amiro-os / os / core / src / aos_system.c @ e545e620
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | #include <aos_system.h> |
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20 | |||
21 | #include <chprintf.h> |
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22 | #include <amiroos.h> |
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23 | #include <amiroblt.h> |
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24 | #include <string.h> |
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25 | #include <stdarg.h> |
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26 | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
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27 | #include <ch_test.h> |
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28 | #endif
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29 | |||
30 | /**
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31 | * @brief Period of the system timer.
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32 | */
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33 | #define SYSTIMER_PERIOD (TIME_MAXIMUM - CH_CFG_ST_TIMEDELTA)
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34 | |||
35 | /**
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36 | * @brief Width of the printable system info text.
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37 | */
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38 | #define SYSTEM_INFO_WIDTH 70 |
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39 | |||
40 | /* forward declarations */
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41 | static void _printSystemInfo(BaseSequentialStream* stream); |
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42 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
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43 | static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]); |
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44 | static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]); |
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45 | static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]); |
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46 | #endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
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47 | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
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48 | static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]); |
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49 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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50 | |||
51 | /**
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52 | * @brief PD signal GPIO.
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53 | */
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54 | static apalControlGpio_t* _gpioPd;
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55 | |||
56 | /**
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57 | * @brief Sync signal GPIO.
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58 | */
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59 | static apalControlGpio_t* _gpioSync;
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60 | |||
61 | /**
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62 | * @brief Sequelntiel Stream Multiplexer for the system I/O stream.
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63 | */
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64 | static SequentialStreamMux _ssm;
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65 | |||
66 | /**
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67 | * @brief Timer to accumulate system uptime.
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68 | */
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69 | static virtual_timer_t _systimer;
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70 | |||
71 | /**
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72 | * @brief Accumulated system uptime.
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73 | */
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74 | static aos_timestamp_t _uptime;
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75 | |||
76 | /**
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77 | * @brief Timer register value of last accumulation.
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78 | */
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79 | static systime_t _synctime;
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80 | |||
81 | #if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__) |
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82 | /**
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83 | * @brief Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP.
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84 | */
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85 | static virtual_timer_t _syssynctimer;
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86 | |||
87 | /**
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88 | * @brief Last uptime of system wide time synchronization.
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89 | */
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90 | static aos_timestamp_t _syssynctime;
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91 | #endif
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92 | |||
93 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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94 | /**
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95 | * @brief System shell.
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96 | */
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97 | static aos_shell_t _shell;
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98 | |||
99 | /**
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100 | * @brief Shell thread working area.
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101 | */
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102 | THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE); |
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103 | |||
104 | /**
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105 | * @brief Shell input buffer.
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106 | */
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107 | static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH]; |
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108 | |||
109 | /**
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110 | * @brief Shell argument buffer.
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111 | */
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112 | static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS]; |
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113 | |||
114 | /**
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115 | * @brief Shell command to retrieve system information.
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116 | */
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117 | static aos_shellcommand_t _shellcmd_info = {
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118 | /* name */ "module:info", |
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119 | /* callback */ _shellcmd_infocb,
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120 | /* next */ NULL, |
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121 | }; |
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122 | |||
123 | /**
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124 | * @brief Shell command to set or retrieve system configuration.
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125 | */
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126 | static aos_shellcommand_t _shellcmd_config = {
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127 | /* name */ "module:config", |
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128 | /* callback */ _shellcmd_configcb,
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129 | /* next */ NULL, |
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130 | }; |
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131 | |||
132 | /**
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133 | * @brief Shell command to shutdown the system.
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134 | */
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135 | static aos_shellcommand_t _shellcmd_shutdown = {
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136 | /* name */ "system:shutdown", |
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137 | /* callback */ _shellcmd_shutdowncb,
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138 | /* next */ NULL, |
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139 | }; |
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140 | #endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
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141 | |||
142 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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143 | /**
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144 | * @brief Shell kommand to run a test of the ChibiOS/RT kernel.
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145 | */
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146 | static aos_shellcommand_t _shellcmd_kerneltest = {
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147 | /* name */ "kernel:test", |
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148 | /* callback */ _shellcmd_kerneltestcb,
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149 | /* next */ NULL, |
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150 | }; |
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151 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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152 | |||
153 | /**
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154 | * @brief Global system object.
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155 | */
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156 | aos_system_t aos = { |
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157 | /* SSSP stage */ AOS_SSSP_STARTUP_2_1,
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158 | /* event */ {
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159 | /* I/O */ {
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160 | /* source */ {
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161 | /* next listener */ NULL, |
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162 | }, |
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163 | /* flagsSignalPd */ 0, |
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164 | /* flagsSignalSync */ 0, |
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165 | }, |
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166 | /* OS */ {
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167 | /* source */ {
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168 | /* next listener */ NULL, |
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169 | } |
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170 | }, |
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171 | }, |
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172 | /* ssm */ &_ssm,
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173 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
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174 | /* shell */ &_shell,
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175 | #endif
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176 | }; |
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177 | |||
178 | /**
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179 | * @brief Print a separator line.
