| 18 |
18 |
|
| 19 |
19 |
/**
|
| 20 |
20 |
* @file os/modules/DiWheelDrive/chconf.h
|
| 21 |
|
* @brief ChibiOS Configuration file for the DiWheelDrive module.
|
|
21 |
* @brief ChibiOS Configuration file for the DiWheelDrive v1.1 module.
|
| 22 |
22 |
* @details Contains the application specific kernel settings.
|
| 23 |
23 |
*
|
| 24 |
24 |
* @addtogroup config
|
| ... | ... | |
| 29 |
29 |
#ifndef _CHCONF_H_
|
| 30 |
30 |
#define _CHCONF_H_
|
| 31 |
31 |
|
| 32 |
|
#define _CHIBIOS_RT_CONF_
|
| 33 |
|
|
| 34 |
32 |
#include <aosconf.h>
|
| 35 |
33 |
|
| 36 |
34 |
/*===========================================================================*/
|
| ... | ... | |
| 75 |
73 |
|
| 76 |
74 |
/*===========================================================================*/
|
| 77 |
75 |
/**
|
| 78 |
|
* @name Kernel parameters and options
|
| 79 |
|
* @{
|
| 80 |
|
*/
|
| 81 |
|
/*===========================================================================*/
|
| 82 |
|
|
| 83 |
|
/**
|
| 84 |
|
* @brief Round robin interval.
|
| 85 |
|
* @details This constant is the number of system ticks allowed for the
|
| 86 |
|
* threads before preemption occurs. Setting this value to zero
|
| 87 |
|
* disables the preemption for threads with equal priority and the
|
| 88 |
|
* round robin becomes cooperative. Note that higher priority
|
| 89 |
|
* threads can still preempt, the kernel is always preemptive.
|
| 90 |
|
* @note Disabling the round robin preemption makes the kernel more compact
|
| 91 |
|
* and generally faster.
|
| 92 |
|
* @note The round robin preemption is not supported in tickless mode and
|
| 93 |
|
* must be set to zero in that case.
|
| 94 |
|
*/
|
| 95 |
|
#define CH_CFG_TIME_QUANTUM 0
|
| 96 |
|
|
| 97 |
|
/**
|
| 98 |
|
* @brief Managed RAM size.
|
| 99 |
|
* @details Size of the RAM area to be managed by the OS. If set to zero
|
| 100 |
|
* then the whole available RAM is used. The core memory is made
|
| 101 |
|
* available to the heap allocator and/or can be used directly through
|
| 102 |
|
* the simplified core memory allocator.
|
| 103 |
|
*
|
| 104 |
|
* @note In order to let the OS manage the whole RAM the linker script must
|
| 105 |
|
* provide the @p __heap_base__ and @p __heap_end__ symbols.
|
| 106 |
|
* @note Requires @p CH_CFG_USE_MEMCORE.
|
| 107 |
|
*/
|
| 108 |
|
#define CH_CFG_MEMCORE_SIZE 0
|
| 109 |
|
|
| 110 |
|
/**
|
| 111 |
|
* @brief Idle thread automatic spawn suppression.
|
| 112 |
|
* @details When this option is activated the function @p chSysInit()
|
| 113 |
|
* does not spawn the idle thread. The application @p main()
|
| 114 |
|
* function becomes the idle thread and must implement an
|
| 115 |
|
* infinite loop.
|
| 116 |
|
*/
|
| 117 |
|
#define CH_CFG_NO_IDLE_THREAD FALSE
|
| 118 |
|
|
| 119 |
|
/** @} */
|
| 120 |
|
|
| 121 |
|
/*===========================================================================*/
|
| 122 |
|
/**
|
| 123 |
|
* @name Performance options
|
| 124 |
|
* @{
|
| 125 |
|
*/
|
| 126 |
|
/*===========================================================================*/
|
| 127 |
|
|
| 128 |
|
/**
|
| 129 |
|
* @brief OS optimization.
|
| 130 |
|
* @details If enabled then time efficient rather than space efficient code
|
| 131 |
|
* is used when two possible implementations exist.
