Paparazzi UAS  v5.15_devel-47-g0391b4d
Paparazzi is a free software Unmanned Aircraft System.
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Config

Macros

#define _CHIBIOS_RT_CONF_
 
#define _CHIBIOS_RT_CONF_VER_5_1_
 
#define CORTEX_VTOR_INIT   0x08000000U
 
#define CHPRINTF_USE_FLOAT   1
 

System timers settings

#define CH_CFG_ST_RESOLUTION   32
 System time counter resolution. More...
 
#define CH_CFG_ST_FREQUENCY   10000
 System tick frequency. More...
 
#define CH_CFG_INTERVALS_SIZE   32
 Time intervals data size. More...
 
#define CH_CFG_TIME_TYPES_SIZE   32
 Time types data size. More...
 
#define CH_CFG_ST_TIMEDELTA   0
 Time delta constant for the tick-less mode. More...
 

Kernel parameters and options

#define CH_CFG_TIME_QUANTUM   10
 Round robin interval. More...
 
#define CH_CFG_MEMCORE_SIZE   0
 Managed RAM size. More...
 
#define CH_CFG_NO_IDLE_THREAD   FALSE
 Idle thread automatic spawn suppression. More...
 

Performance options

#define CH_CFG_OPTIMIZE_SPEED   TRUE
 OS optimization. More...
 

Subsystem options

#define CH_CFG_USE_TM   TRUE
 Time Measurement APIs. More...
 
#define CH_CFG_USE_REGISTRY   TRUE
 Threads registry APIs. More...
 
#define CH_CFG_USE_WAITEXIT   TRUE
 Threads synchronization APIs. More...
 
#define CH_CFG_USE_SEMAPHORES   TRUE
 Semaphores APIs. More...
 
#define CH_CFG_USE_SEMAPHORES_PRIORITY   FALSE
 Semaphores queuing mode. More...
 
#define CH_CFG_USE_MUTEXES   TRUE
 Mutexes APIs. More...
 
#define CH_CFG_USE_MUTEXES_RECURSIVE   FALSE
 Enables recursive behavior on mutexes. More...
 
#define CH_CFG_USE_CONDVARS   TRUE
 Conditional Variables APIs. More...
 
#define CH_CFG_USE_CONDVARS_TIMEOUT   TRUE
 Conditional Variables APIs with timeout. More...
 
#define CH_CFG_USE_EVENTS   TRUE
 Events Flags APIs. More...
 
#define CH_CFG_USE_EVENTS_TIMEOUT   TRUE
 Events Flags APIs with timeout. More...
 
#define CH_CFG_USE_MESSAGES   TRUE
 Synchronous Messages APIs. More...
 
#define CH_CFG_USE_MESSAGES_PRIORITY   FALSE
 Synchronous Messages queuing mode. More...
 
#define CH_CFG_USE_MAILBOXES   TRUE
 Mailboxes APIs. More...
 
#define CH_CFG_USE_MEMCORE   TRUE
 Core Memory Manager APIs. More...
 
#define CH_CFG_USE_HEAP   TRUE
 Heap Allocator APIs. More...
 
#define CH_CFG_USE_MEMPOOLS   TRUE
 Memory Pools Allocator APIs. More...
 
#define CH_CFG_USE_OBJ_FIFOS   TRUE
 Objects FIFOs APIs. More...
 
#define CH_CFG_USE_DYNAMIC   TRUE
 Dynamic Threads APIs. More...
 

Objects factory options

#define CH_CFG_USE_FACTORY   TRUE
 Objects Factory APIs. More...
 
#define CH_CFG_FACTORY_MAX_NAMES_LENGTH   8
 Maximum length for object names. More...
 
#define CH_CFG_FACTORY_OBJECTS_REGISTRY   TRUE
 Enables the registry of generic objects. More...
 
#define CH_CFG_FACTORY_GENERIC_BUFFERS   TRUE
 Enables factory for generic buffers. More...
 
#define CH_CFG_FACTORY_SEMAPHORES   TRUE
 Enables factory for semaphores. More...
 
