1950 files changed, 2949354 insertions, 0 deletions

diff --git a/lib/chibios/os/common/abstractions/cmsis_os/cmsis_os.c b/lib/chibios/os/common/abstractions/cmsis_os/cmsis_os.c
new file mode 100644
index 000000000..9bd63da8f
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/cmsis_os/cmsis_os.c
@@ -0,0 +1,558 @@
+/*
+    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/>.
+*/
+/*
+   Concepts and parts of this file have been contributed by Andre R.
+ */
+
+/**
+ * @file    cmsis_os.c
+ * @brief   CMSIS RTOS module code.
+ *
+ * @addtogroup CMSIS_OS
+ * @{
+ */
+
+#include "cmsis_os.h"
+#include <string.h>
+
+/*===========================================================================*/
+/* Module local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables.                                                */
+/*===========================================================================*/
+
+int32_t cmsis_os_started;
+
+/*===========================================================================*/
+/* Module local types.                                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables.                                                   */
+/*===========================================================================*/
+
+static memory_pool_t sempool;
+static semaphore_t semaphores[CMSIS_CFG_NUM_SEMAPHORES];
+
+static memory_pool_t timpool;
+static struct os_timer_cb timers[CMSIS_CFG_NUM_TIMERS];
+
+/*===========================================================================*/
+/* Module local functions.                                                   */
+/*===========================================================================*/
+
+/**
+ * @brief   Virtual timers common callback.
+ */
+static void timer_cb(void const *arg) {
+
+  osTimerId timer_id = (osTimerId)arg;
+  timer_id->ptimer(timer_id->argument);
+  if (timer_id->type == osTimerPeriodic) {
+    chSysLockFromISR();
+    chVTDoSetI(&timer_id->vt, TIME_MS2I(timer_id->millisec),
+               (vtfunc_t)timer_cb, timer_id);
+    chSysUnlockFromISR();
+  }
+}
+
+/*===========================================================================*/
+/* Module exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Kernel initialization.
+ */
+osStatus osKernelInitialize(void) {
+
+  cmsis_os_started = 0;
+
+  chSysInit();
+  chThdSetPriority(HIGHPRIO);
+
+  chPoolObjectInit(&sempool, sizeof(semaphore_t), chCoreAllocAlignedI);
+  chPoolLoadArray(&sempool, semaphores, CMSIS_CFG_NUM_SEMAPHORES);
+
+  chPoolObjectInit(&timpool, sizeof(struct os_timer_cb), chCoreAllocAlignedI);
+  chPoolLoadArray(&timpool, timers, CMSIS_CFG_NUM_TIMERS);
+
+  return osOK;
+}
+
+/**
+ * @brief   Kernel start.
+ */
+osStatus osKernelStart(void) {
+
+  cmsis_os_started = 1;
+
+  chThdSetPriority(NORMALPRIO);
+
+  return osOK;
+}
+
+/**
+ * @brief   Creates a thread.
+ */
+osThreadId osThreadCreate(const osThreadDef_t *thread_def, void *argument) {
+  size_t size;
+
+  size = thread_def->stacksize == 0 ? CMSIS_CFG_DEFAULT_STACK :
+                                      thread_def->stacksize;
+  return (osThreadId)chThdCreateFromHeap(0,
+                                         THD_WORKING_AREA_SIZE(size),
+                                         thread_def->name,
+                                         NORMALPRIO+thread_def->tpriority,
+                                         (tfunc_t)thread_def->pthread,
+                                         argument);
+}
+
+/**
+ * @brief   Thread termination.
+ * @note    The thread is not really terminated but asked to terminate which
+ *          is not compliant.
+ */
+osStatus osThreadTerminate(osThreadId thread_id) {
+
+  if (thread_id == osThreadGetId()) {
+    /* Note, no memory will be recovered unless a cleaner thread is
+       implemented using the registry.*/
+    chThdExit(0);
+  }
+  chThdTerminate(thread_id);
+  chThdWait((thread_t *)thread_id);
+
+  return osOK;
+}
+
+/**
+ * @brief   Change thread priority.
+ * @note    This can interfere with the priority inheritance mechanism.
+ */
+osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio) {
+  thread_t * tp = (thread_t *)thread_id;
+
+  chSysLock();
+
+  /* Changing priority.*/
+#if CH_CFG_USE_MUTEXES
+  if ((tp->hdr.pqueue.prio == tp->realprio) ||
+      ((tprio_t)newprio > tp->hdr.pqueue.prio))
+    tp->hdr.pqueue.prio = (tprio_t)newprio;
+  tp->realprio = (tprio_t)newprio;
+#else
+  tp->hdr.pqueue.prio = (tprio_t)newprio;
+#endif
+
+  /* The following states need priority queues reordering.*/
+  switch (tp->state) {
+#if CH_CFG_USE_MUTEXES |                                                    \
+    CH_CFG_USE_CONDVARS |                                                   \
+    (CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY) |             \
+    (CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY)
+#if CH_CFG_USE_MUTEXES
+  case CH_STATE_WTMTX:
+#endif
+#if CH_CFG_USE_CONDVARS
+  case CH_STATE_WTCOND:
+#endif
+#if CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY
+  case CH_STATE_WTSEM:
+#endif
+#if CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY
+  case CH_STATE_SNDMSGQ:
+#endif
+    /* Re-enqueues tp with its new priority on the queue.*/
+    ch_sch_prio_insert(ch_queue_dequeue(&tp->hdr.queue),
+                       (ch_queue_t *)tp->u.wtobjp);
+    break;
+#endif
+  case CH_STATE_READY:
+#if CH_DBG_ENABLE_ASSERTS
+    /* Prevents an assertion in chSchReadyI().*/
+    tp->state = CH_STATE_CURRENT;
+#endif
+    /* Re-enqueues tp with its new priority on the ready list.*/
+    chSchReadyI((thread_t *)ch_queue_dequeue(&tp->hdr.queue));
+    break;
+  }
+
+  /* Rescheduling.*/
+  chSchRescheduleS();
+
+  chSysUnlock();
+
+  return osOK;
+}
+
+/**
+ * @brief   Create a timer.
+ */
+osTimerId osTimerCreate(const osTimerDef_t *timer_def,
+                        os_timer_type type,
+                        void *argument) {
+
+  osTimerId timer = chPoolAlloc(&timpool);
+  chVTObjectInit(&timer->vt);
+  timer->ptimer = timer_def->ptimer;
+  timer->type = type;
+  timer->argument = argument;
+  return timer;
+}
+
+/**
+ * @brief   Start a timer.
+ */
+osStatus osTimerStart(osTimerId timer_id, uint32_t millisec) {
+
+  if ((millisec == 0) || (millisec == osWaitForever))
+    return osErrorValue;
+
+  timer_id->millisec = millisec;
+  chVTSet(&timer_id->vt, TIME_MS2I(millisec), (vtfunc_t)timer_cb, timer_id);
+
+  return osOK;
+}
+
+/**
+ * @brief   Stop a timer.
+ */
+osStatus osTimerStop(osTimerId timer_id) {
+
+  chVTReset(&timer_id->vt);
+
+  return osOK;
+}
+
+/**
+ * @brief   Delete a timer.
+ */
+osStatus osTimerDelete(osTimerId timer_id) {
+
+  chVTReset(&timer_id->vt);
+  chPoolFree(&timpool, (void *)timer_id);
+
+  return osOK;
+}
+
+/**
+ * @brief   Send signals.
+ */
+int32_t osSignalSet(osThreadId thread_id, int32_t signals) {
+  int32_t oldsignals;
+
+  syssts_t sts = chSysGetStatusAndLockX();
+  oldsignals = (int32_t)thread_id->epending;
+  chEvtSignalI((thread_t *)thread_id, (eventmask_t)signals);
+  chSysRestoreStatusX(sts);
+
+  return oldsignals;
+}
+
+/**
+ * @brief   Clear signals.
+ */
+int32_t osSignalClear(osThreadId thread_id, int32_t signals) {
+  eventmask_t m;
+
+  chSysLock();
+
+  m = thread_id->epending & (eventmask_t)signals;
+  thread_id->epending &= ~(eventmask_t)signals;
+
+  chSysUnlock();
+
+  return (int32_t)m;
+}
+
+/**
+ * @brief   Wait for signals.
