amiro-os / os / core / src / aos_system.c @ 6b53f6bf
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <aos_system.h> |
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#include <amiroos.h> |
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#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) |
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#include <ch_test.h> |
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#endif
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/**
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* @brief Period of the system timer.
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*/
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#define SYSTIMER_PERIOD (TIME_MAXIMUM - CH_CFG_ST_TIMEDELTA)
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/**
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* @brief Width of the printable system info text.
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*/
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#define SYSTEM_INFO_WIDTH 70 |
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/**
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* @brief Width of the name column of the system info table.
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*/
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#define SYSTEM_INFO_NAMEWIDTH 14 |
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/* forward declarations */
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static void _printSystemInfo(BaseSequentialStream* stream); |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) |
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static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]); |
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static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]); |
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static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]); |
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#endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
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#if (AMIROOS_CFG_TESTS_ENABLE == true) |
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static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]); |
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#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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/**
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* @brief Timer to accumulate system uptime.
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*/
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static virtual_timer_t _systimer;
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/**
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* @brief Accumulated system uptime.
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*/
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static aos_timestamp_t _uptime;
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/**
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* @brief Timer register value of last accumulation.
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*/
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static systime_t _synctime;
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#if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__) |
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/**
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* @brief Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP.
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*/
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static virtual_timer_t _syssynctimer;
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/**
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* @brief Last uptime of system wide time synchronization.
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*/
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static aos_timestamp_t _syssynctime;
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#endif
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Shell thread working area.
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*/
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THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE); |
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/**
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* @brief Shell input buffer.
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*/
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static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH]; |
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/**
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* @brief Shell argument buffer.
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*/
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static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS]; |
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/**
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* @brief Shell command to retrieve system information.
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*/
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static aos_shellcommand_t _shellcmd_info = {
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/* name */ "module:info", |
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/* callback */ _shellcmd_infocb,
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/* next */ NULL, |
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}; |
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/**
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* @brief Shell command to set or retrieve system configuration.
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*/
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static aos_shellcommand_t _shellcmd_config = {
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/* name */ "module:config", |
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/* callback */ _shellcmd_configcb,
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/* next */ NULL, |
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}; |
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/**
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* @brief Shell command to shutdown the system.
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*/
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static aos_shellcommand_t _shellcmd_shutdown = {
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/* name */ "system:shutdown", |
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/* callback */ _shellcmd_shutdowncb,
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/* next */ NULL, |
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}; |
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#endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Shell kommand to run a test of the ChibiOS/RT kernel.
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*/
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static aos_shellcommand_t _shellcmd_kerneltest = {
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/* name */ "kernel:test", |
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/* callback */ _shellcmd_kerneltestcb,
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/* next */ NULL, |
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}; |
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#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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/**
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* @brief Global system object.
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*/
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aos_system_t aos; |
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/**
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* @brief Print a separator line.
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*
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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.
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* @param[in] n Length of the separator line.
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*
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* @return Number of characters printed.
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*/
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static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n) |
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{ |
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aosDbgCheck(stream != NULL);
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// print the specified character n times
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for (unsigned int i = 0; i < n; ++i) { |
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streamPut(stream, c); |
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} |
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streamPut(stream, '\n');
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return n+1; |
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} |
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/**
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* @brief Print a system information line.
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* @details Prints a system information line with the following format:
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* "<name>[spaces]fmt"
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* The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.
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* Note that there is not trailing newline added implicitely.
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*
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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.
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* @param[in] namewidth Width of the name column.
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* @param[in] fmt Formatted string of information content.
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*
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* @return Number of characters printed.
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*/
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static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...) |
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{ |
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aosDbgCheck(stream != NULL);
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aosDbgCheck(name != NULL);
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unsigned int n = 0; |
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va_list ap; |
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va_start(ap, fmt); |
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n += chprintf(stream, name); |
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while (n < namewidth) {
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streamPut(stream, ' ');
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++n; |
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} |
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n += chvprintf(stream, fmt, ap); |
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va_end(ap); |
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return n;
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} |
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/**
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* @brief Prints information about the system.
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*
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* @param[in] stream Stream to print to.
