path: root/demos/various/RT-ARMCM4-USELIB/rt/ch.h

/*
    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.

    This file is part of ChibiOS.

    ChibiOS 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 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/>.
*/

#include <stddef.h>
#include <stdint.h>
#include <stdbool.h>

#include "cmparams.h"

#define CH_H 
#define _CHIBIOS_RT_ 
#define CH_KERNEL_STABLE 1
#define CH_KERNEL_VERSION "6.0.2"
#define CH_KERNEL_MAJOR 6
#define CH_KERNEL_MINOR 0
#define CH_KERNEL_PATCH 2
#define FALSE 0
#define TRUE 1
#define CHCONF_H 
#define _CHIBIOS_RT_CONF_ 
#define _CHIBIOS_RT_CONF_VER_6_0_ 
#define CH_CFG_ST_RESOLUTION 32
#define CH_CFG_ST_FREQUENCY 1000
#define CH_CFG_INTERVALS_SIZE 32
#define CH_CFG_TIME_TYPES_SIZE 32
#define CH_CFG_ST_TIMEDELTA 0
#define CH_CFG_TIME_QUANTUM 0
#define CH_CFG_MEMCORE_SIZE 0
#define CH_CFG_NO_IDLE_THREAD FALSE
#define CH_CFG_OPTIMIZE_SPEED TRUE
#define CH_CFG_USE_TM TRUE
#define CH_CFG_USE_REGISTRY TRUE
#define CH_CFG_USE_WAITEXIT TRUE
#define CH_CFG_USE_SEMAPHORES TRUE
#define CH_CFG_USE_SEMAPHORES_PRIORITY FALSE
#define CH_CFG_USE_MUTEXES TRUE
#define CH_CFG_USE_MUTEXES_RECURSIVE FALSE
#define CH_CFG_USE_CONDVARS TRUE
#define CH_CFG_USE_CONDVARS_TIMEOUT TRUE
#define CH_CFG_USE_EVENTS TRUE
#define CH_CFG_USE_EVENTS_TIMEOUT TRUE
#define CH_CFG_USE_MESSAGES TRUE
#define CH_CFG_USE_MESSAGES_PRIORITY FALSE
#define CH_CFG_USE_MAILBOXES TRUE
#define CH_CFG_USE_MEMCORE TRUE
#define CH_CFG_USE_HEAP TRUE
#define CH_CFG_USE_MEMPOOLS TRUE
#define CH_CFG_USE_OBJ_FIFOS TRUE
#define CH_CFG_USE_PIPES TRUE
#define CH_CFG_USE_DYNAMIC TRUE
#define CH_CFG_USE_FACTORY TRUE
#define CH_CFG_FACTORY_MAX_NAMES_LENGTH 8
#define CH_CFG_FACTORY_OBJECTS_REGISTRY TRUE
#define CH_CFG_FACTORY_GENERIC_BUFFERS TRUE
#define CH_CFG_FACTORY_SEMAPHORES TRUE
#define CH_CFG_FACTORY_MAILBOXES TRUE
#define CH_CFG_FACTORY_OBJ_FIFOS TRUE
#define CH_CFG_FACTORY_PIPES TRUE
#define CH_DBG_STATISTICS FALSE
#define CH_DBG_SYSTEM_STATE_CHECK FALSE
#define CH_DBG_ENABLE_CHECKS FALSE
#define CH_DBG_ENABLE_ASSERTS FALSE
#define CH_DBG_TRACE_MASK CH_DBG_TRACE_MASK_DISABLED
#define CH_DBG_TRACE_BUFFER_SIZE 128
#define CH_DBG_ENABLE_STACK_CHECK FALSE
#define CH_DBG_FILL_THREADS FALSE
#define CH_DBG_THREADS_PROFILING FALSE
#define CH_CFG_SYSTEM_EXTRA_FIELDS 
#define CH_CFG_SYSTEM_INIT_HOOK() { }
#define CH_CFG_THREAD_EXTRA_FIELDS 
#define CH_CFG_THREAD_INIT_HOOK(tp) { }
#define CH_CFG_THREAD_EXIT_HOOK(tp) { }
#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp,otp) { }
#define CH_CFG_IRQ_PROLOGUE_HOOK() { }
#define CH_CFG_IRQ_EPILOGUE_HOOK() { }
#define CH_CFG_IDLE_ENTER_HOOK() { }
#define CH_CFG_IDLE_LEAVE_HOOK() { }
#define CH_CFG_IDLE_LOOP_HOOK() { }
#define CH_CFG_SYSTEM_TICK_HOOK() { }
#define CH_CFG_SYSTEM_HALT_HOOK(reason) { }
#define CH_CFG_TRACE_HOOK(tep) { }
#define CHCHECKS_H 
#define CHLICENSE_H 
#define CH_FEATURES_BASIC 0
#define CH_FEATURES_INTERMEDIATE 1
#define CH_FEATURES_FULL 2
#define CH_DEPLOY_UNLIMITED -1
#define CH_DEPLOY_NONE 0
#define CH_LICENSE_GPL 0
#define CH_LICENSE_GPL_EXCEPTION 1
#define CH_LICENSE_COMMERCIAL_FREE 2
#define CH_LICENSE_COMMERCIAL_DEV_1000 3
#define CH_LICENSE_COMMERCIAL_DEV_5000 4
#define CH_LICENSE_COMMERCIAL_FULL 5
#define CH_LICENSE_COMMERCIAL_RUNTIME 6
#define CH_LICENSE_PARTNER 7
#define CHCUSTOMER_H 
#define CH_CUSTOMER_ID_STRING "Santa, North Pole"
#define CH_CUSTOMER_ID_CODE "xxxx-yyyy"
#define CH_LICENSE CH_LICENSE_GPL
#define CH_CUSTOMER_LIC_RT TRUE
#define CH_CUSTOMER_LIC_NIL TRUE
#define CH_CUSTOMER_LIC_OSLIB TRUE
#define CH_CUSTOMER_LIC_EX TRUE
#define CH_CUSTOMER_LIC_PORT_CM0 TRUE
#define CH_CUSTOMER_LIC_PORT_CM3 TRUE
#define CH_CUSTOMER_LIC_PORT_CM4 TRUE
#define CH_CUSTOMER_LIC_PORT_CM7 TRUE
#define CH_CUSTOMER_LIC_PORT_ARM79 TRUE
#define CH_CUSTOMER_LIC_PORT_E200Z0 TRUE
#define CH_CUSTOMER_LIC_PORT_E200Z2 TRUE
#define CH_CUSTOMER_LIC_PORT_E200Z3 TRUE
#define CH_CUSTOMER_LIC_PORT_E200Z4 TRUE
#define CH_LICENSE_TYPE_STRING "GNU General Public License 3 (GPL3)"
#define CH_LICENSE_ID_STRING "N/A"
#define CH_LICENSE_ID_CODE "N/A"
#define CH_LICENSE_MODIFIABLE_CODE TRUE
#define CH_LICENSE_FEATURES CH_FEATURES_FULL
#define CH_LICENSE_MAX_DEPLOY CH_DEPLOY_UNLIMITED
#define CHRESTRICTIONS_H 
  void chSysHalt(const char *reason);
#define CHTYPES_H 
typedef uint32_t rtcnt_t;
typedef uint64_t rttime_t;
typedef uint32_t syssts_t;
typedef uint8_t tmode_t;
typedef uint8_t tstate_t;
typedef uint8_t trefs_t;
typedef uint8_t tslices_t;
typedef uint32_t tprio_t;
typedef int32_t msg_t;
typedef int32_t eventid_t;
typedef uint32_t eventmask_t;
typedef uint32_t eventflags_t;
typedef int32_t cnt_t;
typedef uint32_t ucnt_t;
#define ROMCONST const
#define NOINLINE __attribute__((noinline))
#define PORT_THD_FUNCTION(tname,arg) void tname(void *arg)
#define PACKED_VAR __attribute__((packed))
#define ALIGNED_VAR(n) __attribute__((aligned(n)))
#define SIZEOF_PTR 4
#define REVERSE_ORDER 1
#define CHSYSTYPES_H 
typedef struct ch_thread thread_t;
typedef thread_t * thread_reference_t;
typedef struct ch_threads_list threads_list_t;
typedef struct ch_threads_queue threads_queue_t;
typedef struct ch_ready_list ready_list_t;
typedef void (*vtfunc_t)(void *p);
typedef struct ch_virtual_timer virtual_timer_t;
typedef struct ch_virtual_timers_list virtual_timers_list_t;
typedef struct ch_system_debug system_debug_t;
typedef struct ch_system ch_system_t;
#define __CH_STRINGIFY(a) #a
#define CHDEBUG_H 
#define CH_DBG_STACK_FILL_VALUE 0x55
#define _dbg_enter_lock() 
#define _dbg_leave_lock() 
#define _dbg_check_disable() 
#define _dbg_check_suspend() 
#define _dbg_check_enable() 
#define _dbg_check_lock() 
#define _dbg_check_unlock() 
#define _dbg_check_lock_from_isr() 
#define _dbg_check_unlock_from_isr() 
#define _dbg_check_enter_isr() 
#define _dbg_check_leave_isr() 
#define chDbgCheckClassI() 
#define chDbgCheckClassS() 
#define chDbgCheck(c) do { if (CH_DBG_ENABLE_CHECKS != FALSE) { if (!(c)) { chSysHalt(__func__); } } } while (false)
#define chDbgAssert(c,r) do { if (CH_DBG_ENABLE_ASSERTS != FALSE) { if (!(c)) { chSysHalt(__func__); } } } while (false)
#define CHTIME_H 
#define TIME_IMMEDIATE ((sysinterval_t)0)
#define TIME_INFINITE ((sysinterval_t)-1)
#define TIME_MAX_INTERVAL ((sysinterval_t)-2)
#define TIME_MAX_SYSTIME ((systime_t)-1)
typedef uint32_t systime_t;
typedef uint32_t sysinterval_t;
typedef uint32_t time_secs_t;
typedef uint32_t time_msecs_t;
typedef uint32_t time_usecs_t;
typedef uint64_t time_conv_t;
#define TIME_S2I(secs) ((sysinterval_t)((time_conv_t)(secs) * (time_conv_t)CH_CFG_ST_FREQUENCY))
#define TIME_MS2I(msecs) ((sysinterval_t)((((time_conv_t)(msecs) * (time_conv_t)CH_CFG_ST_FREQUENCY) + (time_conv_t)999) / (time_conv_t)1000))
#define TIME_US2I(usecs) ((sysinterval_t)((((time_conv_t)(usecs) * (time_conv_t)CH_CFG_ST_FREQUENCY) + (time_conv_t)999999) / (time_conv_t)1000000))
#define TIME_I2S(interval) (time_secs_t)(((time_conv_t)(interval) + (time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) / (time_conv_t)CH_CFG_ST_FREQUENCY)
#define TIME_I2MS(interval) (time_msecs_t)((((time_conv_t)(interval) * (time_conv_t)1000) + (time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) / (time_conv_t)CH_CFG_ST_FREQUENCY)
#define TIME_I2US(interval) (time_msecs_t)((((time_conv_t)(interval) * (time_conv_t)1000000) + (time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) / (time_conv_t)CH_CFG_ST_FREQUENCY)
static inline sysinterval_t chTimeS2I(time_secs_t secs) {
  time_conv_t ticks;
  ticks = (time_conv_t)secs * (time_conv_t)CH_CFG_ST_FREQUENCY;
  chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
              "conversion overflow");
  return (sysinterval_t)ticks;
}
static inline sysinterval_t chTimeMS2I(time_msecs_t msec) {
  time_conv_t ticks;
  ticks = (((time_conv_t)msec * (time_conv_t)CH_CFG_ST_FREQUENCY) +
           (time_conv_t)999) / (time_conv_t)1000;
  chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
              "conversion overflow");
  return (sysinterval_t)ticks;
}
static inline sysinterval_t chTimeUS2I(time_usecs_t usec) {
  time_conv_t ticks;
  ticks = (((time_conv_t)usec * (time_conv_t)CH_CFG_ST_FREQUENCY) +
           (time_conv_t)999999) / (time_conv_t)1000000;
  chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
              "conversion overflow");
  return (sysinterval_t)ticks;
}
static inline time_secs_t chTimeI2S(sysinterval_t interval) {
  time_conv_t secs;
  secs = ((time_conv_t)interval +
          (time_conv_t)CH_CFG_ST_FREQUENCY -
          (time_conv_t)1) / (time_conv_t)CH_CFG_ST_FREQUENCY;
  chDbgAssert(secs < (time_conv_t)((time_secs_t)-1),
              "conversion overflow");
  return (time_secs_t)secs;
}
static inline time_msecs_t chTimeI2MS(sysinterval_t interval) {
  time_conv_t msecs;
  msecs = (((time_conv_t)interval * (time_conv_t)1000) +
           (time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) /
          (time_conv_t)CH_CFG_ST_FREQUENCY;
  chDbgAssert(msecs < (time_conv_t)((time_msecs_t)-1),
              "conversion overflow");
  return (time_msecs_t)msecs;
}
static inline time_usecs_t chTimeI2US(sysinterval_t interval) {
  time_conv_t usecs;
  usecs = (((time_conv_t)interval * (time_conv_t)1000000) +
           (time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) /
          (time_conv_t)CH_CFG_ST_FREQUENCY;
  chDbgAssert(usecs <= (time_conv_t)((time_usecs_t)-1),
              "conversion overflow");
  return (time_usecs_t)usecs;
}
static inline systime_t chTimeAddX(systime_t systime,
                                   sysinterval_t interval) {
  return systime + (systime_t)interval;
}
static inline sysinterval_t chTimeDiffX(systime_t start, systime_t end) {
  return (sysinterval_t)((systime_t)(end - start));
}
static inline bool chTimeIsInRangeX(systime_t time,
                                    systime_t start,
                                    systime_t end) {
  return (bool)((time - start) < (end - start));
}
#define CHALIGN_H 
#define MEM_ALIGN_MASK(a) ((size_t)(a) - 1U)
#define MEM_ALIGN_PREV(p,a) ((size_t)(p) & ~MEM_ALIGN_MASK(a))
#define MEM_ALIGN_NEXT(p,a) MEM_ALIGN_PREV((size_t)(p) + MEM_ALIGN_MASK(a), (a))
#define MEM_IS_ALIGNED(p,a) (((size_t)(p) & MEM_ALIGN_MASK(a)) == 0U)
#define MEM_IS_VALID_ALIGNMENT(a) (((size_t)(a) != 0U) && (((size_t)(a) & ((size_t)(a) - 1U)) == 0U))
#define CHCORE_H 
#define PORT_ARCHITECTURE_ARM 
#define PORT_COMPILER_NAME "GCC " __VERSION__
#define PORT_USE_ALT_TIMER FALSE
typedef void *regarm_t;
typedef uint64_t stkalign_t;
struct port_context {
  struct port_intctx *sp;
};
#define CORTEX_PRIORITY_LEVELS (1U << CORTEX_PRIORITY_BITS)
#define CORTEX_MINIMUM_PRIORITY (CORTEX_PRIORITY_LEVELS - 1)
#define CORTEX_MAXIMUM_PRIORITY 0U
#define CORTEX_PRIO_MASK(n) ((n) << (8U - (unsigned)CORTEX_PRIORITY_BITS))
#define PORT_IRQ_IS_VALID_PRIORITY(n) (((n) >= 0U) && ((n) < CORTEX_PRIORITY_LEVELS))
#define PORT_IRQ_IS_VALID_KERNEL_PRIORITY(n) (((n) >= CORTEX_MAX_KERNEL_PRIORITY) && ((n) < CORTEX_PRIORITY_LEVELS))
#define MPU_H 
#define MPU_TYPE_SEPARATED (1U << 0U)
#define MPU_TYPE_DREGION(n) (((n) >> 8U) & 255U)
#define MPU_TYPE_IREGION(n) (((n) >> 16U) & 255U)
#define MPU_CTRL_ENABLE (1U << 0U)
#define MPU_CTRL_HFNMIENA (1U << 1U)
#define MPU_CTRL_PRIVDEFENA (1U << 2U)
#define MPU_RNR_REGION_MASK (255U << 0U)
#define MPU_RNR_REGION(n) ((n) << 0U)
#define MPU_RBAR_REGION_MASK (15U << 0U)
#define MPU_RBAR_REGION(n) ((n) << 0U)
#define MPU_RBAR_VALID (1U << 4U)
#define MPU_RBAR_ADDR_MASK 0xFFFFFFE0U
#define MPU_RBAR_ADDR(n) ((n) << 5U)
#define MPU_RASR_ENABLE (1U << 0U)
#define MPU_RASR_SIZE_MASK (31U << 1U)
#define MPU_RASR_SIZE(n) ((n) << 1U)
#define MPU_RASR_SIZE_32 MPU_RASR_SIZE(4U)
#define MPU_RASR_SIZE_64 MPU_RASR_SIZE(5U)
#define MPU_RASR_SIZE_128 MPU_RASR_SIZE(6U)
#define MPU_RASR_SIZE_256 MPU_RASR_SIZE(7U)
#define MPU_RASR_SIZE_512 MPU_RASR_SIZE(8U)
#define MPU_RASR_SIZE_1K MPU_RASR_SIZE(9U)
#define MPU_RASR_SIZE_2K MPU_RASR_SIZE(10U)
#define MPU_RASR_SIZE_4K MPU_RASR_SIZE(11U)
#define MPU_RASR_SIZE_8K MPU_RASR_SIZE(12U)
#define MPU_RASR_SIZE_16K MPU_RASR_SIZE(13U)
#define MPU_RASR_SIZE_32K MPU_RASR_SIZE(14U)
#define MPU_RASR_SIZE_64K MPU_RASR_SIZE(15U)
#define MPU_RASR_SIZE_128K MPU_RASR_SIZE(16U)
#define MPU_RASR_SIZE_256K MPU_RASR_SIZE(17U)
#define MPU_RASR_SIZE_512K MPU_RASR_SIZE(18U)
#define MPU_RASR_SIZE_1M MPU_RASR_SIZE(19U)
#define MPU_RASR_SIZE_2M MPU_RASR_SIZE(20U)
#define MPU_RASR_SIZE_4M MPU_RASR_SIZE(21U)
#define MPU_RASR_SIZE_8M MPU_RASR_SIZE(22U)
#define MPU_RASR_SIZE_16M MPU_RASR_SIZE(23U)
#define MPU_RASR_SIZE_32M MPU_RASR_SIZE(24U)
#define MPU_RASR_SIZE_64M MPU_RASR_SIZE(25U)
#define MPU_RASR_SIZE_128M MPU_RASR_SIZE(26U)
#define MPU_RASR_SIZE_256M MPU_RASR_SIZE(27U)
#define MPU_RASR_SIZE_512M MPU_RASR_SIZE(28U)
#define MPU_RASR_SIZE_1G MPU_RASR_SIZE(29U)
#define MPU_RASR_SIZE_2G MPU_RASR_SIZE(30U)
#define MPU_RASR_SIZE_4G MPU_RASR_SIZE(31U)
#define MPU_RASR_SRD_MASK (255U << 8U)
#define MPU_RASR_SRD(n) ((n) << 8U)
#define MPU_RASR_SRD_ALL (0U << 8U)
#define MPU_RASR_SRD_DISABLE_SUB0 (1U << 8U)
#define MPU_RASR_SRD_DISABLE_SUB1 (2U << 8U)
#define MPU_RASR_SRD_DISABLE_SUB2 (4U << 8U)
#define MPU_RASR_SRD_DISABLE_SUB3 (8U << 8U)
#define MPU_RASR_SRD_DISABLE_SUB4 (16U << 8U)
#define MPU_RASR_SRD_DISABLE_SUB5 (32U << 8U)
#define MPU_RASR_SRD_DISABLE_SUB6 (64U << 8U)
#define MPU_RASR_SRD_DISABLE_SUB7 (128U << 8U)
#define MPU_RASR_ATTR_B (1U << 16U)
#define MPU_RASR_ATTR_C (1U << 17U)
#define MPU_RASR_ATTR_S (1U << 18U)
#define MPU_RASR_ATTR_TEX_MASK (7U << 19U)
#define MPU_RASR_ATTR_TEX(n) ((n) << 19U)
#define MPU_RASR_ATTR_AP_MASK (7U << 24U)
#define MPU_RASR_ATTR_AP(n) ((n) << 24U)
#define MPU_RASR_ATTR_AP_NA_NA (0U << 24U)
#define MPU_RASR_ATTR_AP_RW_NA (1U << 24U)
#define MPU_RASR_ATTR_AP_RW_RO (2U << 24U)
#define MPU_RASR_ATTR_AP_RW_RW (3U << 24U)
#define MPU_RASR_ATTR_AP_RO_NA (5U << 24U)
#define MPU_RASR_ATTR_AP_RO_RO (6U << 24U)
#define MPU_RASR_ATTR_XN (1U << 28U)
#define MPU_RASR_ATTR_STRONGLY_ORDERED (MPU_RASR_ATTR_TEX(0))
#define MPU_RASR_ATTR_SHARED_DEVICE (MPU_RASR_ATTR_TEX(0) | MPU_RASR_ATTR_B)
#define MPU_RASR_ATTR_CACHEABLE_WT_NWA (MPU_RASR_ATTR_TEX(0) | MPU_RASR_ATTR_C)
#define MPU_RASR_ATTR_CACHEABLE_WB_NWA (MPU_RASR_ATTR_TEX(0) | MPU_RASR_ATTR_B | MPU_RASR_ATTR_C)
#define MPU_RASR_ATTR_NON_CACHEABLE (MPU_RASR_ATTR_TEX(1))
#define MPU_RASR_ATTR_CACHEABLE_WB_WA (MPU_RASR_ATTR_TEX(1) | MPU_RASR_ATTR_B | MPU_RASR_ATTR_C)
#define MPU_RASR_ATTR_NON_SHARED_DEVICE (MPU_RASR_ATTR_TEX(2))
#define MPU_REGION_0 0U
#define MPU_REGION_1 1U
#define MPU_REGION_2 2U
#define MPU_REGION_3 3U
#define MPU_REGION_4 4U
#define MPU_REGION_5 5U
#define MPU_REGION_6 6U
#define MPU_REGION_7 7U
#define mpuEnable(ctrl) { MPU->CTRL = ((uint32_t)ctrl) | MPU_CTRL_ENABLE; SCB->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk; }
#define mpuDisable() { SCB->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk; MPU->CTRL = 0; }
#define mpuConfigureRegion(region,addr,attribs) { MPU->RNR = ((uint32_t)region); MPU->RBAR = ((uint32_t)addr); MPU->RASR = ((uint32_t)attribs); }
#define mpuSetRegionAddress(region,addr) { MPU->RNR = ((uint32_t)region); MPU->RBAR = ((uint32_t)addr); }
