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ChibiOS
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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@250 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
gdisirio 2008-03-27 14:42:48 +00:00
parent 165bcc4a07
commit b83cd4a1dc
4 changed files with 158 additions and 93 deletions
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67
demos/ARM7-LPC214x-G++/Makefile
View File

@ -68,23 +68,24 @@ UDEFS =
UADEFS = UADEFS =
# List ARM-mode C source files here # List ARM-mode C source files here
CSRC = ../../ports/ARM7-LPC214x/chcore.c \ ACSRC = ../../ports/ARM7-LPC214x/chcore.c \
../../ports/ARM7-LPC214x/vic.c \ ../../ports/ARM7-LPC214x/vic.c \
../../ports/ARM7-LPC214x/lpc214x_serial.c \ ../../ports/ARM7-LPC214x/lpc214x_serial.c \
../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \ ../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \ ../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \
../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \ ../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \
../../src/chserial.c \ ../../src/chserial.c \
../../src/lib/evtimer.c ../../test/test.c \ ../../src/lib/evtimer.c ../../test/test.c \
board.c board.c
# List ARM-mode C++ source files here # List ARM-mode C++ source files here
CPPSRC = ../../src/lib/ch.cpp main.cpp ACPPSRC = ../../src/lib/ch.cpp main.cpp
# List THUMB-mode C sources here # List THUMB-mode C sources here
# NOTE: If any module is compiled in thumb mode then -mthumb-interwork is TCSRC =
# enabled for all modules and that lowers performance.
TSRC = # List THUMB-mode C++ source files here
TCPPSRC =
# List ASM source files here # List ASM source files here
ASMSRC = ../../ports/ARM7-LPC214x/crt0.s ../../ports/ARM7/chsys.s ASMSRC = ../../ports/ARM7-LPC214x/crt0.s ../../ports/ARM7/chsys.s
@ -130,11 +131,15 @@ INCDIR = $(patsubst %,-I%,$(DINCDIR) $(UINCDIR))
LIBDIR = $(patsubst %,-L%,$(DLIBDIR) $(ULIBDIR)) LIBDIR = $(patsubst %,-L%,$(DLIBDIR) $(ULIBDIR))
DEFS = $(DDEFS) $(UDEFS) DEFS = $(DDEFS) $(UDEFS)
ADEFS = $(DADEFS) $(UADEFS) ADEFS = $(DADEFS) $(UADEFS)
AOBJS = $(CSRC:.c=.o) ASRC = $(ACSRC)$(ACPPSRC)
TOBJS = $(TSRC:.c=.o) TSRC = $(TCSRC)$(TCPPSRC)
CPPOBJS = $(CPPSRC:.cpp=.o) SRC = $(ASRC)$(TSRC)
ACOBJS = $(ACSRC:.c=.o)
ACPPOBJS = $(ACPPSRC:.cpp=.o)
TCOBJS = $(TCSRC:.c=.o)
TCPPOBJS = $(TCPPSRC:.cpp=.o)
ASMOBJS = $(ASMSRC:.s=.o) ASMOBJS = $(ASMSRC:.s=.o)
OBJS = $(ASMOBJS) $(CPPOBJS) $(AOBJS) $(TOBJS) OBJS = $(ASMOBJS) $(ACOBJS) $(TCOBJS) $(ACPPOBJS) $(TCPPOBJS)
LIBS = $(DLIBS) $(ULIBS) LIBS = $(DLIBS) $(ULIBS)
MCFLAGS = -mcpu=$(MCU) MCFLAGS = -mcpu=$(MCU)
@ -149,7 +154,7 @@ ifneq ($(TSRC),)
CFLAGS += -D THUMB_PRESENT CFLAGS += -D THUMB_PRESENT
CPPFLAGS += -D THUMB_PRESENT CPPFLAGS += -D THUMB_PRESENT
ASFLAGS += -D THUMB_PRESENT ASFLAGS += -D THUMB_PRESENT
ifneq ($(CSRC),) ifneq ($(ASRC),)
