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amiro-os / core / src / aos_system.c @ 9ebb11a9

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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018  Thomas Schöpping et al.
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5
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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19
/**
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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 <aos_system.h>
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31
#include <amiroos.h>
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#include <amiroblt.h>
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#include <module.h>
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#include <string.h>
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#include <stdlib.h>
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#if (AMIROOS_CFG_TESTS_ENABLE == true)
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#include <ch_test.h>
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#include <rt_test_root.h>
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#endif
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41
/**
42
 * @brief   Period of the system timer.
43
 */
44
#define SYSTIMER_PERIOD               (TIME_MAX_SYSTIME - CH_CFG_ST_TIMEDELTA)
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46
/**
47
 * @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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51
/**
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 * @brief   Width of the name column of the system info table.
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 */
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#define SYSTEM_INFO_NAMEWIDTH         14
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/* forward declarations */
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static void _printSystemInfo(BaseSequentialStream* stream);
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#if (AMIROOS_CFG_SHELL_ENABLE == true)
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static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]);
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static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]);
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static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]);
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#if (AMIROOS_CFG_TESTS_ENABLE == true)
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static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]);
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#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
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#endif /* AMIROOS_CFG_SHELL_ENABLE == true */
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67
/**
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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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72
/**
73
 * @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__)
83
/**
84
 * @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
93

    
94
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
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/**
96
 * @brief   Offset between local clock and system wide synchronization signal.
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 */
98
static float _syssyncskew;
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100
/**
101
 * @brief   Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value.
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 */
103
#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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106
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
107
/**
108
 * @brief   Shell thread working area.
109
 */
110
THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE);
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112
/**
113
 * @brief   Shell input buffer.
114
 */
115
static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH];
116

    
117
/**
118
 * @brief   Shell argument buffer.
119
 */
120
static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS];
121

    
122
/**
123
 * @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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 */
134
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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/**
141
 * @brief   Shell command to shutdown the system.
142
 */
143
static aos_shellcommand_t _shellcmd_shutdown = {
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  /* name     */ "system:shutdown",
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  /* callback */ _shellcmd_shutdowncb,
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  /* next     */ NULL,
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};
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#endif /* AMIROOS_CFG_SHELL_ENABLE == true */
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150
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
151
/**
152
 * @brief   Shell kommand to run a test of the ChibiOS/RT kernel.
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 */
154
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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161
/**
162
 * @brief   Global system object.
163
 */
164
aos_system_t aos;
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166
/**
167
 * @brief   Print a separator line.
168
 *
169
 * @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.
174
 */
175
static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n)
176
{
177
  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);
182
  }
183
  streamPut(stream, '\n');
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  return n+1;
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}
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/**
189
 * @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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 *
200
 * @return  Number of characters printed.
201
 */
202
static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...)
203
{
204
  aosDbgCheck(stream != NULL);
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  aosDbgCheck(name != NULL);
206

    
207
  unsigned int n = 0;
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  va_list ap;
209

    
210
  va_start(ap, fmt);
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  n += chprintf(stream, name);
212
  while (n < namewidth) {
213
    streamPut(stream, ' ');
214
    ++n;
215
  }
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  n += chvprintf(stream, fmt, ap);
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  va_end(ap);
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219
  streamPut(stream, '\n');
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  ++n;
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222
  return n;
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}
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/**
226
 * @brief   Prints information about the system.
227
 *
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 * @param[in] stream    Stream to print to.
229
 */
230
static void _printSystemInfo(BaseSequentialStream* stream)
231
{
232
  aosDbgCheck(stream != NULL);
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  // local variables
235
  struct tm dt;
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  aosSysGetDateTime(&dt);
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238
  // print static information about module and operating system
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  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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#ifdef BOARD_VERSION
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  _printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s (v%s)", BOARD_NAME, BOARD_VERSION);
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#else
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  _printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s", BOARD_NAME);
244
#endif
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#ifdef PLATFORM_NAME
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  _printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME);
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#endif
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#ifdef PORT_CORE_VARIANT_NAME
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  _printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME);
250
#endif
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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)
254
  _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
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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);
257
#endif
258
  _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);
259
  _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");
260
  _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");
261
  _printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s", (AMIROOS_CFG_DBG == true) ? "debug" : "release");
262
  _printSystemInfoLine(stream, "Compiler" , SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC
263
  _printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__);
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265
  // print static information about the bootloader
266
  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
267
  if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
268
    _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,
269
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :
270
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :
271
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :
272
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :
273
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :
274
                         "<release type unknown>",
275
                         BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor);
276
#if (AMIROOS_CFG_SSSP_ENABLE == true)
277
    if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_MAJOR) {
278
      if (stream) {
279
        chprintf(stream, "WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
280
      } else {
281
        aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
282
      }
283
    }
284
#endif
285
    _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
286
  } else {
287
    if (stream) {
288
      chprintf(stream, "Bootloader incompatible or not available.\n");
289
    } else {
290
      aosprintf("Bootloader incompatible or not available.\n");
291
    }
292
  }
293

