amiro-os / core / src / aos_system.c @ f3ac1c96
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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 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | e545e620 | Thomas Schöpping | |
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 | 53710ca3 | Marc Rothmann | /**
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20 | * @file aos_system.c
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21 | * @brief System code.
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22 | * @details Contains system initialization and shutdown routines
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23 | * and system shell commands.
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24 | *
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25 | * @addtogroup aos_system
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26 | * @{
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27 | */
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28 | |||
29 | e545e620 | Thomas Schöpping | #include <aos_system.h> |
30 | |||
31 | #include <amiroblt.h> |
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32 | 8399aeae | Thomas Schöpping | #include <module.h> |
33 | e545e620 | Thomas Schöpping | #include <string.h> |
34 | 8399aeae | Thomas Schöpping | #include <stdlib.h> |
35 | e545e620 | Thomas Schöpping | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
36 | #include <ch_test.h> |
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37 | 0128be0f | Marc Rothmann | #include <rt_test_root.h> |
38 | e545e620 | Thomas Schöpping | #endif
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39 | |||
40 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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41 | /* LOCAL DEFINITIONS */
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42 | /******************************************************************************/
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43 | |||
44 | e545e620 | Thomas Schöpping | /**
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45 | * @brief Period of the system timer.
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46 | */
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47 | 1e5f7648 | Thomas Schöpping | #define SYSTIMER_PERIOD (TIME_MAX_SYSTIME - CH_CFG_ST_TIMEDELTA)
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48 | e545e620 | Thomas Schöpping | |
49 | /**
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50 | * @brief Width of the printable system info text.
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51 | */
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52 | #define SYSTEM_INFO_WIDTH 70 |
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53 | |||
54 | ba516b61 | Thomas Schöpping | /**
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55 | * @brief Width of the name column of the system info table.
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56 | */
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57 | #define SYSTEM_INFO_NAMEWIDTH 14 |
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58 | |||
59 | f3ac1c96 | Thomas Schöpping | #if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
60 | |||
61 | /**
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62 | * @brief Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value.
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63 | */
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64 | #define SYSTEM_SYSSYNCSKEW_LPFACTOR (0.1f / AOS_SYSTEM_TIME_RESOLUTION) |
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65 | |||
66 | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
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67 | |||
68 | /******************************************************************************/
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69 | /* EXPORTED VARIABLES */
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70 | /******************************************************************************/
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71 | |||
72 | /**
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73 | * @brief Global system object.
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74 | */
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75 | aos_system_t aos; |
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76 | |||
77 | /******************************************************************************/
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78 | /* LOCAL TYPES */
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79 | /******************************************************************************/
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80 | |||
81 | /******************************************************************************/
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82 | /* LOCAL VARIABLES */
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83 | /******************************************************************************/
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84 | |||
85 | /*
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86 | * forward declarations
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87 | */
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88 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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89 | e545e620 | Thomas Schöpping | static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]); |
90 | static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]); |
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91 | static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]); |
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92 | f3ac1c96 | Thomas Schöpping | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
93 | e545e620 | Thomas Schöpping | static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]); |
94 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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95 | 2dd2e257 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
96 | e545e620 | Thomas Schöpping | |
97 | /**
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98 | * @brief Timer to accumulate system uptime.
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99 | */
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100 | static virtual_timer_t _systimer;
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101 | |||
102 | /**
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103 | * @brief Accumulated system uptime.
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104 | */
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105 | static aos_timestamp_t _uptime;
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106 | |||
107 | /**
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108 | * @brief Timer register value of last accumulation.
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109 | */
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110 | static systime_t _synctime;
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111 | |||
112 | 9ebb11a9 | Thomas Schöpping | #if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined(__DOXYGEN__) |
113 | e545e620 | Thomas Schöpping | /**
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114 | * @brief Timer to drive the SYS_SYNC signal for system wide time synchronization according to SSSP.
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115 | */
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116 | static virtual_timer_t _syssynctimer;
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117 | |||
118 | /**
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119 | * @brief Last uptime of system wide time synchronization.
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120 | */
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121 | static aos_timestamp_t _syssynctime;
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122 | f3ac1c96 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */ |
123 | e545e620 | Thomas Schöpping | |
124 | 9ebb11a9 | Thomas Schöpping | #if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
125 | 2674917e | Thomas Schöpping | /**
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126 | * @brief Offset between local clock and system wide synchronization signal.
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127 | */
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128 | 3e1a9c79 | Thomas Schöpping | static float _syssyncskew; |
129 | 2674917e | Thomas Schöpping | |
130 | 9ebb11a9 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
131 | 3e1a9c79 | Thomas Schöpping | |
132 | 2dd2e257 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
133 | e545e620 | Thomas Schöpping | /**
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134 | * @brief Shell thread working area.
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135 | */
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136 | THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE); |
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137 | |||
138 | /**
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139 | * @brief Shell input buffer.
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140 | */
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141 | static char _shell_line[AMIROOS_CFG_SHELL_LINEWIDTH]; |
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142 | |||
143 | /**
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144 | * @brief Shell argument buffer.
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145 | */
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146 | static char* _shell_arglist[AMIROOS_CFG_SHELL_MAXARGS]; |
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147 | |||
148 | /**
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149 | * @brief Shell command to retrieve system information.
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150 | */
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151 | static aos_shellcommand_t _shellcmd_info = {
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152 | /* name */ "module:info", |
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153 | /* callback */ _shellcmd_infocb,
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154 | /* next */ NULL, |
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155 | }; |
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156 | |||
157 | /**
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158 | * @brief Shell command to set or retrieve system configuration.
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159 | */
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160 | static aos_shellcommand_t _shellcmd_config = {
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161 | /* name */ "module:config", |
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162 | /* callback */ _shellcmd_configcb,
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163 | /* next */ NULL, |
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164 | }; |
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165 | |||
166 | /**
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167 | * @brief Shell command to shutdown the system.
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168 | */
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169 | static aos_shellcommand_t _shellcmd_shutdown = {
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170 | 1d3e002f | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
171 | e545e620 | Thomas Schöpping | /* name */ "system:shutdown", |
172 | 1d3e002f | Thomas Schöpping | #else
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173 | /* name */ "module:shutdown", |
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174 | #endif
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175 | e545e620 | Thomas Schöpping | /* callback */ _shellcmd_shutdowncb,
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176 | /* next */ NULL, |
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177 | }; |
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178 | |||
179 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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180 | /**
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181 | * @brief Shell kommand to run a test of the ChibiOS/RT kernel.
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182 | */
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183 | static aos_shellcommand_t _shellcmd_kerneltest = {
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184 | /* name */ "kernel:test", |
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185 | /* callback */ _shellcmd_kerneltestcb,
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186 | /* next */ NULL, |
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187 | }; |
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188 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
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189 | 2dd2e257 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
190 | e545e620 | Thomas Schöpping | |
191 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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192 | /* LOCAL FUNCTIONS */
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193 | /******************************************************************************/
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194 | e545e620 | Thomas Schöpping | |
195 | /**
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196 | * @brief Print a separator line.
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197 | *
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198 | ba516b61 | Thomas Schöpping | * @param[in] stream Stream to print to or NULL to print to all system streams.
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199 | e545e620 | Thomas Schöpping | * @param[in] c Character to use.
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200 | * @param[in] n Length of the separator line.
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201 | *
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202 | * @return Number of characters printed.
