AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    aos_system.c

 * @brief   System code.

 * @details Contains system initialization and shutdown routines

 *          and system shell commands.

 *

 * @addtogroup aos_system

 * @{

 */

#include <aos_system.h>

#include <amiroblt.h>

#include <module.h>

#include <string.h>

#include <stdlib.h>

#if (AMIROOS_CFG_TESTS_ENABLE == true)

#include <ch_test.h>

#include <rt_test_root.h>

#endif

/**

 * @brief   Period of the system timer.

 */

#define SYSTIMER_PERIOD               (TIME_MAX_SYSTIME - CH_CFG_ST_TIMEDELTA)

/**

 * @brief   Width of the printable system info text.

 */

#define SYSTEM_INFO_WIDTH             70

/**

 * @brief   Width of the name column of the system info table.

 */

#define SYSTEM_INFO_NAMEWIDTH         14

/* forward declarations */

static void _printSystemInfo(BaseSequentialStream* stream);

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

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

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

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

#if (AMIROOS_CFG_TESTS_ENABLE == true)

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

#endif /* AMIROOS_CFG_TESTS_ENABLE == true */

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

/**

 * @brief   Timer to accumulate system uptime.

 */

static virtual_timer_t _systimer;

/**

 * @brief   Accumulated system uptime.

 */

static aos_timestamp_t _uptime;

/**

 * @brief   Timer register value of last accumulation.

 */

static systime_t _synctime;

#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined(__DOXYGEN__)

/**

 * @brief   Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP.

 */

static virtual_timer_t _syssynctimer;

/**

 * @brief   Last uptime of system wide time synchronization.

 */

static aos_timestamp_t _syssynctime;

#endif

#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)

/**

 * @brief   Offset between local clock and system wide synchronization signal.

 */

static float _syssyncskew;

/**

 * @brief   Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value.

 */

#define SYSTEM_SYSSYNCSKEW_LPFACTOR   (0.1f / AOS_SYSTEM_TIME_RESOLUTION)

#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */

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

/**

 * @brief   Shell thread working area.

 */

THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE);

/**

 * @brief   Shell input buffer.

 */

static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH];

/**

 * @brief   Shell argument buffer.

 */

static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS];

/**

 * @brief   Shell command to retrieve system information.

 */

static aos_shellcommand_t _shellcmd_info = {

  /* name     */ "module:info",

  /* callback */ _shellcmd_infocb,

  /* next     */ NULL,

};

/**

 * @brief   Shell command to set or retrieve system configuration.

 */

static aos_shellcommand_t _shellcmd_config = {

  /* name     */ "module:config",

  /* callback */ _shellcmd_configcb,

  /* next     */ NULL,

};

/**

 * @brief   Shell command to shutdown the system.

 */

static aos_shellcommand_t _shellcmd_shutdown = {

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  /* name     */ "system:shutdown",

#else

  /* name     */ "module:shutdown",

#endif

  /* callback */ _shellcmd_shutdowncb,

  /* next     */ NULL,

};

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

/**

 * @brief   Shell kommand to run a test of the ChibiOS/RT kernel.

 */

static aos_shellcommand_t _shellcmd_kerneltest = {

  /* name     */ "kernel:test",

  /* callback */ _shellcmd_kerneltestcb,

  /* next     */ NULL,

};

#endif /* AMIROOS_CFG_TESTS_ENABLE == true */

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

/**

 * @brief   Global system object.

 */

aos_system_t aos;

/**

 * @brief   Print a separator line.

 *

 * @param[in] stream    Stream to print to or NULL to print to all system streams.

 * @param[in] c         Character to use.

 * @param[in] n         Length of the separator line.

 *

 * @return  Number of characters printed.

 */

static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n)

{

  aosDbgCheck(stream != NULL);

  // print the specified character n times

  for (unsigned int i = 0; i < n; ++i) {

    streamPut(stream, c);

  }

  streamPut(stream, '\n');

  return n+1;

}

/**

 * @brief   Print a system information line.

 * @details Prints a system information line with the following format:

 *            "<name>[spaces]fmt"

 *          The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.

 *          Note that there is not trailing newline added implicitely.

 *

 * @param[in] stream      Stream to print to or NULL to print to all system streams.

 * @param[in] name        Name of the entry/line.

 * @param[in] namewidth   Width of the name column.

 * @param[in] fmt         Formatted string of information content.

 *

 * @return  Number of characters printed.

 */

static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...)