    
294
  // print dynamic information about the module
295
  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
296
#if (AMIROOS_CFG_SSSP_ENABLE == true)
297
  if (aos.sssp.moduleId != 0) {
298
    _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId);
299
  } else {
300
    _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available");
301
  }
302
#endif
303
  _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",
304
                       dt.tm_mday,
305
                       dt.tm_mon + 1,
306
                       dt.tm_year + 1900);
307
  _printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u", dt.tm_hour, dt.tm_min, dt.tm_sec);
308

    
309
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
310

    
311
  return;
312
}
313

    
314
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
315
/**
316
 * @brief   Callback function for the system:config shell command.
317
 *
318
 * @param[in] stream    The I/O stream to use.
319
 * @param[in] argc      Number of arguments.
320
 * @param[in] argv      List of pointers to the arguments.
321
 *
322
 * @return              An exit status.
323
 * @retval  AOS_OK                  The command was executed successfuly.
324
 * @retval  AOS_INVALID_ARGUMENTS   There was an issue with the arguemnts.
325
 */
326
static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[])
327
{
328
  aosDbgCheck(stream != NULL);
329

    
330
  // local variables
331
  int retval = AOS_INVALID_ARGUMENTS;
332

    
333
  // if there are additional arguments
334
  if (argc > 1) {
335
    // if the user wants to set or retrieve the shell configuration
336
    if (strcmp(argv[1], "--shell") == 0) {
337
      // if the user wants to modify the shell configuration
338
      if (argc > 2) {
339
        // if the user wants to modify the prompt
340
        if (strcmp(argv[2], "prompt") == 0) {
341
          // there must be a further argument
342
          if (argc > 3) {
343
            // handle the option
344
            if (strcmp(argv[3], "text") == 0) {
345
              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL;
346
              retval = AOS_OK;
347
            }
348
            else if (strcmp(argv[3], "minimal") == 0) {
349
              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL;
350
              retval = AOS_OK;
351
            }
352
            else if (strcmp(argv[3], "notime") == 0) {
353
              aos.shell.config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME);
354
              retval = AOS_OK;
355
            }
356
            else if (strcmp(argv[3], "uptime") == 0) {
357
              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME;
358
              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_UPTIME;
359
              retval = AOS_OK;
360
            }
361
            else if (strcmp(argv[3], "date&time") == 0) {
362
              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME;
363
              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME;
364
              retval = AOS_OK;
365
            }
366
            else {
367
              chprintf(stream, "unknown option '%s'\n", argv[3]);
368
              return AOS_INVALID_ARGUMENTS;
369
            }
370
          }
371
        }
372
        // if the user wants to modify the string matching
373
        else if (strcmp(argv[2], "match") == 0) {
374
          // there must be a further argument
375
          if (argc > 3) {
376
            if (strcmp(argv[3], "casesensitive") == 0) {
377
              aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE;
378
              retval = AOS_OK;
379
            }
380
            else if (strcmp(argv[3], "caseinsensitive") == 0) {
381
              aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE;
382
              retval = AOS_OK;
383
            }
384
          }
385
        }
386
      }
387
      // if the user wants to retrieve the shell configuration
388
      else {
389
        chprintf(stream, "current shell configuration:\n");
390
        chprintf(stream, "  prompt text:   %s\n",
391
                 (aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a");
392
        char time[10];
393
        switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
394
          case AOS_SHELL_CONFIG_PROMPT_UPTIME:
395
            strcpy(time, "uptime"); break;
396
          case AOS_SHELL_CONFIG_PROMPT_DATETIME:
397
            strcpy(time, "date&time"); break;
398
          default:
399
            strcpy(time, "no time"); break;
400
        }
401
        chprintf(stream, "  prompt style:  %s, %s\n",
402
                 (aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text",
403
                 time);
404
        chprintf(stream, "  input method:  %s\n",
405
                 (aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert");
406
        chprintf(stream, "  text matching: %s\n",
407
                 (aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive");
408
        retval = AOS_OK;
409
      }
410
    }
411
    // if the user wants to configure the date or time
412
    else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) {
413
      struct tm dt;
414
      aosSysGetDateTime(&dt);
415
      unsigned int val = atoi(argv[3]);
416
      if (strcmp(argv[2], "year") == 0) {
417
        dt.tm_year = val - 1900;
418
      }
419
      else if (strcmp(argv[2], "month") == 0 && val <= 12) {
420
        dt.tm_mon = val - 1;
421
      }
422
      else if (strcmp(argv[2], "day") == 0 && val <= 31) {
423
        dt.tm_mday = val;
424
      }
425
      else if (strcmp(argv[2], "hour") == 0 && val < 24) {
426
        dt.tm_hour = val;
427
      }
428
      else if (strcmp(argv[2], "minute") == 0 && val < 60) {
429
        dt.tm_min = val;
430
      }
431
      else if (strcmp(argv[2], "second") == 0 && val < 60) {
432
        dt.tm_sec = val;
433
      }
434
      else {
435
        chprintf(stream, "unknown option '%s' or value '%s'\n", argv[2], argv[3]);
436
        return AOS_INVALID_ARGUMENTS;
437
      }
438
      dt.tm_wday = aosTimeDayOfWeekFromDate(dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900) % 7;
439
      aosSysSetDateTime(&dt);
440

