amiro-os / modules / DiWheelDrive_1-2 / aosconf.h @ c218345a
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| 1 | abb8b3f4 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2019 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | /**
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| 20 | * @file
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| 21 | * @brief AMiRo-OS Configuration file for the DiWheelDrive v1.2 module.
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| 22 | * @details Contains the application specific AMiRo-OS settings.
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| 23 | *
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| 24 | * @addtogroup diwheeldrive_aos_config
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| 25 | * @{
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| 26 | */
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| 27 | |||
| 28 | #ifndef AOSCONF_H
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| 29 | #define AOSCONF_H
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| 30 | |||
| 31 | /*
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| 32 | * compatibility guards
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| 33 | */
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| 34 | #define _AMIRO_OS_CFG_
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| 35 | #define AMIRO_OS_CFG_VERSION_MAJOR 2 |
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| 36 | cda14729 | Thomas Schöpping | #define AMIRO_OS_CFG_VERSION_MINOR 1 |
| 37 | abb8b3f4 | Thomas Schöpping | |
| 38 | #include <stdbool.h> |
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| 39 | |||
| 40 | /*
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| 41 | * Include an external configuration file to override the following default settings only if required.
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| 42 | */
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| 43 | #if defined(AMIRO_APPS) && (AMIRO_APPS == true) |
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| 44 | #include <osconf.h> |
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| 45 | #endif /* defined(AMIRO_APPS) && (AMIRO_APPS == true) */ |
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| 46 | |||
| 47 | /*===========================================================================*/
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| 48 | /**
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| 49 | * @name Kernel parameters and options
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| 50 | * @{
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| 51 | */
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| 52 | /*===========================================================================*/
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| 53 | |||
| 54 | /**
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| 55 | * @brief Flag to enable/disable debug API and logic.
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| 56 | */
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| 57 | #if !defined(OS_CFG_DBG)
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| 58 | #define AMIROOS_CFG_DBG true |
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| 59 | #else /* !defined(OS_CFG_DBG) */ |
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| 60 | #define AMIROOS_CFG_DBG OS_CFG_DBG
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| 61 | #endif /* !defined(OS_CFG_DBG) */ |
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| 62 | |||
| 63 | /**
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| 64 | * @brief Flag to enable/disable unit tests.
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| 65 | * @note Setting this flag will implicitely enable the shell.
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| 66 | */
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| 67 | #if !defined(OS_CFG_TESTS_ENABLE)
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| 68 | #define AMIROOS_CFG_TESTS_ENABLE true |
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| 69 | #else /* !defined(OS_CFG_TESTS_ENABLE) */ |
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| 70 | #define AMIROOS_CFG_TESTS_ENABLE OS_CFG_TESTS_ENABLE
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| 71 | #endif /* !defined(OS_CFG_TESTS_ENABLE) */ |
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| 72 | |||
| 73 | /**
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| 74 | * @brief Flag to enable/disable profiling API and logic.
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| 75 | */
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| 76 | #if !defined(OS_CFG_PROFILE)
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| 77 | #define AMIROOS_CFG_PROFILE true |
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| 78 | #else /* !defined(OS_CFG_PROFILE) */ |
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| 79 | #define AMIROOS_CFG_PROFILE OS_CFG_PROFILE
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| 80 | #endif /* !defined(OS_CFG_PROFILE) */ |
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| 81 | |||
| 82 | /**
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| 83 | cda14729 | Thomas Schöpping | * @brief Mask for the control thread to listen to certain GPIO events.
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| 84 | abb8b3f4 | Thomas Schöpping | * @note Any mandatory events (e.g. for SSSP) are enabled implicitely despite this configuration.
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| 85 | */
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| 86 | cda14729 | Thomas Schöpping | #if !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK)
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| 87 | #define AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK 0 |
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| 88 | #else /* !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) */ |
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| 89 | #define AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK
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| 90 | #endif /* !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) */ |
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| 91 | abb8b3f4 | Thomas Schöpping | |
| 92 | /**
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| 93 | * @brief Timeout value when waiting for events in the main loop in microseconds.
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| 94 | * @details A value of 0 deactivates the timeout.