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180 | *
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181 | * @param[in] stream Stream to print to.
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182 | * @param[in] c Character to use.
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183 | * @param[in] n Length of the separator line.
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184 | *
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185 | * @return Number of characters printed.
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186 | */
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187 | static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n) |
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188 | { |
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189 | aosDbgCheck(stream != NULL);
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190 | |||
191 | // print the specified character n times
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192 | for (unsigned int i = 0; i < n; ++i) { |
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193 | streamPut(stream, c); |
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194 | } |
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195 | streamPut(stream, '\n');
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196 | |||
197 | return n+1; |
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198 | } |
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199 | |||
200 | /**
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201 | * @brief Print a system information line.
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202 | * @details Prints a system information line with the following format:
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203 | * "<name>[spaces]fmt"
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204 | * The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.
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205 | * Note that there is not trailing newline added implicitely.
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206 | *
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207 | * @param[in] stream Stream to print to.
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208 | * @param[in] name Name of the entry/line.
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209 | * @param[in] namewidth Width of the name column.
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210 | * @param[in] fmt Formatted string of information content.
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211 | *
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212 | * @return Number of characters printed.
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213 | */
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214 | static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...) |
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215 | { |
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216 | aosDbgCheck(stream != NULL);
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217 | aosDbgCheck(stream != NULL);
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218 | |||
219 | unsigned int n = 0; |
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220 | |||
221 | // print the name and trailing spaces
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222 | n += chprintf(stream, name); |
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223 | while (n < namewidth) {
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224 | streamPut(stream, ' ');
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225 | ++n; |
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226 | } |
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227 | |||
228 | // print the content
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229 | va_list ap; |
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230 | va_start(ap, fmt); |
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231 | n += chvprintf(stream, fmt, ap); |
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232 | va_end(ap); |
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233 | |||
234 | return n;
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235 | } |
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236 | |||
237 | /**
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238 | * @brief Prints information about the system.
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239 | *
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240 | * @param[in] stream Stream to print to.
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241 | */
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242 | static void _printSystemInfo(BaseSequentialStream *stream) |
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243 | { |
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244 | aosDbgCheck(stream != NULL);
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245 | |||
246 | _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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247 | _printSystemInfoLine(stream, "Module", 14, "%s (v%s)\n", BOARD_NAME, BOARD_VERSION); |
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248 | #ifdef PLATFORM_NAME
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249 | _printSystemInfoLine(stream, "Platform", 14, "%s\n", PLATFORM_NAME); |
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250 | #endif
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251 | #ifdef PORT_CORE_VARIANT_NAME
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252 | _printSystemInfoLine(stream, "Core Variant", 14, "%s\n", PORT_CORE_VARIANT_NAME); |
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253 | #endif
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254 | _printSystemInfoLine(stream, "Architecture", 14, "%s\n", PORT_ARCHITECTURE_NAME); |
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255 | _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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256 | _printSystemInfoLine(stream, "AMiRo-OS" ,14, "%u.%u.%u %s (%s build)\n", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE, (AMIROOS_CFG_DBG == true) ? "debug" : "release"); |
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257 | _printSystemInfoLine(stream, "AMiRo-LLD" ,14, "%u.%u.%u %s (periphAL %u.%u)\n", AMIRO_LLD_VERSION_MAJOR, AMIRO_LLD_VERSION_MINOR, AMIRO_LLD_VERSION_PATCH, AMIRO_LLD_RELEASE_TYPE, PERIPHAL_VERSION_MAJOR, PERIPHAL_VERSION_MINOR); |
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258 | _printSystemInfoLine(stream, "ChibiOS/RT" ,14, "%u.%u.%u %s\n", CH_KERNEL_MAJOR, CH_KERNEL_MINOR, CH_KERNEL_PATCH, (CH_KERNEL_STABLE == 1) ? "stable" : "non-stable"); |
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259 | _printSystemInfoLine(stream, "ChibiOS/HAL",14, "%u.%u.%u %s\n", CH_HAL_MAJOR, CH_HAL_MINOR, CH_HAL_PATCH, (CH_HAL_STABLE == 1) ? "stable" : "non-stable"); |
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260 | _printSystemInfoLine(stream, "Compiler" ,14, "%s %u.%u.%u\n", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC |
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261 | _printSystemInfoLine(stream, "Compiled" ,14, "%s - %s\n", __DATE__, __TIME__); |
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262 | _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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263 | if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
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264 | _printSystemInfoLine(stream, "AMiRo-BLT", 14, "%u.%u.%u %s (SSSP %u.%u)\n", BL_CALLBACK_TABLE_ADDRESS->vBootloader.major, BL_CALLBACK_TABLE_ADDRESS->vBootloader.minor, BL_CALLBACK_TABLE_ADDRESS->vBootloader.patch, |
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265 | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :
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266 | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :
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267 | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :
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268 | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :
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269 | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :
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270 | "<release type unknown>",
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271 | BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor); |
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272 | _printSystemInfoLine(stream, "Compiler", 14, "%s %u.%u.%u\n", (BL_CALLBACK_TABLE_ADDRESS->vCompiler.identifier == BL_VERSION_ID_GCC) ? "GCC" : "<compiler unknown>", BL_CALLBACK_TABLE_ADDRESS->vCompiler.major, BL_CALLBACK_TABLE_ADDRESS->vCompiler.minor, BL_CALLBACK_TABLE_ADDRESS->vCompiler.patch); // TODO: support other compilers than GCC |
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273 | } else {
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274 | chprintf(stream, "Bootloader incompatible or not available.\n");
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275 | } |
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276 | _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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277 | |||
278 | return;
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279 | } |
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280 | |||
281 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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282 | /**
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283 | * @brief Callback function for the system:config shell command.
