amiro-os / core / src / aos_system.c @ e2d7143f
History | View | Annotate | Download (39.7 KB)
1 |
/*
|
---|---|
2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
4 |
|
5 |
This program is free software: you can redistribute it and/or modify
|
6 |
it under the terms of the GNU General Public License as published by
|
7 |
the Free Software Foundation, either version 3 of the License, or
|
8 |
(at your option) any later version.
|
9 |
|
10 |
This program is distributed in the hope that it will be useful,
|
11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13 |
GNU General Public License for more details.
|
14 |
|
15 |
You should have received a copy of the GNU General Public License
|
16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
17 |
*/
|
18 |
|
19 |
/**
|
20 |
* @file aos_system.c
|
21 |
* @brief System code.
|
22 |
* @details Contains system initialization and shutdown routines
|
23 |
* and system shell commands.
|
24 |
*
|
25 |
* @addtogroup aos_system
|
26 |
* @{
|
27 |
*/
|
28 |
|
29 |
#include <aos_system.h> |
30 |
|
31 |
#include <amiroblt.h> |
32 |
#include <module.h> |
33 |
#include <string.h> |
34 |
#include <stdlib.h> |
35 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
36 |
#include <ch_test.h> |
37 |
#include <rt_test_root.h> |
38 |
#endif
|
39 |
|
40 |
/**
|
41 |
* @brief Period of the system timer.
|
42 |
*/
|
43 |
#define SYSTIMER_PERIOD (TIME_MAX_SYSTIME - CH_CFG_ST_TIMEDELTA)
|
44 |
|
45 |
/**
|
46 |
* @brief Width of the printable system info text.
|
47 |
*/
|
48 |
#define SYSTEM_INFO_WIDTH 70 |
49 |
|
50 |
/**
|
51 |
* @brief Width of the name column of the system info table.
|
52 |
*/
|
53 |
#define SYSTEM_INFO_NAMEWIDTH 14 |
54 |
|
55 |
/* forward declarations */
|
56 |
static void _printSystemInfo(BaseSequentialStream* stream); |
57 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
58 |
static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]); |
59 |
static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]); |
60 |
static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]); |
61 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
62 |
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]); |
63 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
64 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
65 |
|
66 |
/**
|
67 |
* @brief Timer to accumulate system uptime.
|
68 |
*/
|
69 |
static virtual_timer_t _systimer;
|
70 |
|
71 |
/**
|
72 |
* @brief Accumulated system uptime.
|
73 |
*/
|
74 |
static aos_timestamp_t _uptime;
|
75 |
|
76 |
/**
|
77 |
* @brief Timer register value of last accumulation.
|
78 |
*/
|
79 |
static systime_t _synctime;
|
80 |
|
81 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined(__DOXYGEN__) |
82 |
/**
|
83 |
* @brief Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP.
|
84 |
*/
|
85 |
static virtual_timer_t _syssynctimer;
|
86 |
|
87 |
/**
|
88 |
* @brief Last uptime of system wide time synchronization.
|
89 |
*/
|
90 |
static aos_timestamp_t _syssynctime;
|
91 |
#endif
|
92 |
|
93 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
94 |
/**
|
95 |
* @brief Offset between local clock and system wide synchronization signal.
|
96 |
*/
|
97 |
static float _syssyncskew; |
98 |
|
99 |
/**
|
100 |
* @brief Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value.
|
101 |
*/
|
102 |
#define SYSTEM_SYSSYNCSKEW_LPFACTOR (0.1f / AOS_SYSTEM_TIME_RESOLUTION) |
103 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
104 |
|
105 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
106 |
/**
|
107 |
* @brief Shell thread working area.
|
108 |
*/
|
109 |
THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE); |
110 |
|
111 |
/**
|
112 |
* @brief Shell input buffer.
|
113 |
*/
|
114 |
static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH]; |
115 |
|
116 |
/**
|
117 |
* @brief Shell argument buffer.
|
118 |
*/
|
119 |
static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS]; |
120 |
|
121 |
/**
|
122 |
* @brief Shell command to retrieve system information.
|
123 |
*/
|
124 |
static aos_shellcommand_t _shellcmd_info = {
|
125 |
/* name */ "module:info", |
126 |
/* callback */ _shellcmd_infocb,
|
127 |
/* next */ NULL, |
128 |
}; |
129 |
|
130 |
/**
|
131 |
* @brief Shell command to set or retrieve system configuration.
|
132 |
*/
|
133 |
static aos_shellcommand_t _shellcmd_config = {
|
134 |
/* name */ "module:config", |
135 |
/* callback */ _shellcmd_configcb,
|
136 |
/* next */ NULL, |
137 |
}; |
138 |
|
139 |
/**
|
140 |
* @brief Shell command to shutdown the system.
|
141 |
*/
|
142 |
static aos_shellcommand_t _shellcmd_shutdown = {
|
143 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
144 |
/* name */ "system:shutdown", |
145 |
#else
|
146 |
/* name */ "module:shutdown", |
147 |
#endif
|
148 |
/* callback */ _shellcmd_shutdowncb,
|
149 |
/* next */ NULL, |
150 |
}; |
151 |
|
152 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
153 |
/**
|
154 |
* @brief Shell kommand to run a test of the ChibiOS/RT kernel.
|
155 |
*/
|
156 |
static aos_shellcommand_t _shellcmd_kerneltest = {
|
157 |
/* name */ "kernel:test", |
158 |
/* callback */ _shellcmd_kerneltestcb,
|
159 |
/* next */ NULL, |
160 |
}; |
161 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
162 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
163 |
|
164 |
/**
|
165 |
* @brief Global system object.
