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ChibiOS
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Updated demos using the shell. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3094 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
gdisirio 2011-06-28 06:54:35 +00:00
parent ddc9ded3f0
commit 7bdd564b9d
11 changed files with 109 additions and 138 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
demos/ARM7-AT91SAM7S-FATFS-GCC/Makefile
View File

@ -62,7 +62,7 @@ CSRC = $(PORTSRC) \
$(FATFSSRC) \
$(BOARDSRC) \
$(CHIBIOS)/os/various/shell.c \
$(CHIBIOS)/os/various/syscalls.c \
$(CHIBIOS)/os/various/chprintf.c \
main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global

56
demos/ARM7-AT91SAM7S-FATFS-GCC/main.c
View File

@ -25,6 +25,7 @@
#include "hal.h"
#include "test.h"
#include "shell.h"
#include "chprintf.h"
#include "evtimer.h"
#include "ff.h"
@ -73,8 +74,7 @@ static bool_t mmc_is_protected(void) {
/* Generic large buffer.*/
uint8_t fbuff[1024];
static FRESULT scan_files(char *path)
{
static FRESULT scan_files(BaseChannel *chp, char *path) {
FRESULT res;
FILINFO fno;
DIR dir;
@ -92,14 +92,15 @@ static FRESULT scan_files(char *path)
continue;
fn = fno.fname;
if (fno.fattrib & AM_DIR) {
siprintf(&path[i], "/%s", fn);
res = scan_files(path);
path[i++] = '/';
strcpy(&path[i], fn);
res = scan_files(chp, path);
if (res != FR_OK)
break;
path[i] = 0;
}
else {
iprintf("%s/%s\r\n", path, fn);
chprintf(chp, "%s/%s\r\n", path, fn);
}
}
}
@ -115,20 +116,16 @@ static FRESULT scan_files(char *path)
static void cmd_mem(BaseChannel *chp, int argc, char *argv[]) {
size_t n, size;
char buf[52];
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: mem");
chprintf(chp, "Usage: mem\r\n");
return;
}
n = chHeapStatus(NULL, &size);
siprintf(buf, "core free memory : %lu bytes", chCoreStatus());
shellPrintLine(chp, buf);
siprintf(buf, "heap fragments : %lu", n);
shellPrintLine(chp, buf);
siprintf(buf, "heap free total : %lu bytes", size);
shellPrintLine(chp, buf);
chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus());
chprintf(chp, "heap fragments : %u\r\n", n);
chprintf(chp, "heap free total : %u bytes\r\n", size);
}
static void cmd_threads(BaseChannel *chp, int argc, char *argv[]) {
@ -149,21 +146,19 @@ static void cmd_threads(BaseChannel *chp, int argc, char *argv[]) {
"FINAL"
};
Thread *tp;
char buf[60];
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: threads");
chprintf(chp, "Usage: threads\r\n");
return;
}
shellPrintLine(chp, " addr stack prio refs state time");
chprintf(chp, " addr stack prio refs state time\r\n");
tp = chRegFirstThread();
do {
siprintf(buf, "%8lx %8lx %4u %4i %9s %u",
chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s %lu\r\n",
(uint32_t)tp, (uint32_t)tp->p_ctx.r13,
(unsigned int)tp->p_prio, tp->p_refs - 1,
states[tp->p_state], (unsigned int)tp->p_time);
shellPrintLine(chp, buf);
(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
states[tp->p_state], (uint32_t)tp->p_time);
tp = chRegNextThread(tp);
} while (tp != NULL);
}
@ -173,13 +168,13 @@ static void cmd_test(BaseChannel *chp, int argc, char *argv[]) {
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: test");
chprintf(chp, "Usage: test\r\n");
return;
}
tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriority(),
TestThread, chp);
if (tp == NULL) {
shellPrintLine(chp, "out of memory");
chprintf(chp, "out of memory\r\n");
return;
}
chThdWait(tp);
@ -192,25 +187,24 @@ static void cmd_tree(BaseChannel *chp, int argc, char *argv[]) {
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: tree");
chprintf(chp, "Usage: tree\r\n");
return;
}
if (!fs_ready) {
shellPrintLine(chp, "File System not mounted");
chprintf(chp, "File System not mounted\r\n");
return;
}
err = f_getfree("/", &clusters, &fsp);
if (err != FR_OK) {
shellPrintLine(chp, "FS: f_getfree() failed");
chprintf(chp, "FS: f_getfree() failed\r\n");
return;
}
siprintf((void *)fbuff,
"FS: %lu free clusters, %lu sectors per cluster, %lu bytes free",
chprintf(chp,
"FS: %lu free clusters, %lu sectors per cluster, %lu bytes free\r\n",
clusters, (uint32_t)MMC_FS.csize,
clusters * (uint32_t)MMC_FS.csize * (uint32_t)MMC_SECTOR_SIZE);
shellPrintLine(chp, (void *)fbuff);
fbuff[0] = 0;
scan_files((char *)fbuff);
scan_files(chp, (char *)fbuff);
}
static const ShellCommand commands[] = {
@ -340,8 +334,8 @@ int main(void) {
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and listen for events.
*/
chEvtRegister(&MMCD1.mmc_inserted_event, &el0, 0);
chEvtRegister(&MMCD1.mmc_removed_event, &el1, 1);
chEvtRegister(&MMCD1.inserted_event, &el0, 0);
chEvtRegister(&MMCD1.removed_event, &el1, 1);
while (TRUE) {
if (!shelltp)
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);

