amiro-os / os / core / src / aos_system.c @ 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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#include <aos_system.h> |
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#include <chprintf.h> |
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#include <amiroos.h> |
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#include <amiroblt.h> |
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#include <string.h> |
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#include <stdarg.h> |
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#if (AMIROOS_CFG_TESTS_ENABLE == true) |
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#include <ch_test.h> |
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#endif
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/**
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* @brief Period of the system timer.
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*/
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#define SYSTIMER_PERIOD (TIME_MAXIMUM - CH_CFG_ST_TIMEDELTA)
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/**
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* @brief Width of the printable system info text.
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*/
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#define SYSTEM_INFO_WIDTH 70 |
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/* forward declarations */
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static void _printSystemInfo(BaseSequentialStream* stream); |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) |
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static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]); |
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static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]); |
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static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]); |
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#endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
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#if (AMIROOS_CFG_TESTS_ENABLE == true) |
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static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]); |
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#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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/**
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* @brief PD signal GPIO.
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*/
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static apalControlGpio_t* _gpioPd;
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/**
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* @brief Sync signal GPIO.
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*/
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static apalControlGpio_t* _gpioSync;
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/**
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* @brief Sequelntiel Stream Multiplexer for the system I/O stream.
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*/
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static SequentialStreamMux _ssm;
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/**
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* @brief Timer to accumulate system uptime.
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*/
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static virtual_timer_t _systimer;
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/**
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* @brief Accumulated system uptime.
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*/
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static aos_timestamp_t _uptime;
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/**
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* @brief Timer register value of last accumulation.
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*/
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static systime_t _synctime;
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#if (AMIROOS_CFG_SSSP_MASTER == true) || defined(__DOXYGEN__) |
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/**
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* @brief Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP.
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*/
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static virtual_timer_t _syssynctimer;
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/**
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* @brief Last uptime of system wide time synchronization.
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*/
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static aos_timestamp_t _syssynctime;
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#endif
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief System shell.
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*/
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static aos_shell_t _shell;
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/**
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* @brief Shell thread working area.
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*/
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THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE); |
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/**
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* @brief Shell input buffer.
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*/
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static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH]; |
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/**
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* @brief Shell argument buffer.
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*/
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static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS]; |
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/**
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* @brief Shell command to retrieve system information.
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*/
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static aos_shellcommand_t _shellcmd_info = {
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/* name */ "module:info", |
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/* callback */ _shellcmd_infocb,
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/* next */ NULL, |
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}; |
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/**
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* @brief Shell command to set or retrieve system configuration.
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*/
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static aos_shellcommand_t _shellcmd_config = {
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/* name */ "module:config", |
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/* callback */ _shellcmd_configcb,
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/* next */ NULL, |
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}; |
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/**
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* @brief Shell command to shutdown the system.
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*/
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static aos_shellcommand_t _shellcmd_shutdown = {
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/* name */ "system:shutdown", |
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/* callback */ _shellcmd_shutdowncb,
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/* next */ NULL, |
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}; |
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#endif /* AMIROOS_CFG_SHELL_ENABLE == true */ |
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Shell kommand to run a test of the ChibiOS/RT kernel.
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*/
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static aos_shellcommand_t _shellcmd_kerneltest = {
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/* name */ "kernel:test", |
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/* callback */ _shellcmd_kerneltestcb,
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/* next */ NULL, |
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}; |
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#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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/**
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* @brief Global system object.
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*/
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aos_system_t aos = { |
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/* SSSP stage */ AOS_SSSP_STARTUP_2_1,
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/* event */ {
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/* I/O */ {
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/* source */ {
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/* next listener */ NULL, |
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}, |
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/* flagsSignalPd */ 0, |
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/* flagsSignalSync */ 0, |
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}, |
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/* OS */ {
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/* source */ {
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/* next listener */ NULL, |
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} |
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}, |
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}, |
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/* ssm */ &_ssm,
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#if (AMIROOS_CFG_SHELL_ENABLE == true) |
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/* shell */ &_shell,
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#endif
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}; |
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/**
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* @brief Print a separator line.
