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/*
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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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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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 * @file    os/modules/common/chconf.h
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 * @brief   Common ChibiOS Configuration file for the all modules.
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 * @details Contains the application specific kernel settings.
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 *
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 * @addtogroup config
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 * @details Kernel related settings and hooks.
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 * @{
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 */
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#ifndef AOS_CHCONF_H
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#define AOS_CHCONF_H
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#define _CHIBIOS_RT_CONF_
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#include <aosconf.h>
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/*===========================================================================*/
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/**
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 * @name System timers settings
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   System tick frequency.
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 * @details Frequency of the system timer that drives the system ticks. This
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 *          setting also defines the system tick time unit.
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 */
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#if !defined(CH_CFG_ST_FREQUENCY)
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#define CH_CFG_ST_FREQUENCY                 1000000UL
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#endif
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/**
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 * @brief   Time intervals data size.
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 * @note    Allowed values are 16, 32 or 64 bits.
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 */
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#if !defined(CH_CFG_INTERVALS_SIZE)
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#define CH_CFG_INTERVALS_SIZE               32
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#endif
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/**
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 * @brief   Time types data size.
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 * @note    Allowed values are 16 or 32 bits.
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 */
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#if !defined(CH_CFG_TIME_TYPES_SIZE)
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#define CH_CFG_TIME_TYPES_SIZE              32
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#endif
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/**
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 * @brief   Time delta constant for the tick-less mode.
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 * @note    If this value is zero then the system uses the classic
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 *          periodic tick. This value represents the minimum number
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 *          of ticks that is safe to specify in a timeout directive.
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 *          The value one is not valid, timeouts are rounded up to
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 *          this value.
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 */
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#if !defined(CH_CFG_ST_TIMEDELTA)
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#define CH_CFG_ST_TIMEDELTA                 50
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#endif
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/** @} */
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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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/*===========================================================================*/
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/**
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 * @brief   Round robin interval.
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 * @details This constant is the number of system ticks allowed for the
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 *          threads before preemption occurs. Setting this value to zero
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 *          disables the preemption for threads with equal priority and the
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 *          round robin becomes cooperative. Note that higher priority
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 *          threads can still preempt, the kernel is always preemptive.
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 * @note    Disabling the round robin preemption makes the kernel more compact
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 *          and generally faster.
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 * @note    The round robin preemption is not supported in tickless mode and
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 *          must be set to zero in that case.
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 */
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#define CH_CFG_TIME_QUANTUM                 0
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/**
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 * @brief   Managed RAM size.
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 * @details Size of the RAM area to be managed by the OS. If set to zero
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 *          then the whole available RAM is used. The core memory is made
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 *          available to the heap allocator and/or can be used directly through
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 *          the simplified core memory allocator.
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 *
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 * @note    In order to let the OS manage the whole RAM the linker script must
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 *          provide the @p __heap_base__ and @p __heap_end__ symbols.
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 * @note    Requires @p CH_CFG_USE_MEMCORE.
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 */
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#define CH_CFG_MEMCORE_SIZE                 0
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/**
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 * @brief   Idle thread automatic spawn suppression.
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 * @details When this option is activated the function @p chSysInit()
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 *          does not spawn the idle thread. The application @p main()
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 *          function becomes the idle thread and must implement an
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 *          infinite loop.
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 */
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#define CH_CFG_NO_IDLE_THREAD               FALSE
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Performance options
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   OS optimization.
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 * @details If enabled then time efficient rather than space efficient code
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 *          is used when two possible implementations exist.
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 *
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 * @note    This is not related to the compiler optimization options.
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 * @note    The default is @p TRUE.
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 */
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#define CH_CFG_OPTIMIZE_SPEED               TRUE
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Subsystem options
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   Time Measurement APIs.
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 * @details If enabled then the time measurement APIs are included in
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 *          the kernel.
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 *
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 * @note    The default is @p TRUE.
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 */
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#define CH_CFG_USE_TM                       TRUE
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/**
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 * @brief   Threads registry APIs.
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 * @details If enabled then the registry APIs are included in the kernel.