+ */
+osEvent osSignalWait(int32_t signals, uint32_t millisec) {
+  osEvent event;
+  sysinterval_t timeout = (millisec == osWaitForever ?
+                          TIME_INFINITE : (millisec == 0 ? TIME_IMMEDIATE :
+                                                           TIME_MS2I(millisec)));
+
+  if (signals == 0)
+    event.value.signals = (uint32_t)chEvtWaitAnyTimeout(ALL_EVENTS, timeout);
+  else
+    event.value.signals = (uint32_t)chEvtWaitAllTimeout((eventmask_t)signals,
+                                                        timeout);
+
+  /* Type of event.*/
+  if (event.value.signals == 0)
+    event.status = osEventTimeout;
+  else
+    event.status = osEventSignal;
+
+  return event;
+}
+
+/**
+ * @brief   Create a semaphore.
+ * @note    @p semaphore_def is not used.
+ * @note    Can involve memory allocation.
+ */
+osSemaphoreId osSemaphoreCreate(const osSemaphoreDef_t *semaphore_def,
+                                int32_t count) {
+
+  (void)semaphore_def;
+
+  semaphore_t *sem = chPoolAlloc(&sempool);
+  chSemObjectInit(sem, (cnt_t)count);
+  return sem;
+}
+
+/**
+ * @brief   Wait on a semaphore.
+ */
+int32_t osSemaphoreWait(osSemaphoreId semaphore_id, uint32_t millisec) {
+  sysinterval_t timeout = (millisec == osWaitForever ?
+                          TIME_INFINITE : (millisec == 0 ? TIME_IMMEDIATE :
+                                                           TIME_MS2I(millisec)));
+
+  msg_t msg = chSemWaitTimeout((semaphore_t *)semaphore_id, timeout);
+  switch (msg) {
+  case MSG_OK:
+    return osOK;
+  case MSG_TIMEOUT:
+    return osErrorTimeoutResource;
+  }
+  return osErrorResource;
+}
+
+/**
+ * @brief   Release a semaphore.
+ */
+osStatus osSemaphoreRelease(osSemaphoreId semaphore_id) {
+
+  syssts_t sts = chSysGetStatusAndLockX();
+  chSemSignalI((semaphore_t *)semaphore_id);
+  chSysRestoreStatusX(sts);
+
+  return osOK;
+}
+
+/**
+ * @brief   Deletes a semaphore.
+ * @note    After deletion there could be references in the system to a
+ *          non-existent semaphore.
+ */
+osStatus osSemaphoreDelete(osSemaphoreId semaphore_id) {
+
+  chSemReset((semaphore_t *)semaphore_id, 0);
+  chPoolFree(&sempool, (void *)semaphore_id);
+
+  return osOK;
+}
+
+/**
+ * @brief   Create a mutex.
+ * @note    @p mutex_def is not used.
+ * @note    Can involve memory allocation.
+ */
+osMutexId osMutexCreate(const osMutexDef_t *mutex_def) {
+
+  (void)mutex_def;
+
+  binary_semaphore_t *mtx = chPoolAlloc(&sempool);
+  chBSemObjectInit(mtx, false);
+  return mtx;
+}
+
+/**
+ * @brief   Wait on a mutex.
+ */
+osStatus osMutexWait(osMutexId mutex_id, uint32_t millisec) {
+  sysinterval_t timeout = (millisec == osWaitForever ?
+                          TIME_INFINITE : (millisec == 0 ? TIME_IMMEDIATE :
+                                                           TIME_MS2I(millisec)));
+
+  msg_t msg = chBSemWaitTimeout((binary_semaphore_t *)mutex_id, timeout);
+  switch (msg) {
+  case MSG_OK:
+    return osOK;
+  case MSG_TIMEOUT:
+    return osErrorTimeoutResource;
+  }
+  return osErrorResource;
+}
+
+/**
+ * @brief   Release a mutex.
+ */
+osStatus osMutexRelease(osMutexId mutex_id) {
+
+  syssts_t sts = chSysGetStatusAndLockX();
+  chBSemSignalI((binary_semaphore_t *)mutex_id);
+  chSysRestoreStatusX(sts);
+
+  return osOK;
+}
+
+/**
+ * @brief   Deletes a mutex.
+ * @note    After deletion there could be references in the system to a
+ *          non-existent semaphore.
+ */
+osStatus osMutexDelete(osMutexId mutex_id) {
+
+  chSemReset((semaphore_t *)mutex_id, 0);
+  chPoolFree(&sempool, (void *)mutex_id);
+
+  return osOK;
+}
+
+/**
+ * @brief   Create a memory pool.
+ * @note    The pool is not really created because it is allocated statically,
+ *          this function just re-initializes it.
+ */
+osPoolId osPoolCreate(const osPoolDef_t *pool_def) {
+
+  chPoolObjectInit(pool_def->pool, (size_t)pool_def->item_sz, NULL);
+  chPoolLoadArray(pool_def->pool, pool_def->items, (size_t)pool_def->pool_sz);
+
+  return (osPoolId)pool_def->pool;
+}
+
+/**
+ * @brief   Allocate an object.
+ */
+void *osPoolAlloc(osPoolId pool_id) {
+  void *object;
+
+  syssts_t sts = chSysGetStatusAndLockX();
+  object = chPoolAllocI((memory_pool_t *)pool_id);
+  chSysRestoreStatusX(sts);
+
+  return object;
+}
+
+/**
+ * @brief   Allocate an object clearing it.
+ */
+void *osPoolCAlloc(osPoolId pool_id) {
+  void *object;
+
+  object = chPoolAllocI((memory_pool_t *)pool_id);
+  memset(object, 0, pool_id->object_size);
+  return object;
+}
+
+/**
+ * @brief   Free an object.
+ */
+osStatus osPoolFree(osPoolId pool_id, void *block) {
+
+  syssts_t sts = chSysGetStatusAndLockX();
+  chPoolFreeI((memory_pool_t *)pool_id, block);
+  chSysRestoreStatusX(sts);
+
+  return osOK;
+}
+
+/**
+ * @brief   Create a message queue.
+ * @note    The queue is not really created because it is allocated statically,
+ *          this function just re-initializes it.
+ */
+osMessageQId osMessageCreate(const osMessageQDef_t *queue_def,
+                             osThreadId thread_id) {
+
+  /* Ignoring this parameter for now.*/
+  (void)thread_id;
+
+  if (queue_def->item_sz > sizeof (msg_t))
+    return NULL;
+
+  chMBObjectInit(queue_def->mailbox,
+                 queue_def->items,
+                 (size_t)queue_def->queue_sz);
+
+  return (osMessageQId) queue_def->mailbox;
+}
+
+/**
+ * @brief   Put a message in the queue.
+ */
+osStatus osMessagePut(osMessageQId queue_id,
+                      uint32_t info,
+                      uint32_t millisec) {
+  msg_t msg;
+  sysinterval_t timeout = (millisec == osWaitForever ?
+                          TIME_INFINITE : (millisec == 0 ? TIME_IMMEDIATE :
+                                                           TIME_MS2I(millisec)));
+
+  if (port_is_isr_context()) {
+
+    /* Waiting makes no sense in ISRs so any value except "immediate"
+       makes no sense.*/
+    if (millisec != 0)
+      return osErrorValue;
+
+    chSysLockFromISR();
+    msg = chMBPostI((mailbox_t *)queue_id, (msg_t)info);
+    chSysUnlockFromISR();
+  }
+  else
+    msg = chMBPostTimeout((mailbox_t *)queue_id, (msg_t)info, timeout);
+
+  return msg == MSG_OK ? osOK : osEventTimeout;
+}
+
+/**
+ * @brief   Get a message from the queue.
+ */
+osEvent osMessageGet(osMessageQId queue_id,
+                     uint32_t millisec) {
+  msg_t msg;
+  osEvent event;
+  sysinterval_t timeout = (millisec == osWaitForever ?
