amiro-os / modules / LightRing_1-0 / aosconf.h @ 933df08e
History | View | Annotate | Download (6.203 KB)
| 1 | e545e620 | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
|
||
| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
|
||
| 6 | it under the terms of the GNU General Public License as published by
|
||
| 7 | the Free Software Foundation, either version 3 of the License, or
|
||
| 8 | (at your option) any later version.
|
||
| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
|
||
| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
| 13 | GNU General Public License for more details.
|
||
| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
|
||
| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
| 17 | */
|
||
| 18 | |||
| 19 | #ifndef _AOSCONF_H_
|
||
| 20 | #define _AOSCONF_H_
|
||
| 21 | |||
| 22 | /*
|
||
| 23 | * compatibility guards
|
||
| 24 | */
|
||
| 25 | #define _AMIRO_OS_CFG_
|
||
| 26 | #define _AMIRO_OS_CFG_VERSION_MAJOR_ 2 |
||
| 27 | #define _AMIRO_OS_CFG_VERSION_MINOR_ 0 |
||
| 28 | |||
| 29 | #include <stdbool.h> |
||
| 30 | |||
| 31 | /*
|
||
| 32 | * Include an external configuration file to override the following default settings only if required.
|
||
| 33 | */
|
||
| 34 | #if defined(AMIRO_APPS) && (AMIRO_APPS == true) |
||
| 35 | #include <osconf.h> |
||
| 36 | #endif
|
||
| 37 | |||
| 38 | 6b53f6bf | Thomas Schöpping | /*===========================================================================*/
|
| 39 | e545e620 | Thomas Schöpping | /**
|
| 40 | 6b53f6bf | Thomas Schöpping | * @name Kernel parameters and options
|
| 41 | * @{
|
||
| 42 | e545e620 | Thomas Schöpping | */
|
| 43 | 6b53f6bf | Thomas Schöpping | /*===========================================================================*/
|
| 44 | e545e620 | Thomas Schöpping | |
| 45 | /**
|
||
| 46 | * @brief Flag to enable/disable debug API.
|
||
| 47 | */
|
||
| 48 | #if !defined(OS_CFG_DBG)
|
||
| 49 | #define AMIROOS_CFG_DBG true |
||
| 50 | #else
|
||
| 51 | #define AMIROOS_CFG_DBG OS_CFG_DBG
|
||
| 52 | #endif
|
||
| 53 | |||
| 54 | /**
|
||
| 55 | * @brief Flag to enable/disable unit tests.
|
||
| 56 | */
|
||
| 57 | #if !defined(OS_CFG_TESTS_ENABLE)
|
||
| 58 | #define AMIROOS_CFG_TESTS_ENABLE true |
||
| 59 | #else
|
||
| 60 | #define AMIROOS_CFG_TESTS_ENABLE OS_CFG_TESTS_ENABLE
|
||
| 61 | #endif
|
||
| 62 | |||
| 63 | /**
|
||
| 64 | * @brief Flag to enable/disable profiling API.
|
||
| 65 | */
|
||
| 66 | #if !defined(OS_CFG_PROFILE)
|
||
| 67 | #define AMIROOS_CFG_PROFILE true |
||
| 68 | #else
|
||
| 69 | #define AMIROOS_CFG_PROFILE OS_CFG_PROFILE
|
||
| 70 | #endif
|
||
| 71 | |||
| 72 | /**
|
||
| 73 | * @brief Timeout value when waiting for events in the main loop in microseconds.
|
||
| 74 | * @details A value of 0 deactivates the timeout.
|
||
| 75 | */
|
||
| 76 | #if !defined(OS_CFG_MAIN_LOOP_TIMEOUT)
|
||
| 77 | #define AMIROOS_CFG_MAIN_LOOP_TIMEOUT 0 |
||
| 78 | #else
|
||
| 79 | #define AMIROOS_CFG_MAIN_LOOP_TIMEOUT OS_CFG_MAIN_LOOP_TIMEOUT
|
||
| 80 | #endif
|
||
| 81 | |||
| 82 | /** @} */
|
||
| 83 | |||
| 84 | /*===========================================================================*/
|
||
| 85 | 6b53f6bf | Thomas Schöpping | /**
|
| 86 | * @name SSSP (Startup Shutdown Synchronization Protocol) configuration.
