AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  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/common/chconf.h

 * @brief   Common ChibiOS Configuration file for the all modules.

 * @details Contains the application specific kernel settings.

 *

 * @addtogroup config

 * @details Kernel related settings and hooks.

 * @{

 */

#ifndef AOS_CHCONF_H

#define AOS_CHCONF_H

#define _CHIBIOS_RT_CONF_

#define _CHIBIOS_RT_CONF_VER_6_0_

/*===========================================================================*/

/**

 * @name System timers settings

 * @{

 */

/*===========================================================================*/

/**

 * @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               32

#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                 20

#endif

/** @} */

/*===========================================================================*/

/**

 * @name Kernel parameters and options

 * @{

 */

/*===========================================================================*/

/**

 * @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

/** @} */

/*===========================================================================*/

/**

 * @name Performance options

 * @{

 */

/*===========================================================================*/

/**

 * @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

/** @} */

/*===========================================================================*/

/**

 * @name Subsystem options

 * @{

 */

/*===========================================================================*/

/**

 * @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                       TRUE

#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   Thread hierarchy APIs.

 * @details Id enabled then the thread hierarchy APIs are included in the kernel.

 *

 * @note    The default is @p FALSE.

 */

#if !defined(CH_CFG_USE_THREADHIERARCHY)

#define CH_CFG_USE_THREADHIERARCHY          TRUE

#endif

/**

 * @brief   Enable ordering of child lists.

 * @details Children will be ordered by their priority (descending).

 *          If sibliblings have identical priority, they are ordered by age (descending).

 */

#if !defined(CH_CFG_THREADHIERARCHY_ORDERED)

#define CH_CFG_THREADHIERARCHY_ORDERED      TRUE

#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               TRUE

#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                 TRUE

#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         TRUE

#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   Pipes APIs.

 * @details If enabled then the pipes APIs are included

 *          in the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_CFG_USE_PIPES)

#define CH_CFG_USE_PIPES                    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

/** @} */

/*===========================================================================*/

/**

 * @name Objects factory options

 * @{

 */

/*===========================================================================*/

/**

 * @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

/**

 * @brief   Enables factory for Pipes.

 */

#if !defined(CH_CFG_FACTORY_PIPES) || defined(__DOXYGEN__)

#define CH_CFG_FACTORY_PIPES                TRUE

#endif

/** @} */

/*===========================================================================*/

/**

 * @name Debug options

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Debug option, kernel statistics.

 *

 * @note    The default is @p FALSE.

 */

#if !defined(CH_DBG_STATISTICS)

#if ((CH_CFG_USE_TM == TRUE) && (AMIROOS_CFG_DBG == true)) || defined(__DOXYGEN__)

  #define CH_DBG_STATISTICS                 TRUE

#else

  #define CH_DBG_STATISTICS                 FALSE

#endif

#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)

#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)

  #define CH_DBG_SYSTEM_STATE_CHECK         TRUE

#else

  #define CH_DBG_SYSTEM_STATE_CHECK         FALSE

#endif

#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)

#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)

  #define CH_DBG_ENABLE_CHECKS              TRUE

#else

  #define CH_DBG_ENABLE_CHECKS              FALSE

#endif

#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)

#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)

  #define CH_DBG_ENABLE_ASSERTS             TRUE

#else

  #define CH_DBG_ENABLE_ASSERTS             FALSE

#endif

#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)

#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)

  #define CH_DBG_ENABLE_STACK_CHECK         TRUE

#else

  #define CH_DBG_ENABLE_STACK_CHECK         FALSE

#endif

#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)

#if (AMIROOS_CFG_PROFILE == true) || defined(__DOXYGEN__)

  #define CH_DBG_FILL_THREADS               TRUE

#else

  #define CH_DBG_FILL_THREADS               FALSE

#endif

#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)

#if ((CH_CFG_ST_TIMEDELTA == 0) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)

  #define CH_DBG_THREADS_PROFILING          TRUE

#else

  #define CH_DBG_THREADS_PROFILING          FALSE

#endif

#endif

/** @} */

/*===========================================================================*/

/**

 * @name Kernel hooks

 * @{

 */

/*===========================================================================*/

/**

 * @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.*/

/**

 * @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() {                                         \

  /* 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.

 */

#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.

 */

#define CH_CFG_IDLE_LOOP_HOOK() {                                           \

  /* Idle loop code here.*/                                                 \

}

/**

 * @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.

 */

#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.*/                                                     \

}

/** @} */

/*===========================================================================*/

/**

 * @name Port-specific settings (override port settings defaulted in chcore.h).

 * @{

 */

/*===========================================================================*/

// These settings are specific to each module.

/** @} */

/*===========================================================================*/

/**

 * @name other

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Flag to enable/disable floating point support in chprintf() and all deriviates.

 */

#define CHPRINTF_USE_FLOAT                  TRUE

/** @} */

#endif  /* AOS_CHCONF_H */

/** @} */