    
441
      // read and print new date and time
442
      aosSysGetDateTime(&dt);
443
      chprintf(stream, "date/time set to %02u:%02u:%02u @ %02u-%02u-%04u\n",
444
               dt.tm_hour, dt.tm_min, dt.tm_sec,
445
               dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900);
446

    
447
      retval = AOS_OK;
448
    }
449
  }
450

    
451
  // print help, if required
452
  if (retval == AOS_INVALID_ARGUMENTS) {
453
    chprintf(stream, "Usage: %s OPTION\n", argv[0]);
454
    chprintf(stream, "Options:\n");
455
    chprintf(stream, "  --help\n");
456
    chprintf(stream, "    Print this help text.\n");
457
    chprintf(stream, "  --shell [OPT [VAL]]\n");
458
    chprintf(stream, "    Set or retrieve shell configuration.\n");
459
    chprintf(stream, "    Possible OPTs and VALs are:\n");
460
    chprintf(stream, "      prompt text|minimal|uptime|date&time|notime\n");
461
    chprintf(stream, "        Configures the prompt.\n");
462
    chprintf(stream, "      match casesensitive|caseinsenitive\n");
463
    chprintf(stream, "        Configures string matching.\n");
464
    chprintf(stream, "  --date&time OPT VAL\n");
465
    chprintf(stream, "    Set the date/time value of OPT to VAL.\n");
466
    chprintf(stream, "    Possible OPTs are:\n");
467
    chprintf(stream, "      year\n");
468
    chprintf(stream, "      month\n");
469
    chprintf(stream, "      day\n");
470
    chprintf(stream, "      hour\n");
471
    chprintf(stream, "      minute\n");
472
    chprintf(stream, "      second\n");
473
  }
474

    
475
  return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval;
476
}
477

    
478
/**
479
 * @brief   Callback function for the system:info shell command.
480
 *
481
 * @param[in] stream    The I/O stream to use.
482
 * @param[in] argc      Number of arguments.
483
 * @param[in] argv      List of pointers to the arguments.
484
 *
485
 * @return            An exit status.
486
 * @retval  AOS_OK    The command was executed successfully.
487
 */
488
static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[])
489
{
490
  aosDbgCheck(stream != NULL);
491

    
492
  (void)argc;
493
  (void)argv;
494

    
495
  // print system information
496
  _printSystemInfo(stream);
497

    
498
  // print time measurement precision
499
  chprintf(stream, "module time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
500