#define CHCORE_V7M_H 
#define PORT_SUPPORTS_RT TRUE
#define PORT_NATURAL_ALIGN sizeof (void *)
#define PORT_STACK_ALIGN sizeof (stkalign_t)
#define PORT_WORKING_AREA_ALIGN (PORT_ENABLE_GUARD_PAGES == TRUE ? 32U : PORT_STACK_ALIGN)
#define CORTEX_BASEPRI_DISABLED 0U
#define PORT_ENABLE_GUARD_PAGES FALSE
#define PORT_USE_MPU_REGION MPU_REGION_7
#define PORT_IDLE_THREAD_STACK_SIZE 16
#define PORT_INT_REQUIRED_STACK 64
#define CORTEX_ENABLE_WFI_IDLE FALSE
#define CORTEX_SIMPLIFIED_PRIORITY FALSE
#define CORTEX_PRIORITY_SVCALL (CORTEX_MAXIMUM_PRIORITY + 1U)
#define CORTEX_PRIGROUP_INIT (7 - CORTEX_PRIORITY_BITS)
  #define PORT_GUARD_PAGE_SIZE 0U
  #define PORT_ARCHITECTURE_ARM_v7ME
  #define PORT_ARCHITECTURE_NAME "ARMv7E-M"
            #define PORT_CORE_VARIANT_NAME "Cortex-M4"
#define PORT_INFO "Advanced kernel mode"
#define CORTEX_MAX_KERNEL_PRIORITY (CORTEX_PRIORITY_SVCALL + 1U)
#define CORTEX_BASEPRI_KERNEL CORTEX_PRIO_MASK(CORTEX_MAX_KERNEL_PRIORITY)
#define CORTEX_PRIORITY_PENDSV CORTEX_MAX_KERNEL_PRIORITY
struct port_extctx {
  regarm_t r0;
  regarm_t r1;
  regarm_t r2;
  regarm_t r3;
  regarm_t r12;
  regarm_t lr_thd;
  regarm_t pc;
  regarm_t xpsr;
};
struct port_intctx {
  regarm_t r4;
  regarm_t r5;
  regarm_t r6;
  regarm_t r7;
  regarm_t r8;
  regarm_t r9;
  regarm_t r10;
  regarm_t r11;
  regarm_t lr;
};
#define PORT_SETUP_CONTEXT(tp,wbase,wtop,pf,arg) { (tp)->ctx.sp = (struct port_intctx *)((uint8_t *)(wtop) - sizeof (struct port_intctx)); (tp)->ctx.sp->r4 = (regarm_t)(pf); (tp)->ctx.sp->r5 = (regarm_t)(arg); (tp)->ctx.sp->lr = (regarm_t)_port_thread_start; }
#define PORT_WA_SIZE(n) ((size_t)PORT_GUARD_PAGE_SIZE + sizeof (struct port_intctx) + sizeof (struct port_extctx) + (size_t)(n) + (size_t)PORT_INT_REQUIRED_STACK)
#define PORT_WORKING_AREA(s,n) stkalign_t s[THD_WORKING_AREA_SIZE(n) / sizeof (stkalign_t)]
#define PORT_IRQ_PROLOGUE() 
#define PORT_IRQ_EPILOGUE() _port_irq_epilogue()
#define PORT_IRQ_HANDLER(id) void id(void)
#define PORT_FAST_IRQ_HANDLER(id) void id(void)
#define port_switch(ntp,otp) _port_switch(ntp, otp)
  void _port_irq_epilogue(void);
  void _port_switch(thread_t *ntp, thread_t *otp);
  void _port_thread_start(void);
  void _port_switch_from_isr(void);
  void _port_exit_from_isr(void);
static inline void port_init(void) {
  NVIC_SetPriorityGrouping(CORTEX_PRIGROUP_INIT);
  CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
  DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
  NVIC_SetPriority(SVCall_IRQn, CORTEX_PRIORITY_SVCALL);
  NVIC_SetPriority(PendSV_IRQn, CORTEX_PRIORITY_PENDSV);
}
static inline syssts_t port_get_irq_status(void) {
  syssts_t sts;
  sts = (syssts_t)__get_BASEPRI();
  return sts;
}
static inline bool port_irq_enabled(syssts_t sts) {
  return sts == (syssts_t)CORTEX_BASEPRI_DISABLED;
}
static inline bool port_is_isr_context(void) {
  return (bool)((__get_IPSR() & 0x1FFU) != 0U);
}
static inline void port_lock(void) {
  __set_BASEPRI(CORTEX_BASEPRI_KERNEL);
}
static inline void port_unlock(void) {
  __set_BASEPRI(CORTEX_BASEPRI_DISABLED);
}
static inline void port_lock_from_isr(void) {
  port_lock();
}
static inline void port_unlock_from_isr(void) {
  port_unlock();
}
static inline void port_disable(void) {
  __disable_irq();
}
static inline void port_suspend(void) {
  __set_BASEPRI(CORTEX_BASEPRI_KERNEL);
  __enable_irq();
}
static inline void port_enable(void) {
  __set_BASEPRI(CORTEX_BASEPRI_DISABLED);
  __enable_irq();
}
static inline void port_wait_for_interrupt(void) {
}
static inline rtcnt_t port_rt_get_counter_value(void) {
  return DWT->CYCCNT;
}
#define CHTRACE_H 
#define CH_TRACE_TYPE_UNUSED 0U
#define CH_TRACE_TYPE_SWITCH 1U
#define CH_TRACE_TYPE_ISR_ENTER 2U
#define CH_TRACE_TYPE_ISR_LEAVE 3U
#define CH_TRACE_TYPE_HALT 4U
#define CH_TRACE_TYPE_USER 5U
#define CH_DBG_TRACE_MASK_DISABLED 255U
#define CH_DBG_TRACE_MASK_NONE 0U
#define CH_DBG_TRACE_MASK_SWITCH 1U
#define CH_DBG_TRACE_MASK_ISR 2U
#define CH_DBG_TRACE_MASK_HALT 4U
#define CH_DBG_TRACE_MASK_USER 8U
#define CH_DBG_TRACE_MASK_SLOW (CH_DBG_TRACE_MASK_SWITCH | CH_DBG_TRACE_MASK_HALT | CH_DBG_TRACE_MASK_USER)
#define CH_DBG_TRACE_MASK_ALL (CH_DBG_TRACE_MASK_SWITCH | CH_DBG_TRACE_MASK_ISR | CH_DBG_TRACE_MASK_HALT | CH_DBG_TRACE_MASK_USER)
#define _trace_init() 
#define _trace_switch(ntp,otp) 
#define _trace_isr_enter(isr) 
#define _trace_isr_leave(isr) 
#define _trace_halt(reason) 
#define chDbgWriteTraceI(up1,up2) 
#define chDbgWriteTrace(up1,up2) 
#define CHTM_H 
typedef struct {
  rtcnt_t offset;
} tm_calibration_t;
typedef struct {
  rtcnt_t best;
  rtcnt_t worst;
  rtcnt_t last;
  ucnt_t n;
  rttime_t cumulative;
} time_measurement_t;
  void _tm_init(void);
  void chTMObjectInit(time_measurement_t *tmp);
  NOINLINE void chTMStartMeasurementX(time_measurement_t *tmp);
  NOINLINE void chTMStopMeasurementX(time_measurement_t *tmp);
  NOINLINE void chTMChainMeasurementToX(time_measurement_t *tmp1,
                                        time_measurement_t *tmp2);
#define CHSTATS_H 
#define _stats_increase_irq() 
#define _stats_ctxswc(old,new) 
#define _stats_start_measure_crit_thd() 
#define _stats_stop_measure_crit_thd() 
#define _stats_start_measure_crit_isr() 
#define _stats_stop_measure_crit_isr() 
#define CHSCHD_H 
#define MSG_OK (msg_t)0
#define MSG_TIMEOUT (msg_t)-1
#define MSG_RESET (msg_t)-2
#define NOPRIO (tprio_t)0
#define IDLEPRIO (tprio_t)1
#define LOWPRIO (tprio_t)2
#define NORMALPRIO (tprio_t)128
#define HIGHPRIO (tprio_t)255
#define CH_STATE_READY (tstate_t)0
#define CH_STATE_CURRENT (tstate_t)1
#define CH_STATE_WTSTART (tstate_t)2
#define CH_STATE_SUSPENDED (tstate_t)3
#define CH_STATE_QUEUED (tstate_t)4
#define CH_STATE_WTSEM (tstate_t)5
#define CH_STATE_WTMTX (tstate_t)6
#define CH_STATE_WTCOND (tstate_t)7
#define CH_STATE_SLEEPING (tstate_t)8
#define CH_STATE_WTEXIT (tstate_t)9
#define CH_STATE_WTOREVT (tstate_t)10
#define CH_STATE_WTANDEVT (tstate_t)11
#define CH_STATE_SNDMSGQ (tstate_t)12
#define CH_STATE_SNDMSG (tstate_t)13
#define CH_STATE_WTMSG (tstate_t)14
#define CH_STATE_FINAL (tstate_t)15
#define CH_STATE_NAMES "READY", "CURRENT", "WTSTART", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING", "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "FINAL"
#define CH_FLAG_MODE_MASK (tmode_t)3U
#define CH_FLAG_MODE_STATIC (tmode_t)0U
#define CH_FLAG_MODE_HEAP (tmode_t)1U
#define CH_FLAG_MODE_MPOOL (tmode_t)2U
#define CH_FLAG_TERMINATE (tmode_t)4U
struct ch_threads_list {
  thread_t *next;
};
struct ch_threads_queue {
  thread_t *next;
  thread_t *prev;
};
struct ch_thread {
  threads_queue_t queue;
  tprio_t prio;
  struct port_context ctx;
  thread_t *newer;
  thread_t *older;
  const char *name;
  stkalign_t *wabase;
  tstate_t state;
  tmode_t flags;
  trefs_t refs;
  union {
    msg_t rdymsg;
    msg_t exitcode;
    void *wtobjp;
    thread_reference_t *wttrp;
    msg_t sentmsg;
    struct ch_semaphore *wtsemp;
    struct ch_mutex *wtmtxp;
    eventmask_t ewmask;
  } u;
  threads_list_t waiting;
  threads_queue_t msgqueue;
  eventmask_t epending;
  struct ch_mutex *mtxlist;
  tprio_t realprio;
  void *mpool;
  CH_CFG_THREAD_EXTRA_FIELDS
};
struct ch_virtual_timer {
  virtual_timer_t *next;
  virtual_timer_t *prev;
  sysinterval_t delta;
  vtfunc_t func;
  void *par;
};
struct ch_virtual_timers_list {
  virtual_timer_t *next;
  virtual_timer_t *prev;
  sysinterval_t delta;
  volatile systime_t systime;
};
struct ch_ready_list {
  threads_queue_t queue;
  tprio_t prio;
  struct port_context ctx;
  thread_t *newer;
  thread_t *older;
