add first chibios example (WIP)

12 files changed, 2068 insertions, 2 deletions

diff --git a/.gitignore b/.gitignore
index 6ea7dde..b61c547 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,8 @@
 /contrib/picoprobe.u2f
 /contrib/openocd
+/contrib/ChibiOS_*/
+/contrib/ChibiOS_*.7z
+/contrib/gcc-arm-none-eabi-*/
+/contrib/gcc-arm-none-eabi-*.tar.bz2
+/*/build/
+/*/.dep/
diff --git a/chibios-blink/.cproject b/chibios-blink/.cproject
new file mode 100644
index 0000000..4b8e239
--- /dev/null
+++ b/chibios-blink/.cproject
@@ -0,0 +1,108 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>

+<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">

+    	

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+        		

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+                                <inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1824820452" languageId="org.eclipse.cdt.core.g++" languageName="GNU C++" sourceContentType="org.eclipse.cdt.core.cxxSource,org.eclipse.cdt.core.cxxHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>

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+                            							

+                            <tool id="org.eclipse.cdt.build.core.settings.holder.1584496456" name="GNU C" superClass="org.eclipse.cdt.build.core.settings.holder">

+                                								

+                                <inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1781547795" languageId="org.eclipse.cdt.core.gcc" languageName="GNU C" sourceContentType="org.eclipse.cdt.core.cSource,org.eclipse.cdt.core.cHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>

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+        <project id="RT-RP2040-PICO.null.1004513353" name="RT-RP2040-PICO"/>

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+    <storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>

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+    <storageModule moduleId="refreshScope" versionNumber="2">

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+        <configuration configurationName="Default">

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+            <resource resourceType="PROJECT" workspacePath="/RT-RP2040-PICO"/>

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+    	

+    <storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>

+    

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diff --git a/chibios-blink/.project b/chibios-blink/.project
new file mode 100644
index 0000000..26dd8a0
--- /dev/null
+++ b/chibios-blink/.project
@@ -0,0 +1,48 @@
+<?xml version="1.0" encoding="UTF-8"?>

+<projectDescription>

+	<name>RT-RP2040-PICO</name>

+	<comment></comment>

+	<projects>

+	</projects>

+	<buildSpec>

+		<buildCommand>

+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>

+			<triggers>clean,full,incremental,</triggers>

+			<arguments>

+			</arguments>

+		</buildCommand>

+		<buildCommand>

+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>

+			<triggers>full,incremental,</triggers>

+			<arguments>

+			</arguments>

+		</buildCommand>

+	</buildSpec>

+	<natures>

+		<nature>org.eclipse.cdt.core.cnature</nature>

+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>

+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>

+	</natures>

+	<linkedResources>

+		<link>

+			<name>board</name>

+			<type>2</type>

+			<locationURI>CHIBIOS/os/hal/boards/ST_NUCLEO64_G474RE</locationURI>

+		</link>

+		<link>

+			<name>os</name>

+			<type>2</type>

+			<locationURI>CHIBIOS/os</locationURI>

+		</link>

+		<link>

+			<name>pico-sdk</name>

+			<type>2</type>

+			<locationURI>CHIBIOS/ext/pico-sdk/src</locationURI>

+		</link>

+		<link>

+			<name>test</name>

+			<type>2</type>

+			<locationURI>CHIBIOS/test</locationURI>

+		</link>

+	</linkedResources>

+</projectDescription>

diff --git a/chibios-blink/Makefile b/chibios-blink/Makefile
new file mode 100644
index 0000000..4c08d58
--- /dev/null
+++ b/chibios-blink/Makefile
@@ -0,0 +1,196 @@
+##############################################################################

+# Build global options

+# NOTE: Can be overridden externally.

+#

+

+include ../defines.mk

+

+

+# Compiler options here.

+ifeq ($(USE_OPT),)

+  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16

+endif

+

+# C specific options here (added to USE_OPT).

+ifeq ($(USE_COPT),)

+  USE_COPT =

+endif

+

+# C++ specific options here (added to USE_OPT).

+ifeq ($(USE_CPPOPT),)

+  USE_CPPOPT = -fno-rtti

+endif

+

+# Enable this if you want the linker to remove unused code and data.

+ifeq ($(USE_LINK_GC),)

+  USE_LINK_GC = yes

+endif

+

+# Linker extra options here.

+ifeq ($(USE_LDOPT),)

+  USE_LDOPT =

+endif

+

+# Enable this if you want link time optimizations (LTO).

+ifeq ($(USE_LTO),)

+  USE_LTO = yes

+endif

+

+# Enable this if you want to see the full log while compiling.

+ifeq ($(USE_VERBOSE_COMPILE),)

+  USE_VERBOSE_COMPILE = no

+endif

+

+# If enabled, this option makes the build process faster by not compiling

+# modules not used in the current configuration.

+ifeq ($(USE_SMART_BUILD),)

+  USE_SMART_BUILD = yes

+endif

+

+#

+# Build global options

+##############################################################################

+

+##############################################################################

+# Architecture or project specific options

+#

+

+# Stack size to be allocated to the Cortex-M process stack. This stack is

+# the stack used by the main() thread.

+ifeq ($(USE_PROCESS_STACKSIZE),)

+  USE_PROCESS_STACKSIZE = 0x200

+endif

+

+# Stack size to the allocated to the Cortex-M main/exceptions stack. This

+# stack is used for processing interrupts and exceptions.

+ifeq ($(USE_EXCEPTIONS_STACKSIZE),)

+  USE_EXCEPTIONS_STACKSIZE = 0x200

+endif

+

+# Enables the use of FPU (no, softfp, hard).

+ifeq ($(USE_FPU),)

+  USE_FPU = no

+endif

+

+# FPU-related options.

+ifeq ($(USE_FPU_OPT),)

+  USE_FPU_OPT = -mfloat-abi=$(USE_FPU) -mfpu=fpv4-sp-d16

+endif

+

+#

+# Architecture or project specific options

+##############################################################################

+

+##############################################################################

+# Project, target, sources and paths

+#

+

+# Define project name here

+PROJECT = ch

+

+# Target settings.

+MCU  = cortex-m0plus

+

+# Imported source files and paths.

+CONFDIR  := ./cfg

+BUILDDIR := ./build

+DEPDIR   := ./.dep

+

+# Licensing files.

+include $(CHIBIOS)/os/license/license.mk

+# Startup files.

+include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_rp2040.mk

+# HAL-OSAL files (optional).

+include $(CHIBIOS)/os/hal/hal.mk

+include $(CHIBIOS)/os/hal/ports/RP/RP2040/platform.mk

+include $(CHIBIOS)/os/hal/boards/RP_PICO_RP2040/board.mk

+include $(CHIBIOS)/os/hal/osal/rt-nil/osal.mk

+# RTOS files (optional).

+include $(CHIBIOS)/os/rt/rt.mk

+include $(CHIBIOS)/os/common/ports/ARMv6-M-RP2/compilers/GCC/mk/port.mk

+# Auto-build files in ./source recursively.

+include $(CHIBIOS)/tools/mk/autobuild.mk

+# Other files (optional).

+include $(CHIBIOS)/os/test/test.mk

+include $(CHIBIOS)/test/rt/rt_test.mk

+include $(CHIBIOS)/test/oslib/oslib_test.mk

+include $(CHIBIOS)/os/various/pico_bindings/pico-sdk.mk

+include $(CHIBIOS)/os/hal/lib/streams/streams.mk

+include $(CHIBIOS)/os/various/shell/shell.mk

+

+# Define linker script file here

+LDSCRIPT= $(STARTUPLD)/RP2040_RAM.ld

+

+# C sources that can be compiled in ARM or THUMB mode depending on the global

+# setting.

