2015-07-08 08:39:24 -07:00
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/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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Copyright (C) 2014 Jared Boone, ShareBrained Technology
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/**
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* @file templates/chconf.h
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* @brief Configuration file template.
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* @details A copy of this file must be placed in each project directory, it
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* contains the application specific kernel settings.
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*
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* @addtogroup config
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* @details Kernel related settings and hooks.
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* @{
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*/
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#ifndef _CHCONF_H_
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#define _CHCONF_H_
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/*===========================================================================*/
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/**
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* @name Kernel parameters and options
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief System tick frequency.
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* @details Frequency of the system timer that drives the system ticks. This
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* setting also defines the system tick time unit.
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*/
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#if !defined(CH_FREQUENCY) || defined(__DOXYGEN__)
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#define CH_FREQUENCY 1000
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#endif
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/**
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* @brief Round robin interval.
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* @details This constant is the number of system ticks allowed for the
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* threads before preemption occurs. Setting this value to zero
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* disables the preemption for threads with equal priority and the
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* round robin becomes cooperative. Note that higher priority
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* threads can still preempt, the kernel is always preemptive.
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*
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* @note Disabling the round robin preemption makes the kernel more compact
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* and generally faster.
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*/
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#if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)
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#define CH_TIME_QUANTUM 0
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#endif
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/**
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* @brief Managed RAM size.
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* @details Size of the RAM area to be managed by the OS. If set to zero
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* then the whole available RAM is used. The core memory is made
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* available to the heap allocator and/or can be used directly through
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* the simplified core memory allocator.
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*
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* @note In order to let the OS manage the whole RAM the linker script must
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* provide the @p __heap_base__ and @p __heap_end__ symbols.
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* @note Requires @p CH_USE_MEMCORE.
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*/
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#if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__)
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#define CH_MEMCORE_SIZE 0
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#endif
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/**
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* @brief Idle thread automatic spawn suppression.
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* @details When this option is activated the function @p chSysInit()
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* does not spawn the idle thread automatically. The application has
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* then the responsibility to do one of the following:
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* - Spawn a custom idle thread at priority @p IDLEPRIO.
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* - Change the main() thread priority to @p IDLEPRIO then enter
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* an endless loop. In this scenario the @p main() thread acts as
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* the idle thread.
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* .
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* @note Unless an idle thread is spawned the @p main() thread must not
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* enter a sleep state.
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*/
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#if !defined(CH_NO_IDLE_THREAD) || defined(__DOXYGEN__)
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#define CH_NO_IDLE_THREAD FALSE
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#endif
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/** @} */
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/*===========================================================================*/
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/**
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* @name Performance options
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief OS optimization.
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* @details If enabled then time efficient rather than space efficient code
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* is used when two possible implementations exist.
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*
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* @note This is not related to the compiler optimization options.
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* @note The default is @p TRUE.
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*/
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#if !defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
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#define CH_OPTIMIZE_SPEED TRUE
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#endif
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/** @} */
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/*===========================================================================*/
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/**
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* @name Subsystem options
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* @{
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*/
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/*===========================================================================*/
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/**
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* @brief Threads registry APIs.
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* @details If enabled then the registry APIs are included in the kernel.
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*
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* @note The default is @p TRUE.
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*/
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#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
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2016-02-09 11:32:07 -08:00
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#define CH_USE_REGISTRY FALSE
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2015-07-08 08:39:24 -07:00
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#endif
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/**
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* @brief Threads synchronization APIs.
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* @details If enabled then the @p chThdWait() function is included in
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* the kernel.
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*
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* @note The default is @p TRUE.
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*/
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#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)
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#define CH_USE_WAITEXIT TRUE
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#endif
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/**
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* @brief Semaphores APIs.
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* @details If enabled then the Semaphores APIs are included in the kernel.
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*
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* @note The default is @p TRUE.
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*/
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#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)
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#define CH_USE_SEMAPHORES TRUE
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#endif
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/**
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* @brief Semaphores queuing mode.
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* @details If enabled then the threads are enqueued on semaphores by
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* priority rather than in FIFO order.
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*
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* @note The default is @p FALSE. Enable this if you have special requirements.
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* @note Requires @p CH_USE_SEMAPHORES.
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*/
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#if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
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#define CH_USE_SEMAPHORES_PRIORITY FALSE
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#endif
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/**
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* @brief Atomic semaphore API.
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* @details If enabled then the semaphores the @p chSemSignalWait() API
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* is included in the kernel.
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*
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* @note The default is @p TRUE.