  thread_t *current;
};
struct ch_system_debug {
  const char * volatile panic_msg;
};
struct ch_system {
  ready_list_t rlist;
  virtual_timers_list_t vtlist;
  system_debug_t dbg;
  thread_t mainthread;
  tm_calibration_t tm;
  CH_CFG_SYSTEM_EXTRA_FIELDS
};
#define firstprio(rlp) ((rlp)->next->prio)
#define currp ch.rlist.current
extern ch_system_t ch;
  void _scheduler_init(void);
  thread_t *chSchReadyI(thread_t *tp);
  thread_t *chSchReadyAheadI(thread_t *tp);
  void chSchGoSleepS(tstate_t newstate);
  msg_t chSchGoSleepTimeoutS(tstate_t newstate, sysinterval_t timeout);
  void chSchWakeupS(thread_t *ntp, msg_t msg);
  void chSchRescheduleS(void);
  bool chSchIsPreemptionRequired(void);
  void chSchDoRescheduleBehind(void);
  void chSchDoRescheduleAhead(void);
  void chSchDoReschedule(void);
static inline void list_init(threads_list_t *tlp) {
  tlp->next = (thread_t *)tlp;
}
static inline bool list_isempty(threads_list_t *tlp) {
  return (bool)(tlp->next == (thread_t *)tlp);
}
static inline bool list_notempty(threads_list_t *tlp) {
  return (bool)(tlp->next != (thread_t *)tlp);
}
static inline void queue_init(threads_queue_t *tqp) {
  tqp->next = (thread_t *)tqp;
  tqp->prev = (thread_t *)tqp;
}
static inline bool queue_isempty(const threads_queue_t *tqp) {
  return (bool)(tqp->next == (const thread_t *)tqp);
}
static inline bool queue_notempty(const threads_queue_t *tqp) {
  return (bool)(tqp->next != (const thread_t *)tqp);
}
static inline void list_insert(thread_t *tp, threads_list_t *tlp) {
  tp->queue.next = tlp->next;
  tlp->next = tp;
}
static inline thread_t *list_remove(threads_list_t *tlp) {
  thread_t *tp = tlp->next;
  tlp->next = tp->queue.next;
  return tp;
}
static inline void queue_prio_insert(thread_t *tp, threads_queue_t *tqp) {
  thread_t *cp = (thread_t *)tqp;
  do {
    cp = cp->queue.next;
  } while ((cp != (thread_t *)tqp) && (cp->prio >= tp->prio));
  tp->queue.next = cp;
  tp->queue.prev = cp->queue.prev;
  tp->queue.prev->queue.next = tp;
  cp->queue.prev = tp;
}
static inline void queue_insert(thread_t *tp, threads_queue_t *tqp) {
  tp->queue.next = (thread_t *)tqp;
  tp->queue.prev = tqp->prev;
  tp->queue.prev->queue.next = tp;
  tqp->prev = tp;
}
static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {
  thread_t *tp = tqp->next;
  tqp->next = tp->queue.next;
  tqp->next->queue.prev = (thread_t *)tqp;
  return tp;
}
static inline thread_t *queue_lifo_remove(threads_queue_t *tqp) {
  thread_t *tp = tqp->prev;
  tqp->prev = tp->queue.prev;
  tqp->prev->queue.next = (thread_t *)tqp;
  return tp;
}
static inline thread_t *queue_dequeue(thread_t *tp) {
  tp->queue.prev->queue.next = tp->queue.next;
  tp->queue.next->queue.prev = tp->queue.prev;
  return tp;
}
static inline bool chSchIsRescRequiredI(void) {
  chDbgCheckClassI();
  return firstprio(&ch.rlist.queue) > currp->prio;
}
static inline bool chSchCanYieldS(void) {
  chDbgCheckClassS();
  return firstprio(&ch.rlist.queue) >= currp->prio;
}
static inline void chSchDoYieldS(void) {
  chDbgCheckClassS();
  if (chSchCanYieldS()) {
    chSchDoRescheduleBehind();
  }
}
static inline void chSchPreemption(void) {
  tprio_t p1 = firstprio(&ch.rlist.queue);
  tprio_t p2 = currp->prio;
  if (p1 > p2) {
    chSchDoRescheduleAhead();
  }
}
#define CHSYS_H 
#define CH_INTEGRITY_RLIST 1U
#define CH_INTEGRITY_VTLIST 2U
#define CH_INTEGRITY_REGISTRY 4U
#define CH_INTEGRITY_PORT 8U
#define CH_IRQ_IS_VALID_PRIORITY(prio) PORT_IRQ_IS_VALID_PRIORITY(prio)
#define CH_IRQ_IS_VALID_KERNEL_PRIORITY(prio) PORT_IRQ_IS_VALID_KERNEL_PRIORITY(prio)
#define CH_IRQ_PROLOGUE() PORT_IRQ_PROLOGUE(); CH_CFG_IRQ_PROLOGUE_HOOK(); _stats_increase_irq(); _trace_isr_enter(__func__); _dbg_check_enter_isr()
#define CH_IRQ_EPILOGUE() _dbg_check_leave_isr(); _trace_isr_leave(__func__); CH_CFG_IRQ_EPILOGUE_HOOK(); PORT_IRQ_EPILOGUE()
#define CH_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)
#define CH_FAST_IRQ_HANDLER(id) PORT_FAST_IRQ_HANDLER(id)
#define S2RTC(freq,sec) ((freq) * (sec))
#define MS2RTC(freq,msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec))
#define US2RTC(freq,usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec))
#define RTC2S(freq,n) ((((n) - 1UL) / (freq)) + 1UL)
#define RTC2MS(freq,n) ((((n) - 1UL) / ((freq) / 1000UL)) + 1UL)
#define RTC2US(freq,n) ((((n) - 1UL) / ((freq) / 1000000UL)) + 1UL)
#define chSysGetRealtimeCounterX() (rtcnt_t)port_rt_get_counter_value()
#define chSysSwitch(ntp,otp) { _trace_switch(ntp, otp); _stats_ctxswc(ntp, otp); CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp); port_switch(ntp, otp); }
extern stkalign_t ch_idle_thread_wa[];
  void chSysInit(void);
  bool chSysIntegrityCheckI(unsigned testmask);
  void chSysTimerHandlerI(void);
  syssts_t chSysGetStatusAndLockX(void);
  void chSysRestoreStatusX(syssts_t sts);
  bool chSysIsCounterWithinX(rtcnt_t cnt, rtcnt_t start, rtcnt_t end);
  void chSysPolledDelayX(rtcnt_t cycles);
static inline void chSysDisable(void) {
  port_disable();
  _dbg_check_disable();
}
static inline void chSysSuspend(void) {
  port_suspend();
  _dbg_check_suspend();
}
static inline void chSysEnable(void) {
  _dbg_check_enable();
  port_enable();
}
static inline void chSysLock(void) {
  port_lock();
  _stats_start_measure_crit_thd();
  _dbg_check_lock();
}
static inline void chSysUnlock(void) {
  _dbg_check_unlock();
  _stats_stop_measure_crit_thd();
  chDbgAssert((ch.rlist.queue.next == (thread_t *)&ch.rlist.queue) ||
              (ch.rlist.current->prio >= ch.rlist.queue.next->prio),
              "priority order violation");
  port_unlock();
}
static inline void chSysLockFromISR(void) {
  port_lock_from_isr();
  _stats_start_measure_crit_isr();
  _dbg_check_lock_from_isr();
}
static inline void chSysUnlockFromISR(void) {
  _dbg_check_unlock_from_isr();
  _stats_stop_measure_crit_isr();
  port_unlock_from_isr();
}
static inline void chSysUnconditionalLock(void) {
  if (port_irq_enabled(port_get_irq_status())) {
    chSysLock();
  }
}
static inline void chSysUnconditionalUnlock(void) {
  if (!port_irq_enabled(port_get_irq_status())) {
    chSysUnlock();
  }
}
static inline thread_t *chSysGetIdleThreadX(void) {
  return ch.rlist.queue.prev;
}
#define CHVT_H 
  void _vt_init(void);
  void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
                  vtfunc_t vtfunc, void *par);
  void chVTDoResetI(virtual_timer_t *vtp);
static inline void chVTObjectInit(virtual_timer_t *vtp) {
  vtp->func = NULL;
}
static inline systime_t chVTGetSystemTimeX(void) {
  return ch.vtlist.systime;
}
static inline systime_t chVTGetSystemTime(void) {
  systime_t systime;
  chSysLock();
  systime = chVTGetSystemTimeX();
  chSysUnlock();
  return systime;
}
static inline sysinterval_t chVTTimeElapsedSinceX(systime_t start) {
  return chTimeDiffX(start, chVTGetSystemTimeX());
}
static inline bool chVTIsSystemTimeWithinX(systime_t start, systime_t end) {
  return chTimeIsInRangeX(chVTGetSystemTimeX(), start, end);
}
static inline bool chVTIsSystemTimeWithin(systime_t start, systime_t end) {
  return chTimeIsInRangeX(chVTGetSystemTime(), start, end);
}
static inline bool chVTGetTimersStateI(sysinterval_t *timep) {
  chDbgCheckClassI();
  if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.next) {
    return false;
  }
  if (timep != NULL) {
    *timep = ch.vtlist.next->delta;
  }
  return true;
}
static inline bool chVTIsArmedI(const virtual_timer_t *vtp) {
  chDbgCheckClassI();
  return (bool)(vtp->func != NULL);
}
static inline bool chVTIsArmed(const virtual_timer_t *vtp) {
  bool b;
  chSysLock();
  b = chVTIsArmedI(vtp);
