amiro-os / modules / DiWheelDrive_1-1 / aosconf.h @ 1703dfdf
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | 53710ca3 | Marc Rothmann | /**
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| 20 | * @file
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| 21 | * @brief AMiRo-OS Configuration file for the DiWheelDrive v1.1 module.
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| 22 | * @details Contains the application specific AMiRo-OS settings.
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| 23 | *
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| 24 | * @addtogroup diwheeldrive_aos_config
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| 25 | * @{
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| 26 | */
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| 27 | |||
| 28 | e545e620 | Thomas Schöpping | #ifndef _AOSCONF_H_
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| 29 | #define _AOSCONF_H_
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| 30 | |||
| 31 | /*
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| 32 | * compatibility guards
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| 33 | */
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| 34 | #define _AMIRO_OS_CFG_
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| 35 | #define _AMIRO_OS_CFG_VERSION_MAJOR_ 2 |
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| 36 | #define _AMIRO_OS_CFG_VERSION_MINOR_ 0 |
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| 37 | |||
| 38 | #include <stdbool.h> |
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| 39 | |||
| 40 | /*
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| 41 | * Include an external configuration file to override the following default settings only if required.
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| 42 | */
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| 43 | #if defined(AMIRO_APPS) && (AMIRO_APPS == true) |
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| 44 | #include <osconf.h> |
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| 45 | #endif
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| 46 | |||
| 47 | 6b53f6bf | Thomas Schöpping | /*===========================================================================*/
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| 48 | e545e620 | Thomas Schöpping | /**
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| 49 | 6b53f6bf | Thomas Schöpping | * @name Kernel parameters and options
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| 50 | * @{
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| 51 | e545e620 | Thomas Schöpping | */
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| 52 | 6b53f6bf | Thomas Schöpping | /*===========================================================================*/
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| 53 | e545e620 | Thomas Schöpping | |
| 54 | /**
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| 55 | 3e1a9c79 | Thomas Schöpping | * @brief Flag to enable/disable debug API and logic.
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| 56 | e545e620 | Thomas Schöpping | */
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| 57 | #if !defined(OS_CFG_DBG)
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| 58 | #define AMIROOS_CFG_DBG true |
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| 59 | #else
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| 60 | #define AMIROOS_CFG_DBG OS_CFG_DBG
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| 61 | #endif
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| 62 | |||
| 63 | /**
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| 64 | * @brief Flag to enable/disable unit tests.
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| 65 | */
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| 66 | #if !defined(OS_CFG_TESTS_ENABLE)
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| 67 | #define AMIROOS_CFG_TESTS_ENABLE true |
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| 68 | #else
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| 69 | #define AMIROOS_CFG_TESTS_ENABLE OS_CFG_TESTS_ENABLE
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| 70 | #endif
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| 71 | |||
| 72 | /**
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| 73 | 3e1a9c79 | Thomas Schöpping | * @brief Flag to enable/disable profiling API and logic.
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| 74 | e545e620 | Thomas Schöpping | */
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| 75 | #if !defined(OS_CFG_PROFILE)
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| 76 | #define AMIROOS_CFG_PROFILE true |
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| 77 | #else
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| 78 | #define AMIROOS_CFG_PROFILE OS_CFG_PROFILE
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| 79 | #endif
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| 80 | |||
| 81 | /**
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| 82 | * @brief Timeout value when waiting for events in the main loop in microseconds.
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| 83 | * @details A value of 0 deactivates the timeout.
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| 84 | */
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| 85 | #if !defined(OS_CFG_MAIN_LOOP_TIMEOUT)
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| 86 | #define AMIROOS_CFG_MAIN_LOOP_TIMEOUT 0 |
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| 87 | #else
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| 88 | #define AMIROOS_CFG_MAIN_LOOP_TIMEOUT OS_CFG_MAIN_LOOP_TIMEOUT
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| 89 | #endif
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| 90 | |||
| 91 | /** @} */
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| 92 | |||
| 93 | /*===========================================================================*/
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| 94 | 6b53f6bf | Thomas Schöpping | /**
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| 95 | * @name SSSP (Startup Shutdown Synchronization Protocol) configuration.
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| 96 | * @{
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| 97 | */
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| 98 | /*===========================================================================*/
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| 99 | |||
| 100 | /**
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| 101 | * @brief Flag to set the module as SSSP master.
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| 102 | * @details There must be only one module with this flag set to true in a system.
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| 103 | */
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| 104 | #if !defined(OS_CFG_SSSP_MASTER)
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| 105 | #define AMIROOS_CFG_SSSP_MASTER false |
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| 106 | #else
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| 107 | #define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER
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| 108 | #endif
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| 109 | |||
| 110 | /**
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| 111 | 933df08e | Thomas Schöpping | * @brief Flag to set the module to be the first in the stack.
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| 112 | * @details There must be only one module with this flag set to true in a system.
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| 113 | */
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| 114 | #if !defined(OS_CFG_SSSP_STACK_START)
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| 115 | #define AMIROOS_CFG_SSSP_STACK_START true |
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| 116 | #else
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| 117 | #define AMIROOS_CFG_SSSP_STACK_START OS_CFG_SSSP_STACK_START
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| 118 | #endif
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| 119 | |||
| 120 | /**
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| 121 | * @brief Flag to set the module to be the last in the stack.
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| 122 | * @details There must be only one module with this flag set to true in a system.
