git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1652 35acf78f-673a-0410-8e92-d51de3d6d3f4

9 files changed, 1101 insertions, 0 deletions

diff --git a/os/hal/platforms/Posix/console.c b/os/hal/platforms/Posix/console.c
new file mode 100644
index 000000000..737cf92bf
--- /dev/null
+++ b/os/hal/platforms/Posix/console.c
@@ -0,0 +1,126 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file console.c

+ * @brief Simulator console driver code.

+ * @{

+ */

+

+#include <stdio.h>

+

+#include "ch.h"

+#include "console.h"

+

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

+/* Driver exported variables.                                                */

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

+

+/**

+ * @brief Console driver 1.

+ */

+BaseChannel CD1;

+

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

+/* Driver local variables.                                                   */

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

+

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

+/* Driver local functions.                                                   */

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

+

+

+static size_t writes(void *ip, const uint8_t *bp, size_t n) {

+  size_t ret;

+

+  (void)ip;

+  ret = fwrite(bp, 1, n, stdout);

+  fflush(stdout);

+  return ret;

+}

+

+static size_t reads(void *ip, uint8_t *bp, size_t n) {

+

+  (void)ip;

+  return fread(bp, 1, n, stdin);

+}

+

+static bool_t putwouldblock(void *ip) {

+

+  (void)ip;

+  return FALSE;

+}

+

+static bool_t getwouldblock(void *ip) {

+

+  (void)ip;

+  return TRUE;

+}

+

+static msg_t putt(void *ip, uint8_t b, systime_t time) {

+

+  (void)ip;

+  (void)time;

+  fputc(b, stdout);

+  fflush(stdout);

+  return RDY_OK;

+}

+

+static msg_t gett(void *ip, systime_t time) {

+

+  (void)ip;

+  (void)time;

+  return fgetc(stdin);

+}

+

+static size_t writet(void *ip, const uint8_t *bp, size_t n, systime_t time) {

+  size_t ret;

+

+  (void)ip;

+  (void)time;

+  ret = fwrite(bp, 1, n, stdout);

+  fflush(stdout);

+  return ret;

+}

+

+static size_t readt(void *ip, uint8_t *bp, size_t n, systime_t time) {

+

+  (void)ip;

+  (void)time;

+  return fread(bp, 1, n, stdin);

+}

+

+static const struct BaseChannelVMT vmt = {

+  writes, reads, putwouldblock, getwouldblock, putt, gett, writet, readt

+};

+

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

+/* Driver interrupt handlers.                                                */

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

+

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

+/* Driver exported functions.                                                */

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

+

+void conInit(void) {

+

+  CD1.vmt = &vmt;

+}

+

+/** @} */

diff --git a/os/hal/platforms/Posix/console.h b/os/hal/platforms/Posix/console.h
new file mode 100644
index 000000000..3a30e6295
--- /dev/null
+++ b/os/hal/platforms/Posix/console.h
@@ -0,0 +1,65 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file console.h

+ * @brief Simulator console driver header.

+ * @{

+ */

+

+#ifndef _CONSOLE_H_

+#define _CONSOLE_H_

+

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

+/* Driver constants.                                                         */

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

+

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

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

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

+

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

+/* Derived constants and error checks.                                       */

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

+

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

+/* Driver data structures and types.                                         */

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

+

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

+/* Driver macros.                                                            */

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

+

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

+/* External declarations.                                                    */

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

+

+extern BaseChannel CD1;

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void conInit(void);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* _CONSOLE_H_ */

+

+/** @} */

diff --git a/os/hal/platforms/Posix/hal_lld.c b/os/hal/platforms/Posix/hal_lld.c
new file mode 100644
index 000000000..578051d70
--- /dev/null
+++ b/os/hal/platforms/Posix/hal_lld.c
@@ -0,0 +1,94 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file Linux/hal_lld.c

+ * @brief Linux HAL subsystem low level driver code.