2
demos/ARM7-AT91SAM7X-FATFS-GCC/Makefile
View File

@ -62,7 +62,7 @@ CSRC = $(PORTSRC) \
$(FATFSSRC) \
$(BOARDSRC) \
$(CHIBIOS)/os/various/shell.c \
$(CHIBIOS)/os/various/syscalls.c \
$(CHIBIOS)/os/various/chprintf.c \
main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global

56
demos/ARM7-AT91SAM7X-FATFS-GCC/main.c
View File

@ -25,6 +25,7 @@
#include "hal.h"
#include "test.h"
#include "shell.h"
#include "chprintf.h"
#include "evtimer.h"
#include "ff.h"
@ -73,8 +74,7 @@ static bool_t mmc_is_protected(void) {
/* Generic large buffer.*/
uint8_t fbuff[1024];
static FRESULT scan_files(char *path)
{
static FRESULT scan_files(BaseChannel *chp, char *path) {
FRESULT res;
FILINFO fno;
DIR dir;
@ -92,14 +92,15 @@ static FRESULT scan_files(char *path)
continue;
fn = fno.fname;
if (fno.fattrib & AM_DIR) {
siprintf(&path[i], "/%s", fn);
res = scan_files(path);
path[i++] = '/';
strcpy(&path[i], fn);
res = scan_files(chp, path);
if (res != FR_OK)
break;
path[i] = 0;
}
else {
iprintf("%s/%s\r\n", path, fn);
chprintf(chp, "%s/%s\r\n", path, fn);
}
}
}
@ -115,20 +116,16 @@ static FRESULT scan_files(char *path)
static void cmd_mem(BaseChannel *chp, int argc, char *argv[]) {
size_t n, size;
char buf[52];
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: mem");
chprintf(chp, "Usage: mem\r\n");
return;
}
n = chHeapStatus(NULL, &size);
siprintf(buf, "core free memory : %lu bytes", chCoreStatus());
shellPrintLine(chp, buf);
siprintf(buf, "heap fragments : %lu", n);
shellPrintLine(chp, buf);
siprintf(buf, "heap free total : %lu bytes", size);
shellPrintLine(chp, buf);
chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus());
chprintf(chp, "heap fragments : %u\r\n", n);
chprintf(chp, "heap free total : %u bytes\r\n", size);
}
static void cmd_threads(BaseChannel *chp, int argc, char *argv[]) {
@ -149,21 +146,19 @@ static void cmd_threads(BaseChannel *chp, int argc, char *argv[]) {
"FINAL"
};
Thread *tp;
char buf[60];
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: threads");
chprintf(chp, "Usage: threads\r\n");
return;
}
shellPrintLine(chp, " addr stack prio refs state time");
chprintf(chp, " addr stack prio refs state time\r\n");
tp = chRegFirstThread();
do {
siprintf(buf, "%8lx %8lx %4u %4i %9s %u",
chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s %lu\r\n",
(uint32_t)tp, (uint32_t)tp->p_ctx.r13,
(unsigned int)tp->p_prio, tp->p_refs - 1,
states[tp->p_state], (unsigned int)tp->p_time);
shellPrintLine(chp, buf);
(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
states[tp->p_state], (uint32_t)tp->p_time);
tp = chRegNextThread(tp);
} while (tp != NULL);
}
@ -173,13 +168,13 @@ static void cmd_test(BaseChannel *chp, int argc, char *argv[]) {
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: test");
chprintf(chp, "Usage: test\r\n");
return;
}
tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriority(),
TestThread, chp);
if (tp == NULL) {
shellPrintLine(chp, "out of memory");
chprintf(chp, "out of memory\r\n");
return;
}
chThdWait(tp);
@ -192,25 +187,24 @@ static void cmd_tree(BaseChannel *chp, int argc, char *argv[]) {
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: tree");
chprintf(chp, "Usage: tree\r\n");
return;
}
if (!fs_ready) {
shellPrintLine(chp, "File System not mounted");
chprintf(chp, "File System not mounted\r\n");
return;
}
err = f_getfree("/", &clusters, &fsp);
if (err != FR_OK) {
shellPrintLine(chp, "FS: f_getfree() failed");
chprintf(chp, "FS: f_getfree() failed\r\n");
return;
}
siprintf((void *)fbuff,
"FS: %lu free clusters, %lu sectors per cluster, %lu bytes free",
chprintf(chp,
"FS: %lu free clusters, %lu sectors per cluster, %lu bytes free\r\n",
clusters, (uint32_t)MMC_FS.csize,
clusters * (uint32_t)MMC_FS.csize * (uint32_t)MMC_SECTOR_SIZE);
shellPrintLine(chp, (void *)fbuff);
fbuff[0] = 0;
scan_files((char *)fbuff);
scan_files(chp, (char *)fbuff);
}
static const ShellCommand commands[] = {
@ -322,8 +316,8 @@ int main(void) {
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and listen for events.
*/
chEvtRegister(&MMCD1.mmc_inserted_event, &el0, 0);
chEvtRegister(&MMCD1.mmc_removed_event, &el1, 1);
chEvtRegister(&MMCD1.inserted_event, &el0, 0);
chEvtRegister(&MMCD1.removed_event, &el1, 1);
while (TRUE) {
if (!shelltp)
shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);

