Revision cda14729 core/src/aos_system.c
| core/src/aos_system.c | ||
|---|---|---|
| 84 | 84 |
/* |
| 85 | 85 |
* forward declarations |
| 86 | 86 |
*/ |
| 87 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
|
|
| 87 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
|
| 88 | 88 |
static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]); |
| 89 | 89 |
static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]); |
| 90 | 90 |
static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]); |
| 91 | 91 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 92 | 92 |
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]); |
| 93 | 93 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 94 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
|
|
| 94 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
|
| 95 | 95 |
|
| 96 | 96 |
/** |
| 97 | 97 |
* @brief Timer to accumulate system uptime. |
| ... | ... | |
| 108 | 108 |
*/ |
| 109 | 109 |
static systime_t _synctime; |
| 110 | 110 |
|
| 111 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined(__DOXYGEN__) |
|
| 111 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
|
| 112 |
#if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__) |
|
| 113 |
|
|
| 112 | 114 |
/** |
| 113 | 115 |
* @brief Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP. |
| 114 | 116 |
*/ |
| ... | ... | |
| 118 | 120 |
* @brief Last uptime of system wide time synchronization. |
| 119 | 121 |
*/ |
| 120 | 122 |
static aos_timestamp_t _syssynctime; |
| 121 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 122 | 123 |
|
| 123 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
|
| 124 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 125 |
|
|
| 126 |
#if ((AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
|
| 127 |
|
|
| 124 | 128 |
/** |
| 125 | 129 |
* @brief Offset between local clock and system wide synchronization signal. |
| 126 | 130 |
*/ |
| 127 | 131 |
static float _syssyncskew; |
| 128 | 132 |
|
| 129 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
|
| 133 |
#endif /* (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
|
| 134 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 135 |
|
|
| 136 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
|
| 130 | 137 |
|
| 131 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
|
| 132 | 138 |
/** |
| 133 | 139 |
* @brief Shell thread working area. |
| 134 | 140 |
*/ |
| ... | ... | |
| 157 | 163 |
/** |
| 158 | 164 |
* @brief Shell command to shutdown the system. |
| 159 | 165 |
*/ |
| 160 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
|
| 166 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)
|
|
| 161 | 167 |
static AOS_SHELL_COMMAND(_shellcmd_shutdown, "system:shutdown", _shellcmd_shutdowncb); |
| 162 | 168 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 163 | 169 |
static AOS_SHELL_COMMAND(_shellcmd_shutdown, "module:shutdown", _shellcmd_shutdowncb); |
| 164 | 170 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 165 | 171 |
|
| 166 | 172 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 173 |
|
|
| 167 | 174 |
/** |
| 168 | 175 |
* @brief Shell kommand to run a test of the ChibiOS/RT kernel. |
| 169 | 176 |
*/ |
| 170 | 177 |
static AOS_SHELL_COMMAND(_shellcmd_kerneltest, "kernel:test", _shellcmd_kerneltestcb); |
| 178 |
|
|
| 171 | 179 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 172 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
|
|
| 180 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
|
| 173 | 181 |
|
| 174 | 182 |
/******************************************************************************/ |
| 175 | 183 |
/* LOCAL FUNCTIONS */ |
| ... | ... | |
| 261 | 269 |
_printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME); |
| 262 | 270 |
_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH); |
| 263 | 271 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 264 |
_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);
|
|
| 272 |
_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_SSSP_VERSION_MAJOR, AOS_SSSP_VERSION_MINOR);
|
|
| 265 | 273 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 266 | 274 |
_printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE); |
| 267 | 275 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| ... | ... | |
| 273 | 281 |
_printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__); |
| 274 | 282 |
|
| 275 | 283 |
// print static information about the bootloader |
| 284 |
#if (AMIROOS_CFG_BOOTLOADER != AOS_BOOTLOADER_NONE) |
|
| 276 | 285 |
_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH); |
| 286 |
#endif /* (AMIROOS_CFG_BOOTLOADER != AOS_BOOTLOADER_NONE) */ |
