/ - Diff - AMiRo-OS - Research for Cognitive Interaction

Revision 043cdf33

     # If enabled, this option makes the build process faster by not compiling
     # modules not used in the current configuration.
     ifeq ($(USE_SMART_BUILD),)
       USE_SMART_BUILD = yes
       USE_SMART_BUILD = no
     endif
     #                                                                              #

     #define _BOARD_H_
     /*
      * Setup for AMiRo DiWheelDrive board.
      * Setup for AMiRo DiWheelDrive v1.1 board.
      */
     /*

     /**
      * @file    os/modules/DiWheelDrive/chconf.h
      * @brief   ChibiOS Configuration file for the DiWheelDrive module.
      * @brief   ChibiOS Configuration file for the DiWheelDrive v1.1 module.
      * @details Contains the application specific kernel settings.
+     *
      * @addtogroup config
-...
     #ifndef _CHCONF_H_
     #define _CHCONF_H_
     #define _CHIBIOS_RT_CONF_
     #include <aosconf.h>
     /*===========================================================================*/
-...
     /*===========================================================================*/
     /**
      * @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.
      */
     #define CH_CFG_TIME_QUANTUM                 0
     /**
      * @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.
      */
     #define CH_CFG_MEMCORE_SIZE                 0
     /**
      * @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.
      */
     #define CH_CFG_NO_IDLE_THREAD               FALSE
     /** @} */
     /*===========================================================================*/
     /**
      * @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.
      */
     #define CH_CFG_OPTIMIZE_SPEED               TRUE
     /** @} */
     /*===========================================================================*/
     /**
      * @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.
      */
     #define CH_CFG_USE_TM                       FALSE
     /**
      * @brief   Threads registry APIs.
      * @details If enabled then the registry APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_REGISTRY                 FALSE
     /**
      * @brief   Threads synchronization APIs.
      * @details If enabled then the @p chThdWait() function is included in
      *          the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_WAITEXIT                 TRUE
     /**
      * @brief   Semaphores APIs.
      * @details If enabled then the Semaphores APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_SEMAPHORES               FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
     /**
      * @brief   Mutexes APIs.
      * @details If enabled then the mutexes APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_MUTEXES                  TRUE
     /**
      * @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.
      */
     #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_CONDVARS                 FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_CONDVARS_TIMEOUT         FALSE
     /**
      * @brief   Events Flags APIs.
      * @details If enabled then the event flags APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_EVENTS                   TRUE
     /**
      * @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.
      */
     #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
     /**
      * @brief   Synchronous Messages APIs.
      * @details If enabled then the synchronous messages APIs are included
      *          in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_MESSAGES                 FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_MAILBOXES                FALSE
     /**
      * @brief   I/O Queues APIs.
      * @details If enabled then the I/O queues APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_QUEUES                   FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_MEMCORE                  FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_HEAP                     FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_MEMPOOLS                 FALSE
     /**
      * @brief   Dynamic Threads APIs.
      * @details If enabled then the dynamic threads creation APIs are included
      *          in the kernel.
+     *
      * @note    The default is @p TRUE.
      * @note    Requires @p CH_CFG_USE_WAITEXIT.
      * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
      */
     #define CH_CFG_USE_DYNAMIC                  FALSE
     /** @} */
     /*===========================================================================*/
     /**
      * @name Debug options
      * @{
      */
     /*===========================================================================*/
     /**
      * @brief   Debug option, kernel statistics.
+     *
      * @note    The default is @p FALSE.
      */
     #define CH_DBG_STATISTICS                   FALSE
     /**
      * @brief   Debug option, system state check.
      * @details If enabled the correct call protocol for system APIs is checked
      *          at runtime.
+     *
      * @note    The default is @p FALSE.
      */
     #if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
     #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
     #else
     #define CH_DBG_SYSTEM_STATE_CHECK           FALSE
     #endif
     /**
      * @brief   Debug option, parameters checks.
      * @details If enabled then the checks on the API functions input
      *          parameters are activated.
+     *
      * @note    The default is @p FALSE.
      */
     #if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
     #define CH_DBG_ENABLE_CHECKS                TRUE
     #else
     #define CH_DBG_ENABLE_CHECKS                FALSE
     #endif
     /**
      * @brief   Debug option, consistency checks.
      * @details If enabled then all the assertions in the kernel code are
      *          activated. This includes consistency checks inside the kernel,
      *          runtime anomalies and port-defined checks.
+     *
      * @note    The default is @p FALSE.
      */
     #if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
     #define CH_DBG_ENABLE_ASSERTS               TRUE
     #else
     #define CH_DBG_ENABLE_ASSERTS               FALSE
     #endif
     /**
      * @brief   Debug option, trace buffer.
      * @details If enabled then the trace buffer is activated.
+     *
      * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
      */
     #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_DISABLED
     /**
      * @brief   Trace buffer entries.
      * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
      *          different from @p CH_DBG_TRACE_MASK_DISABLED.
      */
