Made PAL callback and wait APIs independent from each other.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@10543 35acf78f-673a-0410-8e92-d51de3d6d3f4

18 files changed, 374 insertions, 218 deletions

diff --git a/os/hal/include/hal_pal.h b/os/hal/include/hal_pal.h
index a0ef91b37..3514b7ffe 100644
--- a/os/hal/include/hal_pal.h
+++ b/os/hal/include/hal_pal.h
@@ -121,6 +121,14 @@
  * @brief   Enables synchronous APIs.

  * @note    Disabling this option saves both code and data space.

  */

+#if !defined(PAL_USE_CALLBACKS) || defined(__DOXYGEN__)

+#define PAL_USE_CALLBACKS           TRUE

+#endif

+

+/**

+ * @brief   Enables synchronous APIs.

+ * @note    Disabling this option saves both code and data space.

+ */

 #if !defined(PAL_USE_WAIT) || defined(__DOXYGEN__)

 #define PAL_USE_WAIT                TRUE

 #endif

@@ -149,6 +157,7 @@ typedef struct {
    */

   threads_queue_t       threads;

 #endif

+#if PAL_USE_CALLBACKS || defined(__DOXYGEN__)

   /**

    * @brief   Event callback.

    */

@@ -157,6 +166,7 @@ typedef struct {
    * @brief   Event callback argument.

    */

   void                  *arg;

+#endif

 } palevent_t;

 

 #include "hal_pal_lld.h"

@@ -235,10 +245,73 @@ typedef struct {
 #define IOBUS_DECL(name, port, width, offset)                               \

   IOBus name = _IOBUS_DATA(name, port, width, offset)

 

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT || defined(__DOXYGEN__)

 /**

  * @name    Low level driver helper macros

  * @{

  */

+#if (PAL_USE_CALLBACKS && PAL_USE_WAIT) || defined(__DOXYGEN__)

+/**

+ * @brief   Initializes a PAL event object.

+ *

+ * @param[in] e         event index

+ *

+ * @notapi

+ */

+#define _pal_init_event(e)                                                  \

+  do {                                                                      \

+    osalThreadQueueObjectInit(&_pal_events[e].threads);                     \

+    _pal_events[e].cb = NULL;                                               \

+    _pal_events[e].arg = NULL;                                              \

+  } while (false)

+#endif /* PAL_USE_CALLBACKS && PAL_USE_WAIT */

+

+#if PAL_USE_CALLBACKS && !PAL_USE_WAIT

+#define _pal_init_event(e)                                                  \

+  do {                                                                      \

+    _pal_events[e].cb = NULL;                                               \

+    _pal_events[e].arg = NULL;                                              \

+  } while (false)

+#endif /* PAL_USE_CALLBACKS && !PAL_USE_WAIT */

+

+#if !PAL_USE_CALLBACKS && PAL_USE_WAIT

+#define _pal_init_event(e)                                                  \

+  do {                                                                      \

+    osalThreadQueueObjectInit(&_pal_events[e].threads);                     \

+  } while (false)

+#endif /* !PAL_USE_CALLBACKS && PAL_USE_WAIT */

+

+#if (PAL_USE_CALLBACKS && PAL_USE_WAIT) || defined(__DOXYGEN__)

+/**

+ * @brief   Clears a PAL event object.

+ *

+ * @param[in] e         event index

+ *

+ * @notapi

+ */

+#define _pal_clear_event(e)                                                 \

+  do {                                                                      \

+    osalThreadDequeueAllI(&_pal_events[pad].threads, MSG_RESET);            \

+    _pal_events[e].cb = NULL;                                               \

+    _pal_events[e].arg = NULL;                                              \

+  } while (false)

+#endif /* PAL_USE_CALLBACKS && PAL_USE_WAIT */

+

+#if PAL_USE_CALLBACKS && !PAL_USE_WAIT

+#define _pal_clear_event(e)                                                 \

+  do {                                                                      \

+    _pal_events[e].cb = NULL;                                               \

+    _pal_events[e].arg = NULL;                                              \

+  } while (false)

+#endif /* PAL_USE_CALLBACKS && !PAL_USE_WAIT */

+

+#if !PAL_USE_CALLBACKS && PAL_USE_WAIT

+#define _pal_clear_event(e)                                                 \

+  do {                                                                      \

+    osalThreadDequeueAllI(&_pal_events[pad].threads, MSG_RESET);            \

+  } while (false)

+#endif /* !PAL_USE_CALLBACKS && PAL_USE_WAIT */

+

 /**

  * @brief   Common ISR code.

  * @note    This macro is meant to be used in the low level drivers

@@ -248,7 +321,7 @@ typedef struct {
  *

  * @notapi

  */

-#if PAL_USE_WAIT || defined(__DOXYGEN__)

+#if (PAL_USE_CALLBACKS && PAL_USE_WAIT) || defined(__DOXYGEN__)

 #define _pal_isr_code(e) do {                                               \

   if (_pal_events[e].cb != NULL) {                                          \

     _pal_events[e].cb(_pal_events[e].arg);                                  \

@@ -257,60 +330,26 @@ typedef struct {
   osalThreadDequeueAllI(&_pal_events[e].threads, MSG_OK);                   \

   osalSysUnlockFromISR();                                                   \

 } while (false)

-#else

+#endif /* PAL_USE_CALLBACKS && PAL_USE_WAIT */

+

+#if PAL_USE_CALLBACKS && !PAL_USE_WAIT

 #define _pal_isr_code(e) do {                                               \

   if (_pal_events[e].cb != NULL) {                                          \

     _pal_events[e].cb(_pal_events[e].arg);                                  \

   }                                                                         \

 } while (false)

-#endif

+#endif /* PAL_USE_CALLBACKS && !PAL_USE_WAIT */

 

-/**

- * @brief   PAL event setup.