{

  aosDbgCheck(stream != NULL);

  aosDbgCheck(name != NULL);

  unsigned int n = 0;

  va_list ap;

  va_start(ap, fmt);

  n += chprintf(stream, name);

  while (n < namewidth) {

    streamPut(stream, ' ');

    ++n;

  }

  n += chvprintf(stream, fmt, ap);

  va_end(ap);

  streamPut(stream, '\n');

  ++n;

  return n;

}

/**

 * @brief   Prints information about the system.

 *

 * @param[in] stream    Stream to print to.

 */

static void _printSystemInfo(BaseSequentialStream* stream)

{

  aosDbgCheck(stream != NULL);

  // local variables

  struct tm dt;

  aosSysGetDateTime(&dt);

  // print static information about module and operating system

  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);

#ifdef BOARD_VERSION

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

#else

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

#endif

#ifdef PLATFORM_NAME

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

#endif

#ifdef PORT_CORE_VARIANT_NAME

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

#endif

  _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);

#else

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

#endif

  _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");

  _printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s", (AMIROOS_CFG_DBG == true) ? "debug" : "release");

  _printSystemInfoLine(stream, "Compiler" , SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC

  _printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__);

  // print static information about the bootloader

  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);

  if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {

    _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,

                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :

                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :

                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :

                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :

                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :

                         "<release type unknown>",

                         BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor);

#if (AMIROOS_CFG_SSSP_ENABLE == true)

    if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_MAJOR) {

      if (stream) {

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

      } else {

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

      }

    }

#endif

    _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) {

      chprintf(stream, "Bootloader incompatible or not available.\n");

    } else {

      aosprintf("Bootloader incompatible or not available.\n");

    }

  }

  // print dynamic information about the module

  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  if (aos.sssp.moduleId != 0) {

    _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId);

  } else {

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

  }

#endif

  _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);

  return;

}

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

/**

 * @brief   Callback function for the system:config shell command.

 *

 * @param[in] stream    The I/O stream to use.

 * @param[in] argc      Number of arguments.

 * @param[in] argv      List of pointers to the arguments.

 *

 * @return              An exit status.

 * @retval  AOS_OK                  The command was executed successfuly.

 * @retval  AOS_INVALID_ARGUMENTS   There was an issue with the arguemnts.

 */

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

{

  aosDbgCheck(stream != NULL);

  // local variables

  int retval = AOS_INVALID_ARGUMENTS;

  // if there are additional arguments

  if (argc > 1) {

    // if the user wants to set or retrieve the shell configuration

    if (strcmp(argv[1], "--shell") == 0) {

      // if the user wants to modify the shell configuration

      if (argc > 2) {

        // if the user wants to modify the prompt

        if (strcmp(argv[2], "prompt") == 0) {

          // there must be a further argument

          if (argc > 3) {

            // handle the option

            if (strcmp(argv[3], "text") == 0) {

              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL;

              retval = AOS_OK;

            }

            else if (strcmp(argv[3], "minimal") == 0) {

              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL;

              retval = AOS_OK;

            }

            else if (strcmp(argv[3], "notime") == 0) {

              aos.shell.config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME);

              retval = AOS_OK;

            }

            else if (strcmp(argv[3], "uptime") == 0) {

              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME;

              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_UPTIME;

              retval = AOS_OK;

            }

            else if (strcmp(argv[3], "date&time") == 0) {

              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME;

              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME;

              retval = AOS_OK;

            }

            else {

              chprintf(stream, "unknown option '%s'\n", argv[3]);

              return AOS_INVALID_ARGUMENTS;

            }

          }

        }

        // if the user wants to modify the string matching

        else if (strcmp(argv[2], "match") == 0) {

          // there must be a further argument

          if (argc > 3) {

            if (strcmp(argv[3], "casesensitive") == 0) {

              aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE;

              retval = AOS_OK;

            }

            else if (strcmp(argv[3], "caseinsensitive") == 0) {

              aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE;

              retval = AOS_OK;

            }

          }

        }

      }

      // if the user wants to retrieve the shell configuration

      else {

        chprintf(stream, "current shell configuration:\n");

        chprintf(stream, "  prompt text:   %s\n",

                 (aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a");

        char time[10];

        switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {

          case AOS_SHELL_CONFIG_PROMPT_UPTIME:

            strcpy(time, "uptime"); break;

          case AOS_SHELL_CONFIG_PROMPT_DATETIME:

            strcpy(time, "date&time"); break;

          default:

            strcpy(time, "no time"); break;

        }

        chprintf(stream, "  prompt style:  %s, %s\n",

                 (aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text",

                 time);

        chprintf(stream, "  input method:  %s\n",

                 (aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert");

        chprintf(stream, "  text matching: %s\n",

                 (aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive");

        retval = AOS_OK;