  chSysUnlock();
  return b;
}
static inline void chVTResetI(virtual_timer_t *vtp) {
  if (chVTIsArmedI(vtp)) {
    chVTDoResetI(vtp);
  }
}
static inline void chVTReset(virtual_timer_t *vtp) {
  chSysLock();
  chVTResetI(vtp);
  chSysUnlock();
}
static inline void chVTSetI(virtual_timer_t *vtp, sysinterval_t delay,
                            vtfunc_t vtfunc, void *par) {
  chVTResetI(vtp);
  chVTDoSetI(vtp, delay, vtfunc, par);
}
static inline void chVTSet(virtual_timer_t *vtp, sysinterval_t delay,
                           vtfunc_t vtfunc, void *par) {
  chSysLock();
  chVTSetI(vtp, delay, vtfunc, par);
  chSysUnlock();
}
static inline void chVTDoTickI(void) {
  chDbgCheckClassI();
  ch.vtlist.systime++;
  if (&ch.vtlist != (virtual_timers_list_t *)ch.vtlist.next) {
    --ch.vtlist.next->delta;
    while (ch.vtlist.next->delta == (sysinterval_t)0) {
      virtual_timer_t *vtp;
      vtfunc_t fn;
      vtp = ch.vtlist.next;
      fn = vtp->func;
      vtp->func = NULL;
      vtp->next->prev = (virtual_timer_t *)&ch.vtlist;
      ch.vtlist.next = vtp->next;
      chSysUnlockFromISR();
      fn(vtp->par);
      chSysLockFromISR();
    }
  }
}
#define CHTHREADS_H 
typedef void (*tfunc_t)(void *p);
typedef struct {
  const char *name;
  stkalign_t *wbase;
  stkalign_t *wend;
  tprio_t prio;
  tfunc_t funcp;
  void *arg;
} thread_descriptor_t;
#define _THREADS_QUEUE_DATA(name) {(thread_t *)&name, (thread_t *)&name}
#define _THREADS_QUEUE_DECL(name) threads_queue_t name = _THREADS_QUEUE_DATA(name)
#define THD_WORKING_AREA_SIZE(n) MEM_ALIGN_NEXT(sizeof(thread_t) + PORT_WA_SIZE(n), PORT_STACK_ALIGN)
#define THD_WORKING_AREA(s,n) PORT_WORKING_AREA(s, n)
#define THD_WORKING_AREA_BASE(s) ((stkalign_t *)(s))
#define THD_WORKING_AREA_END(s) (THD_WORKING_AREA_BASE(s) + (sizeof (s) / sizeof (stkalign_t)))
#define THD_FUNCTION(tname,arg) PORT_THD_FUNCTION(tname, arg)
#define chThdSleepSeconds(sec) chThdSleep(TIME_S2I(sec))
#define chThdSleepMilliseconds(msec) chThdSleep(TIME_MS2I(msec))
#define chThdSleepMicroseconds(usec) chThdSleep(TIME_US2I(usec))
   thread_t *_thread_init(thread_t *tp, const char *name, tprio_t prio);
  thread_t *chThdCreateSuspendedI(const thread_descriptor_t *tdp);
  thread_t *chThdCreateSuspended(const thread_descriptor_t *tdp);
  thread_t *chThdCreateI(const thread_descriptor_t *tdp);
  thread_t *chThdCreate(const thread_descriptor_t *tdp);
  thread_t *chThdCreateStatic(void *wsp, size_t size,
                              tprio_t prio, tfunc_t pf, void *arg);
  thread_t *chThdStart(thread_t *tp);
  thread_t *chThdAddRef(thread_t *tp);
  void chThdRelease(thread_t *tp);
  void chThdExit(msg_t msg);
  void chThdExitS(msg_t msg);
  msg_t chThdWait(thread_t *tp);
  tprio_t chThdSetPriority(tprio_t newprio);
  void chThdTerminate(thread_t *tp);
  msg_t chThdSuspendS(thread_reference_t *trp);
  msg_t chThdSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout);
  void chThdResumeI(thread_reference_t *trp, msg_t msg);
  void chThdResumeS(thread_reference_t *trp, msg_t msg);
  void chThdResume(thread_reference_t *trp, msg_t msg);
  msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout);
  void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg);
  void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg);
  void chThdSleep(sysinterval_t time);
  void chThdSleepUntil(systime_t time);
  systime_t chThdSleepUntilWindowed(systime_t prev, systime_t next);
  void chThdYield(void);
static inline thread_t *chThdGetSelfX(void) {
  return ch.rlist.current;
}
static inline tprio_t chThdGetPriorityX(void) {
  return chThdGetSelfX()->prio;
}
static inline stkalign_t *chThdGetWorkingAreaX(thread_t *tp) {
  return tp->wabase;
}
static inline bool chThdTerminatedX(thread_t *tp) {
  return (bool)(tp->state == CH_STATE_FINAL);
}
static inline bool chThdShouldTerminateX(void) {
  return (bool)((chThdGetSelfX()->flags & CH_FLAG_TERMINATE) != (tmode_t)0);
}
static inline thread_t *chThdStartI(thread_t *tp) {
  chDbgAssert(tp->state == CH_STATE_WTSTART, "wrong state");
  return chSchReadyI(tp);
}
static inline void chThdSleepS(sysinterval_t ticks) {
  chDbgCheck(ticks != TIME_IMMEDIATE);
  (void) chSchGoSleepTimeoutS(CH_STATE_SLEEPING, ticks);
}
static inline void chThdQueueObjectInit(threads_queue_t *tqp) {
  queue_init(tqp);
}
static inline bool chThdQueueIsEmptyI(threads_queue_t *tqp) {
  chDbgCheckClassI();
  return queue_isempty(tqp);
}
static inline void chThdDoDequeueNextI(threads_queue_t *tqp, msg_t msg) {
  thread_t *tp;
  chDbgAssert(queue_notempty(tqp), "empty queue");
  tp = queue_fifo_remove(tqp);
  chDbgAssert(tp->state == CH_STATE_QUEUED, "invalid state");
  tp->u.rdymsg = msg;
  (void) chSchReadyI(tp);
}
#define CHREGISTRY_H 
typedef struct {
  char identifier[4];
  uint8_t zero;
  uint8_t size;
  uint16_t version;
  uint8_t ptrsize;
  uint8_t timesize;
  uint8_t threadsize;
  uint8_t off_prio;
  uint8_t off_ctx;
  uint8_t off_newer;
  uint8_t off_older;
  uint8_t off_name;
  uint8_t off_stklimit;
  uint8_t off_state;
  uint8_t off_flags;
  uint8_t off_refs;
  uint8_t off_preempt;
  uint8_t off_time;
} chdebug_t;
#define REG_REMOVE(tp) { (tp)->older->newer = (tp)->newer; (tp)->newer->older = (tp)->older; }
#define REG_INSERT(tp) { (tp)->newer = (thread_t *)&ch.rlist; (tp)->older = ch.rlist.older; (tp)->older->newer = (tp); ch.rlist.older = (tp); }
  extern ROMCONST chdebug_t ch_debug;
  thread_t *chRegFirstThread(void);
  thread_t *chRegNextThread(thread_t *tp);
  thread_t *chRegFindThreadByName(const char *name);
  thread_t *chRegFindThreadByPointer(thread_t *tp);
  thread_t *chRegFindThreadByWorkingArea(stkalign_t *wa);
static inline void chRegSetThreadName(const char *name) {
  ch.rlist.current->name = name;
}
static inline const char *chRegGetThreadNameX(thread_t *tp) {
  return tp->name;
}
static inline void chRegSetThreadNameX(thread_t *tp, const char *name) {
  tp->name = name;
}
#define CHSEM_H 
typedef struct ch_semaphore {
  threads_queue_t queue;
  cnt_t cnt;
} semaphore_t;
#define _SEMAPHORE_DATA(name,n) {_THREADS_QUEUE_DATA(name.queue), n}
#define SEMAPHORE_DECL(name,n) semaphore_t name = _SEMAPHORE_DATA(name, n)
  void chSemObjectInit(semaphore_t *sp, cnt_t n);
  void chSemReset(semaphore_t *sp, cnt_t n);
  void chSemResetI(semaphore_t *sp, cnt_t n);
  msg_t chSemWait(semaphore_t *sp);
  msg_t chSemWaitS(semaphore_t *sp);
  msg_t chSemWaitTimeout(semaphore_t *sp, sysinterval_t timeout);
  msg_t chSemWaitTimeoutS(semaphore_t *sp, sysinterval_t timeout);
  void chSemSignal(semaphore_t *sp);
  void chSemSignalI(semaphore_t *sp);
  void chSemAddCounterI(semaphore_t *sp, cnt_t n);
  msg_t chSemSignalWait(semaphore_t *sps, semaphore_t *spw);
static inline void chSemFastWaitI(semaphore_t *sp) {
  chDbgCheckClassI();
  sp->cnt--;
}
static inline void chSemFastSignalI(semaphore_t *sp) {
  chDbgCheckClassI();
  sp->cnt++;
}
static inline cnt_t chSemGetCounterI(const semaphore_t *sp) {
  chDbgCheckClassI();
  return sp->cnt;
}
#define CHMTX_H 
typedef struct ch_mutex mutex_t;
struct ch_mutex {
  threads_queue_t queue;
  thread_t *owner;
  mutex_t *next;
};
#define _MUTEX_DATA(name) {_THREADS_QUEUE_DATA(name.queue), NULL, NULL}
#define MUTEX_DECL(name) mutex_t name = _MUTEX_DATA(name)
  void chMtxObjectInit(mutex_t *mp);
  void chMtxLock(mutex_t *mp);
  void chMtxLockS(mutex_t *mp);
  bool chMtxTryLock(mutex_t *mp);
  bool chMtxTryLockS(mutex_t *mp);
  void chMtxUnlock(mutex_t *mp);
  void chMtxUnlockS(mutex_t *mp);
  void chMtxUnlockAll(void);
  void chMtxUnlockAllS(void);
static inline bool chMtxQueueNotEmptyS(mutex_t *mp) {
