dos2unix

7 files changed, 1427 insertions, 1427 deletions

diff --git a/IMU.cpp b/IMU.cpp
index 8a4926c..bcff537 100755
--- a/IMU.cpp
+++ b/IMU.cpp
@@ -1,92 +1,92 @@
-//=====================================================================================================

-// IMU.c

-// S.O.H. Madgwick

-// 25th September 2010

-//=====================================================================================================

-// Description:

-//

-// Quaternion implementation of the 'DCM filter' [Mayhony et al].

-//

-// User must define 'halfT' as the (sample period / 2), and the filter gains 'Kp' and 'Ki'.

-//

-// Global variables 'q0', 'q1', 'q2', 'q3' are the quaternion elements representing the estimated

-// orientation.  See my report for an overview of the use of quaternions in this application.

-//

-// User must call 'IMUupdate()' every sample period and parse calibrated gyroscope ('gx', 'gy', 'gz')

-// and accelerometer ('ax', 'ay', 'ay') data.  Gyroscope units are radians/second, accelerometer 

-// units are irrelevant as the vector is normalised.

-//

-//=====================================================================================================

-

-//----------------------------------------------------------------------------------------------------

-// Header files

-

-#include "IMU.h"

-#include <math.h>

-#include <ch.h>

-

-//----------------------------------------------------------------------------------------------------

-// Definitions

-

-#define Kp 2.0f			// proportional gain governs rate of convergence to accelerometer/magnetometer

-#define Ki 0.005f		// integral gain governs rate of convergence of gyroscope biases

-#define halfT (0.5f / 100)		// half the sample period

-

-//---------------------------------------------------------------------------------------------------

-// Variable definitions

-

-float q0 = 1, q1 = 0, q2 = 0, q3 = 0;	// quaternion elements representing the estimated orientation

-float exInt = 0, eyInt = 0, ezInt = 0;	// scaled integral error

-

-//====================================================================================================

-// Function

-//====================================================================================================

-

-void IMUupdate(float gx, float gy, float gz, float ax, float ay, float az) {

-	float norm;

-	float vx, vy, vz;

-	float ex, ey, ez;         

-	

-	// normalise the measurements

-	norm = sqrt(ax*ax + ay*ay + az*az);       

-	ax = ax / norm;

-	ay = ay / norm;

-	az = az / norm;

-	

-	// estimated direction of gravity

-	vx = 2*(q1*q3 - q0*q2);

-	vy = 2*(q0*q1 + q2*q3);

-	vz = q0*q0 - q1*q1 - q2*q2 + q3*q3;

-	

-	// error is sum of cross product between reference direction of field and direction measured by sensor

-	ex = (ay*vz - az*vy);

-	ey = (az*vx - ax*vz);

-	ez = (ax*vy - ay*vx);

-	

-	// integral error scaled integral gain

-	exInt = exInt + ex*Ki;

-	eyInt = eyInt + ey*Ki;

-	ezInt = ezInt + ez*Ki;

-	

-	// adjusted gyroscope measurements

-	gx = gx + Kp*ex + exInt;

-	gy = gy + Kp*ey + eyInt;

-	gz = gz + Kp*ez + ezInt;

-	

-	// integrate quaternion rate and normalise

-	q0 = q0 + (-q1*gx - q2*gy - q3*gz)*halfT;

-	q1 = q1 + (q0*gx + q2*gz - q3*gy)*halfT;

-	q2 = q2 + (q0*gy - q1*gz + q3*gx)*halfT;

-	q3 = q3 + (q0*gz + q1*gy - q2*gx)*halfT;  

-	

-	// normalise quaternion

-	norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3);

-	q0 = q0 / norm;

-	q1 = q1 / norm;

-	q2 = q2 / norm;

-	q3 = q3 / norm;

-}

-

-//====================================================================================================

-// END OF CODE

-//====================================================================================================

