amiro-os / os / core / src / aos_system.c @ ba516b61
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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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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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#include <aos_system.h> |
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#include <chprintf.h> |
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#include <amiroos.h> |
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#include <amiroblt.h> |
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#include <string.h> |
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#include <stdarg.h> |
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#if (AMIROOS_CFG_TESTS_ENABLE == true) |
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#include <ch_test.h> |
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#endif
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/**
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* @brief Period of the system timer.
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*/
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#define SYSTIMER_PERIOD (TIME_MAXIMUM - CH_CFG_ST_TIMEDELTA)
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/**
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* @brief Width of the printable system info text.
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*/
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#define SYSTEM_INFO_WIDTH 70 |
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/**
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* @brief Width of the name column of the system info table.
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*/
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#define SYSTEM_INFO_NAMEWIDTH 14 |
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/* 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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#endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
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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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/**
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* @brief PD signal GPIO.
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*/
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static apalControlGpio_t* _gpioPd;
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/**
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* @brief Sync signal GPIO.
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*/
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static apalControlGpio_t* _gpioSync;
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/**
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* @brief Timer to accumulate system uptime.
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*/
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static virtual_timer_t _systimer;
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/**
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* @brief Accumulated system uptime.
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*/
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static aos_timestamp_t _uptime;
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/**
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* @brief Timer register value of last accumulation.
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*/
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static systime_t _synctime;
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#if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__) |
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/**
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* @brief Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP.
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*/
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static virtual_timer_t _syssynctimer;
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/**
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* @brief Last uptime of system wide time synchronization.
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*/
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static aos_timestamp_t _syssynctime;
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#endif
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief System shell.
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*/
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static aos_shell_t _shell;
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/**
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* @brief Shell thread working area.
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*/
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THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE); |
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/**
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* @brief Shell input buffer.
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*/
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static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH]; |
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/**
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* @brief Shell argument buffer.
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*/
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static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS]; |
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/**
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* @brief Shell command to retrieve system information.
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*/
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static aos_shellcommand_t _shellcmd_info = {
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/* name */ "module:info", |
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/* callback */ _shellcmd_infocb,
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/* next */ NULL, |
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}; |
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/**
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* @brief Shell command to set or retrieve system configuration.
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*/
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static aos_shellcommand_t _shellcmd_config = {
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/* name */ "module:config", |
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/* callback */ _shellcmd_configcb,
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/* next */ NULL, |
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}; |
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/**
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* @brief Shell command to shutdown the system.
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*/
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static aos_shellcommand_t _shellcmd_shutdown = {
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/* 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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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Shell kommand to run a test of the ChibiOS/RT kernel.
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*/
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static aos_shellcommand_t _shellcmd_kerneltest = {
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/* name */ "kernel:test", |
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/* callback */ _shellcmd_kerneltestcb,
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/* next */ NULL, |
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}; |
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#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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/**
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* @brief Global system object.
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*/
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aos_system_t aos = { |
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/* SSSP stage */ AOS_SSSP_STARTUP_2_1,
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/* I/O stream */ {
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/* channel */ NULL, |
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}, |
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/* event */ {
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/* I/O */ {
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/* source */ {
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/* next listener */ NULL, |
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}, |
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/* flagsSignalPd */ 0, |
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/* flagsSignalSync */ 0, |
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}, |
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/* OS */ {
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/* source */ {
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/* next listener */ NULL, |
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} |
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}, |
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}, |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) |
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/* shell */ &_shell,
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#endif
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}; |
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/**
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* @brief Print a separator line.
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*
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* @param[in] stream Stream to print to or NULL to print to all system streams.
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* @param[in] c Character to use.
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* @param[in] n Length of the separator line.
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*
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* @return Number of characters printed.
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*/
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static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n) |
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{ |
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aosDbgCheck(stream != NULL);
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// print the specified character n times
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for (unsigned int i = 0; i < n; ++i) { |
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streamPut(stream, c); |
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} |
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streamPut(stream, '\n');
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return n+1; |
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} |
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/**
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* @brief Print a system information line.
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* @details Prints a system information line with the following format:
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* "<name>[spaces]fmt"
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* The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.
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* Note that there is not trailing newline added implicitely.