+                          TIME_INFINITE : (millisec == 0 ? TIME_IMMEDIATE :
+                                                           TIME_MS2I(millisec)));
+
+  event.def.message_id = queue_id;
+
+  if (port_is_isr_context()) {
+
+    /* Waiting makes no sense in ISRs so any value except "immediate"
+       makes no sense.*/
+    if (millisec != 0) {
+      event.status = osErrorValue;
+      return event;
+    }
+
+    chSysLockFromISR();
+    msg = chMBFetchI((mailbox_t *)queue_id, (msg_t*)&event.value.v);
+    chSysUnlockFromISR();
+  }
+  else {
+    msg = chMBFetchTimeout((mailbox_t *)queue_id, (msg_t*)&event.value.v, timeout);
+  }
+
+  /* Returned event type.*/
+  event.status = msg == MSG_OK ? osEventMessage : osEventTimeout;
+  return event;
+}
+
+/** @} */
diff --git a/lib/chibios/os/common/abstractions/cmsis_os/cmsis_os.h b/lib/chibios/os/common/abstractions/cmsis_os/cmsis_os.h
new file mode 100644
index 000000000..dafe3e398
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/cmsis_os/cmsis_os.h
@@ -0,0 +1,522 @@
+/*
+    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/>.
+*/
+/*
+   Concepts and parts of this file have been contributed by Andre R.
+ */
+
+/**
+ * @file    cmsis_os.h
+ * @brief   CMSIS RTOS module macros and structures.
+ *
+ * @addtogroup CMSIS_OS
+ * @{
+ */
+
+#ifndef CMSIS_OS_H
+#define CMSIS_OS_H
+
+#include "ch.h"
+
+/*===========================================================================*/
+/* Module constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   API version.
+ */
+#define osCMSIS                     0x10002
+
+/**
+ * @brief   Kernel version.
+ */
+#define osKernelSystemId            "KERNEL V1.00"
+
+/**
+ * @brief   ChibiOS/RT version encoded for CMSIS.
+ */
+#define osCMSIS_KERNEL              ((CH_KERNEL_MAJOR << 16) |              \
+                                     (CH_KERNEL_MINOR << 8) |               \
+                                     (CH_KERNEL_PATCH))
+
+/**
+ * @name    CMSIS Capabilities
+ * @{
+ */
+#define osFeature_MainThread        1       
+#define osFeature_Pool              1
+#define osFeature_MailQ             0
+#define osFeature_MessageQ          1
+#define osFeature_Signals           24
+#define osFeature_Semaphore         ((1U << 31) - 1U)
+#define osFeature_Wait              0
+#define osFeature_SysTick           1
+/**< @} */
+
+/**
+ * @brief   Wait forever specification for timeouts.
+ */
+#define osWaitForever               ((uint32_t)-1)
+
+/**
+ * @brief   System tick frequency.
+ */
+#define osKernelSysTickFrequency    CH_CFG_ST_FREQUENCY
+
+/*===========================================================================*/
+/* Module pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Number of pre-allocated static semaphores/mutexes.
+ */
+#if !defined(CMSIS_CFG_DEFAULT_STACK)
+#define CMSIS_CFG_DEFAULT_STACK     256
+#endif
+
+/**
+ * @brief   Number of pre-allocated static semaphores/mutexes.
+ */
+#if !defined(CMSIS_CFG_NUM_SEMAPHORES)
+#define CMSIS_CFG_NUM_SEMAPHORES    4
+#endif
+
+/**
+ * @brief   Number of pre-allocated static timers.
+ */
+#if !defined(CMSIS_CFG_NUM_TIMERS)
+#define CMSIS_CFG_NUM_TIMERS        4
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if !CH_CFG_USE_MEMPOOLS
+#error "CMSIS RTOS requires CH_CFG_USE_MEMPOOLS"
+#endif
+
+#if !CH_CFG_USE_EVENTS
+#error "CMSIS RTOS requires CH_CFG_USE_EVENTS"
+#endif
+
+#if !CH_CFG_USE_EVENTS_TIMEOUT
+#error "CMSIS RTOS requires CH_CFG_USE_EVENTS_TIMEOUT"
+#endif
+
+#if !CH_CFG_USE_SEMAPHORES
+#error "CMSIS RTOS requires CH_CFG_USE_SEMAPHORES"
+#endif
+
+#if !CH_CFG_USE_DYNAMIC
+#error "CMSIS RTOS requires CH_CFG_USE_DYNAMIC"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Type of priority levels.
+ */
+typedef enum {
+  osPriorityIdle            = -3,
+  osPriorityLow             = -2,
+  osPriorityBelowNormal     = -1,
+  osPriorityNormal          = 0,
+  osPriorityAboveNormal     = +1,
+  osPriorityHigh            = +2,
+  osPriorityRealtime        = +3,
+  osPriorityError           = 0x84
+} osPriority;
+
+/**
+ * @brief   Type of error codes.
+ */
+typedef enum {
+  osOK                      = 0,
+  osEventSignal             = 0x08,
+  osEventMessage            = 0x10,
+  osEventMail               = 0x20,
+  osEventTimeout            = 0x40,
+  osErrorParameter          = 0x80,
+  osErrorResource           = 0x81,
+  osErrorTimeoutResource    = 0xC1,
+  osErrorISR                = 0x82,
+  osErrorISRRecursive       = 0x83,
+  osErrorPriority           = 0x84,
+  osErrorNoMemory           = 0x85,
+  osErrorValue              = 0x86,
+  osErrorOS                 = 0xFF,
+  os_status_reserved        = 0x7FFFFFFF
+} osStatus;
+
+/**
+ * @brief   Type of a timer mode.
+ */
+typedef enum {
+  osTimerOnce               = 0,
+  osTimerPeriodic           = 1
+} os_timer_type;
+
+/**
+ * @brief   Type of thread functions.
+ */
+typedef void (*os_pthread) (void const *argument);
+
+/**
+ * @brief   Type of timer callback.
+ */
+typedef void (*os_ptimer) (void const *argument);
+
+/**
+ * @brief   Type of pointer to thread control block.
+ */
+typedef thread_t *osThreadId;
+
+/**
+ * @brief   Type of pointer to timer control block.
+ */
+typedef struct os_timer_cb {
+  virtual_timer_t           vt;
+  os_timer_type             type;
+  os_ptimer                 ptimer;
+  void                      *argument;
+  uint32_t                  millisec;
+} *osTimerId;
+
+/**
+ * @brief   Type of pointer to mutex control block.
+ */
+typedef binary_semaphore_t *osMutexId;
+
+/**
+ * @brief   Type of pointer to semaphore control block.
+ */
+typedef semaphore_t *osSemaphoreId;
+
+/**
+ * @brief   Type of pointer to memory pool control block.
+ */
+typedef memory_pool_t *osPoolId;
+
+/**
+ * @brief   Type of pointer to message queue control block.
+ */
+typedef struct mailbox *osMessageQId;
+
+/**
+ * @brief   Type of an event.
+ */
+typedef struct {
+  osStatus                  status;
+  union {
+    uint32_t                v;
+    void                    *p;
+    int32_t                 signals;
+  } value;
+  union {
+/*    osMailQId               mail_id;*/
+    osMessageQId            message_id;
+  } def;
+} osEvent;
+
+/**
+ * @brief   Type of a thread definition block.
+ */
+typedef struct os_thread_def {
+  os_pthread                pthread;
+  osPriority                tpriority;
+  uint32_t                  stacksize;
+  const char                *name;
+} osThreadDef_t;
+
+/**
+ * @brief   Type of a timer definition block.
+ */
+typedef struct os_timer_def {
+  os_ptimer                 ptimer;
+} osTimerDef_t;
+
+/**
+ * @brief   Type of a mutex definition block.
+ */
+typedef struct os_mutex_def {
+  uint32_t                  dummy;
+} osMutexDef_t;
+
+/**
+ * @brief   Type of a semaphore definition block.
+ */
+typedef struct os_semaphore_def {
+  uint32_t                  dummy;
+} osSemaphoreDef_t;
+
+/**
+ * @brief   Type of a memory pool definition block.
+ */
+typedef struct os_pool_def {
+  uint32_t                  pool_sz;
+  uint32_t                  item_sz;
+  memory_pool_t             *pool;
+  void                      *items;
+} osPoolDef_t;
+
+/**
+ * @brief   Type of a message queue definition block.
