diff options
Diffstat (limited to 'os/hal/osal/rt')
| -rw-r--r-- | os/hal/osal/rt/osal.c | 55 | ||||
| -rw-r--r-- | os/hal/osal/rt/osal.h | 787 | ||||
| -rw-r--r-- | os/hal/osal/rt/osal.mk | 5 |
3 files changed, 847 insertions, 0 deletions
diff --git a/os/hal/osal/rt/osal.c b/os/hal/osal/rt/osal.c new file mode 100644 index 000000000..52fc27041 --- /dev/null +++ b/os/hal/osal/rt/osal.c @@ -0,0 +1,55 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011,2012,2013 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 osal.c
+ * @brief OSAL module code.
+ *
+ * @addtogroup OSAL
+ * @{
+ */
+
+#include "osal.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/** @} */
diff --git a/os/hal/osal/rt/osal.h b/os/hal/osal/rt/osal.h new file mode 100644 index 000000000..7ae97f92b --- /dev/null +++ b/os/hal/osal/rt/osal.h @@ -0,0 +1,787 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011,2012,2013 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 osal.h
+ * @brief OSAL module header.
+ *
+ * @addtogroup OSAL
+ * @{
+ */
+
+#ifndef _OSAL_H_
+#define _OSAL_H_
+
+#include <stddef.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "ch.h"
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/**
+ * @name Common constants
+ * @{
+ */
+#if !defined(FALSE) || defined(__DOXYGEN__)
+#define FALSE 0
+#endif
+
+#if !defined(TRUE) || defined(__DOXYGEN__)
+#define TRUE (!FALSE)
+#endif
+
+#define OSAL_SUCCESS FALSE
+#define OSAL_FAILED TRUE
+/** @} */
+
+#if 0
+/**
+ * @name Messages
+ * @{
+ */
+#define MSG_OK RDY_OK
+#define MSG_RESET RDY_RESET
+#define MSG_TIMEOUT RDY_TIMEOUT
+/** @} */
+#endif
+
+#if 0
+/**
+ * @name Special time constants
+ * @{
+ */
+#define TIME_IMMEDIATE ((systime_t)0)
+#define TIME_INFINITE ((systime_t)-1)
+/** @} */
+#endif
+
+/**
+ * @name Systick modes.
+ * @{
+ */
+#define OSAL_ST_MODE_NONE 0
+#define OSAL_ST_MODE_PERIODIC 1
+#define OSAL_ST_MODE_FREERUNNING 2
+/** @} */
+
+/**
+ * @brief Systick mode required by the underlying OS.
+ */
+#if (CH_CFG_TIMEDELTA == 0) || defined(__DOXYGEN__)
+#define OSAL_ST_MODE OSAL_ST_MODE_PERIODIC
+#else
+#define OSAL_ST_MODE OSAL_ST_MODE_FREERUNNING
+#endif
+
+/**
+ * @brief Required systick frequency or resolution.
+ */
+#define OSAL_SYSTICK_FREQUENCY CH_CFG_ST_FREQUENCY
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if !(OSAL_ST_MODE == OSAL_ST_MODE_NONE) && \
+ !(OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) && \
+ !(OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING)
+#error "invalid OSAL_ST_MODE setting in osal.h"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+#if 0
+/**
+ * @brief Type of a system status word.
+ */
+typedef uint32_t syssts_t;
+#endif
+
+#if 0
+/**
+ * @brief Type of a message.
+ */
+typedef int32_t msg_t;
+#endif
+
+#if 0
+/**
+ * @brief Type of system time counter.
+ */
+typedef uint32_t systime_t;
+#endif
+
+#if 0
+/**
+ * @brief Type of realtime counter.
+ */
+typedef uint32_t rtcnt_t;
+#endif
+
+#if 0
+/**
+ * @brief Type of a thread reference.
+ */
+typedef thread_t * thread_reference_t;
+#endif
+
+#if 0
+/**
+ * @brief Type of an event flags mask.