|
| 287 |
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT) |
|
| 277 | 288 |
if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
|
| 278 | 289 |
_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, |
| 279 | 290 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" : |
| ... | ... | |
| 284 | 295 |
"<release type unknown>", |
| 285 | 296 |
BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor); |
| 286 | 297 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 287 |
if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_MAJOR) {
|
|
| 288 |
if (stream) {
|
|
| 289 |
chprintf(stream, "WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n"); |
|
| 290 |
} else {
|
|
| 291 |
aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
|
|
| 292 |
} |
|
| 298 |
if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SSSP_VERSION_MAJOR) {
|
|
| 299 |
const char* msg = "WARNING: AMiRo-BLT and AMiRo-OS implement incompatible SSSP versions!\n"; |
|
| 300 |
stream ? chprintf(stream, msg) : aosprintf(msg); |
|
| 293 | 301 |
} |
| 294 | 302 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 295 | 303 |
_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 |
| 296 | 304 |
} else {
|
| 297 |
if (stream) {
|
|
| 298 |
chprintf(stream, "Bootloader incompatible or not available.\n"); |
|
| 299 |
} else {
|
|
| 300 |
aosprintf("Bootloader incompatible or not available.\n");
|
|
| 301 |
} |
|
| 305 |
const char* msg = "WARNING: AMiRo-BLT incompatible or not available.\n"; |
|
| 306 |
stream ? chprintf(stream, "%s", msg) : aosprintf("%s", msg);
|
|
| 302 | 307 |
} |
| 308 |
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */ |
|
| 303 | 309 |
|
| 304 | 310 |
// print dynamic information about the module |
| 305 | 311 |
_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH); |
| 306 | 312 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 313 |
#if (AMIROOS_CFG_SSSP_MSI == true) |
|
| 307 | 314 |
if (aos.sssp.moduleId != 0) {
|
| 308 | 315 |
_printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId); |
| 309 | 316 |
} else {
|
| 310 | 317 |
_printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available"); |
| 311 | 318 |
} |
| 319 |
#else /* (AMIROOS_CFG_SSSP_MSI == true) */ |
|
| 320 |
_printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available"); |
|
| 321 |
#endif /* (AMIROOS_CFG_SSSP_MSI == true) */ |
|
| 312 | 322 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 313 | 323 |
#if (HAL_USE_RTC == TRUE) |
| 314 | 324 |
_printSystemInfoLine(stream, "Date", SYSTEM_INFO_NAMEWIDTH, "%04u-%02u-%02u (%s)", |
| ... | ... | |
| 317 | 327 |
dt.tm_mday, |
| 318 | 328 |
(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"); |
| 319 | 329 |
_printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u", dt.tm_hour, dt.tm_min, dt.tm_sec); |
| 320 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN != TRUE) |
|
| 321 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
|
| 322 |
_printSystemInfoLine(stream, "", SYSTEM_INFO_NAMEWIDTH, "Date & Time were not synchronized to slave modules."); |
|
| 323 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 324 |
_printSystemInfoLine(stream, "", SYSTEM_INFO_NAMEWIDTH, "Date & Time were not synchronized from master module."); |
|
| 325 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 326 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (HAL_USE_CAN != TRUE) */ |
|
| 327 | 330 |
#endif /* (HAL_USE_RTC == TRUE) */ |
| 328 | 331 |
|
| 329 | 332 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH); |
| ... | ... | |
| 331 | 334 |
return; |
| 332 | 335 |
} |
| 333 | 336 |
|
| 334 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
|
|
| 337 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
|
| 335 | 338 |
/** |
| 336 | 339 |
* @brief Callback function for the system:config shell command. |
| 337 | 340 |
* |
| ... | ... | |
| 456 | 459 |
chprintf(stream, "unknown option '%s' or invalid value '%s'\n", argv[2], argv[3]); |
| 457 | 460 |
return AOS_INVALIDARGUMENTS; |
| 458 | 461 |
} |
| 459 |
dt.tm_wday = aosTimeDayOfWeekFromDate(dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900) % 7;
|
|
| 462 |
dt.tm_wday = aosTimeDayOfWeekFromDate((uint16_t)dt.tm_mday, (uint8_t)dt.tm_mon+1, (uint16_t)dt.tm_year+1900) % DAYS_PER_WEEK;
|
|
| 460 | 463 |
aosSysSetDateTime(&dt); |
| 461 | 464 |
|
| 462 | 465 |
// read and print new date and time |
| ... | ... | |
| 554 | 557 |
} |
| 555 | 558 |
|
| 556 | 559 |
/** |
| 557 |
* @brief Callback function for the sytem:shutdown shell command. |
|
| 560 |
* @brief Callback function for the sytem:shutdown or module:shutdown shell command.
