amiro-os / core / src / aos_system.c @ 75c1f470
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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..2019 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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/**
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* @file aos_system.c
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* @brief System code.
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* @details Contains system initialization and shutdown routines
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* and system shell commands.
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*
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* @addtogroup aos_system
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* @{
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*/
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#include <amiroos.h> |
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#include <stdarg.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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#include <rt_test_root.h> |
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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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_MAX_SYSTIME - 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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#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
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/**
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* @brief Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value.
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*/
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#define SYSTEM_SYSSYNCSKEW_LPFACTOR (0.1f / AOS_SYSTEM_TIME_RESOLUTION) |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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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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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/*
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* forward declarations
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*/
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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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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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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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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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (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_ENABLE == true) && (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 /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */ |
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#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
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/**
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* @brief Offset between local clock and system wide synchronization signal.
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*/
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static float _syssyncskew; |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_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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#if (AMIROOS_CFG_SSSP_ENABLE == true) |
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/* name */ "system:shutdown", |
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#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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/* name */ "module:shutdown", |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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/* callback */ _shellcmd_shutdowncb,
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/* next */ NULL, |
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}; |
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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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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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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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streamPut(stream, '\n');
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++n; |
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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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// local variables
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#if (HAL_USE_RTC == TRUE)
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struct tm dt;
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aosSysGetDateTime(&dt); |
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#endif /* (HAL_USE_RTC == TRUE) */ |
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// print static information about module and operating system
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_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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_printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s", BOARD_NAME); |
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#if defined(PLATFORM_NAME)
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_printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME); |
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#endif /* defined(PLATFORM_NAME) */ |
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#if defined(PORT_CORE_VARIANT_NAME)
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_printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME); |
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#endif /* defined(PORT_CORE_VARIANT_NAME) */ |
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_printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME); |
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_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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#if (AMIROOS_CFG_SSSP_ENABLE == true) |
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_printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (SSSP %u.%u)", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE, AOS_SYSTEM_SSSP_VERSION_MAJOR, AOS_SYSTEM_SSSP_VERSION_MINOR); |
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#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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_printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE); |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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_printSystemInfoLine(stream, "AMiRo-LLD" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (periphAL %u.%u)", 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", 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", 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", (AMIROOS_CFG_DBG == true) ? "debug" : "release"); |
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_printSystemInfoLine(stream, "Compiler" , SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC |
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_printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__); |
