diff --git a/os/various/cpp_wrappers/ch.cpp b/os/various/cpp_wrappers/ch.cpp
index d7b54bfb3..500db278d 100644
--- a/os/various/cpp_wrappers/ch.cpp
+++ b/os/various/cpp_wrappers/ch.cpp
@@ -45,22 +45,22 @@ namespace chibios_rt {
void System::lockFromIsr(void) {
- chSysLockFromIsr();
+ chSysLockFromISR();
}
void System::unlockFromIsr(void) {
- chSysUnlockFromIsr();
+ chSysUnlockFromISR();
}
systime_t System::getTime(void) {
- return chTimeNow();
+ return chVTGetSystemTimeX();
}
bool System::isTimeWithin(systime_t start, systime_t end) {
- return (bool)chTimeIsWithin(start, end);
+ return chVTIsSystemTimeWithinX(start, end);
}
/*------------------------------------------------------------------------*
@@ -97,7 +97,7 @@ namespace chibios_rt {
bool Timer::isArmedI(void) {
- return (bool)chVTIsArmedI(&timer_ref);
+ return chVTIsArmedI(&timer_ref);
}
/*------------------------------------------------------------------------*
@@ -106,7 +106,7 @@ namespace chibios_rt {
void ThreadReference::stop(void) {
- chDbgPanic("invoked unimplemented method stop()");
+ chSysHalt("invoked unimplemented method stop()");
}
msg_t ThreadReference::suspend(void) {
@@ -115,11 +115,10 @@ namespace chibios_rt {
chSysLock();
chDbgAssert(thread_ref != NULL,
- "ThreadReference, #1",
"already referenced");
- thread_ref = chThdSelf();
- chSchGoSleepS(THD_STATE_SUSPENDED);
+ thread_ref = chThdGetSelfX();
+ chSchGoSleepS(CH_STATE_SUSPENDED);
msg = thread_ref->p_u.rdymsg;
chSysUnlock();
@@ -129,24 +128,22 @@ namespace chibios_rt {
msg_t ThreadReference::suspendS(void) {
chDbgAssert(thread_ref == NULL,
- "ThreadReference, #2",
"already referenced");
- thread_ref = chThdSelf();
- chSchGoSleepS(THD_STATE_SUSPENDED);
+ thread_ref = chThdGetSelfX();
+ chSchGoSleepS(CH_STATE_SUSPENDED);
return thread_ref->p_u.rdymsg;
}
void ThreadReference::resume(msg_t msg) {
- chSysLock()
+ chSysLock();
chDbgAssert(thread_ref != NULL,
- "ThreadReference, #3",
"not referenced");
if (thread_ref) {
- Thread *tp = thread_ref;
+ thread_t *tp = thread_ref;
thread_ref = NULL;
chSchWakeupS(tp, msg);
}
@@ -157,11 +154,10 @@ namespace chibios_rt {
void ThreadReference::resumeI(msg_t msg) {
chDbgAssert(thread_ref != NULL,
- "ThreadReference, #4",
"not referenced");
if (thread_ref) {
- Thread *tp = thread_ref;
+ thread_t *tp = thread_ref;
thread_ref = NULL;
tp->p_msg = msg;
chSchReadyI(tp);
@@ -171,30 +167,27 @@ namespace chibios_rt {
void ThreadReference::requestTerminate(void) {
chDbgAssert(thread_ref != NULL,
- "ThreadReference, #5",
"not referenced");
chThdTerminate(thread_ref);
}
-#if CH_USE_WAITEXIT
+#if CH_CFG_USE_WAITEXIT
msg_t ThreadReference::wait(void) {
chDbgAssert(thread_ref != NULL,
- "ThreadReference, #6",
"not referenced");
msg_t msg = chThdWait(thread_ref);
thread_ref = NULL;
return msg;
}
-#endif /* CH_USE_WAITEXIT */
+#endif /* CH_CFG_USE_WAITEXIT */
-#if CH_USE_MESSAGES
+#if CH_CFG_USE_MESSAGES
msg_t ThreadReference::sendMessage(msg_t msg) {
chDbgAssert(thread_ref != NULL,
- "ThreadReference, #7",
"not referenced");
return chMsgSend(thread_ref, msg);
