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

Revision 1e5f7648

     #define AMIRO_LLD_CFG_VERSION_MINOR         0
     /**
      * @brief   Width of the apalTime_t data type.
+     *
      * @details Possible values are 8, 16, 32, and 64 bits.
      *          By definition time is represented ot a microsecond precision.
      */
     #define AMIROLLD_CFG_TIME_SIZE          32
     /**
      * @brief   Enable flag for the A3906 motor driver.
      */
     #define AMIROLLD_CFG_USE_A3906

     #define _CHIBIOS_RT_CONF_
     #define _CHIBIOS_RT_CONF_VER_5_1_
     #include <aosconf.h>
     /*===========================================================================*/
     /**
      * @name System timers settings
-...
     #define CH_CFG_ST_RESOLUTION                16
     #endif
     /**
      * @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               64
     #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)
     #define CH_CFG_ST_TIMEDELTA                 10
     #endif
     // more common definition in aos_chconf.h
     /** @} */
-...
      */
     /*===========================================================================*/
     /**
      * @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.
      */
     #if !defined(CH_CFG_TIME_QUANTUM)
     #define CH_CFG_TIME_QUANTUM                 0
     #endif
     /**
      * @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.
      */
     #if !defined(CH_CFG_MEMCORE_SIZE)
     #define CH_CFG_MEMCORE_SIZE                 0
     #endif
     /**
      * @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.
      */
     #if !defined(CH_CFG_NO_IDLE_THREAD)
     #define CH_CFG_NO_IDLE_THREAD               FALSE
     #endif
     // common definitions in aos_chconf.h
     /** @} */
-...
      */
     /*===========================================================================*/
     /**
      * @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.
      */
     #if !defined(CH_CFG_OPTIMIZE_SPEED)
     #define CH_CFG_OPTIMIZE_SPEED               TRUE
     #endif
     // common definitions in aos_chconf.h
     /** @} */
-...
      */
     /*===========================================================================*/
     /**
      * @brief   Time Measurement APIs.
      * @details If enabled then the time measurement APIs are included in
      *          the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #if !defined(CH_CFG_USE_TM)
     #define CH_CFG_USE_TM                       FALSE
     #endif
     /**
      * @brief   Threads registry APIs.
      * @details If enabled then the registry APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #if !defined(CH_CFG_USE_REGISTRY)
     #define CH_CFG_USE_REGISTRY                 FALSE
     #endif
     /**
      * @brief   Threads synchronization APIs.
      * @details If enabled then the @p chThdWait() function is included in
      *          the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #if !defined(CH_CFG_USE_WAITEXIT)
     #define CH_CFG_USE_WAITEXIT                 TRUE
     #endif
     /**
      * @brief   Semaphores APIs.
      * @details If enabled then the Semaphores APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #if !defined(CH_CFG_USE_SEMAPHORES)
     #define CH_CFG_USE_SEMAPHORES               FALSE
     #endif
     /**
      * @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.
      */
     #if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
     #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
     #endif
     /**
      * @brief   Mutexes APIs.
      * @details If enabled then the mutexes APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #if !defined(CH_CFG_USE_MUTEXES)
     #define CH_CFG_USE_MUTEXES                  TRUE
     #endif
     /**
      * @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.
      */
     #if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
     #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
     #endif
     /**
      * @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.
      */
     #if !defined(CH_CFG_USE_CONDVARS)
     #define CH_CFG_USE_CONDVARS                 FALSE
     #endif
     /**
      * @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.
      */
     #if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
     #define CH_CFG_USE_CONDVARS_TIMEOUT         FALSE
     #endif
     /**
      * @brief   Events Flags APIs.
      * @details If enabled then the event flags APIs are included in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #if !defined(CH_CFG_USE_EVENTS)
     #define CH_CFG_USE_EVENTS                   TRUE
     #endif
     /**
      * @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.
      */
     #if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
     #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
     #endif
     /**
      * @brief   Synchronous Messages APIs.
      * @details If enabled then the synchronous messages APIs are included
      *          in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #if !defined(CH_CFG_USE_MESSAGES)
     #define CH_CFG_USE_MESSAGES                 FALSE
     #endif
     /**
      * @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.
      */
     #if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
     #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
     #endif
     /**
      * @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.