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// print static information about the bootloader
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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)", 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 (AMIROOS_CFG_SSSP_ENABLE == true) |
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if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_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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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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_printSystemInfoLine(stream, "Compiler", SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", (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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// print dynamic information about the module
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_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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#if (AMIROOS_CFG_SSSP_ENABLE == true) |
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if (aos.sssp.moduleId != 0) { |
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_printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId); |
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} else {
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_printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available"); |
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} |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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#if (HAL_USE_RTC == TRUE)
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_printSystemInfoLine(stream, "Date", SYSTEM_INFO_NAMEWIDTH, "%s %02u-%02u-%04u", (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", dt.tm_hour, dt.tm_min, dt.tm_sec); |
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#if (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN != TRUE) |
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#if (AMIROOS_CFG_SSSP_MASTER == true) |
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_printSystemInfoLine(stream, "", SYSTEM_INFO_NAMEWIDTH, "Date & Time were not synchronized to slave modules."); |
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#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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_printSystemInfoLine(stream, "", SYSTEM_INFO_NAMEWIDTH, "Date & Time were not synchronized from master module."); |
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#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN != TRUE) */ |
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#endif /* (HAL_USE_RTC == TRUE) */ |
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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) || (AMIROOS_CFG_TESTS_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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408 |
else if (strcmp(argv[2], "match") == 0) { |
409 |
// there must be a further argument
|
410 |
if (argc > 3) { |
411 |
if (strcmp(argv[3], "casesensitive") == 0) { |
412 |
aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE; |
413 |
retval = AOS_OK; |
414 |
} |
415 |
else if (strcmp(argv[3], "caseinsensitive") == 0) { |
416 |
aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE; |
417 |
retval = AOS_OK; |
418 |
} |
419 |
} |
420 |
} |
421 |
} |
422 |
// if the user wants to retrieve the shell configuration
|
423 |
else {
|
424 |
chprintf(stream, "current shell configuration:\n");
|
425 |
chprintf(stream, " prompt text: %s\n",
|
426 |
(aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a"); |
427 |
char time[10]; |
428 |
switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
|
429 |
case AOS_SHELL_CONFIG_PROMPT_UPTIME:
|
430 |
strcpy(time, "uptime"); break; |
431 |
case AOS_SHELL_CONFIG_PROMPT_DATETIME:
|
432 |
strcpy(time, "date&time"); break; |
433 |
default:
|
434 |
strcpy(time, "no time"); break; |
435 |
} |
436 |
chprintf(stream, " prompt style: %s, %s\n",
|
437 |
(aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text", |
438 |
time); |
439 |
chprintf(stream, " input method: %s\n",
|
440 |
(aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert"); |
441 |
chprintf(stream, " text matching: %s\n",
|
442 |
(aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive"); |
443 |
retval = AOS_OK; |
444 |
} |
445 |
} |
446 |
# if (HAL_USE_RTC == TRUE)
|
447 |
// if the user wants to configure the date or time
|
448 |
else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) { |
449 |
struct tm dt;
|
450 |
aosSysGetDateTime(&dt); |
451 |
int val = atoi(argv[3]); |
452 |
if (strcmp(argv[2], "year") == 0 && val >= 1900) { |
453 |
dt.tm_year = val - 1900;
|
454 |
} |
455 |
else if (strcmp(argv[2], "month") == 0 && val > 0 && val <= 12) { |
456 |
dt.tm_mon = val - 1;
|
457 |
} |
458 |
else if (strcmp(argv[2], "day") == 0 && val > 0 && val <= 31) { |
459 |
dt.tm_mday = val; |
460 |
} |
461 |
else if (strcmp(argv[2], "hour") == 0 && val >= 0 && val < 24) { |
462 |
dt.tm_hour = val; |
463 |
} |
464 |
else if (strcmp(argv[2], "minute") == 0 && val >= 0 && val < 60) { |
465 |
dt.tm_min = val; |
466 |
} |
467 |
else if (strcmp(argv[2], "second") == 0 && val >= 0 && val < 60) { |
468 |
dt.tm_sec = val; |
469 |
} |
470 |
else {
|
471 |
chprintf(stream, "unknown option '%s' or invalid value '%s'\n", argv[2], argv[3]); |
472 |
return AOS_INVALID_ARGUMENTS;
|
473 |
} |
474 |
dt.tm_wday = aosTimeDayOfWeekFromDate(dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900) % 7; |
475 |
aosSysSetDateTime(&dt); |
476 |
|
477 |
// read and print new date and time
|
478 |
aosSysGetDateTime(&dt); |
479 |
chprintf(stream, "date/time set to %02u:%02u:%02u @ %02u-%02u-%04u\n",
|
480 |
dt.tm_hour, dt.tm_min, dt.tm_sec, |
481 |
dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900); |
482 |
|
483 |
retval = AOS_OK; |
484 |
} |
485 |
#endif /* (HAL_USE_RTC == TRUE) */ |
486 |
} |
487 |
|
488 |
// print help, if required
|
489 |
if (retval == AOS_INVALID_ARGUMENTS) {
|
490 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
491 |
chprintf(stream, "Options:\n");
|
492 |
chprintf(stream, " --help\n");
|
493 |
chprintf(stream, " Print this help text.\n");
|
494 |
chprintf(stream, " --shell [OPT [VAL]]\n");
|
495 |
chprintf(stream, " Set or retrieve shell configuration.\n");
|
496 |
chprintf(stream, " Possible OPTs and VALs are:\n");
|
497 |
chprintf(stream, " prompt text|minimal|uptime|date&time|notime\n");
|
498 |
chprintf(stream, " Configures the prompt.\n");
|
499 |
chprintf(stream, " match casesensitive|caseinsenitive\n");
|
500 |
chprintf(stream, " Configures string matching.\n");
|
501 |
#if (HAL_USE_RTC == TRUE)
|
502 |
chprintf(stream, " --date&time OPT VAL\n");
|
503 |
chprintf(stream, " Set the date/time value of OPT to VAL.\n");
|
504 |
chprintf(stream, " Possible OPTs are:\n");
|
505 |
chprintf(stream, " year\n");
|
506 |
chprintf(stream, " month\n");
|
507 |
chprintf(stream, " day\n");
|
508 |
chprintf(stream, " hour\n");
|
509 |
chprintf(stream, " minute\n");
|
510 |
chprintf(stream, " second\n");
|
511 |
#endif /* (HAL_USE_RTC == TRUE) */ |
512 |
} |
513 |
|
514 |
return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval; |
515 |
} |
516 |
|
517 |
/**
|
518 |
* @brief Callback function for the system:info shell command.