    
501
  // print system uptime
502
  aos_timestamp_t uptime;
503
  aosSysGetUptime(&uptime);
504
  chprintf(stream, "The system is running for\n");
505
  chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
506
  chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
507
  chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
508
  chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
509
  chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
510
  chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
511
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)
512
  chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", _syssyncskew, AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
513
#endif /* AMIROOS_CFG_SSSP_MASTER != true && AMIROOS_CFG_PROFILE == true */
514
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
515

    
516
#if (AMIROOS_CFG_SHELL_ENABLE == true)
517
  // print shell info
518
  chprintf(stream, "System shell information:\n");
519
  chprintf(stream, "\tnumber of commands:      %u\n", aosShellCountCommands(&aos.shell));
520
  chprintf(stream, "\tmaximum line width:      %u characters\n", aos.shell.linesize);
521
  chprintf(stream, "\tmaximum #arguments:      %u\n", aos.shell.arglistsize);
522
  chprintf(stream, "\tshell thread stack size: %u bytes\n", aosThdGetStacksize(aos.shell.thread));
523
#if (CH_DBG_FILL_THREADS == TRUE)
524
  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);
525
#endif /* CH_DBG_FILL_THREADS == TRUE */
526
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
527
#endif /* AMIROOS_CFG_SHELL_ENABLE == true */
528

    
529
  return AOS_OK;
530
}
531

    
532
/**
533
 * @brief   Callback function for the sytem:shutdown shell command.
534
 *
535
 * @param[in] stream    The I/O stream to use.
536
 * @param[in] argc      Number of arguments.
537
 * @param[in] argv      List of pointers to the arguments.
538
 *
539
 * @return              An exit status.
540
 * @retval  AOS_OK                  The command was executed successfully.
541
 * @retval  AOS_INVALID_ARGUMENTS   There was an issue with the arguments.
542
 */
543
static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[])
544
{
545
  aosDbgCheck(stream != NULL);
546

    
547
  // print help text
548
  if (argc != 2 || strcmp(argv[1], "--help") == 0) {
549
    chprintf(stream, "Usage: %s OPTION\n", argv[0]);
550
    chprintf(stream, "Options:\n");
551
    chprintf(stream, "  --help\n");
552
    chprintf(stream, "    Print this help text.\n");
553
    chprintf(stream, "  --hibernate, -h\n");
554
    chprintf(stream, "    Shutdown to hibernate mode.\n");
555
    chprintf(stream, "    Least energy saving, but allows charging via pins.\n");
556
    chprintf(stream, "  --deepsleep, -d\n");
557
    chprintf(stream, "    Shutdown to deepsleep mode.\n");
558
    chprintf(stream, "    Minimum energy consumption while allowing charging via plug.\n");
559
    chprintf(stream, "  --transportation, -t\n");
560
    chprintf(stream, "    Shutdown to transportation mode.\n");
561
    chprintf(stream, "    Minimum energy consumption with all interrupts disabled (no charging).\n");
562
    chprintf(stream, "  --restart, -r\n");
563
    chprintf(stream, "    Shutdown and restart system.\n");
564

    
565
    return (argc != 2) ? AOS_INVALID_ARGUMENTS : AOS_OK;
566
  }
567
  // handle argument
568
  else {
569
    if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) {
570
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE);
571
      chThdTerminate(chThdGetSelfX());
572
      return AOS_OK;
573
    }
574
    else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) {
575
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP);
576
      chThdTerminate(chThdGetSelfX());
577
      return AOS_OK;
578
    }
579
    else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) {
580
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION);
581
      chThdTerminate(chThdGetSelfX());
582
      return AOS_OK;
583
    }
584
    else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) {
585
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART);
586
      chThdTerminate(chThdGetSelfX());
587
      return AOS_OK;
588
    }
589
    else {
590
      chprintf(stream, "unknown argument %s\n", argv[1]);
591
      return AOS_INVALID_ARGUMENTS;
592
    }
593
  }
594
}
595

    
596
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
597
/**
598
 * @brief   Callback function for the kernel:test shell command.
599
 *
600
 * @param[in] stream    The I/O stream to use.
601
 * @param[in] argc      Number of arguments.
602
 * @param[in] argv      List of pointers to the arguments.
603
 *
604
 * @return      An exit status.
605
 */
606
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[])
607
{
608
  aosDbgCheck(stream != NULL);
609

    
610
  (void)argc;
611
  (void)argv;
612

    
613
  msg_t retval = test_execute(stream, &rt_test_suite);
614

    
615
  return retval;
616
}
617
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */
618
#endif /* AMIROOS_CFG_SHELL_ENABLE == true */
619