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284 | *
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285 | * @param[in] stream The I/O stream to use.
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286 | * @param[in] argc Number of arguments.
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287 | * @param[in] argv List of pointers to the arguments.
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288 | *
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289 | * @return An exit status.
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290 | * @retval AOS_OK The command was executed successfuly.
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291 | * @retval AOS_INVALID_ARGUMENTS There was an issue with the arguemnts.
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292 | */
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293 | static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]) |
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294 | { |
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295 | // local variables
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296 | int retval = AOS_INVALID_ARGUMENTS;
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297 | |||
298 | // if there are additional arguments
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299 | if (argc > 1) { |
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300 | // if the user wants to set or retrieve the shell configuration
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301 | if (strcmp(argv[1], "--shell") == 0) { |
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302 | // if the user wants to modify the shell configuration
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303 | if (argc > 2) { |
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304 | // if the user wants to modify the prompt
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305 | if (strcmp(argv[2], "prompt") == 0) { |
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306 | // there must be a further argument
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307 | if (argc > 3) { |
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308 | // handle the option
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309 | if (strcmp(argv[3], "text") == 0) { |
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310 | aos.shell->config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
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311 | retval = AOS_OK; |
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312 | } |
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313 | else if (strcmp(argv[3], "minimal") == 0) { |
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314 | aos.shell->config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
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315 | retval = AOS_OK; |
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316 | } |
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317 | else if (strcmp(argv[3], "notime") == 0) { |
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318 | aos.shell->config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME; |
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319 | retval = AOS_OK; |
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320 | } |
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321 | else if (strcmp(argv[3], "uptime") == 0) { |
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322 | aos.shell->config |= AOS_SHELL_CONFIG_PROMPT_UPTIME; |
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323 | retval = AOS_OK; |
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324 | } |
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325 | } |
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326 | } |
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327 | // if the user wants to modify the string matching
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328 | else if (strcmp(argv[2], "match") == 0) { |
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329 | // there must be a further argument
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330 | if (argc > 3) { |
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331 | if (strcmp(argv[3], "casesensitive") == 0) { |
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332 | aos.shell->config |= AOS_SHELL_CONFIG_MATCH_CASE; |
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333 | retval = AOS_OK; |
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334 | } |
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335 | else if (strcmp(argv[3], "caseinsensitive") == 0) { |
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336 | aos.shell->config &= ~AOS_SHELL_CONFIG_MATCH_CASE; |
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337 | retval = AOS_OK; |
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338 | } |
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339 | } |
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340 | } |
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341 | } |
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342 | // if the user wants to retrieve the shell configuration
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343 | else {
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344 | chprintf(stream, "current shell configuration:\n");
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345 | chprintf(stream, " prompt text: %s\n",
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346 | (aos.shell->prompt != NULL) ? aos.shell->prompt : "n/a"); |
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347 | chprintf(stream, " prompt style: %s, %s\n",
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348 | (aos.shell->config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text", |
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349 | (aos.shell->config & AOS_SHELL_CONFIG_PROMPT_UPTIME) ? "system uptime" : "no time"); |
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350 | chprintf(stream, " input method: %s\n",
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351 | (aos.shell->config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert"); |
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352 | chprintf(stream, " text matching: %s\n",
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353 | (aos.shell->config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive"); |
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354 | retval = AOS_OK; |
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355 | } |
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356 | } |
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357 | } |
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358 | |||
359 | // print help, if required
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360 | if (retval == AOS_INVALID_ARGUMENTS) {
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361 | chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
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362 | chprintf(stream, "Options:\n");
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363 | chprintf(stream, " --help\n");
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364 | chprintf(stream, " Print this help text.\n");
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365 | chprintf(stream, " --shell [OPT [VAL]]\n");
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366 | chprintf(stream, " Set or retrieve shell configuration.\n");
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367 | chprintf(stream, " Possible OPTs and VALs are:\n");
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368 | chprintf(stream, " prompt text|minimal|uptime|notime\n");
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369 | chprintf(stream, " Configures the prompt.\n");
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370 | chprintf(stream, " match casesensitive|caseinsenitive\n");
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371 | chprintf(stream, " Configures string matching.\n");
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372 | } |
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373 | |||
374 | return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval; |
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375 | } |
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376 | |||
377 | /**
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378 | * @brief Callback function for the system:info shell command.
