diff --git a/demos/triskar-r2pgw/.cproject b/demos/triskar-r2pgw/.cproject
new file mode 100644
index 0000000..66a41e7
--- /dev/null
+++ b/demos/triskar-r2pgw/.cproject
@@ -0,0 +1,136 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
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+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
+
+
+
+
diff --git a/demos/triskar-r2pgw/.gitignore b/demos/triskar-r2pgw/.gitignore
new file mode 100644
index 0000000..7a0bbe9
--- /dev/null
+++ b/demos/triskar-r2pgw/.gitignore
@@ -0,0 +1,2 @@
+build
+.dep
diff --git a/demos/triskar-r2pgw/.project b/demos/triskar-r2pgw/.project
new file mode 100644
index 0000000..6d06ac4
--- /dev/null
+++ b/demos/triskar-r2pgw/.project
@@ -0,0 +1,59 @@
+
+
+ triskar-r2pgw
+
+
+
+
+
+ org.eclipse.cdt.managedbuilder.core.genmakebuilder
+ clean,full,incremental,
+
+
+
+
+ org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder
+ full,incremental,
+
+
+
+
+
+ org.eclipse.cdt.core.cnature
+ org.eclipse.cdt.managedbuilder.core.managedBuildNature
+ org.eclipse.cdt.managedbuilder.core.ScannerConfigNature
+ org.eclipse.cdt.core.ccnature
+
+
+
+ R2MW
+ 2
+ /home/texzk/openrobots/R2MW
+
+
+ RTCAN
+ 2
+ /home/texzk/openrobots/RTCAN
+
+
+ lwip
+ 2
+ /home/texzk/ChibiStudio/chibios/ext/lwip-1.4.1
+
+
+ lwip_bindings
+ 2
+ /home/texzk/ChibiStudio/chibios/os/various/lwip_bindings
+
+
+ uros_include
+ 2
+ /home/texzk/ChibiStudio/chibios/ext/uros/include
+
+
+ uros_src
+ 2
+ /home/texzk/ChibiStudio/chibios/ext/uros/src
+
+
+
diff --git a/demos/triskar-r2pgw/.settings/language.settings.xml b/demos/triskar-r2pgw/.settings/language.settings.xml
new file mode 100644
index 0000000..7adb4ad
--- /dev/null
+++ b/demos/triskar-r2pgw/.settings/language.settings.xml
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
+
diff --git a/demos/triskar-r2pgw/COPYING b/demos/triskar-r2pgw/COPYING
new file mode 100644
index 0000000..94a9ed0
--- /dev/null
+++ b/demos/triskar-r2pgw/COPYING
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc.
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
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+ The licenses for most software and other practical works are designed
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+any other work released this way by its authors. You can apply it to
+your programs, too.
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+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
+ If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all. For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+ 13. Use with the GNU Affero General Public License.
+
+ Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+
+ Copyright (C)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ Copyright (C)
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+.
diff --git a/demos/triskar-r2pgw/Makefile b/demos/triskar-r2pgw/Makefile
new file mode 100644
index 0000000..ba9c0d6
--- /dev/null
+++ b/demos/triskar-r2pgw/Makefile
@@ -0,0 +1,446 @@
+##############################################################################
+# Build global options
+# NOTE: Can be overridden externally.
+#
+
+# Compiler options here.
+ifeq ($(USE_OPT),)
+ USE_OPT = -falign-functions=16 -O0 -ggdb
+endif
+
+# C specific options here (added to USE_OPT).
+ifeq ($(USE_COPT),)
+ USE_COPT =
+endif
+
+# C++ specific options here (added to USE_OPT).
+ifeq ($(USE_CPPOPT),)
+ USE_CPPOPT = -fno-rtti -fno-exceptions
+endif
+
+# Enable this if you want the linker to remove unused code and data
+ifeq ($(USE_LINK_GC),)
+ USE_LINK_GC = yes
+endif
+
+# Enable this if you want to see the full log while compiling.
+ifeq ($(USE_VERBOSE_COMPILE),)
+ USE_VERBOSE_COMPILE = no
+endif
+
+#
+# Build global options
+##############################################################################
+
+##############################################################################
+# Architecture or project specific options
+#
+
+# Enables the use of FPU on Cortex-M4.
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FPU),)
+ USE_FPU = no
+endif
+
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FWLIB),)
+ USE_FWLIB = no
+endif
+
+#
+# Architecture or project specific options
+##############################################################################
+
+##############################################################################
+# Project, sources and paths
+#
+
+# Project name
+PROJECT = triskar-r2pgw
+
+# Target executable file
+EXENAME = triskar
+
+# Imported source files and paths
+CHIBIOS = ../../../..
+include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
+include $(CHIBIOS)/os/hal/hal.mk
+include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
+include $(CHIBIOS)/os/kernel/kernel.mk
+include $(CHIBIOS)/os/various/lwip_bindings/lwip.mk
+UROS = ../..
+include $(UROS)/mk/uros.mk
+include $(UROS)/mk/chibios.mk
+include $(UROS)/mk/lwip.mk
+include ./project.mk
+RTCAN = /home/texzk/openrobots/RTCAN
+R2MW = /home/texzk/openrobots/R2MW
+include $(RTCAN)/platforms/STM32/platform.mk
+include $(RTCAN)/RTCAN.mk
+include $(R2MW)/MW.mk
+
+# Linker script
+#LDSCRIPT = $(PORTLD)/STM32F407xG.ld
+#LDSCRIPT = $(PORTLD)/STM32F407xE_CCM.ld
+LDSCRIPT = ./misc/STM32F407xE_CCM.ld
+
+# C sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CSRC = $(PORTSRC) \
+ $(KERNSRC) \
+ $(HALSRC) \
+ $(PLATFORMSRC) \
+ $(BOARDSRC) \
+ $(LWSRC) \
+ $(CHIBIOS)/os/various/evtimer.c \
+ $(CHIBIOS)/os/various/chprintf.c \
+ $(UROSSRC) $(UROSLLDSRC) \
+ $(RTCANPLATFORMSRC) \
+ $(RTCANSRC) \
+ $(PROJCSRC)
+
+# C++ sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CPPSRC = $(CHIBIOS)/os/various/cpp_wrappers/ch.cpp \
+ $(R2MWCPPSRC) \
+ $(PROJCPPSRC)
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+# option that results in lower performance and larger code size.
+TCSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+# option that results in lower performance and larger code size.
+TCPPSRC =
+
+# List ASM source files here
+ASMSRC = $(PORTASM)
+
+# Included directories
+INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
+ $(HALINC) $(PLATFORMINC) $(BOARDINC) $(LWINC) \
+ $(CHIBIOS)/os/various \
+ $(CHIBIOS)/os/various/cpp_wrappers \
+ $(RTCANINC) $(RTCANPLATFORMINC) \
+ $(R2P)/Various/src \
+ $(R2MWINC) $(R2MW)/../Various \
+ $(UROSINC) \
+ $(PROJINC)
+
+#
+# Project, sources and paths
+##############################################################################
+
+##############################################################################
+# Compiler settings
+#
+
+MCU = cortex-m4
+
+#TRGT = arm-elf-
+TRGT = arm-none-eabi-
+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
+AS = $(TRGT)gcc -x assembler-with-cpp
+OD = $(TRGT)objdump
+HEX = $(CP) -O ihex
+BIN = $(CP) -O binary
+
+# Define C warning options here
+CWARN = -Wall -Wextra -Wstrict-prototypes
+
+# Define C++ warning options here
+CPPWARN = -Wall -Wextra
+
+#
+# Compiler settings
+##############################################################################
+
+##############################################################################
+# Default definitions
+#
+
+# List all default C defines here, like -D_DEBUG=1
+DDEFS = -DPORT_INT_REQUIRED_STACK=128
+
+# List all default ASM defines here, like -D_DEBUG=1
+DADEFS =
+
+# List all default directories to look for include files here
+DINCDIR =
+
+# List the default directory to look for the libraries here
+DLIBDIR =
+
+# List all default libraries here
+DLIBS =
+
+#
+# Default definitions
+##############################################################################
+
+##############################################################################
+# User definitions
+#
+
+# List all user C define here, like -D_DEBUG=1
+UDEFS =
+
+# Define ASM defines here
+UADEFS =
+
+# List all user directories here
+UINCDIR =
+
+# List the user directory to look for the libraries here
+ULIBDIR =
+
+# List all user libraries here
+ULIBS = -lm
+
+#
+# User definitions
+##############################################################################
+
+##############################################################################
+# Make definitions
+#
+
+ifeq ($(USE_FPU),yes)
+ USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+ DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+ DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
+ifeq ($(USE_FWLIB),yes)
+ include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
+ CSRC += $(STM32SRC)
+ INCDIR += $(STM32INC)
+ USE_OPT += -DUSE_STDPERIPH_DRIVER
+endif
+
+# Output directory and files
+ifeq ($(BUILDDIR),)
+ BUILDDIR = build
+endif
+ifeq ($(BUILDDIR),.)
+ BUILDDIR = build
+endif
+OUTFILES = $(BUILDDIR)/$(EXENAME).elf $(BUILDDIR)/$(EXENAME).hex \
+ $(BUILDDIR)/$(EXENAME).bin $(BUILDDIR)/$(EXENAME).dmp
+
+# Automatic compiler options
+OPT = $(USE_OPT)
+COPT = $(USE_COPT) -mthumb -DTHUMB
+CPPOPT = $(USE_CPPOPT)
+ifeq ($(USE_LINK_GC),yes)
+ OPT += -ffunction-sections -fdata-sections
+endif
+
+# Source files groups and paths
+SRCPATHS = $(sort $(dir $(ASMXSRC)) $(dir $(ASMSRC)) $(dir $(CSRC) $(CPPSRC)))
+
+# Various directories
+OBJDIR = $(BUILDDIR)/obj
+LSTDIR = $(BUILDDIR)/lst
+
+# Object files groups
+COBJS = $(addprefix $(OBJDIR)/, $(notdir $(CSRC:.c=.o)))
+CPPOBJS = $(addprefix $(OBJDIR)/, $(notdir $(CPPSRC:.cpp=.o)))
+ASMOBJS = $(addprefix $(OBJDIR)/, $(notdir $(ASMSRC:.s=.o)))
+ASMXOBJS = $(addprefix $(OBJDIR)/, $(notdir $(ASMXSRC:.S=.o)))
+OBJS = $(ASMXOBJS) $(ASMOBJS) $(COBJS) $(CPPOBJS)
+
+# Paths
+IINCDIR = $(patsubst %,-I%,$(INCDIR) $(DINCDIR) $(UINCDIR))
+LLIBDIR = $(patsubst %,-L%,$(DLIBDIR) $(ULIBDIR))
+
+# Macros
+DEFS = $(DDEFS) $(UDEFS)
+ADEFS = $(DADEFS) $(UADEFS)
+
+# Libs
+LIBS = $(DLIBS) $(ULIBS)
+
+# Various settings
+MCFLAGS = -mcpu=$(MCU)
+ODFLAGS = -x --syms
+ASFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.s=.lst)) $(ADEFS)
+ASXFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.S=.lst)) $(ADEFS)
+CFLAGS = $(MCFLAGS) $(OPT) $(COPT) $(CWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.c=.lst)) $(DEFS)
+CPPFLAGS = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.cpp=.lst)) $(DEFS)
+ifeq ($(USE_LINK_GC),yes)
+ LDFLAGS = $(MCFLAGS) -nostartfiles -T$(LDSCRIPT) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--gc-sections $(LLIBDIR)
+else
+ LDFLAGS = $(MCFLAGS) -nostartfiles -T$(LDSCRIPT) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch $(LLIBDIR)
+endif
+
+# Thumb interwork not enabled because it kills performance.
+CFLAGS += -DTHUMB_PRESENT
+CPPFLAGS += -DTHUMB_PRESENT
+ASFLAGS += -DTHUMB_PRESENT
+CFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING
+CPPFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING
+ASFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING -mthumb
+LDFLAGS += -mno-thumb-interwork -mthumb
+
+# Generate dependency information
+CFLAGS += -MD -MP -MF .dep/$(@F).d
+CPPFLAGS += -MD -MP -MF .dep/$(@F).d
+
+# Paths where to search for sources
+VPATH = $(SRCPATHS)
+
+#
+# Make definitions
+##############################################################################
+
+##############################################################################
+# Make targets
+#
+
+# Virtual targets
+.PHONY : MAKE_ALL_RULE_HOOK all clean static-analysis \
+ list-c-src show-cc-cmd \
+ list-cpp-src show-cppc-cmd
+
+# Make all
+all : MAKE_ALL_RULE_HOOK $(OBJS) $(OUTFILES)
+
+# List C source files
+list-c-src :
+ @for f in $(CSRC); do echo $$f; done
+
+# List C++ source files
+list-cpp-src :
+ @for f in $(CPPSRC); do echo $$f; done
+
+# Shows the C compiler command (without source/output file options)
+show-cc-cmd :
+ @echo $(CC) -c $(CFLAGS) $(COPT) -I. $(IINCDIR)
+
+# Shows the C++ compiler command (without source/output file options)
+show-cppc-cmd :
+ @echo $(CPPC) -c $(CPPFLAGS) $(CPPOPT) -I. $(IINCDIR)
+
+# Pre-make script
+MAKE_ALL_RULE_HOOK :
+ifneq ($(USE_VERBOSE_COMPILE),yes)
+ @echo === CC command example ===
+ @echo $(CC) -c $(CFLAGS) $(IINCDIR) main.c -o main.o
+ @echo
+ @echo === CPPC command example ===
+ @echo $(CPPC) -c $(CPPFLAGS) $(IINCDIR) main.cpp -o main.o
+ @echo
+endif
+
+# Folder constraints
+$(OBJS) $(STANOBJS) : | $(BUILDDIR)
+
+# Directories setup
+$(BUILDDIR) $(OBJDIR):
+ mkdir -p $(OBJDIR)
+ mkdir -p $(LSTDIR)
+ @echo
+
+# C++ compiler
+$(CPPOBJS) : $(OBJDIR)/%.o : %.cpp Makefile
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo
+ $(CPPC) -c $(CPPFLAGS) $(COPT) -I. $(IINCDIR) $< -o $@
+else
+ @echo Compiling $<
+ @$(CPPC) -c $(CPPFLAGS) $(COPT) -I. $(IINCDIR) $< -o $@
+endif
+
+# C compiler
+$(COBJS) : $(OBJDIR)/%.o : %.c Makefile
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo
+ $(CC) -c $(CFLAGS) $(COPT) -I. $(IINCDIR) $< -o $@
+else
+ @echo Compiling $<
+ @$(CC) -c $(CFLAGS) $(COPT) -I. $(IINCDIR) $< -o $@
+endif
+
+# ASM compiler
+$(ASMOBJS) : $(OBJDIR)/%.o : %.s Makefile
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo
+ $(AS) -c $(ASFLAGS) -I. $(IINCDIR) $< -o $@
+else
+ @echo Compiling $<
+ @$(AS) -c $(ASFLAGS) -I. $(IINCDIR) $< -o $@
+endif
+
+$(ASMXOBJS) : $(OBJDIR)/%.o : %.S Makefile
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo
+ $(CC) -c $(ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
+else
+ @echo Compiling $<
+ @$(CC) -c $(ASXFLAGS) $(TOPT) -I. $(IINCDIR) $< -o $@
+endif
+
+# Target executables and linker
+%.elf: $(OBJS) $(LDSCRIPT)
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo
+ $(LD) $(OBJS) $(LDFLAGS) $(LIBS) -o $@
+else
+ @echo Linking $@
+ @$(LD) $(OBJS) $(LDFLAGS) $(LIBS) -o $@
+endif
+
+%.hex: %.elf $(LDSCRIPT)
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ $(HEX) $< $@
+else
+ @echo Creating $@
+ @$(HEX) $< $@
+endif
+
+%.bin: %.elf $(LDSCRIPT)
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ $(BIN) $< $@
+else
+ @echo Creating $@
+ @$(BIN) $< $@
+endif
+
+%.dmp: %.elf $(LDSCRIPT)
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ $(OD) $(ODFLAGS) $< > $@
+else
+ @echo Creating $@
+ @$(OD) $(ODFLAGS) $< > $@
+ @echo Done
+endif
+
+# Project cleaner
+clean:
+ifeq ($(USE_VERBOSE_COMPILE),yes)
+ @echo Cleaning
+ -rm -fRv .dep $(BUILDDIR)
+ @echo Done
+else
+ @echo -n Cleaning...\
+ @rm -fR .dep $(BUILDDIR)
+ @echo done
+endif
+
+# Include the dependency files, should be the last of the makefile
+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
+
+#
+# Make targets
+##############################################################################
diff --git a/demos/triskar-r2pgw/include/app.h b/demos/triskar-r2pgw/include/app.h
new file mode 100644
index 0000000..8b8273d
--- /dev/null
+++ b/demos/triskar-r2pgw/include/app.h
@@ -0,0 +1,115 @@
+/*
+Copyright (c) 2012-2013, Politecnico di Milano. All rights reserved.
+
+Andrea Zoppi
+Martino Migliavacca
+
+http://airlab.elet.polimi.it/
+http://www.openrobots.com/
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/**
+ * @file app.c
+ * @author Andrea Zoppi
+ *
+ * @brief Application source header.
+ */
+
+#ifndef _APP_H_
+#define _APP_H_
+
+/*===========================================================================*/
+/* HEADER FILES */
+/*===========================================================================*/
+
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+
+/*===========================================================================*/
+/* TYPES & MACROS */
+/*===========================================================================*/
+
+/**
+ * @brief Stream counters.
+ */
+typedef struct streamcnt_t {
+ unsigned long numMsgs; /**< @brief Total number of exchanged messages.*/
+ size_t numBytes; /**< @brief Total exchanged size.*/
+ unsigned long deltaMsgs; /**< @brief Incremental number of exchanged messages.*/
+ size_t deltaBytes; /**< @brief Incremental exchanged size.*/
+} streamcnt_t;
+
+/**
+ * @brief Benchmark status.
+ */
+typedef struct benchmark_t {
+ UrosMutex lock; /**< @brief Lock word.*/
+
+ /* Configuration.*/
+ uint32_t rate; /**< @brief Packets/s.*/
+ UrosString payload; /**< @brief Packet payload string.*/
+ uros_bool_t hasOutPub; /**< @brief Creates the publisher of
+ * /benchmark/output.*/
+ uros_bool_t hasInSub; /**< @brief Creates the subscriber of
+ * /benchmark/input.*/
+ uros_bool_t hasOutSub; /**< @brief Creates the subscriber of
+ * /benchmark/output.*/
+
+ /* Meters.*/
+ streamcnt_t inCount; /**< @brief Incoming stream counters.*/
+ streamcnt_t outCount; /**< @brief Outgoing stream counters.*/
+} benchmark_t;
+
+/** @brief Sequential stream on UART1 (SD1).*/
+#define SS1 ((BaseSequentialStream *)&SD1)
+
+/** @brief Skips incoming data in handlers.*/
+#define HANDLERS_INPUT_SKIP 0
+
+/*===========================================================================*/
+/* GLOBAL VARIABLES */
+/*===========================================================================*/
+
+extern benchmark_t benchmark;
+extern const UrosString rateparamname, sizeparamname;
+
+/*===========================================================================*/
+/* GLOBAL PROTOTYPES */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void app_initialize(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _APP_H_ */
diff --git a/demos/triskar-r2pgw/include/board.h b/demos/triskar-r2pgw/include/board.h
new file mode 100644
index 0000000..c67723f
--- /dev/null
+++ b/demos/triskar-r2pgw/include/board.h
@@ -0,0 +1,1307 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011,2012 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+*/
+
+#ifndef _BOARD_H_
+#define _BOARD_H_
+
+/*
+ * Setup for R2P_GW board.
+ */
+
+/*
+ * Board identifier.
+ */
+#define BOARD_R2P_GW
+#define BOARD_NAME "R2P_GW"
+
+/*
+ * Ethernet PHY type.
+ */
+#define BOARD_PHY_ID MII_DP83848I_ID
+#define BOARD_PHY_RMII
+
+/*
+ * Board oscillators-related settings.
+ */
+#if !defined(STM32_LSECLK)
+#define STM32_LSECLK 32768
+#endif
+
+#if !defined(STM32_HSECLK)
+#define STM32_HSECLK 8000000
+#endif
+
+
+/*
+ * Board voltages.
+ * Required for performance limits calculation.
+ */
+#define STM32_VDD 330
+
+/*
+ * MCU type as defined in the ST header file stm32f4xx.h.
+ */
+#define STM32F4XX
+
+#define SERIAL_DRIVER SD1
+
+/*
+ * IO pins assignments.
+ */
+#define GPIOA_PIN0 0
+#define GPIOA_ETH_RMII_REF_CLK 1
+#define GPIOA_ETH_RMII_MDIO 2
+#define GPIOA_PIN3 3
+#define GPIOA_PIN4 4
+#define GPIOA_PIN5 5
+#define GPIOA_PIN6 6
+#define GPIOA_ETH_RMII_CRS_DV 7
+#define GPIOA_PIN8 8
+#define GPIOA_OTG_FS_VBUS 9
+#define GPIOA_OTG_FS_ID 10
+#define GPIOA_OTG_FS_DM 11
+#define GPIOA_OTG_FS_DP 12
+#define GPIOA_JTMS 13
+#define GPIOA_JTCK 14
+#define GPIOA_JTDI 15
+
+#define GPIOB_PIN0 0
+#define GPIOB_PIN1 1
+#define GPIOB_PIN2 2
+#define GPIOB_JTDO 3
+#define GPIOB_JTRST 4
+#define GPIOB_PIN5 5
+#define GPIOB_USART1_TX 6
+#define GPIOB_USART1_RX 7
+#define GPIOB_LED3 8
+#define GPIOB_LED4 9
+#define GPIOB_PIN10 10
+#define GPIOB_ETH_RMII_TX_EN 11
+#define GPIOB_ETH_RMII_TXD0 12
+#define GPIOB_ETH_RMII_TXD1 13
+#define GPIOB_PIN14 14
+#define GPIOB_PIN15 15
+
+#define GPIOC_PIN0 0
+#define GPIOC_ETH_RMII_MDC 1
+#define GPIOC_PIN2 2
+#define GPIOC_ETH_NOT_PWRDN 3
+#define GPIOC_ETH_RMII_RXD0 4
+#define GPIOC_ETH_RMII_RXD1 5
+#define GPIOC_PIN6 6
+#define GPIOC_PIN7 7
+#define GPIOC_PIN8 8
+#define GPIOC_PIN9 9
+#define GPIOC_LED1 10
+#define GPIOC_LED2 11
+#define GPIOC_PIN12 12
+#define GPIOC_PIN13 13
+#define GPIOC_PIN14 14
+#define GPIOC_PIN15 15
+
+#define GPIOD_CAN1_RX 0
+#define GPIOD_CAN1_TX 1
+#define GPIOD_PIN2 2
+#define GPIOD_PIN3 3
+#define GPIOD_PIN4 4
+#define GPIOD_PIN5 5
+#define GPIOD_PIN6 6
+#define GPIOD_PIN7 7
+#define GPIOD_PIN8 8
+#define GPIOD_PIN9 9
+#define GPIOD_PIN10 10
+#define GPIOD_PIN11 11
+#define GPIOD_PIN12 12
+#define GPIOD_PIN13 13
+#define GPIOD_PIN14 14
+#define GPIOD_PIN15 15
+
+#define GPIOE_PIN0 0
+#define GPIOE_PIN1 1
+#define GPIOE_PIN2 2
+#define GPIOE_PIN3 3
+#define GPIOE_PIN4 4
+#define GPIOE_PIN5 5
+#define GPIOE_PIN6 6
+#define GPIOE_PIN7 7
+#define GPIOE_PIN8 8
+#define GPIOE_PIN9 9
+#define GPIOE_PIN10 10
+#define GPIOE_PIN11 11
+#define GPIOE_PIN12 12
+#define GPIOE_PIN13 13
+#define GPIOE_PIN14 14
+#define GPIOE_PIN15 15
+
+#define GPIOF_PIN0 0
+#define GPIOF_PIN1 1
+#define GPIOF_PIN2 2
+#define GPIOF_PIN3 3
+#define GPIOF_PIN4 4
+#define GPIOF_PIN5 5
+#define GPIOF_PIN6 6
+#define GPIOF_PIN7 7
+#define GPIOF_PIN8 8
+#define GPIOF_PIN9 9
+#define GPIOF_PIN10 10
+#define GPIOF_PIN11 11
+#define GPIOF_PIN12 12
+#define GPIOF_PIN13 13
+#define GPIOF_PIN14 14
+#define GPIOF_PIN15 15
+
+#define GPIOG_PIN0 0
+#define GPIOG_PIN1 1
+#define GPIOG_PIN2 2
+#define GPIOG_PIN3 3
+#define GPIOG_PIN4 4
+#define GPIOG_PIN5 5
+#define GPIOG_PIN6 6
+#define GPIOG_PIN7 7
+#define GPIOG_PIN8 8
+#define GPIOG_PIN9 9
+#define GPIOG_PIN10 10
+#define GPIOG_PIN11 11
+#define GPIOG_PIN12 12
+#define GPIOG_PIN13 13
+#define GPIOG_PIN14 14
+#define GPIOG_PIN15 15
+
+#define GPIOH_MCU_CLK 0
+#define GPIOH_PIN1 1
+#define GPIOH_PIN2 2
+#define GPIOH_PIN3 3
+#define GPIOH_PIN4 4
+#define GPIOH_PIN5 5
+#define GPIOH_PIN6 6
+#define GPIOH_PIN7 7
+#define GPIOH_PIN8 8
+#define GPIOH_PIN9 9
+#define GPIOH_PIN10 10
+#define GPIOH_PIN11 11
+#define GPIOH_PIN12 12
+#define GPIOH_PIN13 13
+#define GPIOH_PIN14 14
+#define GPIOH_PIN15 15
+
+#define GPIOI_PIN0 0
+#define GPIOI_PIN1 1
+#define GPIOI_PIN2 2
+#define GPIOI_PIN3 3
+#define GPIOI_PIN4 4
+#define GPIOI_PIN5 5
+#define GPIOI_PIN6 6
+#define GPIOI_PIN7 7
+#define GPIOI_PIN8 8
+#define GPIOI_PIN9 9
+#define GPIOI_PIN10 10
+#define GPIOI_PIN11 11
+#define GPIOI_PIN12 12
+#define GPIOI_PIN13 13
+#define GPIOI_PIN14 14
+#define GPIOI_PIN15 15
+
+/*
+ * I/O ports initial setup, this configuration is established soon after reset
+ * in the initialization code.
+ * Please refer to the STM32 Reference Manual for details.
+ */
+#define PIN_MODE_INPUT(n) (0U << ((n) * 2))
+#define PIN_MODE_OUTPUT(n) (1U << ((n) * 2))
+#define PIN_MODE_ALTERNATE(n) (2U << ((n) * 2))
+#define PIN_MODE_ANALOG(n) (3U << ((n) * 2))
+#define PIN_ODR_LOW(n) (0U << (n))
+#define PIN_ODR_HIGH(n) (1U << (n))
+#define PIN_OTYPE_PUSHPULL(n) (0U << (n))
+#define PIN_OTYPE_OPENDRAIN(n) (1U << (n))
+#define PIN_OSPEED_2M(n) (0U << ((n) * 2))
+#define PIN_OSPEED_25M(n) (1U << ((n) * 2))
+#define PIN_OSPEED_50M(n) (2U << ((n) * 2))
+#define PIN_OSPEED_100M(n) (3U << ((n) * 2))
+#define PIN_PUPDR_FLOATING(n) (0U << ((n) * 2))
+#define PIN_PUPDR_PULLUP(n) (1U << ((n) * 2))
+#define PIN_PUPDR_PULLDOWN(n) (2U << ((n) * 2))
+#define PIN_AFIO_AF(n, v) ((v##U) << ((n % 8) * 4))
+
+/*
+ * GPIOA setup:
+ *
+ * PA0 - PIN0 (input pullup).
+ * PA1 - ETH_RMII_REF_CLK (alternate 11).
+ * PA2 - ETH_RMII_MDIO (alternate 11).
+ * PA3 - PIN3 (input pullup).
+ * PA4 - PIN4 (input pullup).
+ * PA5 - PIN5 (input pullup).
+ * PA6 - PIN6 (input pullup).
+ * PA7 - ETH_RMII_CRS_DV (alternate 11).
+ * PA8 - PIN8 (input pullup).
+ * PA9 - OTG_FS_VBUS (input pulldown).
+ * PA10 - OTG_FS_ID (alternate 10).
+ * PA11 - OTG_FS_DM (alternate 10).
+ * PA12 - OTG_FS_DP (alternate 10).
+ * PA13 - JTMS (alternate 0).
+ * PA14 - JTCK (alternate 0).
+ * PA15 - JTDI (alternate 0).