     #define CH_DBG_TRACE_BUFFER_SIZE            128
     /**
      * @brief   Debug option, stack checks.
      * @details If enabled then a runtime stack check is performed.
+     *
      * @note    The default is @p FALSE.
      * @note    The stack check is performed in a architecture/port dependent way.
      *          It may not be implemented or some ports.
      * @note    The default failure mode is to halt the system with the global
      *          @p panic_msg variable set to @p NULL.
      */
     #if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
     #define CH_DBG_ENABLE_STACK_CHECK           TRUE
     #else
     #define CH_DBG_ENABLE_STACK_CHECK           FALSE
     #endif
     /**
      * @brief   Debug option, stacks initialization.
      * @details If enabled then the threads working area is filled with a byte
      *          value when a thread is created. This can be useful for the
      *          runtime measurement of the used stack.
+     *
      * @note    The default is @p FALSE.
      */
     #if (AMIROOS_CFG_PROFILE == true) || defined(__DOXYGEN__)
     #define CH_DBG_FILL_THREADS                 TRUE
     #else
     #define CH_DBG_FILL_THREADS                 FALSE
     #endif
     /**
      * @brief   Debug option, threads profiling.
      * @details If enabled then a field is added to the @p thread_t structure that
      *          counts the system ticks occurred while executing the thread.
+     *
      * @note    The default is @p FALSE.
      * @note    This debug option is not currently compatible with the
      *          tickless mode.
      */
     #if ((CH_CFG_ST_TIMEDELTA == 0) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
       #define CH_DBG_THREADS_PROFILING          TRUE
     #else
       #define CH_DBG_THREADS_PROFILING          FALSE
     #endif
     /** @} */
     /*===========================================================================*/
     /**
      * @name Kernel hooks
      * @{
      */
     /*===========================================================================*/
     /**
      * @brief   Threads descriptor structure extension.
      * @details User fields added to the end of the @p thread_t structure.
      */
     #define CH_CFG_THREAD_EXTRA_FIELDS                                          \
       /* Add threads custom fields here.*/
     /**
      * @brief   Threads initialization hook.
      * @details User initialization code added to the @p chThdInit() API.
+     *
      * @note    It is invoked from within @p chThdInit() and implicitly from all
      *          the threads creation APIs.
      */
     #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
       /* Add threads initialization code here.*/                                \
+    }
     /**
      * @brief   Threads finalization hook.
      * @details User finalization code added to the @p chThdExit() API.
+     *
      * @note    It is inserted into lock zone.
      * @note    It is also invoked when the threads simply return in order to
      *          terminate.
      */
     #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
       /* Add threads finalization code here.*/                                  \
+    }
     /**
      * @brief   Context switch hook.
      * @details This hook is invoked just before switching between threads.
      */
     #define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
       /* Context switch code here.*/                                            \
+    }
     /**
      * @brief   ISR enter hook.
      */
     #define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
       /* IRQ prologue code here.*/                                              \
+    }
     /**
      * @brief   ISR exit hook.
      */
     #define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
       /* IRQ epilogue code here.*/                                              \
+    }
     /**
      * @brief   Idle thread enter hook.
      * @note    This hook is invoked within a critical zone, no OS functions
      *          should be invoked from here.
      * @note    This macro can be used to activate a power saving mode.
      */
     #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
       /* Idle-enter code here.*/                                                \
+    }
     /**
      * @brief   Idle thread leave hook.
      * @note    This hook is invoked within a critical zone, no OS functions
      *          should be invoked from here.
      * @note    This macro can be used to deactivate a power saving mode.
      */
     #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
       /* Idle-leave code here.*/                                                \
+    }
     /**
      * @brief   Idle Loop hook.
      * @details This hook is continuously invoked by the idle thread loop.
      */
     #define CH_CFG_IDLE_LOOP_HOOK() {                                           \
       /* Idle loop code here.*/                                                 \
+    }
     /**
      * @brief   System tick event hook.
      * @details This hook is invoked in the system tick handler immediately
      *          after processing the virtual timers queue.
      */
     #define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
       /* System tick event code here.*/                                         \
+    }
     /**
      * @brief   System halt hook.
      * @details This hook is invoked in case to a system halting error before
      *          the system is halted.
      */
     #define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
       extern void aosPrintHaltErrorCode(const char* reason);                       \
       aosPrintHaltErrorCode(reason);                                               \
+    }
     /**
      * @brief   Trace hook.
      * @details This hook is invoked each time a new record is written in the
      *          trace buffer.
      */
     #define CH_CFG_TRACE_HOOK(tep) {                                            \
       /* Trace code here.*/                                                     \
+    }
     /** @} */
     /*===========================================================================*/
     /**
      * @name Port specific settings
      * @{
      */
-...
     /** @} */
     /*===========================================================================*/
     /**
      * @name other
      * @{
      */
     /*===========================================================================*/
     /**
      * @brief   Flag to enable/disable floating point support in chprinf()
      */
     #define CHPRINTF_USE_FLOAT                  TRUE
     /** @} */
     #include <aos_chconf.h>
     #endif  /* _CHCONF_H_ */