|
166 |
*/
|
167 |
aos_system_t aos; |
168 |
|
169 |
/**
|
170 |
* @brief Print a separator line.
|
171 |
*
|
172 |
* @param[in] stream Stream to print to or NULL to print to all system streams.
|
173 |
* @param[in] c Character to use.
|
174 |
* @param[in] n Length of the separator line.
|
175 |
*
|
176 |
* @return Number of characters printed.
|
177 |
*/
|
178 |
static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n) |
179 |
{ |
180 |
aosDbgCheck(stream != NULL);
|
181 |
|
182 |
// print the specified character n times
|
183 |
for (unsigned int i = 0; i < n; ++i) { |
184 |
streamPut(stream, c); |
185 |
} |
186 |
streamPut(stream, '\n');
|
187 |
|
188 |
return n+1; |
189 |
} |
190 |
|
191 |
/**
|
192 |
* @brief Print a system information line.
|
193 |
* @details Prints a system information line with the following format:
|
194 |
* "<name>[spaces]fmt"
|
195 |
* The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.
|
196 |
* Note that there is not trailing newline added implicitely.
|
197 |
*
|
198 |
* @param[in] stream Stream to print to or NULL to print to all system streams.
|
199 |
* @param[in] name Name of the entry/line.
|
200 |
* @param[in] namewidth Width of the name column.
|
201 |
* @param[in] fmt Formatted string of information content.
|
202 |
*
|
203 |
* @return Number of characters printed.
|
204 |
*/
|
205 |
static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...) |
206 |
{ |
207 |
aosDbgCheck(stream != NULL);
|
208 |
aosDbgCheck(name != NULL);
|
209 |
|
210 |
unsigned int n = 0; |
211 |
va_list ap; |
212 |
|
213 |
va_start(ap, fmt); |
214 |
n += chprintf(stream, name); |
215 |
while (n < namewidth) {
|
216 |
streamPut(stream, ' ');
|
217 |
++n; |
218 |
} |
219 |
n += chvprintf(stream, fmt, ap); |
220 |
va_end(ap); |
221 |
|
222 |
streamPut(stream, '\n');
|
223 |
++n; |
224 |
|
225 |
return n;
|
226 |
} |
227 |
|
228 |
/**
|
229 |
* @brief Prints information about the system.
|
230 |
*
|
231 |
* @param[in] stream Stream to print to.
|
232 |
*/
|
233 |
static void _printSystemInfo(BaseSequentialStream* stream) |
234 |
{ |
235 |
aosDbgCheck(stream != NULL);
|
236 |
|
237 |
// local variables
|
238 |
struct tm dt;
|
239 |
aosSysGetDateTime(&dt); |
240 |
|
241 |
// print static information about module and operating system
|
242 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
243 |
#ifdef BOARD_VERSION
|
244 |
_printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s (v%s)", BOARD_NAME, BOARD_VERSION); |
245 |
#else
|
246 |
_printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s", BOARD_NAME); |
247 |
#endif
|
248 |
#ifdef PLATFORM_NAME
|
249 |
_printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME); |
250 |
#endif
|
251 |
#ifdef PORT_CORE_VARIANT_NAME
|
252 |
_printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME); |
253 |
#endif
|
254 |
_printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME); |
255 |
_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
|
256 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
257 |
_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); |
258 |
#else
|
259 |
_printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE); |
260 |
#endif
|
261 |
_printSystemInfoLine(stream, "AMiRo-LLD" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (periphAL %u.%u)", AMIRO_LLD_VERSION_MAJOR, AMIRO_LLD_VERSION_MINOR, AMIRO_LLD_VERSION_PATCH, AMIRO_LLD_RELEASE_TYPE, PERIPHAL_VERSION_MAJOR, PERIPHAL_VERSION_MINOR); |
262 |
_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"); |
263 |
_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"); |
264 |
_printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s", (AMIROOS_CFG_DBG == true) ? "debug" : "release"); |
265 |
_printSystemInfoLine(stream, "Compiler" , SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC |
266 |
_printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__); |
267 |
|
268 |
// print static information about the bootloader
|
269 |
_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
|
270 |
if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
|
271 |
_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, |
272 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :
|
273 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :
|
274 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :
|
275 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :
|
276 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :
|
277 |
"<release type unknown>",
|
278 |
BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor); |
279 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
280 |
if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_MAJOR) {
|
281 |
if (stream) {
|
282 |
chprintf(stream, "WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
|
283 |
} else {
|
284 |
aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
|
285 |
} |
286 |
} |
287 |
#endif
|
288 |
_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 |
289 |
} else {
|
290 |
if (stream) {
|
291 |
chprintf(stream, "Bootloader incompatible or not available.\n");
|
292 |
} else {
|
293 |
aosprintf("Bootloader incompatible or not available.\n");
|
294 |
} |
295 |
} |
296 |
|
297 |
// print dynamic information about the module
|
298 |
_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
|
299 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
300 |
if (aos.sssp.moduleId != 0) { |
301 |
_printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId); |
302 |
} else {
|
303 |
_printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available"); |
304 |
} |
305 |
#endif
|
306 |
_printSystemInfoLine(stream, "Date", SYSTEM_INFO_NAMEWIDTH, "%s %02u-%02u-%04u", (dt.tm_wday == 0) ? "Sunday" : (dt.tm_wday == 1) ? "Monday" : (dt.tm_wday == 2) ? "Tuesday" : (dt.tm_wday == 3) ? "Wednesday" : (dt.tm_wday == 4) ? "Thursday" : (dt.tm_wday == 5) ? "Friday" : "Saturday", |
307 |
dt.tm_mday, |
308 |
dt.tm_mon + 1,
|
309 |
dt.tm_year + 1900);
|
310 |
_printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u", dt.tm_hour, dt.tm_min, dt.tm_sec); |
311 |
|
312 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
313 |
|
314 |
return;
|
315 |
} |
316 |
|
317 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
318 |
/**
|
319 |
* @brief Callback function for the system:config shell command.