- * @note    This macro is meant to be used in the low level drivers

- *          implementation only.

- *

- * @param[in] e         event index

- * @param[in] c         callback pointer

- * @param[in] a         callback argument

- *

- * @notapi

- */

-#if PAL_USE_WAIT || defined(__DOXYGEN__)

-#define _pal_set_event(e, c, a) {                                           \

-  osalThreadQueueObjectInit(&_pal_events[e].threads);                       \

-  _pal_events[e].cb = c;                                                    \

-  _pal_events[e].arg = a;                                                   \

-}

-#else

-#define _pal_set_event(e, c, a) {                                           \

-  _pal_events[e].cb = c;                                                    \

-  _pal_events[e].arg = a;                                                   \

-}

-#endif

+#if (!PAL_USE_CALLBACKS && PAL_USE_WAIT) || defined(__DOXYGEN__)

+#define _pal_isr_code(e) do {                                               \

+  osalSysLockFromISR();                                                     \

+  osalThreadDequeueAllI(&_pal_events[e].threads, MSG_OK);                   \

+  osalSysUnlockFromISR();                                                   \

+} while (false)

+#endif /* !PAL_USE_CALLBACKS && PAL_USE_WAIT */

 

-/**

- * @brief   PAL event clear.

- * @note    This macro is meant to be used in the low level drivers

- *          implementation only.

- *

- * @param[in] e         event index

- *

- * @notapi

- */

-#if PAL_USE_WAIT || defined(__DOXYGEN__)

-#define _pal_clear_event(e) {                                               \

-  osalThreadDequeueAllI(&_pal_events[e].threads, MSG_RESET);                \

-  _pal_events[e].cb = NULL;                                                 \

-  _pal_events[e].arg = NULL;                                                \

-}

-#else

-#define _pal_clear_event(e) {                                               \

-  _pal_events[e].cb = NULL;                                                 \

-  _pal_events[e].arg = NULL;                                                \

-}

-#endif

 /** @} */

+#endif /* PAL_USE_CALLBACKS || PAL_USE_WAIT */

 

 /**

  * @name    Macro Functions

@@ -628,78 +667,6 @@ typedef struct {
 #endif

 

 /**

- * @brief   Pad event enable.

- * @details This function programs an event callback in the specified mode.

- * @note    Programming an unknown or unsupported mode is silently ignored.

- * 

- * @param[in] port      port identifier

- * @param[in] pad       pad number within the port

- * @param[in] mode      pad event mode

- * @param[in] callback  event callback function

- * @param[in] arg       callback argument

- * 

- * @iclass

- */

-#if !defined(pal_lld_enablepadevent) || defined(__DOXYGEN__)

-#define palEnablePadEventI(port, pad, mode, callback, arg)

-#else

-#define palEnablePadEventI(port, pad, mode, callback, arg)                  \

-  pal_lld_enablepadevent(port, pad, mode, callback, arg)

-#endif

-

-/**

- * @brief   Pad event disable.

- * @details This function disables previously programmed event callbacks.

- * 

- * @param[in] port      port identifier

- * @param[in] pad       pad number within the port

- * 

- * @iclass

- */

-#if !defined(pal_lld_disablepadevent) || defined(__DOXYGEN__)

-#define palDisablePadEventI(port, pad)

-#else

-#define PadDisablepalEventI(port, pad)                                      \

-  pal_lld_disablepadevent(port, pad)

-#endif

-

-/**

- * @brief   Pad event enable.

- * @details This function programs an event callback in the specified mode.

- * @note    Programming an unknown or unsupported mode is silently ignored.

- *

- * @param[in] port      port identifier

- * @param[in] pad       pad number within the port

- * @param[in] mode      pad event mode

- * @param[in] callback  event callback function

- * @param[in] arg       callback argument

- *

- * @api

- */

-#define palEnablePadEvent(port, pad, mode, callback, arg)                   \

-  do {                                                                      \

-    osalSysLock();                                                          \

-    palEnablePadEventI(port, pad, mode, callback, arg);                     \

-    osalSysUnlock();                                                        \

-  } while (false)

-

-/**

- * @brief   Pad event disable.

- * @details This function disables previously programmed event callbacks.

- *

- * @param[in] port      port identifier

- * @param[in] pad       pad number within the port

- *

- * @api

- */

-#define palDisablePadEvent(port, pad)                                       \

-  do {                                                                      \

-    osalSysLock();                                                          \

-    palisablePadDEventI(port, pad);                                         \

-    osalSysUnlock();                                                        \

-  } while (false)

-

-/**

  * @brief   Reads an input line logic state.

  * @note    The function can be called from any context.

  *

@@ -810,26 +777,93 @@ typedef struct {
 #define palSetLineMode(line, mode) pal_lld_setlinemode(line, mode)

 #endif

 

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT || defined(__DOXYGEN__)

+/**

+ * @brief   Pad event enable.

+ * @note    Programming an unknown or unsupported mode is silently ignored.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ * @param[in] mode      pad event mode

+ *

+ * @iclass

+ */

+#if !defined(pal_lld_enablepadevent) || defined(__DOXYGEN__)

+#define palEnablePadEventI(port, pad, mode)

+#else

+#define palEnablePadEventI(port, pad, mode)                                 \

+  pal_lld_enablepadevent(port, pad, mode)

+#endif

+

+/**

+ * @brief   Pad event disable.

+ * @details This function also disables previously programmed event callbacks.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ *

+ * @iclass

+ */

+#if !defined(pal_lld_disablepadevent) || defined(__DOXYGEN__)

+#define palDisablePadEventI(port, pad)

+#else

+#define PadDisablepalEventI(port, pad)                                      \

+  pal_lld_disablepadevent(port, pad)

+#endif

+

+/**

+ * @brief   Pad event enable.