     /**
      * @file    os/modules/DiWheelDrive/halconf.h
      * @brief   HAL configuration header for the DiWheelDrive module.
      * @brief   HAL configuration header for the DiWheelDrive v1.1 module.
      * @details HAL configuration file, this file allows to enable or disable the
      *          various device drivers from your application. You may also use
      *          this file in order to override the device drivers default settings.

     # If enabled, this option makes the build process faster by not compiling
     # modules not used in the current configuration.
     ifeq ($(USE_SMART_BUILD),)
       USE_SMART_BUILD = yes
       USE_SMART_BUILD = no
     endif
     #                                                                              #
-...
     # Enables the use of FPU on Cortex-M4.
     # Possible selections are:
     #   no     - no FPU is used (propably equals 'soft')
     #   no     - no FPU is used (probably equals 'soft')
     #   soft   - does not use the FPU, thus all floating point operations are emulated
     #   softfp - uses the FPU, but uses the integer registers only
     #   hard   - uses the FPU and passes data via the FPU registers

     #define _BOARD_H_
     /*
      * Setup for AMiRo LightRing board.
      * Setup for AMiRo LightRing v1.0 board.
      */
     /*

     /**
      * @file    os/modules/LightRing/chconf.h
      * @brief   ChibiOS Configuration file for the LightRing module.
      * @brief   ChibiOS Configuration file for the LightRing v1.0 module.
      * @details Contains the application specific kernel settings.
+     *
      * @addtogroup config
-...
     #ifndef _CHCONF_H_
     #define _CHCONF_H_
     #define _CHIBIOS_RT_CONF_
     #include <aosconf.h>
     /*===========================================================================*/
-...
     /*===========================================================================*/
     /**
      * @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.
      */
     #define CH_CFG_TIME_QUANTUM                 0
     /**
      * @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.
      */
     #define CH_CFG_MEMCORE_SIZE                 0
     /**
      * @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.
      */
     #define CH_CFG_NO_IDLE_THREAD               FALSE
     /** @} */
     /*===========================================================================*/
     /**
      * @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.
      */
     #define CH_CFG_OPTIMIZE_SPEED               TRUE
     /** @} */
     /*===========================================================================*/
     /**
      * @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.
      */
     #define CH_CFG_USE_TM                       FALSE
     /**
      * @brief   Threads registry APIs.
      * @details If enabled then the registry APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_REGISTRY                 FALSE
     /**
      * @brief   Threads synchronization APIs.
      * @details If enabled then the @p chThdWait() function is included in
      *          the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_WAITEXIT                 TRUE
     /**
      * @brief   Semaphores APIs.
      * @details If enabled then the Semaphores APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_SEMAPHORES               FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
     /**
      * @brief   Mutexes APIs.
      * @details If enabled then the mutexes APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_MUTEXES                  TRUE
     /**
      * @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.
      */
     #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_CONDVARS                 FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_CONDVARS_TIMEOUT         FALSE
     /**
      * @brief   Events Flags APIs.
      * @details If enabled then the event flags APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_EVENTS                   TRUE
     /**
      * @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.
      */
     #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
     /**
      * @brief   Synchronous Messages APIs.
      * @details If enabled then the synchronous messages APIs are included
      *          in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_MESSAGES                 FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_MAILBOXES                FALSE
     /**
      * @brief   I/O Queues APIs.
      * @details If enabled then the I/O queues APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_QUEUES                   FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_MEMCORE                  FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_HEAP                     FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_MEMPOOLS                 FALSE