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379 | *
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380 | * @param[in] stream The I/O stream to use.
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381 | * @param[in] argc Number of arguments.
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382 | * @param[in] argv List of pointers to the arguments.
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383 | *
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384 | * @return An exit status.
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385 | * @retval AOS_OK The command was executed successfully.
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386 | */
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387 | static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]) |
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388 | { |
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389 | (void)argc;
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390 | (void)argv;
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391 | |||
392 | // print system information
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393 | _printSystemInfo(stream); |
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394 | |||
395 | // print time measurement precision
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396 | chprintf(stream, "system time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
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397 | |||
398 | // print system uptime
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399 | aos_timestamp_t uptime; |
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400 | aosSysGetUptime(&uptime); |
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401 | chprintf(stream, "The system is running for\n");
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402 | chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
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403 | chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
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404 | chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
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405 | chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
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406 | chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
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407 | chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
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408 | |||
409 | return AOS_OK;
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410 | } |
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411 | |||
412 | /**
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413 | * @brief Callback function for the sytem:shutdown shell command.
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414 | *
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415 | * @param[in] stream The I/O stream to use.
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416 | * @param[in] argc Number of arguments.
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417 | * @param[in] argv List of pointers to the arguments.
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418 | *
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419 | * @return An exit status.
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420 | * @retval AOS_OK The command was executed successfully.
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421 | * @retval AOS_INVALID_ARGUMENTS There was an issue with the arguments.
|
||
422 | */
|
||
423 | static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
424 | { |
||
425 | // print help text
|
||
426 | if (argc != 2 || strcmp(argv[1], "--help") == 0) { |
||
427 | chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
||
428 | chprintf(stream, "Options:\n");
|
||
429 | chprintf(stream, " --help\n");
|
||
430 | chprintf(stream, " Print this help text.\n");
|
||
431 | chprintf(stream, " --hibernate, -h\n");
|
||
432 | chprintf(stream, " Shutdown to hibernate mode.\n");
|
||
433 | chprintf(stream, " Least energy saving, but allows charging via pins.\n");
|
||
434 | chprintf(stream, " --deepsleep, -d\n");
|
||
435 | chprintf(stream, " Shutdown to deepsleep mode.\n");
|
||
436 | chprintf(stream, " Minimum energy consumption while allowing charging via plug.\n");
|
||
437 | chprintf(stream, " --transportation, -t\n");
|
||
438 | chprintf(stream, " Shutdown to transportation mode.\n");
|
||
439 | chprintf(stream, " Minimum energy consumption with all interrupts disabled (no charging).\n");
|
||
440 | chprintf(stream, " --restart, -r\n");
|
||
441 | chprintf(stream, " Shutdown and restart system.\n");
|
||
442 | |||
443 | return (argc != 2) ? AOS_INVALID_ARGUMENTS : AOS_OK; |
||
444 | } |
||
445 | // handle argument
|
||
446 | else {
|
||
447 | if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) { |
||
448 | chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
||
449 | chThdExit(MSG_OK); |
||
450 | return AOS_OK;
|
||
451 | } |
||
452 | else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) { |
||
453 | chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
||
454 | chThdExit(MSG_OK); |
||
455 | return AOS_OK;
|
||
456 | } |
||
457 | else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) { |
||
458 | chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
||
459 | chThdExit(MSG_OK); |
||
460 | return AOS_OK;
|
||
461 | } |
||
462 | else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) { |
||
463 | chEvtBroadcastFlags(&aos.events.os.source, AOS_SYSTEM_EVENTFLAGS_RESTART); |
||
464 | chThdExit(MSG_OK); |
||
465 | return AOS_OK;
|
||
466 | } |
||
467 | else {
|
||
468 | chprintf(stream, "unknown argument %s\n", argv[1]); |
||
469 | return AOS_INVALID_ARGUMENTS;
|
||
470 | } |
||
471 | } |
||
472 | } |
||
473 | #endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
||
474 | |||
475 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
476 | /**
|
||
477 | * @brief Callback function for the kernel:test shell command.
