Revision f4da707a
| modules/NUCLEO-F103RB/Makefile | ||
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################################################################################ |
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# AMiRo-OS is an operating system designed for the Autonomous Mini Robot # |
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# (AMiRo) platform. # |
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# Copyright (C) 2016..2019 Thomas Schöpping et al. # |
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# # |
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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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# # |
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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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# # |
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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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# This research/work was supported by the Cluster of Excellence Cognitive # |
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# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is # |
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# funded by the German Research Foundation (DFG). # |
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################################################################################ |
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################################################################################ |
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# Build global options # |
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# NOTE: Can be overridden externally. # |
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# # |
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# Compiler options here. |
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ifeq ($(USE_OPT),) |
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USE_OPT = -O2 -fomit-frame-pointer -falign-functions=16 -fstack-usage |
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endif |
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# C specific options here (added to USE_OPT). |
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ifeq ($(USE_COPT),) |
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USE_COPT = -std=c11 |
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endif |
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# C++ specific options here (added to USE_OPT). |
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ifeq ($(USE_CPPOPT),) |
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USE_CPPOPT = -fno-rtti -std=c++17 |
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endif |
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# Enable this if you want the linker to remove unused code and data |
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ifeq ($(USE_LINK_GC),) |
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USE_LINK_GC = yes |
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endif |
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# Linker extra options here. |
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ifeq ($(USE_LDOPT),) |
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USE_LDOPT = |
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endif |
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# Enable this if you want link time optimizations (LTO) |
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ifeq ($(USE_LTO),) |
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USE_LTO = yes |
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endif |
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# If enabled, this option allows to compile the application in THUMB mode. |
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ifeq ($(USE_THUMB),) |
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USE_THUMB = yes |
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endif |
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# Enable this if you want to see the full log while compiling. |
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ifeq ($(USE_VERBOSE_COMPILE),) |
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USE_VERBOSE_COMPILE = no |
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endif |
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# If enabled, this option makes the build process faster by not compiling |
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# modules not used in the current configuration. |
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ifeq ($(USE_SMART_BUILD),) |
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USE_SMART_BUILD = no |
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endif |
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# # |
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# Build global options # |
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################################################################################ |
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################################################################################ |
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# Architecture or project specific options # |
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# # |
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# Stack size to be allocated to the Cortex-M process stack. This stack is |
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# the stack used by the main() thread. |
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ifeq ($(USE_PROCESS_STACKSIZE),) |
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USE_PROCESS_STACKSIZE = 0x400 |
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endif |
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# Stack size to the allocated to the Cortex-M main/exceptions stack. This |
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# stack is used for processing interrupts and exceptions. |
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ifeq ($(USE_EXCEPTIONS_STACKSIZE),) |
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USE_EXCEPTIONS_STACKSIZE = 0x400 |
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endif |
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# Enables the use of FPU on Cortex-M4. |
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# Possible selections are: |
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# no - no FPU is used (probably equals 'soft') |
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# soft - does not use the FPU, thus all floating point operations are emulated |
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# softfp - uses the FPU, but uses the integer registers only |
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# hard - uses the FPU and passes data via the FPU registers |
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ifeq ($(USE_FPU),) |
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USE_FPU = no |
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endif |
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# # |
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# Architecture or project specific options # |
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################################################################################ |
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################################################################################ |
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# Project, sources and paths # |
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# # |
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# Define project name here |
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PROJECT := $(patsubst $(abspath $(dir $(abspath $(lastword $(MAKEFILE_LIST))))..)/%,%,$(abspath $(dir $(abspath $(lastword $(MAKEFILE_LIST)))))) |
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# Imported source files and paths |
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include ../../kernel/kernel.mk |