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*
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* @param[in] stream Stream to print to or NULL to print to all system streams.
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* @param[in] name Name of the entry/line.
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* @param[in] namewidth Width of the name column.
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* @param[in] fmt Formatted string of information content.
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*
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* @return Number of characters printed.
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*/
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static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...) |
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{ |
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aosDbgCheck(stream != NULL);
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aosDbgCheck(name != NULL);
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unsigned int n = 0; |
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va_list ap; |
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va_start(ap, fmt); |
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n += chprintf(stream, name); |
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while (n < namewidth) {
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streamPut(stream, ' ');
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++n; |
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} |
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n += chvprintf(stream, fmt, ap); |
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va_end(ap); |
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return n;
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} |
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/**
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* @brief Prints information about the system.
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*
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* @param[in] stream Stream to print to.
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*/
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static void _printSystemInfo(BaseSequentialStream* stream) |
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{ |
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aosDbgCheck(stream != NULL);
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_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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_printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s (v%s)\n", BOARD_NAME, BOARD_VERSION); |
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#ifdef PLATFORM_NAME
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_printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s\n", 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\n", PORT_CORE_VARIANT_NAME); |
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#endif
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_printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s\n", PORT_ARCHITECTURE_NAME); |
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_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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_printSystemInfoLine(stream, "AMiRo-OS" ,SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (SSSP %u.%u)\n", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE, AOS_SYSTEM_SSSP_MAJOR, AOS_SYSTEM_SSSP_MINOR); |
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_printSystemInfoLine(stream, "AMiRo-LLD" ,SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (periphAL %u.%u)\n", AMIRO_LLD_VERSION_MAJOR, AMIRO_LLD_VERSION_MINOR, AMIRO_LLD_VERSION_PATCH, AMIRO_LLD_RELEASE_TYPE, PERIPHAL_VERSION_MAJOR, PERIPHAL_VERSION_MINOR); |
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_printSystemInfoLine(stream, "ChibiOS/RT" ,SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s\n", CH_KERNEL_MAJOR, CH_KERNEL_MINOR, CH_KERNEL_PATCH, (CH_KERNEL_STABLE == 1) ? "stable" : "non-stable"); |
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_printSystemInfoLine(stream, "ChibiOS/HAL",SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s\n", CH_HAL_MAJOR, CH_HAL_MINOR, CH_HAL_PATCH, (CH_HAL_STABLE == 1) ? "stable" : "non-stable"); |
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_printSystemInfoLine(stream, "build type",SYSTEM_INFO_NAMEWIDTH,"%s\n", (AMIROOS_CFG_DBG == true) ? "debug" : "release"); |
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_printSystemInfoLine(stream, "Compiler" ,SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u\n", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC |
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_printSystemInfoLine(stream, "Compiled" ,SYSTEM_INFO_NAMEWIDTH, "%s - %s\n", __DATE__, __TIME__); |
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_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
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_printSystemInfoLine(stream, "AMiRo-BLT", SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (SSSP %u.%u)\n", BL_CALLBACK_TABLE_ADDRESS->vBootloader.major, BL_CALLBACK_TABLE_ADDRESS->vBootloader.minor, BL_CALLBACK_TABLE_ADDRESS->vBootloader.patch, |
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :
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"<release type unknown>",
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BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor); |
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if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_MAJOR) {
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if (stream) {
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chprintf(stream, "WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
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} else {
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aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
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} |
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} |
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_printSystemInfoLine(stream, "Compiler", SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u\n", (BL_CALLBACK_TABLE_ADDRESS->vCompiler.identifier == BL_VERSION_ID_GCC) ? "GCC" : "<compiler unknown>", BL_CALLBACK_TABLE_ADDRESS->vCompiler.major, BL_CALLBACK_TABLE_ADDRESS->vCompiler.minor, BL_CALLBACK_TABLE_ADDRESS->vCompiler.patch); // TODO: support other compilers than GCC |
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} else {
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if (stream) {
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chprintf(stream, "Bootloader incompatible or not available.\n");
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} else {
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aosprintf("Bootloader incompatible or not available.\n");
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} |
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} |
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_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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return;
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} |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Callback function for the system:config shell command.
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*
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* @param[in] stream The I/O stream to use.