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*/
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static void _printSystemInfo(BaseSequentialStream* stream) |
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{ |
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aosDbgCheck(stream != NULL);
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_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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_printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s (v%s)\n", BOARD_NAME, BOARD_VERSION); |
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#ifdef PLATFORM_NAME
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_printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s\n", PLATFORM_NAME); |
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#endif
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#ifdef PORT_CORE_VARIANT_NAME
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_printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s\n", PORT_CORE_VARIANT_NAME); |
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#endif
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_printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s\n", PORT_ARCHITECTURE_NAME); |
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_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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_printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (SSSP %u.%u)\n", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE, AOS_SYSTEM_SSSP_MAJOR, AOS_SYSTEM_SSSP_MINOR); |
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_printSystemInfoLine(stream, "AMiRo-LLD" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (periphAL %u.%u)\n", AMIRO_LLD_VERSION_MAJOR, AMIRO_LLD_VERSION_MINOR, AMIRO_LLD_VERSION_PATCH, AMIRO_LLD_RELEASE_TYPE, PERIPHAL_VERSION_MAJOR, PERIPHAL_VERSION_MINOR); |
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_printSystemInfoLine(stream, "ChibiOS/RT" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s\n", CH_KERNEL_MAJOR, CH_KERNEL_MINOR, CH_KERNEL_PATCH, (CH_KERNEL_STABLE == 1) ? "stable" : "non-stable"); |
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_printSystemInfoLine(stream, "ChibiOS/HAL", SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s\n", CH_HAL_MAJOR, CH_HAL_MINOR, CH_HAL_PATCH, (CH_HAL_STABLE == 1) ? "stable" : "non-stable"); |
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_printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s\n", (AMIROOS_CFG_DBG == true) ? "debug" : "release"); |
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_printSystemInfoLine(stream, "Compiler" , SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u\n", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC |
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_printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s\n", __DATE__, __TIME__); |
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_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
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_printSystemInfoLine(stream, "AMiRo-BLT", SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (SSSP %u.%u)\n", BL_CALLBACK_TABLE_ADDRESS->vBootloader.major, BL_CALLBACK_TABLE_ADDRESS->vBootloader.minor, BL_CALLBACK_TABLE_ADDRESS->vBootloader.patch, |
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :
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"<release type unknown>",
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BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor); |
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if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_MAJOR) {
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if (stream) {
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chprintf(stream, "WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
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} else {
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aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
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} |
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} |
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_printSystemInfoLine(stream, "Compiler", SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u\n", (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 |
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} else {
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if (stream) {
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chprintf(stream, "Bootloader incompatible or not available.\n");
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} else {
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aosprintf("Bootloader incompatible or not available.\n");
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} |
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} |
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_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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struct tm dt;
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aosSysGetDateTime(&dt); |
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_printSystemInfoLine(stream, "Date", SYSTEM_INFO_NAMEWIDTH, "%s %02u-%02u-%04u\n", (dt.tm_wday == 0) ? "Sunday" : (dt.tm_wday == 1) ? "Monday" : (dt.tm_wday == 2) ? "Tuesday" : (dt.tm_wday == 3) ? "Wednesday" : (dt.tm_wday == 4) ? "Thursday" : (dt.tm_wday == 5) ? "Friday" : "Saturday", |
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dt.tm_mday, |
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dt.tm_mon + 1,
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dt.tm_year + 1900);
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_printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u\n", dt.tm_hour, dt.tm_min, dt.tm_sec); |
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_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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return;
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} |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Callback function for the system:config shell command.
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*
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* @param[in] stream The I/O stream to use.
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* @param[in] argc Number of arguments.
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* @param[in] argv List of pointers to the arguments.
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*
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* @return An exit status.
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* @retval AOS_OK The command was executed successfuly.
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* @retval AOS_INVALID_ARGUMENTS There was an issue with the arguemnts.