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CHIBIOS := $(AMIROOS_KERNEL) |
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AMIROOS = ../.. |
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# Licensing files |
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include $(CHIBIOS)/os/license/license.mk |
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# Startup files |
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include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f1xx.mk |
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# HAL-OSAL files |
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include $(CHIBIOS)/os/hal/hal.mk |
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include $(CHIBIOS)/os/hal/ports/STM32/STM32F1xx/platform.mk |
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include $(CHIBIOS)/os/hal/osal/rt/osal.mk |
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# RTOS files |
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include $(CHIBIOS)/os/rt/rt.mk |
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include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk |
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# Other files (optional). |
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include $(CHIBIOS)/test/lib/test.mk |
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include $(CHIBIOS)/test/rt/rt_test.mk |
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include $(CHIBIOS)/test/oslib/oslib_test.mk |
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# AMiRo-BLT files |
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include ../../bootloader/bootloader.mk |
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# AMiRo-LLD files |
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include ../../periphery-lld/periphery-lld.mk |
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# AMiRo-OS files |
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include ../modules.mk |
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include $(AMIROOS)/core/core.mk |
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include $(AMIROOS)/unittests/unittests.mk |
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# Define linker script file here |
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LDSCRIPT= STM32F103xB.ld |
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# C sources that can be compiled in ARM or THUMB mode depending on the global |
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# setting. |
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CSRC = $(LICSRC) \ |
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$(STARTUPSRC) \ |
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$(KERNSRC) \ |
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$(PORTSRC) \ |
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$(OSALSRC) \ |
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$(HALSRC) \ |
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$(PLATFORMSRC) \ |
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$(MODULESCSRC) \ |
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$(TESTSRC) \ |
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$(PERIPHERYLLDCSRC) \ |
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$(AMIROOSCORECSRC) \ |
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$(UNITTESTSCSRC) \ |
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$(CHIBIOS)/os/various/evtimer.c \ |
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$(CHIBIOS)/os/various/syscalls.c \ |
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$(CHIBIOS)/os/hal/lib/streams/chprintf.c \ |
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board.c \ |
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module.c \ |
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$(APPSCSRC) |
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# C++ sources that can be compiled in ARM or THUMB mode depending on the global |
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# setting. |
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CPPSRC = $(AMIROOSCORECPPSRC) \ |
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$(CHIBIOS)/os/various/cpp_wrappers/syscalls_cpp.cpp \ |
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$(APPSCPPSRC) |
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# C sources to be compiled in ARM mode regardless of the global setting. |
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler |
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# option that results in lower performance and larger code size. |
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ACSRC = $(APPSACSRC) |
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# C++ sources to be compiled in ARM mode regardless of the global setting. |
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler |
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# option that results in lower performance and larger code size. |
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ACPPSRC = $(APPSACPPSRC) |
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# C sources to be compiled in THUMB mode regardless of the global setting. |
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler |
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# option that results in lower performance and larger code size. |
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TCSRC = $(APPSTCSRC) |
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# C sources to be compiled in THUMB mode regardless of the global setting. |
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler |
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# option that results in lower performance and larger code size. |
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TCPPSRC = $(APPSTCPPSRC) |
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# List ASM source files here |
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ASMSRC = $(APPSASMSRC) |
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ASMXSRC = $(STARTUPASM) \ |
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$(PORTASM) \ |
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$(OSALASM) \ |
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$(APPSASMXSRC) |
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INCDIR = $(LICINC) \ |
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$(STARTUPINC) \ |
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$(KERNINC) \ |
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$(PORTINC) \ |
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$(OSALINC) \ |
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$(HALINC) \ |
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$(PLATFORMINC) \ |
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$(MODULESINC) \ |
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$(TESTINC) \ |
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$(BOOTLOADERINC) \ |
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$(CHIBIOS)/os/hal/lib/streams \ |
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$(PERIPHERYLLDINC) \ |
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$(AMIROOS) \ |
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$(AMIROOSCOREINC) \ |
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$(UNITTESTSINC) \ |
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$(APPSINC) |
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# # |
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# Project, sources and paths # |
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################################################################################ |
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################################################################################ |
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# Compiler settings # |
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# NOTE: Some can be overridden externally. # |
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# # |
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MCU = cortex-m4 |
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#TRGT = arm-elf- |
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TRGT = arm-none-eabi- |
