mirror of https://github.com/ArduPilot/ardupilot
750 lines
22 KiB
C
750 lines
22 KiB
C
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* 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 file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the 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 along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Modified for use in AP_HAL by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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/**
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* @file templates/chconf.h
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* @brief Configuration file template.
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* @details A copy of this file must be placed in each project directory, it
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* 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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#pragma once
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#include "hwdef.h"
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#define _CHIBIOS_RT_CONF_
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#define _CHIBIOS_RT_CONF_VER_6_0_
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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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#if !defined(FALSE)
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#define FALSE 0
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#endif
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#if !defined(TRUE)
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#define TRUE 1
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#endif
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#ifdef HAL_CHIBIOS_ENABLE_ASSERTS
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#define CH_DBG_ENABLE_ASSERTS TRUE
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#define CH_DBG_ENABLE_CHECKS TRUE
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#define CH_DBG_SYSTEM_STATE_CHECK TRUE
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#define CH_DBG_ENABLE_STACK_CHECK TRUE
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#endif
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/**
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* @brief System time counter resolution.
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* @note Allowed values are 16 or 32 bits.
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*/
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#ifndef CH_CFG_ST_RESOLUTION
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#define CH_CFG_ST_RESOLUTION 32
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#endif
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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. We set this to 1000000
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* in ArduPilot so we get maximum resolution for timing of delays
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*/
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#ifndef CH_CFG_ST_FREQUENCY
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#define CH_CFG_ST_FREQUENCY 1000000
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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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#ifndef CH_CFG_ST_TIMEDELTA
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#define CH_CFG_ST_TIMEDELTA 2
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#endif
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/*
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default to a large interrupt stack for now. We may trim this later
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if we become confident of our interrupt handler requirements. Note
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that we pay for this stack size in every thread, so it is quite
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expensive in memory
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*/
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#ifndef PORT_INT_REQUIRED_STACK
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#define PORT_INT_REQUIRED_STACK 256
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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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#if !defined(CH_CFG_TIME_QUANTUM)
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#define CH_CFG_TIME_QUANTUM 0
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#endif
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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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#if !defined(CH_CFG_MEMCORE_SIZE)
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#define CH_CFG_MEMCORE_SIZE 0
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#endif
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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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#if !defined(CH_CFG_NO_IDLE_THREAD)
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#define CH_CFG_NO_IDLE_THREAD FALSE
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#endif
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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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#if !defined(CH_CFG_OPTIMIZE_SPEED)
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#define CH_CFG_OPTIMIZE_SPEED TRUE
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#endif
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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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#if !defined(CH_CFG_USE_TM)
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#define CH_CFG_USE_TM TRUE
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#endif
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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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#if !defined(CH_CFG_USE_REGISTRY)
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#define CH_CFG_USE_REGISTRY TRUE
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#endif
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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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#if !defined(CH_CFG_USE_WAITEXIT)
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#define CH_CFG_USE_WAITEXIT TRUE
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#endif
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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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#if !defined(CH_CFG_USE_SEMAPHORES)
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#define CH_CFG_USE_SEMAPHORES TRUE
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#endif
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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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#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
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#define CH_CFG_USE_SEMAPHORES_PRIORITY FALSE
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#endif
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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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#if !defined(CH_CFG_USE_MUTEXES)
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#define CH_CFG_USE_MUTEXES TRUE
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#endif
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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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#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
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#define CH_CFG_USE_MUTEXES_RECURSIVE FALSE
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#endif
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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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#if !defined(CH_CFG_USE_CONDVARS)
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#define CH_CFG_USE_CONDVARS TRUE
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#endif
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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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#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
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#define CH_CFG_USE_CONDVARS_TIMEOUT TRUE
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#endif
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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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#if !defined(CH_CFG_USE_EVENTS)
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#define CH_CFG_USE_EVENTS TRUE
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#endif
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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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#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
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#define CH_CFG_USE_EVENTS_TIMEOUT TRUE
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#endif
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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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#if !defined(CH_CFG_USE_MESSAGES)
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#define CH_CFG_USE_MESSAGES TRUE
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#endif
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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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#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
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#define CH_CFG_USE_MESSAGES_PRIORITY FALSE
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#endif
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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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#if !defined(CH_CFG_USE_MAILBOXES)
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#define CH_CFG_USE_MAILBOXES TRUE
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#endif
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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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#if !defined(CH_CFG_USE_MEMCORE)
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#define CH_CFG_USE_MEMCORE TRUE
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#endif
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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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#if !defined(CH_CFG_USE_HEAP)
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#define CH_CFG_USE_HEAP TRUE
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#endif
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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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#if !defined(CH_CFG_USE_MEMPOOLS)
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#define CH_CFG_USE_MEMPOOLS TRUE
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#endif
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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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#if !defined(CH_CFG_USE_OBJ_FIFOS)
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#define CH_CFG_USE_OBJ_FIFOS TRUE
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#endif
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/**
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* @brief Pipes APIs.