+ */
+#define VAL_GPIOA_MODER (PIN_MODE_INPUT(GPIOA_PIN0) | \
+ PIN_MODE_ALTERNATE(GPIOA_ETH_RMII_REF_CLK) |\
+ PIN_MODE_ALTERNATE(GPIOA_ETH_RMII_MDIO) |\
+ PIN_MODE_INPUT(GPIOA_PIN3) | \
+ PIN_MODE_INPUT(GPIOA_PIN4) | \
+ PIN_MODE_INPUT(GPIOA_PIN5) | \
+ PIN_MODE_INPUT(GPIOA_PIN6) | \
+ PIN_MODE_ALTERNATE(GPIOA_ETH_RMII_CRS_DV) |\
+ PIN_MODE_ALTERNATE(GPIOA_PIN8) | \
+ PIN_MODE_INPUT(GPIOA_OTG_FS_VBUS) | \
+ PIN_MODE_ALTERNATE(GPIOA_OTG_FS_ID) | \
+ PIN_MODE_ALTERNATE(GPIOA_OTG_FS_DM) | \
+ PIN_MODE_ALTERNATE(GPIOA_OTG_FS_DP) | \
+ PIN_MODE_ALTERNATE(GPIOA_JTMS) | \
+ PIN_MODE_ALTERNATE(GPIOA_JTCK) | \
+ PIN_MODE_ALTERNATE(GPIOA_JTDI))
+#define VAL_GPIOA_OTYPER (PIN_OTYPE_PUSHPULL(GPIOA_PIN0) | \
+ PIN_OTYPE_PUSHPULL(GPIOA_ETH_RMII_REF_CLK) |\
+ PIN_OTYPE_PUSHPULL(GPIOA_ETH_RMII_MDIO) |\
+ PIN_OTYPE_PUSHPULL(GPIOA_PIN3) | \
+ PIN_OTYPE_PUSHPULL(GPIOA_PIN4) | \
+ PIN_OTYPE_PUSHPULL(GPIOA_PIN5) | \
+ PIN_OTYPE_PUSHPULL(GPIOA_PIN6) | \
+ PIN_OTYPE_PUSHPULL(GPIOA_ETH_RMII_CRS_DV) |\
+ PIN_OTYPE_PUSHPULL(GPIOA_PIN8) | \
+ PIN_OTYPE_PUSHPULL(GPIOA_OTG_FS_VBUS) |\
+ PIN_OTYPE_PUSHPULL(GPIOA_OTG_FS_ID) | \
+ PIN_OTYPE_PUSHPULL(GPIOA_OTG_FS_DM) | \
+ PIN_OTYPE_PUSHPULL(GPIOA_OTG_FS_DP) | \
+ PIN_OTYPE_PUSHPULL(GPIOA_JTMS) | \
+ PIN_OTYPE_PUSHPULL(GPIOA_JTCK) | \
+ PIN_OTYPE_PUSHPULL(GPIOA_JTDI))
+#define VAL_GPIOA_OSPEEDR (PIN_OSPEED_100M(GPIOA_PIN0) | \
+ PIN_OSPEED_100M(GPIOA_ETH_RMII_REF_CLK) |\
+ PIN_OSPEED_100M(GPIOA_ETH_RMII_MDIO) | \
+ PIN_OSPEED_100M(GPIOA_PIN3) | \
+ PIN_OSPEED_100M(GPIOA_PIN4) | \
+ PIN_OSPEED_100M(GPIOA_PIN5) | \
+ PIN_OSPEED_100M(GPIOA_PIN6) | \
+ PIN_OSPEED_100M(GPIOA_ETH_RMII_CRS_DV) |\
+ PIN_OSPEED_100M(GPIOA_PIN8) | \
+ PIN_OSPEED_100M(GPIOA_OTG_FS_VBUS) | \
+ PIN_OSPEED_100M(GPIOA_OTG_FS_ID) | \
+ PIN_OSPEED_100M(GPIOA_OTG_FS_DM) | \
+ PIN_OSPEED_100M(GPIOA_OTG_FS_DP) | \
+ PIN_OSPEED_100M(GPIOA_JTMS) | \
+ PIN_OSPEED_100M(GPIOA_JTCK) | \
+ PIN_OSPEED_100M(GPIOA_JTDI))
+#define VAL_GPIOA_PUPDR (PIN_PUPDR_PULLUP(GPIOA_PIN0) | \
+ PIN_PUPDR_FLOATING(GPIOA_ETH_RMII_REF_CLK) |\
+ PIN_PUPDR_FLOATING(GPIOA_ETH_RMII_MDIO) |\
+ PIN_PUPDR_PULLUP(GPIOA_PIN3) | \
+ PIN_PUPDR_PULLUP(GPIOA_PIN4) | \
+ PIN_PUPDR_PULLUP(GPIOA_PIN5) | \
+ PIN_PUPDR_PULLUP(GPIOA_PIN6) | \
+ PIN_PUPDR_FLOATING(GPIOA_ETH_RMII_CRS_DV) |\
+ PIN_PUPDR_PULLUP(GPIOA_PIN8) | \
+ PIN_PUPDR_PULLDOWN(GPIOA_OTG_FS_VBUS) |\
+ PIN_PUPDR_FLOATING(GPIOA_OTG_FS_ID) | \
+ PIN_PUPDR_FLOATING(GPIOA_OTG_FS_DM) | \
+ PIN_PUPDR_FLOATING(GPIOA_OTG_FS_DP) | \
+ PIN_PUPDR_PULLUP(GPIOA_JTMS) | \
+ PIN_PUPDR_PULLDOWN(GPIOA_JTCK) | \
+ PIN_PUPDR_PULLUP(GPIOA_JTDI))
+#define VAL_GPIOA_ODR (PIN_ODR_HIGH(GPIOA_PIN0) | \
+ PIN_ODR_HIGH(GPIOA_ETH_RMII_REF_CLK) | \
+ PIN_ODR_HIGH(GPIOA_ETH_RMII_MDIO) | \
+ PIN_ODR_HIGH(GPIOA_PIN3) | \
+ PIN_ODR_HIGH(GPIOA_PIN4) | \
+ PIN_ODR_HIGH(GPIOA_PIN5) | \
+ PIN_ODR_HIGH(GPIOA_PIN6) | \
+ PIN_ODR_HIGH(GPIOA_ETH_RMII_CRS_DV) | \
+ PIN_ODR_HIGH(GPIOA_PIN8) | \
+ PIN_ODR_HIGH(GPIOA_OTG_FS_VBUS) | \
+ PIN_ODR_HIGH(GPIOA_OTG_FS_ID) | \
+ PIN_ODR_HIGH(GPIOA_OTG_FS_DM) | \
+ PIN_ODR_HIGH(GPIOA_OTG_FS_DP) | \
+ PIN_ODR_HIGH(GPIOA_JTMS) | \
+ PIN_ODR_HIGH(GPIOA_JTCK) | \
+ PIN_ODR_HIGH(GPIOA_JTDI))
+#define VAL_GPIOA_AFRL (PIN_AFIO_AF(GPIOA_PIN0, 0) | \
+ PIN_AFIO_AF(GPIOA_ETH_RMII_REF_CLK, 11) |\
+ PIN_AFIO_AF(GPIOA_ETH_RMII_MDIO, 11) | \
+ PIN_AFIO_AF(GPIOA_PIN3, 0) | \
+ PIN_AFIO_AF(GPIOA_PIN4, 0) | \
+ PIN_AFIO_AF(GPIOA_PIN5, 0) | \
+ PIN_AFIO_AF(GPIOA_PIN6, 0) | \
+ PIN_AFIO_AF(GPIOA_ETH_RMII_CRS_DV, 11))
+#define VAL_GPIOA_AFRH (PIN_AFIO_AF(GPIOA_PIN8, 0) | \
+ PIN_AFIO_AF(GPIOA_OTG_FS_VBUS, 0) | \
+ PIN_AFIO_AF(GPIOA_OTG_FS_ID, 10) | \
+ PIN_AFIO_AF(GPIOA_OTG_FS_DM, 10) | \
+ PIN_AFIO_AF(GPIOA_OTG_FS_DP, 10) | \
+ PIN_AFIO_AF(GPIOA_JTMS, 0) | \
+ PIN_AFIO_AF(GPIOA_JTCK, 0) | \
+ PIN_AFIO_AF(GPIOA_JTDI, 0))
+
+/*
+ * GPIOB setup:
+ *
+ * PB0 - PIN0 (input pullup).
+ * PB1 - PIN1 (input pullup).
+ * PB2 - PIN2 (input pullup).
+ * PB3 - JTDO (alternate 0).
+ * PB4 - JTRST (alternate 0).
+ * PB5 - PIN5 (input pullup).
+ * PB6 - USART1_TX (alternate 7).
+ * PB7 - USART1_RX (alternate 7).
+ * PB8 - LED3 (output pushpull maximum).
+ * PB9 - LED4 (output pushpull maximum).
+ * PB10 - PIN10 (input pullup).
+ * PB11 - ETH_RMII_TX_EN (alternate 11).
+ * PB12 - ETH_RMII_TXD0 (alternate 11).
+ * PB13 - ETH_RMII_TXD1 (alternate 11).
+ * PB14 - PIN14 (input pullup).
+ * PB15 - PIN15 (input pullup).
+ */
+#define VAL_GPIOB_MODER (PIN_MODE_INPUT(GPIOB_PIN0) | \
+ PIN_MODE_INPUT(GPIOB_PIN1) | \
+ PIN_MODE_INPUT(GPIOB_PIN2) | \
+ PIN_MODE_ALTERNATE(GPIOB_JTDO) | \
+ PIN_MODE_ALTERNATE(GPIOB_JTRST) | \
+ PIN_MODE_INPUT(GPIOB_PIN5) | \
+ PIN_MODE_ALTERNATE(GPIOB_USART1_TX) | \
+ PIN_MODE_ALTERNATE(GPIOB_USART1_RX) | \
+ PIN_MODE_OUTPUT(GPIOB_LED3) | \
+ PIN_MODE_OUTPUT(GPIOB_LED4) | \
+ PIN_MODE_INPUT(GPIOB_PIN10) | \
+ PIN_MODE_ALTERNATE(GPIOB_ETH_RMII_TX_EN) |\
+ PIN_MODE_ALTERNATE(GPIOB_ETH_RMII_TXD0) |\
+ PIN_MODE_ALTERNATE(GPIOB_ETH_RMII_TXD1) |\
+ PIN_MODE_INPUT(GPIOB_PIN14) | \
+ PIN_MODE_INPUT(GPIOB_PIN15))
+#define VAL_GPIOB_OTYPER (PIN_OTYPE_PUSHPULL(GPIOB_PIN0) | \
+ PIN_OTYPE_PUSHPULL(GPIOB_PIN1) | \
+ PIN_OTYPE_PUSHPULL(GPIOB_PIN2) | \
+ PIN_OTYPE_PUSHPULL(GPIOB_JTDO) | \
+ PIN_OTYPE_PUSHPULL(GPIOB_JTRST) | \
+ PIN_OTYPE_PUSHPULL(GPIOB_PIN5) | \
+ PIN_OTYPE_PUSHPULL(GPIOB_USART1_TX) | \
+ PIN_OTYPE_PUSHPULL(GPIOB_USART1_RX) | \
+ PIN_OTYPE_PUSHPULL(GPIOB_LED3) | \
+ PIN_OTYPE_PUSHPULL(GPIOB_LED4) | \
+ PIN_OTYPE_PUSHPULL(GPIOB_PIN10) | \
+ PIN_OTYPE_PUSHPULL(GPIOB_ETH_RMII_TX_EN) |\
+ PIN_OTYPE_PUSHPULL(GPIOB_ETH_RMII_TXD0) |\
+ PIN_OTYPE_PUSHPULL(GPIOB_ETH_RMII_TXD1) |\
+ PIN_OTYPE_PUSHPULL(GPIOB_PIN14) | \
+ PIN_OTYPE_PUSHPULL(GPIOB_PIN15))
+#define VAL_GPIOB_OSPEEDR (PIN_OSPEED_100M(GPIOB_PIN0) | \
+ PIN_OSPEED_100M(GPIOB_PIN1) | \
+ PIN_OSPEED_100M(GPIOB_PIN2) | \
+ PIN_OSPEED_100M(GPIOB_JTDO) | \
+ PIN_OSPEED_100M(GPIOB_JTRST) | \
+ PIN_OSPEED_100M(GPIOB_PIN5) | \
+ PIN_OSPEED_100M(GPIOB_USART1_TX) | \
+ PIN_OSPEED_100M(GPIOB_USART1_RX) | \
+ PIN_OSPEED_100M(GPIOB_LED3) | \
+ PIN_OSPEED_100M(GPIOB_LED4) | \
+ PIN_OSPEED_100M(GPIOB_PIN10) | \
+ PIN_OSPEED_100M(GPIOB_ETH_RMII_TX_EN) |\
+ PIN_OSPEED_100M(GPIOB_ETH_RMII_TXD0) | \
+ PIN_OSPEED_100M(GPIOB_ETH_RMII_TXD1) | \
+ PIN_OSPEED_100M(GPIOB_PIN14) | \
+ PIN_OSPEED_100M(GPIOB_PIN15))
+#define VAL_GPIOB_PUPDR (PIN_PUPDR_PULLUP(GPIOB_PIN0) | \
+ PIN_PUPDR_PULLUP(GPIOB_PIN1) | \
+ PIN_PUPDR_PULLUP(GPIOB_PIN2) | \
+ PIN_PUPDR_FLOATING(GPIOB_JTDO) | \
+ PIN_PUPDR_PULLUP(GPIOB_JTRST) | \
+ PIN_PUPDR_PULLUP(GPIOB_PIN5) | \
+ PIN_PUPDR_FLOATING(GPIOB_USART1_TX) | \
+ PIN_PUPDR_PULLUP(GPIOB_USART1_RX) | \
+ PIN_PUPDR_FLOATING(GPIOB_LED3) | \
+ PIN_PUPDR_FLOATING(GPIOB_LED4) | \
+ PIN_PUPDR_PULLUP(GPIOB_PIN10) | \
+ PIN_PUPDR_FLOATING(GPIOB_ETH_RMII_TX_EN) |\
+ PIN_PUPDR_FLOATING(GPIOB_ETH_RMII_TXD0) |\
+ PIN_PUPDR_FLOATING(GPIOB_ETH_RMII_TXD1) |\
+ PIN_PUPDR_PULLUP(GPIOB_PIN14) | \
+ PIN_PUPDR_PULLUP(GPIOB_PIN15))
+#define VAL_GPIOB_ODR (PIN_ODR_HIGH(GPIOB_PIN0) | \
+ PIN_ODR_HIGH(GPIOB_PIN1) | \
+ PIN_ODR_HIGH(GPIOB_PIN2) | \
+ PIN_ODR_HIGH(GPIOB_JTDO) | \
+ PIN_ODR_HIGH(GPIOB_JTRST) | \
+ PIN_ODR_HIGH(GPIOB_PIN5) | \
+ PIN_ODR_HIGH(GPIOB_USART1_TX) | \
+ PIN_ODR_HIGH(GPIOB_USART1_RX) | \
+ PIN_ODR_HIGH(GPIOB_LED3) | \
+ PIN_ODR_HIGH(GPIOB_LED4) | \
+ PIN_ODR_HIGH(GPIOB_PIN10) | \
+ PIN_ODR_HIGH(GPIOB_ETH_RMII_TX_EN) | \
+ PIN_ODR_HIGH(GPIOB_ETH_RMII_TXD0) | \
+ PIN_ODR_HIGH(GPIOB_ETH_RMII_TXD1) | \
+ PIN_ODR_HIGH(GPIOB_PIN14) | \
+ PIN_ODR_HIGH(GPIOB_PIN15))
+#define VAL_GPIOB_AFRL (PIN_AFIO_AF(GPIOB_PIN0, 0) | \
+ PIN_AFIO_AF(GPIOB_PIN1, 0) | \
+ PIN_AFIO_AF(GPIOB_PIN2, 0) | \
+ PIN_AFIO_AF(GPIOB_JTDO, 0) | \
+ PIN_AFIO_AF(GPIOB_JTRST, 0) | \
+ PIN_AFIO_AF(GPIOB_PIN5, 0) | \
+ PIN_AFIO_AF(GPIOB_USART1_TX, 7) | \
+ PIN_AFIO_AF(GPIOB_USART1_RX, 7))
+#define VAL_GPIOB_AFRH (PIN_AFIO_AF(GPIOB_LED3, 0) | \
+ PIN_AFIO_AF(GPIOB_LED4, 0) | \
+ PIN_AFIO_AF(GPIOB_PIN10, 0) | \
+ PIN_AFIO_AF(GPIOB_ETH_RMII_TX_EN, 11) |\
+ PIN_AFIO_AF(GPIOB_ETH_RMII_TXD0, 11) | \
+ PIN_AFIO_AF(GPIOB_ETH_RMII_TXD1, 11) | \
+ PIN_AFIO_AF(GPIOB_PIN14, 0) | \
+ PIN_AFIO_AF(GPIOB_PIN15, 0))
+
+/*
+ * GPIOC setup:
+ *
+ * PC0 - PIN0 (input pullup).
+ * PC1 - ETH_RMII_MDC (alternate 11).
+ * PC2 - PIN2 (input pullup).
+ * PC3 - ETH_NOT_PWRDN (output pushpull maximum).
+ * PC4 - ETH_RMII_RXD0 (alternate 11).
+ * PC5 - ETH_RMII_RXD1 (alternate 11).
+ * PC6 - PIN6 (input pullup).
+ * PC7 - PIN7 (input pullup).
+ * PC8 - PIN8 (input pullup).
+ * PC9 - PIN9 (input pullup).
+ * PC10 - LED1 (output pushpull maximum).
+ * PC11 - LED2 (output pushpull maximum).
+ * PC12 - PIN12 (input pullup).
+ * PC13 - PIN13 (input pullup).
+ * PC14 - PIN14 (input pullup).
+ * PC15 - PIN15 (input pullup).
+ */
+#define VAL_GPIOC_MODER (PIN_MODE_INPUT(GPIOC_PIN0) | \
+ PIN_MODE_ALTERNATE(GPIOC_ETH_RMII_MDC) |\
+ PIN_MODE_INPUT(GPIOC_PIN2) | \
+ PIN_MODE_OUTPUT(GPIOC_ETH_NOT_PWRDN) | \
+ PIN_MODE_ALTERNATE(GPIOC_ETH_RMII_RXD0) |\
+ PIN_MODE_ALTERNATE(GPIOC_ETH_RMII_RXD1) |\
+ PIN_MODE_INPUT(GPIOC_PIN6) | \
+ PIN_MODE_INPUT(GPIOC_PIN7) | \
+ PIN_MODE_INPUT(GPIOC_PIN8) | \
+ PIN_MODE_INPUT(GPIOC_PIN9) | \
+ PIN_MODE_OUTPUT(GPIOC_LED1) | \
+ PIN_MODE_OUTPUT(GPIOC_LED2) | \
+ PIN_MODE_INPUT(GPIOC_PIN12) | \
+ PIN_MODE_INPUT(GPIOC_PIN13) | \
+ PIN_MODE_INPUT(GPIOC_PIN14) | \
+ PIN_MODE_INPUT(GPIOC_PIN15))
+#define VAL_GPIOC_OTYPER (PIN_OTYPE_PUSHPULL(GPIOC_PIN0) | \
+ PIN_OTYPE_PUSHPULL(GPIOC_ETH_RMII_MDC) |\
+ PIN_OTYPE_PUSHPULL(GPIOC_PIN2) | \
+ PIN_OTYPE_PUSHPULL(GPIOC_ETH_NOT_PWRDN) |\
+ PIN_OTYPE_PUSHPULL(GPIOC_ETH_RMII_RXD0) |\
+ PIN_OTYPE_PUSHPULL(GPIOC_ETH_RMII_RXD1) |\
+ PIN_OTYPE_PUSHPULL(GPIOC_PIN6) | \
+ PIN_OTYPE_PUSHPULL(GPIOC_PIN7) | \
+ PIN_OTYPE_PUSHPULL(GPIOC_PIN8) | \
+ PIN_OTYPE_PUSHPULL(GPIOC_PIN9) | \
+ PIN_OTYPE_PUSHPULL(GPIOC_LED1) | \
+ PIN_OTYPE_PUSHPULL(GPIOC_LED2) | \
+ PIN_OTYPE_PUSHPULL(GPIOC_PIN12) | \
+ PIN_OTYPE_PUSHPULL(GPIOC_PIN13) | \
+ PIN_OTYPE_PUSHPULL(GPIOC_PIN14) | \
+ PIN_OTYPE_PUSHPULL(GPIOC_PIN15))
+#define VAL_GPIOC_OSPEEDR (PIN_OSPEED_100M(GPIOC_PIN0) | \
+ PIN_OSPEED_100M(GPIOC_ETH_RMII_MDC) | \
+ PIN_OSPEED_100M(GPIOC_PIN2) | \
+ PIN_OSPEED_100M(GPIOC_ETH_NOT_PWRDN) | \
+ PIN_OSPEED_100M(GPIOC_ETH_RMII_RXD0) | \
+ PIN_OSPEED_100M(GPIOC_ETH_RMII_RXD1) | \
+ PIN_OSPEED_100M(GPIOC_PIN6) | \
+ PIN_OSPEED_100M(GPIOC_PIN7) | \
+ PIN_OSPEED_100M(GPIOC_PIN8) | \
+ PIN_OSPEED_100M(GPIOC_PIN9) | \
+ PIN_OSPEED_100M(GPIOC_LED1) | \
+ PIN_OSPEED_100M(GPIOC_LED2) | \
+ PIN_OSPEED_100M(GPIOC_PIN12) | \
+ PIN_OSPEED_100M(GPIOC_PIN13) | \
+ PIN_OSPEED_100M(GPIOC_PIN14) | \
+ PIN_OSPEED_100M(GPIOC_PIN15))
+#define VAL_GPIOC_PUPDR (PIN_PUPDR_PULLUP(GPIOC_PIN0) | \
+ PIN_PUPDR_FLOATING(GPIOC_ETH_RMII_MDC) |\
+ PIN_PUPDR_PULLUP(GPIOC_PIN2) | \
+ PIN_PUPDR_FLOATING(GPIOC_ETH_NOT_PWRDN) |\
+ PIN_PUPDR_FLOATING(GPIOC_ETH_RMII_RXD0) |\
+ PIN_PUPDR_FLOATING(GPIOC_ETH_RMII_RXD1) |\
+ PIN_PUPDR_PULLUP(GPIOC_PIN6) | \
+ PIN_PUPDR_PULLUP(GPIOC_PIN7) | \
+ PIN_PUPDR_PULLUP(GPIOC_PIN8) | \
+ PIN_PUPDR_PULLUP(GPIOC_PIN9) | \
+ PIN_PUPDR_FLOATING(GPIOC_LED1) | \
+ PIN_PUPDR_FLOATING(GPIOC_LED2) | \
+ PIN_PUPDR_PULLUP(GPIOC_PIN12) | \
+ PIN_PUPDR_PULLUP(GPIOC_PIN13) | \
+ PIN_PUPDR_PULLUP(GPIOC_PIN14) | \
+ PIN_PUPDR_PULLUP(GPIOC_PIN15))
+#define VAL_GPIOC_ODR (PIN_ODR_HIGH(GPIOC_PIN0) | \
+ PIN_ODR_HIGH(GPIOC_ETH_RMII_MDC) | \
+ PIN_ODR_HIGH(GPIOC_PIN2) | \
+ PIN_ODR_LOW(GPIOC_ETH_NOT_PWRDN) | \
+ PIN_ODR_HIGH(GPIOC_ETH_RMII_RXD0) | \
+ PIN_ODR_HIGH(GPIOC_ETH_RMII_RXD1) | \
+ PIN_ODR_HIGH(GPIOC_PIN6) | \
+ PIN_ODR_HIGH(GPIOC_PIN7) | \
+ PIN_ODR_HIGH(GPIOC_PIN8) | \
+ PIN_ODR_HIGH(GPIOC_PIN9) | \
+ PIN_ODR_HIGH(GPIOC_LED1) | \
+ PIN_ODR_HIGH(GPIOC_LED2) | \
+ PIN_ODR_HIGH(GPIOC_PIN12) | \
+ PIN_ODR_HIGH(GPIOC_PIN13) | \
+ PIN_ODR_HIGH(GPIOC_PIN14) | \
+ PIN_ODR_HIGH(GPIOC_PIN15))
+#define VAL_GPIOC_AFRL (PIN_AFIO_AF(GPIOC_PIN0, 0) | \
+ PIN_AFIO_AF(GPIOC_ETH_RMII_MDC, 11) | \
+ PIN_AFIO_AF(GPIOC_PIN2, 0) | \
+ PIN_AFIO_AF(GPIOC_ETH_NOT_PWRDN, 0) | \
+ PIN_AFIO_AF(GPIOC_ETH_RMII_RXD0, 11) | \
+ PIN_AFIO_AF(GPIOC_ETH_RMII_RXD1, 11) | \
+ PIN_AFIO_AF(GPIOC_PIN6, 0) | \
+ PIN_AFIO_AF(GPIOC_PIN7, 0))
+#define VAL_GPIOC_AFRH (PIN_AFIO_AF(GPIOC_PIN8, 0) | \
+ PIN_AFIO_AF(GPIOC_PIN9, 0) | \
+ PIN_AFIO_AF(GPIOC_LED1, 0) | \
+ PIN_AFIO_AF(GPIOC_LED2, 0) | \
+ PIN_AFIO_AF(GPIOC_PIN12, 0) | \
+ PIN_AFIO_AF(GPIOC_PIN13, 0) | \
+ PIN_AFIO_AF(GPIOC_PIN14, 0) | \
+ PIN_AFIO_AF(GPIOC_PIN15, 0))
+
+/*
+ * GPIOD setup:
+ *
+ * PD0 - CAN1_RX (alternate 9).
+ * PD1 - CAN1_TX (alternate 9).
+ * PD2 - PIN2 (input pullup).
+ * PD3 - PIN3 (input pullup).
+ * PD4 - PIN4 (input pullup).
+ * PD5 - PIN5 (input pullup).
+ * PD6 - PIN6 (input pullup).
+ * PD7 - PIN7 (input pullup).
+ * PD8 - PIN8 (input pullup).
+ * PD9 - PIN9 (input pullup).
+ * PD10 - PIN10 (input pullup).
+ * PD11 - PIN11 (input pullup).
+ * PD12 - PIN12 (input pullup).
+ * PD13 - PIN13 (input pullup).
+ * PD14 - PIN14 (input pullup).
+ * PD15 - PIN15 (input pullup).
+ */
+#define VAL_GPIOD_MODER (PIN_MODE_ALTERNATE(GPIOD_CAN1_RX) | \
+ PIN_MODE_ALTERNATE(GPIOD_CAN1_TX) | \
+ PIN_MODE_INPUT(GPIOD_PIN2) | \
+ PIN_MODE_INPUT(GPIOD_PIN3) | \
+ PIN_MODE_INPUT(GPIOD_PIN4) | \
+ PIN_MODE_INPUT(GPIOD_PIN5) | \
+ PIN_MODE_INPUT(GPIOD_PIN6) | \
+ PIN_MODE_INPUT(GPIOD_PIN7) | \
+ PIN_MODE_INPUT(GPIOD_PIN8) | \
+ PIN_MODE_INPUT(GPIOD_PIN9) | \
+ PIN_MODE_INPUT(GPIOD_PIN10) | \
+ PIN_MODE_INPUT(GPIOD_PIN11) | \
+ PIN_MODE_INPUT(GPIOD_PIN12) | \
+ PIN_MODE_INPUT(GPIOD_PIN13) | \
+ PIN_MODE_INPUT(GPIOD_PIN14) | \
+ PIN_MODE_INPUT(GPIOD_PIN15))
+#define VAL_GPIOD_OTYPER (PIN_OTYPE_PUSHPULL(GPIOD_CAN1_RX) | \
+ PIN_OTYPE_PUSHPULL(GPIOD_CAN1_TX) | \
+ PIN_OTYPE_PUSHPULL(GPIOD_PIN2) | \
+ PIN_OTYPE_PUSHPULL(GPIOD_PIN3) | \
+ PIN_OTYPE_PUSHPULL(GPIOD_PIN4) | \
+ PIN_OTYPE_PUSHPULL(GPIOD_PIN5) | \
+ PIN_OTYPE_PUSHPULL(GPIOD_PIN6) | \
+ PIN_OTYPE_PUSHPULL(GPIOD_PIN7) | \
+ PIN_OTYPE_PUSHPULL(GPIOD_PIN8) | \
+ PIN_OTYPE_PUSHPULL(GPIOD_PIN9) | \
+ PIN_OTYPE_PUSHPULL(GPIOD_PIN10) | \
+ PIN_OTYPE_PUSHPULL(GPIOD_PIN11) | \
+ PIN_OTYPE_PUSHPULL(GPIOD_PIN12) | \
+ PIN_OTYPE_PUSHPULL(GPIOD_PIN13) | \
+ PIN_OTYPE_PUSHPULL(GPIOD_PIN14) | \
+ PIN_OTYPE_PUSHPULL(GPIOD_PIN15))
+#define VAL_GPIOD_OSPEEDR (PIN_OSPEED_100M(GPIOD_CAN1_RX) | \
+ PIN_OSPEED_100M(GPIOD_CAN1_TX) | \
+ PIN_OSPEED_100M(GPIOD_PIN2) | \
+ PIN_OSPEED_100M(GPIOD_PIN3) | \
+ PIN_OSPEED_100M(GPIOD_PIN4) | \
+ PIN_OSPEED_100M(GPIOD_PIN5) | \
+ PIN_OSPEED_100M(GPIOD_PIN6) | \
+ PIN_OSPEED_100M(GPIOD_PIN7) | \
+ PIN_OSPEED_100M(GPIOD_PIN8) | \
+ PIN_OSPEED_100M(GPIOD_PIN9) | \
+ PIN_OSPEED_100M(GPIOD_PIN10) | \
+ PIN_OSPEED_100M(GPIOD_PIN11) | \
+ PIN_OSPEED_100M(GPIOD_PIN12) | \
+ PIN_OSPEED_100M(GPIOD_PIN13) | \
+ PIN_OSPEED_100M(GPIOD_PIN14) | \
+ PIN_OSPEED_100M(GPIOD_PIN15))
+#define VAL_GPIOD_PUPDR (PIN_PUPDR_FLOATING(GPIOD_CAN1_RX) | \
+ PIN_PUPDR_FLOATING(GPIOD_CAN1_TX) | \
+ PIN_PUPDR_PULLUP(GPIOD_PIN2) | \
+ PIN_PUPDR_PULLUP(GPIOD_PIN3) | \
+ PIN_PUPDR_PULLUP(GPIOD_PIN4) | \
+ PIN_PUPDR_PULLUP(GPIOD_PIN5) | \
+ PIN_PUPDR_PULLUP(GPIOD_PIN6) | \
+ PIN_PUPDR_PULLUP(GPIOD_PIN7) | \
+ PIN_PUPDR_PULLUP(GPIOD_PIN8) | \
+ PIN_PUPDR_PULLUP(GPIOD_PIN9) | \
+ PIN_PUPDR_PULLUP(GPIOD_PIN10) | \
+ PIN_PUPDR_PULLUP(GPIOD_PIN11) | \
+ PIN_PUPDR_PULLUP(GPIOD_PIN12) | \
+ PIN_PUPDR_PULLUP(GPIOD_PIN13) | \
+ PIN_PUPDR_PULLUP(GPIOD_PIN14) | \
+ PIN_PUPDR_PULLUP(GPIOD_PIN15))
+#define VAL_GPIOD_ODR (PIN_ODR_HIGH(GPIOD_CAN1_RX) | \
+ PIN_ODR_HIGH(GPIOD_CAN1_TX) | \
+ PIN_ODR_HIGH(GPIOD_PIN2) | \
+ PIN_ODR_HIGH(GPIOD_PIN3) | \
+ PIN_ODR_HIGH(GPIOD_PIN4) | \
+ PIN_ODR_HIGH(GPIOD_PIN5) | \
+ PIN_ODR_HIGH(GPIOD_PIN6) | \
+ PIN_ODR_HIGH(GPIOD_PIN7) | \
+ PIN_ODR_HIGH(GPIOD_PIN8) | \
+ PIN_ODR_HIGH(GPIOD_PIN9) | \
+ PIN_ODR_HIGH(GPIOD_PIN10) | \
+ PIN_ODR_HIGH(GPIOD_PIN11) | \
+ PIN_ODR_HIGH(GPIOD_PIN12) | \
+ PIN_ODR_HIGH(GPIOD_PIN13) | \
+ PIN_ODR_HIGH(GPIOD_PIN14) | \
+ PIN_ODR_HIGH(GPIOD_PIN15))
+#define VAL_GPIOD_AFRL (PIN_AFIO_AF(GPIOD_CAN1_RX, 9) | \
+ PIN_AFIO_AF(GPIOD_CAN1_TX, 9) | \
+ PIN_AFIO_AF(GPIOD_PIN2, 0) | \
+ PIN_AFIO_AF(GPIOD_PIN3, 0) | \
+ PIN_AFIO_AF(GPIOD_PIN4, 0) | \
+ PIN_AFIO_AF(GPIOD_PIN5, 0) | \
+ PIN_AFIO_AF(GPIOD_PIN6, 0) | \
+ PIN_AFIO_AF(GPIOD_PIN7, 0))
+#define VAL_GPIOD_AFRH (PIN_AFIO_AF(GPIOD_PIN8, 0) | \
+ PIN_AFIO_AF(GPIOD_PIN9, 0) | \
+ PIN_AFIO_AF(GPIOD_PIN10, 0) | \
+ PIN_AFIO_AF(GPIOD_PIN11, 0) | \
+ PIN_AFIO_AF(GPIOD_PIN12, 0) | \
+ PIN_AFIO_AF(GPIOD_PIN13, 0) | \
+ PIN_AFIO_AF(GPIOD_PIN14, 0) | \
+ PIN_AFIO_AF(GPIOD_PIN15, 0))
+
+/*
+ * GPIOE setup:
+ *
+ * PE0 - PIN0 (input pullup).
