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diff --git a/lib/chibios/os/hal/osal/rt-nil/osal.h b/lib/chibios/os/hal/osal/rt-nil/osal.h
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--- /dev/null
+++ b/lib/chibios/os/hal/osal/rt-nil/osal.h
@@ -0,0 +1,1092 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    osal.h
+ * @brief   OSAL module header.
+ *
+ * @addtogroup OSAL
+ * @{
+ */
+
+#ifndef OSAL_H
+#define OSAL_H
+
+#include <stddef.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "ch.h"
+
+/*===========================================================================*/
+/* Module constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Common constants
+ * @{
+ */
+#if !defined(FALSE) || defined(__DOXYGEN__)
+#define FALSE                               0
+#endif
+
+#if !defined(TRUE) || defined(__DOXYGEN__)
+#define TRUE                                1
+#endif
+
+#define OSAL_SUCCESS                        false
+#define OSAL_FAILED                         true
+/** @} */
+
+#if 0
+/**
+ * @name    Messages
+ * @{
+ */
+#define MSG_OK                              (msg_t)0
+#define MSG_TIMEOUT                         (msg_t)-1
+#define MSG_RESET                           (msg_t)-2
+/** @} */
+#endif
+
+#if 0
+/**
+ * @name    Special time constants
+ * @{
+ */
+#define TIME_IMMEDIATE                      ((sysinterval_t)0)
+#define TIME_INFINITE                       ((sysinterval_t)-1)
+/** @} */
+#endif
+
+/**
+ * @name    Systick modes.
+ * @{
+ */
+#define OSAL_ST_MODE_NONE                   0
+#define OSAL_ST_MODE_PERIODIC               1
+#define OSAL_ST_MODE_FREERUNNING            2
+/** @} */
+
+/**
+ * @name    Systick parameters.
+ * @{
+ */
+/**
+ * @brief   Size in bits of the @p systick_t type.
+ */
+#define OSAL_ST_RESOLUTION                  CH_CFG_ST_RESOLUTION
+
+/**
+ * @brief   Required systick frequency or resolution.
+ */
+#define OSAL_ST_FREQUENCY                   CH_CFG_ST_FREQUENCY
+
+/**
+ * @brief   Systick mode required by the underlying OS.
+ */
+#if (CH_CFG_ST_TIMEDELTA == 0) || defined(__DOXYGEN__)
+#define OSAL_ST_MODE                        OSAL_ST_MODE_PERIODIC
+#else
+#define OSAL_ST_MODE                        OSAL_ST_MODE_FREERUNNING
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Module pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if !(OSAL_ST_MODE == OSAL_ST_MODE_NONE) &&                                 \
+    !(OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) &&                             \
+    !(OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING)
+#error "invalid OSAL_ST_MODE setting in osal.h"
+#endif
+
+#if (OSAL_ST_RESOLUTION != 16) && (OSAL_ST_RESOLUTION != 32) &&             \
+    (OSAL_ST_RESOLUTION != 64)
+#error "invalid OSAL_ST_RESOLUTION, must be 16, 32 or 64"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types.                                         */
+/*===========================================================================*/
+
+#if 0
+/**
+ * @brief   Type of a system status word.
+ */
+typedef uint32_t syssts_t;
+#endif
+
+#if 0
+/**
+ * @brief   Type of a message.
+ */
+typedef int32_t msg_t;
+#endif
+
+#if 0
+/**
+ * @brief   Type of system time counter.
+ */
+typedef uint32_t systime_t;
+#endif
+
+#if 0
+/**
+ * @brief   Type of system time interval.
+ */
+typedef uint32_t sysinterval_t;
+#endif
+
+#if 0
+/**
+ * @brief   Type of time conversion variable.
+ * @note    This type must have double width than other time types, it is
+ *          only used internally for conversions.
+ */
+typedef uint64_t time_conv_t;
+#endif
+
+#if 0
+/**
+ * @brief   Type of realtime counter.
+ */
+typedef uint32_t rtcnt_t;
+#endif
+
+#if 0
+/**
+ * @brief   Type of a thread reference.
+ */
+typedef thread_t * thread_reference_t;
+#endif
+
+#if 0
+/**
+ * @brief   Type of an event flags mask.
+ */
+typedef uint32_t eventflags_t;
+#endif
+
+#if (CH_CFG_USE_EVENTS == FALSE) || defined(__DOXYGEN__)
+/**
+ * @brief   Type of an event flags object.
