amiro-os / core / src / aos_system.c @ f4da707a
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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..2019 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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/**
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* @file aos_system.c
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* @brief System code.
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* @details Contains system initialization and shutdown routines
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* and system shell commands.
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*
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* @addtogroup aos_system
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* @{
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*/
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#include <aos_system.h> |
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#include <amiroblt.h> |
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#include <module.h> |
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#include <string.h> |
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#include <stdlib.h> |
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#if (AMIROOS_CFG_TESTS_ENABLE == true) |
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#include <ch_test.h> |
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#include <rt_test_root.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_MAX_SYSTIME - 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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/**
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* @brief Width of the name column of the system info table.
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*/
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#define SYSTEM_INFO_NAMEWIDTH 14 |
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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) || (AMIROOS_CFG_TESTS_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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#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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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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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_ENABLE == true) && (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_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
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/**
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* @brief Offset between local clock and system wide synchronization signal.
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*/
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static float _syssyncskew; |
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/**
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* @brief Weighting factor for the low-pass filter used for calculating the @p _syssyncskew value.
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*/
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#define SYSTEM_SYSSYNCSKEW_LPFACTOR (0.1f / AOS_SYSTEM_TIME_RESOLUTION) |
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#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) */ |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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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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#if (AMIROOS_CFG_SSSP_ENABLE == true) |
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/* name */ "system:shutdown", |
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#else
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/* name */ "module:shutdown", |
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#endif
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/* callback */ _shellcmd_shutdowncb,
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/* next */ NULL, |
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}; |
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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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#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (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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/**
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* @brief Print a separator line.
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*
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* @param[in] stream Stream to print to or NULL to print to all system streams.
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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 or NULL to print to all system streams.
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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(name != NULL);
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unsigned int n = 0; |
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va_list ap; |
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va_start(ap, fmt); |
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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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n += chvprintf(stream, fmt, ap); |
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va_end(ap); |
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streamPut(stream, '\n');
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++n; |
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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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// local variables
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struct tm dt;
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aosSysGetDateTime(&dt); |
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// print static information about module and operating system
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_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
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#ifdef BOARD_VERSION
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_printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s (v%s)", BOARD_NAME, BOARD_VERSION); |
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#else
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_printSystemInfoLine(stream, "Module", SYSTEM_INFO_NAMEWIDTH, "%s", BOARD_NAME); |
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#endif
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#ifdef PLATFORM_NAME
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_printSystemInfoLine(stream, "Platform", SYSTEM_INFO_NAMEWIDTH, "%s", PLATFORM_NAME); |
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#endif
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#ifdef PORT_CORE_VARIANT_NAME
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_printSystemInfoLine(stream, "Core Variant", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_CORE_VARIANT_NAME); |
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#endif
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_printSystemInfoLine(stream, "Architecture", SYSTEM_INFO_NAMEWIDTH, "%s", PORT_ARCHITECTURE_NAME); |
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_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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#if (AMIROOS_CFG_SSSP_ENABLE == true) |
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_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); |
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#else
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_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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#endif
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_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); |
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_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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_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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_printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s", (AMIROOS_CFG_DBG == true) ? "debug" : "release"); |
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_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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_printSystemInfoLine(stream, "Compiled" , SYSTEM_INFO_NAMEWIDTH, "%s - %s", __DATE__, __TIME__); |