|
| 132 |
|
*
|
| 133 |
|
* @note This is not related to the compiler optimization options.
|
| 134 |
|
* @note The default is @p TRUE.
|
| 135 |
|
*/
|
| 136 |
|
#define CH_CFG_OPTIMIZE_SPEED TRUE
|
| 137 |
|
|
| 138 |
|
/** @} */
|
| 139 |
|
|
| 140 |
|
/*===========================================================================*/
|
| 141 |
|
/**
|
| 142 |
|
* @name Subsystem options
|
| 143 |
|
* @{
|
| 144 |
|
*/
|
| 145 |
|
/*===========================================================================*/
|
| 146 |
|
|
| 147 |
|
/**
|
| 148 |
|
* @brief Time Measurement APIs.
|
| 149 |
|
* @details If enabled then the time measurement APIs are included in
|
| 150 |
|
* the kernel.
|
| 151 |
|
*
|
| 152 |
|
* @note The default is @p TRUE.
|
| 153 |
|
*/
|
| 154 |
|
#define CH_CFG_USE_TM FALSE
|
| 155 |
|
|
| 156 |
|
/**
|
| 157 |
|
* @brief Threads registry APIs.
|
| 158 |
|
* @details If enabled then the registry APIs are included in the kernel.
|
| 159 |
|
*
|
| 160 |
|
* @note The default is @p TRUE.
|
| 161 |
|
*/
|
| 162 |
|
#define CH_CFG_USE_REGISTRY FALSE
|
| 163 |
|
|
| 164 |
|
/**
|
| 165 |
|
* @brief Threads synchronization APIs.
|
| 166 |
|
* @details If enabled then the @p chThdWait() function is included in
|
| 167 |
|
* the kernel.
|
| 168 |
|
*
|
| 169 |
|
* @note The default is @p TRUE.
|
| 170 |
|
*/
|
| 171 |
|
#define CH_CFG_USE_WAITEXIT TRUE
|
| 172 |
|
|
| 173 |
|
/**
|
| 174 |
|
* @brief Semaphores APIs.
|
| 175 |
|
* @details If enabled then the Semaphores APIs are included in the kernel.
|
| 176 |
|
*
|
| 177 |
|
* @note The default is @p TRUE.
|
| 178 |
|
*/
|
| 179 |
|
#define CH_CFG_USE_SEMAPHORES FALSE
|
| 180 |
|
|
| 181 |
|
/**
|
| 182 |
|
* @brief Semaphores queuing mode.
|
| 183 |
|
* @details If enabled then the threads are enqueued on semaphores by
|
| 184 |
|
* priority rather than in FIFO order.
|
| 185 |
|
*
|
| 186 |
|
* @note The default is @p FALSE. Enable this if you have special
|
| 187 |
|
* requirements.
|
| 188 |
|
* @note Requires @p CH_CFG_USE_SEMAPHORES.
|
| 189 |
|
*/
|
| 190 |
|
#define CH_CFG_USE_SEMAPHORES_PRIORITY FALSE
|
| 191 |
|
|
| 192 |
|
/**
|
| 193 |
|
* @brief Mutexes APIs.
|
| 194 |
|
* @details If enabled then the mutexes APIs are included in the kernel.
|
| 195 |
|
*
|
| 196 |
|
* @note The default is @p TRUE.
|
| 197 |
|
*/
|
| 198 |
|
#define CH_CFG_USE_MUTEXES TRUE
|
| 199 |
|
|
| 200 |
|
/**
|
| 201 |
|
* @brief Enables recursive behavior on mutexes.
|
| 202 |
|
* @note Recursive mutexes are heavier and have an increased
|
| 203 |
|
* memory footprint.
|
| 204 |
|
*
|
| 205 |
|
* @note The default is @p FALSE.
|
| 206 |
|
* @note Requires @p CH_CFG_USE_MUTEXES.
|
| 207 |
|
*/
|
| 208 |
|
#define CH_CFG_USE_MUTEXES_RECURSIVE FALSE
|
| 209 |
|
|
| 210 |
|
/**
|
| 211 |
|
* @brief Conditional Variables APIs.