+ * @addtogroup LINUX_HAL

+ * @{

+ */

+

+#include <stdio.h>

+#include <stdlib.h>

+#include <sys/time.h>

+

+#include "ch.h"

+#include "hal.h"

+

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

+/* Driver exported variables.                                                */

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

+

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

+/* Driver local variables.                                                   */

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

+

+static struct timeval nextcnt;

+static struct timeval tick = {0, 1000000 / CH_FREQUENCY};

+

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

+/* Driver local functions.                                                   */

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

+

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

+/* Driver interrupt handlers.                                                */

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

+

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

+/* Driver exported functions.                                                */

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

+

+/**

+ * @brief Low level HAL driver initialization.

+ */

+void hal_lld_init(void) {

+

+#if defined(__APPLE__)

+  puts("ChibiOS/RT simulator (OS X)\n");

+#else

+  puts("ChibiOS/RT simulator (Linux)\n");

+#endif

+  gettimeofday(&nextcnt, NULL);

+  timeradd(&nextcnt, &tick, &nextcnt);

+}

+

+/**

+ * @brief Interrupt simulation.

+ */

+void ChkIntSources(void) {

+  struct timeval tv;

+

+#if CH_HAL_USE_SERIAL

+  if (sd_lld_interrupt_pending()) {

+    if (chSchIsRescRequiredExI())

+      chSchDoRescheduleI();

+    return;

+  }

+#endif

+

+  gettimeofday(&tv, NULL);

+  if (timercmp(&tv, &nextcnt, >=)) {

+    timeradd(&nextcnt, &tick, &nextcnt);

+    chSysTimerHandlerI();

+    if (chSchIsRescRequiredExI())

+      chSchDoRescheduleI();

+  }

+}

+

+/** @} */

diff --git a/os/hal/platforms/Posix/hal_lld.h b/os/hal/platforms/Posix/hal_lld.h
new file mode 100644
index 000000000..1f65bfc05
--- /dev/null
+++ b/os/hal/platforms/Posix/hal_lld.h
@@ -0,0 +1,77 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file Linux/hal_lld.h

+ * @brief Linux simulator HAL subsystem low level driver header.

+ * @addtogroup LINUX_HAL

+ * @{

+ */

+

+#ifndef _HAL_LLD_H_

+#define _HAL_LLD_H_

+

+#include <sys/types.h>

+#include <sys/socket.h>

+#include <netdb.h>

+

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

+/* Driver constants.                                                         */

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

+

+/**

+ * @brief   Platform name.

+ */

+#define PLATFORM_NAME   "Linux"

+

+#define SOCKET int

+#define INVALID_SOCKET -1

+

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

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

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

+

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

+/* Derived constants and error checks.                                       */

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

+

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

+/* Driver data structures and types.                                         */

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

+

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

+/* Driver macros.                                                            */

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

+

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

+/* External declarations.                                                    */

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

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void hal_lld_init(void);

+  void ChkIntSources(void);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* _HAL_LLD_H_ */

+

+/** @} */

diff --git a/os/hal/platforms/Posix/pal_lld.c b/os/hal/platforms/Posix/pal_lld.c
new file mode 100644
index 000000000..7e4221929
--- /dev/null
+++ b/os/hal/platforms/Posix/pal_lld.c
@@ -0,0 +1,98 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file    Posix/pal_lld.c

+ * @brief   Posix low level simulated PAL driver code.

+ *

+ * @addtogroup POSIX_PAL

+ * @{

+ */

+

+#include "ch.h"

+#include "hal.h"

+

+#if CH_HAL_USE_PAL || defined(__DOXYGEN__)

+

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

+/* Driver exported variables.                                                */

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

+

+/**

+ * @brief   VIO1 simulated port.
+ */

+sim_vio_port_t vio_port_1;

+

+/**

+ * @brief   VIO2 simulated port.

+ */

+sim_vio_port_t vio_port_2;

+

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

+/* Driver local variables.                                                   */

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

+

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

+/* Driver local functions.                                                   */

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

+

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

+/* Driver interrupt handlers.                                                */

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

+

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

+/* Driver exported functions.                                                */

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

+

+/**

+ * @brief Pads mode setup.