      */
     #if !defined(CH_CFG_USE_MAILBOXES)
     #define CH_CFG_USE_MAILBOXES                FALSE
     #endif
     /**
      * @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.
      */
     #if !defined(CH_CFG_USE_MEMCORE)
     #define CH_CFG_USE_MEMCORE                  FALSE
     #endif
     /**
      * @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.
      */
     #if !defined(CH_CFG_USE_HEAP)
     #define CH_CFG_USE_HEAP                     FALSE
     #endif
     /**
      * @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.
      */
     #if !defined(CH_CFG_USE_MEMPOOLS)
     #define CH_CFG_USE_MEMPOOLS                 FALSE
     #endif
     /**
      * @brief  Objects FIFOs APIs.
      * @details If enabled then the objects FIFOs APIs are included
      *          in the kernel.
+     *
      * @note    The default is @p TRUE.
      */
     #if !defined(CH_CFG_USE_OBJ_FIFOS)
     #define CH_CFG_USE_OBJ_FIFOS                FALSE
     #endif
     /**
      * @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.
      */
     #if !defined(CH_CFG_USE_DYNAMIC)
     #define CH_CFG_USE_DYNAMIC                  FALSE
     #endif
     // common definitions in aos_chconf.h
     /** @} */
-...
      */
     /*===========================================================================*/
     /**
      * @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
     // common definitions in aos_chconf.h
     /** @} */
-...
      */
     /*===========================================================================*/
     /**
      * @brief   Debug option, kernel statistics.
+     *
      * @note    The default is @p FALSE.
      */
     #if !defined(CH_DBG_STATISTICS)
     #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 !defined(CH_DBG_SYSTEM_STATE_CHECK)
     #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 !defined(CH_DBG_ENABLE_CHECKS)
     #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 !defined(CH_DBG_ENABLE_ASSERTS)
     #define CH_DBG_ENABLE_ASSERTS               TRUE
     #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.
      */
     #if !defined(CH_DBG_TRACE_MASK)
     #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_DISABLED
     #endif
     /**
      * @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.
      */
     #if !defined(CH_DBG_TRACE_BUFFER_SIZE)
     #define CH_DBG_TRACE_BUFFER_SIZE            128
     #endif
     /**
      * @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 !defined(CH_DBG_ENABLE_STACK_CHECK)
     #define CH_DBG_ENABLE_STACK_CHECK           TRUE
     #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 !defined(CH_DBG_FILL_THREADS)
     #define CH_DBG_FILL_THREADS                 TRUE
     #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 !defined(CH_DBG_THREADS_PROFILING)
     #define CH_DBG_THREADS_PROFILING            FALSE
     #endif
     // common definitions in aos_chconf.h
     /** @} */
-...
      */
     /*===========================================================================*/
     /**
      * @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.*/
     // common definitions in aos_chconf.h
     /**
      * @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(tp) {                                       \
       /* Add threads initialization code here.*/                                \
+    }
     /**
      * @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 _thread_init() function.
+     *
      * @note    It is invoked from within @p _thread_init() 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.
      */
     #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.
      * @name Port-specific settings (override port settings defaulted in chcore.h).
      * @{
      */
     #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.
      * @brief   NVIC VTOR initialization offset.
      * @details On initialization, the code at this address in the flash memory will be executed.
      */
     #define CH_CFG_IDLE_LOOP_HOOK() {                                           \
       /* Idle loop code here.*/                                                 \
+    }
     #define CORTEX_VTOR_INIT 0x00006000U
     /**
      * @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.
      * @name other
      * @{
      */
     #define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
       /* System halt code here.*/                                               \
+    }
     /*===========================================================================*/
     /**
      * @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.*/                                                     \
+    }
     // common definitions in aos_chconf.h
     /** @} */
     /*===========================================================================*/
     /* Port-specific settings (override port settings defaulted in chcore.h).    */
     /*===========================================================================*/
     #include <aos_chconf.h>
     #endif  /* CHCONF_H */

     /*
      * AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
      * Copyright (C) 2016..2018  Thomas Schöpping et al.
+     *
      * 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/DiWheelDrive/chconf.h
      * @brief   ChibiOS Configuration file for the DiWheelDrive v1.1 module.
