git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7448 35acf78f-673a-0410-8e92-d51de3d6d3f4

8 files changed, 1023 insertions, 1 deletions

diff --git a/os/hal/templates/adc_lld.c b/os/hal/templates/adc_lld.c
new file mode 100644
index 000000000..e6826d9ed
--- /dev/null
+++ b/os/hal/templates/adc_lld.c
@@ -0,0 +1,142 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    templates/adc_lld.c

+ * @brief   ADC Driver subsystem low level driver source template.

+ *

+ * @addtogroup ADC

+ * @{

+ */

+

+#include "ch.h"

+#include "hal.h"

+

+#if HAL_USE_ADC || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver local definitions.                                                 */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   ADC1 driver identifier.

+ */

+#if PLATFORM_ADC_USE_ADC1 || defined(__DOXYGEN__)

+ADCDriver ADCD1;

+#endif

+

+/*===========================================================================*/

+/* Driver local variables and types.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver interrupt handlers.                                                */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Low level ADC driver initialization.

+ *

+ * @notapi

+ */

+void adc_lld_init(void) {

+

+#if PLATFORM_ADC_USE_ADC1

+  /* Driver initialization.*/

+  adcObjectInit(&ADCD1);

+#endif /* PLATFORM_ADC_USE_ADC1 */

+}

+

+/**

+ * @brief   Configures and activates the ADC peripheral.

+ *

+ * @param[in] adcp      pointer to the @p ADCDriver object

+ *

+ * @notapi

+ */

+void adc_lld_start(ADCDriver *adcp) {

+

+  if (adcp->state == ADC_STOP) {

+    /* Enables the peripheral.*/

+#if PLATFORM_ADC_USE_ADC1

+    if (&ADCD1 == adcp) {

+

+    }

+#endif /* PLATFORM_ADC_USE_ADC1 */

+  }

+  /* Configures the peripheral.*/

+

+}

+

+/**

+ * @brief   Deactivates the ADC peripheral.

+ *

+ * @param[in] adcp      pointer to the @p ADCDriver object

+ *

+ * @notapi

+ */

+void adc_lld_stop(ADCDriver *adcp) {

+

+  if (adcp->state == ADC_READY) {

+    /* Resets the peripheral.*/

+

+    /* Disables the peripheral.*/

+#if PLATFORM_ADC_USE_ADC1

+    if (&ADCD1 == adcp) {

+

+    }

+#endif /* PLATFORM_ADC_USE_ADC1 */

+  }

+}

+

+/**

+ * @brief   Starts an ADC conversion.

+ *

+ * @param[in] adcp      pointer to the @p ADCDriver object

+ *

+ * @notapi

+ */

+void adc_lld_start_conversion(ADCDriver *adcp) {

+

+  (void)adcp;

+}

+

+/**

+ * @brief   Stops an ongoing conversion.

+ *

+ * @param[in] adcp      pointer to the @p ADCDriver object

+ *

+ * @notapi

+ */

+void adc_lld_stop_conversion(ADCDriver *adcp) {

+

+  (void)adcp;

+}

+

+#endif /* HAL_USE_ADC */

+

+/** @} */

diff --git a/os/hal/templates/adc_lld.h b/os/hal/templates/adc_lld.h
new file mode 100644
index 000000000..c7b4ca9cf
--- /dev/null
+++ b/os/hal/templates/adc_lld.h
@@ -0,0 +1,213 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    templates/adc_lld.h

+ * @brief   ADC Driver subsystem low level driver header template.

+ *

+ * @addtogroup ADC

+ * @{

+ */

+

+#ifndef _ADC_LLD_H_

+#define _ADC_LLD_H_

+

+#if HAL_USE_ADC || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver constants.                                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/**

+ * @name    Configuration options

+ * @{

+ */

+/**

+ * @brief   ADC1 driver enable switch.

+ * @details If set to @p TRUE the support for ADC1 is included.