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*
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* @param[in] stream Stream to print to.
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* @param[in] c Character to use.
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* @param[in] n Length of the separator line.
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*
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* @return Number of characters printed.
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*/
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static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n) |
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{ |
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aosDbgCheck(stream != NULL);
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// print the specified character n times
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for (unsigned int i = 0; i < n; ++i) { |
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streamPut(stream, c); |
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} |
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streamPut(stream, '\n');
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return n+1; |
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} |
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/**
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* @brief Print a system information line.
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* @details Prints a system information line with the following format:
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* "<name>[spaces]fmt"
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* The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.
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* Note that there is not trailing newline added implicitely.
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*
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* @param[in] stream Stream to print to.
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* @param[in] name Name of the entry/line.
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* @param[in] namewidth Width of the name column.
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* @param[in] fmt Formatted string of information content.
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*
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* @return Number of characters printed.
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*/
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static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...) |
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{ |
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aosDbgCheck(stream != NULL);
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aosDbgCheck(stream != NULL);
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unsigned int n = 0; |
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// print the name and trailing spaces
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n += chprintf(stream, name); |
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while (n < namewidth) {
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streamPut(stream, ' ');
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++n; |
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} |
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// print the content
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va_list ap; |
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va_start(ap, fmt); |
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n += chvprintf(stream, fmt, ap); |
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va_end(ap); |
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return n;
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} |
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/**
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* @brief Prints information about the system.
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*
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* @param[in] stream Stream to print to.
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*/
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static void _printSystemInfo(BaseSequentialStream *stream) |
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{ |
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aosDbgCheck(stream != NULL);
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_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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_printSystemInfoLine(stream, "Module", 14, "%s (v%s)\n", BOARD_NAME, BOARD_VERSION); |
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#ifdef PLATFORM_NAME
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_printSystemInfoLine(stream, "Platform", 14, "%s\n", PLATFORM_NAME); |
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#endif
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#ifdef PORT_CORE_VARIANT_NAME
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_printSystemInfoLine(stream, "Core Variant", 14, "%s\n", PORT_CORE_VARIANT_NAME); |
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#endif
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_printSystemInfoLine(stream, "Architecture", 14, "%s\n", PORT_ARCHITECTURE_NAME); |
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_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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_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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_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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_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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_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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_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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_printSystemInfoLine(stream, "Compiled" ,14, "%s - %s\n", __DATE__, __TIME__); |
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_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
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_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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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :
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(BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :
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"<release type unknown>",
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BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor); |
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_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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} else {
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chprintf(stream, "Bootloader incompatible or not available.\n");
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} |
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_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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return;
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} |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/**
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* @brief Callback function for the system:config shell command.
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*
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* @param[in] stream The I/O stream to use.
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* @param[in] argc Number of arguments.
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* @param[in] argv List of pointers to the arguments.
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*
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* @return An exit status.
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* @retval AOS_OK The command was executed successfuly.
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* @retval AOS_INVALID_ARGUMENTS There was an issue with the arguemnts.