      }

    }

    // if the user wants to configure the date or time

    else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) {

      struct tm dt;

      aosSysGetDateTime(&dt);

      unsigned int val = atoi(argv[3]);

      if (strcmp(argv[2], "year") == 0) {

        dt.tm_year = val - 1900;

      }

      else if (strcmp(argv[2], "month") == 0 && val <= 12) {

        dt.tm_mon = val - 1;

      }

      else if (strcmp(argv[2], "day") == 0 && val <= 31) {

        dt.tm_mday = val;

      }

      else if (strcmp(argv[2], "hour") == 0 && val < 24) {

        dt.tm_hour = val;

      }

      else if (strcmp(argv[2], "minute") == 0 && val < 60) {

        dt.tm_min = val;

      }

      else if (strcmp(argv[2], "second") == 0 && val < 60) {

        dt.tm_sec = val;

      }

      else {

        chprintf(stream, "unknown option '%s' or value '%s'\n", argv[2], argv[3]);

        return AOS_INVALID_ARGUMENTS;

      }

      dt.tm_wday = aosTimeDayOfWeekFromDate(dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900) % 7;

      aosSysSetDateTime(&dt);

      // read and print new date and time

      aosSysGetDateTime(&dt);

      chprintf(stream, "date/time set to %02u:%02u:%02u @ %02u-%02u-%04u\n",

               dt.tm_hour, dt.tm_min, dt.tm_sec,

               dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900);

      retval = AOS_OK;

    }

  }

  // print help, if required

  if (retval == AOS_INVALID_ARGUMENTS) {

    chprintf(stream, "Usage: %s OPTION\n", argv[0]);

    chprintf(stream, "Options:\n");

    chprintf(stream, "  --help\n");

    chprintf(stream, "    Print this help text.\n");

    chprintf(stream, "  --shell [OPT [VAL]]\n");

    chprintf(stream, "    Set or retrieve shell configuration.\n");

    chprintf(stream, "    Possible OPTs and VALs are:\n");

    chprintf(stream, "      prompt text|minimal|uptime|date&time|notime\n");

    chprintf(stream, "        Configures the prompt.\n");

    chprintf(stream, "      match casesensitive|caseinsenitive\n");

    chprintf(stream, "        Configures string matching.\n");

    chprintf(stream, "  --date&time OPT VAL\n");

    chprintf(stream, "    Set the date/time value of OPT to VAL.\n");

    chprintf(stream, "    Possible OPTs are:\n");

    chprintf(stream, "      year\n");

    chprintf(stream, "      month\n");

    chprintf(stream, "      day\n");

    chprintf(stream, "      hour\n");

    chprintf(stream, "      minute\n");

    chprintf(stream, "      second\n");

  }

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

}

/**

 * @brief   Callback function for the system:info shell command.

 *

 * @param[in] stream    The I/O stream to use.

 * @param[in] argc      Number of arguments.

 * @param[in] argv      List of pointers to the arguments.

 *

 * @return            An exit status.

 * @retval  AOS_OK    The command was executed successfully.

 */

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

{

  aosDbgCheck(stream != NULL);

  (void)argc;

  (void)argv;

  // print system information

  _printSystemInfo(stream);

  // print time measurement precision

  chprintf(stream, "module time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);

  // print system uptime

  aos_timestamp_t uptime;

  aosSysGetUptime(&uptime);

  chprintf(stream, "The system is running for\n");

  chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));

  chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));

  chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));

  chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));

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

  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);

#endif /* AMIROOS_CFG_SSSP_MASTER != true && AMIROOS_CFG_PROFILE == true */

  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);

  // print shell info

  chprintf(stream, "System shell information:\n");

  chprintf(stream, "\tcommands available:     %u\n", aosShellCountCommands(&aos.shell));

  chprintf(stream, "\tline width:             %u characters\n", aos.shell.linesize);

  chprintf(stream, "\tmaximum arguments:      %u\n", aos.shell.arglistsize);

#if (AMIROOS_CFG_DBG == true)

  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);

#endif /* CH_DBG_FILL_THREADS == TRUE */

#endif /* AMIROOS_CFG_DBG == true */

  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);

  return AOS_OK;

}

/**

 * @brief   Callback function for the sytem:shutdown shell command.

 *

 * @param[in] stream    The I/O stream to use.

 * @param[in] argc      Number of arguments.

 * @param[in] argv      List of pointers to the arguments.

 *

 * @return              An exit status.

