amiro-os / modules / DiWheelDrive_1-2 / aosconf.h @ 10853947
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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..2020 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
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* @brief AMiRo-OS Configuration file for the DiWheelDrive v1.2 module.
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* @details Contains the application specific AMiRo-OS settings.
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*
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* @addtogroup diwheeldrive_aos_config
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* @{
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*/
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#ifndef AOSCONF_H
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#define AOSCONF_H
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/*
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* compatibility guards
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*/
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#define _AMIRO_OS_CFG_
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#define AMIRO_OS_CFG_VERSION_MAJOR 2 |
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#define AMIRO_OS_CFG_VERSION_MINOR 1 |
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#include <stdbool.h> |
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/*
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* Include an external configuration file to override the following default settings only if required.
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*/
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#if defined(AMIRO_APPS) && (AMIRO_APPS == true) |
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#include <osconf.h> |
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#endif /* defined(AMIRO_APPS) && (AMIRO_APPS == true) */ |
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/*===========================================================================*/
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/**
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* @name Kernel parameters and options
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief Flag to enable/disable debug API and logic.
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*/
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#if !defined(OS_CFG_DBG)
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#define AMIROOS_CFG_DBG true |
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#else /* !defined(OS_CFG_DBG) */ |
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#define AMIROOS_CFG_DBG OS_CFG_DBG
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#endif /* !defined(OS_CFG_DBG) */ |
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/**
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* @brief Flag to enable/disable unit tests.
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* @note Setting this flag will implicitely enable the shell.
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*/
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#if !defined(OS_CFG_TESTS_ENABLE)
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#define AMIROOS_CFG_TESTS_ENABLE true |
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#else /* !defined(OS_CFG_TESTS_ENABLE) */ |
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#define AMIROOS_CFG_TESTS_ENABLE OS_CFG_TESTS_ENABLE
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#endif /* !defined(OS_CFG_TESTS_ENABLE) */ |
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/**
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* @brief Flag to enable/disable profiling API and logic.
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*/
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#if !defined(OS_CFG_PROFILE)
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#define AMIROOS_CFG_PROFILE true |
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#else /* !defined(OS_CFG_PROFILE) */ |
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#define AMIROOS_CFG_PROFILE OS_CFG_PROFILE
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#endif /* !defined(OS_CFG_PROFILE) */ |
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/**
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* @brief Mask for the control thread to listen to certain GPIO events.
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* @note Any mandatory events (e.g. for SSSP) are enabled implicitely despite this configuration.
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*/
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#if !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK)
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#define AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK 0 |
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#else /* !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) */ |
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#define AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK
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#endif /* !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) */ |
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/**
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* @brief Timeout value when waiting for events in the main loop in microseconds.
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* @details A value of 0 deactivates the timeout.
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*/
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#if !defined(OS_CFG_MAIN_LOOP_TIMEOUT)
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#define AMIROOS_CFG_MAIN_LOOP_TIMEOUT 0 |
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#else /* !defined(OS_CFG_MAIN_LOOP_TIMEOUT) */ |
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#define AMIROOS_CFG_MAIN_LOOP_TIMEOUT OS_CFG_MAIN_LOOP_TIMEOUT
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#endif /* !defined(OS_CFG_MAIN_LOOP_TIMEOUT) */ |
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/** @} */
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/*===========================================================================*/
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/**
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* @name Bootloader configuration
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief Identifier of the instaled bootloader (if any).
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* @note See aos_bootloader.h file for a list of available settings.
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*/
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#if !defined(OS_CFG_BOOTLOADER)
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#define AMIROOS_CFG_BOOTLOADER AOS_BOOTLOADER_AMiRoBLT
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#else /* !defined(OS_CFG_BOOTLOADER) */ |
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#define AMIROOS_CFG_BOOTLOADER OS_CFG_BOOTLOADER
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#endif /* !defined(OS_CFG_BOOTLOADER) */ |
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/** @} */
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/*===========================================================================*/
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/**
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* @name SSSP (Startup Shutdown Synchronization Protocol) configuration.
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief Flag to enable SSSP.