+ */
+typedef uint32_t eventflags_t;
+#endif
+
+#if 0
+/**
+ * @brief Type of an event flags object.
+ * @note The content of this structure is not part of the API and should
+ * not be relied upon. Implementers may define this structure in
+ * an entirely different way.
+ * @note Retrieval and clearing of the flags are not defined in this
+ * API and are implementation-dependent.
+ */
+typedef struct {
+ volatile eventflags_t flags; /**< @brief Flags stored into the
+ object. */
+} event_source_t;
+#endif
+
+/**
+ * @brief Type of a mutex.
+ * @note If the OS does not support mutexes or there is no OS then them
+ * mechanism can be simulated.
+ */
+#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)
+#elif CH_CFG_USE_SEMAPHORES
+typedef semaphore_t mutex_t;
+#else
+typedef uint32_t mutex_t;
+#endif
+
+#if 0
+/**
+ * @brief Type of a thread queue.
+ * @details A thread queue is a queue of sleeping threads, queued threads
+ * can be dequeued one at time or all together.
+ * @note In this implementation it is implemented as a single reference
+ * because there are no real threads.
+ */
+typedef struct {
+ thread_reference_t tr;
+} threads_queue_t;
+#endif
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/**
+ * @name Debug related macros
+ * @{
+ */
+/**
+ * @brief Condition assertion.
+ * @details If the condition check fails then the OSAL panics with a
+ * message and halts.
+ * @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS
+ * switch is enabled.
+ * @note The convention for the message is the following:<br>
+ * @<function_name@>(), #@<assert_number@>
+ * @note The remark string is not currently used except for putting a
+ * comment in the code about the assertion.
+ *
+ * @param[in] c the condition to be verified to be true
+ * @param[in] remark a remark string
+ *
+ * @api
+ */
+#define osalDbgAssert(c, remark) chDbgAssert(c, remark)
+
+/**
+ * @brief Function parameters check.
+ * @details If the condition check fails then the OSAL panics and halts.
+ * @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch
+ * is enabled.
+ *
+ * @param[in] c the condition to be verified to be true
+ *
+ * @api
+ */
+#define osalDbgCheck(c) chDbgCheck(c)
+
+/**
+ * @brief I-Class state check.
+ * @note Not implemented in this simplified OSAL.
+ */
+#define osalDbgCheckClassI() chDbgCheckClassI()
+/** @} */
+
+/**
+ * @brief S-Class state check.
+ * @note Not implemented in this simplified OSAL.
+ */
+#define osalDbgCheckClassS() chDbgCheckClassS()
+
+/**
+ * @name IRQ service routines wrappers
+ * @{
+ */
+/**
+ * @brief IRQ prologue code.
+ * @details This macro must be inserted at the start of all IRQ handlers.
+ */
+#define OSAL_IRQ_PROLOGUE() CH_IRQ_PROLOGUE()
+
+/**
+ * @brief IRQ epilogue code.
+ * @details This macro must be inserted at the end of all IRQ handlers.
+ */
+#define OSAL_IRQ_EPILOGUE() CH_IRQ_EPILOGUE()
+
+/**
+ * @brief IRQ handler function declaration.
+ * @details This macro hides the details of an ISR function declaration.
+ *
+ * @param[in] id a vector name as defined in @p vectors.s
+ */
+#define OSAL_IRQ_HANDLER(id) CH_IRQ_HANDLER(id)
+/** @} */
+
+/**
+ * @name Time conversion utilities
+ * @{
+ */
+/**
+ * @brief Seconds to system ticks.
+ * @details Converts from seconds to system ticks number.
+ * @note The result is rounded upward to the next tick boundary.
+ *
+ * @param[in] sec number of seconds
+ * @return The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_S2ST(sec) S2ST(sec)
+
+/**
+ * @brief Milliseconds to system ticks.
