upload initial port

author: Clyne Sullivan <clyne@bitgloo.com> 2021-01-22 21:43:36 -0500
committer: Clyne Sullivan <clyne@bitgloo.com> 2021-01-22 21:43:36 -0500
commit: 48026bb824fd2d9cfb00ecd040db6ef3a416bae9 (patch)
tree: c14713aedfe78ee8b34f2e1252408782e2e2ff5d /ChibiOS_20.3.2/os/hal/osal
parent: e080a26651f90c88176140d63a74c93c2f4041a2 (diff)
11 files changed, 3764 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/hal/osal/lib/osal_vt.c b/ChibiOS_20.3.2/os/hal/osal/lib/osal_vt.c
new file mode 100644
index 0000000..7d92d13
--- /dev/null
+++ b/ChibiOS_20.3.2/os/hal/osal/lib/osal_vt.c
@@ -0,0 +1,168 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    osal_vt.c
+ * @brief   OSAL Virtual Timers module code.
+ * @details This module can be used in an OSAL implementation whenever an
+ *          underlying RTOS is unable to provide timeout services or there
+ *          is no underlying RTOS.
+ *
+ * @addtogroup OSAL_VT
+ * @{
+ */
+
+#include "osal.h"
+#include "osal_vt.h"
+
+/*===========================================================================*/
+/* Module local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Virtual timers delta list header.
+ */
+virtual_timers_list_t vtlist;
+
+/*===========================================================================*/
+/* Module local types.                                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Timers initialization.
+ *
+ * @init
+ */
+void vtInit(void) {
+
+  /* Virtual Timers initialization.*/
+  vtlist.vt_next = vtlist.vt_prev = (void *)&vtlist;
+  vtlist.vt_delta = (sysinterval_t)-1;
+  vtlist.vt_systime = 0;
+}
+
+/**
+ * @brief   Returns @p TRUE if the specified timer is armed.
+ *
+ * @param[out] vtp      the @p virtual_timer_t structure pointer
+ *
+ * @iclass
+ */
+bool vtIsArmedI(virtual_timer_t *vtp) {
+
+  return vtp->vt_func != NULL;
+}
+
+/**
+ * @brief   Virtual timers ticker.
+ * @note    The system lock is released before entering the callback and
+ *          re-acquired immediately after. It is callback's responsibility
+ *          to acquire the lock if needed. This is done in order to reduce
+ *          interrupts jitter when many timers are in use.
+ *
+ * @iclass
+ */
+void vtDoTickI(void) {
+
+  vtlist.vt_systime++;
+  if (&vtlist != (virtual_timers_list_t *)vtlist.vt_next) {
+    virtual_timer_t *vtp;
+
+    --vtlist.vt_next->vt_delta;
+    while (!(vtp = vtlist.vt_next)->vt_delta) {
+      vtfunc_t fn = vtp->vt_func;
+      vtp->vt_func = (vtfunc_t)NULL;
+      vtp->vt_next->vt_prev = (void *)&vtlist;
+      (&vtlist)->vt_next = vtp->vt_next;
+      osalSysUnlockFromISR();
+      fn(vtp->vt_par);
+      osalSysLockFromISR();
+    }
+  }
+}
+
+/**
+ * @brief   Enables a virtual timer.
+ * @note    The associated function is invoked from interrupt context.
+ *
+ * @param[out] vtp      the @p virtual_timer_t structure pointer
+ * @param[in] timeout   the number of ticks before the operation timeouts, 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.
+ *                      .
+ * @param[in] vtfunc    the timer callback function. After invoking the
+ *                      callback the timer is disabled and the structure can
+ *                      be disposed or reused.
+ * @param[in] par       a parameter that will be passed to the callback
+ *                      function
+ *
+ * @iclass
+ */
+void vtSetI(virtual_timer_t *vtp, sysinterval_t timeout,
+            vtfunc_t vtfunc, void *par) {
+  virtual_timer_t *p;
+
+  vtp->vt_par = par;
+  vtp->vt_func = vtfunc;
+  p = vtlist.vt_next;
+  while (p->vt_delta < timeout) {
+    timeout -= p->vt_delta;
+    p = p->vt_next;
+  }
+
+  vtp->vt_prev = (vtp->vt_next = p)->vt_prev;
+  vtp->vt_prev->vt_next = p->vt_prev = vtp;
+  vtp->vt_delta = timeout;
+  if (p != (void *)&vtlist)
+    p->vt_delta -= timeout;
+}
+
+/**
+ * @brief   Disables a Virtual Timer.
+ * @note    The timer MUST be active when this function is invoked.
+ *
+ * @param[in] vtp       the @p virtual_timer_t structure pointer
+ *
+ * @iclass
+ */
+void vtResetI(virtual_timer_t *vtp) {
+
+  if (vtp->vt_next != (void *)&vtlist)
+    vtp->vt_next->vt_delta += vtp->vt_delta;
+  vtp->vt_prev->vt_next = vtp->vt_next;
+  vtp->vt_next->vt_prev = vtp->vt_prev;
+  vtp->vt_func = (vtfunc_t)NULL;
+}
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/hal/osal/lib/osal_vt.h b/ChibiOS_20.3.2/os/hal/osal/lib/osal_vt.h
new file mode 100644
index 0000000..4926bc5
--- /dev/null
+++ b/ChibiOS_20.3.2/os/hal/osal/lib/osal_vt.h
@@ -0,0 +1,123 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    osal_vt.h
+ * @brief   OSAL Virtual Timers module header.
+ *
+ * @addtogroup OSAL_VT
+ * @{
+ */
+
+#ifndef _OSAL_VT_H_
+#define _OSAL_VT_H_
+
+/*===========================================================================*/
+/* Module constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Type of a Virtual Timer callback function.
+ */
+typedef void (*vtfunc_t)(void *);
+
+/**
+ * @brief   Type of a Virtual Timer structure.
+ */
+typedef struct virtual_timer virtual_timer_t;
+
+/**
+ * @brief   Virtual timers list header.
+ * @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    The delta list is implemented as a double link bidirectional list
+ *          in order to make the unlink time constant, the reset of a virtual
+ *          timer is often used in the code.
+ */
+typedef struct {
+  virtual_timer_t       *vt_next;   /**< @brief Next timer in the timers
+                                                list.                       */
+  virtual_timer_t       *vt_prev;   /**< @brief Last timer in the timers
+                                                list.                       */
+  sysinterval_t         vt_delta;   /**< @brief Must be initialized to -1.  */
+  volatile systime_t    vt_systime; /**< @brief System Time counter.        */
+} virtual_timers_list_t;
+
+/**
+ * @extends virtual_timers_list_t
+ *
+ * @brief   Virtual Timer descriptor structure.
+ * @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.
+ */
+struct virtual_timer {
+  virtual_timer_t       *vt_next;   /**< @brief Next timer in the timers
+                                                list.                       */
+  virtual_timer_t       *vt_prev;   /**< @brief Previous timer in the timers
+                                                list.                       */
+  sysinterval_t         vt_delta;   /**< @brief Time delta before timeout.  */
+  vtfunc_t              vt_func;    /**< @brief Timer callback function
+                                                pointer.                    */
+  void                  *vt_par;    /**< @brief Timer callback function
+                                                parameter.                  */
+};
+
+/*===========================================================================*/
+/* Module macros.                                                            */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#if !defined(__DOXYGEN__)
+extern virtual_timers_list_t vtlist;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void vtInit(void);
+  bool vtIsArmedI(virtual_timer_t *vtp);
+  void vtDoTickI(void);
+  void vtSetI(virtual_timer_t *vtp, sysinterval_t timeout,
+              vtfunc_t vtfunc, void *par);
+  void vtResetI(virtual_timer_t *vtp);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions.                                                  */
+/*===========================================================================*/
+
+#endif /* _OSAL_VT_H_ */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/hal/osal/os-less/ARMCMx/osal.c b/ChibiOS_20.3.2/os/hal/osal/os-less/ARMCMx/osal.c
new file mode 100644
index 0000000..5c62069
--- /dev/null
+++ b/ChibiOS_20.3.2/os/hal/osal/os-less/ARMCMx/osal.c
@@ -0,0 +1,467 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    osal.c
+ * @brief   OSAL module code.
+ *
+ * @addtogroup OSAL
+ * @{
+ */
+
+#include "osal.h"
+#include "osal_vt.h"
+
+/*===========================================================================*/
+/* Module local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Pointer to a halt error message.
