Revision 1e5f7648

View differences:

modules/DiWheelDrive_1-1/alldconf.h
27 27
#define AMIRO_LLD_CFG_VERSION_MINOR         0
28 28

  
29 29
/**
30
 * @brief   Width of the apalTime_t data type.
31
 *
32
 * @details Possible values are 8, 16, 32, and 64 bits.
33
 *          By definition time is represented ot a microsecond precision.
34
 */
35
#define AMIROLLD_CFG_TIME_SIZE          32
36

  
37
/**
30 38
 * @brief   Enable flag for the A3906 motor driver.
31 39
 */
32 40
#define AMIROLLD_CFG_USE_A3906
modules/DiWheelDrive_1-1/chconf.h
32 32
#define _CHIBIOS_RT_CONF_
33 33
#define _CHIBIOS_RT_CONF_VER_5_1_
34 34

  
35
#include <aosconf.h>
36

  
35 37
/*===========================================================================*/
36 38
/**
37 39
 * @name System timers settings
......
47 49
#define CH_CFG_ST_RESOLUTION                16
48 50
#endif
49 51

  
50
/**
51
 * @brief   System tick frequency.
52
 * @details Frequency of the system timer that drives the system ticks. This
53
 *          setting also defines the system tick time unit.
54
 */
55
#if !defined(CH_CFG_ST_FREQUENCY)
56
#define CH_CFG_ST_FREQUENCY                 1000000UL
57
#endif
58

  
59
/**
60
 * @brief   Time intervals data size.
61
 * @note    Allowed values are 16, 32 or 64 bits.
62
 */
63
#if !defined(CH_CFG_INTERVALS_SIZE)
64
#define CH_CFG_INTERVALS_SIZE               64
65
#endif
66

  
67
/**
68
 * @brief   Time types data size.
69
 * @note    Allowed values are 16 or 32 bits.
70
 */
71
#if !defined(CH_CFG_TIME_TYPES_SIZE)
72
#define CH_CFG_TIME_TYPES_SIZE              32
73
#endif
74

  
75
/**
76
 * @brief   Time delta constant for the tick-less mode.
77
 * @note    If this value is zero then the system uses the classic
78
 *          periodic tick. This value represents the minimum number
79
 *          of ticks that is safe to specify in a timeout directive.
80
 *          The value one is not valid, timeouts are rounded up to
81
 *          this value.
82
 */
83
#if !defined(CH_CFG_ST_TIMEDELTA)
84
#define CH_CFG_ST_TIMEDELTA                 10
85
#endif
52
// more common definition in aos_chconf.h
86 53

  
87 54
/** @} */
88 55

  
......
93 60
 */
94 61
/*===========================================================================*/
95 62

  
96
/**
97
 * @brief   Round robin interval.
98
 * @details This constant is the number of system ticks allowed for the
99
 *          threads before preemption occurs. Setting this value to zero
100
 *          disables the preemption for threads with equal priority and the
101
 *          round robin becomes cooperative. Note that higher priority
102
 *          threads can still preempt, the kernel is always preemptive.
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 * @note    Disabling the round robin preemption makes the kernel more compact
104
 *          and generally faster.
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 * @note    The round robin preemption is not supported in tickless mode and
106
 *          must be set to zero in that case.
107
 */
108
#if !defined(CH_CFG_TIME_QUANTUM)
109
#define CH_CFG_TIME_QUANTUM                 0
110
#endif
111

  
112
/**
113
 * @brief   Managed RAM size.
114
 * @details Size of the RAM area to be managed by the OS. If set to zero
115
 *          then the whole available RAM is used. The core memory is made
116
 *          available to the heap allocator and/or can be used directly through
117
 *          the simplified core memory allocator.
118
 *
119
 * @note    In order to let the OS manage the whole RAM the linker script must
120
 *          provide the @p __heap_base__ and @p __heap_end__ symbols.
121
 * @note    Requires @p CH_CFG_USE_MEMCORE.
122
 */
123
#if !defined(CH_CFG_MEMCORE_SIZE)
124
#define CH_CFG_MEMCORE_SIZE                 0
125
#endif
126

