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amiro-os / core / src / aos_system.c @ dd56d656

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1
/*
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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..2019  Thomas Schöpping et al.
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5
This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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 * @file    aos_system.c
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 * @brief   System code.
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 * @details Contains system initialization and shutdown routines
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 *          and system shell commands.
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 *
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 * @addtogroup aos_system
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 * @{
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 */
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#include <amiroos.h>
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#include <stdarg.h>
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#include <string.h>
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#include <stdlib.h>
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#if (AMIROOS_CFG_TESTS_ENABLE == true)
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#include <ch_test.h>
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#include <rt_test_root.h>
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
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/******************************************************************************/
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/* LOCAL DEFINITIONS                                                          */
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/******************************************************************************/
42

    
43
/**
44
 * @brief   Period of the system timer.
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 */
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#define SYSTIMER_PERIOD               (TIME_MAX_SYSTIME - CH_CFG_ST_TIMEDELTA)
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48
/**
49
 * @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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/******************************************************************************/
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/* EXPORTED VARIABLES                                                         */
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/******************************************************************************/
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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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/******************************************************************************/
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/* LOCAL TYPES                                                                */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES                                                            */
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/******************************************************************************/
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/*
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 * forward declarations
77
 */
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
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static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]);
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static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]);
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static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]);
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]);
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
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87
/**
88
 * @brief   Timer to accumulate system uptime.
89
 */
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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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97
/**
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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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102
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
103

    
104
/**
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 * @brief   Shell thread working area.
106
 */
107
THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE);
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109
/**
110
 * @brief   Shell input buffer.
111
 */
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static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH];
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114
/**
115
 * @brief   Shell argument buffer.
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 */
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static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS];
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119
/**
120
 * @brief   Shell command to retrieve system information.
121
 */
122
static AOS_SHELL_COMMAND(_shellcmd_info, "module:info", _shellcmd_infocb);
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124
/**
125
 * @brief   Shell command to set or retrieve system configuration.
126
 */
127
static AOS_SHELL_COMMAND(_shellcmd_config, "module:config", _shellcmd_configcb);
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129
/**
130
 * @brief   Shell command to shutdown the system.
131
 */
132
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)
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static AOS_SHELL_COMMAND(_shellcmd_shutdown, "system:shutdown", _shellcmd_shutdowncb);
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#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */
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static AOS_SHELL_COMMAND(_shellcmd_shutdown, "module:shutdown", _shellcmd_shutdowncb);
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
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140
/**
141
 * @brief   Shell kommand to run a test of the ChibiOS/RT kernel.
142
 */
143
static AOS_SHELL_COMMAND(_shellcmd_kerneltest, "kernel:test", _shellcmd_kerneltestcb);
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145
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
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148
/******************************************************************************/
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/* LOCAL FUNCTIONS                                                            */
150
/******************************************************************************/
151

    
152
/**
153
 * @brief   Print a separator line.
154
 *
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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.
160
 */
161
static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n)
162
{
163
  aosDbgCheck(stream != NULL);
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165
  // print the specified character n times
166
  for (unsigned int i = 0; i < n; ++i) {
167
    streamPut(stream, (uint8_t)c);
168
  }
169
  streamPut(stream, '\n');
170

    
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  return n+1;
172
}
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174
/**
175
 * @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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 *
181
 * @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.
187
 */
188
static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...)
189
{
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  aosDbgCheck(stream != NULL);
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  aosDbgCheck(name != NULL);
192

    
193
  unsigned int n = 0;
194
  va_list ap;
195

    
196
  va_start(ap, fmt);
197
  n += (unsigned int)chprintf(stream, name);
198
  while (n < namewidth) {
199
    streamPut(stream, ' ');
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    ++n;
201
  }
202
  n += (unsigned int)chvprintf(stream, fmt, ap);
203
  va_end(ap);
204

    
205
  streamPut(stream, '\n');
206
  ++n;
207

    
208
  return n;
209
}
210

    
211
/**
212
 * @brief   Prints information about the system.
213
 *
214
 * @param[in] stream    Stream to print to.
215
 */
216
static void _printSystemInfo(BaseSequentialStream* stream)
217
{
218
  aosDbgCheck(stream != NULL);
219