3
demos/ARMCM3-STM32F103-FATFS/main.c
View File

@ -62,8 +62,7 @@ static bool_t mmc_is_protected(void) {return !palReadPad(IOPORT3, GPIOC_MMCWP);}
/* Generic large buffer.*/
uint8_t fbuff[1024];
static FRESULT scan_files(BaseChannel *chp, char *path)
{
static FRESULT scan_files(BaseChannel *chp, char *path) {
FRESULT res;
FILINFO fno;
DIR dir;

1
demos/ARMCM3-STM32F103ZG-FATFS/Makefile
View File

@ -77,6 +77,7 @@ CSRC = $(PORTSRC) \
$(CHIBIOS)/os/various/evtimer.c \
$(CHIBIOS)/os/various/syscalls.c \
$(CHIBIOS)/os/various/shell.c \
$(CHIBIOS)/os/various/chprintf.c \
main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global

55
demos/ARMCM3-STM32F103ZG-FATFS/main.c
View File

@ -26,6 +26,7 @@
#include "test.h"
#include "shell.h"
#include "evtimer.h"
#include "chprintf.h"
#include "ff.h"
@ -138,8 +139,7 @@ static bool_t fs_ready = FALSE;
/* Generic large buffer.*/
uint8_t fbuff[1024];
static FRESULT scan_files(char *path)
{
static FRESULT scan_files(BaseChannel *chp, char *path) {
FRESULT res;
FILINFO fno;
DIR dir;
@ -157,21 +157,21 @@ static FRESULT scan_files(char *path)
continue;
fn = fno.fname;
if (fno.fattrib & AM_DIR) {
siprintf(&path[i], "/%s", fn);
res = scan_files(path);
path[i++] = '/';
strcpy(&path[i], fn);
res = scan_files(chp, path);
if (res != FR_OK)
break;
path[i] = 0;
}
else {
iprintf("%s/%s\r\n", path, fn);
chprintf(chp, "%s/%s\r\n", path, fn);
}
}
}
return res;
}
/*===========================================================================*/
/* Command line related. */
/*===========================================================================*/
@ -181,20 +181,16 @@ static FRESULT scan_files(char *path)
static void cmd_mem(BaseChannel *chp, int argc, char *argv[]) {
size_t n, size;
char buf[52];
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: mem");
chprintf(chp, "Usage: mem\r\n");
return;
}
n = chHeapStatus(NULL, &size);
siprintf(buf, "core free memory : %u bytes", chCoreStatus());
shellPrintLine(chp, buf);
siprintf(buf, "heap fragments : %u", n);
shellPrintLine(chp, buf);
siprintf(buf, "heap free total : %u bytes", size);
shellPrintLine(chp, buf);
chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus());
chprintf(chp, "heap fragments : %u\r\n", n);
chprintf(chp, "heap free total : %u bytes\r\n", size);
}
static void cmd_threads(BaseChannel *chp, int argc, char *argv[]) {
@ -215,21 +211,19 @@ static void cmd_threads(BaseChannel *chp, int argc, char *argv[]) {