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203 | */
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204 | static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n) |
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205 | { |
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206 | aosDbgCheck(stream != NULL);
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207 | |||
208 | // print the specified character n times
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209 | for (unsigned int i = 0; i < n; ++i) { |
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210 | streamPut(stream, c); |
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211 | } |
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212 | streamPut(stream, '\n');
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213 | |||
214 | return n+1; |
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215 | } |
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216 | |||
217 | /**
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218 | * @brief Print a system information line.
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219 | * @details Prints a system information line with the following format:
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220 | * "<name>[spaces]fmt"
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221 | * The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.
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222 | * Note that there is not trailing newline added implicitely.
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223 | *
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224 | ba516b61 | Thomas Schöpping | * @param[in] stream Stream to print to or NULL to print to all system streams.
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225 | e545e620 | Thomas Schöpping | * @param[in] name Name of the entry/line.
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226 | * @param[in] namewidth Width of the name column.
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227 | * @param[in] fmt Formatted string of information content.
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228 | *
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229 | * @return Number of characters printed.
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230 | */
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231 | static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...) |
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232 | { |
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233 | aosDbgCheck(stream != NULL);
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234 | ba516b61 | Thomas Schöpping | aosDbgCheck(name != NULL);
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235 | e545e620 | Thomas Schöpping | |
236 | unsigned int n = 0; |
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237 | ba516b61 | Thomas Schöpping | va_list ap; |
238 | e545e620 | Thomas Schöpping | |
239 | ba516b61 | Thomas Schöpping | va_start(ap, fmt); |
240 | e545e620 | Thomas Schöpping | n += chprintf(stream, name); |
241 | while (n < namewidth) {
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242 | streamPut(stream, ' ');
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243 | ++n; |
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244 | } |
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245 | n += chvprintf(stream, fmt, ap); |
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246 | va_end(ap); |
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247 | |||
248 | 933df08e | Thomas Schöpping | streamPut(stream, '\n');
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249 | ++n; |
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250 | |||
251 | e545e620 | Thomas Schöpping | return n;
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252 | } |
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253 | |||
254 | /**
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255 | * @brief Prints information about the system.
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256 | *
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257 | * @param[in] stream Stream to print to.
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258 | */
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259 | ba516b61 | Thomas Schöpping | static void _printSystemInfo(BaseSequentialStream* stream) |
260 | e545e620 | Thomas Schöpping | { |
261 | aosDbgCheck(stream != NULL);
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262 | |||
263 | 933df08e | Thomas Schöpping | // local variables
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264 | struct tm dt;
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265 | aosSysGetDateTime(&dt); |
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266 | |||
267 | // print static information about module and operating system
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268 | e545e620 | Thomas Schöpping | _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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269 | 1816cbc6 | Thomas Schöpping | #ifdef BOARD_VERSION
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270 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s (v%s)", BOARD_NAME, BOARD_VERSION); |
271 | 1816cbc6 | Thomas Schöpping | #else
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272 | _printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s", BOARD_NAME); |
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273 | #endif
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274 | e545e620 | Thomas Schöpping | #ifdef PLATFORM_NAME
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275 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME); |
276 | e545e620 | Thomas Schöpping | #endif
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277 | #ifdef PORT_CORE_VARIANT_NAME
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278 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME); |
279 | e545e620 | Thomas Schöpping | #endif
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280 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME); |
281 | e545e620 | Thomas Schöpping | _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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282 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
283 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (SSSP %u.%u)", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE, AOS_SYSTEM_SSSP_VERSION_MAJOR, AOS_SYSTEM_SSSP_VERSION_MINOR); |
284 | 9ebb11a9 | Thomas Schöpping | #else
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285 | _printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE); |
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286 | #endif
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287 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "AMiRo-LLD" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (periphAL %u.%u)", AMIRO_LLD_VERSION_MAJOR, AMIRO_LLD_VERSION_MINOR, AMIRO_LLD_VERSION_PATCH, AMIRO_LLD_RELEASE_TYPE, PERIPHAL_VERSION_MAJOR, PERIPHAL_VERSION_MINOR); |
288 | _printSystemInfoLine(stream, "ChibiOS/RT" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", CH_KERNEL_MAJOR, CH_KERNEL_MINOR, CH_KERNEL_PATCH, (CH_KERNEL_STABLE == 1) ? "stable" : "non-stable"); |
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289 | _printSystemInfoLine(stream, "ChibiOS/HAL", SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", CH_HAL_MAJOR, CH_HAL_MINOR, CH_HAL_PATCH, (CH_HAL_STABLE == 1) ? "stable" : "non-stable"); |
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290 | _printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s", (AMIROOS_CFG_DBG == true) ? "debug" : "release"); |
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291 | _printSystemInfoLine(stream, "Compiler" , SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", "GCC", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); // TODO: support other compilers than GCC |
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292 | _printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__); |
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293 | |||
294 | // print static information about the bootloader
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295 | e545e620 | Thomas Schöpping | _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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296 | if (BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) {
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297 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "AMiRo-BLT", SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (SSSP %u.%u)", BL_CALLBACK_TABLE_ADDRESS->vBootloader.major, BL_CALLBACK_TABLE_ADDRESS->vBootloader.minor, BL_CALLBACK_TABLE_ADDRESS->vBootloader.patch, |
298 | e545e620 | Thomas Schöpping | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Release) ? "stable" :
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299 | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_ReleaseCandidate) ? "release candidate" :
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300 | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Beta) ? "beta" :
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301 | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_Alpha) ? "alpha" :
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302 | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.identifier == BL_VERSION_ID_AMiRoBLT_PreAlpha) ? "pre-alpha" :
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303 | "<release type unknown>",
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304 | BL_CALLBACK_TABLE_ADDRESS->vSSSP.major, BL_CALLBACK_TABLE_ADDRESS->vSSSP.minor); |
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305 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
306 | 933df08e | Thomas Schöpping | if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_MAJOR) {
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307 | ba516b61 | Thomas Schöpping | if (stream) {
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308 | chprintf(stream, "WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
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309 | } else {
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310 | aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
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311 | } |
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312 | } |
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313 | 9ebb11a9 | Thomas Schöpping | #endif
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314 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "Compiler", SYSTEM_INFO_NAMEWIDTH, "%s %u.%u.%u", (BL_CALLBACK_TABLE_ADDRESS->vCompiler.identifier == BL_VERSION_ID_GCC) ? "GCC" : "<compiler unknown>", BL_CALLBACK_TABLE_ADDRESS->vCompiler.major, BL_CALLBACK_TABLE_ADDRESS->vCompiler.minor, BL_CALLBACK_TABLE_ADDRESS->vCompiler.patch); // TODO: support other compilers than GCC |
315 | e545e620 | Thomas Schöpping | } else {
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316 | ba516b61 | Thomas Schöpping | if (stream) {
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317 | chprintf(stream, "Bootloader incompatible or not available.\n");
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318 | } else {
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319 | aosprintf("Bootloader incompatible or not available.\n");
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320 | } |
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321 | e545e620 | Thomas Schöpping | } |
322 | 933df08e | Thomas Schöpping | |
323 | // print dynamic information about the module
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324 | 8399aeae | Thomas Schöpping | _printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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325 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
326 | 933df08e | Thomas Schöpping | if (aos.sssp.moduleId != 0) { |
327 | _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId); |
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328 | } else {
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329 | _printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available"); |
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330 | } |
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331 | 9ebb11a9 | Thomas Schöpping | #endif
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332 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "Date", SYSTEM_INFO_NAMEWIDTH, "%s %02u-%02u-%04u", (dt.tm_wday == 0) ? "Sunday" : (dt.tm_wday == 1) ? "Monday" : (dt.tm_wday == 2) ? "Tuesday" : (dt.tm_wday == 3) ? "Wednesday" : (dt.tm_wday == 4) ? "Thursday" : (dt.tm_wday == 5) ? "Friday" : "Saturday", |
333 | 8399aeae | Thomas Schöpping | dt.tm_mday, |
334 | dt.tm_mon + 1,
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335 | dt.tm_year + 1900);
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336 | 933df08e | Thomas Schöpping | _printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u", dt.tm_hour, dt.tm_min, dt.tm_sec); |
337 | |||
338 | e545e620 | Thomas Schöpping | _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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339 | |||
340 | return;
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341 | } |
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342 | |||
343 | 2dd2e257 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
344 | e545e620 | Thomas Schöpping | /**
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345 | * @brief Callback function for the system:config shell command.