|
||
478 | *
|
||
479 | * @param[in] stream The I/O stream to use.
|
||
480 | * @param[in] argc Number of arguments.
|
||
481 | * @param[in] argv List of pointers to the arguments.
|
||
482 | *
|
||
483 | * @return An exit status.
|
||
484 | */
|
||
485 | static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
486 | { |
||
487 | (void)argc;
|
||
488 | (void)argv;
|
||
489 | |||
490 | tprio_t prio = chThdGetPriorityX(); |
||
491 | chThdSetPriority(HIGHPRIO - 5); // some tests increase priorirty by 5, so this is the maximum priority permitted |
||
492 | msg_t retval = test_execute(stream); |
||
493 | chThdSetPriority(prio); |
||
494 | |||
495 | return retval;
|
||
496 | } |
||
497 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
||
498 | |||
499 | /**
|
||
500 | * @brief Callback function for the PD signal interrupt.
|
||
501 | *
|
||
502 | * @param[in] extp Pointer to the interrupt driver object.
|
||
503 | * @param[in] channel Interrupt channel identifier.
|
||
504 | */
|
||
505 | static void _signalPdCallback(EXTDriver* extp, expchannel_t channel) |
||
506 | { |
||
507 | (void)extp;
|
||
508 | (void)channel;
|
||
509 | |||
510 | chSysLockFromISR(); |
||
511 | chEvtBroadcastFlagsI(&aos.events.io.source, aos.events.io.flagsSignalPd); |
||
512 | chSysUnlockFromISR(); |
||
513 | |||
514 | return;
|
||
515 | } |
||
516 | |||
517 | /**
|
||
518 | * @brief Callback function for the Sync signal interrupt.
|
||
519 | *
|
||
520 | * @param[in] extp Pointer to the interrupt driver object.
|
||
521 | * @param[in] channel Interrupt channel identifier.
|
||
522 | */
|
||
523 | static void _signalSyncCallback(EXTDriver* extp, expchannel_t channel) |
||
524 | { |
||
525 | (void)extp;
|
||
526 | (void)channel;
|
||
527 | |||
528 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
529 | chSysLockFromISR(); |
||
530 | chEvtBroadcastFlagsI(&aos.events.io.source, aos.events.io.flagsSignalSync); |
||
531 | chSysUnlockFromISR(); |
||
532 | #else
|
||
533 | apalControlGpioState_t s_state; |
||
534 | aos_timestamp_t uptime; |
||
535 | |||
536 | chSysLockFromISR(); |
||
537 | // get current uptime
|
||
538 | aosSysGetUptimeX(&uptime); |
||
539 | // read signal S
|
||
540 | apalControlGpioGet(_gpioSync, &s_state); |
||
541 | // if S was toggled from on to off during SSSP operation phase
|
||
542 | if (aos.ssspStage == AOS_SSSP_OPERATION && s_state == APAL_GPIO_OFF) {
|
||
543 | // align the uptime with the synchronization period
|
||
544 | if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) { |
||
545 | _uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
||
546 | } else {
|
||
547 | _uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
||
548 | } |
||
549 | } |
||
550 | // broadcast event
|
||
551 | chEvtBroadcastFlagsI(&aos.events.io.source, aos.events.io.flagsSignalSync); |
||
552 | chSysUnlockFromISR(); |
||
553 | #endif
|
||
554 | |||
555 | return;
|
||
556 | } |
||
557 | |||
558 | /**
|
||
559 | * @brief Callback function for the uptime accumulation timer.
|
||
560 | *
|
||
561 | * @param[in] par Generic parameter.
|
||
562 | */
|
||
563 | #include <module.h> |
||
564 | static void _uptimeCallback(void* par) |
||
565 | { |
||
566 | (void)par;
|
||
567 | |||
568 | chSysLockFromISR(); |
||
569 | // read current time in system ticks
|
||
570 | register const systime_t st = chVTGetSystemTimeX(); |
||
571 | // update the uptime variables
|
||
572 | _uptime += LL_ST2US(st - _synctime); |
||
573 | _synctime = st; |
||
574 | // enable the timer again
|
||
575 | chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
||
576 | chSysUnlockFromISR(); |
||
577 | |||
578 | return;
|
||
579 | } |
||
580 | |||
581 | #if (AMIROOS_CFG_SSSP_MASTER == true) || defined (__DOXYGEN__) |
||
582 | /**
|
||
583 | * @brief Periodic system synchronization callback function.
|
||
584 | * @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.
|
||
585 | *
|
||
586 | * @param[in] par Unuesed parameters.