|
320 |
*
|
321 |
* @param[in] stream The I/O stream to use.
|
322 |
* @param[in] argc Number of arguments.
|
323 |
* @param[in] argv List of pointers to the arguments.
|
324 |
*
|
325 |
* @return An exit status.
|
326 |
* @retval AOS_OK The command was executed successfuly.
|
327 |
* @retval AOS_INVALID_ARGUMENTS There was an issue with the arguemnts.
|
328 |
*/
|
329 |
static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]) |
330 |
{ |
331 |
aosDbgCheck(stream != NULL);
|
332 |
|
333 |
// local variables
|
334 |
int retval = AOS_INVALID_ARGUMENTS;
|
335 |
|
336 |
// if there are additional arguments
|
337 |
if (argc > 1) { |
338 |
// if the user wants to set or retrieve the shell configuration
|
339 |
if (strcmp(argv[1], "--shell") == 0) { |
340 |
// if the user wants to modify the shell configuration
|
341 |
if (argc > 2) { |
342 |
// if the user wants to modify the prompt
|
343 |
if (strcmp(argv[2], "prompt") == 0) { |
344 |
// there must be a further argument
|
345 |
if (argc > 3) { |
346 |
// handle the option
|
347 |
if (strcmp(argv[3], "text") == 0) { |
348 |
aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
349 |
retval = AOS_OK; |
350 |
} |
351 |
else if (strcmp(argv[3], "minimal") == 0) { |
352 |
aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
353 |
retval = AOS_OK; |
354 |
} |
355 |
else if (strcmp(argv[3], "notime") == 0) { |
356 |
aos.shell.config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME); |
357 |
retval = AOS_OK; |
358 |
} |
359 |
else if (strcmp(argv[3], "uptime") == 0) { |
360 |
aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME; |
361 |
aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_UPTIME; |
362 |
retval = AOS_OK; |
363 |
} |
364 |
else if (strcmp(argv[3], "date&time") == 0) { |
365 |
aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME; |
366 |
aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME; |
367 |
retval = AOS_OK; |
368 |
} |
369 |
else {
|
370 |
chprintf(stream, "unknown option '%s'\n", argv[3]); |
371 |
return AOS_INVALID_ARGUMENTS;
|
372 |
} |
373 |
} |
374 |
} |
375 |
// if the user wants to modify the string matching
|
376 |
else if (strcmp(argv[2], "match") == 0) { |
377 |
// there must be a further argument
|
378 |
if (argc > 3) { |
379 |
if (strcmp(argv[3], "casesensitive") == 0) { |
380 |
aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE; |
381 |
retval = AOS_OK; |
382 |
} |
383 |
else if (strcmp(argv[3], "caseinsensitive") == 0) { |
384 |
aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE; |
385 |
retval = AOS_OK; |
386 |
} |
387 |
} |
388 |
} |
389 |
} |
390 |
// if the user wants to retrieve the shell configuration
|
391 |
else {
|
392 |
chprintf(stream, "current shell configuration:\n");
|
393 |
chprintf(stream, " prompt text: %s\n",
|
394 |
(aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a"); |
395 |
char time[10]; |
396 |
switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
|
397 |
case AOS_SHELL_CONFIG_PROMPT_UPTIME:
|
398 |
strcpy(time, "uptime"); break; |
399 |
case AOS_SHELL_CONFIG_PROMPT_DATETIME:
|
400 |
strcpy(time, "date&time"); break; |
401 |
default:
|
402 |
strcpy(time, "no time"); break; |
403 |
} |
404 |
chprintf(stream, " prompt style: %s, %s\n",
|
405 |
(aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text", |
406 |
time); |
407 |
chprintf(stream, " input method: %s\n",
|
408 |
(aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert"); |
409 |
chprintf(stream, " text matching: %s\n",
|
410 |
(aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive"); |
411 |
retval = AOS_OK; |
412 |
} |
413 |
} |
414 |
// if the user wants to configure the date or time
|
415 |
else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) { |
416 |
struct tm dt;
|
417 |
aosSysGetDateTime(&dt); |
418 |
unsigned int val = atoi(argv[3]); |
419 |
if (strcmp(argv[2], "year") == 0) { |
420 |
dt.tm_year = val - 1900;
|
421 |
} |
422 |
else if (strcmp(argv[2], "month") == 0 && val <= 12) { |
423 |
dt.tm_mon = val - 1;
|
424 |
} |
425 |
else if (strcmp(argv[2], "day") == 0 && val <= 31) { |
426 |
dt.tm_mday = val; |
427 |
} |
428 |
else if (strcmp(argv[2], "hour") == 0 && val < 24) { |
429 |
dt.tm_hour = val; |
430 |
} |
431 |
else if (strcmp(argv[2], "minute") == 0 && val < 60) { |
432 |
dt.tm_min = val; |
433 |
} |
434 |
else if (strcmp(argv[2], "second") == 0 && val < 60) { |
435 |
dt.tm_sec = val; |
436 |
} |
437 |
else {
|
438 |
chprintf(stream, "unknown option '%s' or value '%s'\n", argv[2], argv[3]); |
439 |
return AOS_INVALID_ARGUMENTS;
|
440 |
} |
441 |
dt.tm_wday = aosTimeDayOfWeekFromDate(dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900) % 7; |
