Removed old stuff.

25 files changed, 2 insertions, 2329 deletions

diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index de8b785..0000000
--- a/.gitmodules
+++ /dev/null
@@ -1,3 +0,0 @@
-[submodule "chibios"]
-	path = chibios
-	url = git://git.jvnv.net/chibios
diff --git a/IMU.cpp b/IMU.cpp
deleted file mode 100755
index bcff537..0000000
--- a/IMU.cpp
+++ /dev/null
@@ -1,92 +0,0 @@
-//=====================================================================================================
-// 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
deleted file mode 100755
index 003488a..0000000
--- a/IMU.h
+++ /dev/null
@@ -1,26 +0,0 @@
-//=====================================================================================================
-// 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/SConstruct b/SConstruct
index 6d3566a..08229f4 100644
--- a/SConstruct
+++ b/SConstruct
@@ -18,23 +18,13 @@ env = Environment(
 	AR = 'arm-none-eabi-ar',

 	RANLIB = 'arm-none-eabi-ranlib',

 	

-	CPPPATH = ['.',

-		'chibios/os/kernel/include', 'chibios/os/ports/GCC/ARMCMx', 'chibios/os/ports/GCC/ARMCMx/STM32',

-		'chibios/os/hal/include', 'chibios/os/hal/platforms/STM32',

-	],

+	#CPPPATH = [],

 	#LIBPATH = [],

 	

 	LIBS = ['m'],

 )

 

-sources = \

-	Glob('chibios/os/kernel/src/*.c') + \

-	['chibios/os/ports/GCC/ARMCMx/' + i for i in ('STM32/vectors.c', 'chcore.c', 'chcore_v7m.c', 'nvic.c', 'crt0_v7m.s')] + \

-	Glob('chibios/os/hal/src/*.c') + \

-	Glob('chibios/os/hal/platforms/STM32/*.c')

-

-#firmware = env.Program('suzumebachi.elf', Glob('*.cpp') + Glob('*.c') + sources)

-firmware = env.Program('suzumebachi.elf', ['main.cpp', 'entry.cpp', 'interrupt.cpp', 'rcc.cpp'])

+firmware = env.Program('suzumebachi.elf', Glob('*.cpp'))

 env.Depends(firmware, 'suzumebachi.ld')

 

 env.Command('prog', ['suzumebachi.elf'], 'openocd -f openocd.cfg -c flash_chip')

diff --git a/ak8975.h b/ak8975.h
deleted file mode 100644
index beb9940..0000000
--- a/ak8975.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#ifndef AK8975_H
-#define AK8975_H
-
-#include "i2csensor.h"
-
-class AK8975 : public I2CSensor {
-	public:
-		int16_t x, y, z;
-		
-		void init() {
-			i2c_address = 0x0c;
-			write(0x0a, 0x01); // Start first measurement.
-		}
-		
-		void update() {
-			read(0x03, 6);
-			x = (rxdata[0] | rxdata[1] << 8);
-			y = (rxdata[2] | rxdata[3] << 8);
-			z = (rxdata[4] | rxdata[5] << 8);
-			write(0x0a, 0x01); // Start a new measurement.
-		}
-};
-
-#endif
diff --git a/bma150.h b/bma150.h
deleted file mode 100644
index 0cd6b27..0000000
--- a/bma150.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#ifndef BMA150_H
-#define BMA150_H
-
-#include "i2csensor.h"
-
-class BMA150 : public I2CSensor {
-	public:
-		int16_t x, y, z;
-		
-		void init() {
-			i2c_address = 0x38;
-			read(0x14, 1);
-			write(0x14, (rxdata[0] & 0xe0) | 0x00 | 0x00); // 2g range, 25 Hz bandwidth
-		}
-		
-		void update() {
-			read(0x02, 6);
-			x = ((rxdata[0] & 0xc0) | rxdata[1] << 8);
-			y = ((rxdata[2] & 0xc0) | rxdata[3] << 8);
-			z = ((rxdata[4] & 0xc0) | rxdata[5] << 8);
-		}
-};
-
-#endif
diff --git a/board.c b/board.c
deleted file mode 100644
index f4b836c..0000000
--- a/board.c
+++ /dev/null
@@ -1,18 +0,0 @@
-#include <ch.h>