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346 | *
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347 | * @param[in] stream The I/O stream to use.
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348 | * @param[in] argc Number of arguments.
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349 | * @param[in] argv List of pointers to the arguments.
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350 | *
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351 | * @return An exit status.
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352 | * @retval AOS_OK The command was executed successfuly.
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353 | * @retval AOS_INVALID_ARGUMENTS There was an issue with the arguemnts.
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354 | */
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355 | static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]) |
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356 | { |
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357 | ba516b61 | Thomas Schöpping | aosDbgCheck(stream != NULL);
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358 | |||
359 | e545e620 | Thomas Schöpping | // local variables
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360 | int retval = AOS_INVALID_ARGUMENTS;
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361 | |||
362 | // if there are additional arguments
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363 | if (argc > 1) { |
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364 | // if the user wants to set or retrieve the shell configuration
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365 | if (strcmp(argv[1], "--shell") == 0) { |
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366 | // if the user wants to modify the shell configuration
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367 | if (argc > 2) { |
||
368 | // if the user wants to modify the prompt
|
||
369 | if (strcmp(argv[2], "prompt") == 0) { |
||
370 | // there must be a further argument
|
||
371 | if (argc > 3) { |
||
372 | // handle the option
|
||
373 | if (strcmp(argv[3], "text") == 0) { |
||
374 | 6b53f6bf | Thomas Schöpping | aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
375 | e545e620 | Thomas Schöpping | retval = AOS_OK; |
376 | } |
||
377 | else if (strcmp(argv[3], "minimal") == 0) { |
||
378 | 6b53f6bf | Thomas Schöpping | aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_MINIMAL; |
379 | e545e620 | Thomas Schöpping | retval = AOS_OK; |
380 | } |
||
381 | else if (strcmp(argv[3], "notime") == 0) { |
||
382 | 6b53f6bf | Thomas Schöpping | aos.shell.config &= ~(AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME); |
383 | e545e620 | Thomas Schöpping | retval = AOS_OK; |
384 | } |
||
385 | else if (strcmp(argv[3], "uptime") == 0) { |
||
386 | 6b53f6bf | Thomas Schöpping | aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_DATETIME; |
387 | aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_UPTIME; |
||
388 | e545e620 | Thomas Schöpping | retval = AOS_OK; |
389 | } |
||
390 | 8399aeae | Thomas Schöpping | else if (strcmp(argv[3], "date&time") == 0) { |
391 | 6b53f6bf | Thomas Schöpping | aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME; |
392 | aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME; |
||
393 | 8399aeae | Thomas Schöpping | retval = AOS_OK; |
394 | } |
||
395 | else {
|
||
396 | chprintf(stream, "unknown option '%s'\n", argv[3]); |
||
397 | return AOS_INVALID_ARGUMENTS;
|
||
398 | } |
||
399 | e545e620 | Thomas Schöpping | } |
400 | } |
||
401 | // if the user wants to modify the string matching
|
||
402 | else if (strcmp(argv[2], "match") == 0) { |
||
403 | // there must be a further argument
|
||
404 | if (argc > 3) { |
||
405 | if (strcmp(argv[3], "casesensitive") == 0) { |
||
406 | 6b53f6bf | Thomas Schöpping | aos.shell.config |= AOS_SHELL_CONFIG_MATCH_CASE; |
407 | e545e620 | Thomas Schöpping | retval = AOS_OK; |
408 | } |
||
409 | else if (strcmp(argv[3], "caseinsensitive") == 0) { |
||
410 | 6b53f6bf | Thomas Schöpping | aos.shell.config &= ~AOS_SHELL_CONFIG_MATCH_CASE; |
411 | e545e620 | Thomas Schöpping | retval = AOS_OK; |
412 | } |
||
413 | } |
||
414 | } |
||
415 | } |
||
416 | // if the user wants to retrieve the shell configuration
|
||
417 | else {
|
||
418 | chprintf(stream, "current shell configuration:\n");
|
||
419 | chprintf(stream, " prompt text: %s\n",
|
||
420 | 6b53f6bf | Thomas Schöpping | (aos.shell.prompt != NULL) ? aos.shell.prompt : "n/a"); |
421 | 8399aeae | Thomas Schöpping | char time[10]; |
422 | 6b53f6bf | Thomas Schöpping | switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
|
423 | 8399aeae | Thomas Schöpping | case AOS_SHELL_CONFIG_PROMPT_UPTIME:
|
424 | strcpy(time, "uptime"); break; |
||
425 | case AOS_SHELL_CONFIG_PROMPT_DATETIME:
|
||
426 | strcpy(time, "date&time"); break; |
||
427 | default:
|
||
428 | strcpy(time, "no time"); break; |
||
429 | } |
||
430 | e545e620 | Thomas Schöpping | chprintf(stream, " prompt style: %s, %s\n",
|
431 | 6b53f6bf | Thomas Schöpping | (aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text", |
432 | 8399aeae | Thomas Schöpping | time); |
433 | e545e620 | Thomas Schöpping | chprintf(stream, " input method: %s\n",
|
434 | 6b53f6bf | Thomas Schöpping | (aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert"); |
435 | e545e620 | Thomas Schöpping | chprintf(stream, " text matching: %s\n",
|
436 | 6b53f6bf | Thomas Schöpping | (aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive"); |
437 | e545e620 | Thomas Schöpping | retval = AOS_OK; |
438 | } |
||
439 | } |
||
440 | 8399aeae | Thomas Schöpping | // if the user wants to configure the date or time
|
441 | else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) { |
||
442 | struct tm dt;
|
||
443 | aosSysGetDateTime(&dt); |
||
444 | unsigned int val = atoi(argv[3]); |
||
445 | if (strcmp(argv[2], "year") == 0) { |
||
446 | dt.tm_year = val - 1900;
|
||
447 | } |
||
448 | else if (strcmp(argv[2], "month") == 0 && val <= 12) { |
||
449 | dt.tm_mon = val - 1;
|
||
450 | } |
||
451 | else if (strcmp(argv[2], "day") == 0 && val <= 31) { |