|
|
| 558 | 561 |
* |
| 559 | 562 |
* @param[in] stream The I/O stream to use. |
| 560 | 563 |
* @param[in] argc Number of arguments. |
| ... | ... | |
| 568 | 571 |
{
|
| 569 | 572 |
aosDbgCheck(stream != NULL); |
| 570 | 573 |
|
| 571 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
|
| 574 |
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE) |
|
| 575 |
|
|
| 576 |
(void)argv; |
|
| 577 |
(void)argc; |
|
| 578 |
|
|
| 579 |
// broadcast shutdown event |
|
| 580 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_MASK); |
|
| 581 |
// set terminate flag so no further prompt will be printed |
|
| 582 |
chThdTerminate(chThdGetSelfX()); |
|
| 583 |
|
|
| 584 |
return AOS_OK; |
|
| 585 |
|
|
| 586 |
#elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT) |
|
| 587 |
|
|
| 572 | 588 |
// print help text |
| 573 | 589 |
if (argc != 2 || strcmp(argv[1], "--help") == 0) {
|
| 574 | 590 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
| ... | ... | |
| 592 | 608 |
// handle argument |
| 593 | 609 |
else {
|
| 594 | 610 |
if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) {
|
| 595 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
|
| 611 |
// broadcast shutdown event |
|
| 612 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_HIBERNATE); |
|
| 613 |
// set terminate flag so no further prompt will be printed |
|
| 596 | 614 |
chThdTerminate(chThdGetSelfX()); |
| 597 | 615 |
return AOS_OK; |
| 598 | 616 |
} |
| 599 | 617 |
else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) {
|
| 600 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
|
| 618 |
// broadcast shutdown event |
|
| 619 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_DEEPSLEEP); |
|
| 620 |
// set terminate flag so no further prompt will be printed |
|
| 601 | 621 |
chThdTerminate(chThdGetSelfX()); |
| 602 | 622 |
return AOS_OK; |
| 603 | 623 |
} |
| 604 | 624 |
else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) {
|
| 605 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
|
| 625 |
// broadcast shutdown event |
|
| 626 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_TRANSPORTATION); |
|
| 627 |
// set terminate flag so no further prompt will be printed |
|
| 606 | 628 |
chThdTerminate(chThdGetSelfX()); |
| 607 | 629 |
return AOS_OK; |
| 608 | 630 |
} |
| 609 | 631 |
else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) {
|
| 610 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
|
| 632 |
// broadcast shutdown event |
|
| 633 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_RESTART); |
|
| 634 |
// set terminate flag so no further prompt will be printed |
|
| 611 | 635 |
chThdTerminate(chThdGetSelfX()); |
| 612 | 636 |
return AOS_OK; |
| 613 | 637 |
} |
| ... | ... | |
| 616 | 640 |
return AOS_INVALIDARGUMENTS; |
| 617 | 641 |
} |
| 618 | 642 |
} |
| 619 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 620 |
(void)argv; |
|
| 621 |
(void)argc; |
|
| 622 | 643 |
|
| 623 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
|
| 624 |
chThdTerminate(chThdGetSelfX()); |
|
| 625 |
return AOS_OK; |
|
| 626 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 644 |
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */ |
|
| 627 | 645 |
} |
| 628 | 646 |
|
| 629 | 647 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 648 |
|
|
| 630 | 649 |
/** |
| 631 | 650 |
* @brief Callback function for the kernel:test shell command. |
| 632 | 651 |
* |
| ... | ... | |
| 647 | 666 |
|
| 648 | 667 |
return retval; |
| 649 | 668 |
} |
| 669 |
|
|
| 650 | 670 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 651 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
|
|
| 671 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
|
| 652 | 672 |
|
| 653 | 673 |
// suppress warning in case no interrupt GPIOs are defined |
| 654 | 674 |
#pragma GCC diagnostic push |
| ... | ... | |
| 658 | 678 |
* |
| 659 | 679 |
* @param[in] args Pointer to the GPIO line identifier. |
| 660 | 680 |
*/ |
| 661 |
static void _extiCallback(void* args)
|
|
| 681 |
static void _gpioCallback(void* args)
|
|
| 662 | 682 |
{
|
| 663 | 683 |
aosDbgCheck((args != NULL) && (*((ioline_t*)args) != PAL_NOLINE) && (PAL_PAD(*((ioline_t*)args)) < sizeof(eventflags_t) * 8)); |
| 664 | 684 |
|
| 665 | 685 |
chSysLockFromISR(); |
| 666 |
chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(PAL_PAD(*((ioline_t*)args))));
|
|
| 686 |
chEvtBroadcastFlagsI(&aos.events.gpio, AOS_GPIOEVENT_FLAG(PAL_PAD(*((ioline_t*)args))));
