ChibiOS 2.6.8, until I can figure out where to get it from git.

firmware/chibios/os/hal/platforms/Posix/console.c

@@ -0,0 +1,128 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 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 console.c
+ * @brief Simulator console driver code.
+ * @{
+ */
+
+#include <stdio.h>
+
+#include "ch.h"
+#include "hal.h"
+#include "console.h"
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief Console driver 1.
+ */
+BaseChannel CD1;
+
+/*===========================================================================*/
+/* Driver local variables.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+static size_t write(void *ip, const uint8_t *bp, size_t n) {
+  size_t ret;
+
+  (void)ip;
+  ret = fwrite(bp, 1, n, stdout);
+  fflush(stdout);
+  return ret;
+}
+
+static size_t read(void *ip, uint8_t *bp, size_t n) {
+
+  (void)ip;
+  return fread(bp, 1, n, stdin);
+}
+
+static msg_t put(void *ip, uint8_t b) {
+
+  (void)ip;
+
+  fputc(b, stdout);
+  fflush(stdout);
+  return RDY_OK;
+}
+
+static msg_t get(void *ip) {
+
+  (void)ip;
+
+  return fgetc(stdin);
+}
+
+static msg_t putt(void *ip, uint8_t b, systime_t timeout) {
+
+  (void)ip;
+  (void)timeout;
+  fputc(b, stdout);
+  fflush(stdout);
+  return RDY_OK;
+}
+
+static msg_t gett(void *ip, systime_t timeout) {
+
+  (void)ip;
+  (void)timeout;
+  return fgetc(stdin);
+}
+
+static size_t writet(void *ip, const uint8_t *bp, size_t n, systime_t timeout) {
+  size_t ret;
+
+  (void)ip;
+  (void)timeout;
+  ret = fwrite(bp, 1, n, stdout);
+  fflush(stdout);
+  return ret;
+}
+
+static size_t readt(void *ip, uint8_t *bp, size_t n, systime_t timeout) {
+
+  (void)ip;
+  (void)timeout;
+  return fread(bp, 1, n, stdin);
+}
+
+static const struct BaseChannelVMT vmt = {
+  write, read, put, get,
+  putt, gett, writet, readt
+};
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+void conInit(void) {
+
+  CD1.vmt = &vmt;
+}
+
+/** @} */

firmware/chibios/os/hal/platforms/Posix/console.h

@@ -0,0 +1,62 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 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 console.h
+ * @brief Simulator console driver header.
+ * @{
+ */
+
+#ifndef _CONSOLE_H_
+#define _CONSOLE_H_
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+extern BaseChannel CD1;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void conInit(void);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _CONSOLE_H_ */
+
+/** @} */

firmware/chibios/os/hal/platforms/Posix/hal_lld.c

@@ -0,0 +1,104 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 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    Posix/hal_lld.c
+ * @brief   Posix HAL subsystem low level driver code.
+ *
+ * @addtogroup POSIX_HAL
+ * @{
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <sys/time.h>
+
+#include "ch.h"
+#include "hal.h"
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+static struct timeval nextcnt;
+static struct timeval tick = {0, 1000000 / CH_FREQUENCY};
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief Low level HAL driver initialization.
+ */
+void hal_lld_init(void) {
+
+#if defined(__APPLE__)
+  puts("ChibiOS/RT simulator (OS X)\n");
+#else
+  puts("ChibiOS/RT simulator (Linux)\n");
+#endif
+  gettimeofday(&nextcnt, NULL);
+  timeradd(&nextcnt, &tick, &nextcnt);
+}
+
+/**
+ * @brief Interrupt simulation.
+ */
+void ChkIntSources(void) {
+  struct timeval tv;
+
+#if HAL_USE_SERIAL
+  if (sd_lld_interrupt_pending()) {
+    dbg_check_lock();
+    if (chSchIsPreemptionRequired())
+      chSchDoReschedule();
+    dbg_check_unlock();
+    return;
+  }
+#endif
+
+  gettimeofday(&tv, NULL);
+  if (timercmp(&tv, &nextcnt, >=)) {
+    timeradd(&nextcnt, &tick, &nextcnt);
+
+    CH_IRQ_PROLOGUE();
+
+    chSysLockFromIsr();
+    chSysTimerHandlerI();
+    chSysUnlockFromIsr();
+
+    CH_IRQ_EPILOGUE();
+
+    dbg_check_lock();
+    if (chSchIsPreemptionRequired())
+      chSchDoReschedule();
+    dbg_check_unlock();
+  }
+}
+
+/** @} */

