AMiRo-OS

Subproject commit d9a22f36378a8898ce95c3ad807aff622a2fb2a1

include $(CHIBIOS)/test/lib/test.mk

include $(CHIBIOS)/test/rt/rt_test.mk

/*

 * AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

 * Copyright (C) 2016..2018  Thomas Schöpping et al.

 *

 * This program is free software: you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation, either version 3 of the License, or

 * (at your option) any later version.

 *

 * This program is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 *

 * You should have received a copy of the GNU General Public License

 * along with this program.  If not, see <http://www.gnu.org/licenses/>.

 */

/**

 * @file    os/modules/DiWheelDrive/chconf.h

 * @brief   ChibiOS Configuration file for the DiWheelDrive v1.1 module.

 * @details Contains the application specific kernel settings.

 *

 * @addtogroup config

 * @details Kernel related settings and hooks.

 * @{

 */

#ifndef CHCONF_H

#define CHCONF_H

#define _CHIBIOS_RT_CONF_

#define _CHIBIOS_RT_CONF_VER_5_1_

/*===========================================================================*/

/**

 * @name System timers settings

 * @{

 */

/*===========================================================================*/

/**

 * @brief   System time counter resolution.

 * @note    Allowed values are 16 or 32 bits.

 */

#if !defined(CH_CFG_ST_RESOLUTION)

#define CH_CFG_ST_RESOLUTION                16

#endif

/**

 * @brief   System tick frequency.

 * @details Frequency of the system timer that drives the system ticks. This

 *          setting also defines the system tick time unit.

 */

#if !defined(CH_CFG_ST_FREQUENCY)

#define CH_CFG_ST_FREQUENCY                 1000000UL

#endif

/**

 * @brief   Time intervals data size.

 * @note    Allowed values are 16, 32 or 64 bits.

 */

#if !defined(CH_CFG_INTERVALS_SIZE)

#define CH_CFG_INTERVALS_SIZE               64

#endif

/**

 * @brief   Time types data size.

 * @note    Allowed values are 16 or 32 bits.

 */

#if !defined(CH_CFG_TIME_TYPES_SIZE)

#define CH_CFG_TIME_TYPES_SIZE              32

#endif

/**

 * @brief   Time delta constant for the tick-less mode.

 * @note    If this value is zero then the system uses the classic

 *          periodic tick. This value represents the minimum number

 *          of ticks that is safe to specify in a timeout directive.

 *          The value one is not valid, timeouts are rounded up to

 *          this value.

 */

#if !defined(CH_CFG_ST_TIMEDELTA)

#define CH_CFG_ST_TIMEDELTA                 10

#endif

/** @} */

/*===========================================================================*/

/**

 * @name Kernel parameters and options

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Round robin interval.

 * @details This constant is the number of system ticks allowed for the

 *          threads before preemption occurs. Setting this value to zero

 *          disables the preemption for threads with equal priority and the

 *          round robin becomes cooperative. Note that higher priority

 *          threads can still preempt, the kernel is always preemptive.

 * @note    Disabling the round robin preemption makes the kernel more compact

 *          and generally faster.

 * @note    The round robin preemption is not supported in tickless mode and

 *          must be set to zero in that case.

 */

#if !defined(CH_CFG_TIME_QUANTUM)

#define CH_CFG_TIME_QUANTUM                 0

#endif

/**

 * @brief   Managed RAM size.

 * @details Size of the RAM area to be managed by the OS. If set to zero

 *          then the whole available RAM is used. The core memory is made

 *          available to the heap allocator and/or can be used directly through

 *          the simplified core memory allocator.

 *

 * @note    In order to let the OS manage the whole RAM the linker script must

 *          provide the @p __heap_base__ and @p __heap_end__ symbols.

 * @note    Requires @p CH_CFG_USE_MEMCORE.

 */

#if !defined(CH_CFG_MEMCORE_SIZE)

#define CH_CFG_MEMCORE_SIZE                 0

#endif

/**

 * @brief   Idle thread automatic spawn suppression.

 * @details When this option is activated the function @p chSysInit()

 *          does not spawn the idle thread. The application @p main()

 *          function becomes the idle thread and must implement an

 *          infinite loop.

 */

#if !defined(CH_CFG_NO_IDLE_THREAD)

#define CH_CFG_NO_IDLE_THREAD               FALSE

#endif

/** @} */

/*===========================================================================*/

/**

 * @name Performance options

 * @{

 */

/*===========================================================================*/

/**

 * @brief   OS optimization.

 * @details If enabled then time efficient rather than space efficient code

 *          is used when two possible implementations exist.

 *

 * @note    This is not related to the compiler optimization options.

 * @note    The default is @p TRUE.

 */

#if !defined(CH_CFG_OPTIMIZE_SPEED)

#define CH_CFG_OPTIMIZE_SPEED               TRUE

#endif

/** @} */

/*===========================================================================*/

/**

 * @name Subsystem options

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Time Measurement APIs.

 * @details If enabled then the time measurement APIs are included in

 *          the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_CFG_USE_TM)

#define CH_CFG_USE_TM                       FALSE

#endif

/**

 * @brief   Threads registry APIs.