"FINAL"
};
Thread *tp;
char buf[60];
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: threads");
chprintf(chp, "Usage: threads\r\n");
return;
}
shellPrintLine(chp, " addr stack prio refs state time");
chprintf(chp, " addr stack prio refs state time\r\n");
tp = chRegFirstThread();
do {
siprintf(buf, "%8lx %8lx %4u %4i %9s %u",
chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s %lu\r\n",
(uint32_t)tp, (uint32_t)tp->p_ctx.r13,
(unsigned int)tp->p_prio, tp->p_refs - 1,
states[tp->p_state], (unsigned int)tp->p_time);
shellPrintLine(chp, buf);
(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
states[tp->p_state], (uint32_t)tp->p_time);
tp = chRegNextThread(tp);
} while (tp != NULL);
}
@ -239,13 +233,13 @@ static void cmd_test(BaseChannel *chp, int argc, char *argv[]) {
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: test");
chprintf(chp, "Usage: test\r\n");
return;
}
tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriority(),
TestThread, chp);
if (tp == NULL) {
shellPrintLine(chp, "out of memory");
chprintf(chp, "out of memory\r\n");
return;
}
chThdWait(tp);
@ -253,30 +247,29 @@ static void cmd_test(BaseChannel *chp, int argc, char *argv[]) {
static void cmd_tree(BaseChannel *chp, int argc, char *argv[]) {
FRESULT err;
DWORD clusters;
uint32_t clusters;
FATFS *fsp;
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: tree");
chprintf(chp, "Usage: tree\r\n");
return;
}
if (!fs_ready) {
shellPrintLine(chp, "File System not mounted");
chprintf(chp, "File System not mounted\r\n");
return;
}
err = f_getfree("/", &clusters, &fsp);
if (err != FR_OK) {
shellPrintLine(chp, "FS: f_getfree() failed");
chprintf(chp, "FS: f_getfree() failed\r\n");
return;
}
siprintf((void *)fbuff,
"FS: %lu free clusters, %lu sectors per cluster, %lu bytes free",
chprintf(chp,
"FS: %lu free clusters, %lu sectors per cluster, %lu bytes free\r\n",
clusters, (uint32_t)SDC_FS.csize,
clusters * (uint32_t)SDC_FS.csize * (uint32_t)SDC_BLOCK_SIZE);
shellPrintLine(chp, (void *)fbuff);
fbuff[0] = 0;
scan_files((char *)fbuff);
scan_files(chp, (char *)fbuff);
}
static const ShellCommand commands[] = {

2
demos/PPC-SPC563-GCC/Makefile
View File

@ -56,7 +56,7 @@ CSRC = $(PORTSRC) \
$(BOARDSRC) \
$(CHIBIOS)/os/various/evtimer.c \
$(CHIBIOS)/os/various/shell.c \
$(CHIBIOS)/os/various/syscalls.c \
$(CHIBIOS)/os/various/chprintf.c \
main.c
# C++ sources here.