+CSRC = $(ALLCSRC) \

+       $(TESTSRC) \

+       main.c c1_main.c

+

+# C++ sources that can be compiled in ARM or THUMB mode depending on the global

+# setting.

+CPPSRC = $(ALLCPPSRC)

+

+# List ASM source files here.

+ASMSRC = $(ALLASMSRC)

+

+# List ASM with preprocessor source files here.

+ASMXSRC = $(ALLXASMSRC)

+

+# Inclusion directories.

+INCDIR = $(CONFDIR) $(ALLINC) $(TESTINC)

+

+# Define C warning options here.

+CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes

+

+# Define C++ warning options here.

+CPPWARN = -Wall -Wextra -Wundef

+

+#

+# Project, target, sources and paths

+##############################################################################

+

+##############################################################################

+# Start of user section

+#

+

+# List all user C define here, like -D_DEBUG=1

+UDEFS = -DCRT0_VTOR_INIT=1 -DCRT0_EXTRA_CORES_NUMBER=1 -DPICO_NO_FPGA_CHECK -DNDEBUG

+

+# Define ASM defines here

+UADEFS = -DCRT0_VTOR_INIT=1 -DCRT0_EXTRA_CORES_NUMBER=1

+

+# List all user directories here

+UINCDIR =

+

+# List the user directory to look for the libraries here

+ULIBDIR =

+

+# List all user libraries here

+ULIBS =

+

+#

+# End of user section

+##############################################################################

+

+##############################################################################

+# Common rules

+#

+

+RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk

+include $(RULESPATH)/arm-none-eabi.mk

+include $(RULESPATH)/rules.mk

+

+#

+# Common rules

+##############################################################################

+

+##############################################################################

+# Custom rules

+#

+

+include ../rules.mk

+

+#

+# Custom rules

+##############################################################################

diff --git a/chibios-blink/c1_main.c b/chibios-blink/c1_main.c
new file mode 100644
index 0000000..20364b1
--- /dev/null
+++ b/chibios-blink/c1_main.c
@@ -0,0 +1,100 @@
+/*
+    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.
+*/
+
+#include "ch.h"
+#include "hal.h"
+
+#include "shell.h"
+#include "chprintf.h"
+
+#define _offsetof(type, m) ((size_t)((char *)&((type)0)->m - (char *)0))
+
+#define SHELL_WA_SIZE   THD_WORKING_AREA_SIZE(2048)
+
+static const ShellCommand commands[] = {
+  {NULL, NULL}
+};
+
+static const ShellConfig shell_cfg1 = {
+  (BaseSequentialStream *)&SIOD0,
+  commands
+};
+
+/*
+ * Green LED blinker thread, times are in milliseconds.
+ */
+static CH_SYS_CORE1_MEMORY THD_WORKING_AREA(waThreadTimer, 128);
+static THD_FUNCTION(ThreadTimer, arg) {
+  extern semaphore_t blinker_sem;
+
+  (void)arg;
+  chRegSetThreadName("timer");
+  while (true) {
+    chThdSleepMilliseconds(500);
+    chSemSignal(&blinker_sem);
+  }
+}
+
+/**
+ * Core 1 entry point.
+ */
+void c1_main(void) {
+
+  /*
+   * Starting a new OS instance running on this core, we need to wait for
+   * system initialization on the other side.
+   */
+  chSysWaitSystemState(ch_sys_running);
+  chInstanceObjectInit(&ch1, &ch_core1_cfg);
+
+  /* It is alive now.*/
+  chSysUnlock();
+
+  /*
+   * Setting up GPIOs.
+   */
+  palSetLineMode(0U, PAL_MODE_ALTERNATE_UART);
+  palSetLineMode(1U, PAL_MODE_ALTERNATE_UART);
+
+  /*
+   * Activates the UART0 SIO driver using the default configuration.
+   */
+  sioStart(&SIOD0, NULL);
+  sioStartOperation(&SIOD0, NULL);
+
+  /*
+   * Creates the timer thread.
+   */
+  chThdCreateStatic(waThreadTimer, sizeof(waThreadTimer),
+                    NORMALPRIO + 10, ThreadTimer, NULL);
+
+  /*
+   * Shell manager initialization.
+   */
+  shellInit();
+
+  /*
+   * Normal main() thread activity, in this demo it does nothing except
+   * sleeping in a loop (re)spawning a shell.
+   */
+  while (true) {
+    thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
+                                            "shell", NORMALPRIO + 1,
+                                            shellThread, (void *)&shell_cfg1);
+    chThdWait(shelltp);               /* Waiting termination.             */
+    chThdSleepMilliseconds(500);
+  }
+}
diff --git a/chibios-blink/cfg/chconf.h b/chibios-blink/cfg/chconf.h
new file mode 100644
index 0000000..ccaeb58
--- /dev/null
+++ b/chibios-blink/cfg/chconf.h
@@ -0,0 +1,817 @@
+/*

+    ChibiOS - Copyright (C) 2006..2020 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    rt/templates/chconf.h

+ * @brief   Configuration file template.

+ * @details A copy of this file must be placed in each project directory, it

+ *          contains the application specific kernel settings.

+ *

+ * @addtogroup config

+ * @details Kernel related settings and hooks.

+ * @{

+ */

+

+#ifndef CHCONF_H

+#define CHCONF_H

+

+#define _CHIBIOS_RT_CONF_

+#define _CHIBIOS_RT_CONF_VER_7_0_

+

+/*===========================================================================*/

+/**

+ * @name System settings

+ * @{

+ */

+/*===========================================================================*/

+

+/**

+ * @brief   Handling of instances.

+ * @note    If enabled then threads assigned to various instances can

+ *          interact each other using the same synchronization objects.

+ *          If disabled then each OS instance is a separate world, no

+ *          direct interactions are handled by the OS.

+ */

+#if !defined(CH_CFG_SMP_MODE)

+#define CH_CFG_SMP_MODE                     TRUE

+#endif

+

+/** @} */

+

+/*===========================================================================*/

+/**

+ * @name System timers settings

+ * @{

+ */

+/*===========================================================================*/

+

+/**

+ * @brief   System time counter resolution.

+ * @note    Allowed values are 16, 32 or 64 bits.

+ */

+#if !defined(CH_CFG_ST_RESOLUTION)

+#define CH_CFG_ST_RESOLUTION                32

+#endif

+

+/**

+ * @brief   System tick frequency.

+ * @details Frequency of the system timer that drives the system ticks. This

+ *          setting also defines the system tick time unit.

+ */

+#if !defined(CH_CFG_ST_FREQUENCY)

+#define CH_CFG_ST_FREQUENCY                 1000000

+#endif

+

+/**

+ * @brief   Time intervals data size.

+ * @note    Allowed values are 16, 32 or 64 bits.

+ */

+#if !defined(CH_CFG_INTERVALS_SIZE)

+#define CH_CFG_INTERVALS_SIZE               32

+#endif

+

+/**

+ * @brief   Time types data size.

+ * @note    Allowed values are 16 or 32 bits.

+ */

+#if !defined(CH_CFG_TIME_TYPES_SIZE)

+#define CH_CFG_TIME_TYPES_SIZE              32

+#endif

+

+/**

+ * @brief   Time delta constant for the tick-less mode.

+ * @note    If this value is zero then the system uses the classic

+ *          periodic tick. This value represents the minimum number

+ *          of ticks that is safe to specify in a timeout directive.

+ *          The value one is not valid, timeouts are rounded up to

+ *          this value.