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*/
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static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{ |
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// local variables
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int retval = AOS_INVALID_ARGUMENTS;
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// if there are additional arguments
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if (argc > 1) { |
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// if the user wants to set or retrieve the shell configuration
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if (strcmp(argv[1], "--shell") == 0) { |
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// if the user wants to modify the shell configuration
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if (argc > 2) { |
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// if the user wants to modify the prompt
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if (strcmp(argv[2], "prompt") == 0) { |
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// there must be a further argument
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if (argc > 3) { |
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// handle the option
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if (strcmp(argv[3], "text") == 0) { |
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aos.shell->config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
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retval = AOS_OK; |
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} |
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else if (strcmp(argv[3], "minimal") == 0) { |
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aos.shell->config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
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retval = AOS_OK; |
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} |
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else if (strcmp(argv[3], "notime") == 0) { |
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aos.shell->config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME; |
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retval = AOS_OK; |
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} |
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else if (strcmp(argv[3], "uptime") == 0) { |
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aos.shell->config |= AOS_SHELL_CONFIG_PROMPT_UPTIME; |
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retval = AOS_OK; |
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} |
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} |
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} |
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// if the user wants to modify the string matching
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else if (strcmp(argv[2], "match") == 0) { |
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// there must be a further argument
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if (argc > 3) { |
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if (strcmp(argv[3], "casesensitive") == 0) { |
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aos.shell->config |= AOS_SHELL_CONFIG_MATCH_CASE; |
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retval = AOS_OK; |
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} |
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else if (strcmp(argv[3], "caseinsensitive") == 0) { |
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aos.shell->config &= ~AOS_SHELL_CONFIG_MATCH_CASE; |
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retval = AOS_OK; |
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} |
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} |
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} |
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} |
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// if the user wants to retrieve the shell configuration
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else {
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chprintf(stream, "current shell configuration:\n");
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chprintf(stream, " prompt text: %s\n",
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(aos.shell->prompt != NULL) ? aos.shell->prompt : "n/a"); |
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chprintf(stream, " prompt style: %s, %s\n",
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(aos.shell->config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text", |
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(aos.shell->config & AOS_SHELL_CONFIG_PROMPT_UPTIME) ? "system uptime" : "no time"); |
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chprintf(stream, " input method: %s\n",
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(aos.shell->config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert"); |
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chprintf(stream, " text matching: %s\n",
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(aos.shell->config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive"); |
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retval = AOS_OK; |
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} |
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} |
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} |
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// print help, if required
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if (retval == AOS_INVALID_ARGUMENTS) {
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chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
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chprintf(stream, "Options:\n");
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chprintf(stream, " --help\n");
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chprintf(stream, " Print this help text.\n");
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chprintf(stream, " --shell [OPT [VAL]]\n");
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chprintf(stream, " Set or retrieve shell configuration.\n");
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chprintf(stream, " Possible OPTs and VALs are:\n");
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chprintf(stream, " prompt text|minimal|uptime|notime\n");
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chprintf(stream, " Configures the prompt.\n");
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chprintf(stream, " match casesensitive|caseinsenitive\n");
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chprintf(stream, " Configures string matching.\n");
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} |
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return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval; |
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} |
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|
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/**
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* @brief Callback function for the system:info shell command.
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*
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* @param[in] stream The I/O stream to use.
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* @param[in] argc Number of arguments.
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* @param[in] argv List of pointers to the arguments.
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*
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* @return An exit status.
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* @retval AOS_OK The command was executed successfully.
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*/
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static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{ |
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(void)argc;
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(void)argv;
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// print system information
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_printSystemInfo(stream); |
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// print time measurement precision
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chprintf(stream, "system time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
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// print system uptime
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aos_timestamp_t uptime; |
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aosSysGetUptime(&uptime); |
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chprintf(stream, "The system is running for\n");
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chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
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chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
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chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
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chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
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chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
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chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
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return AOS_OK;
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} |
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|
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/**
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* @brief Callback function for the sytem:shutdown shell command.
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*
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* @param[in] stream The I/O stream to use.
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* @param[in] argc Number of arguments.
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* @param[in] argv List of pointers to the arguments.
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*
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* @return An exit status.
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* @retval AOS_OK The command was executed successfully.
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* @retval AOS_INVALID_ARGUMENTS There was an issue with the arguments.
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*/
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static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]) |
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{ |
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// print help text
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if (argc != 2 || strcmp(argv[1], "--help") == 0) { |
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chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
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chprintf(stream, "Options:\n");
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chprintf(stream, " --help\n");
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chprintf(stream, " Print this help text.\n");
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chprintf(stream, " --hibernate, -h\n");
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chprintf(stream, " Shutdown to hibernate mode.\n");
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chprintf(stream, " Least energy saving, but allows charging via pins.\n");
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chprintf(stream, " --deepsleep, -d\n");
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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 |
} |