#define CH_CFG_FACTORY_MAILBOXES   TRUE
 Enables factory for mailboxes. More...
 
#define CH_CFG_FACTORY_OBJ_FIFOS   TRUE
 Enables factory for objects FIFOs. More...
 

Debug options

#define CH_DBG_STATISTICS   FALSE
 Debug option, kernel statistics. More...
 
#define CH_DBG_SYSTEM_STATE_CHECK   FALSE
 Debug option, system state check. More...
 
#define CH_DBG_ENABLE_CHECKS   FALSE
 Debug option, parameters checks. More...
 
#define CH_DBG_ENABLE_ASSERTS   FALSE
 Debug option, consistency checks. More...
 
#define CH_DBG_TRACE_MASK   CH_DBG_TRACE_MASK_DISABLED
 Debug option, trace buffer. More...
 
#define CH_DBG_TRACE_BUFFER_SIZE   128
 Trace buffer entries. More...
 
#define CH_DBG_ENABLE_STACK_CHECK   FALSE
 Debug option, stack checks. More...
 
#define CH_DBG_FILL_THREADS   FALSE
 Debug option, stacks initialization. More...
 
#define CH_DBG_THREADS_PROFILING   FALSE
 Debug option, threads profiling. More...
 

Kernel hooks

#define CH_CFG_SYSTEM_EXTRA_FIELDS   /* Add threads custom fields here.*/
 System structure extension. More...
 
#define CH_CFG_SYSTEM_INIT_HOOK(tp)
 System initialization hook. More...
 
#define CH_CFG_THREAD_EXTRA_FIELDS   /* Add threads custom fields here.*/
 Threads descriptor structure extension. More...
 
#define CH_CFG_THREAD_INIT_HOOK(tp)
 Threads initialization hook. More...
 
#define CH_CFG_THREAD_EXIT_HOOK(tp)
 Threads finalization hook. More...
 
#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp)
 Context switch hook. More...
 
#define CH_CFG_IRQ_PROLOGUE_HOOK()
 ISR enter hook. More...
 
#define CH_CFG_IRQ_EPILOGUE_HOOK()
 ISR exit hook. More...
 
#define CH_CFG_IDLE_ENTER_HOOK()
 Idle thread enter hook. More...
 
#define CH_CFG_IDLE_LEAVE_HOOK()
 Idle thread leave hook. More...
 
#define CH_CFG_IDLE_LOOP_HOOK()
 Idle Loop hook. More...
 
#define CH_CFG_SYSTEM_TICK_HOOK()
 System tick event hook. More...
 
#define CH_CFG_SYSTEM_HALT_HOOK(reason)
 System halt hook. More...
 
#define CH_CFG_TRACE_HOOK(tep)
 Trace hook. More...
 

Detailed Description

Kernel related settings and hooks.

Macro Definition Documentation

#define _CHIBIOS_RT_CONF_

Definition at line 31 of file chconf.h.

#define _CHIBIOS_RT_CONF_VER_5_1_

Definition at line 32 of file chconf.h.

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

Context switch hook.

This hook is invoked just before switching between threads.

Definition at line 542 of file chconf.h.

#define CH_CFG_FACTORY_GENERIC_BUFFERS   TRUE

Enables factory for generic buffers.

Definition at line 364 of file chconf.h.

#define CH_CFG_FACTORY_MAILBOXES   TRUE

Enables factory for mailboxes.

Definition at line 374 of file chconf.h.

#define CH_CFG_FACTORY_MAX_NAMES_LENGTH   8

Maximum length for object names.

If the specified length is zero then the name is stored by pointer but this could have unintended side effects.

Definition at line 354 of file chconf.h.

#define CH_CFG_FACTORY_OBJ_FIFOS   TRUE

Enables factory for objects FIFOs.

Definition at line 379 of file chconf.h.

#define CH_CFG_FACTORY_OBJECTS_REGISTRY   TRUE

Enables the registry of generic objects.

Definition at line 359 of file chconf.h.