+ * @note    The content of this structure is not part of the API and should
+ *          not be relied upon. Implementers may define this structure in
+ *          an entirely different way.
+ * @note    Retrieval and clearing of the flags are not defined in this
+ *          API and are implementation-dependent.
+ */
+typedef struct event_source event_source_t;
+
+/**
+ * @brief   Type of an event source callback.
+ * @note    This type is not part of the OSAL API and is provided
+ *          exclusively as an example and for convenience.
+ */
+typedef void (*eventcallback_t)(event_source_t *esp);
+
+/**
+ * @brief   Events source object.
+ * @note    The content of this structure is not part of the API and should
+ *          not be relied upon. Implementers may define this structure in
+ *          an entirely different way.
+ * @note    Retrieval and clearing of the flags are not defined in this
+ *          API and are implementation-dependent.
+ */
+struct event_source {
+  volatile eventflags_t flags;      /**< @brief Stored event flags.         */
+  eventcallback_t       cb;         /**< @brief Event source callback.      */
+  void                  *param;     /**< @brief User defined field.         */
+};
+#endif /* CH_CFG_USE_EVENTS == FALSE */
+
+/**
+ * @brief   Type of a mutex.
+ * @note    If the OS does not support mutexes or there is no OS then the
+ *          mechanism can be simulated.
+ */
+#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)
+#elif CH_CFG_USE_SEMAPHORES
+typedef semaphore_t mutex_t;
+#else
+typedef uint32_t mutex_t;
+#endif
+
+#if 0
+/**
+ * @brief   Type of a thread queue.
+ * @details A thread queue is a queue of sleeping threads, queued threads
+ *          can be dequeued one at time or all together.
+ * @note    In this implementation it is implemented as a single reference
+ *          because there are no real threads.
+ */
+typedef struct {
+  thread_reference_t    tr;
+} threads_queue_t;
+#endif
+
+/*===========================================================================*/
+/* Module macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @name    Debug related macros
+ * @{
+ */
+/**
+ * @brief   Condition assertion.
+ * @details If the condition check fails then the OSAL panics with a
+ *          message and halts.
+ * @note    The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS
+ *          switch is enabled.
+ * @note    The remark string is not currently used except for putting a
+ *          comment in the code about the assertion.
+ *
+ * @param[in] c         the condition to be verified to be true
+ * @param[in] remark    a remark string
+ *
+ * @api
+ */
+#define osalDbgAssert(c, remark) chDbgAssert(c, remark)
+
+/**
+ * @brief   Function parameters check.
+ * @details If the condition check fails then the OSAL panics and halts.
+ * @note    The condition is tested only if the @p OSAL_ENABLE_CHECKS switch
+ *          is enabled.
+ *
+ * @param[in] c         the condition to be verified to be true
+ *
+ * @api
+ */
+#define osalDbgCheck(c) chDbgCheck(c)
+
+/**
+ * @brief   I-Class state check.
+ * @note    Not implemented in this simplified OSAL.
+ */
+#define osalDbgCheckClassI() chDbgCheckClassI()
+
+/**
+ * @brief   S-Class state check.
+ * @note    Not implemented in this simplified OSAL.
+ */
+#define osalDbgCheckClassS() chDbgCheckClassS()
+/** @} */
+
+/**
+ * @name    IRQ service routines wrappers
+ * @{
+ */
+/**
+ * @brief   Priority level verification macro.
+ */
+#define OSAL_IRQ_IS_VALID_PRIORITY(n) CH_IRQ_IS_VALID_KERNEL_PRIORITY(n)
+
+/**
+ * @brief   IRQ prologue code.
+ * @details This macro must be inserted at the start of all IRQ handlers.
+ */
+#define OSAL_IRQ_PROLOGUE() CH_IRQ_PROLOGUE()
+
+/**
+ * @brief   IRQ epilogue code.
+ * @details This macro must be inserted at the end of all IRQ handlers.
+ */
+#define OSAL_IRQ_EPILOGUE() CH_IRQ_EPILOGUE()
+
+/**
+ * @brief   IRQ handler function declaration.
+ * @details This macro hides the details of an ISR function declaration.