442 |
aosSysSetDateTime(&dt); |
443 |
|
444 |
// read and print new date and time
|
445 |
aosSysGetDateTime(&dt); |
446 |
chprintf(stream, "date/time set to %02u:%02u:%02u @ %02u-%02u-%04u\n",
|
447 |
dt.tm_hour, dt.tm_min, dt.tm_sec, |
448 |
dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900); |
449 |
|
450 |
retval = AOS_OK; |
451 |
} |
452 |
} |
453 |
|
454 |
// print help, if required
|
455 |
if (retval == AOS_INVALID_ARGUMENTS) {
|
456 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
457 |
chprintf(stream, "Options:\n");
|
458 |
chprintf(stream, " --help\n");
|
459 |
chprintf(stream, " Print this help text.\n");
|
460 |
chprintf(stream, " --shell [OPT [VAL]]\n");
|
461 |
chprintf(stream, " Set or retrieve shell configuration.\n");
|
462 |
chprintf(stream, " Possible OPTs and VALs are:\n");
|
463 |
chprintf(stream, " prompt text|minimal|uptime|date&time|notime\n");
|
464 |
chprintf(stream, " Configures the prompt.\n");
|
465 |
chprintf(stream, " match casesensitive|caseinsenitive\n");
|
466 |
chprintf(stream, " Configures string matching.\n");
|
467 |
chprintf(stream, " --date&time OPT VAL\n");
|
468 |
chprintf(stream, " Set the date/time value of OPT to VAL.\n");
|
469 |
chprintf(stream, " Possible OPTs are:\n");
|
470 |
chprintf(stream, " year\n");
|
471 |
chprintf(stream, " month\n");
|
472 |
chprintf(stream, " day\n");
|
473 |
chprintf(stream, " hour\n");
|
474 |
chprintf(stream, " minute\n");
|
475 |
chprintf(stream, " second\n");
|
476 |
} |
477 |
|
478 |
return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval; |
479 |
} |
480 |
|
481 |
/**
|
482 |
* @brief Callback function for the system:info shell command.
|
483 |
*
|
484 |
* @param[in] stream The I/O stream to use.
|
485 |
* @param[in] argc Number of arguments.
|
486 |
* @param[in] argv List of pointers to the arguments.
|
487 |
*
|
488 |
* @return An exit status.
|
489 |
* @retval AOS_OK The command was executed successfully.
|
490 |
*/
|
491 |
static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]) |
492 |
{ |
493 |
aosDbgCheck(stream != NULL);
|
494 |
|
495 |
(void)argc;
|
496 |
(void)argv;
|
497 |
|
498 |
// print system information
|
499 |
_printSystemInfo(stream); |
500 |
|
501 |
// print time measurement precision
|
502 |
chprintf(stream, "module time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
|
503 |
|
504 |
// print system uptime
|
505 |
aos_timestamp_t uptime; |
506 |
aosSysGetUptime(&uptime); |
507 |
chprintf(stream, "The system is running for\n");
|
508 |
chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
|
509 |
chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
|
510 |
chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
|
511 |
chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
|
512 |
chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
|
513 |
chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
|
514 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
515 |
chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", _syssyncskew, AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
|
516 |
#endif /* AMIROOS_CFG_SSSP_MASTER != true && AMIROOS_CFG_PROFILE == true */ |
517 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
518 |
|
519 |
// print shell info
|
520 |
chprintf(stream, "System shell information:\n");
|
521 |
chprintf(stream, "\tnumber of commands: %u\n", aosShellCountCommands(&aos.shell));
|
522 |
chprintf(stream, "\tmaximum line width: %u characters\n", aos.shell.linesize);
|
523 |
chprintf(stream, "\tmaximum #arguments: %u\n", aos.shell.arglistsize);
|
524 |
#if (AMIROOS_CFG_DBG == true) |
525 |
chprintf(stream, "\tshell thread stack size: %u bytes\n", aosThdGetStacksize(aos.shell.thread));
|
526 |
#if (CH_DBG_FILL_THREADS == TRUE)
|
527 |
chprintf(stream, "\tstack peak utilization: %u bytes (%.2f%%)\n", aosThdGetStackPeakUtilization(aos.shell.thread), (float)aosThdGetStackPeakUtilization(aos.shell.thread) / (float)aosThdGetStacksize(aos.shell.thread) * 100.0f); |
528 |
#endif /* CH_DBG_FILL_THREADS == TRUE */ |
529 |
#endif /* AMIROOS_CFG_DBG == true */ |
530 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
531 |
|
532 |
return AOS_OK;
|
533 |
} |
534 |
|
535 |
/**
|
536 |
* @brief Callback function for the sytem:shutdown shell command.
|
537 |
*
|
538 |
* @param[in] stream The I/O stream to use.
|
539 |
* @param[in] argc Number of arguments.
|
540 |
* @param[in] argv List of pointers to the arguments.
|
541 |
*
|
542 |
* @return An exit status.
|
543 |
* @retval AOS_OK The command was executed successfully.
|
544 |
* @retval AOS_INVALID_ARGUMENTS There was an issue with the arguments.