-#include <hal.h>

-

-const PALConfig pal_default_config = {

-	{VAL_GPIOAODR, VAL_GPIOACRL, VAL_GPIOACRH},

-	{VAL_GPIOBODR, VAL_GPIOBCRL, VAL_GPIOBCRH},

-	{VAL_GPIOCODR, VAL_GPIOCCRL, VAL_GPIOCCRH},

-	{VAL_GPIODODR, VAL_GPIODCRL, VAL_GPIODCRH},

-	{VAL_GPIOEODR, VAL_GPIOECRL, VAL_GPIOECRH},

-};

-

-void __early_init(void) {

-	stm32_clock_init();

-}

-

-void boardInit(void) {

-	

-}

diff --git a/board.h b/board.h
deleted file mode 100644
index f273db2..0000000
--- a/board.h
+++ /dev/null
@@ -1,96 +0,0 @@
-#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/ch.ld b/ch.ld
deleted file mode 100644
index ae79ddd..0000000
--- a/ch.ld
+++ /dev/null
@@ -1,114 +0,0 @@
-/*

-    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/>.

-*/

-

-/*

- * ST32F103 memory setup.

- */

-__main_stack_size__     = 0x0400;

-__process_stack_size__  = 0x0400;

-__stacks_total_size__   = __main_stack_size__ + __process_stack_size__;

-

-MEMORY

-{

-    flash : org = 0x08000000, len = 128k

-    ram : org = 0x20000000, len = 20k

-}

-

-__ram_start__           = ORIGIN(ram);

-__ram_size__            = LENGTH(ram);

-__ram_end__             = __ram_start__ + __ram_size__;

-

-SECTIONS

-{

-    . = 0;

-

-    .text : ALIGN(16) SUBALIGN(16)

-    {

-        _text = .;

-        KEEP(*(vectors))

-        *(.text)

-        *(.text.*)

-        *(.rodata)

-        *(.rodata.*)

-        *(.glue_7t)

-        *(.glue_7)

-        *(.gcc*)

-    } > flash

-

-    .ctors :

-    {

-        PROVIDE(_ctors_start_ = .);

-        KEEP(*(SORT(.ctors.*)))

-        KEEP(*(.ctors))

-        PROVIDE(_ctors_end_ = .);

-    } > flash

-

-    .dtors :

-    {

-        PROVIDE(_dtors_start_ = .);

-        KEEP(*(SORT(.dtors.*)))

-        KEEP(*(.dtors))

-        PROVIDE(_dtors_end_ = .);

-    } > flash

-

-    .ARM.extab : {*(.ARM.extab* .gnu.linkonce.armextab.*)}

-

-    __exidx_start = .;

-    .ARM.exidx : {*(.ARM.exidx* .gnu.linkonce.armexidx.*)} > flash

-    __exidx_end = .;

-

-    .eh_frame_hdr : {*(.eh_frame_hdr)}

-

-    .eh_frame : ONLY_IF_RO {*(.eh_frame)}

-

-    . = ALIGN(4);

-    _etext = .;

-    _textdata = _etext;

-

-    .data :

-    {

-        _data = .;

-        *(.data)

-        . = ALIGN(4);

-        *(.data.*)

-        . = ALIGN(4);

-        *(.ramtext)

-        . = ALIGN(4);

-        _edata = .;

-    } > ram AT > flash

-

-    .bss :

-    {

-        _bss_start = .;

-        *(.bss)

-        . = ALIGN(4);

-        *(.bss.*)

-        . = ALIGN(4);

-        *(COMMON)

-        . = ALIGN(4);

-        _bss_end = .;

-    } > ram    

-}

-

-PROVIDE(end = .);

-_end            = .;

-

-__heap_base__   = _end;

-__heap_end__    = __ram_end__ - __stacks_total_size__;

diff --git a/chconf.h b/chconf.h
deleted file mode 100644
index dcb2493..0000000
--- a/chconf.h
+++ /dev/null
@@ -1,508 +0,0 @@
-/*
-    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.*/                                \