amiro-os / devices / DiWheelDrive / chconf.h @ 25388c2f
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1 | 3f899f5d | Thomas Schöpping | /**
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2 | * @file devices/DiWheelDrive/chconf.h
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3 | * @brief Configuration file.
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4 | *
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5 | * @addtogroup config
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6 | * @details Kernel related settings and hooks.
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7 | * @{
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8 | */
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9 | |||
10 | 58fe0e0b | Thomas Schöpping | #ifndef _CHCONF_H_
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11 | #define _CHCONF_H_
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12 | |||
13 | /*===========================================================================*/
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14 | /**
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15 | * @name Kernel parameters and options
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16 | * @{
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17 | */
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18 | /*===========================================================================*/
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19 | |||
20 | /**
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21 | * @brief System tick frequency.
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22 | * @details Frequency of the system timer that drives the system ticks. This
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23 | * setting also defines the system tick time unit.
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24 | */
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25 | #if !defined(CH_FREQUENCY) || defined(__DOXYGEN__)
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26 | #define CH_FREQUENCY 1000 |
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27 | #endif
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28 | |||
29 | /**
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30 | * @brief Round robin interval.
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31 | * @details This constant is the number of system ticks allowed for the
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32 | * threads before preemption occurs. Setting this value to zero
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33 | * disables the preemption for threads with equal priority and the
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34 | * round robin becomes cooperative. Note that higher priority
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35 | * threads can still preempt, the kernel is always preemptive.
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36 | *
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37 | * @note Disabling the round robin preemption makes the kernel more compact
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38 | * and generally faster.
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39 | */
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40 | #if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)
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41 | #define CH_TIME_QUANTUM 20 |
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42 | #endif
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43 | |||
44 | /**
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45 | * @brief Managed RAM size.
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46 | * @details Size of the RAM area to be managed by the OS. If set to zero
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47 | * then the whole available RAM is used. The core memory is made
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48 | * available to the heap allocator and/or can be used directly through
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49 | * the simplified core memory allocator.
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50 | *
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51 | * @note In order to let the OS manage the whole RAM the linker script must
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52 | * provide the @p __heap_base__ and @p __heap_end__ symbols.
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53 | * @note Requires @p CH_USE_MEMCORE.
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54 | */
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55 | #if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__)
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56 | #define CH_MEMCORE_SIZE 0 |
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57 | #endif
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58 | |||
59 | /**
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60 | * @brief Idle thread automatic spawn suppression.
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61 | * @details When this option is activated the function @p chSysInit()
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62 | * does not spawn the idle thread automatically. The application has
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63 | * then the responsibility to do one of the following:
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64 | * - Spawn a custom idle thread at priority @p IDLEPRIO.
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65 | * - Change the main() thread priority to @p IDLEPRIO then enter
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66 | * an endless loop. In this scenario the @p main() thread acts as
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67 | * the idle thread.
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68 | * .
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69 | * @note Unless an idle thread is spawned the @p main() thread must not
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70 | * enter a sleep state.
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71 | */
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72 | #if !defined(CH_NO_IDLE_THREAD) || defined(__DOXYGEN__)
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73 | #define CH_NO_IDLE_THREAD FALSE
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74 | #endif
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75 | |||
76 | /** @} */
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77 | |||
78 | /*===========================================================================*/
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79 | /**
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80 | * @name Performance options
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81 | * @{
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82 | */
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83 | /*===========================================================================*/
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84 | |||
85 | /**
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86 | * @brief OS optimization.
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87 | * @details If enabled then time efficient rather than space efficient code
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88 | * is used when two possible implementations exist.
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89 | *
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90 | * @note This is not related to the compiler optimization options.
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91 | * @note The default is @p TRUE.
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92 | */
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93 | #if !defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
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94 | #define CH_OPTIMIZE_SPEED TRUE
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95 | #endif
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96 | |||
97 | /** @} */
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98 | |||
99 | /*===========================================================================*/
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100 | /**
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101 | * @name Subsystem options
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102 | * @{
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103 | */
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104 | /*===========================================================================*/
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105 | |||
106 | /**
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107 | * @brief Threads registry APIs.
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108 | * @details If enabled then the registry APIs are included in the kernel.
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109 | *
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110 | * @note The default is @p TRUE.
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111 | */
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112 | #if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
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113 | #define CH_USE_REGISTRY TRUE
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114 | #endif
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115 | |||
116 | /**
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117 | * @brief Threads synchronization APIs.
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118 | * @details If enabled then the @p chThdWait() function is included in
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119 | * the kernel.
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120 | *
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121 | * @note The default is @p TRUE.
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122 | */
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123 | #if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)
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124 | #define CH_USE_WAITEXIT TRUE
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125 | #endif
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126 | |||
127 | /**
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128 | * @brief Semaphores APIs.