+ * @note    The default is @p FALSE.

+ */

+#if !defined(PLATFORM_ADC_USE_ADC1) || defined(__DOXYGEN__)

+#define PLATFORM_ADC_USE_ADC1               FALSE

+#endif

+/** @} */

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver data structures and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   ADC sample data type.

+ */

+typedef uint16_t adcsample_t;

+

+/**

+ * @brief   Channels number in a conversion group.

+ */

+typedef uint16_t adc_channels_num_t;

+

+/**

+ * @brief   Possible ADC failure causes.

+ * @note    Error codes are architecture dependent and should not relied

+ *          upon.

+ */

+typedef enum {

+  ADC_ERR_DMAFAILURE = 0,                   /**< DMA operations failure.    */

+  ADC_ERR_OVERFLOW = 1                      /**< ADC overflow condition.    */

+} adcerror_t;

+

+/**

+ * @brief   Type of a structure representing an ADC driver.

+ */

+typedef struct ADCDriver ADCDriver;

+

+/**

+ * @brief   ADC notification callback type.

+ *

+ * @param[in] adcp      pointer to the @p ADCDriver object triggering the

+ *                      callback

+ * @param[in] buffer    pointer to the most recent samples data

+ * @param[in] n         number of buffer rows available starting from @p buffer

+ */

+typedef void (*adccallback_t)(ADCDriver *adcp, adcsample_t *buffer, size_t n);

+

+/**

+ * @brief   ADC error callback type.

+ *

+ * @param[in] adcp      pointer to the @p ADCDriver object triggering the

+ *                      callback

+ * @param[in] err       ADC error code

+ */

+typedef void (*adcerrorcallback_t)(ADCDriver *adcp, adcerror_t err);

+

+/**

+ * @brief   Conversion group configuration structure.

+ * @details This implementation-dependent structure describes a conversion

+ *          operation.

+ * @note    Implementations may extend this structure to contain more,

+ *          architecture dependent, fields.

+ */

+typedef struct {

+  /**

+   * @brief   Enables the circular buffer mode for the group.

+   */

+  bool_t                    circular;

+  /**

+   * @brief   Number of the analog channels belonging to the conversion group.

+   */

+  adc_channels_num_t        num_channels;

+  /**

+   * @brief   Callback function associated to the group or @p NULL.

+   */

+  adccallback_t             end_cb;

+  /**

+   * @brief   Error callback or @p NULL.

+   */

+  adcerrorcallback_t        error_cb;

+  /* End of the mandatory fields.*/

+} ADCConversionGroup;

+

+/**

+ * @brief   Driver configuration structure.

+ * @note    It could be empty on some architectures.

+ */

+typedef struct {

+  uint32_t                  dummy;

+} ADCConfig;

+

+/**

+ * @brief   Structure representing an ADC driver.

+ */

+struct ADCDriver {

+  /**

+   * @brief   Driver state.

+   */

+  adcstate_t                state;

+  /**

+   * @brief   Current configuration data.

+   */

+  const ADCConfig           *config;

+  /**

+   * @brief   Current samples buffer pointer or @p NULL.

+   */

+  adcsample_t               *samples;

+  /**

+   * @brief   Current samples buffer depth or @p 0.

+   */

+  size_t                    depth;

+  /**

+   * @brief   Current conversion group pointer or @p NULL.

+   */

+  const ADCConversionGroup  *grpp;

+#if ADC_USE_WAIT || defined(__DOXYGEN__)

+  /**

+   * @brief   Waiting thread.

+   */

+  Thread                    *thread;

+#endif

+#if ADC_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)

+#if CH_USE_MUTEXES || defined(__DOXYGEN__)

+  /**

+   * @brief   Mutex protecting the peripheral.