||
452 | dt.tm_mday = val; |
||
453 | } |
||
454 | else if (strcmp(argv[2], "hour") == 0 && val < 24) { |
||
455 | dt.tm_hour = val; |
||
456 | } |
||
457 | else if (strcmp(argv[2], "minute") == 0 && val < 60) { |
||
458 | dt.tm_min = val; |
||
459 | } |
||
460 | else if (strcmp(argv[2], "second") == 0 && val < 60) { |
||
461 | dt.tm_sec = val; |
||
462 | } |
||
463 | else {
|
||
464 | chprintf(stream, "unknown option '%s' or value '%s'\n", argv[2], argv[3]); |
||
465 | return AOS_INVALID_ARGUMENTS;
|
||
466 | } |
||
467 | dt.tm_wday = aosTimeDayOfWeekFromDate(dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900) % 7; |
||
468 | aosSysSetDateTime(&dt); |
||
469 | |||
470 | // read and print new date and time
|
||
471 | aosSysGetDateTime(&dt); |
||
472 | chprintf(stream, "date/time set to %02u:%02u:%02u @ %02u-%02u-%04u\n",
|
||
473 | dt.tm_hour, dt.tm_min, dt.tm_sec, |
||
474 | dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900); |
||
475 | |||
476 | retval = AOS_OK; |
||
477 | } |
||
478 | e545e620 | Thomas Schöpping | } |
479 | |||
480 | // print help, if required
|
||
481 | if (retval == AOS_INVALID_ARGUMENTS) {
|
||
482 | chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
||
483 | chprintf(stream, "Options:\n");
|
||
484 | chprintf(stream, " --help\n");
|
||
485 | chprintf(stream, " Print this help text.\n");
|
||
486 | chprintf(stream, " --shell [OPT [VAL]]\n");
|
||
487 | chprintf(stream, " Set or retrieve shell configuration.\n");
|
||
488 | chprintf(stream, " Possible OPTs and VALs are:\n");
|
||
489 | 8399aeae | Thomas Schöpping | chprintf(stream, " prompt text|minimal|uptime|date&time|notime\n");
|
490 | e545e620 | Thomas Schöpping | chprintf(stream, " Configures the prompt.\n");
|
491 | chprintf(stream, " match casesensitive|caseinsenitive\n");
|
||
492 | chprintf(stream, " Configures string matching.\n");
|
||
493 | 8399aeae | Thomas Schöpping | chprintf(stream, " --date&time OPT VAL\n");
|
494 | chprintf(stream, " Set the date/time value of OPT to VAL.\n");
|
||
495 | chprintf(stream, " Possible OPTs are:\n");
|
||
496 | chprintf(stream, " year\n");
|
||
497 | chprintf(stream, " month\n");
|
||
498 | chprintf(stream, " day\n");
|
||
499 | chprintf(stream, " hour\n");
|
||
500 | chprintf(stream, " minute\n");
|
||
501 | chprintf(stream, " second\n");
|
||
502 | e545e620 | Thomas Schöpping | } |
503 | |||
504 | return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval; |
||
505 | } |
||
506 | |||
507 | /**
|
||
508 | * @brief Callback function for the system:info shell command.
|
||
509 | *
|
||
510 | * @param[in] stream The I/O stream to use.
|
||
511 | * @param[in] argc Number of arguments.
|
||
512 | * @param[in] argv List of pointers to the arguments.
|
||
513 | *
|
||
514 | * @return An exit status.
|
||
515 | * @retval AOS_OK The command was executed successfully.
|
||
516 | */
|
||
517 | static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
518 | { |
||
519 | ba516b61 | Thomas Schöpping | aosDbgCheck(stream != NULL);
|
520 | |||
521 | e545e620 | Thomas Schöpping | (void)argc;
|
522 | (void)argv;
|
||
523 | |||
524 | // print system information
|
||
525 | _printSystemInfo(stream); |
||
526 | |||
527 | // print time measurement precision
|
||
528 | 3e1a9c79 | Thomas Schöpping | chprintf(stream, "module time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
|
529 | e545e620 | Thomas Schöpping | |
530 | // print system uptime
|
||
531 | aos_timestamp_t uptime; |
||
532 | aosSysGetUptime(&uptime); |
||
533 | chprintf(stream, "The system is running for\n");
|
||
534 | chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
|
||
535 | chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
|
||
536 | chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
|
||
537 | chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
|
||
538 | chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
|
||
539 | chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
|
||
540 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
541 | 3e1a9c79 | Thomas Schöpping | chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", _syssyncskew, AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
|
542 | aed3754b | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_MASTER != true && AMIROOS_CFG_PROFILE == true */ |
543 | 3e1a9c79 | Thomas Schöpping | _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
544 | e545e620 | Thomas Schöpping | |
545 | aed3754b | Thomas Schöpping | // print shell info
|
546 | chprintf(stream, "System shell information:\n");
|
||
547 | 62397067 | Thomas Schöpping | chprintf(stream, "\tcommands available: %u\n", aosShellCountCommands(&aos.shell));
|
548 | chprintf(stream, "\tline width: %u characters\n", aos.shell.linesize);
|
||
549 | chprintf(stream, "\tmaximum arguments: %u\n", aos.shell.arglistsize);
|
||
550 | 5c9e9b9d | Thomas Schöpping | #if (AMIROOS_CFG_DBG == true) |
551 | 62397067 | Thomas Schöpping | chprintf(stream, "\tthread stack size: %u bytes\n", aosThdGetStacksize(aos.shell.thread));
|
552 | aed3754b | Thomas Schöpping | #if (CH_DBG_FILL_THREADS == TRUE)
|
553 | 62397067 | Thomas Schöpping | chprintf(stream, "\tstack peak utilization: %u bytes (%.2f%%)\n", aosThdGetStackPeakUtilization(aos.shell.thread), (float)aosThdGetStackPeakUtilization(aos.shell.thread) / (float)aosThdGetStacksize(aos.shell.thread) * 100.0f); |
554 | aed3754b | Thomas Schöpping | #endif /* CH_DBG_FILL_THREADS == TRUE */ |
555 | 5c9e9b9d | Thomas Schöpping | #endif /* AMIROOS_CFG_DBG == true */ |
556 | aed3754b | Thomas Schöpping | _printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
557 | |||
558 | e545e620 | Thomas Schöpping | return AOS_OK;
|
559 | } |
||
560 | |||
561 | /**
|
||
562 | * @brief Callback function for the sytem:shutdown shell command.
|
||
563 | *
|
||
564 | * @param[in] stream The I/O stream to use.
|
||
565 | * @param[in] argc Number of arguments.
|
||
566 | * @param[in] argv List of pointers to the arguments.
|
||
567 | *
|
||
568 | * @return An exit status.
|
||
569 | * @retval AOS_OK The command was executed successfully.
|
||
570 | * @retval AOS_INVALID_ARGUMENTS There was an issue with the arguments.