      * @details Contains the application specific kernel settings.
+     *
      * @addtogroup config
      * @details Kernel related settings and hooks.
      * @{
      */
     /*
     AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
     Copyright (C) 2016..2018  Thomas Schöpping et al.
-...
     #ifndef _HALCONF_H_
     #define _HALCONF_H_
     #define _CHIBIOS_HAL_CONF_
     #define _CHIBIOS_HAL_CONF_VER_6_0_
     #include "mcuconf.h"
     /**
      * @brief   Enables the PAL subsystem.
      */
     #if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
     #define HAL_USE_PAL                 TRUE
     #define HAL_USE_PAL                         TRUE
     #endif
     /**
      * @brief   Enables the ADC subsystem.
      */
     #if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
     #define HAL_USE_ADC                 FALSE
     #define HAL_USE_ADC                         FALSE
     #endif
     /**
      * @brief   Enables the CAN subsystem.
      */
     #if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
     #define HAL_USE_CAN                 TRUE
     #define HAL_USE_CAN                         TRUE
     #endif
     /**
      * @brief   Enables the cryptographic subsystem.
      */
     #if !defined(HAL_USE_CRY) || defined(__DOXYGEN__)
     #define HAL_USE_CRY                         FALSE
     #endif
     /**
      * @brief   Enables the DAC subsystem.
      */
     #if !defined(HAL_USE_DAC) || defined(__DOXYGEN__)
     #define HAL_USE_DAC                 FALSE
     #define HAL_USE_DAC                         FALSE
     #endif
     /**
      * @brief   Enables the EXT subsystem.
      */
     #if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
     #define HAL_USE_EXT                 FALSE
     #define HAL_USE_EXT                         FALSE
     #endif
     /**
      * @brief   Enables the GPT subsystem.
      */
     #if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
     #define HAL_USE_GPT                 FALSE
     #define HAL_USE_GPT                         FALSE
     #endif
     /**
      * @brief   Enables the I2C subsystem.
      */
     #if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
     #define HAL_USE_I2C                 TRUE
     #define HAL_USE_I2C                         TRUE
     #endif
     /**
      * @brief   Enables the I2S subsystem.
      */
     #if !defined(HAL_USE_I2S) || defined(__DOXYGEN__)
     #define HAL_USE_I2S                 FALSE
     #define HAL_USE_I2S                         FALSE
     #endif
     /**
      * @brief   Enables the ICU subsystem.
      */
     #if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
     #define HAL_USE_ICU                 FALSE
     #define HAL_USE_ICU                         FALSE
     #endif
     /**
      * @brief   Enables the MAC subsystem.
      */
     #if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)
     #define HAL_USE_MAC                 FALSE
     #define HAL_USE_MAC                         FALSE
     #endif
     /**
      * @brief   Enables the MMC_SPI subsystem.
      */
     #if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
     #define HAL_USE_MMC_SPI             FALSE
     #define HAL_USE_MMC_SPI                     FALSE
     #endif
     /**
      * @brief   Enables the PWM subsystem.
      */
     #if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
     #define HAL_USE_PWM                 TRUE
     #define HAL_USE_PWM                         TRUE
     #endif
     /**
      * @brief   Enables the QSPI subsystem.
      */
     #if !defined(HAL_USE_QSPI) || defined(__DOXYGEN__)
     #define HAL_USE_QSPI                        FALSE
     #endif
     /**
      * @brief   Enables the RTC subsystem.
      */
     #if !defined(HAL_USE_RTC) || defined(__DOXYGEN__)
     #define HAL_USE_RTC                 TRUE
     #define HAL_USE_RTC                         TRUE
     #endif
     /**
      * @brief   Enables the SDC subsystem.
      */
     #if !defined(HAL_USE_SDC) || defined(__DOXYGEN__)
     #define HAL_USE_SDC                 FALSE
     #define HAL_USE_SDC                         FALSE
     #endif
     /**
      * @brief   Enables the SERIAL subsystem.
      */
     #if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
     #define HAL_USE_SERIAL              TRUE
     #define HAL_USE_SERIAL                      TRUE
     #endif
     /**
      * @brief   Enables the SERIAL over USB subsystem.