+ */

+#if !defined(CH_CFG_ST_TIMEDELTA)

+#define CH_CFG_ST_TIMEDELTA                 20

+#endif

+

+/** @} */

+

+/*===========================================================================*/

+/**

+ * @name Kernel parameters and options

+ * @{

+ */

+/*===========================================================================*/

+

+/**

+ * @brief   Round robin interval.

+ * @details This constant is the number of system ticks allowed for the

+ *          threads before preemption occurs. Setting this value to zero

+ *          disables the preemption for threads with equal priority and the

+ *          round robin becomes cooperative. Note that higher priority

+ *          threads can still preempt, the kernel is always preemptive.

+ * @note    Disabling the round robin preemption makes the kernel more compact

+ *          and generally faster.

+ * @note    The round robin preemption is not supported in tickless mode and

+ *          must be set to zero in that case.

+ */

+#if !defined(CH_CFG_TIME_QUANTUM)

+#define CH_CFG_TIME_QUANTUM                 0

+#endif

+

+/**

+ * @brief   Idle thread automatic spawn suppression.

+ * @details When this option is activated the function @p chSysInit()

+ *          does not spawn the idle thread. The application @p main()

+ *          function becomes the idle thread and must implement an

+ *          infinite loop.

+ */

+#if !defined(CH_CFG_NO_IDLE_THREAD)

+#define CH_CFG_NO_IDLE_THREAD               FALSE

+#endif

+

+/** @} */

+

+/*===========================================================================*/

+/**

+ * @name Performance options

+ * @{

+ */

+/*===========================================================================*/

+

+/**

+ * @brief   OS optimization.

+ * @details If enabled then time efficient rather than space efficient code

+ *          is used when two possible implementations exist.

+ *

+ * @note    This is not related to the compiler optimization options.

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_OPTIMIZE_SPEED)

+#define CH_CFG_OPTIMIZE_SPEED               TRUE

+#endif

+

+/** @} */

+

+/*===========================================================================*/

+/**

+ * @name Subsystem options

+ * @{

+ */

+/*===========================================================================*/

+

+/**

+ * @brief   Time Measurement APIs.

+ * @details If enabled then the time measurement APIs are included in

+ *          the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_TM)

+#define CH_CFG_USE_TM                       TRUE

+#endif

+

+/**

+ * @brief   Time Stamps APIs.

+ * @details If enabled then the time stamps APIs are included in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_TIMESTAMP)

+#define CH_CFG_USE_TIMESTAMP                TRUE

+#endif

+

+/**

+ * @brief   Threads registry APIs.

+ * @details If enabled then the registry APIs are included in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_REGISTRY)

+#define CH_CFG_USE_REGISTRY                 TRUE

+#endif

+

+/**

+ * @brief   Threads synchronization APIs.

+ * @details If enabled then the @p chThdWait() function is included in

+ *          the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_WAITEXIT)

+#define CH_CFG_USE_WAITEXIT                 TRUE

+#endif

+

+/**

+ * @brief   Semaphores APIs.

+ * @details If enabled then the Semaphores APIs are included in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_SEMAPHORES)

+#define CH_CFG_USE_SEMAPHORES               TRUE

+#endif

+

+/**

+ * @brief   Semaphores queuing mode.

+ * @details If enabled then the threads are enqueued on semaphores by

+ *          priority rather than in FIFO order.

+ *

+ * @note    The default is @p FALSE. Enable this if you have special

+ *          requirements.

+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.

+ */

+#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)

+#define CH_CFG_USE_SEMAPHORES_PRIORITY      FALSE

+#endif

+

+/**

+ * @brief   Mutexes APIs.

+ * @details If enabled then the mutexes APIs are included in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_MUTEXES)

+#define CH_CFG_USE_MUTEXES                  TRUE

+#endif

+

+/**

+ * @brief   Enables recursive behavior on mutexes.

+ * @note    Recursive mutexes are heavier and have an increased

+ *          memory footprint.

+ *

+ * @note    The default is @p FALSE.

+ * @note    Requires @p CH_CFG_USE_MUTEXES.

+ */

+#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)

+#define CH_CFG_USE_MUTEXES_RECURSIVE        FALSE

+#endif

+

+/**

+ * @brief   Conditional Variables APIs.

+ * @details If enabled then the conditional variables APIs are included

+ *          in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ * @note    Requires @p CH_CFG_USE_MUTEXES.

+ */

+#if !defined(CH_CFG_USE_CONDVARS)

+#define CH_CFG_USE_CONDVARS                 TRUE

+#endif

+

+/**

+ * @brief   Conditional Variables APIs with timeout.

+ * @details If enabled then the conditional variables APIs with timeout

+ *          specification are included in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ * @note    Requires @p CH_CFG_USE_CONDVARS.

+ */

+#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)

+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE

+#endif

+

+/**

+ * @brief   Events Flags APIs.

+ * @details If enabled then the event flags APIs are included in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_EVENTS)

+#define CH_CFG_USE_EVENTS                   TRUE

+#endif

+

+/**

+ * @brief   Events Flags APIs with timeout.

+ * @details If enabled then the events APIs with timeout specification

+ *          are included in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ * @note    Requires @p CH_CFG_USE_EVENTS.

+ */

+#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)

+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE

+#endif

+

+/**

+ * @brief   Synchronous Messages APIs.

+ * @details If enabled then the synchronous messages APIs are included

+ *          in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_MESSAGES)

+#define CH_CFG_USE_MESSAGES                 TRUE

+#endif

+

+/**

+ * @brief   Synchronous Messages queuing mode.

+ * @details If enabled then messages are served by priority rather than in

+ *          FIFO order.

+ *

+ * @note    The default is @p FALSE. Enable this if you have special

+ *          requirements.

+ * @note    Requires @p CH_CFG_USE_MESSAGES.

+ */

+#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)

+#define CH_CFG_USE_MESSAGES_PRIORITY        FALSE

+#endif

+

+/**

+ * @brief   Dynamic Threads APIs.

+ * @details If enabled then the dynamic threads creation APIs are included

+ *          in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ * @note    Requires @p CH_CFG_USE_WAITEXIT.

+ * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.

+ */

+#if !defined(CH_CFG_USE_DYNAMIC)

+#define CH_CFG_USE_DYNAMIC                  TRUE

+#endif

+

+/** @} */

+

+/*===========================================================================*/

+/**

+ * @name OSLIB options

+ * @{

+ */

+/*===========================================================================*/

+

+/**

+ * @brief   Mailboxes APIs.

+ * @details If enabled then the asynchronous messages (mailboxes) APIs are

+ *          included in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ * @note    Requires @p CH_CFG_USE_SEMAPHORES.

+ */

+#if !defined(CH_CFG_USE_MAILBOXES)

+#define CH_CFG_USE_MAILBOXES                TRUE

+#endif

+

+/**

+ * @brief   Core Memory Manager APIs.

+ * @details If enabled then the core memory manager APIs are included

+ *          in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_MEMCORE)

+#define CH_CFG_USE_MEMCORE                  TRUE

+#endif

+

+/**

+ * @brief   Managed RAM size.

+ * @details Size of the RAM area to be managed by the OS. If set to zero

+ *          then the whole available RAM is used. The core memory is made

+ *          available to the heap allocator and/or can be used directly through

+ *          the simplified core memory allocator.

+ *

+ * @note    In order to let the OS manage the whole RAM the linker script must

+ *          provide the @p __heap_base__ and @p __heap_end__ symbols.

+ * @note    Requires @p CH_CFG_USE_MEMCORE.

+ */

+#if !defined(CH_CFG_MEMCORE_SIZE)

+#define CH_CFG_MEMCORE_SIZE                 0

+#endif

+

+/**

+ * @brief   Heap Allocator APIs.

+ * @details If enabled then the memory heap allocator APIs are included

+ *          in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ * @note    Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or

+ *          @p CH_CFG_USE_SEMAPHORES.