+ * @note    Programming an unknown or unsupported mode is silently ignored.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ * @param[in] mode      pad event mode

+ *

+ * @api

+ */

+#define palEnablePadEvent(port, pad, mode)                                  \

+  do {                                                                      \

+    osalSysLock();                                                          \

+    palEnablePadEventI(port, pad, mode);                                    \

+    osalSysUnlock();                                                        \

+  } while (false)

+

+/**

+ * @brief   Pad event disable.

+ * @details This function also disables previously programmed event callbacks.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ *

+ * @api

+ */

+#define palDisablePadEvent(port, pad)                                       \

+  do {                                                                      \

+    osalSysLock();                                                          \

+    palisablePadDEventI(port, pad);                                         \

+    osalSysUnlock();                                                        \

+  } while (false)

+

 /**

  * @brief   Line event enable.

+ * @note    Programming an unknown or unsupported mode is silently ignored.

  *

  * @param[in] line      line identifier

  * @param[in] mode      line event mode

- * @param[in] callback  event callback function

- * @param[in] arg       callback argument

  *

  * @iclass

  */

 #if !defined(pal_lld_enablelineevent) || defined(__DOXYGEN__)

-#define palEnableLineEventI(line, mode, callback, arg)                      \

-  palEnablePadEventI(PAL_PORT(line), PAL_PAD(line), mode, callback, arg)

+#define palEnableLineEventI(line, mode)                                     \

+  palEnablePadEventI(PAL_PORT(line), PAL_PAD(line), mode)

 #else

-#define palEnableLineEventI(line, mode, callback, arg)                      \

-    pal_lld_enablelineevent(line, mode, callback, arg)

+#define palEnableLineEventI(line, mode)                                     \

+    pal_lld_enablelineevent(line, mode)

 #endif

 

 /**

  * @brief   Line event disable.

+ * @details This function also disables previously programmed event callbacks.

  *

  * @param[in] line      line identifier

  *

@@ -844,35 +878,73 @@ typedef struct {
 

 /**

  * @brief   Line event enable.

+ * @note    Programming an unknown or unsupported mode is silently ignored.

  *

  * @param[in] line      line identifier

  * @param[in] mode      line event mode

- * @param[in] callback  event callback function

- * @param[in] arg       callback argument

  *

  * @api

  */

-#define palEnableLineEvent(line, mode, callback, arg)                       \

+#define palEnableLineEvent(line, mode)                                      \

   do {                                                                      \

     osalSysLock();                                                          \

-    palEnableLineEventI(line, mode, callback, arg);                         \

+    palEnableLineEventI(line, mode);                                        \

     osalSysUnlock();                                                        \

   } while (false)

 

 /**

  * @brief   Line event disable.

+ * @details This function also disables previously programmed event callbacks.

  *

  * @param[in] line      line identifier

  *

  * @api

  */

-#define paDisableLineEvent(line)                                            \

+#define palDisableLineEvent(line)                                           \

   do {                                                                      \

     osalSysLock();                                                          \

     palDisableLineEventI(line);                                             \

     osalSysUnlock();                                                        \

   } while (false)

 

+#endif /* PAL_USE_CALLBACKS || PAL_USE_WAIT */

+

+#if PAL_USE_CALLBACKS || defined(__DOXYGEN__)

+/**

+ * @brief   Associates a callback to a pad.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ * @param[in] mode      pad event mode

+ * @param[in] callback  event callback function

+ * @param[in] arg       callback argument

+ *

+ * @api

+ */

+#define palSetPadCallback(port, pad, cb, arg)                               \

+  do {                                                                      \

+    osalSysLock();                                                          \

+    palSetPadCallbackI(port, pad, cb, arg);                                 \

+    osalSysUnlock();                                                        \

+  } while (false)

+

+/**

+ * @brief   Associates a callback to a line.

+ *

+ * @param[in] line      line identifier

+ * @param[in] callback  event callback function

+ * @param[in] arg       callback argument

+ *

+ * @iclass

+ */

+#define palSetLineCallback(line, cb, arg)                                   \

+  do {                                                                      \

+    osalSysLock();                                                          \

+    palSetLineCallbackI(line, cb, arg);                                     \

+    osalSysUnlock();                                                        \

+  } while (false)

+#endif /* PAL_USE_CALLBACKS */

+

 #if PAL_USE_WAIT || defined(__DOXYGEN__)

 /**

  * @brief   Waits for an edge on the specified port/pad.

@@ -914,7 +986,6 @@ typedef struct {
     palWaitLineTimeoutS(line, timeout);                                     \

     osalSysUnlock();                                                        \

   } while (false)

-

 #endif /* PAL_USE_WAIT */

 

 /** @} */

@@ -929,6 +1000,11 @@ extern "C" {
   ioportmask_t palReadBus(IOBus *bus);

   void palWriteBus(IOBus *bus, ioportmask_t bits);

   void palSetBusMode(IOBus *bus, iomode_t mode);

+#if PAL_USE_CALLBACKS || defined(__DOXYGEN__)

+  void palSetPadCallbackI(ioportid_t port, iopadid_t pad,

+                          palcallback_t cb, void *arg);

+  void palSetLineCallbackI(ioline_t line, palcallback_t cb, void *arg);

+#endif /* PAL_USE_CALLBACKS */

 #if PAL_USE_WAIT || defined(__DOXYGEN__)

   msg_t palWaitPadTimeoutS(ioportid_t port, iopadid_t pad, systime_t timeout);

   msg_t palWaitLineTimeoutS(ioline_t line, systime_t timeout);

diff --git a/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.c b/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.c
index be8f7e829..84f0be664 100644
--- a/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.c
+++ b/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.c
@@ -80,6 +80,14 @@ palevent_t _pal_events[16];
  */

 void _pal_lld_init(const PALConfig *config) {

 

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT || defined(__DOXYGEN__)

+  unsigned i;

+

+  for (i = 0; i < 16; i++) {

+    _pal_init_event(i);

+  }

+#endif

+

   /*

    * Enables the GPIO related clocks.