+ * PE1 - PIN1 (input pullup).
+ * PE2 - PIN2 (input pullup).
+ * PE3 - PIN3 (input pullup).
+ * PE4 - PIN4 (input pullup).
+ * PE5 - PIN5 (input pullup).
+ * PE6 - PIN6 (input pullup).
+ * PE7 - PIN7 (input pullup).
+ * PE8 - PIN8 (input pullup).
+ * PE9 - PIN9 (input pullup).
+ * PE10 - PIN10 (input pullup).
+ * PE11 - PIN11 (input pullup).
+ * PE12 - PIN12 (input pullup).
+ * PE13 - PIN13 (input pullup).
+ * PE14 - PIN14 (input pullup).
+ * PE15 - PIN15 (input pullup).
+ */
+#define VAL_GPIOE_MODER (PIN_MODE_INPUT(GPIOE_PIN0) | \
+ PIN_MODE_INPUT(GPIOE_PIN1) | \
+ PIN_MODE_INPUT(GPIOE_PIN2) | \
+ PIN_MODE_INPUT(GPIOE_PIN3) | \
+ PIN_MODE_INPUT(GPIOE_PIN4) | \
+ PIN_MODE_INPUT(GPIOE_PIN5) | \
+ PIN_MODE_INPUT(GPIOE_PIN6) | \
+ PIN_MODE_INPUT(GPIOE_PIN7) | \
+ PIN_MODE_INPUT(GPIOE_PIN8) | \
+ PIN_MODE_INPUT(GPIOE_PIN9) | \
+ PIN_MODE_INPUT(GPIOE_PIN10) | \
+ PIN_MODE_INPUT(GPIOE_PIN11) | \
+ PIN_MODE_INPUT(GPIOE_PIN12) | \
+ PIN_MODE_INPUT(GPIOE_PIN13) | \
+ PIN_MODE_INPUT(GPIOE_PIN14) | \
+ PIN_MODE_INPUT(GPIOE_PIN15))
+#define VAL_GPIOE_OTYPER (PIN_OTYPE_PUSHPULL(GPIOE_PIN0) | \
+ PIN_OTYPE_PUSHPULL(GPIOE_PIN1) | \
+ PIN_OTYPE_PUSHPULL(GPIOE_PIN2) | \
+ PIN_OTYPE_PUSHPULL(GPIOE_PIN3) | \
+ PIN_OTYPE_PUSHPULL(GPIOE_PIN4) | \
+ PIN_OTYPE_PUSHPULL(GPIOE_PIN5) | \
+ PIN_OTYPE_PUSHPULL(GPIOE_PIN6) | \
+ PIN_OTYPE_PUSHPULL(GPIOE_PIN7) | \
+ PIN_OTYPE_PUSHPULL(GPIOE_PIN8) | \
+ PIN_OTYPE_PUSHPULL(GPIOE_PIN9) | \
+ PIN_OTYPE_PUSHPULL(GPIOE_PIN10) | \
+ PIN_OTYPE_PUSHPULL(GPIOE_PIN11) | \
+ PIN_OTYPE_PUSHPULL(GPIOE_PIN12) | \
+ PIN_OTYPE_PUSHPULL(GPIOE_PIN13) | \
+ PIN_OTYPE_PUSHPULL(GPIOE_PIN14) | \
+ PIN_OTYPE_PUSHPULL(GPIOE_PIN15))
+#define VAL_GPIOE_OSPEEDR (PIN_OSPEED_100M(GPIOE_PIN0) | \
+ PIN_OSPEED_100M(GPIOE_PIN1) | \
+ PIN_OSPEED_100M(GPIOE_PIN2) | \
+ PIN_OSPEED_100M(GPIOE_PIN3) | \
+ PIN_OSPEED_100M(GPIOE_PIN4) | \
+ PIN_OSPEED_100M(GPIOE_PIN5) | \
+ PIN_OSPEED_100M(GPIOE_PIN6) | \
+ PIN_OSPEED_100M(GPIOE_PIN7) | \
+ PIN_OSPEED_100M(GPIOE_PIN8) | \
+ PIN_OSPEED_100M(GPIOE_PIN9) | \
+ PIN_OSPEED_100M(GPIOE_PIN10) | \
+ PIN_OSPEED_100M(GPIOE_PIN11) | \
+ PIN_OSPEED_100M(GPIOE_PIN12) | \
+ PIN_OSPEED_100M(GPIOE_PIN13) | \
+ PIN_OSPEED_100M(GPIOE_PIN14) | \
+ PIN_OSPEED_100M(GPIOE_PIN15))
+#define VAL_GPIOE_PUPDR (PIN_PUPDR_PULLUP(GPIOE_PIN0) | \
+ PIN_PUPDR_PULLUP(GPIOE_PIN1) | \
+ PIN_PUPDR_PULLUP(GPIOE_PIN2) | \
+ PIN_PUPDR_PULLUP(GPIOE_PIN3) | \
+ PIN_PUPDR_PULLUP(GPIOE_PIN4) | \
+ PIN_PUPDR_PULLUP(GPIOE_PIN5) | \
+ PIN_PUPDR_PULLUP(GPIOE_PIN6) | \
+ PIN_PUPDR_PULLUP(GPIOE_PIN7) | \
+ PIN_PUPDR_PULLUP(GPIOE_PIN8) | \
+ PIN_PUPDR_PULLUP(GPIOE_PIN9) | \
+ PIN_PUPDR_PULLUP(GPIOE_PIN10) | \
+ PIN_PUPDR_PULLUP(GPIOE_PIN11) | \
+ PIN_PUPDR_PULLUP(GPIOE_PIN12) | \
+ PIN_PUPDR_PULLUP(GPIOE_PIN13) | \
+ PIN_PUPDR_PULLUP(GPIOE_PIN14) | \
+ PIN_PUPDR_PULLUP(GPIOE_PIN15))
+#define VAL_GPIOE_ODR (PIN_ODR_HIGH(GPIOE_PIN0) | \
+ PIN_ODR_HIGH(GPIOE_PIN1) | \
+ PIN_ODR_HIGH(GPIOE_PIN2) | \
+ PIN_ODR_HIGH(GPIOE_PIN3) | \
+ PIN_ODR_HIGH(GPIOE_PIN4) | \
+ PIN_ODR_HIGH(GPIOE_PIN5) | \
+ PIN_ODR_HIGH(GPIOE_PIN6) | \
+ PIN_ODR_HIGH(GPIOE_PIN7) | \
+ PIN_ODR_HIGH(GPIOE_PIN8) | \
+ PIN_ODR_HIGH(GPIOE_PIN9) | \
+ PIN_ODR_HIGH(GPIOE_PIN10) | \
+ PIN_ODR_HIGH(GPIOE_PIN11) | \
+ PIN_ODR_HIGH(GPIOE_PIN12) | \
+ PIN_ODR_HIGH(GPIOE_PIN13) | \
+ PIN_ODR_HIGH(GPIOE_PIN14) | \
+ PIN_ODR_HIGH(GPIOE_PIN15))
+#define VAL_GPIOE_AFRL (PIN_AFIO_AF(GPIOE_PIN0, 0) | \
+ PIN_AFIO_AF(GPIOE_PIN1, 0) | \
+ PIN_AFIO_AF(GPIOE_PIN2, 0) | \
+ PIN_AFIO_AF(GPIOE_PIN3, 0) | \
+ PIN_AFIO_AF(GPIOE_PIN4, 0) | \
+ PIN_AFIO_AF(GPIOE_PIN5, 0) | \
+ PIN_AFIO_AF(GPIOE_PIN6, 0) | \
+ PIN_AFIO_AF(GPIOE_PIN7, 0))
+#define VAL_GPIOE_AFRH (PIN_AFIO_AF(GPIOE_PIN8, 0) | \
+ PIN_AFIO_AF(GPIOE_PIN9, 0) | \
+ PIN_AFIO_AF(GPIOE_PIN10, 0) | \
+ PIN_AFIO_AF(GPIOE_PIN11, 0) | \
+ PIN_AFIO_AF(GPIOE_PIN12, 0) | \
+ PIN_AFIO_AF(GPIOE_PIN13, 0) | \
+ PIN_AFIO_AF(GPIOE_PIN14, 0) | \
+ PIN_AFIO_AF(GPIOE_PIN15, 0))
+
+/*
+ * GPIOF setup:
+ *
+ * PF0 - PIN0 (input pullup).
+ * PF1 - PIN1 (input pullup).
+ * PF2 - PIN2 (input pullup).
+ * PF3 - PIN3 (input pullup).
+ * PF4 - PIN4 (input pullup).
+ * PF5 - PIN5 (input pullup).
+ * PF6 - PIN6 (input pullup).
+ * PF7 - PIN7 (input pullup).
+ * PF8 - PIN8 (input pullup).
+ * PF9 - PIN9 (input pullup).
+ * PF10 - PIN10 (input pullup).
+ * PF11 - PIN11 (input pullup).
+ * PF12 - PIN12 (input pullup).
+ * PF13 - PIN13 (input pullup).
+ * PF14 - PIN14 (input pullup).
+ * PF15 - PIN15 (input pullup).
+ */
+#define VAL_GPIOF_MODER (PIN_MODE_INPUT(GPIOF_PIN0) | \
+ PIN_MODE_INPUT(GPIOF_PIN1) | \
+ PIN_MODE_INPUT(GPIOF_PIN2) | \
+ PIN_MODE_INPUT(GPIOF_PIN3) | \
+ PIN_MODE_INPUT(GPIOF_PIN4) | \
+ PIN_MODE_INPUT(GPIOF_PIN5) | \
+ PIN_MODE_INPUT(GPIOF_PIN6) | \
+ PIN_MODE_INPUT(GPIOF_PIN7) | \
+ PIN_MODE_INPUT(GPIOF_PIN8) | \
+ PIN_MODE_INPUT(GPIOF_PIN9) | \
+ PIN_MODE_INPUT(GPIOF_PIN10) | \
+ PIN_MODE_INPUT(GPIOF_PIN11) | \
+ PIN_MODE_INPUT(GPIOF_PIN12) | \
+ PIN_MODE_INPUT(GPIOF_PIN13) | \
+ PIN_MODE_INPUT(GPIOF_PIN14) | \
+ PIN_MODE_INPUT(GPIOF_PIN15))
+#define VAL_GPIOF_OTYPER (PIN_OTYPE_PUSHPULL(GPIOF_PIN0) | \
+ PIN_OTYPE_PUSHPULL(GPIOF_PIN1) | \
+ PIN_OTYPE_PUSHPULL(GPIOF_PIN2) | \
+ PIN_OTYPE_PUSHPULL(GPIOF_PIN3) | \
+ PIN_OTYPE_PUSHPULL(GPIOF_PIN4) | \
+ PIN_OTYPE_PUSHPULL(GPIOF_PIN5) | \
+ PIN_OTYPE_PUSHPULL(GPIOF_PIN6) | \
+ PIN_OTYPE_PUSHPULL(GPIOF_PIN7) | \
+ PIN_OTYPE_PUSHPULL(GPIOF_PIN8) | \
+ PIN_OTYPE_PUSHPULL(GPIOF_PIN9) | \
+ PIN_OTYPE_PUSHPULL(GPIOF_PIN10) | \
+ PIN_OTYPE_PUSHPULL(GPIOF_PIN11) | \
+ PIN_OTYPE_PUSHPULL(GPIOF_PIN12) | \
+ PIN_OTYPE_PUSHPULL(GPIOF_PIN13) | \
+ PIN_OTYPE_PUSHPULL(GPIOF_PIN14) | \
+ PIN_OTYPE_PUSHPULL(GPIOF_PIN15))
+#define VAL_GPIOF_OSPEEDR (PIN_OSPEED_100M(GPIOF_PIN0) | \
+ PIN_OSPEED_100M(GPIOF_PIN1) | \
+ PIN_OSPEED_100M(GPIOF_PIN2) | \
+ PIN_OSPEED_100M(GPIOF_PIN3) | \
+ PIN_OSPEED_100M(GPIOF_PIN4) | \
+ PIN_OSPEED_100M(GPIOF_PIN5) | \
+ PIN_OSPEED_100M(GPIOF_PIN6) | \
+ PIN_OSPEED_100M(GPIOF_PIN7) | \
+ PIN_OSPEED_100M(GPIOF_PIN8) | \
+ PIN_OSPEED_100M(GPIOF_PIN9) | \
+ PIN_OSPEED_100M(GPIOF_PIN10) | \
+ PIN_OSPEED_100M(GPIOF_PIN11) | \
+ PIN_OSPEED_100M(GPIOF_PIN12) | \
+ PIN_OSPEED_100M(GPIOF_PIN13) | \
+ PIN_OSPEED_100M(GPIOF_PIN14) | \
+ PIN_OSPEED_100M(GPIOF_PIN15))
+#define VAL_GPIOF_PUPDR (PIN_PUPDR_PULLUP(GPIOF_PIN0) | \
+ PIN_PUPDR_PULLUP(GPIOF_PIN1) | \
+ PIN_PUPDR_PULLUP(GPIOF_PIN2) | \
+ PIN_PUPDR_PULLUP(GPIOF_PIN3) | \
+ PIN_PUPDR_PULLUP(GPIOF_PIN4) | \
+ PIN_PUPDR_PULLUP(GPIOF_PIN5) | \
+ PIN_PUPDR_PULLUP(GPIOF_PIN6) | \
+ PIN_PUPDR_PULLUP(GPIOF_PIN7) | \
+ PIN_PUPDR_PULLUP(GPIOF_PIN8) | \
+ PIN_PUPDR_PULLUP(GPIOF_PIN9) | \
+ PIN_PUPDR_PULLUP(GPIOF_PIN10) | \
+ PIN_PUPDR_PULLUP(GPIOF_PIN11) | \
+ PIN_PUPDR_PULLUP(GPIOF_PIN12) | \
+ PIN_PUPDR_PULLUP(GPIOF_PIN13) | \
+ PIN_PUPDR_PULLUP(GPIOF_PIN14) | \
+ PIN_PUPDR_PULLUP(GPIOF_PIN15))
+#define VAL_GPIOF_ODR (PIN_ODR_HIGH(GPIOF_PIN0) | \
+ PIN_ODR_HIGH(GPIOF_PIN1) | \
+ PIN_ODR_HIGH(GPIOF_PIN2) | \
+ PIN_ODR_HIGH(GPIOF_PIN3) | \
+ PIN_ODR_HIGH(GPIOF_PIN4) | \
+ PIN_ODR_HIGH(GPIOF_PIN5) | \
+ PIN_ODR_HIGH(GPIOF_PIN6) | \
+ PIN_ODR_HIGH(GPIOF_PIN7) | \
+ PIN_ODR_HIGH(GPIOF_PIN8) | \
+ PIN_ODR_HIGH(GPIOF_PIN9) | \
+ PIN_ODR_HIGH(GPIOF_PIN10) | \
+ PIN_ODR_HIGH(GPIOF_PIN11) | \
+ PIN_ODR_HIGH(GPIOF_PIN12) | \
+ PIN_ODR_HIGH(GPIOF_PIN13) | \
+ PIN_ODR_HIGH(GPIOF_PIN14) | \
+ PIN_ODR_HIGH(GPIOF_PIN15))
+#define VAL_GPIOF_AFRL (PIN_AFIO_AF(GPIOF_PIN0, 0) | \
+ PIN_AFIO_AF(GPIOF_PIN1, 0) | \
+ PIN_AFIO_AF(GPIOF_PIN2, 0) | \
+ PIN_AFIO_AF(GPIOF_PIN3, 0) | \
+ PIN_AFIO_AF(GPIOF_PIN4, 0) | \
+ PIN_AFIO_AF(GPIOF_PIN5, 0) | \
+ PIN_AFIO_AF(GPIOF_PIN6, 0) | \
+ PIN_AFIO_AF(GPIOF_PIN7, 0))
+#define VAL_GPIOF_AFRH (PIN_AFIO_AF(GPIOF_PIN8, 0) | \
+ PIN_AFIO_AF(GPIOF_PIN9, 0) | \
+ PIN_AFIO_AF(GPIOF_PIN10, 0) | \
+ PIN_AFIO_AF(GPIOF_PIN11, 0) | \
+ PIN_AFIO_AF(GPIOF_PIN12, 0) | \
+ PIN_AFIO_AF(GPIOF_PIN13, 0) | \
+ PIN_AFIO_AF(GPIOF_PIN14, 0) | \
+ PIN_AFIO_AF(GPIOF_PIN15, 0))
+
+/*
+ * GPIOG setup:
+ *
+ * PG0 - PIN0 (input pullup).
+ * PG1 - PIN1 (input pullup).
+ * PG2 - PIN2 (input pullup).
+ * PG3 - PIN3 (input pullup).
+ * PG4 - PIN4 (input pullup).
+ * PG5 - PIN5 (input pullup).
+ * PG6 - PIN6 (input pullup).
+ * PG7 - PIN7 (input pullup).
+ * PG8 - PIN8 (input pullup).
+ * PG9 - PIN9 (input pullup).
+ * PG10 - PIN10 (input pullup).
+ * PG11 - PIN11 (input pullup).
+ * PG12 - PIN12 (input pullup).
+ * PG13 - PIN13 (input pullup).
+ * PG14 - PIN14 (input pullup).
+ * PG15 - PIN15 (input pullup).
+ */
+#define VAL_GPIOG_MODER (PIN_MODE_INPUT(GPIOG_PIN0) | \
+ PIN_MODE_INPUT(GPIOG_PIN1) | \
+ PIN_MODE_INPUT(GPIOG_PIN2) | \
+ PIN_MODE_INPUT(GPIOG_PIN3) | \
+ PIN_MODE_INPUT(GPIOG_PIN4) | \
+ PIN_MODE_INPUT(GPIOG_PIN5) | \
+ PIN_MODE_INPUT(GPIOG_PIN6) | \
+ PIN_MODE_INPUT(GPIOG_PIN7) | \
+ PIN_MODE_INPUT(GPIOG_PIN8) | \
+ PIN_MODE_INPUT(GPIOG_PIN9) | \
+ PIN_MODE_INPUT(GPIOG_PIN10) | \
+ PIN_MODE_INPUT(GPIOG_PIN11) | \
+ PIN_MODE_INPUT(GPIOG_PIN12) | \
+ PIN_MODE_INPUT(GPIOG_PIN13) | \
+ PIN_MODE_INPUT(GPIOG_PIN14) | \
+ PIN_MODE_INPUT(GPIOG_PIN15))
+#define VAL_GPIOG_OTYPER (PIN_OTYPE_PUSHPULL(GPIOG_PIN0) | \
+ PIN_OTYPE_PUSHPULL(GPIOG_PIN1) | \
+ PIN_OTYPE_PUSHPULL(GPIOG_PIN2) | \
+ PIN_OTYPE_PUSHPULL(GPIOG_PIN3) | \
+ PIN_OTYPE_PUSHPULL(GPIOG_PIN4) | \
+ PIN_OTYPE_PUSHPULL(GPIOG_PIN5) | \
+ PIN_OTYPE_PUSHPULL(GPIOG_PIN6) | \
+ PIN_OTYPE_PUSHPULL(GPIOG_PIN7) | \
+ PIN_OTYPE_PUSHPULL(GPIOG_PIN8) | \
+ PIN_OTYPE_PUSHPULL(GPIOG_PIN9) | \
+ PIN_OTYPE_PUSHPULL(GPIOG_PIN10) | \
+ PIN_OTYPE_PUSHPULL(GPIOG_PIN11) | \
+ PIN_OTYPE_PUSHPULL(GPIOG_PIN12) | \
+ PIN_OTYPE_PUSHPULL(GPIOG_PIN13) | \
+ PIN_OTYPE_PUSHPULL(GPIOG_PIN14) | \
+ PIN_OTYPE_PUSHPULL(GPIOG_PIN15))
+#define VAL_GPIOG_OSPEEDR (PIN_OSPEED_100M(GPIOG_PIN0) | \
+ PIN_OSPEED_100M(GPIOG_PIN1) | \
+ PIN_OSPEED_100M(GPIOG_PIN2) | \
+ PIN_OSPEED_100M(GPIOG_PIN3) | \
+ PIN_OSPEED_100M(GPIOG_PIN4) | \
+ PIN_OSPEED_100M(GPIOG_PIN5) | \
+ PIN_OSPEED_100M(GPIOG_PIN6) | \
+ PIN_OSPEED_100M(GPIOG_PIN7) | \
+ PIN_OSPEED_100M(GPIOG_PIN8) | \
+ PIN_OSPEED_100M(GPIOG_PIN9) | \
+ PIN_OSPEED_100M(GPIOG_PIN10) | \
+ PIN_OSPEED_100M(GPIOG_PIN11) | \
+ PIN_OSPEED_100M(GPIOG_PIN12) | \
+ PIN_OSPEED_100M(GPIOG_PIN13) | \
+ PIN_OSPEED_100M(GPIOG_PIN14) | \
+ PIN_OSPEED_100M(GPIOG_PIN15))
+#define VAL_GPIOG_PUPDR (PIN_PUPDR_PULLUP(GPIOG_PIN0) | \
+ PIN_PUPDR_PULLUP(GPIOG_PIN1) | \
+ PIN_PUPDR_PULLUP(GPIOG_PIN2) | \
+ PIN_PUPDR_PULLUP(GPIOG_PIN3) | \
+ PIN_PUPDR_PULLUP(GPIOG_PIN4) | \
+ PIN_PUPDR_PULLUP(GPIOG_PIN5) | \
+ PIN_PUPDR_PULLUP(GPIOG_PIN6) | \
+ PIN_PUPDR_PULLUP(GPIOG_PIN7) | \
+ PIN_PUPDR_PULLUP(GPIOG_PIN8) | \
+ PIN_PUPDR_PULLUP(GPIOG_PIN9) | \
+ PIN_PUPDR_PULLUP(GPIOG_PIN10) | \
+ PIN_PUPDR_PULLUP(GPIOG_PIN11) | \
+ PIN_PUPDR_PULLUP(GPIOG_PIN12) | \
+ PIN_PUPDR_PULLUP(GPIOG_PIN13) | \
+ PIN_PUPDR_PULLUP(GPIOG_PIN14) | \
+ PIN_PUPDR_PULLUP(GPIOG_PIN15))
+#define VAL_GPIOG_ODR (PIN_ODR_HIGH(GPIOG_PIN0) | \
+ PIN_ODR_HIGH(GPIOG_PIN1) | \
+ PIN_ODR_HIGH(GPIOG_PIN2) | \
+ PIN_ODR_HIGH(GPIOG_PIN3) | \
+ PIN_ODR_HIGH(GPIOG_PIN4) | \
+ PIN_ODR_HIGH(GPIOG_PIN5) | \
+ PIN_ODR_HIGH(GPIOG_PIN6) | \
+ PIN_ODR_HIGH(GPIOG_PIN7) | \
+ PIN_ODR_HIGH(GPIOG_PIN8) | \
+ PIN_ODR_HIGH(GPIOG_PIN9) | \
+ PIN_ODR_HIGH(GPIOG_PIN10) | \
+ PIN_ODR_HIGH(GPIOG_PIN11) | \
+ PIN_ODR_HIGH(GPIOG_PIN12) | \
+ PIN_ODR_HIGH(GPIOG_PIN13) | \
+ PIN_ODR_HIGH(GPIOG_PIN14) | \
+ PIN_ODR_HIGH(GPIOG_PIN15))
+#define VAL_GPIOG_AFRL (PIN_AFIO_AF(GPIOG_PIN0, 0) | \
+ PIN_AFIO_AF(GPIOG_PIN1, 0) | \
+ PIN_AFIO_AF(GPIOG_PIN2, 0) | \
+ PIN_AFIO_AF(GPIOG_PIN3, 0) | \
+ PIN_AFIO_AF(GPIOG_PIN4, 0) | \
+ PIN_AFIO_AF(GPIOG_PIN5, 0) | \
+ PIN_AFIO_AF(GPIOG_PIN6, 0) | \
+ PIN_AFIO_AF(GPIOG_PIN7, 0))
+#define VAL_GPIOG_AFRH (PIN_AFIO_AF(GPIOG_PIN8, 0) | \
+ PIN_AFIO_AF(GPIOG_PIN9, 0) | \
+ PIN_AFIO_AF(GPIOG_PIN10, 0) | \
+ PIN_AFIO_AF(GPIOG_PIN11, 0) | \
+ PIN_AFIO_AF(GPIOG_PIN12, 0) | \
+ PIN_AFIO_AF(GPIOG_PIN13, 0) | \
+ PIN_AFIO_AF(GPIOG_PIN14, 0) | \
+ PIN_AFIO_AF(GPIOG_PIN15, 0))
+
+/*
+ * GPIOH setup:
+ *
+ * PH0 - MCU_CLK (input pulldown).
+ * PH1 - PIN1 (input pullup).
+ * PH2 - PIN2 (input pullup).
+ * PH3 - PIN3 (input pullup).
+ * PH4 - PIN4 (input pullup).
+ * PH5 - PIN5 (input pullup).
+ * PH6 - PIN6 (input pullup).
+ * PH7 - PIN7 (input pullup).
+ * PH8 - PIN8 (input pullup).
+ * PH9 - PIN9 (input pullup).
+ * PH10 - PIN10 (input pullup).
+ * PH11 - PIN11 (input pullup).
+ * PH12 - PIN12 (input pullup).
+ * PH13 - PIN13 (input pullup).
+ * PH14 - PIN14 (input pullup).
+ * PH15 - PIN15 (input pullup).
+ */
+#define VAL_GPIOH_MODER (PIN_MODE_INPUT(GPIOH_MCU_CLK) | \
+ PIN_MODE_INPUT(GPIOH_PIN1) | \
+ PIN_MODE_INPUT(GPIOH_PIN2) | \
+ PIN_MODE_INPUT(GPIOH_PIN3) | \
+ PIN_MODE_INPUT(GPIOH_PIN4) | \
+ PIN_MODE_INPUT(GPIOH_PIN5) | \
+ PIN_MODE_INPUT(GPIOH_PIN6) | \
+ PIN_MODE_INPUT(GPIOH_PIN7) | \
+ PIN_MODE_INPUT(GPIOH_PIN8) | \
+ PIN_MODE_INPUT(GPIOH_PIN9) | \
+ PIN_MODE_INPUT(GPIOH_PIN10) | \
+ PIN_MODE_INPUT(GPIOH_PIN11) | \
+ PIN_MODE_INPUT(GPIOH_PIN12) | \
+ PIN_MODE_INPUT(GPIOH_PIN13) | \
+ PIN_MODE_INPUT(GPIOH_PIN14) | \
+ PIN_MODE_INPUT(GPIOH_PIN15))
+#define VAL_GPIOH_OTYPER (PIN_OTYPE_PUSHPULL(GPIOH_MCU_CLK) | \
+ PIN_OTYPE_PUSHPULL(GPIOH_PIN1) | \
+ PIN_OTYPE_PUSHPULL(GPIOH_PIN2) | \
+ PIN_OTYPE_PUSHPULL(GPIOH_PIN3) | \
+ PIN_OTYPE_PUSHPULL(GPIOH_PIN4) | \
+ PIN_OTYPE_PUSHPULL(GPIOH_PIN5) | \
+ PIN_OTYPE_PUSHPULL(GPIOH_PIN6) | \
+ PIN_OTYPE_PUSHPULL(GPIOH_PIN7) | \
+ PIN_OTYPE_PUSHPULL(GPIOH_PIN8) | \
+ PIN_OTYPE_PUSHPULL(GPIOH_PIN9) | \
+ PIN_OTYPE_PUSHPULL(GPIOH_PIN10) | \
+ PIN_OTYPE_PUSHPULL(GPIOH_PIN11) | \
+ PIN_OTYPE_PUSHPULL(GPIOH_PIN12) | \
+ PIN_OTYPE_PUSHPULL(GPIOH_PIN13) | \
+ PIN_OTYPE_PUSHPULL(GPIOH_PIN14) | \
+ PIN_OTYPE_PUSHPULL(GPIOH_PIN15))
+#define VAL_GPIOH_OSPEEDR (PIN_OSPEED_100M(GPIOH_MCU_CLK) | \
+ PIN_OSPEED_100M(GPIOH_PIN1) | \
+ PIN_OSPEED_100M(GPIOH_PIN2) | \
+ PIN_OSPEED_100M(GPIOH_PIN3) | \
+ PIN_OSPEED_100M(GPIOH_PIN4) | \
+ PIN_OSPEED_100M(GPIOH_PIN5) | \
+ PIN_OSPEED_100M(GPIOH_PIN6) | \
+ PIN_OSPEED_100M(GPIOH_PIN7) | \
+ PIN_OSPEED_100M(GPIOH_PIN8) | \
+ PIN_OSPEED_100M(GPIOH_PIN9) | \
+ PIN_OSPEED_100M(GPIOH_PIN10) | \
+ PIN_OSPEED_100M(GPIOH_PIN11) | \
+ PIN_OSPEED_100M(GPIOH_PIN12) | \
+ PIN_OSPEED_100M(GPIOH_PIN13) | \
+ PIN_OSPEED_100M(GPIOH_PIN14) | \
+ PIN_OSPEED_100M(GPIOH_PIN15))
+#define VAL_GPIOH_PUPDR (PIN_PUPDR_PULLDOWN(GPIOH_MCU_CLK) | \
+ PIN_PUPDR_PULLUP(GPIOH_PIN1) | \
+ PIN_PUPDR_PULLUP(GPIOH_PIN2) | \
+ PIN_PUPDR_PULLUP(GPIOH_PIN3) | \
+ PIN_PUPDR_PULLUP(GPIOH_PIN4) | \
+ PIN_PUPDR_PULLUP(GPIOH_PIN5) | \
+ PIN_PUPDR_PULLUP(GPIOH_PIN6) | \
+ PIN_PUPDR_PULLUP(GPIOH_PIN7) | \
+ PIN_PUPDR_PULLUP(GPIOH_PIN8) | \
+ PIN_PUPDR_PULLUP(GPIOH_PIN9) | \
+ PIN_PUPDR_PULLUP(GPIOH_PIN10) | \
+ PIN_PUPDR_PULLUP(GPIOH_PIN11) | \
+ PIN_PUPDR_PULLUP(GPIOH_PIN12) | \
+ PIN_PUPDR_PULLUP(GPIOH_PIN13) | \
+ PIN_PUPDR_PULLUP(GPIOH_PIN14) | \
+ PIN_PUPDR_PULLUP(GPIOH_PIN15))
+#define VAL_GPIOH_ODR (PIN_ODR_HIGH(GPIOH_MCU_CLK) | \
+ PIN_ODR_HIGH(GPIOH_PIN1) | \
+ PIN_ODR_HIGH(GPIOH_PIN2) | \
+ PIN_ODR_HIGH(GPIOH_PIN3) | \
+ PIN_ODR_HIGH(GPIOH_PIN4) | \
+ PIN_ODR_HIGH(GPIOH_PIN5) | \
+ PIN_ODR_HIGH(GPIOH_PIN6) | \
+ PIN_ODR_HIGH(GPIOH_PIN7) | \
+ PIN_ODR_HIGH(GPIOH_PIN8) | \
+ PIN_ODR_HIGH(GPIOH_PIN9) | \
+ PIN_ODR_HIGH(GPIOH_PIN10) | \
+ PIN_ODR_HIGH(GPIOH_PIN11) | \
+ PIN_ODR_HIGH(GPIOH_PIN12) | \
+ PIN_ODR_HIGH(GPIOH_PIN13) | \
+ PIN_ODR_HIGH(GPIOH_PIN14) | \
+ PIN_ODR_HIGH(GPIOH_PIN15))
+#define VAL_GPIOH_AFRL (PIN_AFIO_AF(GPIOH_MCU_CLK, 0) | \
+ PIN_AFIO_AF(GPIOH_PIN1, 0) | \
+ PIN_AFIO_AF(GPIOH_PIN2, 0) | \
+ PIN_AFIO_AF(GPIOH_PIN3, 0) | \
+ PIN_AFIO_AF(GPIOH_PIN4, 0) | \
+ PIN_AFIO_AF(GPIOH_PIN5, 0) | \
+ PIN_AFIO_AF(GPIOH_PIN6, 0) | \
+ PIN_AFIO_AF(GPIOH_PIN7, 0))
+#define VAL_GPIOH_AFRH (PIN_AFIO_AF(GPIOH_PIN8, 0) | \
+ PIN_AFIO_AF(GPIOH_PIN9, 0) | \
+ PIN_AFIO_AF(GPIOH_PIN10, 0) | \
+ PIN_AFIO_AF(GPIOH_PIN11, 0) | \
+ PIN_AFIO_AF(GPIOH_PIN12, 0) | \
+ PIN_AFIO_AF(GPIOH_PIN13, 0) | \
+ PIN_AFIO_AF(GPIOH_PIN14, 0) | \
+ PIN_AFIO_AF(GPIOH_PIN15, 0))
+
+/*
+ * GPIOI setup:
+ *
+ * PI0 - PIN0 (input pullup).