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| 123 | */
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| 124 | #if !defined(OS_CFG_SSSP_STACK_END)
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| 125 | #define AMIROOS_CFG_SSSP_STACK_END false |
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| 126 | #else
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| 127 | #define AMIROOS_CFG_SSSP_STACK_END OS_CFG_SSSP_STACK_END
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| 128 | #endif
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| 129 | |||
| 130 | /**
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| 131 | * @brief Delay time (in microseconds) how long a SSSP signal must be active.
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| 132 | */
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| 133 | #if !defined(OS_CFG_SSSP_SIGNALDELAY)
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| 134 | #define AMIROOS_CFG_SSSP_SIGNALDELAY 1000 |
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| 135 | #else
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| 136 | #define AMIROOS_CFG_SSSP_SIGNALDELAY OS_CFG_SSSP_SIGNALDELAY
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| 137 | #endif
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| 138 | |||
| 139 | /**
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| 140 | 6b53f6bf | Thomas Schöpping | * @brief Time boundary for robot wide clock synchronization in microseconds.
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| 141 | * @details Whenever the SSSP S (snychronization) signal gets logically deactivated,
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| 142 | * All modules need to align their local uptime to the nearest multiple of this value.
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| 143 | */
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| 144 | #if !defined(OS_CFG_SSSP_SYSSYNCPERIOD)
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| 145 | #define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
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| 146 | #else
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| 147 | #define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD
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| 148 | #endif
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| 149 | |||
| 150 | /** @} */
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| 151 | |||
| 152 | /*===========================================================================*/
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| 153 | e545e620 | Thomas Schöpping | /**
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| 154 | * @name System shell options
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| 155 | * @{
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| 156 | */
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| 157 | /*===========================================================================*/
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| 158 | |||
| 159 | /**
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| 160 | * @brief Shell enable flag.
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| 161 | */
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| 162 | 3e1a9c79 | Thomas Schöpping | #if !defined(OS_CFG_SHELL_ENABLE) && (AMIROOS_CFG_TESTS_ENABLE != true) |
| 163 | e545e620 | Thomas Schöpping | #define AMIROOS_CFG_SHELL_ENABLE true |
| 164 | #elif (AMIROOS_CFG_TESTS_ENABLE == true) |
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| 165 | #define AMIROOS_CFG_SHELL_ENABLE true |
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| 166 | #else
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| 167 | #define AMIROOS_CFG_SHELL_ENABLE OS_CFG_SHELL_ENABLE
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| 168 | #endif
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| 169 | |||
| 170 | /**
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| 171 | * @brief Shell thread stack size.
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| 172 | */
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| 173 | #if !defined(OS_CFG_SHELL_STACKSIZE)
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| 174 | #define AMIROOS_CFG_SHELL_STACKSIZE 1024 |
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| 175 | #else
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| 176 | #define AMIROOS_CFG_SHELL_STACKSIZE OS_CFG_SHELL_STACKSIZE
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| 177 | #endif
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| 178 | |||
| 179 | /**
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| 180 | 20205a98 | Thomas Schöpping | * @brief Shell thread priority.
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| 181 | 512abac1 | Thomas Schöpping | * @details Thread priorities are specified as an integer value.
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| 182 | * Predefined ranges are:
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| 183 | * lowest ┌ THD_LOWPRIO_MIN
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| 184 | * │ ...
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| 185 | * └ THD_LOWPRIO_MAX
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| 186 | * ┌ THD_NORMALPRIO_MIN
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| 187 | * │ ...
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| 188 | * └ THD_NORMALPRIO_MAX
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| 189 | * ┌ THD_HIGHPRIO_MIN
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| 190 | * │ ...
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| 191 | * └ THD_HIGHPRIO_MAX
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| 192 | * ┌ THD_RTPRIO_MIN
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| 193 | * │ ...
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| 194 | * highest └ THD_RTPRIO_MAX
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| 195 | 20205a98 | Thomas Schöpping | */
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| 196 | #if !defined(OS_CFG_SHELL_THREADPRIO)
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| 197 | 512abac1 | Thomas Schöpping | #define AMIROOS_CFG_SHELL_THREADPRIO AOS_THD_NORMALPRIO_MIN
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| 198 | 20205a98 | Thomas Schöpping | #else
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| 199 | #define AMIROOS_CFG_SHELL_THREADPRIO OS_CFG_SHELL_THREADPRIO
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| 200 | #endif
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| 201 | |||
| 202 | /**
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| 203 | e545e620 | Thomas Schöpping | * @brief Shell maximum input line length.
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| 204 | */
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| 205 | #if !defined(OS_CFG_SHELL_LINEWIDTH)
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| 206 | #define AMIROOS_CFG_SHELL_LINEWIDTH 64 |
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| 207 | #else
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| 208 | #define AMIROOS_CFG_SHELL_LINEWIDTH OS_CFG_SHELL_LINEWIDTH
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| 209 | #endif
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| 210 | |||
| 211 | /**
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| 212 | * @brief Shell maximum number of arguments.
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| 213 | */
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| 214 | #if !defined(OS_CFG_SHELL_MAXARGS)
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| 215 | #define AMIROOS_CFG_SHELL_MAXARGS 4 |
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| 216 | #else
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| 217 | #define AMIROOS_CFG_SHELL_MAXARGS OS_CFG_SHELL_MAXARGS
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| 218 | #endif
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| 219 | |||
| 220 | /** @} */
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| 221 | |||
| 222 | cb835a3e | Thomas Schöpping | #endif /* _AOSCONF_H_ */ |
| 223 | e545e620 | Thomas Schöpping | |
| 224 | 53710ca3 | Marc Rothmann | /** @} */ |