+   */

+  Mutex                     mutex;

+#elif CH_USE_SEMAPHORES

+  Semaphore                 semaphore;

+#endif

+#endif /* ADC_USE_MUTUAL_EXCLUSION */

+#if defined(ADC_DRIVER_EXT_FIELDS)

+  ADC_DRIVER_EXT_FIELDS

+#endif

+  /* End of the mandatory fields.*/

+};

+

+/*===========================================================================*/

+/* Driver macros.                                                            */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#if PLATFORM_ADC_USE_ADC1 && !defined(__DOXYGEN__)

+extern ADCDriver ADCD1;

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void adc_lld_init(void);

+  void adc_lld_start(ADCDriver *adcp);

+  void adc_lld_stop(ADCDriver *adcp);

+  void adc_lld_start_conversion(ADCDriver *adcp);

+  void adc_lld_stop_conversion(ADCDriver *adcp);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* HAL_USE_ADC */

+

+#endif /* _ADC_LLD_H_ */

+

+/** @} */

diff --git a/os/hal/templates/can_lld.c b/os/hal/templates/can_lld.c
new file mode 100644
index 000000000..d095a645e
--- /dev/null
+++ b/os/hal/templates/can_lld.c
@@ -0,0 +1,243 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    templates/can_lld.c

+ * @brief   CAN Driver subsystem low level driver source template.

+ *

+ * @addtogroup CAN

+ * @{

+ */

+

+#include "ch.h"

+#include "hal.h"

+

+#if HAL_USE_CAN || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver local definitions.                                                 */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   CAN1 driver identifier.

+ */

+#if PLATFORM_CAN_USE_CAN1 || defined(__DOXYGEN__)

+CANDriver CAND1;

+#endif

+

+/*===========================================================================*/

+/* Driver local variables and types.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver interrupt handlers.                                                */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Low level CAN driver initialization.

+ *

+ * @notapi

+ */

+void can_lld_init(void) {

+

+#if PLATFORM_CAN_USE_CAN1

+  /* Driver initialization.*/

+  canObjectInit(&CAND1);

+#endif /* PLATFORM_CAN_USE_CAN1 */

+}

+

+/**

+ * @brief   Configures and activates the CAN peripheral.

+ *

+ * @param[in] canp      pointer to the @p CANDriver object

+ *

+ * @notapi

+ */

+void can_lld_start(CANDriver *canp) {

+

+  if (canp->state == CAN_STOP) {

+    /* Enables the peripheral.*/

+#if PLATFORM_CAN_USE_CAN1

+    if (&CAND1 == canp) {

+

+    }

+#endif /* PLATFORM_CAN_USE_CAN1 */

+  }

+  /* Configures the peripheral.*/

+

+}

+

+/**

+ * @brief   Deactivates the CAN peripheral.

+ *

+ * @param[in] canp      pointer to the @p CANDriver object

+ *

+ * @notapi

+ */

+void can_lld_stop(CANDriver *canp) {

+

+  if (canp->state == CAN_READY) {

+    /* Resets the peripheral.*/

+

+    /* Disables the peripheral.*/

+#if PLATFORM_CAN_USE_CAN1

+    if (&CAND1 == canp) {

+

+    }

+#endif /* PLATFORM_CAN_USE_CAN1 */

+  }

+}

+

+/**

+ * @brief   Determines whether a frame can be transmitted.

+ *

+ * @param[in] canp      pointer to the @p CANDriver object

+ * @param[in] mailbox   mailbox number, @p CAN_ANY_MAILBOX for any mailbox

+ *

+ * @return              The queue space availability.

+ * @retval FALSE        no space in the transmit queue.

+ * @retval TRUE         transmit slot available.

+ *

+ * @notapi

+ */

+bool_t can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox) {

+

+  (void)canp;

+

+  switch (mailbox) {

+  case CAN_ANY_MAILBOX:

+    return FALSE;

+  case 1:

+    return FALSE;

+  case 2:

+    return FALSE;

+  case 3:

+    return FALSE;

+  default:

+    return FALSE;

+  }

+}

+

+/**

+ * @brief   Inserts a frame into the transmit queue.