+ */
+typedef struct os_messageQ_def {
+  uint32_t                  queue_sz;
+  uint32_t                  item_sz;
+  mailbox_t                 *mailbox;
+  void                      *items;
+} osMessageQDef_t;
+
+/*===========================================================================*/
+/* Module macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @brief   Convert a microseconds value to a RTOS kernel system timer value.
+ */
+#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec *            \
+                                            (osKernelSysTickFrequency)) /   \
+                                           1000000)
+
+/**
+ * @brief   Create a Thread definition.
+ */
+#if defined(osObjectsExternal)
+#define osThreadDef(thd, priority, stacksz, name)                           \
+  extern const osThreadDef_t os_thread_def_##thd
+#else
+#define osThreadDef(thd, priority, stacksz, name)                           \
+const osThreadDef_t os_thread_def_##thd = {                                 \
+  (thd),                                                                    \
+  (priority),                                                               \
+  (stacksz),                                                                \
+  (name)                                                                    \
+}
+#endif
+
+/**
+ * @brief   Access a Thread definition.
+ */
+#define osThread(name)  &os_thread_def_##name
+
+/**
+ * @brief   Define a Timer object.
+ */
+#if defined(osObjectsExternal)
+#define osTimerDef(name, function)                                          \
+  extern const osTimerDef_t os_timer_def_##name
+#else
+#define osTimerDef(name, function)                                          \
+const osTimerDef_t os_timer_def_##name = {                                  \
+  (function)                                                                \
+}
+#endif
+
+/**
+ * @brief   Access a Timer definition.
+ */
+#define osTimer(name) &os_timer_def_##name
+
+/**
+ * @brief   Define a Mutex.
+ */
+#if defined(osObjectsExternal)
+#define osMutexDef(name) extern const osMutexDef_t os_mutex_def_##name
+#else
+#define osMutexDef(name)  const osMutexDef_t os_mutex_def_##name = {0}
+#endif
+
+/**
+ * @brief   Access a Mutex definition.
+ */
+#define osMutex(name) &os_mutex_def_##name
+
+/**
+ * @brief   Define a Semaphore.
+ */
+#if defined(osObjectsExternal)
+#define osSemaphoreDef(name)                                                \
+  extern const osSemaphoreDef_t os_semaphore_def_##name
+#else                            // define the object
+#define osSemaphoreDef(name)                                                \
+  const osSemaphoreDef_t os_semaphore_def_##name = {0}
+#endif
+
+/**
+ * @brief   Access a Semaphore definition.
+ */
+#define osSemaphore(name) &os_semaphore_def_##name
+
+/**
+ * @brief   Define a Memory Pool.
+ */
+#if defined(osObjectsExternal)
+#define osPoolDef(name, no, type)                                           \
+  extern const osPoolDef_t os_pool_def_##name
+#else
+#define osPoolDef(name, no, type)                                           \
+static const type os_pool_buf_##name[no];                                   \
+static memory_pool_t os_pool_obj_##name;                                    \
+const osPoolDef_t os_pool_def_##name = {                                    \
+  (no),                                                                     \
+  sizeof (type),                                                            \
+  (void *)&os_pool_obj_##name,                                              \
+  (void *)&os_pool_buf_##name[0]                                            \
+}
+#endif
+
+/**
+ * @brief   Access a Memory Pool definition.
+ */
+#define osPool(name) &os_pool_def_##name
+
+/**
+ * @brief   Define a Message Queue.
+ */
+#if defined(osObjectsExternal)
+#define osMessageQDef(name, queue_sz, type)                                 \
+  extern const osMessageQDef_t os_messageQ_def_##name
+#else
+#define osMessageQDef(name, queue_sz, type)                                 \
+static const msg_t os_messageQ_buf_##name[queue_sz];                        \
+static mailbox_t os_messageQ_obj_##name;                                    \
+const osMessageQDef_t os_messageQ_def_##name = {                            \
+  (queue_sz),                                                               \
+  sizeof (type),                                                            \
+  (void *)&os_messageQ_obj_##name,                                          \
+  (void *)&os_messageQ_buf_##name[0]                                        \
+}
+#endif
+
+/**
+ * @brief   Access a Message Queue definition.
+ */
+#define osMessageQ(name) &os_messageQ_def_##name
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+extern int32_t cmsis_os_started;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  osStatus osKernelInitialize(void);
+  osStatus osKernelStart(void);
+  osThreadId osThreadCreate(const osThreadDef_t *thread_def, void *argument);
+  osStatus osThreadTerminate(osThreadId thread_id);
+  osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio);
+  /*osEvent osWait(uint32_t millisec);*/
+  osTimerId osTimerCreate(const osTimerDef_t *timer_def,
+                          os_timer_type type,
+                          void *argument);
+  osStatus osTimerStart(osTimerId timer_id, uint32_t millisec);
+  osStatus osTimerStop(osTimerId timer_id);
+  osStatus osTimerDelete(osTimerId timer_id);
+  int32_t osSignalSet(osThreadId thread_id, int32_t signals);
+  int32_t osSignalClear(osThreadId thread_id, int32_t signals);
+  osEvent osSignalWait(int32_t signals, uint32_t millisec);
+  osSemaphoreId osSemaphoreCreate(const osSemaphoreDef_t *semaphore_def,
+                                  int32_t count);
+  int32_t osSemaphoreWait(osSemaphoreId semaphore_id, uint32_t millisec);
+  osStatus osSemaphoreRelease(osSemaphoreId semaphore_id);
+  osStatus osSemaphoreDelete(osSemaphoreId semaphore_id);
+  osMutexId osMutexCreate(const osMutexDef_t *mutex_def);
+  osStatus osMutexWait(osMutexId mutex_id, uint32_t millisec);
+  osStatus osMutexRelease(osMutexId mutex_id);
+  osStatus osMutexDelete(osMutexId mutex_id);
+  osPoolId osPoolCreate(const osPoolDef_t *pool_def);
+  void *osPoolAlloc(osPoolId pool_id);
+  void *osPoolCAlloc(osPoolId pool_id);
+  osStatus osPoolFree(osPoolId pool_id, void *block);
+  osMessageQId osMessageCreate(const osMessageQDef_t *queue_def,
+                               osThreadId thread_id);
+  osStatus osMessagePut(osMessageQId queue_id,
+                        uint32_t info,
+                        uint32_t millisec);
+  osEvent osMessageGet(osMessageQId queue_id,
+                       uint32_t millisec);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions.                                                  */
+/*===========================================================================*/
+
+/**
+ * @brief   To be or not to be.
+ */
+static inline int32_t osKernelRunning(void) {
+
+  return cmsis_os_started;
+}
+
+/**
+ * @brief   System ticks since start.
+ */
+static inline uint32_t osKernelSysTick(void) {
+
+  return (uint32_t)chVTGetSystemTimeX();
+}
+
+/**
+ * @brief   Returns the current thread.
+ */
+static inline osThreadId osThreadGetId(void) {
+
+  return (osThreadId)chThdGetSelfX();
+}
+
+/**
+ * @brief   Thread time slice yield.
+ */
+static inline osStatus osThreadYield(void) {
+
+  chThdYield();
+
+  return osOK;
+}
+
+/**
+ * @brief   Returns priority of a thread.
+ */
+static inline osPriority osThreadGetPriority(osThreadId thread_id) {
+
+  return (osPriority)(NORMALPRIO - thread_id->hdr.pqueue.prio);
+}
+
+/**
+ * @brief   Thread delay in milliseconds.
+ */
+static inline osStatus osDelay(uint32_t millisec) {
+
+  chThdSleepMilliseconds(millisec);
+
+  return osOK;
+}
+
+#endif /* CMSIS_OS_H */
+
+/** @} */
diff --git a/lib/chibios/os/common/abstractions/cmsis_os/cmsis_os.mk b/lib/chibios/os/common/abstractions/cmsis_os/cmsis_os.mk
new file mode 100644
index 000000000..343f6df40
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/cmsis_os/cmsis_os.mk
@@ -0,0 +1,8 @@
+# List of the ChibiOS/RT CMSIS RTOS wrapper.