+ *
+ * @param[in] id        a vector name as defined in @p vectors.s
+ */
+#define OSAL_IRQ_HANDLER(id) CH_IRQ_HANDLER(id)
+/** @} */
+
+/**
+ * @name    Time conversion utilities
+ * @{
+ */
+/**
+ * @brief   Seconds to time interval.
+ * @details Converts from seconds to system ticks number.
+ * @note    The result is rounded upward to the next tick boundary.
+ * @note    Use of this macro for large values is not secure because
+ *          integer overflows, make sure your value can be correctly
+ *          converted.
+ *
+ * @param[in] secs      number of seconds
+ * @return              The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_S2I(secs) TIME_S2I(secs)
+
+/**
+ * @brief   Milliseconds to time interval.
+ * @details Converts from milliseconds to system ticks number.
+ * @note    The result is rounded upward to the next tick boundary.
+ * @note    Use of this macro for large values is not secure because
+ *          integer overflows, make sure your value can be correctly
+ *          converted.
+ *
+ * @param[in] msecs     number of milliseconds
+ * @return              The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_MS2I(msecs) TIME_MS2I(msecs)
+
+/**
+ * @brief   Microseconds to time interval.
+ * @details Converts from microseconds to system ticks number.
+ * @note    The result is rounded upward to the next tick boundary.
+ * @note    Use of this macro for large values is not secure because
+ *          integer overflows, make sure your value can be correctly
+ *          converted.
+ *
+ * @param[in] usecs     number of microseconds
+ * @return              The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_US2I(usecs) TIME_US2I(usecs)
+
+/**
+ * @brief   Time interval to seconds.
+ * @details Converts from system ticks number to seconds.
+ * @note    The result is rounded up to the next second boundary.
+ * @note    Use of this macro for large values is not secure because
+ *          integer overflows, make sure your value can be correctly
+ *          converted.
+ *
+ * @param[in] interval  interval in ticks
+ * @return              The number of seconds.
+ *
+ * @api
+ */
+#define OSAL_I2S(interval) TIME_I2S(interval)
+
+/**
+ * @brief   Time interval to milliseconds.
+ * @details Converts from system ticks number to milliseconds.
+ * @note    The result is rounded up to the next millisecond boundary.
+ * @note    Use of this macro for large values is not secure because
+ *          integer overflows, make sure your value can be correctly
+ *          converted.
+ *
+ * @param[in] interval  interval in ticks
+ * @return              The number of milliseconds.
+ *
+ * @api
+ */
+#define OSAL_I2MS(interval) TIME_I2MS(interval)
+
+/**
+ * @brief   Time interval to microseconds.
+ * @details Converts from system ticks number to microseconds.
+ * @note    The result is rounded up to the next microsecond boundary.
+ * @note    Use of this macro for large values is not secure because
+ *          integer overflows, make sure your value can be correctly
+ *          converted.
+ *
+ * @param[in] interval  interval in ticks
+ * @return              The number of microseconds.
+ *
+ * @api
+ */
+#define OSAL_I2US(interval) TIME_I2US(interval)
+/** @} */
+
+/**
+ * @name    Time conversion utilities for the realtime counter
+ * @{
+ */
+/**
+ * @brief   Seconds to realtime counter.
+ * @details Converts from seconds to realtime counter cycles.
+ * @note    The macro assumes that @p freq >= @p 1.
+ *
+ * @param[in] freq      clock frequency, in Hz, of the realtime counter
+ * @param[in] sec       number of seconds
+ * @return              The number of cycles.
+ *
+ * @api
+ */
+#define OSAL_S2RTC(freq, sec) S2RTC(freq, sec)
+
+/**
+ * @brief   Milliseconds to realtime counter.
+ * @details Converts from milliseconds to realtime counter cycles.
+ * @note    The result is rounded upward to the next millisecond boundary.
+ * @note    The macro assumes that @p freq >= @p 1000.
+ *
+ * @param[in] freq      clock frequency, in Hz, of the realtime counter
+ * @param[in] msec      number of milliseconds
+ * @return              The number of cycles.
+ *
+ * @api
+ */
+#define OSAL_MS2RTC(freq, msec) MS2RTC(freq, msec)
+
+/**
+ * @brief   Microseconds to realtime counter.
+ * @details Converts from microseconds to realtime counter cycles.
+ * @note    The result is rounded upward to the next microsecond boundary.
+ * @note    The macro assumes that @p freq >= @p 1000000.