|
545 |
*/
|
546 |
static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]) |
547 |
{ |
548 |
aosDbgCheck(stream != NULL);
|
549 |
|
550 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
551 |
// print help text
|
552 |
if (argc != 2 || strcmp(argv[1], "--help") == 0) { |
553 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
554 |
chprintf(stream, "Options:\n");
|
555 |
chprintf(stream, " --help\n");
|
556 |
chprintf(stream, " Print this help text.\n");
|
557 |
chprintf(stream, " --hibernate, -h\n");
|
558 |
chprintf(stream, " Shutdown to hibernate mode.\n");
|
559 |
chprintf(stream, " Least energy saving, but allows charging via pins.\n");
|
560 |
chprintf(stream, " --deepsleep, -d\n");
|
561 |
chprintf(stream, " Shutdown to deepsleep mode.\n");
|
562 |
chprintf(stream, " Minimum energy consumption while allowing charging via plug.\n");
|
563 |
chprintf(stream, " --transportation, -t\n");
|
564 |
chprintf(stream, " Shutdown to transportation mode.\n");
|
565 |
chprintf(stream, " Minimum energy consumption with all interrupts disabled (no charging).\n");
|
566 |
chprintf(stream, " --restart, -r\n");
|
567 |
chprintf(stream, " Shutdown and restart system.\n");
|
568 |
|
569 |
return (argc != 2) ? AOS_INVALID_ARGUMENTS : AOS_OK; |
570 |
} |
571 |
// handle argument
|
572 |
else {
|
573 |
if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) { |
574 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
575 |
chThdTerminate(chThdGetSelfX()); |
576 |
return AOS_OK;
|
577 |
} |
578 |
else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) { |
579 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
580 |
chThdTerminate(chThdGetSelfX()); |
581 |
return AOS_OK;
|
582 |
} |
583 |
else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) { |
584 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
585 |
chThdTerminate(chThdGetSelfX()); |
586 |
return AOS_OK;
|
587 |
} |
588 |
else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) { |
589 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
590 |
chThdTerminate(chThdGetSelfX()); |
591 |
return AOS_OK;
|
592 |
} |
593 |
else {
|
594 |
chprintf(stream, "unknown argument %s\n", argv[1]); |
595 |
return AOS_INVALID_ARGUMENTS;
|
596 |
} |
597 |
} |
598 |
#else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
599 |
(void)argv;
|
600 |
(void)argc;
|
601 |
|
602 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
603 |
chThdTerminate(chThdGetSelfX()); |
604 |
return AOS_OK;
|
605 |
#endif /* AMIROOS_CFG_SSSP_ENABLE */ |
606 |
} |
607 |
|
608 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
609 |
/**
|
610 |
* @brief Callback function for the kernel:test shell command.
|
611 |
*
|
612 |
* @param[in] stream The I/O stream to use.
|
613 |
* @param[in] argc Number of arguments.
|
614 |
* @param[in] argv List of pointers to the arguments.
|
615 |
*
|
616 |
* @return An exit status.
|
617 |
*/
|
618 |
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]) |
619 |
{ |
620 |
aosDbgCheck(stream != NULL);
|
621 |
|
622 |
(void)argc;
|
623 |
(void)argv;
|
624 |
|
625 |
msg_t retval = test_execute(stream, &rt_test_suite); |
626 |
|
627 |
return retval;
|
628 |
} |
629 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
630 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
631 |
|
632 |
// suppress warning in case no interrupt GPIOs are defined
|
633 |
#pragma GCC diagnostic push
|
634 |
#pragma GCC diagnostic ignored "-Wunused-function" |
635 |
/**
|
636 |
* @brief Generic callback function for GPIO interrupts.
|
637 |
*
|
638 |
* @param[in] args Pointer to the GPIO pad identifier.
|
639 |
*/
|
640 |
static void _intCallback(void* args) |
641 |
{ |
642 |
aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8)); |
643 |
|
644 |
chSysLockFromISR(); |
645 |
chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(*((iopadid_t*)args))); |
646 |
chSysUnlockFromISR(); |
647 |
|
648 |
return;
|
649 |
} |
650 |
#pragma GCC diagnostic pop
|
651 |
|
652 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true)) || defined(__DOXYGEN__) |
653 |
/**
|
654 |
* @brief Callback function for the Sync signal interrupt.
|
655 |
*
|
656 |
* @param[in] args Pointer to the GPIO pad identifier.
|
657 |
*/
|
658 |
static void _signalSyncCallback(void *args) |
659 |
{ |
660 |
aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8)); |
661 |
|
662 |
apalControlGpioState_t s_state; |
663 |
aos_timestamp_t uptime; |
664 |
|
665 |
chSysLockFromISR(); |
666 |
// if the system is in operation phase
|
667 |
if (aos.sssp.stage == AOS_SSSP_OPERATION) {
|
668 |
// read signal S
|
669 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state); |
670 |
// if S was toggled from on to off
|
671 |
if (s_state == APAL_GPIO_OFF) {
|
672 |
// get current uptime
|
673 |
aosSysGetUptimeX(&uptime); |
674 |
// align the uptime with the synchronization period
|
675 |
if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) { |
676 |
_uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
677 |
#if (AMIROOS_CFG_PROFILE == true) |
678 |
_syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) + (SYSTEM_SYSSYNCSKEW_LPFACTOR * (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD)); |
679 |
#endif
|
680 |
} else {
|
681 |
_uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
682 |
#if (AMIROOS_CFG_PROFILE == true) |
683 |
_syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) - (SYSTEM_SYSSYNCSKEW_LPFACTOR * (AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD))); |
684 |
#endif
|
685 |
} |
686 |
} |
687 |
} |
688 |
// broadcast event
|
689 |
chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(*((iopadid_t*)args))); |
690 |
chSysUnlockFromISR(); |
691 |
|
692 |
return;
|
693 |
} |
694 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) */ |
695 |
|
696 |
/**
|
697 |
* @brief Callback function for the uptime accumulation timer.
