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amiro-os @ 9ff01927

# Date Author Comment
9ff01927 2018-11-13 11:34 Thomas Schöpping

Minor fixes and enhancements.

6ec8d60d 2018-11-12 09:57 Thomas Schöpping

removed ChibiOS dependencies from build-tree: C++ wrappers and shell

8376530c 2018-11-06 14:46 Thomas Schöpping

enhanced UML component diagrams

0039ffcb 2018-11-06 12:01 Thomas Schöpping

Introduced an UML component diagram.
The submodules AMiRo-BLT and AMiRo-LLD have been updated.

a4a18efc 2018-11-05 16:59 Thomas Schöpping

Removed the extension of the optional BUILDDIR variable in the module makefiles.

b033b3ae 2018-11-05 16:58 Thomas Schöpping

Further enhanced the motor driver unit test.

2e69d671 2018-10-22 16:35 Thomas Schöpping

Reverted some modifications to the MotorDriver unit test for better stability.

47680f67 2018-10-19 17:20 Thomas Schöpping

Improved motor driver unit test for better identification of errors.

acc97cbf 2018-10-19 17:20 Thomas Schöpping

Minor optimizations regarding memory utilization.

e0ce5f27 2018-10-17 18:42 Thomas Schöpping

AMiRo-BLT re-forwarded

fe0a4d95 2018-10-17 18:41 Thomas Schöpping

Merge branch 'master' of

0a89baf2 2018-10-17 18:40 Thomas Schöpping

Introduced a POSIX-like thread hierarchy system in ChibiOS (addad a patch) and adapted AMiRo-OS accordingly.
In the process ChibiOS has been updated as well.

1dd7edc7 2018-10-17 18:39 Thomas Schöpping

Added a kernel patch to fix overflow issues with the chTimeAddX() function.

8d15f07d 2018-10-15 11:50 Marc Rothmann

Merge branch 'master' of

57a5ea60 2018-10-15 11:50 Marc Rothmann

Implemented brutforcing of BQ27500 sealed keys.

9f224ade 2018-10-12 12:46 Thomas Schöpping

Some minor fixes and enhancements.
Most importantly, the expected jitter (CH_CFG_ST_TIMEDELTA) was increased form 20 to 50us.

af4fd4a2 2018-10-04 18:12 Thomas Schöpping

minor enhancement of the shell thread main function declaration

02c29a8f 2018-10-04 18:12 Thomas Schöpping

removed the UWB module specific code from the LightRing

72daabbb 2018-09-28 11:50 Thomas Schöpping

Merge branch 'master' of

5ab6a6a4 2018-09-28 11:49 Thomas Schöpping

periphAL: Enhanced I2C and SPI communication. It is now possible to lock drivers externally if multiple accesses need to be atomic.

14d3b084 2018-09-27 15:28 Marc Rothmann

Merge branch 'master' of

3689c350 2018-09-27 15:28 Marc Rothmann

Added AMiRo-BLT documentation and moved AMiRo-LLD doxygen module to top level.

27e4a312 2018-09-20 11:21 Thomas Schöpping

Updated AMiRo-BLT submodule and implemented support of the the newly introduced /dev/ttyAMiRo<ID> serial port alias.

9b0c922c 2018-09-17 16:27 Thomas Schöpping

Slightly enhanced the script

b309b751 2018-09-17 16:27 Thomas Schöpping

All contents of the os/ folder has been moved one directory up.

45fb0d6f 2018-09-17 16:05 Thomas Schöpping

removed cpplint tool since it is outdated and not maintained.

5d929a9e 2018-09-17 15:47 Thomas Schöpping

Reworked linker scripts.
the os/hal/ directory was removed completely.
Each module now has its own linker script, which again includes the fundamental liner scripts within ChibiOS.
All makefiles have been adapted accordingly.

eedb8e58 2018-09-17 15:45 Thomas Schöpping

Review of the QEI driver patch (minor changes).

d5bda557 2018-09-17 13:57 Thomas Schöpping

Merge branch 'master' of

1fa17188 2018-09-17 13:57 Thomas Schöpping

optimized fan out calculation of masks for GPIO initialization.

f1d5aa74 2018-09-17 12:03 Marc Rothmann

Corrected error in ChibiOS QEI patch.

20a4e01c 2018-09-17 12:00 Marc Rothmann

Moved QEI driver into ChibiOS (patch).

69b23c6c 2018-09-17 11:48 Marc Rothmann

Moved QEI driver into ChibiOS (patch).

