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1/*
2 ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
3
4 Licensed under the Apache License, Version 2.0 (the "License");
5 you may not use this file except in compliance with the License.
6 You may obtain a copy of the License at
7
8 http://www.apache.org/licenses/LICENSE-2.0
9
10 Unless required by applicable law or agreed to in writing, software
11 distributed under the License is distributed on an "AS IS" BASIS,
12 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 See the License for the specific language governing permissions and
14 limitations under the License.
15*/
16
17/**
18 * @file rt/templates/chconf.h
19 * @brief Configuration file template.
20 * @details A copy of this file must be placed in each project directory, it
21 * contains the application specific kernel settings.
22 *
23 * @addtogroup config
24 * @details Kernel related settings and hooks.
25 * @{
26 */
27
28#ifndef CHCONF_H
29#define CHCONF_H
30
31#define _CHIBIOS_RT_CONF_
32#define _CHIBIOS_RT_CONF_VER_6_1_
33
34/*===========================================================================*/
35/**
36 * @name System timers settings
37 * @{
38 */
39/*===========================================================================*/
40
41/**
42 * @brief System time counter resolution.
43 * @note Allowed values are 16 or 32 bits.
44 */
45#if !defined(CH_CFG_ST_RESOLUTION)
46#define CH_CFG_ST_RESOLUTION 32
47#endif
48
49/**
50 * @brief System tick frequency.
51 * @details Frequency of the system timer that drives the system ticks. This
52 * setting also defines the system tick time unit.
53 */
54#if !defined(CH_CFG_ST_FREQUENCY)
55#define CH_CFG_ST_FREQUENCY 10000
56#endif
57
58/**
59 * @brief Time intervals data size.
60 * @note Allowed values are 16, 32 or 64 bits.
61 */
62#if !defined(CH_CFG_INTERVALS_SIZE)
63#define CH_CFG_INTERVALS_SIZE 32
64#endif
65
66/**
67 * @brief Time types data size.
68 * @note Allowed values are 16 or 32 bits.
69 */
70#if !defined(CH_CFG_TIME_TYPES_SIZE)
71#define CH_CFG_TIME_TYPES_SIZE 32
72#endif
73
74/**
75 * @brief Time delta constant for the tick-less mode.
76 * @note If this value is zero then the system uses the classic
77 * periodic tick. This value represents the minimum number
78 * of ticks that is safe to specify in a timeout directive.
79 * The value one is not valid, timeouts are rounded up to
80 * this value.
81 */
82#if !defined(CH_CFG_ST_TIMEDELTA)
83
84// TODO: tickless mode is currently broken: e.g. chVTGetSystemTimeX() will
85// always return 0, making all timers hang.
86
87#define CH_CFG_ST_TIMEDELTA 0
88#endif
89
90/** @} */
91
92/*===========================================================================*/
93/**
94 * @name Kernel parameters and options
95 * @{
96 */
97/*===========================================================================*/
98
99/**
100 * @brief Round robin interval.
101 * @details This constant is the number of system ticks allowed for the
102 * threads before preemption occurs. Setting this value to zero
103 * disables the preemption for threads with equal priority and the
104 * round robin becomes cooperative. Note that higher priority
105 * threads can still preempt, the kernel is always preemptive.
106 * @note Disabling the round robin preemption makes the kernel more compact
107 * and generally faster.
108 * @note The round robin preemption is not supported in tickless mode and
109 * must be set to zero in that case.
110 */
111#if !defined(CH_CFG_TIME_QUANTUM)
112#define CH_CFG_TIME_QUANTUM 0
113#endif
114
115/**
116 * @brief Idle thread automatic spawn suppression.
117 * @details When this option is activated the function @p chSysInit()
118 * does not spawn the idle thread. The application @p main()
119 * function becomes the idle thread and must implement an
120 * infinite loop.
