Revision c218345a core/src/aos_system.c
| core/src/aos_system.c | ||
|---|---|---|
| 55 | 55 |
*/ |
| 56 | 56 |
#define SYSTEM_INFO_NAMEWIDTH 14 |
| 57 | 57 |
|
| 58 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
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| 59 |
|
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| 60 |
/** |
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| 61 |
* @brief Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value. |
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| 62 |
*/ |
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| 63 |
#define SYSTEM_SYSSYNCSKEW_LPFACTOR (0.1f / AOS_SYSTEM_TIME_RESOLUTION) |
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| 64 |
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| 65 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
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|
| 67 | 58 |
/******************************************************************************/ |
| 68 | 59 |
/* EXPORTED VARIABLES */ |
| 69 | 60 |
/******************************************************************************/ |
| ... | ... | |
| 108 | 99 |
*/ |
| 109 | 100 |
static systime_t _synctime; |
| 110 | 101 |
|
| 111 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
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| 112 |
#if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__) |
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| 113 |
|
|
| 114 |
/** |
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| 115 |
* @brief Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP. |
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| 116 |
*/ |
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| 117 |
static virtual_timer_t _syssynctimer; |
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| 118 |
|
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| 119 |
/** |
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| 120 |
* @brief Last uptime of system wide time synchronization. |
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| 121 |
*/ |
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| 122 |
static aos_timestamp_t _syssynctime; |
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| 123 |
|
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| 124 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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| 125 |
|
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| 126 |
#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
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|
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| 128 |
/** |
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| 129 |
* @brief Offset between local clock and system wide synchronization signal. |
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| 130 |
*/ |
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| 131 |
static float _syssyncskew; |
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| 132 |
|
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| 133 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
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| 134 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
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| 135 |
|
|
| 136 | 102 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 137 | 103 |
|
| 138 | 104 |
/** |
| ... | ... | |
| 536 | 502 |
chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND)); |
| 537 | 503 |
chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND)); |
| 538 | 504 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
| 539 |
chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", (double)_syssyncskew, AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
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|
| 505 |
chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", (double)aosSsspGetSyncSkew(), AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
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| 540 | 506 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
| 541 | 507 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH); |
| 542 | 508 |
|
| ... | ... | |
| 694 | 660 |
} |
| 695 | 661 |
#pragma GCC diagnostic pop |
| 696 | 662 |
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| 697 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true)) || defined(__DOXYGEN__) |
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| 698 |
|
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| 699 |
/** |
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| 700 |
* @brief Callback function for the Sync signal interrupt. |
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| 701 |
* |
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| 702 |
* @param[in] args Pointer to the GPIO line identifier. |
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| 703 |
*/ |
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| 704 |
static void _signalSyncCallback(void *args) |
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| 705 |
{
|
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aosDbgCheck((args != NULL) && (*((ioline_t*)args) != PAL_NOLINE) && (PAL_PAD(*((ioline_t*)args)) < sizeof(eventflags_t) * 8)); |
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|
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| 708 |
apalControlGpioState_t state; |
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aos_timestamp_t uptime; |
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|
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| 711 |
chSysLockFromISR(); |
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| 712 |
|
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| 713 |
// if the system is in operation phase |
|
| 714 |
if (aos.sssp.stage == AOS_SSSP_STAGE_OPERATION) {
|
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| 715 |
// read signal S |
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| 716 |
apalControlGpioGet(&moduleSsspGpioS, &state); |
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// if S was toggled from on to off |
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| 718 |
if (state == APAL_GPIO_OFF) {
|
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| 719 |
// get current uptime |
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| 720 |