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129 | * @details If enabled then the Semaphores APIs are included in the kernel.
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130 | *
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131 | * @note The default is @p TRUE.
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132 | */
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133 | #if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)
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134 | #define CH_USE_SEMAPHORES TRUE
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135 | #endif
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136 | |||
137 | /**
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138 | * @brief Semaphores queuing mode.
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139 | * @details If enabled then the threads are enqueued on semaphores by
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140 | * priority rather than in FIFO order.
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141 | *
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142 | * @note The default is @p FALSE. Enable this if you have special requirements.
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143 | * @note Requires @p CH_USE_SEMAPHORES.
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144 | */
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145 | #if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
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146 | #define CH_USE_SEMAPHORES_PRIORITY FALSE
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147 | #endif
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148 | |||
149 | /**
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150 | * @brief Atomic semaphore API.
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151 | * @details If enabled then the semaphores the @p chSemSignalWait() API
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152 | * is included in the kernel.
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153 | *
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154 | * @note The default is @p TRUE.
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155 | * @note Requires @p CH_USE_SEMAPHORES.
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156 | */
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157 | #if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
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158 | #define CH_USE_SEMSW TRUE
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159 | #endif
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160 | |||
161 | /**
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162 | * @brief Mutexes APIs.
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163 | * @details If enabled then the mutexes APIs are included in the kernel.
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164 | *
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165 | * @note The default is @p TRUE.
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166 | */
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167 | #if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)
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168 | #define CH_USE_MUTEXES TRUE
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169 | #endif
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170 | |||
171 | /**
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172 | * @brief Conditional Variables APIs.
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173 | * @details If enabled then the conditional variables APIs are included
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174 | * in the kernel.
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175 | *
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176 | * @note The default is @p TRUE.
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177 | * @note Requires @p CH_USE_MUTEXES.
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178 | */
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179 | #if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__)
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180 | #define CH_USE_CONDVARS TRUE
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181 | #endif
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182 | |||
183 | /**
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184 | * @brief Conditional Variables APIs with timeout.
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185 | * @details If enabled then the conditional variables APIs with timeout
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186 | * specification are included in the kernel.
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187 | *
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188 | * @note The default is @p TRUE.
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189 | * @note Requires @p CH_USE_CONDVARS.
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190 | */
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191 | #if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
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192 | #define CH_USE_CONDVARS_TIMEOUT TRUE
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193 | #endif
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194 | |||
195 | /**
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196 | * @brief Events Flags APIs.
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197 | * @details If enabled then the event flags APIs are included in the kernel.
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198 | *
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199 | * @note The default is @p TRUE.
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200 | */
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201 | #if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)
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202 | #define CH_USE_EVENTS TRUE
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203 | #endif
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204 | |||
205 | /**
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206 | * @brief Events Flags APIs with timeout.
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207 | * @details If enabled then the events APIs with timeout specification
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208 | * are included in the kernel.
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209 | *
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210 | * @note The default is @p TRUE.
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211 | * @note Requires @p CH_USE_EVENTS.
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212 | */
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213 | #if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
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214 | #define CH_USE_EVENTS_TIMEOUT TRUE
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215 | #endif
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216 | |||
217 | /**
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218 | * @brief Synchronous Messages APIs.
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219 | * @details If enabled then the synchronous messages APIs are included
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220 | * in the kernel.
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221 | *
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222 | * @note The default is @p TRUE.
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223 | */
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224 | #if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)
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225 | #define CH_USE_MESSAGES TRUE
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226 | #endif
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227 | |||
228 | /**
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229 | * @brief Synchronous Messages queuing mode.
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230 | * @details If enabled then messages are served by priority rather than in
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231 | * FIFO order.
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232 | *
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233 | * @note The default is @p FALSE. Enable this if you have special requirements.
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234 | * @note Requires @p CH_USE_MESSAGES.
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235 | */
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236 | #if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
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237 | #define CH_USE_MESSAGES_PRIORITY FALSE
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238 | #endif
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239 | |||
240 | /**
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241 | * @brief Mailboxes APIs.
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242 | * @details If enabled then the asynchronous messages (mailboxes) APIs are
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243 | * included in the kernel.
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244 | *
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245 | * @note The default is @p TRUE.
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246 | * @note Requires @p CH_USE_SEMAPHORES.
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247 | */
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248 | #if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__)
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249 | #define CH_USE_MAILBOXES TRUE
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250 | #endif
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251 | |||
252 | /**
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253 | * @brief I/O Queues APIs.
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254 | * @details If enabled then the I/O queues APIs are included in the kernel.
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255 | *
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256 | * @note The default is @p TRUE.