121 */
122#if !defined(CH_CFG_NO_IDLE_THREAD)
123#define CH_CFG_NO_IDLE_THREAD FALSE
124#endif
125
126/** @} */
127
128/*===========================================================================*/
129/**
130 * @name Performance options
131 * @{
132 */
133/*===========================================================================*/
134
135/**
136 * @brief OS optimization.
137 * @details If enabled then time efficient rather than space efficient code
138 * is used when two possible implementations exist.
139 *
140 * @note This is not related to the compiler optimization options.
141 * @note The default is @p TRUE.
142 */
143#if !defined(CH_CFG_OPTIMIZE_SPEED)
144#define CH_CFG_OPTIMIZE_SPEED TRUE
145#endif
146
147/** @} */
148
149/*===========================================================================*/
150/**
151 * @name Subsystem options
152 * @{
153 */
154/*===========================================================================*/
155
156/**
157 * @brief Time Measurement APIs.
158 * @details If enabled then the time measurement APIs are included in
159 * the kernel.
160 *
161 * @note The default is @p TRUE.
162 */
163#if !defined(CH_CFG_USE_TM)
164#define CH_CFG_USE_TM TRUE
165#endif
166
167/**
168 * @brief Threads registry APIs.
169 * @details If enabled then the registry APIs are included in the kernel.
170 *
171 * @note The default is @p TRUE.
172 */
173#if !defined(CH_CFG_USE_REGISTRY)
174#define CH_CFG_USE_REGISTRY TRUE
175#endif
176
177/**
178 * @brief Threads synchronization APIs.
179 * @details If enabled then the @p chThdWait() function is included in
180 * the kernel.
181 *
182 * @note The default is @p TRUE.
183 */
184#if !defined(CH_CFG_USE_WAITEXIT)
185#define CH_CFG_USE_WAITEXIT TRUE
186#endif
187
188/**
189 * @brief Semaphores APIs.
190 * @details If enabled then the Semaphores APIs are included in the kernel.
191 *
192 * @note The default is @p TRUE.
193 */
194#if !defined(CH_CFG_USE_SEMAPHORES)
195#define CH_CFG_USE_SEMAPHORES TRUE
196#endif
197
198/**
199 * @brief Semaphores queuing mode.
200 * @details If enabled then the threads are enqueued on semaphores by
201 * priority rather than in FIFO order.
202 *
203 * @note The default is @p FALSE. Enable this if you have special
204 * requirements.
205 * @note Requires @p CH_CFG_USE_SEMAPHORES.
206 */
207#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
208#define CH_CFG_USE_SEMAPHORES_PRIORITY FALSE
209#endif
210
211/**
212 * @brief Mutexes APIs.
213 * @details If enabled then the mutexes APIs are included in the kernel.
214 *
215 * @note The default is @p TRUE.
216 */
217#if !defined(CH_CFG_USE_MUTEXES)
218#define CH_CFG_USE_MUTEXES TRUE
219#endif
220
221/**
222 * @brief Enables recursive behavior on mutexes.
223 * @note Recursive mutexes are heavier and have an increased
224 * memory footprint.
225 *
226 * @note The default is @p FALSE.
227 * @note Requires @p CH_CFG_USE_MUTEXES.
228 */
229#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
230#define CH_CFG_USE_MUTEXES_RECURSIVE FALSE
231#endif
232
233/**
234 * @brief Conditional Variables APIs.
235 * @details If enabled then the conditional variables APIs are included
236 * in the kernel.
237 *
238 * @note The default is @p TRUE.
239 * @note Requires @p CH_CFG_USE_MUTEXES.
240 */
241#if !defined(CH_CFG_USE_CONDVARS)
242#define CH_CFG_USE_CONDVARS TRUE
243#endif
244
245/**
246 * @brief Conditional Variables APIs with timeout.
247 * @details If enabled then the conditional variables APIs with timeout
248 * specification are included in the kernel.
249 *
250 * @note The default is @p TRUE.
251 * @note Requires @p CH_CFG_USE_CONDVARS.