+ *
+ * @param[in] freq      clock frequency, in Hz, of the realtime counter
+ * @param[in] usec      number of microseconds
+ * @return              The number of cycles.
+ *
+ * @api
+ */
+#define OSAL_US2RTC(freq, usec) US2RTC(freq, usec)
+/** @} */
+
+/**
+ * @name    Sleep macros using absolute time
+ * @{
+ */
+/**
+ * @brief   Delays the invoking thread for the specified number of seconds.
+ * @note    The specified time is rounded up to a value allowed by the real
+ *          system tick clock.
+ * @note    The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] secs      time in seconds, must be different from zero
+ *
+ * @api
+ */
+#define osalThreadSleepSeconds(secs) osalThreadSleep(OSAL_S2I(secs))
+
+/**
+ * @brief   Delays the invoking thread for the specified number of
+ *          milliseconds.
+ * @note    The specified time is rounded up to a value allowed by the real
+ *          system tick clock.
+ * @note    The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] msecs     time in milliseconds, must be different from zero
+ *
+ * @api
+ */
+#define osalThreadSleepMilliseconds(msecs) osalThreadSleep(OSAL_MS2I(msecs))
+
+/**
+ * @brief   Delays the invoking thread for the specified number of
+ *          microseconds.
+ * @note    The specified time is rounded up to a value allowed by the real
+ *          system tick clock.
+ * @note    The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] usecs     time in microseconds, must be different from zero
+ *
+ * @api
+ */
+#define osalThreadSleepMicroseconds(usecs) osalThreadSleep(OSAL_US2I(usecs))
+/** @} */
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions.                                                  */
+/*===========================================================================*/
+
+/**
+ * @brief   OSAL module initialization.
+ *
+ * @api
+ */
+static inline void osalInit(void) {
+
+}
+
+/**
+ * @brief   System halt with error message.
+ *
+ * @param[in] reason    the halt message pointer
+ *
+ * @api
+ */
+static inline void osalSysHalt(const char *reason) {
+
+  chSysHalt(reason);
+}
+
+/**
+ * @brief   Disables interrupts globally.
+ *
+ * @special
+ */
+static inline void osalSysDisable(void) {
+
+  chSysDisable();
+}
+
+/**
+ * @brief   Enables interrupts globally.
+ *
+ * @special
+ */
+static inline void osalSysEnable(void) {
+
+  chSysEnable();
+}
+
+/**
+ * @brief   Enters a critical zone from thread context.
+ * @note    This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysLock(void) {
+
+  chSysLock();
+}
+
+/**
+ * @brief   Leaves a critical zone from thread context.
+ * @note    This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysUnlock(void) {
+
+  chSysUnlock();
+}
+
+/**
+ * @brief   Enters a critical zone from ISR context.
+ * @note    This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysLockFromISR(void) {
+
+  chSysLockFromISR();
+}
+
+/**
+ * @brief   Leaves a critical zone from ISR context.
+ * @note    This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysUnlockFromISR(void) {
+
+  chSysUnlockFromISR();
+}
+
+/**
+ * @brief   Returns the execution status and enters a critical zone.
+ * @details This functions enters into a critical zone and can be called
+ *          from any context. Because its flexibility it is less efficient
+ *          than @p chSysLock() which is preferable when the calling context
+ *          is known.
+ * @post    The system is in a critical zone.
+ *
+ * @return              The previous system status, the encoding of this
+ *                      status word is architecture-dependent and opaque.
+ *
+ * @xclass
+ */
+static inline syssts_t osalSysGetStatusAndLockX(void) {
+
+  return chSysGetStatusAndLockX();
+}
+
+/**
+ * @brief   Restores the specified execution status and leaves a critical zone.
+ * @note    A call to @p chSchRescheduleS() is automatically performed
+ *          if exiting the critical zone and if not in ISR context.
+ *
+ * @param[in] sts       the system status to be restored.
+ *
+ * @xclass
+ */
+static inline void osalSysRestoreStatusX(syssts_t sts) {
+
+  chSysRestoreStatusX(sts);
+}
+
+/**
+ * @brief   Polled delay.
+ * @note    The real delay is always few cycles in excess of the specified
+ *          value.
