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amiro-os / modules / DiWheelDrive_1-1 / aosconf.h @ 62397067

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+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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+Copyright (C) 2016..2019  Thomas Schöpping et al.
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+            Thomas Schöpping
 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/>.
 */
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+/**
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+ * @file
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+ * @brief   AMiRo-OS Configuration file for the DiWheelDrive v1.1 module.
  * @details Contains the application specific AMiRo-OS settings.
+ *
  * @addtogroup diwheeldrive_aos_config
  * @{
  */
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+#ifndef _AOSCONF_H_
 #define _AOSCONF_H_
 /*
  * compatibility guards
  */
 #define _AMIRO_OS_CFG_
 #define _AMIRO_OS_CFG_VERSION_MAJOR_            2
 #define _AMIRO_OS_CFG_VERSION_MINOR_            0
 #include <stdbool.h>
 /*
  * Include an external configuration file to override the following default settings only if required.
  */
 #if defined(AMIRO_APPS) && (AMIRO_APPS == true)
   #include <osconf.h>
 #endif
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+/*===========================================================================*/
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+/**
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+ * @name Kernel parameters and options
  * @{
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+ */
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+/*===========================================================================*/
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+            Thomas Schöpping
 /**
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+ * @brief   Flag to enable/disable debug API and logic.
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+ */
 #if !defined(OS_CFG_DBG)
   #define AMIROOS_CFG_DBG                       true
 #else
   #define AMIROOS_CFG_DBG                       OS_CFG_DBG
 #endif
 /**
  * @brief   Flag to enable/disable unit tests.
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+ * @note    Setting this flag will implicitely enable the shell.
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+ */
 #if !defined(OS_CFG_TESTS_ENABLE)
   #define AMIROOS_CFG_TESTS_ENABLE              true
 #else
   #define AMIROOS_CFG_TESTS_ENABLE              OS_CFG_TESTS_ENABLE
 #endif
 /**
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+ * @brief   Flag to enable/disable profiling API and logic.
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+ */
 #if !defined(OS_CFG_PROFILE)
   #define AMIROOS_CFG_PROFILE                   true
 #else
   #define AMIROOS_CFG_PROFILE                   OS_CFG_PROFILE
 #endif
 /**
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+ * @brief   Mask for the control thread to listen to certain IO events.
  * @note    Any mandatory events (e.g. for SSSP) are enabled implicitely despite this configuration.
  */
 #if !defined(OS_CFG_MAIN_LOOP_IOEVENT_MASK)
   #define AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK    0
 #else
   #define AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK    OS_CFG_MAIN_LOOP_IOEVENT_MASK
 #endif
 /**
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+ * @brief   Timeout value when waiting for events in the main loop in microseconds.
  * @details A value of 0 deactivates the timeout.
  */
 #if !defined(OS_CFG_MAIN_LOOP_TIMEOUT)
   #define AMIROOS_CFG_MAIN_LOOP_TIMEOUT         0
 #else
   #define AMIROOS_CFG_MAIN_LOOP_TIMEOUT         OS_CFG_MAIN_LOOP_TIMEOUT
 #endif
 /** @} */
 /*===========================================================================*/
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+/**
  * @name SSSP (Startup Shutdown Synchronization Protocol) configuration.
  * @{
  */
 /*===========================================================================*/
 /**
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+ * @brief   Flag to enable SSSP.
  */
 #if !defined(OS_CFG_SSSP_ENABLE)
   #define AMIROOS_CFG_SSSP_ENABLE               true
 #else
   #define AMIROOS_CFG_SSSP_ENABLE               OS_CFG_SSSP_ENABLE
 #endif
 /**
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+ * @brief   Flag to set the module as SSSP master.
  * @details There must be only one module with this flag set to true in a system.
  */
 #if !defined(OS_CFG_SSSP_MASTER)
   #define AMIROOS_CFG_SSSP_MASTER               false
 #else
   #define AMIROOS_CFG_SSSP_MASTER               OS_CFG_SSSP_MASTER
 #endif
 /**
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+ * @brief   Flag to set the module to be the first in the stack.
  * @details There must be only one module with this flag set to true in a system.