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257 | */
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258 | #if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
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259 | #define CH_USE_QUEUES TRUE
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260 | #endif
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261 | |||
262 | /**
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263 | * @brief Core Memory Manager APIs.
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264 | * @details If enabled then the core memory manager APIs are included
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265 | * in the kernel.
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266 | *
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267 | * @note The default is @p TRUE.
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268 | */
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269 | #if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)
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270 | #define CH_USE_MEMCORE TRUE
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271 | #endif
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272 | |||
273 | /**
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274 | * @brief Heap Allocator APIs.
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275 | * @details If enabled then the memory heap allocator APIs are included
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276 | * in the kernel.
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277 | *
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278 | * @note The default is @p TRUE.
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279 | * @note Requires @p CH_USE_MEMCORE and either @p CH_USE_MUTEXES or
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280 | * @p CH_USE_SEMAPHORES.
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281 | * @note Mutexes are recommended.
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282 | */
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283 | #if !defined(CH_USE_HEAP) || defined(__DOXYGEN__)
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284 | #define CH_USE_HEAP TRUE
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285 | #endif
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286 | |||
287 | /**
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288 | * @brief C-runtime allocator.
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289 | * @details If enabled the the heap allocator APIs just wrap the C-runtime
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290 | * @p malloc() and @p free() functions.
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291 | *
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292 | * @note The default is @p FALSE.
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293 | * @note Requires @p CH_USE_HEAP.
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294 | * @note The C-runtime may or may not require @p CH_USE_MEMCORE, see the
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295 | * appropriate documentation.
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296 | */
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297 | #if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
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298 | #define CH_USE_MALLOC_HEAP FALSE
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299 | #endif
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300 | |||
301 | /**
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302 | * @brief Memory Pools Allocator APIs.
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303 | * @details If enabled then the memory pools allocator APIs are included
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304 | * in the kernel.
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305 | *
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306 | * @note The default is @p TRUE.
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307 | */
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308 | #if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
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309 | #define CH_USE_MEMPOOLS TRUE
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310 | #endif
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311 | |||
312 | /**
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313 | * @brief Dynamic Threads APIs.
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314 | * @details If enabled then the dynamic threads creation APIs are included
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315 | * in the kernel.
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316 | *
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317 | * @note The default is @p TRUE.
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318 | * @note Requires @p CH_USE_WAITEXIT.
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319 | * @note Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS.
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320 | */
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321 | #if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__)
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322 | #define CH_USE_DYNAMIC TRUE
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323 | #endif
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324 | |||
325 | /** @} */
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326 | |||
327 | /*===========================================================================*/
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328 | /**
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329 | * @name Debug options
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330 | * @{
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331 | */
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332 | /*===========================================================================*/
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333 | |||
334 | /**
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335 | * @brief Debug option, system state check.
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336 | * @details If enabled the correct call protocol for system APIs is checked
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337 | * at runtime.
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338 | *
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339 | * @note The default is @p FALSE.
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340 | */
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341 | #if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
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342 | #define CH_DBG_SYSTEM_STATE_CHECK TRUE
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343 | #endif
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344 | |||
345 | /**
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346 | * @brief Debug option, parameters checks.
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347 | * @details If enabled then the checks on the API functions input
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348 | * parameters are activated.
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349 | *
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350 | * @note The default is @p FALSE.
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351 | */
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352 | #if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
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353 | #define CH_DBG_ENABLE_CHECKS TRUE
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354 | #endif
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355 | |||
356 | /**
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357 | * @brief Debug option, consistency checks.
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358 | * @details If enabled then all the assertions in the kernel code are
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359 | * activated. This includes consistency checks inside the kernel,
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360 | * runtime anomalies and port-defined checks.
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361 | *
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362 | * @note The default is @p FALSE.
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363 | */
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364 | #if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
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365 | #define CH_DBG_ENABLE_ASSERTS TRUE
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366 | #endif
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367 | |||
368 | /**
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369 | * @brief Debug option, trace buffer.
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370 | * @details If enabled then the context switch circular trace buffer is
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371 | * activated.
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372 | *
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373 | * @note The default is @p FALSE.
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374 | */
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375 | #if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
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376 | #define CH_DBG_ENABLE_TRACE TRUE
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377 | #endif
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378 | |||
379 | /**
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380 | * @brief Debug option, stack checks.
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381 | * @details If enabled then a runtime stack check is performed.
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382 | *
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383 | * @note The default is @p FALSE.
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384 | * @note The stack check is performed in a architecture/port dependent way.
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385 | * It may not be implemented or some ports.
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386 | * @note The default failure mode is to halt the system with the global
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387 | * @p panic_msg variable set to @p NULL.
