AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file

 * @brief   AMiRo-OS Configuration file for the DiWheelDrive v1.1 module.

 * @details Contains the application specific AMiRo-OS settings.

 *

 * @addtogroup diwheeldrive_aos_config

 * @{

 */

#ifndef AOSCONF_H

#define AOSCONF_H

/*

 * compatibility guards

 */

#define _AMIRO_OS_CFG_

#define AMIRO_OS_CFG_VERSION_MAJOR              2

#define AMIRO_OS_CFG_VERSION_MINOR              1

#include <stdbool.h>

/*

 * Include an external configuration file to override the following default settings only if required.

 */

#if defined(AMIRO_APPS) && (AMIRO_APPS == true)

  #include <osconf.h>

#endif /* defined(AMIRO_APPS) && (AMIRO_APPS == true) */

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

/**

 * @name Kernel parameters and options

 * @{

 */

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

/**

 * @brief   Flag to enable/disable debug API and logic.

 */

#if !defined(OS_CFG_DBG)

  #define AMIROOS_CFG_DBG                       true

#else /* !defined(OS_CFG_DBG) */

  #define AMIROOS_CFG_DBG                       OS_CFG_DBG

#endif /* !defined(OS_CFG_DBG) */

/**

 * @brief   Flag to enable/disable unit tests.

 * @note    Setting this flag will implicitely enable the shell.

 */

#if !defined(OS_CFG_TESTS_ENABLE)

  #define AMIROOS_CFG_TESTS_ENABLE              true

#else /* !defined(OS_CFG_TESTS_ENABLE) */

  #define AMIROOS_CFG_TESTS_ENABLE              OS_CFG_TESTS_ENABLE

#endif /* !defined(OS_CFG_TESTS_ENABLE) */

/**

 * @brief   Flag to enable/disable profiling API and logic.

 */

#if !defined(OS_CFG_PROFILE)

  #define AMIROOS_CFG_PROFILE                   true

#else /* !defined(OS_CFG_PROFILE) */

  #define AMIROOS_CFG_PROFILE                   OS_CFG_PROFILE

#endif /* !defined(OS_CFG_PROFILE) */

/**

 * @brief   Mask for the control thread to listen to certain GPIO events.

 * @note    Any mandatory events (e.g. for SSSP) are enabled implicitely despite this configuration.

 */

#if !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK)

  #define AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK 0

#else /* !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) */

  #define AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK

#endif /* !defined(OS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK) */

/**

 * @brief   Timeout value when waiting for events in the main loop in microseconds.

 * @details A value of 0 deactivates the timeout.

 */

#if !defined(OS_CFG_MAIN_LOOP_TIMEOUT)

  #define AMIROOS_CFG_MAIN_LOOP_TIMEOUT         0

#else /* !defined(OS_CFG_MAIN_LOOP_TIMEOUT) */

  #define AMIROOS_CFG_MAIN_LOOP_TIMEOUT         OS_CFG_MAIN_LOOP_TIMEOUT

#endif /* !defined(OS_CFG_MAIN_LOOP_TIMEOUT) */

/** @} */

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

/**

 * @name Bootloader configuration

 * @{

 */

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

/**

 * @brief   Identifier of the instaled bootloader (if any).

 * @note    See aos_bootloader.h file for a list of available settings.

 */

#if !defined(OS_CFG_BOOTLOADER)

  #define AMIROOS_CFG_BOOTLOADER                AOS_BOOTLOADER_AMiRoBLT

#else /* !defined(OS_CFG_BOOTLOADER) */

  #define AMIROOS_CFG_BOOTLOADER                OS_CFG_BOOTLOADER

#endif /* !defined(OS_CFG_BOOTLOADER) */

/** @} */

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

/**

 * @name SSSP (Startup Shutdown Synchronization Protocol) configuration.

 * @{

 */

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

/**

 * @brief   Flag to enable SSSP.