252 */
253#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
254#define CH_CFG_USE_CONDVARS_TIMEOUT TRUE
255#endif
256
257/**
258 * @brief Events Flags APIs.
259 * @details If enabled then the event flags APIs are included in the kernel.
260 *
261 * @note The default is @p TRUE.
262 */
263#if !defined(CH_CFG_USE_EVENTS)
264#define CH_CFG_USE_EVENTS TRUE
265#endif
266
267/**
268 * @brief Events Flags APIs with timeout.
269 * @details If enabled then the events APIs with timeout specification
270 * are included in the kernel.
271 *
272 * @note The default is @p TRUE.
273 * @note Requires @p CH_CFG_USE_EVENTS.
274 */
275#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
276#define CH_CFG_USE_EVENTS_TIMEOUT TRUE
277#endif
278
279/**
280 * @brief Synchronous Messages APIs.
281 * @details If enabled then the synchronous messages APIs are included
282 * in the kernel.
283 *
284 * @note The default is @p TRUE.
285 */
286#if !defined(CH_CFG_USE_MESSAGES)
287#define CH_CFG_USE_MESSAGES TRUE
288#endif
289
290/**
291 * @brief Synchronous Messages queuing mode.
292 * @details If enabled then messages are served by priority rather than in
293 * FIFO order.
294 *
295 * @note The default is @p FALSE. Enable this if you have special
296 * requirements.
297 * @note Requires @p CH_CFG_USE_MESSAGES.
298 */
299#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
300#define CH_CFG_USE_MESSAGES_PRIORITY FALSE
301#endif
302
303/**
304 * @brief Dynamic Threads APIs.
305 * @details If enabled then the dynamic threads creation APIs are included
306 * in the kernel.
307 *
308 * @note The default is @p TRUE.
309 * @note Requires @p CH_CFG_USE_WAITEXIT.
310 * @note Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
311 */
312#if !defined(CH_CFG_USE_DYNAMIC)
313#define CH_CFG_USE_DYNAMIC TRUE
314#endif
315
316/** @} */
317
318/*===========================================================================*/
319/**
320 * @name OSLIB options
321 * @{
322 */
323/*===========================================================================*/
324
325/**
326 * @brief Mailboxes APIs.
327 * @details If enabled then the asynchronous messages (mailboxes) APIs are
328 * included in the kernel.
329 *
330 * @note The default is @p TRUE.
331 * @note Requires @p CH_CFG_USE_SEMAPHORES.
332 */
333#if !defined(CH_CFG_USE_MAILBOXES)
334#define CH_CFG_USE_MAILBOXES TRUE
335#endif
336
337/**
338 * @brief Core Memory Manager APIs.
339 * @details If enabled then the core memory manager APIs are included
340 * in the kernel.
341 *
342 * @note The default is @p TRUE.
343 */
344#if !defined(CH_CFG_USE_MEMCORE)
345#define CH_CFG_USE_MEMCORE TRUE
346#endif
347
348/**
349 * @brief Managed RAM size.
350 * @details Size of the RAM area to be managed by the OS. If set to zero
351 * then the whole available RAM is used. The core memory is made
352 * available to the heap allocator and/or can be used directly through
353 * the simplified core memory allocator.
354 *
355 * @note In order to let the OS manage the whole RAM the linker script must
356 * provide the @p __heap_base__ and @p __heap_end__ symbols.
357 * @note Requires @p CH_CFG_USE_MEMCORE.
358 */
359#if !defined(CH_CFG_MEMCORE_SIZE)
360#define CH_CFG_MEMCORE_SIZE 0
361#endif
362
363/**
364 * @brief Heap Allocator APIs.
365 * @details If enabled then the memory heap allocator APIs are included
366 * in the kernel.
367 *
368 * @note The default is @p TRUE.
369 * @note Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
370 * @p CH_CFG_USE_SEMAPHORES.
371 * @note Mutexes are recommended.