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CC = $(TRGT)gcc |
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CPPC = $(TRGT)g++ |
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# Enable loading with g++ only if you need C++ runtime support. |
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# NOTE: You can use C++ even without C++ support if you are careful. C++ |
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# runtime support makes code size explode. |
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LD = $(TRGT)gcc |
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#LD = $(TRGT)g++ |
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CP = $(TRGT)objcopy |
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AS = $(TRGT)gcc -x assembler-with-cpp |
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AR = $(TRGT)ar |
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OD = $(TRGT)objdump |
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SZ = $(TRGT)size |
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HEX = $(CP) -O ihex |
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BIN = $(CP) -O binary |
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SREC = $(CP) -O srec --srec-len=248 |
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# ARM-specific options here |
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ifeq ($(AOPT),) |
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AOPT = |
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endif |
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# THUMB-specific options here |
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ifeq ($(TOPT),) |
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TOPT = -mthumb -DTHUMB |
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endif |
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# Define C warning options here |
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ifeq ($(CWARN),) |
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CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes |
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endif |
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# Define C++ warning options here |
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ifeq ($(CPPWARN),) |
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CPPWARN = -Wall -Wextra -Wundef |
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endif |
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# # |
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# Compiler settings # |
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################################################################################ |
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################################################################################ |
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# Start of user section # |
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# # |
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# List all user C define here, like -D_DEBUG=1 |
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UDEFS += |
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# Define ASM defines here |
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UADEFS += |
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# List all user directories here |
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UINCDIR += |
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# List the user directory to look for the libraries here |
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ULIBDIR += |
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# List all user libraries here |
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ULIBS += |
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# # |
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# End of user defines # |
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################################################################################ |
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################################################################################ |
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# Start of targets section # |
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# # |
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# all and its dependencies |
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ifeq ($(BUILDDIR),) |
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BUILDDIR = ./build |
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endif |
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RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC |
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include $(RULESPATH)/rules.mk |
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# flash |
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include $(AMIROOS)/bootloader/bootloader.mk |
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flash: $(BUILDDIR)/$(PROJECT).elf |
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openocd -f interface/stlink-v2-1.cfg -c "set WORKAREASIZE 0x2000" -f target/stm32f1x.cfg -c "program build/$(PROJECT).elf verify reset exit" |
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# # |
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# End of targets section # |
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################################################################################ |
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| modules/NUCLEO-F103RB/STM32F103xB.ld | ||
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/* |
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ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio |
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Licensed under the Apache License, Version 2.0 (the "License"); |
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you may not use this file except in compliance with the License. |
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You may obtain a copy of the License at |
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http://www.apache.org/licenses/LICENSE-2.0 |
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Unless required by applicable law or agreed to in writing, software |
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distributed under the License is distributed on an "AS IS" BASIS, |
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
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See the License for the specific language governing permissions and |
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limitations under the License. |
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*/ |
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/* |
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* ST32F103xB memory setup. |
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*/ |
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MEMORY |
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{
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flash0 : org = 0x08000000, len = 128k |
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flash1 : org = 0x00000000, len = 0 |
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flash2 : org = 0x00000000, len = 0 |
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flash3 : org = 0x00000000, len = 0 |
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flash4 : org = 0x00000000, len = 0 |
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flash5 : org = 0x00000000, len = 0 |
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flash6 : org = 0x00000000, len = 0 |
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flash7 : org = 0x00000000, len = 0 |
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ram0 : org = 0x20000000, len = 20k |
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ram1 : org = 0x00000000, len = 0 |
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ram2 : org = 0x00000000, len = 0 |
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ram3 : org = 0x00000000, len = 0 |
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ram4 : org = 0x00000000, len = 0 |