  
127
/**
128
 * @brief   Idle thread automatic spawn suppression.
129
 * @details When this option is activated the function @p chSysInit()
130
 *          does not spawn the idle thread. The application @p main()
131
 *          function becomes the idle thread and must implement an
132
 *          infinite loop.
133
 */
134
#if !defined(CH_CFG_NO_IDLE_THREAD)
135
#define CH_CFG_NO_IDLE_THREAD               FALSE
136
#endif
63
// common definitions in aos_chconf.h
137 64

  
138 65
/** @} */
139 66

  
......
144 71
 */
145 72
/*===========================================================================*/
146 73

  
147
/**
148
 * @brief   OS optimization.
149
 * @details If enabled then time efficient rather than space efficient code
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 *          is used when two possible implementations exist.
151
 *
152
 * @note    This is not related to the compiler optimization options.
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 * @note    The default is @p TRUE.
154
 */
155
#if !defined(CH_CFG_OPTIMIZE_SPEED)
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#define CH_CFG_OPTIMIZE_SPEED               TRUE
157
#endif
74
// common definitions in aos_chconf.h
158 75

  
159 76
/** @} */
160 77

  
......
165 82
 */
166 83
/*===========================================================================*/
167 84

  
168
/**
169
 * @brief   Time Measurement APIs.
170
 * @details If enabled then the time measurement APIs are included in
171
 *          the kernel.
172
 *
173
 * @note    The default is @p TRUE.
174
 */
175
#if !defined(CH_CFG_USE_TM)
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#define CH_CFG_USE_TM                       FALSE
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#endif
178

  
179
/**
180
 * @brief   Threads registry APIs.
181
 * @details If enabled then the registry APIs are included in the kernel.
182
 *
183
 * @note    The default is @p TRUE.
184
 */
185
#if !defined(CH_CFG_USE_REGISTRY)
186
#define CH_CFG_USE_REGISTRY                 FALSE
187
#endif
188

  
189
/**
190
 * @brief   Threads synchronization APIs.
191
 * @details If enabled then the @p chThdWait() function is included in
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 *          the kernel.
193
 *
194
 * @note    The default is @p TRUE.
195
 */
196
#if !defined(CH_CFG_USE_WAITEXIT)
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#define CH_CFG_USE_WAITEXIT                 TRUE
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#endif
199

  
200
/**
201
 * @brief   Semaphores APIs.
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 * @details If enabled then the Semaphores APIs are included in the kernel.
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 *
204
 * @note    The default is @p TRUE.
205
 */
206
#if !defined(CH_CFG_USE_SEMAPHORES)
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#define CH_CFG_USE_SEMAPHORES               FALSE
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#endif
209

  
210
/**
211
 * @brief   Semaphores queuing mode.
212
 * @details If enabled then the threads are enqueued on semaphores by
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 *          priority rather than in FIFO order.
214
 *
215
 * @note    The default is @p FALSE. Enable this if you have special
216
 *          requirements.
217
 * @note    Requires @p CH_CFG_USE_SEMAPHORES.
218
 */
219
#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
220
#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
221
#endif
222

  
223
/**
224
 * @brief   Mutexes APIs.
225
 * @details If enabled then the mutexes APIs are included in the kernel.
226
 *
227
 * @note    The default is @p TRUE.
228
 */
229
#if !defined(CH_CFG_USE_MUTEXES)
230
#define CH_CFG_USE_MUTEXES                  TRUE
231
#endif
232

  
233
/**
234
 * @brief   Enables recursive behavior on mutexes.
235
 * @note    Recursive mutexes are heavier and have an increased
236
 *          memory footprint.
237
 *
238
 * @note    The default is @p FALSE.
239
 * @note    Requires @p CH_CFG_USE_MUTEXES.
240
 */
241
#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
242
#define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
243
#endif
244

  
245
/**
246
 * @brief   Conditional Variables APIs.
247
 * @details If enabled then the conditional variables APIs are included
248
 *          in the kernel.
249
 *
250
 * @note    The default is @p TRUE.
251
 * @note    Requires @p CH_CFG_USE_MUTEXES.
252
 */
253
#if !defined(CH_CFG_USE_CONDVARS)
254
#define CH_CFG_USE_CONDVARS                 FALSE
255
#endif
256

