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+/**

+ * @mainpage ChibiOS/RT

+ * @author Giovanni Di Sirio (gdisirio@chibios.sourceforge.net).

+ * @section Chibi Chibi ?

+ * It is the Japanese word for small as in small child. So ChibiOS/RT

+ * \htmlonly (<span class="t_nihongo_kanji" xml:lang="ja" lang="ja">&#12385;&#12403;</span>OS/RT) \endhtmlonly

+ * means small Real Time Operating System.

+ * Source <a href="http://en.wikipedia.org/wiki/Chibi" target="_blank">Wikipedia</a>.

+ * @section ch_features Features

+ * <ul>

+ * <li>Free software, GPL3 licensed.</li>

+ * <li>Designed for realtime applications.</li>

+ * <li>Easily portable.</li>

+ * <li>Mixed programming model:</li>

+ *   <ul>

+ *   <li>Synchronous, using semaphores and/or messages.</li>

+ *   <li>Asynchronous, using event sources.</li>

+ *   <li>Mix of the above models, multiple threads listening to multiple event

+ *       sources while serving message queues.</li>

+ *   </ul>

+ * <li>PC simulator target included, the development can be done on the PC

+ *     using MinGW or VS.

+ *     Timers, I/O channels and other HW resources are simulated in a

+ *     Win32 process and the application code does not need to be aware of it.

+ *     MinGW and VS demos available and ready to go, use them as templates for

+ *     your application.</li>

+ * <li>Unlimited number of threads.</li>

+ * <li>Unlimited number of virtual timers.</li>

+ * <li>Unlimited number of semaphores.</li>

+ * <li>Unlimited number of event sources.</li>

+ * <li>Unlimited number of messages in queue.</li>

+ * <li>Unlimited number of I/O queues.</li>

+ * <li>No static setup at compile time, there is no need to configure a maximum

+ *     number of all the above resources.</li>

+ * <li>No *need* for a memory allocator, all the kernel structures are static

+ *     and declaratively allocated. A memory allocator can be used in your

+ *     application but it is not required by the ChibiOS/RT itself.</li>

+ * <li>Threads, Semaphores, Event Sources, Virtual Timers creation/deletion at

+ *     runtime.</li>

+ * <li>Blocking and non blocking I/O channels with timeout and events generation

+ *     capability.</li>

+ * <li>Pre-emptive scheduling.</li>

+ * <li>Minimal system requirements: about 8KiB ROM with all options enabled and

+ *     speed optimizations on. The size can shrink under 2KiB by disabling the

+ *     the unused subsystems and optimizing for size.</li>

+ * <li>Small memory footprint, unused subsystems can be excluded by the

+ *     memory image.</li>

+ * <li>Almost totally written in C with little ASM code required for ports.</li>

+ * </ul>

+ */

+

+/**

+ * @defgroup Kernel Kernel

+ * @{

+ */

+/** @} */

+

+/**

+ * @defgroup Config Configuration

+ * @{

+ * In \p chconf.h are defined the required subsystems for your application.

+ * @ingroup Kernel

+ * @file chconf.h ChibiOS/RT configuration file.

+ */

+/** @} */

+

+/**

+ * @defgroup Core Core

+ * @{

+ * Non portable code.

+ * @ingroup Kernel

+ * @file chcore.c Non portable code.

+ */

+/** @} */

+

+/**

+ * @defgroup Initialization Initialization

+ * @{

+ * Initialization APIs and procedures.

+ * @ingroup Kernel

+ * @file ch.h ChibiOS/RT main include file, it includes everything else.

+ * @file chinit.c ChibiOS/RT Initialization code.

+ */

+/** @} */

+

+/**

+ * @defgroup Scheduler Scheduler

+ * @{

+ * ChibiOS/RT scheduler.

+ * @ingroup Kernel

+ * @file chschd.c Scheduler code.

+ * @file scheduler.h Scheduler macros and structures.

+ */

+/** @} */

+

+/**

+ * @defgroup Threads Threads

+ * @{

+ * Threads creation and termination APIs.

+ * @file threads.h Threads structures, macros and functions.

+ * @file chthreads.c Threads code.

+ */

+/** @} */

+

+/**

+ * @defgroup VirtualTimers Virtual Timers

+ * @{

+ * Virtual Timers APIs.

+ * In order to use the Virtual Timers the \p CH_USE_VIRTUAL_TIMERS option

+ * must be specified in \p chconf.h.

+ * @file src/chdelta.c Virtual Timers code.

+ * @file delta.h Virtual Timers macros and structures.

+ */

+/** @} */

+

+/**

+ * @defgroup Time Time

+ * @{

+ * Time related APIs.

+ * In order to use the Time APIs the \p CH_USE_SLEEP

+ * option must be specified in \p chconf.h.

+ * @file include/sleep.h Time macros and structures.

+ * @file chsleep.c Time functions.

+ */

+/** @} */

+

+/**

+ * @defgroup Semaphores Semaphores

+ * @{

+ * Semaphores and threads synchronization.

+ * <b>Operation mode</b><br><br>

+ * A semaphore is a threads synchronization object, some operations

+ * are defined on semaphores:<br>

+ * <ul>

+ * <li><b>Signal</b>: The semaphore counter is increased and if the result

+ *     is non-positive then a waiting thread is removed from the semaphore

+ *     queue and made ready for execution.</li>

+ * <li><b>Wait</b>: The semaphore counter is decreased and if the result

+ *     becomes negative the thread is queued in the semaphore and suspended.

