1 files changed, 86 insertions, 0 deletions
diff --git a/os/hal/include/hal_objects.h b/os/hal/include/hal_objects.h
new file mode 100644
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+++ b/os/hal/include/hal_objects.h
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+/*
+    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    hal_objects.h
+ * @brief   Base object.
+ * @details This header defines a base object that is the root for the
+ *          inheritance system.
+ *
+ * @addtogroup HAL_BASE_OBJECT
+ * @details HAL uses concepts of Object Oriented Programming even if it
+ *          is written in C. Things like simple inheritance, multiple
+ *          inheritance and interfaces are used through the system.
+ *          This module defines a "base object" that is the ancestor of
+ *          all classes in the system.
+ * @{
+ */
+
+#ifndef HAL_OBJECTS_H
+#define HAL_OBJECTS_H
+
+/**
+ * @brief   @p BaseObject specific methods.
+ * @note    This object defines no methods.
+ */
+#define _base_object_methods                                                \
+  /* Instance offset, used for multiple inheritance, normally zero. It
+     represents the offset between the current object and the container
+     object*/                                                               \
+  size_t instance_offset;
+
+/**
+ * @brief   @p BaseObject specific data.
+ * @note    This object defines no data.
+ */
+#define _base_object_data
+
+/**
+ * @brief   @p BaseObject virtual methods table.
+ */
+struct BaseObjectVMT {
+  _base_object_methods
+};
+
+/**
+ * @brief   Base stream class.
+ * @details This class represents a generic blocking unbuffered sequential
+ *          data stream.
+ */
+typedef struct {
+  /** @brief Virtual Methods Table.*/
+  const struct BaseObjectVMT *vmt;
+  _base_object_data
+} BaseObject;
+
+/**
+ * @name    Macro Functions (BaseObject)
+ * @{
+ */
+/**
+ * @brief   Returns the instance pointer starting from an interface pointer.
+ *
+ * @param[in] type  the type of the instance pointer, it is used for casting
+ * @param[in] ip    the interface pointer
+ * @return          A pointer to the object implementing the interface
+ */
+#define objGetInstance(type, ip)                                            \
+  (type)(((size_t)(ip)) - (ip)->vmt->instance_offset)
+/** @} */
+
+#endif /* HAL_OBJECTS_H */
+
+/** @} */