+//=====================================================================================================
+// IMU.c
+// S.O.H. Madgwick
+// 25th September 2010
+//=====================================================================================================
+// Description:
+//
+// Quaternion implementation of the 'DCM filter' [Mayhony et al].
+//
+// User must define 'halfT' as the (sample period / 2), and the filter gains 'Kp' and 'Ki'.
+//
+// Global variables 'q0', 'q1', 'q2', 'q3' are the quaternion elements representing the estimated
+// orientation.  See my report for an overview of the use of quaternions in this application.
+//
+// User must call 'IMUupdate()' every sample period and parse calibrated gyroscope ('gx', 'gy', 'gz')
+// and accelerometer ('ax', 'ay', 'ay') data.  Gyroscope units are radians/second, accelerometer 
+// units are irrelevant as the vector is normalised.
+//
+//=====================================================================================================
+
+//----------------------------------------------------------------------------------------------------
+// Header files
+
+#include "IMU.h"
+#include <math.h>
+#include <ch.h>
+
+//----------------------------------------------------------------------------------------------------
+// Definitions
+
+#define Kp 2.0f			// proportional gain governs rate of convergence to accelerometer/magnetometer
+#define Ki 0.005f		// integral gain governs rate of convergence of gyroscope biases
+#define halfT (0.5f / 100)		// half the sample period
+
+//---------------------------------------------------------------------------------------------------
+// Variable definitions
+
+float q0 = 1, q1 = 0, q2 = 0, q3 = 0;	// quaternion elements representing the estimated orientation
+float exInt = 0, eyInt = 0, ezInt = 0;	// scaled integral error
+
+//====================================================================================================
+// Function
+//====================================================================================================
+
+void IMUupdate(float gx, float gy, float gz, float ax, float ay, float az) {
+	float norm;
+	float vx, vy, vz;
+	float ex, ey, ez;         
+	
+	// normalise the measurements
+	norm = sqrt(ax*ax + ay*ay + az*az);       
+	ax = ax / norm;
+	ay = ay / norm;
+	az = az / norm;
+	
+	// estimated direction of gravity
+	vx = 2*(q1*q3 - q0*q2);
+	vy = 2*(q0*q1 + q2*q3);
+	vz = q0*q0 - q1*q1 - q2*q2 + q3*q3;
+	
+	// error is sum of cross product between reference direction of field and direction measured by sensor
+	ex = (ay*vz - az*vy);
+	ey = (az*vx - ax*vz);
+	ez = (ax*vy - ay*vx);
+	
+	// integral error scaled integral gain
+	exInt = exInt + ex*Ki;
+	eyInt = eyInt + ey*Ki;
+	ezInt = ezInt + ez*Ki;
+	
+	// adjusted gyroscope measurements
+	gx = gx + Kp*ex + exInt;
+	gy = gy + Kp*ey + eyInt;
+	gz = gz + Kp*ez + ezInt;
+	
+	// integrate quaternion rate and normalise
+	q0 = q0 + (-q1*gx - q2*gy - q3*gz)*halfT;
+	q1 = q1 + (q0*gx + q2*gz - q3*gy)*halfT;
+	q2 = q2 + (q0*gy - q1*gz + q3*gx)*halfT;
+	q3 = q3 + (q0*gz + q1*gy - q2*gx)*halfT;  
+	
+	// normalise quaternion
+	norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3);
+	q0 = q0 / norm;
+	q1 = q1 / norm;
+	q2 = q2 / norm;
+	q3 = q3 / norm;
+}
+
+//====================================================================================================
+// END OF CODE
+//====================================================================================================
diff --git a/IMU.h b/IMU.h
index f25f38c..003488a 100755
--- a/IMU.h
+++ b/IMU.h
@@ -1,26 +1,26 @@
-//=====================================================================================================

-// IMU.h

-// S.O.H. Madgwick

-// 25th September 2010

-//=====================================================================================================

-//

-// See IMU.c file for description.