40d4810c 2018-09-14 16:22 Thomas Schöpping

fixed several critical errors introduced in the last commits

37bacabf 2018-09-14 16:15 Thomas Schöpping

Added some basics to mask pads during GPIO initialization (wip)

dd9c40b2 2018-09-14 16:14 Thomas Schöpping

AMiRo-LLD submodule updated

780997c4 2018-09-14 16:14 Thomas Schöpping

updated ChibiOS submodule (had been reverted to an older version)

e610ed8c 2018-09-14 16:09 Thomas Schöpping

Merge branch 'master' of

1703dfdf 2018-09-14 16:09 Thomas Schöpping

periphAL: implementation for the nrewly introduced apalDbgPrintf() function added

e05848a6 2018-09-14 13:50 Robin Ewers

add dw1000 unittest

e251c4e6 2018-09-14 12:35 Robin Ewers

add apalSPITransmitAndReceive function to periphAL.h

bceae0f9 2018-09-13 15:45 Thomas Schöpping

Merge branch 'master' of

22be62dc 2018-09-13 15:45 Thomas Schöpping

Reintroduced ChibiOS patch for non-DMA I2C access.
Old patch could not be applied to latest version of ChibiOS anymore.

53710ca3 2018-09-13 15:09 Marc Rothmann

Doxygen file documentation and modules.

6df420be 2018-09-06 17:57 Thomas Schöpping

updated ChibiOS submodule, and removed a previously required workaround

1bb524af 2018-09-06 17:56 Thomas Schöpping

fixed a bug in the script

8ca7bfe5 2018-09-06 10:26 Thomas Schöpping

AMiRo-BLT submodule updated.

63592e51 2018-09-05 17:22 Thomas Schöpping

fixed the QtCreator setup script

738a28c8 2018-09-05 17:22 Thomas Schöpping

removed old CHhibiOS patches which are not required anymore

1e5f7648 2018-09-05 17:22 Thomas Schöpping

Major rework of the recent changes.
- optimized interrupt system (removed aos_interrupt.h/c)
- updated AMiRo-LLD submodule
- updated all config files to match the latest templates by ChibiOS
- fixed several issues regarding the new timer system (intervals)

57d411d6 2018-08-30 12:24 Marc Rothmann

Updated ChibiOS submodule to the most recent commit on the stable_18.2.x branch.

2c99037f 2018-08-30 12:01 Marc Rothmann

Added control functions to the channel-based datatypes in AMiRo-OS.

0128be0f 2018-08-29 16:41 Marc Rothmann

Updated Chibi-OS to version 18.2 and adapted AMiRo-OS accordingly:
- Switched to new time conversion macros
- Use PAL for interrupts instead of the EXT Driver
- Use new kernel tests

2674917e 2018-08-24 13:38 Thomas Schöpping

Added missing descriptions for the variables introduced in the last commit.

3e1a9c79 2018-08-23 16:33 Thomas Schöpping

Introduced an mechanism to measure clock skew during operation phase, if AMIROOS_CFG_PROFILE is enabled (non-master modules only).
The low-pass filtered skew is printed via the module:info shell command.

9461fadc 2018-08-20 18:52 Thomas Schöpping

RTC date/time is now synchronized on startup from the SSSP master module.
Further changes:
- several enhancements to the newly introduced module stack initialization procedure
- several minor enhancements to core functionality

933df08e 2018-08-17 14:48 Thomas Schöpping

Introduced SSSP stage 3 of the startup phase (module stack initialization).

75d6970a 2018-07-13 17:01 Thomas Schöpping

Introduced a patch to ChibiOS for the RTCv1 driver (fixed illegal type casts).
Updated ChibiOS submodule.

6b53f6bf 2018-07-10 19:15 Thomas Schöpping

Several enhancements to memory structure, naming and code quality.
AMiRo-OS is now prepared so the SSSP startup stage 3 (module stack initialization can be implemented).

e1a164f4 2018-07-10 19:03 Thomas Schöpping

FIX: DiWheelDrive: The interrupt channels for the signals SYS_PD and SYS_REG_EN have been corrected.
AMiRo-BLT updated.

4f3a1f5e 2018-07-09 13:13 Thomas Schöpping

Removed a ChibiOS patch to the C++ wrappers, since these wrappers should not be used anyway

8399aeae 2018-07-09 13:12 Thomas Schöpping

Introduced the capability to set and get a date&time value via the shell.

512abac1 2018-07-05 14:48 Thomas Schöpping

prepended several macros with the 'AOS_' prefix

a6908ce8 2018-06-29 11:33 Thomas Schöpping

Merge branch 'master' of

a7e67622 2018-06-29 11:33 Thomas Schöpping

modified all relevant makefiles to adopt the new file structure

be23de72 2018-06-29 11:07 Thomas Schöpping

modified all relevant makefiles to adopt the new file structure

5b0a8e7b 2018-06-29 10:41 Thomas Schöpping

moved the /os/modles directory to /modules

cb835a3e 2018-06-29 10:38 Thomas Schöpping

cleaned up include tree

756ef2f6 2018-06-29 10:34 Thomas Schöpping

Added APPS- variables to all source types in the makefiles of all modules

5d7e6f9e 2018-06-29 10:34 Thomas Schöpping

PHONY added to relevant Makefiles

20205a98 2018-06-13 10:16 Thomas Schöpping

shell thread priority can now be configured via aosconf.h

b6b45e4c 2018-06-13 09:51 Thomas Schöpping

enhanced hooks in aos_main.cpp:
- INIT_HOOK_0 now supports optional arguments like all other hooks
- new hook introduced to add custom includes
- new hook introduced to add custom static variables
- renamed hook for custom thread variables

b2053cb5 2018-06-13 09:38 Thomas Schöpping

The main.c was renamed to aos_main.cpp and will compiled as C++ file from now on.
This allows to use full C++ capabilities when using any hooks.