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ram5 : org = 0x00000000, len = 0 |
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ram6 : org = 0x00000000, len = 0 |
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ram7 : org = 0x00000000, len = 0 |
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} |
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/* For each data/text section two region are defined, a virtual region |
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and a load region (_LMA suffix).*/ |
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/* Flash region to be used for exception vectors.*/ |
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REGION_ALIAS("VECTORS_FLASH", flash0);
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REGION_ALIAS("VECTORS_FLASH_LMA", flash0);
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/* Flash region to be used for constructors and destructors.*/ |
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REGION_ALIAS("XTORS_FLASH", flash0);
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REGION_ALIAS("XTORS_FLASH_LMA", flash0);
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/* Flash region to be used for code text.*/ |
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REGION_ALIAS("TEXT_FLASH", flash0);
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REGION_ALIAS("TEXT_FLASH_LMA", flash0);
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/* Flash region to be used for read only data.*/ |
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REGION_ALIAS("RODATA_FLASH", flash0);
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REGION_ALIAS("RODATA_FLASH_LMA", flash0);
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/* Flash region to be used for various.*/ |
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REGION_ALIAS("VARIOUS_FLASH", flash0);
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REGION_ALIAS("VARIOUS_FLASH_LMA", flash0);
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/* Flash region to be used for RAM(n) initialization data.*/ |
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REGION_ALIAS("RAM_INIT_FLASH_LMA", flash0);
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/* RAM region to be used for Main stack. This stack accommodates the processing |
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of all exceptions and interrupts.*/ |
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REGION_ALIAS("MAIN_STACK_RAM", ram0);
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/* RAM region to be used for the process stack. This is the stack used by |
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the main() function.*/ |
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REGION_ALIAS("PROCESS_STACK_RAM", ram0);
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/* RAM region to be used for data segment.*/ |
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REGION_ALIAS("DATA_RAM", ram0);
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REGION_ALIAS("DATA_RAM_LMA", flash0);
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/* RAM region to be used for BSS segment.*/ |
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REGION_ALIAS("BSS_RAM", ram0);
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/* RAM region to be used for the default heap.*/ |
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REGION_ALIAS("HEAP_RAM", ram0);
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/* Generic rules inclusion.*/ |
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INCLUDE rules.ld |
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| modules/NUCLEO-F103RB/alldconf.h | ||
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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..2019 Thomas Schöpping et al. |
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|
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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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|
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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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|
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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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|
|
| 19 |
/** |
|
| 20 |
* @file |
|
| 21 |
* @brief AMiRo-LLD configuration file for the NUCLEO-F103RB board. |
|
| 22 |
* @details Contains the application specific AMiRo-LLD settings. |
|
| 23 |
* |
|
| 24 |
* @addtogroup NUCLEO-F103RB_lld_config |
|
| 25 |
* @{
|
|
| 26 |
*/ |
|
| 27 |
|
|
| 28 |
#ifndef _ALLDCONF_H_ |
|
| 29 |
#define _ALLDCONF_H_ |
|
| 30 |
|
|
| 31 |
/* |
|
| 32 |
* compatibility guards |
|
| 33 |
*/ |
|
| 34 |
#define _AMIRO_LLD_CFG_ |
|
| 35 |
#define AMIRO_LLD_CFG_VERSION_MAJOR 1 |
|
| 36 |
#define AMIRO_LLD_CFG_VERSION_MINOR 0 |
|
| 37 |
|
|
| 38 |
/** |
|
| 39 |
* @brief Width of the apalTime_t data type. |
|
| 40 |
* |
|
| 41 |
* @details Possible values are 8, 16, 32, and 64 bits. |
|
| 42 |
* By definition time is represented at microsecond precision. |
|
| 43 |
*/ |
|
| 44 |
#define AMIROLLD_CFG_TIME_SIZE 32 |
|
| 45 |
|
|
| 46 |
#endif /* _ALLDCONF_H_ */ |
|
| 47 |
|
|
| 48 |
/** @} */ |
|
| modules/NUCLEO-F103RB/aosconf.h | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform. |
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al. |
|
| 4 |
|
|
| 5 |
This program is free software: you can redistribute it and/or modify |
|
| 6 |
it under the terms of the GNU General Public License as published by |
|
| 7 |
the Free Software Foundation, either version 3 of the License, or |
|
| 8 |
(at your option) any later version. |
|
| 9 |
|
|
| 10 |
This program is distributed in the hope that it will be useful, |
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 13 |
GNU General Public License for more details. |
|
| 14 |
|
|
| 15 |
You should have received a copy of the GNU General Public License |
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 17 |
*/ |
|
| 18 |
|
|
| 19 |
/** |
|
| 20 |
* @file |
|
| 21 |
* @brief AMiRo-OS Configuration file for the NUCLEO-F103RB module. |
|
| 22 |
* @details Contains the application specific AMiRo-OS settings. |
|
| 23 |
* |
|
| 24 |
* @addtogroup NUCLEO-F103RB_aos_config |
|
| 25 |
* @{
|
|
| 26 |
*/ |
|
| 27 |
|
|
| 28 |
#ifndef _AOSCONF_H_ |
|
| 29 |
#define _AOSCONF_H_ |
|
| 30 |
|
|
| 31 |
/* |
|
| 32 |
* compatibility guards |
|
| 33 |
*/ |
|
| 34 |
#define _AMIRO_OS_CFG_ |
|
| 35 |
#define _AMIRO_OS_CFG_VERSION_MAJOR_ 2 |
|
| 36 |
#define _AMIRO_OS_CFG_VERSION_MINOR_ 0 |
|
| 37 |
|
|
| 38 |
#include <stdbool.h> |
|
| 39 |
|
|
| 40 |
/* |
|
| 41 |
* Include an external configuration file to override the following default settings only if required. |
|
| 42 |
*/ |
|
| 43 |
#if defined(AMIRO_APPS) && (AMIRO_APPS == true) |
|
| 44 |
#include <osconf.h> |
|
| 45 |
#endif |
|
| 46 |
|
|
| 47 |
/*===========================================================================*/ |
|
| 48 |
/** |
|
| 49 |
* @name Kernel parameters and options |
|
| 50 |
* @{
|
|
| 51 |
*/ |
|
| 52 |
/*===========================================================================*/ |
|
| 53 |
|
|
| 54 |
/** |
|
| 55 |
* @brief Flag to enable/disable debug API and logic. |
|
| 56 |
*/ |
|
| 57 |
#if !defined(OS_CFG_DBG) |
|
| 58 |
#define AMIROOS_CFG_DBG true |
|
| 59 |
#else |
|
| 60 |
#define AMIROOS_CFG_DBG OS_CFG_DBG |
|
| 61 |
#endif |
|
| 62 |
|
|
| 63 |
/** |
|
| 64 |
* @brief Flag to enable/disable unit tests. |
|
| 65 |
* @note Setting this flag will implicitely enable the shell. |
|
| 66 |
*/ |
|
| 67 |
#if !defined(OS_CFG_TESTS_ENABLE) |
|
| 68 |
#define AMIROOS_CFG_TESTS_ENABLE true |
|
| 69 |
#else |
|
| 70 |
#define AMIROOS_CFG_TESTS_ENABLE OS_CFG_TESTS_ENABLE |
|
| 71 |
#endif |
|
| 72 |
|
|
| 73 |
/** |
|
| 74 |
* @brief Flag to enable/disable profiling API and logic. |
|
| 75 |
*/ |
|
| 76 |
#if !defined(OS_CFG_PROFILE) |
|
| 77 |
#define AMIROOS_CFG_PROFILE true |
|
| 78 |
#else |
|
| 79 |
#define AMIROOS_CFG_PROFILE OS_CFG_PROFILE |
|
| 80 |
#endif |
|
| 81 |
|
|
| 82 |
/** |
|
| 83 |
* @brief Mask for the control thread to listen to certain IO events. |
|
| 84 |