+ * @details This function programs a pads group belonging to the same port

+ *          with the specified mode.

+ *

+ * @param[in] port the port identifier

+ * @param[in] mask the group mask

+ * @param[in] mode the mode

+ *

+ * @note This function is not meant to be invoked directly by the application

+ *       code.

+ * @note @p PAL_MODE_UNCONNECTED is implemented as push pull output with high

+ *       state.

+ * @note This function does not alter the @p PINSELx registers. Alternate

+ *       functions setup must be handled by device-specific code.

+ */

+void _pal_lld_setgroupmode(ioportid_t port,

+                           ioportmask_t mask,

+                           uint_fast8_t mode) {

+

+  switch (mode) {

+  case PAL_MODE_RESET:

+  case PAL_MODE_INPUT:

+    port->dir &= ~mask;

+    break;

+  case PAL_MODE_UNCONNECTED:

+    port->latch |= mask;

+  case PAL_MODE_OUTPUT_PUSHPULL:

+    port->dir |= mask;

+    break;

+  }

+}

+

+#endif /* CH_HAL_USE_PAL */

+

+/** @} */

diff --git a/os/hal/platforms/Posix/pal_lld.h b/os/hal/platforms/Posix/pal_lld.h
new file mode 100644
index 000000000..8386d7279
--- /dev/null
+++ b/os/hal/platforms/Posix/pal_lld.h
@@ -0,0 +1,202 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file    Posix/pal_lld.h

+ * @brief   Posix low level simulated PAL driver header.

+ *

+ * @addtogroup POSIX_PAL

+ * @{

+ */

+

+#ifndef _PAL_LLD_H_

+#define _PAL_LLD_H_

+

+#if CH_HAL_USE_PAL || defined(__DOXYGEN__)

+

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

+/* Unsupported modes and specific modes                                      */

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

+

+#undef PAL_MODE_INPUT_PULLUP

+#undef PAL_MODE_INPUT_PULLDOWN

+#undef PAL_MODE_OUTPUT_OPENDRAIN

+#undef PAL_MODE_INPUT_ANALOG

+

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

+/* I/O Ports Types and constants.                                            */

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

+

+/**

+ * @brief   VIO port structure.

+ */

+typedef struct {

+  /**

+   * @brief   VIO_LATCH register.

+   * @details This register represents the output latch of the VIO port.

+   */

+  uint32_t          latch;

+  /**

+   * @brief   VIO_PIN register.

+   * @details This register represents the logical level at the VIO port

+   *          pin level.

+   */

+  uint32_t          pin;

+  /**

+   * @brief   VIO_DIR register.

+   * @details Direction of the VIO port bits, 0=input, 1=output.

+   */

+  uint32_t          dir;

+} sim_vio_port_t;

+

+/**

+ * @brief   Virtual I/O ports static initializer.

+ * @details An instance of this structure must be passed to @p palInit() at

+ *          system startup time in order to initialized the digital I/O

+ *          subsystem. This represents only the initial setup, specific pads

+ *          or whole ports can be reprogrammed at later time.

+ */

+typedef struct {

+  /**

+   * @brief Virtual port 1 setup data.

+   */

+  sim_vio_port_t    VP1Data;

+  /**

+   * @brief Virtual port 2 setup data.

+   */

+  sim_vio_port_t    VP2Data;

+} VIOConfig;

+

+/**

+ * @brief   Width, in bits, of an I/O port.

+ */

+#define PAL_IOPORTS_WIDTH 32

+

+/**

+ * @brief   Whole port mask.

+ * @brief   This macro specifies all the valid bits into a port.

+ */

+#define PAL_WHOLE_PORT ((ioportmask_t)0xFFFFFFFF)

+

+/**

+ * @brief   Digital I/O port sized unsigned type.