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 *
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 * @note    The default is @p TRUE.
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 */
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#define CH_CFG_USE_REGISTRY                 FALSE
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/**
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 * @brief   Thread hierarchy APIs.
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 * @details Id enabled then the thread hierarchy APIs are included in the kernel.
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 *
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 * @note    The default is @p FALSE.
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 */
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#define CH_CFG_USE_THREADHIERARCHY          TRUE
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/**
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 * @brief   Enable ordering of child lists.
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 * @details Children will be ordered by their priority (descending).
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 *          If sibliblings have identical priority, they are ordered by age (descending).
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 */
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#define CH_CFG_THREADHIERARCHY_ORDERED      TRUE
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/**
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 * @brief   Threads synchronization APIs.
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 * @details If enabled then the @p chThdWait() function is included in
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 *          the kernel.
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 *
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 * @note    The default is @p TRUE.
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 */
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#define CH_CFG_USE_WAITEXIT                 TRUE
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/**
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 * @brief   Semaphores APIs.
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 * @details If enabled then the Semaphores APIs are included in the kernel.
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 *
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 * @note    The default is @p TRUE.
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 */
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#define CH_CFG_USE_SEMAPHORES               TRUE
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/**
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 * @brief   Semaphores queuing mode.
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 * @details If enabled then the threads are enqueued on semaphores by
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 *          priority rather than in FIFO order.
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 *
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 * @note    The default is @p FALSE. Enable this if you have special
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 *          requirements.
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 * @note    Requires @p CH_CFG_USE_SEMAPHORES.
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 */
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#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
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/**
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 * @brief   Mutexes APIs.
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 * @details If enabled then the mutexes APIs are included in the kernel.
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 *
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 * @note    The default is @p TRUE.
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 */
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#define CH_CFG_USE_MUTEXES                  TRUE
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/**
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 * @brief   Enables recursive behavior on mutexes.
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 * @note    Recursive mutexes are heavier and have an increased
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 *          memory footprint.
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 *
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 * @note    The default is @p FALSE.
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 * @note    Requires @p CH_CFG_USE_MUTEXES.
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 */
229
#define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
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/**
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 * @brief   Conditional Variables APIs.
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 * @details If enabled then the conditional variables APIs are included
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 *          in the kernel.
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 *
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 * @note    The default is @p TRUE.
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 * @note    Requires @p CH_CFG_USE_MUTEXES.
238
 */
239
#define CH_CFG_USE_CONDVARS                 TRUE
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/**
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 * @brief   Conditional Variables APIs with timeout.
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 * @details If enabled then the conditional variables APIs with timeout
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 *          specification are included in the kernel.
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 *
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 * @note    The default is @p TRUE.
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 * @note    Requires @p CH_CFG_USE_CONDVARS.
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 */
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#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
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/**
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 * @brief   Events Flags APIs.
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 * @details If enabled then the event flags APIs are included in the kernel.
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 *
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 * @note    The default is @p TRUE.
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 */
257
#define CH_CFG_USE_EVENTS                   TRUE
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/**
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 * @brief   Events Flags APIs with timeout.
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 * @details If enabled then the events APIs with timeout specification
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 *          are included in the kernel.
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 *
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 * @note    The default is @p TRUE.
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 * @note    Requires @p CH_CFG_USE_EVENTS.
266
 */
267
#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
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/**
270
 * @brief   Synchronous Messages APIs.
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 * @details If enabled then the synchronous messages APIs are included
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 *          in the kernel.
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 *
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 * @note    The default is @p TRUE.
275
 */
276
#define CH_CFG_USE_MESSAGES                 FALSE
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278
/**
279
 * @brief   Synchronous Messages queuing mode.
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 * @details If enabled then messages are served by priority rather than in
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 *          FIFO order.
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 *
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 * @note    The default is @p FALSE. Enable this if you have special
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 *          requirements.
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 * @note    Requires @p CH_CFG_USE_MESSAGES.
286
 */
287
#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
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/**
290
 * @brief   Mailboxes APIs.
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 * @details If enabled then the asynchronous messages (mailboxes) APIs are
292
 *          included in the kernel.
293
 *
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 * @note    The default is @p TRUE.
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 * @note    Requires @p CH_CFG_USE_SEMAPHORES.
296
 */
297
#define CH_CFG_USE_MAILBOXES                FALSE
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299
/**
300
 * @brief   Core Memory Manager APIs.
301
 * @details If enabled then the core memory manager APIs are included
302
 *          in the kernel.
303
 *
304
 * @note    The default is @p TRUE.
305
 */
306
#define CH_CFG_USE_MEMCORE                  FALSE
307