      */
     #if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
     #define HAL_USE_SERIAL_USB          FALSE
     #define HAL_USE_SERIAL_USB                  FALSE
     #endif
     /**
      * @brief   Enables the SPI subsystem.
      */
     #if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
     #define HAL_USE_SPI                 TRUE
     #define HAL_USE_SPI                         TRUE
     #endif
     /**
      * @brief   Enables the UART subsystem.
      */
     #if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
     #define HAL_USE_UART                FALSE
     #define HAL_USE_UART                        FALSE
     #endif
     /**
      * @brief   Enables the USB subsystem.
      */
     #if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
     #define HAL_USE_USB                 FALSE
     #define HAL_USE_USB                         FALSE
     #endif
     /**
      * @brief   Enables the WDG subsystem.
      */
     #if !defined(HAL_USE_WDG) || defined(__DOXYGEN__)
     #define HAL_USE_WDG                 FALSE
     #define HAL_USE_WDG                         FALSE
     #endif
     /**
      * @brief   Enables the QEI subsystem.
      */
     #if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
     #define HAL_USE_QEI                 TRUE
     #define HAL_USE_QEI                         TRUE
     #endif
     /*===========================================================================*/
     /* PAL driver related settings.                                              */
     /*===========================================================================*/
     /**
      * @brief   Enables synchronous APIs.
      * @note    Disabling this option saves both code and data space.
      */
     #if !defined(PAL_USE_CALLBACKS) || defined(__DOXYGEN__)
     #define PAL_USE_CALLBACKS                   TRUE
     #endif
     /**
      * @brief   Enables synchronous APIs.
      * @note    Disabling this option saves both code and data space.
      */
     #if !defined(PAL_USE_WAIT) || defined(__DOXYGEN__)
     #define PAL_USE_WAIT                        FALSE
     #endif
     /*===========================================================================*/
-...
      * @note    Disabling this option saves both code and data space.
      */
     #if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__)
     #define ADC_USE_WAIT                FALSE
     #define ADC_USE_WAIT                        FALSE
     #endif
     /**
-...
      * @note    Disabling this option saves both code and data space.
      */
     #if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
     #define ADC_USE_MUTUAL_EXCLUSION    FALSE
     #define ADC_USE_MUTUAL_EXCLUSION            FALSE
     #endif
     /*===========================================================================*/
-...
      * @brief   Sleep mode related APIs inclusion switch.
      */
     #if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
     #define CAN_USE_SLEEP_MODE          FALSE
     #define CAN_USE_SLEEP_MODE                  FALSE
     #endif
     /**
      * @brief   Enforces the driver to use direct callbacks rather than OSAL events.
      */
     #if !defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__)
     #define CAN_ENFORCE_USE_CALLBACKS           FALSE
     #endif
     /*===========================================================================*/
     /* CRY driver related settings.                                              */
     /*===========================================================================*/
     /**
      * @brief   Enables the SW fall-back of the cryptographic driver.
      * @details When enabled, this option, activates a fall-back software
      *          implementation for algorithms not supported by the underlying
      *          hardware.
      * @note    Fall-back implementations may not be present for all algorithms.
      */
     #if !defined(HAL_CRY_USE_FALLBACK) || defined(__DOXYGEN__)
     #define HAL_CRY_USE_FALLBACK                FALSE
     #endif
     /**
      * @brief   Makes the driver forcibly use the fall-back implementations.
      */
     #if !defined(HAL_CRY_ENFORCE_FALLBACK) || defined(__DOXYGEN__)
     #define HAL_CRY_ENFORCE_FALLBACK            FALSE
     #endif
     /*===========================================================================*/
     /* DAC driver related settings.                                              */
     /*===========================================================================*/
     /**
      * @brief   Enables synchronous APIs.
      * @note    Disabling this option saves both code and data space.
      */
     #if !defined(DAC_USE_WAIT) || defined(__DOXYGEN__)
     #define DAC_USE_WAIT                        TRUE
     #endif
     /**
      * @brief   Enables the @p dacAcquireBus() and @p dacReleaseBus() APIs.
      * @note    Disabling this option saves both code and data space.
      */
     #if !defined(DAC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
     #define DAC_USE_MUTUAL_EXCLUSION            TRUE
     #endif
     /*===========================================================================*/
-...
      * @brief   Enables the mutual exclusion APIs on the I2C bus.
