amiro-os / os / core / inc / aos_system.h @ 8399aeae
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | #ifndef _AMIROOS_SYSTEM_H_
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20 | #define _AMIROOS_SYSTEM_H_
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21 | |||
22 | ba516b61 | Thomas Schöpping | #include <aos_iostream.h> |
23 | e545e620 | Thomas Schöpping | #include <amiro-lld.h> |
24 | #include <aos_shell.h> |
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25 | #include <aos_time.h> |
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26 | #include <chprintf.h> |
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27 | |||
28 | /**
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29 | ba516b61 | Thomas Schöpping | * @brief Resolution of the system time measurement.
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30 | e545e620 | Thomas Schöpping | */
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31 | ba516b61 | Thomas Schöpping | #define AOS_SYSTEM_TIME_RESOLUTION ((MICROSECONDS_PER_SECOND + CH_CFG_ST_FREQUENCY - 1) / CH_CFG_ST_FREQUENCY) |
32 | e545e620 | Thomas Schöpping | |
33 | /**
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34 | ba516b61 | Thomas Schöpping | * @brief System event flag which is emitted when a shutdown was initiated.
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35 | e545e620 | Thomas Schöpping | */
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36 | ba516b61 | Thomas Schöpping | #define AOS_SYSTEM_EVENTFLAGS_SHUTDOWN (eventflags_t)(1 << 0) |
37 | e545e620 | Thomas Schöpping | |
38 | /**
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39 | * @brief System event flag which is emitted when a shutdown to transportation mode was initiated.
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40 | */
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41 | ba516b61 | Thomas Schöpping | #define AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 1)) |
42 | e545e620 | Thomas Schöpping | |
43 | /**
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44 | * @brief System event flag which is emitted when a shutdown to deepsleep mode was initiated.
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45 | */
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46 | ba516b61 | Thomas Schöpping | #define AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 2)) |
47 | e545e620 | Thomas Schöpping | |
48 | /**
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49 | * @brief System event flag which is emitted when a shutdown to hibernate mode was initiated.
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50 | */
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51 | ba516b61 | Thomas Schöpping | #define AOS_SYSTEM_EVENTFLAGS_HIBERNATE (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 3)) |
52 | e545e620 | Thomas Schöpping | |
53 | /**
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54 | * @brief System event flag which is emitted when a system restart was initiated.
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55 | */
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56 | ba516b61 | Thomas Schöpping | #define AOS_SYSTEM_EVENTFLAGS_RESTART (AOS_SYSTEM_EVENTFLAGS_SHUTDOWN | (eventflags_t)(1 << 4)) |
57 | e545e620 | Thomas Schöpping | |
58 | /**
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59 | * @brief Major version of the implemented SSSP.
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60 | */
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61 | #define AOS_SYSTEM_SSSP_MAJOR 1 |
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62 | |||
63 | /**
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64 | * @brief Minor version of the implemented SSSP.
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65 | */
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66 | #define AOS_SYSTEM_SSSP_MINOR 3 |
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67 | |||
68 | /**
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69 | * @brief Enumerator to identify shutdown types.
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70 | */
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71 | typedef enum aos_shutdown { |
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72 | AOS_SHUTDOWN_NONE, /**< Default value if no shutdown action was initiated */
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73 | AOS_SHUTDOWN_PASSIVE, /**< Passive shutdown (initiated by another module). */
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74 | AOS_SHUTDOWN_HIBERNATE, /**< Active shutdown to hibernate mode. */
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75 | AOS_SHUTDOWN_DEEPSLEEP, /**< Active shutdown to deepsleep mode. */
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76 | AOS_SHUTDOWN_TRANSPORTATION, /**< Active shutdown to transportation mode. */
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77 | AOS_SHUTDOWN_RESTART, /**< Active saystem restart request. */
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78 | } aos_shutdown_t; |
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79 | |||
80 | /**
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81 | * @brief Enumerator of the several stages of SSSP
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82 | */
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83 | typedef enum aos_ssspstage { |
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84 | AOS_SSSP_STARTUP_1_1 = 0x0000, /**< Identifier of SSSP startup phase stage 1-1. */ |
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85 | AOS_SSSP_STARTUP_1_2 = 0x0001, /**< Identifier of SSSP startup phase stage 1-2. */ |
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86 | AOS_SSSP_STARTUP_1_3 = 0x0002, /**< Identifier of SSSP startup phase stage 1-3. */ |
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87 | AOS_SSSP_STARTUP_2_1 = 0x0004, /**< Identifier of SSSP startup phase stage 2-1. */ |
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88 | AOS_SSSP_STARTUP_2_2 = 0x0005, /**< Identifier of SSSP startup phase stage 2-2. */ |
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89 | AOS_SSSP_STARTUP_3_1 = 0x0008, /**< Identifier of SSSP startup phase stage 3-1. */ |
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90 | AOS_SSSP_STARTUP_3_2 = 0x0009, /**< Identifier of SSSP startup phase stage 3-2. */ |
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91 | AOS_SSSP_STARTUP_3_3 = 0x000A, /**< Identifier of SSSP startup phase stage 3-3. */ |
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92 | AOS_SSSP_STARTUP_3_4 = 0x000B, /**< Identifier of SSSP startup phase stage 3-4. */ |
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93 | AOS_SSSP_OPERATION = 0x0100, /**< Identifier of SSSP operation pahse. */ |
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94 | AOS_SSSP_SHUTDOWN_1_1 = 0x0200, /**< Identifier of SSSP shutdown phase stage 1-1. */ |
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95 | AOS_SSSP_SHUTDOWN_1_2 = 0x0201, /**< Identifier of SSSP shutdown phase stage 1-2. */ |
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96 | AOS_SSSP_SHUTDOWN_1_3 = 0x0202, /**< Identifier of SSSP shutdown phase stage 1-3. */ |
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97 | AOS_SSSP_SHUTDOWN_2_1 = 0x0204, /**< Identifier of SSSP shutdown phase stage 2-1. */ |
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98 | AOS_SSSP_SHUTDOWN_2_2 = 0x0205, /**< Identifier of SSSP shutdown phase stage 2-2. */ |
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99 | AOS_SSSP_SHUTDOWN_3 = 0x0208, /**< Identifier of SSSP shutdown phase stage 3. */ |
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100 | } aos_ssspstage_t; |
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101 | |||
102 | /**
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103 | * @brief AMiRo-OS base system structure.