+ *

+ * @param[in] canp      pointer to the @p CANDriver object

+ * @param[in] ctfp      pointer to the CAN frame to be transmitted

+ * @param[in] mailbox   mailbox number,  @p CAN_ANY_MAILBOX for any mailbox

+ *

+ * @notapi

+ */

+void can_lld_transmit(CANDriver *canp,

+                      canmbx_t mailbox,

+                      const CANTxFrame *ctfp) {

+

+  (void)canp;

+  (void)mailbox;

+  (void)ctfp;

+

+}

+

+/**

+ * @brief   Determines whether a frame has been received.

+ *

+ * @param[in] canp      pointer to the @p CANDriver object

+ * @param[in] mailbox   mailbox number, @p CAN_ANY_MAILBOX for any mailbox

+ *

+ * @return              The queue space availability.

+ * @retval FALSE        no space in the transmit queue.

+ * @retval TRUE         transmit slot available.

+ *

+ * @notapi

+ */

+bool_t can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) {

+

+  (void)canp;

+  (void)mailbox;

+

+  switch (mailbox) {

+  case CAN_ANY_MAILBOX:

+    return FALSE;

+  case 1:

+    return FALSE;

+  case 2:

+    return FALSE;

+  default:

+    return FALSE;

+  }

+}

+

+/**

+ * @brief   Receives a frame from the input queue.

+ *

+ * @param[in] canp      pointer to the @p CANDriver object

+ * @param[in] mailbox   mailbox number, @p CAN_ANY_MAILBOX for any mailbox

+ * @param[out] crfp     pointer to the buffer where the CAN frame is copied

+ *

+ * @notapi

+ */

+void can_lld_receive(CANDriver *canp,

+                     canmbx_t mailbox,

+                     CANRxFrame *crfp) {

+

+  (void)canp;

+  (void)mailbox;

+  (void)crfp;

+

+}

+

+#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)

+/**

+ * @brief   Enters the sleep mode.

+ *

+ * @param[in] canp      pointer to the @p CANDriver object

+ *

+ * @notapi

+ */

+void can_lld_sleep(CANDriver *canp) {

+

+  (void)canp;

+

+}

+

+/**

+ * @brief   Enforces leaving the sleep mode.

+ *

+ * @param[in] canp      pointer to the @p CANDriver object

+ *

+ * @notapi

+ */

+void can_lld_wakeup(CANDriver *canp) {

+

+  (void)canp;

+

+}

+#endif /* CAN_USE_SLEEP_MODE */

+

+#endif /* HAL_USE_CAN */

+

+/** @} */

diff --git a/os/hal/templates/can_lld.h b/os/hal/templates/can_lld.h
new file mode 100644
index 000000000..bfa9bb1e5
--- /dev/null
+++ b/os/hal/templates/can_lld.h
@@ -0,0 +1,255 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    templates/can_lld.h

+ * @brief   CAN Driver subsystem low level driver header template.

+ *

+ * @addtogroup CAN

+ * @{

+ */

+

+#ifndef _CAN_LLD_H_

+#define _CAN_LLD_H_

+

+#if HAL_USE_CAN || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver constants.                                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   This switch defines whether the driver implementation supports

+ *          a low power switch mode with automatic an wakeup feature.

+ */

+#define CAN_SUPPORTS_SLEEP          TRUE

+

+/**

+ * @brief   This implementation supports three transmit mailboxes.

+ */

+#define CAN_TX_MAILBOXES            3

+

+/**

+ * @brief   This implementation supports two receive mailboxes.

+ */

+#define CAN_RX_MAILBOXES            2

+

+/*===========================================================================*/

+/* Driver pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/**

+ * @name    Configuration options

+ * @{

+ */

+/**

+ * @brief   CAN1 driver enable switch.

+ * @details If set to @p TRUE the support for CAN1 is included.