aosSysGetUptimeX(&uptime); |
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// align the uptime with the synchronization period |
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| 722 |
if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) {
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|
| 723 |
_uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
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| 724 |
#if (AMIROOS_CFG_PROFILE == true) |
|
| 725 |
_syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) + (SYSTEM_SYSSYNCSKEW_LPFACTOR * (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD)); |
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| 726 |
#endif /* (AMIROOS_CFG_PROFILE == true) */ |
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} else {
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| 728 |
_uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
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| 729 |
#if (AMIROOS_CFG_PROFILE == true) |
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| 730 |
_syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) - (SYSTEM_SYSSYNCSKEW_LPFACTOR * (AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD))); |
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| 731 |
#endif /* (AMIROOS_CFG_PROFILE == true) */ |
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| 732 |
} |
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| 733 |
} |
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| 734 |
} |
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| 735 |
|
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| 736 |
// broadcast event |
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| 737 |
chEvtBroadcastFlagsI(&aos.events.gpio, AOS_GPIOEVENT_FLAG(PAL_PAD(*((ioline_t*)args)))); |
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chSysUnlockFromISR(); |
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| 739 |
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return; |
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} |
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| 743 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) */ |
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| 744 |
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| 745 | 663 |
/** |
| 746 | 664 |
* @brief Callback function for the uptime accumulation timer. |
| 747 | 665 |
* |
| ... | ... | |
| 764 | 682 |
return; |
| 765 | 683 |
} |
| 766 | 684 |
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| 767 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined (__DOXYGEN__) |
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|
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/** |
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| 770 |
* @brief Periodic system synchronization callback function. |
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* @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer. |
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* |
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* @param[in] par Unused parameters. |
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*/ |
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static void _sysSyncTimerCallback(void* par) |
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{
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(void)par; |
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|
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apalControlGpioState_t state; |
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aos_timestamp_t uptime; |
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|
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chSysLockFromISR(); |
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// toggle and read signal S |
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apalGpioToggle(moduleSsspGpioS.gpio); |
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apalControlGpioGet(&moduleSsspGpioS, &state); |
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// if S was toggled from off to on |
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if (state == APAL_GPIO_ON) {
|
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// reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time |
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_syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
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aosSysGetUptimeX(&uptime); |
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chVTSetI(&_syssynctimer, chTimeUS2I(_syssynctime - uptime), _sysSyncTimerCallback, NULL); |
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} |
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// if S was toggled from on to off |
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else /* if (state == APAL_GPIO_OFF) */ {
|
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// reconfigure the timer (lazy) |
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chVTSetI(&_syssynctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL); |
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} |
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chSysUnlockFromISR(); |
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return; |
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} |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */ |
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|
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| 805 | 685 |
/** |
| 806 | 686 |
* @brief Retreive the number of active threads. |
| 807 | 687 |
* |
| ... | ... | |
| 835 | 715 |
chThdSetPriority(AOS_THD_CTRLPRIO); |
| 836 | 716 |
|
| 837 | 717 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 838 |
aosSsspInit(); |
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| 718 |
aosSsspInit(&_uptime);
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| 839 | 719 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 840 | 720 |
|
| 841 | 721 |
/* set local variables */ |
| 842 | 722 |
chVTObjectInit(&_systimer); |
| 843 | 723 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 724 |
// uptime counter is started when SSSP proceeds to operation phase |
|
| 844 | 725 |
_synctime = 0; |
| 845 | 726 |
_uptime = 0; |
| 846 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
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| 847 |