    
620
/**
621
 * @brief   Generic callback function for GPIO interrupts.
622
 *
623
 * @param[in] args   Pointer to the GPIO pad identifier.
624
 */
625
static void _intCallback(void* args)
626
{
627
  aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8));
628

    
629
  chSysLockFromISR();
630
  chEvtBroadcastFlagsI(&aos.events.io, (eventflags_t)1 << *((iopadid_t*)args));
631
  chSysUnlockFromISR();
632

    
633
  return;
634
}
635

    
636
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true)) || defined(__DOXYGEN__)
637
/**
638
 * @brief   Callback function for the Sync signal interrupt.
639
 *
640
 * @param[in] args   Pointer to the GPIO pad identifier.
641
 */
642
static void _signalSyncCallback(void *args)
643
{
644
  aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8));
645

    
646
  apalControlGpioState_t s_state;
647
  aos_timestamp_t uptime;
648

    
649
  chSysLockFromISR();
650
  // if the system is in operation phase
651
  if (aos.sssp.stage == AOS_SSSP_OPERATION) {
652
    // read signal S
653
    apalControlGpioGet(&moduleSsspGpioSync, &s_state);
654
    // if S was toggled from on to off
655
    if (s_state == APAL_GPIO_OFF) {
656
      // get current uptime
657
      aosSysGetUptimeX(&uptime);
658
      // align the uptime with the synchronization period
659
      if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) {
660
        _uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD;
661
#if (AMIROOS_CFG_PROFILE == true)
662
        _syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) + (SYSTEM_SYSSYNCSKEW_LPFACTOR * (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD));
663
#endif
664
      } else {
665
        _uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
666
#if (AMIROOS_CFG_PROFILE == true)
667
        _syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) - (SYSTEM_SYSSYNCSKEW_LPFACTOR * (AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD)));
668
#endif
669
      }
670
    }
671
  }
672
  // broadcast event
673
  chEvtBroadcastFlagsI(&aos.events.io, (eventflags_t)1 << *((iopadid_t*)args));
674
  chSysUnlockFromISR();
675

    
676
  return;
677
}
678
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) */
679

    
680
/**
681
 * @brief   Callback function for the uptime accumulation timer.
682
 *
683
 * @param[in] par   Generic parameter.
684
 */
685
static void _uptimeCallback(void* par)
686
{
687
  (void)par;
688

    
689
  chSysLockFromISR();
690
  // read current time in system ticks
691
  register const systime_t st = chVTGetSystemTimeX();
692
  // update the uptime variables
693
  _uptime += chTimeI2US(chTimeDiffX(_synctime, st));
694
  _synctime = st;
695
  // enable the timer again
696
  chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
697
  chSysUnlockFromISR();
698

    
699
  return;
700
}
701

    
702
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined (__DOXYGEN__)
703
/**
704
 * @brief   Periodic system synchronization callback function.
705
 * @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.
706
 *
707
 * @param[in] par   Unuesed parameters.
708
 */
709
static void _sysSyncTimerCallback(void* par)
710
{
711
  (void)par;
712

    
713
  apalControlGpioState_t s_state;
714
  aos_timestamp_t uptime;
715

    
716
  chSysLockFromISR();
717
  // toggle and read signal S
718
  apalGpioToggle(moduleSsspGpioSync.gpio);
719
  apalControlGpioGet(&moduleSsspGpioSync, &s_state);
720
  // if S was toggled from off to on
721
  if (s_state == APAL_GPIO_ON) {
722
    // reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
723
    _syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD;
724
    aosSysGetUptimeX(&uptime);
725
    chVTSetI(&_syssynctimer, chTimeUS2I(_syssynctime - uptime), _sysSyncTimerCallback, NULL);
726
  }
727
  // if S was toggled from on to off
728
  else /* if (s_state == APAL_GPIO_OFF) */ {
729
    // reconfigure the timer (lazy)
730
    chVTSetI(&_syssynctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL);
731
  }
732
  chSysUnlockFromISR();
733

    
734
  return;
735
}
736
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */
737