@@ -203,16 +196,14 @@ namespace chibios_rt {
bool ThreadReference::isPendingMessage(void) {
chDbgAssert(thread_ref != NULL,
- "ThreadReference, #7",
"not referenced");
- return (bool)chMsgIsPendingI(thread_ref);
+ return chMsgIsPendingI(thread_ref);
}
msg_t ThreadReference::getMessage(void) {
chDbgAssert(thread_ref != NULL,
- "ThreadReference, #8",
"not referenced");
return chMsgGet(thread_ref);
@@ -221,18 +212,16 @@ namespace chibios_rt {
void ThreadReference::releaseMessage(msg_t msg) {
chDbgAssert(thread_ref != NULL,
- "ThreadReference, #9",
"not referenced");
chMsgRelease(thread_ref, msg);
}
-#endif /* CH_USE_MESSAGES */
+#endif /* CH_CFG_USE_MESSAGES */
-#if CH_USE_EVENTS
+#if CH_CFG_USE_EVENTS
void ThreadReference::signalEvents(eventmask_t mask) {
chDbgAssert(thread_ref != NULL,
- "ThreadReference, #10",
"not referenced");
chEvtSignal(thread_ref, mask);
@@ -241,15 +230,14 @@ namespace chibios_rt {
void ThreadReference::signalEventsI(eventmask_t mask) {
chDbgAssert(thread_ref != NULL,
- "ThreadReference, #11",
"not referenced");
chEvtSignalI(thread_ref, mask);
}
-#endif /* CH_USE_EVENTS */
+#endif /* CH_CFG_USE_EVENTS */
-#if CH_USE_DYNAMIC
-#endif /* CH_USE_DYNAMIC */
+#if CH_CFG_USE_DYNAMIC
+#endif /* CH_CFG_USE_DYNAMIC */
/*------------------------------------------------------------------------*
* chibios_rt::BaseThread *
@@ -297,7 +285,7 @@ namespace chibios_rt {
bool BaseThread::shouldTerminate(void) {
- return (bool)chThdShouldTerminate();
+ return chThdShouldTerminateX();
}
void BaseThread::sleep(systime_t interval){
@@ -315,15 +303,15 @@ namespace chibios_rt {
chThdYield();
}
-#if CH_USE_MESSAGES
+#if CH_CFG_USE_MESSAGES
ThreadReference BaseThread::waitMessage(void) {
ThreadReference tr(chMsgWait());
return tr;
}
-#endif /* CH_USE_MESSAGES */
+#endif /* CH_CFG_USE_MESSAGES */
-#if CH_USE_EVENTS
+#if CH_CFG_USE_EVENTS
eventmask_t BaseThread::getAndClearEvents(eventmask_t mask) {
return chEvtGetAndClearEvents(mask);
@@ -349,7 +337,7 @@ namespace chibios_rt {
return chEvtWaitAll(ewmask);
}
-#if CH_USE_EVENTS_TIMEOUT
+#if CH_CFG_USE_EVENTS_TIMEOUT
eventmask_t BaseThread::waitOneEventTimeout(eventmask_t ewmask,
systime_t time) {
@@ -367,39 +355,39 @@ namespace chibios_rt {
return chEvtWaitAllTimeout(ewmask, time);
}
-#endif /* CH_USE_EVENTS_TIMEOUT */
+#endif /* CH_CFG_USE_EVENTS_TIMEOUT */
void BaseThread::dispatchEvents(const evhandler_t handlers[],
eventmask_t mask) {
chEvtDispatch(handlers, mask);
}
-#endif /* CH_USE_EVENTS */
+#endif /* CH_CFG_USE_EVENTS */
-#if CH_USE_MUTEXES
- void BaseThread::unlockMutex(void) {
+#if CH_CFG_USE_MUTEXES
+ void BaseThread::unlockMutex(Mutex *mp) {
- chMtxUnlock();
+ chMtxUnlock(&mp->mutex);
}
- void BaseThread::unlockMutexS(void) {
+ void BaseThread::unlockMutexS(Mutex *mp) {
- chMtxUnlockS();
+ chMtxUnlockS(&mp->mutex);
}
void BaseThread::unlockAllMutexes(void) {
chMtxUnlockAll();
}
-#endif /* CH_USE_MUTEXES */
+#endif /* CH_CFG_USE_MUTEXES */
-#if CH_USE_SEMAPHORES
+#if CH_CFG_USE_SEMAPHORES
/*------------------------------------------------------------------------*