-// 

-//=====================================================================================================

-#ifndef IMU_h

-#define IMU_h

-

-//----------------------------------------------------------------------------------------------------

-// Variable declaration

-

-extern float q0, q1, q2, q3;	// quaternion elements representing the estimated orientation

-

-//---------------------------------------------------------------------------------------------------

-// Function declaration

-

-void IMUupdate(float gx, float gy, float gz, float ax, float ay, float az);

-

-#endif

-//=====================================================================================================

-// End of file

+//=====================================================================================================
+// IMU.h
+// S.O.H. Madgwick
+// 25th September 2010
+//=====================================================================================================
+//
+// See IMU.c file for description.
+// 
+//=====================================================================================================
+#ifndef IMU_h
+#define IMU_h
+
+//----------------------------------------------------------------------------------------------------
+// Variable declaration
+
+extern float q0, q1, q2, q3;	// quaternion elements representing the estimated orientation
+
+//---------------------------------------------------------------------------------------------------
+// Function declaration
+
+void IMUupdate(float gx, float gy, float gz, float ax, float ay, float az);
+
+#endif
+//=====================================================================================================
+// End of file
 //=====================================================================================================
\ No newline at end of file
diff --git a/board.h b/board.h
index 8265944..f273db2 100644
--- a/board.h
+++ b/board.h
@@ -1,96 +1,96 @@
-#ifndef BOARD_H

-#define BOARD_H

-

-#define STM32_HSECLK            8000000

-

-#define STM32F10X_MD

-

-/*

- * I/O ports initial setup, this configuration is established soon after reset

- * in the initialization code.

- *

- * The digits have the following meaning:

- *   0 - Analog input.

- *   1 - Push Pull output 10MHz.

- *   2 - Push Pull output 2MHz.

- *   3 - Push Pull output 50MHz.

- *   4 - Digital input.

- *   5 - Open Drain output 10MHz.

- *   6 - Open Drain output 2MHz.

- *   7 - Open Drain output 50MHz.

- *   8 - Digital input with PullUp or PullDown resistor depending on ODR.

- *   9 - Alternate Push Pull output 10MHz.

- *   A - Alternate Push Pull output 2MHz.

- *   B - Alternate Push Pull output 50MHz.

- *   C - Reserved.

- *   D - Alternate Open Drain output 10MHz.

- *   E - Alternate Open Drain output 2MHz.

- *   F - Alternate Open Drain output 50MHz.

- * Please refer to the STM32 Reference Manual for details.

- */

-

-/*

- * Port A setup.

- * Everything input with pull-up except:

- * PA0  - Normal input      (BUTTON).

- * PA2  - Alternate output  (USART2 TX).

- * PA3  - Normal input      (USART2 RX).

- */

-#define VAL_GPIOACRL            0x88384B88      /*  PA7...PA0 */

-#define VAL_GPIOACRH            0x888884B8      /* PA15...PA8 */

-#define VAL_GPIOAODR            0xFFFFFFFF

-

-/*

- * Port B setup.

- * Everything input with pull-up except:

- * PB13 - Alternate output  (MMC SPI2 SCK).

- * PB14 - Normal input      (MMC SPI2 MISO).

- * PB15 - Alternate output  (MMC SPI2 MOSI).

- */

-#define VAL_GPIOBCRL            0x84888888      /*  PB7...PB0 */

-#define VAL_GPIOBCRH            0xB4B84488      /* PB15...PB8 */

-#define VAL_GPIOBODR            0xFFFFFFFF

-

-/*

- * Port C setup.

- * Everything input with pull-up except:

- * PC4  - Normal input because there is an external resistor.

- * PC6  - Normal input because there is an external resistor.

- * PC7  - Normal input because there is an external resistor.

- * PC10 - Push Pull output (CAN CNTRL).

- * PC11 - Push Pull output (USB DISC).

- * PC12 - Push Pull output (LED).

- */

-#define VAL_GPIOCCRL            0x44008888      /*  PC7...PC0 */

-#define VAL_GPIOCCRH            0x88833388      /* PC15...PC8 */

-#define VAL_GPIOCODR            0xFFFFFFFF

-

-/*

- * Port D setup.

