diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000..3783a40 --- /dev/null +++ b/.clang-format @@ -0,0 +1,65 @@ +--- +BasedOnStyle: Google +BinPackParameters: false +BracedInitializerIndentWidth: 2 + +# Zephyr specific improvements +AttributeMacros: + - __aligned + - __deprecated + - __packed + - __printf_like + - __syscall + - __syscall_always_inline + - __subsystem +ForEachMacros: + - "FOR_EACH" + - "FOR_EACH_FIXED_ARG" + - "FOR_EACH_IDX" + - "FOR_EACH_IDX_FIXED_ARG" + - "FOR_EACH_NONEMPTY_TERM" + - "RB_FOR_EACH" + - "RB_FOR_EACH_CONTAINER" + - "SYS_DLIST_FOR_EACH_CONTAINER" + - "SYS_DLIST_FOR_EACH_CONTAINER_SAFE" + - "SYS_DLIST_FOR_EACH_NODE" + - "SYS_DLIST_FOR_EACH_NODE_SAFE" + - "SYS_SFLIST_FOR_EACH_CONTAINER" + - "SYS_SFLIST_FOR_EACH_CONTAINER_SAFE" + - "SYS_SFLIST_FOR_EACH_NODE" + - "SYS_SFLIST_FOR_EACH_NODE_SAFE" + - "SYS_SLIST_FOR_EACH_CONTAINER" + - "SYS_SLIST_FOR_EACH_CONTAINER_SAFE" + - "SYS_SLIST_FOR_EACH_NODE" + - "SYS_SLIST_FOR_EACH_NODE_SAFE" + - "_WAIT_Q_FOR_EACH" + - "Z_FOR_EACH" + - "Z_FOR_EACH_ENGINE" + - "Z_FOR_EACH_EXEC" + - "Z_FOR_EACH_FIXED_ARG" + - "Z_FOR_EACH_FIXED_ARG_EXEC" + - "Z_FOR_EACH_IDX" + - "Z_FOR_EACH_IDX_EXEC" + - "Z_FOR_EACH_IDX_FIXED_ARG" + - "Z_FOR_EACH_IDX_FIXED_ARG_EXEC" + - "Z_GENLIST_FOR_EACH_CONTAINER" + - "Z_GENLIST_FOR_EACH_CONTAINER_SAFE" + - "Z_GENLIST_FOR_EACH_NODE" + - "Z_GENLIST_FOR_EACH_NODE_SAFE" + - "STRUCT_SECTION_FOREACH" + - "TYPE_SECTION_FOREACH" + - "K_SPINLOCK" +IfMacros: + - "CHECKIF" +IncludeCategories: + - Regex: '^".*\.h"$' + Priority: 0 + - Regex: '^<(assert|complex|ctype|errno|fenv|float|inttypes|limits|locale|math|setjmp|signal|stdarg|stdbool|stddef|stdint|stdio|stdlib|string|tgmath|time|wchar|wctype)\.h>$' + Priority: 1 + - Regex: '^\$' + Priority: 2 + - Regex: ".*" + Priority: 3 +WhitespaceSensitiveMacros: + - STRINGIFY + - Z_STRINGIFY diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..40470f0 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,2 @@ +*.zip filter=lfs diff=lfs merge=lfs -text +*.pdf filter=lfs diff=lfs merge=lfs -text diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml new file mode 100644 index 0000000..2b9054f --- /dev/null +++ b/.github/workflows/build.yml @@ -0,0 +1,36 @@ +name: Build + +on: + push: + pull_request: + schedule: + - cron: "0 0 * * *" + +jobs: + build: + runs-on: ubuntu-22.04 + container: ghcr.io/zephyrproject-rtos/ci:v0.26.2 + env: + CMAKE_PREFIX_PATH: /opt/toolchains + steps: + - name: Checkout + uses: actions/checkout@v3 + with: + path: zephyr-workspace/ardep + + - name: Initialize + working-directory: zephyr-workspace/ardep + run: | + west init -l --mf ./west.yml . + west update -o=--depth=1 -n + + - name: Build firmware examples + working-directory: zephyr-workspace/ardep + run: | + west twister -T samples -v --inline-logs --integration + + - name: build bootloader + working-directory: zephyr-workspace/ardep + run: | + pip install -r scripts/requirements.txt + west ardep build-bootloader diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml new file mode 100644 index 0000000..592b062 --- /dev/null +++ b/.github/workflows/documentation.yml @@ -0,0 +1,36 @@ +name: documentation + +on: + push: + branches: + - main + workflow_dispatch: + +permissions: + contents: write + +jobs: + docs: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: actions/setup-python@v3 + - name: Install sphinx dependencies dependencies + run: | + pip install sphinx sphinx_rtd_theme myst_parser sphinx_copybutton + - name: Install doxygen + run: | + sudo apt-get update + sudo apt-get install -y doxygen + - name: Build documentation + run: | + cd doc + make html + - name: Deploy to GitHub Pages + uses: peaceiris/actions-gh-pages@v3 + # if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/main' }} + with: + publish_branch: gh-pages + github_token: ${{ secrets.GITHUB_TOKEN }} + publish_dir: doc/_build/html/ + force_orphan: true diff --git a/.github/workflows/pylint.yml b/.github/workflows/pylint.yml new file mode 100644 index 0000000..e80aaaa --- /dev/null +++ b/.github/workflows/pylint.yml @@ -0,0 +1,18 @@ +name: Pylint + +on: + push: + +jobs: + lint: + runs-on: ubuntu-22.04 + steps: + - name: Checkout + uses: actions/checkout@v3 + + - name: Lint + working-directory: scripts + run: | + pip3 install -r requirements.txt + pip3 install pylint west + pylint --disable=R,C **/*.py \ No newline at end of file diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..13dc4fe --- /dev/null +++ b/.gitignore @@ -0,0 +1,20 @@ +# editors +.vscode +*.swp +*~ + +# python +.venv + +# build +/build* +/twister-out* + +__pycache__/ + +# documentation build output +doc/_build/ +doc/_board/ + +# clangd cache +.cache \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..d3a3286 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,13 @@ +# Copyright (C) Frickly Systems GmbH +# Copyright (C) MBition GmbH +# +# SPDX-License-Identifier: Apache-2.0 + +# CMakeLists for the module + +add_subdirectory(drivers) +add_subdirectory(lib) +zephyr_include_directories(include) + +list(APPEND SYSCALL_INCLUDE_DIRS ${CMAKE_CURRENT_LIST_DIR}/include/ardep/drivers) +set(SYSCALL_INCLUDE_DIRS ${SYSCALL_INCLUDE_DIRS} PARENT_SCOPE) diff --git a/Kconfig b/Kconfig new file mode 100644 index 0000000..4e8e787 --- /dev/null +++ b/Kconfig @@ -0,0 +1,8 @@ +# Copyright (C) Frickly Systems GmbH +# Copyright (C) MBition GmbH +# +# SPDX-License-Identifier: Apache-2.0 + + +rsource "drivers/Kconfig" +rsource "lib/Kconfig" diff --git a/README.rst b/README.rst index 0ab9b66..e4f25ee 100644 --- a/README.rst +++ b/README.rst @@ -1,23 +1,56 @@ -# The Automotive Rapid Development Platform (ARDEP) +ARDEP - Automotive Rapid Development Platform +############################################## -This repository contains the Software and all Hardware design files -required for the Automotive Rapid DEvelopment Platform (ARDEP). ARDEP -is an open and flexible approach to implement the soft- and hardware -of new functionality for automotive and industrial projects quickly -and frictionlessly. ARDEP also provides a path to transform early -prototypes into volume produced hardware without any breaks in the -development path. +ARDEP is a powerful toolkit specifically designed for automotive developers based on the `Zephyr RTOS `_. +It provides easy to use abstractions, features and tools to simplify the development process for automotive applications. -# Installation +Getting Started +=============== -TODO: +See our documentation (TODO: insert link to github pages) for more information on how to use ARDEP. -- Provide info for how to get the ARDEP board and getting started with it -- (?) make the ARDEP software work with arduino-due (with limited - functionality) +Follow our Getting Started Guide (TODO: insert link to github pages) for a quick introduction -# Provider Information -Please visit [Provider -Information](https://github.com/mercedes-benz/foss/blob/master/PROVIDER_INFORMATION.md) -for information on the provider Mercedes-Benz Tech Innovation GmbH. +Create zephyr workspace +======================= + +Create workspace from west.yml in this directory, e.g. + + +.. code-block:: console + + # create a workspace + mkdir ardep-workspace + # clone this repo into workspace + cd ardep-workspace && git clone git@github.com:frickly-systems/ardep.git ardep + # init west workspace from west.yml + cd ardep && west init -l --mf ./west.yml . + # update workspace, fetches dependencies + west update + +Development bootloader +====================== + +Per default if the board is selected we build images to be used by the bootloader. +Those images are not signed (without signature validation). + + +Build the bootloader +-------------------- + +It is recommendet to use the `ardep` subcommand of `west` to build the bootloader. + +.. code-block:: console + + west ardep build-bootloader + + +If you want to see the raw command, execute the above and look at the first lines of output. It should look something like this: + +.. code-block:: console + + west build --pristine auto --board ardep --build-dir build \ + {...}/ardep-workspace/bootloader/mcuboot/boot/zephyr -- \ + -DEXTRA_CONF_FILE={...}/ardep-workspace/ardep/boards/arm/ardep/mcuboot.conf \ + -DEXTRA_DTC_OVERLAY_FILE={...}/ardep-workspace/ardep/boards/arm/ardep/mcuboot.overlay diff --git a/boards/arm/ardep/Kconfig.board b/boards/arm/ardep/Kconfig.board new file mode 100644 index 0000000..37424dd --- /dev/null +++ b/boards/arm/ardep/Kconfig.board @@ -0,0 +1,11 @@ +# Copyright (C) Frickly Systems GmbH +# Copyright (C) MBition GmbH +# +# SPDX-License-Identifier: Apache-2.0 + +# ARDEP Board configuration + +config BOARD_ARDEP + bool "Automotive Rapid Development Platform (ARDEP)" + depends on SOC_STM32G474XX + diff --git a/boards/arm/ardep/Kconfig.defconfig b/boards/arm/ardep/Kconfig.defconfig new file mode 100644 index 0000000..02fb188 --- /dev/null +++ b/boards/arm/ardep/Kconfig.defconfig @@ -0,0 +1,45 @@ +# Copyright (C) Frickly Systems GmbH +# Copyright (C) MBition GmbH +# +# SPDX-License-Identifier: Apache-2.0 + +# ARDEP board configuration + +if BOARD_ARDEP + +config BOARD + default "ardep" + +config SPI_STM32_INTERRUPT + default y + depends on SPI + +config CAN_TERMINATION_GPIO + default y if CAN + +# adc 1 and 2 use the same, but the other use diffent interrupts +# shared interrupts currently seem to be broken for a mixed of shared +# and non-shared interrupts +config ADC_STM32_SHARED_IRQS + default n + +config CAN_MAX_FILTER + default 8 + +rsource "Kconfig.usb" +rsource "Kconfig.usb_dfu" + +if !MCUBOOT + # enable building for image slots + config BOOTLOADER_MCUBOOT + default y + config FLASH_MAP + default y + + rsource "Kconfig.uds" + + config MCUBOOT_SIGNATURE_KEY_FILE + default "bootloader/mcuboot/root-rsa-2048.pem" +endif # !MCUBOOT + +endif # BOARD_ARDEP diff --git a/boards/arm/ardep/Kconfig.uds b/boards/arm/ardep/Kconfig.uds new file mode 100644 index 0000000..72dcd03 --- /dev/null +++ b/boards/arm/ardep/Kconfig.uds @@ -0,0 +1,28 @@ +# Copyright (C) Frickly Systems GmbH +# Copyright (C) MBition GmbH +# +# SPDX-License-Identifier: Apache-2.0 + +# enable UDS module per default + +config UDS + default y +config CAN + default y +config ISOTP + default y + +config FLASH + default y + +config STREAM_FLASH + default y + +config IMG_MANAGER + default y + +config IMG_ERASE_PROGRESSIVELY + default y + +config REBOOT + default y diff --git a/boards/arm/ardep/Kconfig.usb b/boards/arm/ardep/Kconfig.usb new file mode 100644 index 0000000..1ca5e13 --- /dev/null +++ b/boards/arm/ardep/Kconfig.usb @@ -0,0 +1,28 @@ +# Copyright (C) Frickly Systems GmbH +# Copyright (C) MBition GmbH +# +# SPDX-License-Identifier: Apache-2.0 + +# enable USB per default + +config USB_DEVICE_STACK + default y + +config USB_DEVICE_VID + default 0x25E1 + +config USB_DEVICE_PID + default 0x1B1E + +config