amiro-os / modules / DiWheelDrive_1-1 / aosconf.h @ 510b93cc
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | e545e620 | Thomas Schöpping | |
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | 53710ca3 | Marc Rothmann | /**
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20 | 9ebb11a9 | Thomas Schöpping | * @file
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21 | 53710ca3 | Marc Rothmann | * @brief AMiRo-OS Configuration file for the DiWheelDrive v1.1 module.
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22 | * @details Contains the application specific AMiRo-OS settings.
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23 | *
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24 | * @addtogroup diwheeldrive_aos_config
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25 | * @{
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26 | */
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27 | |||
28 | 6ff06bbf | Thomas Schöpping | #ifndef AOSCONF_H
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29 | #define AOSCONF_H
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30 | e545e620 | Thomas Schöpping | |
31 | /*
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32 | * compatibility guards
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33 | */
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34 | #define _AMIRO_OS_CFG_
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35 | 7da800ab | Thomas Schöpping | #define AMIRO_OS_CFG_VERSION_MAJOR 2 |
36 | cda14729 | Thomas Schöpping | #define AMIRO_OS_CFG_VERSION_MINOR 1 |
37 | e545e620 | Thomas Schöpping | |
38 | #include <stdbool.h> |
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39 | |||
40 | /*
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41 | * Include an external configuration file to override the following default settings only if required.
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42 | */
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43 | #if defined(AMIRO_APPS) && (AMIRO_APPS == true) |
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44 | #include <osconf.h> |
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45 | 7de0cc90 | Thomas Schöpping | #endif /* defined(AMIRO_APPS) && (AMIRO_APPS == true) */ |
46 | e545e620 | Thomas Schöpping | |
47 | 6b53f6bf | Thomas Schöpping | /*===========================================================================*/
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48 | e545e620 | Thomas Schöpping | /**
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49 | 6b53f6bf | Thomas Schöpping | * @name Kernel parameters and options
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50 | * @{
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51 | e545e620 | Thomas Schöpping | */
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52 | 6b53f6bf | Thomas Schöpping | /*===========================================================================*/
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53 | e545e620 | Thomas Schöpping | |
54 | /**
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55 | 3e1a9c79 | Thomas Schöpping | * @brief Flag to enable/disable debug API and logic.
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56 | e545e620 | Thomas Schöpping | */
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57 | #if !defined(OS_CFG_DBG)
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58 | #define AMIROOS_CFG_DBG true |
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59 | 7de0cc90 | Thomas Schöpping | #else /* !defined(OS_CFG_DBG) */ |
60 | e545e620 | Thomas Schöpping | #define AMIROOS_CFG_DBG OS_CFG_DBG
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61 | 7de0cc90 | Thomas Schöpping | #endif /* !defined(OS_CFG_DBG) */ |
62 | e545e620 | Thomas Schöpping | |
63 | /**
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64 | * @brief Flag to enable/disable unit tests.
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65 | 2dd2e257 | Thomas Schöpping | * @note Setting this flag will implicitely enable the shell.
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66 | e545e620 | Thomas Schöpping | */
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67 | #if !defined(OS_CFG_TESTS_ENABLE)
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68 | #define AMIROOS_CFG_TESTS_ENABLE true |
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69 | 7de0cc90 | Thomas Schöpping | #else /* !defined(OS_CFG_TESTS_ENABLE) */ |
70 | e545e620 | Thomas Schöpping | #define AMIROOS_CFG_TESTS_ENABLE OS_CFG_TESTS_ENABLE
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71 | 7de0cc90 | Thomas Schöpping | #endif /* !defined(OS_CFG_TESTS_ENABLE) */ |
72 | e545e620 | Thomas Schöpping | |
73 | /**
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74 | 3e1a9c79 | Thomas Schöpping | * @brief Flag to enable/disable profiling API and logic.