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// print static information about the bootloader
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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", 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, |
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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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#if (AMIROOS_CFG_SSSP_ENABLE == true) |
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if (BL_CALLBACK_TABLE_ADDRESS->vSSSP.major != AOS_SYSTEM_SSSP_VERSION_MAJOR) {
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if (stream) {
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chprintf(stream, "WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
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} else {
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aosprintf("WARNING: Bootloader and AMiRo-OS implement incompatible SSSP versions!\n");
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} |
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} |
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#endif
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_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 |
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} else {
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if (stream) {
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chprintf(stream, "Bootloader incompatible or not available.\n");
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} else {
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aosprintf("Bootloader incompatible or not available.\n");
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} |
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} |
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// print dynamic information about the module
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_printSystemInfoSeparator(stream, '-', SYSTEM_INFO_WIDTH);
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#if (AMIROOS_CFG_SSSP_ENABLE == true) |
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if (aos.sssp.moduleId != 0) { |
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_printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "%u", aos.sssp.moduleId); |
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} else {
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_printSystemInfoLine(stream, "Module ID", SYSTEM_INFO_NAMEWIDTH, "not available"); |
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} |
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#endif
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_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", |
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dt.tm_mday, |
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dt.tm_mon + 1,
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dt.tm_year + 1900);
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_printSystemInfoLine(stream, "Time", SYSTEM_INFO_NAMEWIDTH, "%02u:%02u:%02u", dt.tm_hour, dt.tm_min, dt.tm_sec); |
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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) || (AMIROOS_CFG_TESTS_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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aosDbgCheck(stream != NULL);
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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 | AOS_SHELL_CONFIG_PROMPT_DATETIME); |
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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_DATETIME; |
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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], "date&time") == 0) { |
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aos.shell.config &= ~AOS_SHELL_CONFIG_PROMPT_UPTIME; |
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aos.shell.config |= AOS_SHELL_CONFIG_PROMPT_DATETIME; |
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retval = AOS_OK; |
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} |
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else {
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chprintf(stream, "unknown option '%s'\n", argv[3]); |
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return AOS_INVALID_ARGUMENTS;
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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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char time[10]; |
| 396 |
switch (aos.shell.config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
|
| 397 |
case AOS_SHELL_CONFIG_PROMPT_UPTIME:
|
| 398 |
strcpy(time, "uptime"); break; |
| 399 |
case AOS_SHELL_CONFIG_PROMPT_DATETIME:
|
| 400 |
strcpy(time, "date&time"); break; |
| 401 |
default:
|
| 402 |
strcpy(time, "no time"); break; |
| 403 |
} |
| 404 |
chprintf(stream, " prompt style: %s, %s\n",
|
| 405 |
(aos.shell.config & AOS_SHELL_CONFIG_PROMPT_MINIMAL) ? "minimal" : "text", |
| 406 |
time); |
| 407 |
chprintf(stream, " input method: %s\n",
|
| 408 |
(aos.shell.config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) ? "replace" : "insert"); |
| 409 |
chprintf(stream, " text matching: %s\n",
|
| 410 |
(aos.shell.config & AOS_SHELL_CONFIG_MATCH_CASE) ? "case sensitive" : "case insensitive"); |
| 411 |
retval = AOS_OK; |
| 412 |
} |
| 413 |
} |
| 414 |
// if the user wants to configure the date or time
|
| 415 |
else if (strcmp(argv[1], "--date&time") == 0 && argc == 4) { |
| 416 |
struct tm dt;
|
| 417 |
aosSysGetDateTime(&dt); |
| 418 |
unsigned int val = atoi(argv[3]); |
| 419 |
if (strcmp(argv[2], "year") == 0) { |
| 420 |
dt.tm_year = val - 1900;
|
| 421 |
} |
| 422 |
else if (strcmp(argv[2], "month") == 0 && val <= 12) { |
| 423 |
dt.tm_mon = val - 1;
|
| 424 |
} |
| 425 |
else if (strcmp(argv[2], "day") == 0 && val <= 31) { |
| 426 |
dt.tm_mday = val; |
| 427 |
} |
| 428 |
else if (strcmp(argv[2], "hour") == 0 && val < 24) { |
| 429 |
dt.tm_hour = val; |
| 430 |
} |
| 431 |
else if (strcmp(argv[2], "minute") == 0 && val < 60) { |
| 432 |
dt.tm_min = val; |
| 433 |
} |
| 434 |
else if (strcmp(argv[2], "second") == 0 && val < 60) { |
| 435 |
dt.tm_sec = val; |
| 436 |
} |
| 437 |
else {
|
| 438 |
chprintf(stream, "unknown option '%s' or value '%s'\n", argv[2], argv[3]); |
| 439 |
return AOS_INVALID_ARGUMENTS;
|
| 440 |
} |
| 441 |
dt.tm_wday = aosTimeDayOfWeekFromDate(dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900) % 7; |
| 442 |
aosSysSetDateTime(&dt); |
| 443 |
|
| 444 |
// read and print new date and time
|
| 445 |
aosSysGetDateTime(&dt); |
| 446 |
chprintf(stream, "date/time set to %02u:%02u:%02u @ %02u-%02u-%04u\n",
|
| 447 |
dt.tm_hour, dt.tm_min, dt.tm_sec, |
| 448 |
dt.tm_mday, dt.tm_mon+1, dt.tm_year+1900); |
| 449 |
|
| 450 |
retval = AOS_OK; |
| 451 |
} |
| 452 |
} |
| 453 |
|
| 454 |
// print help, if required
|
| 455 |
if (retval == AOS_INVALID_ARGUMENTS) {
|
| 456 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
| 457 |
chprintf(stream, "Options:\n");
|
| 458 |
chprintf(stream, " --help\n");
|
| 459 |
chprintf(stream, " Print this help text.\n");
|
| 460 |
chprintf(stream, " --shell [OPT [VAL]]\n");
|
| 461 |
chprintf(stream, " Set or retrieve shell configuration.\n");
|
| 462 |
chprintf(stream, " Possible OPTs and VALs are:\n");
|
| 463 |
chprintf(stream, " prompt text|minimal|uptime|date&time|notime\n");
|
| 464 |
chprintf(stream, " Configures the prompt.\n");
|
| 465 |
chprintf(stream, " match casesensitive|caseinsenitive\n");
|
| 466 |
chprintf(stream, " Configures string matching.\n");
|
| 467 |
chprintf(stream, " --date&time OPT VAL\n");
|
| 468 |
chprintf(stream, " Set the date/time value of OPT to VAL.\n");
|
| 469 |
chprintf(stream, " Possible OPTs are:\n");
|
| 470 |
chprintf(stream, " year\n");
|
| 471 |
chprintf(stream, " month\n");
|
| 472 |
chprintf(stream, " day\n");
|
| 473 |
chprintf(stream, " hour\n");
|
| 474 |
chprintf(stream, " minute\n");
|
| 475 |
chprintf(stream, " second\n");
|
| 476 |
} |
| 477 |
|
| 478 |
return (argc > 1 && strcmp(argv[1], "--help") == 0) ? AOS_OK : retval; |
| 479 |
} |
| 480 |
|
| 481 |
/**
|
| 482 |
* @brief Callback function for the system:info shell command.
|
| 483 |
*
|
| 484 |
* @param[in] stream The I/O stream to use.
|
| 485 |
* @param[in] argc Number of arguments.
|
| 486 |
* @param[in] argv List of pointers to the arguments.
|
| 487 |
*
|
| 488 |
* @return An exit status.
|
| 489 |
* @retval AOS_OK The command was executed successfully.