+ * @details Converts from milliseconds to system ticks number.
+ * @note The result is rounded upward to the next tick boundary.
+ *
+ * @param[in] msec number of milliseconds
+ * @return The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_MS2ST(msec) MS2ST(msec)
+/**
+ * @brief Microseconds to system ticks.
+ * @details Converts from microseconds to system ticks number.
+ * @note The result is rounded upward to the next tick boundary.
+ *
+ * @param[in] usec number of microseconds
+ * @return The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_US2ST(usec) US2ST(usec)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+/**
+ * @brief OSAL module initialization.
+ *
+ * @api
+ */
+static inline void osalInit(void) {
+
+}
+
+/**
+ * @brief System halt with error message.
+ *
+ * @param[in] reason the halt message pointer
+ *
+ * @api
+ */
+static inline void osalSysHalt(const char *reason) {
+
+ chSysHalt(reason);
+}
+
+/**
+ * @brief Enters a critical zone from thread context.
+ * @note This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysLock(void) {
+
+ chSysLock();
+}
+
+/**
+ * @brief Leaves a critical zone from thread context.
+ * @note This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysUnlock(void) {
+
+ chSysUnlock();
+}
+
+/**
+ * @brief Enters a critical zone from ISR context.
+ * @note This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysLockFromISR(void) {
+
+ chSysLockFromISR();
+}
+
+/**
+ * @brief Leaves a critical zone from ISR context.
+ * @note This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysUnlockFromISR(void) {
+
+ chSysUnlockFromISR();
+}
+
+/**
+ * @brief Returns the execution status and enters a critical zone.
+ * @details This functions enters into a critical zone and can be called
+ * from any context. Because its flexibility it is less efficient
+ * than @p chSysLock() which is preferable when the calling context
+ * is known.
+ * @post The system is in a critical zone.
+ *
+ * @return The previous system status, the encoding of this
+ * status word is architecture-dependent and opaque.
+ *
+ * @xclass
+ */
+static inline syssts_t osalSysGetStatusAndLockX(void) {
+
+ return chSysGetStatusAndLockX();
+}
+
+/**
+ * @brief Restores the specified execution status and leaves a critical zone.
+ * @note A call to @p chSchRescheduleS() is automatically performed
+ * if exiting the critical zone and if not in ISR context.
+ *
+ * @param[in] sts the system status to be restored.
+ *
+ * @xclass
+ */
+static inline void osalSysRestoreStatusX(syssts_t sts) {
+
+ chSysRestoreStatusX(sts);
+}
+
+/**
+ * @brief Polled delay.
+ * @note The real delay is always few cycles in excess of the specified
+ * value.
+ *
+ * @param[in] cycles number of cycles
+ *
+ * @xclass
+ */
+#if CH_PORT_SUPPORTS_RT || defined(__DOXYGEN__)
+static inline void osalSysPolledDelayX(rtcnt_t cycles) {
+
+ chSysPolledDelayX(cycles);
+}
+#endif
+
+/**
+ * @brief Systick callback for the underlying OS.
+ * @note This callback is only defined if the OSAL requires such a
+ * service from the HAL.
+ */
+#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
+static inline void osalOsTimerHandlerI(void) {
+
+ chSysTimerHandlerI();
+}
+#endif
+
+/**
+ * @brief Checks if a reschedule is required and performs it.
+ * @note I-Class functions invoked from thread context must not reschedule
+ * by themselves, an explicit reschedule using this function is
+ * required in this scenario.
+ * @note Not implemented in this simplified OSAL.
+ *
+ * @sclass
+ */
+static inline void osalOsRescheduleS(void) {
+
+ chSchRescheduleS();
+}
+
+/**
+ * @brief Current system time.
+ * @details Returns the number of system ticks since the @p chSysInit()
+ * invocation.
+ * @note The counter can reach its maximum and then restart from zero.