      */
     #if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
     #define I2C_USE_MUTUAL_EXCLUSION    TRUE
     #define I2C_USE_MUTUAL_EXCLUSION            TRUE
     #endif
     /*===========================================================================*/
-...
     /*===========================================================================*/
     /**
      * @brief   Enables an event sources for incoming packets.
      * @brief   Enables the zero-copy API.
      */
     #if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__)
     #define MAC_USE_ZERO_COPY           FALSE
     #define MAC_USE_ZERO_COPY                   FALSE
     #endif
     /**
      * @brief   Enables an event sources for incoming packets.
      */
     #if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__)
     #define MAC_USE_EVENTS              FALSE
     #define MAC_USE_EVENTS                      FALSE
     #endif
     /*===========================================================================*/
-...
      *          use a DMA channel and heavily loads the CPU.
      */
     #if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__)
     #define MMC_NICE_WAITING            FALSE
     #define MMC_NICE_WAITING                    FALSE
     #endif
     /*===========================================================================*/
     /* QSPI driver related settings.                                             */
     /*===========================================================================*/
     /**
      * @brief   Enables synchronous APIs.
      * @note    Disabling this option saves both code and data space.
      */
     #if !defined(QSPI_USE_WAIT) || defined(__DOXYGEN__)
     #define QSPI_USE_WAIT                       TRUE
     #endif
     /**
      * @brief   Enables the @p qspiAcquireBus() and @p qspiReleaseBus() APIs.
      * @note    Disabling this option saves both code and data space.
      */
     #if !defined(QSPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
     #define QSPI_USE_MUTUAL_EXCLUSION           TRUE
     #endif
     /*===========================================================================*/
-...
      * @note    Attempts are performed at 10mS intervals.
      */
     #if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__)
     #define SDC_INIT_RETRY              100
     #define SDC_INIT_RETRY                      100
     #endif
     /**
-...
      *          at @p FALSE.
      */
     #if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__)
     #define SDC_MMC_SUPPORT             FALSE
     #define SDC_MMC_SUPPORT                     FALSE
     #endif
     /**
-...
      *          lower priority, this may slow down the driver a bit however.
      */
     #if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__)
     #define SDC_NICE_WAITING            FALSE
     #define SDC_NICE_WAITING                    FALSE
     #endif
     /**
      * @brief   OCR initialization constant for V20 cards.
      */
     #if !defined(SDC_INIT_OCR_V20) || defined(__DOXYGEN__)
     #define SDC_INIT_OCR_V20                    0x50FF8000U
     #endif
     /**
      * @brief   OCR initialization constant for non-V20 cards.
      */
     #if !defined(SDC_INIT_OCR) || defined(__DOXYGEN__)
     #define SDC_INIT_OCR                        0x80100000U
     #endif
     /*===========================================================================*/
-...
      *          default configuration.
      */
     #if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)
     #define SERIAL_DEFAULT_BITRATE      115200
     #define SERIAL_DEFAULT_BITRATE              115200
     #endif
     /**
-...
      *          buffers.
      */
     #if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
     #define SERIAL_BUFFERS_SIZE         16
     #define SERIAL_BUFFERS_SIZE                 16
     #endif
     /*===========================================================================*/
-...
      *          buffers.
      */
     #if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__)
     #define SERIAL_USB_BUFFERS_SIZE     256
     #define SERIAL_USB_BUFFERS_SIZE             256
     #endif
     /**
-...
      * @note    The default is 2 buffers.
      */
     #if !defined(SERIAL_USB_BUFFERS_NUMBER) || defined(__DOXYGEN__)
     #define SERIAL_USB_BUFFERS_NUMBER   2
     #define SERIAL_USB_BUFFERS_NUMBER           2
     #endif
     /*===========================================================================*/
-...
      * @note    Disabling this option saves both code and data space.
      */
     #if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__)
     #define SPI_USE_WAIT                TRUE
     #define SPI_USE_WAIT                        TRUE
     #endif
     /**
      * @brief   Enables circular transfers APIs.
      * @note    Disabling this option saves both code and data space.
      */
     #if !defined(SPI_USE_CIRCULAR) || defined(__DOXYGEN__)
     #define SPI_USE_CIRCULAR                    FALSE
     #endif
     /**
      * @brief   Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs.