  
257
/**
258
 * @brief   Conditional Variables APIs with timeout.
259
 * @details If enabled then the conditional variables APIs with timeout
260
 *          specification are included in the kernel.
261
 *
262
 * @note    The default is @p TRUE.
263
 * @note    Requires @p CH_CFG_USE_CONDVARS.
264
 */
265
#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
266
#define CH_CFG_USE_CONDVARS_TIMEOUT         FALSE
267
#endif
268

  
269
/**
270
 * @brief   Events Flags APIs.
271
 * @details If enabled then the event flags APIs are included in the kernel.
272
 *
273
 * @note    The default is @p TRUE.
274
 */
275
#if !defined(CH_CFG_USE_EVENTS)
276
#define CH_CFG_USE_EVENTS                   TRUE
277
#endif
278

  
279
/**
280
 * @brief   Events Flags APIs with timeout.
281
 * @details If enabled then the events APIs with timeout specification
282
 *          are included in the kernel.
283
 *
284
 * @note    The default is @p TRUE.
285
 * @note    Requires @p CH_CFG_USE_EVENTS.
286
 */
287
#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
288
#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
289
#endif
290

  
291
/**
292
 * @brief   Synchronous Messages APIs.
293
 * @details If enabled then the synchronous messages APIs are included
294
 *          in the kernel.
295
 *
296
 * @note    The default is @p TRUE.
297
 */
298
#if !defined(CH_CFG_USE_MESSAGES)
299
#define CH_CFG_USE_MESSAGES                 FALSE
300
#endif
301

  
302
/**
303
 * @brief   Synchronous Messages queuing mode.
304
 * @details If enabled then messages are served by priority rather than in
305
 *          FIFO order.
306
 *
307
 * @note    The default is @p FALSE. Enable this if you have special
308
 *          requirements.
309
 * @note    Requires @p CH_CFG_USE_MESSAGES.
310
 */
311
#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
312
#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
313
#endif
314

  
315
/**
316
 * @brief   Mailboxes APIs.
317
 * @details If enabled then the asynchronous messages (mailboxes) APIs are
318
 *          included in the kernel.
319
 *
320
 * @note    The default is @p TRUE.
321
 * @note    Requires @p CH_CFG_USE_SEMAPHORES.
322
 */
323
#if !defined(CH_CFG_USE_MAILBOXES)
324
#define CH_CFG_USE_MAILBOXES                FALSE
325
#endif
326

  
327
/**
328
 * @brief   Core Memory Manager APIs.
329
 * @details If enabled then the core memory manager APIs are included
330
 *          in the kernel.
331
 *
332
 * @note    The default is @p TRUE.
333
 */
334
#if !defined(CH_CFG_USE_MEMCORE)
335
#define CH_CFG_USE_MEMCORE                  FALSE
336
#endif
337

  
338
/**
339
 * @brief   Heap Allocator APIs.
340
 * @details If enabled then the memory heap allocator APIs are included
341
 *          in the kernel.
342
 *
343
 * @note    The default is @p TRUE.
344
 * @note    Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
345
 *          @p CH_CFG_USE_SEMAPHORES.
346
 * @note    Mutexes are recommended.
347
 */
348
#if !defined(CH_CFG_USE_HEAP)
349
#define CH_CFG_USE_HEAP                     FALSE
350
#endif
351

  
352
/**
353
 * @brief   Memory Pools Allocator APIs.
354
 * @details If enabled then the memory pools allocator APIs are included
355
 *          in the kernel.
356
 *
357
 * @note    The default is @p TRUE.
358
 */
359
#if !defined(CH_CFG_USE_MEMPOOLS)
360
#define CH_CFG_USE_MEMPOOLS                 FALSE
361
#endif
362

  
363
/**
364
 * @brief  Objects FIFOs APIs.
365
 * @details If enabled then the objects FIFOs APIs are included
366
 *          in the kernel.
367
 *
368
 * @note    The default is @p TRUE.
369
 */
370
#if !defined(CH_CFG_USE_OBJ_FIFOS)
371
#define CH_CFG_USE_OBJ_FIFOS                FALSE
372
#endif
373