|
||
| 87 | * @{
|
||
| 88 | */
|
||
| 89 | /*===========================================================================*/
|
||
| 90 | |||
| 91 | /**
|
||
| 92 | * @brief Flag to set the module as SSSP master.
|
||
| 93 | * @details There must be only one module with this flag set to true in a system.
|
||
| 94 | */
|
||
| 95 | #if !defined(OS_CFG_SSSP_MASTER)
|
||
| 96 | #define AMIROOS_CFG_SSSP_MASTER false |
||
| 97 | #else
|
||
| 98 | #define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER
|
||
| 99 | #endif
|
||
| 100 | |||
| 101 | /**
|
||
| 102 | 933df08e | Thomas Schöpping | * @brief Flag to set the module to be the first in the stack.
|
| 103 | * @details There must be only one module with this flag set to true in a system.
|
||
| 104 | */
|
||
| 105 | #if !defined(OS_CFG_SSSP_STACK_START)
|
||
| 106 | #define AMIROOS_CFG_SSSP_STACK_START false |
||
| 107 | #else
|
||
| 108 | #define AMIROOS_CFG_SSSP_STACK_START OS_CFG_SSSP_STACK_START
|
||
| 109 | #endif
|
||
| 110 | |||
| 111 | /**
|
||
| 112 | * @brief Flag to set the module to be the last in the stack.
|
||
| 113 | * @details There must be only one module with this flag set to true in a system.
|
||
| 114 | */
|
||
| 115 | #if !defined(OS_CFG_SSSP_STACK_END)
|
||
| 116 | #define AMIROOS_CFG_SSSP_STACK_END true |
||
| 117 | #else
|
||
| 118 | #define AMIROOS_CFG_SSSP_STACK_END OS_CFG_SSSP_STACK_END
|
||
| 119 | #endif
|
||
| 120 | |||
| 121 | /**
|
||
| 122 | * @brief Delay time (in microseconds) how long a SSSP signal must be active.
|
||
| 123 | */
|
||
| 124 | #if !defined(OS_CFG_SSSP_SIGNALDELAY)
|
||
| 125 | #define AMIROOS_CFG_SSSP_SIGNALDELAY 1000 |
||
| 126 | #else
|
||
| 127 | #define AMIROOS_CFG_SSSP_SIGNALDELAY OS_CFG_SSSP_SIGNALDELAY
|
||
| 128 | #endif
|
||
| 129 | |||
| 130 | /**
|
||
| 131 | 6b53f6bf | Thomas Schöpping | * @brief Time boundary for robot wide clock synchronization in microseconds.
|
| 132 | * @details Whenever the SSSP S (snychronization) signal gets logically deactivated,
|
||
| 133 | * All modules need to align their local uptime to the nearest multiple of this value.
|
||
| 134 | */
|
||
| 135 | #if !defined(OS_CFG_SSSP_SYSSYNCPERIOD)
|
||
| 136 | #define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
||
| 137 | #else
|
||
| 138 | #define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD
|
||
| 139 | #endif
|
||
| 140 | |||
| 141 | /** @} */
|
||
| 142 | |||
| 143 | /*===========================================================================*/
|
||
| 144 | e545e620 | Thomas Schöpping | /**
|
| 145 | * @name System shell options
|
||
| 146 | * @{
|
||
| 147 | */
|
||
| 148 | /*===========================================================================*/
|
||
| 149 | |||
| 150 | /**
|
||
| 151 | * @brief Shell enable flag.