|
698 |
*
|
699 |
* @param[in] par Generic parameter.
|
700 |
*/
|
701 |
static void _uptimeCallback(void* par) |
702 |
{ |
703 |
(void)par;
|
704 |
|
705 |
chSysLockFromISR(); |
706 |
// read current time in system ticks
|
707 |
register const systime_t st = chVTGetSystemTimeX(); |
708 |
// update the uptime variables
|
709 |
_uptime += chTimeI2US(chTimeDiffX(_synctime, st)); |
710 |
_synctime = st; |
711 |
// enable the timer again
|
712 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
713 |
chSysUnlockFromISR(); |
714 |
|
715 |
return;
|
716 |
} |
717 |
|
718 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined (__DOXYGEN__) |
719 |
/**
|
720 |
* @brief Periodic system synchronization callback function.
|
721 |
* @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.
|
722 |
*
|
723 |
* @param[in] par Unuesed parameters.
|
724 |
*/
|
725 |
static void _sysSyncTimerCallback(void* par) |
726 |
{ |
727 |
(void)par;
|
728 |
|
729 |
apalControlGpioState_t s_state; |
730 |
aos_timestamp_t uptime; |
731 |
|
732 |
chSysLockFromISR(); |
733 |
// toggle and read signal S
|
734 |
apalGpioToggle(moduleSsspGpioSync.gpio); |
735 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state); |
736 |
// if S was toggled from off to on
|
737 |
if (s_state == APAL_GPIO_ON) {
|
738 |
// reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
|
739 |
_syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
740 |
aosSysGetUptimeX(&uptime); |
741 |
chVTSetI(&_syssynctimer, chTimeUS2I(_syssynctime - uptime), _sysSyncTimerCallback, NULL);
|
742 |
} |
743 |
// if S was toggled from on to off
|
744 |
else /* if (s_state == APAL_GPIO_OFF) */ { |
745 |
// reconfigure the timer (lazy)
|
746 |
chVTSetI(&_syssynctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL); |
747 |
} |
748 |
chSysUnlockFromISR(); |
749 |
|
750 |
return;
|
751 |
} |
752 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */ |
753 |
|
754 |
/**
|
755 |
* @brief AMiRo-OS system initialization.
|
756 |
* @note Must be called from the system control thread (usually main thread).
|
757 |
*
|
758 |
* @param[in] shellPrompt String to be printed as prompt of the system shell.
|
759 |
*/
|
760 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
761 |
void aosSysInit(const char* shellPrompt) |
762 |
#else
|
763 |
void aosSysInit(void) |
764 |
#endif
|
765 |
{ |
766 |
/* set control thread to maximum priority */
|
767 |
chThdSetPriority(AOS_THD_CTRLPRIO); |
768 |
|
769 |
/* set local variables */
|
770 |
chVTObjectInit(&_systimer); |
771 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
772 |
_synctime = 0;
|
773 |
_uptime = 0;
|
774 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
775 |
chVTObjectInit(&_syssynctimer); |
776 |
_syssynctime = 0;
|
777 |
#endif
|
778 |
#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
779 |
_syssyncskew = 0.0f; |
780 |
#endif
|
781 |
#else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
782 |
// start the uptime counter
|
783 |
chSysLock(); |
784 |
_synctime = chVTGetSystemTimeX(); |
785 |
_uptime = 0;
|
786 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
787 |
chSysUnlock(); |
788 |
#endif /* AMIROOS_CFG_SSSP_ENABLE */ |
789 |
|
790 |
/* initialize aos configuration */
|
791 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
792 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_1; |
793 |
aos.sssp.moduleId = 0;
|
794 |
#endif
|
795 |
aosIOStreamInit(&aos.iostream); |
796 |
chEvtObjectInit(&aos.events.io); |
797 |
chEvtObjectInit(&aos.events.os); |
798 |
|
799 |
/* interrupt setup */
|
800 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
801 |
// PD signal
|
802 |
palSetPadCallback(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, _intCallback, &moduleSsspGpioPd.gpio->pad); |
803 |
palEnablePadEvent(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, APAL2CH_EDGE(moduleSsspGpioPd.meta.edge)); |
804 |
// SYNC signal
|
805 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
806 |
palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _intCallback, &moduleSsspGpioSync.gpio->pad); |
807 |
#else
|
808 |
palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _signalSyncCallback, &moduleSsspGpioSync.gpio->pad); |
809 |
#endif
|
810 |
palEnablePadEvent(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, APAL2CH_EDGE(moduleSsspGpioSync.meta.edge)); |
811 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
812 |
// DN signal
|
813 |
palSetPadCallback(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, _intCallback, &moduleSsspGpioDn.gpio->pad); |
814 |
palEnablePadEvent(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, APAL2CH_EDGE(moduleSsspGpioDn.meta.edge)); |
815 |
#endif
|
816 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
817 |
// UP signal
|
818 |
palSetPadCallback(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, _intCallback, &moduleSsspGpioUp.gpio->pad); |
819 |
palEnablePadEvent(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, APAL2CH_EDGE(moduleSsspGpioUp.meta.edge)); |
820 |
#endif
|
821 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
822 |
#ifdef MODULE_INIT_INTERRUPTS
|
823 |
// further interrupt signals
|
824 |
MODULE_INIT_INTERRUPTS(); |
825 |
#endif
|
826 |
|
827 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
828 |
/* init shell */
|
829 |
aosShellInit(&aos.shell, |
830 |
&aos.events.os, |
831 |
shellPrompt, |
832 |
_shell_line, |
833 |
AMIROOS_CFG_SHELL_LINEWIDTH, |
834 |
_shell_arglist, |
835 |
AMIROOS_CFG_SHELL_MAXARGS); |
836 |
// add system commands
|
837 |
aosShellAddCommand(&aos.shell, &_shellcmd_config); |
838 |
aosShellAddCommand(&aos.shell, &_shellcmd_info); |
839 |
aosShellAddCommand(&aos.shell, &_shellcmd_shutdown); |
840 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
841 |
aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest); |
842 |
#endif
|
843 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
844 |
|
845 |
return;
|
846 |
} |
847 |
|
848 |
/**
|
849 |
* @brief Starts the system and all system threads.