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* @param[in] argc Number of arguments.
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* @param[in] argv List of pointers to the arguments.
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*
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* @return An exit status.
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* @retval AOS_OK The command was executed successfuly.
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* @retval AOS_INVALID_ARGUMENTS There was an issue with the arguemnts.
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*/
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static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{ |
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aosDbgCheck(stream != NULL);
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// local variables
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int retval = AOS_INVALID_ARGUMENTS;
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// if there are additional arguments
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if (argc > 1) { |
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// if the user wants to set or retrieve the shell configuration
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if (strcmp(argv[1], "--shell") == 0) { |
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// if the user wants to modify the shell configuration
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if (argc > 2) { |
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// if the user wants to modify the prompt
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if (strcmp(argv[2], "prompt") == 0) { |
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// there must be a further argument
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if (argc > 3) { |
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// handle the option
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if (strcmp(argv[3], "text") == 0) { |
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aos.shell->config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
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retval = AOS_OK; |
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} |
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else if (strcmp(argv[3], "minimal") == 0) { |
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aos.shell->config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
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retval = AOS_OK; |
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} |
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else if (strcmp(argv[3], "notime") == 0) { |
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aos.shell->config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME; |
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retval = AOS_OK; |
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} |
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else if (strcmp(argv[3], "uptime") == 0) { |
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aos.shell->config |= AOS_SHELL_CONFIG_PROMPT_UPTIME; |
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retval = AOS_OK; |
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} |
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} |
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} |
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// if the user wants to modify the string matching
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else if (strcmp(argv[2], "match") == 0) { |
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// there must be a further argument
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if (argc > 3) { |
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if (strcmp(argv[3], "casesensitive") == 0) { |
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aos.shell->config |= AOS_SHELL_CONFIG_MATCH_CASE; |
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retval = AOS_OK; |
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} |
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else if (strcmp(argv[3], "caseinsensitive") == 0) { |
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aos.shell->config &= ~AOS_SHELL_CONFIG_MATCH_CASE; |
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retval = AOS_OK; |
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} |
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} |
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} |
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} |
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// if the user wants to retrieve the shell configuration
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else {
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chprintf(stream, "current shell configuration:\n");
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chprintf(stream, " prompt text: %s\n",
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(aos.shell->prompt != NULL) ? aos.shell->prompt : "n/a"); |
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chprintf(stream, " prompt style: %s, %s\n",
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(aos.shell->config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text", |
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(aos.shell->config & AOS_SHELL_CONFIG_PROMPT_UPTIME) ? "system uptime" : "no time"); |
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chprintf(stream, " input method: %s\n",
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(aos.shell->config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert"); |
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chprintf(stream, " text matching: %s\n",
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(aos.shell->config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive"); |
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retval = AOS_OK; |
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} |
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} |
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} |
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// print help, if required
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if (retval == AOS_INVALID_ARGUMENTS) {
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chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
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chprintf(stream, "Options:\n");
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chprintf(stream, " --help\n");
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chprintf(stream, " Print this help text.\n");
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chprintf(stream, " --shell [OPT [VAL]]\n");
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chprintf(stream, " Set or retrieve shell configuration.\n");
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chprintf(stream, " Possible OPTs and VALs are:\n");
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chprintf(stream, " prompt text|minimal|uptime|notime\n");
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chprintf(stream, " Configures the prompt.\n");
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chprintf(stream, " match casesensitive|caseinsenitive\n");
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chprintf(stream, " Configures string matching.\n");
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} |
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return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval; |
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} |
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/**
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* @brief Callback function for the system:info shell command.
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*
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* @param[in] stream The I/O stream to use.
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* @param[in] argc Number of arguments.
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* @param[in] argv List of pointers to the arguments.
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*
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* @return An exit status.
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* @retval AOS_OK The command was executed successfully.
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*/
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static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{ |
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aosDbgCheck(stream != NULL);
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(void)argc;
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(void)argv;
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// print system information
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_printSystemInfo(stream); |
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// print time measurement precision
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chprintf(stream, "system time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
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// print system uptime
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aos_timestamp_t uptime; |
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aosSysGetUptime(&uptime); |
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chprintf(stream, "The system is running for\n");
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chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
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chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
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chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
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chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
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chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
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chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
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return AOS_OK;
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} |
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|
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/**
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* @brief Callback function for the sytem:shutdown shell command.