  */
 #if !defined(OS_CFG_SSSP_STACK_START)
   #define AMIROOS_CFG_SSSP_STACK_START          true
 #else
   #define AMIROOS_CFG_SSSP_STACK_START          OS_CFG_SSSP_STACK_START
 #endif
 /**
  * @brief   Flag to set the module to be the last in the stack.
  * @details There must be only one module with this flag set to true in a system.
  */
 #if !defined(OS_CFG_SSSP_STACK_END)
   #define AMIROOS_CFG_SSSP_STACK_END            false
 #else
   #define AMIROOS_CFG_SSSP_STACK_END            OS_CFG_SSSP_STACK_END
 #endif
 /**
  * @brief   Delay time (in microseconds) how long a SSSP signal must be active.
  */
 #if !defined(OS_CFG_SSSP_SIGNALDELAY)
   #define AMIROOS_CFG_SSSP_SIGNALDELAY          1000
 #else
   #define AMIROOS_CFG_SSSP_SIGNALDELAY          OS_CFG_SSSP_SIGNALDELAY
 #endif
 /**
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+ * @brief   Time boundary for robot wide clock synchronization in microseconds.
  * @details Whenever the SSSP S (snychronization) signal gets logically deactivated,
  *          All modules need to align their local uptime to the nearest multiple of this value.
  */
 #if !defined(OS_CFG_SSSP_SYSSYNCPERIOD)
   #define AMIROOS_CFG_SSSP_SYSSYNCPERIOD        1000000
 #else
   #define AMIROOS_CFG_SSSP_SYSSYNCPERIOD        OS_CFG_SSSP_SYSSYNCPERIOD
 #endif
 /** @} */
 /*===========================================================================*/
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+/**
  * @name System shell options
  * @{
  */
 /*===========================================================================*/
 /**
  * @brief   Shell enable flag.
  */
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+#if !defined(OS_CFG_SHELL_ENABLE)
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+  #define AMIROOS_CFG_SHELL_ENABLE              true
 #else
   #define AMIROOS_CFG_SHELL_ENABLE              OS_CFG_SHELL_ENABLE
 #endif
 /**
  * @brief   Shell thread stack size.
  */
 #if !defined(OS_CFG_SHELL_STACKSIZE)
   #define AMIROOS_CFG_SHELL_STACKSIZE           1024
 #else
   #define AMIROOS_CFG_SHELL_STACKSIZE           OS_CFG_SHELL_STACKSIZE
 #endif
 /**
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+ * @brief   Shell thread priority.
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+ * @details Thread priorities are specified as an integer value.
  *          Predefined ranges are:
  *            lowest  ┌ THD_LOWPRIO_MIN
  *                    │ ...
  *                    └ THD_LOWPRIO_MAX
  *                    ┌ THD_NORMALPRIO_MIN
  *                    │ ...
  *                    └ THD_NORMALPRIO_MAX
  *                    ┌ THD_HIGHPRIO_MIN
  *                    │ ...
  *                    └ THD_HIGHPRIO_MAX
  *                    ┌ THD_RTPRIO_MIN
  *                    │ ...
  *            highest └ THD_RTPRIO_MAX
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+ */
 #if !defined(OS_CFG_SHELL_THREADPRIO)
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+  #define AMIROOS_CFG_SHELL_THREADPRIO          AOS_THD_NORMALPRIO_MIN
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+#else
   #define AMIROOS_CFG_SHELL_THREADPRIO          OS_CFG_SHELL_THREADPRIO
 #endif
 /**
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+ * @brief   Shell maximum input line length.
  */
 #if !defined(OS_CFG_SHELL_LINEWIDTH)
   #define AMIROOS_CFG_SHELL_LINEWIDTH           64
 #else
   #define AMIROOS_CFG_SHELL_LINEWIDTH           OS_CFG_SHELL_LINEWIDTH
 #endif
 /**
  * @brief   Shell maximum number of arguments.
  */
 #if !defined(OS_CFG_SHELL_MAXARGS)
   #define AMIROOS_CFG_SHELL_MAXARGS             4
 #else
   #define AMIROOS_CFG_SHELL_MAXARGS             OS_CFG_SHELL_MAXARGS
 #endif
 /** @} */
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+#endif /* _AOSCONF_H_ */
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+            Thomas Schöpping
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+/** @} */