|
|
| 667 | 687 |
chSysUnlockFromISR(); |
| 668 | 688 |
|
| 669 | 689 |
return; |
| ... | ... | |
| 671 | 691 |
#pragma GCC diagnostic pop |
| 672 | 692 |
|
| 673 | 693 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true)) || defined(__DOXYGEN__) |
| 694 |
|
|
| 674 | 695 |
/** |
| 675 | 696 |
* @brief Callback function for the Sync signal interrupt. |
| 676 | 697 |
* |
| ... | ... | |
| 680 | 701 |
{
|
| 681 | 702 |
aosDbgCheck((args != NULL) && (*((ioline_t*)args) != PAL_NOLINE) && (PAL_PAD(*((ioline_t*)args)) < sizeof(eventflags_t) * 8)); |
| 682 | 703 |
|
| 683 |
apalControlGpioState_t s_state;
|
|
| 704 |
apalControlGpioState_t state; |
|
| 684 | 705 |
aos_timestamp_t uptime; |
| 685 | 706 |
|
| 686 | 707 |
chSysLockFromISR(); |
| 708 |
|
|
| 687 | 709 |
// if the system is in operation phase |
| 688 |
if (aos.sssp.stage == AOS_SSSP_OPERATION) {
|
|
| 710 |
if (aos.sssp.stage == AOS_SSSP_STAGE_OPERATION) {
|
|
| 689 | 711 |
// read signal S |
| 690 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state);
|
|
| 712 |
apalControlGpioGet(&moduleSsspGpioS, &state);
|
|
| 691 | 713 |
// if S was toggled from on to off |
| 692 |
if (s_state == APAL_GPIO_OFF) {
|
|
| 714 |
if (state == APAL_GPIO_OFF) {
|
|
| 693 | 715 |
// get current uptime |
| 694 | 716 |
aosSysGetUptimeX(&uptime); |
| 695 | 717 |
// align the uptime with the synchronization period |
| ... | ... | |
| 706 | 728 |
} |
| 707 | 729 |
} |
| 708 | 730 |
} |
| 731 |
|
|
| 709 | 732 |
// broadcast event |
| 710 |
chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(PAL_PAD(*((ioline_t*)args))));
|
|
| 733 |
chEvtBroadcastFlagsI(&aos.events.gpio, AOS_GPIOEVENT_FLAG(PAL_PAD(*((ioline_t*)args))));
|
|
| 711 | 734 |
chSysUnlockFromISR(); |
| 712 | 735 |
|
| 713 | 736 |
return; |
| 714 | 737 |
} |
| 738 |
|
|
| 715 | 739 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) */ |
| 716 | 740 |
|
| 717 | 741 |
/** |
| ... | ... | |
| 737 | 761 |
} |
| 738 | 762 |
|
| 739 | 763 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined (__DOXYGEN__) |
| 764 |
|
|
| 740 | 765 |
/** |
| 741 | 766 |
* @brief Periodic system synchronization callback function. |
| 742 | 767 |
* @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer. |
| 743 | 768 |
* |
| 744 |
* @param[in] par Unuesed parameters.
|
|
| 769 |
* @param[in] par Unused parameters. |
|
| 745 | 770 |
*/ |
| 746 | 771 |
static void _sysSyncTimerCallback(void* par) |
| 747 | 772 |
{
|
| 748 | 773 |
(void)par; |
| 749 | 774 |
|
| 750 |
apalControlGpioState_t s_state;
|
|
| 775 |
apalControlGpioState_t state; |
|
| 751 | 776 |
aos_timestamp_t uptime; |
| 752 | 777 |
|
| 753 | 778 |
chSysLockFromISR(); |
| 754 | 779 |
// toggle and read signal S |
| 755 |
apalGpioToggle(moduleSsspGpioSync.gpio);
|
|
| 756 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state);
|
|
| 780 |
apalGpioToggle(moduleSsspGpioS.gpio); |
|
| 781 |
apalControlGpioGet(&moduleSsspGpioS, &state);
|
|
| 757 | 782 |
// if S was toggled from off to on |
| 758 |
if (s_state == APAL_GPIO_ON) {
|
|
| 783 |
if (state == APAL_GPIO_ON) {
|
|
| 759 | 784 |
// reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time |
| 760 | 785 |
_syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
| 761 | 786 |
aosSysGetUptimeX(&uptime); |
| 762 | 787 |
chVTSetI(&_syssynctimer, chTimeUS2I(_syssynctime - uptime), _sysSyncTimerCallback, NULL); |
| 763 | 788 |
} |
| 764 | 789 |
// if S was toggled from on to off |
| 765 |
else /* if (s_state == APAL_GPIO_OFF) */ {
|
|
| 790 |
else /* if (state == APAL_GPIO_OFF) */ {
|
|
| 766 | 791 |
// reconfigure the timer (lazy) |
| 767 | 792 |
chVTSetI(&_syssynctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL); |
| 768 | 793 |
} |
| ... | ... | |
| 770 | 795 |
|
| 771 | 796 |
return; |
| 772 | 797 |
} |
| 798 |
|
|
| 773 | 799 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 774 | 800 |
|
| 801 |
/** |
|
| 802 |
* @brief Retreive the number of active threads. |
|
| 803 |
* |
|
| 804 |
* @return Number of active threads. |
|
| 805 |
*/ |
|
| 806 |
size_t _numActiveThreads(void) |
|
| 807 |
{
|
|
| 808 |
size_t threads = 0; |
|
| 809 |
thread_t* tp = chRegFirstThread(); |
|
| 810 |
while (tp) {
|
|
| 811 |
threads += (tp->state == CH_STATE_FINAL) ? 1 : 0; |
|
| 812 |
tp = chRegNextThread(tp); |
|
| 813 |
} |
|
| 814 |
|
|
| 815 |
return threads; |
|
| 816 |
} |
|
| 817 |
|
|
| 775 | 818 |
/******************************************************************************/ |
