Commit from zer0 on branch b_zer0 (2007-11-28 00:16 CET)
=================================
Allow scheduler to be scheduled manually
aversive config/Configure.help 1.13.4.10
aversive config/config.in 1.42.4.12
aversive modules/base/scheduler/scheduler.c 1.9.4.4
aversive modules/base/scheduler/scheduler.h 1.8.4.8
aversive modules/base/scheduler/scheduler_private.h 1.1.2.7
aversive modules/base/scheduler/config/scheduler_config.h 1.1.10.8
aversive modules/base/scheduler/test/scheduler_config.h 1.4.10.7
aversive modules/base/time/time.c 1.4.4.2
==============================
aversive/config/Configure.help (1.13.4.9 -> 1.13.4.10)
==============================
@@ -62,10 +62,14 @@
Create a scheduler_config.h file if it does not exist, with a default
configuration.
-CONFIG_MODULE_SCHEDULER_USE_TIMERS
- Use the hardware/timer module to call the scheduler. Thanks to it,
- it can support many archs and timers. If you don't enable it, you
- must use TIMER0 overflow interrupt, and only some AVR are supported.
+CONFIG_MODULE_SCHEDULER_TIMER0
+ Use either the hardware/timer module, the timer0 or a manual call
+ for the to call the scheduler. The generic timer module support
+ many archs and timers. If you don't enable it, you must use TIMER0
+ overflow interrupt, and only some AVR are supported, or you should
+ can call the scheduler manually. In this case, the SCHEDULER_UNIT
+ macro has to be defined in configuration file.
+
CONFIG_TIME
This module can be used to get a human readable time. It uses the
=========================
aversive/config/config.in (1.42.4.11 -> 1.42.4.12)
=========================
@@ -129,9 +129,9 @@
dep_bool ' |-- Create Default scheduler config'
CONFIG_MODULE_SCHEDULER_CREATE_CONFIG \
$CONFIG_MODULE_SCHEDULER
-dep_bool ' |-- Use timer module (recommended)'
CONFIG_MODULE_SCHEDULER_USE_TIMERS \
- $CONFIG_MODULE_TIMER \
- $CONFIG_MODULE_SCHEDULER
+choice 'Scheduler config' "use_timer_module CONFIG_MODULE_SCHEDULER_USE_TIMERS\
+ use_timer0 CONFIG_MODULE_SCHEDULER_TIMER0\
+ manual CONFIG_MODULE_SCHEDULER_MANUAL" use_timer_module
#### TIME
dep_bool 'Time' CONFIG_MODULE_TIME \
===========================================
aversive/modules/base/scheduler/scheduler.c (1.9.4.3 -> 1.9.4.4)
===========================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: scheduler.c,v 1.9.4.3 2007-05-23 17:18:11 zer0 Exp $
+ * Revision : $Id: scheduler.c,v 1.9.4.4 2007-11-27 23:16:14 zer0 Exp $
*
*/
@@ -41,7 +41,9 @@
#ifdef CONFIG_MODULE_SCHEDULER_USE_TIMERS
SCHEDULER_TIMER_REGISTER();
-#else
+#endif
+
+#ifdef CONFIG_MODULE_SCHEDULER_TIMER0
/* activation of corresponding interrupt */
sbi(TIMSK, TOIE0);
@@ -51,7 +53,7 @@
}
-#ifndef CONFIG_MODULE_SCHEDULER_USE_TIMERS
+#ifdef CONFIG_MODULE_SCHEDULER_TIMER0
SIGNAL(SIG_OVERFLOW0)
{
scheduler_interrupt();
===========================================
aversive/modules/base/scheduler/scheduler.h (1.8.4.7 -> 1.8.4.8)
===========================================
@@ -1,5 +1,5 @@
/*
- * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ * Copyright Droids Corporation (2007)
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
@@ -15,20 +15,15 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: scheduler.h,v 1.8.4.7 2007-10-28 22:26:39 zer0 Exp $
+ * Revision : $Id: scheduler.h,v 1.8.4.8 2007-11-27 23:16:15 zer0 Exp $
*
*/
-/* Eirbot & Microb Technology 2005 - Zer0
+/* Olivier MATZ <[EMAIL PROTECTED]>
* Interface of the SCHEDULER Module
*/
/** \file scheduler.h
- * \brief Interface of the SCHEDULER Module
- *
- * \todo multi arch ?