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* @note Requires @p CH_USE_SEMAPHORES.
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*/
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#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
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#define CH_USE_SEMSW TRUE
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#endif
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/**
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* @brief Mutexes APIs.
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* @details If enabled then the mutexes APIs are included in the kernel.
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*
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* @note The default is @p TRUE.
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*/
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#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)
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#define CH_USE_MUTEXES TRUE
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#endif
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/**
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* @brief Conditional Variables APIs.
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* @details If enabled then the conditional variables APIs are included
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* in the kernel.
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*
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* @note The default is @p TRUE.
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* @note Requires @p CH_USE_MUTEXES.
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*/
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#if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__)
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#define CH_USE_CONDVARS TRUE
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#endif
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/**
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* @brief Conditional Variables APIs with timeout.
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* @details If enabled then the conditional variables APIs with timeout
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* specification are included in the kernel.
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*
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* @note The default is @p TRUE.
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* @note Requires @p CH_USE_CONDVARS.
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*/
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#if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
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#define CH_USE_CONDVARS_TIMEOUT TRUE
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#endif
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/**
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* @brief Events Flags APIs.
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* @details If enabled then the event flags APIs are included in the kernel.
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*
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* @note The default is @p TRUE.
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*/
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#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)
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#define CH_USE_EVENTS TRUE
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#endif
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/**
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* @brief Events Flags APIs with timeout.
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* @details If enabled then the events APIs with timeout specification
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* are included in the kernel.
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*
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* @note The default is @p TRUE.
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* @note Requires @p CH_USE_EVENTS.
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*/
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#if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
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#define CH_USE_EVENTS_TIMEOUT TRUE
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#endif
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/**
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* @brief Synchronous Messages APIs.
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* @details If enabled then the synchronous messages APIs are included
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* in the kernel.
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*
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* @note The default is @p TRUE.
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*/
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#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)
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#define CH_USE_MESSAGES TRUE
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#endif
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/**
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* @brief Synchronous Messages queuing mode.
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* @details If enabled then messages are served by priority rather than in
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* FIFO order.
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*
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* @note The default is @p FALSE. Enable this if you have special requirements.
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* @note Requires @p CH_USE_MESSAGES.
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*/
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#if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
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#define CH_USE_MESSAGES_PRIORITY FALSE
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#endif
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/**
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* @brief Mailboxes APIs.
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* @details If enabled then the asynchronous messages (mailboxes) APIs are
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* included in the kernel.
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*
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* @note The default is @p TRUE.
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* @note Requires @p CH_USE_SEMAPHORES.
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*/
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#if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__)
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#define CH_USE_MAILBOXES TRUE
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#endif
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/**
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* @brief I/O Queues APIs.
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* @details If enabled then the I/O queues APIs are included in the kernel.
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*
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* @note The default is @p TRUE.
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*/
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#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
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#define CH_USE_QUEUES TRUE
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#endif
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/**
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* @brief Core Memory Manager APIs.
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* @details If enabled then the core memory manager APIs are included
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* in the kernel.
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*
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* @note The default is @p TRUE.
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*/
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#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)
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#define CH_USE_MEMCORE TRUE
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#endif
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/**
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* @brief Heap Allocator APIs.
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* @details If enabled then the memory heap allocator APIs are included
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* in the kernel.
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*
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* @note The default is @p TRUE.
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* @note Requires @p CH_USE_MEMCORE and either @p CH_USE_MUTEXES or
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* @p CH_USE_SEMAPHORES.
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* @note Mutexes are recommended.
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*/
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#if !defined(CH_USE_HEAP) || defined(__DOXYGEN__)
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#define CH_USE_HEAP TRUE
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#endif
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/**
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* @brief C-runtime allocator.
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* @details If enabled the the heap allocator APIs just wrap the C-runtime
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* @p malloc() and @p free() functions.
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*
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* @note The default is @p FALSE.
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* @note Requires @p CH_USE_HEAP.
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* @note The C-runtime may or may not require @p CH_USE_MEMCORE, see the
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* appropriate documentation.
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*/
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#if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
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#define CH_USE_MALLOC_HEAP FALSE
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#endif
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/**
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* @brief Memory Pools Allocator APIs.
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* @details If enabled then the memory pools allocator APIs are included
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* in the kernel.
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*
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* @note The default is @p TRUE.
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*/
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#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
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#define CH_USE_MEMPOOLS TRUE
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#endif
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/**
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* @brief Dynamic Threads APIs.