    
308
/**
309
 * @brief   Heap Allocator APIs.
310
 * @details If enabled then the memory heap allocator APIs are included
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 *          in the kernel.
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 *
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 * @note    The default is @p TRUE.
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 * @note    Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
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 *          @p CH_CFG_USE_SEMAPHORES.
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 * @note    Mutexes are recommended.
317
 */
318
#define CH_CFG_USE_HEAP                     FALSE
319

    
320
/**
321
 * @brief   Memory Pools Allocator APIs.
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 * @details If enabled then the memory pools allocator APIs are included
323
 *          in the kernel.
324
 *
325
 * @note    The default is @p TRUE.
326
 */
327
#define CH_CFG_USE_MEMPOOLS                 FALSE
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329
/**
330
 * @brief  Objects FIFOs APIs.
331
 * @details If enabled then the objects FIFOs APIs are included
332
 *          in the kernel.
333
 *
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 * @note    The default is @p TRUE.
335
 */
336
#define CH_CFG_USE_OBJ_FIFOS                FALSE
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/**
339
 * @brief   Dynamic Threads APIs.
340
 * @details If enabled then the dynamic threads creation APIs are included
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 *          in the kernel.
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 *
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 * @note    The default is @p TRUE.
344
 * @note    Requires @p CH_CFG_USE_WAITEXIT.
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 * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
346
 */
347
#define CH_CFG_USE_DYNAMIC                  FALSE
348

    
349
/** @} */
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/*===========================================================================*/
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/**
353
 * @name Objects factory options
354
 * @{
355
 */
356
/*===========================================================================*/
357

    
358
/**
359
 * @brief   Objects Factory APIs.
360
 * @details If enabled then the objects factory APIs are included in the
361
 *          kernel.
362
 *
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 * @note    The default is @p FALSE.
364
 */
365
#if !defined(CH_CFG_USE_FACTORY)
366
#define CH_CFG_USE_FACTORY                  FALSE
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#endif
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/**
370
 * @brief   Maximum length for object names.
371
 * @details If the specified length is zero then the name is stored by
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 *          pointer but this could have unintended side effects.
373
 */
374
#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
375
#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
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#endif
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/**
379
 * @brief   Enables the registry of generic objects.
380
 */
381
#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
382
#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
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#endif
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/**
386
 * @brief   Enables factory for generic buffers.
387
 */
388
#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
389
#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
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#endif
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/**
393
 * @brief   Enables factory for semaphores.
394
 */
395
#if !defined(CH_CFG_FACTORY_SEMAPHORES)
396
#define CH_CFG_FACTORY_SEMAPHORES           TRUE
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#endif
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/**
400
 * @brief   Enables factory for mailboxes.
401
 */
402
#if !defined(CH_CFG_FACTORY_MAILBOXES)
403
#define CH_CFG_FACTORY_MAILBOXES            TRUE
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#endif
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/**
407
 * @brief   Enables factory for objects FIFOs.
408
 */
409
#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
410
#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
411
#endif
412

    
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/** @} */
414

    
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/*===========================================================================*/
416
/**
417
 * @name Debug options
418
 * @{
419
 */
420
/*===========================================================================*/
421