- *
- * \test nothing done
*
* This module provides a function scheduler. You can call
* scheduler_add_event for adding a function to the scheduler, and
@@ -94,16 +89,21 @@
#else
#error "Bad SCHEDULER_TIMER_NUM value in config file"
#endif
-#else /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
-#define SCHEDULER_TIMER_BITS 8
+
#endif /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
+#ifdef CONFIG_MODULE_SCHEDULER_TIMER0
+#define SCHEDULER_TIMER_BITS 8
+#endif /* CONFIG_MODULE_SCHEDULER_TIMER0 */
+
+#ifndef CONFIG_MODULE_SCHEDULER_MANUAL
+
/** TIME_UNIT is the number of microseconds between each interruption
* if the prescaler equals 1 */
#if SCHEDULER_TIMER_BITS == 8
-#define TIMER_UNIT ( 256000000LL / (CONFIG_QUARTZ) )
+#define TIMER_UNIT_FLOAT ( 256000000.0 / (double)(CONFIG_QUARTZ) )
#else
-#define TIMER_UNIT ( 65536000000LL / (CONFIG_QUARTZ) )
+#define TIMER_UNIT_FLOAT ( 65536000000.0 / (double)(CONFIG_QUARTZ) )
#endif
/** SCHEDULER_UNIT is the number of microseconds between each
@@ -111,7 +111,12 @@
* scheduler_add_periodical_event(f, 1000L/SCHEDULER_UNIT);
* The function f will be called every ms.
*/
-#define SCHEDULER_UNIT ( TIMER_UNIT * (unsigned long)SCHEDULER_CLOCK_PRESCALER
)
+#define SCHEDULER_UNIT_FLOAT ( TIMER_UNIT_FLOAT *
(double)SCHEDULER_CLOCK_PRESCALER )
+#define SCHEDULER_UNIT ( (unsigned long) SCHEDULER_UNIT_FLOAT )
+
+#endif /* ! CONFIG_MODULE_SCHEDULER_MANUAL */
+
+
#define SCHEDULER_PERIODICAL 0
#define SCHEDULER_SINGLE 1
===================================================
aversive/modules/base/scheduler/scheduler_private.h (1.1.2.6 -> 1.1.2.7)
===================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: scheduler_private.h,v 1.1.2.6 2007-06-24 17:30:13 zer0 Exp
$
+ * Revision : $Id: scheduler_private.h,v 1.1.2.7 2007-11-27 23:16:15 zer0 Exp
$
*
*/
@@ -23,9 +23,9 @@
#define _SCHEDULER_PRIVATE_H_
/* sanity checks */
-#if _SCHEDULER_CONFIG_VERSION_ != 3
+#if _SCHEDULER_CONFIG_VERSION_ != 4
#warning "You are using an old version of scheduler_config.h file"
-#warning "_SCHEDULER_CONFIG_VERSION_ is != 3"
+#warning "_SCHEDULER_CONFIG_VERSION_ is != 4"
#warning "Look in modules/base/scheduler/config directory to import changes"
#warning "You should define SCHEDULER_NB_STACKING_MAX and SCHEDULER_CK"
#endif
=========================================================
aversive/modules/base/scheduler/config/scheduler_config.h (1.1.10.7 ->
1.1.10.8)
=========================================================
@@ -15,14 +15,14 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: scheduler_config.h,v 1.1.10.7 2007-06-17 19:28:03 zer0 Exp
$
+ * Revision : $Id: scheduler_config.h,v 1.1.10.8 2007-11-27 23:16:15 zer0 Exp
$
*
*/
#ifndef _SCHEDULER_CONFIG_H_
#define _SCHEDULER_CONFIG_H_
-#define _SCHEDULER_CONFIG_VERSION_ 3
+#define _SCHEDULER_CONFIG_VERSION_ 4
/** maximum number of allocated events */
#define SCHEDULER_NB_MAX_EVENT 5
@@ -40,16 +40,26 @@
you are using (look in include/aversive/parts.h). Obviously, the
values of SCHEDULER_CK and SCHEDULER_CLOCK_PRESCALER must also be
coherent (TIMER0_PRESCALER_DIV_VALUE and VALUE) */
-#else /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
+#endif /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
+
+#ifdef CONFIG_MODULE_SCHEDULER_TIMER0
/* The 2 values below MUST be coherent:
* if SCHEDULER_CK = TIMER0_PRESCALER_DIV_x, then
* you must have SCHEDULER_CLOCK_PRESCALER = x too !!! */
#define SCHEDULER_CK TIMER0_PRESCALER_DIV_8
#define SCHEDULER_CLOCK_PRESCALER 8
-#endif /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
+#endif /* CONFIG_MODULE_SCHEDULER_TIMER0 */