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*
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* @param[in] stream The I/O stream to use.
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* @param[in] argc Number of arguments.
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* @param[in] argv List of pointers to the arguments.
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*
|
434 |
* @return An exit status.
|
435 |
* @retval AOS_OK The command was executed successfully.
|
436 |
* @retval AOS_INVALID_ARGUMENTS There was an issue with the arguments.
|
437 |
*/
|
438 |
static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]) |
439 |
{ |
440 |
aosDbgCheck(stream != NULL);
|
441 |
|
442 |
// print help text
|
443 |
if (argc != 2 || strcmp(argv[1], "--help") == 0) { |
444 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
445 |
chprintf(stream, "Options:\n");
|
446 |
chprintf(stream, " --help\n");
|
447 |
chprintf(stream, " Print this help text.\n");
|
448 |
chprintf(stream, " --hibernate, -h\n");
|
449 |
chprintf(stream, " Shutdown to hibernate mode.\n");
|
450 |
chprintf(stream, " Least energy saving, but allows charging via pins.\n");
|
451 |
chprintf(stream, " --deepsleep, -d\n");
|
452 |
chprintf(stream, " Shutdown to deepsleep mode.\n");
|
453 |
chprintf(stream, " Minimum energy consumption while allowing charging via plug.\n");
|
454 |
chprintf(stream, " --transportation, -t\n");
|
455 |
chprintf(stream, " Shutdown to transportation mode.\n");
|
456 |
chprintf(stream, " Minimum energy consumption with all interrupts disabled (no charging).\n");
|
457 |
chprintf(stream, " --restart, -r\n");
|
458 |
chprintf(stream, " Shutdown and restart system.\n");
|
459 |
|
460 |
return (argc != 2) ? AOS_INVALID_ARGUMENTS : AOS_OK; |
461 |
} |
462 |
// handle argument
|
463 |
else {
|
464 |
if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) { |
465 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
466 |
chThdTerminate(currp); |
467 |
return AOS_OK;
|
468 |
} |
469 |
else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) { |
470 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
471 |
chThdTerminate(currp); |
472 |
return AOS_OK;
|
473 |
} |
474 |
else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) { |
475 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
476 |
chThdTerminate(currp); |
477 |
return AOS_OK;
|
478 |
} |
479 |
else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) { |
480 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_RESTART); |
481 |
chThdTerminate(currp); |
482 |
return AOS_OK;
|
483 |
} |
484 |
else {
|
485 |
chprintf(stream, "unknown argument %s\n", argv[1]); |
486 |
return AOS_INVALID_ARGUMENTS;
|
487 |
} |
488 |
} |
489 |
} |
490 |
#endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
491 |
|
492 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
493 |
/**
|
494 |
* @brief Callback function for the kernel:test shell command.
|
495 |
*
|
496 |
* @param[in] stream The I/O stream to use.
|
497 |
* @param[in] argc Number of arguments.
|
498 |
* @param[in] argv List of pointers to the arguments.
|
499 |
*
|
500 |
* @return An exit status.
|
501 |
*/
|
502 |
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]) |
503 |
{ |
504 |
aosDbgCheck(stream != NULL);
|
505 |
|
506 |
(void)argc;
|
507 |
(void)argv;
|
508 |
|
509 |
tprio_t prio = chThdGetPriorityX(); |
510 |
chThdSetPriority(HIGHPRIO - 5); // some tests increase priorirty by 5, so this is the maximum priority permitted |
511 |
msg_t retval = test_execute(stream); |
512 |
chThdSetPriority(prio); |
513 |
|
514 |
return retval;
|
515 |
} |
516 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
517 |
|
518 |
/**
|
519 |
* @brief Callback function for the PD signal interrupt.
|
520 |
*
|
521 |
* @param[in] extp Pointer to the interrupt driver object.
|
522 |
* @param[in] channel Interrupt channel identifier.
