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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..2019  Thomas Schöpping et al.
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+            Thomas Schöpping
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 /**
  * @file    os/modules/common/chconf.h
  * @brief   Common ChibiOS Configuration file for the all modules.
  * @details Contains the application specific kernel settings.
+ *
  * @addtogroup config
  * @details Kernel related settings and hooks.
  * @{
  */
 #ifndef _AOS_CHCONF_H_
 #define _AOS_CHCONF_H_
 #define _CHIBIOS_RT_CONF_
 #include <aosconf.h>
 /*===========================================================================*/
 /**
  * @name System timers settings
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+ * @{
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+ */
 /*===========================================================================*/
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+/**
  * @brief   System tick frequency.
  * @details Frequency of the system timer that drives the system ticks. This
  *          setting also defines the system tick time unit.
  */
 #if !defined(CH_CFG_ST_FREQUENCY)
 #define CH_CFG_ST_FREQUENCY                 1000000UL
 #endif
 /**
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
 #if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
 #endif
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
 #if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
 #endif
 /**
  * @brief   Time delta constant for the tick-less mode.
  * @note    If this value is zero then the system uses the classic
  *          periodic tick. This value represents the minimum number
  *          of ticks that is safe to specify in a timeout directive.
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
 #if !defined(CH_CFG_ST_TIMEDELTA)
-f224ade
+#define CH_CFG_ST_TIMEDELTA                 50
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+#endif
 /** @} */
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+            Thomas Schöpping
 /*===========================================================================*/
 /**
  * @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                       TRUE
 /**
  * @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
 /**
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+ * @brief   Thread hierarchy APIs.
  * @details Id enabled then the thread hierarchy APIs are included in the kernel.
+ *
  * @note    The default is @p FALSE.
  */
 #define CH_CFG_USE_THREADHIERARCHY          TRUE
 /**
  * @brief   Enable ordering of child lists.
  * @details Children will be ordered by their priority (descending).
  *          If sibliblings have identical priority, they are ordered by age (descending).
  */
 #define CH_CFG_THREADHIERARCHY_ORDERED      TRUE
 /**
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+ * @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               TRUE
 /**
  * @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                 TRUE
 /**
  * @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         TRUE
 /**
  * @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   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
 /**
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+ * @brief  Objects FIFOs APIs.
  * @details If enabled then the objects FIFOs APIs are included
  *          in the kernel.
+ *
  * @note    The default is @p TRUE.
  */
 #define CH_CFG_USE_OBJ_FIFOS                FALSE
 /**
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+ * @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
 /** @} */
 /*===========================================================================*/
 /**
-e5f7648
+ * @name Objects factory options
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   Objects Factory APIs.
  * @details If enabled then the objects factory APIs are included in the
  *          kernel.
+ *
  * @note    The default is @p FALSE.
  */
 #if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  FALSE
 #endif
 /**
  * @brief   Maximum length for object names.
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
 #if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
 #endif
 /**
  * @brief   Enables the registry of generic objects.
  */
 #if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
 #endif
 /**
  * @brief   Enables factory for generic buffers.
  */
 #if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
 #endif
 /**
  * @brief   Enables factory for semaphores.
  */
 #if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
 #endif
 /**
  * @brief   Enables factory for mailboxes.
  */
 #if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
 #endif
 /**
  * @brief   Enables factory for objects FIFOs.
  */
 #if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
 #endif
 /** @} */
 /*===========================================================================*/
 /**
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+ * @name Debug options
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   Debug option, kernel statistics.
+ *
  * @note    The default is @p FALSE.
  */
 #if ((CH_CFG_USE_TM == TRUE) && (AMIROOS_CFG_DBG == true)) || defined(__DOXYGEN__)
   #define CH_DBG_STATISTICS                 TRUE
 #else
   #define CH_DBG_STATISTICS                 FALSE
 #endif
 /**
  * @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
  * @{
  */
 /*===========================================================================*/
 /**
-e5f7648
+ * @brief   System structure extension.
  * @details User fields added to the end of the @p ch_system_t structure.
  */
 #define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
   /* Add threads custom fields here.*/
 /**
  * @brief   System initialization hook.
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
 #define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
+}
 /**
-cdf33
+ * @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.
-e5f7648
+ * @details User initialization code added to the @p _thread_init() function.
-cdf33
+            Thomas Schöpping
-e5f7648
+ * @note    It is invoked from within @p _thread_init() and implicitly from all
-cdf33
+ *          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.
  */
 #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) {                                   \
-e5f7648
+  extern void aosPrintHaltErrorCode(const char* reason);                    \
   aosPrintHaltErrorCode(reason);                                            \
-cdf33
+            Thomas Schöpping
 /**
  * @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
  */
 /*===========================================================================*/
 // These settings are specific to each module.
 /*===========================================================================*/
 /**
  * @name other
  * @{
  */
 /*===========================================================================*/
 /**
-e5f7648
+ * @brief   Flag to enable/disable floating point support in chprintf() and all deriviates.
-cdf33
+ */
 #define CHPRINTF_USE_FLOAT                  TRUE
 /** @} */
 #endif  /* _AOS_CHCONF_H_ */
 /** @} */