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*/
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static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{ |
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aosDbgCheck(stream != NULL);
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// local variables
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int retval = AOS_INVALID_ARGUMENTS;
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// if there are additional arguments
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if (argc > 1) { |
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// if the user wants to set or retrieve the shell configuration
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if (strcmp(argv[1], "--shell") == 0) { |
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// if the user wants to modify the shell configuration
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if (argc > 2) { |
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// if the user wants to modify the prompt
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if (strcmp(argv[2], "prompt") == 0) { |
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// there must be a further argument
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if (argc > 3) { |
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// handle the option
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if (strcmp(argv[3], "text") == 0) { |
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aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
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retval = AOS_OK; |
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} |
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else if (strcmp(argv[3], "minimal") == 0) { |
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aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
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retval = AOS_OK; |
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} |
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else if (strcmp(argv[3], "notime") == 0) { |
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aos.shell.config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME); |
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retval = AOS_OK; |
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} |
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else if (strcmp(argv[3], "uptime") == 0) { |
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aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME; |
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aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_UPTIME; |
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retval = AOS_OK; |
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} |
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else if (strcmp(argv[3], "date&time") == 0) { |
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aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME; |
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aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME; |
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retval = AOS_OK; |
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} |
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else {
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chprintf(stream, "unknown option '%s'\n", argv[3]); |
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return AOS_INVALID_ARGUMENTS;
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} |
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} |
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} |
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// if the user wants to modify the string matching
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else if (strcmp(argv[2], "match") == 0) { |
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// there must be a further argument
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if (argc > 3) { |
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if (strcmp(argv[3], "casesensitive") == 0) { |
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aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE; |
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retval = AOS_OK; |
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} |
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else if (strcmp(argv[3], "caseinsensitive") == 0) { |
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aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE; |
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retval = AOS_OK; |
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} |
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} |
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} |
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} |
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// if the user wants to retrieve the shell configuration
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else {
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chprintf(stream, "current shell configuration:\n");
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chprintf(stream, " prompt text: %s\n",
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(aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a"); |
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char time[10]; |
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switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
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case AOS_SHELL_CONFIG_PROMPT_UPTIME:
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strcpy(time, "uptime"); break; |
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case AOS_SHELL_CONFIG_PROMPT_DATETIME:
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strcpy(time, "date&time"); break; |
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default:
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strcpy(time, "no time"); break; |
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} |
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chprintf(stream, " prompt style: %s, %s\n",
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(aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text", |
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time); |
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chprintf(stream, " input method: %s\n",
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(aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert"); |
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chprintf(stream, " text matching: %s\n",
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(aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive"); |
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retval = AOS_OK; |
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} |
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} |
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// if the user wants to configure the date or time
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else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) { |
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struct tm dt;
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aosSysGetDateTime(&dt); |
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unsigned int val = atoi(argv[3]); |
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if (strcmp(argv[2], "year") == 0) { |
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dt.tm_year = val - 1900;
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} |
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else if (strcmp(argv[2], "month") == 0 && val <= 12) { |
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dt.tm_mon = val - 1;
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} |
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else if (strcmp(argv[2], "day") == 0 && val <= 31) { |
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dt.tm_mday = val; |
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} |
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else if (strcmp(argv[2], "hour") == 0 && val < 24) { |
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dt.tm_hour = val; |
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} |
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else if (strcmp(argv[2], "minute") == 0 && val < 60) { |
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dt.tm_min = val; |
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} |
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else if (strcmp(argv[2], "second") == 0 && val < 60) { |
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dt.tm_sec = val; |
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} |
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else {
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chprintf(stream, "unknown option '%s' or value '%s'\n", argv[2], argv[3]); |
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return AOS_INVALID_ARGUMENTS;
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} |
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dt.tm_wday = aosTimeDayOfWeekFromDate(dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900) % 7; |
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aosSysSetDateTime(&dt); |
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// read and print new date and time
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aosSysGetDateTime(&dt); |
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chprintf(stream, "date/time set to %02u:%02u:%02u @ %02u-%02u-%04u\n",
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dt.tm_hour, dt.tm_min, dt.tm_sec, |
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dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900); |
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retval = AOS_OK; |
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} |
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} |
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// print help, if required
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if (retval == AOS_INVALID_ARGUMENTS) {
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chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
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chprintf(stream, "Options:\n");
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chprintf(stream, " --help\n");
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chprintf(stream, " Print this help text.\n");
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chprintf(stream, " --shell [OPT [VAL]]\n");
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chprintf(stream, " Set or retrieve shell configuration.\n");
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chprintf(stream, " Possible OPTs and VALs are:\n");
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chprintf(stream, " prompt text|minimal|uptime|date&time|notime\n");
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chprintf(stream, " Configures the prompt.\n");
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chprintf(stream, " match casesensitive|caseinsenitive\n");
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chprintf(stream, " Configures string matching.\n");
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chprintf(stream, " --date&time OPT VAL\n");
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chprintf(stream, " Set the date/time value of OPT to VAL.\n");
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chprintf(stream, " Possible OPTs are:\n");
|
416 |
chprintf(stream, " year\n");
|
417 |
chprintf(stream, " month\n");
|
418 |
chprintf(stream, " day\n");
|
419 |
chprintf(stream, " hour\n");
|
420 |
chprintf(stream, " minute\n");
|
421 |
chprintf(stream, " second\n");
|
422 |
} |
423 |
|
424 |
return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval; |
425 |
} |
426 |
|
427 |
/**
|
428 |
* @brief Callback function for the system:info shell command.