+CMSISRTOSSRC = ${CHIBIOS}/os/common/abstractions/cmsis_os/cmsis_os.c
+ 
+CMSISRTOSINC = ${CHIBIOS}/os/common/abstractions/cmsis_os
+
+# Shared variables
+ALLCSRC += $(CMSISRTOSSRC)
+ALLINC  += $(CMSISRTOSINC)
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/cfe_osal.mk b/lib/chibios/os/common/abstractions/nasa_cfe/osal/cfe_osal.mk
new file mode 100644
index 000000000..c0add1c26
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/cfe_osal.mk
@@ -0,0 +1,8 @@
+# NASA CFE OSAL files.
+CFEOSALSRC = $(CHIBIOS)/os/common/abstractions/nasa_cfe/osal/src/osapi.c
+
+CFEOSALINC = $(CHIBIOS)/os/common/abstractions/nasa_cfe/osal/include
+
+# Shared variables
+ALLCSRC += $(CFEOSALSRC)
+ALLINC  += $(CFEOSALINC)
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/common_types.h b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/common_types.h
new file mode 100644
index 000000000..100a9c72e
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/common_types.h
@@ -0,0 +1,267 @@
+/*---------------------------------------------------------------------------
+**
+**  Filename:
+**    $Id: common_types.h 1.9 2014/01/14 16:28:32GMT-05:00 acudmore Exp  $
+**
+**      Copyright (c) 2004-2006, United States government as represented by the 
+**      administrator of the National Aeronautics Space Administration.  
+**      All rights reserved. This software was created at NASAs Goddard 
+**      Space Flight Center pursuant to government contracts.
+**
+**      This is governed by the NASA Open Source Agreement and may be used, 
+**      distributed and modified only pursuant to the terms of that agreement. 
+**
+**  Purpose:
+**          Unit specification for common types.
+**
+**  Design Notes:
+**         Assumes make file has defined processor family
+**
+**  References:
+**     Flight Software Branch C Coding Standard Version 1.0a
+**
+**
+**      Notes:
+**
+**
+**  $Date: 2014/01/14 16:28:32GMT-05:00 $
+**  $Revision: 1.9 $
+**  $Log: common_types.h  $
+**  Revision 1.9 2014/01/14 16:28:32GMT-05:00 acudmore 
+**  Fixed typo in macro for x86-64
+**  Revision 1.8 2013/08/09 13:58:04GMT-05:00 acudmore 
+**  Added int64 type, added support for ARM arch, added 64 bit x86 arch, added arch check for GCC arch macros, added check for proper data type sizes
+**  Revision 1.7 2013/07/25 10:01:29GMT-05:00 acudmore 
+**  Added C++ support
+**  Revision 1.6 2012/04/11 09:19:03GMT-05:00 acudmore 
+**  added OS_USED attribute
+**  Revision 1.5 2010/02/18 16:43:29EST acudmore 
+**  Added SPARC processor section
+**  Removed special characters from comments that cause problems with some tools.
+**  Revision 1.4 2010/02/18 16:41:39EST acudmore 
+**  Added a block of defines for GCC specific pragmas and extensions.
+**  Removed RTEMS boolean related ifdefs
+**  moved OS_PACK into the GCC specific block
+**  Revision 1.3 2010/02/01 12:31:17EST acudmore 
+**  Added uint64 type
+**  Revision 1.2 2009/07/07 16:30:05EDT acudmore 
+**  Removed conditinal comp. around boolean for m68k.
+**  This will need to be done for all RTEMS targets
+**  Revision 1.1 2009/06/02 10:04:58EDT acudmore 
+**  Initial revision
+**  Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+**  Revision 1.1 2008/04/20 22:35:58EDT ruperera 
+**  Initial revision
+**  Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/inc/project.pj
+**  Revision 1.1 2007/10/16 16:14:49EDT apcudmore 
+**  Initial revision
+**  Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/inc/project.pj
+**  Revision 1.2 2006/06/08 14:28:32EDT David Kobe (dlkobe) 
+**  Added NASA Open Source Legal Statement
+**  Revision 1.1 2005/06/09 09:57:51GMT-05:00 rperera 
+**  Initial revision
+**  Member added to project d:/mksdata/MKS-CFE-REPOSITORY/cfe-core/inc/project.pj
+**  Revision 1.6  2005/03/24 19:20:52  rmcgraw
+**  Wrapped the boolean defintion for all three processors with #ifndef _USING_RTEMS_INCLUDES_
+**
+**  Revision 1.5  2005/03/10 16:59:08  acudmore
+**  removed boolean prefix to TRUE and FALSE defintion to avoid vxWorks conflict.
+**
+**  Revision 1.4  2005/03/07 20:23:34  acudmore
+**  removed duplicate boolean definition
+**
+**  Revision 1.3  2005/03/07 20:05:17  acudmore
+**  updated with __PPC__ macro that gnu compiler uses
+**
+**  Revision 1.2  2005/03/04 16:02:44  acudmore
+**  added coldfire architecture
+**
+**  Revision 1.1  2005/03/04 15:58:45  acudmore
+**  Added common_types.h
+**
+**
+**
+**-------------------------------------------------------------------------*/
+
+#ifndef _common_types_
+#define _common_types_
+
+#ifdef __cplusplus
+   extern "C" {
+#endif
+
+/*
+** Includes
+*/
+
+/*
+** Macro Definitions
+*/
+
+/* 
+** Condition = TRUE is ok, Condition = FALSE is error 
+*/
+#define CompileTimeAssert(Condition, Message) typedef char Message[(Condition) ? 1 : -1]
+
+
+/*
+** Define compiler specific macros
+** The __extension__ compiler pragma is required
+** for the uint64 type using GCC with the ANSI C90 standard.
+** Other macros can go in here as needed, for example alignment 
+** pragmas.
+*/
+#if defined (__GNUC__)
+   #define _EXTENSION_  __extension__
+   #define OS_PACK      __attribute__ ((packed))
+   #define OS_ALIGN(n)  __attribute__((aligned(n)))
+   #define OS_USED      __attribute__((used))
+#else
+   #define _EXTENSION_ 
+   #define OS_PACK
+   #define OS_ALIGN(n) 
+   #define OS_USED 
+#endif
+
+#if defined(_ix86_) || defined (__i386__)
+/* ----------------------- Intel x86 processor family -------------------------*/
+  /* Little endian */
+  #undef   _STRUCT_HIGH_BIT_FIRST_
+  #define  _STRUCT_LOW_BIT_FIRST_
+
+  typedef unsigned char                         boolean;
+  typedef signed char                           int8;
+  typedef short int                             int16;
+  typedef long int                              int32;
+ _EXTENSION_ typedef long long int              int64; 
+  typedef unsigned char                         uint8;
+  typedef unsigned short int                    uint16;
+  typedef unsigned long int                     uint32;
+  _EXTENSION_ typedef unsigned long long int    uint64;
+
+  typedef unsigned long int                     cpuaddr;
+
+#elif defined (_ix64_) || defined (__x86_64__) 
+/* ----------------------- Intel/AMD x64 processor family -------------------------*/
+  /* Little endian */
+  #undef   _STRUCT_HIGH_BIT_FIRST_
+  #define  _STRUCT_LOW_BIT_FIRST_
+
+  typedef unsigned char                         boolean;
+  typedef signed char                           int8;
+  typedef short int                             int16;
+  typedef int                                   int32;
+  typedef long int                              int64;
+  typedef unsigned char                         uint8;
+  typedef unsigned short int                    uint16;
+  typedef unsigned int                          uint32;
+  typedef unsigned long int                     uint64;
+
+  typedef unsigned long int                     cpuaddr;
+
+#elif defined(__PPC__) || defined (__ppc__)
+   /* ----------------------- Motorola Power PC family ---------------------------*/
+   /* The PPC can be programmed to be big or little endian, we assume native */
+   /* Big endian */
+   #define _STRUCT_HIGH_BIT_FIRST_
+   #undef  _STRUCT_LOW_BIT_FIRST_
+
+   typedef unsigned char                        boolean;
+   typedef signed char                          int8;
+   typedef short int                            int16;
+   typedef long int                             int32;
+   _EXTENSION_ typedef long long int            int64;
+   typedef unsigned char                        uint8;
+   typedef unsigned short int                   uint16;
+   typedef unsigned long int                    uint32;
+   _EXTENSION_ typedef unsigned long long int   uint64;