    */

@@ -183,24 +191,20 @@ void _pal_lld_setgroupmode(ioportid_t port,
   port->CRL = (port->CRL & ml) | crl;

 }

 

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT || defined(__DOXYGEN__)

 /**

  * @brief   Pad event enable.

- * @details This function programs an event callback in the specified mode.

  * @note    Programming an unknown or unsupported mode is silently ignored.

  *

  * @param[in] port      port identifier

  * @param[in] pad       pad number within the port

  * @param[in] mode      pad event mode

- * @param[in] callback  event callback function

- * @param[in] arg       callback argument

  *

  * @notapi

  */

 void _pal_lld_enablepadevent(ioportid_t port,

                              iopadid_t pad,

-                             ioeventmode_t mode,

-                             palcallback_t callback,

-                             void *arg) {

+                             ioeventmode_t mode) {

 

   uint32_t padmask, cridx, crmask, portidx;

 

@@ -218,7 +222,7 @@ void _pal_lld_enablepadevent(ioportid_t port,
   crmask = ~(0xFU << (((uint32_t)pad & 3U) * 4U));

 

   /* Port index is obtained assuming that GPIO ports are placed at regular

-     0x400 intervalis in memory space. So far this is true for all devices.*/

+     0x400 intervals in memory space. So far this is true for all devices.*/

   portidx = (uint32_t)port >> 10U;

 

   /* Port selection in SYSCFG.*/

@@ -237,14 +241,11 @@ void _pal_lld_enablepadevent(ioportid_t port,
   /* Programming interrupt and event registers.*/

   EXTI->IMR |= padmask;

   EXTI->EMR &= ~padmask;

-

-  /* Setting up callback and argument for this event.*/

-  _pal_set_event(pad, callback, arg);

 }

 

 /**

  * @brief   Pad event disable.

- * @details This function disables previously programmed event callbacks.

+ * @details This function also disables previously programmed event callbacks.

  *

  * @param[in] port      port identifier

  * @param[in] pad       pad number within the port

@@ -269,7 +270,7 @@ void _pal_lld_disablepadevent(ioportid_t port, iopadid_t pad) {
     croff = ((uint32_t)pad & 3U) * 4U;

 

     /* Port index is obtained assuming that GPIO ports are placed at regular

-       0x400 intervalis in memory space. So far this is true for all devices.*/

+       0x400 intervals in memory space. So far this is true for all devices.*/

     portidx = (uint32_t)port >> 10U;

 

     crport = (AFIO->EXTICR[cridx] >> croff) & 0xFU;

@@ -282,11 +283,14 @@ void _pal_lld_disablepadevent(ioportid_t port, iopadid_t pad) {
     EXTI->RTSR  = rtsr1 & ~padmask;

     EXTI->FTSR  = ftsr1 & ~padmask;

     EXTI->PR    = padmask;

-

-    /* Clearing callback and argument for this event.*/

-    _pal_clear_event(pad);

   }

+

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT

+  /* Callback cleared and/or thread reset.*/

+  _pal_clear_event(pad);

+#endif

 }

+#endif /* PAL_USE_CALLBACKS || PAL_USE_WAIT */

 

 #endif /* HAL_USE_PAL */

 

diff --git a/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.h b/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.h
index a20cea930..f7f1c2e81 100644
--- a/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.h
+++ b/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.h
@@ -368,19 +368,16 @@ typedef uint32_t iopadid_t;
 

 /**

  * @brief   Pad event enable.

- * @details This function programs an event callback in the specified mode.

  * @note    Programming an unknown or unsupported mode is silently ignored.

  *

  * @param[in] port      port identifier

  * @param[in] pad       pad number within the port

  * @param[in] mode      pad event mode

- * @param[in] callback  event callback function

- * @param[in] arg       callback argument

  *

  * @notapi

  */

-#define pal_lld_enablepadevent(port, pad, mode, callback, arg)              \

-  _pal_lld_enablepadevent(port, pad, mode, callback, arg)

+#define pal_lld_enablepadevent(port, pad, mode)                             \

+  _pal_lld_enablepadevent(port, pad, mode)

 

 /**

  * @brief   Pad event disable.

@@ -427,12 +424,12 @@ extern "C" {
   void _pal_lld_setgroupmode(ioportid_t port,

                              ioportmask_t mask,

                              iomode_t mode);

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT

   void _pal_lld_enablepadevent(ioportid_t port,

                                iopadid_t pad,

-                               ioeventmode_t mode,

-                               palcallback_t callback,

-                               void *arg);

+                               ioeventmode_t mode);

   void _pal_lld_disablepadevent(ioportid_t port, iopadid_t pad);

+#endif

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.c b/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.c
index 70f769f02..ab6864474 100644
--- a/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.c
+++ b/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.c
@@ -92,6 +92,14 @@ static void initgpio(stm32_gpio_t *gpiop, const stm32_gpio_setup_t *config) {
  */

 void _pal_lld_init(const PALConfig *config) {

 

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT || defined(__DOXYGEN__)

+  unsigned i;

+

+  for (i = 0; i < 16; i++) {

+    _pal_init_event(i);

+  }

+#endif

+

   /*

    * Enables the GPIO related clocks.

    */

@@ -212,24 +220,20 @@ void _pal_lld_setgroupmode(ioportid_t port,
   }

 }

 

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT || defined(__DOXYGEN__)

 /**

  * @brief   Pad event enable.

- * @details This function programs an event callback in the specified mode.

  * @note    Programming an unknown or unsupported mode is silently ignored.