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| 95 | */
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| 96 | #if !defined(OS_CFG_MAIN_LOOP_TIMEOUT)
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| 97 | #define AMIROOS_CFG_MAIN_LOOP_TIMEOUT 0 |
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| 98 | #else /* !defined(OS_CFG_MAIN_LOOP_TIMEOUT) */ |
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| 99 | #define AMIROOS_CFG_MAIN_LOOP_TIMEOUT OS_CFG_MAIN_LOOP_TIMEOUT
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| 100 | #endif /* !defined(OS_CFG_MAIN_LOOP_TIMEOUT) */ |
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| 101 | |||
| 102 | /** @} */
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| 103 | |||
| 104 | /*===========================================================================*/
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| 105 | /**
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| 106 | cda14729 | Thomas Schöpping | * @name Bootloader configuration
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| 107 | * @{
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| 108 | */
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| 109 | /*===========================================================================*/
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| 110 | |||
| 111 | /**
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| 112 | * @brief Identifier of the instaled bootloader (if any).
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| 113 | * @note See aos_bootloader.h file for a list of available settings.
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| 114 | */
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| 115 | 510b93cc | Thomas Schöpping | #if !defined(OS_CFG_BOOTLOADER)
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| 116 | #define AMIROOS_CFG_BOOTLOADER AOS_BOOTLOADER_AMiRoBLT
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| 117 | #else /* !defined(OS_CFG_BOOTLOADER) */ |
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| 118 | #define AMIROOS_CFG_BOOTLOADER OS_CFG_BOOTLOADER
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| 119 | #endif /* !defined(OS_CFG_BOOTLOADER) */ |
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| 120 | cda14729 | Thomas Schöpping | |
| 121 | /** @} */
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| 122 | |||
| 123 | /*===========================================================================*/
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| 124 | /**
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| 125 | abb8b3f4 | Thomas Schöpping | * @name SSSP (Startup Shutdown Synchronization Protocol) configuration.
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| 126 | * @{
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| 127 | */
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| 128 | /*===========================================================================*/
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| 129 | |||
| 130 | /**
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| 131 | * @brief Flag to enable SSSP.
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| 132 | */
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| 133 | #if !defined(OS_CFG_SSSP_ENABLE)
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| 134 | #define AMIROOS_CFG_SSSP_ENABLE true |
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| 135 | #else /* !defined(OS_CFG_SSSP_ENABLE) */ |
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| 136 | #define AMIROOS_CFG_SSSP_ENABLE OS_CFG_SSSP_ENABLE
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| 137 | #endif /* !defined(OS_CFG_SSSP_ENABLE) */ |
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| 138 | |||
| 139 | /**
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| 140 | cda14729 | Thomas Schöpping | * @brief Flag to indicate, whether the SSSP startup sequence shall be executed by AMiRo-OS.
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| 141 | * @details This setting must be false in case another software (e.g. a bootloader) handles the initial stages of the SSSP startup phase.
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| 142 | */
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| 143 | #if !defined(OS_CFG_SSSP_STARTUP)
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| 144 | #define AMIROOS_CFG_SSSP_STARTUP false |
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| 145 | #else
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| 146 | #define AMIROOS_CFG_SSSP_STARTUP OS_CFG_SSSP_STARTUP
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| 147 | #endif
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| 148 | |||
| 149 | /**
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| 150 | * @brief Flag to indicate, whether the SSSP shutdown sequence shall be executed by AMiRo-OS.
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| 151 | * @details This setting should be false in case another software (e.g. a bootloader) handles the final stages of the SSSP shutdown phase.
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| 152 | */
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| 153 | #if !defined(OS_CFG_SSSP_SHUTDOWN)
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| 154 | #define AMIROOS_CFG_SSSP_SHUTDOWN false |
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| 155 | #else
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| 156 | #define AMIROOS_CFG_SSSP_SHUTDOWN OS_CFG_SSSP_SHUTDOWN
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| 157 | #endif
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| 158 | |||
| 159 | /**
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| 160 | * @brief Flag to indicate, whether the module stack initialization (MSI; stage 3 of the SSSP startup phase) shall be executed.
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| 161 | * @brief In order to execute MSI, a broadcast bus (BCB) and according interfaces must be defined.
