AMiRo-OS

#if (AMIROOS_CFG_TESTS_ENABLE == true)

#include <ch_test.h>

#include <rt_test_root.h>

/******************************************************************************/

/* LOCAL DEFINITIONS                                                          */

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

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

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

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */

/**

static aos_shellcommand_t _shellcmd_shutdown = {

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  /* name     */ "system:shutdown",

  /* name     */ "module:shutdown",

  /* callback */ _shellcmd_shutdowncb,

  /* next     */ NULL,

};

  /* callback */ _shellcmd_kerneltestcb,

  /* next     */ NULL,

};

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */

/******************************************************************************/

#if (HAL_USE_RTC == TRUE)

  struct tm dt;

  aosSysGetDateTime(&dt);

  // print static information about module and operating system

  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);

  _printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s", BOARD_NAME);

  _printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME);

  _printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME);

  _printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME);

  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  _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);

  _printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE);

  _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);

  _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");

  _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");

        aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");

      }

    }

    _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

  } else {

    if (stream) {

  } else {

    _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available");

  }

#if (HAL_USE_RTC == TRUE)

  _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",

                       dt.tm_mday,

                       dt.tm_mon + 1,

                       dt.tm_year + 1900);

  _printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u", dt.tm_hour, dt.tm_min, dt.tm_sec);

  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);

      retval = AOS_OK;

    }

  }

  // print help, if required

    chprintf(stream, "      hour\n");

    chprintf(stream, "      minute\n");

    chprintf(stream, "      second\n");

  }

  return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval;

  chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));

#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)

  chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", _syssyncskew, AMIROOS_CFG_SSSP_SYSSYNCPERIOD);

  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);

  // print shell info

  chprintf(stream, "\tthread stack size:      %u bytes\n", aosThdGetStacksize(aos.shell.thread));

#if (CH_DBG_FILL_THREADS == TRUE)

  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);

  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);

  return AOS_OK;

      return AOS_INVALID_ARGUMENTS;

    }

  }

  (void)argv;

  (void)argc;

  chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN);

  chThdTerminate(chThdGetSelfX());

  return AOS_OK;

}

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

  return retval;

}

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */

// suppress warning in case no interrupt GPIOs are defined

        _uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD;

#if (AMIROOS_CFG_PROFILE == true)

        _syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) + (SYSTEM_SYSSYNCSKEW_LPFACTOR * (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD));

      } else {

        _uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD);

#if (AMIROOS_CFG_PROFILE == true)

        _syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) - (SYSTEM_SYSSYNCSKEW_LPFACTOR * (AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD)));

      }

    }

  }

 */

#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

void aosSysInit(const char* shellPrompt)

void aosSysInit(void)

{

  /* set control thread to maximum priority */

  chThdSetPriority(AOS_THD_CTRLPRIO);

#if (AMIROOS_CFG_SSSP_MASTER == true)

  chVTObjectInit(&_syssynctimer);

  _syssynctime = 0;

#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)

  _syssyncskew = 0.0f;

  // start the uptime counter

  chSysLock();

  _synctime = chVTGetSystemTimeX();

  _uptime = 0;

  chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);

  chSysUnlock();

  /* initialize aos configuration */

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  aos.sssp.stage = AOS_SSSP_STARTUP_2_1;

  aos.sssp.moduleId = 0;

  aosIOStreamInit(&aos.iostream);

  chEvtObjectInit(&aos.events.io);

  chEvtObjectInit(&aos.events.os);

  // SYNC signal

#if (AMIROOS_CFG_SSSP_MASTER == true)

  palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _intCallback, &moduleSsspGpioSync.gpio->pad);

  palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _signalSyncCallback, &moduleSsspGpioSync.gpio->pad);

  palEnablePadEvent(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, APAL2CH_EDGE(moduleSsspGpioSync.meta.edge));

#if (AMIROOS_CFG_SSSP_STACK_START != true)

  // DN signal

  palSetPadCallback(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, _intCallback, &moduleSsspGpioDn.gpio->pad);

  palEnablePadEvent(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, APAL2CH_EDGE(moduleSsspGpioDn.meta.edge));

#if (AMIROOS_CFG_SSSP_STACK_END != true)

  // UP signal

  palSetPadCallback(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, _intCallback, &moduleSsspGpioUp.gpio->pad);

  palEnablePadEvent(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, APAL2CH_EDGE(moduleSsspGpioUp.meta.edge));

  // further interrupt signals

  MODULE_INIT_INTERRUPTS();

#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)

  /* init shell */

  aosShellAddCommand(&aos.shell, &_shellcmd_shutdown);

#if (AMIROOS_CFG_TESTS_ENABLE == true)

  aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest);

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */

  return;

    chVTSetI(&_syssynctimer, chTimeUS2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL);

    chSysUnlock();

  }

  // print system information;

  _printSystemInfo((BaseSequentialStream*)&aos.iostream);

  // start system shell thread

#if (CH_CFG_USE_THREADHIERARCHY == TRUE)

  aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell, &ch.mainthread);

  aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);

  return;

}

    return m;

  }

}

/**

 * @brief   Retrieves the system uptime.

  return;

}

/**

 * @brief   Initializes/Acknowledges a system shutdown/restart request.

#if (AMIROOS_CFG_SSSP_MASTER == true)

  // deactivate the system synchronization timer

  chVTReset(&_syssynctimer);

  // update the system SSSP stage

  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1;

  // activate the SYS_SYNC signal

  apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON);

  chSysUnlock();

  switch (shutdown) {

    case AOS_SHUTDOWN_PASSIVE:

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  // update the system SSSP stage

  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2;

  return;

}

{

#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)

  chThdWait(aos.shell.thread);

  return;

}

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  // update the system SSSP stage

  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3;

  // validate bootloader

  if ((BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) &&