- * Everything input with pull-up except:

- * PD0  - Normal input (XTAL).

- * PD1  - Normal input (XTAL).

- */

-#define VAL_GPIODCRL            0x88888844      /*  PD7...PD0 */

-#define VAL_GPIODCRH            0x88888888      /* PD15...PD8 */

-#define VAL_GPIODODR            0xFFFFFFFF

-

-/*

- * Port E setup.

- * Everything input with pull-up except:

- */

-#define VAL_GPIOECRL            0x88888888      /*  PE7...PE0 */

-#define VAL_GPIOECRH            0x88888888      /* PE15...PE8 */

-#define VAL_GPIOEODR            0xFFFFFFFF

-

-#if !defined(_FROM_ASM_)

-#ifdef __cplusplus

-extern "C" {

-#endif

-  void boardInit(void);

-#ifdef __cplusplus

-}

-#endif

-#endif

-

-#endif

+#ifndef BOARD_H
+#define BOARD_H
+
+#define STM32_HSECLK            8000000
+
+#define STM32F10X_MD
+
+/*
+ * I/O ports initial setup, this configuration is established soon after reset
+ * in the initialization code.
+ *
+ * The digits have the following meaning:
+ *   0 - Analog input.
+ *   1 - Push Pull output 10MHz.
+ *   2 - Push Pull output 2MHz.
+ *   3 - Push Pull output 50MHz.
+ *   4 - Digital input.
+ *   5 - Open Drain output 10MHz.
+ *   6 - Open Drain output 2MHz.
+ *   7 - Open Drain output 50MHz.
+ *   8 - Digital input with PullUp or PullDown resistor depending on ODR.
+ *   9 - Alternate Push Pull output 10MHz.
+ *   A - Alternate Push Pull output 2MHz.
+ *   B - Alternate Push Pull output 50MHz.
+ *   C - Reserved.
+ *   D - Alternate Open Drain output 10MHz.
+ *   E - Alternate Open Drain output 2MHz.
+ *   F - Alternate Open Drain output 50MHz.
+ * Please refer to the STM32 Reference Manual for details.
+ */
+
+/*
+ * Port A setup.
+ * Everything input with pull-up except:
+ * PA0  - Normal input      (BUTTON).
+ * PA2  - Alternate output  (USART2 TX).
+ * PA3  - Normal input      (USART2 RX).
+ */
+#define VAL_GPIOACRL            0x88384B88      /*  PA7...PA0 */
+#define VAL_GPIOACRH            0x888884B8      /* PA15...PA8 */
+#define VAL_GPIOAODR            0xFFFFFFFF
+
+/*
+ * Port B setup.
+ * Everything input with pull-up except:
+ * PB13 - Alternate output  (MMC SPI2 SCK).
+ * PB14 - Normal input      (MMC SPI2 MISO).
+ * PB15 - Alternate output  (MMC SPI2 MOSI).
+ */
+#define VAL_GPIOBCRL            0x84888888      /*  PB7...PB0 */
+#define VAL_GPIOBCRH            0xB4B84488      /* PB15...PB8 */
+#define VAL_GPIOBODR            0xFFFFFFFF
+
+/*
+ * Port C setup.
+ * Everything input with pull-up except:
+ * PC4  - Normal input because there is an external resistor.
+ * PC6  - Normal input because there is an external resistor.
+ * PC7  - Normal input because there is an external resistor.
+ * PC10 - Push Pull output (CAN CNTRL).
+ * PC11 - Push Pull output (USB DISC).
+ * PC12 - Push Pull output (LED).
+ */
+#define VAL_GPIOCCRL            0x44008888      /*  PC7...PC0 */
+#define VAL_GPIOCCRH            0x88833388      /* PC15...PC8 */
+#define VAL_GPIOCODR            0xFFFFFFFF
+
+/*
+ * Port D setup.
+ * Everything input with pull-up except:
+ * PD0  - Normal input (XTAL).
+ * PD1  - Normal input (XTAL).
+ */
+#define VAL_GPIODCRL            0x88888844      /*  PD7...PD0 */
+#define VAL_GPIODCRH            0x88888888      /* PD15...PD8 */
+#define VAL_GPIODODR            0xFFFFFFFF
+
+/*
+ * Port E setup.
+ * Everything input with pull-up except:
+ */
+#define VAL_GPIOECRL            0x88888888      /*  PE7...PE0 */
+#define VAL_GPIOECRH            0x88888888      /* PE15...PE8 */
+#define VAL_GPIOEODR            0xFFFFFFFF
+
+#if !defined(_FROM_ASM_)
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void boardInit(void);
+#ifdef __cplusplus
+}
+#endif
+#endif
+
+#endif
diff --git a/chconf.h b/chconf.h
index 04fa822..dcb2493 100644
--- a/chconf.h
+++ b/chconf.h
@@ -1,508 +1,508 @@
-/*