      * @note    Disabling this option saves both code and data space.
      */
     #if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
     #define SPI_USE_MUTUAL_EXCLUSION    TRUE
     #define SPI_USE_MUTUAL_EXCLUSION            TRUE
     #endif
     /**
      * @brief   Handling method for SPI CS line.
      * @note    Disabling this option saves both code and data space.
      */
     #if !defined(SPI_SELECT_MODE) || defined(__DOXYGEN__)
     #define SPI_SELECT_MODE                     SPI_SELECT_MODE_PAD
     #endif
     /*===========================================================================*/
-...
      * @note    Disabling this option saves both code and data space.
      */
     #if !defined(UART_USE_WAIT) || defined(__DOXYGEN__)
     #define UART_USE_WAIT               FALSE
     #define UART_USE_WAIT                       FALSE
     #endif
     /**
-...
      * @note    Disabling this option saves both code and data space.
      */
     #if !defined(UART_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
     #define UART_USE_MUTUAL_EXCLUSION   FALSE
     #define UART_USE_MUTUAL_EXCLUSION           FALSE
     #endif
     /*===========================================================================*/
-...
      * @note    Disabling this option saves both code and data space.
      */
     #if !defined(USB_USE_WAIT) || defined(__DOXYGEN__)
     #define USB_USE_WAIT                FALSE
     #define USB_USE_WAIT                        FALSE
     #endif
     #endif /* _HALCONF_H_ */

     #define STM32_PLS                           STM32_PLS_LEV0
     /*
      * IRQ system settings.
      */
     #define STM32_IRQ_EXTI0_PRIORITY            6
     #define STM32_IRQ_EXTI1_PRIORITY            6
     #define STM32_IRQ_EXTI2_PRIORITY            6
     #define STM32_IRQ_EXTI3_PRIORITY            6
     #define STM32_IRQ_EXTI4_PRIORITY            6
     #define STM32_IRQ_EXTI5_9_PRIORITY          6
     #define STM32_IRQ_EXTI10_15_PRIORITY        6
     #define STM32_IRQ_EXTI16_PRIORITY           6
     #define STM32_IRQ_EXTI17_PRIORITY           6
     #define STM32_IRQ_EXTI18_PRIORITY           6
     #define STM32_IRQ_EXTI19_PRIORITY           6
     /*
      * ADC driver system settings.
      */
     #define STM32_ADC_USE_ADC1                  FALSE
-...
     #define STM32_CAN_CAN1_IRQ_PRIORITY         11
     /*
      * EXT driver system settings.
      */
     #define STM32_EXT_EXTI0_IRQ_PRIORITY        6
     #define STM32_EXT_EXTI1_IRQ_PRIORITY        6
     #define STM32_EXT_EXTI2_IRQ_PRIORITY        6
     #define STM32_EXT_EXTI3_IRQ_PRIORITY        6
     #define STM32_EXT_EXTI4_IRQ_PRIORITY        6
     #define STM32_EXT_EXTI5_9_IRQ_PRIORITY      6
     #define STM32_EXT_EXTI10_15_IRQ_PRIORITY    6
     #define STM32_EXT_EXTI16_IRQ_PRIORITY       6
     #define STM32_EXT_EXTI17_IRQ_PRIORITY       6
     #define STM32_EXT_EXTI18_IRQ_PRIORITY       6
     #define STM32_EXT_EXTI19_IRQ_PRIORITY       6
     /*
      * GPT driver system settings.
      */
     #define STM32_GPT_USE_TIM1                  FALSE
-...
     #define STM32_I2C_I2C1_DMA_PRIORITY         3
     #define STM32_I2C_I2C2_DMA_PRIORITY         3
     #define STM32_I2C_DMA_ERROR_HOOK(i2cp)      osalSysHalt("DMA failure")
     #define STM32_I2C_USE_DMA                   FALSE
     /*
      * ICU driver system settings.

     #include "module.h"
     #include <amiroos.h>
     /*===========================================================================*/
     /**
      * @name Module specific functions
      * @{
      */
     /*===========================================================================*/
     #include <amiroos.h>
     /**
      * @brief   Interrupt service routine callback for I/O interrupt signals.
+     *
      * @param   args      Channel on which the interrupt was encountered.