+
+/* last case, the scheduler is called manually. The user has to
+ define the period here */
+#ifdef CONFIG_MODULE_SCHEDULER_MANUAL
+
+#define SCHEDULER_UNIT_FLOAT 1000.0
+#define SCHEDULER_UNIT 1000UL
+#endif /* CONFIG_MODULE_SCHEDULER_MANUAL */
/** number of allowed imbricated scheduler interrupts. The maximum
* should be SCHEDULER_NB_MAX_EVENT since we never need to imbricate
=======================================================
aversive/modules/base/scheduler/test/scheduler_config.h (1.4.10.6 -> 1.4.10.7)
=======================================================
@@ -15,14 +15,14 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: scheduler_config.h,v 1.4.10.6 2007-06-17 19:28:03 zer0 Exp
$
+ * Revision : $Id: scheduler_config.h,v 1.4.10.7 2007-11-27 23:16:15 zer0 Exp
$
*
*/
#ifndef _SCHEDULER_CONFIG_H_
#define _SCHEDULER_CONFIG_H_
-#define _SCHEDULER_CONFIG_VERSION_ 3
+#define _SCHEDULER_CONFIG_VERSION_ 4
/** maximum number of allocated events */
#define SCHEDULER_NB_MAX_EVENT 5
@@ -40,16 +40,26 @@
you are using (look in include/aversive/parts.h). Obviously, the
values of SCHEDULER_CK and SCHEDULER_CLOCK_PRESCALER must also be
coherent (TIMER0_PRESCALER_DIV_VALUE and VALUE) */
-#else /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
+#endif /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
+
+#ifdef CONFIG_MODULE_SCHEDULER_TIMER0
/* The 2 values below MUST be coherent:
* if SCHEDULER_CK = TIMER0_PRESCALER_DIV_x, then
* you must have SCHEDULER_CLOCK_PRESCALER = x too !!! */
#define SCHEDULER_CK TIMER0_PRESCALER_DIV_8
#define SCHEDULER_CLOCK_PRESCALER 8
-#endif /* CONFIG_MODULE_SCHEDULER_USE_TIMERS */
+#endif /* CONFIG_MODULE_SCHEDULER_TIMER0 */
+
+/* last case, the scheduler is called manually. The user has to
+ define the period here */
+#ifdef CONFIG_MODULE_SCHEDULER_MANUAL
+
+#define SCHEDULER_UNIT_FLOAT 1000.0
+#define SCHEDULER_UNIT 1000UL
+#endif /* CONFIG_MODULE_SCHEDULER_MANUAL */
/** number of allowed imbricated scheduler interrupts. The maximum
* should be SCHEDULER_NB_MAX_EVENT since we never need to imbricate
=================================
aversive/modules/base/time/time.c (1.4.4.1 -> 1.4.4.2)
=================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: time.c,v 1.4.4.1 2006-11-26 21:06:01 zer0 Exp $
+ * Revision : $Id: time.c,v 1.4.4.2 2007-11-27 23:16:15 zer0 Exp $
*
*/
@@ -43,7 +43,7 @@
/**********************************************************/
-#define NB_SCHEDULER_UNIT ( ((float)(TIME_PRECISION)) / SCHEDULER_UNIT )
+#define NB_SCHEDULER_UNIT ( ((float)(TIME_PRECISION)) / SCHEDULER_UNIT_FLOAT )
#define NB_SCHEDULER_UNIT_NOT_NULL (NB_SCHEDULER_UNIT == 0 ? 1.0 :
NB_SCHEDULER_UNIT)
static volatile time_h t;
Commit from zer0 (2007-11-28 00:16 CET)
================
- add log function
- scheduler is trigged manually (not tested)
aversive_projects microb2008/main/.config 1.8
aversive_projects microb2008/main/commands.c 1.4
aversive_projects microb2008/main/main.c 1.9
aversive_projects microb2008/main/main.h 1.4
aversive_projects microb2008/main/scheduler_config.h 1.2
=========================================
aversive_projects/microb2008/main/.config (1.7 -> 1.8)
=========================================
@@ -1,5 +1,5 @@
#
-# Automatically generated make config: don't edit
+# Automatically generated by make menuconfig: don't edit
#
#
@@ -70,27 +70,21 @@
#
# Base modules
#
-
-#
-# Enable math library in generation options to see all modules
-#
CONFIG_MODULE_CIRBUF=y
# CONFIG_MODULE_CIRBUF_LARGE is not set
CONFIG_MODULE_FIXED_POINT=y
CONFIG_MODULE_VECT2=y
CONFIG_MODULE_SCHEDULER=y
CONFIG_MODULE_SCHEDULER_CREATE_CONFIG=y