+
+  typedef unsigned long int                     cpuaddr;
+
+#elif defined(_m68k_) || defined(__m68k__)
+   /* ----------------------- Motorola m68k/Coldfire family ---------------------------*/
+   /* Big endian */
+   #define _STRUCT_HIGH_BIT_FIRST_
+   #undef  _STRUCT_LOW_BIT_FIRST_
+
+   typedef unsigned char                        boolean;
+   typedef signed char                          int8;
+   typedef short int                            int16;
+   typedef long int                             int32;
+   _EXTENSION_ typedef long long int            int64;
+   typedef unsigned char                        uint8;
+   typedef unsigned short int                   uint16;
+   typedef unsigned long int                    uint32;
+   _EXTENSION_ typedef unsigned long long int   uint64;
+
+  typedef unsigned long int                     cpuaddr;
+
+#elif defined (__ARM__) || defined(__arm__)
+/* ----------------------- ARM processor family -------------------------*/
+  /* Little endian */
+  #undef   _STRUCT_HIGH_BIT_FIRST_
+  #define  _STRUCT_LOW_BIT_FIRST_
+
+  typedef unsigned char                         boolean;
+  typedef signed char                           int8;
+  typedef short int                             int16;
+  typedef long int                              int32;
+  _EXTENSION_ typedef long long int             int64;
+  typedef unsigned char                         uint8;
+  typedef unsigned short int                    uint16;
+  typedef unsigned long int                     uint32;
+  _EXTENSION_ typedef unsigned long long int    uint64;
+
+  typedef unsigned long int                     cpuaddr;
+
+#elif defined(__SPARC__) || defined (_sparc_)
+   /* ----------------------- SPARC/LEON family ---------------------------*/
+   /* SPARC Big endian */
+   #define _STRUCT_HIGH_BIT_FIRST_
+   #undef  _STRUCT_LOW_BIT_FIRST_
+
+   typedef unsigned char                        boolean;
+   typedef signed char                          int8;
+   typedef short int                            int16;
+   typedef long int                             int32;
+   _EXTENSION_ typedef long long int            int64;
+   typedef unsigned char                        uint8;
+   typedef unsigned short int                   uint16;
+   typedef unsigned long int                    uint32;
+   _EXTENSION_ typedef unsigned long long int   uint64;
+
+   typedef unsigned long int                     cpuaddr;
+
+#else  /* not any of the above */
+   #error undefined processor
+#endif  /* processor types */
+
+#ifndef NULL              /* pointer to nothing */
+   #define NULL ((void *) 0)
+#endif
+
+#ifndef TRUE              /* Boolean true */
+   #define TRUE (1)
+#endif
+
+#ifndef FALSE              /* Boolean false */
+   #define FALSE (0)
+#endif
+
+/* 
+** Check Sizes 
+*/
+CompileTimeAssert(sizeof(uint8)==1,  TypeUint8WrongSize);
+CompileTimeAssert(sizeof(uint16)==2, TypeUint16WrongSize);
+CompileTimeAssert(sizeof(uint32)==4, TypeUint32WrongSize);
+CompileTimeAssert(sizeof(uint64)==8, TypeUint64WrongSize);
+CompileTimeAssert(sizeof(int8)==1,   Typeint8WrongSize);
+CompileTimeAssert(sizeof(int16)==2,  Typeint16WrongSize);
+CompileTimeAssert(sizeof(int32)==4,  Typeint32WrongSize);
+CompileTimeAssert(sizeof(int64)==8,  Typeint64WrongSize);
+
+#ifdef __cplusplus
+   }
+#endif
+
+#endif  /* _common_types_ */
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-core.h b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-core.h
new file mode 100644
index 000000000..8c9b13a78
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-core.h
@@ -0,0 +1,274 @@
+/*
+** File: osapi-os-core.h
+**
+**      Copyright (c) 2004-2006, United States government as represented by the 
+**      administrator of the National Aeronautics Space Administration.  
+**      All rights reserved. This software was created at NASAs Goddard 
+**      Space Flight Center pursuant to government contracts.
+**
+**      This is governed by the NASA Open Source Agreement and may be used, 
+**      distributed and modified only pursuant to the terms of that agreement.
+**
+** Author:  Ezra Yeheksli -Code 582/Raytheon
+**
+** Purpose: Contains functions prototype definitions and variables declarations
+**          for the OS Abstraction Layer, Core OS module
+**
+** $Revision: 1.8 $ 
+**
+** $Date: 2013/07/25 10:02:00GMT-05:00 $
+**
+** $Log: osapi-os-core.h  $
+** Revision 1.8 2013/07/25 10:02:00GMT-05:00 acudmore 
+** removed circular include "osapi.h"
+** Revision 1.7 2012/04/11 09:30:48GMT-05:00 acudmore 
+** Added OS_printf_enable and OS_printf_disable
+** Revision 1.6 2010/11/12 12:00:17EST acudmore 
+** replaced copyright character with (c) and added open source notice where needed.
+** Revision 1.5 2010/11/10 15:33:14EST acudmore 
+** Updated IntAttachHandler prototype
+** Revision 1.4 2010/03/08 12:06:28EST acudmore 
+** added function pointer type to get rid of warnings
+** Revision 1.3 2010/02/01 12:37:15EST acudmore 
+** added return code to OS API init
+** Revision 1.2 2009/08/04 10:49:09EDT acudmore 
+**   
+*/
+
+#ifndef _osapi_core_
+#define _osapi_core_
+
+#include <stdarg.h>   /* for va_list */
+
+/*difines constants for OS_BinSemCreate for state of semaphore  */
+#define OS_SEM_FULL     1
+#define OS_SEM_EMPTY    0
+
+/* #define for enabling floating point operations on a task*/
+#define OS_FP_ENABLED 1
+
+/*  tables for the properties of objects */
+
+/*tasks */
+typedef struct
+{
+    char name [OS_MAX_API_NAME];
+    uint32 creator;
+    uint32 stack_size;
+    uint32 priority;
+    uint32 OStask_id;
+}OS_task_prop_t;
+    
+/* queues */
+typedef struct
+{
+    char name [OS_MAX_API_NAME];
+    uint32 creator;
+}OS_queue_prop_t;
+
+/* Binary Semaphores */
+typedef struct
+{                     
+    char name [OS_MAX_API_NAME];
+    uint32 creator;
+    int32  value;
+}OS_bin_sem_prop_t;
+
+/* Counting Semaphores */
+typedef struct
+{                     
+    char name [OS_MAX_API_NAME];
+    uint32 creator;
+    int32 value;
+}OS_count_sem_prop_t;
+
+/* Mutexes */
+typedef struct
+{
+    char name [OS_MAX_API_NAME];
+    uint32 creator;
+}OS_mut_sem_prop_t;
+
+
+/* struct for OS_GetLocalTime() */
+
+typedef struct 
+{ 
+    uint32 seconds; 
+    uint32 microsecs;
+}OS_time_t; 
+
+/* heap info */
+typedef struct
+{
+    uint32 free_bytes;
+    uint32 free_blocks;
+    uint32 largest_free_block;
+}OS_heap_prop_t;
+
+
+/* This typedef is for the OS_GetErrorName function, to ensure
+ * everyone is making an array of the same length */
+
+typedef char os_err_name_t[35];
+
+/*
+** These typedefs are for the task entry point
+*/
+typedef void osal_task;
+typedef osal_task ((*osal_task_entry)(void));
+
+/*
+** Exported Functions
+*/
+
+/*
+** Initialization of API
+*/
+int32 OS_API_Init (void);
+
+
+/*
+** Task API
+*/
+
+int32 OS_TaskCreate            (uint32 *task_id, const char *task_name, 
+                                osal_task_entry function_pointer,
+                                const uint32 *stack_pointer, 
+                                uint32 stack_size,
+                                uint32 priority, uint32 flags);
+
+int32 OS_TaskDelete            (uint32 task_id); 
+void OS_TaskExit               (void);
+int32 OS_TaskInstallDeleteHandler(void *function_pointer);
+int32 OS_TaskDelay             (uint32 millisecond);
+int32 OS_TaskSetPriority       (uint32 task_id, uint32 new_priority);
+int32 OS_TaskRegister          (void);
+uint32 OS_TaskGetId            (void);
+int32 OS_TaskGetIdByName       (uint32 *task_id, const char *task_name);
+int32 OS_TaskGetInfo           (uint32 task_id, OS_task_prop_t *task_prop);          
+
+/*
+** Message Queue API
+*/
+
+/*
+** Queue Create now has the Queue ID returned to the caller.
