AMiRo-OS

/**

 * @file    devices/DiWheelDrive/chconf.h

 * @brief   Configuration file.

 *

 * @addtogroup config

 * @details Kernel related settings and hooks.

 * @{

 */

#ifndef _CHCONF_H_

#define _CHCONF_H_

/*===========================================================================*/

/**

 * @name Kernel parameters and options

 * @{

 */

/*===========================================================================*/

/**

 * @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 !defined(CH_FREQUENCY) || defined(__DOXYGEN__)

#define CH_FREQUENCY                    1000

#endif

/**

 * @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.

 */

#if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)

#define CH_TIME_QUANTUM                 20

#endif

/**

 * @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_USE_MEMCORE.

 */

#if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__)

#define CH_MEMCORE_SIZE                 0

#endif

/**

 * @brief   Idle thread automatic spawn suppression.

 * @details When this option is activated the function @p chSysInit()

 *          does not spawn the idle thread automatically. The application has

 *          then the responsibility to do one of the following:

 *          - Spawn a custom idle thread at priority @p IDLEPRIO.

 *          - Change the main() thread priority to @p IDLEPRIO then enter

 *            an endless loop. In this scenario the @p main() thread acts as

 *            the idle thread.

 *          .

 * @note    Unless an idle thread is spawned the @p main() thread must not

 *          enter a sleep state.

 */

#if !defined(CH_NO_IDLE_THREAD) || defined(__DOXYGEN__)

#define CH_NO_IDLE_THREAD               FALSE

#endif

/** @} */

/*===========================================================================*/

/**

 * @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.

 */

#if !defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)

#define CH_OPTIMIZE_SPEED               TRUE

#endif

/** @} */

/*===========================================================================*/

/**

 * @name Subsystem options

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Threads registry APIs.

 * @details If enabled then the registry APIs are included in the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)

#define CH_USE_REGISTRY                 TRUE

#endif

/**

 * @brief   Threads synchronization APIs.

 * @details If enabled then the @p chThdWait() function is included in

 *          the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)

#define CH_USE_WAITEXIT                 TRUE

#endif

/**

 * @brief   Semaphores APIs.

 * @details If enabled then the Semaphores APIs are included in the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)

#define CH_USE_SEMAPHORES               TRUE

#endif

/**

 * @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_USE_SEMAPHORES.

 */

#if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)

#define CH_USE_SEMAPHORES_PRIORITY      FALSE

#endif

/**

 * @brief   Atomic semaphore API.

 * @details If enabled then the semaphores the @p chSemSignalWait() API

 *          is included in the kernel.

 *

 * @note    The default is @p TRUE.

 * @note    Requires @p CH_USE_SEMAPHORES.

 */

#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)

#define CH_USE_SEMSW                    TRUE

#endif

/**

 * @brief   Mutexes APIs.

 * @details If enabled then the mutexes APIs are included in the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)

#define CH_USE_MUTEXES                  TRUE

#endif

/**

 * @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_USE_MUTEXES.

 */

#if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__)

#define CH_USE_CONDVARS                 TRUE

#endif

/**

 * @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_USE_CONDVARS.

 */

#if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)

#define CH_USE_CONDVARS_TIMEOUT         TRUE

#endif

/**

 * @brief   Events Flags APIs.

 * @details If enabled then the event flags APIs are included in the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)

#define CH_USE_EVENTS                   TRUE

#endif

/**

 * @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_USE_EVENTS.

 */

#if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)

#define CH_USE_EVENTS_TIMEOUT           TRUE

#endif

/**

 * @brief   Synchronous Messages APIs.

 * @details If enabled then the synchronous messages APIs are included

 *          in the kernel.

 *

 * @note    The default is @p TRUE.

 */

#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)

#define CH_USE_MESSAGES                 TRUE

#endif

/**

 * @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_USE_MESSAGES.

 */

#if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)

#define CH_USE_MESSAGES_PRIORITY        FALSE

#endif

/**

 * @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_USE_SEMAPHORES.

 */

#if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__)

#define CH_USE_MAILBOXES                TRUE

#endif

/**

 * @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.

 */

#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)

#define CH_USE_QUEUES                   TRUE

#endif

/**

 * @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.

 */

#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)

#define CH_USE_MEMCORE                  TRUE

#endif

/**

 * @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_USE_MEMCORE and either @p CH_USE_MUTEXES or

 *          @p CH_USE_SEMAPHORES.

 * @note    Mutexes are recommended.