    
220
  // local variables
221
#if (HAL_USE_RTC == TRUE)
222
  struct tm dt;
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  aosSysGetDateTime(&dt);
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#endif /* (HAL_USE_RTC == TRUE) */
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  // print static information about module and operating system
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  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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  _printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s", BOARD_NAME);
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#if defined(PLATFORM_NAME)
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  _printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME);
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#endif /* defined(PLATFORM_NAME) */
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#if defined(PORT_CORE_VARIANT_NAME)
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  _printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME);
234
#endif /* defined(PORT_CORE_VARIANT_NAME) */
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  _printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME);
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  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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#if (AMIROOS_CFG_SSSP_ENABLE == true)
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  _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);
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#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */
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  _printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE);
241
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
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  _printSystemInfoLine(stream, "AMiRo-LLD" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (periphAL %u.%u)", AMIROLLD_VERSION_MAJOR, AMIROLLD_VERSION_MINOR, AMIROLLD_VERSION_PATCH, AMIROLLD_RELEASE_TYPE, PERIPHAL_VERSION_MAJOR, PERIPHAL_VERSION_MINOR);
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  _printSystemInfoLine(stream, "ChibiOS/RT" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", CH_KERNEL_MAJOR, CH_KERNEL_MINOR, CH_KERNEL_PATCH, (CH_KERNEL_STABLE == 1) ? "stable" : "non-stable");
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  _printSystemInfoLine(stream, "ChibiOS/HAL", SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", CH_HAL_MAJOR, CH_HAL_MINOR, CH_HAL_PATCH, (CH_HAL_STABLE == 1) ? "stable" : "non-stable");
245
  _printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s", (AMIROOS_CFG_DBG == true) ? "debug" : "release");
246
  _printSystemInfoLine(stream, "Compiler" , SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC
247
  _printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__);
248

    
249
  // print static information about the bootloader
250
#if (AMIROOS_CFG_BOOTLOADER != AOS_BOOTLOADER_NONE)
251
  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
252
#endif /* (AMIROOS_CFG_BOOTLOADER != AOS_BOOTLOADER_NONE) */
253
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
254
  if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
255
    _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,
256
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :
257
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :
258
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :
259
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :
260
                         (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :
261
                         "<release type unknown>",
262
                         BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor);
263
#if (AMIROOS_CFG_SSSP_ENABLE == true)
264
    if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SSSP_VERSION_MAJOR) {
265
      const char* msg = "WARNING: AMiRo-BLT and AMiRo-OS implement incompatible SSSP versions!\n";
266
      stream ? chprintf(stream, msg) : aosprintf(msg);
267
    }
268
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
269
    _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
270
  } else {
271
    const char* msg = "WARNING: AMiRo-BLT incompatible or not available.\n";
272
    stream ? chprintf(stream, "%s", msg) : aosprintf("%s", msg);
273
  }
274
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */
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276
  // print dynamic information about the module
277
  _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
278
#if (AMIROOS_CFG_SSSP_ENABLE == true)
279
  if (aos.sssp.moduleId != 0) {
280
    _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId);
281
  } else {
282
    _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available");
283
  }
284
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
285
#if (HAL_USE_RTC == TRUE)
286
  _printSystemInfoLine(stream, "Date", SYSTEM_INFO_NAMEWIDTH, "%04u-%02u-%02u (%s)",
287
                       dt.tm_year + 1900,
288
                       dt.tm_mon + 1,
289
                       dt.tm_mday,
290
                       (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");
291
  _printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u", dt.tm_hour, dt.tm_min, dt.tm_sec);
292
#endif /* (HAL_USE_RTC == TRUE) */
293

    
294
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
295

    
296
  return;
297
}
298

    
299
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
300
/**
301
 * @brief   Callback function for the system:config shell command.
302
 *
303
 * @param[in] stream    The I/O stream to use.
304
 * @param[in] argc      Number of arguments.
305
 * @param[in] argv      List of pointers to the arguments.
306
 *
307
 * @return              An exit status.
308
 * @retval  AOS_OK                  The command was executed successfuly.
309
 * @retval  AOS_INVALIDARGUMENTS    There was an issue with the arguemnts.
310
 */
311
static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[])
312
{
313
  aosDbgCheck(stream != NULL);
314