+ */

+typedef uint32_t ioportmask_t;

+

+/**

+ * @brief   Port Identifier.

+ */

+typedef sim_vio_port_t *ioportid_t;

+

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

+/* I/O Ports Identifiers.                                                    */

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

+

+/**

+ * @brief   VIO port 1 identifier.

+ */

+#define IOPORT1         (&vio_port_1)

+

+/**

+ * @brief   VIO port 2 identifier.

+ */

+#define IOPORT2         (&vio_port_2)

+

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

+/* Implementation, some of the following macros could be implemented as      */

+/* functions, if so please put them in pal_lld.c.                            */

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

+

+/**

+ * @brief   Low level PAL subsystem initialization.

+ *

+ * @param[in] config    architecture-dependent ports configuration

+ */

+#define pal_lld_init(config) {                                              \

+  vio_port_1 = (config)->VP1Data;                                           \

+  vio_port_2 = (config)->VP2Data;                                           \

+}

+

+/**

+ * @brief   Reads the physical I/O port states.

+ * @note    This function is not meant to be invoked directly by the

+ *          application code.

+ *

+ * @param[in] port      port identifier

+ * @return              The port bits.

+ */

+#define pal_lld_readport(port) ((port)->pin)

+

+/**

+ * @brief   Reads the output latch.

+ * @details The purpose of this function is to read back the latched output

+ *          value.

+ * @note    This function is not meant to be invoked directly by the

+ *          application code.

+ *

+ * @param[in] port      port identifier

+ * @return              The latched logical states.

+ */

+#define pal_lld_readlatch(port) ((port)->latch)

+

+/**

+ * @brief   Writes a bits mask on a I/O port.

+ * @note    This function is not meant to be invoked directly by the

+ *          application code.

+ *

+ * @param[in] port      port identifier

+ * @param[in] bits      bits to be written on the specified port

+ */

+#define pal_lld_writeport(port, bits) ((port)->latch = (bits))

+

+/**

+ * @brief   Pads group mode setup.

+ * @details This function programs a pads group belonging to the same port

+ *          with the specified mode.

+ * @note    This function is not meant to be invoked directly by the

+ *          application code.

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

+ *

+ * @param[in] port      port identifier

+ * @param[in] mask      group mask

+ * @param[in] mode      group mode

+ */

+#define pal_lld_setgroupmode(port, mask, mode)

+

+#if !defined(__DOXYGEN__)

+extern sim_vio_port_t vio_port_1;

+extern sim_vio_port_t vio_port_2;

+extern const VIOConfig pal_default_config;

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void _pal_lld_setgroupmode(ioportid_t port,

+                             ioportmask_t mask,

+                             uint_fast8_t mode);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* CH_HAL_USE_PAL */

+

+#endif /* _PAL_LLD_H_ */

+

+/** @} */

diff --git a/os/hal/platforms/Posix/platform.mk b/os/hal/platforms/Posix/platform.mk
new file mode 100644
index 000000000..018ee3e41
--- /dev/null
+++ b/os/hal/platforms/Posix/platform.mk
@@ -0,0 +1,7 @@
+# List of all the Posix platform files.

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

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

+              ${CHIBIOS}/os/hal/platforms/Linux/serial_lld.c

+

+# Required include directories

+PLATFORMINC = ${CHIBIOS}/os/hal/platforms/Linux

diff --git a/os/hal/platforms/Posix/serial_lld.c b/os/hal/platforms/Posix/serial_lld.c
new file mode 100644
index 000000000..cd1cc9f8b
--- /dev/null
+++ b/os/hal/platforms/Posix/serial_lld.c
@@ -0,0 +1,265 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file Linux/serial_lld.c

+ * @brief Linux low level simulated serial driver code.