# Mixed ARM and THUMB case. # Mixed ARM and THUMB case.
CFLAGS += -mthumb-interwork CFLAGS += -mthumb-interwork
CPPFLAGS += -mthumb-interwork CPPFLAGS += -mthumb-interwork
@ -173,15 +178,19 @@ CPPFLAGS += -MD -MP -MF .dep/$(@F).d
all: $(OBJS) $(PROJECT).elf $(PROJECT).hex $(PROJECT).bin $(PROJECT).dmp all: $(OBJS) $(PROJECT).elf $(PROJECT).hex $(PROJECT).bin $(PROJECT).dmp
$(CPPOBJS) : %.o : %.cpp $(ACPPOBJS) : %.o : %.cpp
@echo @echo
$(CPPC) -c $(CPPFLAGS) $(AOPT) -I . $(INCDIR) $< -o $@ $(CPPC) -c $(CPPFLAGS) $(AOPT) -I . $(INCDIR) $< -o $@
$(AOBJS) : %.o : %.c $(TCPPOBJS) : %.o : %.cpp
@echo
$(CPPC) -c $(CPPFLAGS) $(TOPT) -I . $(INCDIR) $< -o $@
$(ACOBJS) : %.o : %.c
@echo @echo
$(CC) -c $(CFLAGS) $(AOPT) -I . $(INCDIR) $< -o $@ $(CC) -c $(CFLAGS) $(AOPT) -I . $(INCDIR) $< -o $@
$(TOBJS) : %.o : %.c $(TCOBJS) : %.o : %.c
@echo @echo
$(CC) -c $(CFLAGS) $(TOPT) -I . $(INCDIR) $< -o $@ $(CC) -c $(CFLAGS) $(TOPT) -I . $(INCDIR) $< -o $@
@ -191,7 +200,7 @@ $(ASMOBJS) : %.o : %.s
%elf: $(OBJS) %elf: $(OBJS)
@echo @echo
$(LD) $(ASMOBJS) $(AOBJS) $(TOBJS) $(CPPOBJS) $(LDFLAGS) $(LIBS) -o $@ $(LD) $(ASMOBJS) $(ACOBJS) $(TCOBJS) $(ACPPOBJS) $(TCPPOBJS) $(LDFLAGS) $(LIBS) -o $@
%hex: %elf %hex: %elf
$(HEX) $< $@ $(HEX) $< $@
@ -209,12 +218,14 @@ clean:
-rm -f $(PROJECT).map -rm -f $(PROJECT).map
-rm -f $(PROJECT).hex -rm -f $(PROJECT).hex
-rm -f $(PROJECT).bin -rm -f $(PROJECT).bin
-rm -f $(CSRC:.c=.c.bak) -rm -f $(ACSRC:.c=.c.bak)
-rm -f $(CSRC:.c=.lst) -rm -f $(ACSRC:.c=.lst)
-rm -f $(CPPSRC:.cpp=.c.bak) -rm -f $(TCSRC:.c=.c.bak)
-rm -f $(CPPSRC:.cpp=.lst) -rm -f $(TCSRC:.c=.lst)
-rm -f $(TSRC:.c=.c.bak) -rm -f $(ACPPSRC:.cpp=.c.bak)
-rm -f $(TSRC:.c=.lst) -rm -f $(ACPPSRC:.cpp=.lst)
-rm -f $(TCPPSRC:.cpp=.c.bak)
-rm -f $(TCPPSRC:.cpp=.lst)
-rm -f $(ASMSRC:.s=.s.bak) -rm -f $(ASMSRC:.s=.s.bak)
-rm -f $(ASMSRC:.s=.lst) -rm -f $(ASMSRC:.s=.lst)
-rm -fR .dep -rm -fR .dep

119
demos/ARM7-LPC214x-G++/Makefile.thumb
View File