+ * PI1 - PIN1 (input pullup).
+ * PI2 - PIN2 (input pullup).
+ * PI3 - PIN3 (input pullup).
+ * PI4 - PIN4 (input pullup).
+ * PI5 - PIN5 (input pullup).
+ * PI6 - PIN6 (input pullup).
+ * PI7 - PIN7 (input pullup).
+ * PI8 - PIN8 (input pullup).
+ * PI9 - PIN9 (input pullup).
+ * PI10 - PIN10 (input pullup).
+ * PI11 - PIN11 (input pullup).
+ * PI12 - PIN12 (input pullup).
+ * PI13 - PIN13 (input pullup).
+ * PI14 - PIN14 (input pullup).
+ * PI15 - PIN15 (input pullup).
+ */
+#define VAL_GPIOI_MODER (PIN_MODE_INPUT(GPIOI_PIN0) | \
+ PIN_MODE_INPUT(GPIOI_PIN1) | \
+ PIN_MODE_INPUT(GPIOI_PIN2) | \
+ PIN_MODE_INPUT(GPIOI_PIN3) | \
+ PIN_MODE_INPUT(GPIOI_PIN4) | \
+ PIN_MODE_INPUT(GPIOI_PIN5) | \
+ PIN_MODE_INPUT(GPIOI_PIN6) | \
+ PIN_MODE_INPUT(GPIOI_PIN7) | \
+ PIN_MODE_INPUT(GPIOI_PIN8) | \
+ PIN_MODE_INPUT(GPIOI_PIN9) | \
+ PIN_MODE_INPUT(GPIOI_PIN10) | \
+ PIN_MODE_INPUT(GPIOI_PIN11) | \
+ PIN_MODE_INPUT(GPIOI_PIN12) | \
+ PIN_MODE_INPUT(GPIOI_PIN13) | \
+ PIN_MODE_INPUT(GPIOI_PIN14) | \
+ PIN_MODE_INPUT(GPIOI_PIN15))
+#define VAL_GPIOI_OTYPER (PIN_OTYPE_PUSHPULL(GPIOI_PIN0) | \
+ PIN_OTYPE_PUSHPULL(GPIOI_PIN1) | \
+ PIN_OTYPE_PUSHPULL(GPIOI_PIN2) | \
+ PIN_OTYPE_PUSHPULL(GPIOI_PIN3) | \
+ PIN_OTYPE_PUSHPULL(GPIOI_PIN4) | \
+ PIN_OTYPE_PUSHPULL(GPIOI_PIN5) | \
+ PIN_OTYPE_PUSHPULL(GPIOI_PIN6) | \
+ PIN_OTYPE_PUSHPULL(GPIOI_PIN7) | \
+ PIN_OTYPE_PUSHPULL(GPIOI_PIN8) | \
+ PIN_OTYPE_PUSHPULL(GPIOI_PIN9) | \
+ PIN_OTYPE_PUSHPULL(GPIOI_PIN10) | \
+ PIN_OTYPE_PUSHPULL(GPIOI_PIN11) | \
+ PIN_OTYPE_PUSHPULL(GPIOI_PIN12) | \
+ PIN_OTYPE_PUSHPULL(GPIOI_PIN13) | \
+ PIN_OTYPE_PUSHPULL(GPIOI_PIN14) | \
+ PIN_OTYPE_PUSHPULL(GPIOI_PIN15))
+#define VAL_GPIOI_OSPEEDR (PIN_OSPEED_100M(GPIOI_PIN0) | \
+ PIN_OSPEED_100M(GPIOI_PIN1) | \
+ PIN_OSPEED_100M(GPIOI_PIN2) | \
+ PIN_OSPEED_100M(GPIOI_PIN3) | \
+ PIN_OSPEED_100M(GPIOI_PIN4) | \
+ PIN_OSPEED_100M(GPIOI_PIN5) | \
+ PIN_OSPEED_100M(GPIOI_PIN6) | \
+ PIN_OSPEED_100M(GPIOI_PIN7) | \
+ PIN_OSPEED_100M(GPIOI_PIN8) | \
+ PIN_OSPEED_100M(GPIOI_PIN9) | \
+ PIN_OSPEED_100M(GPIOI_PIN10) | \
+ PIN_OSPEED_100M(GPIOI_PIN11) | \
+ PIN_OSPEED_100M(GPIOI_PIN12) | \
+ PIN_OSPEED_100M(GPIOI_PIN13) | \
+ PIN_OSPEED_100M(GPIOI_PIN14) | \
+ PIN_OSPEED_100M(GPIOI_PIN15))
+#define VAL_GPIOI_PUPDR (PIN_PUPDR_PULLUP(GPIOI_PIN0) | \
+ PIN_PUPDR_PULLUP(GPIOI_PIN1) | \
+ PIN_PUPDR_PULLUP(GPIOI_PIN2) | \
+ PIN_PUPDR_PULLUP(GPIOI_PIN3) | \
+ PIN_PUPDR_PULLUP(GPIOI_PIN4) | \
+ PIN_PUPDR_PULLUP(GPIOI_PIN5) | \
+ PIN_PUPDR_PULLUP(GPIOI_PIN6) | \
+ PIN_PUPDR_PULLUP(GPIOI_PIN7) | \
+ PIN_PUPDR_PULLUP(GPIOI_PIN8) | \
+ PIN_PUPDR_PULLUP(GPIOI_PIN9) | \
+ PIN_PUPDR_PULLUP(GPIOI_PIN10) | \
+ PIN_PUPDR_PULLUP(GPIOI_PIN11) | \
+ PIN_PUPDR_PULLUP(GPIOI_PIN12) | \
+ PIN_PUPDR_PULLUP(GPIOI_PIN13) | \
+ PIN_PUPDR_PULLUP(GPIOI_PIN14) | \
+ PIN_PUPDR_PULLUP(GPIOI_PIN15))
+#define VAL_GPIOI_ODR (PIN_ODR_HIGH(GPIOI_PIN0) | \
+ PIN_ODR_HIGH(GPIOI_PIN1) | \
+ PIN_ODR_HIGH(GPIOI_PIN2) | \
+ PIN_ODR_HIGH(GPIOI_PIN3) | \
+ PIN_ODR_HIGH(GPIOI_PIN4) | \
+ PIN_ODR_HIGH(GPIOI_PIN5) | \
+ PIN_ODR_HIGH(GPIOI_PIN6) | \
+ PIN_ODR_HIGH(GPIOI_PIN7) | \
+ PIN_ODR_HIGH(GPIOI_PIN8) | \
+ PIN_ODR_HIGH(GPIOI_PIN9) | \
+ PIN_ODR_HIGH(GPIOI_PIN10) | \
+ PIN_ODR_HIGH(GPIOI_PIN11) | \
+ PIN_ODR_HIGH(GPIOI_PIN12) | \
+ PIN_ODR_HIGH(GPIOI_PIN13) | \
+ PIN_ODR_HIGH(GPIOI_PIN14) | \
+ PIN_ODR_HIGH(GPIOI_PIN15))
+#define VAL_GPIOI_AFRL (PIN_AFIO_AF(GPIOI_PIN0, 0) | \
+ PIN_AFIO_AF(GPIOI_PIN1, 0) | \
+ PIN_AFIO_AF(GPIOI_PIN2, 0) | \
+ PIN_AFIO_AF(GPIOI_PIN3, 0) | \
+ PIN_AFIO_AF(GPIOI_PIN4, 0) | \
+ PIN_AFIO_AF(GPIOI_PIN5, 0) | \
+ PIN_AFIO_AF(GPIOI_PIN6, 0) | \
+ PIN_AFIO_AF(GPIOI_PIN7, 0))
+#define VAL_GPIOI_AFRH (PIN_AFIO_AF(GPIOI_PIN8, 0) | \
+ PIN_AFIO_AF(GPIOI_PIN9, 0) | \
+ PIN_AFIO_AF(GPIOI_PIN10, 0) | \
+ PIN_AFIO_AF(GPIOI_PIN11, 0) | \
+ PIN_AFIO_AF(GPIOI_PIN12, 0) | \
+ PIN_AFIO_AF(GPIOI_PIN13, 0) | \
+ PIN_AFIO_AF(GPIOI_PIN14, 0) | \
+ PIN_AFIO_AF(GPIOI_PIN15, 0))
+
+
+#if !defined(_FROM_ASM_)
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void boardInit(void);
+#ifdef __cplusplus
+}
+#endif
+#endif /* _FROM_ASM_ */
+
+#endif /* _BOARD_H_ */
diff --git a/demos/triskar-r2pgw/include/chconf.h b/demos/triskar-r2pgw/include/chconf.h
new file mode 100644
index 0000000..a4021b6
--- /dev/null
+++ b/demos/triskar-r2pgw/include/chconf.h
@@ -0,0 +1,535 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+*/
+
+/**
+ * @file 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_
+
+/*===========================================================================*/
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @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_FREQUENCY) || defined(__DOXYGEN__)
+#define CH_FREQUENCY 1000
+#endif
+
+/**
+ * @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.
+ */
+#if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)
+#define CH_TIME_QUANTUM 10
+#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_USE_MEMCORE.
+ */
+#if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__)
+#define CH_MEMCORE_SIZE 0
+#endif
+
+/**
+ * @brief Idle thread automatic spawn suppression.
+ * @details When this option is activated the function @p chSysInit()
+ * does not spawn the idle thread automatically. The application has
+ * then the responsibility to do one of the following:
+ * - Spawn a custom idle thread at priority @p IDLEPRIO.
+ * - Change the main() thread priority to @p IDLEPRIO then enter
+ * an endless loop. In this scenario the @p main() thread acts as
+ * the idle thread.
+ * .
+ * @note Unless an idle thread is spawned the @p main() thread must not
+ * enter a sleep state.
+ */
+#if !defined(CH_NO_IDLE_THREAD) || defined(__DOXYGEN__)
+#define CH_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_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
+#define CH_OPTIMIZE_SPEED TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Subsystem options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @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_USE_REGISTRY) || defined(__DOXYGEN__)
+#define CH_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_USE_WAITEXIT) || defined(__DOXYGEN__)
+#define CH_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_USE_SEMAPHORES) || defined(__DOXYGEN__)
+#define CH_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_USE_SEMAPHORES.
+ */
+#if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
+#define CH_USE_SEMAPHORES_PRIORITY FALSE
+#endif
+
+/**
+ * @brief Atomic semaphore API.
+ * @details If enabled then the semaphores the @p chSemSignalWait() API
+ * is included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ * @note Requires @p CH_USE_SEMAPHORES.
+ */
+#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
+#define CH_USE_SEMSW TRUE
+#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_USE_MUTEXES) || defined(__DOXYGEN__)
+#define CH_USE_MUTEXES TRUE
+#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_USE_MUTEXES.
+ */
+#if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__)
+#define CH_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_USE_CONDVARS.
+ */
+#if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
+#define CH_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_USE_EVENTS) || defined(__DOXYGEN__)
+#define CH_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_USE_EVENTS.
+ */
+#if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
+#define CH_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_USE_MESSAGES) || defined(__DOXYGEN__)
+#define CH_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_USE_MESSAGES.
+ */
+#if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
+#define CH_USE_MESSAGES_PRIORITY FALSE
+#endif
+
+/**
+ * @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_USE_SEMAPHORES.
+ */
+#if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__)
+#define CH_USE_MAILBOXES TRUE
+#endif
+
+/**
+ * @brief I/O Queues APIs.
+ * @details If enabled then the I/O queues APIs are included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
+#define CH_USE_QUEUES 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_USE_MEMCORE) || defined(__DOXYGEN__)
+#define CH_USE_MEMCORE TRUE
+#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_USE_MEMCORE and either @p CH_USE_MUTEXES or
+ * @p CH_USE_SEMAPHORES.
+ * @note Mutexes are recommended.
+ */
+#if !defined(CH_USE_HEAP) || defined(__DOXYGEN__)
+#define CH_USE_HEAP TRUE
+#endif
+
+/**
+ * @brief C-runtime allocator.
+ * @details If enabled the the heap allocator APIs just wrap the C-runtime
+ * @p malloc() and @p free() functions.
+ *
+ * @note The default is @p FALSE.
+ * @note Requires @p CH_USE_HEAP.
+ * @note The C-runtime may or may not require @p CH_USE_MEMCORE, see the
+ * appropriate documentation.
+ */
+#if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
+#define CH_USE_MALLOC_HEAP FALSE
+#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_USE_MEMPOOLS) || defined(__DOXYGEN__)
+#define CH_USE_MEMPOOLS TRUE
+#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_USE_WAITEXIT.
+ * @note Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS.
+ */
+#if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__)
+#define CH_USE_DYNAMIC TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Debug options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @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) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK TRUE
+#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) || defined(__DOXYGEN__)
+#define CH_DBG_ENABLE_CHECKS TRUE
+#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) || defined(__DOXYGEN__)
+#define CH_DBG_ENABLE_ASSERTS TRUE
+#endif
+
+/**
+ * @brief Debug option, trace buffer.
+ * @details If enabled then the context switch circular trace buffer is
+ * activated.
+ *
+ * @note The default is @p FALSE.
+ */
+#if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
+#define CH_DBG_ENABLE_TRACE TRUE
+#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) || defined(__DOXYGEN__)
+#define CH_DBG_ENABLE_STACK_CHECK TRUE
+#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) || defined(__DOXYGEN__)
+#define CH_DBG_FILL_THREADS TRUE
+#endif
+
+/**
+ * @brief Debug option, threads profiling.
+ * @details If enabled then a field is added to the @p Thread structure that
+ * counts the system ticks occurred while executing the thread.
+ *
+ * @note The default is @p TRUE.
+ * @note This debug option is defaulted to TRUE because it is required by
+ * some test cases into the test suite.
+ */
+#if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)
+#define CH_DBG_THREADS_PROFILING TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel hooks
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief Threads descriptor structure extension.
+ * @details User fields added to the end of the @p Thread structure.
+ */
+#if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__)
+#define THREAD_EXT_FIELDS \
+ /* Add threads custom fields here.*/
+#endif
+
+/**
+ * @brief Threads initialization hook.
+ * @details User initialization code added to the @p chThdInit() API.
+ *
+ * @note It is invoked from within @p chThdInit() and implicitily from all
+ * the threads creation APIs.
+ */
+#if !defined(THREAD_EXT_INIT_HOOK) || defined(__DOXYGEN__)
+#define THREAD_EXT_INIT_HOOK(tp) { \
+ /* Add threads initialization code here.*/ \
+}
+#endif
+
+/**
+ * @brief Threads finalization hook.
+ * @details User finalization code added to the @p chThdExit() API.
+ *
+ * @note It is inserted into lock zone.
+ * @note It is also invoked when the threads simply return in order to
+ * terminate.
+ */
+#if !defined(THREAD_EXT_EXIT_HOOK) || defined(__DOXYGEN__)
+#define THREAD_EXT_EXIT_HOOK(tp) { \
+ /* Add threads finalization code here.*/ \
+}
+#endif
+
+/**
+ * @brief Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) { \
+ /* System halt code here.*/ \
+}
+#endif
+
+/**
+ * @brief Idle Loop hook.
+ * @details This hook is continuously invoked by the idle thread loop.
+ */
+#if !defined(IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
+#define IDLE_LOOP_HOOK() { \
+ /* Idle loop code here.*/ \
+}
+#endif
+
+/**
+ * @brief System tick event hook.
+ * @details This hook is invoked in the system tick handler immediately
+ * after processing the virtual timers queue.
+ */
+#if !defined(SYSTEM_TICK_EVENT_HOOK) || defined(__DOXYGEN__)
+#define SYSTEM_TICK_EVENT_HOOK() { \
+ /* System tick event code here.*/ \
+}
+#endif
+
+/**
+ * @brief System halt hook.
+ * @details This hook is invoked in case to a system halting error before
+ * the system is halted.
+ */
+#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
+#define SYSTEM_HALT_HOOK() { \
+ /* System halt code here.*/ \
+}
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/* Port-specific settings (override port settings defaulted in chcore.h). */
+/*===========================================================================*/
+
+#endif /* _CHCONF_H_ */
+
+/** @} */
diff --git a/demos/triskar-r2pgw/include/halconf.h b/demos/triskar-r2pgw/include/halconf.h
new file mode 100644
index 0000000..f739859
--- /dev/null
+++ b/demos/triskar-r2pgw/include/halconf.h
@@ -0,0 +1,342 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011,2012 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+*/
+
+/**
+ * @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_
+
+#include "mcuconf.h"
+
+/**
+ * @brief Enables the TM subsystem.
+ */
+#if !defined(HAL_USE_TM) || defined(__DOXYGEN__)
+#define HAL_USE_TM FALSE
+#endif
+
+/**
+ * @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 TRUE
+#endif
+
+/**
+ * @brief Enables the EXT subsystem.
+ */
+#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
+#define HAL_USE_EXT FALSE
+#endif
+
+/**
+ * @brief Enables the GPT subsystem.
+ */
+#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
+#define HAL_USE_GPT TRUE
+#endif
+
+/**
+ * @brief Enables the I2C subsystem.
+ */
+#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
+#define HAL_USE_I2C 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 TRUE
+#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 TRUE
+#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 SPI subsystem.
+ */
+#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
+#define HAL_USE_SPI 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
+
+/*===========================================================================*/
+/* 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
+
+/*===========================================================================*/
+/* 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 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 Block size for MMC transfers.
+ */
+#if !defined(MMC_SECTOR_SIZE) || defined(__DOXYGEN__)
+#define MMC_SECTOR_SIZE 512
+#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.
+ * 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
+
+/**
+ * @brief Number of positive insertion queries before generating the
+ * insertion event.
+ */
+#if !defined(MMC_POLLING_INTERVAL) || defined(__DOXYGEN__)
+#define MMC_POLLING_INTERVAL 10
+#endif
+
+/**
+ * @brief Interval, in milliseconds, between insertion queries.
+ */
+#if !defined(MMC_POLLING_DELAY) || defined(__DOXYGEN__)
+#define MMC_POLLING_DELAY 10
+#endif
+
+/**
+ * @brief Uses the SPI polled API for small data transfers.
+ * @details Polled transfers usually improve performance because it
+ * saves two context switches and interrupt servicing. Note
+ * that this option has no effect on large transfers which
+ * are always performed using DMAs/IRQs.
+ */
+#if !defined(MMC_USE_SPI_POLLING) || defined(__DOXYGEN__)
+#define MMC_USE_SPI_POLLING 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
+
+/*===========================================================================*/
+/* 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 115200
+#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 64 bytes for both the transmission and receive
+ * buffers.
+ */
+#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
+#define SERIAL_BUFFERS_SIZE 256
+#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 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
+
+#endif /* _HALCONF_H_ */
+
+/** @} */
diff --git a/demos/triskar-r2pgw/include/lwipopts.h b/demos/triskar-r2pgw/include/lwipopts.h
new file mode 100644
index 0000000..172ea98
--- /dev/null
+++ b/demos/triskar-r2pgw/include/lwipopts.h
@@ -0,0 +1,2138 @@
+/**
+ * @file
+ *
+ * lwIP Options Configuration
+ */
+
+/*
+ * Copyright (c) 2001-2004 Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. The name of the author may not be used to endorse or promote products
+ * derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+ * SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+ * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+ * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ *
+ * This file is part of the lwIP TCP/IP stack.
+ *
+ * Author: Adam Dunkels
+ *
+ */
+#ifndef _LWIPOPTS_H_
+#define _LWIPOPTS_H_
+
+/** @brief MAC thread priority.*/
+#ifndef LWIP_THREAD_PRIORITY
+#define LWIP_THREAD_PRIORITY LOWPRIO
+#endif
+
+/** @brief IP Address. */
+#if !defined(LWIP_IPADDR) || defined(__DOXYGEN__)
+#define LWIP_IPADDR(p) IP4_ADDR(p, 192, 168, 0, 88)
+#endif
+
+/** @brief IP Gateway. */
+#if !defined(LWIP_GATEWAY) || defined(__DOXYGEN__)
+#define LWIP_GATEWAY(p) IP4_ADDR(p, 192, 168, 0, 1)
+#endif
+
+/** @brief IP netmask. */
+#if !defined(LWIP_NETMASK) || defined(__DOXYGEN__)
+#define LWIP_NETMASK(p) IP4_ADDR(p, 255, 255, 255, 0)
+#endif
+
+/** @brief MAC thread stack size. */
+#if !defined(LWIP_THREAD_STACK_SIZE) || defined(__DOXYGEN__)
+#define LWIP_THREAD_STACK_SIZE 4096
+#endif
+
+/*
+ -----------------------------------------------
+ ---------- Platform specific locking ----------
+ -----------------------------------------------
+*/
+
+/**
+ * SYS_LIGHTWEIGHT_PROT==1: if you want inter-task protection for certain
+ * critical regions during buffer allocation, deallocation and memory
+ * allocation and deallocation.
+ */
+#ifndef SYS_LIGHTWEIGHT_PROT
+#define SYS_LIGHTWEIGHT_PROT 0
+#endif
+
+/**
+ * NO_SYS==1: Provides VERY minimal functionality. Otherwise,
+ * use lwIP facilities.
+ */
+#ifndef NO_SYS
+#define NO_SYS 0
+#endif
+
+/**
+ * NO_SYS_NO_TIMERS==1: Drop support for sys_timeout when NO_SYS==1
+ * Mainly for compatibility to old versions.
+ */
+#ifndef NO_SYS_NO_TIMERS
+#define NO_SYS_NO_TIMERS 0
+#endif
+
+/**
+ * MEMCPY: override this if you have a faster implementation at hand than the
+ * one included in your C library
+ */
+#ifndef MEMCPY
+#define MEMCPY(dst,src,len) memcpy(dst,src,len)
+#endif
+
+/**
+ * SMEMCPY: override this with care! Some compilers (e.g. gcc) can inline a
+ * call to memcpy() if the length is known at compile time and is small.
+ */
+#ifndef SMEMCPY
+#define SMEMCPY(dst,src,len) memcpy(dst,src,len)
+#endif
+
+/*
+ ------------------------------------
+ ---------- Memory options ----------
+ ------------------------------------
+*/
+/**
+ * MEM_LIBC_MALLOC==1: Use malloc/free/realloc provided by your C-library
+ * instead of the lwip internal allocator. Can save code size if you
+ * already use it.
+ */
+#ifndef MEM_LIBC_MALLOC
+#define MEM_LIBC_MALLOC 0
+#endif
+
+/**
+* MEMP_MEM_MALLOC==1: Use mem_malloc/mem_free instead of the lwip pool allocator.
+* Especially useful with MEM_LIBC_MALLOC but handle with care regarding execution
+* speed and usage from interrupts!
+*/
+#ifndef MEMP_MEM_MALLOC
+#define MEMP_MEM_MALLOC 0
+#endif
+
+/**
+ * MEM_ALIGNMENT: should be set to the alignment of the CPU
+ * 4 byte alignment -> #define MEM_ALIGNMENT 4
+ * 2 byte alignment -> #define MEM_ALIGNMENT 2
+ */
+#ifndef MEM_ALIGNMENT
+#define MEM_ALIGNMENT 4
+#endif
+
+/**
+ * MEM_SIZE: the size of the heap memory. If the application will send
+ * a lot of data that needs to be copied, this should be set high.
+ */
+#ifndef MEM_SIZE
+#define MEM_SIZE (1 << 14)
+#endif
+
+/**
+ * MEMP_SEPARATE_POOLS: if defined to 1, each pool is placed in its own array.
+ * This can be used to individually change the location of each pool.
+ * Default is one big array for all pools
+ */
+#ifndef MEMP_SEPARATE_POOLS
+#define MEMP_SEPARATE_POOLS 0
+#endif
+
+/**
+ * MEMP_OVERFLOW_CHECK: memp overflow protection reserves a configurable
+ * amount of bytes before and after each memp element in every pool and fills
+ * it with a prominent default value.
+ * MEMP_OVERFLOW_CHECK == 0 no checking
+ * MEMP_OVERFLOW_CHECK == 1 checks each element when it is freed
+ * MEMP_OVERFLOW_CHECK >= 2 checks each element in every pool every time
+ * memp_malloc() or memp_free() is called (useful but slow!)
+ */
+#ifndef MEMP_OVERFLOW_CHECK
+#define MEMP_OVERFLOW_CHECK 1
+#endif
+
+/**
+ * MEMP_SANITY_CHECK==1: run a sanity check after each memp_free() to make
+ * sure that there are no cycles in the linked lists.
+ */
+#ifndef MEMP_SANITY_CHECK
+#define MEMP_SANITY_CHECK 1
+#endif
+
+/**
+ * MEM_USE_POOLS==1: Use an alternative to malloc() by allocating from a set
+ * of memory pools of various sizes. When mem_malloc is called, an element of
+ * the smallest pool that can provide the length needed is returned.
+ * To use this, MEMP_USE_CUSTOM_POOLS also has to be enabled.
+ */
+#ifndef MEM_USE_POOLS
+#define MEM_USE_POOLS 0
+#endif
+
+/**
+ * MEM_USE_POOLS_TRY_BIGGER_POOL==1: if one malloc-pool is empty, try the next
+ * bigger pool - WARNING: THIS MIGHT WASTE MEMORY but it can make a system more
+ * reliable. */
+#ifndef MEM_USE_POOLS_TRY_BIGGER_POOL
+#define MEM_USE_POOLS_TRY_BIGGER_POOL 0
+#endif
+
+/**
+ * MEMP_USE_CUSTOM_POOLS==1: whether to include a user file lwippools.h
+ * that defines additional pools beyond the "standard" ones required
+ * by lwIP. If you set this to 1, you must have lwippools.h in your
+ * inlude path somewhere.
+ */
+#ifndef MEMP_USE_CUSTOM_POOLS
+#define MEMP_USE_CUSTOM_POOLS 0
+#endif
+
+/**
+ * Set this to 1 if you want to free PBUF_RAM pbufs (or call mem_free()) from
+ * interrupt context (or another context that doesn't allow waiting for a
+ * semaphore).
+ * If set to 1, mem_malloc will be protected by a semaphore and SYS_ARCH_PROTECT,
+ * while mem_free will only use SYS_ARCH_PROTECT. mem_malloc SYS_ARCH_UNPROTECTs
+ * with each loop so that mem_free can run.
+ *
+ * ATTENTION: As you can see from the above description, this leads to dis-/
+ * enabling interrupts often, which can be slow! Also, on low memory, mem_malloc
+ * can need longer.
+ *
+ * If you don't want that, at least for NO_SYS=0, you can still use the following
+ * functions to enqueue a deallocation call which then runs in the tcpip_thread
+ * context:
+ * - pbuf_free_callback(p);
+ * - mem_free_callback(m);
+ */
+#ifndef LWIP_ALLOW_MEM_FREE_FROM_OTHER_CONTEXT
+#define LWIP_ALLOW_MEM_FREE_FROM_OTHER_CONTEXT 0
+#endif
+
+/*
+ ------------------------------------------------
+ ---------- Internal Memory Pool Sizes ----------
+ ------------------------------------------------
+*/
+/**
+ * MEMP_NUM_PBUF: the number of memp struct pbufs (used for PBUF_ROM and PBUF_REF).
+ * If the application sends a lot of data out of ROM (or other static memory),
+ * this should be set high.
+ */
+#ifndef MEMP_NUM_PBUF
+#define MEMP_NUM_PBUF 16
+#endif
+
+/**
+ * MEMP_NUM_RAW_PCB: Number of raw connection PCBs
+ * (requires the LWIP_RAW option)
+ */
+#ifndef MEMP_NUM_RAW_PCB
+#define MEMP_NUM_RAW_PCB 4
+#endif
+
+/**
+ * MEMP_NUM_UDP_PCB: the number of UDP protocol control blocks. One
+ * per active UDP "connection".