  *

  * @param[in] port      port identifier

  * @param[in] pad       pad number within the port

  * @param[in] mode      pad event mode

- * @param[in] callback  event callback function

- * @param[in] arg       callback argument

  *

  * @notapi

  */

 void _pal_lld_enablepadevent(ioportid_t port,

                              iopadid_t pad,

-                             ioeventmode_t mode,

-                             palcallback_t callback,

-                             void *arg) {

+                             ioeventmode_t mode) {

 

   uint32_t padmask, cridx, crmask, portidx;

 

@@ -247,7 +251,7 @@ void _pal_lld_enablepadevent(ioportid_t port,
   crmask = ~(0xFU << (((uint32_t)pad & 3U) * 4U));

 

   /* Port index is obtained assuming that GPIO ports are placed at regular

-     0x400 intervalis in memory space. So far this is true for all devices.*/

+     0x400 intervals in memory space. So far this is true for all devices.*/

   portidx = (uint32_t)port >> 10U;

 

   /* Port selection in SYSCFG.*/

@@ -266,9 +270,6 @@ void _pal_lld_enablepadevent(ioportid_t port,
   /* Programming interrupt and event registers.*/

   EXTI->IMR |= padmask;

   EXTI->EMR &= ~padmask;

-

-  /* Setting up callback and argument for this event.*/

-  _pal_set_event(pad, callback, arg);

 }

 

 /**

@@ -298,7 +299,7 @@ void _pal_lld_disablepadevent(ioportid_t port, iopadid_t pad) {
     croff = ((uint32_t)pad & 3U) * 4U;

 

     /* Port index is obtained assuming that GPIO ports are placed at regular

-       0x400 intervalis in memory space. So far this is true for all devices.*/

+       0x400 intervals in memory space. So far this is true for all devices.*/

     portidx = (uint32_t)port >> 10U;

 

     crport = (SYSCFG->EXTICR[cridx] >> croff) & 0xFU;

@@ -312,10 +313,13 @@ void _pal_lld_disablepadevent(ioportid_t port, iopadid_t pad) {
     EXTI->FTSR  = ftsr1 & ~padmask;

     EXTI->PR    = padmask;

 

-    /* Clearing callback and argument for this event.*/

-    _pal_clear_event(pad);

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT

+  /* Callback cleared and/or thread reset.*/

+  _pal_clear_event(pad);

+#endif

   }

 }

+#endif /* PAL_USE_CALLBACKS || PAL_USE_WAIT */

 

 #endif /* HAL_USE_PAL */

 

diff --git a/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.h b/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.h
index 4a30a61a5..546c45045 100644
--- a/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.h
+++ b/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.h
@@ -551,19 +551,16 @@ typedef uint32_t iopadid_t;
 

 /**

  * @brief   Pad event enable.

- * @details This function programs an event callback in the specified mode.

  * @note    Programming an unknown or unsupported mode is silently ignored.

  *

  * @param[in] port      port identifier

  * @param[in] pad       pad number within the port

  * @param[in] mode      pad event mode

- * @param[in] callback  event callback function

- * @param[in] arg       callback argument

  *

  * @notapi

  */

-#define pal_lld_enablepadevent(port, pad, mode, callback, arg)              \

-  _pal_lld_enablepadevent(port, pad, mode, callback, arg)

+#define pal_lld_enablepadevent(port, pad, mode)                             \

+  _pal_lld_enablepadevent(port, pad, mode)

 

 /**

  * @brief   Pad event disable.

@@ -612,9 +609,7 @@ extern "C" {
                              iomode_t mode);

   void _pal_lld_enablepadevent(ioportid_t port,

                                iopadid_t pad,

-                               ioeventmode_t mode,

-                               palcallback_t callback,

-                               void *arg);

+                               ioeventmode_t mode);

   void _pal_lld_disablepadevent(ioportid_t port, iopadid_t pad);

 #ifdef __cplusplus

 }

diff --git a/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.c b/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.c
index 6c8a1ec2e..65f76a609 100644
--- a/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.c
+++ b/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.c
@@ -95,6 +95,14 @@ static void initgpio(stm32_gpio_t *gpiop, const stm32_gpio_setup_t *config) {
  */

 void _pal_lld_init(const PALConfig *config) {

 

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT || defined(__DOXYGEN__)

+  unsigned i;

+

+  for (i = 0; i < 16; i++) {

+    _pal_init_event(i);

+  }

+#endif

+

   /*

    * Enables the GPIO related clocks.

    */

@@ -208,24 +216,20 @@ void _pal_lld_setgroupmode(ioportid_t port,
   }

 }

 

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT || defined(__DOXYGEN__)

 /**

  * @brief   Pad event enable.

- * @details This function programs an event callback in the specified mode.

  * @note    Programming an unknown or unsupported mode is silently ignored.

  *

  * @param[in] port      port identifier

  * @param[in] pad       pad number within the port

  * @param[in] mode      pad event mode

- * @param[in] callback  event callback function

- * @param[in] arg       callback argument

  *

  * @notapi

  */

 void _pal_lld_enablepadevent(ioportid_t port,

                              iopadid_t pad,

-                             ioeventmode_t mode,

-                             palcallback_t callback,

-                             void *arg) {

+                             ioeventmode_t mode) {

 

   uint32_t padmask, cridx, crmask, portidx;

 

@@ -243,7 +247,7 @@ void _pal_lld_enablepadevent(ioportid_t port,
   crmask = ~(0xFU << (((uint32_t)pad & 3U) * 4U));

 

   /* Port index is obtained assuming that GPIO ports are placed at regular

-     0x400 intervalis in memory space. So far this is true for all devices.*/

+     0x400 intervals in memory space. So far this is true for all devices.*/

   portidx = (uint32_t)port >> 10U;

 

   /* Port selection in SYSCFG.*/

@@ -262,9 +266,6 @@ void _pal_lld_enablepadevent(ioportid_t port,
   /* Programming interrupt and event registers.*/

   EXTI->IMR |= padmask;

   EXTI->EMR &= ~padmask;

-

-  /* Setting up callback and argument for this event.*/

-  _pal_set_event(pad, callback, arg);