@ -18,6 +18,12 @@
TRGT = arm-elf- TRGT = arm-elf-
CC = $(TRGT)gcc CC = $(TRGT)gcc
CPPC = $(TRGT)g++
# Enable loading with g++ only if you need C++ runtime support.
# NOTE: You can use C++ even without C++ support if you are careful. C++
# runtime support makes code size explode.
LD = $(TRGT)gcc
#LD = $(TRGT)g++
CP = $(TRGT)objcopy CP = $(TRGT)objcopy
AS = $(TRGT)gcc -x assembler-with-cpp AS = $(TRGT)gcc -x assembler-with-cpp
OD = $(TRGT)objdump OD = $(TRGT)objdump
@ -62,24 +68,30 @@ UDEFS =
UADEFS = UADEFS =
# List ARM-mode C source files here # List ARM-mode C source files here
ASRC = ACSRC =
# List ARM-mode C++ source files here
ACPPSRC =
# List THUMB-mode C sources here # List THUMB-mode C sources here
# NOTE: If any module is compiled in thumb mode then -mthumb-interwork is TCSRC = ../../ports/ARM7-LPC214x/chcore.c \
# enabled for all modules and that lowers performance. ../../ports/ARM7-LPC214x/vic.c \
TSRC = ../../ports/ARM7-LPC214x/chcore.c \ ../../ports/ARM7-LPC214x/lpc214x_serial.c \
../../ports/ARM7-LPC214x/vic.c \ ../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \ ../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \
../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \ ../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \
../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \ ../../src/chserial.c \
../../src/chserial.c \ ../../src/lib/evtimer.c ../../test/test.c \
board.c main.c board.c
# List THUMB-mode C++ source files here
TCPPSRC = ../../src/lib/ch.cpp main.cpp
# List ASM source files here # List ASM source files here
ASMSRC = ../../ports/ARM7-LPC214x/crt0.s ../../ports/ARM7/chsys.s ASMSRC = ../../ports/ARM7-LPC214x/crt0.s ../../ports/ARM7/chsys.s
# List all user directories here # List all user directories here
UINCDIR = ../../src/include ../../src/lib \ UINCDIR = ../../src/include ../../src/lib ../../test \
../../ports/ARM7 ../../ports/ARM7-LPC214x ../../ports/ARM7 ../../ports/ARM7-LPC214x
# List the user directory to look for the libraries here # List the user directory to look for the libraries here
@ -99,51 +111,66 @@ TOPT = -mthumb -D THUMB
# chconf.h. # chconf.h.
# NOTE: -falign-functions=16 may improve the performance, not always, but # NOTE: -falign-functions=16 may improve the performance, not always, but
# increases the code size. # increases the code size.
OPT = -Os -ggdb -fomit-frame-pointer OPT = -O2 -ggdb -fomit-frame-pointer
#OPT += -ffixed-r7 #OPT += -ffixed-r7
OPT += -falign-functions=16 OPT += -falign-functions=16
# C++ specific options here
# NOTE: -fno-rtti saves a LOT of code space, remove it only if you really need
# RTTI.
CPPOPT = -fno-rtti
# Define warning options here # Define warning options here
WARN = -Wall -Wstrict-prototypes WARN = -Wall