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* @details If enabled then the dynamic threads creation APIs are included
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* in the kernel.
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*
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* @note The default is @p TRUE.
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|
* @note Requires @p CH_USE_WAITEXIT.
|
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|
|
* @note Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS.
|
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|
|
*/
|
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|
|
#if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__)
|
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|
#define CH_USE_DYNAMIC TRUE
|
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|
#endif
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|
|
/** @} */
|
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/*===========================================================================*/
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|
/**
|
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|
* @name Debug options
|
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|
|
* @{
|
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|
*/
|
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|
|
/*===========================================================================*/
|
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|
|
/**
|
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|
|
* @brief Debug option, system state check.
|
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|
|
* @details If enabled the correct call protocol for system APIs is checked
|
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|
|
* at runtime.
|
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|
|
*
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|
|
* @note The default is @p FALSE.
|
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|
|
*/
|
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|
|
#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
|
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|
#define CH_DBG_SYSTEM_STATE_CHECK TRUE
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|
#endif
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|
/**
|
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|
|
* @brief Debug option, parameters checks.
|
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|
|
* @details If enabled then the checks on the API functions input
|
|
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|
|
* parameters are activated.
|
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|
*
|
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|
|
* @note The default is @p FALSE.
|
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|
|
*/
|
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|
|
#if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
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|
|
#define CH_DBG_ENABLE_CHECKS TRUE
|
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|
#endif
|
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|
|
/**
|
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|
|
* @brief Debug option, consistency checks.
|
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|
|
* @details If enabled then all the assertions in the kernel code are
|
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|
|
* activated. This includes consistency checks inside the kernel,
|
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|
|
* runtime anomalies and port-defined checks.
|
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|
|
*
|
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|
|
* @note The default is @p FALSE.
|
|
|
|
|
*/
|
|
|
|
|
#if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
|
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|
|
#define CH_DBG_ENABLE_ASSERTS TRUE
|
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|
|
|
#endif
|
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|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @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 TRUE
|
|
|
|
|
#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 TRUE
|
|
|
|
|
#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
|
|
|
|
|
|
|
|
|
|
/** @} */
|
|
|
|
|
|
|
|
|
|
/*===========================================================================*/
|
|
|
|
|
/**
|
|
|
|
|
* @name 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.*/ \
|
|
|
|
|
uint32_t switches; \
|
|
|
|
|
uint32_t start_ticks; \
|
|
|
|
|
uint32_t total_ticks;
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* @brief Threads initialization hook.
|
|
|
|
|
* @details User initialization code added to the @p chThdInit() API.
|
|
|
|
|
*
|
|
|
|
|
* @note It is invoked from within @p chThdInit() and implicitly 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.*/ \
|
|
|
|
|
tp->switches = 0; \
|
|
|
|
|
tp->start_ticks = 0; \
|
|
|
|
|
tp->total_ticks = 0; \
|
|
|
|
|
}
|
|
|
|
|
#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 Context switch hook.
|
|
|
|
|
* @details This hook is invoked just before switching between threads.
|
|
|
|
|
*/
|
|
|
|
|
#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
|
|
|
|
|
#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) { \
|
|
|
|
|
/* System halt code here.*/ \
|
|
|
|
|
otp->switches++; \
|
|
|
|
|
ntp->start_ticks = *((volatile uint32_t*)0x400C4008); \
|
|
|
|
|
otp->total_ticks += (ntp->start_ticks - otp->start_ticks); \
|
|
|
|
|
}
|
|
|
|
|
#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
|
|
|
|
|
|
2023-04-23 23:48:20 +02:00
|
|
|
|
|
|
|
|
|
2015-07-08 08:39:24 -07:00
|
|
|
/**
|
|
|
|
|
* @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.*/ \
|
2023-04-23 23:48:20 +02:00
|
|
|
extern void update_performance_counters(); \
|
|
|
|
|
update_performance_counters(); \
|
2015-07-08 08:39:24 -07:00
|
|
|
}
|
|
|
|
|
#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). */
|
|
|
|
|
/*===========================================================================*/
|
|
|
|
|
|
|
|
|
|
/* NOTE: When changing this option you also have to enable or disable the FPU
|
|
|
|
|
in the project options.*/
|
|
|
|
|
#define CORTEX_USE_FPU TRUE
|
|
|
|
|
#define CORTEX_ENABLE_WFI_IDLE TRUE
|
|
|
|
|
|
|
|
|
|
#endif /* _CHCONF_H_ */
|
|
|
|
|
|
|
|
|
|
/** @} */
|