|
519 |
*
|
520 |
* @param[in] stream The I/O stream to use.
|
521 |
* @param[in] argc Number of arguments.
|
522 |
* @param[in] argv List of pointers to the arguments.
|
523 |
*
|
524 |
* @return An exit status.
|
525 |
* @retval AOS_OK The command was executed successfully.
|
526 |
*/
|
527 |
static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]) |
528 |
{ |
529 |
aosDbgCheck(stream != NULL);
|
530 |
|
531 |
(void)argc;
|
532 |
(void)argv;
|
533 |
|
534 |
// print system information
|
535 |
_printSystemInfo(stream); |
536 |
|
537 |
// print time measurement precision
|
538 |
chprintf(stream, "module time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
|
539 |
|
540 |
// print system uptime
|
541 |
aos_timestamp_t uptime; |
542 |
aosSysGetUptime(&uptime); |
543 |
chprintf(stream, "The system is running for\n");
|
544 |
chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
|
545 |
chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
|
546 |
chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
|
547 |
chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
|
548 |
chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
|
549 |
chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
|
550 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
551 |
chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", _syssyncskew, AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
|
552 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
553 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
554 |
|
555 |
// print shell info
|
556 |
chprintf(stream, "System shell information:\n");
|
557 |
chprintf(stream, "\tcommands available: %u\n", aosShellCountCommands(&aos.shell));
|
558 |
chprintf(stream, "\tline width: %u characters\n", aos.shell.linesize);
|
559 |
chprintf(stream, "\tmaximum arguments: %u\n", aos.shell.arglistsize);
|
560 |
#if (AMIROOS_CFG_DBG == true) |
561 |
chprintf(stream, "\tthread stack size: %u bytes\n", aosThdGetStacksize(aos.shell.thread));
|
562 |
#if (CH_DBG_FILL_THREADS == TRUE)
|
563 |
chprintf(stream, "\tstack peak utilization: %u bytes (%.2f%%)\n", aosThdGetStackPeakUtilization(aos.shell.thread), (float)aosThdGetStackPeakUtilization(aos.shell.thread) / (float)aosThdGetStacksize(aos.shell.thread) * 100.0f); |
564 |
#endif /* (CH_DBG_FILL_THREADS == TRUE) */ |
565 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
566 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
567 |
|
568 |
return AOS_OK;
|
569 |
} |
570 |
|
571 |
/**
|
572 |
* @brief Callback function for the sytem:shutdown shell command.
|
573 |
*
|
574 |
* @param[in] stream The I/O stream to use.
|
575 |
* @param[in] argc Number of arguments.
|
576 |
* @param[in] argv List of pointers to the arguments.
|
577 |
*
|
578 |
* @return An exit status.
|
579 |
* @retval AOS_OK The command was executed successfully.
|
580 |
* @retval AOS_INVALID_ARGUMENTS There was an issue with the arguments.