|
| 212 |
|
* @details If enabled then the conditional variables APIs are included
|
| 213 |
|
* in the kernel.
|
| 214 |
|
*
|
| 215 |
|
* @note The default is @p TRUE.
|
| 216 |
|
* @note Requires @p CH_CFG_USE_MUTEXES.
|
| 217 |
|
*/
|
| 218 |
|
#define CH_CFG_USE_CONDVARS FALSE
|
| 219 |
|
|
| 220 |
|
/**
|
| 221 |
|
* @brief Conditional Variables APIs with timeout.
|
| 222 |
|
* @details If enabled then the conditional variables APIs with timeout
|
| 223 |
|
* specification are included in the kernel.
|
| 224 |
|
*
|
| 225 |
|
* @note The default is @p TRUE.
|
| 226 |
|
* @note Requires @p CH_CFG_USE_CONDVARS.
|
| 227 |
|
*/
|
| 228 |
|
#define CH_CFG_USE_CONDVARS_TIMEOUT FALSE
|
| 229 |
|
|
| 230 |
|
/**
|
| 231 |
|
* @brief Events Flags APIs.
|
| 232 |
|
* @details If enabled then the event flags APIs are included in the kernel.
|
| 233 |
|
*
|
| 234 |
|
* @note The default is @p TRUE.
|
| 235 |
|
*/
|
| 236 |
|
#define CH_CFG_USE_EVENTS TRUE
|
| 237 |
|
|
| 238 |
|
/**
|
| 239 |
|
* @brief Events Flags APIs with timeout.
|
| 240 |
|
* @details If enabled then the events APIs with timeout specification
|
| 241 |
|
* are included in the kernel.
|
| 242 |
|
*
|
| 243 |
|
* @note The default is @p TRUE.
|
| 244 |
|
* @note Requires @p CH_CFG_USE_EVENTS.
|
| 245 |
|
*/
|
| 246 |
|
#define CH_CFG_USE_EVENTS_TIMEOUT TRUE
|
| 247 |
|
|
| 248 |
|
/**
|
| 249 |
|
* @brief Synchronous Messages APIs.
|
| 250 |
|
* @details If enabled then the synchronous messages APIs are included
|
| 251 |
|
* in the kernel.
|
| 252 |
|
*
|
| 253 |
|
* @note The default is @p TRUE.
|
| 254 |
|
*/
|
| 255 |
|
#define CH_CFG_USE_MESSAGES FALSE
|
| 256 |
|
|
| 257 |
|
/**
|
| 258 |
|
* @brief Synchronous Messages queuing mode.
|
| 259 |
|
* @details If enabled then messages are served by priority rather than in
|
| 260 |
|
* FIFO order.
|
| 261 |
|
*
|
| 262 |
|
* @note The default is @p FALSE. Enable this if you have special
|
| 263 |
|
* requirements.
|
| 264 |
|
* @note Requires @p CH_CFG_USE_MESSAGES.
|
| 265 |
|
*/
|
| 266 |
|
#define CH_CFG_USE_MESSAGES_PRIORITY FALSE
|
| 267 |
|
|
| 268 |
|
/**
|
| 269 |
|
* @brief Mailboxes APIs.
|
| 270 |
|
* @details If enabled then the asynchronous messages (mailboxes) APIs are
|
| 271 |
|
* included in the kernel.
|
| 272 |
|
*
|
| 273 |
|
* @note The default is @p TRUE.
|
| 274 |
|
* @note Requires @p CH_CFG_USE_SEMAPHORES.
|
| 275 |
|
*/
|
| 276 |
|
#define CH_CFG_USE_MAILBOXES FALSE
|
| 277 |
|
|
| 278 |
|
/**
|
| 279 |
|
* @brief I/O Queues APIs.
|
| 280 |
|
* @details If enabled then the I/O queues APIs are included in the kernel.
|
| 281 |
|
*
|
| 282 |
|
* @note The default is @p TRUE.