 * @details If enabled then the registry APIs are included in the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_CFG_USE_REGISTRY)

#define CH_CFG_USE_REGISTRY                 FALSE

#endif

/**

 * @brief   Threads synchronization APIs.

 * @details If enabled then the @p chThdWait() function is included in

 *          the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_CFG_USE_WAITEXIT)

#define CH_CFG_USE_WAITEXIT                 TRUE

#endif

/**

 * @brief   Semaphores APIs.

 * @details If enabled then the Semaphores APIs are included in the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_CFG_USE_SEMAPHORES)

#define CH_CFG_USE_SEMAPHORES               FALSE

#endif

/**

 * @brief   Semaphores queuing mode.

 * @details If enabled then the threads are enqueued on semaphores by

 *          priority rather than in FIFO order.

 *

 * @note    The default is @p FALSE. Enable this if you have special

 *          requirements.

 * @note    Requires @p CH_CFG_USE_SEMAPHORES.

 */

#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)

#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE

#endif

/**

 * @brief   Mutexes APIs.

 * @details If enabled then the mutexes APIs are included in the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_CFG_USE_MUTEXES)

#define CH_CFG_USE_MUTEXES                  TRUE

#endif

/**

 * @brief   Enables recursive behavior on mutexes.

 * @note    Recursive mutexes are heavier and have an increased

 *          memory footprint.

 *

 * @note    The default is @p FALSE.

 * @note    Requires @p CH_CFG_USE_MUTEXES.

 */

#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)

#define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE

#endif

/**

 * @brief   Conditional Variables APIs.

 * @details If enabled then the conditional variables APIs are included

 *          in the kernel.

 *

 * @note    The default is @p TRUE.

 * @note    Requires @p CH_CFG_USE_MUTEXES.

 */

#if !defined(CH_CFG_USE_CONDVARS)

#define CH_CFG_USE_CONDVARS                 FALSE

#endif

/**

 * @brief   Conditional Variables APIs with timeout.

 * @details If enabled then the conditional variables APIs with timeout

 *          specification are included in the kernel.

 *

 * @note    The default is @p TRUE.

 * @note    Requires @p CH_CFG_USE_CONDVARS.

 */

#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)

#define CH_CFG_USE_CONDVARS_TIMEOUT         FALSE

#endif

/**

 * @brief   Events Flags APIs.

 * @details If enabled then the event flags APIs are included in the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_CFG_USE_EVENTS)

#define CH_CFG_USE_EVENTS                   TRUE

#endif

/**

 * @brief   Events Flags APIs with timeout.

 * @details If enabled then the events APIs with timeout specification

 *          are included in the kernel.

 *

 * @note    The default is @p TRUE.

 * @note    Requires @p CH_CFG_USE_EVENTS.

 */

#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)

#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE

#endif

/**

 * @brief   Synchronous Messages APIs.

 * @details If enabled then the synchronous messages APIs are included

 *          in the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_CFG_USE_MESSAGES)

#define CH_CFG_USE_MESSAGES                 FALSE

#endif

/**

 * @brief   Synchronous Messages queuing mode.

 * @details If enabled then messages are served by priority rather than in

 *          FIFO order.

 *

 * @note    The default is @p FALSE. Enable this if you have special

 *          requirements.

 * @note    Requires @p CH_CFG_USE_MESSAGES.

 */

#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)

#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE

#endif

/**

 * @brief   Mailboxes APIs.

 * @details If enabled then the asynchronous messages (mailboxes) APIs are

 *          included in the kernel.

 *

 * @note    The default is @p TRUE.

 * @note    Requires @p CH_CFG_USE_SEMAPHORES.

 */

#if !defined(CH_CFG_USE_MAILBOXES)

#define CH_CFG_USE_MAILBOXES                FALSE

#endif

/**

 * @brief   Core Memory Manager APIs.

 * @details If enabled then the core memory manager APIs are included

 *          in the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_CFG_USE_MEMCORE)

#define CH_CFG_USE_MEMCORE                  FALSE

#endif

/**

 * @brief   Heap Allocator APIs.

 * @details If enabled then the memory heap allocator APIs are included

 *          in the kernel.

 *

 * @note    The default is @p TRUE.

 * @note    Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or

 *          @p CH_CFG_USE_SEMAPHORES.

 * @note    Mutexes are recommended.

 */

#if !defined(CH_CFG_USE_HEAP)

#define CH_CFG_USE_HEAP                     FALSE

#endif

/**

 * @brief   Memory Pools Allocator APIs.

 * @details If enabled then the memory pools allocator APIs are included

 *          in the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_CFG_USE_MEMPOOLS)

#define CH_CFG_USE_MEMPOOLS                 FALSE

#endif

/**

 * @brief  Objects FIFOs APIs.

 * @details If enabled then the objects FIFOs APIs are included

 *          in the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_CFG_USE_OBJ_FIFOS)

#define CH_CFG_USE_OBJ_FIFOS                FALSE

#endif

/**

 * @brief   Dynamic Threads APIs.