|
581 |
*/
|
582 |
static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]) |
583 |
{ |
584 |
aosDbgCheck(stream != NULL);
|
585 |
|
586 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
587 |
// print help text
|
588 |
if (argc != 2 || strcmp(argv[1], "--help") == 0) { |
589 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
590 |
chprintf(stream, "Options:\n");
|
591 |
chprintf(stream, " --help\n");
|
592 |
chprintf(stream, " Print this help text.\n");
|
593 |
chprintf(stream, " --hibernate, -h\n");
|
594 |
chprintf(stream, " Shutdown to hibernate mode.\n");
|
595 |
chprintf(stream, " Least energy saving, but allows charging via pins.\n");
|
596 |
chprintf(stream, " --deepsleep, -d\n");
|
597 |
chprintf(stream, " Shutdown to deepsleep mode.\n");
|
598 |
chprintf(stream, " Minimum energy consumption while allowing charging via plug.\n");
|
599 |
chprintf(stream, " --transportation, -t\n");
|
600 |
chprintf(stream, " Shutdown to transportation mode.\n");
|
601 |
chprintf(stream, " Minimum energy consumption with all interrupts disabled (no charging).\n");
|
602 |
chprintf(stream, " --restart, -r\n");
|
603 |
chprintf(stream, " Shutdown and restart system.\n");
|
604 |
|
605 |
return (argc != 2) ? AOS_INVALID_ARGUMENTS : AOS_OK; |
606 |
} |
607 |
// handle argument
|
608 |
else {
|
609 |
if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) { |
610 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
611 |
chThdTerminate(chThdGetSelfX()); |
612 |
return AOS_OK;
|
613 |
} |
614 |
else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) { |
615 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
616 |
chThdTerminate(chThdGetSelfX()); |
617 |
return AOS_OK;
|
618 |
} |
619 |
else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) { |
620 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
621 |
chThdTerminate(chThdGetSelfX()); |
622 |
return AOS_OK;
|
623 |
} |
624 |
else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) { |
625 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
626 |
chThdTerminate(chThdGetSelfX()); |
627 |
return AOS_OK;
|
628 |
} |
629 |
else {
|
630 |
chprintf(stream, "unknown argument %s\n", argv[1]); |
631 |
return AOS_INVALID_ARGUMENTS;
|
632 |
} |
633 |
} |
634 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
635 |
(void)argv;
|
636 |
(void)argc;
|
637 |
|
638 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
639 |
chThdTerminate(chThdGetSelfX()); |
640 |
return AOS_OK;
|
641 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
642 |
} |
643 |
|
644 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
645 |
/**
|
646 |
* @brief Callback function for the kernel:test shell command.
|
647 |
*
|
648 |
* @param[in] stream The I/O stream to use.
|
649 |
* @param[in] argc Number of arguments.
|
650 |
* @param[in] argv List of pointers to the arguments.
|
651 |
*
|
652 |
* @return An exit status.
|
653 |
*/
|
654 |
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]) |
655 |
{ |
656 |
aosDbgCheck(stream != NULL);
|
657 |
|
658 |
(void)argc;
|
659 |
(void)argv;
|
660 |
|
661 |
msg_t retval = test_execute(stream, &rt_test_suite); |
662 |
|
663 |
return retval;
|
664 |
} |
665 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
666 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
667 |
|
668 |
// suppress warning in case no interrupt GPIOs are defined
|
669 |
#pragma GCC diagnostic push
|
670 |
#pragma GCC diagnostic ignored "-Wunused-function" |
671 |
/**
|
672 |
* @brief Generic callback function for GPIO interrupts.
|
673 |
*
|
674 |
* @param[in] args Pointer to the GPIO pad identifier.
|
675 |
*/
|
676 |
static void _intCallback(void* args) |
677 |
{ |
678 |
aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8)); |
679 |
|
680 |
chSysLockFromISR(); |
681 |
chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(*((iopadid_t*)args))); |
682 |
chSysUnlockFromISR(); |
683 |
|
684 |
return;
|
685 |
} |
686 |
#pragma GCC diagnostic pop
|
687 |
|
688 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true)) || defined(__DOXYGEN__) |
689 |
/**
|
690 |
* @brief Callback function for the Sync signal interrupt.
|
691 |
*
|
692 |
* @param[in] args Pointer to the GPIO pad identifier.
|
693 |
*/
|
694 |
static void _signalSyncCallback(void *args) |
695 |
{ |
696 |
aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8)); |
697 |
|
698 |
apalControlGpioState_t s_state; |
699 |
aos_timestamp_t uptime; |
700 |
|
701 |
chSysLockFromISR(); |
702 |
// if the system is in operation phase
|
703 |
if (aos.sssp.stage == AOS_SSSP_OPERATION) {
|
704 |
// read signal S
|
705 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state); |
706 |
// if S was toggled from on to off
|
707 |
if (s_state == APAL_GPIO_OFF) {
|
708 |
// get current uptime
|
709 |
aosSysGetUptimeX(&uptime); |
710 |
// align the uptime with the synchronization period
|
711 |
if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) { |
712 |
_uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
713 |
#if (AMIROOS_CFG_PROFILE == true) |
714 |
_syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) + (SYSTEM_SYSSYNCSKEW_LPFACTOR * (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD)); |
715 |
#endif /* (AMIROOS_CFG_PROFILE == true) */ |
716 |
} else {
|
717 |
_uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
718 |
#if (AMIROOS_CFG_PROFILE == true) |
719 |
_syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) - (SYSTEM_SYSSYNCSKEW_LPFACTOR * (AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD))); |
720 |
#endif /* (AMIROOS_CFG_PROFILE == true) */ |
721 |
} |
722 |
} |
723 |
} |
724 |
// broadcast event
|
725 |
chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(*((iopadid_t*)args))); |
726 |
chSysUnlockFromISR(); |
727 |
|
728 |
return;
|
729 |
} |
730 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) */ |
731 |
|
732 |
/**
|
733 |
* @brief Callback function for the uptime accumulation timer.
