amiro-os / modules / aos_chconf.h @ f3b3fe09
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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/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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*/
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#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.
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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 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 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.
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*/
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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.
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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 Objects factory options
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* @{
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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.
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*
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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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/**
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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.
|
| 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.
|
| 497 |
*/
|
| 498 |
#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
|
| 502 |
#endif
|
| 503 |
|
| 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
|
| 514 |
#else
|
| 515 |
#define CH_DBG_FILL_THREADS FALSE
|
| 516 |
#endif
|
| 517 |
|
| 518 |
/**
|
| 519 |
* @brief Debug option, threads profiling.
|
| 520 |
* @details If enabled then a field is added to the @p thread_t structure that
|
| 521 |
* counts the system ticks occurred while executing the thread.
|
| 522 |
*
|
| 523 |
* @note The default is @p FALSE.
|
| 524 |
* @note This debug option is not currently compatible with the
|
| 525 |
* tickless mode.
|
| 526 |
*/
|
| 527 |
#if ((CH_CFG_ST_TIMEDELTA == 0) && (AMIROOS_CFG_PROFILE == true)) || defined(__DOXYGEN__) |
| 528 |
#define CH_DBG_THREADS_PROFILING TRUE
|
| 529 |
#else
|
| 530 |
#define CH_DBG_THREADS_PROFILING FALSE
|
| 531 |
#endif
|
| 532 |
|
| 533 |
/** @} */
|
| 534 |
|
| 535 |
/*===========================================================================*/
|
| 536 |
/**
|
| 537 |
* @name Kernel hooks
|
| 538 |
* @{
|
| 539 |
*/
|
| 540 |
/*===========================================================================*/
|
| 541 |
|
| 542 |
/**
|
| 543 |
* @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 \
|
| 547 |
/* Add threads custom fields here.*/
|
| 548 |
|
| 549 |
/**
|
| 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() { \
|
| 555 |
/* Add threads initialization code here.*/ \
|
| 556 |
} |
| 557 |
|
| 558 |
/**
|
| 559 |
* @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 \
|
| 563 |
/* Add threads custom fields here.*/
|
| 564 |
|
| 565 |
/**
|
| 566 |
* @brief Threads initialization hook.
|
| 567 |
* @details User initialization code added to the @p _thread_init() function.
|
| 568 |
*
|
| 569 |
* @note It is invoked from within @p _thread_init() and implicitly from all
|
| 570 |
* the threads creation APIs.
|
| 571 |
*/
|
| 572 |
#define CH_CFG_THREAD_INIT_HOOK(tp) { \
|
| 573 |
/* 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) { \
|
| 581 |
/* 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) { \
|
| 589 |
/* Context switch code here.*/ \
|
| 590 |
} |
| 591 |
|
| 592 |
/**
|
| 593 |
* @brief ISR enter hook.
|
| 594 |
*/
|
| 595 |
#define CH_CFG_IRQ_PROLOGUE_HOOK() { \
|
| 596 |
/* IRQ prologue code here.*/ \
|
| 597 |
} |
| 598 |
|
| 599 |
/**
|
| 600 |
* @brief ISR exit hook.
|
| 601 |
*/
|
| 602 |
#define CH_CFG_IRQ_EPILOGUE_HOOK() { \
|
| 603 |
/* IRQ epilogue code here.*/ \
|
| 604 |
} |
| 605 |
|
| 606 |
/**
|
| 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() { \
|
| 613 |
/* Idle-enter code here.*/ \
|
| 614 |
} |
| 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 |
|
| 626 |
/**
|
| 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 |
|
| 643 |
/**
|
| 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) { \
|
| 649 |
extern void aosPrintHaltErrorCode(const char* reason); \ |
| 650 |
aosPrintHaltErrorCode(reason); \ |
| 651 |
} |
| 652 |
|
| 653 |
/**
|
| 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 |
} |
| 661 |
|
| 662 |
/** @} */
|
| 663 |
|
| 664 |
/*===========================================================================*/
|
| 665 |
/**
|
| 666 |
* @name Port specific settings
|
| 667 |
*/
|
| 668 |
/*===========================================================================*/
|
| 669 |
|
| 670 |
// These settings are specific to each module.
|
| 671 |
|
| 672 |
/*===========================================================================*/
|
| 673 |
/**
|
| 674 |
* @name other
|
| 675 |
* @{
|
| 676 |
*/
|
| 677 |
/*===========================================================================*/
|
| 678 |
|
| 679 |
/**
|
| 680 |
* @brief Flag to enable/disable floating point support in chprintf() and all deriviates.
|
| 681 |
*/
|
| 682 |
#define CHPRINTF_USE_FLOAT TRUE
|
| 683 |
|
| 684 |
/** @} */
|
| 685 |
|
| 686 |
#endif /* _AOS_CHCONF_H_ */ |
| 687 |
|
| 688 |
/** @} */
|