|
||
587 | */
|
||
588 | static void _sysSyncTimerCallback(void* par) |
||
589 | { |
||
590 | (void)par;
|
||
591 | |||
592 | apalControlGpioState_t s_state; |
||
593 | aos_timestamp_t uptime; |
||
594 | |||
595 | chSysLockFromISR(); |
||
596 | // read and toggle signal S
|
||
597 | apalControlGpioGet(_gpioSync, &s_state); |
||
598 | s_state = (s_state == APAL_GPIO_ON) ? APAL_GPIO_OFF : APAL_GPIO_ON; |
||
599 | apalControlGpioSet(_gpioSync, s_state); |
||
600 | // if S was toggled from off to on
|
||
601 | if (s_state == APAL_GPIO_ON) {
|
||
602 | // reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
|
||
603 | _syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
||
604 | aosSysGetUptimeX(&uptime); |
||
605 | chVTSetI(&_syssynctimer, LL_US2ST(_syssynctime - uptime), _sysSyncTimerCallback, NULL);
|
||
606 | } |
||
607 | // if S was toggled from on to off
|
||
608 | else /* if (s_state == APAL_GPIO_OFF) */ { |
||
609 | // reconfigure the timer (lazy)
|
||
610 | chVTSetI(&_syssynctimer, LL_US2ST(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL); |
||
611 | } |
||
612 | chSysUnlockFromISR(); |
||
613 | |||
614 | return;
|
||
615 | } |
||
616 | #endif
|
||
617 | |||
618 | /**
|
||
619 | * @brief AMiRo-OS system initialization.
|
||
620 | * @note Must be called from the system control thread (usually main thread).
|
||
621 | *
|
||
622 | * @param[in] extDrv Pointer to the interrupt driver.
|
||
623 | * @param[in] extCfg Configuration for the interrupt driver.
|
||
624 | * @param[in] gpioPd GPIO of the PD signal.
|
||
625 | * @param[in] gpioSync GPIO of the Sync signal
|
||
626 | * @param[in] evtFlagsPd Event flags to be set when a PD interrupt occurs.
|
||
627 | * @param[in] evtFlagsSync Event flags to be set when a Sync interrupt occurs.
|
||
628 | * @param[in] shellPrompt String to be printed as prompt of the system shell.
|
||
629 | */
|
||
630 | void aosSysInit(EXTDriver* extDrv,
|
||
631 | EXTConfig* extCfg, |
||
632 | apalControlGpio_t* gpioPd, |
||
633 | apalControlGpio_t* gpioSync, |
||
634 | eventflags_t evtFlagsPd, |
||
635 | eventflags_t evtFlagsSync, |
||
636 | const char* shellPrompt) |
||
637 | { |
||
638 | // check arguments
|
||
639 | aosDbgCheck(extDrv != NULL);
|
||
640 | aosDbgCheck(extCfg != NULL);
|
||
641 | aosDbgCheck(gpioPd != NULL);
|
||
642 | aosDbgCheck(gpioSync != NULL);
|
||
643 | |||
644 | // set control thread to maximum priority
|
||
645 | chThdSetPriority(THD_CTRLPRIO); |
||
646 | |||
647 | // set local variables
|
||
648 | _gpioPd = gpioPd; |
||
649 | _gpioSync = gpioSync; |
||
650 | chVTObjectInit(&_systimer); |
||
651 | _synctime = 0;
|
||
652 | _uptime = 0;
|
||
653 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
654 | chVTObjectInit(&_syssynctimer); |
||
655 | _syssynctime = 0;
|
||
656 | #endif
|
||
657 | |||
658 | // set aos configuration
|
||
659 | aos.ssspStage = AOS_SSSP_STARTUP_2_1; |
||
660 | chEvtObjectInit(&aos.events.io.source); |
||
661 | chEvtObjectInit(&aos.events.os.source); |
||
662 | aos.events.io.flagsSignalPd = evtFlagsPd; |
||
663 | aos.events.io.flagsSignalSync = evtFlagsSync; |
||
664 | ssmObjectInit(aos.ssm); |
||
665 | |||
666 | // setup external interrupt system
|
||
667 | extCfg->channels[gpioPd->gpio->pad].cb = _signalPdCallback; |
||
668 | extCfg->channels[gpioSync->gpio->pad].cb = _signalSyncCallback; |
||
669 | extStart(extDrv, extCfg); |
||
670 | |||
671 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
||
672 | // init shell
|
||
673 | aosShellInit(aos.shell, |
||
674 | (BaseSequentialStream*)aos.ssm, |
||
675 | shellPrompt, |
||
676 | _shell_line, |
||
677 | AMIROOS_CFG_SHELL_LINEWIDTH, |
||
678 | _shell_arglist, |
||
679 | AMIROOS_CFG_SHELL_MAXARGS); |
||
680 | // add system commands
|
||
681 | aosShellAddCommand(aos.shell, &_shellcmd_config); |
||
682 | aosShellAddCommand(aos.shell, &_shellcmd_info); |
||
683 | aosShellAddCommand(aos.shell, &_shellcmd_shutdown); |
||
684 | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
||
685 | aosShellAddCommand(aos.shell, &_shellcmd_kerneltest); |
||
686 | #endif
|
||
687 | #else
|
||
688 | (void)shellPrompt;
|
||
689 | #endif
|
||
690 | |||
691 | return;
|
||
692 | } |
||
693 | |||
694 | /**
|
||
695 | * @brief Starts the system and all system threads.