    
315
  // local variables
316
  int retval = AOS_INVALIDARGUMENTS;
317

    
318
  // if there are additional arguments
319
  if (argc > 1) {
320
    // if the user wants to set or retrieve the shell configuration
321
    if (strcmp(argv[1], "--shell") == 0) {
322
      // if the user wants to modify the shell configuration
323
      if (argc > 2) {
324
        // if the user wants to modify the prompt
325
        if (strcmp(argv[2], "prompt") == 0) {
326
          // there must be a further argument
327
          if (argc > 3) {
328
            // handle the option
329
            if (strcmp(argv[3], "text") == 0) {
330
              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL;
331
              retval = AOS_OK;
332
            }
333
            else if (strcmp(argv[3], "minimal") == 0) {
334
              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL;
335
              retval = AOS_OK;
336
            }
337
            else if (strcmp(argv[3], "notime") == 0) {
338
              aos.shell.config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME);
339
              retval = AOS_OK;
340
            }
341
            else if (strcmp(argv[3], "uptime") == 0) {
342
              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME;
343
              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_UPTIME;
344
              retval = AOS_OK;
345
            }
346
            else if (strcmp(argv[3], "date&time") == 0) {
347
              aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME;
348
              aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME;
349
              retval = AOS_OK;
350
            }
351
            else {
352
              chprintf(stream, "unknown option '%s'\n", argv[3]);
353
              return AOS_INVALIDARGUMENTS;
354
            }
355
          }
356
        }
357
        // if the user wants to modify the string matching
358
        else if (strcmp(argv[2], "match") == 0) {
359
          // there must be a further argument
360
          if (argc > 3) {
361
            if (strcmp(argv[3], "casesensitive") == 0) {
362
              aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE;
363
              retval = AOS_OK;
364
            }
365
            else if (strcmp(argv[3], "caseinsensitive") == 0) {
366
              aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE;
367
              retval = AOS_OK;
368
            }
369
          }
370
        }
371
      }
372
      // if the user wants to retrieve the shell configuration
373
      else {
374
        chprintf(stream, "current shell configuration:\n");
375
        chprintf(stream, "  prompt text:   %s\n",
376
                 (aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a");
377
        char time[10];
378
        switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
379
          case AOS_SHELL_CONFIG_PROMPT_UPTIME:
380
            strcpy(time, "uptime"); break;
381
          case AOS_SHELL_CONFIG_PROMPT_DATETIME:
382
            strcpy(time, "date&time"); break;
383
          default:
384
            strcpy(time, "no time"); break;
385
        }
386
        chprintf(stream, "  prompt style:  %s, %s\n",
387
                 (aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text",
388
                 time);
389
        chprintf(stream, "  input method:  %s\n",
390
                 (aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert");
391
        chprintf(stream, "  text matching: %s\n",
392
                 (aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive");
393
        retval = AOS_OK;
394
      }
395
    }
396
# if (HAL_USE_RTC == TRUE)
397
    // if the user wants to configure the date or time
398
    else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) {
399
      struct tm dt;
400
      aosSysGetDateTime(&dt);
401
      int val = atoi(argv[3]);
402
      if (strcmp(argv[2], "year") == 0 && val >= 1900) {
403
        dt.tm_year = val - 1900;
404
      }
405
      else if (strcmp(argv[2], "month") == 0 && val > 0 && val <= 12) {
406
        dt.tm_mon = val - 1;
407
      }
408
      else if (strcmp(argv[2], "day") == 0 && val > 0 && val <= 31) {
409
        dt.tm_mday = val;
410
      }
411
      else if (strcmp(argv[2], "hour") == 0 && val >= 0 && val < 24) {
412
        dt.tm_hour = val;
413
      }
414
      else if (strcmp(argv[2], "minute") == 0 && val >= 0 && val < 60) {
415
        dt.tm_min = val;
416
      }
417
      else if (strcmp(argv[2], "second") == 0 && val >= 0 && val < 60) {
418
        dt.tm_sec = val;
419
      }
420
      else {
421
        chprintf(stream, "unknown option '%s' or invalid value '%s'\n", argv[2], argv[3]);
422
        return AOS_INVALIDARGUMENTS;
423
      }
424
      dt.tm_wday = aosTimeDayOfWeekFromDate((uint16_t)dt.tm_mday, (uint8_t)dt.tm_mon+1, (uint16_t)dt.tm_year+1900) % DAYS_PER_WEEK;
425
      aosSysSetDateTime(&dt);
426