* @note Any mandatory events (e.g. for SSSP) are enabled implicitely despite this configuration. |
|
| 85 |
*/ |
|
| 86 |
#if !defined(OS_CFG_MAIN_LOOP_IOEVENT_MASK) |
|
| 87 |
#define AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK MODULE_OS_IOEVENTFLAGS_USERBUTTON |
|
| 88 |
#else |
|
| 89 |
#define AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK OS_CFG_MAIN_LOOP_IOEVENT_MASK |
|
| 90 |
#endif |
|
| 91 |
|
|
| 92 |
/** |
|
| 93 |
* @brief Timeout value when waiting for events in the main loop in microseconds. |
|
| 94 |
* @details A value of 0 deactivates the timeout. |
|
| 95 |
*/ |
|
| 96 |
#if !defined(OS_CFG_MAIN_LOOP_TIMEOUT) |
|
| 97 |
#define AMIROOS_CFG_MAIN_LOOP_TIMEOUT 0 |
|
| 98 |
#else |
|
| 99 |
#define AMIROOS_CFG_MAIN_LOOP_TIMEOUT OS_CFG_MAIN_LOOP_TIMEOUT |
|
| 100 |
#endif |
|
| 101 |
|
|
| 102 |
/** @} */ |
|
| 103 |
|
|
| 104 |
/*===========================================================================*/ |
|
| 105 |
/** |
|
| 106 |
* @name SSSP (Startup Shutdown Synchronization Protocol) configuration. |
|
| 107 |
* @{
|
|
| 108 |
*/ |
|
| 109 |
/*===========================================================================*/ |
|
| 110 |
|
|
| 111 |
/** |
|
| 112 |
* @brief Flag to enable SSSP. |
|
| 113 |
*/ |
|
| 114 |
#if !defined(OS_CFG_SSSP_ENABLE) |
|
| 115 |
#define AMIROOS_CFG_SSSP_ENABLE false |
|
| 116 |
#else |
|
| 117 |
#define AMIROOS_CFG_SSSP_ENABLE OS_CFG_SSSP_ENABLE |
|
| 118 |
#endif |
|
| 119 |
|
|
| 120 |
/** |
|
| 121 |
* @brief Flag to set the module as SSSP master. |
|
| 122 |
* @details There must be only one module with this flag set to true in a system. |
|
| 123 |
*/ |
|
| 124 |
#if !defined(OS_CFG_SSSP_MASTER) |
|
| 125 |
#define AMIROOS_CFG_SSSP_MASTER false |
|
| 126 |
#else |
|
| 127 |
#define AMIROOS_CFG_SSSP_MASTER OS_CFG_SSSP_MASTER |
|
| 128 |
#endif |
|
| 129 |
|
|
| 130 |
/** |
|
| 131 |
* @brief Flag to set the module to be the first in the stack. |
|
| 132 |
* @details There must be only one module with this flag set to true in a system. |
|
| 133 |
*/ |
|
| 134 |
#if !defined(OS_CFG_SSSP_STACK_START) |
|
| 135 |
#define AMIROOS_CFG_SSSP_STACK_START false |
|
| 136 |
#else |
|
| 137 |
#define AMIROOS_CFG_SSSP_STACK_START OS_CFG_SSSP_STACK_START |
|
| 138 |
#endif |
|
| 139 |
|
|
| 140 |
/** |
|
| 141 |
* @brief Flag to set the module to be the last in the stack. |
|
| 142 |
* @details There must be only one module with this flag set to true in a system. |
|
| 143 |
*/ |
|
| 144 |
#if !defined(OS_CFG_SSSP_STACK_END) |
|
| 145 |
#define AMIROOS_CFG_SSSP_STACK_END false |
|
| 146 |
#else |
|
| 147 |
#define AMIROOS_CFG_SSSP_STACK_END OS_CFG_SSSP_STACK_END |
|
| 148 |
#endif |
|
| 149 |
|
|
| 150 |
/** |
|
| 151 |
* @brief Delay time (in microseconds) how long a SSSP signal must be active. |
|
| 152 |
*/ |
|
| 153 |
#if !defined(OS_CFG_SSSP_SIGNALDELAY) |
|
| 154 |
#define AMIROOS_CFG_SSSP_SIGNALDELAY 1000 |
|
| 155 |
#else |
|
| 156 |
#define AMIROOS_CFG_SSSP_SIGNALDELAY OS_CFG_SSSP_SIGNALDELAY |
|
| 157 |
#endif |
|
| 158 |
|
|
| 159 |
/** |
|
| 160 |
* @brief Time boundary for robot wide clock synchronization in microseconds. |
|
| 161 |
* @details Whenever the SSSP S (snychronization) signal gets logically deactivated, |
|
| 162 |
* All modules need to align their local uptime to the nearest multiple of this value. |
|
| 163 |
*/ |
|
| 164 |
#if !defined(OS_CFG_SSSP_SYSSYNCPERIOD) |
|
| 165 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD 1000000 |
|
| 166 |
#else |
|
| 167 |
#define AMIROOS_CFG_SSSP_SYSSYNCPERIOD OS_CFG_SSSP_SYSSYNCPERIOD |
|
| 168 |
#endif |
|
| 169 |
|
|
| 170 |
/** @} */ |
|
| 171 |
|
|
| 172 |
/*===========================================================================*/ |
|
| 173 |
/** |
|
| 174 |
* @name System shell options |
|
| 175 |
* @{
|
|
| 176 |
*/ |
|
| 177 |
/*===========================================================================*/ |
|
| 178 |
|
|
| 179 |
/** |
|
| 180 |
* @brief Shell enable flag. |
|
| 181 |
*/ |
|
| 182 |
#if !defined(OS_CFG_SHELL_ENABLE) |
|
| 183 |
#define AMIROOS_CFG_SHELL_ENABLE true |
|
| 184 |
#else |
|
| 185 |
#define AMIROOS_CFG_SHELL_ENABLE OS_CFG_SHELL_ENABLE |
|
| 186 |
#endif |
|
| 187 |
|
|
| 188 |
/** |
|
| 189 |
* @brief Shell thread stack size. |
|
| 190 |
*/ |
|
| 191 |
#if !defined(OS_CFG_SHELL_STACKSIZE) |
|
| 192 |
#define AMIROOS_CFG_SHELL_STACKSIZE 1024 |
|
| 193 |
#else |
|
| 194 |
#define AMIROOS_CFG_SHELL_STACKSIZE OS_CFG_SHELL_STACKSIZE |
|
| 195 |
#endif |
|
| 196 |
|
|
| 197 |
/** |
|
| 198 |
* @brief Shell thread priority. |
|
| 199 |
* @details Thread priorities are specified as an integer value. |
|
| 200 |
* Predefined ranges are: |
|
| 201 |
* lowest ┌ THD_LOWPRIO_MIN |
|
| 202 |
* │ ... |
|
| 203 |
* â”” THD_LOWPRIO_MAX |
|
| 204 |
* ┌ THD_NORMALPRIO_MIN |
|
| 205 |
* │ ... |
|
| 206 |
* â”” THD_NORMALPRIO_MAX |
|
| 207 |
* ┌ THD_HIGHPRIO_MIN |
|
| 208 |
* │ ... |
|
| 209 |
* â”” THD_HIGHPRIO_MAX |
|
| 210 |
* ┌ THD_RTPRIO_MIN |
|
| 211 |
* │ ... |
|
| 212 |
* highest â”” THD_RTPRIO_MAX |
|
| 213 |
*/ |
|
| 214 |
#if !defined(OS_CFG_SHELL_THREADPRIO) |
|
| 215 |
#define AMIROOS_CFG_SHELL_THREADPRIO AOS_THD_NORMALPRIO_MIN |
|
| 216 |
#else |
|
| 217 |
#define AMIROOS_CFG_SHELL_THREADPRIO OS_CFG_SHELL_THREADPRIO |
|
| 218 |
#endif |
|
| 219 |
|
|
| 220 |
/** |
|
| 221 |
* @brief Shell maximum input line length. |
|
| 222 |
*/ |
|
| 223 |
#if !defined(OS_CFG_SHELL_LINEWIDTH) |
|
| 224 |
#define AMIROOS_CFG_SHELL_LINEWIDTH 64 |
|
| 225 |
#else |
|
| 226 |
#define AMIROOS_CFG_SHELL_LINEWIDTH OS_CFG_SHELL_LINEWIDTH |
|
| 227 |
#endif |
|
| 228 |
|
|
| 229 |
/** |
|
| 230 |
* @brief Shell maximum number of arguments. |
|
| 231 |
*/ |
|
| 232 |
#if !defined(OS_CFG_SHELL_MAXARGS) |
|
| 233 |
#define AMIROOS_CFG_SHELL_MAXARGS 4 |
|
| 234 |
#else |
|
| 235 |
#define AMIROOS_CFG_SHELL_MAXARGS OS_CFG_SHELL_MAXARGS |
|
| 236 |
#endif |
|
| 237 |
|
|
| 238 |
/** @} */ |
|
| 239 |
|
|
| 240 |
#endif /* _AOSCONF_H_ */ |
|
| 241 |
|
|
| 242 |
/** @} */ |
|
| modules/NUCLEO-F103RB/board.c | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio |
|
| 3 |
|
|
| 4 |
Licensed under the Apache License, Version 2.0 (the "License"); |
|
| 5 |
you may not use this file except in compliance with the License. |
|
| 6 |
You may obtain a copy of the License at |
|
| 7 |
|
|
| 8 |
http://www.apache.org/licenses/LICENSE-2.0 |
|
| 9 |
|
|
| 10 |
Unless required by applicable law or agreed to in writing, software |
|
| 11 |
distributed under the License is distributed on an "AS IS" BASIS, |
|
| 12 |
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
|
| 13 |
See the License for the specific language governing permissions and |
|
| 14 |
limitations under the License. |
|
| 15 |
*/ |
|
| 16 |
|
|
| 17 |
#include "hal.h" |
|
| 18 |
|
|
| 19 |
/** |
|
| 20 |
* @brief PAL setup. |
|
| 21 |
* @details Digital I/O ports static configuration as defined in @p board.h. |
|
| 22 |
* This variable is used by the HAL when initializing the PAL driver. |
|
| 23 |
*/ |
|
| 24 |
#if HAL_USE_PAL || defined(__DOXYGEN__) |
|
| 25 |
const PALConfig pal_default_config = |
|
| 26 |
{
|
|
| 27 |
{VAL_GPIOAODR, VAL_GPIOACRL, VAL_GPIOACRH},
|
|
| 28 |
{VAL_GPIOBODR, VAL_GPIOBCRL, VAL_GPIOBCRH},
|
|
| 29 |
{VAL_GPIOCODR, VAL_GPIOCCRL, VAL_GPIOCCRH},
|
|
| 30 |
{VAL_GPIODODR, VAL_GPIODCRL, VAL_GPIODCRH},
|
|
| 31 |
{VAL_GPIOEODR, VAL_GPIOECRL, VAL_GPIOECRH},
|
|
| 32 |
}; |
|
| 33 |
#endif |
|
| 34 |
|
|
| 35 |
/* |
|
| 36 |
* Early initialization code. |
|
| 37 |
* This initialization must be performed just after stack setup and before |
|
| 38 |
* any other initialization. |
|
| 39 |
*/ |
|
| 40 |
void __early_init(void) {
|
|
| 41 |
|
|
| 42 |
stm32_clock_init(); |
|
| 43 |
} |
|
| 44 |
|
|
| 45 |
/* |
|
| 46 |
* Board-specific initialization code. |
|
| 47 |
*/ |
|
| 48 |
void boardInit(void) {
|
|
| 49 |
} |
|
| modules/NUCLEO-F103RB/board.h | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio |
|
| 3 |
|
|
| 4 |
Licensed under the Apache License, Version 2.0 (the "License"); |
|
| 5 |
you may not use this file except in compliance with the License. |
|
| 6 |
You may obtain a copy of the License at |
|
| 7 |
|
|
| 8 |
http://www.apache.org/licenses/LICENSE-2.0 |
|
| 9 |
|
|
| 10 |
Unless required by applicable law or agreed to in writing, software |
|
| 11 |