 */

#if !defined(CH_USE_HEAP) || defined(__DOXYGEN__)

#define CH_USE_HEAP                     TRUE

#endif

/**

 * @brief   C-runtime allocator.

 * @details If enabled the the heap allocator APIs just wrap the C-runtime

 *          @p malloc() and @p free() functions.

 *

 * @note    The default is @p FALSE.

 * @note    Requires @p CH_USE_HEAP.

 * @note    The C-runtime may or may not require @p CH_USE_MEMCORE, see the

 *          appropriate documentation.

 */

#if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)

#define CH_USE_MALLOC_HEAP              FALSE

#endif

/**

 * @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.

 */

#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)

#define CH_USE_MEMPOOLS                 TRUE

#endif

/**

 * @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_USE_WAITEXIT.

 * @note    Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS.

 */

#if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__)

#define CH_USE_DYNAMIC                  TRUE

#endif

/** @} */

/*===========================================================================*/

/**

 * @name Debug options

 * @{

 */

/*===========================================================================*/

/**

 * @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 !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)

#define CH_DBG_SYSTEM_STATE_CHECK       TRUE

#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 !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)

#define CH_DBG_ENABLE_CHECKS            TRUE

#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 !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)

#define CH_DBG_ENABLE_ASSERTS           TRUE

#endif

/**

 * @brief   Debug option, trace buffer.

 * @details If enabled then the context switch circular trace buffer is

 *          activated.

 *

 * @note    The default is @p FALSE.

 */

#if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)

#define CH_DBG_ENABLE_TRACE             TRUE

#endif

/**

 * @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 !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)

#define CH_DBG_ENABLE_STACK_CHECK       TRUE

#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 !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)

#define CH_DBG_FILL_THREADS             FALSE

#endif

/**

 * @brief   Debug option, threads profiling.

 * @details If enabled then a field is added to the @p Thread structure that

 *          counts the system ticks occurred while executing the thread.

 *

 * @note    The default is @p TRUE.

 * @note    This debug option is defaulted to TRUE because it is required by

 *          some test cases into the test suite.

 */

#if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)

#define CH_DBG_THREADS_PROFILING        TRUE

#endif

/** @} */

/*===========================================================================*/

/**

 * @name Kernel hooks

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Threads descriptor structure extension.

 * @details User fields added to the end of the @p Thread structure.

 */

#if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__)

#define THREAD_EXT_FIELDS                                                   \

  /* Add threads custom fields here.*/

#endif

/**

 * @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.

 */

#if !defined(THREAD_EXT_INIT_HOOK) || defined(__DOXYGEN__)

#define THREAD_EXT_INIT_HOOK(tp) {                                          \

  /* Add threads initialization code here.*/                                \

}

#endif

/**

 * @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.

 */

#if !defined(THREAD_EXT_EXIT_HOOK) || defined(__DOXYGEN__)

#define THREAD_EXT_EXIT_HOOK(tp) {                                          \

  /* Add threads finalization code here.*/                                  \

}

#endif

/**

 * @brief   Context switch hook.

 * @details This hook is invoked just before switching between threads.

 */

#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)

#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \

  /* Context switch code here.*/                                            \

}

#endif

/**

 * @brief   Idle Loop hook.

 * @details This hook is continuously invoked by the idle thread loop.

 */

#if !defined(IDLE_LOOP_HOOK) || defined(__DOXYGEN__)

#define IDLE_LOOP_HOOK() {                                                  \

  /* Idle loop code here.*/                                                 \

}

#endif

/**

 * @brief   System tick event hook.

 * @details This hook is invoked in the system tick handler immediately

 *          after processing the virtual timers queue.

 */

#if !defined(SYSTEM_TICK_EVENT_HOOK) || defined(__DOXYGEN__)

#define SYSTEM_TICK_EVENT_HOOK() {                                          \

  /* System tick event code here.*/                                         \

}

#endif

/**

 * @brief   System halt hook.

 * @details This hook is invoked in case to a system halting error before

 *          the system is halted.

 */

#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)

void haltErrorCode(void);

#define SYSTEM_HALT_HOOK() {                                                \

  /* System halt code here.*/                                               \

  haltErrorCode();                                                          \

}

#endif

/** @} */

/*===========================================================================*/

/* Port-specific settings (override port settings defaulted in chcore.h).    */

/*===========================================================================*/

/* NVIC VTOR initialization (only offset!) */

#define CORTEX_VTOR_INIT 0x00006000

#endif  /* _CHCONF_H_ */

/** @} */