+ *
+ * @param[in] cycles    number of cycles
+ *
+ * @xclass
+ */
+#if (PORT_SUPPORTS_RT == TRUE) || defined(__DOXYGEN__)
+static inline void osalSysPolledDelayX(rtcnt_t cycles) {
+
+  chSysPolledDelayX(cycles);
+}
+#endif
+
+/**
+ * @brief   Systick callback for the underlying OS.
+ * @note    This callback is only defined if the OSAL requires such a
+ *          service from the HAL.
+ */
+#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
+static inline void osalOsTimerHandlerI(void) {
+
+  chSysTimerHandlerI();
+}
+#endif
+
+/**
+ * @brief   Checks if a reschedule is required and performs it.
+ * @note    I-Class functions invoked from thread context must not reschedule
+ *          by themselves, an explicit reschedule using this function is
+ *          required in this scenario.
+ * @note    Not implemented in this simplified OSAL.
+ *
+ * @sclass
+ */
+static inline void osalOsRescheduleS(void) {
+
+  chSchRescheduleS();
+}
+
+/**
+ * @brief   Current system time.
+ * @details Returns the number of system ticks since the @p osalInit()
+ *          invocation.
+ * @note    The counter can reach its maximum and then restart from zero.
+ * @note    This function can be called from any context but its atomicity
+ *          is not guaranteed on architectures whose word size is less than
+ *          @p systime_t size.
+ *
+ * @return              The system time in ticks.
+ *
+ * @xclass
+ */
+static inline systime_t osalOsGetSystemTimeX(void) {
+
+  return chVTGetSystemTimeX();
+}
+
+/**
+ * @brief   Adds an interval to a system time returning a system time.
+ *
+ * @param[in] systime   base system time
+ * @param[in] interval  interval to be added
+ * @return              The new system time.
+ *
+ * @xclass
+ */
+static inline systime_t osalTimeAddX(systime_t systime,
+                                     sysinterval_t interval) {
+
+  return chTimeAddX(systime, interval);
+}
+
+/**
+ * @brief   Subtracts two system times returning an interval.
+ *
+ * @param[in] start     first system time
+ * @param[in] end       second system time
+ * @return              The interval representing the time difference.
+ *
+ * @xclass
+ */
+static inline sysinterval_t osalTimeDiffX(systime_t start, systime_t end) {
+
+  return chTimeDiffX(start, end);
+}
+
+/**
+ * @brief   Checks if the specified time is within the specified time window.
+ * @note    When start==end then the function returns always true because the
+ *          whole time range is specified.
+ * @note    This function can be called from any context.
+ *
+ * @param[in] time      the time to be verified
+ * @param[in] start     the start of the time window (inclusive)
+ * @param[in] end       the end of the time window (non inclusive)
+ * @retval true         current time within the specified time window.
+ * @retval false        current time not within the specified time window.
+ *
+ * @xclass
+ */
+static inline bool osalTimeIsInRangeX(systime_t time,
+                                      systime_t start,
+                                      systime_t end) {
+
+  return chTimeIsInRangeX(time, start, end);
+}
+
+/**
+ * @brief   Suspends the invoking thread for the specified time.
+ *
+ * @param[in] delay     the delay in system ticks, the special values are
+ *                      handled as follow:
+ *                      - @a TIME_INFINITE is allowed but interpreted as a
+ *                        normal time specification.
+ *                      - @a TIME_IMMEDIATE this value is not allowed.
+ *                      .
+ *
+ * @sclass
+ */
+static inline void osalThreadSleepS(sysinterval_t delay) {
+
+  chThdSleepS(delay);
+}
+
+/**
+ * @brief   Suspends the invoking thread for the specified time.
+ *
+ * @param[in] delay     the delay in system ticks, the special values are
+ *                      handled as follow:
+ *                      - @a TIME_INFINITE is allowed but interpreted as a
+ *                        normal time specification.
+ *                      - @a TIME_IMMEDIATE this value is not allowed.
+ *                      .
+ *
+ * @api
+ */
+static inline void osalThreadSleep(sysinterval_t delay) {
+
+  chThdSleep(delay);
+}
+
+/**
+ * @brief   Sends the current thread sleeping and sets a reference variable.
+ * @note    This function must reschedule, it can only be called from thread
+ *          context.
+ *
+ * @param[in] trp       a pointer to a thread reference object
+ * @return              The wake up message.
