amiro-os / modules / DiWheelDrive_1-1 / aosconf.h @ 2347b2ff
History | View | Annotate | Download (10.266 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file
|
| 21 |
* @brief AMiRo-OS Configuration file for the DiWheelDrive v1.1 module.
|
| 22 |
* @details Contains the application specific AMiRo-OS settings.
|
| 23 |
*
|
| 24 |
* @addtogroup diwheeldrive_aos_config
|
| 25 |
* @{
|
| 26 |
*/
|
| 27 |
|
| 28 |
#ifndef AOSCONF_H
|
| 29 |
#define AOSCONF_H
|
| 30 |
|
| 31 |
/*
|
| 32 |
* compatibility guards
|
| 33 |
*/
|
| 34 |
#define _AMIRO_OS_CFG_
|
| 35 |
#define AMIRO_OS_CFG_VERSION_MAJOR 2 |
| 36 |
#define AMIRO_OS_CFG_VERSION_MINOR 1 |
| 37 |
|
| 38 |
#include <stdbool.h> |
| 39 |
|
| 40 |
/*
|
| 41 |
* Include an external configuration file to override the following default settings only if required.
|
| 42 |
*/
|
| 43 |
#if defined(AMIRO_APPS) && (AMIRO_APPS == true) |
| 44 |
#include <osconf.h> |
| 45 |
#endif /* defined(AMIRO_APPS) && (AMIRO_APPS == true) */ |
| 46 |
|
| 47 |
/*===========================================================================*/
|
| 48 |
/**
|
| 49 |
* @name Kernel parameters and options
|
| 50 |
* @{
|
| 51 |
*/
|
| 52 |
/*===========================================================================*/
|
| 53 |
|
| 54 |
/**
|
| 55 |
* @brief Flag to enable/disable debug API and logic.
|
| 56 |
*/
|
| 57 |
#if !defined(OS_CFG_DBG)
|
| 58 |
#define AMIROOS_CFG_DBG true |
| 59 |
#else /* !defined(OS_CFG_DBG) */ |
| 60 |
#define AMIROOS_CFG_DBG OS_CFG_DBG
|
| 61 |
#endif /* !defined(OS_CFG_DBG) */ |
| 62 |
|
| 63 |
/**
|
| 64 |
* @brief Flag to enable/disable unit tests.
|
| 65 |
* @note Setting this flag will implicitely enable the shell.
|
| 66 |
*/
|
| 67 |
#if !defined(OS_CFG_TESTS_ENABLE)
|
| 68 |
#define AMIROOS_CFG_TESTS_ENABLE true |
| 69 |
#else /* !defined(OS_CFG_TESTS_ENABLE) */ |
| 70 |
#define AMIROOS_CFG_TESTS_ENABLE OS_CFG_TESTS_ENABLE
|
| 71 |
#endif /* !defined(OS_CFG_TESTS_ENABLE) */ |
| 72 |
|
| 73 |
/**
|
| 74 |
* @brief Flag to enable/disable profiling API and logic.
|
| 75 |
*/
|
| 76 |
#if !defined(OS_CFG_PROFILE)
|
| 77 |
#define AMIROOS_CFG_PROFILE true |
| 78 |
#else /* !defined(OS_CFG_PROFILE) */ |
| 79 |
#define AMIROOS_CFG_PROFILE OS_CFG_PROFILE
|
| 80 |
#endif /* !defined(OS_CFG_PROFILE) */ |
| 81 |
|
| 82 |
/**
|
| 83 |
* @brief Mask for the control thread to listen to certain GPIO events.
|
| 84 |
* @note Any mandatory events (e.g. for SSSP) are enabled implicitely despite this configuration.
|
| 85 |
*/
|
| 86 |
#if !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK)
|
| 87 |
#define AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK 0 |
| 88 |
#else /* !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) */ |
| 89 |
#define AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK
|
| 90 |
#endif /* !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) */ |
| 91 |
|
| 92 |
/**
|
| 93 |
* @brief Timeout value when waiting for events in the main loop in microseconds.
|
| 94 |
* @details A value of 0 deactivates the timeout.