 * @retval  AOS_OK                  The command was executed successfully.

 * @retval  AOS_INVALID_ARGUMENTS   There was an issue with the arguments.

 */

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

{

  aosDbgCheck(stream != NULL);

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  // print help text

  if (argc != 2 || strcmp(argv[1], "--help") == 0) {

    chprintf(stream, "Usage: %s OPTION\n", argv[0]);

    chprintf(stream, "Options:\n");

    chprintf(stream, "  --help\n");

    chprintf(stream, "    Print this help text.\n");

    chprintf(stream, "  --hibernate, -h\n");

    chprintf(stream, "    Shutdown to hibernate mode.\n");

    chprintf(stream, "    Least energy saving, but allows charging via pins.\n");

    chprintf(stream, "  --deepsleep, -d\n");

    chprintf(stream, "    Shutdown to deepsleep mode.\n");

    chprintf(stream, "    Minimum energy consumption while allowing charging via plug.\n");

    chprintf(stream, "  --transportation, -t\n");

    chprintf(stream, "    Shutdown to transportation mode.\n");

    chprintf(stream, "    Minimum energy consumption with all interrupts disabled (no charging).\n");

    chprintf(stream, "  --restart, -r\n");

    chprintf(stream, "    Shutdown and restart system.\n");

    return (argc != 2) ? AOS_INVALID_ARGUMENTS : AOS_OK;

  }

  // handle argument

  else {

    if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) {

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

      chThdTerminate(chThdGetSelfX());

      return AOS_OK;

    }

    else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) {

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

      chThdTerminate(chThdGetSelfX());

      return AOS_OK;

    }

    else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) {

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

      chThdTerminate(chThdGetSelfX());

      return AOS_OK;

    }

    else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) {

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

      chThdTerminate(chThdGetSelfX());

      return AOS_OK;

    }

    else {

      chprintf(stream, "unknown argument %s\n", argv[1]);

      return AOS_INVALID_ARGUMENTS;

    }

  }

#else /* AMIROOS_CFG_SSSP_ENABLE == false */

  (void)argv;

  (void)argc;

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

  chThdTerminate(chThdGetSelfX());

  return AOS_OK;

#endif /* AMIROOS_CFG_SSSP_ENABLE */

}

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

/**

 * @brief   Callback function for the kernel:test shell command.

 *

 * @param[in] stream    The I/O stream to use.

 * @param[in] argc      Number of arguments.

 * @param[in] argv      List of pointers to the arguments.

 *

 * @return      An exit status.

 */

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

{

  aosDbgCheck(stream != NULL);

  (void)argc;

  (void)argv;

  msg_t retval = test_execute(stream, &rt_test_suite);

  return retval;

}

#endif /* AMIROOS_CFG_TESTS_ENABLE == true */

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

// suppress warning in case no interrupt GPIOs are defined

#pragma GCC diagnostic push

#pragma GCC diagnostic ignored "-Wunused-function"

/**

 * @brief   Generic callback function for GPIO interrupts.

 *

 * @param[in] args   Pointer to the GPIO pad identifier.

 */

static void _intCallback(void* args)

{

  aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8));

  chSysLockFromISR();

  chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(*((iopadid_t*)args)));

  chSysUnlockFromISR();

  return;

}

#pragma GCC diagnostic pop

#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true)) || defined(__DOXYGEN__)

/**

 * @brief   Callback function for the Sync signal interrupt.

 *

 * @param[in] args   Pointer to the GPIO pad identifier.

 */

static void _signalSyncCallback(void *args)

{

  aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8));

  apalControlGpioState_t s_state;

  aos_timestamp_t uptime;

  chSysLockFromISR();

  // if the system is in operation phase

  if (aos.sssp.stage == AOS_SSSP_OPERATION) {

    // read signal S

    apalControlGpioGet(&moduleSsspGpioSync, &s_state);

    // if S was toggled from on to off

    if (s_state == APAL_GPIO_OFF) {

      // get current uptime

      aosSysGetUptimeX(&uptime);

      // align the uptime with the synchronization period

      if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) {

        _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));

#endif

      } 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)));

#endif

      }

    }

  }

  // broadcast event

  chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(*((iopadid_t*)args)));

  chSysUnlockFromISR();

  return;

}

#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) */

/**

 * @brief   Callback function for the uptime accumulation timer.

 *

 * @param[in] par   Generic parameter.