    
738
/**
739
 * @brief   AMiRo-OS system initialization.
740
 * @note    Must be called from the system control thread (usually main thread).
741
 *
742
 * @param[in] shellPrompt   String to be printed as prompt of the system shell.
743
 */
744
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
745
void aosSysInit(const char* shellPrompt)
746
#else
747
void aosSysInit(void)
748
#endif
749
{
750
  /* set control thread to maximum priority */
751
  chThdSetPriority(AOS_THD_CTRLPRIO);
752

    
753
  /* set local variables */
754
  chVTObjectInit(&_systimer);
755
#if (AMIROOS_CFG_SSSP_ENABLE == true)
756
  _synctime = 0;
757
  _uptime = 0;
758
#if (AMIROOS_CFG_SSSP_MASTER == true)
759
  chVTObjectInit(&_syssynctimer);
760
  _syssynctime = 0;
761
#endif
762
#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)
763
  _syssyncskew = 0.0f;
764
#endif
765
#else /* AMIROOS_CFG_SSSP_ENABLE == false */
766
  // start the uptime counter
767
  chSysLock();
768
  _synctime = chVTGetSystemTimeX();
769
  _uptime = 0;
770
  chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
771
  chSysUnlock();
772
#endif /* AMIROOS_CFG_SSSP_ENABLE */
773

    
774
  /* initialize aos configuration */
775
#if (AMIROOS_CFG_SSSP_ENABLE == true)
776
  aos.sssp.stage = AOS_SSSP_STARTUP_2_1;
777
  aos.sssp.moduleId = 0;
778
#endif
779
  aosIOStreamInit(&aos.iostream);
780
  chEvtObjectInit(&aos.events.io);
781
  chEvtObjectInit(&aos.events.os);
782

    
783
  /* interrupt setup */
784
#if (AMIROOS_CFG_SSSP_ENABLE == true)
785
  // PD signal
786
  palSetPadCallback(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, _intCallback, &moduleSsspGpioPd.gpio->pad);
787
  palEnablePadEvent(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, APAL2CH_EDGE(moduleSsspGpioPd.meta.edge));
788
  // SYNC signal
789
#if (AMIROOS_CFG_SSSP_MASTER == true)
790
  palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _intCallback, &moduleSsspGpioSync.gpio->pad);
791
#else
792
  palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _signalSyncCallback, &moduleSsspGpioSync.gpio->pad);
793
#endif
794
  palEnablePadEvent(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, APAL2CH_EDGE(moduleSsspGpioSync.meta.edge));
795
#if (AMIROOS_CFG_SSSP_STACK_START != true)
796
  // DN signal
797
  palSetPadCallback(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, _intCallback, &moduleSsspGpioDn.gpio->pad);
798
  palEnablePadEvent(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, APAL2CH_EDGE(moduleSsspGpioDn.meta.edge));
799
#endif
800
#if (AMIROOS_CFG_SSSP_STACK_END != true)
801
  // UP signal
802
  palSetPadCallback(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, _intCallback, &moduleSsspGpioUp.gpio->pad);
803
  palEnablePadEvent(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, APAL2CH_EDGE(moduleSsspGpioUp.meta.edge));
804
#endif
805
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */
806
#ifdef MODULE_INIT_INTERRUPTS
807
  // further interrupt signals
808
  MODULE_INIT_INTERRUPTS();
809
#endif
810

    
811
#if (AMIROOS_CFG_SHELL_ENABLE == true)
812
  /* init shell */
813
  aosShellInit(&aos.shell,
814
               &aos.events.os,
815
               shellPrompt,
816
               _shell_line,
817
               AMIROOS_CFG_SHELL_LINEWIDTH,
818
               _shell_arglist,
819
               AMIROOS_CFG_SHELL_MAXARGS);
820
  // add system commands
821
  aosShellAddCommand(&aos.shell, &_shellcmd_config);
822
  aosShellAddCommand(&aos.shell, &_shellcmd_info);
823
  aosShellAddCommand(&aos.shell, &_shellcmd_shutdown);
824
#if (AMIROOS_CFG_TESTS_ENABLE == true)
825
  aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest);
826
#endif
827
#endif /* AMIROOS_CFG_SHELL_ENABLE == true */
828

    
829
  return;
830
}
831

    
832
/**
833
 * @brief   Starts the system and all system threads.
834
 */
835
inline void aosSysStart(void)
836
{
837
#if (AMIROOS_CFG_SSSP_ENABLE == true)
838
  // update the system SSSP stage
839
  aos.sssp.stage = AOS_SSSP_OPERATION;
840