+ * (requires the LWIP_UDP option)
+ */
+#ifndef MEMP_NUM_UDP_PCB
+#define MEMP_NUM_UDP_PCB 4
+#endif
+
+/**
+ * MEMP_NUM_TCP_PCB: the number of simulatenously active TCP connections.
+ * (requires the LWIP_TCP option)
+ */
+#ifndef MEMP_NUM_TCP_PCB
+#define MEMP_NUM_TCP_PCB 16
+#endif
+
+/**
+ * MEMP_NUM_TCP_PCB_LISTEN: the number of listening TCP connections.
+ * (requires the LWIP_TCP option)
+ */
+#ifndef MEMP_NUM_TCP_PCB_LISTEN
+#define MEMP_NUM_TCP_PCB_LISTEN 4
+#endif
+
+/**
+ * MEMP_NUM_TCP_SEG: the number of simultaneously queued TCP segments.
+ * (requires the LWIP_TCP option)
+ */
+#ifndef MEMP_NUM_TCP_SEG
+#define MEMP_NUM_TCP_SEG 16
+#endif
+
+/**
+ * MEMP_NUM_REASSDATA: the number of IP packets simultaneously queued for
+ * reassembly (whole packets, not fragments!)
+ */
+#ifndef MEMP_NUM_REASSDATA
+#define MEMP_NUM_REASSDATA 8
+#endif
+
+/**
+ * MEMP_NUM_FRAG_PBUF: the number of IP fragments simultaneously sent
+ * (fragments, not whole packets!).
+ * This is only used with IP_FRAG_USES_STATIC_BUF==0 and
+ * LWIP_NETIF_TX_SINGLE_PBUF==0 and only has to be > 1 with DMA-enabled MACs
+ * where the packet is not yet sent when netif->output returns.
+ */
+#ifndef MEMP_NUM_FRAG_PBUF
+#define MEMP_NUM_FRAG_PBUF 16
+#endif
+
+/**
+ * MEMP_NUM_ARP_QUEUE: the number of simulateously queued outgoing
+ * packets (pbufs) that are waiting for an ARP request (to resolve
+ * their destination address) to finish.
+ * (requires the ARP_QUEUEING option)
+ */
+#ifndef MEMP_NUM_ARP_QUEUE
+#define MEMP_NUM_ARP_QUEUE 30
+#endif
+
+/**
+ * MEMP_NUM_IGMP_GROUP: The number of multicast groups whose network interfaces
+ * can be members et the same time (one per netif - allsystems group -, plus one
+ * per netif membership).
+ * (requires the LWIP_IGMP option)
+ */
+#ifndef MEMP_NUM_IGMP_GROUP
+#define MEMP_NUM_IGMP_GROUP 8
+#endif
+
+/**
+ * MEMP_NUM_SYS_TIMEOUT: the number of simulateously active timeouts.
+ * (requires NO_SYS==0)
+ * The default number of timeouts is calculated here for all enabled modules.
+ * The formula expects settings to be either '0' or '1'.
+ */
+#ifndef MEMP_NUM_SYS_TIMEOUT
+#define MEMP_NUM_SYS_TIMEOUT (LWIP_TCP + IP_REASSEMBLY + LWIP_ARP + (2*LWIP_DHCP) + LWIP_AUTOIP + LWIP_IGMP + LWIP_DNS + PPP_SUPPORT)
+#endif
+
+/**
+ * MEMP_NUM_NETBUF: the number of struct netbufs.
+ * (only needed if you use the sequential API, like api_lib.c)
+ */
+#ifndef MEMP_NUM_NETBUF
+#define MEMP_NUM_NETBUF 16
+#endif
+
+/**
+ * MEMP_NUM_NETCONN: the number of struct netconns.
+ * (only needed if you use the sequential API, like api_lib.c)
+ */
+#ifndef MEMP_NUM_NETCONN
+#define MEMP_NUM_NETCONN 16
+#endif
+
+/**
+ * MEMP_NUM_TCPIP_MSG_API: the number of struct tcpip_msg, which are used
+ * for callback/timeout API communication.
+ * (only needed if you use tcpip.c)
+ */
+#ifndef MEMP_NUM_TCPIP_MSG_API
+#define MEMP_NUM_TCPIP_MSG_API 16
+#endif
+
+/**
+ * MEMP_NUM_TCPIP_MSG_INPKT: the number of struct tcpip_msg, which are used
+ * for incoming packets.
+ * (only needed if you use tcpip.c)
+ */
+#ifndef MEMP_NUM_TCPIP_MSG_INPKT
+#define MEMP_NUM_TCPIP_MSG_INPKT 16
+#endif
+
+/**
+ * MEMP_NUM_SNMP_NODE: the number of leafs in the SNMP tree.
+ */
+#ifndef MEMP_NUM_SNMP_NODE
+#define MEMP_NUM_SNMP_NODE 50
+#endif
+
+/**
+ * MEMP_NUM_SNMP_ROOTNODE: the number of branches in the SNMP tree.
+ * Every branch has one leaf (MEMP_NUM_SNMP_NODE) at least!
+ */
+#ifndef MEMP_NUM_SNMP_ROOTNODE
+#define MEMP_NUM_SNMP_ROOTNODE 30
+#endif
+
+/**
+ * MEMP_NUM_SNMP_VARBIND: the number of concurrent requests (does not have to
+ * be changed normally) - 2 of these are used per request (1 for input,
+ * 1 for output)
+ */
+#ifndef MEMP_NUM_SNMP_VARBIND
+#define MEMP_NUM_SNMP_VARBIND 2
+#endif
+
+/**
+ * MEMP_NUM_SNMP_VALUE: the number of OID or values concurrently used
+ * (does not have to be changed normally) - 3 of these are used per request
+ * (1 for the value read and 2 for OIDs - input and output)
+ */
+#ifndef MEMP_NUM_SNMP_VALUE
+#define MEMP_NUM_SNMP_VALUE 3
+#endif
+
+/**
+ * MEMP_NUM_NETDB: the number of concurrently running lwip_addrinfo() calls
+ * (before freeing the corresponding memory using lwip_freeaddrinfo()).
+ */
+#ifndef MEMP_NUM_NETDB
+#define MEMP_NUM_NETDB 1
+#endif
+
+/**
+ * MEMP_NUM_LOCALHOSTLIST: the number of host entries in the local host list
+ * if DNS_LOCAL_HOSTLIST_IS_DYNAMIC==1.
+ */
+#ifndef MEMP_NUM_LOCALHOSTLIST
+#define MEMP_NUM_LOCALHOSTLIST 1
+#endif
+
+/**
+ * MEMP_NUM_PPPOE_INTERFACES: the number of concurrently active PPPoE
+ * interfaces (only used with PPPOE_SUPPORT==1)
+ */
+#ifndef MEMP_NUM_PPPOE_INTERFACES
+#define MEMP_NUM_PPPOE_INTERFACES 0
+#endif
+
+/**
+ * PBUF_POOL_SIZE: the number of buffers in the pbuf pool.
+ */
+#ifndef PBUF_POOL_SIZE
+#define PBUF_POOL_SIZE 16
+#endif
+
+/*
+ ---------------------------------
+ ---------- ARP options ----------
+ ---------------------------------
+*/
+/**
+ * LWIP_ARP==1: Enable ARP functionality.
+ */
+#ifndef LWIP_ARP
+#define LWIP_ARP 1
+#endif
+
+/**
+ * ARP_TABLE_SIZE: Number of active MAC-IP address pairs cached.
+ */
+#ifndef ARP_TABLE_SIZE
+#define ARP_TABLE_SIZE 10
+#endif
+
+/**
+ * ARP_QUEUEING==1: Multiple outgoing packets are queued during hardware address
+ * resolution. By default, only the most recent packet is queued per IP address.
+ * This is sufficient for most protocols and mainly reduces TCP connection
+ * startup time. Set this to 1 if you know your application sends more than one
+ * packet in a row to an IP address that is not in the ARP cache.
+ */
+#ifndef ARP_QUEUEING
+#define ARP_QUEUEING 0
+#endif
+
+/**
+ * ETHARP_TRUST_IP_MAC==1: Incoming IP packets cause the ARP table to be
+ * updated with the source MAC and IP addresses supplied in the packet.
+ * You may want to disable this if you do not trust LAN peers to have the
+ * correct addresses, or as a limited approach to attempt to handle
+ * spoofing. If disabled, lwIP will need to make a new ARP request if
+ * the peer is not already in the ARP table, adding a little latency.
+ * The peer *is* in the ARP table if it requested our address before.
+ * Also notice that this slows down input processing of every IP packet!
+ */
+#ifndef ETHARP_TRUST_IP_MAC
+#define ETHARP_TRUST_IP_MAC 0
+#endif
+
+/**
+ * ETHARP_SUPPORT_VLAN==1: support receiving ethernet packets with VLAN header.
+ * Additionally, you can define ETHARP_VLAN_CHECK to an u16_t VLAN ID to check.
+ * If ETHARP_VLAN_CHECK is defined, only VLAN-traffic for this VLAN is accepted.
+ * If ETHARP_VLAN_CHECK is not defined, all traffic is accepted.
+ * Alternatively, define a function/define ETHARP_VLAN_CHECK_FN(eth_hdr, vlan)
+ * that returns 1 to accept a packet or 0 to drop a packet.
+ */
+#ifndef ETHARP_SUPPORT_VLAN
+#define ETHARP_SUPPORT_VLAN 0
+#endif
+
+/** LWIP_ETHERNET==1: enable ethernet support for PPPoE even though ARP
+ * might be disabled
+ */
+#ifndef LWIP_ETHERNET
+#define LWIP_ETHERNET (LWIP_ARP || PPPOE_SUPPORT)
+#endif
+
+/** ETH_PAD_SIZE: number of bytes added before the ethernet header to ensure
+ * alignment of payload after that header. Since the header is 14 bytes long,
+ * without this padding e.g. addresses in the IP header will not be aligned
+ * on a 32-bit boundary, so setting this to 2 can speed up 32-bit-platforms.
+ */
+#ifndef ETH_PAD_SIZE
+#define ETH_PAD_SIZE 0
+#endif
+
+/** ETHARP_SUPPORT_STATIC_ENTRIES==1: enable code to support static ARP table
+ * entries (using etharp_add_static_entry/etharp_remove_static_entry).
+ */
+#ifndef ETHARP_SUPPORT_STATIC_ENTRIES
+#define ETHARP_SUPPORT_STATIC_ENTRIES 0
+#endif
+
+
+/*
+ --------------------------------
+ ---------- IP options ----------
+ --------------------------------
+*/
+/**
+ * IP_FORWARD==1: Enables the ability to forward IP packets across network
+ * interfaces. If you are going to run lwIP on a device with only one network
+ * interface, define this to 0.
+ */
+#ifndef IP_FORWARD
+#define IP_FORWARD 0
+#endif
+
+/**
+ * IP_OPTIONS_ALLOWED: Defines the behavior for IP options.
+ * IP_OPTIONS_ALLOWED==0: All packets with IP options are dropped.
+ * IP_OPTIONS_ALLOWED==1: IP options are allowed (but not parsed).
+ */
+#ifndef IP_OPTIONS_ALLOWED
+#define IP_OPTIONS_ALLOWED 1
+#endif
+
+/**
+ * IP_REASSEMBLY==1: Reassemble incoming fragmented IP packets. Note that
+ * this option does not affect outgoing packet sizes, which can be controlled
+ * via IP_FRAG.
+ */
+#ifndef IP_REASSEMBLY
+#define IP_REASSEMBLY 1
+#endif
+
+/**
+ * IP_FRAG==1: Fragment outgoing IP packets if their size exceeds MTU. Note
+ * that this option does not affect incoming packet sizes, which can be
+ * controlled via IP_REASSEMBLY.
+ */
+#ifndef IP_FRAG
+#define IP_FRAG 1
+#endif
+
+/**
+ * IP_REASS_MAXAGE: Maximum time (in multiples of IP_TMR_INTERVAL - so seconds, normally)
+ * a fragmented IP packet waits for all fragments to arrive. If not all fragments arrived
+ * in this time, the whole packet is discarded.
+ */
+#ifndef IP_REASS_MAXAGE
+#define IP_REASS_MAXAGE 3
+#endif
+
+/**
+ * IP_REASS_MAX_PBUFS: Total maximum amount of pbufs waiting to be reassembled.
+ * Since the received pbufs are enqueued, be sure to configure
+ * PBUF_POOL_SIZE > IP_REASS_MAX_PBUFS so that the stack is still able to receive
+ * packets even if the maximum amount of fragments is enqueued for reassembly!
+ */
+#ifndef IP_REASS_MAX_PBUFS
+#define IP_REASS_MAX_PBUFS 10
+#endif
+
+/**
+ * IP_FRAG_USES_STATIC_BUF==1: Use a static MTU-sized buffer for IP
+ * fragmentation. Otherwise pbufs are allocated and reference the original
+ * packet data to be fragmented (or with LWIP_NETIF_TX_SINGLE_PBUF==1,
+ * new PBUF_RAM pbufs are used for fragments).
+ * ATTENTION: IP_FRAG_USES_STATIC_BUF==1 may not be used for DMA-enabled MACs!
+ */
+#ifndef IP_FRAG_USES_STATIC_BUF
+#define IP_FRAG_USES_STATIC_BUF 0
+#endif
+
+/**
+ * IP_FRAG_MAX_MTU: Assumed max MTU on any interface for IP frag buffer
+ * (requires IP_FRAG_USES_STATIC_BUF==1)
+ */
+#if IP_FRAG_USES_STATIC_BUF && !defined(IP_FRAG_MAX_MTU)
+#define IP_FRAG_MAX_MTU 1500
+#endif
+
+/**
+ * IP_DEFAULT_TTL: Default value for Time-To-Live used by transport layers.
+ */
+#ifndef IP_DEFAULT_TTL
+#define IP_DEFAULT_TTL 255
+#endif
+
+/**
+ * IP_SOF_BROADCAST=1: Use the SOF_BROADCAST field to enable broadcast
+ * filter per pcb on udp and raw send operations. To enable broadcast filter
+ * on recv operations, you also have to set IP_SOF_BROADCAST_RECV=1.
+ */
+#ifndef IP_SOF_BROADCAST
+#define IP_SOF_BROADCAST 0
+#endif
+
+/**
+ * IP_SOF_BROADCAST_RECV (requires IP_SOF_BROADCAST=1) enable the broadcast
+ * filter on recv operations.
+ */
+#ifndef IP_SOF_BROADCAST_RECV
+#define IP_SOF_BROADCAST_RECV 0
+#endif
+
+/**
+ * IP_FORWARD_ALLOW_TX_ON_RX_NETIF==1: allow ip_forward() to send packets back
+ * out on the netif where it was received. This should only be used for
+ * wireless networks.
+ * ATTENTION: When this is 1, make sure your netif driver correctly marks incoming
+ * link-layer-broadcast/multicast packets as such using the corresponding pbuf flags!
+ */
+#ifndef IP_FORWARD_ALLOW_TX_ON_RX_NETIF
+#define IP_FORWARD_ALLOW_TX_ON_RX_NETIF 0
+#endif
+
+/**
+ * LWIP_RANDOMIZE_INITIAL_LOCAL_PORTS==1: randomize the local port for the first
+ * local TCP/UDP pcb (default==0). This can prevent creating predictable port
+ * numbers after booting a device.
+ */
+#ifndef LWIP_RANDOMIZE_INITIAL_LOCAL_PORTS
+#define LWIP_RANDOMIZE_INITIAL_LOCAL_PORTS 0
+#endif
+
+/*
+ ----------------------------------
+ ---------- ICMP options ----------
+ ----------------------------------
+*/
+/**
+ * LWIP_ICMP==1: Enable ICMP module inside the IP stack.
+ * Be careful, disable that make your product non-compliant to RFC1122
+ */
+#ifndef LWIP_ICMP
+#define LWIP_ICMP 1
+#endif
+
+/**
+ * ICMP_TTL: Default value for Time-To-Live used by ICMP packets.
+ */
+#ifndef ICMP_TTL
+#define ICMP_TTL (IP_DEFAULT_TTL)
+#endif
+
+/**
+ * LWIP_BROADCAST_PING==1: respond to broadcast pings (default is unicast only)
+ */
+#ifndef LWIP_BROADCAST_PING
+#define LWIP_BROADCAST_PING 1
+#endif
+
+/**
+ * LWIP_MULTICAST_PING==1: respond to multicast pings (default is unicast only)
+ */
+#ifndef LWIP_MULTICAST_PING
+#define LWIP_MULTICAST_PING 1
+#endif
+
+/*
+ ---------------------------------
+ ---------- RAW options ----------
+ ---------------------------------
+*/
+/**
+ * LWIP_RAW==1: Enable application layer to hook into the IP layer itself.
+ */
+#ifndef LWIP_RAW
+#define LWIP_RAW 1
+#endif
+
+/**
+ * LWIP_RAW==1: Enable application layer to hook into the IP layer itself.
+ */
+#ifndef RAW_TTL
+#define RAW_TTL (IP_DEFAULT_TTL)
+#endif
+
+/*
+ ----------------------------------
+ ---------- DHCP options ----------
+ ----------------------------------
+*/
+/**
+ * LWIP_DHCP==1: Enable DHCP module.
+ */
+#ifndef LWIP_DHCP
+#define LWIP_DHCP 0
+#endif
+
+/**
+ * DHCP_DOES_ARP_CHECK==1: Do an ARP check on the offered address.
+ */
+#ifndef DHCP_DOES_ARP_CHECK
+#define DHCP_DOES_ARP_CHECK ((LWIP_DHCP) && (LWIP_ARP))
+#endif
+
+/*
+ ------------------------------------
+ ---------- AUTOIP options ----------
+ ------------------------------------
+*/
+/**
+ * LWIP_AUTOIP==1: Enable AUTOIP module.
+ */
+#ifndef LWIP_AUTOIP
+#define LWIP_AUTOIP 0
+#endif
+
+/**
+ * LWIP_DHCP_AUTOIP_COOP==1: Allow DHCP and AUTOIP to be both enabled on
+ * the same interface at the same time.
+ */
+#ifndef LWIP_DHCP_AUTOIP_COOP
+#define LWIP_DHCP_AUTOIP_COOP 0
+#endif
+
+/**
+ * LWIP_DHCP_AUTOIP_COOP_TRIES: Set to the number of DHCP DISCOVER probes
+ * that should be sent before falling back on AUTOIP. This can be set
+ * as low as 1 to get an AutoIP address very quickly, but you should
+ * be prepared to handle a changing IP address when DHCP overrides
+ * AutoIP.
+ */
+#ifndef LWIP_DHCP_AUTOIP_COOP_TRIES
+#define LWIP_DHCP_AUTOIP_COOP_TRIES 9
+#endif
+
+/*
+ ----------------------------------
+ ---------- SNMP options ----------
+ ----------------------------------
+*/
+/**
+ * LWIP_SNMP==1: Turn on SNMP module. UDP must be available for SNMP
+ * transport.
+ */
+#ifndef LWIP_SNMP
+#define LWIP_SNMP 0
+#endif
+
+/**
+ * SNMP_CONCURRENT_REQUESTS: Number of concurrent requests the module will
+ * allow. At least one request buffer is required.
+ * Does not have to be changed unless external MIBs answer request asynchronously
+ */
+#ifndef SNMP_CONCURRENT_REQUESTS
+#define SNMP_CONCURRENT_REQUESTS 1
+#endif
+
+/**
+ * SNMP_TRAP_DESTINATIONS: Number of trap destinations. At least one trap
+ * destination is required
+ */
+#ifndef SNMP_TRAP_DESTINATIONS
+#define SNMP_TRAP_DESTINATIONS 1
+#endif
+
+/**
+ * SNMP_PRIVATE_MIB:
+ * When using a private MIB, you have to create a file 'private_mib.h' that contains
+ * a 'struct mib_array_node mib_private' which contains your MIB.
+ */
+#ifndef SNMP_PRIVATE_MIB
+#define SNMP_PRIVATE_MIB 0
+#endif
+
+/**
+ * Only allow SNMP write actions that are 'safe' (e.g. disabeling netifs is not
+ * a safe action and disabled when SNMP_SAFE_REQUESTS = 1).
+ * Unsafe requests are disabled by default!
+ */
+#ifndef SNMP_SAFE_REQUESTS
+#define SNMP_SAFE_REQUESTS 1
+#endif
+
+/**
+ * The maximum length of strings used. This affects the size of
+ * MEMP_SNMP_VALUE elements.
+ */
+#ifndef SNMP_MAX_OCTET_STRING_LEN
+#define SNMP_MAX_OCTET_STRING_LEN 127
+#endif
+
+/**
+ * The maximum depth of the SNMP tree.
+ * With private MIBs enabled, this depends on your MIB!
+ * This affects the size of MEMP_SNMP_VALUE elements.
+ */
+#ifndef SNMP_MAX_TREE_DEPTH
+#define SNMP_MAX_TREE_DEPTH 15
+#endif
+
+/**
+ * The size of the MEMP_SNMP_VALUE elements, normally calculated from
+ * SNMP_MAX_OCTET_STRING_LEN and SNMP_MAX_TREE_DEPTH.
+ */
+#ifndef SNMP_MAX_VALUE_SIZE
+#define SNMP_MAX_VALUE_SIZE LWIP_MAX((SNMP_MAX_OCTET_STRING_LEN)+1, sizeof(s32_t)*(SNMP_MAX_TREE_DEPTH))
+#endif
+
+/*
+ ----------------------------------
+ ---------- IGMP options ----------
+ ----------------------------------
+*/
+/**
+ * LWIP_IGMP==1: Turn on IGMP module.
+ */
+#ifndef LWIP_IGMP
+#define LWIP_IGMP 0
+#endif
+
+/*
+ ----------------------------------
+ ---------- DNS options -----------
+ ----------------------------------
+*/
+/**
+ * LWIP_DNS==1: Turn on DNS module. UDP must be available for DNS
+ * transport.
+ */
+#ifndef LWIP_DNS
+#define LWIP_DNS 1
+#endif
+
+/** DNS maximum number of entries to maintain locally. */
+#ifndef DNS_TABLE_SIZE
+#define DNS_TABLE_SIZE 4
+#endif
+
+/** DNS maximum host name length supported in the name table. */
+#ifndef DNS_MAX_NAME_LENGTH
+#define DNS_MAX_NAME_LENGTH 256
+#endif
+
+/** The maximum of DNS servers */
+#ifndef DNS_MAX_SERVERS
+#define DNS_MAX_SERVERS 2
+#endif
+
+/** DNS do a name checking between the query and the response. */
+#ifndef DNS_DOES_NAME_CHECK
+#define DNS_DOES_NAME_CHECK 1
+#endif
+
+/** DNS message max. size. Default value is RFC compliant. */
+#ifndef DNS_MSG_SIZE
+#define DNS_MSG_SIZE 512
+#endif
+
+/** DNS_LOCAL_HOSTLIST: Implements a local host-to-address list. If enabled,
+ * you have to define
+ * #define DNS_LOCAL_HOSTLIST_INIT {{"host1", 0x123}, {"host2", 0x234}}
+ * (an array of structs name/address, where address is an u32_t in network
+ * byte order).
+ *
+ * Instead, you can also use an external function:
+ * #define DNS_LOOKUP_LOCAL_EXTERN(x) extern u32_t my_lookup_function(const char *name)
+ * that returns the IP address or INADDR_NONE if not found.
+ */
+#ifndef DNS_LOCAL_HOSTLIST
+#define DNS_LOCAL_HOSTLIST 0
+#endif /* DNS_LOCAL_HOSTLIST */
+
+/** If this is turned on, the local host-list can be dynamically changed
+ * at runtime. */
+#ifndef DNS_LOCAL_HOSTLIST_IS_DYNAMIC
+#define DNS_LOCAL_HOSTLIST_IS_DYNAMIC 0
+#endif /* DNS_LOCAL_HOSTLIST_IS_DYNAMIC */
+
+/*
+ ---------------------------------
+ ---------- UDP options ----------
+ ---------------------------------
+*/
+/**
+ * LWIP_UDP==1: Turn on UDP.
+ */
+#ifndef LWIP_UDP
+#define LWIP_UDP 1
+#endif
+
+/**
+ * LWIP_UDPLITE==1: Turn on UDP-Lite. (Requires LWIP_UDP)
+ */
+#ifndef LWIP_UDPLITE
+#define LWIP_UDPLITE 0
+#endif
+
+/**
+ * UDP_TTL: Default Time-To-Live value.
+ */
+#ifndef UDP_TTL
+#define UDP_TTL (IP_DEFAULT_TTL)
+#endif
+
+/**
+ * LWIP_NETBUF_RECVINFO==1: append destination addr and port to every netbuf.
+ */
+#ifndef LWIP_NETBUF_RECVINFO
+#define LWIP_NETBUF_RECVINFO 0
+#endif
+
+/*
+ ---------------------------------
+ ---------- TCP options ----------
+ ---------------------------------
+*/
+/**
+ * LWIP_TCP==1: Turn on TCP.
+ */
+#ifndef LWIP_TCP
+#define LWIP_TCP 1
+#endif
+
+/**
+ * TCP_TTL: Default Time-To-Live value.
+ */
+#ifndef TCP_TTL
+#define TCP_TTL (IP_DEFAULT_TTL)
+#endif
+
+/**
+ * TCP_WND: The size of a TCP window. This must be at least
+ * (2 * TCP_MSS) for things to work well
+ */
+#ifndef TCP_WND
+#define TCP_WND (4 * TCP_MSS)
+#endif
+
+/**
+ * TCP_MAXRTX: Maximum number of retransmissions of data segments.
+ */
+#ifndef TCP_MAXRTX
+#define TCP_MAXRTX 12
+#endif
+
+/**
+ * TCP_SYNMAXRTX: Maximum number of retransmissions of SYN segments.
+ */
+#ifndef TCP_SYNMAXRTX
+#define TCP_SYNMAXRTX 6
+#endif
+
+/**
+ * TCP_QUEUE_OOSEQ==1: TCP will queue segments that arrive out of order.
+ * Define to 0 if your device is low on memory.
+ */
+#ifndef TCP_QUEUE_OOSEQ
+#define TCP_QUEUE_OOSEQ (LWIP_TCP)
+#endif
+
+/**
+ * TCP_MSS: TCP Maximum segment size. (default is 536, a conservative default,
+ * you might want to increase this.)
+ * For the receive side, this MSS is advertised to the remote side
+ * when opening a connection. For the transmit size, this MSS sets
+ * an upper limit on the MSS advertised by the remote host.
+ */
+#ifndef TCP_MSS
+#define TCP_MSS 1460
+#endif
+
+/**
+ * TCP_CALCULATE_EFF_SEND_MSS: "The maximum size of a segment that TCP really
+ * sends, the 'effective send MSS,' MUST be the smaller of the send MSS (which
+ * reflects the available reassembly buffer size at the remote host) and the
+ * largest size permitted by the IP layer" (RFC 1122)
+ * Setting this to 1 enables code that checks TCP_MSS against the MTU of the
+ * netif used for a connection and limits the MSS if it would be too big otherwise.
+ */
+#ifndef TCP_CALCULATE_EFF_SEND_MSS
+#define TCP_CALCULATE_EFF_SEND_MSS 1
+#endif
+
+
+/**
+ * TCP_SND_BUF: TCP sender buffer space (bytes).
+ * To achieve good performance, this should be at least 2 * TCP_MSS.
+ */
+#ifndef TCP_SND_BUF
+#define TCP_SND_BUF (4 * TCP_MSS)
+#endif
+
+/**
+ * TCP_SND_QUEUELEN: TCP sender buffer space (pbufs). This must be at least
+ * as much as (2 * TCP_SND_BUF/TCP_MSS) for things to work.
+ */
+#ifndef TCP_SND_QUEUELEN
+#define TCP_SND_QUEUELEN ((4 * (TCP_SND_BUF) + (TCP_MSS - 1))/(TCP_MSS))
+#endif
+
+/**
+ * TCP_SNDLOWAT: TCP writable space (bytes). This must be less than
+ * TCP_SND_BUF. It is the amount of space which must be available in the
+ * TCP snd_buf for select to return writable (combined with TCP_SNDQUEUELOWAT).
+ */
+#ifndef TCP_SNDLOWAT
+#define TCP_SNDLOWAT LWIP_MIN(LWIP_MAX(((TCP_SND_BUF)/2), (2 * TCP_MSS) + 1), (TCP_SND_BUF) - 1)
+#endif
+
+/**
+ * TCP_SNDQUEUELOWAT: TCP writable bufs (pbuf count). This must be less
+ * than TCP_SND_QUEUELEN. If the number of pbufs queued on a pcb drops below
+ * this number, select returns writable (combined with TCP_SNDLOWAT).
+ */
+#ifndef TCP_SNDQUEUELOWAT
+#define TCP_SNDQUEUELOWAT LWIP_MAX(((TCP_SND_QUEUELEN)/2), 5)
+#endif
+
+/**
+ * TCP_OOSEQ_MAX_BYTES: The maximum number of bytes queued on ooseq per pcb.
+ * Default is 0 (no limit). Only valid for TCP_QUEUE_OOSEQ==0.
+ */
+#ifndef TCP_OOSEQ_MAX_BYTES
+#define TCP_OOSEQ_MAX_BYTES 0
+#endif
+
+/**
+ * TCP_OOSEQ_MAX_PBUFS: The maximum number of pbufs queued on ooseq per pcb.
+ * Default is 0 (no limit). Only valid for TCP_QUEUE_OOSEQ==0.
+ */
+#ifndef TCP_OOSEQ_MAX_PBUFS
+#define TCP_OOSEQ_MAX_PBUFS 0
+#endif
+
+/**
+ * TCP_LISTEN_BACKLOG: Enable the backlog option for tcp listen pcb.
+ */
+#ifndef TCP_LISTEN_BACKLOG
+#define TCP_LISTEN_BACKLOG 1
+#endif
+
+/**
+ * The maximum allowed backlog for TCP listen netconns.
+ * This backlog is used unless another is explicitly specified.
+ * 0xff is the maximum (u8_t).
+ */
+#ifndef TCP_DEFAULT_LISTEN_BACKLOG
+#define TCP_DEFAULT_LISTEN_BACKLOG 4
+#endif
+
+/**
+ * TCP_OVERSIZE: The maximum number of bytes that tcp_write may
+ * allocate ahead of time in an attempt to create shorter pbuf chains
+ * for transmission. The meaningful range is 0 to TCP_MSS. Some
+ * suggested values are:
+ *
+ * 0: Disable oversized allocation. Each tcp_write() allocates a new
+ pbuf (old behaviour).
+ * 1: Allocate size-aligned pbufs with minimal excess. Use this if your
+ * scatter-gather DMA requires aligned fragments.