    
427
      // read and print new date and time
428
      aosSysGetDateTime(&dt);
429
      chprintf(stream, "date/time set to %04u-%02u-%02u %02u:%02u:%02u\n",
430
               dt.tm_year+1900, dt.tm_mon+1, dt.tm_mday,
431
               dt.tm_hour, dt.tm_min, dt.tm_sec);
432

    
433
      retval = AOS_OK;
434
    }
435
#endif /* (HAL_USE_RTC == TRUE) */
436
  }
437

    
438
  // print help, if required
439
  if (retval == AOS_INVALIDARGUMENTS) {
440
    chprintf(stream, "Usage: %s OPTION\n", argv[0]);
441
    chprintf(stream, "Options:\n");
442
    chprintf(stream, "  --help\n");
443
    chprintf(stream, "    Print this help text.\n");
444
    chprintf(stream, "  --shell [OPT [VAL]]\n");
445
    chprintf(stream, "    Set or retrieve shell configuration.\n");
446
    chprintf(stream, "    Possible OPTs and VALs are:\n");
447
    chprintf(stream, "      prompt text|minimal|uptime|date&time|notime\n");
448
    chprintf(stream, "        Configures the prompt.\n");
449
    chprintf(stream, "      match casesensitive|caseinsenitive\n");
450
    chprintf(stream, "        Configures string matching.\n");
451
#if (HAL_USE_RTC == TRUE)
452
    chprintf(stream, "  --date&time OPT VAL\n");
453
    chprintf(stream, "    Set the date/time value of OPT to VAL.\n");
454
    chprintf(stream, "    Possible OPTs are:\n");
455
    chprintf(stream, "      year\n");
456
    chprintf(stream, "      month\n");
457
    chprintf(stream, "      day\n");
458
    chprintf(stream, "      hour\n");
459
    chprintf(stream, "      minute\n");
460
    chprintf(stream, "      second\n");
461
#endif /* (HAL_USE_RTC == TRUE) */
462
  }
463

    
464
  return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval;
465
}
466

    
467
/**
468
 * @brief   Callback function for the system:info shell command.
469
 *
470
 * @param[in] stream    The I/O stream to use.
471
 * @param[in] argc      Number of arguments.
472
 * @param[in] argv      List of pointers to the arguments.
473
 *
474
 * @return            An exit status.
475
 * @retval  AOS_OK    The command was executed successfully.
476
 */
477
static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[])
478
{
479
  aosDbgCheck(stream != NULL);
480

    
481
  (void)argc;
482
  (void)argv;
483

    
484
  // print system information
485
  _printSystemInfo(stream);
486

    
487
  // print time measurement precision
488
  chprintf(stream, "module time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
489

    
490
  // print system uptime
491
  aos_timestamp_t uptime;
492
  aosSysGetUptime(&uptime);
493
  chprintf(stream, "The system is running for\n");
494
  chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
495
  chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
496
  chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
497
  chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
498
  chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
499
  chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
500
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)
501
  chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", (double)aosSsspGetSyncSkew(), AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
502
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */
503
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
504

    
505
  // print shell info
506
  chprintf(stream, "System shell information:\n");
507
  chprintf(stream, "\tcommands available:     %u\n", aosShellCountCommands(&aos.shell));
508
  chprintf(stream, "\tline width:             %u characters\n", aos.shell.input.width);
509
  chprintf(stream, "\tmaximum arguments:      %u\n", aos.shell.arglistsize);
510
#if (AMIROOS_CFG_DBG == true)
511
  chprintf(stream, "\tthread stack size:      %u bytes\n", aosThdGetStacksize(aos.shell.thread));
512
#if (CH_DBG_FILL_THREADS == TRUE)
513
  chprintf(stream, "\tstack peak utilization: %u bytes (%.2f%%)\n", aosThdGetStackPeakUtilization(aos.shell.thread), (double)((float)(aosThdGetStackPeakUtilization(aos.shell.thread)) / (float)(aosThdGetStacksize(aos.shell.thread)) * 100.0f));
514
#endif /* (CH_DBG_FILL_THREADS == TRUE) */
515
#endif /* (AMIROOS_CFG_DBG == true) */
516
  _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
517

