1 files changed, 335 insertions, 0 deletions
diff --git a/os/various/ch.cpp b/os/various/ch.cpp
new file mode 100644
index 000000000..6e338630e
--- /dev/null
+++ b/os/various/ch.cpp
@@ -0,0 +1,335 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2007 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/>.
+*/
+/**
+ * @file ch.cpp
+ * @brief C++ wrapper code.
+ * @addtogroup CPlusPlusLibrary
+ * @{
+ */
+
+#include <ch.hpp>
+
+namespace chibios_rt {
+
+  /*------------------------------------------------------------------------*
+   * chibios_rt::System                                                     *
+   *------------------------------------------------------------------------*/
+  void System::Init(void) {
+
+    chSysInit();
+  }
+
+  void System::Lock(void) {
+
+    chSysLock();
+  }
+
+  void System::Unlock(void) {
+
+    chSysUnlock();
+  }
+
+  systime_t System::GetTime(void) {
+
+    return chTimeNow();
+  }
+
+  /*------------------------------------------------------------------------*
+   * chibios_rt::Timer                                                      *
+   *------------------------------------------------------------------------*/
+  void Timer::Set(systime_t time, vtfunc_t vtfunc, void *par) {
+
+    chVTSetI(&timer, time, vtfunc, par);
+  }
+
+  void Timer::Reset() {
+
+    chVTResetI(&timer);
+  }
+
+  bool Timer::IsArmed(void) {
+
+    return chVTIsArmedI(&timer);
+  }
+
+  /*------------------------------------------------------------------------*
+   * chibios_rt::BaseThread                                                 *
+   *------------------------------------------------------------------------*/
+  static msg_t thdstart(void *arg) {
+
+    return ((BaseThread *)arg)->Main();
+  }
+
+  BaseThread::BaseThread(void *workspace, size_t wsize, tprio_t prio) {
+
+    thread_ref = chThdCreateStatic(workspace, wsize, prio, thdstart, this);
+  }
+
+  void BaseThread::Exit(msg_t msg) {
+
+    chThdExit(msg);
+  }
+
+#if CH_USE_WAITEXIT
+  msg_t BaseThread::Wait(void) {
+
+    return chThdWait(thread_ref);
+  }
+#endif /* CH_USE_WAITEXIT */
+
+  void BaseThread::SetPriority(tprio_t newprio) {
+
+    chThdSetPriority(newprio);
+  }
+
+  void BaseThread::Resume(void) {
+
+    chThdResume(thread_ref);
+  }
+
+  void BaseThread::Terminate(void) {
+
+    chThdTerminate(thread_ref);
+  }
+
+  void BaseThread::Sleep(systime_t n) {
+
+    chThdSleep(n);
+  }
+
+  void BaseThread::SleepUntil(systime_t time) {
+
+    chThdSleepUntil(time);
+  }
+
+#if CH_USE_MESSAGES
+  msg_t BaseThread::SendMessage(::Thread* tp, msg_t msg) {
+
+    return chMsgSend(tp, msg);
+  }
+
+  msg_t BaseThread::SendMessage(msg_t msg) {
+
+    return chMsgSend(thread_ref, msg);
+  }
+
+  msg_t BaseThread::WaitMessage(void) {
+
+    return chMsgWait();
+  }
+
+  msg_t BaseThread::GetMessage(void) {
+
+    return chMsgGet();
+  }
+
+  void BaseThread::ReleaseMessage(msg_t msg) {
+
+    chMsgRelease(msg);
+  }
+
+  bool BaseThread::IsPendingMessage(void) {
+
+    return chMsgIsPendingI(currp);
+  }
+#endif /* CH_USE_MESSAGES */
+
+  msg_t BaseThread::Main(void) {
+
+    return 0;
+  }
+
+#if CH_USE_SEMAPHORES
+  /*------------------------------------------------------------------------*
+   * chibios_rt::Semaphore                                                  *
+   *------------------------------------------------------------------------*/
+  Semaphore::Semaphore(cnt_t n) {
+
+    chSemInit(&sem, n);
+  }
+