-    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

-                 2011 Giovanni Di Sirio.

-

-    This file is part of ChibiOS/RT.

-

-    ChibiOS/RT 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.

-

-    ChibiOS/RT 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    templates/chconf.h

- * @brief   Configuration file template.

- * @details A copy of this file must be placed in each project directory, it

- *          contains the application specific kernel settings.

- *

- * @addtogroup config

- * @details Kernel related settings and hooks.

- * @{

- */

-

-#ifndef _CHCONF_H_

-#define _CHCONF_H_

-

-/*===========================================================================*/

-/* Kernel parameters.                                                        */

-/*===========================================================================*/

-

-/**

- * @brief   System tick frequency.

- * @details Frequency of the system timer that drives the system ticks. This

- *          setting also defines the system tick time unit.

- */

-#if !defined(CH_FREQUENCY) || defined(__DOXYGEN__)

-#define CH_FREQUENCY                    1000

-#endif

-

-/**

- * @brief   Round robin interval.

- * @details This constant is the number of system ticks allowed for the

- *          threads before preemption occurs. Setting this value to zero

- *          disables the preemption for threads with equal priority and the

- *          round robin becomes cooperative. Note that higher priority

- *          threads can still preempt, the kernel is always preemptive.

- *

- * @note    Disabling the round robin preemption makes the kernel more compact

- *          and generally faster.

- */

-#if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)

-#define CH_TIME_QUANTUM                 20

-#endif

-

-/**

- * @brief   Nested locks.

- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()

- *          operations is allowed.<br>

- *          For performance and code size reasons the recommended setting

- *          is to leave this option disabled.<br>

- *          You may use this option if you need to merge ChibiOS/RT with

- *          external libraries that require nested lock/unlock operations.

- *

- * @note    The default is @p FALSE.

- */

-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)

-#define CH_USE_NESTED_LOCKS             FALSE

-#endif

-

-/**

- * @brief   Managed RAM size.

- * @details Size of the RAM area to be managed by the OS. If set to zero

- *          then the whole available RAM is used. The core memory is made

- *          available to the heap allocator and/or can be used directly through

- *          the simplified core memory allocator.

- *

- * @note    In order to let the OS manage the whole RAM the linker script must

- *          provide the @p __heap_base__ and @p __heap_end__ symbols.

- * @note    Requires @p CH_USE_COREMEM.

- */

-#if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__)

-#define CH_MEMCORE_SIZE                 0

-#endif

-

-/*===========================================================================*/

-/* Performance options.                                                      */

-/*===========================================================================*/

-

-/**

- * @brief   OS optimization.

- * @details If enabled then time efficient rather than space efficient code

- *          is used when two possible implementations exist.

- *

- * @note    This is not related to the compiler optimization options.

- * @note    The default is @p TRUE.

- */

-#if !defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)

-#define CH_OPTIMIZE_SPEED               TRUE

-#endif

-

-/**

- * @brief   Exotic optimization.