* chibios_rt::CounterSemaphore *
*------------------------------------------------------------------------*/
CounterSemaphore::CounterSemaphore(cnt_t n) {
- chSemInit(&sem, n);
+ chSemObjectInit(&sem, n);
}
void CounterSemaphore::reset(cnt_t n) {
@@ -452,20 +440,18 @@ namespace chibios_rt {
return chSemGetCounterI(&sem);
}
-#if CH_USE_SEMSW
msg_t CounterSemaphore::signalWait(CounterSemaphore *ssem,
CounterSemaphore *wsem) {
return chSemSignalWait(&ssem->sem, &wsem->sem);
}
-#endif /* CH_USE_SEMSW */
/*------------------------------------------------------------------------*
* chibios_rt::BinarySemaphore *
*------------------------------------------------------------------------*/
BinarySemaphore::BinarySemaphore(bool taken) {
- chBSemInit(&bsem, (bool_t)taken);
+ chBSemObjectInit(&bsem, taken);
}
msg_t BinarySemaphore::wait(void) {
@@ -490,12 +476,12 @@ namespace chibios_rt {
void BinarySemaphore::reset(bool taken) {
- chBSemReset(&bsem, (bool_t)taken);
+ chBSemReset(&bsem, taken);
}
void BinarySemaphore::resetI(bool taken) {
- chBSemResetI(&bsem, (bool_t)taken);
+ chBSemResetI(&bsem, taken);
}
void BinarySemaphore::signal(void) {
@@ -512,15 +498,15 @@ namespace chibios_rt {
return (bool)chBSemGetStateI(&bsem);
}
-#endif /* CH_USE_SEMAPHORES */
+#endif /* CH_CFG_USE_SEMAPHORES */
-#if CH_USE_MUTEXES
+#if CH_CFG_USE_MUTEXES
/*------------------------------------------------------------------------*
* chibios_rt::Mutex *
*------------------------------------------------------------------------*/
Mutex::Mutex(void) {
- chMtxInit(&mutex);
+ chMtxObjectInit(&mutex);
}
bool Mutex::tryLock(void) {
@@ -543,13 +529,13 @@ namespace chibios_rt {
chMtxLockS(&mutex);
}
-#if CH_USE_CONDVARS
+#if CH_CFG_USE_CONDVARS
/*------------------------------------------------------------------------*
* chibios_rt::CondVar *
*------------------------------------------------------------------------*/
CondVar::CondVar(void) {
- chCondInit(&condvar);
+ chCondObjectInit(&condvar);
}
void CondVar::signal(void) {
@@ -582,25 +568,25 @@ namespace chibios_rt {
return chCondWaitS(&condvar);
}
-#if CH_USE_CONDVARS_TIMEOUT
+#if CH_CFG_USE_CONDVARS_TIMEOUT
msg_t CondVar::waitTimeout(systime_t time) {
return chCondWaitTimeout(&condvar, time);
}
-#endif /* CH_USE_CONDVARS_TIMEOUT */
-#endif /* CH_USE_CONDVARS */
-#endif /* CH_USE_MUTEXES */
+#endif /* CH_CFG_USE_CONDVARS_TIMEOUT */
+#endif /* CH_CFG_USE_CONDVARS */
+#endif /* CH_CFG_USE_MUTEXES */
-#if CH_USE_EVENTS
+#if CH_CFG_USE_EVENTS
/*------------------------------------------------------------------------*
* chibios_rt::EvtListener *
*------------------------------------------------------------------------*/
- flagsmask_t EvtListener::getAndClearFlags(void) {
+ eventflags_t EvtListener::getAndClearFlags(void) {
return chEvtGetAndClearFlags(&ev_listener);
}
- flagsmask_t EvtListener::getAndClearFlagsI(void) {
+ eventflags_t EvtListener::getAndClearFlagsI(void) {
return chEvtGetAndClearFlagsI(&ev_listener);
}
@@ -610,7 +596,7 @@ namespace chibios_rt {