+ */

+#if !defined(PLATFORM_CAN_USE_CAN1) || defined(__DOXYGEN__)

+#define PLATFORM_CAN_USE_CAN1               FALSE

+#endif

+/** @} */

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+#if CAN_USE_SLEEP_MODE && !CAN_SUPPORTS_SLEEP

+#error "CAN sleep mode not supported in this architecture"

+#endif

+

+/*===========================================================================*/

+/* Driver data structures and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   Type of a transmission mailbox index.

+ */

+typedef uint32_t canmbx_t;

+

+/**

+ * @brief   CAN transmission frame.

+ * @note    Accessing the frame data as word16 or word32 is not portable because

+ *          machine data endianness, it can be still useful for a quick filling.

+ */

+typedef struct {

+  struct {

+    uint8_t                 DLC:4;          /**< @brief Data length.        */

+    uint8_t                 RTR:1;          /**< @brief Frame type.         */

+    uint8_t                 IDE:1;          /**< @brief Identifier type.    */

+  };

+  union {

+    struct {

+      uint32_t              SID:11;         /**< @brief Standard identifier.*/

+    };

+    struct {

+      uint32_t              EID:29;         /**< @brief Extended identifier.*/

+    };

+  };

+  union {

+    uint8_t                 data8[8];       /**< @brief Frame data.         */

+    uint16_t                data16[4];      /**< @brief Frame data.         */

+    uint32_t                data32[2];      /**< @brief Frame data.         */

+  };

+} CANTxFrame;

+

+/**

+ * @brief   CAN received frame.

+ * @note    Accessing the frame data as word16 or word32 is not portable because

+ *          machine data endianness, it can be still useful for a quick filling.

+ */

+typedef struct {

+  struct {

+    uint8_t                 DLC:4;          /**< @brief Data length.        */

+    uint8_t                 RTR:1;          /**< @brief Frame type.         */

+    uint8_t                 IDE:1;          /**< @brief Identifier type.    */

+  };

+  union {

+    struct {

+      uint32_t              SID:11;         /**< @brief Standard identifier.*/

+    };

+    struct {

+      uint32_t              EID:29;         /**< @brief Extended identifier.*/

+    };

+  };

+  union {

+    uint8_t                 data8[8];       /**< @brief Frame data.         */

+    uint16_t                data16[4];      /**< @brief Frame data.         */

+    uint32_t                data32[2];      /**< @brief Frame data.         */

+  };

+} CANRxFrame;

+

+/**

+ * @brief   CAN filter.

+ * @note    Implementations may extend this structure to contain more,

+ *          architecture dependent, fields.

+ * @note    It could not be present on some architectures.

+ */

+typedef struct {

+  uint32_t                  dummy;

+} CANFilter;

+

+/**

+ * @brief   Driver configuration structure.

+ * @note    Implementations may extend this structure to contain more,

+ *          architecture dependent, fields.

+ * @note    It could be empty on some architectures.

+ */

+typedef struct {

+  uint32_t                  dummy;

+} CANConfig;

+

+/**

+ * @brief   Structure representing an CAN driver.

+ */

+typedef struct {

+  /**

+   * @brief   Driver state.

+   */

+  canstate_t                state;

+  /**

+   * @brief   Current configuration data.

+   */

+  const CANConfig           *config;

+  /**

+   * @brief   Transmission queue semaphore.

+   */

+  Semaphore                 txsem;

+  /**

+   * @brief   Receive queue semaphore.

+   */

+  Semaphore                 rxsem;

+  /**

+   * @brief   One or more frames become available.

+   * @note    After broadcasting this event it will not be broadcasted again

+   *          until the received frames queue has been completely emptied. It

+   *          is <b>not</b> broadcasted for each received frame. It is

+   *          responsibility of the application to empty the queue by

+   *          repeatedly invoking @p chReceive() when listening to this event.

+   *          This behavior minimizes the interrupt served by the system

+   *          because CAN traffic.