 }

 

 /**

@@ -294,7 +295,7 @@ void _pal_lld_disablepadevent(ioportid_t port, iopadid_t pad) {
     croff = ((uint32_t)pad & 3U) * 4U;

 

     /* Port index is obtained assuming that GPIO ports are placed at regular

-       0x400 intervalis in memory space. So far this is true for all devices.*/

+       0x400 intervals in memory space. So far this is true for all devices.*/

     portidx = (uint32_t)port >> 10U;

 

     crport = (SYSCFG->EXTICR[cridx] >> croff) & 0xFU;

@@ -308,10 +309,13 @@ void _pal_lld_disablepadevent(ioportid_t port, iopadid_t pad) {
     EXTI->FTSR  = ftsr1 & ~padmask;

     EXTI->PR    = padmask;

 

-    /* Clearing callback and argument for this event.*/

-    _pal_clear_event(pad);

+#if PAL_USE_CALLBACKS || PAL_USE_WAIT

+  /* Callback cleared and/or thread reset.*/

+  _pal_clear_event(pad);

+#endif

   }

 }

+#endif /* PAL_USE_CALLBACKS || PAL_USE_WAIT */

 

 #endif /* HAL_USE_PAL */

 

diff --git a/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.h b/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.h
index 7b423807e..c76fda1b0 100644
--- a/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.h
+++ b/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.h
@@ -563,19 +563,16 @@ typedef uint32_t iopadid_t;
 

 /**

  * @brief   Pad event enable.

- * @details This function programs an event callback in the specified mode.

  * @note    Programming an unknown or unsupported mode is silently ignored.

  *

  * @param[in] port      port identifier

  * @param[in] pad       pad number within the port

  * @param[in] mode      pad event mode

- * @param[in] callback  event callback function

- * @param[in] arg       callback argument

  *

  * @notapi

  */

-#define pal_lld_enablepadevent(port, pad, mode, callback, arg)              \

-  _pal_lld_enablepadevent(port, pad, mode, callback, arg)

+#define pal_lld_enablepadevent(port, pad, mode)                             \

+  _pal_lld_enablepadevent(port, pad, mode)

 

 /**

  * @brief   Pad event disable.

@@ -624,9 +621,7 @@ extern "C" {
                              iomode_t mode);

   void _pal_lld_enablepadevent(ioportid_t port,

                                iopadid_t pad,

-                               ioeventmode_t mode,

-                               palcallback_t callback,

-                               void *arg);

+                               ioeventmode_t mode);

   void _pal_lld_disablepadevent(ioportid_t port, iopadid_t pad);

 #ifdef __cplusplus

 }

diff --git a/os/hal/ports/STM32/STM32F0xx/stm32_isr.c b/os/hal/ports/STM32/STM32F0xx/stm32_isr.c
index 8397b7e51..12d931c44 100644
--- a/os/hal/ports/STM32/STM32F0xx/stm32_isr.c
+++ b/os/hal/ports/STM32/STM32F0xx/stm32_isr.c
@@ -51,7 +51,8 @@
 /* Driver interrupt handlers.                                                */

 /*===========================================================================*/

 

-#if HAL_USE_PAL || defined(__DOXYGEN__)

+#if (HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS)) || defined(__DOXYGEN__)

+#if !defined(STM32_DISABLE_EXTI0_1_HANDLER)

 /**

  * @brief   EXTI[0]...EXTI[1] interrupt handler.

  *

@@ -71,7 +72,9 @@ OSAL_IRQ_HANDLER(Vector54) {
 

   OSAL_IRQ_EPILOGUE();

 }

+#endif

 

+#if !defined(STM32_DISABLE_EXTI2_3_HANDLER)

 /**

  * @brief   EXTI[2]...EXTI[3] interrupt handler.

  *

@@ -91,7 +94,9 @@ OSAL_IRQ_HANDLER(Vector58) {
 

   OSAL_IRQ_EPILOGUE();

 }

+#endif

 

+#if !defined(STM32_DISABLE_EXTI4_15_HANDLER)

 /**

  * @brief   EXTI[4]...EXTI[15] interrupt handler.

  *

@@ -123,8 +128,9 @@ OSAL_IRQ_HANDLER(Vector5C) {
 

   OSAL_IRQ_EPILOGUE();

 }

+#endif

 

-#endif /* HAL_USE_PAL */

+#endif /* HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS) */

 

 /*===========================================================================*/

 /* Driver exported functions.                                                */

diff --git a/os/hal/ports/STM32/STM32F1xx/stm32_isr.c b/os/hal/ports/STM32/STM32F1xx/stm32_isr.c
index 4442a8456..813468553 100644
--- a/os/hal/ports/STM32/STM32F1xx/stm32_isr.c
+++ b/os/hal/ports/STM32/STM32F1xx/stm32_isr.c
@@ -51,7 +51,7 @@
 /* Driver interrupt handlers.                                                */

 /*===========================================================================*/

 

-#if HAL_USE_PAL || defined(__DOXYGEN__)

+#if (HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS))|| defined(__DOXYGEN__)

 #if !defined(STM32_DISABLE_EXTI0_HANDLER)

 /**

  * @brief   EXTI[0] interrupt handler.

diff --git a/os/hal/ports/STM32/STM32F37x/stm32_isr.c b/os/hal/ports/STM32/STM32F37x/stm32_isr.c
index bfb969ce0..222bee1f7 100644
--- a/os/hal/ports/STM32/STM32F37x/stm32_isr.c
+++ b/os/hal/ports/STM32/STM32F37x/stm32_isr.c
@@ -51,7 +51,7 @@
 /* Driver interrupt handlers.                                                */

 /*===========================================================================*/

 

-#if HAL_USE_PAL || defined(__DOXYGEN__)

+#if (HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS))|| defined(__DOXYGEN__)