USB_DEVICE_INITIALIZE_AT_BOOT + default y if !MCUBOOT + +config USB_DEVICE_PRODUCT + default "ARDEP Board" + +config USB_CDC_ACM + default y + +choice USB_CDC_ACM_LOG_LEVEL_CHOICE + default USB_CDC_ACM_LOG_LEVEL_OFF +endchoice diff --git a/boards/arm/ardep/Kconfig.usb_dfu b/boards/arm/ardep/Kconfig.usb_dfu new file mode 100644 index 0000000..773dcec --- /dev/null +++ b/boards/arm/ardep/Kconfig.usb_dfu @@ -0,0 +1,41 @@ +# Copyright (C) Frickly Systems GmbH +# Copyright (C) MBition GmbH +# +# SPDX-License-Identifier: Apache-2.0 + +# enable USB DFU per default + +config USB_DEVICE_DFU_PID + default 0x1B1E + +config USB_DFU_WILL_DETACH + default y + +config USB_DFU_CLASS + default y + +config USB_DFU_PERMANENT_DOWNLOAD + default y + +config USB_DFU_ENABLE_UPLOAD + default y + +config FLASH + default y + +config FLASH_MAP + default y + +config STREAM_FLASH + default y + +config IMG_MANAGER + default y + +config FLASH_PAGE_LAYOUT + default y + +if !MCUBOOT + config USB_DFU_REBOOT + default y +endif # !MCUBOOT \ No newline at end of file diff --git a/boards/arm/ardep/adc.dtsi b/boards/arm/ardep/adc.dtsi new file mode 100644 index 0000000..12f3afd --- /dev/null +++ b/boards/arm/ardep/adc.dtsi @@ -0,0 +1,99 @@ +/* + * Copyright (C) Frickly Systems GmbH + * Copyright (C) MBition GmbH + * + * SPDX-License-Identifier: Apache-2.0 + */ + +&adc2 { + pinctrl-0 = <&adc2_in2_A0 &adc2_in4_A1>; + pinctrl-names = "default"; + st,adc-clock-source = ; + st,adc-prescaler = <4>; + status = "okay"; + + #address-cells = <1>; + #size-cells = <0>; + + adc_channel_A0: channel@2 { + reg = <2>; + zephyr,gain = "ADC_GAIN_1"; + zephyr,reference = "ADC_REF_INTERNAL"; + zephyr,vref-mv = <3300>; + zephyr,acquisition-time = ; + zephyr,resolution = <12>; + zephyr,oversampling = <4>; + }; + + adc_channel_A1: channel@4 { + reg = <4>; + zephyr,gain = "ADC_GAIN_1"; + zephyr,reference = "ADC_REF_INTERNAL"; + zephyr,vref-mv = <3300>; + zephyr,acquisition-time = ; + zephyr,resolution = <12>; + zephyr,oversampling = <4>; + }; +}; + +&adc3 { + pinctrl-0 = <&adc3_in12_A2 &adc3_in5_A3>; + pinctrl-names = "default"; + st,adc-clock-source = ; + st,adc-prescaler = <4>; + status = "okay"; + + #address-cells = <1>; + #size-cells = <0>; + + adc_channel_A2: channel@C { + reg = <12>; + zephyr,gain = "ADC_GAIN_1"; + zephyr,reference = "ADC_REF_INTERNAL"; + zephyr,vref-mv = <3300>; + zephyr,acquisition-time = ; + zephyr,resolution = <12>; + zephyr,oversampling = <4>; + }; + + adc_channel_A3: channel@5 { + reg = <5>; + zephyr,gain = "ADC_GAIN_1"; + zephyr,reference = "ADC_REF_INTERNAL"; + zephyr,vref-mv = <3300>; + zephyr,acquisition-time = ; + zephyr,resolution = <12>; + zephyr,oversampling = <4>; + }; +}; + +&adc4 { + pinctrl-0 = <&adc4_in4_A4 &adc4_in3_A5>; + pinctrl-names = "default"; + st,adc-clock-source = ; + st,adc-prescaler = <4>; + status = "okay"; + + #address-cells = <1>; + #size-cells = <0>; + + adc_channel_A4: channel@4 { + reg = <4>; + zephyr,gain = "ADC_GAIN_1"; + zephyr,reference = "ADC_REF_INTERNAL"; + zephyr,vref-mv = <3300>; + zephyr,acquisition-time = ; + zephyr,resolution = <12>; + zephyr,oversampling = <4>; + }; + + adc_channel_A5: channel@3 { + reg = <3>; + zephyr,gain = "ADC_GAIN_1"; + zephyr,reference = "ADC_REF_INTERNAL"; + zephyr,vref-mv = <3300>; + zephyr,acquisition-time = ; + zephyr,resolution = <12>; + zephyr,oversampling = <4>; + }; +}; \ No newline at end of file diff --git a/boards/arm/ardep/ardep.dts b/boards/arm/ardep/ardep.dts new file mode 100644 index 0000000..8dec18f --- /dev/null +++ b/boards/arm/ardep/ardep.dts @@ -0,0 +1,206 @@ +/* + * Copyright (c) 2019 STMicroelectronics. + * Copyright (C) Frickly Systems GmbH + * Copyright (C) MBition GmbH + * + * SPDX-License-Identifier: Apache-2.0 + */ + +/dts-v1/; +#include +#include +#include "arduino_r3_connector.dtsi" +#include "adc.dtsi" +#include "can.dtsi" +#include "clock.dtsi" +#include "uart.dtsi" +#include "lin.dtsi" + +/ { + model = "Automotive Rapid Development board"; + compatible = "misc,ardep"; + + chosen { + zephyr,console = &usb_cdc_acm; + zephyr,shell-uart = &usb_cdc_acm; + zephyr,sram = &sram0; + zephyr,flash = &flash0; + zephyr,canbus = &can_a; + zephyr,code-partition = &slot0_partition; + }; + + aliases { + watchdog0 = &iwdg; + die-temp0 = &die_temp; + volt-sensor0 = &vref; + volt-sensor1 = &vbat; + + // Sets an alias for the red, green, and blue LEDs + // required in the RGB-Blinky Sample + red-led = &red_led; + green-led = &green_led; + + led0 = &red_led; + + mcuboot-led0 = &red_led; + mcuboot-button0 = &mcuboot_button0; + }; + + leds { + compatible = "gpio-leds"; + + red_led: red_led { + gpios = <&gpioc 3 GPIO_ACTIVE_LOW>; + label = "Red"; + }; + green_led: green_led { + gpios = <&gpioa 3 GPIO_ACTIVE_LOW>; + label = "Green"; + }; + }; + + buttons { + compatible = "gpio-keys"; + mcuboot_button0: mcuboot_button { + label = "MCUBoot"; + gpios = <&gpioe 4 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>; // Gearshift 1 Jumper + }; + }; + + config_jumpers: jumpers { + compatible = "gpio-keys"; + jumper0 { + gpios = <&gpioc 13 (GPIO_ACTIVE_LOW|GPIO_PULL_UP)>; + }; + + jumper1 { + gpios = <&gpioc 1 (GPIO_ACTIVE_LOW|GPIO_PULL_UP)>; + }; + + jumper2 { + gpios = <&gpiof 1 (GPIO_ACTIVE_LOW|GPIO_PULL_UP)>; + }; + }; +}; + + + +&i2c2 { + pinctrl-0 = <&i2c2_scl_pa9 &i2c2_sda_pa8>; + pinctrl-names = "default"; + status = "okay"; +}; + +&spi4 { + pinctrl-0 = <&spi4_sck_pe2 &spi4_miso_pe5 &spi4_mosi_pe6>; + pinctrl-names = "default"; + cs-gpios = <&gpioe 3 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>; + status = "okay"; +}; + +&timers2 { + status = "okay"; + + pwm2: pwm { + status = "okay"; + pinctrl-0 = <&tim2_ch1_pa5>; + pinctrl-names = "default"; + }; +}; + +&timers3 { + st,prescaler = <10000>; + status = "okay"; + pwm3: pwm { + status = "okay"; + pinctrl-0 = <&tim3_ch1_pb4>; + pinctrl-names = "default"; + }; +}; + +&lptim1 { + clocks = <&rcc STM32_CLOCK_BUS_APB1 0x80000000>, + <&rcc STM32_SRC_LSI LPTIM1_SEL(1)>; + status = "okay"; +}; + +&rtc { + clocks = <&rcc STM32_CLOCK_BUS_APB1 0x00000400>, + <&rcc STM32_SRC_LSI RTC_SEL(2)>; + status = "okay"; +}; + +&flash0 { + partitions { + compatible = "fixed-partitions"; + #address-cells = <1>; + #size-cells = <1>; + + boot_partition: partition@0 { + label = "mcuboot"; + reg = <0x00000000 DT_SIZE_K(96)>; + }; + slot0_partition: partition@18000 { + label = "image-0"; + reg = <0x00018000 DT_SIZE_K(192)>; + }; + slot1_partition: partition@48000 { + label = "image-1"; + reg = <0x00048000 DT_SIZE_K(192)>; + }; + /* + * Storage partition will be used by FCB/LittleFS/NVS + * if enabled. + */ + storage_partition: partition@78000 { + label = "storage"; + reg = <0x00078000 DT_SIZE_K(32)>; + }; + }; +}; + +&iwdg { + status = "okay"; +}; + +&rng { + status = "okay"; +}; + + +&die_temp { + status = "okay"; +}; + +&dac1 { + pinctrl-0 = <&dac1_out1_pa4 &dac1_out2_pa5>; + pinctrl-names = "default"; + status = "okay"; +}; + +&dac2 { + pinctrl-0 = <&dac2_out1_pa6>; + pinctrl-names = "default"; + status = "okay"; +}; + +&vref { + status = "okay"; +}; + +&vbat { + status = "okay"; +}; + +&usb { + pinctrl-0 = <&usb_dm_pa11 &usb_dp_pa12>; + pinctrl-names = "default"; + status = "okay"; + + usb_cdc_acm: usb-cdc-acm { + status = "okay"; + compatible = "zephyr,cdc-acm-uart"; + }; +}; + + diff --git a/boards/arm/ardep/ardep.yaml b/boards/arm/ardep/ardep.yaml new file mode 100644 index 0000000..4a71fa6 --- /dev/null +++ b/boards/arm/ardep/ardep.yaml @@ -0,0 +1,32 @@ +# Copyright (C) Frickly Systems GmbH +# Copyright (C) MBition GmbH +# +# SPDX-License-Identifier: Apache-2.0 + +identifier: ardep +name: Automotive Rapid Development Platform +type: mcu +arch: arm +toolchain: + - zephyr + - gnuarmemb + - xtools +ram: 128 +flash: 512 +supported: + - arduino_gpio + - arduino_i2c + - arduino_spi + - nvs + - pwm + - i2c + - gpio + - usb device + - counter + - spi + - watchdog + - adc + - dac + - dma + - can +vendor: st diff --git a/boards/arm/ardep/ardep_defconfig b/boards/arm/ardep/ardep_defconfig new file mode 100644 index 0000000..3bf1287 --- /dev/null +++ b/boards/arm/ardep/ardep_defconfig @@ -0,0 +1,33 @@ +# Copyright (C) Frickly Systems GmbH +# Copyright (C) MBition GmbH +# +# SPDX-License-Identifier: Apache-2.0 + +CONFIG_SOC_SERIES_STM32G4X=y +CONFIG_SOC_STM32G474XX=y + +# enable uart driver +CONFIG_SERIAL=y + +# enable GPIO +CONFIG_GPIO=y + +# Enable Clocks +CONFIG_CLOCK_CONTROL=y + +# Console +CONFIG_CONSOLE=y +CONFIG_UART_CONSOLE=y + +# Enable Segger RTT +CONFIG_USE_SEGGER_RTT=y +CONFIG_RTT_CONSOLE=y + +# Enable MPU +CONFIG_ARM_MPU=y + +# Enable HW stack protection +CONFIG_HW_STACK_PROTECTION=y + +# enable pin controller +CONFIG_PINCTRL=y diff --git a/boards/arm/ardep/arduino_r3_connector.dtsi b/boards/arm/ardep/arduino_r3_connector.dtsi new file mode 100644 index 0000000..ada1c50 --- /dev/null +++ b/boards/arm/ardep/arduino_r3_connector.dtsi @@ -0,0 +1,56 @@ +/* + * Copyright (C) Frickly Systems GmbH + * Copyright (C) MBition GmbH + * + * SPDX-License-Identifier: Apache-2.0 +*/ + +/ { + arduino_header: connector { + compatible = "arduino-header-r3"; + #gpio-cells = <2>; + gpio-map-mask = <0xffffffff 0xffffffc0>; + gpio-map-pass-thru = <0 0x3f>; + gpio-map = <0 0 &gpioa 1 0>, /* A0 */ + <1 0 &gpioa 7 0>, /* A1 */ + <2 0 &gpiob 0 0>, /* A2 */ + <3 0 &gpiob 13 0>, /* A3 */ + <4 0 &gpiob 14 0>, /* A4 */ + <5 0 &gpiob 12 0>, /* A5 */ + <6 0 &gpiod 9 0>, /* D0 */ + <7 0 &gpiod 8 0>, /* D1 */ + <8 0 &gpiod 10 0>, /* D2 */ + <9 0 &gpiod 11 0>, /* D3 */ + <10 0 &gpiod 12 0>, /* D4 */ + <11 0 &gpiod 13 0>, /* D5 */ + <12 0 &gpiod 14 0>, /* D6 */ + <13 0 &gpiod 15 0>, /* D7 */ + <14 0 &gpioc 6 0>, /* D8 */ + <15 0 &gpioc 7 0>, /* D9 */ + <16 0 &gpioe 3 0>, /* D10 */ + <17 0 &gpioe 6 0>, /* D11 */ + <18 0 &gpioe 5 0>, /* D12 */ + <19 0 &gpioe 2 0>, /* D13 */ + <20 0 &gpioa 8 0>, /* D18 */ + <21 0 &gpioa 9 0>; /* D19 */ + }; +}; + +arduino_i2c: &i2c2 {}; +arduino_spi: &spi4 {}; +arduino_serial: &usart3 {}; + + +// adc pin labels for easier config +adc1_in2_A0: &adc1_in2_pa1 {}; +adc1_in15_A2: &adc1_in15_pb0 {}; +adc1_in5_A4: &adc1_in5_pb14 {}; + +adc2_in2_A0: &adc2_in2_pa1 {}; +adc2_in4_A1: &adc2_in4_pa7 {}; + +adc3_in12_A2: &adc3_in12_pb0 {}; +adc3_in5_A3: &adc3_in5_pb13 {}; + +adc4_in3_A5: &adc4_in3_pb12 {}; +adc4_in4_A4: &adc4_in4_pb14 {}; diff --git a/boards/arm/ardep/board.cmake b/boards/arm/ardep/board.cmake new file mode 100644 index 0000000..7207b77 --- /dev/null +++ b/boards/arm/ardep/board.cmake @@ -0,0 +1,16 @@ +# Copyright (C) Frickly Systems GmbH +# Copyright (C) MBition GmbH +# +# SPDX-License-Identifier: Apache-2.0 + +board_runner_args(jlink "--device=STM32G474VE" "--speed=4000" "--reset-after-load") + +# TODO: validate settings +board_runner_args(pyocd "--target=stm32g474retx") +board_runner_args(stm32cubeprogrammer "--port=swd" "--reset-mode=hw") + +include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake) +include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake) +include(${ZEPHYR_BASE}/boards/common/stm32cubeprogrammer.board.cmake) + +include(${ZEPHYR_BASE}/boards/common/dfu-util.board.cmake) diff --git a/boards/arm/ardep/can.dtsi b/boards/arm/ardep/can.dtsi new file mode 100644 index 0000000..2e5205d --- /dev/null +++ b/boards/arm/ardep/can.dtsi @@ -0,0 +1,59 @@ +/* + * Copyright (C) Frickly Systems GmbH + * Copyright (C) MBition GmbH + * + * SPDX-License-Identifier: Apache-2.0 + */ + + +can_b: &fdcan1 { + clocks = <&rcc STM32_CLOCK_BUS_APB1 0x02000000>, + <&rcc STM32_SRC_HSE FDCAN_SEL(0)>; + pinctrl-0 = <&fdcan1_rx_pd0 &fdcan1_tx_pd1>; + pinctrl-names = "default"; + bus-speed = <500000>; + bus-speed-data = <2000000>; + phys = <&transceiver1>; + status = "okay"; +}; + +can_a: &fdcan2 { + clocks = <&rcc STM32_CLOCK_BUS_APB1 0x02000000>, + <&rcc STM32_SRC_HSE FDCAN_SEL(0)>; + pinctrl-0 = <&fdcan2_rx_pb5 &fdcan2_tx_pb6>; + pinctrl-names = "default"; + bus-speed = <500000>; + bus-speed-data = <2000000>; + phys = <&transceiver2>; + status = "okay"; +}; + +/ { + transceiver1: can-phy1 { + compatible = "microchip,ata6561", "can-transceiver-gpio"; + standby-gpios = <&gpiod 2 GPIO_ACTIVE_HIGH>; + max-bitrate = <5000000>; + #phy-cells = <0>; + }; + + // TODO: remove for final release + can-termination1 { + compatible = "can-termination-gpio"; + enable-gpios = <&gpiod 3 GPIO_ACTIVE_HIGH>; + enable-on-boot; + }; + + transceiver2: can-phy2 { + compatible = "microchip,ata6561", "can-transceiver-gpio"; + standby-gpios = <&gpiob 7 GPIO_ACTIVE_HIGH>; + max-bitrate = <5000000>; + #phy-cells = <0>; + }; + + // TODO: remove for final release + can-termination2 { + compatible = "can-termination-gpio"; + enable-gpios = <&gpiob 4 GPIO_ACTIVE_HIGH>; + enable-on-boot; + }; +}; diff --git a/boards/arm/ardep/clock.dtsi b/boards/arm/ardep/clock.dtsi new file mode 100644 index 0000000..8e52d7f --- /dev/null +++ b/boards/arm/ardep/clock.dtsi @@ -0,0 +1,39 @@ +/* + * Copyright (C) Frickly Systems GmbH + * Copyright (C) MBition GmbH + * + * SPDX-License-Identifier: Apache-2.0 + */ + + +&clk_lsi { + status = "okay"; +}; + +&clk_hsi48 { + status = "okay"; +}; + +&clk_hse { + clock-frequency = ; + hse-bypass; + status = "okay"; +}; + +&pll { + div-m = <4>; + mul-n = <85>; + div-p = <7>; + div-q = <2>; + div-r = <2>; + clocks = <&clk_hse>; + status = "okay"; +}; + +&rcc { + clocks = <&pll>; + clock-frequency = ; + ahb-prescaler = <1>; + apb1-prescaler = <1>; + apb2-prescaler = <1>; +}; \ No newline at end of file diff --git a/boards/arm/ardep/doc/3d_view.png b/boards/arm/ardep/doc/3d_view.png new file mode 100644 index 0000000..9c5faaf Binary files /dev/null and b/boards/arm/ardep/doc/3d_view.png differ diff --git a/boards/arm/ardep/doc/can_and_lin/can_and_lin_db9_pinout.png b/boards/arm/ardep/doc/can_and_lin/can_and_lin_db9_pinout.png new file mode 100644 index 0000000..4bb1e18 Binary files /dev/null and b/boards/arm/ardep/doc/can_and_lin/can_and_lin_db9_pinout.png differ diff --git a/boards/arm/ardep/doc/can_and_lin/can_and_lin_spring_terminal_pinout.png b/boards/arm/ardep/doc/can_and_lin/can_and_lin_spring_terminal_pinout.png new file mode 100644 index 0000000..ee8b26b Binary files /dev/null and b/boards/arm/ardep/doc/can_and_lin/can_and_lin_spring_terminal_pinout.png differ diff --git a/boards/arm/ardep/doc/can_and_lin/can_and_lin_vectors.png b/boards/arm/ardep/doc/can_and_lin/can_and_lin_vectors.png new file mode 100644 index 0000000..70fbb96 Binary files /dev/null and b/boards/arm/ardep/doc/can_and_lin/can_and_lin_vectors.png differ diff --git a/boards/arm/ardep/doc/can_and_lin/can_interface_rev0_1.png b/boards/arm/ardep/doc/can_and_lin/can_interface_rev0_1.png new file mode 100644 index 0000000..47bf73a Binary files /dev/null and b/boards/arm/ardep/doc/can_and_lin/can_interface_rev0_1.png differ diff --git a/boards/arm/ardep/doc/can_and_lin/can_interface_rev0_2.png b/boards/arm/ardep/doc/can_and_lin/can_interface_rev0_2.png new file mode 100644 index 0000000..545c79b Binary files /dev/null and b/boards/arm/ardep/doc/can_and_lin/can_interface_rev0_2.png differ diff --git a/boards/arm/ardep/doc/can_and_lin/index.rst b/boards/arm/ardep/doc/can_and_lin/index.rst new file mode 100644 index 0000000..3ee275d --- /dev/null +++ b/boards/arm/ardep/doc/can_and_lin/index.rst @@ -0,0 +1,146 @@ +.. _ardep_board_can_and_lin: + + +CAN and LIN +########### + +.. contents:: + :local: + :depth: 2 + +CAN and LIN share a single DB-9 connector in accordance with the Pinout proposed by Vector. + + +.. figure:: can_and_lin_vectors.png + :width: 600px + + Source: `Vector Website `_ + +On the ARDEP mainboard, the pinout is configured as shown below. +CAN Channel B is permanently connected to the DB-9 connector. +CAN Channel A and LIN are permanently connected to the spring terminal block. +Using SW1, the user can choose to connect CAN-A or LIN to the DB-9 connector. + +.. figure:: can_and_lin_db9_pinout.png + :width: 600px + + DB-9 Pinout + +.. figure:: can_and_lin_spring_terminal_pinout.png + :width: 600px + + Spring terminal pinout + +CAN +=== + +The ARDEP Mainboard comes with two CAN-FD capable CAN Transceivers. +each of which, is connected to a common mode choke, ESD protection as well as a hardware configurable 120-Ohm termination. + +.. figure:: can_interface_rev0_2.png + :width: 600px + + CAN Interface rev. 0.2 + +In rev 0.1 the Termination was implemented to be software-configurable. +This feature has been removed starting from rev 0.2 due to cost and practicality reasons. + +.. figure:: can_interface_rev0_1.png + :width: 600px + + CAN Interface rev. 0.1 + +Pin-mapping +=========== + +CAN A +----- +CAN A is directly connected to the spring contact terminal and can be connected to the DB-9 connector with the help of SW1. +lToggling SW1 will disconnect LIN from Pin7 and connect CANA to pin 7 and 2 + +.. role:: red + +.. list-table:: + :widths: 40 40 80 + :header-rows: 1 + + * - Description + - STM32 Pin + - Comment + * - CAN RX + - PD0 + - + * - CAN TX + - PD1 + - + * - CAN STBY + - PD2 + - + * - Term_EN + - PD3 + - :red:`Only in rev 0.1` + + +CAN B +----- + +CAN B is permanently connected to the CAN B channel of the DB-9 connector in accordance with the Vector pinout. + + +.. list-table:: + :widths: 40 40 80 + :header-rows: 1 + + * - Description + - STM32 Pin + - Comment + * - CAN RX + - PB5 + - + * - CAN TX + - PB6 + - + * - CAN STBY + - PB7 + - + * - Term_EN + - PB4 + - :red:`Only in rev 0.1` + + +LIN +=== + +LIN is permanently connected to the spring contact terminal and can be connected to the DB-9 connector with the help of SW1. +Toggling SW1 will disconnect CAN-A from Pin 7 & 2 and instead connect LIN to Pin 7. + +The User can select to Supply the LIN driver from the mainboard internal 5 V supply, or an external Supply connected to the spring contact terminal. +The LIN supply is specified for up to 24 V and is additionally connected to one of the 0.1” Header connectors. + +Using a solid-state Relay The LIN Interface can be software-configured for master- or slave mode. + +.. figure:: lin_interface.png + :width: 600px + + ARDEP LIN INterface + + +Pin-mapping +----------- + + + +.. list-table:: + :widths: 40 40 + :header-rows: 1 + + * - Description + - STM32-Pin + * - LIN RX + - PE1 + * - LIN TX + - PE0 + * - LIN Enable + - PD7 + * - LIN Master + - PB9 diff --git a/boards/arm/ardep/doc/can_and_lin/lin_interface.png b/boards/arm/ardep/doc/can_and_lin/lin_interface.png new file mode 100644 index 0000000..03b016a Binary files /dev/null and b/boards/arm/ardep/doc/can_and_lin/lin_interface.png differ diff --git a/boards/arm/ardep/doc/changelog/ardep_board_rev_1_1_gerber.zip b/boards/arm/ardep/doc/changelog/ardep_board_rev_1_1_gerber.zip new file mode 100644 index 0000000..5d08dfc --- /dev/null +++ b/boards/arm/ardep/doc/changelog/ardep_board_rev_1_1_gerber.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3d54d1f43de04490b191d0d78a737865bc94f162c3f0e69e84e053ce51dfccd +size 699343 diff --git a/boards/arm/ardep/doc/changelog/ardep_board_rev_1_1_schematic.pdf b/boards/arm/ardep/doc/changelog/ardep_board_rev_1_1_schematic.pdf new file mode 100644 index 0000000..9da9433 Binary files /dev/null and b/boards/arm/ardep/doc/changelog/ardep_board_rev_1_1_schematic.pdf differ diff --git a/boards/arm/ardep/doc/changelog/ardep_board_rev_1_1_sourcefiles.zip b/boards/arm/ardep/doc/changelog/ardep_board_rev_1_1_sourcefiles.zip new file mode 100644 index 0000000..c8f6bc2 --- /dev/null +++ b/boards/arm/ardep/doc/changelog/ardep_board_rev_1_1_sourcefiles.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0da922966ad28bbcaff8e6fe747930191e66f62620c5d4e100a8e657a35e3e4 +size 20440774 diff --git a/boards/arm/ardep/doc/changelog/index.rst b/boards/arm/ardep/doc/changelog/index.rst new file mode 100644 index 0000000..8a0f3a3 --- /dev/null +++ b/boards/arm/ardep/doc/changelog/index.rst @@ -0,0 +1,56 @@ +.. _board_changelog: + +Changelog +########### + +.. contents:: + :local: + :depth: 2 + +Rev 1.1 +============== + +See also: + +- :download:`Schematics ` +- :download:`Gerber File ` +- :download:`Altium Source Files ` + + +Rev 1.0 +============== + +- Silkscreen adjustments +- Remove Jumpers underneath CMM chokes to prevent short circuits +- Change VIN Routing + + +.. figure:: rev_1_0.png + :width: 600px + + Y=edit, R=removed, G=added + +Rev 0.2 +============== + +Relevant for software development: + +- Heartbeat Pinout +- CAN-Termination is no longer software configurable +- Swap PD14 and PD15 on Arduino header +- SWAP Pins along 32-pin header +- ADD Gearshift +- Change programming header pinout + +Hardware: + +- Combined Snapback ESD Protection +- Change input capacitors +- Change silkscreen + +change the programming header position + +.. figure:: rev_0_2.png + :width: 600px + + change overview diff --git a/boards/arm/ardep/doc/changelog/rev_0_2.png b/boards/arm/ardep/doc/changelog/rev_0_2.png new file mode 100644 index 0000000..80e61c0 Binary files /dev/null and b/boards/arm/ardep/doc/changelog/rev_0_2.png differ diff --git a/boards/arm/ardep/doc/changelog/rev_1_0.png b/boards/arm/ardep/doc/changelog/rev_1_0.png new file mode 100644 index 0000000..d6b3234 Binary files /dev/null and b/boards/arm/ardep/doc/changelog/rev_1_0.png differ diff --git a/boards/arm/ardep/doc/gearshift/gearshift_pcb.png b/boards/arm/ardep/doc/gearshift/gearshift_pcb.png new file mode 100644 index 0000000..c00e5f3 Binary files /dev/null and b/boards/arm/ardep/doc/gearshift/gearshift_pcb.png differ diff --git a/boards/arm/ardep/doc/gearshift/gearshift_schematic.png b/boards/arm/ardep/doc/gearshift/gearshift_schematic.png new file mode 100644 index 0000000..9dace30 Binary files /dev/null and b/boards/arm/ardep/doc/gearshift/gearshift_schematic.png differ diff --git