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*/
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#if !defined(OS_CFG_SSSP_ENABLE)
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#define AMIROOS_CFG_SSSP_ENABLE true |
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#else /* !defined(OS_CFG_SSSP_ENABLE) */ |
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#define AMIROOS_CFG_SSSP_ENABLE OS_CFG_SSSP_ENABLE
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#endif /* !defined(OS_CFG_SSSP_ENABLE) */ |
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/**
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* @brief Flag to indicate, whether the SSSP startup sequence shall be executed by AMiRo-OS.
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* @details This setting must be false in case another software (e.g. a bootloader) handles the initial stages of the SSSP startup phase.
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*/
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#if !defined(OS_CFG_SSSP_STARTUP)
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#define AMIROOS_CFG_SSSP_STARTUP false |
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#else
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#define AMIROOS_CFG_SSSP_STARTUP OS_CFG_SSSP_STARTUP
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#endif
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/**
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* @brief Flag to indicate, whether the SSSP shutdown sequence shall be executed by AMiRo-OS.
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* @details This setting should be false in case another software (e.g. a bootloader) handles the final stages of the SSSP shutdown phase.
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*/
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#if !defined(OS_CFG_SSSP_SHUTDOWN)
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#define AMIROOS_CFG_SSSP_SHUTDOWN false |
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#else
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#define AMIROOS_CFG_SSSP_SHUTDOWN OS_CFG_SSSP_SHUTDOWN
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#endif
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/**
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* @brief Flag to indicate, whether the module stack initialization (MSI; stage 3 of the SSSP startup phase) shall be executed.
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* @brief In order to execute MSI, a broadcast bus (BCB) and according interfaces must be defined.
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*/
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#if !defined(OS_CFG_SSSP_MSI)
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#define AMIROOS_CFG_SSSP_MSI true |
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#else
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#define AMIROOS_CFG_SSSP_MSI OS_CFG_SSSP_MSI
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#endif
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/**
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* @brief Width of the @p aos_sssp_moduleid_t type.
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* @details Possible settings are 8, 16, 32 and 64.
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*/
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#if !defined(OS_CFG_SSSP_MODULEIDWIDTH)
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#define AMIROOS_CFG_SSSP_MODULEIDWIDTH 16 |
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#else
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#define AMIROOS_CFG_SSSP_MODULEIDWIDTH OS_CFG_SSSP_MODULEIDWIDTH
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#endif
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/**
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* @brief Flag to set the module as SSSP master.
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* @details There must be only one module with this flag set to true in a system.
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*/
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#if !defined(OS_CFG_SSSP_MASTER)
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#define AMIROOS_CFG_SSSP_MASTER false |
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#else /* !defined(OS_CFG_SSSP_MASTER) */ |
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#define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER
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#endif /* !defined(OS_CFG_SSSP_MASTER) */ |
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/**
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* @brief Flag to set the module to be the first in the stack.
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* @details There must be only one module with this flag set to true in a system.
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*/
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#if !defined(OS_CFG_SSSP_STACK_START)
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#define AMIROOS_CFG_SSSP_STACK_START true |
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#else /* !defined(OS_CFG_SSSP_STACK_START) */ |
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#define AMIROOS_CFG_SSSP_STACK_START OS_CFG_SSSP_STACK_START
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#endif /* !defined(OS_CFG_SSSP_STACK_START) */ |
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/**
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* @brief Flag to set the module to be the last in the stack.
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* @details There must be only one module with this flag set to true in a system.
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*/
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#if !defined(OS_CFG_SSSP_STACK_END)
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#define AMIROOS_CFG_SSSP_STACK_END false |
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#else /* !defined(OS_CFG_SSSP_STACK_END) */ |
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#define AMIROOS_CFG_SSSP_STACK_END OS_CFG_SSSP_STACK_END
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#endif /* !defined(OS_CFG_SSSP_STACK_END) */ |
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/**
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* @brief Delay time (in microseconds) how long a SSSP signal must be active.
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*/
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#if !defined(OS_CFG_SSSP_SIGNALDELAY)
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#define AMIROOS_CFG_SSSP_SIGNALDELAY 1000 |
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#else /* !defined(OS_CFG_SSSP_SIGNALDELAY) */ |
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#define AMIROOS_CFG_SSSP_SIGNALDELAY OS_CFG_SSSP_SIGNALDELAY
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#endif /* !defined(OS_CFG_SSSP_SIGNALDELAY) */ |
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/**
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* @brief Time boundary for robot wide clock synchronization in microseconds.