    
841
#if (AMIROOS_CFG_SSSP_MASTER == true)
842
  {
843
    chSysLock();
844
    // start the system synchronization counter
845
    // The first iteration of the timer is set to the next 'center' of a 'slice'.
846
    aos_timestamp_t t;
847
    aosSysGetUptimeX(&t);
848
    t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
849
    chVTSetI(&_syssynctimer, chTimeUS2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL);
850
    chSysUnlock();
851
  }
852
#endif
853
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */
854

    
855
  // print system information;
856
  _printSystemInfo((BaseSequentialStream*)&aos.iostream);
857
  aosprintf("\n");
858

    
859
#if (AMIROOS_CFG_SHELL_ENABLE == true)
860
  // start system shell thread
861
#if (CH_CFG_USE_THREADHIERARCHY == TRUE)
862
  aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell, &ch.mainthread);
863
#else
864
  aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
865
#endif
866
#endif
867

    
868
  return;
869
}
870

    
871
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)
872
/**
873
 * @brief   Implements the SSSP startup synchronization step.
874
 *
875
 * @param[in] syncEvtListener   Event listener that receives the Sync event.
876
 *
877
 * @return    If another event that the listener is interested in was received, its mask is returned.
878
 *            Otherwise an empty mask (0) is returned.
879
 */
880
eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener)
881
{
882
  aosDbgCheck(syncEvtListener != NULL);
883

    
884
  // local variables
885
  eventmask_t m;
886
  eventflags_t f;
887
  apalControlGpioState_t s;
888

    
889
  // update the system SSSP stage
890
  aos.sssp.stage = AOS_SSSP_STARTUP_2_2;
891

    
892
  // deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase)
893
  apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF);
894

    
895
  // wait for any event to occur (do not apply any filter in order not to miss any event)
896
  m = chEvtWaitOne(ALL_EVENTS);
897
  f = chEvtGetAndClearFlags(syncEvtListener);
898
  apalControlGpioGet(&moduleSsspGpioSync, &s);
899

    
900
  // if the event was a system event,
901
  //   and it was fired because of the SysSync control signal,
902
  //   and the SysSync control signal has been deactivated
903
  if (m & syncEvtListener->events &&
904
      f == MODULE_SSSP_EVENTFLAGS_SYNC &&
905
      s == APAL_GPIO_OFF) {
906
    chSysLock();
907
    // start the uptime counter
908
    _synctime = chVTGetSystemTimeX();
909
    _uptime = 0;
910
    chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
911
    chSysUnlock();
912

    
913
    return 0;
914
  }
915
  // an unexpected event occurred
916
  else {
917
    // reassign the flags to the event and return the event mask
918
    syncEvtListener->flags |= f;
919
    return m;
920
  }
921
}
922
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */
923

    
924
/**
925
 * @brief   Retrieves the system uptime.
926
 *
927
 * @param[out] ut   The system uptime.
928
 */
929
inline void aosSysGetUptimeX(aos_timestamp_t* ut)
930
{
931
  aosDbgCheck(ut != NULL);
932

    
933
  *ut = _uptime + chTimeI2US(chTimeDiffX(_synctime, chVTGetSystemTimeX()));
934

    
935
  return;
936
}
937

    
938
/**
939
 * @brief   retrieves the date and time from the MCU clock.
940
 *
941
 * @param[out] td   The date and time.
942
 */
943
void aosSysGetDateTime(struct tm* dt)
944
{
945
  aosDbgCheck(dt != NULL);
946

    
947
  RTCDateTime rtc;
948
  rtcGetTime(&MODULE_HAL_RTC, &rtc);
949
  rtcConvertDateTimeToStructTm(&rtc, dt, NULL);
950

    
951
  return;
952
}
953

    
954
/**
955
 * @brief   set the date and time of the MCU clock.
956
 *
957
 * @param[in] dt    The date and time to set.
958
 */
959
void aosSysSetDateTime(struct tm* dt)
960
{
961
  aosDbgCheck(dt != NULL);
962

