Statistics
| Branch: | Tag: | Revision:

amiro-os / core / inc / aos_system.h @ 6ff06bbf

History | View | Annotate | Download (7.06 KB)

1
/*
2
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
3
Copyright (C) 2016..2019  Thomas Schöpping et al.
4

5
This program is free software: you can redistribute it and/or modify
6
it under the terms of the GNU General Public License as published by
7
the Free Software Foundation, either version 3 of the License, or
8
(at your option) any later version.
9

10
This program is distributed in the hope that it will be useful,
11
but WITHOUT ANY WARRANTY; without even the implied warranty of
12
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13
GNU General Public License for more details.
14

15
You should have received a copy of the GNU General Public License
16
along with this program.  If not, see <http://www.gnu.org/licenses/>.
17
*/
18

    
19
/**
20
 * @file    aos_system.h
21
 * @brief   System macros and structures.
22
 *
23
 * @addtogroup aos_system
24
 * @{
25
 */
26

    
27
#ifndef AMIROOS_SYSTEM_H
28
#define AMIROOS_SYSTEM_H
29

    
30
#include <time.h>
31
#include <aos_iostream.h>
32
#include <amiro-lld.h>
33
#include <aos_shell.h>
34
#include <aos_time.h>
35
#include <chprintf.h>
36

    
37
/**
38
 * @brief   Resolution of the system time measurement.
39
 */
40
#define AOS_SYSTEM_TIME_RESOLUTION              ((MICROSECONDS_PER_SECOND + CH_CFG_ST_FREQUENCY - 1) / CH_CFG_ST_FREQUENCY)
41

    
42
/**
43
 * @brief   System event flag which is emitted when a shutdown was initiated.
44
 */
45
#define AOS_SYSTEM_EVENTFLAGS_SHUTDOWN          (eventflags_t)(1 << 0)
46

    
47
/**
48
 * @brief   System event flag which is emitted when a shutdown to transportation mode was initiated.
49
 */
50
#define AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION    (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 1))
51

    
52
/**
53
 * @brief   System event flag which is emitted when a shutdown to deepsleep mode was initiated.
54
 */
55
#define AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP         (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 2))
56

    
57
/**
58
 * @brief   System event flag which is emitted when a shutdown to hibernate mode was initiated.
59
 */
60
#define AOS_SYSTEM_EVENTFLAGS_HIBERNATE         (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 3))
61

    
62
/**
63
 * @brief   System event flag which is emitted when a system restart was initiated.
64
 */
65
#define AOS_SYSTEM_EVENTFLAGS_RESTART           (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 4))
66

    
67
/**
68
 * @brief   Enumerator to identify shutdown types.
69
 */
70
typedef enum aos_shutdown {
71
  AOS_SHUTDOWN_NONE,            /**< Default value if no shutdown action was initiated */
72
  AOS_SHUTDOWN_PASSIVE,         /**< Passive shutdown (initiated by another module). */
73
  AOS_SHUTDOWN_HIBERNATE,       /**< Active shutdown to hibernate mode. */
74
  AOS_SHUTDOWN_DEEPSLEEP,       /**< Active shutdown to deepsleep mode. */
75
  AOS_SHUTDOWN_TRANSPORTATION,  /**< Active shutdown to transportation mode. */
76
  AOS_SHUTDOWN_RESTART,         /**< Active saystem restart request. */
77
} aos_shutdown_t;
78

    
79
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)
80

    
81
/**
82
 * @brief   Major version of the implemented SSSP.
83
 */
84
#define AOS_SYSTEM_SSSP_VERSION_MAJOR           1
85

    
86
/**
87
 * @brief   Minor version of the implemented SSSP.
88
 */
89
#define AOS_SYSTEM_SSSP_VERSION_MINOR           4
90

    
91
/**
92
 * @brief   Timeout delay according to SSSP.
93
 * @details SSSP defines timeouts to be ten times longer than the signal delay time.
94
 */
95
#define AOS_SYSTEM_SSSP_TIMEOUT                 (10 * AMIROOS_CFG_SSSP_SIGNALDELAY)
96