|
| 283 |
|
*/
|
| 284 |
|
#define CH_CFG_USE_QUEUES FALSE
|
| 285 |
|
|
| 286 |
|
/**
|
| 287 |
|
* @brief Core Memory Manager APIs.
|
| 288 |
|
* @details If enabled then the core memory manager APIs are included
|
| 289 |
|
* in the kernel.
|
| 290 |
|
*
|
| 291 |
|
* @note The default is @p TRUE.
|
| 292 |
|
*/
|
| 293 |
|
#define CH_CFG_USE_MEMCORE FALSE
|
| 294 |
|
|
| 295 |
|
/**
|
| 296 |
|
* @brief Heap Allocator APIs.
|
| 297 |
|
* @details If enabled then the memory heap allocator APIs are included
|
| 298 |
|
* in the kernel.
|
| 299 |
|
*
|
| 300 |
|
* @note The default is @p TRUE.
|
| 301 |
|
* @note Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
|
| 302 |
|
* @p CH_CFG_USE_SEMAPHORES.
|
| 303 |
|
* @note Mutexes are recommended.
|
| 304 |
|
*/
|
| 305 |
|
#define CH_CFG_USE_HEAP FALSE
|
| 306 |
|
|
| 307 |
|
/**
|
| 308 |
|
* @brief Memory Pools Allocator APIs.
|
| 309 |
|
* @details If enabled then the memory pools allocator APIs are included
|
| 310 |
|
* in the kernel.
|
| 311 |
|
*
|
| 312 |
|
* @note The default is @p TRUE.
|
| 313 |
|
*/
|
| 314 |
|
#define CH_CFG_USE_MEMPOOLS FALSE
|
| 315 |
|
|
| 316 |
|
/**
|
| 317 |
|
* @brief Dynamic Threads APIs.
|
| 318 |
|
* @details If enabled then the dynamic threads creation APIs are included
|
| 319 |
|
* in the kernel.
|
| 320 |
|
*
|
| 321 |
|
* @note The default is @p TRUE.
|
| 322 |
|
* @note Requires @p CH_CFG_USE_WAITEXIT.
|
| 323 |
|
* @note Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
|
| 324 |
|
*/
|
| 325 |
|
#define CH_CFG_USE_DYNAMIC FALSE
|
| 326 |
|
|
| 327 |
|
/** @} */
|
| 328 |
|
|
| 329 |
|
/*===========================================================================*/
|
| 330 |
|
/**
|
| 331 |
|
* @name Debug options
|
| 332 |
|
* @{
|
| 333 |
|
*/
|
| 334 |
|
/*===========================================================================*/
|
| 335 |
|
|
| 336 |
|
/**
|
| 337 |
|
* @brief Debug option, kernel statistics.
|
| 338 |
|
*
|
| 339 |
|
* @note The default is @p FALSE.
|
| 340 |
|
*/
|
| 341 |
|
#define CH_DBG_STATISTICS FALSE
|
| 342 |
|
|
| 343 |
|
/**
|
| 344 |
|
* @brief Debug option, system state check.
|
| 345 |
|
* @details If enabled the correct call protocol for system APIs is checked
|
| 346 |
|
* at runtime.
|
| 347 |
|
*
|
| 348 |
|
* @note The default is @p FALSE.
|
| 349 |
|
*/
|
| 350 |
|
#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
|
| 351 |
|
#define CH_DBG_SYSTEM_STATE_CHECK TRUE
|
| 352 |
|
#else
|
| 353 |
|
#define CH_DBG_SYSTEM_STATE_CHECK FALSE
|
| 354 |
|
#endif
|
| 355 |
|
|
| 356 |
|
/**
|
| 357 |
|
* @brief Debug option, parameters checks.
|
| 358 |
|
* @details If enabled then the checks on the API functions input
|
| 359 |
|
* parameters are activated.
|
| 360 |
|
*
|
| 361 |
|
* @note The default is @p FALSE.