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75 | e545e620 | Thomas Schöpping | */
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76 | #if !defined(OS_CFG_PROFILE)
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77 | #define AMIROOS_CFG_PROFILE true |
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78 | 7de0cc90 | Thomas Schöpping | #else /* !defined(OS_CFG_PROFILE) */ |
79 | e545e620 | Thomas Schöpping | #define AMIROOS_CFG_PROFILE OS_CFG_PROFILE
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80 | 7de0cc90 | Thomas Schöpping | #endif /* !defined(OS_CFG_PROFILE) */ |
81 | e545e620 | Thomas Schöpping | |
82 | /**
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83 | cda14729 | Thomas Schöpping | * @brief Mask for the control thread to listen to certain GPIO events.
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84 | 2920c6b7 | Thomas Schöpping | * @note Any mandatory events (e.g. for SSSP) are enabled implicitely despite this configuration.
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85 | */
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86 | cda14729 | Thomas Schöpping | #if !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK)
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87 | #define AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK 0 |
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88 | #else /* !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) */ |
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89 | #define AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK
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90 | #endif /* !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) */ |
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91 | 2920c6b7 | Thomas Schöpping | |
92 | /**
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93 | e545e620 | Thomas Schöpping | * @brief Timeout value when waiting for events in the main loop in microseconds.
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94 | * @details A value of 0 deactivates the timeout.
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95 | */
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96 | #if !defined(OS_CFG_MAIN_LOOP_TIMEOUT)
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97 | #define AMIROOS_CFG_MAIN_LOOP_TIMEOUT 0 |
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98 | 7de0cc90 | Thomas Schöpping | #else /* !defined(OS_CFG_MAIN_LOOP_TIMEOUT) */ |
99 | e545e620 | Thomas Schöpping | #define AMIROOS_CFG_MAIN_LOOP_TIMEOUT OS_CFG_MAIN_LOOP_TIMEOUT
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100 | 7de0cc90 | Thomas Schöpping | #endif /* !defined(OS_CFG_MAIN_LOOP_TIMEOUT) */ |
101 | e545e620 | Thomas Schöpping | |
102 | /** @} */
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103 | |||
104 | /*===========================================================================*/
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105 | 6b53f6bf | Thomas Schöpping | /**
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106 | cda14729 | Thomas Schöpping | * @name Bootloader configuration
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107 | * @{
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108 | */
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109 | /*===========================================================================*/
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110 | |||
111 | /**
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112 | * @brief Identifier of the instaled bootloader (if any).
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113 | * @note See aos_bootloader.h file for a list of available settings.
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114 | */
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115 | 510b93cc | Thomas Schöpping | #if !defined(OS_CFG_BOOTLOADER)
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116 | #define AMIROOS_CFG_BOOTLOADER AOS_BOOTLOADER_AMiRoBLT
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117 | #else /* !defined(OS_CFG_BOOTLOADER) */ |
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118 | #define AMIROOS_CFG_BOOTLOADER OS_CFG_BOOTLOADER
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119 | #endif /* !defined(OS_CFG_BOOTLOADER) */ |
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120 | cda14729 | Thomas Schöpping | |
121 | /** @} */
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122 | |||
123 | /*===========================================================================*/
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124 | /**
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125 | 6b53f6bf | Thomas Schöpping | * @name SSSP (Startup Shutdown Synchronization Protocol) configuration.
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126 | * @{
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127 | */
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128 | /*===========================================================================*/
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129 | |||
130 | /**
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131 | 9ebb11a9 | Thomas Schöpping | * @brief Flag to enable SSSP.
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132 | */
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133 | #if !defined(OS_CFG_SSSP_ENABLE)
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134 | #define AMIROOS_CFG_SSSP_ENABLE true |
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135 | 7de0cc90 | Thomas Schöpping | #else /* !defined(OS_CFG_SSSP_ENABLE) */ |
136 | 9ebb11a9 | Thomas Schöpping | #define AMIROOS_CFG_SSSP_ENABLE OS_CFG_SSSP_ENABLE
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137 | 7de0cc90 | Thomas Schöpping | #endif /* !defined(OS_CFG_SSSP_ENABLE) */ |
138 | 9ebb11a9 | Thomas Schöpping | |
139 | /**
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140 | cda14729 | Thomas Schöpping | * @brief Flag to indicate, whether the SSSP startup sequence shall be executed by AMiRo-OS.