|
850 |
*/
|
851 |
inline void aosSysStart(void) |
852 |
{ |
853 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
854 |
// update the system SSSP stage
|
855 |
aos.sssp.stage = AOS_SSSP_OPERATION; |
856 |
|
857 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
858 |
{ |
859 |
chSysLock(); |
860 |
// start the system synchronization counter
|
861 |
// The first iteration of the timer is set to the next 'center' of a 'slice'.
|
862 |
aos_timestamp_t t; |
863 |
aosSysGetUptimeX(&t); |
864 |
t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
865 |
chVTSetI(&_syssynctimer, chTimeUS2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL); |
866 |
chSysUnlock(); |
867 |
} |
868 |
#endif
|
869 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
870 |
|
871 |
// print system information;
|
872 |
_printSystemInfo((BaseSequentialStream*)&aos.iostream); |
873 |
aosprintf("\n");
|
874 |
|
875 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
876 |
// start system shell thread
|
877 |
#if (CH_CFG_USE_THREADHIERARCHY == TRUE)
|
878 |
aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell, &ch.mainthread);
|
879 |
#else
|
880 |
aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
|
881 |
#endif
|
882 |
#endif
|
883 |
|
884 |
return;
|
885 |
} |
886 |
|
887 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
888 |
/**
|
889 |
* @brief Implements the SSSP startup synchronization step.
|
890 |
*
|
891 |
* @param[in] syncEvtListener Event listener that receives the Sync event.
|
892 |
*
|
893 |
* @return If another event that the listener is interested in was received, its mask is returned.
|
894 |
* Otherwise an empty mask (0) is returned.
|
895 |
*/
|
896 |
eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener) |
897 |
{ |
898 |
aosDbgCheck(syncEvtListener != NULL);
|
899 |
|
900 |
// local variables
|
901 |
eventmask_t m; |
902 |
eventflags_t f; |
903 |
apalControlGpioState_t s; |
904 |
|
905 |
// update the system SSSP stage
|
906 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_2; |
907 |
|
908 |
// deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase)
|
909 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
910 |
|
911 |
// wait for any event to occur (do not apply any filter in order not to miss any event)
|
912 |
m = chEvtWaitOne(ALL_EVENTS); |
913 |
f = chEvtGetAndClearFlags(syncEvtListener); |
914 |
apalControlGpioGet(&moduleSsspGpioSync, &s); |
915 |
|
916 |
// if the event was a system event,
|
917 |
// and it was fired because of the SysSync control signal,
|
918 |
// and the SysSync control signal has been deactivated
|
919 |
if (m & syncEvtListener->events &&
|
920 |
f == MODULE_SSSP_EVENTFLAGS_SYNC && |
921 |
s == APAL_GPIO_OFF) { |
922 |
chSysLock(); |
923 |
// start the uptime counter
|
924 |
_synctime = chVTGetSystemTimeX(); |
925 |
_uptime = 0;
|
926 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
927 |
chSysUnlock(); |
928 |
|
929 |
return 0; |
930 |
} |
931 |
// an unexpected event occurred
|
932 |
else {
|
933 |
// reassign the flags to the event and return the event mask
|
934 |
syncEvtListener->flags |= f; |
935 |
return m;
|
936 |
} |
937 |
} |
938 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
939 |
|
940 |
/**
|
941 |
* @brief Retrieves the system uptime.
|
942 |
*
|
943 |
* @param[out] ut The system uptime.
|
944 |
*/
|
945 |
inline void aosSysGetUptimeX(aos_timestamp_t* ut) |
946 |
{ |
947 |
aosDbgCheck(ut != NULL);
|
948 |
|
949 |
*ut = _uptime + chTimeI2US(chTimeDiffX(_synctime, chVTGetSystemTimeX())); |
950 |
|
951 |
return;
|
952 |
} |
953 |
|
954 |
/**
|
955 |
* @brief retrieves the date and time from the MCU clock.
|
956 |
*
|
957 |
* @param[out] td The date and time.
|
958 |
*/
|
959 |
void aosSysGetDateTime(struct tm* dt) |
960 |
{ |
961 |
aosDbgCheck(dt != NULL);
|
962 |
|
963 |
RTCDateTime rtc; |
964 |
rtcGetTime(&MODULE_HAL_RTC, &rtc); |
965 |
rtcConvertDateTimeToStructTm(&rtc, dt, NULL);
|
966 |
|
967 |
return;
|
968 |
} |
969 |
|
970 |
/**
|
971 |
* @brief set the date and time of the MCU clock.
|
972 |
*
|
973 |
* @param[in] dt The date and time to set.