#define CH_CFG_FACTORY_SEMAPHORES   TRUE

Enables factory for semaphores.

Definition at line 369 of file chconf.h.

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

Idle thread enter hook.

Note
This hook is invoked within a critical zone, no OS functions should be invoked from here.
This macro can be used to activate a power saving mode.

Definition at line 566 of file chconf.h.

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

Idle thread leave hook.

Note
This hook is invoked within a critical zone, no OS functions should be invoked from here.
This macro can be used to deactivate a power saving mode.

Definition at line 576 of file chconf.h.

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

Idle Loop hook.

This hook is continuously invoked by the idle thread loop.

Definition at line 584 of file chconf.h.

#define CH_CFG_INTERVALS_SIZE   32

Time intervals data size.

Note
Allowed values are 16, 32 or 64 bits.

Definition at line 58 of file chconf.h.

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

ISR exit hook.

Definition at line 556 of file chconf.h.

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

ISR enter hook.

Definition at line 549 of file chconf.h.

#define CH_CFG_MEMCORE_SIZE   0

Managed RAM size.

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 heap_base and heap_end symbols.
Requires CH_CFG_USE_MEMCORE.

Definition at line 111 of file chconf.h.

#define CH_CFG_NO_IDLE_THREAD   FALSE

Idle thread automatic spawn suppression.

When this option is activated the function chSysInit() does not spawn the idle thread. The application main() function becomes the idle thread and must implement an infinite loop.

Definition at line 120 of file chconf.h.

#define CH_CFG_OPTIMIZE_SPEED   TRUE

OS optimization.

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.
The default is TRUE.

Definition at line 139 of file chconf.h.

#define CH_CFG_ST_FREQUENCY   10000

System tick frequency.

Frequency of the system timer that drives the system ticks. This setting also defines the system tick time unit.

Definition at line 52 of file chconf.h.

Referenced by rtos_mon_periodic_arch(), sys_tick_handler(), sys_time_arch_init(), sys_time_msleep(), sys_time_usleep(), thd_ap(), and thd_fbw().

#define CH_CFG_ST_RESOLUTION   32

System time counter resolution.

Note
Allowed values are 16 or 32 bits.

Definition at line 45 of file chconf.h.

#define CH_CFG_ST_TIMEDELTA   0

Time delta constant for the tick-less mode.

Note
If this value is zero then the system uses the classic periodic tick. This value represents the minimum number of ticks that is safe to specify in a timeout directive. The value one is not valid, timeouts are rounded up to this value.

Definition at line 75 of file chconf.h.

#define CH_CFG_SYSTEM_EXTRA_FIELDS   /* Add threads custom fields here.*/

System structure extension.

User fields added to the end of the ch_system_t structure.

Definition at line 500 of file chconf.h.

#define CH_CFG_SYSTEM_HALT_HOOK (   reason)
Value:
{ \
/* System halt code here.*/ \
}

System halt hook.

This hook is invoked in case to a system halting error before the system is halted.

Definition at line 602 of file chconf.h.

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

System initialization hook.

User initialization code added to the chSysInit() function just before interrupts are enabled globally.

Definition at line 508 of file chconf.h.

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

System tick event hook.

This hook is invoked in the system tick handler immediately after processing the virtual timers queue.

Definition at line 593 of file chconf.h.

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

Threads finalization hook.

User finalization code added to the chThdExit() API.

Definition at line 534 of file chconf.h.

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

Threads descriptor structure extension.

User fields added to the end of the thread_t structure.

Definition at line 516 of file chconf.h.

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

Threads initialization hook.

User initialization code added to the _thread_init() function.

Note
It is invoked from within _thread_init() and implicitly from all the threads creation APIs.

Definition at line 526 of file chconf.h.

#define CH_CFG_TIME_QUANTUM   10

Round robin interval.

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.
The round robin preemption is not supported in tickless mode and must be set to zero in that case.

Definition at line 98 of file chconf.h.

#define CH_CFG_TIME_TYPES_SIZE   32

Time types data size.