  
374
/**
375
 * @brief   Dynamic Threads APIs.
376
 * @details If enabled then the dynamic threads creation APIs are included
377
 *          in the kernel.
378
 *
379
 * @note    The default is @p TRUE.
380
 * @note    Requires @p CH_CFG_USE_WAITEXIT.
381
 * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
382
 */
383
#if !defined(CH_CFG_USE_DYNAMIC)
384
#define CH_CFG_USE_DYNAMIC                  FALSE
385
#endif
85
// common definitions in aos_chconf.h
386 86

  
387 87
/** @} */
388 88

  
......
393 93
 */
394 94
/*===========================================================================*/
395 95

  
396
/**
397
 * @brief   Objects Factory APIs.
398
 * @details If enabled then the objects factory APIs are included in the
399
 *          kernel.
400
 *
401
 * @note    The default is @p FALSE.
402
 */
403
#if !defined(CH_CFG_USE_FACTORY)
404
#define CH_CFG_USE_FACTORY                  FALSE
405
#endif
406

  
407
/**
408
 * @brief   Maximum length for object names.
409
 * @details If the specified length is zero then the name is stored by
410
 *          pointer but this could have unintended side effects.
411
 */
412
#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
413
#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
414
#endif
415

  
416
/**
417
 * @brief   Enables the registry of generic objects.
418
 */
419
#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
420
#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
421
#endif
422

  
423
/**
424
 * @brief   Enables factory for generic buffers.
425
 */
426
#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
427
#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
428
#endif
429

  
430
/**
431
 * @brief   Enables factory for semaphores.
432
 */
433
#if !defined(CH_CFG_FACTORY_SEMAPHORES)
434
#define CH_CFG_FACTORY_SEMAPHORES           TRUE
435
#endif
436

  
437
/**
438
 * @brief   Enables factory for mailboxes.
439
 */
440
#if !defined(CH_CFG_FACTORY_MAILBOXES)
441
#define CH_CFG_FACTORY_MAILBOXES            TRUE
442
#endif
443

  
444
/**
445
 * @brief   Enables factory for objects FIFOs.
446
 */
447
#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
448
#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
449
#endif
96
// common definitions in aos_chconf.h
450 97

  
451 98
/** @} */
452 99

  
......
457 104
 */
458 105
/*===========================================================================*/
459 106

  
460
/**
461
 * @brief   Debug option, kernel statistics.
462
 *
463
 * @note    The default is @p FALSE.
464
 */
465
#if !defined(CH_DBG_STATISTICS)
466
#define CH_DBG_STATISTICS                   FALSE
467
#endif
468

  
469
/**
470
 * @brief   Debug option, system state check.
471
 * @details If enabled the correct call protocol for system APIs is checked
472
 *          at runtime.
473
 *
474
 * @note    The default is @p FALSE.
475
 */
476
#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
477
#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
478
#endif
479

  
480
/**
481
 * @brief   Debug option, parameters checks.
482
 * @details If enabled then the checks on the API functions input
483
 *          parameters are activated.
484
 *
485
 * @note    The default is @p FALSE.
486
 */
487
#if !defined(CH_DBG_ENABLE_CHECKS)
488
#define CH_DBG_ENABLE_CHECKS                FALSE
489
#endif
490

  
491
/**
492
 * @brief   Debug option, consistency checks.
493
 * @details If enabled then all the assertions in the kernel code are
494
 *          activated. This includes consistency checks inside the kernel,
495
 *          runtime anomalies and port-defined checks.
496
 *
497
 * @note    The default is @p FALSE.
498
 */
499
#if !defined(CH_DBG_ENABLE_ASSERTS)
500
#define CH_DBG_ENABLE_ASSERTS               TRUE
501
#endif
502

  
503
/**
504
 * @brief   Debug option, trace buffer.
505
 * @details If enabled then the trace buffer is activated.
506
 *
507
 * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
508
 */
509
#if !defined(CH_DBG_TRACE_MASK)
510
#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_DISABLED
511
#endif
512

  
513
/**
514
 * @brief   Trace buffer entries.
515
 * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
516
 *          different from @p CH_DBG_TRACE_MASK_DISABLED.
517
 */
518