# #
# End of user defines # End of user defines
############################################################################################## ##############################################################################################
INCDIR = $(patsubst %,-I%,$(DINCDIR) $(UINCDIR)) INCDIR = $(patsubst %,-I%,$(DINCDIR) $(UINCDIR))
LIBDIR = $(patsubst %,-L%,$(DLIBDIR) $(ULIBDIR)) LIBDIR = $(patsubst %,-L%,$(DLIBDIR) $(ULIBDIR))
DEFS = $(DDEFS) $(UDEFS) DEFS = $(DDEFS) $(UDEFS)
ADEFS = $(DADEFS) $(UADEFS) ADEFS = $(DADEFS) $(UADEFS)
AOBJS = $(ASRC:.c=.o) ASRC = $(ACSRC)$(ACPPSRC)
TOBJS = $(TSRC:.c=.o) TSRC = $(TCSRC)$(TCPPSRC)
OBJS = $(ASMOBJS) $(AOBJS) $(TOBJS) SRC = $(ASRC)$(TSRC)
ASMOBJS = $(ASMSRC:.s=.o) ACOBJS = $(ACSRC:.c=.o)
LIBS = $(DLIBS) $(ULIBS) ACPPOBJS = $(ACPPSRC:.cpp=.o)
MCFLAGS = -mcpu=$(MCU) TCOBJS = $(TCSRC:.c=.o)
TCPPOBJS = $(TCPPSRC:.cpp=.o)
ASMOBJS = $(ASMSRC:.s=.o)
OBJS = $(ASMOBJS) $(ACOBJS) $(TCOBJS) $(ACPPOBJS) $(TCPPOBJS)
LIBS = $(DLIBS) $(ULIBS)
MCFLAGS = -mcpu=$(MCU)
ASFLAGS = $(MCFLAGS) -Wa,-amhls=$(<:.s=.lst) $(ADEFS) ASFLAGS = $(MCFLAGS) -Wa,-amhls=$(<:.s=.lst) $(ADEFS)
CPFLAGS = $(MCFLAGS) $(OPT) $(WARN) -Wa,-alms=$(<:.c=.lst) $(DEFS) CFLAGS = $(MCFLAGS) $(OPT) $(WARN) -Wa,-alms=$(<:.c=.lst) $(DEFS)
LDFLAGS = $(MCFLAGS) -nostartfiles -T$(LDSCRIPT) -Wl,-Map=$(PROJECT).map,--cref,--no-warn-mismatch $(LIBDIR) CPPFLAGS = $(MCFLAGS) $(OPT) $(CPPOPT) $(WARN) -Wa,-alms=$(<:.cpp=.lst) $(DEFS)
ODFLAGS = -x --syms LDFLAGS = $(MCFLAGS) -nostartfiles -T$(LDSCRIPT) -Wl,-Map=$(PROJECT).map,--cref,--no-warn-mismatch $(LIBDIR)
ODFLAGS = -x --syms
# Thumb interwork enabled only if needed because it kills performance. # Thumb interwork enabled only if needed because it kills performance.
ifneq ($(TSRC),) ifneq ($(TSRC),)
CPFLAGS += -D THUMB_PRESENT CFLAGS += -D THUMB_PRESENT
CPPFLAGS += -D THUMB_PRESENT
ASFLAGS += -D THUMB_PRESENT ASFLAGS += -D THUMB_PRESENT
ifneq ($(ASRC),) ifneq ($(ASRC),)
# Mixed ARM and THUMB case. # Mixed ARM and THUMB case.
CPFLAGS += -mthumb-interwork CFLAGS += -mthumb-interwork
CPPFLAGS += -mthumb-interwork
LDFLAGS += -mthumb-interwork LDFLAGS += -mthumb-interwork
else else
# Pure THUMB case, THUMB C code cannot be called by ARM asm code directly. # Pure THUMB case, THUMB C code cannot be called by ARM asm code directly.
CPFLAGS += -D THUMB_NO_INTERWORKING CFLAGS += -D THUMB_NO_INTERWORKING
CPPFLAGS += -D THUMB_NO_INTERWORKING
LDFLAGS += -mthumb LDFLAGS += -mthumb
ASFLAGS += -D THUMB_NO_INTERWORKING ASFLAGS += -D THUMB_NO_INTERWORKING
endif endif
endif endif
# Generate dependency information # Generate dependency information
CPFLAGS += -MD -MP -MF .dep/$(@F).d CFLAGS += -MD -MP -MF .dep/$(@F).d
CPPFLAGS += -MD -MP -MF .dep/$(@F).d
# #
# Makefile rules # Makefile rules
@ -151,13 +178,21 @@ CPFLAGS += -MD -MP -MF .dep/$(@F).d