|
| 490 |
*/
|
| 491 |
static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 492 |
{
|
| 493 |
aosDbgCheck(stream != NULL);
|
| 494 |
|
| 495 |
(void)argc;
|
| 496 |
(void)argv;
|
| 497 |
|
| 498 |
// print system information
|
| 499 |
_printSystemInfo(stream); |
| 500 |
|
| 501 |
// print time measurement precision
|
| 502 |
chprintf(stream, "module time resolution: %uus\n", AOS_SYSTEM_TIME_RESOLUTION);
|
| 503 |
|
| 504 |
// print system uptime
|
| 505 |
aos_timestamp_t uptime; |
| 506 |
aosSysGetUptime(&uptime); |
| 507 |
chprintf(stream, "The system is running for\n");
|
| 508 |
chprintf(stream, "%10u days\n", (uint32_t)(uptime / MICROSECONDS_PER_DAY));
|
| 509 |
chprintf(stream, "%10u hours\n", (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR));
|
| 510 |
chprintf(stream, "%10u minutes\n", (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE));
|
| 511 |
chprintf(stream, "%10u seconds\n", (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND));
|
| 512 |
chprintf(stream, "%10u milliseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND));
|
| 513 |
chprintf(stream, "%10u microseconds\n", (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
|
| 514 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
| 515 |
chprintf(stream, "SSSP synchronization offset: %.3fus per %uus\n", _syssyncskew, AMIROOS_CFG_SSSP_SYSSYNCPERIOD);
|
| 516 |
#endif /* AMIROOS_CFG_SSSP_MASTER != true && AMIROOS_CFG_PROFILE == true */ |
| 517 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
| 518 |
|
| 519 |
// print shell info
|
| 520 |
chprintf(stream, "System shell information:\n");
|
| 521 |
chprintf(stream, "\tcommands available: %u\n", aosShellCountCommands(&aos.shell));
|
| 522 |
chprintf(stream, "\tline width: %u characters\n", aos.shell.linesize);
|
| 523 |
chprintf(stream, "\tmaximum arguments: %u\n", aos.shell.arglistsize);
|
| 524 |
#if (AMIROOS_CFG_DBG == true) |
| 525 |
chprintf(stream, "\tthread stack size: %u bytes\n", aosThdGetStacksize(aos.shell.thread));
|
| 526 |
#if (CH_DBG_FILL_THREADS == TRUE)
|
| 527 |
chprintf(stream, "\tstack peak utilization: %u bytes (%.2f%%)\n", aosThdGetStackPeakUtilization(aos.shell.thread), (float)aosThdGetStackPeakUtilization(aos.shell.thread) / (float)aosThdGetStacksize(aos.shell.thread) * 100.0f); |
| 528 |
#endif /* CH_DBG_FILL_THREADS == TRUE */ |
| 529 |
#endif /* AMIROOS_CFG_DBG == true */ |
| 530 |
_printSystemInfoSeparator(stream, '=', SYSTEM_INFO_WIDTH);
|
| 531 |
|
| 532 |
return AOS_OK;
|
| 533 |
} |
| 534 |
|
| 535 |
/**
|
| 536 |
* @brief Callback function for the sytem:shutdown shell command.
|
| 537 |
*
|
| 538 |
* @param[in] stream The I/O stream to use.
|
| 539 |
* @param[in] argc Number of arguments.
|
| 540 |
* @param[in] argv List of pointers to the arguments.
|
| 541 |
*
|
| 542 |
* @return An exit status.
|
| 543 |
* @retval AOS_OK The command was executed successfully.
|
| 544 |
* @retval AOS_INVALID_ARGUMENTS There was an issue with the arguments.
|
| 545 |
*/
|
| 546 |
static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 547 |
{
|
| 548 |
aosDbgCheck(stream != NULL);
|
| 549 |
|
| 550 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 551 |
// print help text
|
| 552 |
if (argc != 2 || strcmp(argv[1], "--help") == 0) { |
| 553 |
chprintf(stream, "Usage: %s OPTION\n", argv[0]); |
| 554 |
chprintf(stream, "Options:\n");
|
| 555 |
chprintf(stream, " --help\n");
|
| 556 |
chprintf(stream, " Print this help text.\n");
|
| 557 |
chprintf(stream, " --hibernate, -h\n");
|
| 558 |
chprintf(stream, " Shutdown to hibernate mode.\n");
|
| 559 |
chprintf(stream, " Least energy saving, but allows charging via pins.\n");
|
| 560 |
chprintf(stream, " --deepsleep, -d\n");
|
| 561 |
chprintf(stream, " Shutdown to deepsleep mode.\n");
|
| 562 |
chprintf(stream, " Minimum energy consumption while allowing charging via plug.\n");
|
| 563 |
chprintf(stream, " --transportation, -t\n");
|
| 564 |
chprintf(stream, " Shutdown to transportation mode.\n");
|
| 565 |
chprintf(stream, " Minimum energy consumption with all interrupts disabled (no charging).\n");
|
| 566 |
chprintf(stream, " --restart, -r\n");
|
| 567 |
chprintf(stream, " Shutdown and restart system.\n");
|
| 568 |
|
| 569 |
return (argc != 2) ? AOS_INVALID_ARGUMENTS : AOS_OK; |
| 570 |
} |
| 571 |
// handle argument
|
| 572 |
else {
|
| 573 |
if (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--hibernate") == 0) { |
| 574 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
| 575 |
chThdTerminate(chThdGetSelfX()); |
| 576 |
return AOS_OK;
|
| 577 |
} |
| 578 |
else if (strcmp(argv[1], "-d") == 0 || strcmp(argv[1], "--deepsleep") == 0) { |
| 579 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
| 580 |
chThdTerminate(chThdGetSelfX()); |
| 581 |
return AOS_OK;
|
| 582 |
} |
| 583 |
else if (strcmp(argv[1], "-t") == 0 || strcmp(argv[1], "--transportation") == 0) { |
| 584 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
| 585 |
chThdTerminate(chThdGetSelfX()); |
| 586 |
return AOS_OK;
|
| 587 |
} |
| 588 |
else if (strcmp(argv[1], "-r") == 0 || strcmp(argv[1], "--restart") == 0) { |
| 589 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
| 590 |
chThdTerminate(chThdGetSelfX()); |
| 591 |
return AOS_OK;
|
| 592 |
} |
| 593 |
else {
|
| 594 |
chprintf(stream, "unknown argument %s\n", argv[1]); |
| 595 |
return AOS_INVALID_ARGUMENTS;
|
| 596 |
} |
| 597 |
} |
| 598 |
#else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
| 599 |
(void)argv;
|
| 600 |
(void)argc;
|
| 601 |
|
| 602 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
| 603 |
chThdTerminate(chThdGetSelfX()); |
| 604 |
return AOS_OK;
|
| 605 |
#endif /* AMIROOS_CFG_SSSP_ENABLE */ |
| 606 |
} |
| 607 |
|
| 608 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 609 |
/**
|
| 610 |
* @brief Callback function for the kernel:test shell command.
