841 | 782 |
chSysLock(); |
| 842 | 783 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| ... | ... | |
| 922 | 863 |
#endif |
| 923 | 864 |
|
| 924 | 865 |
// update the system SSSP stage |
| 925 |
aos.ssspStage = AOS_SSSP_SHUTDOWN_1_1;
|
|
| 866 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1;
|
|
| 926 | 867 |
|
| 927 | 868 |
// activate the SYS_PD control signal only, if this module initiated the shutdown |
| 928 | 869 |
chSysLock(); |
| 929 | 870 |
if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
| 930 |
apalControlGpioSet(_gpioPd, APAL_GPIO_ON);
|
|
| 871 |
apalControlGpioSet(&moduleSsspGpioPd, APAL_GPIO_ON);
|
|
| 931 | 872 |
} |
| 932 | 873 |
// activate the SYS_SYNC signal |
| 933 |
apalControlGpioSet(_gpioSync, APAL_GPIO_ON);
|
|
| 874 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON);
|
|
| 934 | 875 |
chSysUnlock(); |
| 935 | 876 |
|
| 936 | 877 |
switch (shutdown) {
|
| 937 | 878 |
case AOS_SHUTDOWN_PASSIVE: |
| 938 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN);
|
|
| 879 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
|
| 939 | 880 |
aosprintf("shutdown request received...\n");
|
| 940 | 881 |
break; |
| 941 | 882 |
case AOS_SHUTDOWN_HIBERNATE: |
| 942 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_HIBERNATE);
|
|
| 883 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
|
| 943 | 884 |
aosprintf("shutdown to hibernate mode...\n");
|
| 944 | 885 |
break; |
| 945 | 886 |
case AOS_SHUTDOWN_DEEPSLEEP: |
| 946 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP);
|
|
| 887 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
|
| 947 | 888 |
aosprintf("shutdown to deepsleep mode...\n");
|
| 948 | 889 |
break; |
| 949 | 890 |
case AOS_SHUTDOWN_TRANSPORTATION: |
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