+ * @addtogroup LINUX_SERIAL

+ * @{

+ */

+

+#include <stdio.h>

+#include <stdlib.h>

+#include <string.h>

+#include <unistd.h>

+#include <errno.h>

+#include <sys/ioctl.h>

+

+#include "ch.h"

+#include "hal.h"

+

+#if CH_HAL_USE_SERIAL || defined(__DOXYGEN__)

+

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

+/* Driver exported variables.                                                */

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

+

+/** @brief Serial driver 1 identifier.*/

+#if USE_SIM_SERIAL1 || defined(__DOXYGEN__)

+SerialDriver SD1;

+#endif

+/** @brief Serial driver 2 identifier.*/

+#if USE_SIM_SERIAL2 || defined(__DOXYGEN__)

+SerialDriver SD2;

+#endif

+

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

+/* Driver local variables.                                                   */

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

+

+/** @brief Driver default configuration.*/

+static const SerialConfig default_config = {

+};

+

+static u_long nb = 1;

+

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

+/* Driver local functions.                                                   */

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

+

+static void init(SerialDriver *sdp, uint16_t port) {

+  struct sockaddr_in sad;

+  struct protoent *prtp;

+

+  if ((prtp = getprotobyname("tcp")) == NULL) {

+    printf("%s: Error mapping protocol name to protocol number\n", sdp->com_name);

+    goto abort;

+  }

+

+  sdp->com_listen = socket(PF_INET, SOCK_STREAM, prtp->p_proto);

+  if (sdp->com_listen == INVALID_SOCKET) {

+    printf("%s: Error creating simulator socket\n", sdp->com_name);

+    goto abort;

+  }

+

+  if (ioctl(sdp->com_listen, FIONBIO, &nb) != 0) {

+    printf("%s: Unable to setup non blocking mode on socket\n", sdp->com_name);

+    goto abort;

+  }

+

+  memset(&sad, 0, sizeof(sad));

+  sad.sin_family = AF_INET;

+  sad.sin_addr.s_addr = INADDR_ANY;

+  sad.sin_port = htons(port);

+  if (bind(sdp->com_listen, (struct sockaddr *)&sad, sizeof(sad))) {

+    printf("%s: Error binding socket\n", sdp->com_name);

+    goto abort;

+  }

+

+  if (listen(sdp->com_listen, 1) != 0) {

+    printf("%s: Error listening socket\n", sdp->com_name);

+    goto abort;

+  }

+  printf("Full Duplex Channel %s listening on port %d\n", sdp->com_name, port);

+  return;

+

+abort:

+  if (sdp->com_listen != INVALID_SOCKET)

+    close(sdp->com_listen);

+  exit(1);

+}

+

+static bool_t connint(SerialDriver *sdp) {

+

+  if (sdp->com_data == INVALID_SOCKET) {

+    struct sockaddr addr;

+    socklen_t addrlen = sizeof(addr);

+

+    if ((sdp->com_data = accept(sdp->com_listen, &addr, &addrlen)) == INVALID_SOCKET)

+      return FALSE;

+

+    if (ioctl(sdp->com_data, FIONBIO, &nb) != 0) {

+      printf("%s: Unable to setup non blocking mode on data socket\n", sdp->com_name);

+      goto abort;

+    }

+    sdAddFlagsI(sdp, SD_CONNECTED);

+    return TRUE;

+  }

+  return FALSE;

+abort:

+  if (sdp->com_listen != INVALID_SOCKET)

+    close(sdp->com_listen);

+  if (sdp->com_data != INVALID_SOCKET)

+    close(sdp->com_data);

+  exit(1);

+}

+

+static bool_t inint(SerialDriver *sdp) {

+

+  if (sdp->com_data != INVALID_SOCKET) {

+    int i;

+    uint8_t data[32];

+

+    /*

+     * Input.