+ *
+ * @sclass
+ */
+static inline msg_t osalThreadSuspendS(thread_reference_t *trp) {
+
+  return chThdSuspendTimeoutS(trp, TIME_INFINITE);
+}
+
+/**
+ * @brief   Sends the current thread sleeping and sets a reference variable.
+ * @note    This function must reschedule, it can only be called from thread
+ *          context.
+ *
+ * @param[in] trp       a pointer to a thread reference object
+ * @param[in] timeout   the timeout in system ticks, the special values are
+ *                      handled as follow:
+ *                      - @a TIME_INFINITE the thread enters an infinite sleep
+ *                        state.
+ *                      - @a TIME_IMMEDIATE the thread is not enqueued and
+ *                        the function returns @p MSG_TIMEOUT as if a timeout
+ *                        occurred.
+ *                      .
+ * @return              The wake up message.
+ * @retval MSG_TIMEOUT  if the operation timed out.
+ *
+ * @sclass
+ */
+static inline msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp,
+                                              sysinterval_t timeout) {
+
+  return chThdSuspendTimeoutS(trp, timeout);
+}
+
+/**
+ * @brief   Wakes up a thread waiting on a thread reference object.
+ * @note    This function must not reschedule because it can be called from
+ *          ISR context.
+ *
+ * @param[in] trp       a pointer to a thread reference object
+ * @param[in] msg       the message code
+ *
+ * @iclass
+ */
+static inline void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
+
+  chThdResumeI(trp, msg);
+}
+
+/**
+ * @brief   Wakes up a thread waiting on a thread reference object.
+ * @note    This function must reschedule, it can only be called from thread
+ *          context.
+ *
+ * @param[in] trp       a pointer to a thread reference object
+ * @param[in] msg       the message code
+ *
+ * @iclass
+ */
+static inline void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
+
+  chThdResumeS(trp, msg);
+}
+
+/**
+ * @brief   Initializes a threads queue object.
+ *
+ * @param[out] tqp      pointer to the threads queue object
+ *
+ * @init
+ */
+static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) {
+
+  chThdQueueObjectInit(tqp);
+}
+
+/**
+ * @brief   Enqueues the caller thread.
+ * @details The caller thread is enqueued and put to sleep until it is
+ *          dequeued or the specified timeouts expires.
+ *
+ * @param[in] tqp       pointer to the threads queue object
+ * @param[in] timeout   the timeout in system ticks, the special values are
+ *                      handled as follow:
+ *                      - @a TIME_INFINITE the thread enters an infinite sleep
+ *                        state.
+ *                      - @a TIME_IMMEDIATE the thread is not enqueued and
+ *                        the function returns @p MSG_TIMEOUT as if a timeout
+ *                        occurred.
+ *                      .
+ * @return              The message from @p osalQueueWakeupOneI() or
+ *                      @p osalQueueWakeupAllI() functions.
+ * @retval MSG_TIMEOUT  if the thread has not been dequeued within the
+ *                      specified timeout or if the function has been
+ *                      invoked with @p TIME_IMMEDIATE as timeout
+ *                      specification.
+ *
+ * @sclass
+ */
+static inline msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp,
+                                              sysinterval_t timeout) {
+
+  return chThdEnqueueTimeoutS(tqp, timeout);
+}
+
+/**
+ * @brief   Dequeues and wakes up one thread from the queue, if any.
+ *
+ * @param[in] tqp       pointer to the threads queue object
+ * @param[in] msg       the message code
+ *
+ * @iclass
+ */
+static inline void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) {
+
+  chThdDequeueNextI(tqp, msg);
+}
+
+/**
+ * @brief   Dequeues and wakes up all threads from the queue.
+ *
+ * @param[in] tqp       pointer to the threads queue object
+ * @param[in] msg       the message code
+ *
+ * @iclass
+ */
+static inline void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) {
+
+  chThdDequeueAllI(tqp, msg);
+}
+
+#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief   Initializes an event source object.
+ *
+ * @param[out] esp      pointer to the event source object
+ *
+ * @init
+ */
+static inline void osalEventObjectInit(event_source_t *esp) {
+
+  chEvtObjectInit(esp);
+}
+#else
+static inline void osalEventObjectInit(event_source_t *esp) {
+
+  osalDbgCheck(esp != NULL);
+
+  esp->flags = (eventflags_t)0;
+  esp->cb    = NULL;
+  esp->param = NULL;
+}
+#endif
+
+#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief   Add flags to an event source object.