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* @details Whenever the SSSP S (snychronization) signal gets logically deactivated,
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* All modules need to align their local uptime to the nearest multiple of this value.
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*/
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#if !defined(OS_CFG_SSSP_SYSSYNCPERIOD)
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#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
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#else /* !defined(OS_CFG_SSSP_SYSSYNCPERIOD) */ |
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#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD
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#endif /* !defined(OS_CFG_SSSP_SYSSYNCPERIOD) */ |
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/** @} */
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/*===========================================================================*/
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/**
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* @name System shell options
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief Shell enable flag.
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*/
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#if !defined(OS_CFG_SHELL_ENABLE)
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#define AMIROOS_CFG_SHELL_ENABLE true |
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#else /* !defined(OS_CFG_SHELL_ENABLE) */ |
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#define AMIROOS_CFG_SHELL_ENABLE OS_CFG_SHELL_ENABLE
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#endif /* !defined(OS_CFG_SHELL_ENABLE) */ |
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/**
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* @brief Shell thread stack size.
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*/
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#if !defined(OS_CFG_SHELL_STACKSIZE)
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#define AMIROOS_CFG_SHELL_STACKSIZE 1024 |
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#else /* !defined(OS_CFG_SHELL_STACKSIZE) */ |
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#define AMIROOS_CFG_SHELL_STACKSIZE OS_CFG_SHELL_STACKSIZE
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#endif /* !defined(OS_CFG_SHELL_STACKSIZE) */ |
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/**
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* @brief Shell thread priority.
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* @details Thread priorities are specified as an integer value.
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* Predefined ranges are:
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* lowest ┌ THD_LOWPRIO_MIN
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* │ ...
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* └ THD_LOWPRIO_MAX
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* ┌ THD_NORMALPRIO_MIN
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* │ ...
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* └ THD_NORMALPRIO_MAX
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* ┌ THD_HIGHPRIO_MIN
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* │ ...
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* └ THD_HIGHPRIO_MAX
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* ┌ THD_RTPRIO_MIN
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* │ ...
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* highest └ THD_RTPRIO_MAX
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*/
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#if !defined(OS_CFG_SHELL_THREADPRIO)
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#define AMIROOS_CFG_SHELL_THREADPRIO AOS_THD_NORMALPRIO_MIN
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#else /* !defined(OS_CFG_SHELL_THREADPRIO) */ |
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#define AMIROOS_CFG_SHELL_THREADPRIO OS_CFG_SHELL_THREADPRIO
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#endif /* !defined(OS_CFG_SHELL_THREADPRIO) */ |
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/**
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* @brief Shell maximum input line length.
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*/
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#if !defined(OS_CFG_SHELL_LINEWIDTH)
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#define AMIROOS_CFG_SHELL_LINEWIDTH 64 |
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#else /* !defined(OS_CFG_SHELL_LINEWIDTH) */ |
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#define AMIROOS_CFG_SHELL_LINEWIDTH OS_CFG_SHELL_LINEWIDTH
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#endif /* !defined(OS_CFG_SHELL_LINEWIDTH) */ |
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/**
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* @brief Shell maximum number of arguments.
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*/
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#if !defined(OS_CFG_SHELL_MAXARGS)
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#define AMIROOS_CFG_SHELL_MAXARGS 8 |
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#else /* !defined(OS_CFG_SHELL_MAXARGS) */ |
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#define AMIROOS_CFG_SHELL_MAXARGS OS_CFG_SHELL_MAXARGS
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#endif /* !defined(OS_CFG_SHELL_MAXARGS) */ |
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/**
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* @brief Shell number of history entries.
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* @details A value of 0 disables shell history.
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*/
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#if !defined(OS_CFG_SHELL_HISTLENGTH)
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#define AMIROOS_CFG_SHELL_HISTLENGTH 3 |
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#else /* !defined(OS_CFG_SHELL_HISTLENGTH) */ |
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#define AMIROOS_CFG_SHELL_HISTLENGTH OS_CFG_SHELL_HISTLENGTH
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#endif /* !defined(OS_CFG_SHELL_HISTLENGTH) */ |
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/** @} */
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#endif /* AOSCONF_H */ |
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/** @} */
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