+  void Semaphore::Reset(cnt_t n) {
+
+    chSemReset(&sem, n);
+  }
+
+  msg_t Semaphore::Wait(void) {
+
+    return chSemWait(&sem);
+  }
+
+  msg_t Semaphore::WaitTimeout(systime_t time) {
+
+    return chSemWaitTimeout(&sem, time);
+  }
+
+  void Semaphore::Signal(void) {
+
+    chSemSignal(&sem);
+  }
+
+#if CH_USE_SEMSW
+  msg_t Semaphore::SignalWait(Semaphore *ssem, Semaphore *wsem) {
+
+    return chSemSignalWait(&ssem->sem, &wsem->sem);
+  }
+#endif /* CH_USE_SEMSW */
+#endif /* CH_USE_SEMAPHORES */
+
+#if CH_USE_MUTEXES
+  /*------------------------------------------------------------------------*
+   * chibios_rt::Mutex                                                      *
+   *------------------------------------------------------------------------*/
+  Mutex::Mutex(void) {
+
+    chMtxInit(&mutex);
+  }
+
+  bool Mutex::TryLock(void) {
+
+    return chMtxTryLock(&mutex);
+  }
+
+  void Mutex::Lock(void) {
+
+    chMtxLock(&mutex);
+  }
+
+  void Mutex::Unlock(void) {
+
+    chMtxUnlock();
+  }
+
+  void UnlockAll(void) {
+
+    chMtxUnlockAll();
+  }
+
+#if CH_USE_CONDVARS
+  /*------------------------------------------------------------------------*
+   * chibios_rt::CondVar                                                    *
+   *------------------------------------------------------------------------*/
+  CondVar::CondVar(void) {
+
+    chCondInit(&condvar);
+  }
+
+  void CondVar::Signal(void) {
+
+    chCondSignal(&condvar);
+  }
+
+  void CondVar::Broadcast(void) {
+
+    chCondBroadcast(&condvar);
+  }
+
+  msg_t CondVar::Wait(void) {
+
+    return chCondWait(&condvar);
+  }
+
+#if CH_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 */
+
+#if CH_USE_EVENTS
+  /*------------------------------------------------------------------------*
+   * chibios_rt::Event                                                      *
+   *------------------------------------------------------------------------*/
+  Event::Event(void) {
+
+    chEvtInit(&event);
+  }
+
+  void Event::Register(EventListener *elp, eventid_t eid) {
+
+    chEvtRegister(&event,elp, eid);
+  }
+
+  void Event::RegisterMask(EventListener *elp, eventmask_t emask) {
+
+    chEvtRegisterMask(&event,elp, emask);
+  }
+
+  void Event::Unregister(EventListener *elp) {
+
+    chEvtUnregister(&event, elp);
+  }
+
+  void Event::Broadcast(void) {
+
+    chEvtBroadcast(&event);
+  }
+
+  eventmask_t Event::Clear(eventmask_t mask) {
+
+    return chEvtClear(mask);
+  }
+
+  eventmask_t Event::Pend(eventmask_t mask) {
+
+    return chEvtPend(mask);
+  }
+
+  void Event::Dispatch(const evhandler_t handlers[], eventmask_t mask) {
+
+    chEvtDispatch(handlers, mask);
+  }
+
+  eventmask_t Event::WaitOne(eventmask_t ewmask) {
+
+    return chEvtWaitOne(ewmask);
+  }
+
+  eventmask_t Event::WaitAny(eventmask_t ewmask) {
+
+    return chEvtWaitAny(ewmask);
+  }
+
+  eventmask_t Event::WaitAll(eventmask_t ewmask) {
+
+    return chEvtWaitAll(ewmask);
+  }
+
+#if CH_USE_EVENTS_TIMEOUT
+  eventmask_t Event::WaitOneTimeout(eventmask_t ewmask, systime_t time) {
+
+    return chEvtWaitOneTimeout(ewmask, time);
+  }
+
+  eventmask_t Event::WaitAnyTimeout(eventmask_t ewmask, systime_t time) {
+
+    return chEvtWaitAnyTimeout(ewmask, time);
+  }
+
+  eventmask_t Event::WaitAllTimeout(eventmask_t ewmask, systime_t time) {
+
+    return chEvtWaitAllTimeout(ewmask, time);
+  }
+#endif /* CH_USE_EVENTS_TIMEOUT */
+#endif /* CH_USE_EVENTS */
+}
+
+/** @} */