HAL_ChibiOS: update chconf.h for VER_6_0 API

libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h

@@ -31,7 +31,7 @@
 #include "hwdef.h"
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_1_
+#define _CHIBIOS_RT_CONF_VER_6_0_
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -76,13 +76,17 @@
  * @brief   Time intervals data size.
  * @note    Allowed values are 16, 32 or 64 bits.
  */
+#if !defined(CH_CFG_INTERVALS_SIZE)
 #define CH_CFG_INTERVALS_SIZE               32
+#endif
 
 /**
  * @brief   Time types data size.
  * @note    Allowed values are 16 or 32 bits.
  */
+#if !defined(CH_CFG_TIME_TYPES_SIZE)
 #define CH_CFG_TIME_TYPES_SIZE              32
+#endif
 
 /**
  * @brief   Time delta constant for the tick-less mode.
@@ -128,7 +132,9 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
+#if !defined(CH_CFG_TIME_QUANTUM)
 #define CH_CFG_TIME_QUANTUM                 0
+#endif
 
 /**
  * @brief   Managed RAM size.
@@ -141,7 +147,9 @@
  *          provide the @p __heap_base__ and @p __heap_end__ symbols.
  * @note    Requires @p CH_CFG_USE_MEMCORE.
  */
+#if !defined(CH_CFG_MEMCORE_SIZE)
 #define CH_CFG_MEMCORE_SIZE                 0
+#endif
 
 /**
  * @brief   Idle thread automatic spawn suppression.
@@ -150,7 +158,7 @@
  *          function becomes the idle thread and must implement an
  *          infinite loop.
  */
-#ifndef CH_CFG_NO_IDLE_THREAD
+#if !defined(CH_CFG_NO_IDLE_THREAD)
 #define CH_CFG_NO_IDLE_THREAD               FALSE
 #endif
 
@@ -171,7 +179,7 @@
  * @note    This is not related to the compiler optimization options.
  * @note    The default is @p TRUE.
  */
-#ifndef CH_CFG_OPTIMIZE_SPEED
+#if !defined(CH_CFG_OPTIMIZE_SPEED)
 #define CH_CFG_OPTIMIZE_SPEED               TRUE
 #endif
 
@@ -191,7 +199,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#ifndef CH_CFG_USE_TM
+#if !defined(CH_CFG_USE_TM)
 #define CH_CFG_USE_TM                       TRUE
 #endif
 
@@ -201,7 +209,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#ifndef CH_CFG_USE_REGISTRY
+#if !defined(CH_CFG_USE_REGISTRY)
 #define CH_CFG_USE_REGISTRY                 TRUE
 #endif
 
@@ -212,7 +220,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#ifndef CH_CFG_USE_WAITEXIT
+#if !defined(CH_CFG_USE_WAITEXIT)
 #define CH_CFG_USE_WAITEXIT                 TRUE
 #endif
 
@@ -222,7 +230,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#ifndef CH_CFG_USE_SEMAPHORES
+#if !defined(CH_CFG_USE_SEMAPHORES)
 #define CH_CFG_USE_SEMAPHORES               TRUE
 #endif
 
@@ -235,7 +243,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
 #define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE
+#endif
 
 /**
  * @brief   Mutexes APIs.
@@ -243,7 +253,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#ifndef CH_CFG_USE_MUTEXES
+#if !defined(CH_CFG_USE_MUTEXES)
 #define CH_CFG_USE_MUTEXES                  TRUE
 #endif
 
@@ -255,7 +265,9 @@
  * @note    The default is @p FALSE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
 #define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE
+#endif
 
 /**
  * @brief   Conditional Variables APIs.
@@ -265,7 +277,7 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_MUTEXES.
  */
-#ifndef CH_CFG_USE_CONDVARS
+#if !defined(CH_CFG_USE_CONDVARS)
 #define CH_CFG_USE_CONDVARS                 TRUE
 #endif
 
@@ -277,7 +289,7 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_CONDVARS.
  */
-#ifndef CH_CFG_USE_CONDVARS_TIMEOUT
+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
 #define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE
 #endif
 
@@ -287,7 +299,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#ifndef CH_CFG_USE_EVENTS
+#if !defined(CH_CFG_USE_EVENTS)
 #define CH_CFG_USE_EVENTS                   TRUE
 #endif
 
@@ -299,7 +311,7 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_EVENTS.
  */
-#ifndef CH_CFG_USE_EVENTS_TIMEOUT
+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
 #define CH_CFG_USE_EVENTS_TIMEOUT           TRUE
 #endif
 
@@ -310,7 +322,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#ifndef CH_CFG_USE_MESSAGES
+#if !defined(CH_CFG_USE_MESSAGES)
 #define CH_CFG_USE_MESSAGES                 TRUE
 #endif
 
@@ -323,7 +335,9 @@
  *          requirements.
  * @note    Requires @p CH_CFG_USE_MESSAGES.
  */
+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
 #define CH_CFG_USE_MESSAGES_PRIORITY        FALSE
+#endif
 
 /**
  * @brief   Mailboxes APIs.
@@ -333,7 +347,7 @@
  * @note    The default is @p TRUE.
  * @note    Requires @p CH_CFG_USE_SEMAPHORES.
  */
-#ifndef CH_CFG_USE_MAILBOXES
+#if !defined(CH_CFG_USE_MAILBOXES)
 #define CH_CFG_USE_MAILBOXES                TRUE
 #endif
 
@@ -344,7 +358,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#ifndef CH_CFG_USE_MEMCORE
+#if !defined(CH_CFG_USE_MEMCORE)
 #define CH_CFG_USE_MEMCORE                  TRUE
 #endif
 