*------------------------------------------------------------------------*/
EvtSource::EvtSource(void) {
- chEvtInit(&ev_source);
+ chEvtObjectInit(&ev_source);
}
void EvtSource::registerOne(chibios_rt::EvtListener *elp,
@@ -630,24 +616,24 @@ namespace chibios_rt {
chEvtUnregister(&ev_source, &elp->ev_listener);
}
- void EvtSource::broadcastFlags(flagsmask_t flags) {
+ void EvtSource::broadcastFlags(eventflags_t flags) {
chEvtBroadcastFlags(&ev_source, flags);
}
- void EvtSource::broadcastFlagsI(flagsmask_t flags) {
+ void EvtSource::broadcastFlagsI(eventflags_t flags) {
chEvtBroadcastFlagsI(&ev_source, flags);
}
-#endif /* CH_USE_EVENTS */
+#endif /* CH_CFG_USE_EVENTS */
-#if CH_USE_QUEUES
+#if CH_CFG_USE_QUEUES
/*------------------------------------------------------------------------*
* chibios_rt::InQueue *
*------------------------------------------------------------------------*/
InQueue::InQueue(uint8_t *bp, size_t size, qnotify_t infy, void *link) {
- chIQInit(&iq, bp, size, infy, link);
+ chIQObjectInit(&iq, bp, size, infy, link);
}
size_t InQueue::getFullI(void) {
@@ -700,7 +686,7 @@ namespace chibios_rt {
*------------------------------------------------------------------------*/
OutQueue::OutQueue(uint8_t *bp, size_t size, qnotify_t onfy, void *link) {
- chOQInit(&oq, bp, size, onfy, link);
+ chOQObjectInit(&oq, bp, size, onfy, link);
}
size_t OutQueue::getFullI(void) {
@@ -748,15 +734,15 @@ namespace chibios_rt {
return chOQWriteTimeout(&oq, bp, n, time);
}
-#endif /* CH_USE_QUEUES */
+#endif /* CH_CFG_USE_QUEUES */
-#if CH_USE_MAILBOXES
+#if CH_CFG_USE_MAILBOXES
/*------------------------------------------------------------------------*
* chibios_rt::Mailbox *
*------------------------------------------------------------------------*/
Mailbox::Mailbox(msg_t *buf, cnt_t n) {
- chMBInit(&mb, buf, n);
+ chMBObjectInit(&mb, buf, n);
}
void Mailbox::reset(void) {
@@ -818,20 +804,20 @@ namespace chibios_rt {
return chMBGetUsedCountI(&mb);
}
-#endif /* CH_USE_MAILBOXES */
+#endif /* CH_CFG_USE_MAILBOXES */
-#if CH_USE_MEMPOOLS
+#if CH_CFG_USE_MEMPOOLS
/*------------------------------------------------------------------------*
* chibios_rt::MemoryPool *
*------------------------------------------------------------------------*/
MemoryPool::MemoryPool(size_t size, memgetfunc_t provider) {
- chPoolInit(&pool, size, provider);
+ chPoolObjectInit(&pool, size, provider);
}
MemoryPool::MemoryPool(size_t size, memgetfunc_t provider, void* p, size_t n) {
- chPoolInit(&pool, size, provider);
+ chPoolObjectInit(&pool, size, provider);
chPoolLoadArray(&pool, p, n);
}
@@ -860,7 +846,7 @@ namespace chibios_rt {
chPoolFreeI(&pool, objp);
}
-#endif /* CH_USE_MEMPOOLS */
+#endif /* CH_CFG_USE_MEMPOOLS */
}
/** @} */
diff --git a/os/various/cpp_wrappers/ch.hpp b/os/various/cpp_wrappers/ch.hpp
index 53d3cf23b..7588e5ee1 100644
--- a/os/various/cpp_wrappers/ch.hpp
+++ b/os/various/cpp_wrappers/ch.hpp
@@ -28,10 +28,13 @@
#define _CH_HPP_
/**
- * @brief ChibiOS kernel-related classes and interfaces.