 */

#if !defined(OS_CFG_SSSP_ENABLE)

  #define AMIROOS_CFG_SSSP_ENABLE               true

#else /* !defined(OS_CFG_SSSP_ENABLE) */

  #define AMIROOS_CFG_SSSP_ENABLE               OS_CFG_SSSP_ENABLE

#endif /* !defined(OS_CFG_SSSP_ENABLE) */

/**

 * @brief   Flag to indicate, whether the SSSP startup sequence shall be executed by AMiRo-OS.

 * @details This setting must be false in case another software (e.g. a bootloader) handles the initial stages of the SSSP startup phase.

 */

#if !defined(OS_CFG_SSSP_STARTUP)

  #define AMIROOS_CFG_SSSP_STARTUP              false

#else

  #define AMIROOS_CFG_SSSP_STARTUP              OS_CFG_SSSP_STARTUP

#endif

/**

 * @brief   Flag to indicate, whether the SSSP shutdown sequence shall be executed by AMiRo-OS.

 * @details This setting should be false in case another software (e.g. a bootloader) handles the final stages of the SSSP shutdown phase.

 */

#if !defined(OS_CFG_SSSP_SHUTDOWN)

  #define AMIROOS_CFG_SSSP_SHUTDOWN             false

#else

  #define AMIROOS_CFG_SSSP_SHUTDOWN             OS_CFG_SSSP_SHUTDOWN

#endif

/**

 * @brief   Flag to indicate, whether the module stack initialization (MSI; stage 3 of the SSSP startup phase) shall be executed.

 * @brief   In order to execute MSI, a broadcast bus (BCB) and according interfaces must be defined.

 */

#if !defined(OS_CFG_SSSP_MSI)

  #define AMIROOS_CFG_SSSP_MSI                  true

#else

  #define AMIROOS_CFG_SSSP_MSI                  OS_CFG_SSSP_MSI

#endif

/**

 * @brief   Width of the @p aos_sssp_moduleid_t type.

 * @details Possible settings are 8, 16, 32 and 64.

 */

#if !defined(OS_CFG_SSSP_MODULEIDWIDTH)

  #define AMIROOS_CFG_SSSP_MODULEIDWIDTH        16

#else

  #define AMIROOS_CFG_SSSP_MODULEIDWIDTH        OS_CFG_SSSP_MODULEIDWIDTH

#endif

/**

 * @brief   Flag to set the module as SSSP master.

 * @details There must be only one module with this flag set to true in a system.

 */

#if !defined(OS_CFG_SSSP_MASTER)

  #define AMIROOS_CFG_SSSP_MASTER               false

#else /* !defined(OS_CFG_SSSP_MASTER) */

  #define AMIROOS_CFG_SSSP_MASTER               OS_CFG_SSSP_MASTER

#endif /* !defined(OS_CFG_SSSP_MASTER) */

/**

 * @brief   Flag to set the module to be the first in the stack.

 * @details There must be only one module with this flag set to true in a system.

 */

#if !defined(OS_CFG_SSSP_STACK_START)

  #define AMIROOS_CFG_SSSP_STACK_START          true

#else /* !defined(OS_CFG_SSSP_STACK_START) */

  #define AMIROOS_CFG_SSSP_STACK_START          OS_CFG_SSSP_STACK_START

#endif /* !defined(OS_CFG_SSSP_STACK_START) */

/**

 * @brief   Flag to set the module to be the last in the stack.

 * @details There must be only one module with this flag set to true in a system.

 */

#if !defined(OS_CFG_SSSP_STACK_END)

  #define AMIROOS_CFG_SSSP_STACK_END            false

#else /* !defined(OS_CFG_SSSP_STACK_END) */

  #define AMIROOS_CFG_SSSP_STACK_END            OS_CFG_SSSP_STACK_END

#endif /* !defined(OS_CFG_SSSP_STACK_END) */

/**

 * @brief   Delay time (in microseconds) how long a SSSP signal must be active.

 */

#if !defined(OS_CFG_SSSP_SIGNALDELAY)

  #define AMIROOS_CFG_SSSP_SIGNALDELAY          1000

#else /* !defined(OS_CFG_SSSP_SIGNALDELAY) */

  #define AMIROOS_CFG_SSSP_SIGNALDELAY          OS_CFG_SSSP_SIGNALDELAY

#endif /* !defined(OS_CFG_SSSP_SIGNALDELAY) */

/**

 * @brief   Time boundary for robot wide clock synchronization in microseconds.