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104 | */
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105 | typedef struct aos_system { |
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106 | /**
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107 | * @brief Current SSSP stage of the system.
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108 | */
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109 | aos_ssspstage_t ssspStage; |
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110 | |||
111 | /**
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112 | ba516b61 | Thomas Schöpping | * @brief System I/O stream.
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113 | */
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114 | AosIOStream iostream; |
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115 | |||
116 | /**
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117 | e545e620 | Thomas Schöpping | * @brief Event structure.
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118 | */
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119 | struct {
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120 | |||
121 | /**
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122 | * @brief I/O related events.
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123 | */
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124 | struct {
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125 | /**
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126 | * @brief I/O event source.
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127 | */
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128 | event_source_t source; |
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129 | |||
130 | /**
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131 | * @brief Event flags emitted when a PD signal interrupt occurs.
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132 | */
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133 | eventflags_t flagsSignalPd; |
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134 | |||
135 | /**
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136 | * @brief Event flags emitted when a Sync signal interrupt occurs.
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137 | */
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138 | eventflags_t flagsSignalSync; |
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139 | } io; |
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140 | |||
141 | /**
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142 | * @brief Operating system events.
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143 | */
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144 | struct {
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145 | /**
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146 | * @brief OS event source.
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147 | */
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148 | event_source_t source; |
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149 | } os; |
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150 | } events; |
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151 | |||
152 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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153 | /**
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154 | * @brief Pointer to the shell object.
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155 | */
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156 | aos_shell_t* shell; |
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157 | #endif
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158 | |||
159 | } aos_system_t; |
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160 | |||
161 | /**
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162 | * @brief Global system object.
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163 | */
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164 | extern aos_system_t aos;
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165 | |||
166 | ba516b61 | Thomas Schöpping | /**
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167 | * @brief Printf function that uses the default system I/O stream.
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168 | */
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169 | #define aosprintf(fmt, ...) chprintf((BaseSequentialStream*)&aos.iostream, fmt, ##__VA_ARGS__) |
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170 | |||
171 | e545e620 | Thomas Schöpping | #ifdef __cplusplus
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172 | extern "C" { |
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173 | #endif
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174 | void aosSysInit(EXTDriver* extDrv, EXTConfig* extCfg, apalControlGpio_t* gpioPd, apalControlGpio_t* gpioSync, eventflags_t flagsSignalPd, eventflags_t evtFlagsSync, const char* shellPrompt); |
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175 | void aosSysStart(void); |
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176 | eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener); |
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177 | void aosSysGetUptimeX(aos_timestamp_t* ut);
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178 | 8399aeae | Thomas Schöpping | void aosSysGetDateTime(struct tm* dt); |
179 | void aosSysSetDateTime(struct tm* dt); |
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180 | e545e620 | Thomas Schöpping | void aosSysShutdownInit(aos_shutdown_t shutdown);
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181 | void aosSysStop(void); |
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182 | void aosSysDeinit(void); |
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183 | void aosSysShutdownFinal(EXTDriver* extDrv, aos_shutdown_t shutdown);
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184 | #ifdef __cplusplus
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185 | } |
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186 | #endif
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187 | |||
188 | /**
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189 | * @brief Retrieves the system uptime.
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190 | *
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191 | * @param[out] ut The system uptime.
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192 | */
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193 | static inline void aosSysGetUptime(aos_timestamp_t* ut) |
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194 | { |
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195 | aosDbgCheck(ut != NULL);
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196 | |||
197 | chSysLock(); |
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198 | aosSysGetUptimeX(ut); |
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199 | chSysUnlock(); |
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200 | |||
201 | return;
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202 | } |
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203 | |||
204 | #endif /* _AMIROOS_SYSTEM_H_ */ |