 #if !defined(STM32_DISABLE_EXTI0_HANDLER)

 /**

  * @brief   EXTI[0] interrupt handler.

diff --git a/os/hal/ports/STM32/STM32F3xx/stm32_isr.c b/os/hal/ports/STM32/STM32F3xx/stm32_isr.c
index bfb969ce0..d9c27b8d2 100644
--- a/os/hal/ports/STM32/STM32F3xx/stm32_isr.c
+++ b/os/hal/ports/STM32/STM32F3xx/stm32_isr.c
@@ -51,7 +51,7 @@
 /* Driver interrupt handlers.                                                */

 /*===========================================================================*/

 

-#if HAL_USE_PAL || defined(__DOXYGEN__)

+#if (HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS)) || defined(__DOXYGEN__)

 #if !defined(STM32_DISABLE_EXTI0_HANDLER)

 /**

  * @brief   EXTI[0] interrupt handler.

@@ -210,7 +210,7 @@ OSAL_IRQ_HANDLER(VectorE0) {
 }

 #endif

 

-#endif /* HAL_USE_PAL */

+#endif /* HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS) */

 

 /*===========================================================================*/

 /* Driver exported functions.                                                */

diff --git a/os/hal/ports/STM32/STM32F4xx/stm32_isr.c b/os/hal/ports/STM32/STM32F4xx/stm32_isr.c
index 9ee6ea16e..1b2126be3 100644
--- a/os/hal/ports/STM32/STM32F4xx/stm32_isr.c
+++ b/os/hal/ports/STM32/STM32F4xx/stm32_isr.c
@@ -51,7 +51,7 @@
 /* Driver interrupt handlers.                                                */

 /*===========================================================================*/

 

-#if HAL_USE_PAL || defined(__DOXYGEN__)

+#if (HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS)) || defined(__DOXYGEN__)

 #if !defined(STM32_DISABLE_EXTI0_HANDLER)

 /**

  * @brief   EXTI[0] interrupt handler.

@@ -210,7 +210,7 @@ OSAL_IRQ_HANDLER(VectorE0) {
 }

 #endif

 

-#endif /* HAL_USE_PAL */

+#endif /* HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS) */

 

 /*===========================================================================*/

 /* Driver exported functions.                                                */

diff --git a/os/hal/ports/STM32/STM32F7xx/stm32_isr.c b/os/hal/ports/STM32/STM32F7xx/stm32_isr.c
index 447d389db..a51705a11 100644
--- a/os/hal/ports/STM32/STM32F7xx/stm32_isr.c
+++ b/os/hal/ports/STM32/STM32F7xx/stm32_isr.c
@@ -51,7 +51,7 @@
 /* Driver interrupt handlers.                                                */

 /*===========================================================================*/

 

-#if HAL_USE_PAL || defined(__DOXYGEN__)

+#if (HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS)) || defined(__DOXYGEN__)

 #if !defined(STM32_DISABLE_EXTI0_HANDLER)

 /**

  * @brief   EXTI[0] interrupt handler.

@@ -210,7 +210,7 @@ OSAL_IRQ_HANDLER(VectorE0) {
 }

 #endif

 

-#endif /* HAL_USE_PAL */

+#endif /* HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS) */

 

 /*===========================================================================*/

 /* Driver exported functions.                                                */

diff --git a/os/hal/ports/STM32/STM32L0xx/stm32_isr.c b/os/hal/ports/STM32/STM32L0xx/stm32_isr.c
index 04c73d850..a471834cb 100644
--- a/os/hal/ports/STM32/STM32L0xx/stm32_isr.c
+++ b/os/hal/ports/STM32/STM32L0xx/stm32_isr.c
@@ -51,7 +51,8 @@
 /* Driver interrupt handlers.                                                */

 /*===========================================================================*/

 

-#if HAL_USE_PAL || defined(__DOXYGEN__)

+#if (HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS)) || defined(__DOXYGEN__)

+#if !defined(STM32_DISABLE_EXTI0_1_HANDLER)

 /**

  * @brief   EXTI[0]...EXTI[1] interrupt handler.

  *

@@ -71,12 +72,14 @@ OSAL_IRQ_HANDLER(Vector54) {
 

   OSAL_IRQ_EPILOGUE();

 }

+#endif

 

 /**

  * @brief   EXTI[2]...EXTI[3] interrupt handler.

  *

  * @isr

  */

+#if !defined(STM32_DISABLE_EXTI2_3_HANDLER)

 OSAL_IRQ_HANDLER(Vector58) {

   uint32_t pr;

 

@@ -91,7 +94,9 @@ OSAL_IRQ_HANDLER(Vector58) {
 

   OSAL_IRQ_EPILOGUE();

 }

+#endif

 

+#if !defined(STM32_DISABLE_EXTI4_15_HANDLER)

 /**

  * @brief   EXTI[4]...EXTI[15] interrupt handler.

  *

@@ -123,8 +128,9 @@ OSAL_IRQ_HANDLER(Vector5C) {
 

   OSAL_IRQ_EPILOGUE();

 }

+#endif

 

-#endif /* HAL_USE_PAL */

+#endif /* HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS) */

 

 /*===========================================================================*/

 /* Driver exported functions.                                                */

diff --git a/os/hal/ports/STM32/STM32L1xx/stm32_isr.c b/os/hal/ports/STM32/STM32L1xx/stm32_isr.c
index 3682c5a8a..6d1a49d0b 100644
--- a/os/hal/ports/STM32/STM32L1xx/stm32_isr.c
+++ b/os/hal/ports/STM32/STM32L1xx/stm32_isr.c
@@ -51,7 +51,7 @@
 /* Driver interrupt handlers.                                                */

 /*===========================================================================*/

 

-#if HAL_USE_PAL || defined(__DOXYGEN__)

+#if (HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS)) || defined(__DOXYGEN__)

 #if !defined(STM32_DISABLE_EXTI0_HANDLER)

 /**

  * @brief   EXTI[0] interrupt handler.