|
| 611 |
*
|
| 612 |
* @param[in] stream The I/O stream to use.
|
| 613 |
* @param[in] argc Number of arguments.
|
| 614 |
* @param[in] argv List of pointers to the arguments.
|
| 615 |
*
|
| 616 |
* @return An exit status.
|
| 617 |
*/
|
| 618 |
static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]) |
| 619 |
{
|
| 620 |
aosDbgCheck(stream != NULL);
|
| 621 |
|
| 622 |
(void)argc;
|
| 623 |
(void)argv;
|
| 624 |
|
| 625 |
msg_t retval = test_execute(stream, &rt_test_suite); |
| 626 |
|
| 627 |
return retval;
|
| 628 |
} |
| 629 |
#endif /* AMIROOS_CFG_TESTS_ENABLE == true */ |
| 630 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 631 |
|
| 632 |
// suppress warning in case no interrupt GPIOs are defined
|
| 633 |
#pragma GCC diagnostic push
|
| 634 |
#pragma GCC diagnostic ignored "-Wunused-function" |
| 635 |
/**
|
| 636 |
* @brief Generic callback function for GPIO interrupts.
|
| 637 |
*
|
| 638 |
* @param[in] args Pointer to the GPIO pad identifier.
|
| 639 |
*/
|
| 640 |
static void _intCallback(void* args) |
| 641 |
{
|
| 642 |
aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8)); |
| 643 |
|
| 644 |
chSysLockFromISR(); |
| 645 |
chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(*((iopadid_t*)args))); |
| 646 |
chSysUnlockFromISR(); |
| 647 |
|
| 648 |
return;
|
| 649 |
} |
| 650 |
#pragma GCC diagnostic pop
|
| 651 |
|
| 652 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true)) || defined(__DOXYGEN__) |
| 653 |
/**
|
| 654 |
* @brief Callback function for the Sync signal interrupt.
|
| 655 |
*
|
| 656 |
* @param[in] args Pointer to the GPIO pad identifier.
|
| 657 |
*/
|
| 658 |
static void _signalSyncCallback(void *args) |
| 659 |
{
|
| 660 |
aosDbgCheck((args != NULL) && (*((iopadid_t*)args) < sizeof(eventflags_t) * 8)); |
| 661 |
|
| 662 |
apalControlGpioState_t s_state; |
| 663 |
aos_timestamp_t uptime; |
| 664 |
|
| 665 |
chSysLockFromISR(); |
| 666 |
// if the system is in operation phase
|
| 667 |
if (aos.sssp.stage == AOS_SSSP_OPERATION) {
|
| 668 |
// read signal S
|
| 669 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state); |
| 670 |
// if S was toggled from on to off
|
| 671 |
if (s_state == APAL_GPIO_OFF) {
|
| 672 |
// get current uptime
|
| 673 |
aosSysGetUptimeX(&uptime); |
| 674 |
// align the uptime with the synchronization period
|
| 675 |
if (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD < AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2) { |
| 676 |
_uptime -= uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
| 677 |
#if (AMIROOS_CFG_PROFILE == true) |
| 678 |
_syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) + (SYSTEM_SYSSYNCSKEW_LPFACTOR * (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD)); |
| 679 |
#endif
|
| 680 |
} else {
|
| 681 |
_uptime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
| 682 |
#if (AMIROOS_CFG_PROFILE == true) |
| 683 |
_syssyncskew = ((1.0f - SYSTEM_SYSSYNCSKEW_LPFACTOR) * _syssyncskew) - (SYSTEM_SYSSYNCSKEW_LPFACTOR * (AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (uptime % AMIROOS_CFG_SSSP_SYSSYNCPERIOD))); |
| 684 |
#endif
|
| 685 |
} |
| 686 |
} |
| 687 |
} |
| 688 |
// broadcast event
|
| 689 |
chEvtBroadcastFlagsI(&aos.events.io, AOS_IOEVENT_FLAG(*((iopadid_t*)args))); |
| 690 |
chSysUnlockFromISR(); |
| 691 |
|
| 692 |
return;
|
| 693 |
} |
| 694 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER != true) */ |
| 695 |
|
| 696 |
/**
|
| 697 |
* @brief Callback function for the uptime accumulation timer.