|
| 95 |
*/
|
| 96 |
#if !defined(OS_CFG_MAIN_LOOP_TIMEOUT)
|
| 97 |
#define AMIROOS_CFG_MAIN_LOOP_TIMEOUT 0 |
| 98 |
#else /* !defined(OS_CFG_MAIN_LOOP_TIMEOUT) */ |
| 99 |
#define AMIROOS_CFG_MAIN_LOOP_TIMEOUT OS_CFG_MAIN_LOOP_TIMEOUT
|
| 100 |
#endif /* !defined(OS_CFG_MAIN_LOOP_TIMEOUT) */ |
| 101 |
|
| 102 |
/** @} */
|
| 103 |
|
| 104 |
/*===========================================================================*/
|
| 105 |
/**
|
| 106 |
* @name Bootloader configuration
|
| 107 |
* @{
|
| 108 |
*/
|
| 109 |
/*===========================================================================*/
|
| 110 |
|
| 111 |
/**
|
| 112 |
* @brief Identifier of the instaled bootloader (if any).
|
| 113 |
* @note See aos_bootloader.h file for a list of available settings.
|
| 114 |
*/
|
| 115 |
#if !defined(OS_CFG_BOOTLOADER)
|
| 116 |
#define AMIROOS_CFG_BOOTLOADER AOS_BOOTLOADER_AMiRoBLT
|
| 117 |
#else /* !defined(OS_CFG_BOOTLOADER) */ |
| 118 |
#define AMIROOS_CFG_BOOTLOADER OS_CFG_BOOTLOADER
|
| 119 |
#endif /* !defined(OS_CFG_BOOTLOADER) */ |
| 120 |
|
| 121 |
/** @} */
|
| 122 |
|
| 123 |
/*===========================================================================*/
|
| 124 |
/**
|
| 125 |
* @name SSSP (Startup Shutdown Synchronization Protocol) configuration.
|
| 126 |
* @{
|
| 127 |
*/
|
| 128 |
/*===========================================================================*/
|
| 129 |
|
| 130 |
/**
|
| 131 |
* @brief Flag to enable SSSP.
|
| 132 |
*/
|
| 133 |
#if !defined(OS_CFG_SSSP_ENABLE)
|
| 134 |
#define AMIROOS_CFG_SSSP_ENABLE true |
| 135 |
#else /* !defined(OS_CFG_SSSP_ENABLE) */ |
| 136 |
#define AMIROOS_CFG_SSSP_ENABLE OS_CFG_SSSP_ENABLE
|
| 137 |
#endif /* !defined(OS_CFG_SSSP_ENABLE) */ |
| 138 |
|
| 139 |
/**
|
| 140 |
* @brief Flag to indicate, whether the SSSP startup sequence shall be executed by AMiRo-OS.
|
| 141 |
* @details This setting must be false in case another software (e.g. a bootloader) handles the initial stages of the SSSP startup phase.
|
| 142 |
*/
|
| 143 |
#if !defined(OS_CFG_SSSP_STARTUP)
|
| 144 |
#define AMIROOS_CFG_SSSP_STARTUP false |
| 145 |
#else
|
| 146 |
#define AMIROOS_CFG_SSSP_STARTUP OS_CFG_SSSP_STARTUP
|
| 147 |
#endif
|
| 148 |
|
| 149 |
/**
|
| 150 |
* @brief Flag to indicate, whether the SSSP shutdown sequence shall be executed by AMiRo-OS.
|
| 151 |
* @details This setting should be false in case another software (e.g. a bootloader) handles the final stages of the SSSP shutdown phase.
|
| 152 |
*/
|
| 153 |
#if !defined(OS_CFG_SSSP_SHUTDOWN)
|
| 154 |
#define AMIROOS_CFG_SSSP_SHUTDOWN false |
| 155 |
#else
|
| 156 |
#define AMIROOS_CFG_SSSP_SHUTDOWN OS_CFG_SSSP_SHUTDOWN
|
| 157 |
#endif
|
| 158 |
|
| 159 |
/**
|
| 160 |
* @brief Flag to indicate, whether the module stack initialization (MSI; stage 3 of the SSSP startup phase) shall be executed.
|
| 161 |
* @brief In order to execute MSI, a broadcast bus (BCB) and according interfaces must be defined.
|
| 162 |
*/
|
| 163 |
#if !defined(OS_CFG_SSSP_MSI)
|
| 164 |
#define AMIROOS_CFG_SSSP_MSI true |
| 165 |
#else
|
| 166 |
#define AMIROOS_CFG_SSSP_MSI OS_CFG_SSSP_MSI
|
| 167 |
#endif
|
| 168 |
|
| 169 |
/**
|
| 170 |
* @brief Width of the @p aos_sssp_moduleid_t type.