|
||
696 | */
|
||
697 | inline void aosSysStart(void) |
||
698 | { |
||
699 | // update the system SSSP stage
|
||
700 | aos.ssspStage = AOS_SSSP_OPERATION; |
||
701 | |||
702 | // prin system information
|
||
703 | _printSystemInfo(AOS_SYSTEM_STDIO); |
||
704 | aosprintf("\n");
|
||
705 | |||
706 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
||
707 | // start system shell thread
|
||
708 | aos.shell->thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), THD_LOWPRIO_MIN, aosShellThread, aos.shell);
|
||
709 | #endif
|
||
710 | |||
711 | return;
|
||
712 | } |
||
713 | |||
714 | /**
|
||
715 | * @brief Implements the SSSP startup synchronization step.
|
||
716 | *
|
||
717 | * @param[in] syncEvtListener Event listener that receives the Sync event.
|
||
718 | *
|
||
719 | * @return If another event that the listener is interested in was received, its mask is returned.
|
||
720 | * Otherwise an empty mask (0) is returned.
|
||
721 | */
|
||
722 | eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener) |
||
723 | { |
||
724 | aosDbgCheck(syncEvtListener != NULL);
|
||
725 | |||
726 | // local variables
|
||
727 | eventmask_t m; |
||
728 | eventflags_t f; |
||
729 | apalControlGpioState_t s; |
||
730 | |||
731 | // update the system SSSP stage
|
||
732 | aos.ssspStage = AOS_SSSP_STARTUP_2_2; |
||
733 | |||
734 | // deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase)
|
||
735 | apalControlGpioSet(_gpioSync, APAL_GPIO_OFF); |
||
736 | |||
737 | // wait for any event to occur (do not apply any filter in order not to miss any event)
|
||
738 | m = chEvtWaitOne(ALL_EVENTS); |
||
739 | f = chEvtGetAndClearFlags(syncEvtListener); |
||
740 | apalControlGpioGet(_gpioSync, &s); |
||
741 | |||
742 | // if the event was a system event,
|
||
743 | // and it was fired because of the SysSync control signal,
|
||
744 | // and the SysSync control signal has been deactivated
|
||
745 | if (m & syncEvtListener->events &&
|
||
746 | f == aos.events.io.flagsSignalSync && |
||
747 | s == APAL_GPIO_OFF) { |
||
748 | chSysLock(); |
||
749 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
750 | // start the systen synchronization counter
|
||
751 | chVTSetI(&_syssynctimer, LL_US2ST(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), &_sysSyncTimerCallback, NULL); |
||
752 | #endif
|
||
753 | // start the uptime counter
|
||
754 | _synctime = chVTGetSystemTimeX(); |
||
755 | _uptime = 0;
|
||
756 | chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
||
757 | chSysUnlock(); |
||
758 | |||
759 | return 0; |
||
760 | } |
||
761 | // an unexpected event occurred
|
||
762 | else {
|
||
763 | // reassign the flags to the event and return the event mask
|
||
764 | syncEvtListener->flags |= f; |
||
765 | return m;
|
||
766 | } |
||
767 | } |
||
768 | |||
769 | /**
|
||
770 | * @brief Retrieves the system uptime.
|
||
771 | *
|
||
772 | * @param[out] ut The system uptime.
|
||
773 | */
|
||
774 | inline void aosSysGetUptimeX(aos_timestamp_t* ut) |
||
775 | { |
||
776 | aosDbgCheck(ut != NULL);
|
||
777 | |||
778 | *ut = _uptime + LL_ST2US(chVTGetSystemTimeX() - _synctime); |
||
779 | |||
780 | return;
|
||
781 | } |
||
782 | |||
783 | /**
|
||
784 | * @brief Initializes/Acknowledges a system shutdown/restart request.
|
||
785 | * @note This functions should be called from the thread with highest priority.
|
||
786 | *
|
||
787 | * @param[in] shutdown Type of shutdown.