+ * @brief ChibiOS-RT kernel-related classes and interfaces.
*/
namespace chibios_rt {
+ /* Forward declarations */
+ class Mutex;
+
/*------------------------------------------------------------------------*
* chibios_rt::System *
*------------------------------------------------------------------------*/
@@ -182,7 +185,7 @@ namespace chibios_rt {
/**
* @brief Embedded @p VirtualTimer structure.
*/
- ::VirtualTimer timer_ref;
+ ::virtual_timer_t timer_ref;
/**
* @brief Enables a virtual timer.
@@ -236,7 +239,7 @@ namespace chibios_rt {
/**
* @brief Pointer to the system thread.
*/
- ::Thread *thread_ref;
+ ::thread_t *thread_ref;
/**
* @brief Thread reference constructor.
@@ -247,7 +250,7 @@ namespace chibios_rt {
*
* @init
*/
- ThreadReference(Thread *tp) : thread_ref(tp) {
+ ThreadReference(thread_t *tp) : thread_ref(tp) {
};
@@ -312,7 +315,7 @@ namespace chibios_rt {
*/
void requestTerminate(void);
-#if CH_USE_WAITEXIT || defined(__DOXYGEN__)
+#if CH_CFG_USE_WAITEXIT || defined(__DOXYGEN__)
/**
* @brief Blocks the execution of the invoking thread until the specified
* thread terminates then the exit code is returned.
@@ -346,9 +349,9 @@ namespace chibios_rt {
* @api
*/
msg_t wait(void);
-#endif /* CH_USE_WAITEXIT */
+#endif /* CH_CFG_USE_WAITEXIT */
-#if CH_USE_MESSAGES || defined(__DOXYGEN__)
+#if CH_CFG_USE_MESSAGES || defined(__DOXYGEN__)
/**
* @brief Sends a message to the thread and returns the answer.
*
@@ -386,9 +389,9 @@ namespace chibios_rt {
* @api
*/
void releaseMessage(msg_t msg);
-#endif /* CH_USE_MESSAGES */
+#endif /* CH_CFG_USE_MESSAGES */
-#if CH_USE_EVENTS || defined(__DOXYGEN__)
+#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)
/**
* @brief Adds a set of event flags directly to specified @p Thread.
*
@@ -406,10 +409,10 @@ namespace chibios_rt {
* @iclass
*/
void signalEventsI(eventmask_t mask);
-#endif /* CH_USE_EVENTS */
+#endif /* CH_CFG_USE_EVENTS */
-#if CH_USE_DYNAMIC || defined(__DOXYGEN__)
-#endif /* CH_USE_DYNAMIC */
+#if CH_CFG_USE_DYNAMIC || defined(__DOXYGEN__)
+#endif /* CH_CFG_USE_DYNAMIC */
};
/*------------------------------------------------------------------------*
@@ -550,7 +553,7 @@ namespace chibios_rt {
*/
static void yield(void);
-#if CH_USE_MESSAGES || defined(__DOXYGEN__)
+#if CH_CFG_USE_MESSAGES || defined(__DOXYGEN__)
/**
* @brief Waits for a message.
*
@@ -559,9 +562,9 @@ namespace chibios_rt {
* @api
*/
static ThreadReference waitMessage(void);
-#endif /* CH_USE_MESSAGES */
+#endif /* CH_CFG_USE_MESSAGES */
-#if CH_USE_EVENTS || defined(__DOXYGEN__)
+#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)
/**
* @brief Clears the pending events specified in the mask.
*
@@ -630,7 +633,7 @@ namespace chibios_rt {
*/
static eventmask_t waitAllEvents(eventmask_t ewmask);
-#if CH_USE_EVENTS_TIMEOUT || defined(__DOXYGEN__)
+#if CH_CFG_USE_EVENTS_TIMEOUT || defined(__DOXYGEN__)
/**
* @brief Waits for a single event.