+ * 128: Limit the pbuf/memory overhead to 20%.
+ * TCP_MSS: Try to create unfragmented TCP packets.
+ * TCP_MSS/4: Try to create 4 fragments or less per TCP packet.
+ */
+#ifndef TCP_OVERSIZE
+#define TCP_OVERSIZE TCP_MSS
+#endif
+
+/**
+ * LWIP_TCP_TIMESTAMPS==1: support the TCP timestamp option.
+ */
+#ifndef LWIP_TCP_TIMESTAMPS
+#define LWIP_TCP_TIMESTAMPS 0
+#endif
+
+/**
+ * TCP_WND_UPDATE_THRESHOLD: difference in window to trigger an
+ * explicit window update
+ */
+#ifndef TCP_WND_UPDATE_THRESHOLD
+#define TCP_WND_UPDATE_THRESHOLD (TCP_WND / 4)
+#endif
+
+/*
+ ----------------------------------
+ ---------- Pbuf options ----------
+ ----------------------------------
+*/
+/**
+ * PBUF_LINK_HLEN: the number of bytes that should be allocated for a
+ * link level header. The default is 14, the standard value for
+ * Ethernet.
+ */
+#ifndef PBUF_LINK_HLEN
+#define PBUF_LINK_HLEN (14 + ETH_PAD_SIZE)
+#endif
+
+/**
+ * PBUF_POOL_BUFSIZE: the size of each pbuf in the pbuf pool. The default is
+ * designed to accomodate single full size TCP frame in one pbuf, including
+ * TCP_MSS, IP header, and link header.
+ */
+#ifndef PBUF_POOL_BUFSIZE
+#define PBUF_POOL_BUFSIZE LWIP_MEM_ALIGN_SIZE(TCP_MSS+40+PBUF_LINK_HLEN)
+#endif
+
+/*
+ ------------------------------------------------
+ ---------- Network Interfaces options ----------
+ ------------------------------------------------
+*/
+/**
+ * LWIP_NETIF_HOSTNAME==1: use DHCP_OPTION_HOSTNAME with netif's hostname
+ * field.
+ */
+#ifndef LWIP_NETIF_HOSTNAME
+#define LWIP_NETIF_HOSTNAME 0
+#endif
+
+/**
+ * LWIP_NETIF_API==1: Support netif api (in netifapi.c)
+ */
+#ifndef LWIP_NETIF_API
+#define LWIP_NETIF_API 0
+#endif
+
+/**
+ * LWIP_NETIF_STATUS_CALLBACK==1: Support a callback function whenever an interface
+ * changes its up/down status (i.e., due to DHCP IP acquistion)
+ */
+#ifndef LWIP_NETIF_STATUS_CALLBACK
+#define LWIP_NETIF_STATUS_CALLBACK 0
+#endif
+
+/**
+ * LWIP_NETIF_LINK_CALLBACK==1: Support a callback function from an interface
+ * whenever the link changes (i.e., link down)
+ */
+#ifndef LWIP_NETIF_LINK_CALLBACK
+#define LWIP_NETIF_LINK_CALLBACK 0
+#endif
+
+/**
+ * LWIP_NETIF_REMOVE_CALLBACK==1: Support a callback function that is called
+ * when a netif has been removed
+ */
+#ifndef LWIP_NETIF_REMOVE_CALLBACK
+#define LWIP_NETIF_REMOVE_CALLBACK 0
+#endif
+
+/**
+ * LWIP_NETIF_HWADDRHINT==1: Cache link-layer-address hints (e.g. table
+ * indices) in struct netif. TCP and UDP can make use of this to prevent
+ * scanning the ARP table for every sent packet. While this is faster for big
+ * ARP tables or many concurrent connections, it might be counterproductive
+ * if you have a tiny ARP table or if there never are concurrent connections.
+ */
+#ifndef LWIP_NETIF_HWADDRHINT
+#define LWIP_NETIF_HWADDRHINT 0
+#endif
+
+/**
+ * LWIP_NETIF_LOOPBACK==1: Support sending packets with a destination IP
+ * address equal to the netif IP address, looping them back up the stack.
+ */
+#ifndef LWIP_NETIF_LOOPBACK
+#define LWIP_NETIF_LOOPBACK 0
+#endif
+
+/**
+ * LWIP_LOOPBACK_MAX_PBUFS: Maximum number of pbufs on queue for loopback
+ * sending for each netif (0 = disabled)
+ */
+#ifndef LWIP_LOOPBACK_MAX_PBUFS
+#define LWIP_LOOPBACK_MAX_PBUFS 0
+#endif
+
+/**
+ * LWIP_NETIF_LOOPBACK_MULTITHREADING: Indicates whether threading is enabled in
+ * the system, as netifs must change how they behave depending on this setting
+ * for the LWIP_NETIF_LOOPBACK option to work.
+ * Setting this is needed to avoid reentering non-reentrant functions like
+ * tcp_input().
+ * LWIP_NETIF_LOOPBACK_MULTITHREADING==1: Indicates that the user is using a
+ * multithreaded environment like tcpip.c. In this case, netif->input()
+ * is called directly.
+ * LWIP_NETIF_LOOPBACK_MULTITHREADING==0: Indicates a polling (or NO_SYS) setup.
+ * The packets are put on a list and netif_poll() must be called in
+ * the main application loop.
+ */
+#ifndef LWIP_NETIF_LOOPBACK_MULTITHREADING
+#define LWIP_NETIF_LOOPBACK_MULTITHREADING (!NO_SYS)
+#endif
+
+/**
+ * LWIP_NETIF_TX_SINGLE_PBUF: if this is set to 1, lwIP tries to put all data
+ * to be sent into one single pbuf. This is for compatibility with DMA-enabled
+ * MACs that do not support scatter-gather.
+ * Beware that this might involve CPU-memcpy before transmitting that would not
+ * be needed without this flag! Use this only if you need to!
+ *
+ * @todo: TCP and IP-frag do not work with this, yet:
+ */
+#ifndef LWIP_NETIF_TX_SINGLE_PBUF
+#define LWIP_NETIF_TX_SINGLE_PBUF 0
+#endif /* LWIP_NETIF_TX_SINGLE_PBUF */
+
+/*
+ ------------------------------------
+ ---------- LOOPIF options ----------
+ ------------------------------------
+*/
+/**
+ * LWIP_HAVE_LOOPIF==1: Support loop interface (127.0.0.1) and loopif.c
+ */
+#ifndef LWIP_HAVE_LOOPIF
+#define LWIP_HAVE_LOOPIF 1
+#endif
+
+/*
+ ------------------------------------
+ ---------- SLIPIF options ----------
+ ------------------------------------
+*/
+/**
+ * LWIP_HAVE_SLIPIF==1: Support slip interface and slipif.c
+ */
+#ifndef LWIP_HAVE_SLIPIF
+#define LWIP_HAVE_SLIPIF 0
+#endif
+
+/*
+ ------------------------------------
+ ---------- Thread options ----------
+ ------------------------------------
+*/
+/**
+ * TCPIP_THREAD_NAME: The name assigned to the main tcpip thread.
+ */
+#ifndef TCPIP_THREAD_NAME
+#define TCPIP_THREAD_NAME "tcpip_thread"
+#endif
+
+/**
+ * TCPIP_THREAD_STACKSIZE: The stack size used by the main tcpip thread.
+ * The stack size value itself is platform-dependent, but is passed to
+ * sys_thread_new() when the thread is created.
+ */
+#ifndef TCPIP_THREAD_STACKSIZE
+#define TCPIP_THREAD_STACKSIZE 1024
+#endif
+
+/**
+ * TCPIP_THREAD_PRIO: The priority assigned to the main tcpip thread.
+ * The priority value itself is platform-dependent, but is passed to
+ * sys_thread_new() when the thread is created.
+ */
+#ifndef TCPIP_THREAD_PRIO
+#define TCPIP_THREAD_PRIO (LOWPRIO + 1)
+#endif
+
+/**
+ * TCPIP_MBOX_SIZE: The mailbox size for the tcpip thread messages
+ * The queue size value itself is platform-dependent, but is passed to
+ * sys_mbox_new() when tcpip_init is called.
+ */
+#ifndef TCPIP_MBOX_SIZE
+#define TCPIP_MBOX_SIZE 4
+#endif
+
+/**
+ * SLIPIF_THREAD_NAME: The name assigned to the slipif_loop thread.
+ */
+#ifndef SLIPIF_THREAD_NAME
+#define SLIPIF_THREAD_NAME "slipif_loop"
+#endif
+
+/**
+ * SLIP_THREAD_STACKSIZE: The stack size used by the slipif_loop thread.
+ * The stack size value itself is platform-dependent, but is passed to
+ * sys_thread_new() when the thread is created.
+ */
+#ifndef SLIPIF_THREAD_STACKSIZE
+#define SLIPIF_THREAD_STACKSIZE 1024
+#endif
+
+/**
+ * SLIPIF_THREAD_PRIO: The priority assigned to the slipif_loop thread.
+ * The priority value itself is platform-dependent, but is passed to
+ * sys_thread_new() when the thread is created.
+ */
+#ifndef SLIPIF_THREAD_PRIO
+#define SLIPIF_THREAD_PRIO (LOWPRIO + 1)
+#endif
+
+/**
+ * PPP_THREAD_NAME: The name assigned to the pppInputThread.
+ */
+#ifndef PPP_THREAD_NAME
+#define PPP_THREAD_NAME "pppInputThread"
+#endif
+
+/**
+ * PPP_THREAD_STACKSIZE: The stack size used by the pppInputThread.
+ * The stack size value itself is platform-dependent, but is passed to
+ * sys_thread_new() when the thread is created.
+ */
+#ifndef PPP_THREAD_STACKSIZE
+#define PPP_THREAD_STACKSIZE 1024
+#endif
+
+/**
+ * PPP_THREAD_PRIO: The priority assigned to the pppInputThread.
+ * The priority value itself is platform-dependent, but is passed to
+ * sys_thread_new() when the thread is created.
+ */
+#ifndef PPP_THREAD_PRIO
+#define PPP_THREAD_PRIO (LOWPRIO + 1)
+#endif
+
+/**
+ * DEFAULT_THREAD_NAME: The name assigned to any other lwIP thread.
+ */
+#ifndef DEFAULT_THREAD_NAME
+#define DEFAULT_THREAD_NAME "lwIP"
+#endif
+
+/**
+ * DEFAULT_THREAD_STACKSIZE: The stack size used by any other lwIP thread.
+ * The stack size value itself is platform-dependent, but is passed to
+ * sys_thread_new() when the thread is created.
+ */
+#ifndef DEFAULT_THREAD_STACKSIZE
+#define DEFAULT_THREAD_STACKSIZE 1024
+#endif
+
+/**
+ * DEFAULT_THREAD_PRIO: The priority assigned to any other lwIP thread.
+ * The priority value itself is platform-dependent, but is passed to
+ * sys_thread_new() when the thread is created.
+ */
+#ifndef DEFAULT_THREAD_PRIO
+#define DEFAULT_THREAD_PRIO (LOWPRIO + 1)
+#endif
+
+/**
+ * DEFAULT_RAW_RECVMBOX_SIZE: The mailbox size for the incoming packets on a
+ * NETCONN_RAW. The queue size value itself is platform-dependent, but is passed
+ * to sys_mbox_new() when the recvmbox is created.
+ */
+#ifndef DEFAULT_RAW_RECVMBOX_SIZE
+#define DEFAULT_RAW_RECVMBOX_SIZE 4
+#endif
+
+/**
+ * DEFAULT_UDP_RECVMBOX_SIZE: The mailbox size for the incoming packets on a
+ * NETCONN_UDP. The queue size value itself is platform-dependent, but is passed
+ * to sys_mbox_new() when the recvmbox is created.
+ */
+#ifndef DEFAULT_UDP_RECVMBOX_SIZE
+#define DEFAULT_UDP_RECVMBOX_SIZE 4
+#endif
+
+/**
+ * DEFAULT_TCP_RECVMBOX_SIZE: The mailbox size for the incoming packets on a
+ * NETCONN_TCP. The queue size value itself is platform-dependent, but is passed
+ * to sys_mbox_new() when the recvmbox is created.
+ */
+#ifndef DEFAULT_TCP_RECVMBOX_SIZE
+#define DEFAULT_TCP_RECVMBOX_SIZE 40
+#endif
+
+/**
+ * DEFAULT_ACCEPTMBOX_SIZE: The mailbox size for the incoming connections.
+ * The queue size value itself is platform-dependent, but is passed to
+ * sys_mbox_new() when the acceptmbox is created.
+ */
+#ifndef DEFAULT_ACCEPTMBOX_SIZE
+#define DEFAULT_ACCEPTMBOX_SIZE 4
+#endif
+
+/*
+ ----------------------------------------------
+ ---------- Sequential layer options ----------
+ ----------------------------------------------
+*/
+/**
+ * LWIP_TCPIP_CORE_LOCKING: (EXPERIMENTAL!)
+ * Don't use it if you're not an active lwIP project member
+ */
+#ifndef LWIP_TCPIP_CORE_LOCKING
+#define LWIP_TCPIP_CORE_LOCKING 0
+#endif
+
+/**
+ * LWIP_TCPIP_CORE_LOCKING_INPUT: (EXPERIMENTAL!)
+ * Don't use it if you're not an active lwIP project member
+ */
+#ifndef LWIP_TCPIP_CORE_LOCKING_INPUT
+#define LWIP_TCPIP_CORE_LOCKING_INPUT 0
+#endif
+
+/**
+ * LWIP_NETCONN==1: Enable Netconn API (require to use api_lib.c)
+ */
+#ifndef LWIP_NETCONN
+#define LWIP_NETCONN 1
+#endif
+
+/** LWIP_TCPIP_TIMEOUT==1: Enable tcpip_timeout/tcpip_untimeout tod create
+ * timers running in tcpip_thread from another thread.
+ */
+#ifndef LWIP_TCPIP_TIMEOUT
+#define LWIP_TCPIP_TIMEOUT 1
+#endif
+
+/*
+ ------------------------------------
+ ---------- Socket options ----------
+ ------------------------------------
+*/
+/**
+ * LWIP_SOCKET==1: Enable Socket API (require to use sockets.c)
+ */
+#ifndef LWIP_SOCKET
+#define LWIP_SOCKET 0
+#endif
+
+/**
+ * LWIP_COMPAT_SOCKETS==1: Enable BSD-style sockets functions names.
+ * (only used if you use sockets.c)
+ */
+#ifndef LWIP_COMPAT_SOCKETS
+#define LWIP_COMPAT_SOCKETS 1
+#endif
+
+/**
+ * LWIP_POSIX_SOCKETS_IO_NAMES==1: Enable POSIX-style sockets functions names.
+ * Disable this option if you use a POSIX operating system that uses the same
+ * names (read, write & close). (only used if you use sockets.c)
+ */
+#ifndef LWIP_POSIX_SOCKETS_IO_NAMES
+#define LWIP_POSIX_SOCKETS_IO_NAMES 1
+#endif
+
+/**
+ * LWIP_TCP_KEEPALIVE==1: Enable TCP_KEEPIDLE, TCP_KEEPINTVL and TCP_KEEPCNT
+ * options processing. Note that TCP_KEEPIDLE and TCP_KEEPINTVL have to be set
+ * in seconds. (does not require sockets.c, and will affect tcp.c)
+ */
+#ifndef LWIP_TCP_KEEPALIVE
+#define LWIP_TCP_KEEPALIVE 0
+#endif
+
+/**
+ * LWIP_SO_SNDTIMEO==1: Enable send timeout for sockets/netconns and
+ * SO_SNDTIMEO processing.
+ */
+#ifndef LWIP_SO_SNDTIMEO
+#define LWIP_SO_SNDTIMEO 1
+#endif
+
+/**
+ * LWIP_SO_RCVTIMEO==1: Enable receive timeout for sockets/netconns and
+ * SO_RCVTIMEO processing.
+ */
+#ifndef LWIP_SO_RCVTIMEO
+#define LWIP_SO_RCVTIMEO 1
+#endif
+
+/**
+ * LWIP_SO_RCVBUF==1: Enable SO_RCVBUF processing.
+ */
+#ifndef LWIP_SO_RCVBUF
+#define LWIP_SO_RCVBUF 0
+#endif
+
+/**
+ * If LWIP_SO_RCVBUF is used, this is the default value for recv_bufsize.
+ */
+#ifndef RECV_BUFSIZE_DEFAULT
+#define RECV_BUFSIZE_DEFAULT INT_MAX
+#endif
+
+/**
+ * SO_REUSE==1: Enable SO_REUSEADDR option.
+ */
+#ifndef SO_REUSE
+#define SO_REUSE 0
+#endif
+
+/**
+ * SO_REUSE_RXTOALL==1: Pass a copy of incoming broadcast/multicast packets
+ * to all local matches if SO_REUSEADDR is turned on.
+ * WARNING: Adds a memcpy for every packet if passing to more than one pcb!
+ */
+#ifndef SO_REUSE_RXTOALL
+#define SO_REUSE_RXTOALL 0
+#endif
+
+/*
+ ----------------------------------------
+ ---------- Statistics options ----------
+ ----------------------------------------
+*/
+/**
+ * LWIP_STATS==1: Enable statistics collection in lwip_stats.
+ */
+#ifndef LWIP_STATS
+#define LWIP_STATS 0/*1*/
+#endif
+
+#if LWIP_STATS
+
+/**
+ * LWIP_STATS_DISPLAY==1: Compile in the statistics output functions.
+ */
+#ifndef LWIP_STATS_DISPLAY
+#define LWIP_STATS_DISPLAY 0
+#endif
+
+/**
+ * LINK_STATS==1: Enable link stats.
+ */
+#ifndef LINK_STATS
+#define LINK_STATS 1
+#endif
+
+/**
+ * ETHARP_STATS==1: Enable etharp stats.
+ */
+#ifndef ETHARP_STATS
+#define ETHARP_STATS (LWIP_ARP)
+#endif
+
+/**
+ * IP_STATS==1: Enable IP stats.
+ */
+#ifndef IP_STATS
+#define IP_STATS 1
+#endif
+
+/**
+ * IPFRAG_STATS==1: Enable IP fragmentation stats. Default is
+ * on if using either frag or reass.
+ */
+#ifndef IPFRAG_STATS
+#define IPFRAG_STATS (IP_REASSEMBLY || IP_FRAG)
+#endif
+
+/**
+ * ICMP_STATS==1: Enable ICMP stats.
+ */
+#ifndef ICMP_STATS
+#define ICMP_STATS 1
+#endif
+
+/**
+ * IGMP_STATS==1: Enable IGMP stats.
+ */
+#ifndef IGMP_STATS
+#define IGMP_STATS (LWIP_IGMP)
+#endif
+
+/**
+ * UDP_STATS==1: Enable UDP stats. Default is on if
+ * UDP enabled, otherwise off.
+ */
+#ifndef UDP_STATS
+#define UDP_STATS (LWIP_UDP)
+#endif
+
+/**
+ * TCP_STATS==1: Enable TCP stats. Default is on if TCP
+ * enabled, otherwise off.
+ */
+#ifndef TCP_STATS
+#define TCP_STATS (LWIP_TCP)
+#endif
+
+/**
+ * MEM_STATS==1: Enable mem.c stats.
+ */
+#ifndef MEM_STATS
+#define MEM_STATS ((MEM_LIBC_MALLOC == 0) && (MEM_USE_POOLS == 0))
+#endif
+
+/**
+ * MEMP_STATS==1: Enable memp.c pool stats.
+ */
+#ifndef MEMP_STATS
+#define MEMP_STATS (MEMP_MEM_MALLOC == 0)
+#endif
+
+/**
+ * SYS_STATS==1: Enable system stats (sem and mbox counts, etc).
+ */
+#ifndef SYS_STATS
+#define SYS_STATS (NO_SYS == 0)
+#endif
+
+#else
+
+#define LINK_STATS 0
+#define IP_STATS 0
+#define IPFRAG_STATS 0
+#define ICMP_STATS 0
+#define IGMP_STATS 0
+#define UDP_STATS 0
+#define TCP_STATS 0
+#define MEM_STATS 0
+#define MEMP_STATS 0
+#define SYS_STATS 0
+#define LWIP_STATS_DISPLAY 0
+
+#endif /* LWIP_STATS */
+
+/*
+ ---------------------------------
+ ---------- PPP options ----------
+ ---------------------------------
+*/
+/**
+ * PPP_SUPPORT==1: Enable PPP.
+ */
+#ifndef PPP_SUPPORT
+#define PPP_SUPPORT 0
+#endif
+
+/**
+ * PPPOE_SUPPORT==1: Enable PPP Over Ethernet
+ */
+#ifndef PPPOE_SUPPORT
+#define PPPOE_SUPPORT 0
+#endif
+
+/**
+ * PPPOS_SUPPORT==1: Enable PPP Over Serial
+ */
+#ifndef PPPOS_SUPPORT
+#define PPPOS_SUPPORT PPP_SUPPORT
+#endif
+
+#if PPP_SUPPORT
+
+/**
+ * NUM_PPP: Max PPP sessions.
+ */
+#ifndef NUM_PPP
+#define NUM_PPP 1
+#endif
+
+/**
+ * PAP_SUPPORT==1: Support PAP.
+ */
+#ifndef PAP_SUPPORT
+#define PAP_SUPPORT 0
+#endif
+
+/**
+ * CHAP_SUPPORT==1: Support CHAP.
+ */
+#ifndef CHAP_SUPPORT
+#define CHAP_SUPPORT 0
+#endif
+
+/**
+ * MSCHAP_SUPPORT==1: Support MSCHAP. CURRENTLY NOT SUPPORTED! DO NOT SET!
+ */
+#ifndef MSCHAP_SUPPORT
+#define MSCHAP_SUPPORT 0
+#endif
+
+/**
+ * CBCP_SUPPORT==1: Support CBCP. CURRENTLY NOT SUPPORTED! DO NOT SET!
+ */
+#ifndef CBCP_SUPPORT
+#define CBCP_SUPPORT 0
+#endif
+
+/**
+ * CCP_SUPPORT==1: Support CCP. CURRENTLY NOT SUPPORTED! DO NOT SET!
+ */
+#ifndef CCP_SUPPORT
+#define CCP_SUPPORT 0
+#endif
+
+/**
+ * VJ_SUPPORT==1: Support VJ header compression.
+ */
+#ifndef VJ_SUPPORT
+#define VJ_SUPPORT 0
+#endif
+
+/**
+ * MD5_SUPPORT==1: Support MD5 (see also CHAP).
+ */
+#ifndef MD5_SUPPORT
+#define MD5_SUPPORT 0
+#endif
+
+/*
+ * Timeouts
+ */
+#ifndef FSM_DEFTIMEOUT
+#define FSM_DEFTIMEOUT 6 /* Timeout time in seconds */
+#endif
+
+#ifndef FSM_DEFMAXTERMREQS
+#define FSM_DEFMAXTERMREQS 2 /* Maximum Terminate-Request transmissions */
+#endif
+
+#ifndef FSM_DEFMAXCONFREQS
+#define FSM_DEFMAXCONFREQS 10 /* Maximum Configure-Request transmissions */
+#endif
+
+#ifndef FSM_DEFMAXNAKLOOPS
+#define FSM_DEFMAXNAKLOOPS 5 /* Maximum number of nak loops */
+#endif
+
+#ifndef UPAP_DEFTIMEOUT
+#define UPAP_DEFTIMEOUT 6 /* Timeout (seconds) for retransmitting req */
+#endif
+
+#ifndef UPAP_DEFREQTIME
+#define UPAP_DEFREQTIME 30 /* Time to wait for auth-req from peer */
+#endif
+
+#ifndef CHAP_DEFTIMEOUT
+#define CHAP_DEFTIMEOUT 6 /* Timeout time in seconds */
+#endif
+
+#ifndef CHAP_DEFTRANSMITS
+#define CHAP_DEFTRANSMITS 10 /* max # times to send challenge */
+#endif
+
+/* Interval in seconds between keepalive echo requests, 0 to disable. */
+#ifndef LCP_ECHOINTERVAL
+#define LCP_ECHOINTERVAL 0
+#endif
+
+/* Number of unanswered echo requests before failure. */
+#ifndef LCP_MAXECHOFAILS
+#define LCP_MAXECHOFAILS 3
+#endif
+
+/* Max Xmit idle time (in jiffies) before resend flag char. */
+#ifndef PPP_MAXIDLEFLAG
+#define PPP_MAXIDLEFLAG 100
+#endif
+
+/*
+ * Packet sizes
+ *
+ * Note - lcp shouldn't be allowed to negotiate stuff outside these
+ * limits. See lcp.h in the pppd directory.
+ * (XXX - these constants should simply be shared by lcp.c instead
+ * of living in lcp.h)
+ */
+#define PPP_MTU 1500 /* Default MTU (size of Info field) */
+#ifndef PPP_MAXMTU
+/* #define PPP_MAXMTU 65535 - (PPP_HDRLEN + PPP_FCSLEN) */
+#define PPP_MAXMTU 1500 /* Largest MTU we allow */
+#endif
+#define PPP_MINMTU 64
+#define PPP_MRU 1500 /* default MRU = max length of info field */
+#define PPP_MAXMRU 1500 /* Largest MRU we allow */
+#ifndef PPP_DEFMRU
+#define PPP_DEFMRU 296 /* Try for this */
+#endif
+#define PPP_MINMRU 128 /* No MRUs below this */
+
+#ifndef MAXNAMELEN
+#define MAXNAMELEN 256 /* max length of hostname or name for auth */
+#endif
+#ifndef MAXSECRETLEN
+#define MAXSECRETLEN 256 /* max length of password or secret */
+#endif
+
+#endif /* PPP_SUPPORT */
+
+/*
+ --------------------------------------
+ ---------- Checksum options ----------
+ --------------------------------------
+*/
+/**
+ * CHECKSUM_GEN_IP==1: Generate checksums in software for outgoing IP packets.
+ */
+#ifndef CHECKSUM_GEN_IP
+#define CHECKSUM_GEN_IP 1
+#endif
+
+/**
+ * CHECKSUM_GEN_UDP==1: Generate checksums in software for outgoing UDP packets.
+ */
+#ifndef CHECKSUM_GEN_UDP
+#define CHECKSUM_GEN_UDP 1
+#endif
+
+/**
+ * CHECKSUM_GEN_TCP==1: Generate checksums in software for outgoing TCP packets.
+ */
+#ifndef CHECKSUM_GEN_TCP
+#define CHECKSUM_GEN_TCP 1
+#endif
+
+/**
+ * CHECKSUM_GEN_ICMP==1: Generate checksums in software for outgoing ICMP packets.
+ */
+#ifndef CHECKSUM_GEN_ICMP
+#define CHECKSUM_GEN_ICMP 1
+#endif
+
+/**
+ * CHECKSUM_CHECK_IP==1: Check checksums in software for incoming IP packets.
+ */
+#ifndef CHECKSUM_CHECK_IP
+#define CHECKSUM_CHECK_IP 1
+#endif
+
+/**
+ * CHECKSUM_CHECK_UDP==1: Check checksums in software for incoming UDP packets.
+ */
+#ifndef CHECKSUM_CHECK_UDP
+#define CHECKSUM_CHECK_UDP 1
+#endif
+
+/**
+ * CHECKSUM_CHECK_TCP==1: Check checksums in software for incoming TCP packets.
+ */
+#ifndef CHECKSUM_CHECK_TCP
+#define CHECKSUM_CHECK_TCP 1
+#endif
+
+/**
+ * LWIP_CHECKSUM_ON_COPY==1: Calculate checksum when copying data from
+ * application buffers to pbufs.
+ */
+#ifndef LWIP_CHECKSUM_ON_COPY
+#define LWIP_CHECKSUM_ON_COPY 0
+#endif
+
+/*
+ ---------------------------------------
+ ---------- Hook options ---------------
+ ---------------------------------------
+*/
+
+/* Hooks are undefined by default, define them to a function if you need them. */
+
+/**
+ * LWIP_HOOK_IP4_INPUT(pbuf, input_netif):
+ * - called from ip_input() (IPv4)
+ * - pbuf: received struct pbuf passed to ip_input()
+ * - input_netif: struct netif on which the packet has been received
+ * Return values:
+ * - 0: Hook has not consumed the packet, packet is processed as normal
+ * - != 0: Hook has consumed the packet.
+ * If the hook consumed the packet, 'pbuf' is in the responsibility of the hook
+ * (i.e. free it when done).
+ */
+
+/**
+ * LWIP_HOOK_IP4_ROUTE(dest):
+ * - called from ip_route() (IPv4)
+ * - dest: destination IPv4 address
+ * Returns the destination netif or NULL if no destination netif is found. In
+ * that case, ip_route() continues as normal.
+ */
+
+/*
+ ---------------------------------------
+ ---------- Debugging options ----------
+ ---------------------------------------
+*/
+/**
+ * LWIP_DBG_MIN_LEVEL: After masking, the value of the debug is
+ * compared against this value. If it is smaller, then debugging
+ * messages are written.
+ */
+#ifndef LWIP_DBG_MIN_LEVEL
+#define LWIP_DBG_MIN_LEVEL LWIP_DBG_LEVEL_SERIOUS
+#endif
+
+/**
+ * LWIP_DBG_TYPES_ON: A mask that can be used to globally enable/disable
+ * debug messages of certain types.
+ */
+#ifndef LWIP_DBG_TYPES_ON
+#define LWIP_DBG_TYPES_ON LWIP_DBG_ON
+#endif
+
+/**
+ * ETHARP_DEBUG: Enable debugging in etharp.c.
+ */
+#ifndef ETHARP_DEBUG
+#define ETHARP_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * NETIF_DEBUG: Enable debugging in netif.c.
+ */
+#ifndef NETIF_DEBUG
+#define NETIF_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * PBUF_DEBUG: Enable debugging in pbuf.c.
+ */
+#ifndef PBUF_DEBUG
+#define PBUF_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * API_LIB_DEBUG: Enable debugging in api_lib.c.
+ */
+#ifndef API_LIB_DEBUG
+#define API_LIB_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * API_MSG_DEBUG: Enable debugging in api_msg.c.
+ */
+#ifndef API_MSG_DEBUG
+#define API_MSG_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * SOCKETS_DEBUG: Enable debugging in sockets.c.
+ */
+#ifndef SOCKETS_DEBUG
+#define SOCKETS_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * ICMP_DEBUG: Enable debugging in icmp.c.
+ */
+#ifndef ICMP_DEBUG
+#define ICMP_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * IGMP_DEBUG: Enable debugging in igmp.c.
+ */
+#ifndef IGMP_DEBUG
+#define IGMP_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * INET_DEBUG: Enable debugging in inet.c.
+ */
+#ifndef INET_DEBUG
+#define INET_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * IP_DEBUG: Enable debugging for IP.