|
||
571 | */
|
||
572 | static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
573 | { |
||
574 | ba516b61 | Thomas Schöpping | aosDbgCheck(stream != NULL);
|
575 | |||
576 | 1d3e002f | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
577 | e545e620 | Thomas Schöpping | // print help text
|
578 | if (argc != 2 || strcmp(argv[1], "--help") == 0) { |
||
579 | chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
||
580 | chprintf(stream, "Options:\n");
|
||
581 | chprintf(stream, " --help\n");
|
||
582 | chprintf(stream, " Print this help text.\n");
|
||
583 | chprintf(stream, " --hibernate, -h\n");
|
||
584 | chprintf(stream, " Shutdown to hibernate mode.\n");
|
||
585 | chprintf(stream, " Least energy saving, but allows charging via pins.\n");
|
||
586 | chprintf(stream, " --deepsleep, -d\n");
|
||
587 | chprintf(stream, " Shutdown to deepsleep mode.\n");
|
||
588 | chprintf(stream, " Minimum energy consumption while allowing charging via plug.\n");
|
||
589 | chprintf(stream, " --transportation, -t\n");
|
||
590 | chprintf(stream, " Shutdown to transportation mode.\n");
|
||
591 | chprintf(stream, " Minimum energy consumption with all interrupts disabled (no charging).\n");
|
||
592 | chprintf(stream, " --restart, -r\n");
|
||
593 | chprintf(stream, " Shutdown and restart system.\n");
|
||
594 | |||
595 | return (argc != 2) ? AOS_INVALID_ARGUMENTS : AOS_OK; |
||
596 | } |
||
597 | // handle argument
|
||
598 | else {
|
||
599 | if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) { |
||
600 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
601 | 9b5281e9 | Thomas Schöpping | chThdTerminate(chThdGetSelfX()); |
602 | e545e620 | Thomas Schöpping | return AOS_OK;
|
603 | } |
||
604 | else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) { |
||
605 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
606 | 9b5281e9 | Thomas Schöpping | chThdTerminate(chThdGetSelfX()); |
607 | e545e620 | Thomas Schöpping | return AOS_OK;
|
608 | } |
||
609 | else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) { |
||
610 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
611 | 9b5281e9 | Thomas Schöpping | chThdTerminate(chThdGetSelfX()); |
612 | e545e620 | Thomas Schöpping | return AOS_OK;
|
613 | } |
||
614 | else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) { |
||
615 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
616 | 9b5281e9 | Thomas Schöpping | chThdTerminate(chThdGetSelfX()); |
617 | e545e620 | Thomas Schöpping | return AOS_OK;
|
618 | } |
||
619 | else {
|
||
620 | chprintf(stream, "unknown argument %s\n", argv[1]); |
||
621 | return AOS_INVALID_ARGUMENTS;
|
||
622 | } |
||
623 | } |
||
624 | 1d3e002f | Thomas Schöpping | #else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
625 | (void)argv;
|
||
626 | (void)argc;
|
||
627 | |||
628 | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
||
629 | chThdTerminate(chThdGetSelfX()); |
||
630 | return AOS_OK;
|
||
631 | #endif /* AMIROOS_CFG_SSSP_ENABLE */ |
||
632 | e545e620 | Thomas Schöpping | } |
633 | |||
634 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
||
635 | /**
|
||
636 | * @brief Callback function for the kernel:test shell command.
|
||
637 | *
|
||
638 | * @param[in] stream The I/O stream to use.
|
||
639 | * @param[in] argc Number of arguments.
|
||
640 | * @param[in] argv List of pointers to the arguments.
|
||
641 | *
|
||
642 | * @return An exit status.
|
||
643 | */
|
||
644 | static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]) |
||
645 | { |
||
646 | ba516b61 | Thomas Schöpping | aosDbgCheck(stream != NULL);
|
647 | |||
648 | e545e620 | Thomas Schöpping | (void)argc;
|
649 | (void)argv;
|
||
650 | |||
651 | 0128be0f | Marc Rothmann | msg_t retval = test_execute(stream, &rt_test_suite); |
652 | e545e620 | Thomas Schöpping | |
653 | return retval;
|
||
654 | } |
||
655 | #endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
||
656 | 2dd2e257 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
657 | e545e620 | Thomas Schöpping | |
658 | 6d5d8856 | Thomas Schöpping | // suppress warning in case no interrupt GPIOs are defined
|
659 | #pragma GCC diagnostic push
|
||
660 | #pragma GCC diagnostic ignored "-Wunused-function" |
||
661 | e545e620 | Thomas Schöpping | /**
|
662 | 1e5f7648 | Thomas Schöpping | * @brief Generic callback function for GPIO interrupts.
|
663 | e545e620 | Thomas Schöpping | *
|
664 | 1e5f7648 | Thomas Schöpping | * @param[in] args Pointer to the GPIO pad identifier.
|
665 | e545e620 | Thomas Schöpping | */
|
666 | 1e5f7648 | Thomas Schöpping | static void _intCallback(void* args) |
667 | e545e620 | Thomas Schöpping | { |
668 | 1e5f7648 | Thomas Schöpping | aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8)); |
669 | e545e620 | Thomas Schöpping | |
670 | chSysLockFromISR(); |
||
671 | dada2194 | Thomas Schöpping | chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(*((iopadid_t*)args))); |
672 | e545e620 | Thomas Schöpping | chSysUnlockFromISR(); |
673 | |||
674 | return;
|
||
675 | } |
||
676 | 6d5d8856 | Thomas Schöpping | #pragma GCC diagnostic pop
|
677 | e545e620 | Thomas Schöpping | |
678 | 9ebb11a9 | Thomas Schöpping | #if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true)) || defined(__DOXYGEN__) |
679 | e545e620 | Thomas Schöpping | /**
|
680 | * @brief Callback function for the Sync signal interrupt.
|
||
681 | *
|
||
682 | 1e5f7648 | Thomas Schöpping | * @param[in] args Pointer to the GPIO pad identifier.
|
683 | e545e620 | Thomas Schöpping | */
|
684 | 0128be0f | Marc Rothmann | static void _signalSyncCallback(void *args) |
685 | e545e620 | Thomas Schöpping | { |
686 | 1e5f7648 | Thomas Schöpping | aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8)); |
687 | e545e620 | Thomas Schöpping | |
688 | apalControlGpioState_t s_state; |
||
689 | aos_timestamp_t uptime; |
||
690 | |||
691 | chSysLockFromISR(); |
||
692 | 9461fadc | Thomas Schöpping | // if the system is in operation phase
|
693 | if (aos.sssp.stage == AOS_SSSP_OPERATION) {
|
||
694 | // read signal S
|
||
695 | apalControlGpioGet(&moduleSsspGpioSync, &s_state); |
||
696 | // if S was toggled from on to off
|
||
697 | if (s_state == APAL_GPIO_OFF) {
|
||
698 | // get current uptime
|
||
699 | aosSysGetUptimeX(&uptime); |
||
700 | // align the uptime with the synchronization period
|
||
701 | if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) { |
||
702 | _uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
||
703 | 3e1a9c79 | Thomas Schöpping | #if (AMIROOS_CFG_PROFILE == true) |
704 | _syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) + (SYSTEM_SYSSYNCSKEW_LPFACTOR * (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD)); |
||
705 | #endif
|
||
706 | 9461fadc | Thomas Schöpping | } else {
|
707 | _uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
||
708 | 3e1a9c79 | Thomas Schöpping | #if (AMIROOS_CFG_PROFILE == true) |
709 | _syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) - (SYSTEM_SYSSYNCSKEW_LPFACTOR * (AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD))); |
||
710 | #endif
|
||
711 | 9461fadc | Thomas Schöpping | } |
712 | e545e620 | Thomas Schöpping | } |
713 | } |
||
714 | // broadcast event
|
||
715 | dada2194 | Thomas Schöpping | chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(*((iopadid_t*)args))); |
716 | e545e620 | Thomas Schöpping | chSysUnlockFromISR(); |
717 | |||
718 | return;
|
||
719 | } |
||
720 | 9ebb11a9 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) */ |
721 | e545e620 | Thomas Schöpping | |
722 | /**
|
||
723 | * @brief Callback function for the uptime accumulation timer.