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* @details If enabled then the pipes 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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#if !defined(CH_CFG_USE_PIPES)
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#define CH_CFG_USE_PIPES FALSE
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#endif
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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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#if !defined(CH_CFG_USE_DYNAMIC)
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#define CH_CFG_USE_DYNAMIC TRUE
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#endif
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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 TRUE
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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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* @brief Enables factory for Pipes.
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*/
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#if !defined(CH_CFG_FACTORY_PIPES) || defined(__DOXYGEN__)
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#define CH_CFG_FACTORY_PIPES FALSE
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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 !defined(CH_DBG_STATISTICS)
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#define CH_DBG_STATISTICS TRUE
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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 !defined(CH_DBG_SYSTEM_STATE_CHECK)
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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 !defined(CH_DBG_ENABLE_CHECKS)
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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 !defined(CH_DBG_ENABLE_ASSERTS)
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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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#if !defined(CH_DBG_TRACE_MASK)
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#define CH_DBG_TRACE_MASK CH_DBG_TRACE_MASK_DISABLED
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#endif
|
|
|
|
/**
|
|
* @brief Trace buffer entries.
|
|
* @note The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
|
|
* different from @p CH_DBG_TRACE_MASK_DISABLED.
|
|
*/
|
|
#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
|
|
#define CH_DBG_TRACE_BUFFER_SIZE 128
|
|
#endif
|
|
|
|
/**
|
|
* @brief Debug option, stack checks.
|
|
* @details If enabled then a runtime stack check is performed.
|
|
*
|
|
* @note The default is @p FALSE.
|
|
* @note The stack check is performed in a architecture/port dependent way.
|
|
* It may not be implemented or some ports.
|
|
* @note The default failure mode is to halt the system with the global
|
|
* @p panic_msg variable set to @p NULL.
|
|
*/
|
|
#if !defined(CH_DBG_ENABLE_STACK_CHECK)
|
|
#define CH_DBG_ENABLE_STACK_CHECK FALSE
|
|
#endif
|
|
|
|
/**
|
|
* @brief Debug option, stacks initialization.
|
|
* @details If enabled then the threads working area is filled with a byte
|
|
* value when a thread is created. This can be useful for the
|
|
* runtime measurement of the used stack.
|
|
*
|
|
* @note The default is @p FALSE.
|
|
*/
|
|
#if !defined(CH_DBG_FILL_THREADS)
|
|
#define CH_DBG_FILL_THREADS TRUE
|
|
#endif
|
|
|
|
/**
|
|
* @brief Debug option, threads profiling.
|
|
* @details If enabled then a field is added to the @p thread_t structure that
|
|
* counts the system ticks occurred while executing the thread.
|
|
*
|
|
* @note The default is @p FALSE.
|
|
* @note This debug option is not currently compatible with the
|
|
* tickless mode.
|
|
*/
|
|
#if !defined(CH_DBG_THREADS_PROFILING)
|
|
#define CH_DBG_THREADS_PROFILING FALSE
|
|
#endif
|
|
|
|
/** @} */
|
|
|
|
/*===========================================================================*/
|
|
/**
|
|
* @name Kernel hooks
|
|
* @{
|
|
*/
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @brief System structure extension.
|
|
* @details User fields added to the end of the @p ch_system_t structure.
|
|
*/
|
|
#define CH_CFG_SYSTEM_EXTRA_FIELDS \
|
|
/* Add threads custom fields here.*/
|
|
|
|
/**
|
|
* @brief System initialization hook.
|
|
* @details User initialization code added to the @p chSysInit() function
|
|
* just before interrupts are enabled globally.
|
|
*/
|
|
#define CH_CFG_SYSTEM_INIT_HOOK() { \
|
|
/* Add threads initialization code here.*/ \
|
|
}
|
|
|
|
/**
|
|
* @brief Threads descriptor structure extension.