    
97
/**
98
 * @brief   Enumerator of the several stages of SSSP.
99
 */
100
typedef enum aos_ssspstage {
101
  AOS_SSSP_STARTUP_1_1  = 0x10, /**< Identifier of SSSP startup phase stage 1-1. */
102
  AOS_SSSP_STARTUP_1_2  = 0x11, /**< Identifier of SSSP startup phase stage 1-2. */
103
  AOS_SSSP_STARTUP_1_3  = 0x12, /**< Identifier of SSSP startup phase stage 1-3. */
104
  AOS_SSSP_STARTUP_2_1  = 0x14, /**< Identifier of SSSP startup phase stage 2-1. */
105
  AOS_SSSP_STARTUP_2_2  = 0x15, /**< Identifier of SSSP startup phase stage 2-2. */
106
  AOS_SSSP_STARTUP_3_1  = 0x18, /**< Identifier of SSSP startup phase stage 3-1. */
107
  AOS_SSSP_STARTUP_3_2  = 0x19, /**< Identifier of SSSP startup phase stage 3-2. */
108
  AOS_SSSP_STARTUP_3_3  = 0x1A, /**< Identifier of SSSP startup phase stage 3-3. */
109
  AOS_SSSP_STARTUP_3_4  = 0x1B, /**< Identifier of SSSP startup phase stage 3-4. */
110
  AOS_SSSP_OPERATION    = 0x20, /**< Identifier of SSSP operation pahse. */
111
  AOS_SSSP_SHUTDOWN_1_1 = 0x30, /**< Identifier of SSSP shutdown phase stage 1-1. */
112
  AOS_SSSP_SHUTDOWN_1_2 = 0x31, /**< Identifier of SSSP shutdown phase stage 1-2. */
113
  AOS_SSSP_SHUTDOWN_1_3 = 0x32, /**< Identifier of SSSP shutdown phase stage 1-3. */
114
  AOS_SSSP_SHUTDOWN_2_1 = 0x34, /**< Identifier of SSSP shutdown phase stage 2-1. */
115
  AOS_SSSP_SHUTDOWN_2_2 = 0x35, /**< Identifier of SSSP shutdown phase stage 2-2. */
116
  AOS_SSSP_SHUTDOWN_3   = 0x38, /**< Identifier of SSSP shutdown phase stage 3. */
117
} aos_ssspstage_t;
118

    
119
/**
120
 * @brief   Type to represent module IDs.
121
 */
122
typedef uint16_t aos_ssspmoduleid_t;
123

    
124
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */
125

    
126
/**
127
 * @brief   AMiRo-OS base system structure.
128
 */
129
typedef struct aos_system {
130
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)
131
  /**
132
   * @brief   SSSP relevant data.
133
   */
134
  struct {
135
    /**
136
     * @brief   Current SSSP stage of the system.
137
     */
138
    aos_ssspstage_t stage;
139

    
140
    /**
141
     * @brief   Module identifier.
142
     * @details A value of 0 indicates an uninitialized ID.
143
     *          The vlaues 0 and ~0 are reserved und must not be set.
144
     */
145
    aos_ssspmoduleid_t moduleId;
146
  } sssp;
147
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */
148

    
149
  /**
150
   * @brief   System I/O stream.
151
   */
152
  AosIOStream iostream;
153

    
154
  /**
155
   * @brief   Event structure.
156
   */
157
  struct {
158

    
159
    /**
160
     * @brief   I/O event source.
161
     */
162
    event_source_t io;
163

    
164
    /**
165
     * @brief   OS event source.
166
     */
167
    event_source_t os;
168
  } events;
169

    
170
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
171
  /**
172
   * @brief   Pointer to the shell object.
173
   */
174
  aos_shell_t shell;
175
#endif
176

    
177
} aos_system_t;
178

    
179
/**
180
 * @brief   Global system object.
181
 */
182
extern aos_system_t aos;
183

    
184
/**
185
 * @brief   Printf function that uses the default system I/O stream.
186
 *
187
 * @param[in] fmt   Formatted string to print.
188
 */
189
#define aosprintf(fmt, ...)                     chprintf((BaseSequentialStream*)&aos.iostream, fmt, ##__VA_ARGS__)
190

    
191
#ifdef __cplusplus
192
extern "C" {
193
#endif
194
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)
195
  void aosSysInit(const char* shellPrompt);
196
#else
197
  void aosSysInit(void);
198
#endif
199
  void aosSysStart(void);
200
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined (__DOXYGEN__)
201
  eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener);
202
#endif
203
  void aosSysGetUptimeX(aos_timestamp_t* ut);
204
  void aosSysGetDateTime(struct tm* dt);
205
  void aosSysSetDateTime(struct tm* dt);
206
  void aosSysShutdownInit(aos_shutdown_t shutdown);
207
  void aosSysStop(void);
208
  void aosSysDeinit(void);
209
  void aosSysShutdownFinal(aos_shutdown_t shutdown);
210
#ifdef __cplusplus
211
}
212
#endif
213

    
214
/**
215
 * @brief   Retrieves the system uptime.
216
 *
217
 * @param[out] ut   Pointer to the system uptime.
218
 */
219
static inline void aosSysGetUptime(aos_timestamp_t* ut)
220
{
221
  chSysLock();
222
  aosSysGetUptimeX(ut);
223
  chSysUnlock();
224
}
225

    
226
#endif /* AMIROOS_SYSTEM_H */
227

    
228
/** @} */