|
429 |
*
|
430 |
* @param[in] stream The I/O stream to use.
|
431 |
* @param[in] argc Number of arguments.
|
432 |
* @param[in] argv List of pointers to the arguments.
|
433 |
*
|
434 |
* @return An exit status.
|
435 |
* @retval AOS_OK The command was executed successfully.
|
436 |
*/
|
437 |
static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]) |
438 |
{ |
439 |
aosDbgCheck(stream != NULL);
|
440 |
|
441 |
(void)argc;
|
442 |
(void)argv;
|
443 |
|
444 |
// print system information
|
445 |
_printSystemInfo(stream); |
446 |
|
447 |
// print time measurement precision
|
448 |
chprintf(stream, "system time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
|
449 |
|
450 |
// print system uptime
|
451 |
aos_timestamp_t uptime; |
452 |
aosSysGetUptime(&uptime); |
453 |
chprintf(stream, "The system is running for\n");
|
454 |
chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
|
455 |
chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
|
456 |
chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
|
457 |
chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
|
458 |
chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
|
459 |
chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
|
460 |
|
461 |
return AOS_OK;
|
462 |
} |
463 |
|
464 |
/**
|
465 |
* @brief Callback function for the sytem:shutdown shell command.
|
466 |
*
|
467 |
* @param[in] stream The I/O stream to use.
|
468 |
* @param[in] argc Number of arguments.
|
469 |
* @param[in] argv List of pointers to the arguments.
|
470 |
*
|
471 |
* @return An exit status.
|
472 |
* @retval AOS_OK The command was executed successfully.
|
473 |
* @retval AOS_INVALID_ARGUMENTS There was an issue with the arguments.
|
474 |
*/
|
475 |
static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]) |
476 |
{ |
477 |
aosDbgCheck(stream != NULL);
|
478 |
|
479 |
// print help text
|
480 |
if (argc != 2 || strcmp(argv[1], "--help") == 0) { |
481 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
482 |
chprintf(stream, "Options:\n");
|
483 |
chprintf(stream, " --help\n");
|
484 |
chprintf(stream, " Print this help text.\n");
|
485 |
chprintf(stream, " --hibernate, -h\n");
|
486 |
chprintf(stream, " Shutdown to hibernate mode.\n");
|
487 |
chprintf(stream, " Least energy saving, but allows charging via pins.\n");
|
488 |
chprintf(stream, " --deepsleep, -d\n");
|
489 |
chprintf(stream, " Shutdown to deepsleep mode.\n");
|
490 |
chprintf(stream, " Minimum energy consumption while allowing charging via plug.\n");
|
491 |
chprintf(stream, " --transportation, -t\n");
|
492 |
chprintf(stream, " Shutdown to transportation mode.\n");
|
493 |
chprintf(stream, " Minimum energy consumption with all interrupts disabled (no charging).\n");
|
494 |
chprintf(stream, " --restart, -r\n");
|
495 |
chprintf(stream, " Shutdown and restart system.\n");
|
496 |
|
497 |
return (argc != 2) ? AOS_INVALID_ARGUMENTS : AOS_OK; |
498 |
} |
499 |
// handle argument
|
500 |
else {
|
501 |
if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) { |
502 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
503 |
chThdTerminate(currp); |
504 |
return AOS_OK;
|
505 |
} |
506 |
else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) { |
507 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
508 |
chThdTerminate(currp); |
509 |
return AOS_OK;
|
510 |
} |
511 |
else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) { |
512 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
513 |
chThdTerminate(currp); |
514 |
return AOS_OK;
|
515 |
} |
516 |
else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) { |
517 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
518 |
chThdTerminate(currp); |
519 |
return AOS_OK;
|
520 |
} |
521 |
else {
|
522 |
chprintf(stream, "unknown argument %s\n", argv[1]); |
523 |
return AOS_INVALID_ARGUMENTS;
|
524 |
} |
525 |
} |
526 |
} |
527 |
#endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
528 |
|
529 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
530 |
/**
|
531 |
* @brief Callback function for the kernel:test shell command.
