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amiro-os / os / core / inc / aos_system.h @ e545e620

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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef _AMIROOS_SYSTEM_H_
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#define _AMIROOS_SYSTEM_H_
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#include <aos_ssm.h>
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#include <amiro-lld.h>
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#include <aos_shell.h>
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#include <aos_time.h>
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#include <chprintf.h>
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/**
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 * @brief   Default system I/O stream.
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 */
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#define AOS_SYSTEM_STDIO                        ((BaseSequentialStream*)aos.ssm)
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/**
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 * @brief   Printf function that uses the default system I/O stream.
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 */
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#define aosprintf(fmt, ...)                     chprintf((BaseSequentialStream*)AOS_SYSTEM_STDIO, fmt, ##__VA_ARGS__)
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/**
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 * @brief   Resolution of the system time measurement.
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 */
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#define AOS_SYSTEM_TIME_RESOLUTION              ((MICROSECONDS_PER_SECOND + CH_CFG_ST_FREQUENCY - 1) / CH_CFG_ST_FREQUENCY)
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/**
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 * @brief   System event flag which is emitted when a shutdown to transportation mode was initiated.
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 */
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#define AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION    (eventflags_t)(1 << 0)
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/**
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 * @brief   System event flag which is emitted when a shutdown to deepsleep mode was initiated.
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 */
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#define AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP         (eventflags_t)(1 << 1)
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/**
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 * @brief   System event flag which is emitted when a shutdown to hibernate mode was initiated.
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 */
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#define AOS_SYSTEM_EVENTFLAGS_HIBERNATE         (eventflags_t)(1 << 2)
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/**
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 * @brief   System event flag which is emitted when a system restart was initiated.
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 */
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#define AOS_SYSTEM_EVENTFLAGS_RESTART           (eventflags_t)(1 << 3)
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/**
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 * @brief   Major version of the implemented SSSP.
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 */
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#define AOS_SYSTEM_SSSP_MAJOR                   1
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/**
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 * @brief   Minor version of the implemented SSSP.
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 */
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#define AOS_SYSTEM_SSSP_MINOR                   3
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/**
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 * @brief   Enumerator to identify shutdown types.
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 */
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typedef enum aos_shutdown {
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  AOS_SHUTDOWN_NONE,            /**< Default value if no shutdown action was initiated */
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  AOS_SHUTDOWN_PASSIVE,         /**< Passive shutdown (initiated by another module). */
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  AOS_SHUTDOWN_HIBERNATE,       /**< Active shutdown to hibernate mode. */
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  AOS_SHUTDOWN_DEEPSLEEP,       /**< Active shutdown to deepsleep mode. */
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  AOS_SHUTDOWN_TRANSPORTATION,  /**< Active shutdown to transportation mode. */
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  AOS_SHUTDOWN_RESTART,         /**< Active saystem restart request. */
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} aos_shutdown_t;
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/**
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 * @brief   Enumerator of the several stages of SSSP
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 */
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typedef enum aos_ssspstage {
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  AOS_SSSP_STARTUP_1_1  = 0x0000, /**< Identifier of SSSP startup phase stage 1-1. */
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  AOS_SSSP_STARTUP_1_2  = 0x0001, /**< Identifier of SSSP startup phase stage 1-2. */
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  AOS_SSSP_STARTUP_1_3  = 0x0002, /**< Identifier of SSSP startup phase stage 1-3. */
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  AOS_SSSP_STARTUP_2_1  = 0x0004, /**< Identifier of SSSP startup phase stage 2-1. */
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  AOS_SSSP_STARTUP_2_2  = 0x0005, /**< Identifier of SSSP startup phase stage 2-2. */
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  AOS_SSSP_STARTUP_3_1  = 0x0008, /**< Identifier of SSSP startup phase stage 3-1. */
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  AOS_SSSP_STARTUP_3_2  = 0x0009, /**< Identifier of SSSP startup phase stage 3-2. */
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  AOS_SSSP_STARTUP_3_3  = 0x000A, /**< Identifier of SSSP startup phase stage 3-3. */
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  AOS_SSSP_STARTUP_3_4  = 0x000B, /**< Identifier of SSSP startup phase stage 3-4. */
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  AOS_SSSP_OPERATION    = 0x0100, /**< Identifier of SSSP operation pahse. */
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  AOS_SSSP_SHUTDOWN_1_1 = 0x0200, /**< Identifier of SSSP shutdown phase stage 1-1. */
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  AOS_SSSP_SHUTDOWN_1_2 = 0x0201, /**< Identifier of SSSP shutdown phase stage 1-2. */
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  AOS_SSSP_SHUTDOWN_1_3 = 0x0202, /**< Identifier of SSSP shutdown phase stage 1-3. */
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  AOS_SSSP_SHUTDOWN_2_1 = 0x0204, /**< Identifier of SSSP shutdown phase stage 2-1. */
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  AOS_SSSP_SHUTDOWN_2_2 = 0x0205, /**< Identifier of SSSP shutdown phase stage 2-2. */
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  AOS_SSSP_SHUTDOWN_3   = 0x0208, /**< Identifier of SSSP shutdown phase stage 3. */
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} aos_ssspstage_t;
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/**
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 * @brief   AMiRo-OS base system structure.
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 */
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typedef struct aos_system {
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  /**
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   * @brief   Current SSSP stage of the system.
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   */
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  aos_ssspstage_t ssspStage;
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  /**
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   * @brief   Event structure.
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   */
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  struct {
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    /**
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     * @brief   I/O related events.
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     */
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    struct {
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      /**
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       * @brief   I/O event source.
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       */
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      event_source_t source;
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      /**
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       * @brief   Event flags emitted when a PD signal interrupt occurs.
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       */
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      eventflags_t flagsSignalPd;
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      /**
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       * @brief   Event flags emitted when a Sync signal interrupt occurs.
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       */
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      eventflags_t flagsSignalSync;
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    } io;
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    /**
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     * @brief   Operating system events.
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     */
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    struct {
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      /**
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       * @brief   OS event source.
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       */
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      event_source_t source;
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    } os;
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  } events;
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  /**
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   * @brief   Sequentiel Stream Multiplexer for system I/O
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   */
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  SequentialStreamMux* ssm;
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)
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  /**
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   * @brief   Pointer to the shell object.
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   */
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  aos_shell_t* shell;
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#endif
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} aos_system_t;
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/**
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 * @brief   Global system object.
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 */
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extern aos_system_t aos;
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#ifdef __cplusplus
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extern "C" {
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#endif
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  void aosSysInit(EXTDriver* extDrv, EXTConfig* extCfg, apalControlGpio_t* gpioPd, apalControlGpio_t* gpioSync, eventflags_t flagsSignalPd, eventflags_t evtFlagsSync, const char* shellPrompt);
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  void aosSysStart(void);
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  eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener);
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  void aosSysGetUptimeX(aos_timestamp_t* ut);
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  void aosSysShutdownInit(aos_shutdown_t shutdown);
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  void aosSysStop(void);
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  void aosSysDeinit(void);
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  void aosSysShutdownFinal(EXTDriver* extDrv, aos_shutdown_t shutdown);
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#ifdef __cplusplus
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}
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#endif
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/**
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 * @brief   Retrieves the system uptime.
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 *
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 * @param[out] ut   The system uptime.
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 */
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static inline void aosSysGetUptime(aos_timestamp_t* ut)
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{
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  aosDbgCheck(ut != NULL);
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  chSysLock();
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  aosSysGetUptimeX(ut);
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  chSysUnlock();
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  return;
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}
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#endif /* _AMIROOS_SYSTEM_H_ */