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141 | * @details This setting must be false in case another software (e.g. a bootloader) handles the initial stages of the SSSP startup phase.
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142 | */
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143 | #if !defined(OS_CFG_SSSP_STARTUP)
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144 | #define AMIROOS_CFG_SSSP_STARTUP false |
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145 | #else
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146 | #define AMIROOS_CFG_SSSP_STARTUP OS_CFG_SSSP_STARTUP
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147 | #endif
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148 | |||
149 | /**
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150 | * @brief Flag to indicate, whether the SSSP shutdown sequence shall be executed by AMiRo-OS.
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151 | * @details This setting should be false in case another software (e.g. a bootloader) handles the final stages of the SSSP shutdown phase.
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152 | */
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153 | #if !defined(OS_CFG_SSSP_SHUTDOWN)
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154 | #define AMIROOS_CFG_SSSP_SHUTDOWN false |
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155 | #else
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156 | #define AMIROOS_CFG_SSSP_SHUTDOWN OS_CFG_SSSP_SHUTDOWN
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157 | #endif
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158 | |||
159 | /**
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160 | * @brief Flag to indicate, whether the module stack initialization (MSI; stage 3 of the SSSP startup phase) shall be executed.
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161 | * @brief In order to execute MSI, a broadcast bus (BCB) and according interfaces must be defined.
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162 | */
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163 | #if !defined(OS_CFG_SSSP_MSI)
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164 | #define AMIROOS_CFG_SSSP_MSI false |
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165 | #else
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166 | #define AMIROOS_CFG_SSSP_MSI OS_CFG_SSSP_MSI
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167 | #endif
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168 | |||
169 | /**
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170 | * @brief Width of the @p aos_sssp_moduleid_t type.
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171 | * @details Possible settings are 8, 16 and 32.
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172 | */
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173 | #if !defined(OS_CFG_SSSP_MODULEIDWIDTH)
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174 | #define AMIROOS_CFG_SSSP_MODULEIDWIDTH 16 |
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175 | #else
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176 | #define AMIROOS_CFG_SSSP_MODULEIDWIDTH OS_CFG_SSSP_MODULEIDWIDTH
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177 | #endif
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178 | |||
179 | /**
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180 | 6b53f6bf | Thomas Schöpping | * @brief Flag to set the module as SSSP master.
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181 | * @details There must be only one module with this flag set to true in a system.
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182 | */
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183 | #if !defined(OS_CFG_SSSP_MASTER)
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184 | #define AMIROOS_CFG_SSSP_MASTER false |
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185 | 7de0cc90 | Thomas Schöpping | #else /* !defined(OS_CFG_SSSP_MASTER) */ |
186 | 6b53f6bf | Thomas Schöpping | #define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER
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187 | 7de0cc90 | Thomas Schöpping | #endif /* !defined(OS_CFG_SSSP_MASTER) */ |
188 | 6b53f6bf | Thomas Schöpping | |
189 | /**
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190 | 933df08e | Thomas Schöpping | * @brief Flag to set the module to be the first in the stack.
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191 | * @details There must be only one module with this flag set to true in a system.
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192 | */
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193 | #if !defined(OS_CFG_SSSP_STACK_START)
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194 | #define AMIROOS_CFG_SSSP_STACK_START true |
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195 | 7de0cc90 | Thomas Schöpping | #else /* !defined(OS_CFG_SSSP_STACK_START) */ |
196 | 933df08e | Thomas Schöpping | #define AMIROOS_CFG_SSSP_STACK_START OS_CFG_SSSP_STACK_START
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197 | 7de0cc90 | Thomas Schöpping | #endif /* !defined(OS_CFG_SSSP_STACK_START) */ |
198 | 933df08e | Thomas Schöpping | |
199 | /**
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200 | * @brief Flag to set the module to be the last in the stack.