| 776 | 819 |
/* EXPORTED FUNCTIONS */ |
| 777 | 820 |
/******************************************************************************/ |
| ... | ... | |
| 782 | 825 |
* |
| 783 | 826 |
* @param[in] shellPrompt String to be printed as prompt of the system shell. |
| 784 | 827 |
*/ |
| 785 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
|
|
| 828 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
|
| 786 | 829 |
void aosSysInit(const char* shellPrompt) |
| 787 |
#else /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
|
|
| 830 |
#else /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
|
| 788 | 831 |
void aosSysInit(void) |
| 789 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
|
|
| 832 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
|
| 790 | 833 |
{
|
| 791 | 834 |
/* set control thread to maximum priority */ |
| 792 | 835 |
chThdSetPriority(AOS_THD_CTRLPRIO); |
| 793 | 836 |
|
| 837 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
|
| 838 |
aosSsspInit(); |
|
| 839 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 840 |
|
|
| 794 | 841 |
/* set local variables */ |
| 795 | 842 |
chVTObjectInit(&_systimer); |
| 796 | 843 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| ... | ... | |
| 813 | 860 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 814 | 861 |
|
| 815 | 862 |
/* initialize aos configuration */ |
| 816 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
|
| 817 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_1; |
|
| 818 |
aos.sssp.moduleId = 0; |
|
| 819 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 820 | 863 |
aosIOStreamInit(&aos.iostream); |
| 821 |
chEvtObjectInit(&aos.events.io); |
|
| 864 |
chEvtObjectInit(&aos.events.gpio);
|
|
| 822 | 865 |
chEvtObjectInit(&aos.events.os); |
| 823 | 866 |
|
| 824 |
/* interrupt setup */ |
|
| 825 | 867 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 868 |
|
|
| 869 |
/* SSSP signal interrupt setup */ |
|
| 826 | 870 |
// PD signal |
| 827 |
palSetLineCallback(moduleSsspGpioPd.gpio->line, _extiCallback, &moduleSsspGpioPd.gpio->line);
|
|
| 828 |
palEnableLineEvent(moduleSsspGpioPd.gpio->line, APAL2CH_EDGE(moduleSsspGpioPd.meta.edge));
|
|
| 829 |
// SYNC signal
|
|
| 871 |
palSetLineCallback(moduleSsspGpioPD.gpio->line, _gpioCallback, &moduleSsspGpioPD.gpio->line);
|
|
| 872 |
palEnableLineEvent(moduleSsspGpioPD.gpio->line, APAL2CH_EDGE(moduleSsspGpioPD.meta.edge));
|
|
| 873 |
// S signal |
|
| 830 | 874 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 831 |
palSetLineCallback(moduleSsspGpioSync.gpio->line, _extiCallback, &moduleSsspGpioSync.gpio->line);
|
|
| 875 |
palSetLineCallback(moduleSsspGpioS.gpio->line, _gpioCallback, &moduleSsspGpioS.gpio->line);
|
|
| 832 | 876 |
#else /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 833 |
palSetLineCallback(moduleSsspGpioSync.gpio->line, _signalSyncCallback, &moduleSsspGpioSync.gpio->line);
|
|
| 877 |
palSetLineCallback(moduleSsspGpioS.gpio->line, _signalSyncCallback, &moduleSsspGpioS.gpio->line);
|
|
| 834 | 878 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 835 |
palEnableLineEvent(moduleSsspGpioSync.gpio->line, APAL2CH_EDGE(moduleSsspGpioSync.meta.edge));
|
|
| 879 |
palEnableLineEvent(moduleSsspGpioS.gpio->line, APAL2CH_EDGE(moduleSsspGpioS.meta.edge));
|
|
| 836 | 880 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 837 | 881 |
// DN signal |
| 838 |
palSetLineCallback(moduleSsspGpioDn.gpio->line, _extiCallback, &moduleSsspGpioDn.gpio->line);
|
|
| 839 |
palEnableLineEvent(moduleSsspGpioDn.gpio->line, APAL2CH_EDGE(moduleSsspGpioDn.meta.edge));
|
|
| 882 |
palSetLineCallback(moduleSsspGpioDN.gpio->line, _gpioCallback, &moduleSsspGpioDN.gpio->line);
|
|
| 883 |
palEnableLineEvent(moduleSsspGpioDN.gpio->line, APAL2CH_EDGE(moduleSsspGpioDN.meta.edge));
|
|
| 840 | 884 |
#endif /* (AMIROOS_CFG_SSSP_STACK_START != true) */ |
| 841 | 885 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 842 | 886 |
// UP signal |
| 843 |
palSetLineCallback(moduleSsspGpioUp.gpio->line, _extiCallback, &moduleSsspGpioUp.gpio->line);
|
|
| 844 |
palEnableLineEvent(moduleSsspGpioUp.gpio->line, APAL2CH_EDGE(moduleSsspGpioUp.meta.edge));
|
|
| 887 |
palSetLineCallback(moduleSsspGpioUP.gpio->line, _gpioCallback, &moduleSsspGpioUP.gpio->line);
|
|
| 888 |
palEnableLineEvent(moduleSsspGpioUP.gpio->line, APAL2CH_EDGE(moduleSsspGpioUP.meta.edge));
|
|
| 845 | 889 |
#endif /* (AMIROOS_CFG_SSSP_STACK_END != true) */ |