|
| 698 |
*
|
| 699 |
* @param[in] par Generic parameter.
|
| 700 |
*/
|
| 701 |
static void _uptimeCallback(void* par) |
| 702 |
{
|
| 703 |
(void)par;
|
| 704 |
|
| 705 |
chSysLockFromISR(); |
| 706 |
// read current time in system ticks
|
| 707 |
register const systime_t st = chVTGetSystemTimeX(); |
| 708 |
// update the uptime variables
|
| 709 |
_uptime += chTimeI2US(chTimeDiffX(_synctime, st)); |
| 710 |
_synctime = st; |
| 711 |
// enable the timer again
|
| 712 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
| 713 |
chSysUnlockFromISR(); |
| 714 |
|
| 715 |
return;
|
| 716 |
} |
| 717 |
|
| 718 |
#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true)) || defined (__DOXYGEN__) |
| 719 |
/**
|
| 720 |
* @brief Periodic system synchronization callback function.
|
| 721 |
* @details Toggles the SYS_SYNC signal and reconfigures the system synchronization timer.
|
| 722 |
*
|
| 723 |
* @param[in] par Unuesed parameters.
|
| 724 |
*/
|
| 725 |
static void _sysSyncTimerCallback(void* par) |
| 726 |
{
|
| 727 |
(void)par;
|
| 728 |
|
| 729 |
apalControlGpioState_t s_state; |
| 730 |
aos_timestamp_t uptime; |
| 731 |
|
| 732 |
chSysLockFromISR(); |
| 733 |
// toggle and read signal S
|
| 734 |
apalGpioToggle(moduleSsspGpioSync.gpio); |
| 735 |
apalControlGpioGet(&moduleSsspGpioSync, &s_state); |
| 736 |
// if S was toggled from off to on
|
| 737 |
if (s_state == APAL_GPIO_ON) {
|
| 738 |
// reconfigure the timer precisely, because the logically falling edge (next interrupt) snychronizes the system time
|
| 739 |
_syssynctime += AMIROOS_CFG_SSSP_SYSSYNCPERIOD; |
| 740 |
aosSysGetUptimeX(&uptime); |
| 741 |
chVTSetI(&_syssynctimer, chTimeUS2I(_syssynctime - uptime), _sysSyncTimerCallback, NULL);
|
| 742 |
} |
| 743 |
// if S was toggled from on to off
|
| 744 |
else /* if (s_state == APAL_GPIO_OFF) */ { |
| 745 |
// reconfigure the timer (lazy)
|
| 746 |
chVTSetI(&_syssynctimer, chTimeUS2I(AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2), _sysSyncTimerCallback, NULL); |
| 747 |
} |
| 748 |
chSysUnlockFromISR(); |
| 749 |
|
| 750 |
return;
|
| 751 |
} |
| 752 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MASTER == true) */ |
| 753 |
|
| 754 |
/**
|
| 755 |
* @brief AMiRo-OS system initialization.
|
| 756 |
* @note Must be called from the system control thread (usually main thread).
|
| 757 |
*
|
| 758 |
* @param[in] shellPrompt String to be printed as prompt of the system shell.
|
| 759 |
*/
|
| 760 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
| 761 |
void aosSysInit(const char* shellPrompt) |
| 762 |
#else
|
| 763 |
void aosSysInit(void) |
| 764 |
#endif
|
| 765 |
{
|
| 766 |
/* set control thread to maximum priority */
|
| 767 |
chThdSetPriority(AOS_THD_CTRLPRIO); |
| 768 |
|
| 769 |
/* set local variables */
|
| 770 |
chVTObjectInit(&_systimer); |
| 771 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 772 |
_synctime = 0;
|
| 773 |
_uptime = 0;
|
| 774 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 775 |
chVTObjectInit(&_syssynctimer); |
| 776 |
_syssynctime = 0;
|
| 777 |
#endif
|
| 778 |
#if (AMIROOS_CFG_SSSP_MASTER != true) && (AMIROOS_CFG_PROFILE == true) |
| 779 |
_syssyncskew = 0.0f; |
| 780 |
#endif
|
| 781 |
#else /* AMIROOS_CFG_SSSP_ENABLE == false */ |
| 782 |
// start the uptime counter
|
| 783 |
chSysLock(); |
| 784 |
_synctime = chVTGetSystemTimeX(); |
| 785 |
_uptime = 0;
|
| 786 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
| 787 |
chSysUnlock(); |
| 788 |
#endif /* AMIROOS_CFG_SSSP_ENABLE */ |
| 789 |
|
| 790 |
/* initialize aos configuration */
|
| 791 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 792 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_1; |
| 793 |
aos.sssp.moduleId = 0;
|
| 794 |
#endif
|
| 795 |
aosIOStreamInit(&aos.iostream); |
| 796 |
chEvtObjectInit(&aos.events.io); |
| 797 |
chEvtObjectInit(&aos.events.os); |
| 798 |
|
| 799 |
/* interrupt setup */
|
| 800 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 801 |
// PD signal
|
| 802 |
palSetPadCallback(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, _intCallback, &moduleSsspGpioPd.gpio->pad); |
| 803 |
palEnablePadEvent(moduleSsspGpioPd.gpio->port, moduleSsspGpioPd.gpio->pad, APAL2CH_EDGE(moduleSsspGpioPd.meta.edge)); |