-CONFIG_MODULE_SCHEDULER_USE_TIMERS=y
+# CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set
+# CONFIG_MODULE_SCHEDULER_TIMER0 is not set
+CONFIG_MODULE_SCHEDULER_MANUAL=y
CONFIG_MODULE_TIME=y
CONFIG_MODULE_TIME_CREATE_CONFIG=y
#
# Communication modules
#
-
-#
-# uart needs circular buffer, mf2 client may need scheduler
-#
CONFIG_MODULE_UART=y
CONFIG_MODULE_UART_CREATE_CONFIG=y
CONFIG_MODULE_I2C=y
@@ -159,10 +153,6 @@
# Control system modules
#
CONFIG_MODULE_CONTROL_SYSTEM_MANAGER=y
-
-#
-# Filters
-#
CONFIG_MODULE_PID=y
# CONFIG_MODULE_RAMP is not set
CONFIG_MODULE_QUADRAMP=y
@@ -172,10 +162,6 @@
#
# Crypto modules
#
-
-#
-# Crypto modules depend on utils module
-#
# CONFIG_MODULE_AES is not set
# CONFIG_MODULE_AES_CTR is not set
# CONFIG_MODULE_MD5 is not set
@@ -185,20 +171,12 @@
#
# Encodings modules
#
-
-#
-# Encoding modules depend on utils module
-#
# CONFIG_MODULE_BASE64 is not set
# CONFIG_MODULE_HAMMING is not set
#
# Debug modules
#
-
-#
-# Debug modules depend on utils module
-#
# CONFIG_MODULE_DIAGNOSTIC is not set
# CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
CONFIG_MODULE_ERROR=y
============================================
aversive_projects/microb2008/main/commands.c (1.3 -> 1.4)
============================================
@@ -636,6 +636,81 @@
};
+/**********************************************************/
+/* Start */
+
+/* this structure is filled when cmd_start is parsed successfully */
+struct cmd_start_result {
+ fixed_string_t arg0;
+ fixed_string_t color;
+};
+
+/* function called when cmd_start is parsed successfully */
+static void cmd_start_parsed(void * parsed_result, void * data)
+{
+ printf_P(PSTR("Not implemented\n"));
+}
+
+prog_char str_start_arg0[] = "start";
+parse_pgm_token_string_t cmd_start_arg0 = TOKEN_STRING_INITIALIZER(struct
cmd_start_result, arg0, str_start_arg0);
+prog_char str_start_color[] = "blue#red";
+parse_pgm_token_string_t cmd_start_color = TOKEN_STRING_INITIALIZER(struct
cmd_start_result, color, str_start_color);
+
+prog_char help_start[] = "Start the robot";
+parse_pgm_inst_t cmd_start = {
+ .f = cmd_start_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_start,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_start_arg0,
+ (prog_void *)&cmd_start_color,
+ NULL,
+ },
+};
+
+
+/**********************************************************/
+/* Log */
+
+/* this structure is filled when cmd_log is parsed successfully */
+struct cmd_log_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ uint8_t arg2;
+};
+
+/* function called when cmd_log is parsed successfully */
+static void cmd_log_parsed(void * parsed_result, void * data)
+{
+ struct cmd_log_result *res = (struct cmd_log_result *) parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("level"))) {
+ robot.log_level = res->arg2;
+ }
+
+ else if (!strcmp_P(res->arg1, PSTR("type"))) {
+ robot.log_type = res->arg2;
+ }
+}
+
+prog_char str_log_arg0[] = "log";
+parse_pgm_token_string_t cmd_log_arg0 = TOKEN_STRING_INITIALIZER(struct
cmd_log_result, arg0, str_log_arg0);
+prog_char str_log_arg1[] = "level#type";
+parse_pgm_token_string_t cmd_log_arg1 = TOKEN_STRING_INITIALIZER(struct
cmd_log_result, arg1, str_log_arg1);
+parse_pgm_token_num_t cmd_log_arg2 = TOKEN_NUM_INITIALIZER(struct
cmd_log_result, arg2, INT32);
+
+prog_char help_log[] = "Set log options: level (0 -> 5), type (0=all)";
+parse_pgm_inst_t cmd_log = {
+ .f = cmd_log_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_log,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_log_arg0,
+ (prog_void *)&cmd_log_arg1,
+ (prog_void *)&cmd_log_arg2,