|
974 |
*/
|
975 |
void aosSysSetDateTime(struct tm* dt) |
976 |
{ |
977 |
aosDbgCheck(dt != NULL);
|
978 |
|
979 |
RTCDateTime rtc; |
980 |
rtcConvertStructTmToDateTime(dt, 0, &rtc);
|
981 |
rtcSetTime(&MODULE_HAL_RTC, &rtc); |
982 |
|
983 |
return;
|
984 |
} |
985 |
|
986 |
/**
|
987 |
* @brief Initializes/Acknowledges a system shutdown/restart request.
|
988 |
* @note This functions should be called from the thread with highest priority.
|
989 |
*
|
990 |
* @param[in] shutdown Type of shutdown.
|
991 |
*/
|
992 |
void aosSysShutdownInit(aos_shutdown_t shutdown)
|
993 |
{ |
994 |
// check arguments
|
995 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
996 |
|
997 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
998 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
999 |
// deactivate the system synchronization timer
|
1000 |
chVTReset(&_syssynctimer); |
1001 |
#endif
|
1002 |
|
1003 |
// update the system SSSP stage
|
1004 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1; |
1005 |
|
1006 |
chSysLock(); |
1007 |
// activate the SYS_PD control signal only, if this module initiated the shutdown
|
1008 |
if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
1009 |
apalControlGpioSet(&moduleSsspGpioPd, APAL_GPIO_ON); |
1010 |
} |
1011 |
// activate the SYS_SYNC signal
|
1012 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
1013 |
chSysUnlock(); |
1014 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
1015 |
|
1016 |
switch (shutdown) {
|
1017 |
case AOS_SHUTDOWN_PASSIVE:
|
1018 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
1019 |
aosprintf("shutdown request received...\n");
|
1020 |
break;
|
1021 |
case AOS_SHUTDOWN_HIBERNATE:
|
1022 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
1023 |
aosprintf("shutdown to hibernate mode...\n");
|
1024 |
break;
|
1025 |
case AOS_SHUTDOWN_DEEPSLEEP:
|
1026 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
1027 |
aosprintf("shutdown to deepsleep mode...\n");
|
1028 |
break;
|
1029 |
case AOS_SHUTDOWN_TRANSPORTATION:
|
1030 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
1031 |
aosprintf("shutdown to transportation mode...\n");
|
1032 |
break;
|
1033 |
case AOS_SHUTDOWN_RESTART:
|
1034 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
1035 |
aosprintf("restarting system...\n");
|
1036 |
break;
|
1037 |
// must never occur
|
1038 |
case AOS_SHUTDOWN_NONE:
|
1039 |
default:
|
1040 |
break;
|
1041 |
} |
1042 |
|
1043 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
1044 |
// update the system SSSP stage
|
1045 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2; |
1046 |
#endif
|
1047 |
|
1048 |
return;
|
1049 |
} |
1050 |
|
1051 |
/**
|
1052 |
* @brief Stops the system and all related threads (not the thread this function is called from).
|
1053 |
*/
|
1054 |
void aosSysStop(void) |
1055 |
{ |
1056 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
1057 |
chThdWait(aos.shell.thread); |
1058 |
#endif
|
1059 |
|
1060 |
return;
|
1061 |
} |
1062 |
|
1063 |
/**
|
1064 |
* @brief Deinitialize all system variables.
|
1065 |
*/
|
1066 |
void aosSysDeinit(void) |
1067 |
{ |
1068 |
return;
|
1069 |
} |
1070 |
|
1071 |
/**
|
1072 |
* @brief Finally shuts down the system and calls the bootloader callback function.
|
1073 |
* @note This function should be called from the thtead with highest priority.
|
1074 |
*
|
1075 |
* @param[in] shutdown Type of shutdown.
|
1076 |
*/
|
1077 |
void aosSysShutdownFinal(aos_shutdown_t shutdown)
|
1078 |
{ |
1079 |
// check arguments
|
1080 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
1081 |
|
1082 |
// disable all interrupts
|
1083 |
irqDeinit(); |
1084 |
|
1085 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
1086 |
// update the system SSSP stage
|
1087 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3; |
1088 |
#endif
|
1089 |
|
1090 |
// validate bootloader
|
1091 |
if ((BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) &&
|
1092 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.major == BL_VERSION_MAJOR) && |
1093 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.minor >= BL_VERSION_MINOR)) { |
1094 |
// call bootloader callback depending on arguments
|
1095 |
switch (shutdown) {
|
1096 |
case AOS_SHUTDOWN_PASSIVE:
|
1097 |
BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest(); |
1098 |
break;
|
1099 |
case AOS_SHUTDOWN_HIBERNATE:
|
1100 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate(); |
1101 |
break;
|
1102 |
case AOS_SHUTDOWN_DEEPSLEEP:
|
1103 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep(); |
1104 |
break;
|
1105 |
case AOS_SHUTDOWN_TRANSPORTATION:
|
1106 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation(); |
1107 |
break;
|
1108 |
case AOS_SHUTDOWN_RESTART:
|
1109 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart(); |
1110 |
break;
|
1111 |
// must never occur
|
1112 |
case AOS_SHUTDOWN_NONE:
|
1113 |
default:
|
1114 |
break;
|
1115 |
} |
1116 |
} else {
|
1117 |
// fallback if bootloader was found to be invalid
|
1118 |
aosprintf("Bootloader incompatible or not available!\n");
|
1119 |
chThdSleep(TIME_INFINITE); |
1120 |
} |
1121 |
|
1122 |
return;
|
1123 |
} |
1124 |
|
1125 |
/** @} */
|