|
532 |
*
|
533 |
* @param[in] stream The I/O stream to use.
|
534 |
* @param[in] argc Number of arguments.
|
535 |
* @param[in] argv List of pointers to the arguments.
|
536 |
*
|
537 |
* @return An exit status.
|
538 |
*/
|
539 |
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]) |
540 |
{ |
541 |
aosDbgCheck(stream != NULL);
|
542 |
|
543 |
(void)argc;
|
544 |
(void)argv;
|
545 |
|
546 |
tprio_t prio = chThdGetPriorityX(); |
547 |
chThdSetPriority(HIGHPRIO - 5); // some tests increase priorirty by 5, so this is the maximum priority permitted |
548 |
msg_t retval = test_execute(stream); |
549 |
chThdSetPriority(prio); |
550 |
|
551 |
return retval;
|
552 |
} |
553 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
554 |
|
555 |
/**
|
556 |
* @brief Callback function for the PD signal interrupt.
|
557 |
*
|
558 |
* @param[in] extp Pointer to the interrupt driver object.
|
559 |
* @param[in] channel Interrupt channel identifier.
|
560 |
*/
|
561 |
static void _signalPdCallback(EXTDriver* extp, expchannel_t channel) |
562 |
{ |
563 |
(void)extp;
|
564 |
|
565 |
chSysLockFromISR(); |
566 |
chEvtBroadcastFlagsI(&aos.events.io, (1 << channel));
|
567 |
chSysUnlockFromISR(); |
568 |
|
569 |
return;
|
570 |
} |
571 |
|
572 |
/**
|
573 |
* @brief Callback function for the Sync signal interrupt.
|
574 |
*
|
575 |
* @param[in] extp Pointer to the interrupt driver object.
|
576 |
* @param[in] channel Interrupt channel identifier.
|
577 |
*/
|
578 |
static void _signalSyncCallback(EXTDriver* extp, expchannel_t channel) |
579 |
{ |
580 |
(void)extp;
|
581 |
|
582 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
583 |
chSysLockFromISR(); |
584 |
chEvtBroadcastFlagsI(&aos.events.io, (1 << channel));
|
585 |
chSysUnlockFromISR(); |
586 |
#else
|
587 |
apalControlGpioState_t s_state; |
588 |
aos_timestamp_t uptime; |
589 |
|
590 |
chSysLockFromISR(); |
591 |
// get current uptime
|
592 |
aosSysGetUptimeX(&uptime); |
593 |
// read signal S
|
594 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state); |
595 |
// if S was toggled from on to off during SSSP operation phase
|
596 |
if (aos.sssp.stage == AOS_SSSP_OPERATION && s_state == APAL_GPIO_OFF) {
|
597 |
// align the uptime with the synchronization period
|
598 |
if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) { |
599 |
_uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
600 |
} else {
|
601 |
_uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
602 |
} |
603 |
} |
604 |
// broadcast event
|
605 |
chEvtBroadcastFlagsI(&aos.events.io, (1 << channel));
|
606 |
chSysUnlockFromISR(); |
607 |
#endif
|
608 |
|
609 |
return;
|
610 |
} |
611 |
|
612 |
/**
|
613 |
* @brief Callback function for the uptime accumulation timer.
|
614 |
*
|
615 |
* @param[in] par Generic parameter.
|
616 |
*/
|
617 |
static void _uptimeCallback(void* par) |
618 |
{ |
619 |
(void)par;
|
620 |
|
621 |
chSysLockFromISR(); |
622 |
// read current time in system ticks
|
623 |
register const systime_t st = chVTGetSystemTimeX(); |
624 |
// update the uptime variables
|
625 |
_uptime += LL_ST2US(st - _synctime); |
626 |
_synctime = st; |
627 |
// enable the timer again
|
628 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
629 |
chSysUnlockFromISR(); |
630 |
|
631 |
return;
|
632 |
} |
633 |
|
634 |
#if (AMIROOS_CFG_SSSP_MASTER == true) || defined (__DOXYGEN__) |
635 |
/**
|
636 |
* @brief Periodic system synchronization callback function.