     /**
      * @brief   Dynamic Threads APIs.
      * @details If enabled then the dynamic threads creation APIs are included
      *          in the kernel.
+     *
      * @note    The default is @p TRUE.
      * @note    Requires @p CH_CFG_USE_WAITEXIT.
      * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
      */
     #define CH_CFG_USE_DYNAMIC                  FALSE
     /** @} */
     /*===========================================================================*/
     /**
      * @name Debug options
      * @{
      */
     /*===========================================================================*/
     /**
      * @brief   Debug option, kernel statistics.
+     *
      * @note    The default is @p FALSE.
      */
     #define CH_DBG_STATISTICS                   FALSE
     /**
      * @brief   Debug option, system state check.
      * @details If enabled the correct call protocol for system APIs is checked
      *          at runtime.
+     *
      * @note    The default is @p FALSE.
      */
     #if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
     #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
     #else
     #define CH_DBG_SYSTEM_STATE_CHECK           FALSE
     #endif
     /**
      * @brief   Debug option, parameters checks.
      * @details If enabled then the checks on the API functions input
      *          parameters are activated.
+     *
      * @note    The default is @p FALSE.
      */
     #if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
     #define CH_DBG_ENABLE_CHECKS                TRUE
     #else
     #define CH_DBG_ENABLE_CHECKS                FALSE
     #endif
     /**
      * @brief   Debug option, consistency checks.
      * @details If enabled then all the assertions in the kernel code are
      *          activated. This includes consistency checks inside the kernel,
      *          runtime anomalies and port-defined checks.
+     *
      * @note    The default is @p FALSE.
      */
     #if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
     #define CH_DBG_ENABLE_ASSERTS               TRUE
     #else
     #define CH_DBG_ENABLE_ASSERTS               FALSE
     #endif
     /**
      * @brief   Debug option, trace buffer.
      * @details If enabled then the trace buffer is activated.
+     *
      * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
      */
     #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_DISABLED
     /**
      * @brief   Trace buffer entries.
      * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
      *          different from @p CH_DBG_TRACE_MASK_DISABLED.
      */
     #define CH_DBG_TRACE_BUFFER_SIZE            128
     /**
      * @brief   Debug option, stack checks.
      * @details If enabled then a runtime stack check is performed.
+     *
      * @note    The default is @p FALSE.
      * @note    The stack check is performed in a architecture/port dependent way.
      *          It may not be implemented or some ports.
      * @note    The default failure mode is to halt the system with the global
      *          @p panic_msg variable set to @p NULL.
      */
     #if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
     #define CH_DBG_ENABLE_STACK_CHECK           TRUE
     #else
     #define CH_DBG_ENABLE_STACK_CHECK           FALSE
     #endif
     /**
      * @brief   Debug option, stacks initialization.
      * @details If enabled then the threads working area is filled with a byte
      *          value when a thread is created. This can be useful for the
      *          runtime measurement of the used stack.
+     *
      * @note    The default is @p FALSE.
      */
     #if (AMIROOS_CFG_PROFILE == true) || defined(__DOXYGEN__)
     #define CH_DBG_FILL_THREADS                 TRUE
     #else
     #define CH_DBG_FILL_THREADS                 FALSE
     #endif
     /**
      * @brief   Debug option, threads profiling.
      * @details If enabled then a field is added to the @p thread_t structure that
      *          counts the system ticks occurred while executing the thread.
+     *
      * @note    The default is @p FALSE.
      * @note    This debug option is not currently compatible with the
      *          tickless mode.
      */
     #if ((CH_CFG_ST_TIMEDELTA == 0) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
       #define CH_DBG_THREADS_PROFILING          TRUE
     #else
       #define CH_DBG_THREADS_PROFILING          FALSE
     #endif
     /** @} */
     /*===========================================================================*/
     /**
      * @name Kernel hooks
      * @{
      */
