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1 043cdf33 Thomas Schöpping
/*
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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..2018  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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 */
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#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.
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 */
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.
256
 */
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#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.
273
 *
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 * @note    The default is @p TRUE.
275
 */
276
#define CH_CFG_USE_MESSAGES                 FALSE
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/**
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
 */
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#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
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 *          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_SEMAPHORES.
296
 */
297
#define CH_CFG_USE_MAILBOXES                FALSE
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/**
300
 * @brief   Core Memory Manager APIs.
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 * @details If enabled then the core memory manager APIs are included
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 *          in the kernel.
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 *
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 * @note    The default is @p TRUE.
305
 */
306
#define CH_CFG_USE_MEMCORE                  FALSE
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308
/**
309
 * @brief   Heap Allocator APIs.
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 * @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
 */
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#define CH_CFG_USE_HEAP                     FALSE
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320
/**
321
 * @brief   Memory Pools Allocator APIs.
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 * @details If enabled then the memory pools allocator APIs are included
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 *          in the kernel.
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 *
325
 * @note    The default is @p TRUE.
326
 */
327
#define CH_CFG_USE_MEMPOOLS                 FALSE
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/**
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 * @brief  Objects FIFOs APIs.
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 * @details If enabled then the objects FIFOs APIs are included
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 *          in the kernel.
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 *
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 * @note    The default is @p TRUE.
335
 */
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#define CH_CFG_USE_OBJ_FIFOS                FALSE
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/**
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 * @brief   Dynamic Threads APIs.
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 * @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.
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 * @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
 */
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#define CH_CFG_USE_DYNAMIC                  FALSE
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Objects factory options
354
 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   Objects Factory APIs.
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 * @details If enabled then the objects factory APIs are included in the
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 *          kernel.
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 *
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 * @note    The default is @p FALSE.
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 */
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#if !defined(CH_CFG_USE_FACTORY)
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#define CH_CFG_USE_FACTORY                  FALSE
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#endif
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/**
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 * @brief   Maximum length for object names.
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 * @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.
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 */
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#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
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#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
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#endif
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/**
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 * @brief   Enables the registry of generic objects.
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 */
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#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
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#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
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#endif
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/**
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 * @brief   Enables factory for generic buffers.
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 */
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#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
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#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
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#endif
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/**
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 * @brief   Enables factory for semaphores.
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 */
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#if !defined(CH_CFG_FACTORY_SEMAPHORES)
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#define CH_CFG_FACTORY_SEMAPHORES           TRUE
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#endif
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/**
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 * @brief   Enables factory for mailboxes.
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 */
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#if !defined(CH_CFG_FACTORY_MAILBOXES)
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#define CH_CFG_FACTORY_MAILBOXES            TRUE
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#endif
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/**
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 * @brief   Enables factory for objects FIFOs.
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 */
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#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
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#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
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#endif
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/** @} */
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/*===========================================================================*/
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/**
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 * @name Debug options
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   Debug option, kernel statistics.
424
 *
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 * @note    The default is @p FALSE.
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 */
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#if ((CH_CFG_USE_TM == TRUE) && (AMIROOS_CFG_DBG == true)) || defined(__DOXYGEN__)
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  #define CH_DBG_STATISTICS                 TRUE
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#else
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  #define CH_DBG_STATISTICS                 FALSE
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#endif
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/**
434
 * @brief   Debug option, system state check.
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 * @details If enabled the correct call protocol for system APIs is checked
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 *          at runtime.
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 *
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 * @note    The default is @p FALSE.
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 */
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#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
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  #define CH_DBG_SYSTEM_STATE_CHECK         TRUE
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#else
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  #define CH_DBG_SYSTEM_STATE_CHECK         FALSE
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#endif
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/**
447
 * @brief   Debug option, parameters checks.
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 * @details If enabled then the checks on the API functions input
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 *          parameters are activated.