|
||
724 | *
|
||
725 | * @param[in] par Generic parameter.
|
||
726 | */
|
||
727 | static void _uptimeCallback(void* par) |
||
728 | { |
||
729 | (void)par;
|
||
730 | |||
731 | chSysLockFromISR(); |
||
732 | // read current time in system ticks
|
||
733 | register const systime_t st = chVTGetSystemTimeX(); |
||
734 | // update the uptime variables
|
||
735 | 1e5f7648 | Thomas Schöpping | _uptime += chTimeI2US(chTimeDiffX(_synctime, st)); |
736 | e545e620 | Thomas Schöpping | _synctime = st; |
737 | // enable the timer again
|
||
738 | chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
||
739 | chSysUnlockFromISR(); |
||
740 | |||
741 | return;
|
||
742 | } |
||
743 | |||
744 | 9ebb11a9 | Thomas Schöpping | #if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined (__DOXYGEN__) |
745 | e545e620 | Thomas Schöpping | /**
|
746 | * @brief Periodic system synchronization callback function.
|
||
747 | * @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.
|
||
748 | *
|
||
749 | * @param[in] par Unuesed parameters.
|
||
750 | */
|
||
751 | static void _sysSyncTimerCallback(void* par) |
||
752 | { |
||
753 | (void)par;
|
||
754 | |||
755 | apalControlGpioState_t s_state; |
||
756 | aos_timestamp_t uptime; |
||
757 | |||
758 | chSysLockFromISR(); |
||
759 | 9461fadc | Thomas Schöpping | // toggle and read signal S
|
760 | apalGpioToggle(moduleSsspGpioSync.gpio); |
||
761 | 6b53f6bf | Thomas Schöpping | apalControlGpioGet(&moduleSsspGpioSync, &s_state); |
762 | e545e620 | Thomas Schöpping | // if S was toggled from off to on
|
763 | if (s_state == APAL_GPIO_ON) {
|
||
764 | // reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
|
||
765 | _syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
||
766 | aosSysGetUptimeX(&uptime); |
||
767 | 1e5f7648 | Thomas Schöpping | chVTSetI(&_syssynctimer, chTimeUS2I(_syssynctime - uptime), _sysSyncTimerCallback, NULL);
|
768 | e545e620 | Thomas Schöpping | } |
769 | // if S was toggled from on to off
|
||
770 | else /* if (s_state == APAL_GPIO_OFF) */ { |
||
771 | // reconfigure the timer (lazy)
|
||
772 | 1e5f7648 | Thomas Schöpping | chVTSetI(&_syssynctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL); |
773 | e545e620 | Thomas Schöpping | } |
774 | chSysUnlockFromISR(); |
||
775 | |||
776 | return;
|
||
777 | } |
||
778 | 9ebb11a9 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */ |
779 | e545e620 | Thomas Schöpping | |
780 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
781 | /* EXPORTED FUNCTIONS */
|
||
782 | /******************************************************************************/
|
||
783 | |||
784 | e545e620 | Thomas Schöpping | /**
|
785 | * @brief AMiRo-OS system initialization.
|
||
786 | * @note Must be called from the system control thread (usually main thread).
|
||
787 | *
|
||
788 | * @param[in] shellPrompt String to be printed as prompt of the system shell.
|
||
789 | */
|
||
790 | 2dd2e257 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
791 | 6b53f6bf | Thomas Schöpping | void aosSysInit(const char* shellPrompt) |
792 | #else
|
||
793 | void aosSysInit(void) |
||
794 | #endif
|
||
795 | e545e620 | Thomas Schöpping | { |
796 | 1e5f7648 | Thomas Schöpping | /* set control thread to maximum priority */
|
797 | 512abac1 | Thomas Schöpping | chThdSetPriority(AOS_THD_CTRLPRIO); |
798 | e545e620 | Thomas Schöpping | |
799 | 1e5f7648 | Thomas Schöpping | /* set local variables */
|
800 | e545e620 | Thomas Schöpping | chVTObjectInit(&_systimer); |
801 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
802 | e545e620 | Thomas Schöpping | _synctime = 0;
|
803 | _uptime = 0;
|
||
804 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
805 | chVTObjectInit(&_syssynctimer); |
||
806 | _syssynctime = 0;
|
||
807 | #endif
|
||
808 | 3e1a9c79 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
809 | _syssyncskew = 0.0f; |
||
810 | #endif
|
||
811 | 9ebb11a9 | Thomas Schöpping | #else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
812 | // start the uptime counter
|
||
813 | chSysLock(); |
||
814 | _synctime = chVTGetSystemTimeX(); |
||
815 | _uptime = 0;
|
||
816 | chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
||
817 | chSysUnlock(); |
||
818 | #endif /* AMIROOS_CFG_SSSP_ENABLE */ |
||
819 | e545e620 | Thomas Schöpping | |
820 | 1e5f7648 | Thomas Schöpping | /* initialize aos configuration */
|
821 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
822 | 6b53f6bf | Thomas Schöpping | aos.sssp.stage = AOS_SSSP_STARTUP_2_1; |
823 | aos.sssp.moduleId = 0;
|
||
824 | 9ebb11a9 | Thomas Schöpping | #endif
|
825 | ba516b61 | Thomas Schöpping | aosIOStreamInit(&aos.iostream); |
826 | 6b53f6bf | Thomas Schöpping | chEvtObjectInit(&aos.events.io); |
827 | chEvtObjectInit(&aos.events.os); |
||
828 | e545e620 | Thomas Schöpping | |
829 | 1e5f7648 | Thomas Schöpping | /* interrupt setup */
|
830 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
831 | 1e5f7648 | Thomas Schöpping | // PD signal
|
832 | palSetPadCallback(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, _intCallback, &moduleSsspGpioPd.gpio->pad); |
||
833 | palEnablePadEvent(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, APAL2CH_EDGE(moduleSsspGpioPd.meta.edge)); |
||
834 | // SYNC signal
|
||
835 | #if (AMIROOS_CFG_SSSP_MASTER == true) |
||
836 | palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _intCallback, &moduleSsspGpioSync.gpio->pad); |
||
837 | #else
|
||
838 | palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _signalSyncCallback, &moduleSsspGpioSync.gpio->pad); |
||
839 | #endif
|
||
840 | palEnablePadEvent(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, APAL2CH_EDGE(moduleSsspGpioSync.meta.edge)); |
||
841 | #if (AMIROOS_CFG_SSSP_STACK_START != true) |
||
842 | // DN signal
|
||
843 | palSetPadCallback(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, _intCallback, &moduleSsspGpioDn.gpio->pad); |
||
844 | palEnablePadEvent(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, APAL2CH_EDGE(moduleSsspGpioDn.meta.edge)); |
||
845 | #endif
|
||
846 | #if (AMIROOS_CFG_SSSP_STACK_END != true) |
||
847 | // UP signal
|
||
848 | palSetPadCallback(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, _intCallback, &moduleSsspGpioUp.gpio->pad); |
||
849 | palEnablePadEvent(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, APAL2CH_EDGE(moduleSsspGpioUp.meta.edge)); |
||
850 | #endif
|
||
851 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
852 | 1e5f7648 | Thomas Schöpping | #ifdef MODULE_INIT_INTERRUPTS
|
853 | // further interrupt signals
|
||
854 | MODULE_INIT_INTERRUPTS(); |
||
855 | #endif
|
||
856 | e545e620 | Thomas Schöpping | |
857 | 2dd2e257 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
858 | 1e5f7648 | Thomas Schöpping | /* init shell */
|
859 | 6b53f6bf | Thomas Schöpping | aosShellInit(&aos.shell, |
860 | &aos.events.os, |
||
861 | e545e620 | Thomas Schöpping | shellPrompt, |
862 | _shell_line, |
||
863 | AMIROOS_CFG_SHELL_LINEWIDTH, |
||
864 | _shell_arglist, |
||
865 | AMIROOS_CFG_SHELL_MAXARGS); |
||
866 | // add system commands
|
||
867 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &_shellcmd_config); |
868 | aosShellAddCommand(&aos.shell, &_shellcmd_info); |
||
869 | aosShellAddCommand(&aos.shell, &_shellcmd_shutdown); |
||
870 | e545e620 | Thomas Schöpping | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
871 | 6b53f6bf | Thomas Schöpping | aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest); |
872 | e545e620 | Thomas Schöpping | #endif
|
873 | 2dd2e257 | Thomas Schöpping | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
874 | e545e620 | Thomas Schöpping | |
875 | return;
|
||
876 | } |
||
877 | |||
878 | /**
|
||
879 | * @brief Starts the system and all system threads.
