diff options
| -rw-r--r-- | .gitmodules | 3 | ||||
| -rwxr-xr-x | IMU.cpp | 92 | ||||
| -rwxr-xr-x | IMU.h | 26 | ||||
| -rw-r--r-- | SConstruct | 14 | ||||
| -rw-r--r-- | ak8975.h | 24 | ||||
| -rw-r--r-- | bma150.h | 24 | ||||
| -rw-r--r-- | board.c | 18 | ||||
| -rw-r--r-- | board.h | 96 | ||||
| -rw-r--r-- | ch.ld | 114 | ||||
| -rw-r--r-- | chconf.h | 508 | ||||
| m--------- | chibios | 0 | ||||
| -rw-r--r-- | foo.h | 84 | ||||
| -rw-r--r-- | halconf.h | 283 | ||||
| -rw-r--r-- | i2csensor.cpp | 77 | ||||
| -rw-r--r-- | i2csensor.h | 26 | ||||
| -rw-r--r-- | itg3200.h | 24 | ||||
| -rw-r--r-- | main.cpp | 256 | ||||
| -rw-r--r-- | mcuconf.h | 170 | ||||
| -rw-r--r-- | motormixer.cpp | 86 | ||||
| -rw-r--r-- | motormixer.h | 12 | ||||
| -rw-r--r-- | ppmsum.cpp | 39 | ||||
| -rw-r--r-- | ppmsum.h | 13 | ||||
| -rw-r--r-- | thread.h | 23 | ||||
| -rw-r--r-- | usbserial.cpp | 281 | ||||
| -rw-r--r-- | usbserial.h | 38 |
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 -//==================================================================================================== @@ -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 @@ -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 @@ -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.*/ \ -} -#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(__ |