+ */
+#ifndef IP_DEBUG
+#define IP_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * IP_REASS_DEBUG: Enable debugging in ip_frag.c for both frag & reass.
+ */
+#ifndef IP_REASS_DEBUG
+#define IP_REASS_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * RAW_DEBUG: Enable debugging in raw.c.
+ */
+#ifndef RAW_DEBUG
+#define RAW_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * MEM_DEBUG: Enable debugging in mem.c.
+ */
+#ifndef MEM_DEBUG
+#define MEM_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * MEMP_DEBUG: Enable debugging in memp.c.
+ */
+#ifndef MEMP_DEBUG
+#define MEMP_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * SYS_DEBUG: Enable debugging in sys.c.
+ */
+#ifndef SYS_DEBUG
+#define SYS_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * TIMERS_DEBUG: Enable debugging in timers.c.
+ */
+#ifndef TIMERS_DEBUG
+#define TIMERS_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * TCP_DEBUG: Enable debugging for TCP.
+ */
+#ifndef TCP_DEBUG
+#define TCP_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * TCP_INPUT_DEBUG: Enable debugging in tcp_in.c for incoming debug.
+ */
+#ifndef TCP_INPUT_DEBUG
+#define TCP_INPUT_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * TCP_FR_DEBUG: Enable debugging in tcp_in.c for fast retransmit.
+ */
+#ifndef TCP_FR_DEBUG
+#define TCP_FR_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * TCP_RTO_DEBUG: Enable debugging in TCP for retransmit
+ * timeout.
+ */
+#ifndef TCP_RTO_DEBUG
+#define TCP_RTO_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * TCP_CWND_DEBUG: Enable debugging for TCP congestion window.
+ */
+#ifndef TCP_CWND_DEBUG
+#define TCP_CWND_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * TCP_WND_DEBUG: Enable debugging in tcp_in.c for window updating.
+ */
+#ifndef TCP_WND_DEBUG
+#define TCP_WND_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * TCP_OUTPUT_DEBUG: Enable debugging in tcp_out.c output functions.
+ */
+#ifndef TCP_OUTPUT_DEBUG
+#define TCP_OUTPUT_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * TCP_RST_DEBUG: Enable debugging for TCP with the RST message.
+ */
+#ifndef TCP_RST_DEBUG
+#define TCP_RST_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * TCP_QLEN_DEBUG: Enable debugging for TCP queue lengths.
+ */
+#ifndef TCP_QLEN_DEBUG
+#define TCP_QLEN_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * UDP_DEBUG: Enable debugging in UDP.
+ */
+#ifndef UDP_DEBUG
+#define UDP_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * TCPIP_DEBUG: Enable debugging in tcpip.c.
+ */
+#ifndef TCPIP_DEBUG
+#define TCPIP_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * PPP_DEBUG: Enable debugging for PPP.
+ */
+#ifndef PPP_DEBUG
+#define PPP_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * SLIP_DEBUG: Enable debugging in slipif.c.
+ */
+#ifndef SLIP_DEBUG
+#define SLIP_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * DHCP_DEBUG: Enable debugging in dhcp.c.
+ */
+#ifndef DHCP_DEBUG
+#define DHCP_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * AUTOIP_DEBUG: Enable debugging in autoip.c.
+ */
+#ifndef AUTOIP_DEBUG
+#define AUTOIP_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * SNMP_MSG_DEBUG: Enable debugging for SNMP messages.
+ */
+#ifndef SNMP_MSG_DEBUG
+#define SNMP_MSG_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * SNMP_MIB_DEBUG: Enable debugging for SNMP MIBs.
+ */
+#ifndef SNMP_MIB_DEBUG
+#define SNMP_MIB_DEBUG LWIP_DBG_OFF
+#endif
+
+/**
+ * DNS_DEBUG: Enable debugging for DNS.
+ */
+#ifndef DNS_DEBUG
+#define DNS_DEBUG LWIP_DBG_OFF
+#endif
+
+#endif /* _LWIPOPTS_H_ */
diff --git a/demos/triskar-r2pgw/include/mcuconf.h b/demos/triskar-r2pgw/include/mcuconf.h
new file mode 100644
index 0000000..717aeee
--- /dev/null
+++ b/demos/triskar-r2pgw/include/mcuconf.h
@@ -0,0 +1,262 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011,2012 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+*/
+
+/*
+ * STM32F4xx drivers configuration.
+ * The following settings override the default settings present in
+ * the various device driver implementation headers.
+ * Note that the settings for each driver only have effect if the whole
+ * driver is enabled in halconf.h.
+ *
+ * IRQ priorities:
+ * 15...0 Lowest...Highest.
+ *
+ * DMA priorities:
+ * 0...3 Lowest...Highest.
+ */
+
+#define STM32F4xx_MCUCONF
+
+/*
+ * HAL driver system settings.
+ */
+#define STM32_NO_INIT FALSE
+#define STM32_HSI_ENABLED TRUE
+#define STM32_LSI_ENABLED TRUE
+#define STM32_HSE_ENABLED TRUE
+#define STM32_LSE_ENABLED FALSE
+#define STM32_CLOCK48_REQUIRED TRUE
+#define STM32_SW STM32_SW_PLL
+
+#define STM32_PLLSRC STM32_PLLSRC_HSE
+#define STM32_PLLM_VALUE 8
+#define STM32_PLLN_VALUE 336
+#define STM32_PLLP_VALUE 2
+#define STM32_PLLQ_VALUE 7
+
+#define STM32_HPRE STM32_HPRE_DIV1
+#define STM32_PPRE1 STM32_PPRE1_DIV4
+#define STM32_PPRE2 STM32_PPRE2_DIV2
+#define STM32_RTCSEL STM32_RTCSEL_LSI
+#define STM32_RTCPRE_VALUE 8
+#define STM32_MCO1SEL STM32_MCO1SEL_PLL
+#define STM32_MCO1PRE STM32_MCO1PRE_DIV1
+#define STM32_MCO2SEL STM32_MCO2SEL_SYSCLK
+#define STM32_MCO2PRE STM32_MCO2PRE_DIV5
+#define STM32_I2SSRC STM32_I2SSRC_CKIN
+#define STM32_PLLI2SN_VALUE 192
+#define STM32_PLLI2SR_VALUE 5
+#define STM32_VOS STM32_VOS_HIGH
+#define STM32_PVD_ENABLE FALSE
+#define STM32_PLS STM32_PLS_LEV0
+
+/*
+ * ADC driver system settings.
+ */
+#define STM32_ADC_ADCPRE ADC_CCR_ADCPRE_DIV4
+#define STM32_ADC_USE_ADC1 FALSE
+#define STM32_ADC_USE_ADC2 FALSE
+#define STM32_ADC_USE_ADC3 FALSE
+#define STM32_ADC_ADC1_DMA_STREAM STM32_DMA_STREAM_ID(2, 4)
+#define STM32_ADC_ADC2_DMA_STREAM STM32_DMA_STREAM_ID(2, 2)
+#define STM32_ADC_ADC3_DMA_STREAM STM32_DMA_STREAM_ID(2, 1)
+#define STM32_ADC_ADC1_DMA_PRIORITY 2
+#define STM32_ADC_ADC2_DMA_PRIORITY 2
+#define STM32_ADC_ADC3_DMA_PRIORITY 2
+#define STM32_ADC_IRQ_PRIORITY 6
+#define STM32_ADC_ADC1_DMA_IRQ_PRIORITY 6
+#define STM32_ADC_ADC2_DMA_IRQ_PRIORITY 6
+#define STM32_ADC_ADC3_DMA_IRQ_PRIORITY 6
+
+/*
+ * CAN driver system settings.
+ */
+#define STM32_CAN_USE_CAN1 TRUE
+#define STM32_CAN_USE_CAN2 FALSE
+#define STM32_CAN_CAN1_IRQ_PRIORITY 11
+#define STM32_CAN_CAN2_IRQ_PRIORITY 11
+
+/*
+ * EXT driver system settings.
+ */
+#define STM32_EXT_EXTI0_IRQ_PRIORITY 6
+#define STM32_EXT_EXTI1_IRQ_PRIORITY 6
+#define STM32_EXT_EXTI2_IRQ_PRIORITY 6
+#define STM32_EXT_EXTI3_IRQ_PRIORITY 6
+#define STM32_EXT_EXTI4_IRQ_PRIORITY 6
+#define STM32_EXT_EXTI5_9_IRQ_PRIORITY 6
+#define STM32_EXT_EXTI10_15_IRQ_PRIORITY 6
+#define STM32_EXT_EXTI16_IRQ_PRIORITY 6
+#define STM32_EXT_EXTI17_IRQ_PRIORITY 15
+#define STM32_EXT_EXTI18_IRQ_PRIORITY 6
+#define STM32_EXT_EXTI19_IRQ_PRIORITY 6
+#define STM32_EXT_EXTI20_IRQ_PRIORITY 6
+#define STM32_EXT_EXTI21_IRQ_PRIORITY 15
+#define STM32_EXT_EXTI22_IRQ_PRIORITY 15
+
+/*
+ * GPT driver system settings.
+ */
+#define STM32_GPT_USE_TIM1 FALSE
+#define STM32_GPT_USE_TIM2 FALSE
+#define STM32_GPT_USE_TIM3 TRUE
+#define STM32_GPT_USE_TIM4 FALSE
+#define STM32_GPT_USE_TIM5 FALSE
+#define STM32_GPT_USE_TIM8 FALSE
+#define STM32_GPT_TIM1_IRQ_PRIORITY 7
+#define STM32_GPT_TIM2_IRQ_PRIORITY 7
+#define STM32_GPT_TIM3_IRQ_PRIORITY 7
+#define STM32_GPT_TIM4_IRQ_PRIORITY 7
+#define STM32_GPT_TIM5_IRQ_PRIORITY 7
+#define STM32_GPT_TIM8_IRQ_PRIORITY 7
+
+/*
+ * I2C driver system settings.
+ */
+#define STM32_I2C_USE_I2C1 FALSE
+#define STM32_I2C_USE_I2C2 FALSE
+#define STM32_I2C_USE_I2C3 FALSE
+#define STM32_I2C_I2C1_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
+#define STM32_I2C_I2C1_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
+#define STM32_I2C_I2C2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
+#define STM32_I2C_I2C2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
+#define STM32_I2C_I2C3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
+#define STM32_I2C_I2C3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
+#define STM32_I2C_I2C1_IRQ_PRIORITY 5
+#define STM32_I2C_I2C2_IRQ_PRIORITY 5
+#define STM32_I2C_I2C3_IRQ_PRIORITY 5
+#define STM32_I2C_I2C1_DMA_PRIORITY 3
+#define STM32_I2C_I2C2_DMA_PRIORITY 3
+#define STM32_I2C_I2C3_DMA_PRIORITY 3
+#define STM32_I2C_I2C1_DMA_ERROR_HOOK() chSysHalt()
+#define STM32_I2C_I2C2_DMA_ERROR_HOOK() chSysHalt()
+#define STM32_I2C_I2C3_DMA_ERROR_HOOK() chSysHalt()
+
+/*
+ * ICU driver system settings.
+ */
+#define STM32_ICU_USE_TIM1 FALSE
+#define STM32_ICU_USE_TIM2 FALSE
+#define STM32_ICU_USE_TIM3 FALSE
+#define STM32_ICU_USE_TIM4 FALSE
+#define STM32_ICU_USE_TIM5 FALSE
+#define STM32_ICU_USE_TIM8 FALSE
+#define STM32_ICU_TIM1_IRQ_PRIORITY 7
+#define STM32_ICU_TIM2_IRQ_PRIORITY 7
+#define STM32_ICU_TIM3_IRQ_PRIORITY 7
+#define STM32_ICU_TIM4_IRQ_PRIORITY 7
+#define STM32_ICU_TIM5_IRQ_PRIORITY 7
+#define STM32_ICU_TIM8_IRQ_PRIORITY 7
+
+/*
+ * PWM driver system settings.
+ */
+#define STM32_PWM_USE_ADVANCED FALSE
+#define STM32_PWM_USE_TIM1 FALSE
+#define STM32_PWM_USE_TIM2 FALSE
+#define STM32_PWM_USE_TIM3 FALSE
+#define STM32_PWM_USE_TIM4 FALSE
+#define STM32_PWM_USE_TIM5 FALSE
+#define STM32_PWM_USE_TIM8 FALSE
+#define STM32_PWM_TIM1_IRQ_PRIORITY 7
+#define STM32_PWM_TIM2_IRQ_PRIORITY 7
+#define STM32_PWM_TIM3_IRQ_PRIORITY 7
+#define STM32_PWM_TIM4_IRQ_PRIORITY 7
+#define STM32_PWM_TIM5_IRQ_PRIORITY 7
+#define STM32_PWM_TIM8_IRQ_PRIORITY 7
+
+/*
+ * SERIAL driver system settings.
+ */
+#define STM32_SERIAL_USE_USART1 TRUE
+#define STM32_SERIAL_USE_USART2 FALSE
+#define STM32_SERIAL_USE_USART3 FALSE
+#define STM32_SERIAL_USE_UART4 FALSE
+#define STM32_SERIAL_USE_UART5 FALSE
+#define STM32_SERIAL_USE_USART6 FALSE
+#define STM32_SERIAL_USART1_PRIORITY 12
+#define STM32_SERIAL_USART2_PRIORITY 12
+#define STM32_SERIAL_USART3_PRIORITY 12
+#define STM32_SERIAL_UART4_PRIORITY 12
+#define STM32_SERIAL_UART5_PRIORITY 12
+#define STM32_SERIAL_USART6_PRIORITY 12
+
+/*
+ * SPI driver system settings.
+ */
+#define STM32_SPI_USE_SPI1 FALSE
+#define STM32_SPI_USE_SPI2 FALSE
+#define STM32_SPI_USE_SPI3 FALSE
+#define STM32_SPI_SPI1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 0)
+#define STM32_SPI_SPI1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
+#define STM32_SPI_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
+#define STM32_SPI_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
+#define STM32_SPI_SPI3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
+#define STM32_SPI_SPI3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
+#define STM32_SPI_SPI1_DMA_PRIORITY 1
+#define STM32_SPI_SPI2_DMA_PRIORITY 1
+#define STM32_SPI_SPI3_DMA_PRIORITY 1
+#define STM32_SPI_SPI1_IRQ_PRIORITY 10
+#define STM32_SPI_SPI2_IRQ_PRIORITY 10
+#define STM32_SPI_SPI3_IRQ_PRIORITY 10
+#define STM32_SPI_DMA_ERROR_HOOK(spip) chSysHalt()
+
+/*
+ * UART driver system settings.
+ */
+#define STM32_UART_USE_USART1 FALSE
+#define STM32_UART_USE_USART2 FALSE
+#define STM32_UART_USE_USART3 FALSE
+#define STM32_UART_USE_USART6 FALSE
+#define STM32_UART_USART1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 5)
+#define STM32_UART_USART1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 7)
+#define STM32_UART_USART2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
+#define STM32_UART_USART2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
+#define STM32_UART_USART3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 1)
+#define STM32_UART_USART3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
+#define STM32_UART_USART6_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 2)
+#define STM32_UART_USART6_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 7)
+#define STM32_UART_USART1_IRQ_PRIORITY 12
+#define STM32_UART_USART2_IRQ_PRIORITY 12
+#define STM32_UART_USART3_IRQ_PRIORITY 12
+#define STM32_UART_USART6_IRQ_PRIORITY 12
+#define STM32_UART_USART1_DMA_PRIORITY 0
+#define STM32_UART_USART2_DMA_PRIORITY 0
+#define STM32_UART_USART3_DMA_PRIORITY 0
+#define STM32_UART_USART6_DMA_PRIORITY 0
+#define STM32_UART_DMA_ERROR_HOOK(uartp) chSysHalt()
+
+/*
+ * USB driver system settings.
+ */
+#define STM32_USB_USE_OTG1 TRUE
+#define STM32_USB_USE_OTG2 FALSE
+#define STM32_USB_OTG1_IRQ_PRIORITY 14
+#define STM32_USB_OTG2_IRQ_PRIORITY 14
+#define STM32_USB_OTG1_RX_FIFO_SIZE 512
+#define STM32_USB_OTG2_RX_FIFO_SIZE 1024
+#define STM32_USB_OTG_THREAD_PRIO LOWPRIO
+#define STM32_USB_OTG_THREAD_STACK_SIZE 128
+#define STM32_USB_OTGFIFO_FILL_BASEPRI 0
+
+/*
+ * MAC driver system settings.
+ */
+#define STM32_MAC_PHY_TIMEOUT 1000
diff --git a/demos/triskar-r2pgw/include/r2config.h b/demos/triskar-r2pgw/include/r2config.h
new file mode 100644
index 0000000..4c0ae81
--- /dev/null
+++ b/demos/triskar-r2pgw/include/r2config.h
@@ -0,0 +1,16 @@
+#ifndef __R2CONFIG_H__
+#define __R2CONFIG_H__
+
+#include "transport/LedTransport.hpp"
+#include "transport/RTcan.hpp"
+
+/*
+ * R2P middleware configuration structure
+ */
+
+struct Config
+{
+ typedef RTcan Transport;
+};
+
+#endif /* __R2CONFIG_H__ */
diff --git a/demos/triskar-r2pgw/include/topics.h b/demos/triskar-r2pgw/include/topics.h
new file mode 100644
index 0000000..ab5a396
--- /dev/null
+++ b/demos/triskar-r2pgw/include/topics.h
@@ -0,0 +1,64 @@
+#ifndef TOPICS_H_
+#define TOPICS_H_
+
+#include "Middleware.hpp"
+
+#define LED23_ID 1001
+#define LED2_ID 1012
+#define LED3_ID 1013
+#define LED4_ID 1014
+
+#define PWM123_ID 2001
+#define PWM1_ID 2011
+#define PWM2_ID 2012
+#define PWM3_ID 2013
+#define QEI1_ID 2021
+#define QEI2_ID 2022
+#define QEI3_ID 2023
+#define SPEED123_ID 2030
+#define PIDSETUP_ID 2040
+
+class Led: public BaseMessage {
+public:
+ uint8_t pin;
+ bool_t set;
+}__attribute__((packed));
+
+class PWM: public BaseMessage {
+public:
+ int16_t pwm;
+}__attribute__((packed));
+
+class PWM3: public BaseMessage {
+public:
+ int16_t pwm1;
+ int16_t pwm2;
+ int16_t pwm3;
+}__attribute__((packed));
+
+class QEI: public BaseMessage {
+public:
+ uint16_t value;
+ uint32_t timestamp;
+}__attribute__((packed));
+
+class SpeedSetpoint: public BaseMessage {
+public:
+ int16_t speed;
+}__attribute__((packed));
+
+class SpeedSetpoint3: public BaseMessage {
+public:
+ int16_t speed1;
+ int16_t speed2;
+ int16_t speed3;
+}__attribute__((packed));
+
+class PIDSetup: public BaseMessage {
+public:
+ int16_t kp;
+ int16_t ki;
+ int16_t kd;
+}__attribute__((packed));
+
+#endif /* TOPICS_H_ */
diff --git a/demos/triskar-r2pgw/include/urosHandlers.h b/demos/triskar-r2pgw/include/urosHandlers.h
new file mode 100644
index 0000000..591b78a
--- /dev/null
+++ b/demos/triskar-r2pgw/include/urosHandlers.h
@@ -0,0 +1,97 @@
+/*
+Copyright (c) 2012-2013, Politecnico di Milano. All rights reserved.
+
+Andrea Zoppi
+Martino Migliavacca
+
+http://airlab.elet.polimi.it/
+http://www.openrobots.com/
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/**
+ * @file urosHandlers.h
+ * @author Andrea Zoppi
+ *
+ * @brief TCPROS topic and service handlers.
+ */
+
+#ifndef _UROSHANDLERS_H_
+#define _UROSHANDLERS_H_
+
+/*===========================================================================*/
+/* HEADER FILES */
+/*===========================================================================*/
+
+#include "urosMsgTypes.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*===========================================================================*/
+/* PUBLISHED TOPIC PROTOTYPES */
+/*===========================================================================*/
+
+/*~~~ PUBLISHED TOPIC: /triskar/proximity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+uros_err_t pub_tpc__triskar__proximity(UrosTcpRosStatus *tcpstp);
+
+/*===========================================================================*/
+/* SUBSCRIBED TOPIC PROTOTYPES */
+/*===========================================================================*/
+
+/*~~~ SUBSCRIBED TOPIC: /triskar/velocity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+uros_err_t sub_tpc__triskar__velocity(UrosTcpRosStatus *tcpstp);
+
+/*===========================================================================*/
+/* PUBLISHED SERVICE PROTOTYPES */
+/*===========================================================================*/
+
+/* There are no published services.*/
+
+/*===========================================================================*/
+/* CALLED SERVICE PROTOTYPES */
+/*===========================================================================*/
+
+/* There are no called services.*/
+
+/*===========================================================================*/
+/* GLOBAL PROTOTYPES */
+/*===========================================================================*/
+
+void urosHandlersPublishTopics(void);
+void urosHandlersUnpublishTopics(void);
+
+void urosHandlersSubscribeTopics(void);
+void urosHandlersUnsubscribeTopics(void);
+
+void urosHandlersPublishServices(void);
+void urosHandlersUnpublishServices(void);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* _UROSHANDLERS_H_ */
+
diff --git a/demos/triskar-r2pgw/include/urosMsgTypes.h b/demos/triskar-r2pgw/include/urosMsgTypes.h
new file mode 100644
index 0000000..bce974c
--- /dev/null
+++ b/demos/triskar-r2pgw/include/urosMsgTypes.h
@@ -0,0 +1,187 @@
+/*
+Copyright (c) 2012-2013, Politecnico di Milano. All rights reserved.
+
+Andrea Zoppi
+Martino Migliavacca
+
+http://airlab.elet.polimi.it/
+http://www.openrobots.com/
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/**
+ * @file urosMsgTypes.h
+ * @author Andrea Zoppi
+ *
+ * @brief TCPROS message and service descriptors.
+ */
+
+#ifndef _UROSMSGTYPES_H_
+#define _UROSMSGTYPES_H_
+
+/*===========================================================================*/
+/* HEADER FILES */
+/*===========================================================================*/
+
+#include
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*===========================================================================*/
+/* MESSAGE TYPES */
+/*===========================================================================*/
+
+/** @addtogroup tcpros_msg_types */
+/** @{ */
+
+/*~~~ MESSAGE: triskar/Proximity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/**
+ * @brief TCPROS triskar/Proximity message descriptor.
+ * @details MD5 sum: e375dcd2b74602ba85b8ccd90a2e7d70.
+ */
+struct msg__triskar__Proximity {
+ float proximities[4];
+};
+
+/*~~~ MESSAGE: triskar/Velocity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/**
+ * @brief TCPROS triskar/Velocity message descriptor.
+ * @details MD5 sum: 23d55db697c48d93db1057083ac92653.
+ */
+struct msg__triskar__Velocity {
+ float strafe;
+ float forward;
+ float angular;
+};
+
+/** @} */
+
+/*===========================================================================*/
+/* SERVICE TYPES */
+/*===========================================================================*/
+
+/** @addtogroup tcpros_srv_types */
+/** @{ */
+
+/* There are no service types.*/
+
+/** @} */
+
+/*===========================================================================*/
+/* MESSAGE CONSTANTS */
+/*===========================================================================*/
+
+/** @addtogroup tcpros_msg_consts */
+/** @{ */
+
+/*~~~ MESSAGE: triskar/Proximity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name Message triskar/Proximity */
+/** @{ */
+
+#define msg__triskar__Proximity__NUM_SENSORS ((uint32_t)4)
+#define msg__triskar__Proximity__EAST ((uint32_t)0)
+#define msg__triskar__Proximity__NORTH ((uint32_t)1)
+#define msg__triskar__Proximity__WEST ((uint32_t)2)
+#define msg__triskar__Proximity__SOUTH ((uint32_t)3)
+
+/** @} */
+
+/** @} */
+
+/*===========================================================================*/
+/* SERVICE CONSTANTS */
+/*===========================================================================*/
+
+/** @addtogroup tcpros_srv_consts */
+/** @{ */
+
+/* There are no service costants.*/
+
+/** @} */
+
+/*===========================================================================*/
+/* MESSAGE PROTOTYPES */
+/*===========================================================================*/
+
+/*~~~ MESSAGE: triskar/Proximity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+size_t length_msg__triskar__Proximity(
+ struct msg__triskar__Proximity *objp
+);
+void init_msg__triskar__Proximity(
+ struct msg__triskar__Proximity *objp
+);
+void clean_msg__triskar__Proximity(
+ struct msg__triskar__Proximity *objp
+);
+uros_err_t recv_msg__triskar__Proximity(
+ UrosTcpRosStatus *tcpstp,
+ struct msg__triskar__Proximity *objp
+);
+uros_err_t send_msg__triskar__Proximity(
+ UrosTcpRosStatus *tcpstp,
+ struct msg__triskar__Proximity *objp
+);
+
+/*~~~ MESSAGE: triskar/Velocity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+size_t length_msg__triskar__Velocity(
+ struct msg__triskar__Velocity *objp
+);
+void init_msg__triskar__Velocity(
+ struct msg__triskar__Velocity *objp
+);
+void clean_msg__triskar__Velocity(
+ struct msg__triskar__Velocity *objp
+);
+uros_err_t recv_msg__triskar__Velocity(
+ UrosTcpRosStatus *tcpstp,
+ struct msg__triskar__Velocity *objp
+);
+uros_err_t send_msg__triskar__Velocity(
+ UrosTcpRosStatus *tcpstp,
+ struct msg__triskar__Velocity *objp
+);
+
+/*===========================================================================*/
+/* SERVICE PROTOTYPES */
+/*===========================================================================*/
+
+/* There are no service types.*/
+
+/*===========================================================================*/
+/* GLOBAL PROTOTYPES */
+/*===========================================================================*/
+
+void urosMsgTypesRegStaticTypes(void);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* _UROSMSGTYPES_H_ */
+
diff --git a/demos/triskar-r2pgw/include/urosconf.h b/demos/triskar-r2pgw/include/urosconf.h
new file mode 100644
index 0000000..f37c84e
--- /dev/null
+++ b/demos/triskar-r2pgw/include/urosconf.h
@@ -0,0 +1,462 @@
+/*
+Copyright (c) 2012-2013, Politecnico di Milano. All rights reserved.
+
+Andrea Zoppi
+Martino Migliavacca
+
+http://airlab.elet.polimi.it/
+http://www.openrobots.com/
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/**
+ * @file urosconf.h
+ * @author Andrea Zoppi
+ *
+ * @brief User definitions for middleware configuration.