+ * @note    Mutexes are recommended.

+ */

+#if !defined(CH_CFG_USE_HEAP)

+#define CH_CFG_USE_HEAP                     TRUE

+#endif

+

+/**

+ * @brief   Memory Pools Allocator APIs.

+ * @details If enabled then the memory pools allocator APIs are included

+ *          in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_MEMPOOLS)

+#define CH_CFG_USE_MEMPOOLS                 TRUE

+#endif

+

+/**

+ * @brief   Objects FIFOs APIs.

+ * @details If enabled then the objects FIFOs APIs are included

+ *          in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_OBJ_FIFOS)

+#define CH_CFG_USE_OBJ_FIFOS                TRUE

+#endif

+

+/**

+ * @brief   Pipes APIs.

+ * @details If enabled then the pipes APIs are included

+ *          in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_PIPES)

+#define CH_CFG_USE_PIPES                    TRUE

+#endif

+

+/**

+ * @brief   Objects Caches APIs.

+ * @details If enabled then the objects caches APIs are included

+ *          in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_OBJ_CACHES)

+#define CH_CFG_USE_OBJ_CACHES               TRUE

+#endif

+

+/**

+ * @brief   Delegate threads APIs.

+ * @details If enabled then the delegate threads APIs are included

+ *          in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_DELEGATES)

+#define CH_CFG_USE_DELEGATES                TRUE

+#endif

+

+/**

+ * @brief   Jobs Queues APIs.

+ * @details If enabled then the jobs queues APIs are included

+ *          in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_CFG_USE_JOBS)

+#define CH_CFG_USE_JOBS                     TRUE

+#endif

+

+/** @} */

+

+/*===========================================================================*/

+/**

+ * @name Objects factory options

+ * @{

+ */

+/*===========================================================================*/

+

+/**

+ * @brief   Objects Factory APIs.

+ * @details If enabled then the objects factory APIs are included in the

+ *          kernel.

+ *

+ * @note    The default is @p FALSE.

+ */

+#if !defined(CH_CFG_USE_FACTORY)

+#define CH_CFG_USE_FACTORY                  TRUE

+#endif

+

+/**

+ * @brief   Maximum length for object names.

+ * @details If the specified length is zero then the name is stored by

+ *          pointer but this could have unintended side effects.

+ */

+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)

+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH     8

+#endif

+

+/**

+ * @brief   Enables the registry of generic objects.

+ */

+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)

+#define CH_CFG_FACTORY_OBJECTS_REGISTRY     TRUE

+#endif

+

+/**

+ * @brief   Enables factory for generic buffers.

+ */

+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)

+#define CH_CFG_FACTORY_GENERIC_BUFFERS      TRUE

+#endif

+

+/**

+ * @brief   Enables factory for semaphores.

+ */

+#if !defined(CH_CFG_FACTORY_SEMAPHORES)

+#define CH_CFG_FACTORY_SEMAPHORES           TRUE

+#endif

+

+/**

+ * @brief   Enables factory for mailboxes.

+ */

+#if !defined(CH_CFG_FACTORY_MAILBOXES)

+#define CH_CFG_FACTORY_MAILBOXES            TRUE

+#endif

+

+/**

+ * @brief   Enables factory for objects FIFOs.

+ */

+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)

+#define CH_CFG_FACTORY_OBJ_FIFOS            TRUE

+#endif

+

+/**

+ * @brief   Enables factory for Pipes.

+ */

+#if !defined(CH_CFG_FACTORY_PIPES) || defined(__DOXYGEN__)

+#define CH_CFG_FACTORY_PIPES                TRUE

+#endif

+

+/** @} */

+

+/*===========================================================================*/

+/**

+ * @name Debug options

+ * @{

+ */

+/*===========================================================================*/

+

+/**

+ * @brief   Debug option, kernel statistics.

+ *

+ * @note    The default is @p FALSE.

+ */

+#if !defined(CH_DBG_STATISTICS)

+#define CH_DBG_STATISTICS                   FALSE

+#endif

+

+/**

+ * @brief   Debug option, system state check.

+ * @details If enabled the correct call protocol for system APIs is checked

+ *          at runtime.

+ *

+ * @note    The default is @p FALSE.

+ */

+#if !defined(CH_DBG_SYSTEM_STATE_CHECK)

+#define CH_DBG_SYSTEM_STATE_CHECK           FALSE

+#endif

+

+/**

+ * @brief   Debug option, parameters checks.

+ * @details If enabled then the checks on the API functions input

+ *          parameters are activated.

+ *

+ * @note    The default is @p FALSE.

+ */

+#if !defined(CH_DBG_ENABLE_CHECKS)

+#define CH_DBG_ENABLE_CHECKS                FALSE

+#endif

+

+/**

+ * @brief   Debug option, consistency checks.

+ * @details If enabled then all the assertions in the kernel code are

+ *          activated. This includes consistency checks inside the kernel,

+ *          runtime anomalies and port-defined checks.

+ *

+ * @note    The default is @p FALSE.

+ */

+#if !defined(CH_DBG_ENABLE_ASSERTS)

+#define CH_DBG_ENABLE_ASSERTS               FALSE

+#endif

+

+/**

+ * @brief   Debug option, trace buffer.

+ * @details If enabled then the trace buffer is activated.

+ *

+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.

+ */

+#if !defined(CH_DBG_TRACE_MASK)

+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_DISABLED

+#endif

+

+/**

+ * @brief   Trace buffer entries.

+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is

+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.

+ */

+#if !defined(CH_DBG_TRACE_BUFFER_SIZE)

+#define CH_DBG_TRACE_BUFFER_SIZE            128

+#endif

+

+/**

+ * @brief   Debug option, stack checks.

+ * @details If enabled then a runtime stack check is performed.

+ *

+ * @note    The default is @p FALSE.

+ * @note    The stack check is performed in a architecture/port dependent way.

+ *          It may not be implemented or some ports.

+ * @note    The default failure mode is to halt the system with the global

+ *          @p panic_msg variable set to @p NULL.

+ */

+#if !defined(CH_DBG_ENABLE_STACK_CHECK)

+#define CH_DBG_ENABLE_STACK_CHECK           FALSE

+#endif

+

+/**

+ * @brief   Debug option, stacks initialization.

+ * @details If enabled then the threads working area is filled with a byte

+ *          value when a thread is created. This can be useful for the

+ *          runtime measurement of the used stack.

+ *

+ * @note    The default is @p FALSE.

+ */

+#if !defined(CH_DBG_FILL_THREADS)

+#define CH_DBG_FILL_THREADS                 FALSE

+#endif

+

+/**

+ * @brief   Debug option, threads profiling.

+ * @details If enabled then a field is added to the @p thread_t structure that

+ *          counts the system ticks occurred while executing the thread.

+ *

+ * @note    The default is @p FALSE.

+ * @note    This debug option is not currently compatible with the

+ *          tickless mode.

+ */

+#if !defined(CH_DBG_THREADS_PROFILING)

+#define CH_DBG_THREADS_PROFILING            FALSE

+#endif

+

+/** @} */

+

+/*===========================================================================*/

+/**

+ * @name Kernel hooks

+ * @{

+ */

+/*===========================================================================*/

+

+/**

+ * @brief   System structure extension.

+ * @details User fields added to the end of the @p ch_system_t structure.

+ */

+#define CH_CFG_SYSTEM_EXTRA_FIELDS                                          \

+  /* Add system custom fields here.*/

+

+/**

+ * @brief   System initialization hook.

+ * @details User initialization code added to the @p chSysInit() function

+ *          just before interrupts are enabled globally.