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| 162 | */
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| 163 | #if !defined(OS_CFG_SSSP_MSI)
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| 164 | #define AMIROOS_CFG_SSSP_MSI false |
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| 165 | #else
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| 166 | #define AMIROOS_CFG_SSSP_MSI OS_CFG_SSSP_MSI
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| 167 | #endif
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| 168 | |||
| 169 | /**
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| 170 | * @brief Width of the @p aos_sssp_moduleid_t type.
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| 171 | * @details Possible settings are 8, 16 and 32.
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| 172 | */
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| 173 | #if !defined(OS_CFG_SSSP_MODULEIDWIDTH)
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| 174 | #define AMIROOS_CFG_SSSP_MODULEIDWIDTH 16 |
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| 175 | #else
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| 176 | #define AMIROOS_CFG_SSSP_MODULEIDWIDTH OS_CFG_SSSP_MODULEIDWIDTH
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| 177 | #endif
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| 178 | |||
| 179 | /**
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| 180 | abb8b3f4 | Thomas Schöpping | * @brief Flag to set the module as SSSP master.
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| 181 | * @details There must be only one module with this flag set to true in a system.
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| 182 | */
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| 183 | #if !defined(OS_CFG_SSSP_MASTER)
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| 184 | #define AMIROOS_CFG_SSSP_MASTER false |
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| 185 | #else /* !defined(OS_CFG_SSSP_MASTER) */ |
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| 186 | #define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER
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| 187 | #endif /* !defined(OS_CFG_SSSP_MASTER) */ |
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| 188 | |||
| 189 | /**
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| 190 | * @brief Flag to set the module to be the first in the stack.
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| 191 | * @details There must be only one module with this flag set to true in a system.
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| 192 | */
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| 193 | #if !defined(OS_CFG_SSSP_STACK_START)
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| 194 | #define AMIROOS_CFG_SSSP_STACK_START true |
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| 195 | #else /* !defined(OS_CFG_SSSP_STACK_START) */ |
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| 196 | #define AMIROOS_CFG_SSSP_STACK_START OS_CFG_SSSP_STACK_START
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| 197 | #endif /* !defined(OS_CFG_SSSP_STACK_START) */ |
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| 198 | |||
| 199 | /**
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| 200 | * @brief Flag to set the module to be the last in the stack.
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| 201 | * @details There must be only one module with this flag set to true in a system.
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| 202 | */
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| 203 | #if !defined(OS_CFG_SSSP_STACK_END)
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| 204 | #define AMIROOS_CFG_SSSP_STACK_END false |
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| 205 | #else /* !defined(OS_CFG_SSSP_STACK_END) */ |
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| 206 | #define AMIROOS_CFG_SSSP_STACK_END OS_CFG_SSSP_STACK_END
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| 207 | #endif /* !defined(OS_CFG_SSSP_STACK_END) */ |
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| 208 | |||
| 209 | /**
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| 210 | * @brief Delay time (in microseconds) how long a SSSP signal must be active.
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| 211 | */
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| 212 | #if !defined(OS_CFG_SSSP_SIGNALDELAY)
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| 213 | #define AMIROOS_CFG_SSSP_SIGNALDELAY 1000 |
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| 214 | #else /* !defined(OS_CFG_SSSP_SIGNALDELAY) */ |
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| 215 | #define AMIROOS_CFG_SSSP_SIGNALDELAY OS_CFG_SSSP_SIGNALDELAY
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| 216 | #endif /* !defined(OS_CFG_SSSP_SIGNALDELAY) */ |
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| 217 | |||
| 218 | /**
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| 219 | * @brief Time boundary for robot wide clock synchronization in microseconds.
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| 220 | * @details Whenever the SSSP S (snychronization) signal gets logically deactivated,
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| 221 | * All modules need to align their local uptime to the nearest multiple of this value.
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| 222 | */
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| 223 | #if !defined(OS_CFG_SSSP_SYSSYNCPERIOD)
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| 224 | #define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
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| 225 | #else /* !defined(OS_CFG_SSSP_SYSSYNCPERIOD) */ |
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| 226 | #define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD
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| 227 | #endif /* !defined(OS_CFG_SSSP_SYSSYNCPERIOD) */ |
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| 228 | |||
| 229 | /** @} */
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| 230 | |||
| 231 | /*===========================================================================*/
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| 232 | /**
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| 233 | * @name System shell options
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| 234 | * @{
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| 235 | */
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| 236 | /*===========================================================================*/
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| 237 | |||
| 238 | /**
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| 239 | * @brief Shell enable flag.