firmware/chibios/os/hal/platforms/Posix/hal_lld.h

@@ -0,0 +1,80 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 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    Posix/hal_lld.h
+ * @brief   Posix simulator HAL subsystem low level driver header.
+ *
+ * @addtogroup POSIX_HAL
+ * @{
+ */
+
+#ifndef _HAL_LLD_H_
+#define _HAL_LLD_H_
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netdb.h>
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Defines the support for realtime counters in the HAL.
+ */
+#define HAL_IMPLEMENTS_COUNTERS FALSE
+
+/**
+ * @brief   Platform name.
+ */
+#define PLATFORM_NAME   "Linux"
+
+#define SOCKET int
+#define INVALID_SOCKET -1
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void hal_lld_init(void);
+  void ChkIntSources(void);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _HAL_LLD_H_ */
+
+/** @} */

firmware/chibios/os/hal/platforms/Posix/pal_lld.c

@@ -0,0 +1,95 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 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    Posix/pal_lld.c
+ * @brief   Posix low level simulated PAL driver code.
+ *
+ * @addtogroup POSIX_PAL
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#if HAL_USE_PAL || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   VIO1 simulated port.
+ */
+sim_vio_port_t vio_port_1;
+
+/**
+ * @brief   VIO2 simulated port.
+ */
+sim_vio_port_t vio_port_2;
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief Pads mode setup.
+ * @details This function programs a pads group belonging to the same port
+ *          with the specified mode.
+ *
+ * @param[in] port the port identifier
+ * @param[in] mask the group mask
+ * @param[in] mode the mode
+ *
+ * @note This function is not meant to be invoked directly by the application
+ *       code.
+ * @note @p PAL_MODE_UNCONNECTED is implemented as push pull output with high
+ *       state.
+ * @note This function does not alter the @p PINSELx registers. Alternate
+ *       functions setup must be handled by device-specific code.
+ */
+void _pal_lld_setgroupmode(ioportid_t port,
+                           ioportmask_t mask,
+                           iomode_t mode) {
+
+  switch (mode) {
+  case PAL_MODE_RESET:
+  case PAL_MODE_INPUT:
+    port->dir &= ~mask;
+    break;
+  case PAL_MODE_UNCONNECTED:
+    port->latch |= mask;
+  case PAL_MODE_OUTPUT_PUSHPULL:
+    port->dir |= mask;
+    break;
+  }
+}
+
+#endif /* HAL_USE_PAL */
+
+/** @} */