a/boards/arm/ardep/doc/gearshift/index.rst b/boards/arm/ardep/doc/gearshift/index.rst new file mode 100644 index 0000000..2b909d0 --- /dev/null +++ b/boards/arm/ardep/doc/gearshift/index.rst @@ -0,0 +1,48 @@ +.. _gearshift: + +Gearshift +######### + +.. contents:: + :local: + :depth: 2 + +Starting with rev0.2 the mainboard comes with a “Gearshift“ config header. +It allows the user to select different software configurations via a hardware jumper. + +.. figure:: gearshift_pcb.png + :width: 300px + + Gear Shift Header + + + +.. figure:: gearshift_schematic.png + :width: 300px + + Circuit Diagram of the Gear Shift Header + + +The µC pins have to be configured with an internal pullup. +Placing a jumper will then pull the corresponding pin low. +Using purely software-defined pullups is possible because the state will only be evaluated after booting. +Therefore an undefined state, before initializing the IOs can be tolerated. + +Pin-mapping +=========== + +.. list-table:: + :widths: 20 20 + :header-rows: 1 + + * - µC Pin + - Position + * - PE4 + - Boot + * - PC13 + - 0 + * - PC1 + - 1 + * - PF1 + - 2 + diff --git a/boards/arm/ardep/doc/gpio/32pin_header_rev0_1.png b/boards/arm/ardep/doc/gpio/32pin_header_rev0_1.png new file mode 100644 index 0000000..5fbefd5 Binary files /dev/null and b/boards/arm/ardep/doc/gpio/32pin_header_rev0_1.png differ diff --git a/boards/arm/ardep/doc/gpio/32pin_header_rev0_2.png b/boards/arm/ardep/doc/gpio/32pin_header_rev0_2.png new file mode 100644 index 0000000..a485e86 Binary files /dev/null and b/boards/arm/ardep/doc/gpio/32pin_header_rev0_2.png differ diff --git a/boards/arm/ardep/doc/gpio/arduino_pinout_rev0_1.jpg b/boards/arm/ardep/doc/gpio/arduino_pinout_rev0_1.jpg new file mode 100644 index 0000000..a847df1 Binary files /dev/null and b/boards/arm/ardep/doc/gpio/arduino_pinout_rev0_1.jpg differ diff --git a/boards/arm/ardep/doc/gpio/arduino_pinout_rev0_2.png b/boards/arm/ardep/doc/gpio/arduino_pinout_rev0_2.png new file mode 100644 index 0000000..7460119 Binary files /dev/null and b/boards/arm/ardep/doc/gpio/arduino_pinout_rev0_2.png differ diff --git a/boards/arm/ardep/doc/gpio/gpio_protective_structure.png b/boards/arm/ardep/doc/gpio/gpio_protective_structure.png new file mode 100644 index 0000000..4bb1099 Binary files /dev/null and b/boards/arm/ardep/doc/gpio/gpio_protective_structure.png differ diff --git a/boards/arm/ardep/doc/gpio/index.rst b/boards/arm/ardep/doc/gpio/index.rst new file mode 100644 index 0000000..12ee22f --- /dev/null +++ b/boards/arm/ardep/doc/gpio/index.rst @@ -0,0 +1,85 @@ +.. _board_gpio: + +GPIO +#### + +.. contents:: + :local: + :depth: 2 + +The mainboard IOs are 3.3 V or 5V tolerant. +the 5V tolerant IOs show an extra “x“ as an indicator on the PCB silkscreen. + +I/O Pinout +========== + +The GPIOs can be accessed via an Arduino-compatible pin header arrangement and an additional (non-Arduino-compatible) 32-pin header. + +Arduino Header +============== + +.. figure:: arduino_pinout_rev0_2.png + :width: 600px + + Arduino Pinout starting from rev 0.2 + +.. figure:: arduino_pinout_rev0_1.jpg + :width: 600px + + Arduino Pinout up to rev 0.1 + +32-Pin Header +============= + + +.. figure:: 32pin_header_rev0_2.png + :width: 300px + + 32-Pin connector starting from rev 0.2 + +.. figure:: 32pin_header_rev0_1.png + :width: 300px + + 32-Pin connector up to rev 0.1 + +I/O protection +============== + +All GPIOs are Protected from ESD and a catastrophic High Voltage event. + + +Implementation +-------------- + +Every IO is equipped with the protection circuit illustrated in the figure below. +It consists of a self-resettable 20mA poly fuse, a snap-back ESD diode, and an additional series resistor. + +The snap-back diode is a special kind of ESD Diode, which triggers, once a certain threshold voltage (in this case ~6V) is reached. +It then proceeds to clamp the input voltage to a rather low level of ~1.2V. +This is crucial in case of a continuous overvoltage event (e.g. accidental connection of 12V or 24V). +The low clamping voltage limits the dissipated power within the ESD diode which protects the diode and leads to a faster triggering of the polyfuse. + +In case of a continuous overvoltage of below ~8V at the connector, it cannot be guaranteed, that the snapback diode triggers. +Even though it will start to clamp the voltage, an out-of-spec overvoltage may occur at the µC IO Pin and the IC's internal ESD Protection will engage. +To mitigate potential damage to the µC the 39 Ohm series resistor will limit the current into the µC’s ESD protection circuit. + +This rather robust protection circuit results in a GPIO output resistance of up to 109 Ohm. +This will be the main bandwidth limiting factor of the digital IOs and could be adjusted in a tradeoff between IO-speed and IO-robustness. + +.. figure:: gpio_protective_structure.png + :width: 600px + + TODO CAPTION + + +UART +==== + +The two UART channels are treated like all the other GPIOs. +They are routed to a separate spring contact terminal which can therefore be used for UART, or four general-purpose IOs. + +Analog I/O +========== + +Analog IOs are not separately treated on the mainboard. +Instead, all µC GPIOs with analog functions can be software-defined and used accordingly. \ No newline at end of file diff --git a/boards/arm/ardep/doc/heartbeat_led/heartbeat_led_pcb.png b/boards/arm/ardep/doc/heartbeat_led/heartbeat_led_pcb.png new file mode 100644 index 0000000..1dc1f54 Binary files /dev/null and b/boards/arm/ardep/doc/heartbeat_led/heartbeat_led_pcb.png differ diff --git a/boards/arm/ardep/doc/heartbeat_led/heartbeat_led_schematic.png b/boards/arm/ardep/doc/heartbeat_led/heartbeat_led_schematic.png new file mode 100644 index 0000000..e9646dc Binary files /dev/null and b/boards/arm/ardep/doc/heartbeat_led/heartbeat_led_schematic.png differ diff --git a/boards/arm/ardep/doc/heartbeat_led/index.rst b/boards/arm/ardep/doc/heartbeat_led/index.rst new file mode 100644 index 0000000..0e8d866 --- /dev/null +++ b/boards/arm/ardep/doc/heartbeat_led/index.rst @@ -0,0 +1,41 @@ +.. _heartbeat_led: + +Heartbeat LED +############# + +.. contents:: + :local: + :depth: 2 + +The mainboard is equipped with a red/green status LED which can be used to indicate different operating states. + + +.. figure:: heartbeat_led_pcb.png + :width: 300px + + Heartbeat LED + + + +.. figure:: heartbeat_led_schematic.png + :width: 300px + + Circuit Diagram of the Heartbeat LED + + +Pin - mapping +============= + +The status LED is configured as active-low. +It is connected to the microcontroller as indicated in the following table. + +.. list-table:: + :widths: 20 20 + :header-rows: 1 + + * - µC Pin + - LED Color + * - PC3 + - Red + * - PA3 + - Green diff --git a/boards/arm/ardep/doc/index.rst b/boards/arm/ardep/doc/index.rst new file mode 100644 index 0000000..d492b5d --- /dev/null +++ b/boards/arm/ardep/doc/index.rst @@ -0,0 +1,27 @@ +.. _ardep_board: + +ARDEP Board +########### + +.. toctree:: + :caption: contents: + :maxdepth: 1 + :glob: + + **/* + +Here you find all information about the ARDEP board. + +If you are looking for documentation on the HV Extension Shield, see :ref:`here `. + +.. image:: 3d_view.png + :width: 100% + +.. _board_pinout: + +Pinout +====== + +.. image:: pinout.png + :width: 100% + \ No newline at end of file diff --git a/boards/arm/ardep/doc/pinout.png b/boards/arm/ardep/doc/pinout.png new file mode 100644 index 0000000..4d7ea14 Binary files /dev/null and b/boards/arm/ardep/doc/pinout.png differ diff --git a/boards/arm/ardep/doc/power_scheme/index.rst b/boards/arm/ardep/doc/power_scheme/index.rst new file mode 100644 index 0000000..8b58a56 --- /dev/null +++ b/boards/arm/ardep/doc/power_scheme/index.rst @@ -0,0 +1,110 @@ +.. _board_power_scheme: + +Power Scheme +############### + +.. contents:: + :local: + :depth: 2 + + +The Mainboard can be supplied via USB or one of 4 electrically connected VIN Pins. +In addition, the user can decide to supply the LIN bus via the Mainboard's internal 5V rail or an external spring contact. + +The Internally generated 5V and 3.3V supply rails are accessible via the Mainboard’s pin headers and the spring contact headers. + +For detailed pinout information please refer to the :ref:`board_pinout`. + +Voltage Inputs +=============== + +There are two ways of supplying the Mainboard with power. +It can be supplied via USB or the input voltage terminals. +The Mainboard features a power multiplexer that automatically selects between the two supply methods while prioritizing the input voltage terminals. + +Independent of the supply method, a 5V rail is generated. +This rail is used to power the CAN Transceivers and can be selected as a supply for the LIN-Bus. +An LDO connected to the 5V rail generates a 3,3V rail used as the main supply for the microcontroller and as an IO voltage for the peripherals. + +.. role:: smallfont + +.. list-table:: + :widths: 30 10 10 65 + :header-rows: 1 + + * - Supply Line + - min + - max + - Comment + * - Input Voltage (Vin) + - 5V* + - 48V + - :smallfont:`100mV Voltage drop at 5V rail if Vin=5V` + * - USB + - 4.75V + - 5.25V + - :smallfont:`Directly influences 5V rail` + * - VLIN + - 0V + - 24V* + - :smallfont:`Extendedable to 36V if a different ESD Protection is used.` + +Vin (Main supply) +******************* + +The Input Voltage terminals are meant to be connected to 5V-48V. +A Low dropout buck converter uses this voltage to generate the internal 5V rail. +At an input voltage of 5V, there will be a small voltage drop of ~100mV, resulting in a 5V rail voltage of ~4.9V. + +The voltage input terminals are protected via a 51V TVS-Diode and 1A slow-blow fuse. +In particularly harsh environments, it is recommended to additionally fuse the supply line with a faster, replaceable fuse to avoid tedious rework on the PCB. + +If both USB and Vin are connected, the multiplexer prioritizes the Vin rail and disconnects the 5V Rail from the USB connector. + +USB +***** + +The 5V rail can also be directly fed from a standard USB-C cable. + +V_lin +****** + +To use an external LIN Supply, the LIN-SUP selection Jumper (P1) has to be changed to the “EXT“ position. +Then an external Supply can be connected to the Spring contact terminal's “VLIN“ pin. + +.. role:: red + +:red:`DO NOT connect an external LIN Supply to the LIN_SUP pin on the 0.1” header (J3).` +:red:`This output pin could be directly connected to the Mainboard’s 5V rail, depending on the position of the LIN-SUP Jumper.