+ * @note    The message is meant to be retrieved by the debugger after the
+ *          system halt caused by an unexpected error.
+ */
+const char *osal_halt_msg;
+
+/*===========================================================================*/
+/* Module local types.                                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions.                                                   */
+/*===========================================================================*/
+
+static void callback_timeout(void *p) {
+  osalSysLockFromISR();
+  osalThreadResumeI((thread_reference_t *)p, MSG_TIMEOUT);
+  osalSysUnlockFromISR();
+}
+
+/*===========================================================================*/
+/* Module exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   OSAL module initialization.
+ *
+ * @api
+ */
+void osalInit(void) {
+
+  vtInit();
+
+  OSAL_INIT_HOOK();
+}
+
+/**
+ * @brief   System halt with error message.
+ *
+ * @param[in] reason    the halt message pointer
+ *
+ * @api
+ */
+#if !defined(__DOXYGEN__)
+__attribute__((weak, noreturn))
+#endif
+void osalSysHalt(const char *reason) {
+
+  osalSysDisable();
+  osal_halt_msg = reason;
+  while (true) {
+  }
+}
+
+/**
+ * @brief   Polled delay.
+ * @note    The real delay is always few cycles in excess of the specified
+ *          value.
+ *
+ * @param[in] cycles    number of cycles
+ *
+ * @xclass
+ */
+void osalSysPolledDelayX(rtcnt_t cycles) {
+
+  (void)cycles;
+}
+
+/**
+ * @brief   System timer handler.
+ * @details The handler is used for scheduling and Virtual Timers management.
+ *
+ * @iclass
+ */
+void osalOsTimerHandlerI(void) {
+
+  osalDbgCheckClassI();
+
+  vtDoTickI();
+}
+
+/**
+ * @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
+ */
+void osalOsRescheduleS(void) {
+
+}
+
+/**
+ * @brief   Current system time.
+ * @details Returns the number of system ticks since the @p osalInit()
+ *          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
+ *          @p systime_t size.
+ *
+ * @return              The system time in ticks.
+ *
+ * @xclass
+ */
+systime_t osalOsGetSystemTimeX(void) {
+
+  return vtlist.vt_systime;
+}
+
+/**
+ * @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
+ */
+void osalThreadSleepS(sysinterval_t time) {
+  virtual_timer_t vt;
+  thread_reference_t tr;
+
+  tr = NULL;
+  vtSetI(&vt, time, callback_timeout, (void *)&tr);
+  osalThreadSuspendS(&tr);
+}
+
+/**
+ * @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
+ */
+void osalThreadSleep(sysinterval_t time) {
+
+  osalSysLock();
+  osalThreadSleepS(time);
+  osalSysUnlock();
+}
+
+/**
+ * @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
+ */
+msg_t osalThreadSuspendS(thread_reference_t *trp) {
+  thread_t self = {MSG_WAIT};
+
+  osalDbgCheck(trp != NULL);
+
+  *trp = &self;
+  while (self.message == MSG_WAIT) {
+    osalSysUnlock();
+    /* A state-changing interrupt could occur here and cause the loop to
+       terminate, an hook macro is executed while waiting.*/
+    OSAL_IDLE_HOOK();
+    osalSysLock();
+  }
+
+  return self.message;
+}
+
+/**
+ * @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
+ */
+msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout) {
+  msg_t msg;
+  virtual_timer_t vt;
+
+  osalDbgCheck(trp != NULL);
+
+  if (TIME_INFINITE == timeout)
+   return osalThreadSuspendS(trp);
+
+  vtSetI(&vt, timeout, callback_timeout, (void *)trp);
+  msg = osalThreadSuspendS(trp);
+  if (vtIsArmedI(&vt))
+    vtResetI(&vt);
+
+  return msg;
+}
+
+/**
+ * @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
+ */
+void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
+
+  osalDbgCheck(trp != NULL);
+
+  if (*trp != NULL) {
+    (*trp)->message = msg;
+    *trp = NULL;
+  }
+}
+
+/**
+ * @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
+ */
+void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
+
+  osalDbgCheck(trp != NULL);
+
+  if (*trp != NULL) {
+    (*trp)->message = msg;
+    *trp = NULL;
+  }
+}
+
+/**
+ * @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] 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 message from @p osalQueueWakeupOneI() or
+ *                      @p osalQueueWakeupAllI() functions.
+ * @retval MSG_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
+ */
+msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout) {
+  msg_t msg;
+  virtual_timer_t vt;
+
+  osalDbgCheck(tqp != NULL);
+
+  if (TIME_IMMEDIATE == timeout)
+    return MSG_TIMEOUT;
+
+  tqp->tr = NULL;
+
+  if (TIME_INFINITE == timeout)
+   return osalThreadSuspendS(&tqp->tr);
+
+  vtSetI(&vt, timeout, callback_timeout, (void *)&tqp->tr);
+  msg = osalThreadSuspendS(&tqp->tr);
+  if (vtIsArmedI(&vt))
+    vtResetI(&vt);
+
+  return msg;
+}
+
+/**
+ * @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
+ */
+void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) {
+
+  osalDbgCheck(tqp != NULL);
+
+  osalThreadResumeI(&tqp->tr, 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
+ */
+void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) {
+
+  osalDbgCheck(tqp != NULL);
+
+  osalThreadResumeI(&tqp->tr, msg);
+}
+
+/**
+ * @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
+ */
+void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags) {
+
+  osalDbgCheck(esp != NULL);
+
+  esp->flags |= flags;
+  if (esp->cb != NULL) {
+    esp->cb(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
+ */
+void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags) {
+
+  osalDbgCheck(esp != NULL);
+
+  osalSysLock();
+  osalEventBroadcastFlagsI(esp, flags);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Event callback setup.
+ * @note    The callback is invoked from ISR context and can
+ *          only invoke I-Class functions. The callback is meant
+ *          to wakeup the task that will handle the event by
+ *          calling @p osalEventGetAndClearFlagsI().
+ * @note    This function is not part of the OSAL API and is provided
+ *          exclusively as an example and for convenience.
+ *
+ * @param[in] esp       pointer to the event flags object
+ * @param[in] cb        pointer to the callback function
+ * @param[in] param     parameter to be passed to the callback function
+ *
+ * @api
+ */
+void osalEventSetCallback(event_source_t *esp,
+                          eventcallback_t cb,
+                          void *param) {
+
+  osalDbgCheck(esp != NULL);
+
+  esp->cb    = cb;
+  esp->param = param;
+}
+
+/**
+ * @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
+ */
+void osalMutexLock(mutex_t *mp) {
+
+  osalDbgCheck(mp != NULL);
+
+  *mp = 1;
+}
+
+/**
+ * @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
+ */
+void osalMutexUnlock(mutex_t *mp) {
+
+  osalDbgCheck(mp != NULL);
+
+  *mp = 0;
+}
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/hal/osal/os-less/ARMCMx/osal.h b/ChibiOS_20.3.2/os/hal/osal/os-less/ARMCMx/osal.h
new file mode 100644
index 0000000..362a30c
--- /dev/null
+++ b/ChibiOS_20.3.2/os/hal/osal/os-less/ARMCMx/osal.h
@@ -0,0 +1,754 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    osal.h
+ * @brief   OSAL module header.
+ *
+ * @addtogroup OSAL
+ * @{
+ */
+
+#ifndef OSAL_H
+#define OSAL_H
+
+#include <stddef.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "cmparams.h"
+
+#include "osalconf.h"
+
+/*===========================================================================*/
+/* Module constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Common constants
+ * @{
+ */
+#if !defined(FALSE) || defined(__DOXYGEN__)
+#define FALSE                               0
+#endif
+
+#if !defined(TRUE) || defined(__DOXYGEN__)
+#define TRUE                                1
+#endif
+
+#define OSAL_SUCCESS                        false
+#define OSAL_FAILED                         true
+/** @} */
+
+/**
+ * @name    Messages
+ * @{
+ */
+#define MSG_OK                              (msg_t)0
+#define MSG_RESET                           (msg_t)-1
+#define MSG_TIMEOUT                         (msg_t)-2
+#define MSG_WAIT                            (msg_t)-10
+/** @} */
+
+/**
+ * @name    Special time constants
+ * @{
+ */
+#define TIME_IMMEDIATE                      ((sysinterval_t)0)
+#define TIME_INFINITE                       ((sysinterval_t)-1)
+/** @} */
+
+/**
+ * @name    Systick modes.
+ * @{
+ */
+#define OSAL_ST_MODE_NONE                   0
+#define OSAL_ST_MODE_PERIODIC               1
+#define OSAL_ST_MODE_FREERUNNING            2
+/** @} */
+
+/**
+ * @name    Systick parameters.
+ * @{
+ */
+/**
+ * @brief   Size in bits of the @p systick_t type.
+ */
+#define OSAL_ST_RESOLUTION                  32
+
+/**
+ * @brief   Systick mode required by the underlying OS.
+ */
+#define OSAL_ST_MODE                        OSAL_ST_MODE_PERIODIC
+/** @} */
+
+/**
+ * @name    IRQ-related constants
+ * @{
+ */
+/**
+ * @brief   Total priority levels.
+ */
+#define OSAL_IRQ_PRIORITY_LEVELS            (1U << CORTEX_PRIORITY_BITS)
+
+/**
+ * @brief   Highest IRQ priority for HAL drivers.
+ */
+#if (CORTEX_MODEL == 0) || defined(__DOXYGEN__)
+#define OSAL_IRQ_MAXIMUM_PRIORITY           0
+#else
+#define OSAL_IRQ_MAXIMUM_PRIORITY           1
+#endif
+
+/**
+ * @brief   Converts from numeric priority to BASEPRI register value.
+ */
+#define OSAL_BASEPRI(priority)              ((priority) << (8U - CORTEX_PRIORITY_BITS))
+/** @} */
+
+/*===========================================================================*/
+/* Module pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Frequency in Hertz of the system tick.
+ */
+#if !defined(OSAL_ST_FREQUENCY) || defined(__DOXYGEN__)
+#define OSAL_ST_FREQUENCY                   1000
+#endif
+
+/**
+ * @brief   Enables OSAL assertions.
+ */
+#if !defined(OSAL_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
+#define OSAL_DBG_ENABLE_ASSERTS             FALSE
+#endif
+
+/**
+ * @brief   Enables OSAL functions parameters checks.
+ */
+#if !defined(OSAL_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
+#define OSAL_DBG_ENABLE_CHECKS              FALSE
+#endif
+
+/**
+ * @brief   OSAL initialization hook.
+ */
+#if !defined(OSAL_INIT_HOOK) || defined(__DOXYGEN__)
+#define OSAL_INIT_HOOK()
+#endif
+
+/**
+ * @brief   Idle loop hook macro.
+ */
+#if !defined(OSAL_IDLE_HOOK) || defined(__DOXYGEN__)
+#define OSAL_IDLE_HOOK()
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Type of a system status word.
+ */
+typedef uint32_t syssts_t;
+
+/**
+ * @brief   Type of a message.
+ */
+typedef int32_t msg_t;
+
+/**
+ * @brief   Type of system time counter.
+ */
+typedef uint32_t systime_t;
+
+/**
+ * @brief   Type of system time interval.
+ */
+typedef uint32_t sysinterval_t;
+
+/**
+ * @brief   Type of realtime counter.
+ */
+typedef uint32_t rtcnt_t;
+
+/**
+ * @brief   Type of a thread.
+ * @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.
+ */
+typedef struct {
+  volatile msg_t        message;
+} thread_t;
+
+/**
+ * @brief   Type of a thread reference.
+ */
+typedef thread_t * thread_reference_t;
+
+/**
+ * @brief   Type of an event flags mask.
+ */
+typedef uint32_t eventflags_t;
+
+/**
+ * @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 event_source event_source_t;
+
+/**
+ * @brief   Type of an event source callback.
+ * @note    This type is not part of the OSAL API and is provided
+ *          exclusively as an example and for convenience.
+ */
+typedef void (*eventcallback_t)(event_source_t *esp);
+
+/**
+ * @brief   Events source 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.
+ */
+struct event_source {
+  volatile eventflags_t flags;      /**< @brief Stored event flags.         */
+  eventcallback_t       cb;         /**< @brief Event source callback.      */
+  void                  *param;     /**< @brief User defined field.         */
+};
+
+/**
+ * @brief   Type of a mutex.
+ * @note    If the OS does not support mutexes or there is no OS then them
+ *          mechanism can be simulated.
+ */
+typedef uint32_t mutex_t;
+
+/**
+ * @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    If the OSAL is implemented on a bare metal machine without RTOS
+ *          then the queue can be implemented as a single thread reference.
+ */
+typedef struct {
+  thread_reference_t    tr;
+} threads_queue_t;
+
+/*===========================================================================*/
+/* 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 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) do {                                       \
+  /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/       \
+  if (OSAL_DBG_ENABLE_ASSERTS != FALSE) {                                   \
+    if (!(c)) {                                                             \
+  /*lint -restore*/                                                         \
+      osalSysHalt(__func__);                                                \
+    }                                                                       \
+  }                                                                         \
+} while (false)
+
+/**
+ * @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) do {                                                \
+  /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/       \
+  if (OSAL_DBG_ENABLE_CHECKS != FALSE) {                                    \
+    if (!(c)) {                                                             \
+  /*lint -restore*/                                                         \
+      osalSysHalt(__func__);                                                \
+    }                                                                       \
+  }                                                                         \
+} while (false)
+
+/**
+ * @brief   I-Class state check.
+ * @note    Implementation is optional.
+ */
+#define osalDbgCheckClassI()
+
+/**
+ * @brief   S-Class state check.
+ * @note    Implementation is optional.
+ */
+#define osalDbgCheckClassS()
+/** @} */
+
+/**
+ * @name    IRQ service routines wrappers
+ * @{
+ */
+/**
+ * @brief   Priority level verification macro.
+ */
+#define OSAL_IRQ_IS_VALID_PRIORITY(n)                                       \
+  (((n) >= OSAL_IRQ_MAXIMUM_PRIORITY) && ((n) < OSAL_IRQ_PRIORITY_LEVELS))
+
+/**
+ * @brief   IRQ prologue code.
+ * @details This macro must be inserted at the start of all IRQ handlers.
+ */
+#define OSAL_IRQ_PROLOGUE()
+
+/**
+ * @brief   IRQ epilogue code.
+ * @details This macro must be inserted at the end of all IRQ handlers.
+ */
+#define OSAL_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) void id(void)
+/** @} */
+
+/**
+ * @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] secs      number of seconds
+ * @return              The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_S2I(secs)                                                      \
+  ((sysinterval_t)((uint32_t)(secs) * (uint32_t)OSAL_ST_FREQUENCY))
+
+/**
+ * @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] msecs     number of milliseconds
+ * @return              The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_MS2I(msecs)                                                    \
+  ((sysinterval_t)((((((uint32_t)(msecs)) *                                 \
+                  ((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000UL) + 1UL))
+
+/**
+ * @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] usecs     number of microseconds
+ * @return              The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_US2I(usecs)                                                    \
+  ((sysinterval_t)((((((uint32_t)(usecs)) *                                 \
+                  ((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000000UL) + 1UL))
+/** @} */
+
+/**
+ * @name    Time conversion utilities for the realtime counter
+ * @{
+ */
+/**
+ * @brief   Seconds to realtime counter.
+ * @details Converts from seconds to realtime counter cycles.
+ * @note    The macro assumes that @p freq >= @p 1.
+ *
+ * @param[in] freq      clock frequency, in Hz, of the realtime counter
+ * @param[in] sec       number of seconds
+ * @return              The number of cycles.
+ *
+ * @api
+ */
+#define OSAL_S2RTC(freq, sec) ((freq) * (sec))
+
+/**
+ * @brief   Milliseconds to realtime counter.
+ * @details Converts from milliseconds to realtime counter cycles.
+ * @note    The result is rounded upward to the next millisecond boundary.
+ * @note    The macro assumes that @p freq >= @p 1000.
+ *
+ * @param[in] freq      clock frequency, in Hz, of the realtime counter
+ * @param[in] msec      number of milliseconds
+ * @return              The number of cycles.
+ *
+ * @api
+ */
+#define OSAL_MS2RTC(freq, msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec))
+
+/**
+ * @brief   Microseconds to realtime counter.
+ * @details Converts from microseconds to realtime counter cycles.
+ * @note    The result is rounded upward to the next microsecond boundary.
+ * @note    The macro assumes that @p freq >= @p 1000000.
+ *
+ * @param[in] freq      clock frequency, in Hz, of the realtime counter
+ * @param[in] usec      number of microseconds
+ * @return              The number of cycles.
+ *
+ * @api
+ */
+#define OSAL_US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec))
+/** @} */
+
+/**
+ * @name    Sleep macros using absolute time
+ * @{
+ */
+/**
+ * @brief   Delays the invoking thread for the specified number of seconds.
+ * @note    The specified time is rounded up to a value allowed by the real
+ *          system tick clock.
+ * @note    The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] secs      time in seconds, must be different from zero
+ *
+ * @api
+ */
+#define osalThreadSleepSeconds(secs) osalThreadSleep(OSAL_S2I(secs))
+
+/**
+ * @brief   Delays the invoking thread for the specified number of
+ *          milliseconds.
+ * @note    The specified time is rounded up to a value allowed by the real
+ *          system tick clock.
+ * @note    The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] msecs     time in milliseconds, must be different from zero
+ *
+ * @api
+ */
+#define osalThreadSleepMilliseconds(msecs) osalThreadSleep(OSAL_MS2I(msecs))
+
+/**
+ * @brief   Delays the invoking thread for the specified number of
+ *          microseconds.
+ * @note    The specified time is rounded up to a value allowed by the real
+ *          system tick clock.
+ * @note    The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] usecs     time in microseconds, must be different from zero
+ *
+ * @api
+ */
+#define osalThreadSleepMicroseconds(usecs) osalThreadSleep(OSAL_US2I(usecs))
+/** @} */
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+extern const char *osal_halt_msg;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void osalInit(void);
+  void osalSysHalt(const char *reason);
+  void osalSysPolledDelayX(rtcnt_t cycles);
+  void osalOsTimerHandlerI(void);
+  void osalOsRescheduleS(void);
+  systime_t osalOsGetSystemTimeX(void);
+  void osalThreadSleepS(sysinterval_t time);
+  void osalThreadSleep(sysinterval_t time);
+  msg_t osalThreadSuspendS(thread_reference_t *trp);
+  msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout);
+  void osalThreadResumeI(thread_reference_t *trp, msg_t msg);
+  void osalThreadResumeS(thread_reference_t *trp, msg_t msg);
+  msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout);
+  void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg);
+  void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg);
+  void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags);
+  void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags);
+  void osalEventSetCallback(event_source_t *esp,
+                            eventcallback_t cb,
+                            void *param);
+  void osalMutexLock(mutex_t *mp);
+  void osalMutexUnlock(mutex_t *mp);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions.                                                  */
+/*===========================================================================*/
+
+/**
+ * @brief   Disables interrupts globally.
+ *
+ * @special
+ */
+static inline void osalSysDisable(void) {
+
+  __disable_irq();
+}
+
+/**
+ * @brief   Enables interrupts globally.
+ *
+ * @special
+ */
+static inline void osalSysEnable(void) {
+
+  __enable_irq();
+}
+
+/**
+ * @brief   Enters a critical zone from thread context.
+ * @note    This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysLock(void) {
+
+#if CORTEX_MODEL == 0
+  __disable_irq();
+#else
+  __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY));
+#endif
+}
+
+/**
+ * @brief   Leaves a critical zone from thread context.
+ * @note    This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysUnlock(void) {
+
+#if CORTEX_MODEL == 0
+  __enable_irq();
+#else
+  __set_BASEPRI(0);
+#endif
+}
+
+/**
+ * @brief   Enters a critical zone from ISR context.
+ * @note    This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysLockFromISR(void) {
+
+#if CORTEX_MODEL == 0
+  __disable_irq();
+#else
+  __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY));
+#endif
+}
+
+/**
+ * @brief   Leaves a critical zone from ISR context.
+ * @note    This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysUnlockFromISR(void) {
+
+#if CORTEX_MODEL == 0
+  __enable_irq();
+#else
+  __set_BASEPRI(0);
+#endif
+}
+
+/**
+ * @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) {
+  syssts_t sts;
+
+#if CORTEX_MODEL == 0
+  sts = (syssts_t)__get_PRIMASK();
+  __disable_irq();
+#else
+  sts = (syssts_t)__get_BASEPRI();
+  __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY));
+#endif
+  return sts;
+}
+
+/**
+ * @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) {
+
+#if CORTEX_MODEL == 0
+  if ((sts & (syssts_t)1) == (syssts_t)0) {
+    __enable_irq();
+  }
+#else
+  __set_BASEPRI(sts);
+#endif
+}
+
+/**
+ * @brief   Adds an interval to a system time returning a system time.
+ *
+ * @param[in] systime   base system time
+ * @param[in] interval  interval to be added
+ * @return              The new system time.
+ *
+ * @xclass
+ */
+static inline systime_t osalTimeAddX(systime_t systime,
+                                     sysinterval_t interval) {
+
+  return systime + (systime_t)interval;
+}
+
+/**
+ * @brief   Subtracts two system times returning an interval.
+ *
+ * @param[in] start     first system time
+ * @param[in] end       second system time
+ * @return              The interval representing the time difference.
+ *
+ * @xclass
+ */
+static inline sysinterval_t osalTimeDiffX(systime_t start, systime_t end) {
+
+  return (sysinterval_t)((systime_t)(end - start));
+}
+
+/**
+ * @brief   Checks if the specified time is within the specified time window.
+ * @note    When start==end then the function returns always false because the
+ *          time window has zero size.
+ * @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 osalTimeIsInRangeX(systime_t time,
+                                      systime_t start,
+                                      systime_t end) {
+
+  return (bool)((systime_t)((systime_t)time - (systime_t)start) <
+                (systime_t)((systime_t)end - (systime_t)start));
+}
+
+/**
+ * @brief   Initializes a threads queue object.
+ *
+ * @param[out] tqp      pointer to the threads queue object
+ *
+ * @init
+ */
+static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) {
+
+  osalDbgCheck(tqp != NULL);
+}
+
+/**
+ * @brief   Initializes an event source object.
+ *
+ * @param[out] esp      pointer to the event source object
+ *
+ * @init
+ */
+static inline void osalEventObjectInit(event_source_t *esp) {
+
+  osalDbgCheck(esp != NULL);
+
+  esp->flags = (eventflags_t)0;
+  esp->cb    = NULL;
+  esp->param = NULL;
+}
+
+/**
+ * @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) {
+
+  osalDbgCheck(mp != NULL);
+
+  *mp = 0;
+}
+
+#endif /* OSAL_H */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/hal/osal/os-less/ARMCMx/osal.mk b/ChibiOS_20.3.2/os/hal/osal/os-less/ARMCMx/osal.mk
new file mode 100644
index 0000000..e2cd7ad
--- /dev/null
+++ b/ChibiOS_20.3.2/os/hal/osal/os-less/ARMCMx/osal.mk
@@ -0,0 +1,11 @@
+# OSAL files.
+OSALSRC += ${CHIBIOS}/os/hal/osal/os-less/ARMCMx/osal.c \
+           ${CHIBIOS}/os/hal/osal/lib/osal_vt.c
+
+# Required include directories
+OSALINC += ${CHIBIOS}/os/hal/osal/os-less/ARMCMx \
+           ${CHIBIOS}/os/hal/osal/lib
+
+# Shared variables
+ALLCSRC += $(OSALSRC)
+ALLINC  += $(OSALINC)
diff --git a/ChibiOS_20.3.2/os/hal/osal/os-less/AVR/osal.c b/ChibiOS_20.3.2/os/hal/osal/os-less/AVR/osal.c
new file mode 100644
index 0000000..616beaf
--- /dev/null
+++ b/ChibiOS_20.3.2/os/hal/osal/os-less/AVR/osal.c
@@ -0,0 +1,467 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    osal.c
+ * @brief   OSAL module code.
+ *
+ * @addtogroup OSAL
+ * @{
+ */
+
+#include "osal.h"
+#include "osal_vt.h"
+
+/*===========================================================================*/
+/* Module local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Pointer to a halt error message.
+ * @note    The message is meant to be retrieved by the debugger after the
+ *          system halt caused by an unexpected error.
+ */
+const char *osal_halt_msg;
+
+/*===========================================================================*/
+/* Module local types.                                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions.                                                   */
+/*===========================================================================*/
+
+static void callback_timeout(void *p) {
+  osalSysLockFromISR();
+  osalThreadResumeI((thread_reference_t *)p, MSG_TIMEOUT);
+  osalSysUnlockFromISR();
+}
+
+/*===========================================================================*/
+/* Module exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   OSAL module initialization.
+ *
+ * @api
+ */
+void osalInit(void) {
+
+  vtInit();
+
+  OSAL_INIT_HOOK();
+}
+
+/**
+ * @brief   System halt with error message.
+ *
+ * @param[in] reason    the halt message pointer
+ *
+ * @api
+ */
+#if !defined(__DOXYGEN__)
+__attribute__((weak, noreturn))
+#endif
+void osalSysHalt(const char *reason) {
+
+  osalSysDisable();
+  osal_halt_msg = reason;
+  while (true) {
+  }
+}
+
+/**
+ * @brief   Polled delay.
+ * @note    The real delay is always few cycles in excess of the specified
+ *          value.
+ *
+ * @param[in] cycles    number of cycles
+ *
+ * @xclass
+ */
+void osalSysPolledDelayX(rtcnt_t cycles) {
+
+  (void)cycles;
+}
+
+/**
+ * @brief   System timer handler.
+ * @details The handler is used for scheduling and Virtual Timers management.
+ *
+ * @iclass
+ */
+void osalOsTimerHandlerI(void) {
+
+  osalDbgCheckClassI();
+
+  vtDoTickI();
+}
+
+/**
+ * @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
+ */
+void osalOsRescheduleS(void) {
+
+}
+
+/**
+ * @brief   Current system time.
+ * @details Returns the number of system ticks since the @p osalInit()
+ *          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
+ *          @p systime_t size.
+ *
+ * @return              The system time in ticks.
+ *
+ * @xclass
+ */
+systime_t osalOsGetSystemTimeX(void) {
+
+  return vtlist.vt_systime;
+}
+
+/**
+ * @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
+ */
+void osalThreadSleepS(systime_t time) {
+  virtual_timer_t vt;
+  thread_reference_t tr;
+
+  tr = NULL;
+  vtSetI(&vt, time, callback_timeout, (void *)&tr);
+  osalThreadSuspendS(&tr);
+}
+
+/**
+ * @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
+ */
+void osalThreadSleep(systime_t time) {
+
+  osalSysLock();
+  osalThreadSleepS(time);
+  osalSysUnlock();
+}
+
+/**
+ * @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
+ */
+msg_t osalThreadSuspendS(thread_reference_t *trp) {
+  thread_t self = {MSG_WAIT};
+
+  osalDbgCheck(trp != NULL);
+
+  *trp = &self;
+  while (self.message == MSG_WAIT) {
+    osalSysUnlock();
+    /* A state-changing interrupt could occur here and cause the loop to
+       terminate, an hook macro is executed while waiting.*/
+    OSAL_IDLE_HOOK();
+    osalSysLock();
+  }
+
+  return self.message;
+}
+
+/**
+ * @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
+ */
+msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, systime_t timeout) {
+  msg_t msg;
+  virtual_timer_t vt;
+
+  osalDbgCheck(trp != NULL);
+
+  if (TIME_INFINITE == timeout)
+    return osalThreadSuspendS(trp);
+
+  vtSetI(&vt, timeout, callback_timeout, (void *)trp);
+  msg = osalThreadSuspendS(trp);
+  if (vtIsArmedI(&vt))
+    vtResetI(&vt);
+
+  return msg;
+}
+
+/**
+ * @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
+ */
+void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
+
+  osalDbgCheck(trp != NULL);
+
+  if (*trp != NULL) {
+    (*trp)->message = msg;
+    *trp = NULL;
+  }
+}
+
+/**
+ * @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
+ */
+void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
+
+  osalDbgCheck(trp != NULL);
+
+  if (*trp != NULL) {
+    (*trp)->message = msg;
+    *trp = NULL;
+  }
+}
+
+/**
+ * @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] 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 message from @p osalQueueWakeupOneI() or
+ *                      @p osalQueueWakeupAllI() functions.
+ * @retval MSG_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
+ */
+msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout) {
+  msg_t msg;
+  virtual_timer_t vt;
+
+  osalDbgCheck(tqp != NULL);
+
+  if (TIME_IMMEDIATE == timeout)
+    return MSG_TIMEOUT;
+
+  tqp->tr = NULL;
+
+  if (TIME_INFINITE == timeout)
+   return osalThreadSuspendS(&tqp->tr);
+
+  vtSetI(&vt, timeout, callback_timeout, (void *)&tqp->tr);
+  msg = osalThreadSuspendS(&tqp->tr);
+  if (vtIsArmedI(&vt))
+    vtResetI(&vt);
+
+  return msg;
+}
+
+/**
+ * @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
+ */
+void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) {
+
+  osalDbgCheck(tqp != NULL);
+
+  osalThreadResumeI(&tqp->tr, 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
+ */
+void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) {
+
+  osalDbgCheck(tqp != NULL);
+
+  osalThreadResumeI(&tqp->tr, msg);
+}
+
+/**
+ * @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
+ */
+void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags) {
+
+  osalDbgCheck(esp != NULL);
+
+  esp->flags |= flags;
+  if (esp->cb != NULL) {
+    esp->cb(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
+ */
+void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags) {
+
+  osalDbgCheck(esp != NULL);
+
+  osalSysLock();
+  osalEventBroadcastFlagsI(esp, flags);
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Event callback setup.
+ * @note    The callback is invoked from ISR context and can
+ *          only invoke I-Class functions. The callback is meant
+ *          to wakeup the task that will handle the event by
+ *          calling @p osalEventGetAndClearFlagsI().
+ * @note    This function is not part of the OSAL API and is provided
+ *          exclusively as an example and for convenience.
+ *
+ * @param[in] esp       pointer to the event flags object
+ * @param[in] cb        pointer to the callback function
+ * @param[in] param     parameter to be passed to the callback function
+ *
+ * @api
+ */
+void osalEventSetCallback(event_source_t *esp,
+                          eventcallback_t cb,
+                          void *param) {
+
+  osalDbgCheck(esp != NULL);
+
+  esp->cb    = cb;
+  esp->param = param;
+}
+
+/**
+ * @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
+ */
+void osalMutexLock(mutex_t *mp) {
+
+  osalDbgCheck(mp != NULL);
+
+  *mp = 1;
+}
+
+/**
+ * @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
+ */
+void osalMutexUnlock(mutex_t *mp) {
+
+  osalDbgCheck(mp != NULL);
+
+  *mp = 0;
+}
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/hal/osal/os-less/AVR/osal.h b/ChibiOS_20.3.2/os/hal/osal/os-less/AVR/osal.h
new file mode 100644
index 0000000..79b4046
--- /dev/null
+++ b/ChibiOS_20.3.2/os/hal/osal/os-less/AVR/osal.h
@@ -0,0 +1,677 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    osal.h
+ * @brief   OSAL module header.
+ *
+ * @addtogroup OSAL
+ * @{
+ */
+
+#ifndef OSAL_H
+#define OSAL_H
+
+#include <stddef.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+#include "osalconf.h"
+
+/*===========================================================================*/
+/* Module constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Common constants
+ * @{
+ */
+#if !defined(FALSE) || defined(__DOXYGEN__)
+#define FALSE                               0
+#endif
+
+#if !defined(TRUE) || defined(__DOXYGEN__)
+#define TRUE                                1
+#endif
+
+#define OSAL_SUCCESS                        false
+#define OSAL_FAILED                         true
+/** @} */
+
+/**
+ * @name    Messages
+ * @{
+ */
+#define MSG_OK                              (msg_t)0
+#define MSG_RESET                           (msg_t)-1
+#define MSG_TIMEOUT                         (msg_t)-2
+#define MSG_WAIT                            (msg_t)-10
+/** @} */
+
+/**
+ * @name    Special time constants
+ * @{
+ */
+#define TIME_IMMEDIATE                      ((systime_t)0)
+#define TIME_INFINITE                       ((systime_t)-1)
+/** @} */
+
+/**
+ * @name    Systick modes.
+ * @{
+ */
+#define OSAL_ST_MODE_NONE                   0
+#define OSAL_ST_MODE_PERIODIC               1
+#define OSAL_ST_MODE_FREERUNNING            2
+/** @} */
+
+/**
+ * @name    Systick parameters.
+ * @{
+ */
+/**
+ * @brief   Size in bits of the @p systick_t type.
+ */
+#define OSAL_ST_RESOLUTION                  32
+
+/**
+ * @brief   Systick mode required by the underlying OS.
+ */
+#define OSAL_ST_MODE                        OSAL_ST_MODE_PERIODIC
+/** @} */
+
+/**
+ * @brief   ROM constant modifier.
+ * @note    It is set to use the "const" keyword in this port.
+ */
+#define ROMCONST            const
+
+/*===========================================================================*/
+/* Module pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Frequency in Hertz of the system tick.
+ */
+#if !defined(OSAL_ST_FREQUENCY) || defined(__DOXYGEN__)
+#define OSAL_ST_FREQUENCY                   1000
+#endif
+
+/**
+ * @brief   Enables OSAL assertions.
+ */
+#if !defined(OSAL_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
+#define OSAL_DBG_ENABLE_ASSERTS             FALSE
+#endif
+
+/**
+ * @brief   Enables OSAL functions parameters checks.
+ */
+#if !defined(OSAL_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
+#define OSAL_DBG_ENABLE_CHECKS              FALSE
+#endif
+
+/**
+ * @brief   OSAL initialization hook.
+ */
+#if !defined(OSAL_INIT_HOOK) || defined(__DOXYGEN__)
+#define OSAL_INIT_HOOK()
+#endif
+
+/**
+ * @brief   Idle loop hook macro.
+ */
+#if !defined(OSAL_IDLE_HOOK) || defined(__DOXYGEN__)
+#define OSAL_IDLE_HOOK()
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Type of a system status word.
+ */
+typedef uint8_t syssts_t;
+
+/**
+ * @brief   Type of a message.
+ */
+typedef int16_t msg_t;
+
+/**
+ * @brief   Type of system time counter.
+ */
+typedef uint32_t systime_t;
+
+/**
+ * @brief   Type of realtime counter.
+ */
+typedef uint32_t rtcnt_t;
+
+/**
+ * @brief   Type of a thread.
+ * @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.
+ */
+typedef struct {
+  volatile msg_t        message;
+} thread_t;
+
+/**
+ * @brief   Type of a thread reference.
+ */
+typedef thread_t * thread_reference_t;
+
+/**
+ * @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 event_source event_source_t;
+
+/**
+ * @brief   Type of an event source callback.
+ * @note    This type is not part of the OSAL API and is provided
+ *          exclusively as an example and for convenience.
+ */
+typedef void (*eventcallback_t)(event_source_t *esp);
+
+/**
+ * @brief   Type of an event flags mask.
+ */
+typedef uint8_t eventflags_t;
+
+/**
+ * @brief   Events source 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.
+ */
+struct event_source {
+  volatile eventflags_t flags;      /**< @brief Stored event flags.         */
+  eventcallback_t       cb;         /**< @brief Event source callback.      */
+  void                  *param;     /**< @brief User defined field.         */
+};
+
+/**
+ * @brief   Type of a mutex.
+ * @note    If the OS does not support mutexes or there is no OS then them
+ *          mechanism can be simulated.
+ */
+typedef uint8_t mutex_t;
+
+/**
+ * @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    If the OSAL is implemented on a bare metal machine without RTOS
+ *          then the queue can be implemented as a single thread reference.
+ */
+typedef struct {
+  thread_reference_t    tr;
+} threads_queue_t;
+
+/*===========================================================================*/
+/* 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 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) do {                                       \
+  /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/       \
+  if (OSAL_DBG_ENABLE_ASSERTS != FALSE) {                                   \
+    if (!(c)) {                                                             \
+  /*lint -restore*/                                                         \
+      osalSysHalt(__func__);                                                \
+    }                                                                       \
+  }                                                                         \
+} while (false)
+
+/**
+ * @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) do {                                                \
+  /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/       \
+  if (OSAL_DBG_ENABLE_CHECKS != FALSE) {                                    \
+    if (!(c)) {                                                             \
+  /*lint -restore*/                                                         \
+      osalSysHalt(__func__);                                                \
+    }                                                                       \
+  }                                                                         \
+} while (false)
+
+/**
+ * @brief   I-Class state check.
+ * @note    Implementation is optional.
+ */
+#define osalDbgCheckClassI()
+
+/**
+ * @brief   S-Class state check.
+ * @note    Implementation is optional.
+ */
+#define osalDbgCheckClassS()
+/** @} */
+
+/**
+ * @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()
+
+/**
+ * @brief   IRQ epilogue code.
+ * @details This macro must be inserted at the end of all IRQ handlers.
+ */
+#define OSAL_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) ISR(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)                                                      \
+  ((systime_t)((uint32_t)(sec) * (uint32_t)OSAL_ST_FREQUENCY))
+
+/**
+ * @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)                                                    \
+  ((systime_t)((((uint32_t)(msec)) *                                        \
+                ((uint32_t)OSAL_ST_FREQUENCY) + 999UL) / 1000UL))
+
+/**
+ * @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)                                                    \
+  ((systime_t)((((uint32_t)(usec)) *                                        \
+                ((uint32_t)OSAL_ST_FREQUENCY) + 999999UL) / 1000000UL))
+/** @} */
+
+/**
+ * @name    Time conversion utilities for the realtime counter
+ * @{
+ */
+/**
+ * @brief   Seconds to realtime counter.
+ * @details Converts from seconds to realtime counter cycles.
+ * @note    The macro assumes that @p freq >= @p 1.
+ *
+ * @param[in] freq      clock frequency, in Hz, of the realtime counter
+ * @param[in] sec       number of seconds
+ * @return              The number of cycles.
+ *
+ * @api
+ */
+#define OSAL_S2RTC(freq, sec) ((freq) * (sec))
+
+/**
+ * @brief   Milliseconds to realtime counter.
+ * @details Converts from milliseconds to realtime counter cycles.
+ * @note    The result is rounded upward to the next millisecond boundary.
+ * @note    The macro assumes that @p freq >= @p 1000.
+ *
+ * @param[in] freq      clock frequency, in Hz, of the realtime counter
+ * @param[in] msec      number of milliseconds
+ * @return              The number of cycles.
+ *
+ * @api
+ */
+#define OSAL_MS2RTC(freq, msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec))
+
+/**
+ * @brief   Microseconds to realtime counter.
+ * @details Converts from microseconds to realtime counter cycles.
+ * @note    The result is rounded upward to the next microsecond boundary.
+ * @note    The macro assumes that @p freq >= @p 1000000.
+ *
+ * @param[in] freq      clock frequency, in Hz, of the realtime counter
+ * @param[in] usec      number of microseconds
+ * @return              The number of cycles.
+ *
+ * @api
+ */
+#define OSAL_US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec))
+/** @} */
+
+/**
+ * @name    Sleep macros using absolute time
+ * @{
+ */
+/**
+ * @brief   Delays the invoking thread for the specified number of seconds.
+ * @note    The specified time is rounded up to a value allowed by the real
+ *          system tick clock.
+ * @note    The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] sec       time in seconds, must be different from zero
+ *
+ * @api
+ */
+#define osalThreadSleepSeconds(sec) osalThreadSleep(OSAL_S2ST(sec))
+
+/**
+ * @brief   Delays the invoking thread for the specified number of
+ *          milliseconds.
+ * @note    The specified time is rounded up to a value allowed by the real
+ *          system tick clock.
+ * @note    The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] msec      time in milliseconds, must be different from zero
+ *
+ * @api
+ */
+#define osalThreadSleepMilliseconds(msec) osalThreadSleep(OSAL_MS2ST(msec))
+
+/**
+ * @brief   Delays the invoking thread for the specified number of
+ *          microseconds.
+ * @note    The specified time is rounded up to a value allowed by the real
+ *          system tick clock.
+ * @note    The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] usec      time in microseconds, must be different from zero
+ *
+ * @api
+ */
+#define osalThreadSleepMicroseconds(usec) osalThreadSleep(OSAL_US2ST(usec))
+/** @} */
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+extern const char *osal_halt_msg;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void osalInit(void);
+  void osalSysHalt(const char *reason);
+  void osalSysPolledDelayX(rtcnt_t cycles);
+  void osalOsTimerHandlerI(void);
+  void osalOsRescheduleS(void);
+  systime_t osalOsGetSystemTimeX(void);
+  void osalThreadSleepS(systime_t time);
+  void osalThreadSleep(systime_t time);
+  msg_t osalThreadSuspendS(thread_reference_t *trp);
+  msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, systime_t timeout);
+  void osalThreadResumeI(thread_reference_t *trp, msg_t msg);
+  void osalThreadResumeS(thread_reference_t *trp, msg_t msg);
+  msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout);
+  void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg);
+  void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg);
+  void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags);
+  void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags);
+  void osalEventSetCallback(event_source_t *esp,
+                            eventcallback_t cb,
+                            void *param);
+  void osalMutexLock(mutex_t *mp);
+  void osalMutexUnlock(mutex_t *mp);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions.                                                  */
+/*===========================================================================*/
+
+/**
+ * @brief   Disables interrupts globally.
+ *
+ * @special
+ */
+static inline void osalSysDisable(void) {
+
+  asm volatile ("cli" : : : "memory");
+}
+
+/**
+ * @brief   Enables interrupts globally.
+ *
+ * @special
+ */
+static inline void osalSysEnable(void) {
+
+  asm volatile ("sei" : : : "memory");
+  asm volatile ("nop");
+}
+
+/**
+ * @brief   Enters a critical zone from thread context.
+ * @note    This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysLock(void) {
+
+  asm volatile ("cli" : : : "memory");
+}
+
+/**
+ * @brief   Leaves a critical zone from thread context.
+ * @note    This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysUnlock(void) {
+
+  asm volatile ("sei" : : : "memory");
+  asm volatile ("nop");
+}
+
+/**
+ * @brief   Enters a critical zone from ISR context.
+ * @note    This function cannot be used for reentrant critical zones.
+ * @note    This function is empty in this port.
+ *
+ * @special
+ */
+static inline void osalSysLockFromISR(void) {
+
+}
+
+/**
+ * @brief   Leaves a critical zone from ISR context.
+ * @note    This function cannot be used for reentrant critical zones.
+ * @note    This function is empty in this port.
+ *
+ * @special
+ */
+static inline void osalSysUnlockFromISR(void) {
+
+}
+
+/**
+ * @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) {
+  syssts_t sts;
+
+  sts = SREG;
+  asm volatile ("cli" : : : "memory");
+
+  return sts;
+}
+
+/**
+ * @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) {
+
+  if ((sts & 0x80) != 0) {
+    asm volatile ("sei" : : : "memory");
+    asm volatile ("nop");
+  }
+}
+
+/**
+ * @brief   Checks if the specified time is within the specified time window.
+ * @note    When start==end then the function returns always false because the
+ *          time window has zero size.
+ * @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 (bool)((time - start) < (end - start));
+}
+
+/**
+ * @brief   Initializes a threads queue object.
+ *
+ * @param[out] tqp      pointer to the threads queue object
+ *
+ * @init
+ */
+static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) {
+
+  osalDbgCheck(tqp != NULL);
+
+  (void)tqp;
+}
+
+/**
+ * @brief   Initializes an event flags object.
+ *
+ * @param[out] esp      pointer to the event flags object
+ *
+ * @init
+ */
+static inline void osalEventObjectInit(event_source_t *esp) {
+
+  osalDbgCheck(esp != NULL);
+
+  esp->flags = (eventflags_t)0;
+  esp->cb    = NULL;
+  esp->param = NULL;
+}
+
+/**
+ * @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) {
+
+  osalDbgCheck(mp != NULL);
+
+  *mp = 0;
+}
+
+#endif /* OSAL_H */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/hal/osal/os-less/AVR/osal.mk b/ChibiOS_20.3.2/os/hal/osal/os-less/AVR/osal.mk
new file mode 100644
index 0000000..4f929d7
--- /dev/null
+++ b/ChibiOS_20.3.2/os/hal/osal/os-less/AVR/osal.mk
@@ -0,0 +1,9 @@
+# OSAL files.
+OSALSRC += ${CHIBIOS}/os/hal/osal/os-less/AVR/osal.c
+
+# Required include directories
+OSALINC += ${CHIBIOS}/os/hal/osal/os-less/AVR
+
+# Shared variables
+ALLCSRC += $(OSALSRC)
+ALLINC  += $(OSALINC)
diff --git a/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.c b/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.c
new file mode 100644
index 0000000..7f4103b
--- /dev/null
+++ b/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.c
@@ -0,0 +1,51 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    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/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.h b/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.h
new file mode 100644
index 0000000..73e8e3f
--- /dev/null
+++ b/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.h
@@ -0,0 +1,1028 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    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                                1
+#endif
+
+#define OSAL_SUCCESS                        false
+#define OSAL_FAILED                         true
+/** @} */
+
+#if 0
+/**
+ * @name    Messages
+ * @{
+ */
+#define MSG_OK                              (msg_t)0
+#define MSG_TIMEOUT                         (msg_t)-1
+#define MSG_RESET                           (msg_t)-2
+/** @} */
+#endif
+
+#if 0
+/**
+ * @name    Special time constants
+ * @{
+ */
+#define TIME_IMMEDIATE                      ((sysinterval_t)0)
+#define TIME_INFINITE                       ((sysinterval_t)-1)
+/** @} */
+#endif
+
+/**
+ * @name    Systick modes.
+ * @{
+ */
+#define OSAL_ST_MODE_NONE                   0
+#define OSAL_ST_MODE_PERIODIC               1
+#define OSAL_ST_MODE_FREERUNNING            2
+/** @} */
+
+/**
+ * @name    Systick parameters.
+ * @{
+ */
+/**
+ * @brief   Size in bits of the @p systick_t type.
+ */
+#define OSAL_ST_RESOLUTION                  CH_CFG_ST_RESOLUTION
+
+/**
+ * @brief   Required systick frequency or resolution.
+ */
+#define OSAL_ST_FREQUENCY                   CH_CFG_ST_FREQUENCY
+
+/**
+ * @brief   Systick mode required by the underlying OS.
+ */
+#if (CH_CFG_ST_TIMEDELTA == 0) || defined(__DOXYGEN__)
+#define OSAL_ST_MODE                        OSAL_ST_MODE_PERIODIC
+#else
+#define OSAL_ST_MODE                        OSAL_ST_MODE_FREERUNNING
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* 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
+
+#if (OSAL_ST_RESOLUTION != 16) && (OSAL_ST_RESOLUTION != 32)
+#error "invalid OSAL_ST_RESOLUTION, must be 16 or 32"
+#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 system time interval.
+ */
+typedef uint32_t sysinterval_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 (CH_CFG_USE_EVENTS == FALSE) || defined(__DOXYGEN__)
+/**
+ * @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 event_source event_source_t;
+
+/**
+ * @brief   Type of an event source callback.
+ * @note    This type is not part of the OSAL API and is provided
+ *          exclusively as an example and for convenience.
+ */
+typedef void (*eventcallback_t)(event_source_t *esp);
+
+/**
+ * @brief   Events source 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.
+ */
+struct event_source {
+  volatile eventflags_t flags;      /**< @brief Stored event flags.         */
+  eventcallback_t       cb;         /**< @brief Event source callback.      */
+  void                  *param;     /**< @brief User defined field.         */
+};
+#endif /* CH_CFG_USE_EVENTS == FALSE */
+
+/**
+ * @brief   Type of a mutex.
+ * @note    If the OS does not support mutexes or there is no OS then the
+ *          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 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   Priority level verification macro.
+ */
+#define OSAL_IRQ_IS_VALID_PRIORITY(n) CH_IRQ_IS_VALID_KERNEL_PRIORITY(n)
+
+/**
+ * @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] secs      number of seconds
+ * @return              The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_S2I(secs) TIME_S2I(secs)
+
+/**
+ * @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] msecs     number of milliseconds
+ * @return              The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_MS2I(msecs) TIME_MS2I(msecs)
+
+/**
+ * @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] usecs     number of microseconds
+ * @return              The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_US2I(usecs) TIME_US2I(usecs)
+/** @} */
+
+/**
+ * @name    Time conversion utilities for the realtime counter
+ * @{
+ */
+/**
+ * @brief   Seconds to realtime counter.
+ * @details Converts from seconds to realtime counter cycles.
+ * @note    The macro assumes that @p freq >= @p 1.
+ *
+ * @param[in] freq      clock frequency, in Hz, of the realtime counter
+ * @param[in] sec       number of seconds
+ * @return              The number of cycles.
+ *
+ * @api
+ */
+#define OSAL_S2RTC(freq, sec) S2RTC(freq, sec)
+
+/**
+ * @brief   Milliseconds to realtime counter.
+ * @details Converts from milliseconds to realtime counter cycles.
+ * @note    The result is rounded upward to the next millisecond boundary.
+ * @note    The macro assumes that @p freq >= @p 1000.
+ *
+ * @param[in] freq      clock frequency, in Hz, of the realtime counter
+ * @param[in] msec      number of milliseconds
+ * @return              The number of cycles.
+ *
+ * @api
+ */
+#define OSAL_MS2RTC(freq, msec) MS2RTC(freq, msec)
+
+/**
+ * @brief   Microseconds to realtime counter.
+ * @details Converts from microseconds to realtime counter cycles.
+ * @note    The result is rounded upward to the next microsecond boundary.
+ * @note    The macro assumes that @p freq >= @p 1000000.
+ *
+ * @param[in] freq      clock frequency, in Hz, of the realtime counter
+ * @param[in] usec      number of microseconds
+ * @return              The number of cycles.
+ *
+ * @api
+ */
+#define OSAL_US2RTC(freq, usec) US2RTC(freq, usec)
+/** @} */
+
+/**
+ * @name    Sleep macros using absolute time
+ * @{
+ */
+/**
+ * @brief   Delays the invoking thread for the specified number of seconds.
+ * @note    The specified time is rounded up to a value allowed by the real
+ *          system tick clock.
+ * @note    The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] secs      time in seconds, must be different from zero
+ *
+ * @api
+ */
+#define osalThreadSleepSeconds(secs) osalThreadSleep(OSAL_S2I(secs))
+
+/**
+ * @brief   Delays the invoking thread for the specified number of
+ *          milliseconds.
+ * @note    The specified time is rounded up to a value allowed by the real
+ *          system tick clock.
+ * @note    The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] msecs     time in milliseconds, must be different from zero
+ *
+ * @api
+ */
+#define osalThreadSleepMilliseconds(msecs) osalThreadSleep(OSAL_MS2I(msecs))
+
+/**
+ * @brief   Delays the invoking thread for the specified number of
+ *          microseconds.
+ * @note    The specified time is rounded up to a value allowed by the real
+ *          system tick clock.
+ * @note    The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] usecs     time in microseconds, must be different from zero
+ *
+ * @api
+ */
+#define osalThreadSleepMicroseconds(usecs) osalThreadSleep(OSAL_US2I(usecs))
+/** @} */
+
+/*===========================================================================*/
+/* 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   Disables interrupts globally.
+ *
+ * @special
+ */
+static inline void osalSysDisable(void) {
+
+  chSysDisable();
+}
+
+/**
+ * @brief   Enables interrupts globally.
+ *
+ * @special
+ */
+static inline void osalSysEnable(void) {
+
+  chSysEnable();
+}
+
+/**
+ * @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 (PORT_SUPPORTS_RT == TRUE) || 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 osalInit()
+ *          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
+ *          @p systime_t size.
+ *
+ * @return              The system time in ticks.
+ *
+ * @xclass
+ */
+static inline systime_t osalOsGetSystemTimeX(void) {
+
+  return chVTGetSystemTimeX();
+}
+
+/**
+ * @brief   Adds an interval to a system time returning a system time.
+ *
+ * @param[in] systime   base system time
+ * @param[in] interval  interval to be added
+ * @return              The new system time.
+ *
+ * @xclass
+ */
+static inline systime_t osalTimeAddX(systime_t systime,
+                                     sysinterval_t interval) {
+
+  return chTimeAddX(systime, interval);
+}
+
+/**
+ * @brief   Subtracts two system times returning an interval.
+ *
+ * @param[in] start     first system time
+ * @param[in] end       second system time
+ * @return              The interval representing the time difference.
+ *
+ * @xclass
+ */
+static inline sysinterval_t osalTimeDiffX(systime_t start, systime_t end) {
+
+  return chTimeDiffX(start, end);
+}
+
+/**
+ * @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 osalTimeIsInRangeX(systime_t time,
+                                      systime_t start,
+                                      systime_t end) {
+
+  return chTimeIsInRangeX(time, start, end);
+}
+
+/**
+ * @brief   Suspends the invoking thread for the specified time.
+ *
+ * @param[in] delay     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(sysinterval_t delay) {
+
+  chThdSleepS(delay);
+}
+
+/**
+ * @brief   Suspends the invoking thread for the specified time.
+ *
+ * @param[in] delay     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(sysinterval_t delay) {
+
+  chThdSleep(delay);
+}
+
+/**
+ * @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 chThdSuspendTimeoutS(trp, TIME_INFINITE);
+}
+
+/**
+ * @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,
+                                              sysinterval_t timeout) {
+
+  return chThdSuspendTimeoutS(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) {
+
+  chThdResumeI(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) {
+
+  chThdResumeS(trp, msg);
+}
+
+/**
+ * @brief   Initializes a threads queue object.
+ *
+ * @param[out] tqp      pointer to the threads queue object
+ *
+ * @init
+ */
+static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) {
+
+  chThdQueueObjectInit(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] 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 message from @p osalQueueWakeupOneI() or
+ *                      @p osalQueueWakeupAllI() functions.
+ * @retval MSG_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 osalThreadEnqueueTimeoutS(threads_queue_t *tqp,
+                                              sysinterval_t timeout) {
+
+  return chThdEnqueueTimeoutS(tqp, timeout);
+}
+
+/**
+ * @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 osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) {
+
+  chThdDequeueNextI(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 osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) {
+
+  chThdDequeueAllI(tqp, msg);
+}
+
+#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief   Initializes an event source object.
+ *
+ * @param[out] esp      pointer to the event source object
+ *
+ * @init
+ */
+static inline void osalEventObjectInit(event_source_t *esp) {
+
+  chEvtObjectInit(esp);
+}
+#else
+static inline void osalEventObjectInit(event_source_t *esp) {
+
+  osalDbgCheck(esp != NULL);
+
+  esp->flags = (eventflags_t)0;
+  esp->cb    = NULL;
+  esp->param = NULL;
+}
+#endif
+
+#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
+/**
+ * @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);
+}
+#else
+static inline void osalEventBroadcastFlagsI(event_source_t *esp,
+                                            eventflags_t flags) {
+
+  osalDbgCheck(esp != NULL);
+
+  esp->flags |= flags;
+  if (esp->cb != NULL) {
+    esp->cb(esp);
+  }
+}
+#endif
+
+#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
+/**
+ * @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);
+}
+#else
+static inline void osalEventBroadcastFlags(event_source_t *esp,
+                                           eventflags_t flags) {
+
+  osalDbgCheck(esp != NULL);
+
+  osalSysLock();
+  esp->flags |= flags;
+  if (esp->cb != NULL) {
+    esp->cb(esp);
+  }
+  osalSysUnlock();
+}
+#endif
+
+#if (CH_CFG_USE_EVENTS == FALSE) || defined(__DOXYGEN__)
+/**
+ * @brief   Event callback setup.
+ * @note    The callback is invoked from ISR context and can
+ *          only invoke I-Class functions. The callback is meant
+ *          to wakeup the task that will handle the event by
+ *          calling @p osalEventGetAndClearFlagsI().
+ *
+ * @param[in] esp       pointer to the event flags object
+ * @param[in] cb        pointer to the callback function
+ * @param[in] param     parameter to be passed to the callback function
+ *
+ * @api
+ */
+static inline void osalEventSetCallback(event_source_t *esp,
+                                        eventcallback_t cb,
+                                        void *param) {
+
+  osalDbgCheck(esp != NULL);
+
+  esp->cb    = cb;
+  esp->param = param;
+}
+#endif
+
+/**
+ * @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
+  chMtxUnlock(mp);
+#elif CH_CFG_USE_SEMAPHORES
+  chSemSignal((semaphore_t *)mp);
+#else
+  *mp = 0;
+#endif
+}
+
+#endif /* OSAL_H */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.mk b/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.mk
new file mode 100644
index 0000000..f408d12
--- /dev/null
+++ b/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.mk
@@ -0,0 +1,9 @@
+# OSAL files.
+OSALSRC += ${CHIBIOS}/os/hal/osal/rt-nil/osal.c
+
+# Required include directories
+OSALINC += ${CHIBIOS}/os/hal/osal/rt-nil
+
+# Shared variables
+ALLCSRC += $(OSALSRC)
+ALLINC  += $(OSALINC)
author	Clyne Sullivan <clyne@bitgloo.com>	2021-01-22 21:43:36 -0500
committer	Clyne Sullivan <clyne@bitgloo.com>	2021-01-22 21:43:36 -0500
commit	48026bb824fd2d9cfb00ecd040db6ef3a416bae9 (patch)
tree	c14713aedfe78ee8b34f2e1252408782e2e2ff5d /ChibiOS_20.3.2/os/hal/osal
parent	e080a26651f90c88176140d63a74c93c2f4041a2 (diff)