|
523 |
*/
|
524 |
static void _signalPdCallback(EXTDriver* extp, expchannel_t channel) |
525 |
{ |
526 |
(void)extp;
|
527 |
(void)channel;
|
528 |
|
529 |
chSysLockFromISR(); |
530 |
chEvtBroadcastFlagsI(&aos.events.io.source, aos.events.io.flagsSignalPd); |
531 |
chSysUnlockFromISR(); |
532 |
|
533 |
return;
|
534 |
} |
535 |
|
536 |
/**
|
537 |
* @brief Callback function for the Sync signal interrupt.
|
538 |
*
|
539 |
* @param[in] extp Pointer to the interrupt driver object.
|
540 |
* @param[in] channel Interrupt channel identifier.
|
541 |
*/
|
542 |
static void _signalSyncCallback(EXTDriver* extp, expchannel_t channel) |
543 |
{ |
544 |
(void)extp;
|
545 |
(void)channel;
|
546 |
|
547 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
548 |
chSysLockFromISR(); |
549 |
chEvtBroadcastFlagsI(&aos.events.io.source, aos.events.io.flagsSignalSync); |
550 |
chSysUnlockFromISR(); |
551 |
#else
|
552 |
apalControlGpioState_t s_state; |
553 |
aos_timestamp_t uptime; |
554 |
|
555 |
chSysLockFromISR(); |
556 |
// get current uptime
|
557 |
aosSysGetUptimeX(&uptime); |
558 |
// read signal S
|
559 |
apalControlGpioGet(_gpioSync, &s_state); |
560 |
// if S was toggled from on to off during SSSP operation phase
|
561 |
if (aos.ssspStage == AOS_SSSP_OPERATION && s_state == APAL_GPIO_OFF) {
|
562 |
// align the uptime with the synchronization period
|
563 |
if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) { |
564 |
_uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
565 |
} else {
|
566 |
_uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
567 |
} |
568 |
} |
569 |
// broadcast event
|
570 |
chEvtBroadcastFlagsI(&aos.events.io.source, aos.events.io.flagsSignalSync); |
571 |
chSysUnlockFromISR(); |
572 |
#endif
|
573 |
|
574 |
return;
|
575 |
} |
576 |
|
577 |
/**
|
578 |
* @brief Callback function for the uptime accumulation timer.
|
579 |
*
|
580 |
* @param[in] par Generic parameter.
|
581 |
*/
|
582 |
#include <module.h> |
583 |
static void _uptimeCallback(void* par) |
584 |
{ |
585 |
(void)par;
|
586 |
|
587 |
chSysLockFromISR(); |
588 |
// read current time in system ticks
|
589 |
register const systime_t st = chVTGetSystemTimeX(); |
590 |
// update the uptime variables
|
591 |
_uptime += LL_ST2US(st - _synctime); |
592 |
_synctime = st; |
593 |
// enable the timer again
|
594 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
595 |
chSysUnlockFromISR(); |
596 |
|
597 |
return;
|
598 |
} |
599 |
|
600 |
#if (AMIROOS_CFG_SSSP_MASTER == true) || defined (__DOXYGEN__) |
601 |
/**
|
602 |
* @brief Periodic system synchronization callback function.
|
603 |
* @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.
|
604 |
*
|
605 |
* @param[in] par Unuesed parameters.
|
606 |
*/
|
607 |
static void _sysSyncTimerCallback(void* par) |
608 |
{ |
609 |
(void)par;
|
610 |
|
611 |
apalControlGpioState_t s_state; |
612 |
aos_timestamp_t uptime; |
613 |
|
614 |
chSysLockFromISR(); |
615 |
// read and toggle signal S
|
616 |
apalControlGpioGet(_gpioSync, &s_state); |
617 |
s_state = (s_state == APAL_GPIO_ON) ? APAL_GPIO_OFF : APAL_GPIO_ON; |
618 |
apalControlGpioSet(_gpioSync, s_state); |
619 |
// if S was toggled from off to on
|
620 |
if (s_state == APAL_GPIO_ON) {
|
621 |
// reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
|
622 |
_syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
623 |
aosSysGetUptimeX(&uptime); |
624 |
chVTSetI(&_syssynctimer, LL_US2ST(_syssynctime - uptime), _sysSyncTimerCallback, NULL);
|
625 |
} |
626 |
// if S was toggled from on to off
|
627 |
else /* if (s_state == APAL_GPIO_OFF) */ { |
628 |
// reconfigure the timer (lazy)
|
629 |
chVTSetI(&_syssynctimer, LL_US2ST(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL); |
630 |
} |
631 |
chSysUnlockFromISR(); |
632 |
|
633 |
return;
|
634 |
} |
635 |
#endif
|
636 |
|
637 |
/**
|
638 |
* @brief AMiRo-OS system initialization.