      */
     static void _modulePalIsrCallback(void *args) {
       chSysLockFromISR();
       chEvtBroadcastFlagsI(&aos.events.io, (1 << (*(uint16_t*)args)));
       chSysUnlockFromISR();
       return;
+    }
     /** @} */
-...
       /* btr  */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1),
     };
     aos_interrupt_cfg_t moduleIntConfig[10] = {
         /* channel  1 */ { // SYS_INT_N/SYS_SYNC_N: automatic interrupt on event
           /* port     */ GPIOC,
           /* pad      */ GPIOC_SYS_INT_N,
           /* flags    */ AOS_INTERRUPT_AUTOSTART,
           /* mode     */ PAL_EVENT_MODE_BOTH_EDGES,
           /* callback */ _modulePalIsrCallback,
           /* cb arg   */ 1,
         },
         /* channel  2 */ { // SYS_WARMRST_N: automatic interrupt when activated
           /* port     */ GPIOD,
           /* pad      */ GPIOD_SYS_WARMRST_N,
           /* flags    */ AOS_INTERRUPT_AUTOSTART,
           /* mode     */ PAL_EVENT_MODE_FALLING_EDGE,
           /* callback */ _modulePalIsrCallback,
           /* cb arg   */ 2,
         },
         /* channel  3 */ { // PATH_DCSTAT: must be enabled explicitely when charging is in progress to detect unexpected voltage drop
           /* port     */ GPIOC,
           /* pad      */ GPIOC_PATH_DCSTAT,
           /* flags    */ 0,
           /* mode     */ PAL_EVENT_MODE_FALLING_EDGE,
           /* callback */ _modulePalIsrCallback,
           /* cb arg   */ 3,
         },
         /* channel  5 */ { // COMPASS_DRDY: must be enabled explicitely
           /* port     */ GPIOB,
           /* pad      */ GPIOB_COMPASS_DRDY,
           /* flags    */ 0,
           /* mode     */ APAL2CH_EDGE(HMC5883L_LLD_INT_EDGE),
           /* callback */ _modulePalIsrCallback,
           /* cb arg   */ 4,
         },
         /* channel  8 */ { // SYS_PD_N: automatic interrupt when activated
           /* port     */ GPIOC,
           /* pad      */ GPIOC_SYS_PD_N,
           /* flags    */ AOS_INTERRUPT_AUTOSTART,
           /* mode     */ PAL_EVENT_MODE_FALLING_EDGE,
           /* callback */ _modulePalIsrCallback,
           /* cb arg   */ 5,
         },
         /* channel  9 */ { // SYS_REG_EN: automatic interrupt when activated
           /* port     */ GPIOC,
           /* pad      */ GPIOC_SYS_REG_EN,
           /* flags    */ AOS_INTERRUPT_AUTOSTART,
           /* mode     */ PAL_EVENT_MODE_FALLING_EDGE,
           /* callback */ _modulePalIsrCallback,
           /* cb arg   */ 6,
         },
         /* channel 12 */ { // IR_INT: must be enabled explicitely
           /* port     */ GPIOB,
           /* pad      */ GPIOB_IR_INT,
           /* flags    */ 0,
           /* mode     */ APAL2CH_EDGE(VCNL4020_LLD_INT_EDGE),
           /* callback */ _modulePalIsrCallback,
           /* cb arg   */ 7,
         },
         /* channel 13 */ { // GYRO_DRDY: must be enabled explicitely
           /* port     */ GPIOB,
           /* pad      */ GPIOB_GYRO_DRDY,
           /* flags    */ 0,
           /* mode     */ APAL2CH_EDGE(L3G4200D_LLD_INT_EDGE),
           /* callback */ _modulePalIsrCallback,
           /* cb arg   */ 8,
         },
         /* channel 14 */ { // SYS_UART_UP: automatic interrupt on event
           /* port     */ GPIOB,
           /* pad      */ GPIOB_SYS_UART_UP,
           /* flags    */ AOS_INTERRUPT_AUTOSTART,
           /* mode     */ PAL_EVENT_MODE_BOTH_EDGES,
           /* callback */ _modulePalIsrCallback,
           /* cb arg   */ 9,
         },
         /* channel 15 */ { // ACCEL_INT_N: must be enabled explicitely
           /* port     */ GPIOB,
           /* pad      */ GPIOB_ACCEL_INT_N,
           /* flags    */ 0,
           /* mode     */ APAL2CH_EDGE(LIS331DLH_LLD_INT_EDGE),
           /* callback */ _modulePalIsrCallback,
           /* cb arg   */ 10,
         },
     };
     aos_interrupt_driver_t moduleIntDriver = {
       /* config     */ NULL,
       /* interrupts */ 10,
     };
     I2CConfig moduleHalI2cCompassConfig = {
       /* I²C mode   */ OPMODE_I2C,
       /* frequency  */ 400000,
-...