| 804 |
// SYNC signal
|
| 805 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 806 |
palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _intCallback, &moduleSsspGpioSync.gpio->pad); |
| 807 |
#else
|
| 808 |
palSetPadCallback(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, _signalSyncCallback, &moduleSsspGpioSync.gpio->pad); |
| 809 |
#endif
|
| 810 |
palEnablePadEvent(moduleSsspGpioSync.gpio->port, moduleSsspGpioSync.gpio->pad, APAL2CH_EDGE(moduleSsspGpioSync.meta.edge)); |
| 811 |
#if (AMIROOS_CFG_SSSP_STACK_START != true) |
| 812 |
// DN signal
|
| 813 |
palSetPadCallback(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, _intCallback, &moduleSsspGpioDn.gpio->pad); |
| 814 |
palEnablePadEvent(moduleSsspGpioDn.gpio->port, moduleSsspGpioDn.gpio->pad, APAL2CH_EDGE(moduleSsspGpioDn.meta.edge)); |
| 815 |
#endif
|
| 816 |
#if (AMIROOS_CFG_SSSP_STACK_END != true) |
| 817 |
// UP signal
|
| 818 |
palSetPadCallback(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, _intCallback, &moduleSsspGpioUp.gpio->pad); |
| 819 |
palEnablePadEvent(moduleSsspGpioUp.gpio->port, moduleSsspGpioUp.gpio->pad, APAL2CH_EDGE(moduleSsspGpioUp.meta.edge)); |
| 820 |
#endif
|
| 821 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
| 822 |
#ifdef MODULE_INIT_INTERRUPTS
|
| 823 |
// further interrupt signals
|
| 824 |
MODULE_INIT_INTERRUPTS(); |
| 825 |
#endif
|
| 826 |
|
| 827 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
| 828 |
/* init shell */
|
| 829 |
aosShellInit(&aos.shell, |
| 830 |
&aos.events.os, |
| 831 |
shellPrompt, |
| 832 |
_shell_line, |
| 833 |
AMIROOS_CFG_SHELL_LINEWIDTH, |
| 834 |
_shell_arglist, |
| 835 |
AMIROOS_CFG_SHELL_MAXARGS); |
| 836 |
// add system commands
|
| 837 |
aosShellAddCommand(&aos.shell, &_shellcmd_config); |
| 838 |
aosShellAddCommand(&aos.shell, &_shellcmd_info); |
| 839 |
aosShellAddCommand(&aos.shell, &_shellcmd_shutdown); |
| 840 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) |
| 841 |
aosShellAddCommand(&aos.shell, &_shellcmd_kerneltest); |
| 842 |
#endif
|
| 843 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
| 844 |
|
| 845 |
return;
|
| 846 |
} |
| 847 |
|
| 848 |
/**
|
| 849 |
* @brief Starts the system and all system threads.
|
| 850 |
*/
|
| 851 |
inline void aosSysStart(void) |
| 852 |
{
|
| 853 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 854 |
// update the system SSSP stage
|
| 855 |
aos.sssp.stage = AOS_SSSP_OPERATION; |
| 856 |
|
| 857 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 858 |
{
|
| 859 |
chSysLock(); |
| 860 |
// start the system synchronization counter
|
| 861 |
// The first iteration of the timer is set to the next 'center' of a 'slice'.
|
| 862 |
aos_timestamp_t t; |
| 863 |
aosSysGetUptimeX(&t); |
| 864 |
t = AMIROOS_CFG_SSSP_SYSSYNCPERIOD - (t % AMIROOS_CFG_SSSP_SYSSYNCPERIOD); |
| 865 |
chVTSetI(&_syssynctimer, chTimeUS2I((t > (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) ? (t - (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2)) : (t + (AMIROOS_CFG_SSSP_SYSSYNCPERIOD / 2))), _sysSyncTimerCallback, NULL); |
| 866 |
chSysUnlock(); |
| 867 |
} |
| 868 |
#endif
|
| 869 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
| 870 |
|
| 871 |
// print system information;
|
| 872 |
_printSystemInfo((BaseSequentialStream*)&aos.iostream); |
| 873 |
aosprintf("\n");
|
| 874 |
|
| 875 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
| 876 |
// start system shell thread
|
| 877 |
#if (CH_CFG_USE_THREADHIERARCHY == TRUE)
|
| 878 |
aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell, &ch.mainthread);
|
| 879 |
#else
|
| 880 |
aos.shell.thread = chThdCreateStatic(_shell_wa, sizeof(_shell_wa), AMIROOS_CFG_SHELL_THREADPRIO, aosShellThread, &aos.shell);
|
| 881 |
#endif
|
| 882 |
#endif
|
| 883 |
|
| 884 |
return;
|
| 885 |
} |
| 886 |
|
| 887 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__) |
| 888 |
/**
|
| 889 |
* @brief Implements the SSSP startup synchronization step.
|
| 890 |
*
|
| 891 |
* @param[in] syncEvtListener Event listener that receives the Sync event.
|
| 892 |
*
|
| 893 |
* @return If another event that the listener is interested in was received, its mask is returned.
|
| 894 |
* Otherwise an empty mask (0) is returned.