    
518
  return AOS_OK;
519
}
520

    
521
/**
522
 * @brief   Callback function for the sytem:shutdown or module:shutdown shell command.
523
 *
524
 * @param[in] stream    The I/O stream to use.
525
 * @param[in] argc      Number of arguments.
526
 * @param[in] argv      List of pointers to the arguments.
527
 *
528
 * @return              An exit status.
529
 * @retval  AOS_OK                  The command was executed successfully.
530
 * @retval  AOS_INVALIDARGUMENTS   There was an issue with the arguments.
531
 */
532
static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[])
533
{
534
  aosDbgCheck(stream != NULL);
535

    
536
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE)
537

    
538
  (void)argv;
539

    
540
  if (argc != 1) {
541
    // error
542
    chprintf(stream, "ERROR: no arguments allowed.\n");
543
    return AOS_INVALIDARGUMENTS;
544
  } else {
545
    // broadcast shutdown event
546
    chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_MASK);
547
    // set terminate flag so no further prompt will be printed
548
    chThdTerminate(chThdGetSelfX());
549
    return AOS_OK;
550
  }
551

    
552
#elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
553

    
554
  // print help text
555
  if (argc != 2 || strcmp(argv[1], "--help") == 0) {
556
    chprintf(stream, "Usage: %s OPTION\n", argv[0]);
557
    chprintf(stream, "Options:\n");
558
    chprintf(stream, "  --help\n");
559
    chprintf(stream, "    Print this help text.\n");
560
    chprintf(stream, "  --hibernate, -h\n");
561
    chprintf(stream, "    Shutdown to hibernate mode.\n");
562
    chprintf(stream, "    Least energy saving, but allows charging via pins.\n");
563
    chprintf(stream, "  --deepsleep, -d\n");
564
    chprintf(stream, "    Shutdown to deepsleep mode.\n");
565
    chprintf(stream, "    Minimum energy consumption while allowing charging via plug.\n");
566
    chprintf(stream, "  --transportation, -t\n");
567
    chprintf(stream, "    Shutdown to transportation mode.\n");
568
    chprintf(stream, "    Minimum energy consumption with all interrupts disabled (no charging).\n");
569
    chprintf(stream, "  --restart, -r\n");
570
    chprintf(stream, "    Shutdown and restart system.\n");
571

    
572
    return (argc != 2) ? AOS_INVALIDARGUMENTS : AOS_OK;
573
  }
574
  // handle argument
575
  else {
576
    if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) {
577
      // broadcast shutdown event
578
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_HIBERNATE);
579
      // set terminate flag so no further prompt will be printed
580
      chThdTerminate(chThdGetSelfX());
581
      return AOS_OK;
582
    }
583
    else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) {
584
      // broadcast shutdown event
585
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_DEEPSLEEP);
586
      // set terminate flag so no further prompt will be printed
587
      chThdTerminate(chThdGetSelfX());
588
      return AOS_OK;
589
    }
590
    else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) {
591
      // broadcast shutdown event
592
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_TRANSPORTATION);
593
      // set terminate flag so no further prompt will be printed
594
      chThdTerminate(chThdGetSelfX());
595
      return AOS_OK;
596
    }
597
    else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) {
598
      // broadcast shutdown event
599
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_RESTART);
600
      // set terminate flag so no further prompt will be printed
601
      chThdTerminate(chThdGetSelfX());
602
      return AOS_OK;
603
    }
604
    else {
605
      chprintf(stream, "unknown argument %s\n", argv[1]);
606
      return AOS_INVALIDARGUMENTS;
607
    }
608
  }
609

    
610
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */
611
}
612

    
613
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)
614

    
615
/**
616
 * @brief   Callback function for the kernel:test shell command.
617
 *
618
 * @param[in] stream    The I/O stream to use.
619
 * @param[in] argc      Number of arguments.
620
 * @param[in] argv      List of pointers to the arguments.
621
 *
622
 * @return      An exit status.
623
 */
624
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[])
625
{
626
  aosDbgCheck(stream != NULL);
627

    
628
  (void)argc;
629
  (void)argv;
630

    
631
  msg_t retval = test_execute(stream, &rt_test_suite);
632

    
633
  return retval;
634
}
635

    
636
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
637
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
638