 */

static void _uptimeCallback(void* par)

{

  (void)par;

  chSysLockFromISR();

  // read current time in system ticks

  register const systime_t st = chVTGetSystemTimeX();

  // update the uptime variables

  _uptime += chTimeI2US(chTimeDiffX(_synctime, st));

  _synctime = st;

  // enable the timer again

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

  chSysUnlockFromISR();

  return;

}

#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined (__DOXYGEN__)

/**

 * @brief   Periodic system synchronization callback function.

 * @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.

 *

 * @param[in] par   Unuesed parameters.

 */

static void _sysSyncTimerCallback(void* par)

{

  (void)par;

  apalControlGpioState_t s_state;

  aos_timestamp_t uptime;

  chSysLockFromISR();

  // toggle and read signal S

  apalGpioToggle(moduleSsspGpioSync.gpio);

  apalControlGpioGet(&moduleSsspGpioSync, &s_state);

  // if S was toggled from off to on

  if (s_state == APAL_GPIO_ON) {

    // reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time

    _syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD;

    aosSysGetUptimeX(&uptime);

    chVTSetI(&_syssynctimer, chTimeUS2I(_syssynctime - uptime), _sysSyncTimerCallback, NULL);

  }

  // if S was toggled from on to off

  else /* if (s_state == APAL_GPIO_OFF) */ {

    // reconfigure the timer (lazy)

    chVTSetI(&_syssynctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL);

  }

  chSysUnlockFromISR();

  return;

}

#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */

/**

 * @brief   AMiRo-OS system initialization.

 * @note    Must be called from the system control thread (usually main thread).

 *

 * @param[in] shellPrompt   String to be printed as prompt of the system shell.

 */

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

void aosSysInit(const char* shellPrompt)

#else

void aosSysInit(void)

#endif

{

  /* set control thread to maximum priority */

  chThdSetPriority(AOS_THD_CTRLPRIO);

  /* set local variables */

  chVTObjectInit(&_systimer);

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  _synctime = 0;

  _uptime = 0;

#if (AMIROOS_CFG_SSSP_MASTER == true)

  chVTObjectInit(&_syssynctimer);

  _syssynctime = 0;

#endif

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

  _syssyncskew = 0.0f;

#endif

#else /* AMIROOS_CFG_SSSP_ENABLE == false */

  // start the uptime counter

  chSysLock();

  _synctime = chVTGetSystemTimeX();

  _uptime = 0;

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

  chSysUnlock();

#endif /* AMIROOS_CFG_SSSP_ENABLE */

  /* initialize aos configuration */

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  aos.sssp.stage = AOS_SSSP_STARTUP_2_1;

  aos.sssp.moduleId = 0;

#endif

  aosIOStreamInit(&aos.iostream);

  chEvtObjectInit(&aos.events.io);

  chEvtObjectInit(&aos.events.os);

  /* interrupt setup */

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  // PD signal

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

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

  // SYNC signal

#if (AMIROOS_CFG_SSSP_MASTER == true)

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

#else

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

#endif

  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));

#endif

#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));

#endif

#endif /* AMIROOS_CFG_SSSP_ENABLE == true */

#ifdef MODULE_INIT_INTERRUPTS

  // further interrupt signals

  MODULE_INIT_INTERRUPTS();

#endif

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

  /* init shell */

  aosShellInit(&aos.shell,

               &aos.events.os,

               shellPrompt,

               _shell_line,

               AMIROOS_CFG_SHELL_LINEWIDTH,

               _shell_arglist,

               AMIROOS_CFG_SHELL_MAXARGS);

  // add system commands

  aosShellAddCommand(&aos.shell, &_shellcmd_config);

  aosShellAddCommand(&aos.shell, &_shellcmd_info);

  aosShellAddCommand(&aos.shell, &_shellcmd_shutdown);

#if (AMIROOS_CFG_TESTS_ENABLE == true)

  aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest);

#endif

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

  return;

}

/**

 * @brief   Starts the system and all system threads.

 */

inline void aosSysStart(void)

{

#if (AMIROOS_CFG_SSSP_ENABLE == true)

  // update the system SSSP stage

  aos.sssp.stage = AOS_SSSP_OPERATION;

#if (AMIROOS_CFG_SSSP_MASTER == true)

  {

    chSysLock();

    // start the system synchronization counter

    // The first iteration of the timer is set to the next 'center' of a 'slice'.

    aos_timestamp_t t;

    aosSysGetUptimeX(&t);

    t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD);

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

    chSysUnlock();

  }

#endif

#endif /* AMIROOS_CFG_SSSP_ENABLE == true */

  // print system information;

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

  aosprintf("\n");

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

  // start system shell thread

#if (CH_CFG_USE_THREADHIERARCHY == TRUE)