|
| 362 |
|
*/
|
| 363 |
|
#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
|
| 364 |
|
#define CH_DBG_ENABLE_CHECKS TRUE
|
| 365 |
|
#else
|
| 366 |
|
#define CH_DBG_ENABLE_CHECKS FALSE
|
| 367 |
|
#endif
|
| 368 |
|
|
| 369 |
|
/**
|
| 370 |
|
* @brief Debug option, consistency checks.
|
| 371 |
|
* @details If enabled then all the assertions in the kernel code are
|
| 372 |
|
* activated. This includes consistency checks inside the kernel,
|
| 373 |
|
* runtime anomalies and port-defined checks.
|
| 374 |
|
*
|
| 375 |
|
* @note The default is @p FALSE.
|
| 376 |
|
*/
|
| 377 |
|
#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
|
| 378 |
|
#define CH_DBG_ENABLE_ASSERTS TRUE
|
| 379 |
|
#else
|
| 380 |
|
#define CH_DBG_ENABLE_ASSERTS FALSE
|
| 381 |
|
#endif
|
| 382 |
|
|
| 383 |
|
/**
|
| 384 |
|
* @brief Debug option, trace buffer.
|
| 385 |
|
* @details If enabled then the trace buffer is activated.
|
| 386 |
|
*
|
| 387 |
|
* @note The default is @p CH_DBG_TRACE_MASK_DISABLED.
|
| 388 |
|
*/
|
| 389 |
|
#define CH_DBG_TRACE_MASK CH_DBG_TRACE_MASK_DISABLED
|
| 390 |
|
|
| 391 |
|
/**
|
| 392 |
|
* @brief Trace buffer entries.
|
| 393 |
|
* @note The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
|
| 394 |
|
* different from @p CH_DBG_TRACE_MASK_DISABLED.
|
| 395 |
|
*/
|
| 396 |
|
#define CH_DBG_TRACE_BUFFER_SIZE 128
|
| 397 |
|
|
| 398 |
|
/**
|
| 399 |
|
* @brief Debug option, stack checks.
|
| 400 |
|
* @details If enabled then a runtime stack check is performed.
|
| 401 |
|
*
|
| 402 |
|
* @note The default is @p FALSE.
|
| 403 |
|
* @note The stack check is performed in a architecture/port dependent way.
|
| 404 |
|
* It may not be implemented or some ports.
|
| 405 |
|
* @note The default failure mode is to halt the system with the global
|
| 406 |
|
* @p panic_msg variable set to @p NULL.
|
| 407 |
|
*/
|
| 408 |
|
#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
|
| 409 |
|
#define CH_DBG_ENABLE_STACK_CHECK TRUE
|
| 410 |
|
#else
|
| 411 |
|
#define CH_DBG_ENABLE_STACK_CHECK FALSE
|
| 412 |
|
#endif
|
| 413 |
|
|
| 414 |
|
/**
|
| 415 |
|
* @brief Debug option, stacks initialization.
|
| 416 |
|
* @details If enabled then the threads working area is filled with a byte
|
| 417 |
|
* value when a thread is created. This can be useful for the
|
| 418 |
|
* runtime measurement of the used stack.
|
| 419 |
|
*
|
| 420 |
|
* @note The default is @p FALSE.
|
| 421 |
|
*/
|
| 422 |
|
#if (AMIROOS_CFG_PROFILE == true) || defined(__DOXYGEN__)
|
| 423 |
|
#define CH_DBG_FILL_THREADS TRUE
|
| 424 |
|
#else
|
| 425 |
|
#define CH_DBG_FILL_THREADS FALSE
|
| 426 |
|
#endif
|
| 427 |
|
|
| 428 |
|
/**
|
| 429 |
|
* @brief Debug option, threads profiling.
|
| 430 |
|
* @details If enabled then a field is added to the @p thread_t structure that
|
| 431 |
|
* counts the system ticks occurred while executing the thread.
|
| 432 |
|
*
|
| 433 |
|
* @note The default is @p FALSE.
|
| 434 |
|
* @note This debug option is not currently compatible with the
|
| 435 |
|
* tickless mode.