Note
Allowed values are 16 or 32 bits.

Definition at line 64 of file chconf.h.

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

Trace hook.

This hook is invoked each time a new record is written in the trace buffer.

Definition at line 611 of file chconf.h.

#define CH_CFG_USE_CONDVARS   TRUE

Conditional Variables APIs.

If enabled then the conditional variables APIs are included in the kernel.

Note
The default is TRUE.
Requires CH_CFG_USE_MUTEXES.

Definition at line 221 of file chconf.h.

#define CH_CFG_USE_CONDVARS_TIMEOUT   TRUE

Conditional Variables APIs with timeout.

If enabled then the conditional variables APIs with timeout specification are included in the kernel.

Note
The default is TRUE.
Requires CH_CFG_USE_CONDVARS.

Definition at line 231 of file chconf.h.

#define CH_CFG_USE_DYNAMIC   TRUE

Dynamic Threads APIs.

If enabled then the dynamic threads creation APIs are included in the kernel.

Note
The default is TRUE.
Requires CH_CFG_USE_WAITEXIT.
Requires CH_CFG_USE_HEAP and/or CH_CFG_USE_MEMPOOLS.

Definition at line 329 of file chconf.h.

#define CH_CFG_USE_EVENTS   TRUE

Events Flags APIs.

If enabled then the event flags APIs are included in the kernel.

Note
The default is TRUE.

Definition at line 239 of file chconf.h.

#define CH_CFG_USE_EVENTS_TIMEOUT   TRUE

Events Flags APIs with timeout.

If enabled then the events APIs with timeout specification are included in the kernel.

Note
The default is TRUE.
Requires CH_CFG_USE_EVENTS.

Definition at line 249 of file chconf.h.

#define CH_CFG_USE_FACTORY   TRUE

Objects Factory APIs.

If enabled then the objects factory APIs are included in the kernel.

Note
The default is FALSE.

Definition at line 347 of file chconf.h.

#define CH_CFG_USE_HEAP   TRUE

Heap Allocator APIs.

If enabled then the memory heap allocator APIs are included in the kernel.

Note
The default is TRUE.
Requires CH_CFG_USE_MEMCORE and either CH_CFG_USE_MUTEXES or CH_CFG_USE_SEMAPHORES.
Mutexes are recommended.

Definition at line 300 of file chconf.h.

#define CH_CFG_USE_MAILBOXES   TRUE

Mailboxes APIs.

If enabled then the asynchronous messages (mailboxes) APIs are included in the kernel.

Note
The default is TRUE.
Requires CH_CFG_USE_SEMAPHORES.

Definition at line 279 of file chconf.h.

#define CH_CFG_USE_MEMCORE   TRUE

Core Memory Manager APIs.

If enabled then the core memory manager APIs are included in the kernel.

Note
The default is TRUE.

Definition at line 288 of file chconf.h.

#define CH_CFG_USE_MEMPOOLS   TRUE

Memory Pools Allocator APIs.

If enabled then the memory pools allocator APIs are included in the kernel.

Note
The default is TRUE.

Definition at line 309 of file chconf.h.

#define CH_CFG_USE_MESSAGES   TRUE

Synchronous Messages APIs.

If enabled then the synchronous messages APIs are included in the kernel.

Note
The default is TRUE.

Definition at line 258 of file chconf.h.

#define CH_CFG_USE_MESSAGES_PRIORITY   FALSE

Synchronous Messages queuing mode.

If enabled then messages are served by priority rather than in FIFO order.

Note
The default is FALSE. Enable this if you have special requirements.
Requires CH_CFG_USE_MESSAGES.

Definition at line 269 of file chconf.h.

#define CH_CFG_USE_MUTEXES   TRUE

Mutexes APIs.

If enabled then the mutexes APIs are included in the kernel.

Note
The default is TRUE.

Definition at line 201 of file chconf.h.

#define CH_CFG_USE_MUTEXES_RECURSIVE   FALSE

Enables recursive behavior on mutexes.