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388 | */
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389 | #if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
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390 | #define CH_DBG_ENABLE_STACK_CHECK TRUE
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391 | #endif
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392 | |||
393 | /**
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394 | * @brief Debug option, stacks initialization.
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395 | * @details If enabled then the threads working area is filled with a byte
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396 | * value when a thread is created. This can be useful for the
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397 | * runtime measurement of the used stack.
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398 | *
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399 | * @note The default is @p FALSE.
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400 | */
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401 | #if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
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402 | #define CH_DBG_FILL_THREADS FALSE
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403 | #endif
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404 | |||
405 | /**
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406 | * @brief Debug option, threads profiling.
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407 | * @details If enabled then a field is added to the @p Thread structure that
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408 | * counts the system ticks occurred while executing the thread.
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409 | *
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410 | * @note The default is @p TRUE.
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411 | * @note This debug option is defaulted to TRUE because it is required by
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412 | * some test cases into the test suite.
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413 | */
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414 | #if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)
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415 | #define CH_DBG_THREADS_PROFILING TRUE
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416 | #endif
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417 | |||
418 | /** @} */
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419 | |||
420 | /*===========================================================================*/
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421 | /**
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422 | * @name Kernel hooks
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423 | * @{
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424 | */
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425 | /*===========================================================================*/
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426 | |||
427 | /**
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428 | * @brief Threads descriptor structure extension.
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429 | * @details User fields added to the end of the @p Thread structure.
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430 | */
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431 | #if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__)
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432 | #define THREAD_EXT_FIELDS \
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433 | /* Add threads custom fields here.*/
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434 | #endif
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435 | |||
436 | /**
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437 | * @brief Threads initialization hook.
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438 | * @details User initialization code added to the @p chThdInit() API.
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439 | *
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440 | * @note It is invoked from within @p chThdInit() and implicitly from all
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441 | * the threads creation APIs.
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442 | */
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443 | #if !defined(THREAD_EXT_INIT_HOOK) || defined(__DOXYGEN__)
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444 | #define THREAD_EXT_INIT_HOOK(tp) { \
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445 | /* Add threads initialization code here.*/ \
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446 | } |
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447 | #endif
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448 | |||
449 | /**
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450 | * @brief Threads finalization hook.
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451 | * @details User finalization code added to the @p chThdExit() API.
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452 | *
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453 | * @note It is inserted into lock zone.
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454 | * @note It is also invoked when the threads simply return in order to
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455 | * terminate.
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456 | */
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457 | #if !defined(THREAD_EXT_EXIT_HOOK) || defined(__DOXYGEN__)
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458 | #define THREAD_EXT_EXIT_HOOK(tp) { \
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459 | /* Add threads finalization code here.*/ \
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460 | } |
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461 | #endif
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462 | |||
463 | /**
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464 | * @brief Context switch hook.
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465 | * @details This hook is invoked just before switching between threads.
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466 | */
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467 | #if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
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468 | #define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) { \
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469 | /* Context switch code here.*/ \
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470 | } |
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471 | #endif
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472 | |||
473 | /**
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474 | * @brief Idle Loop hook.
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475 | * @details This hook is continuously invoked by the idle thread loop.
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476 | */
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477 | #if !defined(IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
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478 | #define IDLE_LOOP_HOOK() { \
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479 | /* Idle loop code here.*/ \
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480 | } |
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481 | #endif
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482 | |||
483 | /**
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484 | * @brief System tick event hook.
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485 | * @details This hook is invoked in the system tick handler immediately
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486 | * after processing the virtual timers queue.
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487 | */
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488 | #if !defined(SYSTEM_TICK_EVENT_HOOK) || defined(__DOXYGEN__)
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489 | #define SYSTEM_TICK_EVENT_HOOK() { \
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490 | /* System tick event code here.*/ \
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491 | } |
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492 | #endif
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493 | |||
494 | /**
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495 | * @brief System halt hook.
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496 | * @details This hook is invoked in case to a system halting error before
|
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497 | * the system is halted.
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498 | */
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499 | #if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
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500 | void haltErrorCode(void); |
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501 | #define SYSTEM_HALT_HOOK() { \
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502 | /* System halt code here.*/ \
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503 | haltErrorCode(); \ |
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504 | } |
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505 | #endif
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506 | |||
507 | /** @} */
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508 | |||
509 | /*===========================================================================*/
|
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510 | /* Port-specific settings (override port settings defaulted in chcore.h). */
|
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511 | /*===========================================================================*/
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512 | |||
513 | /* NVIC VTOR initialization (only offset!) */
|
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514 | #define CORTEX_VTOR_INIT 0x00006000 |
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515 | |||
516 | #endif /* _CHCONF_H_ */ |
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517 | 3f899f5d | Thomas Schöpping | |
518 | /** @} */ |