|
| 895 |
*/
|
| 896 |
eventmask_t aosSysSsspStartupOsInitSyncCheck(event_listener_t* syncEvtListener) |
| 897 |
{
|
| 898 |
aosDbgCheck(syncEvtListener != NULL);
|
| 899 |
|
| 900 |
// local variables
|
| 901 |
eventmask_t m; |
| 902 |
eventflags_t f; |
| 903 |
apalControlGpioState_t s; |
| 904 |
|
| 905 |
// update the system SSSP stage
|
| 906 |
aos.sssp.stage = AOS_SSSP_STARTUP_2_2; |
| 907 |
|
| 908 |
// deactivate the sync signal to indicate that the module is ready (SSSPv1 stage 2.1 of startup phase)
|
| 909 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_OFF); |
| 910 |
|
| 911 |
// wait for any event to occur (do not apply any filter in order not to miss any event)
|
| 912 |
m = chEvtWaitOne(ALL_EVENTS); |
| 913 |
f = chEvtGetAndClearFlags(syncEvtListener); |
| 914 |
apalControlGpioGet(&moduleSsspGpioSync, &s); |
| 915 |
|
| 916 |
// if the event was a system event,
|
| 917 |
// and it was fired because of the SysSync control signal,
|
| 918 |
// and the SysSync control signal has been deactivated
|
| 919 |
if (m & syncEvtListener->events &&
|
| 920 |
f == MODULE_SSSP_EVENTFLAGS_SYNC && |
| 921 |
s == APAL_GPIO_OFF) {
|
| 922 |
chSysLock(); |
| 923 |
// start the uptime counter
|
| 924 |
_synctime = chVTGetSystemTimeX(); |
| 925 |
_uptime = 0;
|
| 926 |
chVTSetI(&_systimer, SYSTIMER_PERIOD, &_uptimeCallback, NULL);
|
| 927 |
chSysUnlock(); |
| 928 |
|
| 929 |
return 0; |
| 930 |
} |
| 931 |
// an unexpected event occurred
|
| 932 |
else {
|
| 933 |
// reassign the flags to the event and return the event mask
|
| 934 |
syncEvtListener->flags |= f; |
| 935 |
return m;
|
| 936 |
} |
| 937 |
} |
| 938 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
| 939 |
|
| 940 |
/**
|
| 941 |
* @brief Retrieves the system uptime.
|
| 942 |
*
|
| 943 |
* @param[out] ut The system uptime.
|
| 944 |
*/
|
| 945 |
inline void aosSysGetUptimeX(aos_timestamp_t* ut) |
| 946 |
{
|
| 947 |
aosDbgCheck(ut != NULL);
|
| 948 |
|
| 949 |
*ut = _uptime + chTimeI2US(chTimeDiffX(_synctime, chVTGetSystemTimeX())); |
| 950 |
|
| 951 |
return;
|
| 952 |
} |
| 953 |
|
| 954 |
/**
|
| 955 |
* @brief retrieves the date and time from the MCU clock.
|
| 956 |
*
|
| 957 |
* @param[out] td The date and time.
|
| 958 |
*/
|
| 959 |
void aosSysGetDateTime(struct tm* dt) |
| 960 |
{
|
| 961 |
aosDbgCheck(dt != NULL);
|
| 962 |
|
| 963 |
RTCDateTime rtc; |
| 964 |
rtcGetTime(&MODULE_HAL_RTC, &rtc); |
| 965 |
rtcConvertDateTimeToStructTm(&rtc, dt, NULL);
|
| 966 |
|
| 967 |
return;
|
| 968 |
} |
| 969 |
|
| 970 |
/**
|
| 971 |
* @brief set the date and time of the MCU clock.
|
| 972 |
*
|
| 973 |
* @param[in] dt The date and time to set.
|
| 974 |
*/
|
| 975 |
void aosSysSetDateTime(struct tm* dt) |
| 976 |
{
|
| 977 |
aosDbgCheck(dt != NULL);
|
| 978 |
|
| 979 |
RTCDateTime rtc; |
| 980 |
rtcConvertStructTmToDateTime(dt, 0, &rtc);
|
| 981 |
rtcSetTime(&MODULE_HAL_RTC, &rtc); |
| 982 |
|
| 983 |
return;
|
| 984 |
} |
| 985 |
|
| 986 |
/**
|
| 987 |
* @brief Initializes/Acknowledges a system shutdown/restart request.
|
| 988 |
* @note This functions should be called from the thread with highest priority.
|
| 989 |
*
|
| 990 |
* @param[in] shutdown Type of shutdown.