  chDbgCheckClassS();
  return queue_notempty(&mp->queue);
}
static inline thread_t *chMtxGetOwnerI(mutex_t *mp) {
  chDbgCheckClassI();
  return mp->owner;
}
static inline mutex_t *chMtxGetNextMutexX(void) {
  return chThdGetSelfX()->mtxlist;
}
#define CHCOND_H 
typedef struct condition_variable {
  threads_queue_t queue;
} condition_variable_t;
#define _CONDVAR_DATA(name) {_THREADS_QUEUE_DATA(name.queue)}
#define CONDVAR_DECL(name) condition_variable_t name = _CONDVAR_DATA(name)
  void chCondObjectInit(condition_variable_t *cp);
  void chCondSignal(condition_variable_t *cp);
  void chCondSignalI(condition_variable_t *cp);
  void chCondBroadcast(condition_variable_t *cp);
  void chCondBroadcastI(condition_variable_t *cp);
  msg_t chCondWait(condition_variable_t *cp);
  msg_t chCondWaitS(condition_variable_t *cp);
  msg_t chCondWaitTimeout(condition_variable_t *cp, sysinterval_t timeout);
  msg_t chCondWaitTimeoutS(condition_variable_t *cp, sysinterval_t timeout);
#define CHEVENTS_H 
typedef struct event_listener event_listener_t;
struct event_listener {
  event_listener_t *next;
  thread_t *listener;
  eventmask_t events;
  eventflags_t flags;
  eventflags_t wflags;
};
typedef struct event_source {
  event_listener_t *next;
} event_source_t;
typedef void (*evhandler_t)(eventid_t id);
#define ALL_EVENTS ((eventmask_t)-1)
#define EVENT_MASK(eid) ((eventmask_t)1 << (eventmask_t)(eid))
#define _EVENTSOURCE_DATA(name) {(event_listener_t *)(&name)}
#define EVENTSOURCE_DECL(name) event_source_t name = _EVENTSOURCE_DATA(name)
  void chEvtRegisterMaskWithFlags(event_source_t *esp,
                                  event_listener_t *elp,
                                  eventmask_t events,
                                  eventflags_t wflags);
  void chEvtUnregister(event_source_t *esp, event_listener_t *elp);
  eventmask_t chEvtGetAndClearEventsI(eventmask_t events);
  eventmask_t chEvtGetAndClearEvents(eventmask_t events);
  eventmask_t chEvtAddEvents(eventmask_t events);
  eventflags_t chEvtGetAndClearFlags(event_listener_t *elp);
  eventflags_t chEvtGetAndClearFlagsI(event_listener_t *elp);
  void chEvtSignal(thread_t *tp, eventmask_t events);
  void chEvtSignalI(thread_t *tp, eventmask_t events);
  void chEvtBroadcastFlags(event_source_t *esp, eventflags_t flags);
  void chEvtBroadcastFlagsI(event_source_t *esp, eventflags_t flags);
  void chEvtDispatch(const evhandler_t *handlers, eventmask_t events);
  eventmask_t chEvtWaitOne(eventmask_t events);
  eventmask_t chEvtWaitAny(eventmask_t events);
  eventmask_t chEvtWaitAll(eventmask_t events);
  eventmask_t chEvtWaitOneTimeout(eventmask_t events, sysinterval_t timeout);
  eventmask_t chEvtWaitAnyTimeout(eventmask_t events, sysinterval_t timeout);
  eventmask_t chEvtWaitAllTimeout(eventmask_t events, sysinterval_t timeout);
static inline void chEvtObjectInit(event_source_t *esp) {
  esp->next = (event_listener_t *)esp;
}
static inline void chEvtRegisterMask(event_source_t *esp,
                                     event_listener_t *elp,
                                     eventmask_t events) {
  chEvtRegisterMaskWithFlags(esp, elp, events, (eventflags_t)-1);
}
static inline void chEvtRegister(event_source_t *esp,
                                 event_listener_t *elp,
                                 eventid_t event) {
  chEvtRegisterMask(esp, elp, EVENT_MASK(event));
}
static inline bool chEvtIsListeningI(event_source_t *esp) {
  return (bool)(esp != (event_source_t *)esp->next);
}
static inline void chEvtBroadcast(event_source_t *esp) {
  chEvtBroadcastFlags(esp, (eventflags_t)0);
}
static inline void chEvtBroadcastI(event_source_t *esp) {
  chEvtBroadcastFlagsI(esp, (eventflags_t)0);
}
static inline eventmask_t chEvtAddEventsI(eventmask_t events) {
  return currp->epending |= events;
}
static inline eventmask_t chEvtGetEventsX(void) {
  return currp->epending;
}
#define CHMSG_H 
  msg_t chMsgSend(thread_t *tp, msg_t msg);
  thread_t * chMsgWait(void);
  void chMsgRelease(thread_t *tp, msg_t msg);
static inline bool chMsgIsPendingI(thread_t *tp) {
  chDbgCheckClassI();
  return (bool)(tp->msgqueue.next != (thread_t *)&tp->msgqueue);
}
static inline msg_t chMsgGet(thread_t *tp) {
  chDbgAssert(tp->state == CH_STATE_SNDMSG, "invalid state");
  return tp->u.sentmsg;
}
static inline void chMsgReleaseS(thread_t *tp, msg_t msg) {
  chDbgCheckClassS();
  chSchWakeupS(tp, msg);
}
#define CHLIB_H 
#define _CHIBIOS_OSLIB_ 
#define CH_OSLIB_STABLE 1
#define CH_OSLIB_VERSION "1.1.2"
#define CH_OSLIB_MAJOR 1
#define CH_OSLIB_MINOR 1
#define CH_OSLIB_PATCH 2
#define CHBSEM_H 
typedef struct ch_binary_semaphore {
  semaphore_t sem;
} binary_semaphore_t;
#define _BSEMAPHORE_DATA(name,taken) {_SEMAPHORE_DATA(name.sem, ((taken) ? 0 : 1))}
#define BSEMAPHORE_DECL(name,taken) binary_semaphore_t name = _BSEMAPHORE_DATA(name, taken)
static inline void chBSemObjectInit(binary_semaphore_t *bsp, bool taken) {
  chSemObjectInit(&bsp->sem, taken ? (cnt_t)0 : (cnt_t)1);
}
static inline msg_t chBSemWait(binary_semaphore_t *bsp) {
  return chSemWait(&bsp->sem);
}
static inline msg_t chBSemWaitS(binary_semaphore_t *bsp) {
  chDbgCheckClassS();
  return chSemWaitS(&bsp->sem);
}
static inline msg_t chBSemWaitTimeoutS(binary_semaphore_t *bsp,
                                       sysinterval_t timeout) {
  chDbgCheckClassS();
  return chSemWaitTimeoutS(&bsp->sem, timeout);
}
static inline msg_t chBSemWaitTimeout(binary_semaphore_t *bsp,
                                      sysinterval_t timeout) {
  return chSemWaitTimeout(&bsp->sem, timeout);
}
static inline void chBSemResetI(binary_semaphore_t *bsp, bool taken) {
  chDbgCheckClassI();
  chSemResetI(&bsp->sem, taken ? (cnt_t)0 : (cnt_t)1);
}
static inline void chBSemReset(binary_semaphore_t *bsp, bool taken) {
  chSemReset(&bsp->sem, taken ? (cnt_t)0 : (cnt_t)1);
}
static inline void chBSemSignalI(binary_semaphore_t *bsp) {
  chDbgCheckClassI();
  if (bsp->sem.cnt < (cnt_t)1) {
    chSemSignalI(&bsp->sem);
  }
}
static inline void chBSemSignal(binary_semaphore_t *bsp) {
  chSysLock();
  chBSemSignalI(bsp);
  chSchRescheduleS();
  chSysUnlock();
}
static inline bool chBSemGetStateI(const binary_semaphore_t *bsp) {
  chDbgCheckClassI();
  return (bsp->sem.cnt > (cnt_t)0) ? false : true;
}
#define CHMBOXES_H 
typedef struct {
  msg_t *buffer;
  msg_t *top;
  msg_t *wrptr;
  msg_t *rdptr;
  size_t cnt;
  bool reset;
  threads_queue_t qw;
  threads_queue_t qr;
} mailbox_t;
#define _MAILBOX_DATA(name,buffer,size) { (msg_t *)(buffer), (msg_t *)(buffer) + size, (msg_t *)(buffer), (msg_t *)(buffer), (size_t)0, false, _THREADS_QUEUE_DATA(name.qw), _THREADS_QUEUE_DATA(name.qr), }
#define MAILBOX_DECL(name,buffer,size) mailbox_t name = _MAILBOX_DATA(name, buffer, size)
  void chMBObjectInit(mailbox_t *mbp, msg_t *buf, size_t n);
  void chMBReset(mailbox_t *mbp);
  void chMBResetI(mailbox_t *mbp);
  msg_t chMBPostTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
  msg_t chMBPostTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
  msg_t chMBPostI(mailbox_t *mbp, msg_t msg);
  msg_t chMBPostAheadTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
  msg_t chMBPostAheadTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
  msg_t chMBPostAheadI(mailbox_t *mbp, msg_t msg);
  msg_t chMBFetchTimeout(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout);
  msg_t chMBFetchTimeoutS(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout);
  msg_t chMBFetchI(mailbox_t *mbp, msg_t *msgp);
static inline size_t chMBGetSizeI(const mailbox_t *mbp) {