+*/
+int32 OS_QueueCreate           (uint32 *queue_id, const char *queue_name,
+                                uint32 queue_depth, uint32 data_size, uint32 flags);
+int32 OS_QueueDelete           (uint32 queue_id);
+int32 OS_QueueGet              (uint32 queue_id, void *data, uint32 size, 
+                                uint32 *size_copied, int32 timeout);
+int32 OS_QueuePut              (uint32 queue_id, void *data, uint32 size, 
+                                uint32 flags);
+int32 OS_QueueGetIdByName      (uint32 *queue_id, const char *queue_name);
+int32 OS_QueueGetInfo          (uint32 queue_id, OS_queue_prop_t *queue_prop);
+
+/*
+** Semaphore API
+*/
+
+int32 OS_BinSemCreate          (uint32 *sem_id, const char *sem_name, 
+                                uint32 sem_initial_value, uint32 options);
+int32 OS_BinSemFlush            (uint32 sem_id);
+int32 OS_BinSemGive            (uint32 sem_id);
+int32 OS_BinSemTake            (uint32 sem_id);
+int32 OS_BinSemTimedWait       (uint32 sem_id, uint32 msecs);
+int32 OS_BinSemDelete          (uint32 sem_id);
+int32 OS_BinSemGetIdByName     (uint32 *sem_id, const char *sem_name);
+int32 OS_BinSemGetInfo         (uint32 sem_id, OS_bin_sem_prop_t *bin_prop);
+
+int32 OS_CountSemCreate          (uint32 *sem_id, const char *sem_name, 
+                                uint32 sem_initial_value, uint32 options);
+int32 OS_CountSemGive            (uint32 sem_id);
+int32 OS_CountSemTake            (uint32 sem_id);
+int32 OS_CountSemTimedWait       (uint32 sem_id, uint32 msecs);
+int32 OS_CountSemDelete          (uint32 sem_id);
+int32 OS_CountSemGetIdByName     (uint32 *sem_id, const char *sem_name);
+int32 OS_CountSemGetInfo         (uint32 sem_id, OS_count_sem_prop_t *count_prop);
+
+/*
+** Mutex API
+*/
+
+int32 OS_MutSemCreate           (uint32 *sem_id, const char *sem_name, uint32 options);
+int32 OS_MutSemGive             (uint32 sem_id);
+int32 OS_MutSemTake             (uint32 sem_id);
+int32 OS_MutSemDelete           (uint32 sem_id);  
+int32 OS_MutSemGetIdByName      (uint32 *sem_id, const char *sem_name); 
+int32 OS_MutSemGetInfo          (uint32 sem_id, OS_mut_sem_prop_t *mut_prop);
+
+/*
+** OS Time/Tick related API
+*/
+
+int32 OS_Milli2Ticks           (uint32 milli_seconds);
+int32 OS_Tick2Micros           (void);
+int32  OS_GetLocalTime         (OS_time_t *time_struct);
+int32  OS_SetLocalTime         (OS_time_t *time_struct);  
+
+/*
+** Exception API
+*/
+
+int32 OS_ExcAttachHandler      (uint32 ExceptionNumber, 
+                                void (*ExceptionHandler)(uint32, uint32 *,uint32), 
+                                int32 parameter);
+int32 OS_ExcEnable             (int32 ExceptionNumber);
+int32 OS_ExcDisable            (int32 ExceptionNumber);
+
+/*
+** Floating Point Unit API
+*/
+
+int32 OS_FPUExcAttachHandler   (uint32 ExceptionNumber, void * ExceptionHandler ,
+                                 int32 parameter);
+int32 OS_FPUExcEnable          (int32 ExceptionNumber);
+int32 OS_FPUExcDisable         (int32 ExceptionNumber);
+int32 OS_FPUExcSetMask         (uint32 mask);
+int32 OS_FPUExcGetMask         (uint32 *mask);
+
+/*
+** Interrupt API
+*/
+int32 OS_IntAttachHandler  (uint32 InterruptNumber, osal_task_entry InterruptHandler, int32 parameter);
+int32 OS_IntUnlock         (int32 IntLevel);
+int32 OS_IntLock           (void);
+
+int32 OS_IntEnable         (int32 Level);
+int32 OS_IntDisable        (int32 Level);
+
+int32 OS_IntSetMask        (uint32 mask);
+int32 OS_IntGetMask        (uint32 *mask);
+int32 OS_IntAck             (int32 InterruptNumber);
+
+/*
+** Shared memory API 
+*/
+int32 OS_ShMemInit          (void);
+int32 OS_ShMemCreate        (uint32 *Id, uint32 NBytes, char* SegName);
+int32 OS_ShMemSemTake       (uint32 Id);
+int32 OS_ShMemSemGive       (uint32 Id);
+int32 OS_ShMemAttach        (uint32 * Address, uint32 Id);
+int32 OS_ShMemGetIdByName   (uint32 *ShMemId, const char *SegName );
+
+/*
+** Heap API
+*/
+int32 OS_HeapGetInfo       (OS_heap_prop_t *heap_prop);
+
+/*
+** API for useful debugging function
+*/
+int32 OS_GetErrorName      (int32 error_num, os_err_name_t* err_name);
+
+
+/* 
+** Abstraction for printf statements 
+*/
+void OS_printf( const char *string, ...);
+void OS_printf_disable(void);
+void OS_printf_enable(void);
+
+#endif
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-custom.h b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-custom.h
new file mode 100644
index 000000000..15a308848
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-custom.h
@@ -0,0 +1,68 @@
+/*
+    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    osapi-os-custom.h
+ * @brief   Custom OSAPI extensions header.
+ *
+ * @addtogroup osapi-custom
+ * @{
+ */
+
+#ifndef OSAPI_CUSTOM_H
+#define OSAPI_CUSTOM_H
+
+/*===========================================================================*/
+/* Module constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module macros.                                                            */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void OS_set_printf(int (*printf)(const char *fmt, ...));
+  boolean OS_TaskDeleteCheck(void);
+  int32 OS_TaskWait(uint32 task_id);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions.                                                  */
+/*===========================================================================*/
+
+#endif /* OSAPI_CUSTOM_H */
+
+/** @} */
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-filesys.h b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-filesys.h
new file mode 100644
index 000000000..c46800341
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-filesys.h
@@ -0,0 +1,419 @@
+/*
+** File: osapi-os-filesys.h
+**
+**      Copyright (c) 2004-2006, United States government as represented by the 
+**      administrator of the National Aeronautics Space Administration.  
+**      All rights reserved. This software was created at NASAs Goddard 
+**      Space Flight Center pursuant to government contracts.
+**
+**      This is governed by the NASA Open Source Agreement and may be used, 
+**      distributed and modified only pursuant to the terms of that agreement.
+**
+** Author:  Alan Cudmore Code 582
+**
+** Purpose: Contains functions prototype definitions and variables declarations
+**          for the OS Abstraction Layer, File System module
+**
+** $Revision: 1.11 $ 
+**
+** $Date: 2013/12/16 12:57:41GMT-05:00 $
+**
+** $Log: osapi-os-filesys.h  $
+** Revision 1.11 2013/12/16 12:57:41GMT-05:00 acudmore 
+** Added macros for Volume name length and physical device name length
+** Revision 1.10 2013/07/29 12:05:48GMT-05:00 acudmore 
+** Added define for device and volume name length
+** Revision 1.9 2013/07/25 14:31:21GMT-05:00 acudmore 
+** Added prototype and datatype for OS_GetFsInfo
+** Revision 1.8 2011/12/05 12:04:21GMT-05:00 acudmore 
+** Added OS_rewinddir API
+** Revision 1.7 2011/04/05 16:01:12EDT acudmore 
+** Added OS_CloseFileByName and OS_CloseAllFiles
+** Revision 1.6 2010/11/15 11:04:38EST acudmore 
+** Added OS_FileOpenCheck function.