+ *     </li>

+ * <li><b>Reset</b>: The semaphore counter is reset to a non-negative value

+ *     and all the threads in the queue are released.</li>

+ * </ul>

+ * Semaphores are mainly used as guards for mutual exclusion code zones but

+ * also have other uses, queues guards and counters as example.<br>

+ * In order to use the Semaphores APIs the \p CH_USE_SEMAPHORES

+ * option must be specified in \p chconf.h.<br><br>

+ * <b>Realtime Semaphores</b><br><br>

+ * The RT Semaphores work exactly like normal semaphores except that the

+ * thread gaining access to a mutex zone receives a priority boost, the

+ * priority is increased by \p MEPRIO and becomes higher than any thread that

+ * does not have the boost, note that all the boosted threads still keep their

+ * relative priorities.<br>

+ * Another difference is that the threads are queued by priority when trying

+ * to acquire RT semaphores, normal semaphores use a FIFO strategy.<br>

+ * The reason of this mechanism is to make the threads leave very critical

+ * guarded zones in a predictable time. Use this mechanism if your application

+ * has very strong realtime requirements.<br>

+ * In order to use the RT Semaphores APIs the \p CH_USE_RT_SEMAPHORES

+ * option must be specified in \p chconf.h.<br>

+ * This mechanism is <b>experimental</b>.

+ * @file semaphores.h Semaphores macros and structures.

+ * @file chsem.c Semaphores code.

+ */

+/** @} */

+

+/**

+ * @defgroup Events Events

+ * @{

+ * Event Sources and Event Listeners.<br>

+ * <b>Operation mode</b><br><br>

+ * An Event Source is a special object that can be signaled by a thread or

+ * an interrupt service routine. Signaling an Event Source has the effect

+ * that all the threads registered on the Event Source will receive

+ * and serve the event.<br>

+ * An unlimited number of Event Sources can exists in a system and each

+ * thread can listen on an unlimited number of them.<br>

+ * Note that the events can be asynchronously generated but are synchronously

+ * served, a thread can serve event by calling the \p chEvtWait()

+ * API. If an event is generated while a listening thread is not ready to

+ * serve it then the event becomes "pending" and will be served as soon the

+ * thread invokes the \p chEvtWait().<br>

+ * In order to use the Event APIs the \p CH_USE_EVENTS option must be

+ * specified in \p chconf.h.

+ * @file events.h Events macros and structures.

+ * @file chevents.c Events functions.

+ */

+/** @} */

+

+/**

+ * @defgroup Messages Messages

+ * @{

+ * Synchronous Messages.<br>

+ * <b>Operation Mode</b><br><br>

+ * Messages are an easy to use and fast IPC mechanism, threads can both serve

+ * messages and send messages to other threads, the mechanism allows data to

+ * be carryed in both directions. Data is not copyed between the client and

+ * server threads but just a pointer passed so the exchange is very time

+ * efficient.<br>

+ * Messages are always processed in FIFO order.<br>

+ * Threads do not need to allocate space for message queues, the mechanism

+ * just requires two extra pointers in the \p Thread structure (the message

+ * queue header).<br>

+ * In order to use the Messages APIs the \p CH_USE_MESSAGES option must be

+ * specified in \p chconf.h.

+ * @file messages.h	Messages macros and structures.

+ * @file chmsg.c Messages functions.

+ */

+/** @} */

+

+/**

+ * @defgroup IOQueues I/O Queues

+ * @{

+ * ChibiOS/RT supports several kinds of queues. The queues are mostly used

+ * in serial-like device drivers. The device drivers are usually designed to

+ * have a lower side (lower driver, it is usually an interrupt service

+ * routine) and an upper side (upper driver, accessed by the application

+ * threads).<br>

+ * There are several kind of queues:<br>

+ * <ul>

+ * <li><b>Input queue</b>, monodirectional queue where the writer is the

+ *     lower side and the reader is the upper side.</li>

+ * <li><b>Output queue</b>, monodirectional queue where the writer is the

+ *     upper side and the reader is the lower side.</li>

+ * <li><b>Half duplex queue</b>, bidirectional queue where the buffer is shared

+ *     between a receive and a transmit queues. This means that concurrent

+ *     buffered input and output operations are not possible, this is perfectly

+ *     acceptable for a lot of applications however, as example an RS485 driver.

+ * <li><b>Full duplex queue</b>, bidirectional queue where read and write

+ *     operations can happen at the same time. Full duplex queues

+ *     are implemented by pairing an input queue and an output queue together.

+ * </ul>

+ * In order to use the I/O queues the \p CH_USE_QUEUES option must

+ * be specified in \p chconf.h.<br>

+ * In order to use the half duplex queues the \p CH_USE_QUEUES_HALFDUPLEX

+ * option must be specified in \p chconf.h.

+ * @file queues.h I/O Queues macros and structures.

+ * @file chqueues.c I/O Queues code.

+ */

+/** @} */

+

+/**

+ * @defgroup Serial Serial Drivers

+ * @{

+ * This module implements a generic full duplex serial driver and a generic

+ * half duplex serial driver. It uses the I/O Queues for communication between

+ * the upper and the lower driver and events to notify the application about

+ * incoming data, outcoming data and other I/O events.

+ * The  module also contains functions that make the implementation of the

+ * interrupt service routines much easier.<br>

+ * In order to use the serial full duplex driver the

+ * \p CH_USE_SERIAL_FULLDUPLEX option must be specified in \p chconf.h.<br>

+ * In order to use the serial half duplex driver the

+ * \p CH_USE_SERIAL_HALFDUPLEX option must be specified in \p chconf.h.

+ * @file serial.h Serial Drivers macros and structures.

+ * @file chserial.c Serial Drivers code.

+ */

+/** @} */