    
422
/**
423
 * @brief   Debug option, kernel statistics.
424
 *
425
 * @note    The default is @p FALSE.
426
 */
427
#if ((CH_CFG_USE_TM == TRUE) && (AMIROOS_CFG_DBG == true)) || defined(__DOXYGEN__)
428
  #define CH_DBG_STATISTICS                 TRUE
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#else
430
  #define CH_DBG_STATISTICS                 FALSE
431
#endif
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/**
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 * @brief   Debug option, system state check.
435
 * @details If enabled the correct call protocol for system APIs is checked
436
 *          at runtime.
437
 *
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 * @note    The default is @p FALSE.
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 */
440
#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
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  #define CH_DBG_SYSTEM_STATE_CHECK         TRUE
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#else
443
  #define CH_DBG_SYSTEM_STATE_CHECK         FALSE
444
#endif
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446
/**
447
 * @brief   Debug option, parameters checks.
448
 * @details If enabled then the checks on the API functions input
449
 *          parameters are activated.
450
 *
451
 * @note    The default is @p FALSE.
452
 */
453
#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
454
  #define CH_DBG_ENABLE_CHECKS              TRUE
455
#else
456
  #define CH_DBG_ENABLE_CHECKS              FALSE
457
#endif
458

    
459
/**
460
 * @brief   Debug option, consistency checks.
461
 * @details If enabled then all the assertions in the kernel code are
462
 *          activated. This includes consistency checks inside the kernel,
463
 *          runtime anomalies and port-defined checks.
464
 *
465
 * @note    The default is @p FALSE.
466
 */
467
#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
468
  #define CH_DBG_ENABLE_ASSERTS             TRUE
469
#else
470
  #define CH_DBG_ENABLE_ASSERTS             FALSE
471
#endif
472

    
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/**
474
 * @brief   Debug option, trace buffer.
475
 * @details If enabled then the trace buffer is activated.
476
 *
477
 * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
478
 */
479
#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_DISABLED
480

    
481
/**
482
 * @brief   Trace buffer entries.
483
 * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
484
 *          different from @p CH_DBG_TRACE_MASK_DISABLED.
485
 */
486
#define CH_DBG_TRACE_BUFFER_SIZE            128
487

    
488
/**
489
 * @brief   Debug option, stack checks.
490
 * @details If enabled then a runtime stack check is performed.
491
 *
492
 * @note    The default is @p FALSE.
493
 * @note    The stack check is performed in a architecture/port dependent way.
494
 *          It may not be implemented or some ports.
495
 * @note    The default failure mode is to halt the system with the global
496
 *          @p panic_msg variable set to @p NULL.
497
 */
498
#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
499
  #define CH_DBG_ENABLE_STACK_CHECK         TRUE
500
#else
501
  #define CH_DBG_ENABLE_STACK_CHECK         FALSE
502
#endif
503

    
504
/**
505
 * @brief   Debug option, stacks initialization.
506
 * @details If enabled then the threads working area is filled with a byte
507
 *          value when a thread is created. This can be useful for the
508
 *          runtime measurement of the used stack.
509
 *
510
 * @note    The default is @p FALSE.
511
 */
512
#if (AMIROOS_CFG_PROFILE == true) || defined(__DOXYGEN__)
513
  #define CH_DBG_FILL_THREADS               TRUE
514
#else
515
  #define CH_DBG_FILL_THREADS               FALSE
516
#endif
517

    
518
/**
519
 * @brief   Debug option, threads profiling.
520
 * @details If enabled then a field is added to the @p thread_t structure that
521
 *          counts the system ticks occurred while executing the thread.
522
 *
523
 * @note    The default is @p FALSE.
524
 * @note    This debug option is not currently compatible with the
525
 *          tickless mode.
526
 */
527
#if ((CH_CFG_ST_TIMEDELTA == 0) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
528
  #define CH_DBG_THREADS_PROFILING          TRUE
529
#else
530
  #define CH_DBG_THREADS_PROFILING          FALSE
531
#endif
532

    
533
/** @} */
534

    
535
/*===========================================================================*/
536
/**
537
 * @name Kernel hooks
538
 * @{
539
 */
540
/*===========================================================================*/
541