|
||
788 | */
|
||
789 | void aosSysShutdownInit(aos_shutdown_t shutdown)
|
||
790 | { |
||
791 | // check arguments
|
||
792 | aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
||
793 | |||
794 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
795 | // deactivate the system synchronization timer
|
||
796 | chVTReset(&_syssynctimer); |
||
797 | #endif
|
||
798 | |||
799 | // update the system SSSP stage
|
||
800 | aos.ssspStage = AOS_SSSP_SHUTDOWN_1_1; |
||
801 | |||
802 | // activate the SYS_PD control signal only, if this module initiated the shutdown
|
||
803 | chSysLock(); |
||
804 | if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
||
805 | apalControlGpioSet(_gpioPd, APAL_GPIO_ON); |
||
806 | } |
||
807 | // activate the SYS_SYNC signal
|
||
808 | apalControlGpioSet(_gpioSync, APAL_GPIO_ON); |
||
809 | chSysUnlock(); |
||
810 | |||
811 | switch (shutdown) {
|
||
812 | case AOS_SHUTDOWN_PASSIVE:
|
||
813 | aosprintf("shutdown request received...\n");
|
||
814 | break;
|
||
815 | case AOS_SHUTDOWN_HIBERNATE:
|
||
816 | aosprintf("shutdown to hibernate mode...\n");
|
||
817 | break;
|
||
818 | case AOS_SHUTDOWN_DEEPSLEEP:
|
||
819 | aosprintf("shutdown to deepsleep mode...\n");
|
||
820 | break;
|
||
821 | case AOS_SHUTDOWN_TRANSPORTATION:
|
||
822 | aosprintf("shutdown to transportation mode...\n");
|
||
823 | break;
|
||
824 | case AOS_SHUTDOWN_RESTART:
|
||
825 | aosprintf("restarting system...\n");
|
||
826 | break;
|
||
827 | // must never occur
|
||
828 | case AOS_SHUTDOWN_NONE:
|
||
829 | default:
|
||
830 | break;
|
||
831 | } |
||
832 | |||
833 | // update the system SSSP stage
|
||
834 | aos.ssspStage = AOS_SSSP_SHUTDOWN_1_2; |
||
835 | |||
836 | return;
|
||
837 | } |
||
838 | |||
839 | /**
|
||
840 | * @brief Stops the system and all related threads (not the thread this function is called from).
|
||
841 | */
|
||
842 | void aosSysStop(void) |
||
843 | { |
||
844 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
||
845 | chThdTerminate(aos.shell->thread); |
||
846 | #endif
|
||
847 | |||
848 | return;
|
||
849 | } |
||
850 | |||
851 | /**
|
||
852 | * @brief Deinitialize all system variables.
|
||
853 | */
|
||
854 | void aosSysDeinit(void) |
||
855 | { |
||
856 | aos.ssm->input = NULL;
|
||
857 | |||
858 | return;
|
||
859 | } |
||
860 | |||
861 | /**
|
||
862 | * @brief Finally shuts down the system and calls the bootloader callback function.
|
||
863 | * @note This function should be called from the thtead with highest priority.
|
||
864 | *
|
||
865 | * @param[in] extDrv Pointer to the interrupt driver.
|
||
866 | * @param[in] shutdown Type of shutdown.
|
||
867 | */
|
||
868 | void aosSysShutdownFinal(EXTDriver* extDrv, aos_shutdown_t shutdown)
|
||
869 | { |
||
870 | // check arguments
|
||
871 | aosDbgCheck(extDrv != NULL);
|
||
872 | aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
||
873 | |||
874 | // stop external interrupt system
|
||
875 | extStop(extDrv); |
||
876 | |||
877 | // update the system SSSP stage
|
||
878 | aos.ssspStage = AOS_SSSP_SHUTDOWN_1_3; |
||
879 | |||
880 | // call bootloader callback depending on arguments
|
||
881 | switch (shutdown) {
|
||
882 | case AOS_SHUTDOWN_PASSIVE:
|
||
883 | BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest(); |
||
884 | break;
|
||
885 | case AOS_SHUTDOWN_HIBERNATE:
|
||
886 | BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate(); |
||
887 | break;
|
||
888 | case AOS_SHUTDOWN_DEEPSLEEP:
|
||
889 | BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep(); |
||
890 | break;
|
||
891 | case AOS_SHUTDOWN_TRANSPORTATION:
|
||
892 | BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation(); |
||
893 | break;
|
||
894 | case AOS_SHUTDOWN_RESTART:
|
||
895 | BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart(); |
||
896 | break;
|
||
897 | // must never occur
|
||
898 | case AOS_SHUTDOWN_NONE:
|
||
899 | default:
|
||
900 | break;
|
||
901 | } |
||
902 | |||
903 | return;
|
||
904 | } |