|
||
880 | */
|
||
881 | inline void aosSysStart(void) |
||
882 | { |
||
883 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
884 | e545e620 | Thomas Schöpping | // update the system SSSP stage
|
885 | 6b53f6bf | Thomas Schöpping | aos.sssp.stage = AOS_SSSP_OPERATION; |
886 | e545e620 | Thomas Schöpping | |
887 | 9461fadc | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_MASTER == true) |
888 | { |
||
889 | chSysLock(); |
||
890 | // start the system synchronization counter
|
||
891 | // The first iteration of the timer is set to the next 'center' of a 'slice'.
|
||
892 | aos_timestamp_t t; |
||
893 | aosSysGetUptimeX(&t); |
||
894 | t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
||
895 | 1e5f7648 | Thomas Schöpping | chVTSetI(&_syssynctimer, chTimeUS2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL); |
896 | 9461fadc | Thomas Schöpping | chSysUnlock(); |
897 | } |
||
898 | #endif
|
||
899 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
900 | 9461fadc | Thomas Schöpping | |
901 | ba516b61 | Thomas Schöpping | // print system information;
|
902 | _printSystemInfo((BaseSequentialStream*)&aos.iostream); |
||
903 | e545e620 | Thomas Schöpping | aosprintf("\n");
|
904 | |||
905 | 2dd2e257 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
906 | e545e620 | Thomas Schöpping | // start system shell thread
|
907 | 0a89baf2 | Thomas Schöpping | #if (CH_CFG_USE_THREADHIERARCHY == TRUE)
|
908 | aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell, &ch.mainthread);
|
||
909 | #else
|
||
910 | 6b53f6bf | Thomas Schöpping | aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
|
911 | e545e620 | Thomas Schöpping | #endif
|
912 | 0a89baf2 | Thomas Schöpping | #endif
|
913 | e545e620 | Thomas Schöpping | |
914 | return;
|
||
915 | } |
||
916 | |||
917 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
918 | e545e620 | Thomas Schöpping | /**
|
919 | * @brief Implements the SSSP startup synchronization step.
|
||
920 | *
|
||
921 | * @param[in] syncEvtListener Event listener that receives the Sync event.
|
||
922 | *
|
||
923 | * @return If another event that the listener is interested in was received, its mask is returned.
|
||
924 | * Otherwise an empty mask (0) is returned.
|
||
925 | */
|
||
926 | eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener) |
||
927 | { |
||
928 | aosDbgCheck(syncEvtListener != NULL);
|
||
929 | |||
930 | // local variables
|
||
931 | eventmask_t m; |
||
932 | eventflags_t f; |
||
933 | apalControlGpioState_t s; |
||
934 | |||
935 | // update the system SSSP stage
|
||
936 | 6b53f6bf | Thomas Schöpping | aos.sssp.stage = AOS_SSSP_STARTUP_2_2; |
937 | e545e620 | Thomas Schöpping | |
938 | // deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase)
|
||
939 | 6b53f6bf | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
940 | e545e620 | Thomas Schöpping | |
941 | // wait for any event to occur (do not apply any filter in order not to miss any event)
|
||
942 | m = chEvtWaitOne(ALL_EVENTS); |
||
943 | f = chEvtGetAndClearFlags(syncEvtListener); |
||
944 | 6b53f6bf | Thomas Schöpping | apalControlGpioGet(&moduleSsspGpioSync, &s); |
945 | e545e620 | Thomas Schöpping | |
946 | // if the event was a system event,
|
||
947 | // and it was fired because of the SysSync control signal,
|
||
948 | // and the SysSync control signal has been deactivated
|
||
949 | if (m & syncEvtListener->events &&
|
||
950 | 6b53f6bf | Thomas Schöpping | f == MODULE_SSSP_EVENTFLAGS_SYNC && |
951 | e545e620 | Thomas Schöpping | s == APAL_GPIO_OFF) { |
952 | chSysLock(); |
||
953 | // start the uptime counter
|
||
954 | _synctime = chVTGetSystemTimeX(); |
||
955 | _uptime = 0;
|
||
956 | chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
||
957 | chSysUnlock(); |
||
958 | |||
959 | return 0; |
||
960 | } |
||
961 | // an unexpected event occurred
|
||
962 | else {
|
||
963 | // reassign the flags to the event and return the event mask
|
||
964 | syncEvtListener->flags |= f; |
||
965 | return m;
|
||
966 | } |
||
967 | } |
||
968 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
969 | e545e620 | Thomas Schöpping | |
970 | /**
|
||
971 | * @brief Retrieves the system uptime.
|
||
972 | *
|
||
973 | * @param[out] ut The system uptime.
|
||
974 | */
|
||
975 | inline void aosSysGetUptimeX(aos_timestamp_t* ut) |
||
976 | { |
||
977 | aosDbgCheck(ut != NULL);
|
||
978 | |||
979 | 1e5f7648 | Thomas Schöpping | *ut = _uptime + chTimeI2US(chTimeDiffX(_synctime, chVTGetSystemTimeX())); |
980 | e545e620 | Thomas Schöpping | |
981 | return;
|
||
982 | } |
||
983 | |||
984 | /**
|
||
985 | 8399aeae | Thomas Schöpping | * @brief retrieves the date and time from the MCU clock.
|
986 | *
|
||
987 | * @param[out] td The date and time.
|
||
988 | */
|
||
989 | void aosSysGetDateTime(struct tm* dt) |
||
990 | { |
||
991 | aosDbgCheck(dt != NULL);
|
||
992 | |||
993 | RTCDateTime rtc; |
||
994 | rtcGetTime(&MODULE_HAL_RTC, &rtc); |
||
995 | rtcConvertDateTimeToStructTm(&rtc, dt, NULL);
|
||
996 | |||
997 | return;
|
||
998 | } |
||
999 | |||
1000 | /**
|
||
1001 | * @brief set the date and time of the MCU clock.
|
||
1002 | *
|
||
1003 | * @param[in] dt The date and time to set.