- * @details If defined then a CPU register is used as storage for the global

- *          @p currp variable. Caching this variable in a register greatly

- *          improves both space and time OS efficiency. A side effect is that

- *          one less register has to be saved during the context switch

- *          resulting in lower RAM usage and faster context switch.

- *

- * @note    This option is only usable with the GCC compiler and is only useful

- *          on processors with many registers like ARM cores.

- * @note    If this option is enabled then ALL the libraries linked to the

- *          ChibiOS/RT code <b>must</b> be recompiled with the GCC option @p

- *          -ffixed-@<reg@>.

- * @note    This option must be enabled in the Makefile, it is listed here for

- *          documentation only.

- */

-#if defined(__DOXYGEN__)

-#define CH_CURRP_REGISTER_CACHE         "reg"

-#endif

-

-/*===========================================================================*/

-/* Subsystem options.                                                        */

-/*===========================================================================*/

-

-/**

- * @brief   Threads registry APIs.

- * @details If enabled then the registry APIs are included in the kernel.

- *

- * @note    The default is @p TRUE.

- */

-#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)

-#define CH_USE_REGISTRY                 TRUE

-#endif

-

-/**

- * @brief   Threads synchronization APIs.

- * @details If enabled then the @p chThdWait() function is included in

- *          the kernel.

- *

- * @note    The default is @p TRUE.

- */

-#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)

-#define CH_USE_WAITEXIT                 TRUE

-#endif

-

-/**

- * @brief   Semaphores APIs.

- * @details If enabled then the Semaphores APIs are included in the kernel.

- *

- * @note    The default is @p TRUE.

- */

-#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)

-#define CH_USE_SEMAPHORES               TRUE

-#endif

-

-/**

- * @brief   Semaphores queuing mode.

- * @details If enabled then the threads are enqueued on semaphores by

- *          priority rather than in FIFO order.

- *

- * @note    The default is @p FALSE. Enable this if you have special requirements.

- * @note    Requires @p CH_USE_SEMAPHORES.

- */

-#if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)

-#define CH_USE_SEMAPHORES_PRIORITY      FALSE

-#endif

-

-/**

- * @brief   Atomic semaphore API.

- * @details If enabled then the semaphores the @p chSemSignalWait() API

- *          is included in the kernel.

- *

- * @note    The default is @p TRUE.

- * @note    Requires @p CH_USE_SEMAPHORES.

- */

-#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)

-#define CH_USE_SEMSW                    TRUE

-#endif

-

-/**

- * @brief   Mutexes APIs.

- * @details If enabled then the mutexes APIs are included in the kernel.

- *

- * @note    The default is @p TRUE.

- */

-#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)

-#define CH_USE_MUTEXES                  TRUE

-#endif

-

-/**

- * @brief   Conditional Variables APIs.

- * @details If enabled then the conditional variables APIs are included

- *          in the kernel.

- *

- * @note    The default is @p TRUE.

- * @note    Requires @p CH_USE_MUTEXES.

- */

-#if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__)

-#define CH_USE_CONDVARS                 TRUE

-#endif

-

-/**

- * @brief   Conditional Variables APIs with timeout.

- * @details If enabled then the conditional variables APIs with timeout

- *          specification are included in the kernel.

- *

- * @note    The default is @p TRUE.

- * @note    Requires @p CH_USE_CONDVARS.

- */

-#if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)

-#define CH_USE_CONDVARS_TIMEOUT         TRUE

-#endif

-

-/**

- * @brief   Events Flags APIs.

- * @details If enabled then the event flags APIs are included in the kernel.

- *

- * @note    The default is @p TRUE.

- */

-#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)

-#define CH_USE_EVENTS                   TRUE

-#endif

-

-/**

- * @brief   Events Flags APIs with timeout.

- * @details If enabled then the events APIs with timeout specification

- *          are included in the kernel.

- *

- * @note    The default is @p TRUE.

- * @note    Requires @p CH_USE_EVENTS.

- */

-#if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)

-#define CH_USE_EVENTS_TIMEOUT           TRUE

-#endif

-

-/**

- * @brief   Synchronous Messages APIs.