+ */

+#define CH_CFG_SYSTEM_INIT_HOOK() {                                         \

+  /* Add system initialization code here.*/                                 \

+}

+

+/**

+ * @brief   OS instance structure extension.

+ * @details User fields added to the end of the @p os_instance_t structure.

+ */

+#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS                                     \

+  /* Add OS instance custom fields here.*/

+

+/**

+ * @brief   OS instance initialization hook.

+ *

+ * @param[in] oip       pointer to the @p os_instance_t structure

+ */

+#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) {                                 \

+  /* Add OS instance initialization code here.*/                            \

+}

+

+/**

+ * @brief   Threads descriptor structure extension.

+ * @details User fields added to the end of the @p thread_t structure.

+ */

+#define CH_CFG_THREAD_EXTRA_FIELDS                                          \

+  /* Add threads custom fields here.*/

+

+/**

+ * @brief   Threads initialization hook.

+ * @details User initialization code added to the @p _thread_init() function.

+ *

+ * @note    It is invoked from within @p _thread_init() and implicitly from all

+ *          the threads creation APIs.

+ *

+ * @param[in] tp        pointer to the @p thread_t structure

+ */

+#define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \

+  /* Add threads initialization code here.*/                                \

+}

+

+/**

+ * @brief   Threads finalization hook.

+ * @details User finalization code added to the @p chThdExit() API.

+ *

+ * @param[in] tp        pointer to the @p thread_t structure

+ */

+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \

+  /* Add threads finalization code here.*/                                  \

+}

+

+/**

+ * @brief   Context switch hook.

+ * @details This hook is invoked just before switching between threads.

+ *

+ * @param[in] ntp       thread being switched in

+ * @param[in] otp       thread being switched out

+ */

+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \

+  /* Context switch code here.*/                                            \

+}

+

+/**

+ * @brief   ISR enter hook.

+ */

+#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \

+  /* IRQ prologue code here.*/                                              \

+}

+

+/**

+ * @brief   ISR exit hook.

+ */

+#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \

+  /* IRQ epilogue code here.*/                                              \

+}

+

+/**

+ * @brief   Idle thread enter hook.

+ * @note    This hook is invoked within a critical zone, no OS functions

+ *          should be invoked from here.

+ * @note    This macro can be used to activate a power saving mode.

+ */

+#define CH_CFG_IDLE_ENTER_HOOK() {                                          \

+  /* Idle-enter code here.*/                                                \

+}

+

+/**

+ * @brief   Idle thread leave hook.

+ * @note    This hook is invoked within a critical zone, no OS functions

+ *          should be invoked from here.

+ * @note    This macro can be used to deactivate a power saving mode.

+ */

+#define CH_CFG_IDLE_LEAVE_HOOK() {                                          \

+  /* Idle-leave code here.*/                                                \

+}

+

+/**

+ * @brief   Idle Loop hook.

+ * @details This hook is continuously invoked by the idle thread loop.

+ */

+#define CH_CFG_IDLE_LOOP_HOOK() {                                           \

+  /* Idle loop code here.*/                                                 \

+}

+

+/**

+ * @brief   System tick event hook.

+ * @details This hook is invoked in the system tick handler immediately

+ *          after processing the virtual timers queue.

+ */

+#define CH_CFG_SYSTEM_TICK_HOOK() {                                         \

+  /* System tick event code here.*/                                         \

+}

+

+/**

+ * @brief   System halt hook.

+ * @details This hook is invoked in case to a system halting error before

+ *          the system is halted.

+ */

+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \

+  /* System halt code here.*/                                               \

+}

+

+/**

+ * @brief   Trace hook.

+ * @details This hook is invoked each time a new record is written in the

+ *          trace buffer.

+ */

+#define CH_CFG_TRACE_HOOK(tep) {                                            \

+  /* Trace code here.*/                                                     \

+}

+

+/**

+ * @brief   Runtime Faults Collection Unit hook.

+ * @details This hook is invoked each time new faults are collected and stored.

+ */

+#define CH_CFG_RUNTIME_FAULTS_HOOK(mask) {                                  \

+  /* Faults handling code here.*/                                           \

+}

+

+/** @} */

+

+/*===========================================================================*/

+/* Port-specific settings (override port settings defaulted in chcore.h).    */

+/*===========================================================================*/

+

+#endif  /* CHCONF_H */

+

+/** @} */

diff --git a/chibios-blink/cfg/halconf.h b/chibios-blink/cfg/halconf.h
new file mode 100644
index 0000000..c1a106d
--- /dev/null
+++ b/chibios-blink/cfg/halconf.h
@@ -0,0 +1,550 @@
+/*

+    ChibiOS - Copyright (C) 2006..2020 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    templates/halconf.h

+ * @brief   HAL configuration header.

+ * @details HAL configuration file, this file allows to enable or disable the

+ *          various device drivers from your application. You may also use

+ *          this file in order to override the device drivers default settings.

+ *

+ * @addtogroup HAL_CONF

+ * @{

+ */

+

+#ifndef HALCONF_H

+#define HALCONF_H

+

+#define _CHIBIOS_HAL_CONF_

+#define _CHIBIOS_HAL_CONF_VER_8_0_

+

+#include "mcuconf.h"

+

+/**

+ * @brief   Enables the PAL subsystem.

+ */

+#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)

+#define HAL_USE_PAL                         TRUE

+#endif

+

+/**

+ * @brief   Enables the ADC subsystem.

+ */

+#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)

+#define HAL_USE_ADC                         FALSE

+#endif

+

+/**

+ * @brief   Enables the CAN subsystem.

+ */

+#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)

+#define HAL_USE_CAN                         FALSE

+#endif

+

+/**

+ * @brief   Enables the cryptographic subsystem.

+ */

+#if !defined(HAL_USE_CRY) || defined(__DOXYGEN__)

+#define HAL_USE_CRY                         FALSE

+#endif

+

+/**

+ * @brief   Enables the DAC subsystem.

+ */

+#if !defined(HAL_USE_DAC) || defined(__DOXYGEN__)

+#define HAL_USE_DAC                         FALSE

+#endif

+

+/**

+ * @brief   Enables the EFlash subsystem.

+ */

+#if !defined(HAL_USE_EFL) || defined(__DOXYGEN__)

+#define HAL_USE_EFL                         FALSE

+#endif

+

+/**

+ * @brief   Enables the GPT subsystem.

+ */

+#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)

+#define HAL_USE_GPT                         FALSE

+#endif

+

+/**

+ * @brief   Enables the I2C subsystem.

+ */

+#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)

+#define HAL_USE_I2C                         FALSE

+#endif

+

+/**

+ * @brief   Enables the I2S subsystem.

+ */

+#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__)

+#define HAL_USE_I2S                         FALSE

+#endif

+

+/**

+ * @brief   Enables the ICU subsystem.

+ */

+#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)

+#define HAL_USE_ICU                         FALSE

+#endif

+

+/**

+ * @brief   Enables the MAC subsystem.

+ */

+#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)

+#define HAL_USE_MAC                         FALSE

+#endif

+

+/**

+ * @brief   Enables the MMC_SPI subsystem.

+ */

+#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)

+#define HAL_USE_MMC_SPI                     FALSE

+#endif

+

+/**

+ * @brief   Enables the PWM subsystem.

+ */

+#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)

+#define HAL_USE_PWM                         FALSE

+#endif

+

+/**

+ * @brief   Enables the RTC subsystem.

+ */

+#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__)

+#define HAL_USE_RTC                         FALSE

+#endif

+

+/**

+ * @brief   Enables the SDC subsystem.

+ */

+#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__)

+#define HAL_USE_SDC                         FALSE

+#endif

+

+/**

+ * @brief   Enables the SERIAL subsystem.