* @details A pending event among those specified in @p ewmask is selected,
@@ -689,7 +692,7 @@ namespace chibios_rt {
*/
static eventmask_t waitAllEventsTimeout(eventmask_t ewmask,
systime_t time);
-#endif /* CH_USE_EVENTS_TIMEOUT */
+#endif /* CH_CFG_USE_EVENTS_TIMEOUT */
/**
* @brief Invokes the event handlers associated to an event flags mask.
@@ -702,9 +705,9 @@ namespace chibios_rt {
*/
static void dispatchEvents(const evhandler_t handlers[],
eventmask_t mask);
-#endif /* CH_USE_EVENTS */
+#endif /* CH_CFG_USE_EVENTS */
-#if CH_USE_MUTEXES || defined(__DOXYGEN__)
+#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)
/**
* @brief Unlocks the next owned mutex in reverse lock order.
* @pre The invoking thread must have at least one owned mutex.
@@ -715,7 +718,7 @@ namespace chibios_rt {
*
* @api
*/
- static void unlockMutex(void);
+ static void unlockMutex(Mutex *mp);
/**
* @brief Unlocks the next owned mutex in reverse lock order.
@@ -729,7 +732,7 @@ namespace chibios_rt {
*
* @sclass
*/
- static void unlockMutexS(void);
+ static void unlockMutexS(Mutex *mp);
/**
* @brief Unlocks all the mutexes owned by the invoking thread.
@@ -743,7 +746,7 @@ namespace chibios_rt {
* @api
*/
static void unlockAllMutexes(void);
-#endif /* CH_USE_MUTEXES */
+#endif /* CH_CFG_USE_MUTEXES */
};
/*------------------------------------------------------------------------*
@@ -758,7 +761,7 @@ namespace chibios_rt {
template
class BaseStaticThread : public BaseThread {
protected:
- WORKING_AREA(wa, N);
+ THD_WORKING_AREA(wa, N);
public:
/**
@@ -789,7 +792,7 @@ namespace chibios_rt {
}
};
-#if CH_USE_SEMAPHORES || defined(__DOXYGEN__)
+#if CH_CFG_USE_SEMAPHORES || defined(__DOXYGEN__)
/*------------------------------------------------------------------------*
* chibios_rt::CounterSemaphore *
*------------------------------------------------------------------------*/
@@ -801,7 +804,7 @@ namespace chibios_rt {
/**
* @brief Embedded @p ::Semaphore structure.
*/
- ::Semaphore sem;
+ ::semaphore_t sem;
/**
* @brief CounterSemaphore constructor.
@@ -963,7 +966,6 @@ namespace chibios_rt {
*/
cnt_t getCounterI(void);
-#if CH_USE_SEMSW || defined(__DOXYGEN__)
/**
* @brief Atomic signal and wait operations.
*
@@ -980,7 +982,6 @@ namespace chibios_rt {
*/
static msg_t signalWait(CounterSemaphore *ssem,
CounterSemaphore *wsem);
-#endif /* CH_USE_SEMSW */
};
/*------------------------------------------------------------------------*
* chibios_rt::BinarySemaphore *
@@ -993,7 +994,7 @@ namespace chibios_rt {
/**
* @brief Embedded @p ::Semaphore structure.
*/
- ::BinarySemaphore bsem;
+ ::binary_semaphore_t bsem;
/**
* @brief BinarySemaphore constructor.
@@ -1135,9 +1136,9 @@ namespace chibios_rt {
*/
bool getStateI(void);
};
-#endif /* CH_USE_SEMAPHORES */
+#endif /* CH_CFG_USE_SEMAPHORES */
-#if CH_USE_MUTEXES || defined(__DOXYGEN__)
+#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)
/*------------------------------------------------------------------------*
* chibios_rt::Mutex *
*------------------------------------------------------------------------*/
@@ -1149,7 +1150,7 @@ namespace chibios_rt {
/**
* @brief Embedded @p ::Mutex structure.
*/
- ::Mutex mutex;
+ ::mutex_t mutex;
/**
* @brief Mutex object constructor.