|
637 |
* @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.
|
638 |
*
|
639 |
* @param[in] par Unuesed parameters.
|
640 |
*/
|
641 |
static void _sysSyncTimerCallback(void* par) |
642 |
{ |
643 |
(void)par;
|
644 |
|
645 |
apalControlGpioState_t s_state; |
646 |
aos_timestamp_t uptime; |
647 |
|
648 |
chSysLockFromISR(); |
649 |
// read and toggle signal S
|
650 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state); |
651 |
s_state = (s_state == APAL_GPIO_ON) ? APAL_GPIO_OFF : APAL_GPIO_ON; |
652 |
apalControlGpioSet(&moduleSsspGpioSync, s_state); |
653 |
// if S was toggled from off to on
|
654 |
if (s_state == APAL_GPIO_ON) {
|
655 |
// reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
|
656 |
_syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
657 |
aosSysGetUptimeX(&uptime); |
658 |
chVTSetI(&_syssynctimer, LL_US2ST(_syssynctime - uptime), _sysSyncTimerCallback, NULL);
|
659 |
} |
660 |
// if S was toggled from on to off
|
661 |
else /* if (s_state == APAL_GPIO_OFF) */ { |
662 |
// reconfigure the timer (lazy)
|
663 |
chVTSetI(&_syssynctimer, LL_US2ST(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL); |
664 |
} |
665 |
chSysUnlockFromISR(); |
666 |
|
667 |
return;
|
668 |
} |
669 |
#endif
|
670 |
|
671 |
/**
|
672 |
* @brief AMiRo-OS system initialization.
|
673 |
* @note Must be called from the system control thread (usually main thread).
|
674 |
*
|
675 |
* @param[in] shellPrompt String to be printed as prompt of the system shell.
|
676 |
*/
|
677 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
678 |
void aosSysInit(const char* shellPrompt) |
679 |
#else
|
680 |
void aosSysInit(void) |
681 |
#endif
|
682 |
{ |
683 |
// set control thread to maximum priority
|
684 |
chThdSetPriority(AOS_THD_CTRLPRIO); |
685 |
|
686 |
// set local variables
|
687 |
chVTObjectInit(&_systimer); |
688 |
_synctime = 0;
|
689 |
_uptime = 0;
|
690 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
691 |
chVTObjectInit(&_syssynctimer); |
692 |
_syssynctime = 0;
|
693 |
#endif
|
694 |
|
695 |
// set aos configuration
|
696 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_1; |
697 |
aos.sssp.moduleId = 0;
|
698 |
aosIOStreamInit(&aos.iostream); |
699 |
chEvtObjectInit(&aos.events.io); |
700 |
chEvtObjectInit(&aos.events.os); |
701 |
|
702 |
// setup external interrupt system
|
703 |
moduleHalExtConfig.channels[moduleSsspGpioPd.gpio->pad].cb = _signalPdCallback; |
704 |
moduleHalExtConfig.channels[moduleSsspGpioSync.gpio->pad].cb = _signalSyncCallback; |
705 |
extStart(&MODULE_HAL_EXT, &moduleHalExtConfig); |
706 |
|
707 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
708 |
// init shell
|
709 |
aosShellInit(&aos.shell, |
710 |
&aos.events.os, |
711 |
shellPrompt, |
712 |
_shell_line, |
713 |
AMIROOS_CFG_SHELL_LINEWIDTH, |
714 |
_shell_arglist, |
715 |
AMIROOS_CFG_SHELL_MAXARGS); |
716 |
// add system commands
|
717 |
aosShellAddCommand(&aos.shell, &_shellcmd_config); |
718 |
aosShellAddCommand(&aos.shell, &_shellcmd_info); |
719 |
aosShellAddCommand(&aos.shell, &_shellcmd_shutdown); |
720 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
721 |
aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest); |
722 |
#endif
|
723 |
#endif
|
724 |
|
725 |
return;
|
726 |
} |
727 |
|
728 |
/**
|
729 |
* @brief Starts the system and all system threads.
|
730 |
*/
|
731 |
inline void aosSysStart(void) |
732 |
{ |
733 |
// update the system SSSP stage
|
734 |
aos.sssp.stage = AOS_SSSP_OPERATION; |
735 |
|
736 |
// print system information;
|
737 |
_printSystemInfo((BaseSequentialStream*)&aos.iostream); |
738 |
aosprintf("\n");
|
739 |
|
740 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
741 |
// start system shell thread
|
742 |
aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
|
743 |
#endif
|
744 |
|
745 |
return;
|
746 |
} |
747 |
|
748 |
/**
|
749 |
* @brief Implements the SSSP startup synchronization step.