distributed under the License is distributed on an "AS IS" BASIS, |
|
| 12 |
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
|
| 13 |
See the License for the specific language governing permissions and |
|
| 14 |
limitations under the License. |
|
| 15 |
*/ |
|
| 16 |
|
|
| 17 |
#ifndef _BOARD_H_ |
|
| 18 |
#define _BOARD_H_ |
|
| 19 |
|
|
| 20 |
/* |
|
| 21 |
* Setup for the ST NUCLEO64-F103RB board. |
|
| 22 |
*/ |
|
| 23 |
|
|
| 24 |
/* |
|
| 25 |
* Board identifier. |
|
| 26 |
*/ |
|
| 27 |
#define BOARD_ST_NUCLEO64_F103RB |
|
| 28 |
#define BOARD_NAME "STMicroelectronics NUCLEO-F103RB" |
|
| 29 |
|
|
| 30 |
/* |
|
| 31 |
* Board frequencies. |
|
| 32 |
*/ |
|
| 33 |
#define STM32_LSECLK 0 |
|
| 34 |
|
|
| 35 |
#if defined(NUCLEO_EXTERNAL_OSCILLATOR) |
|
| 36 |
#define STM32_HSECLK 8000000 |
|
| 37 |
#define STM32_HSE_BYPASS |
|
| 38 |
|
|
| 39 |
#elif defined(NUCLEO_HSE_CRYSTAL) |
|
| 40 |
#define STM32_HSECLK 8000000 |
|
| 41 |
|
|
| 42 |
#else |
|
| 43 |
#define STM32_HSECLK 0 |
|
| 44 |
#endif |
|
| 45 |
|
|
| 46 |
/* |
|
| 47 |
* MCU type, supported types are defined in ./os/hal/platforms/hal_lld.h. |
|
| 48 |
*/ |
|
| 49 |
#define STM32F103xB |
|
| 50 |
|
|
| 51 |
/* |
|
| 52 |
* IO pins assignments. |
|
| 53 |
*/ |
|
| 54 |
#define GPIOA_ARD_A0 0U |
|
| 55 |
#define GPIOA_ADC1_IN0 0U |
|
| 56 |
#define GPIOA_ARD_A1 1U |
|
| 57 |
#define GPIOA_ADC1_IN1 1U |
|
| 58 |
#define GPIOA_ARD_D1 2U |
|
| 59 |
#define GPIOA_USART2_TX 2U |
|
| 60 |
#define GPIOA_ARD_D0 3U |
|
| 61 |
#define GPIOA_USART2_RX 3U |
|
| 62 |
#define GPIOA_ARD_A2 4U |
|
| 63 |
#define GPIOA_ADC1_IN4 4U |
|
| 64 |
#define GPIOA_LED_GREEN 5U |
|
| 65 |
#define GPIOA_ARD_D13 5U |
|
| 66 |
#define GPIOA_ARD_D12 6U |
|
| 67 |
#define GPIOA_ARD_D11 7U |
|
| 68 |
#define GPIOA_ARD_D7 8U |
|
| 69 |
#define GPIOA_ARD_D8 9U |
|
| 70 |
#define GPIOA_ARD_D2 10U |
|
| 71 |
#define GPIOA_PIN11 11U |
|
| 72 |
#define GPIOA_PIN12 12U |
|
| 73 |
#define GPIOA_SWDIO 13U |
|
| 74 |
#define GPIOA_SWCLK 14U |
|
| 75 |
#define GPIOA_PIN15 15U |
|
| 76 |
|
|
| 77 |
#define GPIOB_ARD_A3 0U |
|
| 78 |
#define GPIOB_ADC1_IN8 0U |
|
| 79 |
#define GPIOB_PIN1 1U |
|
| 80 |
#define GPIOB_PIN2 2U |
|
| 81 |
#define GPIOB_SWO 3U |
|
| 82 |
#define GPIOB_ARD_D3 3U |
|
| 83 |
#define GPIOB_ARD_D5 4U |
|
| 84 |
#define GPIOB_ARD_D4 5U |
|
| 85 |
#define GPIOB_ARD_D10 6U |
|
| 86 |
#define GPIOB_PIN7 7U |
|
| 87 |
#define GPIOB_ARD_D15 8U |
|
| 88 |
#define GPIOB_ARD_D14 9U |
|
| 89 |
#define GPIOB_ARD_D6 10U |
|
| 90 |
#define GPIOB_PIN11 11U |
|
| 91 |
#define GPIOB_PIN12 12U |
|
| 92 |
#define GPIOB_PIN13 13U |
|
| 93 |
#define GPIOB_PIN14 14U |
|
| 94 |
#define GPIOB_PIN15 15U |
|
| 95 |
|
|
| 96 |
#define GPIOC_ARD_A5 0U |
|
| 97 |
#define GPIOC_ADC1_IN11 0U |
|
| 98 |
#define GPIOC_ARD_A4 1U |
|
| 99 |
#define GPIOC_ADC1_IN10 1U |
|
| 100 |
#define GPIOC_PIN2 2U |
|
| 101 |
#define GPIOC_PIN3 3U |
|
| 102 |
#define GPIOC_PIN4 4U |
|
| 103 |
#define GPIOC_PIN5 5U |
|
| 104 |
#define GPIOC_PIN6 6U |
|
| 105 |
#define GPIOC_ARD_D9 7U |
|
| 106 |
#define GPIOC_PIN8 8U |
|
| 107 |
#define GPIOC_PIN9 9U |
|
| 108 |
#define GPIOC_PIN10 10U |
|
| 109 |
#define GPIOC_PIN11 11U |
|
| 110 |
#define GPIOC_PIN12 12U |
|
| 111 |
#define GPIOC_BUTTON 13U |
|
| 112 |
#define GPIOC_PIN14 14U |
|
| 113 |
#define GPIOC_PIN15 15U |
|
| 114 |
|
|
| 115 |
#define GPIOD_OSC_IN 0U |
|
| 116 |
#define GPIOD_PIN0 0U |
|
| 117 |
#define GPIOD_OSC_OUT 1U |
|
| 118 |
#define GPIOD_PIN1 1U |
|
| 119 |
#define GPIOD_PIN2 2U |
|
| 120 |
#define GPIOD_PIN3 3U |
|
| 121 |
#define GPIOD_PIN4 4U |
|
| 122 |
#define GPIOD_PIN5 5U |
|
| 123 |
#define GPIOD_PIN6 6U |
|
| 124 |
#define GPIOD_PIN7 7U |
|
| 125 |
#define GPIOD_PIN8 8U |
|
| 126 |
#define GPIOD_PIN9 9U |
|
| 127 |
#define GPIOD_PIN10 10U |
|
| 128 |
#define GPIOD_PIN11 11U |
|
| 129 |
#define GPIOD_PIN12 12U |
|
| 130 |
#define GPIOD_PIN13 13U |
|
| 131 |
#define GPIOD_PIN14 14U |
|
| 132 |
#define GPIOD_PIN15 15U |
|
| 133 |
|
|
| 134 |
#define GPIOE_PIN0 0U |
|
| 135 |
#define GPIOE_PIN1 1U |
|
| 136 |
#define GPIOE_PIN2 2U |
|
| 137 |
#define GPIOE_PIN3 3U |
|
| 138 |
#define GPIOE_PIN4 4U |
|
| 139 |
#define GPIOE_PIN5 5U |
|
| 140 |
#define GPIOE_PIN6 6U |
|
| 141 |
#define GPIOE_PIN7 7U |
|
| 142 |
#define GPIOE_PIN8 8U |
|
| 143 |
#define GPIOE_PIN9 9U |
|
| 144 |
#define GPIOE_PIN10 10U |
|
| 145 |
#define GPIOE_PIN11 11U |
|
| 146 |
#define GPIOE_PIN12 12U |
|
| 147 |
#define GPIOE_PIN13 13U |
|
| 148 |
#define GPIOE_PIN14 14U |
|
| 149 |
#define GPIOE_PIN15 15U |
|
| 150 |
|
|
| 151 |
#define GPIOF_PIN0 0U |
|
| 152 |
#define GPIOF_PIN1 1U |
|
| 153 |
#define GPIOF_PIN2 2U |
|
| 154 |
#define GPIOF_PIN3 3U |
|
| 155 |
#define GPIOF_PIN4 4U |
|
| 156 |
#define GPIOF_PIN5 5U |
|
| 157 |
#define GPIOF_PIN6 6U |
|
| 158 |
#define GPIOF_PIN7 7U |
|
| 159 |
#define GPIOF_PIN8 8U |
|
| 160 |
#define GPIOF_PIN9 9U |
|
| 161 |
#define GPIOF_PIN10 10U |
|
| 162 |
#define GPIOF_PIN11 11U |
|
| 163 |
#define GPIOF_PIN12 12U |
|
| 164 |
#define GPIOF_PIN13 13U |
|
| 165 |
#define GPIOF_PIN14 14U |
|
| 166 |
#define GPIOF_PIN15 15U |
|
| 167 |
/* |
|
| 168 |
* I/O ports initial setup, this configuration is established soon after reset |
|
| 169 |
* in the initialization code. |
|
| 170 |
* |
|
| 171 |
* The digits have the following meaning: |
|
| 172 |
* 0 - Analog input. |
|
| 173 |
* 1 - Push Pull output 10MHz. |
|
| 174 |
* 2 - Push Pull output 2MHz. |
|
| 175 |
* 3 - Push Pull output 50MHz. |
|
| 176 |
* 4 - Digital input. |
|
| 177 |
* 5 - Open Drain output 10MHz. |
|
| 178 |
* 6 - Open Drain output 2MHz. |
|
| 179 |
* 7 - Open Drain output 50MHz. |
|
| 180 |
* 8 - Digital input with PullUp or PullDown resistor depending on ODR. |
|
| 181 |
* 9 - Alternate Push Pull output 10MHz. |
|
| 182 |
* A - Alternate Push Pull output 2MHz. |
|
| 183 |
* B - Alternate Push Pull output 50MHz. |
|
| 184 |
* C - Reserved. |
|
| 185 |
* D - Alternate Open Drain output 10MHz. |
|
| 186 |
* E - Alternate Open Drain output 2MHz. |
|
| 187 |
* F - Alternate Open Drain output 50MHz. |
|
| 188 |
* Please refer to the STM32 Reference Manual for details. |
|
| 189 |
*/ |
|
| 190 |
|
|
| 191 |
/* |
|
| 192 |
* Port A setup. |
|
| 193 |
* Everything input with pull-up except: |
|
| 194 |
* PA2 - Alternate output (GPIOA_ARD_D1, GPIOA_USART2_TX). |
|
| 195 |
* PA3 - Normal input (GPIOA_ARD_D0, GPIOA_USART2_RX). |
|
| 196 |
* PA5 - Push Pull output (GPIOA_LED_GREEN). |
|
| 197 |
* PA13 - Pull-up input (GPIOA_SWDIO). |
|
| 198 |
* PA14 - Pull-down input (GPIOA_SWCLK). |
|
| 199 |
*/ |
|
| 200 |
#define VAL_GPIOACRL 0x88384B88 /* PA7...PA0 */ |
|
| 201 |
#define VAL_GPIOACRH 0x88888888 /* PA15...PA8 */ |
|
| 202 |
#define VAL_GPIOAODR 0xFFFFBFDF |
|
| 203 |
|
|
| 204 |
/* |
|
| 205 |
* Port B setup. |
|
| 206 |
* Everything input with pull-up except: |
|
| 207 |
* PB3 - Pull-up input (GPIOA_SWO). |
|
| 208 |
*/ |
|
| 209 |
#define VAL_GPIOBCRL 0x88888888 /* PB7...PB0 */ |
|
| 210 |
#define VAL_GPIOBCRH 0x88888888 /* PB15...PB8 */ |
|
| 211 |
#define VAL_GPIOBODR 0xFFFFFFFF |
|
| 212 |
|
|
| 213 |
/* |
|
| 214 |
* Port C setup. |
|
| 215 |
* Everything input with pull-up except: |
|
| 216 |
* PC13 - Normal input (GPIOC_BUTTON). |
|
| 217 |
*/ |
|
| 218 |
#define VAL_GPIOCCRL 0x88888888 /* PC7...PC0 */ |
|
| 219 |
#define VAL_GPIOCCRH 0x88488888 /* PC15...PC8 */ |
|
| 220 |
#define VAL_GPIOCODR 0xFFFFFFFF |
|
| 221 |
|
|
| 222 |
/* |
|
| 223 |
* Port D setup. |
|
| 224 |
* Everything input with pull-up except: |
|
| 225 |
* PD0 - Normal input (GPIOD_OSC_IN). |
|
| 226 |
* PD1 - Normal input (GPIOD_OSC_OUT). |
|
| 227 |
*/ |
|
| 228 |
#define VAL_GPIODCRL 0x88888844 /* PD7...PD0 */ |
|
| 229 |
#define VAL_GPIODCRH 0x88888888 /* PD15...PD8 */ |
|
| 230 |
#define VAL_GPIODODR 0xFFFFFFFF |
|
| 231 |
|
|
| 232 |
/* |
|
| 233 |
* Port E setup. |
|
| 234 |
* Everything input with pull-up except: |
|
| 235 |
*/ |
|
| 236 |
#define VAL_GPIOECRL 0x88888888 /* PE7...PE0 */ |
|
| 237 |
#define VAL_GPIOECRH 0x88888888 /* PE15...PE8 */ |
|
| 238 |
#define VAL_GPIOEODR 0xFFFFFFFF |
|
| 239 |
|
|
| 240 |
/* |
|
| 241 |
* USB bus activation macro, required by the USB driver. |
|
| 242 |
*/ |
|
| 243 |
#define usb_lld_connect_bus(usbp) |
|
| 244 |
|
|
| 245 |
/* |
|
| 246 |
* USB bus de-activation macro, required by the USB driver. |
|