@@ -1216,7 +1217,7 @@ namespace chibios_rt {
void lockS(void);
};
-#if CH_USE_CONDVARS || defined(__DOXYGEN__)
+#if CH_CFG_USE_CONDVARS || defined(__DOXYGEN__)
/*------------------------------------------------------------------------*
* chibios_rt::CondVar *
*------------------------------------------------------------------------*/
@@ -1228,7 +1229,7 @@ namespace chibios_rt {
/**
* @brief Embedded @p ::CondVar structure.
*/
- ::CondVar condvar;
+ ::condition_variable_t condvar;
/**
* @brief CondVar object constructor.
@@ -1310,7 +1311,7 @@ namespace chibios_rt {
*/
msg_t waitS(void);
-#if CH_USE_CONDVARS_TIMEOUT || defined(__DOXYGEN__)
+#if CH_CFG_USE_CONDVARS_TIMEOUT || defined(__DOXYGEN__)
/**
* @brief Waits on the CondVar while releasing the controlling mutex.
*
@@ -1326,12 +1327,12 @@ namespace chibios_rt {
* @api
*/
msg_t waitTimeout(systime_t time);
-#endif /* CH_USE_CONDVARS_TIMEOUT */
+#endif /* CH_CFG_USE_CONDVARS_TIMEOUT */
};
-#endif /* CH_USE_CONDVARS */
-#endif /* CH_USE_MUTEXES */
+#endif /* CH_CFG_USE_CONDVARS */
+#endif /* CH_CFG_USE_MUTEXES */
-#if CH_USE_EVENTS || defined(__DOXYGEN__)
+#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)
/*------------------------------------------------------------------------*
* chibios_rt::EvtListener *
*------------------------------------------------------------------------*/
@@ -1343,7 +1344,7 @@ namespace chibios_rt {
/**
* @brief Embedded @p ::EventListener structure.
*/
- struct ::EventListener ev_listener;
+ ::event_listener_t ev_listener;
/**
* @brief Returns the pending flags from the listener and clears them.
@@ -1353,7 +1354,7 @@ namespace chibios_rt {
*
* @api
*/
- flagsmask_t getAndClearFlags(void);
+ eventflags_t getAndClearFlags(void);
/**
* @brief Returns the flags associated to an @p EventListener.
@@ -1365,7 +1366,7 @@ namespace chibios_rt {
*
* @iclass
*/
- flagsmask_t getAndClearFlagsI(void);
+ eventflags_t getAndClearFlagsI(void);
};
/*------------------------------------------------------------------------*
@@ -1379,7 +1380,7 @@ namespace chibios_rt {
/**
* @brief Embedded @p ::EventSource structure.
*/
- struct ::EventSource ev_source;
+ ::event_source_t ev_source;
/**
* @brief EvtSource object constructor.
@@ -1433,7 +1434,7 @@ namespace chibios_rt {
*
* @api
*/
- void broadcastFlags(flagsmask_t flags);
+ void broadcastFlags(eventflags_t flags);
/**
* @brief Broadcasts on an event source.
@@ -1445,11 +1446,11 @@ namespace chibios_rt {
*
* @iclass
*/
- void broadcastFlagsI(flagsmask_t flags);
+ void broadcastFlagsI(eventflags_t flags);
};
-#endif /* CH_USE_EVENTS */
+#endif /* CH_CFG_USE_EVENTS */
-#if CH_USE_QUEUES || defined(__DOXYGEN__)
+#if CH_CFG_USE_QUEUES || defined(__DOXYGEN__)
/*------------------------------------------------------------------------*
* chibios_rt::InQueue *
*------------------------------------------------------------------------*/
@@ -1461,7 +1462,7 @@ namespace chibios_rt {
/**
* @brief Embedded @p ::InputQueue structure.
*/
- ::InputQueue iq;
+ ::input_queue_t iq;
public:
/**
@@ -1642,7 +1643,7 @@ namespace chibios_rt {
/**
* @brief Embedded @p ::OutputQueue structure.