372 */
373#if !defined(CH_CFG_USE_HEAP)
374#define CH_CFG_USE_HEAP TRUE
375#endif
376
377/**
378 * @brief Memory Pools Allocator APIs.
379 * @details If enabled then the memory pools allocator APIs are included
380 * in the kernel.
381 *
382 * @note The default is @p TRUE.
383 */
384#if !defined(CH_CFG_USE_MEMPOOLS)
385#define CH_CFG_USE_MEMPOOLS TRUE
386#endif
387
388/**
389 * @brief Objects FIFOs APIs.
390 * @details If enabled then the objects FIFOs APIs are included
391 * in the kernel.
392 *
393 * @note The default is @p TRUE.
394 */
395#if !defined(CH_CFG_USE_OBJ_FIFOS)
396#define CH_CFG_USE_OBJ_FIFOS TRUE
397#endif
398
399/**
400 * @brief Pipes APIs.
401 * @details If enabled then the pipes APIs are included
402 * in the kernel.
403 *
404 * @note The default is @p TRUE.
405 */
406#if !defined(CH_CFG_USE_PIPES)
407#define CH_CFG_USE_PIPES TRUE
408#endif
409
410/**
411 * @brief Objects Caches APIs.
412 * @details If enabled then the objects caches APIs are included
413 * in the kernel.
414 *
415 * @note The default is @p TRUE.
416 */
417#if !defined(CH_CFG_USE_OBJ_CACHES)
418#define CH_CFG_USE_OBJ_CACHES TRUE
419#endif
420
421/**
422 * @brief Delegate threads APIs.
423 * @details If enabled then the delegate threads APIs are included
424 * in the kernel.
425 *
426 * @note The default is @p TRUE.
427 */
428#if !defined(CH_CFG_USE_DELEGATES)
429#define CH_CFG_USE_DELEGATES TRUE
430#endif
431
432/**
433 * @brief Jobs Queues APIs.
434 * @details If enabled then the jobs queues APIs are included
435 * in the kernel.
436 *
437 * @note The default is @p TRUE.
438 */
439#if !defined(CH_CFG_USE_JOBS)
440#define CH_CFG_USE_JOBS TRUE
441#endif
442
443/** @} */
444
445/*===========================================================================*/
446/**
447 * @name Objects factory options
448 * @{
449 */
450/*===========================================================================*/
451
452/**
453 * @brief Objects Factory APIs.
454 * @details If enabled then the objects factory APIs are included in the
455 * kernel.
456 *
457 * @note The default is @p FALSE.
458 */
459#if !defined(CH_CFG_USE_FACTORY)
460#define CH_CFG_USE_FACTORY TRUE
461#endif
462
463/**
464 * @brief Maximum length for object names.
465 * @details If the specified length is zero then the name is stored by
466 * pointer but this could have unintended side effects.
467 */
468#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
469#define CH_CFG_FACTORY_MAX_NAMES_LENGTH 8
470#endif
471
472/**
473 * @brief Enables the registry of generic objects.
474 */
475#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
476#define CH_CFG_FACTORY_OBJECTS_REGISTRY TRUE
477#endif
478
479/**
480 * @brief Enables factory for generic buffers.
481 */
482#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
483#define CH_CFG_FACTORY_GENERIC_BUFFERS TRUE
484#endif
485
486/**
487 * @brief Enables factory for semaphores.
488 */
489#if !defined(CH_CFG_FACTORY_SEMAPHORES)
490#define CH_CFG_FACTORY_SEMAPHORES TRUE
491#endif
492
493/**
494 * @brief Enables factory for mailboxes.
495 */
496#if !defined(CH_CFG_FACTORY_MAILBOXES)
497#define CH_CFG_FACTORY_MAILBOXES TRUE
498#endif
499
500/**
501 * @brief Enables factory for objects FIFOs.
502 */
503#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
504#define CH_CFG_FACTORY_OBJ_FIFOS TRUE
505#endif
506
507/**
508 * @brief Enables factory for Pipes.
