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/*
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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/LightRing/chconf.h
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 * @brief   ChibiOS Configuration file for the LightRing module.
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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 _CHCONF_H_
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#define _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 time counter resolution.
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 * @note    Allowed values are 16 or 32 bits.
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 */
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#define CH_CFG_ST_RESOLUTION                16
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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 (AMIROOS_CFG_TESTS_ENABLE != true) || defined(__DOXYGEN__)
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#define CH_CFG_ST_FREQUENCY                 1000000UL
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#else
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#define CH_CFG_ST_FREQUENCY                 100000UL
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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 (AMIROOS_CFG_TESTS_ENABLE != true) || defined(__DOXYGEN__)
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#define CH_CFG_ST_TIMEDELTA                 10
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#else
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#define CH_CFG_ST_TIMEDELTA                 2
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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                       FALSE
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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   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               FALSE
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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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 */
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#define CH_CFG_USE_CONDVARS                 FALSE
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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         FALSE
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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.
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 */
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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.
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 */
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#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
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/**
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 * @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.
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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_MESSAGES                 FALSE
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/**
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 * @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.
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 */
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#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
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/**
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 * @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.
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 */
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#define CH_CFG_USE_MAILBOXES                FALSE
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/**
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 * @brief   I/O Queues APIs.
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 * @details If enabled then the I/O queues 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_QUEUES                   FALSE
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/**
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 * @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.
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 */
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#define CH_CFG_USE_MEMCORE                  FALSE
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/**
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 * @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.
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 */
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#define CH_CFG_USE_HEAP                     FALSE
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/**
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 * @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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 *
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 * @note    The default is @p TRUE.
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 */
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#define CH_CFG_USE_MEMPOOLS                 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.
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 */
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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 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.
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 *
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 * @note    The default is @p FALSE.
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 */
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#define CH_DBG_STATISTICS                   FALSE
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/**
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 * @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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/**
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 * @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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/**
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 * @brief   Debug option, consistency checks.
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 * @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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/**
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 * @brief   Debug option, trace buffer.
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 * @details If enabled then the trace buffer is activated.
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 *
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 * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
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 */
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#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_DISABLED
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/**
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 * @brief   Trace buffer entries.
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 * @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.
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 */
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#define CH_DBG_TRACE_BUFFER_SIZE            128
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/**
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 * @brief   Debug option, stack checks.
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 * @details If enabled then a runtime stack check is performed.
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 *
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 * @note    The default is @p FALSE.
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 * @note    The stack check is performed in a architecture/port dependent way.
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 *          It may not be implemented or some ports.
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 * @note    The default failure mode is to halt the system with the global
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 *          @p panic_msg variable set to @p NULL.
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 */
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#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
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#define CH_DBG_ENABLE_STACK_CHECK           TRUE
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#else
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#define CH_DBG_ENABLE_STACK_CHECK           FALSE
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#endif
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/**
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 * @brief   Debug option, stacks initialization.
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 * @details If enabled then the threads working area is filled with a byte
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 *          value when a thread is created. This can be useful for the
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 *          runtime measurement of the used stack.
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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_PROFILE == true) || defined(__DOXYGEN__)
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#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
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/**
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 * @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.
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 *
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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.
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 */
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#if ((CH_CFG_ST_TIMEDELTA == 0) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__)
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  #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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/*===========================================================================*/
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/**
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 * @name Kernel hooks
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 * @{
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 */
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/*===========================================================================*/
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/**
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 * @brief   Threads descriptor structure extension.
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 * @details User fields added to the end of the @p thread_t structure.
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 */
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#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
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  /* Add threads custom fields here.*/
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/**
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 * @brief   Threads initialization hook.
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 * @details User initialization code added to the @p chThdInit() API.
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 *
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 * @note    It is invoked from within @p chThdInit() and implicitly from all
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 *          the threads creation APIs.
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 */
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#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
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  /* Add threads initialization code here.*/                                \
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}
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/**
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 * @brief   Threads finalization hook.
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 * @details User finalization code added to the @p chThdExit() API.
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 *
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 * @note    It is inserted into lock zone.
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 * @note    It is also invoked when the threads simply return in order to
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 *          terminate.
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 */
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#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
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  /* Add threads finalization code here.*/                                  \
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}
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/**
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 * @brief   Context switch hook.
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 * @details This hook is invoked just before switching between threads.
485
 */
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#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
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  /* Context switch code here.*/                                            \
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}
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/**
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 * @brief   ISR enter hook.
492
 */
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#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
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  /* IRQ prologue code here.*/                                              \
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}
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/**
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 * @brief   ISR exit hook.
499
 */
500
#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
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  /* IRQ epilogue code here.*/                                              \
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}
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/**
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 * @brief   Idle thread enter hook.
506
 * @note    This hook is invoked within a critical zone, no OS functions
507
 *          should be invoked from here.
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 * @note    This macro can be used to activate a power saving mode.
509
 */
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#define CH_CFG_IDLE_ENTER_HOOK() {                                          \
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  /* Idle-enter code here.*/                                                \
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}
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/**
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 * @brief   Idle thread leave hook.
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 * @note    This hook is invoked within a critical zone, no OS functions
517
 *          should be invoked from here.
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 * @note    This macro can be used to deactivate a power saving mode.
519
 */
520
#define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
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  /* Idle-leave code here.*/                                                \
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}
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/**
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 * @brief   Idle Loop hook.
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 * @details This hook is continuously invoked by the idle thread loop.
527
 */
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#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
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  /* Idle loop code here.*/                                                 \
530
}
531

    
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/**
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 * @brief   System tick event hook.
534
 * @details This hook is invoked in the system tick handler immediately
535
 *          after processing the virtual timers queue.
536
 */
537
#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
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  /* System tick event code here.*/                                         \
539
}
540

    
541
/**
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 * @brief   System halt hook.
543
 * @details This hook is invoked in case to a system halting error before
544
 *          the system is halted.
545
 */
546
#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \
547
  extern void aosPrintHaltErrorCode(const char* reason);                       \
548
  aosPrintHaltErrorCode(reason);                                               \
549
}
550

    
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/**
552
 * @brief   Trace hook.
553
 * @details This hook is invoked each time a new record is written in the
554
 *          trace buffer.
555
 */
556
#define CH_CFG_TRACE_HOOK(tep) {                                            \
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  /* Trace code here.*/                                                     \
558
}
559

    
560
/** @} */
561

    
562
/*===========================================================================*/
563
/**
564
 * @name Port specific settings
565
 * @{
566
 */
567
/*===========================================================================*/
568

    
569
/**
570
 * @brief   NVIC VTOR initialization offset.
571
 * @details On initialization, the code at this address in the flash memory will be executed.
572
 */
573
#define CORTEX_VTOR_INIT 0x00006000U
574

    
575
/** @} */
576

    
577
/*===========================================================================*/
578
/**
579
 * @name other
580
 * @{
581
 */
582
/*===========================================================================*/
583

    
584
/**
585
 * @brief   Flag to enable/disable floating point support in chprinf()
586
 */
587
#define CHPRINTF_USE_FLOAT                  TRUE
588

    
589
/** @} */
590

    
591
#endif  /* _CHCONF_H_ */
592

    
593
/** @} */