|
750 |
*
|
751 |
* @param[in] syncEvtListener Event listener that receives the Sync event.
|
752 |
*
|
753 |
* @return If another event that the listener is interested in was received, its mask is returned.
|
754 |
* Otherwise an empty mask (0) is returned.
|
755 |
*/
|
756 |
eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener) |
757 |
{ |
758 |
aosDbgCheck(syncEvtListener != NULL);
|
759 |
|
760 |
// local variables
|
761 |
eventmask_t m; |
762 |
eventflags_t f; |
763 |
apalControlGpioState_t s; |
764 |
|
765 |
// update the system SSSP stage
|
766 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_2; |
767 |
|
768 |
// deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase)
|
769 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
770 |
|
771 |
// wait for any event to occur (do not apply any filter in order not to miss any event)
|
772 |
m = chEvtWaitOne(ALL_EVENTS); |
773 |
f = chEvtGetAndClearFlags(syncEvtListener); |
774 |
apalControlGpioGet(&moduleSsspGpioSync, &s); |
775 |
|
776 |
// if the event was a system event,
|
777 |
// and it was fired because of the SysSync control signal,
|
778 |
// and the SysSync control signal has been deactivated
|
779 |
if (m & syncEvtListener->events &&
|
780 |
f == MODULE_SSSP_EVENTFLAGS_SYNC && |
781 |
s == APAL_GPIO_OFF) { |
782 |
chSysLock(); |
783 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
784 |
// start the systen synchronization counter
|
785 |
chVTSetI(&_syssynctimer, LL_US2ST(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), &_sysSyncTimerCallback, NULL); |
786 |
#endif
|
787 |
// start the uptime counter
|
788 |
_synctime = chVTGetSystemTimeX(); |
789 |
_uptime = 0;
|
790 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
791 |
chSysUnlock(); |
792 |
|
793 |
return 0; |
794 |
} |
795 |
// an unexpected event occurred
|
796 |
else {
|
797 |
// reassign the flags to the event and return the event mask
|
798 |
syncEvtListener->flags |= f; |
799 |
return m;
|
800 |
} |
801 |
} |
802 |
|
803 |
/**
|
804 |
* @brief Retrieves the system uptime.
|
805 |
*
|
806 |
* @param[out] ut The system uptime.
|
807 |
*/
|
808 |
inline void aosSysGetUptimeX(aos_timestamp_t* ut) |
809 |
{ |
810 |
aosDbgCheck(ut != NULL);
|
811 |
|
812 |
*ut = _uptime + LL_ST2US(chVTGetSystemTimeX() - _synctime); |
813 |
|
814 |
return;
|
815 |
} |
816 |
|
817 |
/**
|
818 |
* @brief retrieves the date and time from the MCU clock.
|
819 |
*
|
820 |
* @param[out] td The date and time.
|
821 |
*/
|
822 |
void aosSysGetDateTime(struct tm* dt) |
823 |
{ |
824 |
aosDbgCheck(dt != NULL);
|
825 |
|
826 |
RTCDateTime rtc; |
827 |
rtcGetTime(&MODULE_HAL_RTC, &rtc); |
828 |
rtcConvertDateTimeToStructTm(&rtc, dt, NULL);
|
829 |
|
830 |
return;
|
831 |
} |
832 |
|
833 |
/**
|
834 |
* @brief set the date and time of the MCU clock.
|
835 |
*
|
836 |
* @param[in] dt The date and time to set.
|
837 |
*/
|
838 |
void aosSysSetDateTime(struct tm* dt) |
839 |
{ |
840 |
aosDbgCheck(dt != NULL);
|
841 |
|
842 |
RTCDateTime rtc; |
843 |
rtcConvertStructTmToDateTime(dt, 0, &rtc);
|
844 |
rtcSetTime(&MODULE_HAL_RTC, &rtc); |
845 |
|
846 |
return;
|
847 |
} |
848 |
|
849 |
/**
|
850 |
* @brief Initializes/Acknowledges a system shutdown/restart request.