509 */
510#if !defined(CH_CFG_FACTORY_PIPES) || defined(__DOXYGEN__)
511#define CH_CFG_FACTORY_PIPES TRUE
512#endif
513
514/** @} */
515
516/*===========================================================================*/
517/**
518 * @name Debug options
519 * @{
520 */
521/*===========================================================================*/
522
523/**
524 * @brief Debug option, kernel statistics.
525 *
526 * @note The default is @p FALSE.
527 */
528#if !defined(CH_DBG_STATISTICS)
529#define CH_DBG_STATISTICS FALSE
530#endif
531
532/**
533 * @brief Debug option, system state check.
534 * @details If enabled the correct call protocol for system APIs is checked
535 * at runtime.
536 *
537 * @note The default is @p FALSE.
538 */
539#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
540#define CH_DBG_SYSTEM_STATE_CHECK TRUE
541#endif
542
543/**
544 * @brief Debug option, parameters checks.
545 * @details If enabled then the checks on the API functions input
546 * parameters are activated.
547 *
548 * @note The default is @p FALSE.
549 */
550#if !defined(CH_DBG_ENABLE_CHECKS)
551#define CH_DBG_ENABLE_CHECKS TRUE
552#endif
553
554/**
555 * @brief Debug option, consistency checks.
556 * @details If enabled then all the assertions in the kernel code are
557 * activated. This includes consistency checks inside the kernel,
558 * runtime anomalies and port-defined checks.
559 *
560 * @note The default is @p FALSE.
561 */
562#if !defined(CH_DBG_ENABLE_ASSERTS)
563#define CH_DBG_ENABLE_ASSERTS TRUE
564#endif
565
566/**
567 * @brief Debug option, trace buffer.
568 * @details If enabled then the trace buffer is activated.
569 *
570 * @note The default is @p CH_DBG_TRACE_MASK_DISABLED.
571 */
572#if !defined(CH_DBG_TRACE_MASK)
573#define CH_DBG_TRACE_MASK CH_DBG_TRACE_MASK_DISABLED
574#endif
575
576/**
577 * @brief Trace buffer entries.
578 * @note The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
579 * different from @p CH_DBG_TRACE_MASK_DISABLED.
580 */
581#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
582#define CH_DBG_TRACE_BUFFER_SIZE 128
583#endif
584
585/**
586 * @brief Debug option, stack checks.
587 * @details If enabled then a runtime stack check is performed.
588 *
589 * @note The default is @p FALSE.
590 * @note The stack check is performed in a architecture/port dependent way.
591 * It may not be implemented or some ports.
592 * @note The default failure mode is to halt the system with the global
593 * @p panic_msg variable set to @p NULL.
594 */
595#if !defined(CH_DBG_ENABLE_STACK_CHECK)
596#define CH_DBG_ENABLE_STACK_CHECK FALSE
597#endif
598
599/**
600 * @brief Debug option, stacks initialization.
601 * @details If enabled then the threads working area is filled with a byte
602 * value when a thread is created. This can be useful for the
603 * runtime measurement of the used stack.
604 *
605 * @note The default is @p FALSE.
606 */
607#if !defined(CH_DBG_FILL_THREADS)
608#define CH_DBG_FILL_THREADS FALSE
609#endif
610
611/**
612 * @brief Debug option, threads profiling.
613 * @details If enabled then a field is added to the @p thread_t structure that
614 * counts the system ticks occurred while executing the thread.
615 *
616 * @note The default is @p FALSE.
617 * @note This debug option is not currently compatible with the
618 * tickless mode.
619 */
620#if !defined(CH_DBG_THREADS_PROFILING)
621#define CH_DBG_THREADS_PROFILING FALSE
622#endif
623
624/** @} */
625
626/*===========================================================================*/
627/**
628 * @name Kernel hooks
629 * @{
630 */
631/*===========================================================================*/
632
633/**
634 * @brief System structure extension.