Note
Recursive mutexes are heavier and have an increased memory footprint.
The default is FALSE.
Requires CH_CFG_USE_MUTEXES.

Definition at line 211 of file chconf.h.

#define CH_CFG_USE_OBJ_FIFOS   TRUE

Objects FIFOs APIs.

If enabled then the objects FIFOs APIs are included in the kernel.

Note
The default is TRUE.

Definition at line 318 of file chconf.h.

#define CH_CFG_USE_REGISTRY   TRUE

Threads registry APIs.

If enabled then the registry APIs are included in the kernel.

Note
The default is TRUE.

Definition at line 165 of file chconf.h.

#define CH_CFG_USE_SEMAPHORES   TRUE

Semaphores APIs.

If enabled then the Semaphores APIs are included in the kernel.

Note
The default is TRUE.

Definition at line 182 of file chconf.h.

#define CH_CFG_USE_SEMAPHORES_PRIORITY   FALSE

Semaphores queuing mode.

If enabled then the threads are enqueued on semaphores by priority rather than in FIFO order.

Note
The default is FALSE. Enable this if you have special requirements.
Requires CH_CFG_USE_SEMAPHORES.

Definition at line 193 of file chconf.h.

#define CH_CFG_USE_TM   TRUE

Time Measurement APIs.

If enabled then the time measurement APIs are included in the kernel.

Note
The default is TRUE.

Definition at line 157 of file chconf.h.

#define CH_CFG_USE_WAITEXIT   TRUE

Threads synchronization APIs.

If enabled then the chThdWait() function is included in the kernel.

Note
The default is TRUE.

Definition at line 174 of file chconf.h.

#define CH_DBG_ENABLE_ASSERTS   FALSE

Debug option, consistency checks.

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 FALSE.

Definition at line 430 of file chconf.h.

#define CH_DBG_ENABLE_CHECKS   FALSE

Debug option, parameters checks.

If enabled then the checks on the API functions input parameters are activated.

Note
The default is FALSE.

Definition at line 418 of file chconf.h.

#define CH_DBG_ENABLE_STACK_CHECK   FALSE

Debug option, stack checks.

If enabled then a runtime stack check is performed.

Note
The default is FALSE.
The stack check is performed in a architecture/port dependent way. It may not be implemented or some ports.
The default failure mode is to halt the system with the global panic_msg variable set to NULL.

Definition at line 459 of file chconf.h.

#define CH_DBG_FILL_THREADS   FALSE

Debug option, stacks initialization.

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 FALSE.

Definition at line 471 of file chconf.h.

#define CH_DBG_STATISTICS   FALSE

Debug option, kernel statistics.

Note
The default is FALSE.

Definition at line 396 of file chconf.h.

#define CH_DBG_SYSTEM_STATE_CHECK   FALSE

Debug option, system state check.

If enabled the correct call protocol for system APIs is checked at runtime.

Note
The default is FALSE.

Definition at line 407 of file chconf.h.

#define CH_DBG_THREADS_PROFILING   FALSE

Debug option, threads profiling.

If enabled then a field is added to the thread_t structure that counts the system ticks occurred while executing the thread.

Note
The default is FALSE.
This debug option is not currently compatible with the tickless mode.

Definition at line 484 of file chconf.h.

#define CH_DBG_TRACE_BUFFER_SIZE   128

Trace buffer entries.

Note
The trace buffer is only allocated if CH_DBG_TRACE_MASK is different from CH_DBG_TRACE_MASK_DISABLED.

Definition at line 446 of file chconf.h.

#define CH_DBG_TRACE_MASK   CH_DBG_TRACE_MASK_DISABLED

Debug option, trace buffer.

If enabled then the trace buffer is activated.

Note
The default is CH_DBG_TRACE_MASK_DISABLED.

Definition at line 439 of file chconf.h.

#define CHPRINTF_USE_FLOAT   1

Definition at line 642 of file chconf.h.

#define CORTEX_VTOR_INIT   0x08000000U

Definition at line 636 of file chconf.h.

Referenced by mcu_arch_init().