` + +.. figure:: lin_sup_jumper.png + :width: 600px + + Lin-SUP Jumper + +Output Voltages +================ + +The Mainboard allows the user, to connect directly to the internal 3.3V, 5V, and LIN supply rails. + + +3,3V and 5V outputs +********************** + +All 5V outputs combined are fused with a 200mA self-resettable poly fuse to prevent overloading. + +The three 3,3V outputs are distributed in groups across the PCB. +Two are combined on the Arduino header and one is positioned at the 32-Pin connector. +Each group is individually fused with a 200 mA self-resetable poly fuse. + +The poly fuses are designed to prevent failure in an acute overloading event. +It is still possible to overload the 5V DC-DC converter when drawing the maximum current of 200mA from all of the outputs simultaneously. +The total current drawn from the 5V, and 3.3V rail combined must not exceed 500mA. +This includes the current consumption of the µC and all the other peripherals. + + +LIN-Supply +************ + +The 0.1” header J3 also gives direct access to the LIN transceivers supply voltage. +Depending on the LIN-SUP jumper this can either be the Mainboard’s 5V rail or be directly connected to the VLIN input at the spring contact terminal. \ No newline at end of file diff --git a/boards/arm/ardep/doc/power_scheme/lin_sup_jumper.png b/boards/arm/ardep/doc/power_scheme/lin_sup_jumper.png new file mode 100644 index 0000000..547a547 Binary files /dev/null and b/boards/arm/ardep/doc/power_scheme/lin_sup_jumper.png differ diff --git a/boards/arm/ardep/lin.dtsi b/boards/arm/ardep/lin.dtsi new file mode 100644 index 0000000..048c87f --- /dev/null +++ b/boards/arm/ardep/lin.dtsi @@ -0,0 +1,37 @@ +/* + * Copyright (C) Frickly Systems GmbH + * Copyright (C) MBition GmbH + * + * SPDX-License-Identifier: Apache-2.0 + */ + +lin_uart: &usart1 { + pinctrl-0 = <&usart1_tx_pe0 &usart1_rx_pe1>; + pinctrl-names = "default"; + current-speed = <19200>; + status = "okay"; + + lin0 { + compatible = "virtual,lin-uart"; + status = "okay"; + bitrate = <19200>; + max-wait-percent = <150>; + + abstract_lin0: abstract_lin { + compatible = "virtual,abstract-lin"; + type = "LIN_MODE_RESPONDER"; + + lin2can0: lin2can { + compatible = "virtual,lin2can"; + }; + }; + }; +}; + +/ { + lin-enable-gpio { + compatible = "can-termination-gpio"; + enable-gpios = <&gpiod 7 GPIO_ACTIVE_HIGH>; + enable-on-boot; + }; +}; diff --git a/boards/arm/ardep/mcuboot.conf b/boards/arm/ardep/mcuboot.conf new file mode 100644 index 0000000..8449137 --- /dev/null +++ b/boards/arm/ardep/mcuboot.conf @@ -0,0 +1,15 @@ +# Copyright (C) Frickly Systems GmbH +# Copyright (C) MBition GmbH +# +# SPDX-License-Identifier: Apache-2.0 + +# Enables Bootloader mode from GPIO +CONFIG_BOOT_USB_DFU_GPIO=y + +# Enables Bootstrapping from Slot1 when Slot0 has no image +CONFIG_BOOT_BOOTSTRAP=y + +# We build the bootloader with no signature validation +CONFIG_BOOT_SIGNATURE_TYPE_NONE=y + +CONFIG_MCUBOOT_INDICATION_LED=y diff --git a/boards/arm/ardep/mcuboot.overlay b/boards/arm/ardep/mcuboot.overlay new file mode 100644 index 0000000..81b8be5 --- /dev/null +++ b/boards/arm/ardep/mcuboot.overlay @@ -0,0 +1,11 @@ +/* + * Copyright (C) Frickly Systems GmbH + * Copyright (C) MBition GmbH + */ + +/ { + chosen { + zephyr,console = &uart_a; + zephyr,shell-uart = &uart_a; + }; +}; diff --git a/boards/arm/ardep/support/openocd.cfg b/boards/arm/ardep/support/openocd.cfg new file mode 100644 index 0000000..fab2b01 --- /dev/null +++ b/boards/arm/ardep/support/openocd.cfg @@ -0,0 +1,5 @@ +source [find interface/stlink.cfg] + +transport select hla_swd + +source [find target/stm32g4x.cfg] diff --git a/boards/arm/ardep/uart.dtsi b/boards/arm/ardep/uart.dtsi new file mode 100644 index 0000000..cd1cfa6 --- /dev/null +++ b/boards/arm/ardep/uart.dtsi @@ -0,0 +1,21 @@ +/* + * Copyright (C) Frickly Systems GmbH + * Copyright (C) MBition GmbH + * + * SPDX-License-Identifier: Apache-2.0 + */ + + +uart_b: &usart2 { + pinctrl-0 = <&usart2_tx_pd5 &usart2_rx_pd6>; + pinctrl-names = "default"; + current-speed = <115200>; + status = "okay"; +}; + +uart_a: &uart4 { + pinctrl-0 = <&uart4_tx_pc10 &uart4_rx_pc11>; + pinctrl-names = "default"; + current-speed = <115200>; + status = "okay"; +}; diff --git a/boards/shields/hv_shield/Kconfig.defconfig b/boards/shields/hv_shield/Kconfig.defconfig new file mode 100644 index 0000000..d7f279c --- /dev/null +++ b/boards/shields/hv_shield/Kconfig.defconfig @@ -0,0 +1,19 @@ +if SHIELD_HV_SHIELD + config GPIO + default y + + config SPI + default y + + config HV_SHIELD + default y + + config HV_SHIELD_GPIO + default y + + config DAC + default y + + config HV_SHIELD_DAC + default y +endif diff --git a/boards/shields/hv_shield/Kconfig.shield b/boards/shields/hv_shield/Kconfig.shield new file mode 100644 index 0000000..9c3b2a4 --- /dev/null +++ b/boards/shields/hv_shield/Kconfig.shield @@ -0,0 +1,2 @@ +config SHIELD_HV_SHIELD + def_bool $(shields_list_contains,hv_shield) diff --git a/boards/shields/hv_shield/doc/3d_view.png b/boards/shields/hv_shield/doc/3d_view.png new file mode 100644 index 0000000..95f17dd Binary files /dev/null and b/boards/shields/hv_shield/doc/3d_view.png differ diff --git a/boards/shields/hv_shield/doc/analog_io/analog_gain_amplifier.png b/boards/shields/hv_shield/doc/analog_io/analog_gain_amplifier.png new file mode 100644 index 0000000..a686d34 Binary files /dev/null and b/boards/shields/hv_shield/doc/analog_io/analog_gain_amplifier.png differ diff --git a/boards/shields/hv_shield/doc/analog_io/index.rst b/boards/shields/hv_shield/doc/analog_io/index.rst new file mode 100644 index 0000000..9c60d66 --- /dev/null +++ b/boards/shields/hv_shield/doc/analog_io/index.rst @@ -0,0 +1,128 @@ +.. _hv_extension_shield_analog_io: + +Analog I/O +########### + +.. contents:: + :local: + :depth: 2 + +Analog Input +============ + +To read high-voltage analog signals a 15:1 voltage divider is implemented on the shield. +It maps an input voltage of 0V - 50V down to 0 V - 3.33V. +The ADC input pins connected to those voltage dividers can also be configured as Programmable Gain Amplifier (PGA) input pins. +This allows the user to make the best use of the ADCs resolution by amplifying small input voltages by a software-defined multiplier. + +Voltage Divider +--------------- + +In addition to being a 15:1 voltage divider. +The input structure represents a low-pass filter, with a -3dB cut-off frequency of ~70 kHz to reduce high-frequency noise on the signal lines. +The input structure has an impedance of ~15kHz at DC. + + +.. figure:: voltage_divider.png + :width: 600px + + Voltage divider as used on the HV-Expansion Shield + +PGA +--- + +This Feature is Implemented in hardware, but does not yet have any software support + +Error margins +------------- + +The worst-case error margins have been calculated as follows: + +.. figure:: worst_case_error_margins_1.png + :width: 600px + + Worst-case error margin calculation + +:math:`V_{in}` is the input Voltage, :math:`R_2` is the series- and :math:`R_1` is the output resistor. +:math:`V_m` is the output voltage at the ADC pin. + +Using 1% Resistors and a divider ratio of K = 1/15 results in a relative gain error of 1,87%. +This ignores possible errors of the µC ADC. + +.. image:: worst_case_error_margins_2.png + :width: 600px + +Using 0,5% resistors, this error can be reduced to 0,93% + +.. _hv_extension_shield_analog_output: + +Analog Output +============= + +All of the digital IOs are implemented using a push-pull output driver. +It is therefore possible for any PWM-capable IO to generate a quasi-analog PWM output signal. +This signal will automatically be mapped to the voltage level connected to the corresponding IO bank. + +In Addition, two analog amplifier circuits have been implemented, which allow the use of two real DACs to output an analog signal with a software-defined voltage gain. + +Amplifier Circuit +----------------- + +The amplifier circuit has been implemented as follows: + +.. figure:: analog_gain_amplifier.png + :width: 600px + + Analog Gain Amplifier (Channel 2) + +The voltage Gain can be set via the IO-Config register. +The gains have been chosen to be powers of two in order to simplify calculations in software. +The resulting truth table is shown below. +AV0..3 resemble the config bits of the first amplifier, while AV4..7 are used to configure Channel 2. + + +.. list-table:: + :widths: 20 20 20 20 20 + :header-rows: 1 + + * - AV0/4 + - AV1/5 + - AV2/6 + - AV3/7 + - Gain + * - 0 + - 0 + - 0 + - 0 + - 1 + * - 0 + - 0 + - 0 + - 1 + - 2 + * - 0 + - 0 + - 1 + - 1 + - 4 + * - 0 + - 1 + - 1 + - 1 + - 8 + * - 1 + - 1 + - 1 + - 1 + - 16 + + +Calculating the Gain +.................... + +.. math:: + + Gain = 1 + ( x_1 / 33.2k + x_2 / 16.9k + x_3 / 8.25k + x_4 / 4.22k) * 33.2k + +:math:`x_i` are the corresponding Bits AV0…3 which can therefore take on values of zero or one. + diff --git a/boards/shields/hv_shield/doc/analog_io/voltage_divider.png b/boards/shields/hv_shield/doc/analog_io/voltage_divider.png new file mode 100644 index 0000000..39e626d Binary files /dev/null and b/boards/shields/hv_shield/doc/analog_io/voltage_divider.png differ diff --git a/boards/shields/hv_shield/doc/analog_io/worst_case_error_margins_1.png b/boards/shields/hv_shield/doc/analog_io/worst_case_error_margins_1.png new file mode 100644 index 0000000..3dacc88 Binary files /dev/null and b/boards/shields/hv_shield/doc/analog_io/worst_case_error_margins_1.png differ diff --git a/boards/shields/hv_shield/doc/analog_io/worst_case_error_margins_2.png 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diff --git a/boards/shields/hv_shield/doc/changelog/ardep_hv_shield_rev_1_1_sourcefiles.zip b/boards/shields/hv_shield/doc/changelog/ardep_hv_shield_rev_1_1_sourcefiles.zip new file mode 100644 index 0000000..474689f --- /dev/null +++ b/boards/shields/hv_shield/doc/changelog/ardep_hv_shield_rev_1_1_sourcefiles.