+ */

+#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)

+#define HAL_USE_SERIAL                      FALSE

+#endif

+

+/**

+ * @brief   Enables the SERIAL over USB subsystem.

+ */

+#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)

+#define HAL_USE_SERIAL_USB                  FALSE

+#endif

+

+/**

+ * @brief   Enables the SIO subsystem.

+ */

+#if !defined(HAL_USE_SIO) || defined(__DOXYGEN__)

+#define HAL_USE_SIO                         TRUE

+#endif

+

+/**

+ * @brief   Enables the SPI subsystem.

+ */

+#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)

+#define HAL_USE_SPI                         FALSE

+#endif

+

+/**

+ * @brief   Enables the TRNG subsystem.

+ */

+#if !defined(HAL_USE_TRNG) || defined(__DOXYGEN__)

+#define HAL_USE_TRNG                        FALSE

+#endif

+

+/**

+ * @brief   Enables the UART subsystem.

+ */

+#if !defined(HAL_USE_UART) || defined(__DOXYGEN__)

+#define HAL_USE_UART                        FALSE

+#endif

+

+/**

+ * @brief   Enables the USB subsystem.

+ */

+#if !defined(HAL_USE_USB) || defined(__DOXYGEN__)

+#define HAL_USE_USB                         FALSE

+#endif

+

+/**

+ * @brief   Enables the WDG subsystem.

+ */

+#if !defined(HAL_USE_WDG) || defined(__DOXYGEN__)

+#define HAL_USE_WDG                         FALSE

+#endif

+

+/**

+ * @brief   Enables the WSPI subsystem.

+ */

+#if !defined(HAL_USE_WSPI) || defined(__DOXYGEN__)

+#define HAL_USE_WSPI                        FALSE

+#endif

+

+/*===========================================================================*/

+/* PAL driver related settings.                                              */

+/*===========================================================================*/

+

+/**

+ * @brief   Enables synchronous APIs.

+ * @note    Disabling this option saves both code and data space.

+ */

+#if !defined(PAL_USE_CALLBACKS) || defined(__DOXYGEN__)

+#define PAL_USE_CALLBACKS                   FALSE

+#endif

+

+/**

+ * @brief   Enables synchronous APIs.

+ * @note    Disabling this option saves both code and data space.

+ */

+#if !defined(PAL_USE_WAIT) || defined(__DOXYGEN__)

+#define PAL_USE_WAIT                        FALSE

+#endif

+

+/*===========================================================================*/

+/* ADC driver related settings.                                              */

+/*===========================================================================*/

+

+/**

+ * @brief   Enables synchronous APIs.

+ * @note    Disabling this option saves both code and data space.

+ */

+#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__)

+#define ADC_USE_WAIT                        TRUE

+#endif

+

+/**

+ * @brief   Enables the @p adcAcquireBus() and @p adcReleaseBus() APIs.

+ * @note    Disabling this option saves both code and data space.

+ */

+#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)

+#define ADC_USE_MUTUAL_EXCLUSION            TRUE

+#endif

+

+/*===========================================================================*/

+/* CAN driver related settings.                                              */

+/*===========================================================================*/

+

+/**

+ * @brief   Sleep mode related APIs inclusion switch.

+ */

+#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)

+#define CAN_USE_SLEEP_MODE                  TRUE

+#endif

+

+/**

+ * @brief   Enforces the driver to use direct callbacks rather than OSAL events.

+ */

+#if !defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__)

+#define CAN_ENFORCE_USE_CALLBACKS           FALSE

+#endif

+

+/*===========================================================================*/

+/* CRY driver related settings.                                              */

+/*===========================================================================*/

+

+/**

+ * @brief   Enables the SW fall-back of the cryptographic driver.

+ * @details When enabled, this option, activates a fall-back software

+ *          implementation for algorithms not supported by the underlying

+ *          hardware.

+ * @note    Fall-back implementations may not be present for all algorithms.

+ */

+#if !defined(HAL_CRY_USE_FALLBACK) || defined(__DOXYGEN__)

+#define HAL_CRY_USE_FALLBACK                FALSE

+#endif

+

+/**

+ * @brief   Makes the driver forcibly use the fall-back implementations.

+ */

+#if !defined(HAL_CRY_ENFORCE_FALLBACK) || defined(__DOXYGEN__)

+#define HAL_CRY_ENFORCE_FALLBACK            FALSE

+#endif

+

+/*===========================================================================*/

+/* DAC driver related settings.                                              */

+/*===========================================================================*/

+

+/**

+ * @brief   Enables synchronous APIs.

+ * @note    Disabling this option saves both code and data space.

+ */

+#if !defined(DAC_USE_WAIT) || defined(__DOXYGEN__)

+#define DAC_USE_WAIT                        TRUE

+#endif

+

+/**

+ * @brief   Enables the @p dacAcquireBus() and @p dacReleaseBus() APIs.

+ * @note    Disabling this option saves both code and data space.

+ */

+#if !defined(DAC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)

+#define DAC_USE_MUTUAL_EXCLUSION            TRUE

+#endif

+

+/*===========================================================================*/

+/* I2C driver related settings.                                              */

+/*===========================================================================*/

+

+/**

+ * @brief   Enables the mutual exclusion APIs on the I2C bus.

+ */

+#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)

+#define I2C_USE_MUTUAL_EXCLUSION            TRUE

+#endif

+

+/*===========================================================================*/

+/* MAC driver related settings.                                              */

+/*===========================================================================*/

+

+/**

+ * @brief   Enables the zero-copy API.

+ */

+#if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__)

+#define MAC_USE_ZERO_COPY                   FALSE

+#endif

+

+/**

+ * @brief   Enables an event sources for incoming packets.

+ */

+#if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__)

+#define MAC_USE_EVENTS                      TRUE

+#endif

+

+/*===========================================================================*/

+/* MMC_SPI driver related settings.                                          */

+/*===========================================================================*/

+

+/**

+ * @brief   Delays insertions.

+ * @details If enabled this options inserts delays into the MMC waiting

+ *          routines releasing some extra CPU time for the threads with

+ *          lower priority, this may slow down the driver a bit however.

+ *          This option is recommended also if the SPI driver does not

+ *          use a DMA channel and heavily loads the CPU.

+ */

+#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__)

+#define MMC_NICE_WAITING                    TRUE

+#endif

+

+/*===========================================================================*/

+/* SDC driver related settings.                                              */

+/*===========================================================================*/

+

+/**

+ * @brief   Number of initialization attempts before rejecting the card.

+ * @note    Attempts are performed at 10mS intervals.

+ */

+#if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__)

+#define SDC_INIT_RETRY                      100

+#endif

+

+/**

+ * @brief   Include support for MMC cards.

+ * @note    MMC support is not yet implemented so this option must be kept

+ *          at @p FALSE.

+ */

+#if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__)

+#define SDC_MMC_SUPPORT                     FALSE

+#endif

+

+/**

+ * @brief   Delays insertions.

+ * @details If enabled this options inserts delays into the MMC waiting

+ *          routines releasing some extra CPU time for the threads with

+ *          lower priority, this may slow down the driver a bit however.

+ */

+#if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__)

+#define SDC_NICE_WAITING                    TRUE

+#endif

+

+/**

+ * @brief   OCR initialization constant for V20 cards.

+ */

+#if !defined(SDC_INIT_OCR_V20) || defined(__DOXYGEN__)

+#define SDC_INIT_OCR_V20                    0x50FF8000U

+#endif

+

+/**

+ * @brief   OCR initialization constant for non-V20 cards.

+ */

+#if !defined(SDC_INIT_OCR) || defined(__DOXYGEN__)

+#define SDC_INIT_OCR                        0x80100000U

+#endif

+

+/*===========================================================================*/

+/* SERIAL driver related settings.                                           */

+/*===========================================================================*/

+

+/**

+ * @brief   Default bit rate.