|
734 |
*
|
735 |
* @param[in] par Generic parameter.
|
736 |
*/
|
737 |
static void _uptimeCallback(void* par) |
738 |
{ |
739 |
(void)par;
|
740 |
|
741 |
chSysLockFromISR(); |
742 |
// read current time in system ticks
|
743 |
register const systime_t st = chVTGetSystemTimeX(); |
744 |
// update the uptime variables
|
745 |
_uptime += chTimeI2US(chTimeDiffX(_synctime, st)); |
746 |
_synctime = st; |
747 |
// enable the timer again
|
748 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
749 |
chSysUnlockFromISR(); |
750 |
|
751 |
return;
|
752 |
} |
753 |
|
754 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined (__DOXYGEN__) |
755 |
/**
|
756 |
* @brief Periodic system synchronization callback function.
|
757 |
* @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.
|
758 |
*
|
759 |
* @param[in] par Unuesed parameters.
|
760 |
*/
|
761 |
static void _sysSyncTimerCallback(void* par) |
762 |
{ |
763 |
(void)par;
|
764 |
|
765 |
apalControlGpioState_t s_state; |
766 |
aos_timestamp_t uptime; |
767 |
|
768 |
chSysLockFromISR(); |
769 |
// toggle and read signal S
|
770 |
apalGpioToggle(moduleSsspGpioSync.gpio); |
771 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state); |
772 |
// if S was toggled from off to on
|
773 |
if (s_state == APAL_GPIO_ON) {
|
774 |
// reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
|
775 |
_syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
776 |
aosSysGetUptimeX(&uptime); |
777 |
chVTSetI(&_syssynctimer, chTimeUS2I(_syssynctime - uptime), _sysSyncTimerCallback, NULL);
|
778 |
} |
779 |
// if S was toggled from on to off
|
780 |
else /* if (s_state == APAL_GPIO_OFF) */ { |
781 |
// reconfigure the timer (lazy)
|
782 |
chVTSetI(&_syssynctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL); |
783 |
} |
784 |
chSysUnlockFromISR(); |
785 |
|
786 |
return;
|
787 |
} |
788 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */ |
789 |
|
790 |
/******************************************************************************/
|
791 |
/* EXPORTED FUNCTIONS */
|
792 |
/******************************************************************************/
|
793 |
|
794 |
/**
|
795 |
* @brief AMiRo-OS system initialization.
|
796 |
* @note Must be called from the system control thread (usually main thread).
|
797 |
*
|
798 |
* @param[in] shellPrompt String to be printed as prompt of the system shell.