+     */

+    int n = recv(sdp->com_data, data, sizeof(data), 0);

+    switch (n) {

+    case 0:

+      close(sdp->com_data);

+      sdp->com_data = INVALID_SOCKET;

+      sdAddFlagsI(sdp, SD_DISCONNECTED);

+      return FALSE;

+    case INVALID_SOCKET:

+      if (errno == EWOULDBLOCK)

+        return FALSE;

+      close(sdp->com_data);

+      sdp->com_data = INVALID_SOCKET;

+      return FALSE;

+    }

+    for (i = 0; i < n; i++)

+      sdIncomingDataI(sdp, data[i]);

+    return TRUE;

+  }

+  return FALSE;

+}

+

+static bool_t outint(SerialDriver *sdp) {

+

+  if (sdp->com_data != INVALID_SOCKET) {

+    int n;

+    uint8_t data[1];

+

+    /*

+     * Input.

+     */

+    n = sdRequestDataI(sdp);

+    if (n < 0)

+      return FALSE;

+    data[0] = (uint8_t)n;

+    n = send(sdp->com_data, data, sizeof(data), 0);

+    switch (n) {

+    case 0:

+      close(sdp->com_data);

+      sdp->com_data = INVALID_SOCKET;

+      sdAddFlagsI(sdp, SD_DISCONNECTED);

+      return FALSE;

+    case INVALID_SOCKET:

+      if (errno == EWOULDBLOCK)

+        return FALSE;

+      close(sdp->com_data);

+      sdp->com_data = INVALID_SOCKET;

+      return FALSE;

+    }

+    return TRUE;

+  }

+  return FALSE;

+}

+

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

+/* Driver interrupt handlers.                                                */

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

+

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

+/* Driver exported functions.                                                */

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

+

+/**

+ * Low level serial driver initialization.

+ */

+void sd_lld_init(void) {

+

+#if USE_SIM_SERIAL1

+  sdObjectInit(&SD1, NULL, NULL);

+  SD1.com_listen = INVALID_SOCKET;

+  SD1.com_data = INVALID_SOCKET;

+  SD1.com_name = "SD1";

+#endif

+

+#if USE_SIM_SERIAL2

+  sdObjectInit(&SD2, NULL, NULL);

+  SD2.com_listen = INVALID_SOCKET;

+  SD2.com_data = INVALID_SOCKET;

+  SD2.com_name = "SD2";

+#endif

+}

+

+/**

+ * @brief Low level serial driver configuration and (re)start.

+ *

+ * @param[in] sdp pointer to a @p SerialDriver object

+ */

+void sd_lld_start(SerialDriver *sdp) {

+

+  if (sdp->config == NULL)

+    sdp->config = &default_config;

+

+#if USE_SIM_SERIAL1

+  if (sdp == &SD1)

+    init(&SD1, SIM_SD1_PORT);

+#endif

+

+#if USE_SIM_SERIAL2

+  if (sdp == &SD2)

+    init(&SD2, SIM_SD2_PORT);

+#endif

+}

+

+/**

+ * @brief Low level serial driver stop.

+ * @details De-initializes the USART, stops the associated clock, resets the

+ *          interrupt vector.

+ *

+ * @param[in] sdp pointer to a @p SerialDriver object

+ */

+void sd_lld_stop(SerialDriver *sdp) {

+

+  (void)sdp;

+}

+

+bool_t sd_lld_interrupt_pending(void) {

+

+  return connint(&SD1) || connint(&SD2) ||

+         inint(&SD1)   || inint(&SD2)   ||

+         outint(&SD1)  || outint(&SD2);

+}

+

+#endif /* CH_HAL_USE_SERIAL */

+

+/** @} */

diff --git a/os/hal/platforms/Posix/serial_lld.h b/os/hal/platforms/Posix/serial_lld.h
new file mode 100644
index 000000000..1fb29d197
--- /dev/null
+++ b/os/hal/platforms/Posix/serial_lld.h
@@ -0,0 +1,167 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file Linux/serial_lld.h

+ * @brief Linux low level simulated serial driver header.

+ * @addtogroup LINUX_SERIAL

+ * @{

+ */

+

+#ifndef _SERIAL_LLD_H_

+#define _SERIAL_LLD_H_

+

+#if CH_HAL_USE_SERIAL || defined(__DOXYGEN__)

+

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

+/* Driver constants.                                                         */

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

+

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

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

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

+

+/**

+ * @brief Serial buffers size.