+ * @details Configuration parameter, this is the baud rate selected for the

+ *          default configuration.

+ */

+#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)

+#define SERIAL_DEFAULT_BITRATE              38400

+#endif

+

+/**

+ * @brief   Serial buffers size.

+ * @details Configuration parameter, you can change the depth of the queue

+ *          buffers depending on the requirements of your application.

+ * @note    The default is 16 bytes for both the transmission and receive

+ *          buffers.

+ */

+#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)

+#define SERIAL_BUFFERS_SIZE                 16

+#endif

+

+/*===========================================================================*/

+/* SIO driver related settings.                                              */

+/*===========================================================================*/

+

+/**

+ * @brief   Default bit rate.

+ * @details Configuration parameter, this is the baud rate selected for the

+ *          default configuration.

+ */

+#if !defined(SIO_DEFAULT_BITRATE) || defined(__DOXYGEN__)

+#define SIO_DEFAULT_BITRATE                 115200

+#endif

+

+/**

+ * @brief   Support for thread synchronization API.

+ */

+#if !defined(SIO_USE_SYNCHRONIZATION) || defined(__DOXYGEN__)

+#define SIO_USE_SYNCHRONIZATION             TRUE

+#endif

+

+/*===========================================================================*/

+/* SERIAL_USB driver related setting.                                        */

+/*===========================================================================*/

+

+/**

+ * @brief   Serial over USB buffers size.

+ * @details Configuration parameter, the buffer size must be a multiple of

+ *          the USB data endpoint maximum packet size.

+ * @note    The default is 256 bytes for both the transmission and receive

+ *          buffers.

+ */

+#if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__)

+#define SERIAL_USB_BUFFERS_SIZE             256

+#endif

+

+/**

+ * @brief   Serial over USB number of buffers.

+ * @note    The default is 2 buffers.

+ */

+#if !defined(SERIAL_USB_BUFFERS_NUMBER) || defined(__DOXYGEN__)

+#define SERIAL_USB_BUFFERS_NUMBER           2

+#endif

+

+/*===========================================================================*/

+/* SPI driver related settings.                                              */

+/*===========================================================================*/

+

+/**

+ * @brief   Enables synchronous APIs.

+ * @note    Disabling this option saves both code and data space.

+ */

+#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__)

+#define SPI_USE_WAIT                        TRUE

+#endif

+

+/**

+ * @brief   Inserts an assertion on function errors before returning.

+ */

+#if !defined(SPI_USE_ASSERT_ON_ERROR) || defined(__DOXYGEN__)

+#define SPI_USE_ASSERT_ON_ERROR             TRUE

+#endif

+

+/**

+ * @brief   Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs.

+ * @note    Disabling this option saves both code and data space.

+ */

+#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)

+#define SPI_USE_MUTUAL_EXCLUSION            TRUE

+#endif

+

+/**

+ * @brief   Handling method for SPI CS line.

+ * @note    Disabling this option saves both code and data space.

+ */

+#if !defined(SPI_SELECT_MODE) || defined(__DOXYGEN__)

+#define SPI_SELECT_MODE                     SPI_SELECT_MODE_LINE

+#endif

+

+/*===========================================================================*/

+/* UART driver related settings.                                             */

+/*===========================================================================*/

+

+/**

+ * @brief   Enables synchronous APIs.

+ * @note    Disabling this option saves both code and data space.

+ */

+#if !defined(UART_USE_WAIT) || defined(__DOXYGEN__)

+#define UART_USE_WAIT                       FALSE

+#endif

+

+/**

+ * @brief   Enables the @p uartAcquireBus() and @p uartReleaseBus() APIs.

+ * @note    Disabling this option saves both code and data space.

+ */

+#if !defined(UART_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)

+#define UART_USE_MUTUAL_EXCLUSION           FALSE

+#endif

+

+/*===========================================================================*/

+/* USB driver related settings.                                              */

+/*===========================================================================*/

+

+/**

+ * @brief   Enables synchronous APIs.

+ * @note    Disabling this option saves both code and data space.

+ */

+#if !defined(USB_USE_WAIT) || defined(__DOXYGEN__)

+#define USB_USE_WAIT                        FALSE

+#endif

+

+/*===========================================================================*/

+/* WSPI driver related settings.                                             */

+/*===========================================================================*/

+

+/**

+ * @brief   Enables synchronous APIs.

+ * @note    Disabling this option saves both code and data space.

+ */

+#if !defined(WSPI_USE_WAIT) || defined(__DOXYGEN__)

+#define WSPI_USE_WAIT                       TRUE

+#endif

+

+/**

+ * @brief   Enables the @p wspiAcquireBus() and @p wspiReleaseBus() APIs.

+ * @note    Disabling this option saves both code and data space.

+ */

+#if !defined(WSPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)

+#define WSPI_USE_MUTUAL_EXCLUSION           TRUE

+#endif

+

+#endif /* HALCONF_H */

+

+/** @} */

diff --git a/chibios-blink/cfg/mcuconf.h b/chibios-blink/cfg/mcuconf.h
new file mode 100644
index 0000000..a0f1e07
--- /dev/null
+++ b/chibios-blink/cfg/mcuconf.h
@@ -0,0 +1,73 @@
+/*

+    ChibiOS - Copyright (C) 2006..2021 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.

+*/

+

+#ifndef MCUCONF_H

+#define MCUCONF_H

+

+/*

+ * RP2040_MCUCONF drivers configuration.

+ *

+ * IRQ priorities:

+ * 3...0        Lowest...Highest.

+ *

+ * DMA priorities:

+ * 0...1        Lowest...Highest.

+ */

+

+#define RP2040_MCUCONF

+

+/*

+ * HAL driver system settings.

+ */

+#define RP_NO_INIT                          FALSE

+#define RP_CORE1_START                      TRUE

+#define RP_CORE1_VECTORS_TABLE              _vectors

+#define RP_CORE1_ENTRY_POINT                _crt0_c1_entry

+#define RP_CORE1_STACK_END                  __c1_main_stack_end__

+

+/*

+ * IRQ system settings.

+ */

+#define RP_IRQ_SYSTICK_PRIORITY             2

+#define RP_IRQ_TIMER_ALARM0_PRIORITY        2

+#define RP_IRQ_TIMER_ALARM1_PRIORITY        2

+#define RP_IRQ_TIMER_ALARM2_PRIORITY        2

+#define RP_IRQ_TIMER_ALARM3_PRIORITY        2

+#define RP_IRQ_UART0_PRIORITY               3

+#define RP_IRQ_UART1_PRIORITY               3

+#define RP_IRQ_SPI0_PRIORITY                2

+#define RP_IRQ_SPI1_PRIORITY                2

+

+/*

+ * SIO driver system settings.

+ */

+#define RP_SIO_USE_UART0                    TRUE

+#define RP_SIO_USE_UART1                    TRUE

+

+/*

+ * SPI driver system settings.