|
799 |
*/
|
800 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
801 |
void aosSysInit(const char* shellPrompt) |
802 |
#else /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
803 |
void aosSysInit(void) |
804 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
805 |
{ |
806 |
/* set control thread to maximum priority */
|
807 |
chThdSetPriority(AOS_THD_CTRLPRIO); |
808 |
|
809 |
/* set local variables */
|
810 |
chVTObjectInit(&_systimer); |
811 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
812 |
_synctime = 0;
|
813 |
_uptime = 0;
|
814 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
815 |
chVTObjectInit(&_syssynctimer); |
816 |
_syssynctime = 0;
|
817 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
818 |
#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
819 |
_syssyncskew = 0.0f; |
820 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
821 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
822 |
// start the uptime counter
|
823 |
chSysLock(); |
824 |
_synctime = chVTGetSystemTimeX(); |
825 |
_uptime = 0;
|
826 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
827 |
chSysUnlock(); |
828 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
829 |
|
830 |
/* initialize aos configuration */
|
831 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
832 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_1; |
833 |
aos.sssp.moduleId = 0;
|
834 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
835 |
aosIOStreamInit(&aos.iostream); |
836 |
chEvtObjectInit(&aos.events.io); |
837 |
chEvtObjectInit(&aos.events.os); |
838 |
|
839 |
/* interrupt setup */
|
840 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
841 |
// PD signal
|
842 |
palSetPadCallback(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, _intCallback, &moduleSsspGpioPd.gpio->pad); |
843 |
palEnablePadEvent(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, APAL2CH_EDGE(moduleSsspGpioPd.meta.edge)); |
844 |
// SYNC signal
|
845 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
846 |
palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _intCallback, &moduleSsspGpioSync.gpio->pad); |
847 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
848 |
palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _signalSyncCallback, &moduleSsspGpioSync.gpio->pad); |
849 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
850 |
palEnablePadEvent(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, APAL2CH_EDGE(moduleSsspGpioSync.meta.edge)); |
851 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
852 |
// DN signal
|
853 |
palSetPadCallback(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, _intCallback, &moduleSsspGpioDn.gpio->pad); |
854 |
palEnablePadEvent(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, APAL2CH_EDGE(moduleSsspGpioDn.meta.edge)); |
855 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
856 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
857 |
// UP signal
|
858 |
palSetPadCallback(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, _intCallback, &moduleSsspGpioUp.gpio->pad); |
859 |
palEnablePadEvent(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, APAL2CH_EDGE(moduleSsspGpioUp.meta.edge)); |
860 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
861 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
862 |
#if defined(MODULE_INIT_INTERRUPTS)
|
863 |
// further interrupt signals
|
864 |
MODULE_INIT_INTERRUPTS(); |
865 |
#endif /* defined(MODULE_INIT_INTERRUPTS) */ |
866 |
|
867 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
868 |
/* init shell */
|
869 |
aosShellInit(&aos.shell, |
870 |
&aos.events.os, |
871 |
shellPrompt, |
872 |
_shell_line, |
873 |
AMIROOS_CFG_SHELL_LINEWIDTH, |
874 |
_shell_arglist, |
875 |
AMIROOS_CFG_SHELL_MAXARGS); |
876 |
// add system commands
|
877 |
aosShellAddCommand(&aos.shell, &_shellcmd_config); |
878 |
aosShellAddCommand(&aos.shell, &_shellcmd_info); |
879 |
aosShellAddCommand(&aos.shell, &_shellcmd_shutdown); |
880 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
881 |
aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest); |
882 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
883 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
884 |
|
885 |
return;
|
886 |
} |
887 |
|
888 |
/**
|
889 |
* @brief Starts the system and all system threads.
|
890 |
*/
|
891 |
inline void aosSysStart(void) |
892 |
{ |
893 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
894 |
// update the system SSSP stage
|
895 |
aos.sssp.stage = AOS_SSSP_OPERATION; |
896 |
|
897 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
898 |
{ |
899 |
chSysLock(); |
900 |
// start the system synchronization counter
|
901 |
// The first iteration of the timer is set to the next 'center' of a 'slice'.
|
902 |
aos_timestamp_t t; |
903 |
aosSysGetUptimeX(&t); |
904 |
t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
905 |
chVTSetI(&_syssynctimer, chTimeUS2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL); |
906 |
chSysUnlock(); |
907 |
} |
908 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
909 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
910 |
|
911 |
// print system information;
|
912 |
_printSystemInfo((BaseSequentialStream*)&aos.iostream); |
913 |
aosprintf("\n");
|
914 |
|
915 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
916 |
// start system shell thread
|
917 |
#if (CH_CFG_USE_THREADHIERARCHY == TRUE)
|
918 |
aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell, &ch.mainthread);
|
919 |
#else /* (CH_CFG_USE_THREADHIERARCHY == TRUE) */ |
920 |
aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
|
921 |
#endif /* (CH_CFG_USE_THREADHIERARCHY == TRUE) */ |
922 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
923 |
|
924 |
return;
|
925 |
} |
926 |
|
927 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
928 |
/**
|
929 |
* @brief Implements the SSSP startup synchronization step.
|
930 |
*
|
931 |
* @param[in] syncEvtListener Event listener that receives the Sync event.
|
932 |
*
|
933 |
* @return If another event that the listener is interested in was received, its mask is returned.
|
934 |
* Otherwise an empty mask (0) is returned.
