/os/modules/DiWheelDrive_1-1/chconf.h - AMiRo-OS - Research for Cognitive Interaction

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       /*
       AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
       Copyright (C) 2016..2018  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/DiWheelDrive/chconf.h
        * @brief   ChibiOS Configuration file for the DiWheelDrive module.
        * @details Contains the application specific kernel settings.
+       *
        * @addtogroup config
        * @details Kernel related settings and hooks.
        * @{
        */
       #ifndef _CHCONF_H_
       #define _CHCONF_H_
       #define _CHIBIOS_RT_CONF_
       #include <aosconf.h>
       /*===========================================================================*/
       /**
        * @name System timers settings
        * @{
        */
       /*===========================================================================*/
       /**
        * @brief   System time counter resolution.
        * @note    Allowed values are 16 or 32 bits.
        */
       #define CH_CFG_ST_RESOLUTION                16
       /**
        * @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 (AMIROOS_CFG_TESTS_ENABLE != true) || defined(__DOXYGEN__)
       #define CH_CFG_ST_FREQUENCY                 1000000UL
       #else
       #define CH_CFG_ST_FREQUENCY                 100000UL
       #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 (AMIROOS_CFG_TESTS_ENABLE != true) || defined(__DOXYGEN__)
       #define CH_CFG_ST_TIMEDELTA                 10
       #else
       #define CH_CFG_ST_TIMEDELTA                 2
       #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.
        */
       #define CH_CFG_TIME_QUANTUM                 0
       /**
        * @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.
        */
       #define CH_CFG_MEMCORE_SIZE                 0
       /**
        * @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.
        */
       #define CH_CFG_NO_IDLE_THREAD               FALSE
       /** @} */
       /*===========================================================================*/
       /**
        * @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.
        */
       #define CH_CFG_OPTIMIZE_SPEED               TRUE
       /** @} */
       /*===========================================================================*/
       /**
        * @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.
        */
       #define CH_CFG_USE_TM                       FALSE
       /**
        * @brief   Threads registry APIs.
        * @details If enabled then the registry APIs are included in the kernel.
+       *
        * @note    The default is @p TRUE.
        */
       #define CH_CFG_USE_REGISTRY                 FALSE
       /**
        * @brief   Threads synchronization APIs.
        * @details If enabled then the @p chThdWait() function is included in
        *          the kernel.
+       *
        * @note    The default is @p TRUE.
        */
       #define CH_CFG_USE_WAITEXIT                 TRUE
       /**
        * @brief   Semaphores APIs.
        * @details If enabled then the Semaphores APIs are included in the kernel.
+       *
        * @note    The default is @p TRUE.
        */
       #define CH_CFG_USE_SEMAPHORES               FALSE
       /**
        * @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.
        */
       #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
       /**
        * @brief   Mutexes APIs.
        * @details If enabled then the mutexes APIs are included in the kernel.
+       *
        * @note    The default is @p TRUE.
        */
       #define CH_CFG_USE_MUTEXES                  TRUE
       /**
        * @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.
        */
       #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
       /**
        * @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.
        */
       #define CH_CFG_USE_CONDVARS                 FALSE
       /**
        * @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.
        */
       #define CH_CFG_USE_CONDVARS_TIMEOUT         FALSE
       /**
        * @brief   Events Flags APIs.
        * @details If enabled then the event flags APIs are included in the kernel.
+       *
        * @note    The default is @p TRUE.
        */
       #define CH_CFG_USE_EVENTS                   TRUE
       /**
        * @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.
        */
       #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
       /**
        * @brief   Synchronous Messages APIs.
        * @details If enabled then the synchronous messages APIs are included
        *          in the kernel.
+       *
        * @note    The default is @p TRUE.
        */
       #define CH_CFG_USE_MESSAGES                 FALSE
       /**
        * @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.
        */
       #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
       /**
        * @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.
        */
       #define CH_CFG_USE_MAILBOXES                FALSE
       /**
        * @brief   I/O Queues APIs.
        * @details If enabled then the I/O queues APIs are included in the kernel.
+       *
        * @note    The default is @p TRUE.
        */
       #define CH_CFG_USE_QUEUES                   FALSE
       /**
        * @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.
        */
       #define CH_CFG_USE_MEMCORE                  FALSE
       /**
        * @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.
        */
       #define CH_CFG_USE_HEAP                     FALSE
       /**
        * @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.
        */
       #define CH_CFG_USE_MEMPOOLS                 FALSE
       /**
        * @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.
        */
       #define CH_CFG_USE_DYNAMIC                  FALSE
       /** @} */
       /*===========================================================================*/
       /**
        * @name Debug options
        * @{
        */
       /*===========================================================================*/
       /**
        * @brief   Debug option, kernel statistics.
+       *
        * @note    The default is @p FALSE.
        */
       #define CH_DBG_STATISTICS                   FALSE
       /**
        * @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 (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
       #define CH_DBG_SYSTEM_STATE_CHECK           TRUE
       #else
       #define CH_DBG_SYSTEM_STATE_CHECK           FALSE
       #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 (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
       #define CH_DBG_ENABLE_CHECKS                TRUE
       #else
       #define CH_DBG_ENABLE_CHECKS                FALSE
       #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 (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
       #define CH_DBG_ENABLE_ASSERTS               TRUE
       #else
       #define CH_DBG_ENABLE_ASSERTS               FALSE
       #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.
        */
       #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_DISABLED
       /**
        * @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.
        */
       #define CH_DBG_TRACE_BUFFER_SIZE            128
       /**
        * @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 (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
       #define CH_DBG_ENABLE_STACK_CHECK           TRUE
       #else
       #define CH_DBG_ENABLE_STACK_CHECK           FALSE
       #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 (AMIROOS_CFG_PROFILE == true) || defined(__DOXYGEN__)
       #define CH_DBG_FILL_THREADS                 TRUE
       #else
       #define CH_DBG_FILL_THREADS                 FALSE
       #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 ((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
       /** @} */
       /*===========================================================================*/
       /**
        * @name Kernel hooks
        * @{
        */
       /*===========================================================================*/
       /**
        * @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 chThdInit() API.
+       *
        * @note    It is invoked from within @p chThdInit() 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.
+       *
        * @note    It is inserted into lock zone.
        * @note    It is also invoked when the threads simply return in order to
        *          terminate.
        */
       #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) {                                   \
         extern void aosPrintHaltErrorCode(const char* reason);                       \
         aosPrintHaltErrorCode(reason);                                               \
+      }
       /**
        * @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
        * @{
        */
       /*===========================================================================*/
       /**
        * @brief   NVIC VTOR initialization offset.
        * @details On initialization, the code at this address in the flash memory will be executed.
        */
       #define CORTEX_VTOR_INIT 0x00006000U
       /** @} */
       /*===========================================================================*/
       /**
        * @name other
        * @{
        */
       /*===========================================================================*/
       /**
        * @brief   Flag to enable/disable floating point support in chprinf()
        */
       #define CHPRINTF_USE_FLOAT                  TRUE
       /** @} */
       #endif  /* _CHCONF_H_ */
       /** @} */