|
| 171 |
* @details Possible settings are 8, 16, 32 and 64.
|
| 172 |
*/
|
| 173 |
#if !defined(OS_CFG_SSSP_MODULEIDWIDTH)
|
| 174 |
#define AMIROOS_CFG_SSSP_MODULEIDWIDTH 16 |
| 175 |
#else
|
| 176 |
#define AMIROOS_CFG_SSSP_MODULEIDWIDTH OS_CFG_SSSP_MODULEIDWIDTH
|
| 177 |
#endif
|
| 178 |
|
| 179 |
/**
|
| 180 |
* @brief Flag to set the module as SSSP master.
|
| 181 |
* @details There must be only one module with this flag set to true in a system.
|
| 182 |
*/
|
| 183 |
#if !defined(OS_CFG_SSSP_MASTER)
|
| 184 |
#define AMIROOS_CFG_SSSP_MASTER false |
| 185 |
#else /* !defined(OS_CFG_SSSP_MASTER) */ |
| 186 |
#define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER
|
| 187 |
#endif /* !defined(OS_CFG_SSSP_MASTER) */ |
| 188 |
|
| 189 |
/**
|
| 190 |
* @brief Flag to set the module to be the first in the stack.
|
| 191 |
* @details There must be only one module with this flag set to true in a system.
|
| 192 |
*/
|
| 193 |
#if !defined(OS_CFG_SSSP_STACK_START)
|
| 194 |
#define AMIROOS_CFG_SSSP_STACK_START true |
| 195 |
#else /* !defined(OS_CFG_SSSP_STACK_START) */ |
| 196 |
#define AMIROOS_CFG_SSSP_STACK_START OS_CFG_SSSP_STACK_START
|
| 197 |
#endif /* !defined(OS_CFG_SSSP_STACK_START) */ |
| 198 |
|
| 199 |
/**
|
| 200 |
* @brief Flag to set the module to be the last in the stack.
|
| 201 |
* @details There must be only one module with this flag set to true in a system.
|
| 202 |
*/
|
| 203 |
#if !defined(OS_CFG_SSSP_STACK_END)
|
| 204 |
#define AMIROOS_CFG_SSSP_STACK_END false |
| 205 |
#else /* !defined(OS_CFG_SSSP_STACK_END) */ |
| 206 |
#define AMIROOS_CFG_SSSP_STACK_END OS_CFG_SSSP_STACK_END
|
| 207 |
#endif /* !defined(OS_CFG_SSSP_STACK_END) */ |
| 208 |
|
| 209 |
/**
|
| 210 |
* @brief Delay time (in microseconds) how long a SSSP signal must be active.
|
| 211 |
*/
|
| 212 |
#if !defined(OS_CFG_SSSP_SIGNALDELAY)
|
| 213 |
#define AMIROOS_CFG_SSSP_SIGNALDELAY 1000 |
| 214 |
#else /* !defined(OS_CFG_SSSP_SIGNALDELAY) */ |
| 215 |
#define AMIROOS_CFG_SSSP_SIGNALDELAY OS_CFG_SSSP_SIGNALDELAY
|
| 216 |
#endif /* !defined(OS_CFG_SSSP_SIGNALDELAY) */ |
| 217 |
|
| 218 |
/**
|
| 219 |
* @brief Time boundary for robot wide clock synchronization in microseconds.
|
| 220 |
* @details Whenever the SSSP S (snychronization) signal gets logically deactivated,
|
| 221 |
* All modules need to align their local uptime to the nearest multiple of this value.
|
| 222 |
*/
|
| 223 |
#if !defined(OS_CFG_SSSP_SYSSYNCPERIOD)
|
| 224 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
| 225 |
#else /* !defined(OS_CFG_SSSP_SYSSYNCPERIOD) */ |
| 226 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD
|
| 227 |
#endif /* !defined(OS_CFG_SSSP_SYSSYNCPERIOD) */ |
| 228 |
|
| 229 |
/** @} */
|
| 230 |
|
| 231 |
/*===========================================================================*/
|
| 232 |
/**
|
| 233 |
* @name System shell options
|
| 234 |
* @{
|
| 235 |
*/
|
| 236 |
/*===========================================================================*/
|
| 237 |
|
| 238 |
/**
|
| 239 |
* @brief Shell enable flag.