+   * @note    The flags associated to the listeners will indicate which

+   *          receive mailboxes become non-empty.

+   */

+  EventSource               rxfull_event;

+  /**

+   * @brief   One or more transmission mailbox become available.

+   * @note    The flags associated to the listeners will indicate which

+   *          transmit mailboxes become empty.

+   *

+   */

+  EventSource               txempty_event;

+  /**

+   * @brief   A CAN bus error happened.

+   * @note    The flags associated to the listeners will indicate the

+   *          error(s) that have occurred.

+   */

+  EventSource               error_event;

+#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)

+  /**

+   * @brief   Entering sleep state event.

+   */

+  EventSource               sleep_event;

+  /**

+   * @brief   Exiting sleep state event.

+   */

+  EventSource               wakeup_event;

+#endif /* CAN_USE_SLEEP_MODE */

+  /* End of the mandatory fields.*/

+} CANDriver;

+

+/*===========================================================================*/

+/* Driver macros.                                                            */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#if PLATFORM_CAN_USE_CAN1 && !defined(__DOXYGEN__)

+extern CANDriver CAND1;

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void can_lld_init(void);

+  void can_lld_start(CANDriver *canp);

+  void can_lld_stop(CANDriver *canp);

+  bool_t can_lld_is_tx_empty(CANDriver *canp,

+                             canmbx_t mailbox);

+  void can_lld_transmit(CANDriver *canp,

+                        canmbx_t mailbox,

+                        const CANTxFrame *crfp);

+  bool_t can_lld_is_rx_nonempty(CANDriver *canp,

+                                canmbx_t mailbox);

+  void can_lld_receive(CANDriver *canp,

+                       canmbx_t mailbox,

+                       CANRxFrame *ctfp);

+#if CAN_USE_SLEEP_MODE

+  void can_lld_sleep(CANDriver *canp);

+  void can_lld_wakeup(CANDriver *canp);

+#endif /* CAN_USE_SLEEP_MODE */

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* HAL_USE_CAN */

+

+#endif /* _CAN_LLD_H_ */

+

+/** @} */

diff --git a/os/hal/templates/hal_lld.c b/os/hal/templates/hal_lld.c
new file mode 100644
index 000000000..7494ee1df
--- /dev/null
+++ b/os/hal/templates/hal_lld.c
@@ -0,0 +1,60 @@
+/*

+    ChibiOS/HAL - Copyright (C) 2006-2014 Giovanni Di Sirio

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    PLATFORM/hal_lld.c

+ * @brief   PLATFORM HAL subsystem low level driver source.

+ *

+ * @addtogroup HAL

+ * @{

+ */

+

+#include "hal.h"

+

+/*===========================================================================*/

+/* Driver local definitions.                                                 */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local variables and types.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver interrupt handlers.                                                */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Low level HAL driver initialization.

+ *

+ * @notapi

+ */

+void hal_lld_init(void) {

+

+}

+

+/** @} */

diff --git a/os/hal/templates/hal_lld.h b/os/hal/templates/hal_lld.h
new file mode 100644
index 000000000..3243aaa55
--- /dev/null
+++ b/os/hal/templates/hal_lld.h
@@ -0,0 +1,81 @@
+/*

+    ChibiOS/HAL - Copyright (C) 2006-2014 Giovanni Di Sirio

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    PLATFORM/hal_lld.h

+ *

+ * @addtogroup HAL

+ * @{

+ */

+

+#ifndef _HAL_LLD_H_

+#define _HAL_LLD_H_

+

+/*===========================================================================*/

+/* Driver constants.                                                         */

+/*===========================================================================*/

+

+/**

+ * @name    Platform identification macros

+ * @{

+ */

+#define PLATFORM_NAME           "templates"

+/** @} */

+

+/*===========================================================================*/

+/* Driver pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/**

+ * @name    Configuration options

+ * @{

+ */

+/** @} */

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+/*

+ * Configuration-related checks.

