diff options
| -rwxr-xr-x | IMU.cpp | 184 | ||||
| -rwxr-xr-x | IMU.h | 50 | ||||
| -rw-r--r-- | board.h | 192 | ||||
| -rw-r--r-- | chconf.h | 1016 | ||||
| -rw-r--r-- | halconf.h | 566 | ||||
| -rw-r--r-- | main.cpp | 506 | ||||
| -rw-r--r-- | mcuconf.h | 340 |
7 files changed, 1427 insertions, 1427 deletions
@@ -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 +//==================================================================================================== @@ -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 @@ -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 @@ -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. */ +/*===========================================================================*/ + +/** + * @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 pre |