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201 | * @details There must be only one module with this flag set to true in a system.
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202 | */
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203 | #if !defined(OS_CFG_SSSP_STACK_END)
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204 | #define AMIROOS_CFG_SSSP_STACK_END false |
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205 | 7de0cc90 | Thomas Schöpping | #else /* !defined(OS_CFG_SSSP_STACK_END) */ |
206 | 933df08e | Thomas Schöpping | #define AMIROOS_CFG_SSSP_STACK_END OS_CFG_SSSP_STACK_END
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207 | 7de0cc90 | Thomas Schöpping | #endif /* !defined(OS_CFG_SSSP_STACK_END) */ |
208 | 933df08e | Thomas Schöpping | |
209 | /**
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210 | * @brief Delay time (in microseconds) how long a SSSP signal must be active.
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211 | */
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212 | #if !defined(OS_CFG_SSSP_SIGNALDELAY)
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213 | #define AMIROOS_CFG_SSSP_SIGNALDELAY 1000 |
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214 | 7de0cc90 | Thomas Schöpping | #else /* !defined(OS_CFG_SSSP_SIGNALDELAY) */ |
215 | 933df08e | Thomas Schöpping | #define AMIROOS_CFG_SSSP_SIGNALDELAY OS_CFG_SSSP_SIGNALDELAY
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216 | 7de0cc90 | Thomas Schöpping | #endif /* !defined(OS_CFG_SSSP_SIGNALDELAY) */ |
217 | 933df08e | Thomas Schöpping | |
218 | /**
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219 | 6b53f6bf | Thomas Schöpping | * @brief Time boundary for robot wide clock synchronization in microseconds.
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220 | * @details Whenever the SSSP S (snychronization) signal gets logically deactivated,
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221 | * All modules need to align their local uptime to the nearest multiple of this value.
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222 | */
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223 | #if !defined(OS_CFG_SSSP_SYSSYNCPERIOD)
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224 | #define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
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225 | 7de0cc90 | Thomas Schöpping | #else /* !defined(OS_CFG_SSSP_SYSSYNCPERIOD) */ |
226 | 6b53f6bf | Thomas Schöpping | #define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD
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227 | 7de0cc90 | Thomas Schöpping | #endif /* !defined(OS_CFG_SSSP_SYSSYNCPERIOD) */ |
228 | 6b53f6bf | Thomas Schöpping | |
229 | /** @} */
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230 | |||
231 | /*===========================================================================*/
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232 | e545e620 | Thomas Schöpping | /**
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233 | * @name System shell options
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234 | * @{
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235 | */
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236 | /*===========================================================================*/
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237 | |||
238 | /**
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239 | * @brief Shell enable flag.
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240 | */
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241 | 2dd2e257 | Thomas Schöpping | #if !defined(OS_CFG_SHELL_ENABLE)
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242 | e545e620 | Thomas Schöpping | #define AMIROOS_CFG_SHELL_ENABLE true |
243 | 7de0cc90 | Thomas Schöpping | #else /* !defined(OS_CFG_SHELL_ENABLE) */ |
244 | e545e620 | Thomas Schöpping | #define AMIROOS_CFG_SHELL_ENABLE OS_CFG_SHELL_ENABLE
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245 | 7de0cc90 | Thomas Schöpping | #endif /* !defined(OS_CFG_SHELL_ENABLE) */ |
246 | e545e620 | Thomas Schöpping | |
247 | /**
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248 | * @brief Shell thread stack size.