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c41d9b009a7efa21bae3591db00efd1e2e773c10bff002156065a7c8e9ca453 +size 21212626 diff --git a/boards/shields/hv_shield/doc/changelog/index.rst b/boards/shields/hv_shield/doc/changelog/index.rst new file mode 100644 index 0000000..10097e3 --- /dev/null +++ b/boards/shields/hv_shield/doc/changelog/index.rst @@ -0,0 +1,29 @@ +.. _hv_extension_shield_changelog: + +Changelog +########### + +.. contents:: + :local: + :depth: 2 + + +Rev 1.1 +=========== + +Changed Silkscreen: + +- Clearly label IO banks +- Change Project name to ARDEP + +See also: + +- :download:`Schematic ` +- :download:`Gerber File ` +- :download:`Altium Source Files ` + +Rev 1.0 +=========== + +First release, fixed layout error from rev 0.1, ADD Fuse and better silkscreen documentation. + diff --git a/boards/shields/hv_shield/doc/high_voltage_digital_io/active_input_circuit.png b/boards/shields/hv_shield/doc/high_voltage_digital_io/active_input_circuit.png new file mode 100644 index 0000000..734a6d4 Binary files /dev/null and b/boards/shields/hv_shield/doc/high_voltage_digital_io/active_input_circuit.png differ diff --git a/boards/shields/hv_shield/doc/high_voltage_digital_io/digital_io.png b/boards/shields/hv_shield/doc/high_voltage_digital_io/digital_io.png new file mode 100644 index 0000000..74342d8 Binary files /dev/null and b/boards/shields/hv_shield/doc/high_voltage_digital_io/digital_io.png differ diff --git a/boards/shields/hv_shield/doc/high_voltage_digital_io/index.rst b/boards/shields/hv_shield/doc/high_voltage_digital_io/index.rst new file mode 100644 index 0000000..479cbd8 --- /dev/null +++ b/boards/shields/hv_shield/doc/high_voltage_digital_io/index.rst @@ -0,0 +1,108 @@ +.. _hv_extension_shield_high_voltage_digital_io: + +High Voltage Digital I/O +######################### + +.. contents:: + :local: + :depth: 2 + + +The digital IOs are grouped in banks of 8-bit each. +One IO-Bank consists of two driver ICs and one of the 74HC595 Shift Registers (Data Direction Register DDR). +The High voltage supply for each IO bank can be selected individually as explained :ref:`here `. + +A MOSFET circuit is used to bring down the High voltage level, and a 60V motor driver provides the 48V capable Push-pull outputs. +The individual components are explained in :ref:`digital_input_circuit` and :ref:`digital_output_circuit`. + + + +The IO Interface is implemented as follows: + +.. figure:: digital_io.png + :width: 600px + + Schematic section of the Digital IO interface + + +Via the data direction register, the driver IC’s outputs can individually be enabled or disabled. +In a disabled state, the IO can be used as an Input. With the outputs enabled, the IO can be used as an output. + +A HIGH state at the output of the high voltage driver IC will immediately be fed back via the MOSFET input structure, basically latching the active state. +For the µC to turn the IO off again, a 330Ohm resistor has been added, which allows the µC to override this positive feedback. +For this to work, the GPIO has to be configured in Push-Pull mode. + + +.. _digital_input_circuit: + +Digital Input Circuit +===================== + +To accept a wide range of digital input voltages, a step-down circuit has been implemented. +It consists of an N-channel MOSFET, which limits the voltage at the input pin. +Using a FET for this purpose has the benefit of lower input currents, compared to a solution involving zener diodes (~4mA at 48V) , while still enabling a wide input voltage range compared to a simple voltage divider, which would only be suitable for a specified input voltage range. + +An additional advantage of this structure is that the High Level is independent of the Input voltage. +For Voltages higher than ~3V a logic High will be seen by the Microcontroller. + +As the HV Input of this structure is permanently connected to the output drivers, the Input voltage must not exceed the driver's supply voltage. +Otherwise, its internal ESD protection circuit could activate, damaging the device. + + +.. figure:: active_input_circuit.png + :width: 600px + + Active input circuit as implemented on the HV-Shield + + +VFET is the MOSFET’s bias voltage, changing it will change the output level at the µC-Pin. +As a rule of thumb, it can be said, that the output level is ~VFET minus the MOSFET’s threshold voltage. +The generation of this bias voltage is described in more detail in :ref:`hv_extension_shield_voltage_supply`. + + +.. _digital_output_circuit: + +Digital Output Driver +===================== + +The high-voltage digital IOs are implemented using 4-channel half-bridge motor driver ICs (DRV8844). +This was found to be the most space-saving solution thus allowing the implementation of 32 48V-capable digital IOs on the High-Voltage expansion shield. + + +.. figure:: output_driver.png + :width: 600px + + HV-Output Driver + +Each output is enabled or disabled via the IO-Config register and driven via the low-voltage GPIOs of the µC if enabled. + + +Output Capabilities +******************** + +The minimum supply voltage of the output drivers is 8V, anything lower will trigger an undervoltage lockout state. + +As the IOs are only required to deliver an output current of 15 mA, the high-current capabilities were not yet tested beyond that. +The theoretical maximum output current of the driver IC is 1.75A. +Therefore the maximum output current will be evaluated further and documented accordingly. + +According to IPC 2221 voltages above 30 V require increased clearance between electrical structures. +Due to the Pin-Pitch of the output driver circuit, achieving the B2 Clearance of 0.6mm is impossible. +Using bigger packages is not an option, as it would otherwise be impossible to fit the required number of IOs onto the small form factor shield. + +As the Output drivers are fully capable of switching 48V it is certainly possible to do so for experimental purposes. +The PCB fulfills the 0.13mm clearance required for conformally coated PCBs. +This enables the option of conformally coating the PCB to comply with the IPC2221 standard. +It is recommended to do so in non-experimental applications with output Voltages surpassing 30V. + + +.. figure:: ipc2221_clearances.png + :width: 600px + + Clearances according to IPC2221 + +.. figure:: output_pin_to_pin_clearance.png + :width: 600px + + The output driver’s pin to pin clearance + diff --git a/boards/shields/hv_shield/doc/high_voltage_digital_io/ipc2221_clearances.png b/boards/shields/hv_shield/doc/high_voltage_digital_io/ipc2221_clearances.png new file mode 100644 index 0000000..734a6d4 Binary files /dev/null and b/boards/shields/hv_shield/doc/high_voltage_digital_io/ipc2221_clearances.png differ diff --git a/boards/shields/hv_shield/doc/high_voltage_digital_io/output_driver.png b/boards/shields/hv_shield/doc/high_voltage_digital_io/output_driver.png new file mode 100644 index 0000000..d86b552 Binary files /dev/null and b/boards/shields/hv_shield/doc/high_voltage_digital_io/output_driver.png differ diff --git a/boards/shields/hv_shield/doc/high_voltage_digital_io/output_pin_to_pin_clearance.png b/boards/shields/hv_shield/doc/high_voltage_digital_io/output_pin_to_pin_clearance.png new file mode 100644 index 0000000..ec9321d Binary files /dev/null and b/boards/shields/hv_shield/doc/high_voltage_digital_io/output_pin_to_pin_clearance.png differ diff --git a/boards/shields/hv_shield/doc/index.rst b/boards/shields/hv_shield/doc/index.rst new file mode 100644 index 0000000..aa7f8fd --- /dev/null +++ b/boards/shields/hv_shield/doc/index.rst @@ -0,0 +1,24 @@ +.. _hv_extension_shield: + +ARDEP HV Shield +################### + +.. toctree:: + :caption: contents: + :maxdepth: 1 + :glob: + + **/* + +Here you find all information about the ARDEP HV Extension Shield. + +If you are looking for documentation on the ARDEP Board, see :ref:`here `. + +.. image:: 3d_view.png + :width: 100% + +Pinout +====== + +.. image:: pinout.png + :width: 100% \ No newline at end of file diff --git a/boards/shields/hv_shield/doc/io_config_register/74hc595_implementation.png b/boards/shields/hv_shield/doc/io_config_register/74hc595_implementation.png new file mode 100644 index 0000000..ab1494f Binary files /dev/null and b/boards/shields/hv_shield/doc/io_config_register/74hc595_implementation.png differ diff --git a/boards/shields/hv_shield/doc/io_config_register/index.rst b/boards/shields/hv_shield/doc/io_config_register/index.rst new file mode 100644 index 0000000..fb1e0a1 --- /dev/null +++ b/boards/shields/hv_shield/doc/io_config_register/index.rst @@ -0,0 +1,117 @@ +.. _hv_extension_shield_io_config_register: + +I/O Config Register +################### + +.. contents:: + :local: + :depth: 2 + +To enable bi-directional GPIOs and variable Analog gains, an IO config register is implemented within the HV-Expansion Shields electronics. +It is based on 74HC595 shift registers and consists of the Data Direction Register (DDR) and an Analog Gain Register. + + + +.. figure:: 74hc595_implementation.png + :width: 600px + + 74HC595 as implemented on the HV Shield + + +Shift register Interface +========================= + +.. list-table:: + :widths: 20 40 40 + :header-rows: 1 + + * - µC Pin + - shift register function + - shift register pin + * - PE2 + - Serial clock + - SER_CLK + * - PE6 + - Serial data + - SER + * - PE3 + - Set register + - RCLK + * - PC7 + - !Output Enable + - OE + * - Reset + - !clear serial Register + - SRCLR + + +In total, the IO Config Register consists of 5 daisy-chained shift registers. +Data can be stored, by writing it to the serial in registers of the 595 ICs and then clocking the parallel output registers via a rising edge on RCLK. + +Startup +******** + +During startup the Outputs of the 74HC595 Registers is undefined. +To prevent random activation of the output drivers, !OE is pulled high which configures the shift register’s outputs as High-Impedant. +The internal pulldowns of the output drivers then ensure, that all IOs default to a passive state (Input Pins). +The analog gains stay undefined this way, which should not cause any issues. +Initializing the Registeres after startup should happen as follows: + +.. role:: red + +#. Ensure, that PC7 (:red:`!Output Enable`) is initialized as passive, HIGH or in pullup mode. + +#. The mainboard should initialize the registers with **0x0000000000** + +#. Using **"set register"** this state has to be clocked into the parallel output register. + Now all Outputs are in **LOW** state. + +#. only now **"!Output Enable"** can be set to low, enabling the shift register’s output. + + +See also: `https://www.ti.com/lit/ds/symlink/sn54hc595-sp.pdf?ts=1711550377589 `_ + +Bitmap DDR: +============ + +A high state enables the high voltage ouput driver → The IO can be used as an output + +A low state disables the high voltage ouput driver → The IO can be used as an input + +.. list-table:: + :widths: 20 20 + :header-rows: 1 + + * - Bit + - HV-Shield Pins + * - 0..3 + - 5-8 + * - 4..7 + - 1-4 + * - 8..11 + - 13-16 + * - 12..15 + - 9-12 + * - 16..19 + - 21-24 + * - 20..23 + - 17-20 + * - 24..27 + - 29-32 + * - 28..31 + - 25-28 + +Bitmap of the Analog Gain section +================================== + + +.. list-table:: + :widths: 20 20 + :header-rows: 1 + + * - Bits + - Gain Bits + * - 32-39 + - AV0-AV7 + +Using those bits the voltage gains can be configured, as described in: :ref:`hv_extension_shield_analog_output` diff --git a/boards/shields/hv_shield/doc/pinout.png b/boards/shields/hv_shield/doc/pinout.png new file mode 100644 index 0000000..72f2cd4 Binary files /dev/null and b/boards/shields/hv_shield/doc/pinout.png differ diff --git a/boards/shields/hv_shield/doc/voltage_supply/hv_shield_io_bank_voltage_level.png b/boards/shields/hv_shield/doc/voltage_supply/hv_shield_io_bank_voltage_level.png new file mode 100644 index 0000000..f25ca7b Binary files /dev/null and b/boards/shields/hv_shield/doc/voltage_supply/hv_shield_io_bank_voltage_level.png differ diff --git a/boards/shields/hv_shield/doc/voltage_supply/hv_shield_io_banks_pinout.png