firmware/chibios/os/hal/platforms/Posix/pal_lld.h

@@ -0,0 +1,206 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 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    Posix/pal_lld.h
+ * @brief   Posix low level simulated PAL driver header.
+ *
+ * @addtogroup POSIX_PAL
+ * @{
+ */
+
+#ifndef _PAL_LLD_H_
+#define _PAL_LLD_H_
+
+#if HAL_USE_PAL || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Unsupported modes and specific modes                                      */
+/*===========================================================================*/
+
+#undef PAL_MODE_INPUT_PULLUP
+#undef PAL_MODE_INPUT_PULLDOWN
+#undef PAL_MODE_OUTPUT_OPENDRAIN
+#undef PAL_MODE_INPUT_ANALOG
+
+/*===========================================================================*/
+/* I/O Ports Types and constants.                                            */
+/*===========================================================================*/
+
+/**
+ * @brief   VIO port structure.
+ */
+typedef struct {
+  /**
+   * @brief   VIO_LATCH register.
+   * @details This register represents the output latch of the VIO port.
+   */
+  uint32_t          latch;
+  /**
+   * @brief   VIO_PIN register.
+   * @details This register represents the logical level at the VIO port
+   *          pin level.
+   */
+  uint32_t          pin;
+  /**
+   * @brief   VIO_DIR register.
+   * @details Direction of the VIO port bits, 0=input, 1=output.
+   */
+  uint32_t          dir;
+} sim_vio_port_t;
+
+/**
+ * @brief   Virtual I/O ports static initializer.
+ * @details An instance of this structure must be passed to @p palInit() at
+ *          system startup time in order to initialized the digital I/O
+ *          subsystem. This represents only the initial setup, specific pads
+ *          or whole ports can be reprogrammed at later time.
+ */
+typedef struct {
+  /**
+   * @brief Virtual port 1 setup data.
+   */
+  sim_vio_port_t    VP1Data;
+  /**
+   * @brief Virtual port 2 setup data.
+   */
+  sim_vio_port_t    VP2Data;
+} PALConfig;
+
+/**
+ * @brief   Width, in bits, of an I/O port.
+ */
+#define PAL_IOPORTS_WIDTH 32
+
+/**
+ * @brief   Whole port mask.
+ * @brief   This macro specifies all the valid bits into a port.
+ */
+#define PAL_WHOLE_PORT ((ioportmask_t)0xFFFFFFFF)
+
+/**
+ * @brief   Digital I/O port sized unsigned type.
+ */
+typedef uint32_t ioportmask_t;
+
+/**
+ * @brief   Digital I/O modes.
+ */
+typedef uint32_t iomode_t;
+
+/**
+ * @brief   Port Identifier.
+ */
+typedef sim_vio_port_t *ioportid_t;
+
+/*===========================================================================*/
+/* I/O Ports Identifiers.                                                    */
+/*===========================================================================*/
+
+/**
+ * @brief   VIO port 1 identifier.
+ */
+#define IOPORT1         (&vio_port_1)
+
+/**
+ * @brief   VIO port 2 identifier.
+ */
+#define IOPORT2         (&vio_port_2)
+
+/*===========================================================================*/
+/* Implementation, some of the following macros could be implemented as      */
+/* functions, if so please put them in pal_lld.c.                            */
+/*===========================================================================*/
+
+/**
+ * @brief   Low level PAL subsystem initialization.
+ *
+ * @param[in] config    architecture-dependent ports configuration
+ *
+ * @notapi
+ */
+#define pal_lld_init(config)                                                \
+  (vio_port_1 = (config)->VP1Data,                                          \
+   vio_port_2 = (config)->VP2Data)
+
+/**
+ * @brief   Reads the physical I/O port states.
+ *
+ * @param[in] port      port identifier
+ * @return              The port bits.
+ *
+ * @notapi
+ */
+#define pal_lld_readport(port) ((port)->pin)
+
+/**
+ * @brief   Reads the output latch.
+ * @details The purpose of this function is to read back the latched output
+ *          value.
+ *
+ * @param[in] port      port identifier
+ * @return              The latched logical states.
+ *
+ * @notapi
+ */
+#define pal_lld_readlatch(port) ((port)->latch)
+
+/**
+ * @brief   Writes a bits mask on a I/O port.
+ *
+ * @param[in] port      port identifier
+ * @param[in] bits      bits to be written on the specified port
+ *
+ * @notapi
+ */
+#define pal_lld_writeport(port, bits) ((port)->latch = (bits))
+
+/**
+ * @brief   Pads group mode setup.
+ * @details This function programs a pads group belonging to the same port
+ *          with the specified mode.
+ *
+ * @param[in] port      port identifier
+ * @param[in] mask      group mask
+ * @param[in] offset    group bit offset within the port
+ * @param[in] mode      group mode
+ *
+ * @notapi
+ */
+#define pal_lld_setgroupmode(port, mask, offset, mode)                      \
+  _pal_lld_setgroupmode(port, mask << offset, mode)
+
+#if !defined(__DOXYGEN__)
+extern sim_vio_port_t vio_port_1;
+extern sim_vio_port_t vio_port_2;
+extern const PALConfig pal_default_config;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void _pal_lld_setgroupmode(ioportid_t port,
+                             ioportmask_t mask,
+                             iomode_t mode);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_PAL */
+
+#endif /* _PAL_LLD_H_ */
+
+/** @} */