+ * @note This function can be called from any context but its atomicity
+ * is not guaranteed on architectures whose word size is less than
+ * @systime_t size.
+ *
+ * @return The system time in ticks.
+ *
+ * @xclass
+ */
+static inline systime_t osalOsGetSystemTimeX(void) {
+
+ return chVTGetSystemTimeX();
+}
+
+/**
+ * @brief Checks if the specified time is within the specified time window.
+ * @note When start==end then the function returns always true because the
+ * whole time range is specified.
+ * @note This function can be called from any context.
+ *
+ * @param[in] time the time to be verified
+ * @param[in] start the start of the time window (inclusive)
+ * @param[in] end the end of the time window (non inclusive)
+ * @retval true current time within the specified time window.
+ * @retval false current time not within the specified time window.
+ *
+ * @xclass
+ */
+static inline bool osalOsIsTimeWithinX(systime_t time,
+ systime_t start,
+ systime_t end) {
+
+ return chVTIsTimeWithinX(time, start, end);
+}
+
+/**
+ * @brief Suspends the invoking thread for the specified time.
+ *
+ * @param[in] time the delay in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE is allowed but interpreted as a
+ * normal time specification.
+ * - @a TIME_IMMEDIATE this value is not allowed.
+ * .
+ *
+ * @sclass
+ */
+static inline void osalThreadSleepS(systime_t time) {
+
+ chThdSleepS(time);
+}
+
+/**
+ * @brief Suspends the invoking thread for the specified time.
+ *
+ * @param[in] time the delay in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE is allowed but interpreted as a
+ * normal time specification.
+ * - @a TIME_IMMEDIATE this value is not allowed.
+ * .
+ *
+ * @api
+ */
+static inline void osalThreadSleep(systime_t time) {
+
+ chThdSleep(time);
+}
+
+/**
+ * @brief Sends the current thread sleeping and sets a reference variable.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @return The wake up message.
+ *
+ * @sclass
+ */
+static inline msg_t osalThreadSuspendS(thread_reference_t *trp) {
+
+ return chThreadSuspendS(trp);
+}
+
+/**
+ * @brief Sends the current thread sleeping and sets a reference variable.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] timeout the timeout in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state.
+ * - @a TIME_IMMEDIATE the thread is not enqueued and
+ * the function returns @p MSG_TIMEOUT as if a timeout
+ * occurred.
+ * .
+ * @return The wake up message.
+ * @retval MSG_TIMEOUT if the operation timed out.
+ *
+ * @sclass
+ */
+static inline msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp,
+ systime_t timeout) {
+
+ return chThreadSuspendTimeoutS(trp, timeout);
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @note This function must not reschedule because it can be called from
+ * ISR context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+static inline void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
+
+ chThreadResumeI(trp, msg);
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+static inline void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
+
+ chThreadResumeS(trp, msg);
+}
+
+/**
+ * @brief Initializes a threads queue object.
+ *
+ * @param[out] tqp pointer to the threads queue object
+ *
+ * @init
+ */
+static inline void osalQueueObjectInit(threads_queue_t *tqp) {
+
+ queue_init(tqp);
+}
+
+/**
+ * @brief Enqueues the caller thread.
+ * @details The caller thread is enqueued and put to sleep until it is
+ * dequeued or the specified timeouts expires.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] time the timeout in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state.
+ * - @a TIME_IMMEDIATE the thread is not enqueued and
+ * the function returns @p MSG_TIMEOUT as if a timeout
+ * occurred.
+ * .
+ * @return The message from @p osalQueueWakeupOneI() or
+ * @p osalQueueWakeupAllI() functions.
+ * @retval RDY_TIMEOUT if the thread has not been dequeued within the
+ * specified timeout or if the function has been
+ * invoked with @p TIME_IMMEDIATE as timeout
+ * specification.