| 247 |
*/ |
|
| 248 |
#define usb_lld_disconnect_bus(usbp) |
|
| 249 |
|
|
| 250 |
#if !defined(_FROM_ASM_) |
|
| 251 |
#ifdef __cplusplus |
|
| 252 |
extern "C" {
|
|
| 253 |
#endif |
|
| 254 |
void boardInit(void); |
|
| 255 |
#ifdef __cplusplus |
|
| 256 |
} |
|
| 257 |
#endif |
|
| 258 |
#endif /* _FROM_ASM_ */ |
|
| 259 |
|
|
| 260 |
#endif /* _BOARD_H_ */ |
|
| modules/NUCLEO-F103RB/chconf.h | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
* AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform. |
|
| 3 |
* Copyright (C) 2016..2019 Thomas Schöpping et al. |
|
| 4 |
* |
|
| 5 |
* This program is free software: you can redistribute it and/or modify |
|
| 6 |
* it under the terms of the GNU General Public License as published by |
|
| 7 |
* the Free Software Foundation, either version 3 of the License, or |
|
| 8 |
* (at your option) any later version. |
|
| 9 |
* |
|
| 10 |
* This program is distributed in the hope that it will be useful, |
|
| 11 |
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 12 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 13 |
* GNU General Public License for more details. |
|
| 14 |
* |
|
| 15 |
* You should have received a copy of the GNU General Public License |
|
| 16 |
* along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 17 |
*/ |
|
| 18 |
|
|
| 19 |
/** |
|
| 20 |
* @file |
|
| 21 |
* @brief ChibiOS Configuration file for the NUCLEO-F103RB module. |
|
| 22 |
* @details Contains the application specific kernel settings. |
|
| 23 |
* |
|
| 24 |
* @addtogroup NUCLEO-F103RB_ch_config |
|
| 25 |
* @details Kernel related settings and hooks. |
|
| 26 |
* @{
|
|
| 27 |
*/ |
|
| 28 |
|
|
| 29 |
#ifndef CHCONF_H |
|
| 30 |
#define CHCONF_H |
|
| 31 |
|
|
| 32 |
#define _CHIBIOS_RT_CONF_ |
|
| 33 |
#define _CHIBIOS_RT_CONF_VER_5_1_ |
|
| 34 |
|
|
| 35 |
#include <aosconf.h> |
|
| 36 |
|
|
| 37 |
/*===========================================================================*/ |
|
| 38 |
/** |
|
| 39 |
* @name System timers settings |
|
| 40 |
* @{
|
|
| 41 |
*/ |
|
| 42 |
/*===========================================================================*/ |
|
| 43 |
|
|
| 44 |
/** |
|
| 45 |
* @brief System time counter resolution. |
|
| 46 |
* @note Allowed values are 16 or 32 bits. |
|
| 47 |
*/ |
|
| 48 |
#if !defined(CH_CFG_ST_RESOLUTION) |
|
| 49 |
#define CH_CFG_ST_RESOLUTION 16 |
|
| 50 |
#endif |
|
| 51 |
|
|
| 52 |
// more common definition in aos_chconf.h |
|
| 53 |
|
|
| 54 |
/** @} */ |
|
| 55 |
|
|
| 56 |
/*===========================================================================*/ |
|
| 57 |
/** |
|
| 58 |
* @name Kernel parameters and options |
|
| 59 |
* @{
|
|
| 60 |
*/ |
|
| 61 |
/*===========================================================================*/ |
|
| 62 |
|
|
| 63 |
// common definitions in aos_chconf.h |
|
| 64 |
|
|
| 65 |
/** @} */ |
|
| 66 |
|
|
| 67 |
/*===========================================================================*/ |
|
| 68 |
/** |
|
| 69 |
* @name Performance options |
|
| 70 |
* @{
|
|
| 71 |
*/ |
|
| 72 |
/*===========================================================================*/ |
|
| 73 |
|
|
| 74 |
// common definitions in aos_chconf.h |
|
| 75 |
|
|
| 76 |
/** @} */ |
|
| 77 |
|
|
| 78 |
/*===========================================================================*/ |
|
| 79 |
/** |
|
| 80 |
* @name Subsystem options |
|
| 81 |
* @{
|
|
| 82 |
*/ |
|
| 83 |
/*===========================================================================*/ |
|
| 84 |
|
|
| 85 |
// common definitions in aos_chconf.h |
|
| 86 |
|
|
| 87 |
/** @} */ |
|
| 88 |
|
|
| 89 |
/*===========================================================================*/ |
|
| 90 |
/** |
|
| 91 |
* @name Objects factory options |
|
| 92 |
* @{
|
|
| 93 |
*/ |
|
| 94 |
/*===========================================================================*/ |
|
| 95 |
|
|
| 96 |
// common definitions in aos_chconf.h |
|
| 97 |
|
|
| 98 |
/** @} */ |
|
| 99 |
|
|
| 100 |
/*===========================================================================*/ |
|
| 101 |
/** |
|
| 102 |
* @name Debug options |
|
| 103 |
* @{
|
|
| 104 |
*/ |
|
| 105 |
/*===========================================================================*/ |
|
| 106 |
|
|
| 107 |
// common definitions in aos_chconf.h |
|
| 108 |
|
|
| 109 |
/** @} */ |
|
| 110 |
|
|
| 111 |
/*===========================================================================*/ |
|
| 112 |
/** |
|
| 113 |
* @name Kernel hooks |
|
| 114 |
* @{
|
|
| 115 |
*/ |
|
| 116 |
/*===========================================================================*/ |
|
| 117 |
|
|
| 118 |
// common definitions in aos_chconf.h |
|
| 119 |
|
|
| 120 |
/** @} */ |
|
| 121 |
|
|
| 122 |
/*===========================================================================*/ |
|
| 123 |
/** |
|
| 124 |
* @name Port-specific settings (override port settings defaulted in chcore.h). |
|
| 125 |
* @{
|
|
| 126 |
*/ |
|
| 127 |
/*===========================================================================*/ |
|
| 128 |
|
|
| 129 |
/** @} */ |
|
| 130 |
|
|
| 131 |
/*===========================================================================*/ |
|
| 132 |
/** |
|
| 133 |
* @name other |
|
| 134 |
* @{
|
|
| 135 |
*/ |
|
| 136 |
/*===========================================================================*/ |
|
| 137 |
|
|
| 138 |
// common definitions in aos_chconf.h |
|
| 139 |
|
|
| 140 |
/** @} */ |
|
| 141 |
|
|
| 142 |
#include <aos_chconf.h> |
|
| 143 |
|
|
| 144 |
#endif /* CHCONF_H */ |
|
| 145 |
|
|
| 146 |
/** @} */ |
|
| modules/NUCLEO-F103RB/halconf.h | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform. |
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al. |
|
| 4 |
|
|
| 5 |
This program is free software: you can redistribute it and/or modify |
|
| 6 |
it under the terms of the GNU General Public License as published by |
|
| 7 |
the Free Software Foundation, either version 3 of the License, or |
|
| 8 |
(at your option) any later version. |
|
| 9 |
|
|
| 10 |
This program is distributed in the hope that it will be useful, |
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 13 |
GNU General Public License for more details. |
|
| 14 |
|
|
| 15 |
You should have received a copy of the GNU General Public License |
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 17 |
*/ |
|
| 18 |
|
|
| 19 |
/** |
|
| 20 |
* @file |
|
| 21 |
* @brief HAL configuration header for the NUCLEO-F103RB module. |
|
| 22 |
* @details HAL configuration file, this file allows to enable or disable the |
|
| 23 |
* various device drivers from your application. You may also use |
|
| 24 |
* this file in order to override the device drivers default settings. |
|
| 25 |
* |
|
| 26 |
* @addtogroup NUCLEO-F103RB_HAL_CONF |
|
| 27 |
* @{
|
|
| 28 |
*/ |
|
| 29 |
|
|
| 30 |
#ifndef _HALCONF_H_ |
|
| 31 |
#define _HALCONF_H_ |
|
| 32 |
|
|
| 33 |
#define _CHIBIOS_HAL_CONF_ |
|
| 34 |
#define _CHIBIOS_HAL_CONF_VER_6_0_ |
|
| 35 |
|
|
| 36 |
#include "mcuconf.h" |
|
| 37 |
|
|
| 38 |
/** |
|
| 39 |
* @brief Enables the PAL subsystem. |
|
| 40 |
*/ |
|
| 41 |
#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__) |
|
| 42 |
#define HAL_USE_PAL TRUE |
|
| 43 |
#endif |
|
| 44 |
|
|
| 45 |
/** |
|
| 46 |
* @brief Enables the ADC subsystem. |
|
| 47 |
*/ |
|
| 48 |
#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__) |
|
| 49 |
#define HAL_USE_ADC FALSE |
|
| 50 |
#endif |
|
| 51 |
|
|
| 52 |
/** |
|
| 53 |
* @brief Enables the CAN subsystem. |
|
| 54 |
*/ |
|
| 55 |
#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__) |
|
| 56 |
#define HAL_USE_CAN FALSE |
|
| 57 |
#endif |
|
| 58 |
|
|
| 59 |
/** |
|
| 60 |
* @brief Enables the cryptographic subsystem. |
|
| 61 |
*/ |
|
| 62 |
#if !defined(HAL_USE_CRY) || defined(__DOXYGEN__) |
|
| 63 |
#define HAL_USE_CRY FALSE |
|
| 64 |
#endif |
|
| 65 |
|
|
| 66 |
/** |
|
| 67 |
* @brief Enables the DAC subsystem. |
|
| 68 |
*/ |
|
| 69 |
#if !defined(HAL_USE_DAC) || defined(__DOXYGEN__) |
|
| 70 |
#define HAL_USE_DAC FALSE |
|
| 71 |
#endif |
|
| 72 |
|
|
| 73 |
/** |
|
| 74 |
* @brief Enables the EXT subsystem. |
|
| 75 |
*/ |
|
| 76 |
#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__) |
|
| 77 |
#define HAL_USE_EXT FALSE |
|
| 78 |
#endif |
|
| 79 |
|
|
| 80 |
/** |