|
| 240 |
*/
|
| 241 |
#if !defined(OS_CFG_SHELL_ENABLE)
|
| 242 |
#define AMIROOS_CFG_SHELL_ENABLE true |
| 243 |
#else /* !defined(OS_CFG_SHELL_ENABLE) */ |
| 244 |
#define AMIROOS_CFG_SHELL_ENABLE OS_CFG_SHELL_ENABLE
|
| 245 |
#endif /* !defined(OS_CFG_SHELL_ENABLE) */ |
| 246 |
|
| 247 |
/**
|
| 248 |
* @brief Shell thread stack size.
|
| 249 |
*/
|
| 250 |
#if !defined(OS_CFG_SHELL_STACKSIZE)
|
| 251 |
#define AMIROOS_CFG_SHELL_STACKSIZE 1024 |
| 252 |
#else /* !defined(OS_CFG_SHELL_STACKSIZE) */ |
| 253 |
#define AMIROOS_CFG_SHELL_STACKSIZE OS_CFG_SHELL_STACKSIZE
|
| 254 |
#endif /* !defined(OS_CFG_SHELL_STACKSIZE) */ |
| 255 |
|
| 256 |
/**
|
| 257 |
* @brief Shell thread priority.
|
| 258 |
* @details Thread priorities are specified as an integer value.
|
| 259 |
* Predefined ranges are:
|
| 260 |
* lowest ┌ THD_LOWPRIO_MIN
|
| 261 |
* │ ...
|
| 262 |
* └ THD_LOWPRIO_MAX
|
| 263 |
* ┌ THD_NORMALPRIO_MIN
|
| 264 |
* │ ...
|
| 265 |
* └ THD_NORMALPRIO_MAX
|
| 266 |
* ┌ THD_HIGHPRIO_MIN
|
| 267 |
* │ ...
|
| 268 |
* └ THD_HIGHPRIO_MAX
|
| 269 |
* ┌ THD_RTPRIO_MIN
|
| 270 |
* │ ...
|
| 271 |
* highest └ THD_RTPRIO_MAX
|
| 272 |
*/
|
| 273 |
#if !defined(OS_CFG_SHELL_THREADPRIO)
|
| 274 |
#define AMIROOS_CFG_SHELL_THREADPRIO AOS_THD_NORMALPRIO_MIN
|
| 275 |
#else /* !defined(OS_CFG_SHELL_THREADPRIO) */ |
| 276 |
#define AMIROOS_CFG_SHELL_THREADPRIO OS_CFG_SHELL_THREADPRIO
|
| 277 |
#endif /* !defined(OS_CFG_SHELL_THREADPRIO) */ |
| 278 |
|
| 279 |
/**
|
| 280 |
* @brief Shell maximum input line length.
|
| 281 |
*/
|
| 282 |
#if !defined(OS_CFG_SHELL_LINEWIDTH)
|
| 283 |
#define AMIROOS_CFG_SHELL_LINEWIDTH 80 |
| 284 |
#else /* !defined(OS_CFG_SHELL_LINEWIDTH) */ |
| 285 |
#define AMIROOS_CFG_SHELL_LINEWIDTH OS_CFG_SHELL_LINEWIDTH
|
| 286 |
#endif /* !defined(OS_CFG_SHELL_LINEWIDTH) */ |
| 287 |
|
| 288 |
/**
|
| 289 |
* @brief Shell maximum number of arguments.
|
| 290 |
*/
|
| 291 |
#if !defined(OS_CFG_SHELL_MAXARGS)
|
| 292 |
#define AMIROOS_CFG_SHELL_MAXARGS 8 |
| 293 |
#else /* !defined(OS_CFG_SHELL_MAXARGS) */ |
| 294 |
#define AMIROOS_CFG_SHELL_MAXARGS OS_CFG_SHELL_MAXARGS
|
| 295 |
#endif /* !defined(OS_CFG_SHELL_MAXARGS) */ |
| 296 |
|
| 297 |
/** @} */
|
| 298 |
|
| 299 |
#endif /* AOSCONF_H */ |
| 300 |
|
| 301 |
/** @} */
|