    
542
/**
543
 * @brief   System structure extension.
544
 * @details User fields added to the end of the @p ch_system_t structure.
545
 */
546
#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \
547
  /* Add threads custom fields here.*/
548

    
549
/**
550
 * @brief   System initialization hook.
551
 * @details User initialization code added to the @p chSysInit() function
552
 *          just before interrupts are enabled globally.
553
 */
554
#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
555
  /* Add threads initialization code here.*/                                \
556
}
557

    
558
/**
559
 * @brief   Threads descriptor structure extension.
560
 * @details User fields added to the end of the @p thread_t structure.
561
 */
562
#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
563
  /* Add threads custom fields here.*/
564

    
565
/**
566
 * @brief   Threads initialization hook.
567
 * @details User initialization code added to the @p _thread_init() function.
568
 *
569
 * @note    It is invoked from within @p _thread_init() and implicitly from all
570
 *          the threads creation APIs.
571
 */
572
#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
573
  /* Add threads initialization code here.*/                                \
574
}
575

    
576
/**
577
 * @brief   Threads finalization hook.
578
 * @details User finalization code added to the @p chThdExit() API.
579
 */
580
#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
581
  /* Add threads finalization code here.*/                                  \
582
}
583

    
584
/**
585
 * @brief   Context switch hook.
586
 * @details This hook is invoked just before switching between threads.
587
 */
588
#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
589
  /* Context switch code here.*/                                            \
590
}
591

    
592
/**
593
 * @brief   ISR enter hook.
594
 */
595
#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
596
  /* IRQ prologue code here.*/                                              \
597
}
598

    
599
/**
600
 * @brief   ISR exit hook.
601
 */
602
#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
603
  /* IRQ epilogue code here.*/                                              \
604
}
605

    
606
/**
607
 * @brief   Idle thread enter hook.
608
 * @note    This hook is invoked within a critical zone, no OS functions
609
 *          should be invoked from here.
610
 * @note    This macro can be used to activate a power saving mode.
611
 */
612
#define CH_CFG_IDLE_ENTER_HOOK() {                                          \
613
  /* Idle-enter code here.*/                                                \
614
}
615

    
616
/**
617
 * @brief   Idle thread leave hook.
618
 * @note    This hook is invoked within a critical zone, no OS functions
619
 *          should be invoked from here.
620
 * @note    This macro can be used to deactivate a power saving mode.
621
 */
622
#define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
623
  /* Idle-leave code here.*/                                                \
624
}
625

    
626
/**
627
 * @brief   Idle Loop hook.
628
 * @details This hook is continuously invoked by the idle thread loop.
629
 */
630
#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
631
  /* Idle loop code here.*/                                                 \
632
}
633

    
634
/**
635
 * @brief   System tick event hook.
636
 * @details This hook is invoked in the system tick handler immediately
637
 *          after processing the virtual timers queue.
638
 */
639
#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
640
  /* System tick event code here.*/                                         \
641
}
642

    
643
/**
644
 * @brief   System halt hook.
645
 * @details This hook is invoked in case to a system halting error before
646
 *          the system is halted.
647
 */
648
#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
649
  /* System halt code here.*/                                               \
650
}
651

    
652
/**
653
 * @brief   Trace hook.
654
 * @details This hook is invoked each time a new record is written in the
655
 *          trace buffer.
656
 */
657
#define CH_CFG_TRACE_HOOK(tep) {                                            \
658
  /* Trace code here.*/                                                     \
659
}
660

    
661
/** @} */
662

    
663
/*===========================================================================*/
664
/**
665
 * @name Port specific settings
666
 */
667
/*===========================================================================*/
668

    
669
// These settings are specific to each module.
670

    
671
/*===========================================================================*/
672
/**
673
 * @name other
674
 * @{
675
 */
676
/*===========================================================================*/
677

    
678
/**
679
 * @brief   Flag to enable/disable floating point support in chprintf() and all deriviates.
680
 */
681
#define CHPRINTF_USE_FLOAT                  TRUE
682

    
683
/** @} */
684

    
685
#endif  /* AOS_CHCONF_H */
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687
/** @} */