    
639
// suppress warning in case no interrupt GPIOs are defined
640
#pragma GCC diagnostic push
641
#pragma GCC diagnostic ignored "-Wunused-function"
642
/**
643
 * @brief   Generic callback function for GPIO interrupts.
644
 *
645
 * @param[in] args   Pointer to the GPIO line identifier.
646
 */
647
static void _gpioCallback(void* args)
648
{
649
  aosDbgCheck((args != NULL) && (*((ioline_t*)args) != PAL_NOLINE) && (PAL_PAD(*((ioline_t*)args)) < sizeof(eventflags_t) * 8));
650

    
651
  chSysLockFromISR();
652
  chEvtBroadcastFlagsI(&aos.events.gpio, AOS_GPIOEVENT_FLAG(PAL_PAD(*((ioline_t*)args))));
653
  chSysUnlockFromISR();
654

    
655
  return;
656
}
657
#pragma GCC diagnostic pop
658

    
659
/**
660
 * @brief   Callback function for the uptime accumulation timer.
661
 *
662
 * @param[in] par   Generic parameter.
663
 */
664
static void _uptimeCallback(void* par)
665
{
666
  (void)par;
667

    
668
  chSysLockFromISR();
669
  // read current time in system ticks
670
  register const systime_t st = chVTGetSystemTimeX();
671
  // update the uptime variables
672
  _uptime += chTimeI2US(chTimeDiffX(_synctime, st));
673
  _synctime = st;
674
  // enable the timer again
675
  chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
676
  chSysUnlockFromISR();
677

    
678
  return;
679
}
680

    
681
/**
682
 * @brief   Retreive the number of active threads.
683
 *
684
 * @return  Number of active threads.
685
 */
686
size_t _numActiveThreads(void)
687
{
688
  size_t threads = 0;
689
  thread_t* tp = chRegFirstThread();
690
  while (tp) {
691
    threads += (tp->state == CH_STATE_FINAL) ? 1 : 0;
692
    tp = chRegNextThread(tp);
693
  }
694

    
695
  return threads;
696
}
697

    
698
/******************************************************************************/
699
/* EXPORTED FUNCTIONS                                                         */
700
/******************************************************************************/
701

    
702
/**
703
 * @brief   AMiRo-OS system initialization.
704
 * @note    Must be called from the system control thread (usually main thread).
705
 *
706
 * @param[in] shellPrompt   String to be printed as prompt of the system shell.
707
 */
708
void aosSysInit(const char* shellPrompt)
709
{
710
  /* set control thread to maximum priority */
711
  chThdSetPriority(AOS_THD_CTRLPRIO);
712

    
713
#if (AMIROOS_CFG_SSSP_ENABLE == true)
714
  aosSsspInit(&_uptime);
715
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
716

    
717
  /* set local variables */
718
  chVTObjectInit(&_systimer);
719
#if (AMIROOS_CFG_SSSP_ENABLE == true)
720
  // uptime counter is started when SSSP proceeds to operation phase
721
  _synctime = 0;
722
  _uptime = 0;
723
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */
724
  // start the uptime counter
725
  chSysLock();
726
  aosSysStartUptimeS();
727
  chSysUnlock();
728
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
729

    
730
  /* initialize aos configuration */
731
  aosIOStreamInit(&aos.iostream);
732
  chEvtObjectInit(&aos.events.gpio);
733
  chEvtObjectInit(&aos.events.os);
734

    
735
#if (AMIROOS_CFG_SHELL_ENABLE == true)
736

    
737
  /* init shell */
738
  aosShellInit(&aos.shell,
739
               &aos.events.os,
740
               shellPrompt,
741
               _shell_line,
742
               AMIROOS_CFG_SHELL_LINEWIDTH,
743
               _shell_arglist,
744
               AMIROOS_CFG_SHELL_MAXARGS);
745
  // add system commands
746
  aosShellAddCommand(&aos.shell, &_shellcmd_config);
747
  aosShellAddCommand(&aos.shell, &_shellcmd_info);
748
  aosShellAddCommand(&aos.shell, &_shellcmd_shutdown);
749
#if (AMIROOS_CFG_TESTS_ENABLE == true)
750
  aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest);
751
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */
752