| 890 |
|
|
| 846 | 891 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 847 | 892 |
|
| 848 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
|
| 893 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
|
| 894 |
|
|
| 849 | 895 |
/* init shell */ |
| 850 | 896 |
aosShellInit(&aos.shell, |
| 851 | 897 |
&aos.events.os, |
| ... | ... | |
| 861 | 907 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
| 862 | 908 |
aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest); |
| 863 | 909 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 864 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
|
| 910 |
|
|
| 911 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
|
| 865 | 912 |
|
| 866 | 913 |
return; |
| 867 | 914 |
} |
| ... | ... | |
| 869 | 916 |
/** |
| 870 | 917 |
* @brief Starts the system and all system threads. |
| 871 | 918 |
*/ |
| 872 |
inline void aosSysStart(void)
|
|
| 919 |
void aosSysStart(void) |
|
| 873 | 920 |
{
|
| 874 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
|
| 875 |
// update the system SSSP stage |
|
| 876 |
aos.sssp.stage = AOS_SSSP_OPERATION; |
|
| 877 |
|
|
| 878 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
|
| 921 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) |
|
| 879 | 922 |
{
|
| 880 | 923 |
chSysLock(); |
| 881 | 924 |
// start the system synchronization counter |
| ... | ... | |
| 886 | 929 |
chVTSetI(&_syssynctimer, chTimeUS2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL); |
| 887 | 930 |
chSysUnlock(); |
| 888 | 931 |
} |
| 889 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
|
| 890 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 932 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) && (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 891 | 933 |
|
| 892 | 934 |
// print system information; |
| 893 | 935 |
_printSystemInfo((BaseSequentialStream*)&aos.iostream); |
| 894 | 936 |
aosprintf("\n");
|
| 895 | 937 |
|
| 896 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)
|
|
| 938 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) |
|
| 897 | 939 |
// start system shell thread |
| 898 | 940 |
#if (CH_CFG_USE_THREADHIERARCHY == TRUE) |
| 899 | 941 |
aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell, &ch.mainthread); |
| 900 | 942 |
#else /* (CH_CFG_USE_THREADHIERARCHY == TRUE) */ |
| 901 | 943 |
aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell); |
| 902 | 944 |
#endif /* (CH_CFG_USE_THREADHIERARCHY == TRUE) */ |
| 903 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */
|
|
| 945 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
|
| 904 | 946 |
|
| 905 | 947 |
return; |
| 906 | 948 |
} |
| 907 | 949 |
|
| 908 | 950 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
| 951 |
|
|
| 909 | 952 |
/** |
| 910 |
* @brief Implements the SSSP startup synchronization step. |
|
| 911 |
* |
|
| 912 |
* @param[in] syncEvtListener Event listener that receives the Sync event. |
|
| 913 |
* |
|
| 914 |
* @return If another event that the listener is interested in was received, its mask is returned. |
|
| 915 |
* Otherwise an empty mask (0) is returned. |
|
| 953 |
* @brief Start the system uptime measurement. |
|
| 916 | 954 |
*/ |
| 917 |
eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener)
|
|
| 955 |
void aosSysStartUptime(void)
|
|
| 918 | 956 |
{
|
| 919 |
aosDbgCheck(syncEvtListener != NULL);
|
|
| 957 |
chSysLock();
|
|
| 920 | 958 |
|
| 921 |
// local variables |
|
| 922 |
eventmask_t m; |
|
| 923 |
eventflags_t f; |
|
| 924 |
apalControlGpioState_t s; |
|
| 925 |
|
|
| 926 |
// update the system SSSP stage |
|
| 927 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_2; |
|
| 928 |
|
|
| 929 |
// deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase) |
|
| 930 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
|
| 931 |
|
|
| 932 |
// wait for any event to occur (do not apply any filter in order not to miss any event) |
|
| 933 |
m = chEvtWaitOne(ALL_EVENTS); |
|
| 934 |
f = chEvtGetAndClearFlags(syncEvtListener); |
|
| 935 |
apalControlGpioGet(&moduleSsspGpioSync, &s); |
|
| 936 |
|
|
| 937 |
// if the event was a system event, |
|
| 938 |
// and it was fired because of the SysSync control signal, |
|
| 939 |
// and the SysSync control signal has been deactivated |
|
| 940 |
if (m & syncEvtListener->events && |
|
| 941 |
f == MODULE_SSSP_EVENTFLAGS_SYNC && |
|
| 942 |
s == APAL_GPIO_OFF) {
|
|
| 943 |
chSysLock(); |
|
| 944 |