|
| 81 |
* @brief Enables the GPT subsystem. |
|
| 82 |
*/ |
|
| 83 |
#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__) |
|
| 84 |
#define HAL_USE_GPT FALSE |
|
| 85 |
#endif |
|
| 86 |
|
|
| 87 |
/** |
|
| 88 |
* @brief Enables the I2C subsystem. |
|
| 89 |
*/ |
|
| 90 |
#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__) |
|
| 91 |
#define HAL_USE_I2C FALSE |
|
| 92 |
#endif |
|
| 93 |
|
|
| 94 |
/** |
|
| 95 |
* @brief Enables the I2S subsystem. |
|
| 96 |
*/ |
|
| 97 |
#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__) |
|
| 98 |
#define HAL_USE_I2S FALSE |
|
| 99 |
#endif |
|
| 100 |
|
|
| 101 |
/** |
|
| 102 |
* @brief Enables the ICU subsystem. |
|
| 103 |
*/ |
|
| 104 |
#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__) |
|
| 105 |
#define HAL_USE_ICU FALSE |
|
| 106 |
#endif |
|
| 107 |
|
|
| 108 |
/** |
|
| 109 |
* @brief Enables the MAC subsystem. |
|
| 110 |
*/ |
|
| 111 |
#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__) |
|
| 112 |
#define HAL_USE_MAC FALSE |
|
| 113 |
#endif |
|
| 114 |
|
|
| 115 |
/** |
|
| 116 |
* @brief Enables the MMC_SPI subsystem. |
|
| 117 |
*/ |
|
| 118 |
#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__) |
|
| 119 |
#define HAL_USE_MMC_SPI FALSE |
|
| 120 |
#endif |
|
| 121 |
|
|
| 122 |
/** |
|
| 123 |
* @brief Enables the PWM subsystem. |
|
| 124 |
*/ |
|
| 125 |
#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__) |
|
| 126 |
#define HAL_USE_PWM FALSE |
|
| 127 |
#endif |
|
| 128 |
|
|
| 129 |
/** |
|
| 130 |
* @brief Enables the QEI subsystem. |
|
| 131 |
*/ |
|
| 132 |
#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__) |
|
| 133 |
#define HAL_USE_QEI FALSE |
|
| 134 |
#endif |
|
| 135 |
|
|
| 136 |
/** |
|
| 137 |
* @brief Enables the QSPI subsystem. |
|
| 138 |
*/ |
|
| 139 |
#if !defined(HAL_USE_QSPI) || defined(__DOXYGEN__) |
|
| 140 |
#define HAL_USE_QSPI FALSE |
|
| 141 |
#endif |
|
| 142 |
|
|
| 143 |
/** |
|
| 144 |
* @brief Enables the RTC subsystem. |
|
| 145 |
*/ |
|
| 146 |
#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__) |
|
| 147 |
#define HAL_USE_RTC TRUE |
|
| 148 |
#endif |
|
| 149 |
|
|
| 150 |
/** |
|
| 151 |
* @brief Enables the SDC subsystem. |
|
| 152 |
*/ |
|
| 153 |
#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__) |
|
| 154 |
#define HAL_USE_SDC FALSE |
|
| 155 |
#endif |
|
| 156 |
|
|
| 157 |
/** |
|
| 158 |
* @brief Enables the SERIAL subsystem. |
|
| 159 |
*/ |
|
| 160 |
#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__) |
|
| 161 |
#define HAL_USE_SERIAL TRUE |
|
| 162 |
#endif |
|
| 163 |
|
|
| 164 |
/** |
|
| 165 |
* @brief Enables the SERIAL over USB subsystem. |
|
| 166 |
*/ |
|
| 167 |
#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__) |
|
| 168 |
#define HAL_USE_SERIAL_USB FALSE |
|
| 169 |
#endif |
|
| 170 |
|
|
| 171 |
/** |
|
| 172 |
* @brief Enables the SPI subsystem. |
|
| 173 |
*/ |
|
| 174 |
#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__) |
|
| 175 |
#define HAL_USE_SPI FALSE |
|
| 176 |
#endif |
|
| 177 |
|
|
| 178 |
/** |
|
| 179 |
* @brief Enables the UART subsystem. |
|
| 180 |
*/ |
|
| 181 |
#if !defined(HAL_USE_UART) || defined(__DOXYGEN__) |
|
| 182 |
#define HAL_USE_UART FALSE |
|
| 183 |
#endif |
|
| 184 |
|
|
| 185 |
/** |
|
| 186 |
* @brief Enables the USB subsystem. |
|
| 187 |
*/ |
|
| 188 |
#if !defined(HAL_USE_USB) || defined(__DOXYGEN__) |
|
| 189 |
#define HAL_USE_USB FALSE |
|
| 190 |
#endif |
|
| 191 |
|
|
| 192 |
/** |
|
| 193 |
* @brief Enables the WDG subsystem. |
|
| 194 |
*/ |
|
| 195 |
#if !defined(HAL_USE_WDG) || defined(__DOXYGEN__) |
|
| 196 |
#define HAL_USE_WDG FALSE |
|
| 197 |
#endif |
|
| 198 |
|
|
| 199 |
/*===========================================================================*/ |
|
| 200 |
/* PAL driver related settings. */ |
|
| 201 |
/*===========================================================================*/ |
|
| 202 |
|
|
| 203 |
/** |
|
| 204 |
* @brief Enables synchronous APIs. |
|
| 205 |
* @note Disabling this option saves both code and data space. |
|
| 206 |
*/ |
|
| 207 |
#if !defined(PAL_USE_CALLBACKS) || defined(__DOXYGEN__) |
|
| 208 |
#define PAL_USE_CALLBACKS TRUE |
|
| 209 |
#endif |
|
| 210 |
|
|
| 211 |
/** |
|
| 212 |
* @brief Enables synchronous APIs. |
|
| 213 |
* @note Disabling this option saves both code and data space. |
|
| 214 |
*/ |
|
| 215 |
#if !defined(PAL_USE_WAIT) || defined(__DOXYGEN__) |
|
| 216 |
#define PAL_USE_WAIT FALSE |
|
| 217 |
#endif |
|
| 218 |
|
|
| 219 |
/*===========================================================================*/ |
|
| 220 |
/* ADC driver related settings. */ |
|
| 221 |
/*===========================================================================*/ |
|
| 222 |
|
|
| 223 |
/** |
|
| 224 |
* @brief Enables synchronous APIs. |
|
| 225 |
* @note Disabling this option saves both code and data space. |
|
| 226 |
*/ |
|
| 227 |
#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__) |
|
| 228 |
#define ADC_USE_WAIT TRUE |
|
| 229 |
#endif |
|
| 230 |
|
|
| 231 |
/** |
|
| 232 |
* @brief Enables the @p adcAcquireBus() and @p adcReleaseBus() APIs. |
|
| 233 |
* @note Disabling this option saves both code and data space. |
|
| 234 |
*/ |
|
| 235 |
#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) |
|
| 236 |
#define ADC_USE_MUTUAL_EXCLUSION TRUE |
|
| 237 |
#endif |
|
| 238 |
|
|
| 239 |
/*===========================================================================*/ |
|
| 240 |
/* CAN driver related settings. */ |
|
| 241 |
/*===========================================================================*/ |
|
| 242 |
|
|
| 243 |
/** |
|
| 244 |
* @brief Sleep mode related APIs inclusion switch. |
|
| 245 |
*/ |
|
| 246 |
#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__) |
|
| 247 |
#define CAN_USE_SLEEP_MODE TRUE |
|
| 248 |
#endif |
|
| 249 |
|
|
| 250 |
/** |
|
| 251 |
* @brief Enforces the driver to use direct callbacks rather than OSAL events. |
|
| 252 |
*/ |
|
| 253 |
#if !defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__) |
|
| 254 |
#define CAN_ENFORCE_USE_CALLBACKS FALSE |
|
| 255 |
#endif |
|
| 256 |
|
|
| 257 |
/*===========================================================================*/ |
|
| 258 |
/* CRY driver related settings. */ |
|
| 259 |
/*===========================================================================*/ |
|
| 260 |
|
|
| 261 |
/** |
|
| 262 |
* @brief Enables the SW fall-back of the cryptographic driver. |
|
| 263 |
* @details When enabled, this option, activates a fall-back software |
|
| 264 |
* implementation for algorithms not supported by the underlying |
|
| 265 |
* hardware. |
|
| 266 |
* @note Fall-back implementations may not be present for all algorithms. |
|
| 267 |
*/ |
|
| 268 |
#if !defined(HAL_CRY_USE_FALLBACK) || defined(__DOXYGEN__) |
|
| 269 |
#define HAL_CRY_USE_FALLBACK FALSE |
|
| 270 |
#endif |
|
| 271 |
|
|
| 272 |
/** |
|
| 273 |
* @brief Makes the driver forcibly use the fall-back implementations. |
|
| 274 |
*/ |
|
| 275 |
#if !defined(HAL_CRY_ENFORCE_FALLBACK) || defined(__DOXYGEN__) |
|
| 276 |
#define HAL_CRY_ENFORCE_FALLBACK FALSE |
|
| 277 |
#endif |
|
| 278 |
|
|
| 279 |
/*===========================================================================*/ |
|
| 280 |
/* DAC driver related settings. */ |
|
| 281 |
/*===========================================================================*/ |
|
| 282 |
|
|
| 283 |
/** |
|
| 284 |
* @brief Enables synchronous APIs. |
|
| 285 |
* @note Disabling this option saves both code and data space. |
|
| 286 |
*/ |
|
| 287 |
#if !defined(DAC_USE_WAIT) || defined(__DOXYGEN__) |
|
| 288 |
#define DAC_USE_WAIT TRUE |
|
| 289 |
#endif |
|
| 290 |
|
|
| 291 |
/** |
|
| 292 |
* @brief Enables the @p dacAcquireBus() and @p dacReleaseBus() APIs. |
|
| 293 |
* @note Disabling this option saves both code and data space. |
|
| 294 |
*/ |
|
| 295 |
#if !defined(DAC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) |
|
| 296 |
#define DAC_USE_MUTUAL_EXCLUSION TRUE |
|
| 297 |
#endif |
|
| 298 |
|
|
| 299 |
/*===========================================================================*/ |
|
| 300 |
/* I2C driver related settings. */ |
|
| 301 |
/*===========================================================================*/ |
|
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