- * @details If enabled then the synchronous messages APIs are included

- *          in the kernel.

- *

- * @note    The default is @p TRUE.

- */

-#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)

-#define CH_USE_MESSAGES                 TRUE

-#endif

-

-/**

- * @brief   Synchronous Messages queuing mode.

- * @details If enabled then messages are served by priority rather than in

- *          FIFO order.

- *

- * @note    The default is @p FALSE. Enable this if you have special requirements.

- * @note    Requires @p CH_USE_MESSAGES.

- */

-#if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)

-#define CH_USE_MESSAGES_PRIORITY        FALSE

-#endif

-

-/**

- * @brief   Mailboxes APIs.

- * @details If enabled then the asynchronous messages (mailboxes) APIs are

- *          included in the kernel.

- *

- * @note    The default is @p TRUE.

- * @note    Requires @p CH_USE_SEMAPHORES.

- */

-#if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__)

-#define CH_USE_MAILBOXES                TRUE

-#endif

-

-/**

- * @brief   I/O Queues APIs.

- * @details If enabled then the I/O queues APIs are included in the kernel.

- *

- * @note    The default is @p TRUE.

- * @note    Requires @p CH_USE_SEMAPHORES.

- */

-#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)

-#define CH_USE_QUEUES                   TRUE

-#endif

-

-/**

- * @brief   Core Memory Manager APIs.

- * @details If enabled then the core memory manager APIs are included

- *          in the kernel.

- *

- * @note    The default is @p TRUE.

- */

-#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)

-#define CH_USE_MEMCORE                  TRUE

-#endif

-

-/**

- * @brief   Heap Allocator APIs.

- * @details If enabled then the memory heap allocator APIs are included

- *          in the kernel.

- *

- * @note    The default is @p TRUE.

- * @note    Requires @p CH_USE_COREMEM and either @p CH_USE_MUTEXES or

- *          @p CH_USE_SEMAPHORES.

- * @note    Mutexes are recommended.

- */

-#if !defined(CH_USE_HEAP) || defined(__DOXYGEN__)

-#define CH_USE_HEAP                     TRUE

-#endif

-

-/**

- * @brief   C-runtime allocator.

- * @details If enabled the the heap allocator APIs just wrap the C-runtime

- *          @p malloc() and @p free() functions.

- *

- * @note    The default is @p FALSE.

- * @note    Requires @p CH_USE_HEAP.

- * @note    The C-runtime may or may not require @p CH_USE_COREMEM, see the

- *          appropriate documentation.

- */

-#if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)

-#define CH_USE_MALLOC_HEAP              FALSE

-#endif

-

-/**

- * @brief   Memory Pools Allocator APIs.

- * @details If enabled then the memory pools allocator APIs are included

- *          in the kernel.

- *

- * @note    The default is @p TRUE.

- */

-#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)

-#define CH_USE_MEMPOOLS                 TRUE

-#endif

-

-/**

- * @brief   Dynamic Threads APIs.

- * @details If enabled then the dynamic threads creation APIs are included

- *          in the kernel.

- *

- * @note    The default is @p TRUE.

- * @note    Requires @p CH_USE_WAITEXIT.

- * @note    Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS.

- */

-#if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__)

-#define CH_USE_DYNAMIC                  TRUE

-#endif

-

-/*===========================================================================*/

-/* Debug options.                                                            */

-/*===========================================================================*/

-

-/**

- * @brief   Debug option, parameters checks.

- * @details If enabled then the checks on the API functions input

- *          parameters are activated.

- *

- * @note    The default is @p FALSE.

- */

-#if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)

-#define CH_DBG_ENABLE_CHECKS            FALSE

-#endif

-

-/**

- * @brief   Debug option, consistency checks.

- * @details If enabled then all the assertions in the kernel code are

- *          activated. This includes consistency checks inside the kernel,

- *          runtime anomalies and port-defined checks.

- *

- * @note    The default is @p FALSE.