chVTObjectInit(&_syssynctimer); |
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| 848 |
_syssynctime = 0; |
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| 849 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
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| 850 |
#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
|
| 851 |
_syssyncskew = 0.0f; |
|
| 852 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
|
| 853 | 727 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 854 | 728 |
// start the uptime counter |
| 855 | 729 |
chSysLock(); |
| 856 |
_synctime = chVTGetSystemTimeX(); |
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| 857 |
_uptime = 0; |
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| 858 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL); |
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| 730 |
aosSysStartUptimeS(); |
|
| 859 | 731 |
chSysUnlock(); |
| 860 | 732 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 861 | 733 |
|
| ... | ... | |
| 864 | 736 |
chEvtObjectInit(&aos.events.gpio); |
| 865 | 737 |
chEvtObjectInit(&aos.events.os); |
| 866 | 738 |
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| 867 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
|
| 868 |
|
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| 869 |
/* SSSP signal interrupt setup */ |
|
| 870 |
// PD signal |
|
| 871 |
palSetLineCallback(moduleSsspGpioPD.gpio->line, _gpioCallback, &moduleSsspGpioPD.gpio->line); |
|
| 872 |
palEnableLineEvent(moduleSsspGpioPD.gpio->line, APAL2CH_EDGE(moduleSsspGpioPD.meta.edge)); |
|
| 873 |
// S signal |
|
| 874 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
|
| 875 |
palSetLineCallback(moduleSsspGpioS.gpio->line, _gpioCallback, &moduleSsspGpioS.gpio->line); |
|
| 876 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 877 |
palSetLineCallback(moduleSsspGpioS.gpio->line, _signalSyncCallback, &moduleSsspGpioS.gpio->line); |
|
| 878 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 879 |
palEnableLineEvent(moduleSsspGpioS.gpio->line, APAL2CH_EDGE(moduleSsspGpioS.meta.edge)); |
|
| 880 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
|
| 881 |
// DN signal |
|
| 882 |
palSetLineCallback(moduleSsspGpioDN.gpio->line, _gpioCallback, &moduleSsspGpioDN.gpio->line); |
|
| 883 |
palEnableLineEvent(moduleSsspGpioDN.gpio->line, APAL2CH_EDGE(moduleSsspGpioDN.meta.edge)); |
|
| 884 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
|
| 885 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
|
| 886 |
// UP signal |
|
| 887 |
palSetLineCallback(moduleSsspGpioUP.gpio->line, _gpioCallback, &moduleSsspGpioUP.gpio->line); |
|
| 888 |
palEnableLineEvent(moduleSsspGpioUP.gpio->line, APAL2CH_EDGE(moduleSsspGpioUP.meta.edge)); |
|
| 889 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
|
| 890 |
|
|
| 891 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 892 |
|
|
| 893 | 739 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
| 894 | 740 |
|
| 895 | 741 |
/* init shell */ |
| ... | ... | |
| 908 | 754 |
aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest); |
| 909 | 755 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 910 | 756 |
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| 757 |
#else /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
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| 758 |
|
|
| 759 |
// suppress unused variable warnings |
|
| 760 |
(void)shellPrompt; |
|
| 761 |
|
|
| 911 | 762 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
| 912 | 763 |
|
| 913 | 764 |
return; |
| ... | ... | |
| 918 | 769 |
*/ |
| 919 | 770 |
void aosSysStart(void) |
| 920 | 771 |
{
|
| 921 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) |
|
| 922 |
{
|
|
| 923 |
chSysLock(); |
|
| 924 |
// start the system synchronization counter |
|
| 925 |
// The first iteration of the timer is set to the next 'center' of a 'slice'. |
|
| 926 |
aos_timestamp_t t; |
|
| 927 |
aosSysGetUptimeX(&t); |
|
| 928 |
t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
|
| 929 |
chVTSetI(&_syssynctimer, chTimeUS2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL); |
|
| 930 |
chSysUnlock(); |
|
| 931 |
} |
|
| 932 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) && (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 933 |
|
|
| 934 | 772 |
// print system information; |
| 935 | 773 |
_printSystemInfo((BaseSequentialStream*)&aos.iostream); |
| 936 | 774 |
aosprintf("\n");
|
| ... | ... | |
| 947 | 785 |
return; |
| 948 | 786 |
} |
| 949 | 787 |
|
| 950 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
|
| 951 |
|
|
| 952 | 788 |
/** |
| 953 | 789 |
* @brief Start the system uptime measurement. |
| 790 |
* @note Must be called from a locked context. |
|
| 954 | 791 |
*/ |
| 955 |
void aosSysStartUptime(void) |
|
| 792 |
void aosSysStartUptimeS(void)
|
|
| 956 | 793 |
{
|
| 957 |
chSysLock();
|
|
| 794 |
chDbgCheckClassS();
|
|
| 958 | 795 |
|
| 959 |
// start the uptime counter |
|
| 796 |
// start the uptime aggregation counter
|
|
| 960 | 797 |
_synctime = chVTGetSystemTimeX(); |
| 961 | 798 |
_uptime = 0; |
| 962 | 799 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL); |
| 963 | 800 |
|
| 964 |
chSysUnlock(); |
|
| 965 |
|
|
| 966 | 801 |
return; |
| 967 | 802 |
} |
| 968 | 803 |
|
| 969 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 970 |
|
|
| 971 | 804 |
/** |
| 972 | 805 |
* @brief Retrieves the system uptime. |
| 973 | 806 |
* |
| ... | ... | |
| 1031 | 864 |
|
| 1032 | 865 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 1033 | 866 |
|
| 1034 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
|
| 1035 |
// deactivate the system synchronization timer |
|
| 1036 |
chVTReset(&_syssynctimer); |
|
| 1037 |
// activate SSSP S signal in case the synchronization timer had it deactivated. |
|
| 1038 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_ON); |
|
| 1039 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 1040 |
|
|
| 1041 | 867 |
// activate the PD signal only if this module initiated the shutdown |
| 1042 | 868 |
if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
| 1043 |
apalControlGpioSet(&moduleSsspGpioPD, APAL_GPIO_ON); |
|
| 1044 |
aosSsspShutdownInit(); |
|
| 869 |
aosSsspShutdownInit(true); |
|
| 1045 | 870 |
} |
| 1046 | 871 |
|
| 1047 | 872 |
switch (shutdown) {
|
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