|
||
1004 | */
|
||
1005 | void aosSysSetDateTime(struct tm* dt) |
||
1006 | { |
||
1007 | aosDbgCheck(dt != NULL);
|
||
1008 | |||
1009 | RTCDateTime rtc; |
||
1010 | rtcConvertStructTmToDateTime(dt, 0, &rtc);
|
||
1011 | rtcSetTime(&MODULE_HAL_RTC, &rtc); |
||
1012 | |||
1013 | return;
|
||
1014 | } |
||
1015 | |||
1016 | /**
|
||
1017 | e545e620 | Thomas Schöpping | * @brief Initializes/Acknowledges a system shutdown/restart request.
|
1018 | * @note This functions should be called from the thread with highest priority.
|
||
1019 | *
|
||
1020 | * @param[in] shutdown Type of shutdown.
|
||
1021 | */
|
||
1022 | void aosSysShutdownInit(aos_shutdown_t shutdown)
|
||
1023 | { |
||
1024 | // check arguments
|
||
1025 | aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
||
1026 | |||
1027 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
1028 | e545e620 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_MASTER == true) |
1029 | // deactivate the system synchronization timer
|
||
1030 | chVTReset(&_syssynctimer); |
||
1031 | #endif
|
||
1032 | |||
1033 | // update the system SSSP stage
|
||
1034 | 6b53f6bf | Thomas Schöpping | aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1; |
1035 | e545e620 | Thomas Schöpping | |
1036 | chSysLock(); |
||
1037 | 1d3e002f | Thomas Schöpping | // activate the SYS_PD control signal only, if this module initiated the shutdown
|
1038 | e545e620 | Thomas Schöpping | if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
1039 | 6b53f6bf | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioPd, APAL_GPIO_ON); |
1040 | e545e620 | Thomas Schöpping | } |
1041 | // activate the SYS_SYNC signal
|
||
1042 | 6b53f6bf | Thomas Schöpping | apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
1043 | e545e620 | Thomas Schöpping | chSysUnlock(); |
1044 | 9ebb11a9 | Thomas Schöpping | #endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
1045 | e545e620 | Thomas Schöpping | |
1046 | switch (shutdown) {
|
||
1047 | case AOS_SHUTDOWN_PASSIVE:
|
||
1048 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
1049 | e545e620 | Thomas Schöpping | aosprintf("shutdown request received...\n");
|
1050 | break;
|
||
1051 | case AOS_SHUTDOWN_HIBERNATE:
|
||
1052 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
1053 | e545e620 | Thomas Schöpping | aosprintf("shutdown to hibernate mode...\n");
|
1054 | break;
|
||
1055 | case AOS_SHUTDOWN_DEEPSLEEP:
|
||
1056 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
1057 | e545e620 | Thomas Schöpping | aosprintf("shutdown to deepsleep mode...\n");
|
1058 | break;
|
||
1059 | case AOS_SHUTDOWN_TRANSPORTATION:
|
||
1060 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
1061 | e545e620 | Thomas Schöpping | aosprintf("shutdown to transportation mode...\n");
|
1062 | break;
|
||
1063 | case AOS_SHUTDOWN_RESTART:
|
||
1064 | 6b53f6bf | Thomas Schöpping | chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
1065 | e545e620 | Thomas Schöpping | aosprintf("restarting system...\n");
|
1066 | break;
|
||
1067 | 1d3e002f | Thomas Schöpping | // must never occur
|
1068 | case AOS_SHUTDOWN_NONE:
|
||
1069 | default:
|
||
1070 | e545e620 | Thomas Schöpping | break;
|
1071 | } |
||
1072 | |||
1073 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
1074 | e545e620 | Thomas Schöpping | // update the system SSSP stage
|
1075 | 6b53f6bf | Thomas Schöpping | aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2; |
1076 | 9ebb11a9 | Thomas Schöpping | #endif
|
1077 | e545e620 | Thomas Schöpping | |
1078 | return;
|
||
1079 | } |
||
1080 | |||
1081 | /**
|
||
1082 | * @brief Stops the system and all related threads (not the thread this function is called from).
|
||
1083 | */
|
||
1084 | void aosSysStop(void) |
||
1085 | { |
||
1086 | 2dd2e257 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
1087 | 6b53f6bf | Thomas Schöpping | chThdWait(aos.shell.thread); |
1088 | e545e620 | Thomas Schöpping | #endif
|
1089 | |||
1090 | return;
|
||
1091 | } |
||
1092 | |||
1093 | /**
|
||
1094 | * @brief Deinitialize all system variables.
|
||
1095 | */
|
||
1096 | void aosSysDeinit(void) |
||
1097 | { |
||
1098 | return;
|
||
1099 | } |
||
1100 | |||
1101 | /**
|
||
1102 | * @brief Finally shuts down the system and calls the bootloader callback function.
|
||
1103 | * @note This function should be called from the thtead with highest priority.
|
||
1104 | *
|
||
1105 | * @param[in] shutdown Type of shutdown.
|
||
1106 | */
|
||
1107 | 1e5f7648 | Thomas Schöpping | void aosSysShutdownFinal(aos_shutdown_t shutdown)
|
1108 | e545e620 | Thomas Schöpping | { |
1109 | // check arguments
|
||
1110 | aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
||
1111 | |||
1112 | 1e5f7648 | Thomas Schöpping | // disable all interrupts
|
1113 | irqDeinit(); |
||
1114 | e545e620 | Thomas Schöpping | |
1115 | 9ebb11a9 | Thomas Schöpping | #if (AMIROOS_CFG_SSSP_ENABLE == true) |
1116 | e545e620 | Thomas Schöpping | // update the system SSSP stage
|
1117 | 6b53f6bf | Thomas Schöpping | aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3; |
1118 | 9ebb11a9 | Thomas Schöpping | #endif
|
1119 | e545e620 | Thomas Schöpping | |
1120 | 41fc7088 | Thomas Schöpping | // validate bootloader
|
1121 | if ((BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) &&
|
||
1122 | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.major == BL_VERSION_MAJOR) && |
||
1123 | (BL_CALLBACK_TABLE_ADDRESS->vBootloader.minor >= BL_VERSION_MINOR)) { |
||
1124 | // call bootloader callback depending on arguments
|
||
1125 | switch (shutdown) {
|
||
1126 | case AOS_SHUTDOWN_PASSIVE:
|
||
1127 | BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest(); |
||
1128 | break;
|
||
1129 | case AOS_SHUTDOWN_HIBERNATE:
|
||
1130 | BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate(); |
||
1131 | break;
|
||
1132 | case AOS_SHUTDOWN_DEEPSLEEP:
|
||
1133 | BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep(); |
||
1134 | break;
|
||
1135 | case AOS_SHUTDOWN_TRANSPORTATION:
|
||
1136 | BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation(); |
||
1137 | break;
|
||
1138 | case AOS_SHUTDOWN_RESTART:
|
||
1139 | BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart(); |
||
1140 | break;
|
||
1141 | // must never occur
|
||
1142 | case AOS_SHUTDOWN_NONE:
|
||
1143 | default:
|
||
1144 | break;
|
||
1145 | } |
||
1146 | } else {
|
||
1147 | // fallback if bootloader was found to be invalid
|
||
1148 | aosprintf("Bootloader incompatible or not available!\n");
|
||
1149 | ffbd63e4 | Thomas Schöpping | aosThdMSleep(10);
|
1150 | chSysDisable(); |
||
1151 | e545e620 | Thomas Schöpping | } |
1152 | |||
1153 | return;
|
||
1154 | } |
||
1155 | 53710ca3 | Marc Rothmann | |
1156 | /** @} */ |