|
| 991 |
*/
|
| 992 |
void aosSysShutdownInit(aos_shutdown_t shutdown)
|
| 993 |
{
|
| 994 |
// check arguments
|
| 995 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
| 996 |
|
| 997 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 998 |
#if (AMIROOS_CFG_SSSP_MASTER == true) |
| 999 |
// deactivate the system synchronization timer
|
| 1000 |
chVTReset(&_syssynctimer); |
| 1001 |
#endif
|
| 1002 |
|
| 1003 |
// update the system SSSP stage
|
| 1004 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_1; |
| 1005 |
|
| 1006 |
chSysLock(); |
| 1007 |
// activate the SYS_PD control signal only, if this module initiated the shutdown
|
| 1008 |
if (shutdown != AOS_SHUTDOWN_PASSIVE) {
|
| 1009 |
apalControlGpioSet(&moduleSsspGpioPd, APAL_GPIO_ON); |
| 1010 |
} |
| 1011 |
// activate the SYS_SYNC signal
|
| 1012 |
apalControlGpioSet(&moduleSsspGpioSync, APAL_GPIO_ON); |
| 1013 |
chSysUnlock(); |
| 1014 |
#endif /* AMIROOS_CFG_SSSP_ENABLE == true */ |
| 1015 |
|
| 1016 |
switch (shutdown) {
|
| 1017 |
case AOS_SHUTDOWN_PASSIVE:
|
| 1018 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_SHUTDOWN); |
| 1019 |
aosprintf("shutdown request received...\n");
|
| 1020 |
break;
|
| 1021 |
case AOS_SHUTDOWN_HIBERNATE:
|
| 1022 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_HIBERNATE); |
| 1023 |
aosprintf("shutdown to hibernate mode...\n");
|
| 1024 |
break;
|
| 1025 |
case AOS_SHUTDOWN_DEEPSLEEP:
|
| 1026 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP); |
| 1027 |
aosprintf("shutdown to deepsleep mode...\n");
|
| 1028 |
break;
|
| 1029 |
case AOS_SHUTDOWN_TRANSPORTATION:
|
| 1030 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION); |
| 1031 |
aosprintf("shutdown to transportation mode...\n");
|
| 1032 |
break;
|
| 1033 |
case AOS_SHUTDOWN_RESTART:
|
| 1034 |
chEvtBroadcastFlags(&aos.events.os, AOS_SYSTEM_EVENTFLAGS_RESTART); |
| 1035 |
aosprintf("restarting system...\n");
|
| 1036 |
break;
|
| 1037 |
// must never occur
|
| 1038 |
case AOS_SHUTDOWN_NONE:
|
| 1039 |
default:
|
| 1040 |
break;
|
| 1041 |
} |
| 1042 |
|
| 1043 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 1044 |
// update the system SSSP stage
|
| 1045 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_2; |
| 1046 |
#endif
|
| 1047 |
|
| 1048 |
return;
|
| 1049 |
} |
| 1050 |
|
| 1051 |
/**
|
| 1052 |
* @brief Stops the system and all related threads (not the thread this function is called from).
|
| 1053 |
*/
|
| 1054 |
void aosSysStop(void) |
| 1055 |
{
|
| 1056 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) |
| 1057 |
chThdWait(aos.shell.thread); |
| 1058 |
#endif
|
| 1059 |
|
| 1060 |
return;
|
| 1061 |
} |
| 1062 |
|
| 1063 |
/**
|
| 1064 |
* @brief Deinitialize all system variables.
|
| 1065 |
*/
|
| 1066 |
void aosSysDeinit(void) |
| 1067 |
{
|
| 1068 |
return;
|
| 1069 |
} |
| 1070 |
|
| 1071 |
/**
|
| 1072 |
* @brief Finally shuts down the system and calls the bootloader callback function.
|
| 1073 |
* @note This function should be called from the thtead with highest priority.
|
| 1074 |
*
|
| 1075 |
* @param[in] shutdown Type of shutdown.
|
| 1076 |
*/
|
| 1077 |
void aosSysShutdownFinal(aos_shutdown_t shutdown)
|
| 1078 |
{
|
| 1079 |
// check arguments
|
| 1080 |
aosDbgCheck(shutdown != AOS_SHUTDOWN_NONE); |
| 1081 |
|
| 1082 |
// disable all interrupts
|
| 1083 |
irqDeinit(); |
| 1084 |
|
| 1085 |
#if (AMIROOS_CFG_SSSP_ENABLE == true) |
| 1086 |
// update the system SSSP stage
|
| 1087 |
aos.sssp.stage = AOS_SSSP_SHUTDOWN_1_3; |
| 1088 |
#endif
|
| 1089 |
|
| 1090 |
// validate bootloader
|
| 1091 |
if ((BL_CALLBACK_TABLE_ADDRESS->magicNumber == BL_MAGIC_NUMBER) &&
|
| 1092 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.major == BL_VERSION_MAJOR) && |
| 1093 |
(BL_CALLBACK_TABLE_ADDRESS->vBootloader.minor >= BL_VERSION_MINOR)) {
|
| 1094 |
// call bootloader callback depending on arguments
|
| 1095 |
switch (shutdown) {
|
| 1096 |
case AOS_SHUTDOWN_PASSIVE:
|
| 1097 |
BL_CALLBACK_TABLE_ADDRESS->cbHandleShutdownRequest(); |
| 1098 |
break;
|
| 1099 |
case AOS_SHUTDOWN_HIBERNATE:
|
| 1100 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownHibernate(); |
| 1101 |
break;
|
| 1102 |
case AOS_SHUTDOWN_DEEPSLEEP:
|
| 1103 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownDeepsleep(); |
| 1104 |
break;
|
| 1105 |
case AOS_SHUTDOWN_TRANSPORTATION:
|
| 1106 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownTransportation(); |
| 1107 |
break;
|
| 1108 |
case AOS_SHUTDOWN_RESTART:
|
| 1109 |
BL_CALLBACK_TABLE_ADDRESS->cbShutdownRestart(); |
| 1110 |
break;
|
| 1111 |
// must never occur
|
| 1112 |
case AOS_SHUTDOWN_NONE:
|
| 1113 |
default:
|
| 1114 |
break;
|
| 1115 |
} |
| 1116 |
} else {
|
| 1117 |
// fallback if bootloader was found to be invalid
|
| 1118 |
aosprintf("Bootloader incompatible or not available!\n");
|
| 1119 |
aosThdMSleep(10);
|
| 1120 |
chSysDisable(); |
| 1121 |
} |
| 1122 |
|
| 1123 |
return;
|
| 1124 |
} |
| 1125 |
|
| 1126 |
/** @} */
|