+ *
+ * @sclass
+ */
+static inline msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) {
+
+ return chQueueGoSleepTimeoutS(tqp, time);
+}
+
+/**
+ * @brief Dequeues and wakes up one thread from the queue, if any.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+static inline void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {
+
+ chQueueWakeupOneI(tqp, msg);
+}
+
+/**
+ * @brief Dequeues and wakes up all threads from the queue.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+static inline void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {
+
+ chQueueWakeupAllI(tqp, msg);
+}
+
+/**
+ * @brief Initializes an event flags object.
+ *
+ * @param[out] esp pointer to the event flags object
+ *
+ * @init
+ */
+static inline void osalEventObjectInit(event_source_t *esp) {
+
+ chEvtObjectInit(esp);
+}
+
+/**
+ * @brief Add flags to an event source object.
+ *
+ * @param[in] esp pointer to the event flags object
+ * @param[in] flags flags to be ORed to the flags mask
+ *
+ * @iclass
+ */
+static inline void osalEventBroadcastFlagsI(event_source_t *esp,
+ eventflags_t flags) {
+
+ chEvtBroadcastFlagsI(esp, flags);
+}
+
+/**
+ * @brief Add flags to an event source object.
+ *
+ * @param[in] esp pointer to the event flags object
+ * @param[in] flags flags to be ORed to the flags mask
+ *
+ * @iclass
+ */
+static inline void osalEventBroadcastFlags(event_source_t *esp,
+ eventflags_t flags) {
+
+ chEvtBroadcastFlags(esp, flags);
+}
+
+/**
+ * @brief Initializes s @p mutex_t object.
+ *
+ * @param[out] mp pointer to the @p mutex_t object
+ *
+ * @init
+ */
+static inline void osalMutexObjectInit(mutex_t *mp) {
+
+#if CH_CFG_USE_MUTEXES
+ chMtxObjectInit(mp);
+#elif CH_CFG_USE_SEMAPHORES
+ chSemObjectInit((semaphore_t *)mp, 1);
+#else
+ *mp = 0;
+#endif
+}
+
+/*
+ * @brief Locks the specified mutex.
+ * @post The mutex is locked and inserted in the per-thread stack of owned
+ * mutexes.
+ *
+ * @param[in,out] mp pointer to the @p mutex_t object
+ *
+ * @api
+ */
+static inline void osalMutexLock(mutex_t *mp) {
+
+#if CH_CFG_USE_MUTEXES
+ chMtxLock(mp);
+#elif CH_CFG_USE_SEMAPHORES
+ chSemWait((semaphore_t *)mp);
+#else
+ *mp = 1;
+#endif
+}
+
+/**
+ * @brief Unlocks the specified mutex.
+ * @note The HAL guarantees to release mutex in reverse lock order. The
+ * mutex being unlocked is guaranteed to be the last locked mutex
+ * by the invoking thread.
+ * The implementation can rely on this behavior and eventually
+ * ignore the @p mp parameter which is supplied in order to support
+ * those OSes not supporting a stack of the owned mutexes.
+ *
+ * @param[in,out] mp pointer to the @p mutex_t object
+ *
+ * @api
+ */
+static inline void osalMutexUnlock(mutex_t *mp) {
+
+#if CH_CFG_USE_MUTEXES
+ (void)mp;
+ chMtxUnlock();
+#elif CH_CFG_USE_SEMAPHORES
+ chSemSignal((semaphore_t *)mp);
+#else
+ *mp = 0;
+#endif
+}
+
+#endif /* _OSAL_H_ */
+
+/** @} */
diff --git a/os/hal/osal/rt/osal.mk b/os/hal/osal/rt/osal.mk new file mode 100644 index 000000000..d80e71931 --- /dev/null +++ b/os/hal/osal/rt/osal.mk @@ -0,0 +1,5 @@ +# OSAL files.
+OSALSRC += ${CHIBIOS}/os/hal/osal/chibios/osal.c
+
+# Required include directories
+OSALINC += ${CHIBIOS}/os/hal/osal/chibios
|