+ *
+ * @param[in] esp       pointer to the event flags object
+ * @param[in] flags     flags to be ORed to the flags mask
+ *
+ * @iclass
+ */
+static inline void osalEventBroadcastFlagsI(event_source_t *esp,
+                                            eventflags_t flags) {
+
+  chEvtBroadcastFlagsI(esp, flags);
+}
+#else
+static inline void osalEventBroadcastFlagsI(event_source_t *esp,
+                                            eventflags_t flags) {
+
+  osalDbgCheck(esp != NULL);
+
+  esp->flags |= flags;
+  if (esp->cb != NULL) {
+    esp->cb(esp);
+  }
+}
+#endif
+
+#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief   Add flags to an event source object.
+ *
+ * @param[in] esp       pointer to the event flags object
+ * @param[in] flags     flags to be ORed to the flags mask
+ *
+ * @iclass
+ */
+static inline void osalEventBroadcastFlags(event_source_t *esp,
+                                           eventflags_t flags) {
+
+  chEvtBroadcastFlags(esp, flags);
+}
+#else
+static inline void osalEventBroadcastFlags(event_source_t *esp,
+                                           eventflags_t flags) {
+
+  osalDbgCheck(esp != NULL);
+
+  osalSysLock();
+  esp->flags |= flags;
+  if (esp->cb != NULL) {
+    esp->cb(esp);
+  }
+  osalSysUnlock();
+}
+#endif
+
+#if (CH_CFG_USE_EVENTS == FALSE) || defined(__DOXYGEN__)
+/**
+ * @brief   Event callback setup.
+ * @note    The callback is invoked from ISR context and can
+ *          only invoke I-Class functions. The callback is meant
+ *          to wakeup the task that will handle the event by
+ *          calling @p osalEventGetAndClearFlagsI().
+ *
+ * @param[in] esp       pointer to the event flags object
+ * @param[in] cb        pointer to the callback function
+ * @param[in] param     parameter to be passed to the callback function
+ *
+ * @api
+ */
+static inline void osalEventSetCallback(event_source_t *esp,
+                                        eventcallback_t cb,
+                                        void *param) {
+
+  osalDbgCheck(esp != NULL);
+
+  esp->cb    = cb;
+  esp->param = param;
+}
+#endif
+
+/**
+ * @brief   Initializes s @p mutex_t object.
+ *
+ * @param[out] mp       pointer to the @p mutex_t object
+ *
+ * @init
+ */
+static inline void osalMutexObjectInit(mutex_t *mp) {
+
+#if CH_CFG_USE_MUTEXES
+  chMtxObjectInit(mp);
+#elif CH_CFG_USE_SEMAPHORES
+  chSemObjectInit((semaphore_t *)mp, 1);
+#else
+ *mp = 0;
+#endif
+}
+
+/**
+ * @brief   Locks the specified mutex.
+ * @post    The mutex is locked and inserted in the per-thread stack of owned
+ *          mutexes.
+ *
+ * @param[in,out] mp    pointer to the @p mutex_t object
+ *
+ * @api
+ */
+static inline void osalMutexLock(mutex_t *mp) {
+
+#if CH_CFG_USE_MUTEXES
+  chMtxLock(mp);
+#elif CH_CFG_USE_SEMAPHORES
+  chSemWait((semaphore_t *)mp);
+#else
+  *mp = 1;
+#endif
+}
+
+/**
+ * @brief   Unlocks the specified mutex.
+ * @note    The HAL guarantees to release mutex in reverse lock order. The
+ *          mutex being unlocked is guaranteed to be the last locked mutex
+ *          by the invoking thread.
+ *          The implementation can rely on this behavior and eventually
+ *          ignore the @p mp parameter which is supplied in order to support
+ *          those OSes not supporting a stack of the owned mutexes.
+ *
+ * @param[in,out] mp    pointer to the @p mutex_t object
+ *
+ * @api
+ */
+static inline void osalMutexUnlock(mutex_t *mp) {
+
+#if CH_CFG_USE_MUTEXES
+  chMtxUnlock(mp);
+#elif CH_CFG_USE_SEMAPHORES
+  chSemSignal((semaphore_t *)mp);
+#else
+  *mp = 0;
+#endif
+}
+
+#endif /* OSAL_H */
+
+/** @} */