+** Revision 1.5 2010/11/12 12:00:18EST acudmore 
+** replaced copyright character with (c) and added open source notice where needed.
+** Revision 1.4 2010/02/01 12:28:57EST acudmore 
+** Added OS_fsBytesFree API
+** Revision 1.3 2010/01/25 14:44:26EST acudmore 
+** renamed "new" variable to avoid C++ reserved name conflict.
+** Revision 1.2 2009/07/14 15:16:05EDT acudmore 
+** Added OS_TranslatePath to the API
+** Revision 1.1 2008/04/20 22:36:01EDT ruperera 
+** Initial revision
+** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+** Revision 1.1 2007/10/16 16:14:52EDT apcudmore 
+** Initial revision
+** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+** Revision 1.1 2007/08/24 13:43:24EDT apcudmore 
+** Initial revision
+** Member added to project d:/mksdata/MKS-CFE-PROJECT/fsw/cfe-core/os/inc/project.pj
+** Revision 1.17 2007/06/07 09:59:14EDT njyanchik 
+** I replaced the second OS_cp definition with OS_mv
+** Revision 1.16 2007/06/05 16:25:33EDT apcudmore 
+** Increased Number of volume table entries from 10 to 14.
+** Added 2 extra EEPROM disk mappings to RAD750 Volume table + 2 spares
+** Added 4 spares to every other volume table.
+** Revision 1.15 2007/05/25 09:17:56EDT njyanchik 
+** I added the rmfs call to the OSAL and updated the unit test stubs to match
+** Revision 1.14 2007/03/21 10:15:29EST njyanchik 
+** I mistakenly put the wrong length in for the path in the OS_FDTableEntry structure, and I added 
+** some code that will set and out of range file descriptors .IsValid flag to false in OS_FDGetInfo
+** Revision 1.13 2007/03/06 11:52:46EST njyanchik 
+** This change goes with the previous CP, I forgot to include it
+** Revision 1.12 2007/02/28 14:57:45EST njyanchik 
+** The updates for supporting copying and moving files are now supported
+** Revision 1.11 2007/02/27 15:22:11EST njyanchik 
+** This CP has the initial import of the new file descripor table mechanism
+** Revision 1.10 2006/12/20 10:27:09EST njyanchik 
+** This change package incorporates all the changes necessary for the addition
+** of a new API to get the real physical drive undernieth a mount point
+** Revision 1.9 2006/11/14 14:44:28GMT-05:00 njyanchik 
+** Checks were added to the OS fs calls that look at the return of a function that
+** changes the name of paths from abstracted to local path names.
+** Revision 1.8 2006/10/30 16:12:19GMT-05:00 apcudmore 
+** Updated Compact flash and RAM device names for vxWorks 6.2 changes. 
+** Revision 1.7 2006/10/25 11:31:18EDT njyanchik 
+** This CP incorporates changes to every bsp_voltab.c file. I increased the number
+** entries in the volume table to 10. I also changed the #define in the os_filesys.h
+** file for the number of entries to match.
+** 
+** This update also includes adding the prototype for OS_initfs in os_filesys.h
+** Revision 1.6 2006/09/26 09:03:46GMT-05:00 njyanchik 
+** Contains the initial import of the ES Shell commands interface
+** Revision 1.5 2006/07/25 15:37:52EDT njyanchik 
+** It turns out the both the FS app and the OSAL were incorrect where file descriptors are
+** concerned. the file descriptors should be int32 across the board.
+** Revision 1.4 2006/01/20 11:56:18EST njyanchik 
+** Fixed header file information to match api document
+** Revision 1.26  2005/07/12 17:13:56  nyanchik
+** Moved the Volume table to a bsp table in the arch directories.
+**
+** Revision 1.2 2005/07/11 16:26:57EDT apcudmore 
+** OSAPI 2.0 integration
+** Revision 1.25  2005/07/06 16:11:17  nyanchik
+** *** empty log message ***
+**
+** Revision 1.24  2005/07/05 18:34:55  nyanchik
+** fixed issues found in code walkthrogh. Also removed the OS_Info* functions that are going in the BSP
+**
+** Revision 1.23  2005/06/17 19:46:34  nyanchik
+** added new file system style to linux and rtems.
+**
+** Revision 1.22  2005/06/15 16:43:48  nyanchik
+** added extra parenthesis for the .h file # defines
+**
+** Revision 1.21  2005/06/06 14:17:42  nyanchik
+** added headers to osapi-os-core.h and osapi-os-filesys.h
+**
+** Revision 1.20  2005/06/02 18:04:24  nyanchik
+** *** empty log message ***
+**
+** Revision 1.1  2005/03/15 18:26:32  nyanchik
+** *** empty log message ***
+**
+**
+** Date Written:
+**
+**    
+*/
+
+#ifndef _osapi_filesys_
+#define _osapi_filesys_
+#include <stdio.h>
+#include <stdlib.h>
+#include <dirent.h>
+#include <sys/stat.h>
+
+#define OS_READ_ONLY        0
+#define OS_WRITE_ONLY       1
+#define OS_READ_WRITE       2
+
+#define OS_SEEK_SET         0
+#define OS_SEEK_CUR         1
+#define OS_SEEK_END         2
+
+#define OS_CHK_ONLY         0
+#define OS_REPAIR           1
+
+#define FS_BASED            0
+#define RAM_DISK            1
+#define EEPROM_DISK         2
+#define ATA_DISK            3
+
+
+/*
+** Number of entries in the internal volume table
+*/
+#define NUM_TABLE_ENTRIES 14
+
+/*
+** Length of a Device and Volume name 
+*/
+#define OS_FS_DEV_NAME_LEN  32
+#define OS_FS_PHYS_NAME_LEN 64
+#define OS_FS_VOL_NAME_LEN  32
+
+
+/*
+** Defines for File System Calls
+*/
+#define OS_FS_SUCCESS                    0
+#define OS_FS_ERROR                    (-1)
+#define OS_FS_ERR_INVALID_POINTER      (-2) 
+#define OS_FS_ERR_PATH_TOO_LONG        (-3)
+#define OS_FS_ERR_NAME_TOO_LONG        (-4)
+#define OS_FS_UNIMPLEMENTED            (-5) 
+#define OS_FS_ERR_DRIVE_NOT_CREATED    (-6)
+#define OS_FS_ERR_DEVICE_NOT_FREE      (-7)
+#define OS_FS_ERR_PATH_INVALID         (-8)
+#define OS_FS_ERR_NO_FREE_FDS          (-9)
+#define OS_FS_ERR_INVALID_FD           (-10)
+
+/* This typedef is for the OS_FS_GetErrorName function, to ensure
+ * everyone is making an array of the same length */
+
+typedef char os_fs_err_name_t[35];
+
+
+/*
+** Internal structure of the OS volume table for 
+** mounted file systems and path translation
+*/
+typedef struct
+{
+    char   DeviceName [OS_FS_DEV_NAME_LEN];
+    char   PhysDevName [OS_FS_PHYS_NAME_LEN];
+    uint32 VolumeType;
+    uint8  VolatileFlag;
+    uint8  FreeFlag;
+    uint8  IsMounted;
+    char   VolumeName [OS_FS_VOL_NAME_LEN];
+    char   MountPoint [OS_MAX_PATH_LEN];
+    uint32 BlockSize;
+
+}OS_VolumeInfo_t;
+
+typedef struct
+{
+    int32   OSfd;                   /* The underlying OS's file descriptor */
+    char    Path[OS_MAX_PATH_LEN];  /* The path of the file opened */
+    uint32   User;                  /* The task id of the task who opened the file*/
+    uint8   IsValid;                /* Whether or not this entry is valid */
+}OS_FDTableEntry;
+
+typedef struct
+{
+   uint32   MaxFds;                /* Total number of file descriptors */
+   uint32   FreeFds;               /* Total number that are free */
+   uint32   MaxVolumes;            /* Maximum number of volumes */
+   uint32   FreeVolumes;           /* Total number of volumes free */
+} os_fsinfo_t; 
+
+/* modified to posix calls, since all of the 
+ * applicable OSes use the posix calls */
+
+typedef struct stat         os_fstat_t;