chconf.h

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/*
 * This file 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.
 *
 * This file 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/>.
 * 
 * Modified for use in AP_HAL by Andrew Tridgell and Siddharth Bharat Purohit
 */

#pragma once

#include "hwdef.h"

#define _CHIBIOS_RT_CONF_

/*===========================================================================*/
/*===========================================================================*/

#ifndef CH_CFG_ST_RESOLUTION
#define CH_CFG_ST_RESOLUTION                32
#endif

#define CH_CFG_ST_FREQUENCY                 1000000

#define CH_CFG_ST_TIMEDELTA                 2

/*
  default to a large interrupt stack for now. We may trim this later
  if we become confident of our interrupt handler requirements. Note
  that we pay for this stack size in every thread, so it is quite
  expensive in memory
 */
#ifndef PORT_INT_REQUIRED_STACK
#define PORT_INT_REQUIRED_STACK 256
#endif


/*===========================================================================*/
/*===========================================================================*/

#define CH_CFG_TIME_QUANTUM                 0

#define CH_CFG_MEMCORE_SIZE                 0

#define CH_CFG_NO_IDLE_THREAD               FALSE

/*===========================================================================*/
/*===========================================================================*/

#define CH_CFG_OPTIMIZE_SPEED               TRUE

/*===========================================================================*/
/*===========================================================================*/

#define CH_CFG_USE_TM                       TRUE

#define CH_CFG_USE_REGISTRY                 TRUE

#define CH_CFG_USE_WAITEXIT                 TRUE

#define CH_CFG_USE_SEMAPHORES               TRUE

#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE

#define CH_CFG_USE_MUTEXES                  TRUE

#define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE

#define CH_CFG_USE_CONDVARS                 TRUE

#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE

#define CH_CFG_USE_EVENTS                   TRUE

#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE

#define CH_CFG_USE_MESSAGES                 TRUE

#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE

#define CH_CFG_USE_MAILBOXES                TRUE

#define CH_CFG_USE_MEMCORE                  TRUE

#define CH_CFG_USE_HEAP                     TRUE

#define CH_CFG_USE_MEMPOOLS                 TRUE

#define CH_CFG_USE_DYNAMIC                  TRUE

/*===========================================================================*/
/*===========================================================================*/

#define CH_DBG_STATISTICS                   TRUE

#ifndef CH_DBG_SYSTEM_STATE_CHECK
#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
#endif

#ifndef CH_DBG_ENABLE_CHECKS
#define CH_DBG_ENABLE_CHECKS                FALSE
#endif


#ifndef CH_DBG_ENABLE_ASSERTS
#define CH_DBG_ENABLE_ASSERTS               FALSE
#endif

#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_DISABLED

#define CH_DBG_TRACE_BUFFER_SIZE            128

#ifndef CH_DBG_ENABLE_STACK_CHECK
#define CH_DBG_ENABLE_STACK_CHECK           FALSE
#endif

#define CH_DBG_FILL_THREADS                 TRUE

#define CH_DBG_THREADS_PROFILING            FALSE

/*===========================================================================*/
/*===========================================================================*/

#define CH_CFG_THREAD_EXTRA_FIELDS                                          \
  /* Add threads custom fields here.*/

#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
  /* Add threads initialization code here.*/                                \
}

#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
  /* Add threads finalization code here.*/                                  \
}

#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
  /* Context switch code here.*/                                            \
}

#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
  /* IRQ prologue code here.*/                                              \
}

#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
  /* IRQ epilogue code here.*/                                              \
}

#define CH_CFG_IDLE_ENTER_HOOK() {                                          \
  /* Idle-enter code here.*/                                                \
}

#define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
  /* Idle-leave code here.*/                                                \
}

#define CH_CFG_IDLE_LOOP_HOOK() {                                           \
  /* Idle loop code here.*/                                                 \
}

#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \
  /* System tick event code here.*/                                         \
}

#define CH_CFG_SYSTEM_HALT_HOOK(reason) do {                               \
        extern int printf(const char *fmt, ...); \
        printf(reason); \
} while(0)

#define CH_CFG_TRACE_HOOK(tep) {                                            \
  /* Trace code here.*/                                                     \
}

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