|
||
| 152 | */
|
||
| 153 | 933df08e | Thomas Schöpping | #if (AMIROOS_CFG_TESTS_ENABLE != true) && !defined(OS_CFG_SHELL_ENABLE) |
| 154 | e545e620 | Thomas Schöpping | #define AMIROOS_CFG_SHELL_ENABLE true |
| 155 | #elif (AMIROOS_CFG_TESTS_ENABLE == true) |
||
| 156 | #define AMIROOS_CFG_SHELL_ENABLE true |
||
| 157 | #else
|
||
| 158 | #define AMIROOS_CFG_SHELL_ENABLE OS_CFG_SHELL_ENABLE
|
||
| 159 | #endif
|
||
| 160 | |||
| 161 | /**
|
||
| 162 | * @brief Shell thread stack size.
|
||
| 163 | */
|
||
| 164 | #if !defined(OS_CFG_SHELL_STACKSIZE)
|
||
| 165 | #define AMIROOS_CFG_SHELL_STACKSIZE 1024 |
||
| 166 | #else
|
||
| 167 | #define AMIROOS_CFG_SHELL_STACKSIZE OS_CFG_SHELL_STACKSIZE
|
||
| 168 | #endif
|
||
| 169 | |||
| 170 | /**
|
||
| 171 | 20205a98 | Thomas Schöpping | * @brief Shell thread priority.
|
| 172 | 512abac1 | Thomas Schöpping | * @details Thread priorities are specified as an integer value.
|
| 173 | * Predefined ranges are:
|
||
| 174 | * lowest ┌ THD_LOWPRIO_MIN
|
||
| 175 | * │ ...
|
||
| 176 | * └ THD_LOWPRIO_MAX
|
||
| 177 | * ┌ THD_NORMALPRIO_MIN
|
||
| 178 | * │ ...
|
||
| 179 | * └ THD_NORMALPRIO_MAX
|
||
| 180 | * ┌ THD_HIGHPRIO_MIN
|
||
| 181 | * │ ...
|
||
| 182 | * └ THD_HIGHPRIO_MAX
|
||
| 183 | * ┌ THD_RTPRIO_MIN
|
||
| 184 | * │ ...
|
||
| 185 | * highest └ THD_RTPRIO_MAX
|
||
| 186 | 20205a98 | Thomas Schöpping | */
|
| 187 | #if !defined(OS_CFG_SHELL_THREADPRIO)
|
||
| 188 | 512abac1 | Thomas Schöpping | #define AMIROOS_CFG_SHELL_THREADPRIO AOS_THD_NORMALPRIO_MIN
|
| 189 | 20205a98 | Thomas Schöpping | #else
|
| 190 | #define AMIROOS_CFG_SHELL_THREADPRIO OS_CFG_SHELL_THREADPRIO
|
||
| 191 | #endif
|
||
| 192 | |||
| 193 | /**
|
||
| 194 | e545e620 | Thomas Schöpping | * @brief Shell maximum input line length.
|
| 195 | */
|
||
| 196 | #if !defined(OS_CFG_SHELL_LINEWIDTH)
|
||
| 197 | #define AMIROOS_CFG_SHELL_LINEWIDTH 64 |
||
| 198 | #else
|
||
| 199 | #define AMIROOS_CFG_SHELL_LINEWIDTH OS_CFG_SHELL_LINEWIDTH
|
||
| 200 | #endif
|
||
| 201 | |||
| 202 | /**
|
||
| 203 | * @brief Shell maximum number of arguments.
|
||
| 204 | */
|
||
| 205 | #if !defined(OS_CFG_SHELL_MAXARGS)
|
||
| 206 | #define AMIROOS_CFG_SHELL_MAXARGS 4 |
||
| 207 | #else
|
||
| 208 | #define AMIROOS_CFG_SHELL_MAXARGS OS_CFG_SHELL_MAXARGS
|
||
| 209 | #endif
|
||
| 210 | |||
| 211 | /** @} */
|
||
| 212 | |||
| 213 | cb835a3e | Thomas Schöpping | #endif /* _AOSCONF_H_ */ |