*/
- ::OutputQueue oq;
+ ::output_queue_t oq;
public:
/**
@@ -1813,9 +1814,9 @@ namespace chibios_rt {
onfy, link) {
}
};
-#endif /* CH_USE_QUEUES */
+#endif /* CH_CFG_USE_QUEUES */
-#if CH_USE_MAILBOXES || defined(__DOXYGEN__)
+#if CH_CFG_USE_MAILBOXES || defined(__DOXYGEN__)
/*------------------------------------------------------------------------*
* chibios_rt::Mailbox *
*------------------------------------------------------------------------*/
@@ -1827,7 +1828,7 @@ namespace chibios_rt {
/**
* @brief Embedded @p ::Mailbox structure.
*/
- ::Mailbox mb;
+ ::mailbox_t mb;
/**
* @brief Mailbox constructor.
@@ -2066,9 +2067,9 @@ namespace chibios_rt {
(cnt_t)(sizeof mb_buf / sizeof (msg_t))) {
}
};
-#endif /* CH_USE_MAILBOXES */
+#endif /* CH_CFG_USE_MAILBOXES */
-#if CH_USE_MEMPOOLS || defined(__DOXYGEN__)
+#if CH_CFG_USE_MEMPOOLS || defined(__DOXYGEN__)
/*------------------------------------------------------------------------*
* chibios_rt::MemoryPool *
*------------------------------------------------------------------------*/
@@ -2080,7 +2081,7 @@ namespace chibios_rt {
/**
* @brief Embedded @p ::MemoryPool structure.
*/
- ::MemoryPool pool;
+ ::memory_pool_t pool;
/**
* @brief MemoryPool constructor.
@@ -2207,7 +2208,7 @@ namespace chibios_rt {
loadArray(pool_buf, N);
}
};
-#endif /* CH_USE_MEMPOOLS */
+#endif /* CH_CFG_USE_MEMPOOLS */
/*------------------------------------------------------------------------*
* chibios_rt::BaseSequentialStreamInterface *
diff --git a/os/various/cpp_wrappers/syscalls_cpp.cpp b/os/various/cpp_wrappers/syscalls_cpp.cpp
new file mode 100644
index 000000000..84a449a9f
--- /dev/null
+++ b/os/various/cpp_wrappers/syscalls_cpp.cpp
@@ -0,0 +1,78 @@
+#include
+#include
+
+#include "osal.h"
+
+#include "syscalls_cpp.hpp"
+
+/**
+ *
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+void _exit(int status){
+ (void) status;
+ osalSysHalt("Unrealized");
+ while(TRUE){}
+}
+#ifdef __cplusplus
+}
+#endif
+
+/**
+ *
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+pid_t _getpid(void){
+ return 1;
+}
+#ifdef __cplusplus
+}
+#endif
+
+/**
+ *
+ */
+#undef errno
+extern int errno;
+#ifdef __cplusplus
+extern "C" {
+#endif
+int _kill(int pid, int sig) {
+ (void)pid;
+ (void)sig;
+ errno = EINVAL;
+ return -1;
+}
+#ifdef __cplusplus
+}
+#endif
+
+/**
+ *
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+void _open_r(void){
+ return;
+}
+#ifdef __cplusplus
+}
+#endif
+
+/**
+ *
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void __cxa_pure_virtual() {
+ osalSysHalt("Pure virtual function call.");
+ }
+#ifdef __cplusplus
+}
+#endif
diff --git a/os/various/cpp_wrappers/syscalls_cpp.hpp b/os/various/cpp_wrappers/syscalls_cpp.hpp
new file mode 100644
index 000000000..927f71f88
--- /dev/null
+++ b/os/various/cpp_wrappers/syscalls_cpp.hpp
@@ -0,0 +1,14 @@
+#ifndef SYSCALLS_CPP_HPP_
+#define SYSCALLS_CPP_HPP_
+
+/* The ABI requires a 64-bit type. */
+__extension__ typedef int __guard __attribute__((mode (__DI__)));
+
+int __cxa_guard_acquire(__guard *);
+void __cxa_guard_release (__guard *);
+void __cxa_guard_abort (__guard *);
+
+void *__dso_handle = NULL;
+
+
+#endif /* SYSCALLS_CPP_HPP_ */