// start the uptime counter |
|
| 945 |
_synctime = chVTGetSystemTimeX(); |
|
| 946 |
_uptime = 0; |
|
| 947 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL); |
|
| 948 |
chSysUnlock(); |
|
| 959 |
// start the uptime counter |
|
| 960 |
_synctime = chVTGetSystemTimeX(); |
|
| 961 |
_uptime = 0; |
|
| 962 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL); |
|
| 949 | 963 |
|
| 950 |
return 0; |
|
| 951 |
} |
|
| 952 |
// an unexpected event occurred |
|
| 953 |
else {
|
|
| 954 |
// reassign the flags to the event and return the event mask |
|
| 955 |
syncEvtListener->flags |= f; |
|
| 956 |
return m; |
|
| 957 |
} |
|
| 964 |
chSysUnlock(); |
|
| 965 |
|
|
| 966 |
return; |
|
| 958 | 967 |
} |
| 968 |
|
|
| 959 | 969 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 960 | 970 |
|
| 961 | 971 |
/** |
| ... | ... | |
| 963 | 973 |
* |
| 964 | 974 |
* @param[out] ut The system uptime. |
| 965 | 975 |
*/ |
| 966 |
inline void aosSysGetUptimeX(aos_timestamp_t* ut)
|
|
| 976 |
void aosSysGetUptimeX(aos_timestamp_t* ut) |
|
| 967 | 977 |
{
|
| 968 | 978 |
aosDbgCheck(ut != NULL); |
| 969 | 979 |
|
| ... | ... | |
| 1020 | 1030 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
| 1021 | 1031 |
|
| 1022 | 1032 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 1033 |
|
|
| 1023 | 1034 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 1024 | 1035 |
// deactivate the system synchronization timer |
| 1025 | 1036 |
chVTReset(&_syssynctimer); |
| 1037 |
// activate SSSP S signal in case the synchronization timer had it deactivated. |
|
| 1038 |
apalControlGpioSet(&moduleSsspGpioS, APAL_GPIO_ON); |
|
| 1026 | 1039 |
#endif /* (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 1027 | 1040 |
|
| 1028 |
// update the system SSSP stage |
|
| 1029 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1; |
|
| 1030 |
|
|
| 1031 |
chSysLock(); |
|
| 1032 |
// activate the SYS_PD control signal only, if this module initiated the shutdown |
|
| 1041 |
// activate the PD signal only if this module initiated the shutdown |
|
| 1033 | 1042 |
if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
| 1034 |
apalControlGpioSet(&moduleSsspGpioPd, APAL_GPIO_ON); |
|
| 1043 |
apalControlGpioSet(&moduleSsspGpioPD, APAL_GPIO_ON); |
|
| 1044 |
aosSsspShutdownInit(); |
|
| 1035 | 1045 |
} |
| 1036 |
// activate the SYS_SYNC signal |
|
| 1037 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
|
| 1038 |
chSysUnlock(); |
|
| 1039 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 1040 | 1046 |
|
| 1041 | 1047 |
switch (shutdown) {
|
| 1042 | 1048 |
case AOS_SHUTDOWN_PASSIVE: |
| 1043 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
|
| 1049 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_PASSIVE);
|
|
| 1044 | 1050 |
aosprintf("shutdown request received...\n");
|
| 1045 | 1051 |
break; |
| 1052 |
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE) |
|
| 1053 |
case AOS_SHUTDOWN_ACTIVE: |
|
| 1054 |
aosprintf("shutdown initiated...\n");
|
|
| 1055 |
break; |
|
| 1056 |
#elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT) |
|
| 1046 | 1057 |
case AOS_SHUTDOWN_HIBERNATE: |
| 1047 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
|
| 1048 | 1058 |
aosprintf("shutdown to hibernate mode...\n");
|
| 1049 | 1059 |
break; |
| 1050 | 1060 |
case AOS_SHUTDOWN_DEEPSLEEP: |
| 1051 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
|
| 1052 | 1061 |
aosprintf("shutdown to deepsleep mode...\n");
|
| 1053 | 1062 |
break; |
| 1054 | 1063 |
case AOS_SHUTDOWN_TRANSPORTATION: |
| 1055 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
|
| 1056 | 1064 |
aosprintf("shutdown to transportation mode...\n");
|
| 1057 | 1065 |
break; |
| 1058 | 1066 |
case AOS_SHUTDOWN_RESTART: |
| 1059 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
|
| 1060 | 1067 |
aosprintf("restarting system...\n");
|
| 1061 | 1068 |
break; |
| 1062 |
// must never occur
|
|
| 1069 |
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */
|
|
| 1063 | 1070 |
case AOS_SHUTDOWN_NONE: |
| 1064 |
default: |
|
| 1071 |
// must never occur |
|
| 1072 |
aosDbgAssert(false); |
|
| 1065 | 1073 |
break; |
| 1066 | 1074 |
} |
| 1067 | 1075 |
|
| 1068 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
|
| 1069 |
// update the system SSSP stage |
|
| 1070 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2; |
|
| 1076 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 1077 |
|
|
| 1078 |
aosprintf("shutdown initiated...\n");