|
935 |
*/
|
936 |
eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener) |
937 |
{ |
938 |
aosDbgCheck(syncEvtListener != NULL);
|
939 |
|
940 |
// local variables
|
941 |
eventmask_t m; |
942 |
eventflags_t f; |
943 |
apalControlGpioState_t s; |
944 |
|
945 |
// update the system SSSP stage
|
946 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_2; |
947 |
|
948 |
// deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase)
|
949 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
950 |
|
951 |
// wait for any event to occur (do not apply any filter in order not to miss any event)
|
952 |
m = chEvtWaitOne(ALL_EVENTS); |
953 |
f = chEvtGetAndClearFlags(syncEvtListener); |
954 |
apalControlGpioGet(&moduleSsspGpioSync, &s); |
955 |
|
956 |
// if the event was a system event,
|
957 |
// and it was fired because of the SysSync control signal,
|
958 |
// and the SysSync control signal has been deactivated
|
959 |
if (m & syncEvtListener->events &&
|
960 |
f == MODULE_SSSP_EVENTFLAGS_SYNC && |
961 |
s == APAL_GPIO_OFF) { |
962 |
chSysLock(); |
963 |
// start the uptime counter
|
964 |
_synctime = chVTGetSystemTimeX(); |
965 |
_uptime = 0;
|
966 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
967 |
chSysUnlock(); |
968 |
|
969 |
return 0; |
970 |
} |
971 |
// an unexpected event occurred
|
972 |
else {
|
973 |
// reassign the flags to the event and return the event mask
|
974 |
syncEvtListener->flags |= f; |
975 |
return m;
|
976 |
} |
977 |
} |
978 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
979 |
|
980 |
/**
|
981 |
* @brief Retrieves the system uptime.
|
982 |
*
|
983 |
* @param[out] ut The system uptime.
|
984 |
*/
|
985 |
inline void aosSysGetUptimeX(aos_timestamp_t* ut) |
986 |
{ |
987 |
aosDbgCheck(ut != NULL);
|
988 |
|
989 |
*ut = _uptime + chTimeI2US(chTimeDiffX(_synctime, chVTGetSystemTimeX())); |
990 |
|
991 |
return;
|
992 |
} |
993 |
|
994 |
#if (HAL_USE_RTC == TRUE) || defined(__DOXYGEN__)
|
995 |
|
996 |
/**
|
997 |
* @brief retrieves the date and time from the MCU clock.
|
998 |
*
|
999 |
* @param[out] td The date and time.
|
1000 |
*/
|
1001 |
void aosSysGetDateTime(struct tm* dt) |
1002 |
{ |
1003 |
aosDbgCheck(dt != NULL);
|
1004 |
|
1005 |
RTCDateTime rtc; |
1006 |
rtcGetTime(&MODULE_HAL_RTC, &rtc); |
1007 |
rtcConvertDateTimeToStructTm(&rtc, dt, NULL);
|
1008 |
|
1009 |
return;
|
1010 |
} |
1011 |
|
1012 |
/**
|
1013 |
* @brief set the date and time of the MCU clock.
|
1014 |
*
|
1015 |
* @param[in] dt The date and time to set.
|
1016 |
*/
|
1017 |
void aosSysSetDateTime(struct tm* dt) |
1018 |
{ |
1019 |
aosDbgCheck(dt != NULL);
|
1020 |
|
1021 |
RTCDateTime rtc; |
1022 |
rtcConvertStructTmToDateTime(dt, 0, &rtc);
|
1023 |
rtcSetTime(&MODULE_HAL_RTC, &rtc); |
1024 |
|
1025 |
return;
|
1026 |
} |
1027 |
|
1028 |
#endif /* (HAL_USE_RTC == TRUE) */ |
1029 |
|
1030 |
/**
|
1031 |
* @brief Initializes/Acknowledges a system shutdown/restart request.
|
1032 |
* @note This functions should be called from the thread with highest priority.
|
1033 |
*
|
1034 |
* @param[in] shutdown Type of shutdown.