@@ -358,7 +372,7 @@
  *          @p CH_CFG_USE_SEMAPHORES.
  * @note    Mutexes are recommended.
  */
-#ifndef CH_CFG_USE_HEAP
+#if !defined(CH_CFG_USE_HEAP)
 #define CH_CFG_USE_HEAP                     TRUE
 #endif
 
@@ -369,7 +383,7 @@
  *
  * @note    The default is @p TRUE.
  */
-#ifndef CH_CFG_USE_MEMPOOLS
+#if !defined(CH_CFG_USE_MEMPOOLS)
 #define CH_CFG_USE_MEMPOOLS                 TRUE
 #endif
 
@@ -380,10 +394,21 @@
  *
  * @note    The default is @p TRUE.
  */
-#ifndef CH_CFG_USE_OBJ_FIFOS
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
 #endif
 
+/**
+ * @brief   Pipes APIs.
+ * @details If enabled then the pipes APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_PIPES)
+#define CH_CFG_USE_PIPES                    TRUE
+#endif
+
 /**
  * @brief   Dynamic Threads APIs.
  * @details If enabled then the dynamic threads creation APIs are included
@@ -393,7 +418,7 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.
  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
  */
-#ifndef CH_CFG_USE_DYNAMIC
+#if !defined(CH_CFG_USE_DYNAMIC)
 #define CH_CFG_USE_DYNAMIC                  TRUE
 #endif
 
@@ -413,7 +438,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#ifndef CH_CFG_USE_FACTORY
+#if !defined(CH_CFG_USE_FACTORY)
 #define CH_CFG_USE_FACTORY                  TRUE
 #endif
 
@@ -422,32 +447,51 @@
  * @details If the specified length is zero then the name is stored by
  *          pointer but this could have unintended side effects.
  */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
 #define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8
+#endif
 
 /**
  * @brief   Enables the registry of generic objects.
  */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
 #define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE
+#endif
 
 /**
  * @brief   Enables factory for generic buffers.
  */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
 #define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE
+#endif
 
 /**
  * @brief   Enables factory for semaphores.
  */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
 #define CH_CFG_FACTORY_SEMAPHORES           TRUE
+#endif
 
 /**
  * @brief   Enables factory for mailboxes.
  */
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
 #define CH_CFG_FACTORY_MAILBOXES            TRUE
+#endif
 
 /**
  * @brief   Enables factory for objects FIFOs.
  */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
 #define CH_CFG_FACTORY_OBJ_FIFOS            TRUE
+#endif
+
+/**
+ * @brief   Enables factory for Pipes.
+ */
+#if !defined(CH_CFG_FACTORY_PIPES) || defined(__DOXYGEN__)
+#define CH_CFG_FACTORY_PIPES                TRUE
+#endif
 
 /** @} */
 
@@ -463,7 +507,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#ifndef CH_DBG_STATISTICS
+#if !defined(CH_DBG_STATISTICS)
 #define CH_DBG_STATISTICS                   TRUE
 #endif
 
@@ -474,7 +518,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#ifndef CH_DBG_SYSTEM_STATE_CHECK
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)
 #define CH_DBG_SYSTEM_STATE_CHECK           FALSE
 #endif
 
@@ -485,11 +529,10 @@
  *
  * @note    The default is @p FALSE.
  */
-#ifndef CH_DBG_ENABLE_CHECKS
+#if !defined(CH_DBG_ENABLE_CHECKS)
 #define CH_DBG_ENABLE_CHECKS                FALSE
 #endif
 
-
 /**
  * @brief   Debug option, consistency checks.
  * @details If enabled then all the assertions in the kernel code are
@@ -498,7 +541,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#ifndef CH_DBG_ENABLE_ASSERTS
+#if !defined(CH_DBG_ENABLE_ASSERTS)
 #define CH_DBG_ENABLE_ASSERTS               FALSE
 #endif
 
@@ -508,14 +551,18 @@
  *
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_MASK)
 #define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_DISABLED
+#endif
 
 /**
  * @brief   Trace buffer entries.
  * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
  *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
 #define CH_DBG_TRACE_BUFFER_SIZE            128
+#endif
 
 /**
  * @brief   Debug option, stack checks.
@@ -527,7 +574,7 @@
  * @note    The default failure mode is to halt the system with the global
  *          @p panic_msg variable set to @p NULL.
  */
-#ifndef CH_DBG_ENABLE_STACK_CHECK
+#if !defined(CH_DBG_ENABLE_STACK_CHECK)
 #define CH_DBG_ENABLE_STACK_CHECK           FALSE
 #endif
 
@@ -539,7 +586,7 @@
  *
  * @note    The default is @p FALSE.
  */
-#ifndef CH_DBG_FILL_THREADS
+#if !defined(CH_DBG_FILL_THREADS)
 #define CH_DBG_FILL_THREADS                 TRUE
 #endif
 
@@ -552,7 +599,7 @@
  * @note    This debug option is not currently compatible with the
  *          tickless mode.
  */
-#ifndef CH_DBG_THREADS_PROFILING
+#if !defined(CH_DBG_THREADS_PROFILING)
 #define CH_DBG_THREADS_PROFILING            FALSE
 #endif
 
@@ -577,7 +624,7 @@
  * @details User initialization code added to the @p chSysInit() function
  *          just before interrupts are enabled globally.
  */
-#define CH_CFG_SYSTEM_INIT_HOOK(tp) {                                       \
+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \
   /* Add threads initialization code here.*/                                \
 }