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249 | */
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250 | #if !defined(OS_CFG_SHELL_STACKSIZE)
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251 | #define AMIROOS_CFG_SHELL_STACKSIZE 1024 |
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252 | 7de0cc90 | Thomas Schöpping | #else /* !defined(OS_CFG_SHELL_STACKSIZE) */ |
253 | e545e620 | Thomas Schöpping | #define AMIROOS_CFG_SHELL_STACKSIZE OS_CFG_SHELL_STACKSIZE
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254 | 7de0cc90 | Thomas Schöpping | #endif /* !defined(OS_CFG_SHELL_STACKSIZE) */ |
255 | e545e620 | Thomas Schöpping | |
256 | /**
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257 | 20205a98 | Thomas Schöpping | * @brief Shell thread priority.
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258 | 512abac1 | Thomas Schöpping | * @details Thread priorities are specified as an integer value.
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259 | * Predefined ranges are:
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260 | * lowest ┌ THD_LOWPRIO_MIN
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261 | * │ ...
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262 | * └ THD_LOWPRIO_MAX
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263 | * ┌ THD_NORMALPRIO_MIN
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264 | * │ ...
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265 | * └ THD_NORMALPRIO_MAX
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266 | * ┌ THD_HIGHPRIO_MIN
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267 | * │ ...
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268 | * └ THD_HIGHPRIO_MAX
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269 | * ┌ THD_RTPRIO_MIN
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270 | * │ ...
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271 | * highest └ THD_RTPRIO_MAX
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272 | 20205a98 | Thomas Schöpping | */
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273 | #if !defined(OS_CFG_SHELL_THREADPRIO)
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274 | 512abac1 | Thomas Schöpping | #define AMIROOS_CFG_SHELL_THREADPRIO AOS_THD_NORMALPRIO_MIN
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275 | 7de0cc90 | Thomas Schöpping | #else /* !defined(OS_CFG_SHELL_THREADPRIO) */ |
276 | 20205a98 | Thomas Schöpping | #define AMIROOS_CFG_SHELL_THREADPRIO OS_CFG_SHELL_THREADPRIO
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277 | 7de0cc90 | Thomas Schöpping | #endif /* !defined(OS_CFG_SHELL_THREADPRIO) */ |
278 | 20205a98 | Thomas Schöpping | |
279 | /**
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280 | e545e620 | Thomas Schöpping | * @brief Shell maximum input line length.
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281 | */
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282 | #if !defined(OS_CFG_SHELL_LINEWIDTH)
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283 | cc33217b | Thomas Schöpping | #define AMIROOS_CFG_SHELL_LINEWIDTH 80 |
284 | 7de0cc90 | Thomas Schöpping | #else /* !defined(OS_CFG_SHELL_LINEWIDTH) */ |
285 | e545e620 | Thomas Schöpping | #define AMIROOS_CFG_SHELL_LINEWIDTH OS_CFG_SHELL_LINEWIDTH
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286 | 7de0cc90 | Thomas Schöpping | #endif /* !defined(OS_CFG_SHELL_LINEWIDTH) */ |
287 | e545e620 | Thomas Schöpping | |
288 | /**
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289 | * @brief Shell maximum number of arguments.
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290 | */
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291 | #if !defined(OS_CFG_SHELL_MAXARGS)
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292 | cc33217b | Thomas Schöpping | #define AMIROOS_CFG_SHELL_MAXARGS 8 |
293 | 7de0cc90 | Thomas Schöpping | #else /* !defined(OS_CFG_SHELL_MAXARGS) */ |
294 | e545e620 | Thomas Schöpping | #define AMIROOS_CFG_SHELL_MAXARGS OS_CFG_SHELL_MAXARGS
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295 | 7de0cc90 | Thomas Schöpping | #endif /* !defined(OS_CFG_SHELL_MAXARGS) */ |
296 | e545e620 | Thomas Schöpping | |
297 | /** @} */
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298 | |||
299 | 6ff06bbf | Thomas Schöpping | #endif /* AOSCONF_H */ |
300 | e545e620 | Thomas Schöpping | |
301 | 53710ca3 | Marc Rothmann | /** @} */ |