    
753
#else /* (AMIROOS_CFG_SHELL_ENABLE == true) */
754

    
755
  // suppress unused variable warnings
756
  (void)shellPrompt;
757

    
758
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
759

    
760
  return;
761
}
762

    
763
/**
764
 * @brief   Starts the system and all system threads.
765
 */
766
void aosSysStart(void)
767
{
768
  // print system information;
769
  _printSystemInfo((BaseSequentialStream*)&aos.iostream);
770
  aosprintf("\n");
771

    
772
#if (AMIROOS_CFG_SHELL_ENABLE == true)
773
  // start system shell thread
774
#if (CH_CFG_USE_THREADHIERARCHY == TRUE)
775
  aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell, &ch.mainthread);
776
#else /* (CH_CFG_USE_THREADHIERARCHY == TRUE) */
777
  aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
778
#endif /* (CH_CFG_USE_THREADHIERARCHY == TRUE) */
779
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */
780

    
781
  return;
782
}
783

    
784
/**
785
 * @brief   Start the system uptime measurement.
786
 * @note    Must be called from a locked context.
787
 */
788
void aosSysStartUptimeS(void)
789
{
790
  chDbgCheckClassS();
791

    
792
  // start the uptime aggregation counter
793
  _synctime = chVTGetSystemTimeX();
794
  _uptime = 0;
795
  chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
796

    
797
  return;
798
}
799

    
800
/**
801
 * @brief   Retrieves the system uptime.
802
 *
803
 * @param[out] ut   The system uptime.
804
 */
805
void aosSysGetUptimeX(aos_timestamp_t* ut)
806
{
807
  aosDbgCheck(ut != NULL);
808

    
809
  *ut = _uptime + chTimeI2US(chTimeDiffX(_synctime, chVTGetSystemTimeX()));
810

    
811
  return;
812
}
813

    
814
#if (HAL_USE_RTC == TRUE) || defined(__DOXYGEN__)
815

    
816
/**
817
 * @brief   retrieves the date and time from the MCU clock.
818
 *
819
 * @param[out] td   The date and time.
820
 */
821
void aosSysGetDateTime(struct tm* dt)
822
{
823
  aosDbgCheck(dt != NULL);
824

    
825
  RTCDateTime rtc;
826
  rtcGetTime(&MODULE_HAL_RTC, &rtc);
827
  rtcConvertDateTimeToStructTm(&rtc, dt, NULL);
828

    
829
  return;
830
}
831

    
832
/**
833
 * @brief   set the date and time of the MCU clock.
834
 *
835
 * @param[in] dt    The date and time to set.
836
 */
837
void aosSysSetDateTime(struct tm* dt)
838
{
839
  aosDbgCheck(dt != NULL);
840

    
841
  RTCDateTime rtc;
842
  rtcConvertStructTmToDateTime(dt, 0, &rtc);
843
  rtcSetTime(&MODULE_HAL_RTC, &rtc);
844

    
845
  return;
846
}
847

    
848
#endif /* (HAL_USE_RTC == TRUE) */
849

    
850
/**
851
 * @brief   Initializes/Acknowledges a system shutdown/restart request.
852
 * @note    This functions should be called from the thread with highest priority.
853
 *
854
 * @param[in] shutdown    Type of shutdown.
855
 */
856
void aosSysShutdownInit(aos_shutdown_t shutdown)
857
{
858
  // check arguments
859
  aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
860

    
861
#if (AMIROOS_CFG_SSSP_ENABLE == true)
862

    
863
  // activate the PD signal only if this module initiated the shutdown
864
  if (shutdown != AOS_SHUTDOWN_PASSIVE) {
865
    aosSsspShutdownInit(true);
866
  }
867