      */
     /*===========================================================================*/
     apalGpio_t moduleGpioLed = {
     /**
      * @brief   LED output signal GPIO.
      */
     static apalGpio_t _gpioLed = {
       /* port */ GPIOA,
       /* pad  */ GPIOA_LED,
     };
     apalControlGpio_t moduleGpioLed = {
       /* GPIO */ &_gpioLed,
       /* meta */ {
         /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
         /* active state   */ LED_LLD_GPIO_ACTIVE_STATE,
         /* interrupt edge */ APAL_GPIO_EDGE_NONE,
       },
     };
     apalGpio_t moduleGpioPowerEn = {
       /* port */GPIOB,
     /**
      * @brief   POWER_EN output signal GPIO.
      */
     static apalGpio_t _gpioPowerEn = {
       /* port */ GPIOB,
       /* pad  */  GPIOB_POWER_EN,
     };
     apalControlGpio_t moduleGpioPowerEn = {
       /* GPIO */ &_gpioPowerEn,
       /* meta */ {
         /* direction      */ APAL_GPIO_DIRECTION_OUTPUT,
         /* active state   */ APAL_GPIO_ACTIVE_HIGH,
         /* interrupt edge */ APAL_GPIO_EDGE_NONE,
       },
     };
     apalGpio_t moduleGpioCompassDrdy = {
     /**
      * @brief   COMPASS_DRDY output signal GPIO.
      */
     static apalGpio_t _gpioCompassDrdy = {
       /* port */ GPIOB,
       /* pad  */ GPIOB_COMPASS_DRDY,
     };
     apalControlGpio_t moduleGpioCompassDrdy = {
       /* GPIO */ &_gpioCompassDrdy,
       /* meta */ {
         /* direction      */ APAL_GPIO_DIRECTION_INPUT,
         /* active state   */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
         /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
       },
     };
      apalGpio_t moduleGpioIrInt = {
     /**
      * @brief   IR_INT input signal GPIO.
      */
     static apalGpio_t _gpioIrInt = {
       /* port */ GPIOB,
       /* pad  */ GPIOB_IR_INT,
     };
     apalControlGpio_t moduleGpioIrInt = {
       /* GPIO */ &_gpioIrInt,
       /* meta */ {
         /* direction      */ APAL_GPIO_DIRECTION_INPUT,
         /* active state   */ (VCNL4020_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
         /* interrupt edge */ VCNL4020_LLD_INT_EDGE,
       },
     };
     apalGpio_t moduleGpioGyroDrdy = {
     /**
      * @brief   GYRO_DRDY input signal GPIO.
      */
     static apalGpio_t _gpioGyroDrdy = {
       /* port */ GPIOB,
       /* pad  */ GPIOB_GYRO_DRDY,
     };
     apalControlGpio_t moduleGpioGyroDrdy = {
       /* GPIO */ &_gpioGyroDrdy,
       /* meta */ {
         /* direction      */ APAL_GPIO_DIRECTION_INPUT,
         /* active state   */ (L3G4200D_LLD_INT_EDGE == APAL_GPIO_EDGE_RISING) ? APAL_GPIO_ACTIVE_HIGH : APAL_GPIO_ACTIVE_LOW,
         /* interrupt edge */ L3G4200D_LLD_INT_EDGE,
       },
     };
     apalGpio_t moduleGpioSysUartUp = {
     /**
      * @brief   SYS_UART_UP bidirectional signal GPIO.
      */
     static apalGpio_t _gpioSysUartUp = {
       /* port */ GPIOB,
       /* pad  */ GPIOB_SYS_UART_UP,
     };

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