|
639 |
* @note Must be called from the system control thread (usually main thread).
|
640 |
*
|
641 |
* @param[in] extDrv Pointer to the interrupt driver.
|
642 |
* @param[in] extCfg Configuration for the interrupt driver.
|
643 |
* @param[in] gpioPd GPIO of the PD signal.
|
644 |
* @param[in] gpioSync GPIO of the Sync signal
|
645 |
* @param[in] evtFlagsPd Event flags to be set when a PD interrupt occurs.
|
646 |
* @param[in] evtFlagsSync Event flags to be set when a Sync interrupt occurs.
|
647 |
* @param[in] shellPrompt String to be printed as prompt of the system shell.
|
648 |
* @param[in] stdio Default (usually physically) interface for I/O like shell.
|
649 |
*/
|
650 |
void aosSysInit(EXTDriver* extDrv,
|
651 |
EXTConfig* extCfg, |
652 |
apalControlGpio_t* gpioPd, |
653 |
apalControlGpio_t* gpioSync, |
654 |
eventflags_t evtFlagsPd, |
655 |
eventflags_t evtFlagsSync, |
656 |
const char* shellPrompt) |
657 |
{ |
658 |
// check arguments
|
659 |
aosDbgCheck(extDrv != NULL);
|
660 |
aosDbgCheck(extCfg != NULL);
|
661 |
aosDbgCheck(gpioPd != NULL);
|
662 |
aosDbgCheck(gpioSync != NULL);
|
663 |
|
664 |
// set control thread to maximum priority
|
665 |
chThdSetPriority(THD_CTRLPRIO); |
666 |
|
667 |
// set local variables
|
668 |
_gpioPd = gpioPd; |
669 |
_gpioSync = gpioSync; |
670 |
chVTObjectInit(&_systimer); |
671 |
_synctime = 0;
|
672 |
_uptime = 0;
|
673 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
674 |
chVTObjectInit(&_syssynctimer); |
675 |
_syssynctime = 0;
|
676 |
#endif
|
677 |
|
678 |
// set aos configuration
|
679 |
aos.ssspStage = AOS_SSSP_STARTUP_2_1; |
680 |
aosIOStreamInit(&aos.iostream); |
681 |
chEvtObjectInit(&aos.events.io.source); |
682 |
chEvtObjectInit(&aos.events.os.source); |
683 |
aos.events.io.flagsSignalPd = evtFlagsPd; |
684 |
aos.events.io.flagsSignalSync = evtFlagsSync; |
685 |
|
686 |
// setup external interrupt system
|
687 |
extCfg->channels[gpioPd->gpio->pad].cb = _signalPdCallback; |
688 |
extCfg->channels[gpioSync->gpio->pad].cb = _signalSyncCallback; |
689 |
extStart(extDrv, extCfg); |
690 |
|
691 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
692 |
// init shell
|
693 |
aosShellInit(aos.shell, |
694 |
&aos.events.os.source, |
695 |
shellPrompt, |
696 |
_shell_line, |
697 |
AMIROOS_CFG_SHELL_LINEWIDTH, |
698 |
_shell_arglist, |
699 |
AMIROOS_CFG_SHELL_MAXARGS); |
700 |
// add system commands
|
701 |
aosShellAddCommand(aos.shell, &_shellcmd_config); |
702 |
aosShellAddCommand(aos.shell, &_shellcmd_info); |
703 |
aosShellAddCommand(aos.shell, &_shellcmd_shutdown); |
704 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
705 |
aosShellAddCommand(aos.shell, &_shellcmd_kerneltest); |
706 |
#endif
|
707 |
#else
|
708 |
(void)shellPrompt;
|
709 |
#endif
|
710 |
|
711 |
return;
|
712 |
} |
713 |
|
714 |
/**
|
715 |
* @brief Starts the system and all system threads.