firmware/chibios/os/hal/platforms/Posix/platform.mk

@@ -0,0 +1,7 @@
+# List of all the Posix platform files.
+PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/Posix/hal_lld.c \
+              ${CHIBIOS}/os/hal/platforms/Posix/pal_lld.c \
+              ${CHIBIOS}/os/hal/platforms/Posix/serial_lld.c
+
+# Required include directories
+PLATFORMINC = ${CHIBIOS}/os/hal/platforms/Posix

firmware/chibios/os/hal/platforms/Posix/serial_lld.c

@@ -0,0 +1,287 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 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    Posix/serial_lld.c
+ * @brief   Posix low level simulated serial driver code.
+ *
+ * @addtogroup POSIX_SERIAL
+ * @{
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <errno.h>
+#include <sys/ioctl.h>
+
+#include "ch.h"
+#include "hal.h"
+
+#if HAL_USE_SERIAL || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/** @brief Serial driver 1 identifier.*/
+#if USE_SIM_SERIAL1 || defined(__DOXYGEN__)
+SerialDriver SD1;
+#endif
+/** @brief Serial driver 2 identifier.*/
+#if USE_SIM_SERIAL2 || defined(__DOXYGEN__)
+SerialDriver SD2;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/** @brief Driver default configuration.*/
+static const SerialConfig default_config = {
+};
+
+static u_long nb = 1;
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+static void init(SerialDriver *sdp, uint16_t port) {
+  struct sockaddr_in sad;
+  struct protoent *prtp;
+  int sockval = 1;
+  socklen_t socklen = sizeof(sockval);
+
+
+  if ((prtp = getprotobyname("tcp")) == NULL) {
+    printf("%s: Error mapping protocol name to protocol number\n", sdp->com_name);
+    goto abort;
+  }
+
+  sdp->com_listen = socket(PF_INET, SOCK_STREAM, prtp->p_proto);
+  if (sdp->com_listen == INVALID_SOCKET) {
+    printf("%s: Error creating simulator socket\n", sdp->com_name);
+    goto abort;
+  }
+
+
+  setsockopt(sdp->com_listen, SOL_SOCKET, SO_REUSEADDR, &sockval, socklen);
+
+  if (ioctl(sdp->com_listen, FIONBIO, &nb) != 0) {
+    printf("%s: Unable to setup non blocking mode on socket\n", sdp->com_name);
+    goto abort;
+  }
+
+  memset(&sad, 0, sizeof(sad));
+  sad.sin_family = AF_INET;
+  sad.sin_addr.s_addr = INADDR_ANY;
+  sad.sin_port = htons(port);
+  if (bind(sdp->com_listen, (struct sockaddr *)&sad, sizeof(sad))) {
+    printf("%s: Error binding socket\n", sdp->com_name);
+    goto abort;
+  }
+
+  if (listen(sdp->com_listen, 1) != 0) {
+    printf("%s: Error listening socket\n", sdp->com_name);
+    goto abort;
+  }
+  printf("Full Duplex Channel %s listening on port %d\n", sdp->com_name, port);
+  return;
+
+abort:
+  if (sdp->com_listen != INVALID_SOCKET)
+    close(sdp->com_listen);
+  exit(1);
+}
+
+static bool_t connint(SerialDriver *sdp) {
+
+  if (sdp->com_data == INVALID_SOCKET) {
+    struct sockaddr addr;
+    socklen_t addrlen = sizeof(addr);
+
+    if ((sdp->com_data = accept(sdp->com_listen, &addr, &addrlen)) == INVALID_SOCKET)
+      return FALSE;
+
+    if (ioctl(sdp->com_data, FIONBIO, &nb) != 0) {
+      printf("%s: Unable to setup non blocking mode on data socket\n", sdp->com_name);
+      goto abort;
+    }
+    chSysLockFromIsr();
+    chnAddFlagsI(sdp, CHN_CONNECTED);
+    chSysUnlockFromIsr();
+    return TRUE;