@@ -210,7 +210,7 @@ OSAL_IRQ_HANDLER(VectorE0) {
 }

 #endif

 

-#endif /* HAL_USE_PAL */

+#endif /* HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS) */

 

 /*===========================================================================*/

 /* Driver exported functions.                                                */

diff --git a/os/hal/ports/STM32/STM32L4xx/stm32_isr.c b/os/hal/ports/STM32/STM32L4xx/stm32_isr.c
index f10a7dd9d..f134dc9b3 100644
--- a/os/hal/ports/STM32/STM32L4xx/stm32_isr.c
+++ b/os/hal/ports/STM32/STM32L4xx/stm32_isr.c
@@ -51,7 +51,7 @@
 /* Driver interrupt handlers.                                                */

 /*===========================================================================*/

 

-#if HAL_USE_PAL || defined(__DOXYGEN__)

+#if (HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS)) || defined(__DOXYGEN__)

 #if !defined(STM32_DISABLE_EXTI0_HANDLER)

 /**

  * @brief   EXTI[0] interrupt handler.

@@ -210,7 +210,7 @@ OSAL_IRQ_HANDLER(VectorE0) {
 }

 #endif

 

-#endif /* HAL_USE_PAL */

+#endif /* HAL_USE_PAL && (PAL_USE_WAIT || PAL_USE_CALLBACKS) */

 

 /*===========================================================================*/

 /* Driver exported functions.                                                */

diff --git a/os/hal/src/hal_pal.c b/os/hal/src/hal_pal.c
index 12b06abd0..9cffc6d69 100644
--- a/os/hal/src/hal_pal.c
+++ b/os/hal/src/hal_pal.c
@@ -117,6 +117,42 @@ void palSetBusMode(IOBus *bus, iomode_t mode) {
   palSetGroupMode(bus->portid, bus->mask, bus->offset, mode);

 }

 

+#if PAL_USE_CALLBACKS || defined(__DOXYGEN__)

+/**

+ * @brief   Associates a callback to a port/pad.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ * @param[in] callback  event callback function

+ * @param[in] arg       callback argument

+ *

+ * @api

+ */

+void palSetPadCallbackI(ioportid_t port, iopadid_t pad,

+                        palcallback_t cb, void *arg) {

+

+  palevent_t *pep = pal_lld_get_pad_event(port, pad);

+  pep->cb = cb;

+  pep->arg = arg;

+}

+

+/**

+ * @brief   Associates a callback to a line.

+ *

+ * @param[in] line      line identifier

+ * @param[in] callback  event callback function

+ * @param[in] arg       callback argument

+ *

+ * @api

+ */

+void palSetLineCallbackI(ioline_t line, palcallback_t cb, void *arg) {

+

+  palevent_t *pep = pal_lld_get_line_event(line);

+  pep->cb = cb;

+  pep->arg = arg;

+}

+#endif /* PAL_USE_CALLBACKS */

+

 #if PAL_USE_WAIT || defined(__DOXYGEN__)

 /**

  * @brief   Waits for an edge on the specified port/pad.

diff --git a/testhal/STM32/multi/PAL/main.c b/testhal/STM32/multi/PAL/main.c
index a5646c1b2..bc1489cb2 100644
--- a/testhal/STM32/multi/PAL/main.c
+++ b/testhal/STM32/multi/PAL/main.c
@@ -63,8 +63,7 @@ int main(void) {
 #endif

 

   /* Enabling events on both edges of the button line.*/

-  palEnableLineEvent(PORTAB_LINE_BUTTON, PAL_EVENT_MODE_BOTH_EDGES,

-                     NULL, NULL);

+  palEnableLineEvent(PORTAB_LINE_BUTTON, PAL_EVENT_MODE_BOTH_EDGES);

 

   /*

    * Normal main() thread activity.

@@ -83,7 +82,9 @@ int main(void) {
   }

 }

 

-#else /* !PAL_USE_WAIT */

+#endif /* PAL_USE_WAIT */

+

+#if !PAL_USE_WAIT && PAL_USE_CALLBACKS

 

 static event_source_t button_pressed_event;

 static event_source_t button_released_event;

@@ -132,8 +133,8 @@ int main(void) {
 #endif

 

   /* Enabling events on both edges of the button line.*/

-  palEnableLineEvent(PORTAB_LINE_BUTTON, PAL_EVENT_MODE_BOTH_EDGES,

-                     button_cb, NULL);

+  palEnableLineEvent(PORTAB_LINE_BUTTON, PAL_EVENT_MODE_BOTH_EDGES);

+  palSetLineCallback(PORTAB_LINE_BUTTON, button_cb, NULL);

 

   /*

    * Normal main() thread activity.

@@ -150,5 +151,37 @@ int main(void) {
     }

   }

 }

-#endif /* !PAL_USE_WAIT */

+#endif /* !PAL_USE_WAIT && PAL_USE_CALLBACKS */

+

+#if !PAL_USE_WAIT && !PAL_USE_CALLBACKS

+/*

+ * Application entry point.

+ */

+int main(void) {

 

+  /*

+   * System initializations.

+   * - HAL initialization, this also initializes the configured device drivers

+   *   and performs the board-specific initializations.

+   * - Kernel initialization, the main() function becomes a thread and the

+   *   RTOS is active.

+   */

+  halInit();

+  chSysInit();

+

+#if defined(PORTAB_LINE_LED2)

+  /*

+   * Creates the blinker thread.

+   */

+  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);

+#endif

+

+  /*

+   * Normal main() thread activity.

+   */

+  while (true) {

+    palToggleLine(PORTAB_LINE_LED1);

+    chThdSleepMilliseconds(500);

+  }

+}

+#endif /* !PAL_USE_WAIT && !PAL_USE_CALLBACKS */