|
851 |
* @note This functions should be called from the thread with highest priority.
|
852 |
*
|
853 |
* @param[in] shutdown Type of shutdown.
|
854 |
*/
|
855 |
void aosSysShutdownInit(aos_shutdown_t shutdown)
|
856 |
{ |
857 |
// check arguments
|
858 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
859 |
|
860 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
861 |
// deactivate the system synchronization timer
|
862 |
chVTReset(&_syssynctimer); |
863 |
#endif
|
864 |
|
865 |
// update the system SSSP stage
|
866 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1; |
867 |
|
868 |
// activate the SYS_PD control signal only, if this module initiated the shutdown
|
869 |
chSysLock(); |
870 |
if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
871 |
apalControlGpioSet(&moduleSsspGpioPd, APAL_GPIO_ON); |
872 |
} |
873 |
// activate the SYS_SYNC signal
|
874 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
875 |
chSysUnlock(); |
876 |
|
877 |
switch (shutdown) {
|
878 |
case AOS_SHUTDOWN_PASSIVE:
|
879 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
880 |
aosprintf("shutdown request received...\n");
|
881 |
break;
|
882 |
case AOS_SHUTDOWN_HIBERNATE:
|
883 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
884 |
aosprintf("shutdown to hibernate mode...\n");
|
885 |
break;
|
886 |
case AOS_SHUTDOWN_DEEPSLEEP:
|
887 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
888 |
aosprintf("shutdown to deepsleep mode...\n");
|
889 |
break;
|
890 |
case AOS_SHUTDOWN_TRANSPORTATION:
|
891 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
892 |
aosprintf("shutdown to transportation mode...\n");
|
893 |
break;
|
894 |
case AOS_SHUTDOWN_RESTART:
|
895 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
896 |
aosprintf("restarting system...\n");
|
897 |
break;
|
898 |
// must never occur
|
899 |
case AOS_SHUTDOWN_NONE:
|
900 |
default:
|
901 |
break;
|
902 |
} |
903 |
|
904 |
// update the system SSSP stage
|
905 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2; |
906 |
|
907 |
return;
|
908 |
} |
909 |
|
910 |
/**
|
911 |
* @brief Stops the system and all related threads (not the thread this function is called from).
|
912 |
*/
|
913 |
void aosSysStop(void) |
914 |
{ |
915 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
916 |
chThdWait(aos.shell.thread); |
917 |
#endif
|
918 |
|
919 |
return;
|
920 |
} |
921 |
|
922 |
/**
|
923 |
* @brief Deinitialize all system variables.
|
924 |
*/
|
925 |
void aosSysDeinit(void) |
926 |
{ |
927 |
return;
|
928 |
} |
929 |
|
930 |
/**
|
931 |
* @brief Finally shuts down the system and calls the bootloader callback function.
|
932 |
* @note This function should be called from the thtead with highest priority.
|
933 |
*
|
934 |
* @param[in] extDrv Pointer to the interrupt driver.
|
935 |
* @param[in] shutdown Type of shutdown.
|
936 |
*/
|
937 |
void aosSysShutdownFinal(EXTDriver* extDrv, aos_shutdown_t shutdown)
|
938 |
{ |
939 |
// check arguments
|
940 |
aosDbgCheck(extDrv != NULL);
|
941 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
942 |
|
943 |
// stop external interrupt system
|
944 |
extStop(extDrv); |
945 |
|
946 |
// update the system SSSP stage
|
947 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3; |
948 |
|
949 |
// call bootloader callback depending on arguments
|
950 |
switch (shutdown) {
|
951 |
case AOS_SHUTDOWN_PASSIVE:
|
952 |
BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest(); |
953 |
break;
|
954 |
case AOS_SHUTDOWN_HIBERNATE:
|
955 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate(); |
956 |
break;
|
957 |
case AOS_SHUTDOWN_DEEPSLEEP:
|
958 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep(); |
959 |
break;
|
960 |
case AOS_SHUTDOWN_TRANSPORTATION:
|
961 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation(); |
962 |
break;
|
963 |
case AOS_SHUTDOWN_RESTART:
|
964 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart(); |
965 |
break;
|
966 |
// must never occur
|
967 |
case AOS_SHUTDOWN_NONE:
|
968 |
default:
|
969 |
break;
|
970 |
} |
971 |
|
972 |
return;
|
973 |
} |