635 * @details User fields added to the end of the @p ch_system_t structure.
636 */
637#define CH_CFG_SYSTEM_EXTRA_FIELDS \
638 /* Add threads custom fields here.*/
639
640/**
641 * @brief System initialization hook.
642 * @details User initialization code added to the @p chSysInit() function
643 * just before interrupts are enabled globally.
644 */
645#define CH_CFG_SYSTEM_INIT_HOOK() { \
646 /* Add threads initialization code here.*/ \
647}
648
649/**
650 * @brief Threads descriptor structure extension.
651 * @details User fields added to the end of the @p thread_t structure.
652 */
653#define CH_CFG_THREAD_EXTRA_FIELDS \
654 /* Add threads custom fields here.*/
655
656/**
657 * @brief Threads initialization hook.
658 * @details User initialization code added to the @p _thread_init() function.
659 *
660 * @note It is invoked from within @p _thread_init() and implicitly from all
661 * the threads creation APIs.
662 */
663#define CH_CFG_THREAD_INIT_HOOK(tp) { \
664 /* Add threads initialization code here.*/ \
665}
666
667/**
668 * @brief Threads finalization hook.
669 * @details User finalization code added to the @p chThdExit() API.
670 */
671#define CH_CFG_THREAD_EXIT_HOOK(tp) { \
672 /* Add threads finalization code here.*/ \
673}
674
675/**
676 * @brief Context switch hook.
677 * @details This hook is invoked just before switching between threads.
678 */
679#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) { \
680 /* Context switch code here.*/ \
681}
682
683/**
684 * @brief ISR enter hook.
685 */
686#define CH_CFG_IRQ_PROLOGUE_HOOK() { \
687 /* IRQ prologue code here.*/ \
688}
689
690/**
691 * @brief ISR exit hook.
692 */
693#define CH_CFG_IRQ_EPILOGUE_HOOK() { \
694 /* IRQ epilogue code here.*/ \
695}
696
697/**
698 * @brief Idle thread enter hook.
699 * @note This hook is invoked within a critical zone, no OS functions
700 * should be invoked from here.
701 * @note This macro can be used to activate a power saving mode.
702 */
703#define CH_CFG_IDLE_ENTER_HOOK() { \
704 /* Idle-enter code here.*/ \
705}
706
707/**
708 * @brief Idle thread leave hook.
709 * @note This hook is invoked within a critical zone, no OS functions
710 * should be invoked from here.
711 * @note This macro can be used to deactivate a power saving mode.
712 */
713#define CH_CFG_IDLE_LEAVE_HOOK() { \
714 /* Idle-leave code here.*/ \
715}
716
717/**
718 * @brief Idle Loop hook.
719 * @details This hook is continuously invoked by the idle thread loop.
720 */
721#define CH_CFG_IDLE_LOOP_HOOK() { \
722 /* Idle loop code here.*/ \
723}
724
725/**
726 * @brief System tick event hook.
727 * @details This hook is invoked in the system tick handler immediately
728 * after processing the virtual timers queue.
729 */
730#define CH_CFG_SYSTEM_TICK_HOOK() { \
731 /* System tick event code here.*/ \
732}
733
734/**
735 * @brief System halt hook.
736 * @details This hook is invoked in case to a system halting error before
737 * the system is halted.
738 */
739#define CH_CFG_SYSTEM_HALT_HOOK(reason) { \
740 /* System halt code here.*/ \
741}
742
743/**
744 * @brief Trace hook.
745 * @details This hook is invoked each time a new record is written in the
746 * trace buffer.
747 */
748#define CH_CFG_TRACE_HOOK(tep) { \
749 /* Trace code here.*/ \
750}
751
752
753/** @} */
754
755/*===========================================================================*/
756/* Port-specific settings (override port settings defaulted in chcore.h). */
757/*===========================================================================*/
758
759#endif /* CHCONF_H */
760
761/** @} */
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