+ */

+#define RP_SPI_USE_SPI0                     FALSE

+#define RP_SPI_USE_SPI1                     FALSE

+#define RP_SPI_SPI0_RX_DMA_CHANNEL          RP_DMA_CHANNEL_ID_ANY

+#define RP_SPI_SPI0_TX_DMA_CHANNEL          RP_DMA_CHANNEL_ID_ANY

+#define RP_SPI_SPI1_RX_DMA_CHANNEL          RP_DMA_CHANNEL_ID_ANY

+#define RP_SPI_SPI1_TX_DMA_CHANNEL          RP_DMA_CHANNEL_ID_ANY

+#define RP_SPI_SPI0_DMA_PRIORITY            1

+#define RP_SPI_SPI1_DMA_PRIORITY            1

+#define RP_SPI_DMA_ERROR_HOOK(spip)

+

+#endif /* MCUCONF_H */

diff --git a/chibios-blink/main.c b/chibios-blink/main.c
new file mode 100644
index 0000000..c173cac
--- /dev/null
+++ b/chibios-blink/main.c
@@ -0,0 +1,73 @@
+/*
+    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.
+*/
+
+#include "ch.h"
+#include "hal.h"
+
+semaphore_t blinker_sem;
+
+/*
+ * Green LED blinker thread, times are in milliseconds.
+ */
+static CH_SYS_CORE0_MEMORY THD_WORKING_AREA(waThread1, 128);
+static THD_FUNCTION(Thread1, arg) {
+
+  (void)arg;
+  chRegSetThreadName("blinker");
+  while (true) {
+    chSemWait(&blinker_sem);
+    palToggleLine(25U);
+  }
+}
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+
+  /*
+   * Shared objects initialization.
+   */
+  chSemObjectInit(&blinker_sem, 0);
+
+  /*
+   * System initializations.
+   * - HAL initialization, this also initializes the configured device drivers
+   *   and performs the board-specific initializations.
+   * - Kernel initialization, the main() function becomes a thread and the
+   *   RTOS is active.
+   */
+  halInit();
+  chSysInit();
+
+  /*
+   * Setting up GPIOs.
+   */
+  palSetLineMode(25U, PAL_MODE_OUTPUT_PUSHPULL | PAL_RP_PAD_DRIVE12);
+
+  /*
+   * Creates the blinker thread.
+   */
+  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
+
+  /*
+   * Normal main() thread activity, in this demo it does nothing except
+   * sleeping in a loop.
+   */
+  while (true) {
+    chThdSleepMilliseconds(500);
+  }
+}
diff --git a/contrib/Makefile b/contrib/Makefile
index 8535a11..15406b3 100644
--- a/contrib/Makefile
+++ b/contrib/Makefile
@@ -20,8 +20,17 @@
 ##  along with spreadspace rppico utils. If not, see <http://www.gnu.org/licenses/>.
 ##
 
-all: download-picoprobe clone-openocd
-clean: clean-picoprobe clean-openocd
+CHIBIOS_VERSION := 21.11.2
+CHIBIOS_SHA256SUM := ba74eec6230b66d79c0f0a26e9af00ca46756cb47f7b4a229eb228cbff3a8b48
+FMPP_VERSION := 0.9.16
+FMPP_SHA256SUM := 86561e3f3a2ccb436f5f3df88d79a7dad72549a33191901f49d12a38b53759cd
+GCC_VERSION := 10.3-2021.10
+GCC_HOST := $(shell uname -m)-$(shell uname | tr '[:upper:]' '[:lower:]')
+GCC_SHA256SUM := 97dbb4f019ad1650b732faffcc881689cedc14e2b7ee863d390e0a41ef16c9a3
+
+
+all: download-picoprobe clone-openocd download-chibios download-gcc
+clean: clean-picoprobe clean-openocd clean-chibios clean-gcc
 
 
 download-picoprobe: picoprobe.u2f
@@ -41,3 +50,28 @@ clone-openocd: openocd/src/openocd
 
 clean-openocd:
 	rm -rf openocd
+
+
+download-chibios: ChibiOS_${CHIBIOS_VERSION}.7z
+
+ChibiOS_${CHIBIOS_VERSION}.7z:
+	wget "https://osdn.net/dl/chibios/$@" -O "$@"
+	echo "${CHIBIOS_SHA256SUM} $@" | sha256sum -c
+	7z x $@
+	7z "-oChibiOS_${CHIBIOS_VERSION}/ext/" x "ChibiOS_${CHIBIOS_VERSION}/ext/pico-sdk *.7z"
+
+clean-chibios:
+	rm -f ChibiOS_${CHIBIOS_VERSION}.7z
+	rm -rf ChibiOS_${CHIBIOS_VERSION}
+
+
+download-gcc: gcc-arm-none-eabi-${GCC_VERSION}-${GCC_HOST}.tar.bz2
+
+gcc-arm-none-eabi-${GCC_VERSION}-${GCC_HOST}.tar.bz2:
+	wget "https://developer.arm.com/-/media/Files/downloads/gnu-rm/${GCC_VERSION}/$@" -O "$@"
+	echo "${GCC_SHA256SUM} $@" | sha256sum -c
+	tar -xjf $@
+
+clean-gcc:
+	rm -f gcc-arm-none-eabi-${GCC_VERSION}-${GCC_HOST}.tar.bz2
+	rm -rf gcc-arm-none-eabi-${GCC_VERSION}
diff --git a/defines.mk b/defines.mk
new file mode 100644
index 0000000..4aefee7
--- /dev/null
+++ b/defines.mk
@@ -0,0 +1,30 @@
+##
+##  spreadspace rppico utils
+##
+##
+##  Copyright (C) 2022 Christian Pointner <equinox@spreadspace.org>
+##
+##  This file is part of spreadspace rppico utils.
+##
+##  spreadspace rppico utils 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
+##  any later version.
+##
+##  spreadspace rppico utils 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 spreadspace rppico utils. If not, see <http://www.gnu.org/licenses/>.
+##
+
+ifndef SPREADRPPICO_PATH
+SPREADRPPICO_PATH := ..
+endif
+
+export PATH := $(SPREADRPPICO_PATH)/contrib/gcc-arm-none-eabi-10.3-2021.10/bin:$(PATH)
+CHIBIOS := ../contrib/ChibiOS_21.11.2
+CHIBIOS_CONTRIB := $(CHIBIOS)/community
+OPENOCD := $(SPREADRPPICO_PATH)/contrib/openocd
diff --git a/rules.mk b/rules.mk
new file mode 100644
index 0000000..f068838
--- /dev/null
+++ b/rules.mk
@@ -0,0 +1,31 @@
+##
+##  spreadspace rppico utils
+##
+##
+##  Copyright (C) 2022 Christian Pointner <equinox@spreadspace.org>
+##
+##  This file is part of spreadspace rppico utils.
+##
+##  spreadspace rppico utils is free software: you can redistribute it and/or modify
+##  it under the terms of the GNU General Public License as published by
+##  the Free Software Foundation, either version 3 of the License, or
+##  any later version.
+##
+##  spreadspace rppico utils is distributed in the hope that it will be useful,
+##  but WITHOUT ANY WARRANTY; without even the implied warranty of
+##  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+##  GNU General Public License for more details.
+##
+##  You should have received a copy of the GNU General Public License
+##  along with spreadspace rppico utils. If not, see <http://www.gnu.org/licenses/>.
+##
+
+program: build/$(PROJECT).elf
+	$(OPENOCD)/src/openocd -s $(OPENOCD)/tcl -f interface/picoprobe.cfg -f target/rp2040.cfg -c "program build/$(PROJECT).elf verify reset exit"
+
+gdb-server:
+	$(OPENOCD)/src/openocd -s $(OPENOCD)/tcl -f interface/picoprobe.cfg -f target/rp2040.cfg -c "tcl_port disabled; telnet_port disabled; gdb_port 4242;"
+#	$(OPENOCD)/src/openocd -s $(OPENOCD)/tcl -f interface/picoprobe.cfg -f target/rp2040.cfg -c "tcl_port disabled; telnet_port disabled; gdb_port 4242; rp2040.core0 configure -rtos chibios; rp2040.core1 configure -rtos chibios;"
+
+gdb:
+	arm-none-eabi-gdb -se "build/$(PROJECT).elf" -ex "target extended-remote localhost:4242"