 * @details Whenever the SSSP S (snychronization) signal gets logically deactivated,

 *          All modules need to align their local uptime to the nearest multiple of this value.

 */

#if !defined(OS_CFG_SSSP_SYSSYNCPERIOD)

  #define AMIROOS_CFG_SSSP_SYSSYNCPERIOD        1000000

#else /* !defined(OS_CFG_SSSP_SYSSYNCPERIOD) */

  #define AMIROOS_CFG_SSSP_SYSSYNCPERIOD        OS_CFG_SSSP_SYSSYNCPERIOD

#endif /* !defined(OS_CFG_SSSP_SYSSYNCPERIOD) */

/** @} */

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

/**

 * @name System shell options

 * @{

 */

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

/**

 * @brief   Shell enable flag.

 */

#if !defined(OS_CFG_SHELL_ENABLE)

  #define AMIROOS_CFG_SHELL_ENABLE              true

#else /* !defined(OS_CFG_SHELL_ENABLE) */

  #define AMIROOS_CFG_SHELL_ENABLE              OS_CFG_SHELL_ENABLE

#endif /* !defined(OS_CFG_SHELL_ENABLE) */

/**

 * @brief   Shell thread stack size.

 */

#if !defined(OS_CFG_SHELL_STACKSIZE)

  #define AMIROOS_CFG_SHELL_STACKSIZE           1024

#else /* !defined(OS_CFG_SHELL_STACKSIZE) */

  #define AMIROOS_CFG_SHELL_STACKSIZE           OS_CFG_SHELL_STACKSIZE

#endif /* !defined(OS_CFG_SHELL_STACKSIZE) */

/**

 * @brief   Shell thread priority.

 * @details Thread priorities are specified as an integer value.

 *          Predefined ranges are:

 *            lowest  ┌ THD_LOWPRIO_MIN

 *                    │ ...

 *                    └ THD_LOWPRIO_MAX

 *                    ┌ THD_NORMALPRIO_MIN

 *                    │ ...

 *                    └ THD_NORMALPRIO_MAX

 *                    ┌ THD_HIGHPRIO_MIN

 *                    │ ...

 *                    └ THD_HIGHPRIO_MAX

 *                    ┌ THD_RTPRIO_MIN

 *                    │ ...

 *            highest └ THD_RTPRIO_MAX

 */

#if !defined(OS_CFG_SHELL_THREADPRIO)

  #define AMIROOS_CFG_SHELL_THREADPRIO          AOS_THD_NORMALPRIO_MIN

#else /* !defined(OS_CFG_SHELL_THREADPRIO) */

  #define AMIROOS_CFG_SHELL_THREADPRIO          OS_CFG_SHELL_THREADPRIO

#endif /* !defined(OS_CFG_SHELL_THREADPRIO) */

/**

 * @brief   Shell maximum input line length.

 */

#if !defined(OS_CFG_SHELL_LINEWIDTH)

  #define AMIROOS_CFG_SHELL_LINEWIDTH           80

#else /* !defined(OS_CFG_SHELL_LINEWIDTH) */

  #define AMIROOS_CFG_SHELL_LINEWIDTH           OS_CFG_SHELL_LINEWIDTH

#endif /* !defined(OS_CFG_SHELL_LINEWIDTH) */

/**

 * @brief   Shell maximum number of arguments.

 */

#if !defined(OS_CFG_SHELL_MAXARGS)

  #define AMIROOS_CFG_SHELL_MAXARGS             8

#else /* !defined(OS_CFG_SHELL_MAXARGS) */

  #define AMIROOS_CFG_SHELL_MAXARGS             OS_CFG_SHELL_MAXARGS

#endif /* !defined(OS_CFG_SHELL_MAXARGS) */

/** @} */

#endif /* AOSCONF_H */

/** @} */