+ * @details Configuration parameter, you can change the depth of the queue

+ * buffers depending on the requirements of your application.

+ */

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

+#define SERIAL_BUFFERS_SIZE         1024

+#endif

+

+/**

+ * @brief SD1 driver enable switch.

+ * @details If set to @p TRUE the support for SD1 is included.

+ * @note The default is @p TRUE.

+ */

+#if !defined(USE_SIM_SERIAL1) || defined(__DOXYGEN__)

+#define USE_SIM_SERIAL1             TRUE

+#endif

+

+/**

+ * @brief SD2 driver enable switch.

+ * @details If set to @p TRUE the support for SD2 is included.

+ * @note The default is @p TRUE.

+ */

+#if !defined(USE_SIM_SERIAL2) || defined(__DOXYGEN__)

+#define USE_SIM_SERIAL2             TRUE

+#endif

+

+/**

+ * @brief Listen port for SD1.

+ */

+#if !defined(SD1_PORT) || defined(__DOXYGEN__)

+#define SIM_SD1_PORT                29001

+#endif

+

+/**

+ * @brief Listen port for SD2.

+ */

+#if !defined(SD2_PORT) || defined(__DOXYGEN__)

+#define SIM_SD2_PORT                29002

+#endif

+

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

+/* Derived constants and error checks.                                       */

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

+

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

+/* Driver data structures and types.                                         */

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

+

+/**

+ * Serial Driver condition flags type.

+ */

+typedef uint32_t sdflags_t;

+

+/**

+ * @brief Generic Serial Driver configuration structure.

+ * @details An instance of this structure must be passed to @p sdStart()

+ *          in order to configure and start a serial driver operations.

+ *

+ * @note This structure content is architecture dependent, each driver

+ *       implementation defines its own version and the custom static

+ *       initializers.

+ */

+typedef struct {

+} SerialConfig;

+

+/**

+ * @brief @p SerialDriver specific data.

+ */

+#define _serial_driver_data                                                 \

+  _base_asynchronous_channel_data                                           \

+  /* Driver state.*/                                                        \

+  sdstate_t                 state;                                          \

+  /* Current configuration data.*/                                          \

+  const SerialConfig        *config;                                        \

+  /* Input queue.*/                                                         \

+  InputQueue                iqueue;                                         \

+  /* Output queue.*/                                                        \

+  OutputQueue               oqueue;                                         \

+  /* Status Change @p EventSource.*/                                        \

+  EventSource               sevent;                                         \

+  /* I/O driver status flags.*/                                             \

+  sdflags_t                 flags;                                          \

+  /* Input circular buffer.*/                                               \

+  uint8_t                   ib[SERIAL_BUFFERS_SIZE];                        \

+  /* Output circular buffer.*/                                              \

+  uint8_t                   ob[SERIAL_BUFFERS_SIZE];                        \

+  /* End of the mandatory fields.*/                                         \

+  /* Listen socket for simulated serial port.*/                             \

+  SOCKET                    com_listen;                                     \

+  /* Data socket for simulated serial port.*/                               \

+  SOCKET                    com_data;                                       \

+  /* Port readable name.*/                                                  \

+  const char                *com_name;

+

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

+/* Driver macros.                                                            */

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

+

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

+/* External declarations.                                                    */

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

+

+/** @cond never*/

+#if USE_SIM_SERIAL1

+extern SerialDriver SD1;

+#endif

+#if USE_SIM_SERIAL2

+extern SerialDriver SD2;

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void sd_lld_init(void);

+  void sd_lld_start(SerialDriver *sdp);

+  void sd_lld_stop(SerialDriver *sdp);

+  bool_t sd_lld_interrupt_pending(void);

+#ifdef __cplusplus

+}

+#endif

+/** @endcond*/

+

+#endif /* CH_HAL_USE_SERIAL */

+

+#endif /* _SERIAL_LLD_H_ */

+

+/** @} */