870f74ac 2018-06-13 09:33 Thomas Schöpping

1) enhancements of the makefiles:
- replaced all absolute paths by relative paths
- include directories now consistently do not have a trailing slash
- it is now possible to specify a custom build directory by setting the BUILDDIR variable
- updated C/C++ standard to C11 and C17 respectively (igrnore warnings caused by ChibiOS for now)...

680d05e5 2018-05-29 09:40 Thomas Schöpping

Updated AMiRo-BLT and applied an similar fix to (issue with relative compiler paths)

b8268050 2018-05-24 16:11 Thomas Schöpping

FIX: AosShellChannel was not known in main.c if shell was disabled.

043cdf33 2018-05-24 16:04 Thomas Schöpping

Introduced a common aos_chconf.h file, which is included by each chconf.h.
The smart build feature was deactivated since it caused issues with this new structure.

dd8738ea 2018-05-18 18:38 Thomas Schöpping

AosShellChannel now contains a pointer to a BaseAsynchronousChannel instead of a AosIOCHannel.
Fixed an issue with AosIOStreams as well as AosShellStreams regarding multiple reading/writing from/to channels.

42f1b573 2018-05-17 13:29 Thomas Schöpping

AMiRo-BLT updated

ba516b61 2018-05-17 11:16 Thomas Schöpping

Major overhaul to the I/O functionality:

The SequentialStremMultiplexer (SSM) has been replaced by AosIOStream.
The AosIOStream class acts like a BaseSequentialStream but consists of multiple AosIOChannels.
Each AosIOChannel again implements a BaseAsynchronousChannel and thus is a derived class of BaseSequentialStream as well....

bc5cdb79 2018-05-17 11:12 Thomas Schöpping

Modified aos_unittest.h/.c files to prevent unnecessary includes.

2bb3bd89 2018-04-09 15:10 Thomas Schöpping

slightly enhanced some of the makefiles

9e75cdad 2018-04-09 15:10 Thomas Schöpping

removed module specific configurations from the makefiles

76ca5065 2018-04-09 15:08 Thomas Schöpping

AMiRo-BLT submodule updated

e34c46f0 2018-03-22 16:47 Thomas Schöpping

Merge branch 'master' of

801d8775 2018-03-22 16:47 Thomas Schöpping

AMiRo-LLD submodule updated

bdf72fa0 2018-03-22 12:59 Thomas Schöpping

AMiRo-LLD submodule updated

e545e620 2018-03-21 11:51 Thomas Schöpping

Major overhaul to AMiRo-OS version 2.0.0

f336542d 2018-02-02 12:21 Timo Korthals

Fix stack overflow in DiWheelDrive due to access of non-started gyro thread

Signed-off-by: Timo Korthals <>

33c91ff2 2017-08-28 12:32 Thomas Schöpping

Wii steering slightly enhanced.
It is now possible to use the controller horizontally as well as vertically.

6fd5a427 2017-08-11 19:54 Thomas Schöpping

README.txt slightly updated.

f8cf404d 2017-08-11 19:43 Thomas Schöpping

All outputs that were still printed to SD1 (on-board serial connector) have been switched to global.sercanmux1 (SD1-CAN-multiplexer)

61b0791a 2017-08-11 19:24 Thomas Schöpping

Integrated the Wiimote demo to the PowerManagement logic.

The blouetooth drivers were slightly enhanced.

8dbafe16 2017-08-11 19:23 Thomas Schöpping


ff7ad65b 2017-06-22 13:29 Thomas Schöpping

Added functions to reset the motor gains.

b0675b0b 2017-05-09 18:21 Thomas Schöpping

Fixed typo in authors list

ea4d1c60 2017-05-03 11:17 Thomas Schöpping

Added some additional information in the README.txt file.

24821fe4 2017-04-21 14:39 Thomas Schöpping

README.txt: deleted surplus blank line.

2f3e64c4 2017-04-21 14:38 Thomas Schöpping

FIX: Odometry thread stack size increased to prevent stack overflows.

3dcad54e 2017-04-20 17:33 Thomas Schöpping

README.txt updated:
- maximum line width was increased to 80 (from 70)
- several updates on content and structure