|
| 436 |
|
*/
|
| 437 |
|
#if ((CH_CFG_ST_TIMEDELTA == 0) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
|
| 438 |
|
#define CH_DBG_THREADS_PROFILING TRUE
|
| 439 |
|
#else
|
| 440 |
|
#define CH_DBG_THREADS_PROFILING FALSE
|
| 441 |
|
#endif
|
| 442 |
|
|
| 443 |
|
/** @} */
|
| 444 |
|
|
| 445 |
|
/*===========================================================================*/
|
| 446 |
|
/**
|
| 447 |
|
* @name Kernel hooks
|
| 448 |
|
* @{
|
| 449 |
|
*/
|
| 450 |
|
/*===========================================================================*/
|
| 451 |
|
|
| 452 |
|
/**
|
| 453 |
|
* @brief Threads descriptor structure extension.
|
| 454 |
|
* @details User fields added to the end of the @p thread_t structure.
|
| 455 |
|
*/
|
| 456 |
|
#define CH_CFG_THREAD_EXTRA_FIELDS \
|
| 457 |
|
/* Add threads custom fields here.*/
|
| 458 |
|
|
| 459 |
|
/**
|
| 460 |
|
* @brief Threads initialization hook.
|
| 461 |
|
* @details User initialization code added to the @p chThdInit() API.
|
| 462 |
|
*
|
| 463 |
|
* @note It is invoked from within @p chThdInit() and implicitly from all
|
| 464 |
|
* the threads creation APIs.
|
| 465 |
|
*/
|
| 466 |
|
#define CH_CFG_THREAD_INIT_HOOK(tp) { \
|
| 467 |
|
/* Add threads initialization code here.*/ \
|
| 468 |
|
}
|
| 469 |
|
|
| 470 |
|
/**
|
| 471 |
|
* @brief Threads finalization hook.
|
| 472 |
|
* @details User finalization code added to the @p chThdExit() API.
|
| 473 |
|
*
|
| 474 |
|
* @note It is inserted into lock zone.
|
| 475 |
|
* @note It is also invoked when the threads simply return in order to
|
| 476 |
|
* terminate.
|
| 477 |
|
*/
|
| 478 |
|
#define CH_CFG_THREAD_EXIT_HOOK(tp) { \
|
| 479 |
|
/* Add threads finalization code here.*/ \
|
| 480 |
|
}
|
| 481 |
|
|
| 482 |
|
/**
|
| 483 |
|
* @brief Context switch hook.
|
| 484 |
|
* @details This hook is invoked just before switching between threads.
|
| 485 |
|
*/
|
| 486 |
|
#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) { \
|
| 487 |
|
/* Context switch code here.*/ \
|
| 488 |
|
}
|
| 489 |
|
|
| 490 |
|
/**
|
| 491 |
|
* @brief ISR enter hook.
|
| 492 |
|
*/
|
| 493 |
|
#define CH_CFG_IRQ_PROLOGUE_HOOK() { \
|
| 494 |
|
/* IRQ prologue code here.*/ \
|
| 495 |
|
}
|
| 496 |
|
|
| 497 |
|
/**
|
| 498 |
|
* @brief ISR exit hook.
|
| 499 |
|
*/
|
| 500 |
|
#define CH_CFG_IRQ_EPILOGUE_HOOK() { \
|
| 501 |
|
/* IRQ epilogue code here.*/ \
|
| 502 |
|
}
|
| 503 |
|
|
| 504 |
|
/**
|
| 505 |
|
* @brief Idle thread enter hook.
|
| 506 |
|
* @note This hook is invoked within a critical zone, no OS functions
|
| 507 |
|
* should be invoked from here.
|
| 508 |
|
* @note This macro can be used to activate a power saving mode.
|
| 509 |
|
*/
|
| 510 |
|
#define CH_CFG_IDLE_ENTER_HOOK() { \
|
| 511 |
|
/* Idle-enter code here.*/ \
|
| 512 |
|
}
|
| 513 |
|
|
| 514 |
|
/**
|
| 515 |
|
* @brief Idle thread leave hook.
|
| 516 |
|
* @note This hook is invoked within a critical zone, no OS functions
|
| 517 |
|