|
|
* @details User fields added to the end of the @p thread_t structure.
|
|
*/
|
|
#define CH_CFG_THREAD_EXTRA_FIELDS \
|
|
/* Add threads custom fields here.*/
|
|
|
|
/**
|
|
* @brief Threads initialization hook.
|
|
* @details User initialization code added to the @p _thread_init() function.
|
|
*
|
|
* @note It is invoked from within @p _thread_init() and implicitly from all
|
|
* the threads creation APIs.
|
|
*/
|
|
#define CH_CFG_THREAD_INIT_HOOK(tp) { \
|
|
/* Add threads initialization code here.*/ \
|
|
}
|
|
|
|
/**
|
|
* @brief Threads finalization hook.
|
|
* @details User finalization code added to the @p chThdExit() API.
|
|
*/
|
|
#define CH_CFG_THREAD_EXIT_HOOK(tp) { \
|
|
/* Add threads finalization code here.*/ \
|
|
}
|
|
|
|
/**
|
|
* @brief Context switch hook.
|
|
* @details This hook is invoked just before switching between threads.
|
|
*/
|
|
#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) { \
|
|
/* Context switch code here.*/ \
|
|
}
|
|
|
|
/**
|
|
* @brief ISR enter hook.
|
|
*/
|
|
#define CH_CFG_IRQ_PROLOGUE_HOOK() { \
|
|
/* IRQ prologue code here.*/ \
|
|
}
|
|
|
|
/**
|
|
* @brief ISR exit hook.
|
|
*/
|
|
#define CH_CFG_IRQ_EPILOGUE_HOOK() { \
|
|
/* IRQ epilogue code here.*/ \
|
|
}
|
|
|
|
/**
|
|
* @brief Idle thread enter hook.
|
|
* @note This hook is invoked within a critical zone, no OS functions
|
|
* should be invoked from here.
|
|
* @note This macro can be used to activate a power saving mode.
|
|
*/
|
|
#define CH_CFG_IDLE_ENTER_HOOK() { \
|
|
/* Idle-enter code here.*/ \
|
|
}
|
|
|
|
/**
|
|
* @brief Idle thread leave hook.
|
|
* @note This hook is invoked within a critical zone, no OS functions
|
|
* should be invoked from here.
|
|
* @note This macro can be used to deactivate a power saving mode.
|
|
*/
|
|
#define CH_CFG_IDLE_LEAVE_HOOK() { \
|
|
/* Idle-leave code here.*/ \
|
|
}
|
|
|
|
/**
|
|
* @brief Idle Loop hook.
|
|
* @details This hook is continuously invoked by the idle thread loop.
|
|
*/
|
|
#define CH_CFG_IDLE_LOOP_HOOK() { \
|
|
/* Idle loop code here.*/ \
|
|
}
|
|
|
|
/**
|
|
* @brief System tick event hook.
|
|
* @details This hook is invoked in the system tick handler immediately
|
|
* after processing the virtual timers queue.
|
|
*/
|
|
#define CH_CFG_SYSTEM_TICK_HOOK() { \
|
|
/* System tick event code here.*/ \
|
|
}
|
|
|
|
/**
|
|
* @brief System halt hook.
|
|
* @details This hook is invoked in case to a system halting error before
|
|
* the system is halted.
|
|
*
|
|
* We flush all memory on STM32F7 to allow gdb to access variables currently
|
|
* in the dcache
|
|
*/
|
|
#ifndef CH_CFG_SYSTEM_HALT_HOOK
|
|
#define CH_CFG_SYSTEM_HALT_HOOK(reason) do { \
|
|
extern void memory_flush_all(void); \
|
|
memory_flush_all(); \
|
|
extern void system_halt_hook(void); \
|
|
system_halt_hook(); \
|
|
} while(0)
|
|
#endif
|
|
|
|
/**
|
|
* @brief Trace hook.
|
|
* @details This hook is invoked each time a new record is written in the
|
|
* trace buffer.
|
|
*/
|
|
#define CH_CFG_TRACE_HOOK(tep) { \
|
|
/* Trace code here.*/ \
|
|
}
|
|
|
|
/** @} */
|
|
|
|
/*===========================================================================*/
|
|
/* Port-specific settings (override port settings defaulted in chcore.h). */
|
|
/*===========================================================================*/
|
|
|
|
|
|
/** @} */
|