|
1035 |
*/
|
1036 |
void aosSysShutdownInit(aos_shutdown_t shutdown)
|
1037 |
{ |
1038 |
// check arguments
|
1039 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
1040 |
|
1041 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
1042 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
1043 |
// deactivate the system synchronization timer
|
1044 |
chVTReset(&_syssynctimer); |
1045 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
1046 |
|
1047 |
// update the system SSSP stage
|
1048 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1; |
1049 |
|
1050 |
chSysLock(); |
1051 |
// activate the SYS_PD control signal only, if this module initiated the shutdown
|
1052 |
if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
1053 |
apalControlGpioSet(&moduleSsspGpioPd, APAL_GPIO_ON); |
1054 |
} |
1055 |
// activate the SYS_SYNC signal
|
1056 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
1057 |
chSysUnlock(); |
1058 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
1059 |
|
1060 |
switch (shutdown) {
|
1061 |
case AOS_SHUTDOWN_PASSIVE:
|
1062 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
1063 |
aosprintf("shutdown request received...\n");
|
1064 |
break;
|
1065 |
case AOS_SHUTDOWN_HIBERNATE:
|
1066 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
1067 |
aosprintf("shutdown to hibernate mode...\n");
|
1068 |
break;
|
1069 |
case AOS_SHUTDOWN_DEEPSLEEP:
|
1070 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
1071 |
aosprintf("shutdown to deepsleep mode...\n");
|
1072 |
break;
|
1073 |
case AOS_SHUTDOWN_TRANSPORTATION:
|
1074 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
1075 |
aosprintf("shutdown to transportation mode...\n");
|
1076 |
break;
|
1077 |
case AOS_SHUTDOWN_RESTART:
|
1078 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
1079 |
aosprintf("restarting system...\n");
|
1080 |
break;
|
1081 |
// must never occur
|
1082 |
case AOS_SHUTDOWN_NONE:
|
1083 |
default:
|
1084 |
break;
|
1085 |
} |
1086 |
|
1087 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
1088 |
// update the system SSSP stage
|
1089 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2; |
1090 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
1091 |
|
1092 |
return;
|
1093 |
} |
1094 |
|
1095 |
/**
|
1096 |
* @brief Stops the system and all related threads (not the thread this function is called from).
|
1097 |
*/
|
1098 |
void aosSysStop(void) |
1099 |
{ |
1100 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
1101 |
chThdWait(aos.shell.thread); |
1102 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
1103 |
|
1104 |
return;
|
1105 |
} |
1106 |
|
1107 |
/**
|
1108 |
* @brief Deinitialize all system variables.
|
1109 |
*/
|
1110 |
void aosSysDeinit(void) |
1111 |
{ |
1112 |
return;
|
1113 |
} |
1114 |
|
1115 |
/**
|
1116 |
* @brief Finally shuts down the system and calls the bootloader callback function.
|
1117 |
* @note This function should be called from the thtead with highest priority.
|
1118 |
*
|
1119 |
* @param[in] shutdown Type of shutdown.
|
1120 |
*/
|
1121 |
void aosSysShutdownFinal(aos_shutdown_t shutdown)
|
1122 |
{ |
1123 |
// check arguments
|
1124 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
1125 |
|
1126 |
// disable all interrupts
|
1127 |
irqDeinit(); |
1128 |
|
1129 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
1130 |
// update the system SSSP stage
|
1131 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3; |
1132 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
1133 |
|
1134 |
// validate bootloader
|
1135 |
if ((BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) &&
|
1136 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.major == BL_VERSION_MAJOR) && |
1137 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.minor >= BL_VERSION_MINOR)) { |
1138 |
// call bootloader callback depending on arguments
|
1139 |
switch (shutdown) {
|
1140 |
case AOS_SHUTDOWN_PASSIVE:
|
1141 |
BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest(); |
1142 |
break;
|
1143 |
case AOS_SHUTDOWN_HIBERNATE:
|
1144 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate(); |
1145 |
break;
|
1146 |
case AOS_SHUTDOWN_DEEPSLEEP:
|
1147 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep(); |
1148 |
break;
|
1149 |
case AOS_SHUTDOWN_TRANSPORTATION:
|
1150 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation(); |
1151 |
break;
|
1152 |
case AOS_SHUTDOWN_RESTART:
|
1153 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart(); |
1154 |
break;
|
1155 |
// must never occur
|
1156 |
case AOS_SHUTDOWN_NONE:
|
1157 |
default:
|
1158 |
break;
|
1159 |
} |
1160 |
} else {
|
1161 |
// fallback if bootloader was found to be invalid
|
1162 |
aosprintf("Bootloader incompatible or not available!\n");
|
1163 |
aosThdMSleep(10);
|
1164 |
chSysDisable(); |
1165 |
} |
1166 |
|
1167 |
return;
|
1168 |
} |
1169 |
|
1170 |
/** @} */
|