+  }
+  return FALSE;
+abort:
+  if (sdp->com_listen != INVALID_SOCKET)
+    close(sdp->com_listen);
+  if (sdp->com_data != INVALID_SOCKET)
+    close(sdp->com_data);
+  exit(1);
+}
+
+static bool_t inint(SerialDriver *sdp) {
+
+  if (sdp->com_data != INVALID_SOCKET) {
+    int i;
+    uint8_t data[32];
+
+    /*
+     * Input.
+     */
+    int n = recv(sdp->com_data, data, sizeof(data), 0);
+    switch (n) {
+    case 0:
+      close(sdp->com_data);
+      sdp->com_data = INVALID_SOCKET;
+      chSysLockFromIsr();
+      chnAddFlagsI(sdp, CHN_DISCONNECTED);
+      chSysUnlockFromIsr();
+      return FALSE;
+    case INVALID_SOCKET:
+      if (errno == EWOULDBLOCK)
+        return FALSE;
+      close(sdp->com_data);
+      sdp->com_data = INVALID_SOCKET;
+      return FALSE;
+    }
+    for (i = 0; i < n; i++) {
+      chSysLockFromIsr();
+      sdIncomingDataI(sdp, data[i]);
+      chSysUnlockFromIsr();
+    }
+    return TRUE;
+  }
+  return FALSE;
+}
+
+static bool_t outint(SerialDriver *sdp) {
+
+  if (sdp->com_data != INVALID_SOCKET) {
+    int n;
+    uint8_t data[1];
+
+    /*
+     * Input.
+     */
+    chSysLockFromIsr();
+    n = sdRequestDataI(sdp);
+    chSysUnlockFromIsr();
+    if (n < 0)
+      return FALSE;
+    data[0] = (uint8_t)n;
+    n = send(sdp->com_data, data, sizeof(data), 0);
+    switch (n) {
+    case 0:
+      close(sdp->com_data);
+      sdp->com_data = INVALID_SOCKET;
+      chSysLockFromIsr();
+      chnAddFlagsI(sdp, CHN_DISCONNECTED);
+      chSysUnlockFromIsr();
+      return FALSE;
+    case INVALID_SOCKET:
+      if (errno == EWOULDBLOCK)
+        return FALSE;
+      close(sdp->com_data);
+      sdp->com_data = INVALID_SOCKET;
+      return FALSE;
+    }
+    return TRUE;
+  }
+  return FALSE;
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Low level serial driver initialization.
+ */
+void sd_lld_init(void) {
+
+#if USE_SIM_SERIAL1
+  sdObjectInit(&SD1, NULL, NULL);
+  SD1.com_listen = INVALID_SOCKET;
+  SD1.com_data = INVALID_SOCKET;
+  SD1.com_name = "SD1";
+#endif
+
+#if USE_SIM_SERIAL2
+  sdObjectInit(&SD2, NULL, NULL);
+  SD2.com_listen = INVALID_SOCKET;
+  SD2.com_data = INVALID_SOCKET;
+  SD2.com_name = "SD2";
+#endif
+}
+
+/**
+ * @brief   Low level serial driver configuration and (re)start.
+ *
+ * @param[in] sdp       pointer to a @p SerialDriver object
+ */
+void sd_lld_start(SerialDriver *sdp, const SerialConfig *config) {
+
+  if (config == NULL)
+    config = &default_config;
+
+#if USE_SIM_SERIAL1
+  if (sdp == &SD1)
+    init(&SD1, SIM_SD1_PORT);
+#endif
+
+#if USE_SIM_SERIAL2
+  if (sdp == &SD2)
+    init(&SD2, SIM_SD2_PORT);
+#endif
+}
+
+/**
+ * @brief   Low level serial driver stop.
+ * @details De-initializes the USART, stops the associated clock, resets the
+ *          interrupt vector.
+ *
+ * @param[in] sdp       pointer to a @p SerialDriver object
+ */
+void sd_lld_stop(SerialDriver *sdp) {
+
+  (void)sdp;
+}
+
+bool_t sd_lld_interrupt_pending(void) {
+  bool_t b;
+
+  CH_IRQ_PROLOGUE();
+
+  b =  connint(&SD1) || connint(&SD2) ||
+       inint(&SD1)   || inint(&SD2)   ||
+       outint(&SD1)  || outint(&SD2);
+
+  CH_IRQ_EPILOGUE();
+
+  return b;
+}
+
+#endif /* HAL_USE_SERIAL */
+
+/** @} */