|
716 |
*/
|
717 |
inline void aosSysStart(void) |
718 |
{ |
719 |
// update the system SSSP stage
|
720 |
aos.ssspStage = AOS_SSSP_OPERATION; |
721 |
|
722 |
// print system information;
|
723 |
_printSystemInfo((BaseSequentialStream*)&aos.iostream); |
724 |
aosprintf("\n");
|
725 |
|
726 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
727 |
// start system shell thread
|
728 |
aos.shell->thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), THD_LOWPRIO_MIN, aosShellThread, aos.shell);
|
729 |
#endif
|
730 |
|
731 |
return;
|
732 |
} |
733 |
|
734 |
/**
|
735 |
* @brief Implements the SSSP startup synchronization step.
|
736 |
*
|
737 |
* @param[in] syncEvtListener Event listener that receives the Sync event.
|
738 |
*
|
739 |
* @return If another event that the listener is interested in was received, its mask is returned.
|
740 |
* Otherwise an empty mask (0) is returned.
|
741 |
*/
|
742 |
eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener) |
743 |
{ |
744 |
aosDbgCheck(syncEvtListener != NULL);
|
745 |
|
746 |
// local variables
|
747 |
eventmask_t m; |
748 |
eventflags_t f; |
749 |
apalControlGpioState_t s; |
750 |
|
751 |
// update the system SSSP stage
|
752 |
aos.ssspStage = AOS_SSSP_STARTUP_2_2; |
753 |
|
754 |
// deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase)
|
755 |
apalControlGpioSet(_gpioSync, APAL_GPIO_OFF); |
756 |
|
757 |
// wait for any event to occur (do not apply any filter in order not to miss any event)
|
758 |
m = chEvtWaitOne(ALL_EVENTS); |
759 |
f = chEvtGetAndClearFlags(syncEvtListener); |
760 |
apalControlGpioGet(_gpioSync, &s); |
761 |
|
762 |
// if the event was a system event,
|
763 |
// and it was fired because of the SysSync control signal,
|
764 |
// and the SysSync control signal has been deactivated
|
765 |
if (m & syncEvtListener->events &&
|
766 |
f == aos.events.io.flagsSignalSync && |
767 |
s == APAL_GPIO_OFF) { |
768 |
chSysLock(); |
769 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
770 |
// start the systen synchronization counter
|
771 |
chVTSetI(&_syssynctimer, LL_US2ST(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), &_sysSyncTimerCallback, NULL); |
772 |
#endif
|
773 |
// start the uptime counter
|
774 |
_synctime = chVTGetSystemTimeX(); |
775 |
_uptime = 0;
|
776 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
777 |
chSysUnlock(); |
778 |
|
779 |
return 0; |
780 |
} |
781 |
// an unexpected event occurred
|
782 |
else {
|
783 |
// reassign the flags to the event and return the event mask
|
784 |
syncEvtListener->flags |= f; |
785 |
return m;
|
786 |
} |
787 |
} |
788 |
|
789 |
/**
|
790 |
* @brief Retrieves the system uptime.
|
791 |
*
|
792 |
* @param[out] ut The system uptime.
|
793 |
*/
|
794 |
inline void aosSysGetUptimeX(aos_timestamp_t* ut) |
795 |
{ |
796 |
aosDbgCheck(ut != NULL);
|
797 |
|
798 |
*ut = _uptime + LL_ST2US(chVTGetSystemTimeX() - _synctime); |
799 |
|
800 |
return;
|
801 |
} |
802 |
|
803 |
/**
|
804 |
* @brief Initializes/Acknowledges a system shutdown/restart request.
|
805 |
* @note This functions should be called from the thread with highest priority.
|
806 |
*
|
807 |
* @param[in] shutdown Type of shutdown.