b/boards/shields/hv_shield/doc/voltage_supply/hv_shield_io_banks_pinout.png new file mode 100644 index 0000000..e47041f Binary files /dev/null and b/boards/shields/hv_shield/doc/voltage_supply/hv_shield_io_banks_pinout.png differ diff --git a/boards/shields/hv_shield/doc/voltage_supply/hv_shield_mosfet_bias_section_voltage_jumper.png b/boards/shields/hv_shield/doc/voltage_supply/hv_shield_mosfet_bias_section_voltage_jumper.png new file mode 100644 index 0000000..2caff96 Binary files /dev/null and b/boards/shields/hv_shield/doc/voltage_supply/hv_shield_mosfet_bias_section_voltage_jumper.png differ diff --git a/boards/shields/hv_shield/doc/voltage_supply/hv_shield_mosfet_bias_voltage_circuit.png b/boards/shields/hv_shield/doc/voltage_supply/hv_shield_mosfet_bias_voltage_circuit.png new file mode 100644 index 0000000..16caa90 Binary files /dev/null and b/boards/shields/hv_shield/doc/voltage_supply/hv_shield_mosfet_bias_voltage_circuit.png differ diff --git a/boards/shields/hv_shield/doc/voltage_supply/hv_shield_mosfet_linear_regulator.png b/boards/shields/hv_shield/doc/voltage_supply/hv_shield_mosfet_linear_regulator.png new file mode 100644 index 0000000..2f03612 Binary files /dev/null and b/boards/shields/hv_shield/doc/voltage_supply/hv_shield_mosfet_linear_regulator.png differ diff --git a/boards/shields/hv_shield/doc/voltage_supply/index.rst b/boards/shields/hv_shield/doc/voltage_supply/index.rst new file mode 100644 index 0000000..607f2f4 --- /dev/null +++ b/boards/shields/hv_shield/doc/voltage_supply/index.rst @@ -0,0 +1,111 @@ +.. _hv_extension_shield_voltage_supply: + +Voltage Supply +################### + +.. contents:: + :local: + :depth: 2 + +The High-Voltage shield has three main “supply levels“. +It uses 3,3V as a logic supply, A constant Bias Voltage for the MOSFETs within the Input circuit, and one high-voltage supply for each of the four IO-Banks. + + +Logic supply +============= + +The 3,3 V logic supply is provided via the Arduino-like pin header of the Mainboard. + +High Voltage Output supply +=========================== + +The high voltage level of the output drivers can individually be configured for each of the four IO-Banks. +Using the Jumpers P1..P4 the user can select to supply each IO Bank either with the Mainboard's input-voltage (Vin) or via the IO-Banks reference pin REF0..3, which can be accessed via the spring terminal block. + + + +.. figure:: hv_shield_io_bank_voltage_level.png + :width: 600px + + Headers for selecting the IO bank’s voltage level + +Please note, that the voltage level, selected for an IO bank, also sets its maximum allowable Input voltage. +Surpassing the IO-Banks supply voltage may lead to damage to the corresponding output drivers. +**When the mainboard is supplied only via USB, the used IO Banks must be connected to an appropriate reference voltage!** + +.. figure:: hv_shield_io_banks_pinout.png + :width: 600px + + IO Banks as indicated on the pinout legend of the HV-Shield + + +.. list-table:: + :widths: 30 30 30 30 + :header-rows: 1 + + * - IO Bank + - Output Drivers + - Digital IOs + - Reference Pin + * - 0 + - 0,1 + - D1..8 + - REF0 + * - 1 + - 2,3 + - D9..16 + - REF1 + * - 2 + - 4,5 + - D17..24 + - REF2 + * - 3 + - 6,7 + - D25..32 + - REF3 + +MOSFET Bias Voltage +===================== + +It was determined that a suitable MOSFET bias voltage should be at around 4.2V. +This ensures that the output levels are within the tolerated range of the STM32 and are reliably detected as logic high. + +The HV-Shield offers two ways of setting the bias voltage. +Either by using a diode supply or a dedicated linear regulator. +The source can be altered by changing the bias selection solder jumper. +**Read the documentation carefully and ensure you know what you are doing before attempting to change this setting.** + + +.. figure:: hv_shield_mosfet_bias_voltage_circuit.png + :width: 600px + + Circuit for generating the MOSFET bias voltage + +.. figure:: hv_shield_mosfet_bias_section_voltage_jumper.png + :width: 300px + + Bias selection solder jumper (defaults to diode supply) + + +Diode supply (default) +************************ + +In the default configuration, the ~4.2 V supply is generated from the mainboard's 5V rail utilizing a silicon diode to achieve a voltage drop of ~0.7 V which results in an adequate bias voltage. + + +Linear Regulator +******************** + +For fine-tuning and experimental purposes, an additional linear regulator has been implemented. +It is supplied via the mainboard's Input voltage and can therefore output voltages above 5V. +Please note, that this regulator will not work when the mainboard is only supplied via USB. + +In the default configuration, the Feedback network of this regulator is just partially populated, missing R6. +That way it will output a voltage of ~1.7V until it has been reconfigured. +For setting the output voltage, a potentiometer can be connected to the bottom side of the PCB, or the appropriate voltage divider can directly be calculated according to the `TPS7A4101DGNR’s datasheet `_. + + +.. figure:: hv_shield_mosfet_linear_regulator.png + :width: 600px + + Linear Regulator diff --git a/boards/shields/hv_shield/hv_shield.overlay b/boards/shields/hv_shield/hv_shield.overlay new file mode 100644 index 0000000..b3494b5 --- /dev/null +++ b/boards/shields/hv_shield/hv_shield.overlay @@ -0,0 +1,91 @@ +#include + +&dac1 { + status = "okay"; + pinctrl-0 = <&dac1_out1_pa4>; + pinctrl-names = "default"; +}; + +&dac2 { + status = "okay"; + pinctrl-0 = <&dac2_out1_pa6>; + pinctrl-names = "default"; +}; + +&adc2 { + vref-mv = <49500>; // 1:15 voltage divider, 49,5V = 3,3V*15 +}; +&adc3 { + vref-mv = <49500>; +}; +&adc4 { + vref-mv = <49500>; +}; + +&arduino_spi { + hvshield: hv-shield@0 { + compatible = "hv-shield"; + reg = <0>; + spi-max-frequency = <1000000>; // 1 MHz + oe-gpios = <&gpioc 7 GPIO_ACTIVE_LOW>; + + hvgpio: hv-shield-gpio { + compatible = "hv-shield-gpio"; + gpio-controller; + #gpio-cells = <2>; + low-voltage-gpios = // Block A + <&gpioe 13 0>, + <&gpioe 12 0>, + <&gpioe 15 0>, + <&gpioe 14 0>, + <&gpiod 9 0>, + <&gpiod 8 0>, + <&gpiod 10 0>, + <&gpiod 11 0>, + // Block B + <&gpiod 15 0>, + <&gpiod 14 0>, + <&gpiod 13 0>, + <&gpiod 12 0>, + <&gpioa 9 0>, + <&gpioa 8 0>, + <&gpioe 5 0>, + <&gpioc 6 0>, + // Block C + <&gpioe 9 0>, + <&gpioe 8 0>, + <&gpioe 11 0>, + <&gpioe 10 0>, + <&gpioe 7 0>, + <&gpiob 2 0>, + <&gpiob 1 0>, + <&gpioc 5 0>, + // Block D + //<&gpioc 14 0>, + <&gpiof 2 0>, + <&gpioc 0 0>, + <&gpioc 2 0>, + <&gpioa 0 0>, + <&gpioc 14 0>, + <&gpiof 9 0>, + <&gpioc 15 0>, + <&gpiof 10 0>; + }; + + hvdac: hv-shield-dac { + compatible = "hv-shield-dac"; + #io-channel-cells = <0>; + io-channels = <&dac1>, <&dac2>; + io-channels-channel = <1 1>; + gains = <1 1>; + }; + }; +}; + +&arduino_serial { + status = "disabled"; +}; + +&arduino_i2c { + status = "disabled"; +}; \ No newline at end of file diff --git a/doc/Makefile b/doc/Makefile new file mode 100644 index 0000000..25444bb --- /dev/null +++ b/doc/Makefile @@ -0,0 +1,28 @@ +# Minimal makefile for Sphinx documentation +# + +# You can set these variables from the command line, and also +# from the environment for the first two. +SPHINXOPTS ?= +SPHINXBUILD ?= sphinx-build +SOURCEDIR = . +BUILDDIR = _build + +DOXYGENBUILD = doxygen +DOXYGENCONFIG = ardep.doxyfile + +# Put it first so that "make" without argument is like "make help". +help: + echo "${HELLO}" + @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) + +.PHONY: help Makefile + + +# Catch-all target: route all unknown targets to Sphinx using the new +# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). +%: Makefile + mkdir -p $(BUILDDIR)/html + rsync -avm --exclude="/doc" --include="*/" --include="*.rst" --include="*.png" --include="*.jpg" --include="*.zip" --include="*.pdf" --exclude="*" $(SOURCEDIR)/.. $(SOURCEDIR)/_board + $(DOXYGENBUILD) $(DOXYGENCONFIG) + @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) diff --git a/doc/Pipfile b/doc/Pipfile new file mode 100644 index 0000000..385e641 --- /dev/null +++ b/doc/Pipfile @@ -0,0 +1,15 @@ +[[source]] +url = "https://pypi.org/simple" +verify_ssl = true +name = "pypi" + +[packages] +sphinx = "==6.2.1" +sphinx-autobuild = "==2024.2.4" +sphinx-togglebutton = "==0.3.2" +sphinx-copybutton = "==0.5.2" + +[dev-packages] + +[requires] +python_version = "3.12" diff --git a/doc/README.rst b/doc/README.rst new file mode 100644 index 0000000..4da1e1d --- /dev/null +++ b/doc/README.rst @@ -0,0 +1,67 @@ +.. _documentation: + + +Documentation +############# + +The main documentation is build with `sphinx `_. Code docs are generated using `doxygen `_. + +Generally, we try to keep the documentation as close to the code as possible, so it's easier to keep it up to date: + +- Board specific documentation in */boards/arm/ardep* +- samples specific documentation sample-specific directory under */samples* +- scripts and ``west`` subcommands in */scripts* +- generic documentaion in */doc* + + +Building the documentation +========================== + +Install necessary dependencies: + +.. code-block:: bash + + pip install -r doc/requirements.txt + apt install doxygen rsync + +To build the html documentation simply run: + +.. code-block:: bash + + make html + + +This copies all \*.rst and associated media files from the project root into */doc/_board* directory, so sphinx can find and correctly include these files + + +Live-preview (sort of...) +========================== + +To archive something like a hot-reload / live-preview, you can use a command like this from inside the *doc* directory: + +.. code-block:: bash + + sphinx-autobuild \ + --pre-build 'rsync -avm --exclude="/doc" --include="*/" --include="*.rst" --include="*.png" --exclude="*" .. _board'\ + --pre-build "mkdir -p _build/html"\ + --pre-build "doxygen ardep.doxyfile"\ + . _build/html + +The pre-build commands are taken from the Makefile. + +This automatically copies all files and rebuilds the documentation, if sphinx notices a change. +But since sphinx only works on a copy of the original files, changes outside of the *doc* directory will not be noticed. + +To force a rebuild, *save* or `touch` a file inside the *doc* directory + + +Including files above the *doc* directory +========================================= + +In sphinx you can't include a file above the sphinx root directory (here */doc*) in the toctree. +To bypass this, we copy all \*.rst and related media files into the */doc/_board* directory before the build using rsync. + + +This means for example, if you want to reference the uds sample in */samples/uds/index.rst* you would reference it in the toctree as *_board/samples/uds/index.rst* + +When you add a media file, make sure it is copied by rsync. If necessary, update the command in the Makefile. \ No newline at end of file diff --git a/doc/_static/css/custom.css b/doc/_static/css/custom.css new file mode 100644 index 0000000..5690a47 --- /dev/null +++ b/doc/_static/css/custom.css @@ -0,0 +1,8 @@ +.red { + color: red; + font-weight: bold; +} + +.smallfont { + font-size: small; +} \ No newline at end of file diff --git a/doc/ardep.doxyfile b/doc/ardep.doxyfile new file mode 100644 index 0000000..ae27c9d --- /dev/null +++ b/doc/ardep.doxyfile @@ -0,0 +1,2658 @@ +# Doxyfile 1.9.1 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the configuration +# file that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# https://www.gnu.org/software/libiconv/ for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = "ARDEP" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. + +PROJECT_NUMBER = + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = + +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. 