- */

-#if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)

-#define CH_DBG_ENABLE_ASSERTS           FALSE

-#endif

-

-/**

- * @brief   Debug option, trace buffer.

- * @details If enabled then the context switch circular trace buffer is

- *          activated.

- *

- * @note    The default is @p FALSE.

- */

-#if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)

-#define CH_DBG_ENABLE_TRACE             FALSE

-#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) || defined(__DOXYGEN__)

-#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) || defined(__DOXYGEN__)

-#define CH_DBG_FILL_THREADS             FALSE

-#endif

-

-/**

- * @brief   Debug option, threads profiling.

- * @details If enabled then a field is added to the @p Thread structure that

- *          counts the system ticks occurred while executing the thread.

- *

- * @note    The default is @p TRUE.

- * @note    This debug option is defaulted to TRUE because it is required by

- *          some test cases into the test suite.

- */

-#if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)

-#define CH_DBG_THREADS_PROFILING        TRUE

-#endif

-

-/*===========================================================================*/

-/* Kernel hooks.                                                             */

-/*===========================================================================*/

-

-/**

- * @brief   Threads descriptor structure extension.

- * @details User fields added to the end of the @p Thread structure.

- */

-#if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__)

-#define THREAD_EXT_FIELDS                                                   \

-  /* Add threads custom fields here.*/

-#endif

-

-/**

- * @brief   Threads initialization hook.

- * @details User initialization code added to the @p chThdInit() API.

- *

- * @note    It is invoked from within @p chThdInit() and implicitily from all

- *          the threads creation APIs.

- */

-#if !defined(THREAD_EXT_INIT_HOOK) || defined(__DOXYGEN__)

-#define THREAD_EXT_INIT_HOOK(tp) {                                          \

-  /* Add threads initialization code here.*/                                \

-}

-#endif

-

-/**

- * @brief   Threads finalization hook.

- * @details User finalization code added to the @p chThdExit() API.

- *

- * @note    It is inserted into lock zone.

- * @note    It is also invoked when the threads simply return in order to

- *          terminate.

- */

-#if !defined(THREAD_EXT_EXIT_HOOK) || defined(__DOXYGEN__)

-#define THREAD_EXT_EXIT_HOOK(tp) {                                          \

-  /* Add threads finalization code here.*/                                  \

-}

-#endif

-

-/**

- * @brief   Idle Loop hook.

- * @details This hook is continuously invoked by the idle thread loop.

- */

-#if !defined(IDLE_LOOP_HOOK) || defined(__DOXYGEN__)

-#define IDLE_LOOP_HOOK() {                                                  \

-  /* Idle loop code here.*/                                                 \

-}

-#endif

-

-/**

- * @brief   System tick event hook.

- * @details This hook is invoked in the system tick handler immediately

- *          after processing the virtual timers queue.

- */

-#if !defined(SYSTEM_TICK_EVENT_HOOK) || defined(__DOXYGEN__)

-#define SYSTEM_TICK_EVENT_HOOK() {                                          \

-  /* System tick event code here.*/                                         \

-}

-#endif

-

-/**

- * @brief   System halt hook.

- * @details This hook is invoked in case to a system halting error before

- *          the system is halted.

- */

-#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)

-#define SYSTEM_HALT_HOOK() {                                                \

-  /* System halt code here.*/                                               \

-}

-#endif

-

-/*===========================================================================*/

-/* Port-specific settings (override port settings defaulted in chcore.h).    */

-/*===========================================================================*/

-

-#endif  /* _CHCONF_H_ */

-

-/** @} */

+/*
+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+                 2011 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT 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.
+
+    ChibiOS/RT 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    templates/chconf.h
+ * @brief   Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ *          contains the application specific kernel settings.
+ *
+ * @addtogroup config
+ * @details Kernel related settings and hooks.
+ * @{
+ */
+
+#ifndef _CHCONF_H_
+#define _CHCONF_H_
+
+/*===========================================================================*/
+/* Kernel parameters.                                                        */
+/*===========================================================================*/
+