  return (size_t)(mbp->top - mbp->buffer);
}
static inline size_t chMBGetUsedCountI(const mailbox_t *mbp) {
  chDbgCheckClassI();
  return mbp->cnt;
}
static inline size_t chMBGetFreeCountI(const mailbox_t *mbp) {
  chDbgCheckClassI();
  return chMBGetSizeI(mbp) - chMBGetUsedCountI(mbp);
}
static inline msg_t chMBPeekI(const mailbox_t *mbp) {
  chDbgCheckClassI();
  return *mbp->rdptr;
}
static inline void chMBResumeX(mailbox_t *mbp) {
  mbp->reset = false;
}
#define CHMEMCORE_H 
typedef void *(*memgetfunc_t)(size_t size, unsigned align);
typedef void *(*memgetfunc2_t)(size_t size, unsigned align, size_t offset);
typedef struct {
  uint8_t *nextmem;
  uint8_t *endmem;
} memcore_t;
extern memcore_t ch_memcore;
  void _core_init(void);
  void *chCoreAllocAlignedWithOffsetI(size_t size,
                                      unsigned align,
                                      size_t offset);
  void *chCoreAllocAlignedWithOffset(size_t size,
                                     unsigned align,
                                     size_t offset);
  size_t chCoreGetStatusX(void);
static inline void *chCoreAllocAlignedI(size_t size, unsigned align) {
  return chCoreAllocAlignedWithOffsetI(size, align, 0U);
}
static inline void *chCoreAllocAligned(size_t size, unsigned align) {
  void *p;
  chSysLock();
  p = chCoreAllocAlignedWithOffsetI(size, align, 0U);
  chSysUnlock();
  return p;
}
static inline void *chCoreAllocI(size_t size) {
  return chCoreAllocAlignedWithOffsetI(size, PORT_NATURAL_ALIGN, 0U);
}
static inline void *chCoreAlloc(size_t size) {
  return chCoreAllocAlignedWithOffset(size, PORT_NATURAL_ALIGN, 0U);
}
#define CHMEMHEAPS_H 
#define CH_HEAP_ALIGNMENT 8U
typedef struct memory_heap memory_heap_t;
typedef union heap_header heap_header_t;
union heap_header {
  struct {
    heap_header_t *next;
    size_t pages;
  } free;
  struct {
    memory_heap_t *heap;
    size_t size;
  } used;
};
struct memory_heap {
  memgetfunc2_t provider;
  heap_header_t header;
  mutex_t mtx;
};
#define CH_HEAP_AREA(name,size) ALIGNED_VAR(CH_HEAP_ALIGNMENT) uint8_t name[MEM_ALIGN_NEXT((size), CH_HEAP_ALIGNMENT)]
  void _heap_init(void);
  void chHeapObjectInit(memory_heap_t *heapp, void *buf, size_t size);
  void *chHeapAllocAligned(memory_heap_t *heapp, size_t size, unsigned align);
  void chHeapFree(void *p);
  size_t chHeapStatus(memory_heap_t *heapp, size_t *totalp, size_t *largestp);
static inline void *chHeapAlloc(memory_heap_t *heapp, size_t size) {
  return chHeapAllocAligned(heapp, size, CH_HEAP_ALIGNMENT);
}
static inline size_t chHeapGetSize(const void *p) {
  return ((heap_header_t *)p - 1U)->used.size;
}
#define CHMEMPOOLS_H 
struct pool_header {
  struct pool_header *next;
};
typedef struct {
  struct pool_header *next;
  size_t object_size;
  unsigned align;
  memgetfunc_t provider;
} memory_pool_t;
typedef struct {
  semaphore_t sem;
  memory_pool_t pool;
} guarded_memory_pool_t;
#define _MEMORYPOOL_DATA(name,size,align,provider) {NULL, size, align, provider}
#define MEMORYPOOL_DECL(name,size,align,provider) memory_pool_t name = _MEMORYPOOL_DATA(name, size, align, provider)
#define _GUARDEDMEMORYPOOL_DATA(name,size,align) { _SEMAPHORE_DATA(name.sem, (cnt_t)0), _MEMORYPOOL_DATA(NULL, size, align, NULL) }
#define GUARDEDMEMORYPOOL_DECL(name,size,align) guarded_memory_pool_t name = _GUARDEDMEMORYPOOL_DATA(name, size, align)
  void chPoolObjectInitAligned(memory_pool_t *mp, size_t size,
                               unsigned align, memgetfunc_t provider);
  void chPoolLoadArray(memory_pool_t *mp, void *p, size_t n);
  void *chPoolAllocI(memory_pool_t *mp);
  void *chPoolAlloc(memory_pool_t *mp);
  void chPoolFreeI(memory_pool_t *mp, void *objp);
  void chPoolFree(memory_pool_t *mp, void *objp);
  void chGuardedPoolObjectInitAligned(guarded_memory_pool_t *gmp,
                                      size_t size,
                                      unsigned align);
  void chGuardedPoolLoadArray(guarded_memory_pool_t *gmp, void *p, size_t n);
  void *chGuardedPoolAllocTimeoutS(guarded_memory_pool_t *gmp,
                                   sysinterval_t timeout);
  void *chGuardedPoolAllocTimeout(guarded_memory_pool_t *gmp,
                                  sysinterval_t timeout);
  void chGuardedPoolFree(guarded_memory_pool_t *gmp, void *objp);
static inline void chPoolObjectInit(memory_pool_t *mp,
                                    size_t size,
                                    memgetfunc_t provider) {
  chPoolObjectInitAligned(mp, size, PORT_NATURAL_ALIGN, provider);
}
static inline void chPoolAdd(memory_pool_t *mp, void *objp) {
  chPoolFree(mp, objp);
}
static inline void chPoolAddI(memory_pool_t *mp, void *objp) {
  chPoolFreeI(mp, objp);
}
static inline void chGuardedPoolObjectInit(guarded_memory_pool_t *gmp,
                                           size_t size) {
  chGuardedPoolObjectInitAligned(gmp, size, PORT_NATURAL_ALIGN);
}
static inline cnt_t chGuardedPoolGetCounterI(guarded_memory_pool_t *gmp) {
  return chSemGetCounterI(&gmp->sem);
}
static inline void *chGuardedPoolAllocI(guarded_memory_pool_t *gmp) {
  void *p;
  p = chPoolAllocI(&gmp->pool);
  if (p != NULL) {
    chSemFastWaitI(&gmp->sem);
    chDbgAssert(chSemGetCounterI(&gmp->sem) >= (cnt_t)0,
                "semaphore out of sync");
  }
  return p;
}
static inline void chGuardedPoolFreeI(guarded_memory_pool_t *gmp, void *objp) {
  chPoolFreeI(&gmp->pool, objp);
  chSemSignalI(&gmp->sem);
}
static inline void chGuardedPoolFreeS(guarded_memory_pool_t *gmp, void *objp) {
  chGuardedPoolFreeI(gmp, objp);
  chSchRescheduleS();
}
static inline void chGuardedPoolAdd(guarded_memory_pool_t *gmp, void *objp) {
  chGuardedPoolFree(gmp, objp);
}
static inline void chGuardedPoolAddI(guarded_memory_pool_t *gmp, void *objp) {
  chGuardedPoolFreeI(gmp, objp);
}
static inline void chGuardedPoolAddS(guarded_memory_pool_t *gmp, void *objp) {
  chGuardedPoolFreeS(gmp, objp);
}
#define CHOBJFIFOS_H 
typedef struct ch_objects_fifo {
  guarded_memory_pool_t free;
  mailbox_t mbx;
} objects_fifo_t;
static inline void chFifoObjectInitAligned(objects_fifo_t *ofp, size_t objsize,
                                           size_t objn, unsigned objalign,
                                           void *objbuf, msg_t *msgbuf) {
  chDbgCheck((objsize >= objalign) && ((objsize % objalign) == 0U));
  chGuardedPoolObjectInitAligned(&ofp->free, objsize, objalign);
  chGuardedPoolLoadArray(&ofp->free, objbuf, objn);
  chMBObjectInit(&ofp->mbx, msgbuf, objn);
}
static inline void chFifoObjectInit(objects_fifo_t *ofp, size_t objsize,
                                    size_t objn, void *objbuf,
                                    msg_t *msgbuf) {
  chFifoObjectInitAligned(ofp, objsize, objn,
                          PORT_NATURAL_ALIGN,
                          objbuf, msgbuf);
}
static inline void *chFifoTakeObjectI(objects_fifo_t *ofp) {
  return chGuardedPoolAllocI(&ofp->free);
}
static inline void *chFifoTakeObjectTimeoutS(objects_fifo_t *ofp,
                                             sysinterval_t timeout) {
  return chGuardedPoolAllocTimeoutS(&ofp->free, timeout);
}
static inline void *chFifoTakeObjectTimeout(objects_fifo_t *ofp,
                                            sysinterval_t timeout) {
  return chGuardedPoolAllocTimeout(&ofp->free, timeout);
}
static inline void chFifoReturnObjectI(objects_fifo_t *ofp,
                                       void *objp) {
  chGuardedPoolFreeI(&ofp->free, objp);
}
static inline void chFifoReturnObjectS(objects_fifo_t *ofp,
                                       void *objp) {
  chGuardedPoolFreeS(&ofp->free, objp);
}
static inline void chFifoReturnObject(objects_fifo_t *ofp,
                                      void *objp) {
  chGuardedPoolFree(&ofp->free, objp);
}
static inline void chFifoSendObjectI(objects_fifo_t *ofp,
                                     void *objp) {
  msg_t msg;
  msg = chMBPostI(&ofp->mbx, (msg_t)objp);
  chDbgAssert(msg == MSG_OK, "post failed");
}
static inline void chFifoSendObjectS(objects_fifo_t *ofp,
                                     void *objp) {
  msg_t msg;
  msg = chMBPostTimeoutS(&ofp->mbx, (msg_t)objp, TIME_IMMEDIATE);
  chDbgAssert(msg == MSG_OK, "post failed");
}
static inline void chFifoSendObject(objects_fifo_t *ofp, void *objp) {
  msg_t msg;
  msg = chMBPostTimeout(&ofp->mbx, (msg_t)objp, TIME_IMMEDIATE);
  chDbgAssert(msg == MSG_OK, "post failed");
}
static inline void chFifoSendObjectAheadI(objects_fifo_t *ofp,
                                          void *objp) {
  msg_t msg;
  msg = chMBPostAheadI(&ofp->mbx, (msg_t)objp);
  chDbgAssert(msg == MSG_OK, "post failed");
}
static inline void chFifoSendObjectAheadS(objects_fifo_t *ofp,
                                          void *objp) {
  msg_t msg;
  msg = chMBPostAheadTimeoutS(&ofp->mbx, (msg_t)objp, TIME_IMMEDIATE);
  chDbgAssert(msg == MSG_OK, "post failed");
}
static inline void chFifoSendObjectAhead(objects_fifo_t *ofp, void *objp) {
  msg_t msg;
  msg = chMBPostAheadTimeout(&ofp->mbx, (msg_t)objp, TIME_IMMEDIATE);
  chDbgAssert(msg == MSG_OK, "post failed");
}
static inline msg_t chFifoReceiveObjectI(objects_fifo_t *ofp,
                                         void **objpp) {
  return chMBFetchI(&ofp->mbx, (msg_t *)objpp);
}
static inline msg_t chFifoReceiveObjectTimeoutS(objects_fifo_t *ofp,
                                                void **objpp,
                                                sysinterval_t timeout) {
  return chMBFetchTimeoutS(&ofp->mbx, (msg_t *)objpp, timeout);
}
static inline msg_t chFifoReceiveObjectTimeout(objects_fifo_t *ofp,
                                               void **objpp,
                                               sysinterval_t timeout) {
  return chMBFetchTimeout(&ofp->mbx, (msg_t *)objpp, timeout);
}
#define CHPIPES_H 
typedef struct {
  uint8_t *buffer;
  uint8_t *top;
  uint8_t *wrptr;
  uint8_t *rdptr;
  size_t cnt;
  bool reset;
  thread_reference_t wtr;
  thread_reference_t rtr;
  mutex_t cmtx;
  mutex_t wmtx;
  mutex_t rmtx;
} pipe_t;
#define _PIPE_DATA(name,buffer,size) { (uint8_t *)(buffer), (uint8_t *)(buffer) + size, (uint8_t *)(buffer), (uint8_t *)(buffer), (size_t)0, false, NULL, NULL, _MUTEX_DATA(name.cmtx), _MUTEX_DATA(name.wmtx), _MUTEX_DATA(name.rmtx), }
#define PIPE_DECL(name,buffer,size) pipe_t name = _PIPE_DATA(name, buffer, size)
  void chPipeObjectInit(pipe_t *pp, uint8_t *buf, size_t n);
  void chPipeReset(pipe_t *pp);
  size_t chPipeWriteTimeout(pipe_t *pp, const uint8_t *bp,
                            size_t n, sysinterval_t timeout);
  size_t chPipeReadTimeout(pipe_t *pp, uint8_t *bp,
                           size_t n, sysinterval_t timeout);
static inline size_t chPipeGetSize(const pipe_t *pp) {
  return (size_t)(pp->top - pp->buffer);
}
static inline size_t chPipeGetUsedCount(const pipe_t *pp) {
  return pp->cnt;
}
static inline size_t chPipeGetFreeCount(const pipe_t *pp) {
  return chPipeGetSize(pp) - chPipeGetUsedCount(pp);
}
static inline void chPipeResume(pipe_t *pp) {
  pp->reset = false;
}
#define CHFACTORY_H 
#define CH_FACTORY_REQUIRES_POOLS ((CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE) || (CH_CFG_FACTORY_SEMAPHORES == TRUE))
#define CH_FACTORY_REQUIRES_HEAP ((CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || (CH_CFG_FACTORY_MAILBOXES == TRUE) || (CH_CFG_FACTORY_OBJ_FIFOS == TRUE) || (CH_CFG_FACTORY_PIPES == TRUE))
typedef struct ch_dyn_element {
  struct ch_dyn_element *next;
  ucnt_t refs;
  char name[CH_CFG_FACTORY_MAX_NAMES_LENGTH];
} dyn_element_t;
typedef struct ch_dyn_list {
    dyn_element_t *next;
} dyn_list_t;
typedef struct ch_registered_static_object {
  dyn_element_t element;
  void *objp;
} registered_object_t;
typedef struct ch_dyn_object {
  dyn_element_t element;
  uint8_t buffer[];
} dyn_buffer_t;
typedef struct ch_dyn_semaphore {
  dyn_element_t element;
  semaphore_t sem;
} dyn_semaphore_t;
typedef struct ch_dyn_mailbox {
  dyn_element_t element;
  mailbox_t mbx;
  msg_t msgbuf[];
} dyn_mailbox_t;
typedef struct ch_dyn_objects_fifo {
  dyn_element_t element;
  objects_fifo_t fifo;
  msg_t msgbuf[];
} dyn_objects_fifo_t;
typedef struct ch_dyn_pipe {
  dyn_element_t element;
  pipe_t pipe;
  uint8_t buffer[];
} dyn_pipe_t;
typedef struct ch_objects_factory {
  mutex_t mtx;
  dyn_list_t obj_list;
  memory_pool_t obj_pool;
  dyn_list_t buf_list;
  dyn_list_t sem_list;
  memory_pool_t sem_pool;
  dyn_list_t mbx_list;
  dyn_list_t fifo_list;
  dyn_list_t pipe_list;
} objects_factory_t;
extern objects_factory_t ch_factory;
  void _factory_init(void);
  registered_object_t *chFactoryRegisterObject(const char *name,
                                               void *objp);
  registered_object_t *chFactoryFindObject(const char *name);
  registered_object_t *chFactoryFindObjectByPointer(void *objp);
  void chFactoryReleaseObject(registered_object_t *rop);
  dyn_buffer_t *chFactoryCreateBuffer(const char *name, size_t size);
  dyn_buffer_t *chFactoryFindBuffer(const char *name);
  void chFactoryReleaseBuffer(dyn_buffer_t *dbp);
  dyn_semaphore_t *chFactoryCreateSemaphore(const char *name, cnt_t n);
  dyn_semaphore_t *chFactoryFindSemaphore(const char *name);
  void chFactoryReleaseSemaphore(dyn_semaphore_t *dsp);
  dyn_mailbox_t *chFactoryCreateMailbox(const char *name, size_t n);
  dyn_mailbox_t *chFactoryFindMailbox(const char *name);
  void chFactoryReleaseMailbox(dyn_mailbox_t *dmp);
  dyn_objects_fifo_t *chFactoryCreateObjectsFIFO(const char *name,
                                                 size_t objsize,
                                                 size_t objn,
                                                 unsigned objalign);
  dyn_objects_fifo_t *chFactoryFindObjectsFIFO(const char *name);
  void chFactoryReleaseObjectsFIFO(dyn_objects_fifo_t *dofp);
  dyn_pipe_t *chFactoryCreatePipe(const char *name, size_t size);
  dyn_pipe_t *chFactoryFindPipe(const char *name);
  void chFactoryReleasePipe(dyn_pipe_t *dpp);
static inline dyn_element_t *chFactoryDuplicateReference(dyn_element_t *dep) {
  dep->refs++;
  return dep;
}
static inline void *chFactoryGetObject(registered_object_t *rop) {
  return rop->objp;
}
static inline size_t chFactoryGetBufferSize(dyn_buffer_t *dbp) {
  return chHeapGetSize(dbp) - sizeof (dyn_element_t);
}
static inline uint8_t *chFactoryGetBuffer(dyn_buffer_t *dbp) {
  return dbp->buffer;
}
static inline semaphore_t *chFactoryGetSemaphore(dyn_semaphore_t *dsp) {
  return &dsp->sem;
}
static inline mailbox_t *chFactoryGetMailbox(dyn_mailbox_t *dmp) {
  return &dmp->mbx;
}
static inline objects_fifo_t *chFactoryGetObjectsFIFO(dyn_objects_fifo_t *dofp) {
  return &dofp->fifo;
}
static inline pipe_t *chFactoryGetPipe(dyn_pipe_t *dpp) {
  return &dpp->pipe;
}
#define CHDYNAMIC_H 
  thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size,
                                const char *name, tprio_t prio,
                                tfunc_t pf, void *arg);
  thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, const char *name,
                                      tprio_t prio, tfunc_t pf, void *arg);