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| 240 | */
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| 241 | #if !defined(OS_CFG_SHELL_ENABLE)
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| 242 | #define AMIROOS_CFG_SHELL_ENABLE true |
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| 243 | #else /* !defined(OS_CFG_SHELL_ENABLE) */ |
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| 244 | #define AMIROOS_CFG_SHELL_ENABLE OS_CFG_SHELL_ENABLE
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| 245 | #endif /* !defined(OS_CFG_SHELL_ENABLE) */ |
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| 246 | |||
| 247 | /**
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| 248 | * @brief Shell thread stack size.
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| 249 | */
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| 250 | #if !defined(OS_CFG_SHELL_STACKSIZE)
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| 251 | #define AMIROOS_CFG_SHELL_STACKSIZE 1024 |
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| 252 | #else /* !defined(OS_CFG_SHELL_STACKSIZE) */ |
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| 253 | #define AMIROOS_CFG_SHELL_STACKSIZE OS_CFG_SHELL_STACKSIZE
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| 254 | #endif /* !defined(OS_CFG_SHELL_STACKSIZE) */ |
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| 255 | |||
| 256 | /**
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| 257 | * @brief Shell thread priority.
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| 258 | * @details Thread priorities are specified as an integer value.
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| 259 | * Predefined ranges are:
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| 260 | * lowest ┌ THD_LOWPRIO_MIN
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| 261 | * │ ...
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| 262 | * └ THD_LOWPRIO_MAX
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| 263 | * ┌ THD_NORMALPRIO_MIN
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| 264 | * │ ...
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| 265 | * └ THD_NORMALPRIO_MAX
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| 266 | * ┌ THD_HIGHPRIO_MIN
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| 267 | * │ ...
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| 268 | * └ THD_HIGHPRIO_MAX
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| 269 | * ┌ THD_RTPRIO_MIN
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| 270 | * │ ...
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| 271 | * highest └ THD_RTPRIO_MAX
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| 272 | */
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| 273 | #if !defined(OS_CFG_SHELL_THREADPRIO)
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| 274 | #define AMIROOS_CFG_SHELL_THREADPRIO AOS_THD_NORMALPRIO_MIN
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| 275 | #else /* !defined(OS_CFG_SHELL_THREADPRIO) */ |
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| 276 | #define AMIROOS_CFG_SHELL_THREADPRIO OS_CFG_SHELL_THREADPRIO
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| 277 | #endif /* !defined(OS_CFG_SHELL_THREADPRIO) */ |
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| 278 | |||
| 279 | /**
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| 280 | * @brief Shell maximum input line length.
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| 281 | */
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| 282 | #if !defined(OS_CFG_SHELL_LINEWIDTH)
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| 283 | cc33217b | Thomas Schöpping | #define AMIROOS_CFG_SHELL_LINEWIDTH 80 |
| 284 | abb8b3f4 | Thomas Schöpping | #else /* !defined(OS_CFG_SHELL_LINEWIDTH) */ |
| 285 | #define AMIROOS_CFG_SHELL_LINEWIDTH OS_CFG_SHELL_LINEWIDTH
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| 286 | #endif /* !defined(OS_CFG_SHELL_LINEWIDTH) */ |
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| 287 | |||
| 288 | /**
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| 289 | * @brief Shell maximum number of arguments.
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| 290 | */
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| 291 | #if !defined(OS_CFG_SHELL_MAXARGS)
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| 292 | cc33217b | Thomas Schöpping | #define AMIROOS_CFG_SHELL_MAXARGS 8 |
| 293 | abb8b3f4 | Thomas Schöpping | #else /* !defined(OS_CFG_SHELL_MAXARGS) */ |
| 294 | #define AMIROOS_CFG_SHELL_MAXARGS OS_CFG_SHELL_MAXARGS
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| 295 | #endif /* !defined(OS_CFG_SHELL_MAXARGS) */ |
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| 296 | |||
| 297 | /** @} */
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| 298 | |||
| 299 | #endif /* AOSCONF_H */ |
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| 300 | |||
| 301 | /** @} */ |