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You can put ^^ in the value part of an +# alias to insert a newline as if a physical newline was in the original file. +# When you need a literal { or } or , in the value part of an alias you have to +# escape them by means of a backslash (\), this can lead to conflicts with the +# commands \{ and \} for these it is advised to use the version @{ and @} or use +# a double escape (\\{ and \\}) + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice +# sources only. Doxygen will then generate output that is more tailored for that +# language. For instance, namespaces will be presented as modules, types will be +# separated into more groups, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_SLICE = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, +# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice, VHDL, +# Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: +# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser +# tries to guess whether the code is fixed or free formatted code, this is the +# default for Fortran type files). For instance to make doxygen treat .inc files +# as Fortran files (default is PHP), and .f files as C (default is Fortran), +# use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. When specifying no_extension you should add +# * to the FILE_PATTERNS. +# +# Note see also the list of default file extension mappings. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See https://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 5. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +TOC_INCLUDE_HEADINGS = 5 + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = YES + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +# The NUM_PROC_THREADS specifies the number threads doxygen is allowed to use +# during processing. When set to 0 doxygen will based this on the number of +# cores available in the system. You can set it explicitly to a value larger +# than 0 to get more control over the balance between CPU load and processing +# speed. At this moment only the input processing can be done using multiple +# threads. Since this is still an experimental feature the default is set to 1, +# which efficively disables parallel processing. Please report any issues you +# encounter. Generating dot graphs in parallel is controlled by the +# DOT_NUM_THREADS setting. +# Minimum value: 0, maximum value: 32, default value: 1. + +NUM_PROC_THREADS = 1 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = YES + +# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual +# methods of a class will be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIV_VIRTUAL = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = YES + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If this flag is set to YES, the name of an unnamed parameter in a declaration +# will be determined by the corresponding definition. By default unnamed +# parameters remain unnamed in the output. +# The default value is: YES. + +RESOLVE_UNNAMED_PARAMS = YES + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# declarations. If set to NO, these declarations will be included in the +# documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# With the correct setting of option CASE_SENSE_NAMES doxygen will better be +# able to match the capabilities of the underlying filesystem. In case the +# filesystem is case sensitive (i.e. it supports files in the same directory +# whose names only differ in casing), the option must be set to YES to properly +# deal with such files in case they appear in the input. For filesystems that +# are not case sensitive the option should be be set to NO to properly deal with +# output files written for symbols that only differ in casing, such as for two +# classes, one named CLASS and the other named Class, and to also support +# references to files without having to specify the exact matching casing. On +# Windows (including Cygwin) and MacOS, users should typically set this option +# to NO, whereas on Linux or other Unix flavors it should typically be set to +# YES. +# The default value is: system dependent. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. If +# EXTRACT_ALL is set to YES then this flag will automatically be disabled. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS +# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but +# at the end of the doxygen process doxygen will return with a non-zero status. +# Possible values are: NO, YES and FAIL_ON_WARNINGS. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = ../include doxygen/ + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: +# https://www.gnu.org/software/libiconv/) for the list of possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# Note the list of default checked file patterns might differ from the list of +# default file extension mappings. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C comment), +# *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd, *.vhdl, +# *.ucf, *.qsf and *.ice. + +FILE_PATTERNS = *.c \ + *.cc \ + *.cxx \ + *.cpp \ + *.c++ \ + *.java \ + *.ii \ + *.ixx \ + *.ipp \ + *.i++ \ + *.inl \ + *.idl \ + *.ddl \ + *.odl \ + *.h \ + *.hh \ + *.hxx \ + *.hpp \ + *.h++ \ + *.cs \ + *.d \ + *.php \ + *.php4 \ + *.php5 \ + *.phtml \ + *.inc \ + *.m \ + *.markdown \ + *.md \ + *.mm \ + *.dox \ + *.py \ + *.pyw \ + *.f90 \ + *.f95 \ + *.f03 \ + *.f08 \ + *.f18 \ + *.f \ + *.for \ + *.vhd \ + *.vhdl \ + *.ucf \ + *.qsf \ + *.ice + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = * + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# entity all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see https://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: +# http://clang.llvm.org/) for more accurate parsing at the cost of reduced +# performance. This can be particularly helpful with template rich C++ code for +# which doxygen's built-in parser lacks the necessary type information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse_libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If clang assisted parsing is enabled and the CLANG_ADD_INC_PATHS tag is set to +# YES then doxygen will add the directory of each input to the include path. +# The default value is: YES. + +CLANG_ADD_INC_PATHS = YES + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +# If clang assisted parsing is enabled you can provide the clang parser with the +# path to the directory containing a file called compile_commands.json. This +# file is the compilation database (see: +# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the +# options used when the source files were built. This is equivalent to +# specifying the -p option to a clang tool, such as clang-check. These options +# will then be passed to the parser. Any options specified with CLANG_OPTIONS +# will be added as well. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse_libclang=ON option for CMake. + +CLANG_DATABASE_PATH = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html/api_reference/ + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = doxygen/header.html + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = doxygen/doxygen-awesome.css + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = doxygen/doxygen-awesome-darkmode-toggle.js doxygen/doxygen-awesome-fragment-copy-button.js + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# https://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = NO + +# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML +# documentation will contain a main index with vertical navigation menus that +# are dynamically created via JavaScript. If disabled, the navigation index will +# consists of multiple levels of tabs that are statically embedded in every HTML +# page. Disable this option to support browsers that do not have JavaScript, +# like the Qt help browser. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_MENUS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: +# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To +# create a documentation set, doxygen will generate a Makefile in the HTML +# output directory. Running make will produce the docset in that directory and +# running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy +# genXcode/_index.html for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: +# https://www.microsoft.com/en-us/download/details.aspx?id=21138) on Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the main .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location (absolute path +# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to +# run qhelpgenerator on the generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = YES + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg +# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see +# https://inkscape.org) to generate formulas as SVG images instead of PNGs for +# the HTML output. These images will generally look nicer at scaled resolutions. +# Possible values are: png (the default) and svg (looks nicer but requires the +# pdf2svg or inkscape tool). +# The default value is: png. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FORMULA_FORMAT = png + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANSPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands +# to create new LaTeX commands to be used in formulas as building blocks. See +# the section "Including formulas" for details. + +FORMULA_MACROFILE = + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# https://www.mathjax.org) which uses client side JavaScript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from https://www.mathjax.org before deployment. +# The default value is: https://cdn.jsdelivr.net/npm/mathjax@2. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = https://cdn.jsdelivr.net/npm/mathjax@2 + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /