1 files changed, 1629 insertions, 0 deletions

diff --git a/lib/chibios/demos/various/RT-ARMCM4-USELIB/rt/ch.h b/lib/chibios/demos/various/RT-ARMCM4-USELIB/rt/ch.h
new file mode 100644
index 000000000..066afb260
--- /dev/null
+++ b/lib/chibios/demos/various/RT-ARMCM4-USELIB/rt/ch.h
@@ -0,0 +1,1629 @@
+/*
+    ChibiOS - Copyright (C) 2006,2007,2008,2009,2010,2011,2012,2013,2014,
+              2015,2016,2017,2018,2019,2020,2021 Giovanni Di Sirio.
+
+    This file is part of ChibiOS.
+
+    ChibiOS is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation version 3 of the License.
+
+    ChibiOS is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <stddef.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "cmparams.h"
+
+#define CH_H 
+#define _CHIBIOS_RT_ 
+#define CH_KERNEL_STABLE 0
+#define CH_KERNEL_VERSION "6.0.0"
+#define CH_KERNEL_MAJOR 6
+#define CH_KERNEL_MINOR 0
+#define CH_KERNEL_PATCH 0
+#define FALSE 0
+#define TRUE 1
+#define CHCONF_H 
+#define _CHIBIOS_RT_CONF_ 
+#define _CHIBIOS_RT_CONF_VER_6_0_ 
+#define CH_CFG_ST_RESOLUTION 32
+#define CH_CFG_ST_FREQUENCY 1000
+#define CH_CFG_INTERVALS_SIZE 32
+#define CH_CFG_TIME_TYPES_SIZE 32
+#define CH_CFG_ST_TIMEDELTA 0
+#define CH_CFG_TIME_QUANTUM 0
+#define CH_CFG_MEMCORE_SIZE 0
+#define CH_CFG_NO_IDLE_THREAD FALSE
+#define CH_CFG_OPTIMIZE_SPEED TRUE
+#define CH_CFG_USE_TM TRUE
+#define CH_CFG_USE_REGISTRY TRUE
+#define CH_CFG_USE_WAITEXIT TRUE
+#define CH_CFG_USE_SEMAPHORES TRUE
+#define CH_CFG_USE_SEMAPHORES_PRIORITY FALSE
+#define CH_CFG_USE_MUTEXES TRUE
+#define CH_CFG_USE_MUTEXES_RECURSIVE FALSE
+#define CH_CFG_USE_CONDVARS TRUE
+#define CH_CFG_USE_CONDVARS_TIMEOUT TRUE
+#define CH_CFG_USE_EVENTS TRUE
+#define CH_CFG_USE_EVENTS_TIMEOUT TRUE
+#define CH_CFG_USE_MESSAGES TRUE
+#define CH_CFG_USE_MESSAGES_PRIORITY FALSE
+#define CH_CFG_USE_MAILBOXES TRUE
+#define CH_CFG_USE_MEMCORE TRUE
+#define CH_CFG_USE_HEAP TRUE
+#define CH_CFG_USE_MEMPOOLS TRUE
+#define CH_CFG_USE_OBJ_FIFOS TRUE
+#define CH_CFG_USE_PIPES TRUE
+#define CH_CFG_USE_DYNAMIC TRUE
+#define CH_CFG_USE_FACTORY TRUE
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH 8
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY TRUE
+#define CH_CFG_FACTORY_GENERIC_BUFFERS TRUE
+#define CH_CFG_FACTORY_SEMAPHORES TRUE
+#define CH_CFG_FACTORY_MAILBOXES TRUE
+#define CH_CFG_FACTORY_OBJ_FIFOS TRUE
+#define CH_CFG_FACTORY_PIPES TRUE
+#define CH_DBG_STATISTICS FALSE
+#define CH_DBG_SYSTEM_STATE_CHECK FALSE
+#define CH_DBG_ENABLE_CHECKS FALSE
+#define CH_DBG_ENABLE_ASSERTS FALSE
+#define CH_DBG_TRACE_MASK CH_DBG_TRACE_MASK_DISABLED
+#define CH_DBG_TRACE_BUFFER_SIZE 128
+#define CH_DBG_ENABLE_STACK_CHECK FALSE
+#define CH_DBG_FILL_THREADS FALSE
+#define CH_DBG_THREADS_PROFILING FALSE
+#define CH_CFG_SYSTEM_EXTRA_FIELDS 
+#define CH_CFG_SYSTEM_INIT_HOOK() { }
+#define CH_CFG_THREAD_EXTRA_FIELDS 
+#define CH_CFG_THREAD_INIT_HOOK(tp) { }
+#define CH_CFG_THREAD_EXIT_HOOK(tp) { }
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp,otp) { }
+#define CH_CFG_IRQ_PROLOGUE_HOOK() { }
+#define CH_CFG_IRQ_EPILOGUE_HOOK() { }
+#define CH_CFG_IDLE_ENTER_HOOK() { }
+#define CH_CFG_IDLE_LEAVE_HOOK() { }
+#define CH_CFG_IDLE_LOOP_HOOK() { }
+#define CH_CFG_SYSTEM_TICK_HOOK() { }
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) { }
+#define CH_CFG_TRACE_HOOK(tep) { }
+#define CHCHECKS_H 
+#define CHLICENSE_H 
+#define CH_FEATURES_BASIC 0
+#define CH_FEATURES_INTERMEDIATE 1
+#define CH_FEATURES_FULL 2
+#define CH_DEPLOY_UNLIMITED -1
+#define CH_DEPLOY_NONE 0
+#define CH_LICENSE_GPL 0
+#define CH_LICENSE_GPL_EXCEPTION 1
+#define CH_LICENSE_COMMERCIAL_FREE 2
+#define CH_LICENSE_COMMERCIAL_DEV_1000 3
+#define CH_LICENSE_COMMERCIAL_DEV_5000 4
+#define CH_LICENSE_COMMERCIAL_FULL 5
+#define CH_LICENSE_COMMERCIAL_RUNTIME 6
+#define CH_LICENSE_PARTNER 7
+#define CHCUSTOMER_H 
+#define CH_CUSTOMER_ID_STRING "Santa, North Pole"
+#define CH_CUSTOMER_ID_CODE "xxxx-yyyy"
+#define CH_LICENSE CH_LICENSE_GPL
+#define CH_CUSTOMER_LIC_RT TRUE
+#define CH_CUSTOMER_LIC_NIL TRUE
+#define CH_CUSTOMER_LIC_OSLIB TRUE
+#define CH_CUSTOMER_LIC_EX TRUE
+#define CH_CUSTOMER_LIC_PORT_CM0 TRUE
+#define CH_CUSTOMER_LIC_PORT_CM3 TRUE
+#define CH_CUSTOMER_LIC_PORT_CM4 TRUE
+#define CH_CUSTOMER_LIC_PORT_CM7 TRUE
+#define CH_CUSTOMER_LIC_PORT_ARM79 TRUE
+#define CH_CUSTOMER_LIC_PORT_E200Z0 TRUE
+#define CH_CUSTOMER_LIC_PORT_E200Z2 TRUE
+#define CH_CUSTOMER_LIC_PORT_E200Z3 TRUE
+#define CH_CUSTOMER_LIC_PORT_E200Z4 TRUE
+#define CH_LICENSE_TYPE_STRING "GNU General Public License 3 (GPL3)"
+#define CH_LICENSE_ID_STRING "N/A"
+#define CH_LICENSE_ID_CODE "N/A"
+#define CH_LICENSE_MODIFIABLE_CODE TRUE
+#define CH_LICENSE_FEATURES CH_FEATURES_FULL
+#define CH_LICENSE_MAX_DEPLOY CH_DEPLOY_UNLIMITED
+#define CHRESTRICTIONS_H 
+  void chSysHalt(const char *reason);
+#define CHTYPES_H 
+typedef uint32_t rtcnt_t;
+typedef uint64_t rttime_t;
+typedef uint32_t syssts_t;
+typedef uint8_t tmode_t;
+typedef uint8_t tstate_t;
+typedef uint8_t trefs_t;
+typedef uint8_t tslices_t;
+typedef uint32_t tprio_t;
+typedef int32_t msg_t;
+typedef int32_t eventid_t;
+typedef uint32_t eventmask_t;
+typedef uint32_t eventflags_t;
+typedef int32_t cnt_t;
+typedef uint32_t ucnt_t;
+#define ROMCONST const
+#define NOINLINE __attribute__((noinline))
+#define PORT_THD_FUNCTION(tname,arg) void tname(void *arg)
+#define PACKED_VAR __attribute__((packed))
+#define ALIGNED_VAR(n) __attribute__((aligned(n)))
+#define SIZEOF_PTR 4
+#define REVERSE_ORDER 1
+#define CHSYSTYPES_H 
+typedef struct ch_thread thread_t;
+typedef thread_t * thread_reference_t;
+typedef struct ch_threads_list threads_list_t;
+typedef struct ch_threads_queue threads_queue_t;
+typedef struct ch_ready_list ready_list_t;
+typedef void (*vtfunc_t)(void *p);
+typedef struct ch_virtual_timer virtual_timer_t;
+typedef struct ch_virtual_timers_list virtual_timers_list_t;
+typedef struct ch_system_debug system_debug_t;
+typedef struct ch_system ch_system_t;
+#define __CH_STRINGIFY(a) #a
+#define CHDEBUG_H 
+#define CH_DBG_STACK_FILL_VALUE 0x55
+#define _dbg_enter_lock() 
+#define _dbg_leave_lock() 
+#define _dbg_check_disable() 
+#define _dbg_check_suspend() 
+#define _dbg_check_enable() 
+#define _dbg_check_lock() 
+#define _dbg_check_unlock() 
+#define _dbg_check_lock_from_isr() 
+#define _dbg_check_unlock_from_isr() 
+#define _dbg_check_enter_isr() 
+#define _dbg_check_leave_isr() 
+#define chDbgCheckClassI() 
+#define chDbgCheckClassS() 
+#define chDbgCheck(c) do { if (CH_DBG_ENABLE_CHECKS != FALSE) { if (!(c)) { chSysHalt(__func__); } } } while (false)
+#define chDbgAssert(c,r) do { if (CH_DBG_ENABLE_ASSERTS != FALSE) { if (!(c)) { chSysHalt(__func__); } } } while (false)
+#define CHTIME_H 
+#define TIME_IMMEDIATE ((sysinterval_t)0)
+#define TIME_INFINITE ((sysinterval_t)-1)
+#define TIME_MAX_INTERVAL ((sysinterval_t)-2)
+#define TIME_MAX_SYSTIME ((systime_t)-1)
+typedef uint32_t systime_t;
+typedef uint32_t sysinterval_t;
+typedef uint32_t time_secs_t;
+typedef uint32_t time_msecs_t;
+typedef uint32_t time_usecs_t;
+typedef uint64_t time_conv_t;
+#define TIME_S2I(secs) ((sysinterval_t)((time_conv_t)(secs) * (time_conv_t)CH_CFG_ST_FREQUENCY))
+#define TIME_MS2I(msecs) ((sysinterval_t)((((time_conv_t)(msecs) * (time_conv_t)CH_CFG_ST_FREQUENCY) + (time_conv_t)999) / (time_conv_t)1000))
+#define TIME_US2I(usecs) ((sysinterval_t)((((time_conv_t)(usecs) * (time_conv_t)CH_CFG_ST_FREQUENCY) + (time_conv_t)999999) / (time_conv_t)1000000))
+#define TIME_I2S(interval) (time_secs_t)(((time_conv_t)(interval) + (time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) / (time_conv_t)CH_CFG_ST_FREQUENCY)
+#define TIME_I2MS(interval) (time_msecs_t)((((time_conv_t)(interval) * (time_conv_t)1000) + (time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) / (time_conv_t)CH_CFG_ST_FREQUENCY)
+#define TIME_I2US(interval) (time_msecs_t)((((time_conv_t)(interval) * (time_conv_t)1000000) + (time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) / (time_conv_t)CH_CFG_ST_FREQUENCY)
+static inline sysinterval_t chTimeS2I(time_secs_t secs) {
+  time_conv_t ticks;
+  ticks = (time_conv_t)secs * (time_conv_t)CH_CFG_ST_FREQUENCY;
+  chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
+              "conversion overflow");
+  return (sysinterval_t)ticks;
+}
+static inline sysinterval_t chTimeMS2I(time_msecs_t msec) {
+  time_conv_t ticks;
+  ticks = (((time_conv_t)msec * (time_conv_t)CH_CFG_ST_FREQUENCY) +
+           (time_conv_t)999) / (time_conv_t)1000;
+  chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
+              "conversion overflow");
+  return (sysinterval_t)ticks;
+}
+static inline sysinterval_t chTimeUS2I(time_usecs_t usec) {
+  time_conv_t ticks;
+  ticks = (((time_conv_t)usec * (time_conv_t)CH_CFG_ST_FREQUENCY) +
+           (time_conv_t)999999) / (time_conv_t)1000000;
+  chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
+              "conversion overflow");
+  return (sysinterval_t)ticks;
+}
+static inline time_secs_t chTimeI2S(sysinterval_t interval) {
+  time_conv_t secs;
+  secs = ((time_conv_t)interval +
+          (time_conv_t)CH_CFG_ST_FREQUENCY -
+          (time_conv_t)1) / (time_conv_t)CH_CFG_ST_FREQUENCY;
+  chDbgAssert(secs < (time_conv_t)((time_secs_t)-1),
+              "conversion overflow");
+  return (time_secs_t)secs;
+}
+static inline time_msecs_t chTimeI2MS(sysinterval_t interval) {
+  time_conv_t msecs;
+  msecs = (((time_conv_t)interval * (time_conv_t)1000) +
+           (time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) /
+          (time_conv_t)CH_CFG_ST_FREQUENCY;
+  chDbgAssert(msecs < (time_conv_t)((time_msecs_t)-1),
+              "conversion overflow");
+  return (time_msecs_t)msecs;
+}
+static inline time_usecs_t chTimeI2US(sysinterval_t interval) {
+  time_conv_t usecs;
+  usecs = (((time_conv_t)interval * (time_conv_t)1000000) +
+           (time_conv_t)CH_CFG_ST_FREQUENCY - (time_conv_t)1) /
+          (time_conv_t)CH_CFG_ST_FREQUENCY;
+  chDbgAssert(usecs <= (time_conv_t)((time_usecs_t)-1),
+              "conversion overflow");
+  return (time_usecs_t)usecs;
+}
+static inline systime_t chTimeAddX(systime_t systime,
+                                   sysinterval_t interval) {
+  return systime + (systime_t)interval;
+}
+static inline sysinterval_t chTimeDiffX(systime_t start, systime_t end) {
+  return (sysinterval_t)((systime_t)(end - start));
+}
+static inline bool chTimeIsInRangeX(systime_t time,
+                                    systime_t start,
+                                    systime_t end) {
+  return (bool)((systime_t)((systime_t)time - (systime_t)start) <
+                (systime_t)((systime_t)end - (systime_t)start));
+}
+#define CHALIGN_H 
+#define MEM_ALIGN_MASK(a) ((size_t)(a) - 1U)
+#define MEM_ALIGN_PREV(p,a) ((size_t)(p) & ~MEM_ALIGN_MASK(a))
+#define MEM_ALIGN_NEXT(p,a) MEM_ALIGN_PREV((size_t)(p) + MEM_ALIGN_MASK(a), (a))
+#define MEM_IS_ALIGNED(p,a) (((size_t)(p) & MEM_ALIGN_MASK(a)) == 0U)
+#define MEM_IS_VALID_ALIGNMENT(a) (((size_t)(a) != 0U) && (((size_t)(a) & ((size_t)(a) - 1U)) == 0U))
+#define CHCORE_H 
+#define PORT_ARCHITECTURE_ARM 
+#define PORT_COMPILER_NAME "GCC " __VERSION__
+#define PORT_USE_ALT_TIMER FALSE
+typedef void *regarm_t;
+typedef uint64_t stkalign_t;
+struct port_context {
+  struct port_intctx *sp;
+};
+#define CORTEX_PRIORITY_LEVELS (1U << CORTEX_PRIORITY_BITS)
+#define CORTEX_MINIMUM_PRIORITY (CORTEX_PRIORITY_LEVELS - 1)
+#define CORTEX_MAXIMUM_PRIORITY 0U
+#define CORTEX_PRIO_MASK(n) ((n) << (8U - (unsigned)CORTEX_PRIORITY_BITS))
+#define PORT_IRQ_IS_VALID_PRIORITY(n) (((n) >= 0U) && ((n) < CORTEX_PRIORITY_LEVELS))
+#define PORT_IRQ_IS_VALID_KERNEL_PRIORITY(n) (((n) >= CORTEX_MAX_KERNEL_PRIORITY) && ((n) < CORTEX_PRIORITY_LEVELS))
+#define MPU_H 
+#define MPU_TYPE_SEPARATED (1U << 0U)
+#define MPU_TYPE_DREGION(n) (((n) >> 8U) & 255U)
+#define MPU_TYPE_IREGION(n) (((n) >> 16U) & 255U)
+#define MPU_CTRL_ENABLE (1U << 0U)
+#define MPU_CTRL_HFNMIENA (1U << 1U)
+#define MPU_CTRL_PRIVDEFENA (1U << 2U)
+#define MPU_RNR_REGION_MASK (255U << 0U)
+#define MPU_RNR_REGION(n) ((n) << 0U)
+#define MPU_RBAR_REGION_MASK (15U << 0U)
+#define MPU_RBAR_REGION(n) ((n) << 0U)
+#define MPU_RBAR_VALID (1U << 4U)
+#define MPU_RBAR_ADDR_MASK 0xFFFFFFE0U
+#define MPU_RBAR_ADDR(n) ((n) << 5U)
+#define MPU_RASR_ENABLE (1U << 0U)
+#define MPU_RASR_SIZE_MASK (31U << 1U)
+#define MPU_RASR_SIZE(n) ((n) << 1U)
+#define MPU_RASR_SIZE_32 MPU_RASR_SIZE(4U)
+#define MPU_RASR_SIZE_64 MPU_RASR_SIZE(5U)
+#define MPU_RASR_SIZE_128 MPU_RASR_SIZE(6U)
+#define MPU_RASR_SIZE_256 MPU_RASR_SIZE(7U)
+#define MPU_RASR_SIZE_512 MPU_RASR_SIZE(8U)
+#define MPU_RASR_SIZE_1K MPU_RASR_SIZE(9U)
+#define MPU_RASR_SIZE_2K MPU_RASR_SIZE(10U)
+#define MPU_RASR_SIZE_4K MPU_RASR_SIZE(11U)
+#define MPU_RASR_SIZE_8K MPU_RASR_SIZE(12U)
+#define MPU_RASR_SIZE_16K MPU_RASR_SIZE(13U)
+#define MPU_RASR_SIZE_32K MPU_RASR_SIZE(14U)
+#define MPU_RASR_SIZE_64K MPU_RASR_SIZE(15U)
+#define MPU_RASR_SIZE_128K MPU_RASR_SIZE(16U)
+#define MPU_RASR_SIZE_256K MPU_RASR_SIZE(17U)
+#define MPU_RASR_SIZE_512K MPU_RASR_SIZE(18U)
+#define MPU_RASR_SIZE_1M MPU_RASR_SIZE(19U)
+#define MPU_RASR_SIZE_2M MPU_RASR_SIZE(20U)
+#define MPU_RASR_SIZE_4M MPU_RASR_SIZE(21U)
+#define MPU_RASR_SIZE_8M MPU_RASR_SIZE(22U)
+#define MPU_RASR_SIZE_16M MPU_RASR_SIZE(23U)
+#define MPU_RASR_SIZE_32M MPU_RASR_SIZE(24U)
+#define MPU_RASR_SIZE_64M MPU_RASR_SIZE(25U)
+#define MPU_RASR_SIZE_128M MPU_RASR_SIZE(26U)
+#define MPU_RASR_SIZE_256M MPU_RASR_SIZE(27U)
+#define MPU_RASR_SIZE_512M MPU_RASR_SIZE(28U)
+#define MPU_RASR_SIZE_1G MPU_RASR_SIZE(29U)
+#define MPU_RASR_SIZE_2G MPU_RASR_SIZE(30U)
+#define MPU_RASR_SIZE_4G MPU_RASR_SIZE(31U)
+#define MPU_RASR_SRD_MASK (255U << 8U)
+#define MPU_RASR_SRD(n) ((n) << 8U)
+#define MPU_RASR_SRD_ALL (0U << 8U)
+#define MPU_RASR_SRD_DISABLE_SUB0 (1U << 8U)
+#define MPU_RASR_SRD_DISABLE_SUB1 (2U << 8U)
+#define MPU_RASR_SRD_DISABLE_SUB2 (4U << 8U)
+#define MPU_RASR_SRD_DISABLE_SUB3 (8U << 8U)
+#define MPU_RASR_SRD_DISABLE_SUB4 (16U << 8U)
+#define MPU_RASR_SRD_DISABLE_SUB5 (32U << 8U)
+#define MPU_RASR_SRD_DISABLE_SUB6 (64U << 8U)
+#define MPU_RASR_SRD_DISABLE_SUB7 (128U << 8U)
+#define MPU_RASR_ATTR_B (1U << 16U)
+#define MPU_RASR_ATTR_C (1U << 17U)
+#define MPU_RASR_ATTR_S (1U << 18U)
+#define MPU_RASR_ATTR_TEX_MASK (7U << 19U)
+#define MPU_RASR_ATTR_TEX(n) ((n) << 19U)
+#define MPU_RASR_ATTR_AP_MASK (7U << 24U)
+#define MPU_RASR_ATTR_AP(n) ((n) << 24U)
+#define MPU_RASR_ATTR_AP_NA_NA (0U << 24U)
+#define MPU_RASR_ATTR_AP_RW_NA (1U << 24U)
+#define MPU_RASR_ATTR_AP_RW_RO (2U << 24U)
+#define MPU_RASR_ATTR_AP_RW_RW (3U << 24U)
+#define MPU_RASR_ATTR_AP_RO_NA (5U << 24U)
+#define MPU_RASR_ATTR_AP_RO_RO (6U << 24U)
+#define MPU_RASR_ATTR_XN (1U << 28U)
+#define MPU_RASR_ATTR_STRONGLY_ORDERED (MPU_RASR_ATTR_TEX(0))
+#define MPU_RASR_ATTR_SHARED_DEVICE (MPU_RASR_ATTR_TEX(0) | MPU_RASR_ATTR_B)
+#define MPU_RASR_ATTR_CACHEABLE_WT_NWA (MPU_RASR_ATTR_TEX(0) | MPU_RASR_ATTR_C)
+#define MPU_RASR_ATTR_CACHEABLE_WB_NWA (MPU_RASR_ATTR_TEX(0) | MPU_RASR_ATTR_B | MPU_RASR_ATTR_C)
+#define MPU_RASR_ATTR_NON_CACHEABLE (MPU_RASR_ATTR_TEX(1))
+#define MPU_RASR_ATTR_CACHEABLE_WB_WA (MPU_RASR_ATTR_TEX(1) | MPU_RASR_ATTR_B | MPU_RASR_ATTR_C)
+#define MPU_RASR_ATTR_NON_SHARED_DEVICE (MPU_RASR_ATTR_TEX(2))
+#define MPU_REGION_0 0U
+#define MPU_REGION_1 1U
+#define MPU_REGION_2 2U
+#define MPU_REGION_3 3U
+#define MPU_REGION_4 4U
+#define MPU_REGION_5 5U
+#define MPU_REGION_6 6U
+#define MPU_REGION_7 7U
+#define mpuEnable(ctrl) { MPU->CTRL = ((uint32_t)ctrl) | MPU_CTRL_ENABLE; SCB->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk; }
+#define mpuDisable() { SCB->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk; MPU->CTRL = 0; }
+#define mpuConfigureRegion(region,addr,attribs) { MPU->RNR = ((uint32_t)region); MPU->RBAR = ((uint32_t)addr); MPU->RASR = ((uint32_t)attribs); }
+#define mpuSetRegionAddress(region,addr) { MPU->RNR = ((uint32_t)region); MPU->RBAR = ((uint32_t)addr); }
+#define CHCORE_V7M_H 
+#define PORT_SUPPORTS_RT TRUE
+#define PORT_NATURAL_ALIGN sizeof (void *)
+#define PORT_STACK_ALIGN sizeof (stkalign_t)
+#define PORT_WORKING_AREA_ALIGN (PORT_ENABLE_GUARD_PAGES == TRUE ? 32U : PORT_STACK_ALIGN)
+#define CORTEX_BASEPRI_DISABLED 0U
+#define PORT_ENABLE_GUARD_PAGES FALSE
+#define PORT_USE_MPU_REGION MPU_REGION_7
+#define PORT_IDLE_THREAD_STACK_SIZE 16
+#define PORT_INT_REQUIRED_STACK 64
+#define CORTEX_ENABLE_WFI_IDLE FALSE
+#define CORTEX_SIMPLIFIED_PRIORITY FALSE
+#define CORTEX_PRIORITY_SVCALL (CORTEX_MAXIMUM_PRIORITY + 1U)
+#define CORTEX_PRIGROUP_INIT (7 - CORTEX_PRIORITY_BITS)
+  #define PORT_GUARD_PAGE_SIZE 0U
+  #define PORT_ARCHITECTURE_ARM_v7ME
+  #define PORT_ARCHITECTURE_NAME "ARMv7E-M"
+            #define PORT_CORE_VARIANT_NAME "Cortex-M4"
+#define PORT_INFO "Advanced kernel mode"
+#define CORTEX_MAX_KERNEL_PRIORITY (CORTEX_PRIORITY_SVCALL + 1U)
+#define CORTEX_BASEPRI_KERNEL CORTEX_PRIO_MASK(CORTEX_MAX_KERNEL_PRIORITY)
+#define CORTEX_PRIORITY_PENDSV CORTEX_MAX_KERNEL_PRIORITY
+struct port_extctx {
+  regarm_t r0;
+  regarm_t r1;
+  regarm_t r2;
+  regarm_t r3;
+  regarm_t r12;
+  regarm_t lr_thd;
+  regarm_t pc;
+  regarm_t xpsr;
+};
+struct port_intctx {
+  regarm_t r4;
+  regarm_t r5;
+  regarm_t r6;
+  regarm_t r7;
+  regarm_t r8;
+  regarm_t r9;
+  regarm_t r10;
+  regarm_t r11;
+  regarm_t lr;
+};
+#define PORT_SETUP_CONTEXT(tp,wbase,wtop,pf,arg) { (tp)->ctx.sp = (struct port_intctx *)((uint8_t *)(wtop) - sizeof (struct port_intctx)); (tp)->ctx.sp->r4 = (regarm_t)(pf); (tp)->ctx.sp->r5 = (regarm_t)(arg); (tp)->ctx.sp->lr = (regarm_t)_port_thread_start; }
+#define PORT_WA_SIZE(n) ((size_t)PORT_GUARD_PAGE_SIZE + sizeof (struct port_intctx) + sizeof (struct port_extctx) + (size_t)(n) + (size_t)PORT_INT_REQUIRED_STACK)
+#define PORT_WORKING_AREA(s,n) stkalign_t s[THD_WORKING_AREA_SIZE(n) / sizeof (stkalign_t)]
+#define PORT_IRQ_PROLOGUE() 
+#define PORT_IRQ_EPILOGUE() _port_irq_epilogue()
+#define PORT_IRQ_HANDLER(id) void id(void)
+#define PORT_FAST_IRQ_HANDLER(id) void id(void)
+#define port_switch(ntp,otp) _port_switch(ntp, otp)
+  void _port_irq_epilogue(void);
+  void _port_switch(thread_t *ntp, thread_t *otp);
+  void _port_thread_start(void);
+  void _port_switch_from_isr(void);
+  void _port_exit_from_isr(void);
+static inline void port_init(void) {
+  NVIC_SetPriorityGrouping(CORTEX_PRIGROUP_INIT);
+  CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+  DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
+  NVIC_SetPriority(SVCall_IRQn, CORTEX_PRIORITY_SVCALL);
+  NVIC_SetPriority(PendSV_IRQn, CORTEX_PRIORITY_PENDSV);
+}
+static inline syssts_t port_get_irq_status(void) {
+  syssts_t sts;
+  sts = (syssts_t)__get_BASEPRI();
+  return sts;
+}
+static inline bool port_irq_enabled(syssts_t sts) {
+  return sts == (syssts_t)CORTEX_BASEPRI_DISABLED;
+}
+static inline bool port_is_isr_context(void) {
+  return (bool)((__get_IPSR() & 0x1FFU) != 0U);
+}
+static inline void port_lock(void) {
+  __set_BASEPRI(CORTEX_BASEPRI_KERNEL);
+}
+static inline void port_unlock(void) {
+  __set_BASEPRI(CORTEX_BASEPRI_DISABLED);
+}
+static inline void port_lock_from_isr(void) {
+  port_lock();
+}
+static inline void port_unlock_from_isr(void) {
+  port_unlock();
+}
+static inline void port_disable(void) {
+  __disable_irq();
+}
+static inline void port_suspend(void) {
+  __set_BASEPRI(CORTEX_BASEPRI_KERNEL);
+  __enable_irq();
+}
+static inline void port_enable(void) {
+  __set_BASEPRI(CORTEX_BASEPRI_DISABLED);
+  __enable_irq();
+}
+static inline void port_wait_for_interrupt(void) {
+}
+static inline rtcnt_t port_rt_get_counter_value(void) {
+  return DWT->CYCCNT;
+}
+#define CHTRACE_H 
+#define CH_TRACE_TYPE_UNUSED 0U
+#define CH_TRACE_TYPE_SWITCH 1U
+#define CH_TRACE_TYPE_ISR_ENTER 2U
+#define CH_TRACE_TYPE_ISR_LEAVE 3U
+#define CH_TRACE_TYPE_HALT 4U
+#define CH_TRACE_TYPE_USER 5U
+#define CH_DBG_TRACE_MASK_DISABLED 255U
+#define CH_DBG_TRACE_MASK_NONE 0U
+#define CH_DBG_TRACE_MASK_SWITCH 1U
+#define CH_DBG_TRACE_MASK_ISR 2U
+#define CH_DBG_TRACE_MASK_HALT 4U
+#define CH_DBG_TRACE_MASK_USER 8U
+#define CH_DBG_TRACE_MASK_SLOW (CH_DBG_TRACE_MASK_SWITCH | CH_DBG_TRACE_MASK_HALT | CH_DBG_TRACE_MASK_USER)
+#define CH_DBG_TRACE_MASK_ALL (CH_DBG_TRACE_MASK_SWITCH | CH_DBG_TRACE_MASK_ISR | CH_DBG_TRACE_MASK_HALT | CH_DBG_TRACE_MASK_USER)
+#define _trace_init() 
+#define _trace_switch(ntp,otp) 
+#define _trace_isr_enter(isr) 
+#define _trace_isr_leave(isr) 
+#define _trace_halt(reason) 
+#define chDbgWriteTraceI(up1,up2) 
+#define chDbgWriteTrace(up1,up2) 
+#define CHTM_H 
+typedef struct {
+  rtcnt_t offset;
+} tm_calibration_t;
+typedef struct {
+  rtcnt_t best;
+  rtcnt_t worst;
+  rtcnt_t last;
+  ucnt_t n;
+  rttime_t cumulative;
+} time_measurement_t;
+  void _tm_init(void);
+  void chTMObjectInit(time_measurement_t *tmp);
+  NOINLINE void chTMStartMeasurementX(time_measurement_t *tmp);
+  NOINLINE void chTMStopMeasurementX(time_measurement_t *tmp);
+  NOINLINE void chTMChainMeasurementToX(time_measurement_t *tmp1,
+                                        time_measurement_t *tmp2);
+#define CHSTATS_H 
+#define _stats_increase_irq() 
+#define _stats_ctxswc(old,new) 
+#define _stats_start_measure_crit_thd() 
+#define _stats_stop_measure_crit_thd() 
+#define _stats_start_measure_crit_isr() 
+#define _stats_stop_measure_crit_isr() 
+#define CHSCHD_H 
+#define MSG_OK (msg_t)0
+#define MSG_TIMEOUT (msg_t)-1
+#define MSG_RESET (msg_t)-2
+#define NOPRIO (tprio_t)0
+#define IDLEPRIO (tprio_t)1
+#define LOWPRIO (tprio_t)2
+#define NORMALPRIO (tprio_t)128
+#define HIGHPRIO (tprio_t)255
+#define CH_STATE_READY (tstate_t)0
+#define CH_STATE_CURRENT (tstate_t)1
+#define CH_STATE_WTSTART (tstate_t)2
+#define CH_STATE_SUSPENDED (tstate_t)3
+#define CH_STATE_QUEUED (tstate_t)4
+#define CH_STATE_WTSEM (tstate_t)5
+#define CH_STATE_WTMTX (tstate_t)6
+#define CH_STATE_WTCOND (tstate_t)7
+#define CH_STATE_SLEEPING (tstate_t)8
+#define CH_STATE_WTEXIT (tstate_t)9
+#define CH_STATE_WTOREVT (tstate_t)10
+#define CH_STATE_WTANDEVT (tstate_t)11
+#define CH_STATE_SNDMSGQ (tstate_t)12
+#define CH_STATE_SNDMSG (tstate_t)13
+#define CH_STATE_WTMSG (tstate_t)14
+#define CH_STATE_FINAL (tstate_t)15
+#define CH_STATE_NAMES "READY", "CURRENT", "WTSTART", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING", "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "FINAL"
+#define CH_FLAG_MODE_MASK (tmode_t)3U
+#define CH_FLAG_MODE_STATIC (tmode_t)0U
+#define CH_FLAG_MODE_HEAP (tmode_t)1U
+#define CH_FLAG_MODE_MPOOL (tmode_t)2U
+#define CH_FLAG_TERMINATE (tmode_t)4U
+struct ch_threads_list {
+  thread_t *next;
+};
+struct ch_threads_queue {
+  thread_t *next;
+  thread_t *prev;
+};
+struct ch_thread {
+  threads_queue_t queue;
+  tprio_t prio;
+  struct port_context ctx;
+  thread_t *newer;
+  thread_t *older;
+  const char *name;
+  stkalign_t *wabase;
+  tstate_t state;
+  tmode_t flags;
+  trefs_t refs;
+  union {
+    msg_t rdymsg;
+    msg_t exitcode;
+    void *wtobjp;
+    thread_reference_t *wttrp;
+    msg_t sentmsg;
+    struct ch_semaphore *wtsemp;
+    struct ch_mutex *wtmtxp;
+    eventmask_t ewmask;
+  } u;
+  threads_list_t waiting;
+  threads_queue_t msgqueue;
+  eventmask_t epending;
+  struct ch_mutex *mtxlist;
+  tprio_t realprio;
+  void *mpool;
+  CH_CFG_THREAD_EXTRA_FIELDS
+};
+struct ch_virtual_timer {
+  virtual_timer_t *next;
+  virtual_timer_t *prev;
+  sysinterval_t delta;
+  vtfunc_t func;
+  void *par;
+};
+struct ch_virtual_timers_list {
+  virtual_timer_t *next;
+  virtual_timer_t *prev;
+  sysinterval_t delta;
+  volatile systime_t systime;
+};
+struct ch_ready_list {
+  threads_queue_t queue;
+  tprio_t prio;
+  struct port_context ctx;
+  thread_t *newer;
+  thread_t *older;
+  thread_t *current;
+};
+struct ch_system_debug {
+  const char * volatile panic_msg;
+};
+struct ch_system {
+  ready_list_t rlist;
+  virtual_timers_list_t vtlist;
+  system_debug_t dbg;
+  thread_t mainthread;
+  tm_calibration_t tm;
+  CH_CFG_SYSTEM_EXTRA_FIELDS
+};
+#define firstprio(rlp) ((rlp)->next->prio)
+#define currp ch.rlist.current
+extern ch_system_t ch;
+  void _scheduler_init(void);
+  thread_t *chSchReadyI(thread_t *tp);
+  thread_t *chSchReadyAheadI(thread_t *tp);
+  void chSchGoSleepS(tstate_t newstate);
+  msg_t chSchGoSleepTimeoutS(tstate_t newstate, sysinterval_t timeout);
+  void chSchWakeupS(thread_t *ntp, msg_t msg);
+  void chSchRescheduleS(void);
+  bool chSchIsPreemptionRequired(void);
+  void chSchDoRescheduleBehind(void);
+  void chSchDoRescheduleAhead(void);
+  void chSchDoReschedule(void);
+static inline void list_init(threads_list_t *tlp) {
+  tlp->next = (thread_t *)tlp;
+}
+static inline bool list_isempty(threads_list_t *tlp) {
+  return (bool)(tlp->next == (thread_t *)tlp);
+}
+static inline bool list_notempty(threads_list_t *tlp) {
+  return (bool)(tlp->next != (thread_t *)tlp);
+}
+static inline void queue_init(threads_queue_t *tqp) {
+  tqp->next = (thread_t *)tqp;
+  tqp->prev = (thread_t *)tqp;
+}
+static inline bool queue_isempty(const threads_queue_t *tqp) {
+  return (bool)(tqp->next == (const thread_t *)tqp);
+}
+static inline bool queue_notempty(const threads_queue_t *tqp) {
+  return (bool)(tqp->next != (const thread_t *)tqp);
+}
+static inline void list_insert(thread_t *tp, threads_list_t *tlp) {
+  tp->queue.next = tlp->next;
+  tlp->next = tp;
+}
+static inline thread_t *list_remove(threads_list_t *tlp) {
+  thread_t *tp = tlp->next;
+  tlp->next = tp->queue.next;
+  return tp;
+}
+static inline void queue_prio_insert(thread_t *tp, threads_queue_t *tqp) {
+  thread_t *cp = (thread_t *)tqp;
+  do {
+    cp = cp->queue.next;
+  } while ((cp != (thread_t *)tqp) && (cp->prio >= tp->prio));
+  tp->queue.next = cp;
+  tp->queue.prev = cp->queue.prev;
+  tp->queue.prev->queue.next = tp;
+  cp->queue.prev = tp;
+}
+static inline void queue_insert(thread_t *tp, threads_queue_t *tqp) {
+  tp->queue.next = (thread_t *)tqp;
+  tp->queue.prev = tqp->prev;
+  tp->queue.prev->queue.next = tp;
+  tqp->prev = tp;
+}
+static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {
+  thread_t *tp = tqp->next;
+  tqp->next = tp->queue.next;
+  tqp->next->queue.prev = (thread_t *)tqp;
+  return tp;
+}
+static inline thread_t *queue_lifo_remove(threads_queue_t *tqp) {
+  thread_t *tp = tqp->prev;
+  tqp->prev = tp->queue.prev;
+  tqp->prev->queue.next = (thread_t *)tqp;
+  return tp;
+}
+static inline thread_t *queue_dequeue(thread_t *tp) {
+  tp->queue.prev->queue.next = tp->queue.next;
+  tp->queue.next->queue.prev = tp->queue.prev;
+  return tp;
+}
+static inline bool chSchIsRescRequiredI(void) {
+  chDbgCheckClassI();
+  return firstprio(&ch.rlist.queue) > currp->prio;
+}
+static inline bool chSchCanYieldS(void) {
+  chDbgCheckClassS();
+  return firstprio(&ch.rlist.queue) >= currp->prio;
+}
+static inline void chSchDoYieldS(void) {
+  chDbgCheckClassS();
+  if (chSchCanYieldS()) {
+    chSchDoRescheduleBehind();
+  }
+}
+static inline void chSchPreemption(void) {
+  tprio_t p1 = firstprio(&ch.rlist.queue);
+  tprio_t p2 = currp->prio;
+  if (p1 > p2) {
+    chSchDoRescheduleAhead();
+  }
+}
+#define CHSYS_H 
+#define CH_INTEGRITY_RLIST 1U
+#define CH_INTEGRITY_VTLIST 2U
+#define CH_INTEGRITY_REGISTRY 4U
+#define CH_INTEGRITY_PORT 8U
+#define CH_IRQ_IS_VALID_PRIORITY(prio) PORT_IRQ_IS_VALID_PRIORITY(prio)
+#define CH_IRQ_IS_VALID_KERNEL_PRIORITY(prio) PORT_IRQ_IS_VALID_KERNEL_PRIORITY(prio)
+#define CH_IRQ_PROLOGUE() PORT_IRQ_PROLOGUE(); CH_CFG_IRQ_PROLOGUE_HOOK(); _stats_increase_irq(); _trace_isr_enter(__func__); _dbg_check_enter_isr()
+#define CH_IRQ_EPILOGUE() _dbg_check_leave_isr(); _trace_isr_leave(__func__); CH_CFG_IRQ_EPILOGUE_HOOK(); PORT_IRQ_EPILOGUE()
+#define CH_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)
+#define CH_FAST_IRQ_HANDLER(id) PORT_FAST_IRQ_HANDLER(id)
+#define S2RTC(freq,sec) ((freq) * (sec))
+#define MS2RTC(freq,msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec))
+#define US2RTC(freq,usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec))
+#define RTC2S(freq,n) ((((n) - 1UL) / (freq)) + 1UL)
+#define RTC2MS(freq,n) ((((n) - 1UL) / ((freq) / 1000UL)) + 1UL)
+#define RTC2US(freq,n) ((((n) - 1UL) / ((freq) / 1000000UL)) + 1UL)
+#define chSysGetRealtimeCounterX() (rtcnt_t)port_rt_get_counter_value()
+#define chSysSwitch(ntp,otp) { _trace_switch(ntp, otp); _stats_ctxswc(ntp, otp); CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp); port_switch(ntp, otp); }
+extern stkalign_t ch_idle_thread_wa[];
+  void chSysInit(void);
+  bool chSysIntegrityCheckI(unsigned testmask);
+  void chSysTimerHandlerI(void);
+  syssts_t chSysGetStatusAndLockX(void);
+  void chSysRestoreStatusX(syssts_t sts);
+  bool chSysIsCounterWithinX(rtcnt_t cnt, rtcnt_t start, rtcnt_t end);
+  void chSysPolledDelayX(rtcnt_t cycles);
+static inline void chSysDisable(void) {
+  port_disable();
+  _dbg_check_disable();
+}
+static inline void chSysSuspend(void) {
+  port_suspend();
+  _dbg_check_suspend();
+}
+static inline void chSysEnable(void) {
+  _dbg_check_enable();
+  port_enable();
+}
+static inline void chSysLock(void) {
+  port_lock();
+  _stats_start_measure_crit_thd();
+  _dbg_check_lock();
+}
+static inline void chSysUnlock(void) {
+  _dbg_check_unlock();
+  _stats_stop_measure_crit_thd();
+  chDbgAssert((ch.rlist.queue.next == (thread_t *)&ch.rlist.queue) ||
+              (ch.rlist.current->prio >= ch.rlist.queue.next->prio),
+              "priority order violation");
+  port_unlock();
+}
+static inline void chSysLockFromISR(void) {
+  port_lock_from_isr();
+  _stats_start_measure_crit_isr();
+  _dbg_check_lock_from_isr();
+}
+static inline void chSysUnlockFromISR(void) {
+  _dbg_check_unlock_from_isr();
+  _stats_stop_measure_crit_isr();
+  port_unlock_from_isr();
+}
+static inline void chSysUnconditionalLock(void) {
+  if (port_irq_enabled(port_get_irq_status())) {
+    chSysLock();
+  }
+}
+static inline void chSysUnconditionalUnlock(void) {
+  if (!port_irq_enabled(port_get_irq_status())) {
+    chSysUnlock();
+  }
+}
+static inline thread_t *chSysGetIdleThreadX(void) {
+  return ch.rlist.queue.prev;
+}
+#define CHVT_H 
+  void _vt_init(void);
+  void chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
+                  vtfunc_t vtfunc, void *par);
+  void chVTDoResetI(virtual_timer_t *vtp);
+static inline void chVTObjectInit(virtual_timer_t *vtp) {
+  vtp->func = NULL;
+}
+static inline systime_t chVTGetSystemTimeX(void) {
+  return ch.vtlist.systime;
+}
+static inline systime_t chVTGetSystemTime(void) {
+  systime_t systime;
+  chSysLock();
+  systime = chVTGetSystemTimeX();
+  chSysUnlock();
+  return systime;
+}
+static inline sysinterval_t chVTTimeElapsedSinceX(systime_t start) {
+  return chTimeDiffX(start, chVTGetSystemTimeX());
+}
+static inline bool chVTIsSystemTimeWithinX(systime_t start, systime_t end) {
+  return chTimeIsInRangeX(chVTGetSystemTimeX(), start, end);
+}
+static inline bool chVTIsSystemTimeWithin(systime_t start, systime_t end) {
+  return chTimeIsInRangeX(chVTGetSystemTime(), start, end);
+}
+static inline bool chVTGetTimersStateI(sysinterval_t *timep) {
+  chDbgCheckClassI();
+  if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.next) {
+    return false;
+  }
+  if (timep != NULL) {
+    *timep = ch.vtlist.next->delta;
+  }
+  return true;
+}
+static inline bool chVTIsArmedI(const virtual_timer_t *vtp) {
+  chDbgCheckClassI();
+  return (bool)(vtp->func != NULL);
+}
+static inline bool chVTIsArmed(const virtual_timer_t *vtp) {
+  bool b;
+  chSysLock();
+  b = chVTIsArmedI(vtp);
+  chSysUnlock();
+  return b;
+}
+static inline void chVTResetI(virtual_timer_t *vtp) {
+  if (chVTIsArmedI(vtp)) {
+    chVTDoResetI(vtp);
+  }
+}
+static inline void chVTReset(virtual_timer_t *vtp) {
+  chSysLock();
+  chVTResetI(vtp);
+  chSysUnlock();
+}
+static inline void chVTSetI(virtual_timer_t *vtp, sysinterval_t delay,
+                            vtfunc_t vtfunc, void *par) {
+  chVTResetI(vtp);
+  chVTDoSetI(vtp, delay, vtfunc, par);
+}
+static inline void chVTSet(virtual_timer_t *vtp, sysinterval_t delay,
+                           vtfunc_t vtfunc, void *par) {
+  chSysLock();
+  chVTSetI(vtp, delay, vtfunc, par);
+  chSysUnlock();
+}
+static inline void chVTDoTickI(void) {
+  chDbgCheckClassI();
+  ch.vtlist.systime++;
+  if (&ch.vtlist != (virtual_timers_list_t *)ch.vtlist.next) {
+    --ch.vtlist.next->delta;
+    while (ch.vtlist.next->delta == (sysinterval_t)0) {
+      virtual_timer_t *vtp;
+      vtfunc_t fn;
+      vtp = ch.vtlist.next;
+      fn = vtp->func;
+      vtp->func = NULL;
+      vtp->next->prev = (virtual_timer_t *)&ch.vtlist;
+      ch.vtlist.next = vtp->next;
+      chSysUnlockFromISR();
+      fn(vtp->par);
+      chSysLockFromISR();
+    }
+  }
+}
+#define CHTHREADS_H 
+typedef void (*tfunc_t)(void *p);
+typedef struct {
+  const char *name;
+  stkalign_t *wbase;
+  stkalign_t *wend;
+  tprio_t prio;
+  tfunc_t funcp;
+  void *arg;
+} thread_descriptor_t;
+#define _THREADS_QUEUE_DATA(name) {(thread_t *)&name, (thread_t *)&name}
+#define _THREADS_QUEUE_DECL(name) threads_queue_t name = _THREADS_QUEUE_DATA(name)
+#define THD_WORKING_AREA_SIZE(n) MEM_ALIGN_NEXT(sizeof(thread_t) + PORT_WA_SIZE(n), PORT_STACK_ALIGN)
+#define THD_WORKING_AREA(s,n) PORT_WORKING_AREA(s, n)
+#define THD_WORKING_AREA_BASE(s) ((stkalign_t *)(s))
+#define THD_WORKING_AREA_END(s) (THD_WORKING_AREA_BASE(s) + (sizeof (s) / sizeof (stkalign_t)))
+#define THD_FUNCTION(tname,arg) PORT_THD_FUNCTION(tname, arg)
+#define chThdSleepSeconds(sec) chThdSleep(TIME_S2I(sec))
+#define chThdSleepMilliseconds(msec) chThdSleep(TIME_MS2I(msec))
+#define chThdSleepMicroseconds(usec) chThdSleep(TIME_US2I(usec))
+   thread_t *_thread_init(thread_t *tp, const char *name, tprio_t prio);
+  thread_t *chThdCreateSuspendedI(const thread_descriptor_t *tdp);
+  thread_t *chThdCreateSuspended(const thread_descriptor_t *tdp);
+  thread_t *chThdCreateI(const thread_descriptor_t *tdp);
+  thread_t *chThdCreate(const thread_descriptor_t *tdp);
+  thread_t *chThdCreateStatic(void *wsp, size_t size,
+                              tprio_t prio, tfunc_t pf, void *arg);
+  thread_t *chThdStart(thread_t *tp);
+  thread_t *chThdAddRef(thread_t *tp);
+  void chThdRelease(thread_t *tp);
+  void chThdExit(msg_t msg);
+  void chThdExitS(msg_t msg);
+  msg_t chThdWait(thread_t *tp);
+  tprio_t chThdSetPriority(tprio_t newprio);
+  void chThdTerminate(thread_t *tp);
+  msg_t chThdSuspendS(thread_reference_t *trp);
+  msg_t chThdSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout);
+  void chThdResumeI(thread_reference_t *trp, msg_t msg);
+  void chThdResumeS(thread_reference_t *trp, msg_t msg);
+  void chThdResume(thread_reference_t *trp, msg_t msg);
+  msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout);
+  void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg);
+  void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg);
+  void chThdSleep(sysinterval_t time);
+  void chThdSleepUntil(systime_t time);
+  systime_t chThdSleepUntilWindowed(systime_t prev, systime_t next);
+  void chThdYield(void);
+static inline thread_t *chThdGetSelfX(void) {
+  return ch.rlist.current;
+}
+static inline tprio_t chThdGetPriorityX(void) {
+  return chThdGetSelfX()->prio;
+}
+static inline stkalign_t *chThdGetWorkingAreaX(thread_t *tp) {
+  return tp->wabase;
+}
+static inline bool chThdTerminatedX(thread_t *tp) {
+  return (bool)(tp->state == CH_STATE_FINAL);
+}
+static inline bool chThdShouldTerminateX(void) {
+  return (bool)((chThdGetSelfX()->flags & CH_FLAG_TERMINATE) != (tmode_t)0);
+}
+static inline thread_t *chThdStartI(thread_t *tp) {
+  chDbgAssert(tp->state == CH_STATE_WTSTART, "wrong state");
+  return chSchReadyI(tp);
+}
+static inline void chThdSleepS(sysinterval_t ticks) {
+  chDbgCheck(ticks != TIME_IMMEDIATE);
+  (void) chSchGoSleepTimeoutS(CH_STATE_SLEEPING, ticks);
+}
+static inline void chThdQueueObjectInit(threads_queue_t *tqp) {
+  queue_init(tqp);
+}
+static inline bool chThdQueueIsEmptyI(threads_queue_t *tqp) {
+  chDbgCheckClassI();
+  return queue_isempty(tqp);
+}
+static inline void chThdDoDequeueNextI(threads_queue_t *tqp, msg_t msg) {
+  thread_t *tp;
+  chDbgAssert(queue_notempty(tqp), "empty queue");
+  tp = queue_fifo_remove(tqp);
+  chDbgAssert(tp->state == CH_STATE_QUEUED, "invalid state");
+  tp->u.rdymsg = msg;
+  (void) chSchReadyI(tp);
+}
+#define CHREGISTRY_H 
+typedef struct {
+  char identifier[4];
+  uint8_t zero;
+  uint8_t size;
+  uint16_t version;
+  uint8_t ptrsize;
+  uint8_t timesize;
+  uint8_t threadsize;
+  uint8_t off_prio;
+  uint8_t off_ctx;
+  uint8_t off_newer;
+  uint8_t off_older;
+  uint8_t off_name;
+  uint8_t off_stklimit;
+  uint8_t off_state;
+  uint8_t off_flags;
+  uint8_t off_refs;
+  uint8_t off_preempt;
+  uint8_t off_time;
+} chdebug_t;
+#define REG_REMOVE(tp) { (tp)->older->newer = (tp)->newer; (tp)->newer->older = (tp)->older; }
+#define REG_INSERT(tp) { (tp)->newer = (thread_t *)&ch.rlist; (tp)->older = ch.rlist.older; (tp)->older->newer = (tp); ch.rlist.older = (tp); }
+  extern ROMCONST chdebug_t ch_debug;
+  thread_t *chRegFirstThread(void);
+  thread_t *chRegNextThread(thread_t *tp);
+  thread_t *chRegFindThreadByName(const char *name);
+  thread_t *chRegFindThreadByPointer(thread_t *tp);
+  thread_t *chRegFindThreadByWorkingArea(stkalign_t *wa);
+static inline void chRegSetThreadName(const char *name) {
+  ch.rlist.current->name = name;
+}
+static inline const char *chRegGetThreadNameX(thread_t *tp) {
+  return tp->name;
+}
+static inline void chRegSetThreadNameX(thread_t *tp, const char *name) {
+  tp->name = name;
+}
+#define CHSEM_H 
+typedef struct ch_semaphore {
+  threads_queue_t queue;
+  cnt_t cnt;
+} semaphore_t;
+#define _SEMAPHORE_DATA(name,n) {_THREADS_QUEUE_DATA(name.queue), n}
+#define SEMAPHORE_DECL(name,n) semaphore_t name = _SEMAPHORE_DATA(name, n)
+  void chSemObjectInit(semaphore_t *sp, cnt_t n);
+  void chSemReset(semaphore_t *sp, cnt_t n);
+  void chSemResetI(semaphore_t *sp, cnt_t n);
+  msg_t chSemWait(semaphore_t *sp);
+  msg_t chSemWaitS(semaphore_t *sp);
+  msg_t chSemWaitTimeout(semaphore_t *sp, sysinterval_t timeout);
+  msg_t chSemWaitTimeoutS(semaphore_t *sp, sysinterval_t timeout);
+  void chSemSignal(semaphore_t *sp);
+  void chSemSignalI(semaphore_t *sp);
+  void chSemAddCounterI(semaphore_t *sp, cnt_t n);
+  msg_t chSemSignalWait(semaphore_t *sps, semaphore_t *spw);
+static inline void chSemFastWaitI(semaphore_t *sp) {
+  chDbgCheckClassI();
+  sp->cnt--;
+}
+static inline void chSemFastSignalI(semaphore_t *sp) {
+  chDbgCheckClassI();
+  sp->cnt++;
+}
+static inline cnt_t chSemGetCounterI(const semaphore_t *sp) {
+  chDbgCheckClassI();
+  return sp->cnt;
+}
+#define CHMTX_H 
+typedef struct ch_mutex mutex_t;
+struct ch_mutex {
+  threads_queue_t queue;
+  thread_t *owner;
+  mutex_t *next;
+};
+#define _MUTEX_DATA(name) {_THREADS_QUEUE_DATA(name.queue), NULL, NULL}
+#define MUTEX_DECL(name) mutex_t name = _MUTEX_DATA(name)
+  void chMtxObjectInit(mutex_t *mp);
+  void chMtxLock(mutex_t *mp);
+  void chMtxLockS(mutex_t *mp);
+  bool chMtxTryLock(mutex_t *mp);
+  bool chMtxTryLockS(mutex_t *mp);
+  void chMtxUnlock(mutex_t *mp);
+  void chMtxUnlockS(mutex_t *mp);
+  void chMtxUnlockAll(void);
+  void chMtxUnlockAllS(void);
+static inline bool chMtxQueueNotEmptyS(mutex_t *mp) {
+  chDbgCheckClassS();
+  return queue_notempty(&mp->queue);
+}
+static inline thread_t *chMtxGetOwnerI(mutex_t *mp) {
+  chDbgCheckClassI();
+  return mp->owner;
+}
+static inline mutex_t *chMtxGetNextMutexX(void) {
+  return chThdGetSelfX()->mtxlist;
+}
+#define CHCOND_H 
+typedef struct condition_variable {
+  threads_queue_t queue;
+} condition_variable_t;
+#define _CONDVAR_DATA(name) {_THREADS_QUEUE_DATA(name.queue)}
+#define CONDVAR_DECL(name) condition_variable_t name = _CONDVAR_DATA(name)
+  void chCondObjectInit(condition_variable_t *cp);
+  void chCondSignal(condition_variable_t *cp);
+  void chCondSignalI(condition_variable_t *cp);
+  void chCondBroadcast(condition_variable_t *cp);
+  void chCondBroadcastI(condition_variable_t *cp);
+  msg_t chCondWait(condition_variable_t *cp);
+  msg_t chCondWaitS(condition_variable_t *cp);
+  msg_t chCondWaitTimeout(condition_variable_t *cp, sysinterval_t timeout);
+  msg_t chCondWaitTimeoutS(condition_variable_t *cp, sysinterval_t timeout);
+#define CHEVENTS_H 
+typedef struct event_listener event_listener_t;
+struct event_listener {
+  event_listener_t *next;
+  thread_t *listener;
+  eventmask_t events;
+  eventflags_t flags;
+  eventflags_t wflags;
+};
+typedef struct event_source {
+  event_listener_t *next;
+} event_source_t;
+typedef void (*evhandler_t)(eventid_t id);
+#define ALL_EVENTS ((eventmask_t)-1)
+#define EVENT_MASK(eid) ((eventmask_t)1 << (eventmask_t)(eid))
+#define _EVENTSOURCE_DATA(name) {(event_listener_t *)(&name)}
+#define EVENTSOURCE_DECL(name) event_source_t name = _EVENTSOURCE_DATA(name)
+  void chEvtRegisterMaskWithFlags(event_source_t *esp,
+                                  event_listener_t *elp,
+                                  eventmask_t events,
+                                  eventflags_t wflags);
+  void chEvtUnregister(event_source_t *esp, event_listener_t *elp);
+  eventmask_t chEvtGetAndClearEventsI(eventmask_t events);
+  eventmask_t chEvtGetAndClearEvents(eventmask_t events);
+  eventmask_t chEvtAddEvents(eventmask_t events);
+  eventflags_t chEvtGetAndClearFlags(event_listener_t *elp);
+  eventflags_t chEvtGetAndClearFlagsI(event_listener_t *elp);
+  void chEvtSignal(thread_t *tp, eventmask_t events);
+  void chEvtSignalI(thread_t *tp, eventmask_t events);
+  void chEvtBroadcastFlags(event_source_t *esp, eventflags_t flags);
+  void chEvtBroadcastFlagsI(event_source_t *esp, eventflags_t flags);
+  void chEvtDispatch(const evhandler_t *handlers, eventmask_t events);
+  eventmask_t chEvtWaitOne(eventmask_t events);
+  eventmask_t chEvtWaitAny(eventmask_t events);
+  eventmask_t chEvtWaitAll(eventmask_t events);
+  eventmask_t chEvtWaitOneTimeout(eventmask_t events, sysinterval_t timeout);
+  eventmask_t chEvtWaitAnyTimeout(eventmask_t events, sysinterval_t timeout);
+  eventmask_t chEvtWaitAllTimeout(eventmask_t events, sysinterval_t timeout);
+static inline void chEvtObjectInit(event_source_t *esp) {
+  esp->next = (event_listener_t *)esp;
+}
+static inline void chEvtRegisterMask(event_source_t *esp,
+                                     event_listener_t *elp,
+                                     eventmask_t events) {
+  chEvtRegisterMaskWithFlags(esp, elp, events, (eventflags_t)-1);
+}
+static inline void chEvtRegister(event_source_t *esp,
+                                 event_listener_t *elp,
+                                 eventid_t event) {
+  chEvtRegisterMask(esp, elp, EVENT_MASK(event));
+}
+static inline bool chEvtIsListeningI(event_source_t *esp) {
+  return (bool)(esp != (event_source_t *)esp->next);
+}
+static inline void chEvtBroadcast(event_source_t *esp) {
+  chEvtBroadcastFlags(esp, (eventflags_t)0);
+}
+static inline void chEvtBroadcastI(event_source_t *esp) {
+  chEvtBroadcastFlagsI(esp, (eventflags_t)0);
+}
+static inline eventmask_t chEvtAddEventsI(eventmask_t events) {
+  return currp->epending |= events;
+}
+static inline eventmask_t chEvtGetEventsX(void) {
+  return currp->epending;
+}
+#define CHMSG_H 
+  msg_t chMsgSend(thread_t *tp, msg_t msg);
+  thread_t * chMsgWait(void);
+  void chMsgRelease(thread_t *tp, msg_t msg);
+static inline bool chMsgIsPendingI(thread_t *tp) {
+  chDbgCheckClassI();
+  return (bool)(tp->msgqueue.next != (thread_t *)&tp->msgqueue);
+}
+static inline msg_t chMsgGet(thread_t *tp) {
+  chDbgAssert(tp->state == CH_STATE_SNDMSG, "invalid state");
+  return tp->u.sentmsg;
+}
+static inline void chMsgReleaseS(thread_t *tp, msg_t msg) {
+  chDbgCheckClassS();
+  chSchWakeupS(tp, msg);
+}
+#define CHLIB_H 
+#define _CHIBIOS_OSLIB_ 
+#define CH_OSLIB_STABLE 0
+#define CH_OSLIB_VERSION "1.1.0"
+#define CH_OSLIB_MAJOR 1
+#define CH_OSLIB_MINOR 1
+#define CH_OSLIB_PATCH 0
+#define CHBSEM_H 
+typedef struct ch_binary_semaphore {
+  semaphore_t sem;
+} binary_semaphore_t;
+#define _BSEMAPHORE_DATA(name,taken) {_SEMAPHORE_DATA(name.sem, ((taken) ? 0 : 1))}
+#define BSEMAPHORE_DECL(name,taken) binary_semaphore_t name = _BSEMAPHORE_DATA(name, taken)
+static inline void chBSemObjectInit(binary_semaphore_t *bsp, bool taken) {
+  chSemObjectInit(&bsp->sem, taken ? (cnt_t)0 : (cnt_t)1);
+}
+static inline msg_t chBSemWait(binary_semaphore_t *bsp) {
+  return chSemWait(&bsp->sem);
+}
+static inline msg_t chBSemWaitS(binary_semaphore_t *bsp) {
+  chDbgCheckClassS();
+  return chSemWaitS(&bsp->sem);
+}
+static inline msg_t chBSemWaitTimeoutS(binary_semaphore_t *bsp,
+                                       sysinterval_t timeout) {
+  chDbgCheckClassS();
+  return chSemWaitTimeoutS(&bsp->sem, timeout);
+}
+static inline msg_t chBSemWaitTimeout(binary_semaphore_t *bsp,
+                                      sysinterval_t timeout) {
+  return chSemWaitTimeout(&bsp->sem, timeout);
+}
+static inline void chBSemResetI(binary_semaphore_t *bsp, bool taken) {
+  chDbgCheckClassI();
+  chSemResetI(&bsp->sem, taken ? (cnt_t)0 : (cnt_t)1);
+}
+static inline void chBSemReset(binary_semaphore_t *bsp, bool taken) {
+  chSemReset(&bsp->sem, taken ? (cnt_t)0 : (cnt_t)1);
+}
+static inline void chBSemSignalI(binary_semaphore_t *bsp) {
+  chDbgCheckClassI();
+  if (bsp->sem.cnt < (cnt_t)1) {
+    chSemSignalI(&bsp->sem);
+  }
+}
+static inline void chBSemSignal(binary_semaphore_t *bsp) {
+  chSysLock();
+  chBSemSignalI(bsp);
+  chSchRescheduleS();
+  chSysUnlock();
+}
+static inline bool chBSemGetStateI(const binary_semaphore_t *bsp) {
+  chDbgCheckClassI();
+  return (bsp->sem.cnt > (cnt_t)0) ? false : true;
+}
+#define CHMBOXES_H 
+typedef struct {
+  msg_t *buffer;
+  msg_t *top;
+  msg_t *wrptr;
+  msg_t *rdptr;
+  size_t cnt;
+  bool reset;
+  threads_queue_t qw;
+  threads_queue_t qr;
+} mailbox_t;
+#define _MAILBOX_DATA(name,buffer,size) { (msg_t *)(buffer), (msg_t *)(buffer) + size, (msg_t *)(buffer), (msg_t *)(buffer), (size_t)0, false, _THREADS_QUEUE_DATA(name.qw), _THREADS_QUEUE_DATA(name.qr), }
+#define MAILBOX_DECL(name,buffer,size) mailbox_t name = _MAILBOX_DATA(name, buffer, size)
+  void chMBObjectInit(mailbox_t *mbp, msg_t *buf, size_t n);
+  void chMBReset(mailbox_t *mbp);
+  void chMBResetI(mailbox_t *mbp);
+  msg_t chMBPostTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
+  msg_t chMBPostTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
+  msg_t chMBPostI(mailbox_t *mbp, msg_t msg);
+  msg_t chMBPostAheadTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
+  msg_t chMBPostAheadTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
+  msg_t chMBPostAheadI(mailbox_t *mbp, msg_t msg);
+  msg_t chMBFetchTimeout(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout);
+  msg_t chMBFetchTimeoutS(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout);
+  msg_t chMBFetchI(mailbox_t *mbp, msg_t *msgp);
+static inline size_t chMBGetSizeI(const mailbox_t *mbp) {
+  return (size_t)(mbp->top - mbp->buffer);
+}
+static inline size_t chMBGetUsedCountI(const mailbox_t *mbp) {
+  chDbgCheckClassI();
+  return mbp->cnt;
+}
+static inline size_t chMBGetFreeCountI(const mailbox_t *mbp) {
+  chDbgCheckClassI();
+  return chMBGetSizeI(mbp) - chMBGetUsedCountI(mbp);
+}
+static inline msg_t chMBPeekI(const mailbox_t *mbp) {
+  chDbgCheckClassI();
+  return *mbp->rdptr;
+}
+static inline void chMBResumeX(mailbox_t *mbp) {
+  mbp->reset = false;
+}
+#define CHMEMCORE_H 
+typedef void *(*memgetfunc_t)(size_t size, unsigned align);
+typedef void *(*memgetfunc2_t)(size_t size, unsigned align, size_t offset);
+typedef struct {
+  uint8_t *basemem;
+  uint8_t *topmem;
+} memcore_t;
+#define chCoreAllocAlignedWithOffsetI chCoreAllocFromTopI
+#define chCoreAllocAlignedWithOffset chCoreAllocFromTop
+extern memcore_t ch_memcore;
+  void _core_init(void);
+  void *chCoreAllocFromBaseI(size_t size, unsigned align, size_t offset);
+  void *chCoreAllocFromTopI(size_t size, unsigned align, size_t offset);
+  void *chCoreAllocFromBase(size_t size, unsigned align, size_t offset);
+  void *chCoreAllocFromTop(size_t size, unsigned align, size_t offset);
+  size_t chCoreGetStatusX(void);
+static inline void *chCoreAllocAlignedI(size_t size, unsigned align) {
+  return chCoreAllocAlignedWithOffsetI(size, align, 0U);
+}
+static inline void *chCoreAllocAligned(size_t size, unsigned align) {
+  return chCoreAllocAlignedWithOffset(size, align, 0U);
+}
+static inline void *chCoreAllocI(size_t size) {
+  return chCoreAllocAlignedWithOffsetI(size, PORT_NATURAL_ALIGN, 0U);
+}
+static inline void *chCoreAlloc(size_t size) {
+  return chCoreAllocAlignedWithOffset(size, PORT_NATURAL_ALIGN, 0U);
+}
+#define CHMEMHEAPS_H 
+#define CH_HEAP_ALIGNMENT 8U
+typedef struct memory_heap memory_heap_t;
+typedef union heap_header heap_header_t;
+union heap_header {
+  struct {
+    heap_header_t *next;
+    size_t pages;
+  } free;
+  struct {
+    memory_heap_t *heap;
+    size_t size;
+  } used;
+};
+struct memory_heap {
+  memgetfunc2_t provider;
+  heap_header_t header;
+  mutex_t mtx;
+};
+#define CH_HEAP_AREA(name,size) ALIGNED_VAR(CH_HEAP_ALIGNMENT) uint8_t name[MEM_ALIGN_NEXT((size), CH_HEAP_ALIGNMENT)]
+  void _heap_init(void);
+  void chHeapObjectInit(memory_heap_t *heapp, void *buf, size_t size);
+  void *chHeapAllocAligned(memory_heap_t *heapp, size_t size, unsigned align);
+  void chHeapFree(void *p);
+  size_t chHeapStatus(memory_heap_t *heapp, size_t *totalp, size_t *largestp);
+static inline void *chHeapAlloc(memory_heap_t *heapp, size_t size) {
+  return chHeapAllocAligned(heapp, size, CH_HEAP_ALIGNMENT);
+}
+static inline size_t chHeapGetSize(const void *p) {
+  return ((heap_header_t *)p - 1U)->used.size;
+}
+#define CHMEMPOOLS_H 
+struct pool_header {
+  struct pool_header *next;
+};
+typedef struct {
+  struct pool_header *next;
+  size_t object_size;
+  unsigned align;
+  memgetfunc_t provider;
+} memory_pool_t;
+typedef struct {
+  semaphore_t sem;
+  memory_pool_t pool;
+} guarded_memory_pool_t;
+#define _MEMORYPOOL_DATA(name,size,align,provider) {NULL, size, align, provider}
+#define MEMORYPOOL_DECL(name,size,align,provider) memory_pool_t name = _MEMORYPOOL_DATA(name, size, align, provider)
+#define _GUARDEDMEMORYPOOL_DATA(name,size,align) { _SEMAPHORE_DATA(name.sem, (cnt_t)0), _MEMORYPOOL_DATA(NULL, size, align, NULL) }
+#define GUARDEDMEMORYPOOL_DECL(name,size,align) guarded_memory_pool_t name = _GUARDEDMEMORYPOOL_DATA(name, size, align)
+  void chPoolObjectInitAligned(memory_pool_t *mp, size_t size,
+                               unsigned align, memgetfunc_t provider);
+  void chPoolLoadArray(memory_pool_t *mp, void *p, size_t n);
+  void *chPoolAllocI(memory_pool_t *mp);
+  void *chPoolAlloc(memory_pool_t *mp);
+  void chPoolFreeI(memory_pool_t *mp, void *objp);
+  void chPoolFree(memory_pool_t *mp, void *objp);
+  void chGuardedPoolObjectInitAligned(guarded_memory_pool_t *gmp,
+                                      size_t size,
+                                      unsigned align);
+  void chGuardedPoolLoadArray(guarded_memory_pool_t *gmp, void *p, size_t n);
+  void *chGuardedPoolAllocTimeoutS(guarded_memory_pool_t *gmp,
+                                   sysinterval_t timeout);
+  void *chGuardedPoolAllocTimeout(guarded_memory_pool_t *gmp,
+                                  sysinterval_t timeout);
+  void chGuardedPoolFree(guarded_memory_pool_t *gmp, void *objp);
+static inline void chPoolObjectInit(memory_pool_t *mp,
+                                    size_t size,
+                                    memgetfunc_t provider) {
+  chPoolObjectInitAligned(mp, size, PORT_NATURAL_ALIGN, provider);
+}
+static inline void chPoolAdd(memory_pool_t *mp, void *objp) {
+  chPoolFree(mp, objp);
+}
+static inline void chPoolAddI(memory_pool_t *mp, void *objp) {
+  chPoolFreeI(mp, objp);
+}
+static inline void chGuardedPoolObjectInit(guarded_memory_pool_t *gmp,
+                                           size_t size) {
+  chGuardedPoolObjectInitAligned(gmp, size, PORT_NATURAL_ALIGN);
+}
+static inline cnt_t chGuardedPoolGetCounterI(guarded_memory_pool_t *gmp) {
+  return chSemGetCounterI(&gmp->sem);
+}
+static inline void *chGuardedPoolAllocI(guarded_memory_pool_t *gmp) {
+  void *p;
+  p = chPoolAllocI(&gmp->pool);
+  if (p != NULL) {
+    chSemFastWaitI(&gmp->sem);
+    chDbgAssert(chSemGetCounterI(&gmp->sem) >= (cnt_t)0,
+                "semaphore out of sync");
+  }
+  return p;
+}
+static inline void chGuardedPoolFreeI(guarded_memory_pool_t *gmp, void *objp) {
+  chPoolFreeI(&gmp->pool, objp);
+  chSemSignalI(&gmp->sem);
+}
+static inline void chGuardedPoolFreeS(guarded_memory_pool_t *gmp, void *objp) {
+  chGuardedPoolFreeI(gmp, objp);
+  chSchRescheduleS();
+}
+static inline void chGuardedPoolAdd(guarded_memory_pool_t *gmp, void *objp) {
+  chGuardedPoolFree(gmp, objp);
+}
+static inline void chGuardedPoolAddI(guarded_memory_pool_t *gmp, void *objp) {
+  chGuardedPoolFreeI(gmp, objp);
+}
+static inline void chGuardedPoolAddS(guarded_memory_pool_t *gmp, void *objp) {
+  chGuardedPoolFreeS(gmp, objp);
+}
+#define CHOBJFIFOS_H 
+typedef struct ch_objects_fifo {
+  guarded_memory_pool_t free;
+  mailbox_t mbx;
+} objects_fifo_t;
+static inline void chFifoObjectInitAligned(objects_fifo_t *ofp, size_t objsize,
+                                           size_t objn, unsigned objalign,
+                                           void *objbuf, msg_t *msgbuf) {
+  chDbgCheck((objsize >= objalign) && ((objsize % objalign) == 0U));
+  chGuardedPoolObjectInitAligned(&ofp->free, objsize, objalign);
+  chGuardedPoolLoadArray(&ofp->free, objbuf, objn);
+  chMBObjectInit(&ofp->mbx, msgbuf, objn);
+}
+static inline void chFifoObjectInit(objects_fifo_t *ofp, size_t objsize,
+                                    size_t objn, void *objbuf,
+                                    msg_t *msgbuf) {
+  chFifoObjectInitAligned(ofp, objsize, objn,
+                          PORT_NATURAL_ALIGN,
+                          objbuf, msgbuf);
+}
+static inline void *chFifoTakeObjectI(objects_fifo_t *ofp) {
+  return chGuardedPoolAllocI(&ofp->free);
+}
+static inline void *chFifoTakeObjectTimeoutS(objects_fifo_t *ofp,
+                                             sysinterval_t timeout) {
+  return chGuardedPoolAllocTimeoutS(&ofp->free, timeout);
+}
+static inline void *chFifoTakeObjectTimeout(objects_fifo_t *ofp,
+                                            sysinterval_t timeout) {
+  return chGuardedPoolAllocTimeout(&ofp->free, timeout);
+}
+static inline void chFifoReturnObjectI(objects_fifo_t *ofp,
+                                       void *objp) {
+  chGuardedPoolFreeI(&ofp->free, objp);
+}
+static inline void chFifoReturnObjectS(objects_fifo_t *ofp,
+                                       void *objp) {
+  chGuardedPoolFreeS(&ofp->free, objp);
+}
+static inline void chFifoReturnObject(objects_fifo_t *ofp,
+                                      void *objp) {
+  chGuardedPoolFree(&ofp->free, objp);
+}
+static inline void chFifoSendObjectI(objects_fifo_t *ofp,
+                                     void *objp) {
+  msg_t msg;
+  msg = chMBPostI(&ofp->mbx, (msg_t)objp);
+  chDbgAssert(msg == MSG_OK, "post failed");
+}
+static inline void chFifoSendObjectS(objects_fifo_t *ofp,
+                                     void *objp) {
+  msg_t msg;
+  msg = chMBPostTimeoutS(&ofp->mbx, (msg_t)objp, TIME_IMMEDIATE);
+  chDbgAssert(msg == MSG_OK, "post failed");
+}
+static inline void chFifoSendObject(objects_fifo_t *ofp, void *objp) {
+  msg_t msg;
+  msg = chMBPostTimeout(&ofp->mbx, (msg_t)objp, TIME_IMMEDIATE);
+  chDbgAssert(msg == MSG_OK, "post failed");
+}
+static inline void chFifoSendObjectAheadI(objects_fifo_t *ofp,
+                                          void *objp) {
+  msg_t msg;
+  msg = chMBPostAheadI(&ofp->mbx, (msg_t)objp);
+  chDbgAssert(msg == MSG_OK, "post failed");
+}
+static inline void chFifoSendObjectAheadS(objects_fifo_t *ofp,
+                                          void *objp) {
+  msg_t msg;
+  msg = chMBPostAheadTimeoutS(&ofp->mbx, (msg_t)objp, TIME_IMMEDIATE);
+  chDbgAssert(msg == MSG_OK, "post failed");
+}
+static inline void chFifoSendObjectAhead(objects_fifo_t *ofp, void *objp) {
+  msg_t msg;
+  msg = chMBPostAheadTimeout(&ofp->mbx, (msg_t)objp, TIME_IMMEDIATE);
+  chDbgAssert(msg == MSG_OK, "post failed");
+}
+static inline msg_t chFifoReceiveObjectI(objects_fifo_t *ofp,
+                                         void **objpp) {
+  return chMBFetchI(&ofp->mbx, (msg_t *)objpp);
+}
+static inline msg_t chFifoReceiveObjectTimeoutS(objects_fifo_t *ofp,
+                                                void **objpp,
+                                                sysinterval_t timeout) {
+  return chMBFetchTimeoutS(&ofp->mbx, (msg_t *)objpp, timeout);
+}
+static inline msg_t chFifoReceiveObjectTimeout(objects_fifo_t *ofp,
+                                               void **objpp,
+                                               sysinterval_t timeout) {
+  return chMBFetchTimeout(&ofp->mbx, (msg_t *)objpp, timeout);
+}
+#define CHPIPES_H 
+typedef struct {
+  uint8_t *buffer;
+  uint8_t *top;
+  uint8_t *wrptr;
+  uint8_t *rdptr;
+  size_t cnt;
+  bool reset;
+  thread_reference_t wtr;
+  thread_reference_t rtr;
+  mutex_t cmtx;
+  mutex_t wmtx;
+  mutex_t rmtx;
+} pipe_t;
+#define _PIPE_DATA(name,buffer,size) { (uint8_t *)(buffer), (uint8_t *)(buffer) + size, (uint8_t *)(buffer), (uint8_t *)(buffer), (size_t)0, false, NULL, NULL, _MUTEX_DATA(name.cmtx), _MUTEX_DATA(name.wmtx), _MUTEX_DATA(name.rmtx), }
+#define PIPE_DECL(name,buffer,size) pipe_t name = _PIPE_DATA(name, buffer, size)
+  void chPipeObjectInit(pipe_t *pp, uint8_t *buf, size_t n);
+  void chPipeReset(pipe_t *pp);
+  size_t chPipeWriteTimeout(pipe_t *pp, const uint8_t *bp,
+                            size_t n, sysinterval_t timeout);
+  size_t chPipeReadTimeout(pipe_t *pp, uint8_t *bp,
+                           size_t n, sysinterval_t timeout);
+static inline size_t chPipeGetSize(const pipe_t *pp) {
+  return (size_t)(pp->top - pp->buffer);
+}
+static inline size_t chPipeGetUsedCount(const pipe_t *pp) {
+  return pp->cnt;
+}
+static inline size_t chPipeGetFreeCount(const pipe_t *pp) {
+  return chPipeGetSize(pp) - chPipeGetUsedCount(pp);
+}
+static inline void chPipeResume(pipe_t *pp) {
+  pp->reset = false;
+}
+#define CHFACTORY_H 
+#define CH_FACTORY_REQUIRES_POOLS ((CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE) || (CH_CFG_FACTORY_SEMAPHORES == TRUE))
+#define CH_FACTORY_REQUIRES_HEAP ((CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || (CH_CFG_FACTORY_MAILBOXES == TRUE) || (CH_CFG_FACTORY_OBJ_FIFOS == TRUE) || (CH_CFG_FACTORY_PIPES == TRUE))
+typedef struct ch_dyn_element {
+  struct ch_dyn_element *next;
+  ucnt_t refs;
+  char name[CH_CFG_FACTORY_MAX_NAMES_LENGTH];
+} dyn_element_t;
+typedef struct ch_dyn_list {
+    dyn_element_t *next;
+} dyn_list_t;
+typedef struct ch_registered_static_object {
+  dyn_element_t element;
+  void *objp;
+} registered_object_t;
+typedef struct ch_dyn_object {
+  dyn_element_t element;
+  uint8_t buffer[];
+} dyn_buffer_t;
+typedef struct ch_dyn_semaphore {
+  dyn_element_t element;
+  semaphore_t sem;
+} dyn_semaphore_t;
+typedef struct ch_dyn_mailbox {
+  dyn_element_t element;
+  mailbox_t mbx;
+  msg_t msgbuf[];
+} dyn_mailbox_t;
+typedef struct ch_dyn_objects_fifo {
+  dyn_element_t element;
+  objects_fifo_t fifo;
+  msg_t msgbuf[];
+} dyn_objects_fifo_t;
+typedef struct ch_dyn_pipe {
+  dyn_element_t element;
+  pipe_t pipe;
+  uint8_t buffer[];
+} dyn_pipe_t;
+typedef struct ch_objects_factory {
+  mutex_t mtx;
+  dyn_list_t obj_list;
+  memory_pool_t obj_pool;
+  dyn_list_t buf_list;
+  dyn_list_t sem_list;
+  memory_pool_t sem_pool;
+  dyn_list_t mbx_list;
+  dyn_list_t fifo_list;
+  dyn_list_t pipe_list;
+} objects_factory_t;
+extern objects_factory_t ch_factory;
+  void _factory_init(void);
+  registered_object_t *chFactoryRegisterObject(const char *name,
+                                               void *objp);
+  registered_object_t *chFactoryFindObject(const char *name);
+  registered_object_t *chFactoryFindObjectByPointer(void *objp);
+  void chFactoryReleaseObject(registered_object_t *rop);
+  dyn_buffer_t *chFactoryCreateBuffer(const char *name, size_t size);
+  dyn_buffer_t *chFactoryFindBuffer(const char *name);
+  void chFactoryReleaseBuffer(dyn_buffer_t *dbp);
+  dyn_semaphore_t *chFactoryCreateSemaphore(const char *name, cnt_t n);
+  dyn_semaphore_t *chFactoryFindSemaphore(const char *name);
+  void chFactoryReleaseSemaphore(dyn_semaphore_t *dsp);
+  dyn_mailbox_t *chFactoryCreateMailbox(const char *name, size_t n);
+  dyn_mailbox_t *chFactoryFindMailbox(const char *name);
+  void chFactoryReleaseMailbox(dyn_mailbox_t *dmp);
+  dyn_objects_fifo_t *chFactoryCreateObjectsFIFO(const char *name,
+                                                 size_t objsize,
+                                                 size_t objn,
+                                                 unsigned objalign);
+  dyn_objects_fifo_t *chFactoryFindObjectsFIFO(const char *name);
+  void chFactoryReleaseObjectsFIFO(dyn_objects_fifo_t *dofp);
+  dyn_pipe_t *chFactoryCreatePipe(const char *name, size_t size);
+  dyn_pipe_t *chFactoryFindPipe(const char *name);
+  void chFactoryReleasePipe(dyn_pipe_t *dpp);
+static inline dyn_element_t *chFactoryDuplicateReference(dyn_element_t *dep) {
+  dep->refs++;
+  return dep;
+}
+static inline void *chFactoryGetObject(registered_object_t *rop) {
+  return rop->objp;
+}
+static inline size_t chFactoryGetBufferSize(dyn_buffer_t *dbp) {
+  return chHeapGetSize(dbp) - sizeof (dyn_element_t);
+}
+static inline uint8_t *chFactoryGetBuffer(dyn_buffer_t *dbp) {
+  return dbp->buffer;
+}
+static inline semaphore_t *chFactoryGetSemaphore(dyn_semaphore_t *dsp) {
+  return &dsp->sem;
+}
+static inline mailbox_t *chFactoryGetMailbox(dyn_mailbox_t *dmp) {
+  return &dmp->mbx;
+}
+static inline objects_fifo_t *chFactoryGetObjectsFIFO(dyn_objects_fifo_t *dofp) {
+  return &dofp->fifo;
+}
+static inline pipe_t *chFactoryGetPipe(dyn_pipe_t *dpp) {
+  return &dpp->pipe;
+}
+#define CHDYNAMIC_H 
+  thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size,
+                                const char *name, tprio_t prio,
+                                tfunc_t pf, void *arg);
+  thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, const char *name,
+                                      tprio_t prio, tfunc_t pf, void *arg);