     /*===========================================================================*/
     /**
      * @brief   Threads descriptor structure extension.
      * @details User fields added to the end of the @p thread_t structure.
      */
     #define CH_CFG_THREAD_EXTRA_FIELDS                                          \
       /* Add threads custom fields here.*/
     /**
      * @brief   Threads initialization hook.
      * @details User initialization code added to the @p chThdInit() API.
+     *
      * @note    It is invoked from within @p chThdInit() and implicitly from all
      *          the threads creation APIs.
      */
     #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
       /* Add threads initialization code here.*/                                \
+    }
     /**
      * @brief   Threads finalization hook.
      * @details User finalization code added to the @p chThdExit() API.
+     *
      * @note    It is inserted into lock zone.
      * @note    It is also invoked when the threads simply return in order to
      *          terminate.
      */
     #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
       /* Add threads finalization code here.*/                                  \
+    }
     /**
      * @brief   Context switch hook.
      * @details This hook is invoked just before switching between threads.
      */
     #define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
       /* Context switch code here.*/                                            \
+    }
     /**
      * @brief   ISR enter hook.
      */
     #define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
       /* IRQ prologue code here.*/                                              \
+    }
     /**
      * @brief   ISR exit hook.
      */
     #define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
       /* IRQ epilogue code here.*/                                              \
+    }
     /**
      * @brief   Idle thread enter hook.
      * @note    This hook is invoked within a critical zone, no OS functions
      *          should be invoked from here.
      * @note    This macro can be used to activate a power saving mode.
      */
     #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
       /* Idle-enter code here.*/                                                \
+    }
     /**
      * @brief   Idle thread leave hook.
      * @note    This hook is invoked within a critical zone, no OS functions
      *          should be invoked from here.
      * @note    This macro can be used to deactivate a power saving mode.
      */
     #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
       /* Idle-leave code here.*/                                                \
+    }
     /**
      * @brief   Idle Loop hook.
      * @details This hook is continuously invoked by the idle thread loop.
      */
     #define CH_CFG_IDLE_LOOP_HOOK() {                                           \
       /* Idle loop code here.*/                                                 \
+    }
     /**
      * @brief   System tick event hook.
      * @details This hook is invoked in the system tick handler immediately
      *          after processing the virtual timers queue.
      */
     #define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
       /* System tick event code here.*/                                         \
+    }
     /**
      * @brief   System halt hook.
      * @details This hook is invoked in case to a system halting error before
      *          the system is halted.
      */
     #define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
       extern void aosPrintHaltErrorCode(const char* reason);                       \
       aosPrintHaltErrorCode(reason);                                               \
+    }
     /**
      * @brief   Trace hook.
      * @details This hook is invoked each time a new record is written in the
      *          trace buffer.
      */
     #define CH_CFG_TRACE_HOOK(tep) {                                            \
       /* Trace code here.*/                                                     \
+    }
     /** @} */
     /*===========================================================================*/
     /**
      * @name Port specific settings
      * @{
      */
-...
     /** @} */
     /*===========================================================================*/
     /**
      * @name other
      * @{
      */
     /*===========================================================================*/
     /**
      * @brief   Flag to enable/disable floating point support in chprinf()
      */
     #define CHPRINTF_USE_FLOAT                  TRUE
     /** @} */
     #include <aos_chconf.h>
     #endif  /* _CHCONF_H_ */