all: $(OBJS) $(PROJECT).elf $(PROJECT).hex $(PROJECT).bin $(PROJECT).dmp all: $(OBJS) $(PROJECT).elf $(PROJECT).hex $(PROJECT).bin $(PROJECT).dmp
$(AOBJS) : %.o : %.c $(ACPPOBJS) : %.o : %.cpp
@echo @echo
$(CC) -c $(CPFLAGS) $(AOPT) -I . $(INCDIR) $< -o $@ $(CPPC) -c $(CPPFLAGS) $(AOPT) -I . $(INCDIR) $< -o $@
$(TOBJS) : %.o : %.c $(TCPPOBJS) : %.o : %.cpp
@echo @echo
$(CC) -c $(CPFLAGS) $(TOPT) -I . $(INCDIR) $< -o $@ $(CPPC) -c $(CPPFLAGS) $(TOPT) -I . $(INCDIR) $< -o $@
$(ACOBJS) : %.o : %.c
@echo
$(CC) -c $(CFLAGS) $(AOPT) -I . $(INCDIR) $< -o $@
$(TCOBJS) : %.o : %.c
@echo
$(CC) -c $(CFLAGS) $(TOPT) -I . $(INCDIR) $< -o $@
$(ASMOBJS) : %.o : %.s $(ASMOBJS) : %.o : %.s
@echo @echo
@ -165,7 +200,7 @@ $(ASMOBJS) : %.o : %.s
%elf: $(OBJS) %elf: $(OBJS)
@echo @echo
$(CC) $(ASMOBJS) $(AOBJS) $(TOBJS) $(LDFLAGS) $(LIBS) -o $@ $(LD) $(ASMOBJS) $(ACOBJS) $(TCOBJS) $(ACPPOBJS) $(TCPPOBJS) $(LDFLAGS) $(LIBS) -o $@
%hex: %elf %hex: %elf
$(HEX) $< $@ $(HEX) $< $@
@ -183,10 +218,14 @@ clean:
-rm -f $(PROJECT).map -rm -f $(PROJECT).map
-rm -f $(PROJECT).hex -rm -f $(PROJECT).hex
-rm -f $(PROJECT).bin -rm -f $(PROJECT).bin
-rm -f $(ASRC:.c=.c.bak) -rm -f $(ACSRC:.c=.c.bak)
-rm -f $(ASRC:.c=.lst) -rm -f $(ACSRC:.c=.lst)
-rm -f $(TSRC:.c=.c.bak) -rm -f $(TCSRC:.c=.c.bak)
-rm -f $(TSRC:.c=.lst) -rm -f $(TCSRC:.c=.lst)
-rm -f $(ACPPSRC:.cpp=.c.bak)
-rm -f $(ACPPSRC:.cpp=.lst)
-rm -f $(TCPPSRC:.cpp=.c.bak)
-rm -f $(TCPPSRC:.cpp=.lst)
-rm -f $(ASMSRC:.s=.s.bak) -rm -f $(ASMSRC:.s=.s.bak)
-rm -f $(ASMSRC:.s=.lst) -rm -f $(ASMSRC:.s=.lst)
-rm -fR .dep -rm -fR .dep

39
demos/ARM7-LPC214x-G++/main.cpp
View File

@ -28,7 +28,8 @@
using namespace chibios_rt; using namespace chibios_rt;
/* /*
* LED blinking sequences. * LED blink sequences.
* NOTE: Sequences must always be terminated by a GOTO instruction.
*/ */
#define SLEEP 0 #define SLEEP 0
#define GOTO 1 #define GOTO 1
@ -39,9 +40,9 @@ using namespace chibios_rt;
typedef struct { typedef struct {
uint8_t action; uint8_t action;
uint32_t value; uint32_t value;
} bitop_t; } seqop_t;
bitop_t LED1_sequence[] = static const seqop_t LED1_sequence[] =
{ {
{BITCLEAR, 0x00000400}, {BITCLEAR, 0x00000400},
{SLEEP, 200}, {SLEEP, 200},
@ -50,7 +51,7 @@ bitop_t LED1_sequence[] =
{GOTO, 0} {GOTO, 0}
}; };
bitop_t LED2_sequence[] = static const seqop_t LED2_sequence[] =
{ {
{SLEEP, 1000}, {SLEEP, 1000},
{BITCLEAR, 0x00000800}, {BITCLEAR, 0x00000800},
@ -60,7 +61,7 @@ bitop_t LED2_sequence[] =
{GOTO, 1} {GOTO, 1}
}; };
bitop_t LED3_sequence[] = static const seqop_t LED3_sequence[] =
{ {
{BITCLEAR, 0x80000000}, {BITCLEAR, 0x80000000},
{SLEEP, 200}, {SLEEP, 200},
@ -70,14 +71,16 @@ bitop_t LED3_sequence[] =
}; };
/** /**
* Blinker thread class. It can drive LEDs or other output pins. * Sequencer thread class. It can drive LEDs or other output pins.