29
demos/PPC-SPC563-GCC/main.c
View File

@ -24,26 +24,23 @@
#include "hal.h"
#include "test.h"
#include "shell.h"
#include "chprintf.h"
#define SHELL_WA_SIZE THD_WA_SIZE(1024)
#define TEST_WA_SIZE THD_WA_SIZE(256)
static void cmd_mem(BaseChannel *chp, int argc, char *argv[]) {
size_t n, size;
char buf[52];
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: mem");
chprintf(chp, "Usage: mem\r\n");
return;
}
n = chHeapStatus(NULL, &size);
siprintf(buf, "core free memory : %i bytes", chCoreStatus());
shellPrintLine(chp, buf);
siprintf(buf, "heap fragments : %i", n);
shellPrintLine(chp, buf);
siprintf(buf, "heap free total : %i bytes", size);
shellPrintLine(chp, buf);
chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus());
chprintf(chp, "heap fragments : %u\r\n", n);
chprintf(chp, "heap free total : %u bytes\r\n", size);
}
static void cmd_threads(BaseChannel *chp, int argc, char *argv[]) {
@ -64,21 +61,19 @@ static void cmd_threads(BaseChannel *chp, int argc, char *argv[]) {
"FINAL"
};
Thread *tp;
char buf[60];
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: threads");
chprintf(chp, "Usage: threads\r\n");
return;
}
shellPrintLine(chp, " addr stack prio refs state time");
chprintf(chp, " addr stack prio refs state time\r\n");
tp = chRegFirstThread();
do {
siprintf(buf, "%8lx %8lx %4u %4i %9s %u",
chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s %lu\r\n",
(uint32_t)tp, (uint32_t)tp->p_ctx.sp,
(unsigned int)tp->p_prio, tp->p_refs - 1,
states[tp->p_state], (unsigned int)tp->p_time);
shellPrintLine(chp, buf);
(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
states[tp->p_state], (uint32_t)tp->p_time);
tp = chRegNextThread(tp);
} while (tp != NULL);
}
@ -88,13 +83,13 @@ static void cmd_test(BaseChannel *chp, int argc, char *argv[]) {
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: test");
chprintf(chp, "Usage: test\r\n");
return;
}
tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriority(),
TestThread, chp);
if (tp == NULL) {
shellPrintLine(chp, "out of memory");
chprintf(chp, "out of memory\r\n");
return;
}
chThdWait(tp);

2
testhal/STM32/USB_CDC/Makefile
View File

@ -73,7 +73,7 @@ CSRC = $(PORTSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
$(CHIBIOS)/os/various/shell.c \
$(CHIBIOS)/os/various/syscalls.c \
$(CHIBIOS)/os/various/chprintf.c \
main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global

29
testhal/STM32/USB_CDC/main.c
View File

@ -27,6 +27,7 @@
#include "usb_cdc.h"
#include "shell.h"
#include "chprintf.h"
/*===========================================================================*/
/* USB related stuff. */
@ -318,20 +319,16 @@ static const SerialUSBConfig serusbcfg = {
static void cmd_mem(BaseChannel *chp, int argc, char *argv[]) {
size_t n, size;
char buf[52];
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: mem");
chprintf(chp, "Usage: mem\r\n");
return;
}
n = chHeapStatus(NULL, &size);
siprintf(buf, "core free memory : %u bytes", chCoreStatus());
shellPrintLine(chp, buf);
siprintf(buf, "heap fragments : %u", n);
shellPrintLine(chp, buf);
siprintf(buf, "heap free total : %u bytes", size);
shellPrintLine(chp, buf);
chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus());
chprintf(chp, "heap fragments : %u\r\n", n);
chprintf(chp, "heap free total : %u bytes\r\n", size);
}
static void cmd_threads(BaseChannel *chp, int argc, char *argv[]) {
@ -352,21 +349,19 @@ static void cmd_threads(BaseChannel *chp, int argc, char *argv[]) {
"FINAL"
};
Thread *tp;
char buf[60];
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: threads");
chprintf(chp, "Usage: threads\r\n");
return;
}
shellPrintLine(chp, " addr stack prio refs state time");
chprintf(chp, " addr stack prio refs state time\r\n");
tp = chRegFirstThread();
do {
siprintf(buf, "%8lx %8lx %4u %4i %9s %u",
chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s %lu\r\n",
(uint32_t)tp, (uint32_t)tp->p_ctx.r13,
(unsigned int)tp->p_prio, tp->p_refs - 1,
states[tp->p_state], (unsigned int)tp->p_time);
shellPrintLine(chp, buf);
(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
states[tp->p_state], (uint32_t)tp->p_time);
tp = chRegNextThread(tp);
} while (tp != NULL);
}
@ -376,13 +371,13 @@ static void cmd_test(BaseChannel *chp, int argc, char *argv[]) {
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: test");
chprintf(chp, "Usage: test\r\n");
return;
}
tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriority(),
TestThread, chp);
if (tp == NULL) {
shellPrintLine(chp, "out of memory");
chprintf(chp, "out of memory\r\n");
return;
}
chThdWait(tp);