firmware/chibios/os/hal/platforms/Posix/serial_lld.h

@@ -0,0 +1,151 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 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    Posix/serial_lld.h
+ * @brief   Posix low level simulated serial driver header.
+ *
+ * @addtogroup POSIX_SERIAL
+ * @{
+ */
+
+#ifndef _SERIAL_LLD_H_
+#define _SERIAL_LLD_H_
+
+#if HAL_USE_SERIAL || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Serial buffers size.
+ * @details Configuration parameter, you can change the depth of the queue
+ *          buffers depending on the requirements of your application.
+ */
+#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
+#define SERIAL_BUFFERS_SIZE         1024
+#endif
+
+/**
+ * @brief   SD1 driver enable switch.
+ * @details If set to @p TRUE the support for SD1 is included.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(USE_SIM_SERIAL1) || defined(__DOXYGEN__)
+#define USE_SIM_SERIAL1             TRUE
+#endif
+
+/**
+ * @brief   SD2 driver enable switch.
+ * @details If set to @p TRUE the support for SD2 is included.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(USE_SIM_SERIAL2) || defined(__DOXYGEN__)
+#define USE_SIM_SERIAL2             TRUE
+#endif
+
+/**
+ * @brief   Listen port for SD1.
+ */
+#if !defined(SD1_PORT) || defined(__DOXYGEN__)
+#define SIM_SD1_PORT                29001
+#endif
+
+/**
+ * @brief   Listen port for SD2.
+ */
+#if !defined(SD2_PORT) || defined(__DOXYGEN__)
+#define SIM_SD2_PORT                29002
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Generic Serial Driver configuration structure.
+ * @details An instance of this structure must be passed to @p sdStart()
+ *          in order to configure and start a serial driver operations.
+ * @note    This structure content is architecture dependent, each driver
+ *          implementation defines its own version and the custom static
+ *          initializers.
+ */
+typedef struct {
+} SerialConfig;
+
+/**
+ * @brief   @p SerialDriver specific data.
+ */
+#define _serial_driver_data                                                 \
+  _base_asynchronous_channel_data                                           \
+  /* Driver state.*/                                                        \
+  sdstate_t                 state;                                          \
+  /* Input queue.*/                                                         \
+  InputQueue                iqueue;                                         \
+  /* Output queue.*/                                                        \
+  OutputQueue               oqueue;                                         \
+  /* Input circular buffer.*/                                               \
+  uint8_t                   ib[SERIAL_BUFFERS_SIZE];                        \
+  /* Output circular buffer.*/                                              \
+  uint8_t                   ob[SERIAL_BUFFERS_SIZE];                        \
+  /* End of the mandatory fields.*/                                         \
+  /* Listen socket for simulated serial port.*/                             \
+  SOCKET                    com_listen;                                     \
+  /* Data socket for simulated serial port.*/                               \
+  SOCKET                    com_data;                                       \
+  /* Port readable name.*/                                                  \
+  const char                *com_name;
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#if USE_SIM_SERIAL1 && !defined(__DOXYGEN__)
+extern SerialDriver SD1;
+#endif
+#if USE_SIM_SERIAL2 && !defined(__DOXYGEN__)
+extern SerialDriver SD2;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void sd_lld_init(void);
+  void sd_lld_start(SerialDriver *sdp, const SerialConfig *config);
+  void sd_lld_stop(SerialDriver *sdp);
+  bool_t sd_lld_interrupt_pending(void);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_SERIAL */
+
+#endif /* _SERIAL_LLD_H_ */
+
+/** @} */