+ */

+#if !defined(PLATFORM_MCUCONF)

+#error "Using a wrong mcuconf.h file, PLATFORM_MCUCONF not defined"

+#endif

+

+/*===========================================================================*/

+/* Driver data structures and types.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver macros.                                                            */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void hal_lld_init(void);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* _HAL_LLD_H_ */

+

+/** @} */

diff --git a/os/hal/templates/osal.h b/os/hal/templates/osal.h
index d57c484b3..7212bdf65 100644
--- a/os/hal/templates/osal.h
+++ b/os/hal/templates/osal.h
@@ -96,7 +96,7 @@ typedef uint32_t systime_t;
 /**

  * @brief   Type of a thread reference.

  */

-typedef thread_t * thread_reference_t;

+typedef void * thread_reference_t;

 

 /**

  * @brief   Type of an event flags mask.

@@ -268,6 +268,7 @@ static inline void osalSysUnlockFromISR(void) {
  */

 static inline osal_sts_t osalSysGetStatusAndLock(void) {

 

+  return 0;

 }

 

 /**

@@ -281,6 +282,7 @@ static inline osal_sts_t osalSysGetStatusAndLock(void) {
  */

 static inline void osalSysSetStatus(osal_sts_t sts) {

 

+  (void)sts;

 }

 

 /**

@@ -310,6 +312,7 @@ static inline void osalOsRescheduleS(void) {
  */

 inline void osalThreadSleepS(systime_t time) {

 

+  (void)time;

 }

 

 /**

@@ -326,6 +329,7 @@ inline void osalThreadSleepS(systime_t time) {
  */

 void osalThreadSleep(systime_t time) {

 

+  (void)time;

 }

 

 /**

@@ -468,6 +472,7 @@ static inline void osalMutexUnlock(mutex_t *mp) {
  */

 static inline void osalQueueInit(threads_queue_t *tqp) {

 

+  (void)tqp;

 }

 

 /**

@@ -480,6 +485,8 @@ static inline void osalQueueInit(threads_queue_t *tqp) {
  */

 static inline void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {

 

+  (void)tqp;

+  (void)msg;

 }

 

 /**

@@ -492,6 +499,8 @@ static inline void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {
  */

 static inline void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {

 

+  (void)tqp;

+  (void)msg;

 }

 

 #endif /* _OSAL_H_ */

diff --git a/os/hal/templates/platform.mk b/os/hal/templates/platform.mk
new file mode 100644
index 000000000..80624fa14
--- /dev/null
+++ b/os/hal/templates/platform.mk
@@ -0,0 +1,19 @@
+# List of all the template platform files.

+PLATFORMSRC = ${CHIBIOS}/os/hal/templates/hal_lld.c \

+              ${CHIBIOS}/os/hal/templates/adc_lld.c \

+              ${CHIBIOS}/os/hal/templates/can_lld.c \

+              ${CHIBIOS}/os/hal/templates/ext_lld.c \

+              ${CHIBIOS}/os/hal/templates/gpt_lld.c \

+ 			  ${CHIBIOS}/os/hal/templates/i2c_lld.c \

+              ${CHIBIOS}/os/hal/templates/icu_lld.c \

+              ${CHIBIOS}/os/hal/templates/mac_lld.c \

+              ${CHIBIOS}/os/hal/templates/pal_lld.c \

+              ${CHIBIOS}/os/hal/templates/pwm_lld.c \

+              ${CHIBIOS}/os/hal/templates/sdc_lld.c \

+              ${CHIBIOS}/os/hal/templates/serial_lld.c \

+              ${CHIBIOS}/os/hal/templates/spi_lld.c \

+              ${CHIBIOS}/os/hal/templates/uart_lld.c \

+              ${CHIBIOS}/os/hal/templates/usb_lld.c

+

+# Required include directories

+PLATFORMINC = ${CHIBIOS}/os/hal/templates