+ NULL,
+ },
+};
/**********************************************************/
@@ -876,6 +951,8 @@
(parse_pgm_inst_t *)&cmd_position,
(parse_pgm_inst_t *)&cmd_reset,
(parse_pgm_inst_t *)&cmd_interact,
+ (parse_pgm_inst_t *)&cmd_log,
+ (parse_pgm_inst_t *)&cmd_start,
(parse_pgm_inst_t *)&cmd_consign,
(parse_pgm_inst_t *)&cmd_consign_all,
(parse_pgm_inst_t *)&cmd_goto1,
========================================
aversive_projects/microb2008/main/main.c (1.8 -> 1.9)
========================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.c,v 1.8 2007-11-26 23:25:37 zer0 Exp $
+ * Revision : $Id: main.c,v 1.9 2007-11-27 23:16:53 zer0 Exp $
*
*/
@@ -195,19 +195,39 @@
cpt++;
}
+void main_timer_interrupt(void)
+{
+ static uint8_t cpt = 0;
+ static uint8_t encoder_running = 0;
+
+ cpt++;
+
+ /* BAAAAd */
+ if (encoder_running)
+ return;
+
+ encoder_running = 1;
+ sei();
+
+ encoders_microb_manage(NULL);
+ encoder_running = 0;
+
+ if (cpt%4)
+ scheduler_interrupt();
+}
+
/* log function, add a command to configure
* it dynamically */
void mylog(struct error * e, ...) {
va_list ap;
u16 stream_flags = stdout->flags;
- if (1)
- /* if (e->err_num != E_TRAJECTORY) */
- // if (e->err_num != E_USER_NOTHING)
+ if (robot.log_level < e->severity)
return;
- /* if (e->severity > ERROR_SEVERITY_WARNING) */
- /* return; */
+ if ( (robot.log_type != 0) &&
+ (robot.log_type != e->err_num) )
+ return;
va_start(ap, e);
printf_P(PSTR("[%d]: E%d "), e->severity, e->err_num);
@@ -291,8 +311,16 @@
printf_P(PSTR("salut\n"));
uart0_register_rx_event(emergency);
+ /* LOGS */
+ error_register_emerg(mylog);
+ error_register_error(mylog);
+ error_register_warning(mylog);
+ error_register_notice(mylog);
+ error_register_debug(mylog);
+
/* TIMER */
timer_init();
+ timer0_register_OV_intr(main_timer_interrupt);
/* SCHEDULER */
scheduler_init();
========================================
aversive_projects/microb2008/main/main.h (1.3 -> 1.4)
========================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.h,v 1.3 2007-11-15 11:14:54 zer0 Exp $
+ * Revision : $Id: main.h,v 1.4 2007-11-27 23:16:53 zer0 Exp $
*
*/
@@ -80,7 +80,7 @@
#define I2C_POLL_PRIO 20
struct robot {
- s08 cs_events;
+ int8_t cs_events;
struct robot_system rs;
struct robot_position pos;
@@ -95,7 +95,10 @@
struct trajectory traj;
- u08 blocking; /* XXX ? */
+ uint8_t log_level;
+ uint8_t log_type;
+
+ uint8_t blocking; /* XXX ? */
};
extern struct robot robot;
@@ -123,7 +126,7 @@
#define wait_cond_or_timeout(cond, timeout) \
({ \
microseconds __us = time_get_us2(); \
- u08 __ret = 1; \
+ uint8_t __ret = 1; \
while(! (cond)) { \
if (time_get_us2() - __us > (timeout)*1000L) {\
__ret = 0; \
====================================================
aversive_projects/microb2008/main/scheduler_config.h (1.1 -> 1.2)
====================================================
@@ -15,21 +15,21 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: scheduler_config.h,v 1.1 2007-06-28 22:13:04 zer0 Exp $
+ * Revision : $Id: scheduler_config.h,v 1.2 2007-11-27 23:16:53 zer0 Exp $
*
*/
#ifndef _SCHEDULER_CONFIG_H_
#define _SCHEDULER_CONFIG_H_
-#define _SCHEDULER_CONFIG_VERSION_ 3
+#define _SCHEDULER_CONFIG_VERSION_ 4
/** maximum number of allocated events */
#define SCHEDULER_NB_MAX_EVENT 7
-/** the num of the timer to use for the scheduler */
-#define SCHEDULER_TIMER_NUM 0
+#define SCHEDULER_UNIT_FLOAT 1000.0
+#define SCHEDULER_UNIT 1000L
/** number of allowed imbricated scheduler interrupts. The maximum
* should be SCHEDULER_NB_MAX_EVENT since we never need to imbricate
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