    
868
  switch (shutdown) {
869
    case AOS_SHUTDOWN_PASSIVE:
870
      chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN_PASSIVE);
871
      aosprintf("shutdown request received...\n");
872
      break;
873
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_NONE)
874
    case AOS_SHUTDOWN_ACTIVE:
875
      aosprintf("shutdown initiated...\n");
876
      break;
877
#elif (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
878
    case AOS_SHUTDOWN_HIBERNATE:
879
      aosprintf("shutdown to hibernate mode...\n");
880
      break;
881
    case AOS_SHUTDOWN_DEEPSLEEP:
882
      aosprintf("shutdown to deepsleep mode...\n");
883
      break;
884
    case AOS_SHUTDOWN_TRANSPORTATION:
885
      aosprintf("shutdown to transportation mode...\n");
886
      break;
887
    case AOS_SHUTDOWN_RESTART:
888
      aosprintf("restarting system...\n");
889
      break;
890
#endif /* (AMIROOS_CFG_BOOTLOADER == X) */
891
    case AOS_SHUTDOWN_NONE:
892
      // must never occur
893
      aosDbgAssert(false);
894
      break;
895
  }
896

    
897
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */
898

    
899
  aosprintf("shutdown initiated...\n");
900

    
901
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
902

    
903
  return;
904
}
905

    
906
/**
907
 * @brief   Stops the system and all related threads (not the thread this function is called from).
908
 */
909
void aosSysStop(void)
910
{
911
  // wait until the calling thread is the only remaining active thread
912
#if (CH_CFG_NO_IDLE_THREAD == TRUE)
913
  while (_numActiveThreads() > 1) {
914
#else /* (CH_CFG_NO_IDLE_THREAD == TRUE) */
915
  while (_numActiveThreads() > 2) {
916
#endif /* (CH_CFG_NO_IDLE_THREAD == TRUE) */
917
    aosDbgPrintf("waiting for all threads to terminate...\n");
918
    chThdYield();
919
  }
920

    
921
  return;
922
}
923

    
924
/**
925
 * @brief   Deinitialize all system variables.
926
 */
927
void aosSysDeinit(void)
928
{
929
  return;
930
}
931

    
932
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_SHUTDOWN != true)) ||                 \
933
    ((AMIROOS_CFG_SSSP_ENABLE != true) && (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)) || \
934
    defined(__DOXYGEN__)
935

    
936
/**
937
 * @brief   Finally shuts down the system and calls the bootloader callback function.
938
 * @note    This function should be called from the thtead with highest priority.
939
 *
940
 * @param[in] shutdown    Type of shutdown.
941
 */
942
void aosSysShutdownToBootloader(aos_shutdown_t shutdown)
943
{
944
  // check arguments
945
  aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE);
946

    
947
  // disable all interrupts
948
  irqDeinit();
949

    
950
#if (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)
951
  // validate AMiRo-BLT
952
  if ((BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) &&
953
      (BL_CALLBACK_TABLE_ADDRESS->vBootloader.major == BL_VERSION_MAJOR) &&
954
      (BL_CALLBACK_TABLE_ADDRESS->vBootloader.minor >= BL_VERSION_MINOR)) {
955
    // call bootloader callback depending on arguments
956
    switch (shutdown) {
957
#if (AMIROOS_CFG_SSSP_ENABLE == true)
958
      case AOS_SHUTDOWN_PASSIVE:
959
        BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest();
960
        break;
961
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */
962
      case AOS_SHUTDOWN_HIBERNATE:
963
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate();
964
        break;
965
      case AOS_SHUTDOWN_DEEPSLEEP:
966
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep();
967
        break;
968
      case AOS_SHUTDOWN_TRANSPORTATION:
969
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation();
970
        break;
971
      case AOS_SHUTDOWN_RESTART:
972
        BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart();
973
        break;
974
      // must never occur
975
      case AOS_SHUTDOWN_NONE:
976
      default:
977
        break;
978
    }
979
  } else {
980
    // fallback if AMiRo-BLT was found to be invalid
981
    aosprintf("ERROR: AMiRo-BLT incompatible or not available!\n");
982
    aosThdMSleep(10);
983
    chSysDisable();
984
  }
985
#endif /* (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT) */
986

    
987
  return;
988
}
989

    
990
#endif /* ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_SHUTDOWN != true)) || ((AMIROOS_CFG_SSSP_ENABLE != true) && (AMIROOS_CFG_BOOTLOADER == AOS_BOOTLOADER_AMiRoBLT)) */
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992
/**
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 * @brief   Generic callback function for GPIO interrupts.
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 *
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 * @return  Pointer to the callback function.
996
 */
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palcallback_t aosSysGetStdGpioCallback(void)
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{
999
  return _gpioCallback;
1000
}
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/** @} */