|
808 |
*/
|
809 |
void aosSysShutdownInit(aos_shutdown_t shutdown)
|
810 |
{ |
811 |
// check arguments
|
812 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
813 |
|
814 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
815 |
// deactivate the system synchronization timer
|
816 |
chVTReset(&_syssynctimer); |
817 |
#endif
|
818 |
|
819 |
// update the system SSSP stage
|
820 |
aos.ssspStage = AOS_SSSP_SHUTDOWN_1_1; |
821 |
|
822 |
// activate the SYS_PD control signal only, if this module initiated the shutdown
|
823 |
chSysLock(); |
824 |
if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
825 |
apalControlGpioSet(_gpioPd, APAL_GPIO_ON); |
826 |
} |
827 |
// activate the SYS_SYNC signal
|
828 |
apalControlGpioSet(_gpioSync, APAL_GPIO_ON); |
829 |
chSysUnlock(); |
830 |
|
831 |
switch (shutdown) {
|
832 |
case AOS_SHUTDOWN_PASSIVE:
|
833 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
834 |
aosprintf("shutdown request received...\n");
|
835 |
break;
|
836 |
case AOS_SHUTDOWN_HIBERNATE:
|
837 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
838 |
aosprintf("shutdown to hibernate mode...\n");
|
839 |
break;
|
840 |
case AOS_SHUTDOWN_DEEPSLEEP:
|
841 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
842 |
aosprintf("shutdown to deepsleep mode...\n");
|
843 |
break;
|
844 |
case AOS_SHUTDOWN_TRANSPORTATION:
|
845 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
846 |
aosprintf("shutdown to transportation mode...\n");
|
847 |
break;
|
848 |
case AOS_SHUTDOWN_RESTART:
|
849 |
chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_RESTART); |
850 |
aosprintf("restarting system...\n");
|
851 |
break;
|
852 |
// must never occur
|
853 |
case AOS_SHUTDOWN_NONE:
|
854 |
default:
|
855 |
break;
|
856 |
} |
857 |
|
858 |
// update the system SSSP stage
|
859 |
aos.ssspStage = AOS_SSSP_SHUTDOWN_1_2; |
860 |
|
861 |
return;
|
862 |
} |
863 |
|
864 |
/**
|
865 |
* @brief Stops the system and all related threads (not the thread this function is called from).
|
866 |
*/
|
867 |
void aosSysStop(void) |
868 |
{ |
869 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
870 |
chThdWait(aos.shell->thread); |
871 |
#endif
|
872 |
|
873 |
return;
|
874 |
} |
875 |
|
876 |
/**
|
877 |
* @brief Deinitialize all system variables.
|
878 |
*/
|
879 |
void aosSysDeinit(void) |
880 |
{ |
881 |
return;
|
882 |
} |
883 |
|
884 |
/**
|
885 |
* @brief Finally shuts down the system and calls the bootloader callback function.
|
886 |
* @note This function should be called from the thtead with highest priority.
|
887 |
*
|
888 |
* @param[in] extDrv Pointer to the interrupt driver.
|
889 |
* @param[in] shutdown Type of shutdown.
|
890 |
*/
|
891 |
void aosSysShutdownFinal(EXTDriver* extDrv, aos_shutdown_t shutdown)
|
892 |
{ |
893 |
// check arguments
|
894 |
aosDbgCheck(extDrv != NULL);
|
895 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
896 |
|
897 |
// stop external interrupt system
|
898 |
extStop(extDrv); |
899 |
|
900 |
// update the system SSSP stage
|
901 |
aos.ssspStage = AOS_SSSP_SHUTDOWN_1_3; |
902 |
|
903 |
// call bootloader callback depending on arguments
|
904 |
switch (shutdown) {
|
905 |
case AOS_SHUTDOWN_PASSIVE:
|
906 |
BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest(); |
907 |
break;
|
908 |
case AOS_SHUTDOWN_HIBERNATE:
|
909 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate(); |
910 |
break;
|
911 |
case AOS_SHUTDOWN_DEEPSLEEP:
|
912 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep(); |
913 |
break;
|
914 |
case AOS_SHUTDOWN_TRANSPORTATION:
|
915 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation(); |
916 |
break;
|
917 |
case AOS_SHUTDOWN_RESTART:
|
918 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart(); |
919 |
break;
|
920 |
// must never occur
|
921 |
case AOS_SHUTDOWN_NONE:
|
922 |
default:
|
923 |
break;
|
924 |
} |
925 |
|
926 |
return;
|
927 |
} |