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-/*
-    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
-
-    This file is part of ChibiOS/RT.
-
-    ChibiOS/RT 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; either version 3 of the License, or
-    (at your option) any later version.
-
-    ChibiOS/RT 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/>.
-*/
-
-/**
- * @page article_stop_os How to cleanly stop the OS
- * Stopping the OS should not be normally required but there are scenarios
- * where one might want the complete control over the system again.
- * As example entering into a bootload mode, or invoking some flashing
- * algorithm locked in ROM.<br>
- * ChibiOS/RT does not have a shutdown API and there is a reason for this,
- * stopping the kernel would not be enough, a well defined operations sequence
- * is required.<br>
- * The shutdown operation should always be implemented into the @p main()
- * function because in that context the stack pointer is guaranteed to be
- * in the area allocated by the startup code. Stopping from a thread would
- * leave the stack pointer "somewhere".<br>
- * The shutdown sequence should include the following steps, some steps
- * are optional and depend on the application:
- * - Safely stop critical threads. As example a thread that uses a File System
- *   should flush all the modified buffers to the persistent storage before
- *   terminating.<br>
- *   The system should be designed to request the thread termination using
- *   @p chThdTerminate() and then wait its termination using @p chThdWait().
- *   This phase can be skipped for non-critical threads.
- * - Invoke the xxxStop() method on all the active device drivers, this
- *   disables the interrupt sources used by the various peripherals. This
- *   is required in order to not have interrupts after the shutdown that
- *   may invoke OS primitives.
- * - Invoke chSysDisable().
- * - Stop the system timer whose service routine invokes
- *   @p chSysTimerHandlerI().
- * - Disable any other interrupt source that may invoke OS APIs. In general
- *   all the interrupt sources that have handlers declared by using the
- *   @p CH_IRQ_HANDLER() macro.
- * - Perform any application related de-initialization.
- * - Invoke chSysEnable().
- * .
- * Now the OS is stopped and you can safely assume there are nothing going on
- * under the hood. From here you can also restart the OS after finishing your
- * critical operations using the following sequence:
- * - Invoke chSysDisable().
- * - Restart the system timer.
- * - Reinitialize the OS by invoking @p chSysInit().
- * - Restart your device drivers using the @p xxxStart() methods.
- * - Restart all your threads.
- * .
- * <h2>Example</h2>
- * This is an example of an hypothetical application that have to shutdown
- * the OS when a certain event is generated.
- * @code
-#include "ch.h"
-#include "hal.h"
-
-/* A shutdown flag.*/
-bool_t shutdown_required;
-
-/* Critical thread.*/
-static void my_thread(void *p) {
-
-  while (!chThdShouldTerminate()) {
-    /* Normal thread activity code.*/
-  }
-  /* Thread de-initialization before terminating, here you put the critical
-     thread finalization code.*/
-  return 0;
-}
-
-/* Main program, it is entered with interrupts disabled.*/
-void main(void) {
-
-  /* HAL initialization, you need to do this just once.*/
-  halInit();
-
-  /* Main loop, the main() function never exits.*/
-  while (TRUE) {
-    Thread *tp;
-
-    shutdown_required = FALSE;
-
-    /* ChibiOS/RT initialization. This function becomes an OS thread.*/
-    chSysInit();
-
-    /* Starting a device driver, SD2 in this case.*/
-    sdStart(&SD2, NULL);
-
-    /* Starting our critical thread.*/
-    tp = chThdCreateFromHeap(NULL, THD_WA_SIZE(256),
-                             NORMALPRIO, my_thread, &SD2);
-
-    /* Main thread activity into a loop.*/
-    while (!shutdown_required) {
-      /* Main activity, OS active until a shutdown becomes necessary.*/
-    }
-
-    /* Starting the shutdown sequence.*/
-    chThdTerminate(tp);     /* Requesting termination.                  */
-    chThdWait(tp);          /* Waiting for the actual termination.      */
-    sdStop(&SD2);           /* Stopping serial port 2.                  */
-    chSysDisable();
-    stop_system_timer();
-    stop_any_other_interrupt();
-    chSysEnable();
-
-    /* Now the main function is again a normal function, no more a
-       OS thread.*/
-    do_funny_stuff();
-
-    /* Restarting the OS but you could also stop the system or trigger a
-       reset instead.*/
-    chSysDisable();
-  }
-}
- * @endcode
- * As you can see it is possible to jump in and out of the "OS mode" quite
- * easily. Note that this is just an example, the real code could be very
- * different depending on your requirements.
- */