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 *
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 * @note    The default is @p FALSE.
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 */
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#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
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  #define CH_DBG_ENABLE_CHECKS              TRUE
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#else
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  #define CH_DBG_ENABLE_CHECKS              FALSE
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#endif
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/**
460
 * @brief   Debug option, consistency checks.
461
 * @details If enabled then all the assertions in the kernel code are
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 *          activated. This includes consistency checks inside the kernel,
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 *          runtime anomalies and port-defined checks.
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 *
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 * @note    The default is @p FALSE.
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 */
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#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
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  #define CH_DBG_ENABLE_ASSERTS             TRUE
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#else
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  #define CH_DBG_ENABLE_ASSERTS             FALSE
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#endif
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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
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/**
482
 * @brief   Trace buffer entries.
483
 * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
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 *          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.
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 * @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.
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 */
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#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
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#endif
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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
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#else
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  #define CH_DBG_FILL_THREADS               FALSE
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#endif
517
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/**
519
 * @brief   Debug option, threads profiling.
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 * @details If enabled then a field is added to the @p thread_t structure that
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 *          counts the system ticks occurred while executing the thread.
522
 *
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 * @note    The default is @p FALSE.
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 * @note    This debug option is not currently compatible with the
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 *          tickless mode.
526
 */
527
#if ((CH_CFG_ST_TIMEDELTA == 0) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
528
  #define CH_DBG_THREADS_PROFILING          TRUE
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#else
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  #define CH_DBG_THREADS_PROFILING          FALSE
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#endif
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/** @} */
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/*===========================================================================*/
536
/**
537
 * @name Kernel hooks
538
 * @{
539
 */
540
/*===========================================================================*/
541
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/**
543 1e5f7648 Thomas Schöpping
 * @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                                          \
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  /* Add threads custom fields here.*/
548
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/**
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() {                                         \
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  /* Add threads initialization code here.*/                                \
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}
557
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/**
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 * @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                                          \
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  /* Add threads custom fields here.*/
564
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/**
566
 * @brief   Threads initialization hook.
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 * @details User initialization code added to the @p _thread_init() function.
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 *
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 * @note    It is invoked from within @p _thread_init() and implicitly from all
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 *          the threads creation APIs.
571
 */
572
#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
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  /* 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) {                                       \
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  /* 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) {                              \
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  /* Context switch code here.*/                                            \
590
}
591
592
/**
593
 * @brief   ISR enter hook.
594
 */
595
#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
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  /* IRQ prologue code here.*/                                              \
597
}
598
599
/**
600
 * @brief   ISR exit hook.
601
 */
602
#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
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  /* IRQ epilogue code here.*/                                              \
604
}
605
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/**
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() {                                          \
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  /* Idle-enter code here.*/                                                \
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}
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
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/**
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
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/**
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) {                                   \
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  extern void aosPrintHaltErrorCode(const char* reason);                    \
650
  aosPrintHaltErrorCode(reason);                                            \
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}
652
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/**
654
 * @brief   Trace hook.
655
 * @details This hook is invoked each time a new record is written in the
656
 *          trace buffer.
657
 */
658
#define CH_CFG_TRACE_HOOK(tep) {                                            \
659
  /* Trace code here.*/                                                     \
660
}
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/** @} */
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/*===========================================================================*/
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/**
666
 * @name Port specific settings
667
 */
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/*===========================================================================*/
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// These settings are specific to each module.
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/*===========================================================================*/
673
/**
674
 * @name other
675
 * @{
676
 */
677
/*===========================================================================*/
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/**
680 1e5f7648 Thomas Schöpping
 * @brief   Flag to enable/disable floating point support in chprintf() and all deriviates.
681 043cdf33 Thomas Schöpping
 */
682
#define CHPRINTF_USE_FLOAT                  TRUE
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/** @} */
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#endif  /* _AOS_CHCONF_H_ */
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/** @} */