    
963
  RTCDateTime rtc;
964
  rtcConvertStructTmToDateTime(dt, 0, &rtc);
965
  rtcSetTime(&MODULE_HAL_RTC, &rtc);
966

    
967
  return;
968
}
969

    
970
/**
971
 * @brief   Initializes/Acknowledges a system shutdown/restart request.
972
 * @note    This functions should be called from the thread with highest priority.
973
 *
974
 * @param[in] shutdown    Type of shutdown.
975
 */
976
void aosSysShutdownInit(aos_shutdown_t shutdown)
977
{
978
  // check arguments
979
  aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
980

    
981
#if (AMIROOS_CFG_SSSP_ENABLE == true)
982
#if (AMIROOS_CFG_SSSP_MASTER == true)
983
  // deactivate the system synchronization timer
984
  chVTReset(&_syssynctimer);
985
#endif
986

    
987
  // update the system SSSP stage
988
  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1;
989

    
990
  // activate the SYS_PD control signal only, if this module initiated the shutdown
991
  chSysLock();
992
  if (shutdown != AOS_SHUTDOWN_PASSIVE) {
993
    apalControlGpioSet(&moduleSsspGpioPd, APAL_GPIO_ON);
994
  }
995
  // activate the SYS_SYNC signal
996
  apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON);
997
  chSysUnlock();
998
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */
999

    
1000
  switch (shutdown) {
1001
    case AOS_SHUTDOWN_PASSIVE:
1002
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN);
1003
      aosprintf("shutdown request received...\n");
1004
      break;
1005
    case AOS_SHUTDOWN_HIBERNATE:
1006
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE);
1007
      aosprintf("shutdown to hibernate mode...\n");
1008
      break;
1009
    case AOS_SHUTDOWN_DEEPSLEEP:
1010
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP);
1011
      aosprintf("shutdown to deepsleep mode...\n");
1012
      break;
1013
    case AOS_SHUTDOWN_TRANSPORTATION:
1014
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION);
1015
      aosprintf("shutdown to transportation mode...\n");
1016
      break;
1017
    case AOS_SHUTDOWN_RESTART:
1018
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART);
1019
      aosprintf("restarting system...\n");
1020
      break;
1021
   // must never occur
1022
   case AOS_SHUTDOWN_NONE:
1023
   default:
1024
      break;
1025
  }
1026

    
1027
#if (AMIROOS_CFG_SSSP_ENABLE == true)
1028
  // update the system SSSP stage
1029
  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2;
1030
#endif
1031

    
1032
  return;
1033
}
1034

    
1035
/**
1036
 * @brief   Stops the system and all related threads (not the thread this function is called from).
1037
 */
1038
void aosSysStop(void)
1039
{
1040
#if (AMIROOS_CFG_SHELL_ENABLE == true)
1041
  chThdWait(aos.shell.thread);
1042
#endif
1043

    
1044
  return;
1045
}
1046

    
1047
/**
1048
 * @brief   Deinitialize all system variables.
1049
 */
1050
void aosSysDeinit(void)
1051
{
1052
  return;
1053
}
1054

    
1055
/**
1056
 * @brief   Finally shuts down the system and calls the bootloader callback function.
1057
 * @note    This function should be called from the thtead with highest priority.
1058
 *
1059
 * @param[in] shutdown    Type of shutdown.
1060
 */
1061
void aosSysShutdownFinal(aos_shutdown_t shutdown)
1062
{
1063
  // check arguments
1064
  aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
1065

    
1066
  // disable all interrupts
1067
  irqDeinit();
1068

    
1069
#if (AMIROOS_CFG_SSSP_ENABLE == true)
1070
  // update the system SSSP stage
1071
  aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3;
1072
#endif
1073

    
1074
  // call bootloader callback depending on arguments
1075
  switch (shutdown) {
1076
    case AOS_SHUTDOWN_PASSIVE:
1077
      BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest();
1078
      break;
1079
    case AOS_SHUTDOWN_HIBERNATE:
1080
      BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate();
1081
      break;
1082
    case AOS_SHUTDOWN_DEEPSLEEP:
1083
      BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep();
1084
      break;
1085
    case AOS_SHUTDOWN_TRANSPORTATION:
1086
      BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation();
1087
      break;
1088
    case AOS_SHUTDOWN_RESTART:
1089
      BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart();
1090
      break;
1091
    // must never occur
1092
    case AOS_SHUTDOWN_NONE:
1093
    default:
1094
      break;
1095
  }
1096

    
1097
  return;
1098
}
1099

    
1100
/** @} */