|
|
| 1079 |
|
|
| 1071 | 1080 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 1072 | 1081 |
|
| 1073 | 1082 |
return; |
| ... | ... | |
| 1078 | 1087 |
*/ |
| 1079 | 1088 |
void aosSysStop(void) |
| 1080 | 1089 |
{
|
| 1081 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
|
| 1082 |
chThdWait(aos.shell.thread); |
|
| 1083 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
|
| 1090 |
// wait until the calling thread is the only remaining active thread |
|
| 1091 |
#if (CH_CFG_NO_IDLE_THREAD == TRUE) |
|
| 1092 |
while (_numActiveThreads() > 1) {
|
|
| 1093 |
#else /* (CH_CFG_NO_IDLE_THREAD == TRUE) */ |
|
| 1094 |
while (_numActiveThreads() > 2) {
|
|
| 1095 |
#endif /* (CH_CFG_NO_IDLE_THREAD == TRUE) */ |
|
| 1096 |
aosDbgPrintf("waiting for all threads to terminate...\n");
|
|
| 1097 |
chThdYield(); |
|
| 1098 |
} |
|
| 1084 | 1099 |
|
| 1085 | 1100 |
return; |
| 1086 | 1101 |
} |
| ... | ... | |
| 1093 | 1108 |
return; |
| 1094 | 1109 |
} |
| 1095 | 1110 |
|
| 1111 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_SHUTDOWN != true)) || \ |
|
| 1112 |
((AMIROOS_CFG_SSSP_ENABLE != true) && (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)) || \ |
|
| 1113 |
defined(__DOXYGEN__) |
|
| 1114 |
|
|
| 1096 | 1115 |
/** |
| 1097 | 1116 |
* @brief Finally shuts down the system and calls the bootloader callback function. |
| 1098 | 1117 |
* @note This function should be called from the thtead with highest priority. |
| 1099 | 1118 |
* |
| 1100 | 1119 |
* @param[in] shutdown Type of shutdown. |
| 1101 | 1120 |
*/ |
| 1102 |
void aosSysShutdownFinal(aos_shutdown_t shutdown)
|
|
| 1121 |
void aosSysShutdownToBootloader(aos_shutdown_t shutdown)
|
|
| 1103 | 1122 |
{
|
| 1104 | 1123 |
// check arguments |
| 1105 | 1124 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
| ... | ... | |
| 1107 | 1126 |
// disable all interrupts |
| 1108 | 1127 |
irqDeinit(); |
| 1109 | 1128 |
|
| 1110 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
|
| 1111 |
// update the system SSSP stage |
|
| 1112 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3; |
|
| 1113 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 1114 |
|
|
| 1115 |
// validate bootloader |
|
| 1129 |
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT) |
|
| 1130 |
// validate AMiRo-BLT |
|
| 1116 | 1131 |
if ((BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) && |
| 1117 | 1132 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.major == BL_VERSION_MAJOR) && |
| 1118 | 1133 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.minor >= BL_VERSION_MINOR)) {
|
| 1119 | 1134 |
// call bootloader callback depending on arguments |
| 1120 | 1135 |
switch (shutdown) {
|
| 1136 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
|
| 1121 | 1137 |
case AOS_SHUTDOWN_PASSIVE: |
| 1122 | 1138 |
BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest(); |
| 1123 | 1139 |
break; |
| 1140 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
|
| 1124 | 1141 |
case AOS_SHUTDOWN_HIBERNATE: |
| 1125 | 1142 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate(); |
| 1126 | 1143 |
break; |
| ... | ... | |
| 1139 | 1156 |
break; |
| 1140 | 1157 |
} |
| 1141 | 1158 |
} else {
|
| 1142 |
// fallback if bootloader was found to be invalid
|
|
| 1143 |
aosprintf("Bootloader incompatible or not available!\n");
|
|
| 1159 |
// fallback if AMiRo-BLT was found to be invalid
|
|
| 1160 |
aosprintf("ERROR: AMiRo-BLT incompatible or not available!\n");
|
|
| 1144 | 1161 |
aosThdMSleep(10); |
| 1145 | 1162 |
chSysDisable(); |
| 1146 | 1163 |
} |
| 1164 |
#endif /* (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT) */ |
|
| 1147 | 1165 |
|
| 1148 | 1166 |
return; |
| 1149 | 1167 |
} |
| 1150 | 1168 |
|
| 1169 |
#endif /* ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_SHUTDOWN != true)) || ((AMIROOS_CFG_SSSP_ENABLE != true) && (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)) */ |
|
| 1170 |
|
|
| 1151 | 1171 |
/** |
| 1152 | 1172 |
* @brief Generic callback function for GPIO interrupts. |
| 1153 | 1173 |
* |
| 1154 | 1174 |
* @return Pointer to the callback function. |
| 1155 | 1175 |
*/ |
| 1156 |
palcallback_t aosSysGetStdExtiCallback(void)
|
|
| 1176 |
palcallback_t aosSysGetStdGpioCallback(void)
|
|
| 1157 | 1177 |
{
|
| 1158 |
return _extiCallback;
|
|
| 1178 |
return _gpioCallback;
|
|
| 1159 | 1179 |
} |
| 1160 | 1180 |
|
| 1161 | 1181 |
/** @} */ |
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