     /**
      * @file    os/modules/LightRing/halconf.h
      * @brief   HAL configuration header for the LightRing module.
      * @brief   HAL configuration header for the LightRing v1.0 module.
      * @details HAL configuration file, this file allows to enable or disable the
      *          various device drivers from your application. You may also use
      *          this file in order to override the device drivers default settings.

     # If enabled, this option makes the build process faster by not compiling
     # modules not used in the current configuration.
     ifeq ($(USE_SMART_BUILD),)
       USE_SMART_BUILD = yes
       USE_SMART_BUILD = no
     endif
     #                                                                              #
-...
     # Enables the use of FPU on Cortex-M4.
     # Possible selections are:
     #   no     - no FPU is used (propably equals 'soft')b
     #   no     - no FPU is used (probably equals 'soft')
     #   soft   - does not use the FPU, thus all floating point operations are emulated
     #   softfp - uses the FPU, but uses the integer registers only
     #   hard   - uses the FPU and passes data via the FPU registers

     #define _BOARD_H_
     /*
      * Setup for AMiRo PowerManagement board.
      * Setup for AMiRo PowerManagement v1.1 board.
      */
     /*

     /**
      * @file    os/modules/PowerManagement/chconf.h
      * @brief   ChibiOS Configuration file for the PowerManagement module.
      * @brief   ChibiOS Configuration file for the PowerManagement v1.1 module.
      * @details Contains the application specific kernel settings.
+     *
      * @addtogroup config
-...
     #ifndef _CHCONF_H_
     #define _CHCONF_H_
     #define _CHIBIOS_RT_CONF_
     #include <aosconf.h>
     /*===========================================================================*/
-...
     /*===========================================================================*/
     /**
      * @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.
      */
     #define CH_CFG_TIME_QUANTUM                 0
     /**
      * @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.
      */
     #define CH_CFG_MEMCORE_SIZE                 0
     /**
      * @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.
      */
     #define CH_CFG_NO_IDLE_THREAD               FALSE
     /** @} */
     /*===========================================================================*/
     /**
      * @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.
      */
     #define CH_CFG_OPTIMIZE_SPEED               TRUE
     /** @} */
     /*===========================================================================*/
     /**
      * @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.
      */
     #define CH_CFG_USE_TM                       FALSE
     /**
      * @brief   Threads registry APIs.
      * @details If enabled then the registry APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_REGISTRY                 FALSE
     /**
      * @brief   Threads synchronization APIs.
      * @details If enabled then the @p chThdWait() function is included in
      *          the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_WAITEXIT                 TRUE
     /**
      * @brief   Semaphores APIs.
      * @details If enabled then the Semaphores APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_SEMAPHORES               FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
     /**
      * @brief   Mutexes APIs.
      * @details If enabled then the mutexes APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_MUTEXES                  TRUE
     /**
      * @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.
      */
     #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_CONDVARS                 FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_CONDVARS_TIMEOUT         FALSE
     /**
      * @brief   Events Flags APIs.
      * @details If enabled then the event flags APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_EVENTS                   TRUE
     /**
      * @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.
      */
     #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
     /**
      * @brief   Synchronous Messages APIs.
      * @details If enabled then the synchronous messages APIs are included
      *          in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_MESSAGES                 FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_MAILBOXES                FALSE
     /**
      * @brief   I/O Queues APIs.
      * @details If enabled then the I/O queues APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #define CH_CFG_USE_QUEUES                   FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_MEMCORE                  FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_HEAP                     FALSE
     /**
      * @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.
      */
     #define CH_CFG_USE_MEMPOOLS                 FALSE
     /**
      * @brief   Dynamic Threads APIs.
      * @details If enabled then the dynamic threads creation APIs are included
      *          in the kernel.
+     *
      * @note    The default is @p TRUE.
      * @note    Requires @p CH_CFG_USE_WAITEXIT.
      * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
      */
     #define CH_CFG_USE_DYNAMIC                  FALSE
     /** @} */
     /*===========================================================================*/
     /**
      * @name Debug options
      * @{
      */
     /*===========================================================================*/
     /**
      * @brief   Debug option, kernel statistics.
+     *
      * @note    The default is @p FALSE.
      */
     #define CH_DBG_STATISTICS                   FALSE
     /**
      * @brief   Debug option, system state check.
      * @details If enabled the correct call protocol for system APIs is checked
      *          at runtime.
+     *
      * @note    The default is @p FALSE.
      */
     #if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
     #define CH_DBG_SYSTEM_STATE_CHECK           TRUE

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