*/ */
class BlinkerThread : BaseThread { class SequencerThread : BaseThread {
private: private:
WorkingArea(wa, 64);
bitop_t *base, *curr, *top; WorkingArea(wa, 64); // Thread working area.
const seqop_t *base, *curr; // Thread local variables.
protected: protected:
virtual msg_t Main(void) { virtual msg_t Main(void) {
while (TRUE) { while (TRUE) {
@ -102,7 +105,7 @@ protected:
} }
public: public:
BlinkerThread(bitop_t *sequence) : BaseThread(NORMALPRIO, 0, wa, sizeof wa) { SequencerThread(const seqop_t *sequence) : BaseThread(NORMALPRIO, 0, wa, sizeof wa) {
base = curr = sequence; base = curr = sequence;
} }
@ -127,19 +130,19 @@ int main(int argc, char **argv) {
static EvTimer evt; static EvTimer evt;
struct EventListener el0; struct EventListener el0;
System::Init(); System::Init(); // ChibiOS/RT goes live here.
evtInit(&evt, 500); /* Initializes an event timer object. */ evtInit(&evt, 500); // Initializes an event timer object.
evtStart(&evt); /* Starts the event timer. */ evtStart(&evt); // Starts the event timer.
chEvtRegister(&evt.et_es, &el0, 0); /* Registers on the timer event source. */ chEvtRegister(&evt.et_es, &el0, 0); // Registers on the timer event source.
/* /*
* Starts serveral instances of the BlinkerThread class, each one operating * Starts serveral instances of the SequencerThread class, each one operating
* on a different LED. * on a different LED.
*/ */
BlinkerThread blinker1(LED1_sequence); SequencerThread blinker1(LED1_sequence);
BlinkerThread blinker2(LED2_sequence); SequencerThread blinker2(LED2_sequence);
BlinkerThread blinker3(LED3_sequence); SequencerThread blinker3(LED3_sequence);
/* /*
* Serves timer events. * Serves timer events.

26
ports/ARM7/chcore.h
View File

@ -74,8 +74,14 @@ typedef struct {
} }
#ifdef THUMB #ifdef THUMB
extern void chSysLock(void); #ifdef __cplusplus
extern void chSysUnlock(void); extern "C" {
#endif
void chSysLock(void);
void chSysUnlock(void);
#ifdef __cplusplus
}
#endif
#else /* !THUMB */ #else /* !THUMB */
#define chSysLock() asm("msr CPSR_c, #0x9F") #define chSysLock() asm("msr CPSR_c, #0x9F")
#define chSysUnlock() asm("msr CPSR_c, #0x1F") #define chSysUnlock() asm("msr CPSR_c, #0x1F")
@ -123,11 +129,17 @@ extern void chSysUnlock(void);
/* It requires zero bytes, but better be safe.*/ /* It requires zero bytes, but better be safe.*/
#define IDLE_THREAD_STACK_SIZE 8 #define IDLE_THREAD_STACK_SIZE 8
void _IdleThread(void *p) __attribute__((noreturn));
void chSysHalt(void); #ifdef __cplusplus
void chSysSwitchI(Thread *otp, Thread *ntp); extern "C" {
void chSysPuts(char *msg); #endif
void threadstart(void); void _IdleThread(void *p) __attribute__((noreturn));
void chSysHalt(void);
void chSysSwitchI(Thread *otp, Thread *ntp);
void chSysPuts(char *msg);
void threadstart(void);
#ifdef __cplusplus
}
#endif
#endif /* _CHCORE_H_ */ #endif /* _CHCORE_H_ */