+ */
+
+#ifndef _UROSCONF_H_
+#define _UROSCONF_H_
+
+/*===========================================================================*/
+/* HEADER FILES */
+/*===========================================================================*/
+
+#include
+#include
+
+#include
+#include
+
+/*===========================================================================*/
+/* NODE CONFIGURATION */
+/*===========================================================================*/
+
+/** @addtogroup node_config */
+/** @{ */
+
+/** @name Configuration */
+/** @{ */
+
+/** @brief Default ROS node name, C string.*/
+#define UROS_NODE_NAME "/triskar"
+
+/** @brief Node thread priorty.*/
+#define UROS_NODE_THREAD_PRIO (LOWPRIO + 1)
+
+/** @brief Node thread stack size.*/
+#define UROS_NODE_THREAD_STKSIZE 2048
+
+/** @} */
+/** @} */
+
+/*===========================================================================*/
+/* XMLRPC CONFIGURATION */
+/*===========================================================================*/
+
+/** @addtogroup rpc_config */
+/** @{ */
+
+/*~~~ MASTER CONFIGURATION ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name XMLRPC Master configuration */
+/** @{ */
+
+/** @brief Default Master server IP address, little-endian dword.*/
+#define UROS_XMLRPC_MASTER_IP urosIpDword(192, 168, 0, 20)
+
+/** @brief Default Master server IP address, C string.*/
+#define UROS_XMLRPC_MASTER_IP_SZ "192.168.0.20"
+
+/** @brief Default Master server port.*/
+#define UROS_XMLRPC_MASTER_PORT 11311
+
+/** @} */
+
+/*~~~ LISTENER CONFIGURATION ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name XMLRPC listener configuration */
+/** @{ */
+
+/** @brief Default XMLRPC listener IP address, little-endian dword.*/
+#define UROS_XMLRPC_LISTENER_IP urosIpDword(192, 168, 0, 88)
+
+/** @brief Default XMLRPC listener IP address, C string.*/
+#define UROS_XMLRPC_LISTENER_IP_SZ "192.168.0.88"
+
+/** @brief Default XMLRPC listener port.*/
+#define UROS_XMLRPC_LISTENER_PORT 33333
+
+/** @brief Maximum concurrent connections for XMLRPC Slave API.*/
+#define UROS_XMLRPC_LISTENER_BACKLOG 4
+
+/** @brief XMLRPC listener thread priority.*/
+#define UROS_XMLRPC_LISTENER_PRIO (LOWPRIO + 2)
+
+/** @brief XMLRPC listener thread stack size.*/
+#define UROS_XMLRPC_LISTENER_STKSIZE 2048
+
+/** @} */
+
+/*~~~ SLAVE CONFIGURATION ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name XMLRPC Slave configuration */
+/** @{ */
+
+/** @brief XMLRPC Slave server thread pool size.*/
+#define UROS_XMLRPC_SLAVE_POOLSIZE 4
+
+/** @brief XMLRPC Slave server thread priority.*/
+#define UROS_XMLRPC_SLAVE_PRIO (LOWPRIO + 4)
+
+/** @brief XMLRPC Slave server thread stack size.*/
+#define UROS_XMLRPC_SLAVE_STKSIZE 2048
+
+/** @} */
+
+/*~~~ OTHER OPTIONS ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name XMLRPC timeouts configuration */
+/** @{ */
+
+/** @brief Default timeout for incoming XMLRPC transactions, in milliseconds.*/
+#define UROS_XMLRPC_RECVTIMEOUT 3000
+
+/** @brief Default timeout for outgoing XMLRPC transactions, in milliseconds.*/
+#define UROS_XMLRPC_SENDTIMEOUT 3000
+
+/** @} */
+/** @} */
+
+/*===========================================================================*/
+/* TCPROS CONFIGURATION */
+/*===========================================================================*/
+
+/** @addtogroup tcpros_config */
+/** @{ */
+
+/*~~~ LISTENER CONFIGURATION ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name TCPROS listener configuration */
+/** @{ */
+
+/** @brief Default TCPROS listener IP address, little-endian dword.*/
+#define UROS_TCPROS_LISTENER_IP UROS_XMLRPC_LISTENER_IP
+
+/** @brief Default TCPROS listener IP address, C string.*/
+#define UROS_TCPROS_LISTENER_IP_SZ UROS_XMLRPC_LISTENER_IP_SZ
+
+/** @brief Default TCPROS listener port.*/
+#define UROS_TCPROS_LISTENER_PORT 44444
+
+/** @brief Maximum number of partially set up TCPROS connections.*/
+#define UROS_TCPROS_LISTENER_BACKLOG 4
+
+/** @brief TCPROS listener thread priority.*/
+#define UROS_TCPROS_LISTENER_PRIO (LOWPRIO + 5)
+
+/** @brief TCPROS listener thread stack size.*/
+#define UROS_TCPROS_LISTENER_STKSIZE 1536
+
+/** @} */
+
+/*~~~ CLIENT CONFIGURATION ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name TCPROS Client configuration */
+/** @{ */
+
+/** @brief TCPROS Client thread pool size.*/
+#define UROS_TCPROS_CLIENT_POOLSIZE 4
+
+/** @brief TCPROS Client thread priority.*/
+#define UROS_TCPROS_CLIENT_PRIO (NORMALPRIO + 1)
+
+/** @brief TCPROS Client thread stack size.*/
+#define UROS_TCPROS_CLIENT_STKSIZE 1536
+
+/** @} */
+
+/*~~~ SERVER CONFIGURATION ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name TCPROS Server configuration */
+/** @{ */
+
+/** @brief TCPROS Server thread pool size.*/
+#define UROS_TCPROS_SERVER_POOLSIZE 4
+
+/** @brief TCPROS Server thread priority.*/
+#define UROS_TCPROS_SERVER_PRIO (NORMALPRIO + 2)
+
+/** @brief TCPROS server thread stack size.*/
+#define UROS_TCPROS_SERVER_STKSIZE 1536
+
+/** @} */
+
+/*~~~ MISC OPTIONS `~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name TCPROS misc options */
+/** @{ */
+
+/** @brief Reads the message definition, instead of skipping it.*/
+#define UROS_TCPROS_USE_MSGDEF 0
+
+/** @} */
+
+/** @name TCPROS timeouts configuration */
+/** @{ */
+
+/** @brief Default timeout for incoming TCPROS transactions, in milliseconds.*/
+#define UROS_TCPROS_RECVTIMEOUT 1000
+
+/** @brief Default timeout for outgoing TCPROS transactions, in milliseconds.*/
+#define UROS_TCPROS_SENDTIMEOUT 1000
+
+/** @} */
+/** @} */
+
+/*===========================================================================*/
+/* INTERNAL MODULES CONFIGURATION */
+/*===========================================================================*/
+
+/** @addtogroup rpc_config */
+/** @{ */
+
+/*~~~ XMLRPC PARSER OPTIONS ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name XMLRPC parser configuration */
+/** @{ */
+
+/** @brief Default length of the reading buffer.*/
+#define UROS_RPCPARSER_RDBUFLEN 256
+
+/** @brief Reads the status message, instead of skipping it.*/
+#define UROS_RPCPARSER_USE_STATMSG 0
+
+/** @} */
+
+/*~~~ XMLRPC STREAMER OPTIONS ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name XMLRPC streamer configuration */
+/** @{ */
+
+/** @brief Fixed Content-Length, when the message spans more packets.*/
+#define UROS_RPCSTREAMER_FIXLEN 4000
+
+/** @} */
+/** @} */
+
+/*~~~ MISC OPTIONS ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~`*/
+
+/** @addtogroup conn_config */
+/** @{ */
+
+/** @name Connectivity configuration */
+/** @{ */
+
+/** @brief Size of a MTU.*/
+#define UROS_MTU_SIZE 1500
+
+/** @} */
+/** @} */
+
+/*===========================================================================*/
+/* FEATURE FLAGS */
+/*===========================================================================*/
+
+/** @addtogroup base_config */
+/** @{ */
+
+/*~~~ GLOBAL SWITCHES ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name Global switches */
+/** @{ */
+
+/** @brief Uses the built-in memory pool.*/
+#define UROS_USE_BUILTIN_MEMPOOL 0
+
+/** @brief Enables assertion evaluations.*/
+#define UROS_USE_ASSERT 1
+
+/** @brief Enables error messages.*/
+#define UROS_USE_ERROR_MSG 0
+
+/** @} */
+
+/*~~~ PER-FILE ASSERTION SWITCHES ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name Assertion switches */
+/** @{ */
+
+/** @brief Enables assertions for urosBase.c.*/
+#define UROS_BASE_C_USE_ASSERT 1
+
+/** @brief Enables assertions for urosConn.c.*/
+#define UROS_CONN_C_USE_ASSERT 1
+
+/** @brief Enables assertions for urosNode.c.*/
+#define UROS_NODE_C_USE_ASSERT 1
+
+/** @brief Enables assertions for urosRpcCall.c.*/
+#define UROS_RPCCALL_C_USE_ASSERT 1
+
+/** @brief Enables assertions for urosRpcParser.c.*/
+#define UROS_RPCPARSER_C_USE_ASSERT 1
+
+/** @brief Enables assertions for urosRpcSlave.c.*/
+#define UROS_RPCSLAVE_C_USE_ASSERT 1
+
+/** @brief Enables assertions for urosRpcStreamer.c.*/
+#define UROS_RPCSTREAMER_C_USE_ASSERT 1
+
+/** @brief Enables assertions for urosTcpRos.c.*/
+#define UROS_TCPROS_C_USE_ASSERT 1
+
+/** @brief Enables assertions for urosThreading.c.*/
+#define UROS_THREADING_C_USE_ASSERT 1
+
+/** @} */
+
+/*~~~ PER-FILE ERROR MESSAGE SWITCHES ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name Error message switches */
+/** @{ */
+
+/** @brief Enables error messages for urosBase.c.*/
+#define UROS_BASE_C_USE_ERROR_MSG 1
+
+/** @brief Enables error messages for urosConn.c.*/
+#define UROS_CONN_C_USE_ERROR_MSG 1
+
+/** @brief Enables error messages for urosNode.c.*/
+#define UROS_NODE_C_USE_ERROR_MSG 1
+
+/** @brief Enables error messages for urosRpcCall.c.*/
+#define UROS_RPC_CALL_C_USE_ERROR_MSG 1
+
+/** @brief Enables error messages for urosRpcParser.c.*/
+#define UROS_RPCPARSER_C_USE_ERROR_MSG 1
+
+/** @brief Enables error messages for urosRpcSlave.c.*/
+#define UROS_RPCSLAVE_C_USE_ERROR_MSG 1
+
+/** @brief Enables error messages for urosRpcStreamer.c.*/
+#define UROS_RPCSTREAMER_C_USE_ERROR_MSG 1
+
+/** @brief Enables error messages for urosTcpRos.c.*/
+#define UROS_TCPROS_C_USE_ERROR_MSG 1
+
+/** @brief Enables error messages for urosThreading.c.*/
+#define UROS_THREADING_C_USE_ERROR_MSG 1
+
+/** @} */
+/** @} */
+
+/*===========================================================================*/
+/* USER MACROS */
+/*===========================================================================*/
+
+#if !defined(__DOXYGEN__)
+/* Define your own macros below.*/
+
+#define UROS_STACK_BLKSIZE(stksize) \
+ THD_WA_SIZE(stksize)
+
+#define UROS_STACK(varname, stksize) \
+ WORKING_AREA((varname), (size_t)(stksize))
+
+#define UROS_STACKPOOL_BLKSIZE(stksize) \
+ THD_WA_SIZE(sizeof(void*) + (size_t)(stksize))
+
+#define UROS_STACKPOOL(arrname, stksize, numstacks) \
+ stkalign_t arrname[(numstacks)] \
+ [UROS_STACKPOOL_BLKSIZE(stksize) / sizeof(stkalign_t)]
+
+#define urosAssert(expr) \
+ chDbgCheck((expr), "Assert "__FILE__":"UROS_STRINGIFY2(__LINE__)" failed ("#expr")")
+
+/* msgargs as ("format", ...) */
+#define urosError(when, action, msgargs) \
+ { if (when) { \
+ chprintf("Error at %s:%d\n" \
+ " function: %s\n" \
+ " reason: %s\n" \
+ " message: ", \
+ __FILE__, __LINE__, __PRETTY_FUNCTION__, #when); \
+ /*chprintf msgargs ;*/ \
+ { action; } } }
+
+#endif /* !defined(__DOXYGEN__) */
+
+/*===========================================================================*/
+/* PLATFORM-DEPENDENT TYPES */
+/*===========================================================================*/
+
+/** @addtogroup base_types */
+/** @{ */
+
+/** @brief Error type, compatible with thread return type.*/
+typedef msg_t uros_err_t;
+
+/** @brief Heap type.*/
+typedef MemoryHeap UrosMemHeap;
+
+/** @brief Memory pool type, platform-dependent.*/
+typedef MemoryPool UrosMemPool;
+
+/** @} */
+
+/** @addtogroup threading_types */
+/** @{ */
+
+/** @brief Thread ID type, platform-dependent.*/
+typedef Thread *UrosThreadId;
+/** @brief Invalid thread ID.*/
+#define UROS_NULL_THREADID (NULL)
+
+/** @brief Thread priority type, platform-dependent.*/
+typedef tprio_t uros_prio_t;
+
+/** @brief Semaphore type, platform-dependent.*/
+typedef Semaphore UrosSem;
+
+/** @brief Mutex type, platform-dependent.*/
+typedef Mutex UrosMutex;
+
+/** @brief Condvar type, platform-dependent.*/
+typedef CondVar UrosCondVar;
+
+/** @} */
+
+/** @addtogroup base_macros */
+/** @{ */
+
+/** @brief Platform-dependent variables for @p UrosConn.*/
+#define UrosConn__LLD \
+ int8_t lwiperr; /**< @brief Last Netconn error code. FIXME: Already stored by LWIP.*/ \
+ struct netconn *netconnp; /**< @brief Netconn object pointer.*/ \
+ struct netbuf *recvnetbufp; /**< @brief Current received buffer.*/ \
+ size_t recvchkoff; /**< @brief Offset inside the current Netbuf chunk.*/
+
+/** @} */
+
+#endif /* _UROSCONF_H_ */
diff --git a/demos/triskar-r2pgw/misc/STM32F407xE_CCM.ld b/demos/triskar-r2pgw/misc/STM32F407xE_CCM.ld
new file mode 100644
index 0000000..701a298
--- /dev/null
+++ b/demos/triskar-r2pgw/misc/STM32F407xE_CCM.ld
@@ -0,0 +1,173 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011,2012,2013 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+*/
+
+/*
+ * ST32F407xG memory setup.
+ */
+__main_stack_size__ = 0x0400;
+__process_stack_size__ = 0x0400;
+
+MEMORY
+{
+ flash : org = 0x08000000, len = 512k
+ ram : org = 0x20000000, len = 112k
+ ethram : org = 0x2001C000, len = 16k
+ ccmram : org = 0x10000000, len = 64k
+}
+
+__ram_start__ = ORIGIN(ram);
+__ram_size__ = LENGTH(ram);
+__ram_end__ = __ram_start__ + __ram_size__;
+
+SECTIONS
+{
+ . = 0;
+ _text = .;
+
+ startup : ALIGN(16) SUBALIGN(16)
+ {
+ KEEP(*(vectors))
+ } > flash
+
+ constructors : ALIGN(4) SUBALIGN(4)
+ {
+ PROVIDE(__init_array_start = .);
+ KEEP(*(SORT(.init_array.*)))
+ KEEP(*(.init_array))
+ PROVIDE(__init_array_end = .);
+ } > flash
+
+ destructors : ALIGN(4) SUBALIGN(4)
+ {
+ PROVIDE(__fini_array_start = .);
+ KEEP(*(.fini_array))
+ KEEP(*(SORT(.fini_array.*)))
+ PROVIDE(__fini_array_end = .);
+ } > flash
+
+ .text : ALIGN(16) SUBALIGN(16)
+ {
+ *(.text.startup.*)
+ *(.text)
+ *(.text.*)
+ *(.rodata)
+ *(.rodata.*)
+ *(.glue_7t)
+ *(.glue_7)
+ *(.gcc*)
+ } > flash
+
+ .ARM.extab :
+ {
+ *(.ARM.extab* .gnu.linkonce.armextab.*)
+ } > flash
+
+ .ARM.exidx : {
+ PROVIDE(__exidx_start = .);
+ *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+ PROVIDE(__exidx_end = .);
+ } > flash
+
+ .eh_frame_hdr :
+ {
+ *(.eh_frame_hdr)
+ } > flash
+
+ .eh_frame : ONLY_IF_RO
+ {
+ *(.eh_frame)
+ } > flash
+
+ .textalign : ONLY_IF_RO
+ {
+ . = ALIGN(8);
+ } > flash
+
+ _etext = .;
+ _textdata = _etext;
+
+ .stacks :
+ {
+ . = ALIGN(8);
+ __main_stack_base__ = .;
+ . += __main_stack_size__;
+ . = ALIGN(8);
+ __main_stack_end__ = .;
+ __process_stack_base__ = .;
+ __main_thread_stack_base__ = .;
+ . += __process_stack_size__;
+ . = ALIGN(8);
+ __process_stack_end__ = .;
+ __main_thread_stack_end__ = .;
+ } > ccmram
+
+ .ccm :
+ {
+ PROVIDE(_cmm_start = .);
+ . = ALIGN(4);
+ *(.bss.mainthread.*)
+ . = ALIGN(4);
+ *(.bss._idle_thread_wa)
+ . = ALIGN(4);
+ *(.bss.rlist)
+ . = ALIGN(4);
+ *(.bss.vtlist)
+ . = ALIGN(4);
+ *(.bss.endmem)
+ . = ALIGN(4);
+ *(.bss.nextmem)
+ . = ALIGN(4);
+ *(.bss.default_heap)
+ . = ALIGN(4);
+ PROVIDE(_cmm_end = .);
+ } > ccmram
+
+ .data :
+ {
+ . = ALIGN(4);
+ PROVIDE(_data = .);
+ *(.data)
+ . = ALIGN(4);
+ *(.data.*)
+ . = ALIGN(4);
+ *(.ramtext)
+ . = ALIGN(4);
+ PROVIDE(_edata = .);
+ } > ram AT > flash
+
+ .bss :
+ {
+ . = ALIGN(4);
+ PROVIDE(_bss_start = .);
+ *(.bss)
+ . = ALIGN(4);
+ *(.bss.*)
+ . = ALIGN(4);
+ *(COMMON)
+ . = ALIGN(4);
+ PROVIDE(_bss_end = .);
+ } > ram
+}
+
+PROVIDE(end = .);
+_end = .;
+
+__heap_base__ = _end;
+__heap_end__ = __ram_end__;
diff --git a/demos/triskar-r2pgw/misc/board.chcfg b/demos/triskar-r2pgw/misc/board.chcfg
new file mode 100644
index 0000000..b53cecf
--- /dev/null
+++ b/demos/triskar-r2pgw/misc/board.chcfg
@@ -0,0 +1,326 @@
+
+
+
+ resources/gencfg/processors/boards/stm32f4xx/templates
+ ..
+
+ R2P_GW
+ R2P_GW
+
+
+
+ MII_DP83848I_ID
+ RMII
+
+
+
+
+
+
+
+
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+
+
+
diff --git a/demos/triskar-r2pgw/misc/triskar (OpenOCD, Flash and Run).launch b/demos/triskar-r2pgw/misc/triskar (OpenOCD, Flash and Run).launch
new file mode 100644
index 0000000..fccef6c
--- /dev/null
+++ b/demos/triskar-r2pgw/misc/triskar (OpenOCD, Flash and Run).launch
@@ -0,0 +1,51 @@
+
+
+
+
+
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+
+
+
+
+
diff --git a/demos/triskar-r2pgw/misc/triskar (Run Only).launch b/demos/triskar-r2pgw/misc/triskar (Run Only).launch
new file mode 100644
index 0000000..26102f4
--- /dev/null
+++ b/demos/triskar-r2pgw/misc/triskar (Run Only).launch
@@ -0,0 +1,51 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
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diff --git a/demos/triskar-r2pgw/misc/triskar-r2pgw (OpenOCD, Flash and Run).launch b/demos/triskar-r2pgw/misc/triskar-r2pgw (OpenOCD, Flash and Run).launch
new file mode 100644
index 0000000..c06b294
--- /dev/null
+++ b/demos/triskar-r2pgw/misc/triskar-r2pgw (OpenOCD, Flash and Run).launch
@@ -0,0 +1,51 @@
+
+
+
+
+
+
+
+
+
+
+
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diff --git a/demos/triskar-r2pgw/misc/triskar-r2pgw (OpenOCD, Run only).launch b/demos/triskar-r2pgw/misc/triskar-r2pgw (OpenOCD, Run only).launch
new file mode 100644
index 0000000..6bb5dd0
--- /dev/null
+++ b/demos/triskar-r2pgw/misc/triskar-r2pgw (OpenOCD, Run only).launch
@@ -0,0 +1,51 @@
+
+
+
+
+
+
+
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+
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+
diff --git a/demos/triskar-r2pgw/misc/urosgen.cfg b/demos/triskar-r2pgw/misc/urosgen.cfg
new file mode 100644
index 0000000..a34796d
--- /dev/null
+++ b/demos/triskar-r2pgw/misc/urosgen.cfg
@@ -0,0 +1,24 @@
+# urosgen.py configuration file for Triskar2
+
+[Options]
+author = Andrea Zoppi
+licenseFile = ../../../COPYING
+includeDir = ../include
+sourceDir = ../src
+nodeName = triskar_node
+fieldComments = false
+
+msgOnStack = true
+inOnStack = true
+outOnStack = true
+
+[PubTopics]
+/triskar/proximity = triskar/Proximity
+
+[SubTopics]
+/triskar/velocity = triskar/Velocity
+
+[PubServices]
+
+[CallServices]
+
diff --git a/demos/triskar-r2pgw/project.mk b/demos/triskar-r2pgw/project.mk
new file mode 100644
index 0000000..19bed48
--- /dev/null
+++ b/demos/triskar-r2pgw/project.mk
@@ -0,0 +1,11 @@
+# Project source files.
+PROJCSRC = ./src/board.c \
+ ./src/urosUser.c \
+ ./src/urosMsgTypes.c \
+ ./src/app.c
+
+PROJCPPSRC = ./src/urosHandlers.cpp \
+ ./src/main.cpp
+
+# Project include directories
+PROJINC = ./include
diff --git a/demos/triskar-r2pgw/src/app.c b/demos/triskar-r2pgw/src/app.c
new file mode 100644
index 0000000..ad4a36b
--- /dev/null
+++ b/demos/triskar-r2pgw/src/app.c
@@ -0,0 +1,53 @@
+/*
+Copyright (c) 2012-2013, Politecnico di Milano. All rights reserved.
+
+Andrea Zoppi
+Martino Migliavacca
+
+http://airlab.elet.polimi.it/
+http://www.openrobots.com/
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/*===========================================================================*/
+/* HEADER FILES */
+/*===========================================================================*/
+
+#include "app.h"
+#include "urosHandlers.h"
+
+#include
+#include
+
+/*===========================================================================*/
+/* GLOBAL VARIABLES */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* GLOBAL FUNCTIONS */
+/*===========================================================================*/
+
+void app_initialize(void) {
+
+ urosInit();
+ urosNodeCreateThread();
+}
diff --git a/demos/triskar-r2pgw/src/board.c b/demos/triskar-r2pgw/src/board.c
new file mode 100644
index 0000000..b8f1272
--- /dev/null
+++ b/demos/triskar-r2pgw/src/board.c
@@ -0,0 +1,112 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011,2012 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+*/
+
+#include "ch.h"
+#include "hal.h"
+
+#if HAL_USE_PAL || defined(__DOXYGEN__)
+/**
+ * @brief PAL setup.
+ * @details Digital I/O ports static configuration as defined in @p board.h.
+ * This variable is used by the HAL when initializing the PAL driver.
+ */
+const PALConfig pal_default_config =
+{
+ {VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR,
+ VAL_GPIOA_ODR, VAL_GPIOA_AFRL, VAL_GPIOA_AFRH},
+ {VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR,
+ VAL_GPIOB_ODR, VAL_GPIOB_AFRL, VAL_GPIOB_AFRH},
+ {VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR,
+ VAL_GPIOC_ODR, VAL_GPIOC_AFRL, VAL_GPIOC_AFRH},
+ {VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR,
+ VAL_GPIOD_ODR, VAL_GPIOD_AFRL, VAL_GPIOD_AFRH},
+ {VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR,
+ VAL_GPIOE_ODR, VAL_GPIOE_AFRL, VAL_GPIOE_AFRH},
+ {VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR,
+ VAL_GPIOF_ODR, VAL_GPIOF_AFRL, VAL_GPIOF_AFRH},
+ {VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR,
+ VAL_GPIOG_ODR, VAL_GPIOG_AFRL, VAL_GPIOG_AFRH},
+ {VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR,
+ VAL_GPIOH_ODR, VAL_GPIOH_AFRL, VAL_GPIOH_AFRH},
+ {VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR,
+ VAL_GPIOI_ODR, VAL_GPIOI_AFRL, VAL_GPIOI_AFRH}
+};
+#endif
+
+/**
+ * @brief Early initialization code.
+ * @details This initialization must be performed just after stack setup
+ * and before any other initialization.
+ */
+void __early_init(void) {
+
+ stm32_clock_init();
+}
+
+#if HAL_USE_SDC || defined(__DOXYGEN__)
+/**
+ * @brief SDC card detection.
+ */
+bool_t sdc_lld_is_card_inserted(SDCDriver *sdcp) {
+
+ (void)sdcp;
+ /* TODO: Fill the implementation.*/
+ return TRUE;
+}
+
+/**
+ * @brief SDC card write protection detection.
+ */
+bool_t sdc_lld_is_write_protected(SDCDriver *sdcp) {
+
+ (void)sdcp;
+ /* TODO: Fill the implementation.*/
+ return FALSE;
+}
+#endif /* HAL_USE_SDC */
+
+#if HAL_USE_MMC_SPI || defined(__DOXYGEN__)
+/**
+ * @brief MMC_SPI card detection.
+ */
+bool_t mmc_lld_is_card_inserted(MMCDriver *mmcp) {
+
+ (void)mmcp;
+ /* TODO: Fill the implementation.*/
+ return TRUE;
+}
+
+/**
+ * @brief MMC_SPI card write protection detection.
+ */
+bool_t mmc_lld_is_write_protected(MMCDriver *mmcp) {
+
+ (void)mmcp;
+ /* TODO: Fill the implementation.*/
+ return FALSE;
+}
+#endif
+
+/**
+ * @brief Board-specific initialization code.
+ * @todo Add your board-specific code, if any.
+ */
+void boardInit(void) {
+}
diff --git a/demos/triskar-r2pgw/src/main.cpp b/demos/triskar-r2pgw/src/main.cpp
new file mode 100644
index 0000000..051f1bf
--- /dev/null
+++ b/demos/triskar-r2pgw/src/main.cpp
@@ -0,0 +1,125 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011,2012 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+
+ ---
+
+ A special exception to the GPL can be applied should you wish to distribute
+ a combined work that includes ChibiOS/RT, without being obliged to provide
+ the source code for any proprietary components. See the file exception.txt
+ for full details of how and when the exception can be applied.
+*/
+
+#include "app.h"
+
+#include "rtcan.h"
+#include "Middleware.hpp"
+#include "topics.h"
+#include "msg/r2p_ir.h"
+
+/*===========================================================================*/
+/* Main features. */
+/*===========================================================================*/
+
+extern RTCANDriver RTCAND;
+
+RemoteSubscriberT rsubVelocity("pwm123");
+RemotePublisher rpubProximity("IRRaw", sizeof(IRRaw));
+
+Node mwNode("mwNode");
+Publisher lpubVelocity("pwm123");
+
+#define BLINKER_STKSIZE 128
+#define BLINKER_WA_SIZE THD_WA_SIZE(BLINKER_STKSIZE)
+
+static WORKING_AREA(wa_blinker, BLINKER_STKSIZE);
+
+msg_t blinker_thread(void *argp) {
+
+ (void)argp;
+
+#if CH_USE_REGISTRY
+ chSysLock();
+ currp->p_name = "blue_led_blinker";
+ chSysUnlock();
+#endif
+ while (TRUE) {
+ palClearPad(GPIOC, GPIOC_LED1);
+ chThdSleepMilliseconds(500);
+ palSetPad(GPIOC, GPIOC_LED1);
+ chThdSleepMilliseconds(500);
+ }
+ return RDY_OK;
+}
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+
+ /*
+ * 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();
+
+ /* Creates the blinker thread.*/
+ chThdCreateStatic(wa_blinker, BLINKER_WA_SIZE, HIGHPRIO,
+ blinker_thread, NULL);
+
+ /* Make the PHY wake up.*/
+ palSetPad(GPIOC, GPIOC_ETH_NOT_PWRDN);
+
+ /* Activates the serial driver 1 using the driver default configuration.*/
+ sdStart(&SD1, NULL);
+
+ /*
+ * Activates the RTCAN driver.
+ */
+ rtcanInit();
+ rtcanStart (NULL);
+
+ /* Creates the LWIP threads (it changes priority internally).*/
+ chThdCreateStatic(wa_lwip_thread, THD_WA_SIZE(LWIP_THREAD_STACK_SIZE),
+ NORMALPRIO + 1, lwip_thread, NULL);
+
+ rsubVelocity.id(SPEED123_ID);
+ rpubProximity.id(IRRAW_ID);
+ Middleware &mw = Middleware::instance();
+ mw.newNode(&mwNode);
+ mw.advertise(&rpubProximity);
+ mwNode.advertise(&lpubVelocity);
+ LocalPublisher *pubp = mw.findLocalPublisher("pwm123");
+ if (pubp != NULL) {
+ rsubVelocity.subscribe(pubp);
+ }
+
+ app_initialize();
+
+ /*
+ * Normal main() thread activity. It prints the useful thread information.
+ */
+ while (TRUE) {
+ systime_t deadline = chTimeNow() + MS2ST(1000);
+ chThdSleepUntil(deadline);
+ }
+}
diff --git a/demos/triskar-r2pgw/src/urosHandlers.cpp b/demos/triskar-r2pgw/src/urosHandlers.cpp
new file mode 100644
index 0000000..4600722
--- /dev/null
+++ b/demos/triskar-r2pgw/src/urosHandlers.cpp
@@ -0,0 +1,376 @@
+/*
+Copyright (c) 2012-2013, Politecnico di Milano. All rights reserved.
+
+Andrea Zoppi
+Martino Migliavacca
+
+http://airlab.elet.polimi.it/
+http://www.openrobots.com/
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/**
+ * @file urosHandlers.c
+ * @author Andrea Zoppi
+ *
+ * @brief TCPROS topic and service handlers.
+ */
+
+/*===========================================================================*/
+/* HEADER FILES */
+/*===========================================================================*/
+
+#include "urosHandlers.h"
+
+#include
+#include
+#include
+
+#include "rtcan.h"
+#include "Middleware.hpp"
+#include "topics.h"
+#include "msg/r2p_ir.h"
+
+
+/*===========================================================================*/
+/* GLOBAL VARIABLES */
+/*===========================================================================*/
+
+extern RemoteSubscriber rsubVelocity;
+extern RemotePublisher rpubProximity;
+extern Publisher lpubVelocity;
+extern Subscriber lsubProximity;
+
+/*===========================================================================*/
+/* LOCAL FUNCTIONS */
+/*===========================================================================*/
+
+#if 0
+static inline
+int32_t float2fix(const float x) {
+ return (int32_t)(x * (float)0x10000l);
+}
+
+static inline
+float fix2float(const int32_t x) {
+ return (float)x * (float)(1.0 / 0x10000l);
+}
+
+static inline
+int32_t fixmul(const uint32_t a, const uint32_t b) {
+ return (int32_t)(((int64_t)a * (int64_t)b + 0x8000l) >> 16u);
+}
+
+static inline
+int32_t fixdiv(const uint32_t a, const uint32_t b) {
+ return (int32_t)((((int64_t)a << 16u) + (int64_t)0x8000l) / (int64_t)b);
+}
+#endif
+
+template static inline
+T clamp(T min, T value, T max) {
+ return (value < min) ? min : ((value > max) ? max : value);
+}
+
+/*
+ * //_______________________\\
+ * // y \\
+ * \ 2 ^ 1 /
+ * \ | /
+ * \ | /
+ * \ @---->x /
+ * \ z /
+ * \ /
+ * \ /
+ * \ 3 /
+ * \___/
+ * =====
+ *
+ * Body frame velocity to wheel angular velocity:
+ * R * dth1 = cos(60°) * dx - cos(30°) * dy - L * dgamma
+ * R * dth2 = cos(60°) * dx + cos(30°) * dy - L * dgamma
+ * R * dth3 = -dx - L * dgamma
+ *
+ * Name mapping and units:
+ * dx = strafe [m/s]
+ * dy = forward [m/s]
+ * dgamma = angular [rad/s]
+ * dth{1,2,3} [rad/s]
+ */
+static
+void velocity_to_setpoints(const struct msg__triskar__Velocity &velocity,
+ SpeedSetpoint3 &setpoints) {
+
+ // Model parameters
+#define _L 0.300f // Wheel distance from body origin [m]
+#define _R 0.050f // Wheel radius [m]
+#define _MAX_DTH 26.0f // Maximum wheel angular speed [rad/s]
+#define _MAX_SP 4096.0f // Maximum setpoint
+#define _SP_SCALE (_MAX_SP / _MAX_DTH)
+
+#define _m1_R (-1.0f / _R)
+#define _mL_R (-_L / _R)
+#define _C60_R (0.500000000f / _R) // cos(60°) / R
+#define _C30_R (0.866025404f / _R) // cos(30°) / R
+
+ // Wheel angular speeds
+ const float dthz123 = _mL_R * velocity.angular;
+ const float dx12 = _C60_R * velocity.strafe;
+ const float dy12 = _C30_R * velocity.forward;
+
+ float dth1 = dx12 - dy12 + dthz123;
+ float dth2 = dx12 + dy12 + dthz123;
+ float dth3 = _m1_R * velocity.strafe + dthz123;
+
+ // Motor setpoints
+ setpoints.speed1 = (int16_t)clamp(-10000.0f, dth1 * _SP_SCALE, 10000.0f);
+ setpoints.speed2 = (int16_t)clamp(-10000.0f, dth2 * _SP_SCALE, 10000.0f);
+ setpoints.speed3 = (int16_t)clamp(-10000.0f, dth3 * _SP_SCALE, 10000.0f);
+}
+
+static
+void irraw_to_proximities(const IRRaw &irraw,
+ struct msg__triskar__Proximity &prox) {
+
+ prox.proximities[0] = clamp(0.0f, 1.0f - (float)irraw.value1 * (1.0f / 4095.0f), 1.0f);
+ prox.proximities[1] = clamp(0.0f, 1.0f - (float)irraw.value2 * (1.0f / 4095.0f), 1.0f);
+ prox.proximities[2] = clamp(0.0f, 1.0f - (float)irraw.value3 * (1.0f / 4095.0f), 1.0f);
+ prox.proximities[3] = clamp(0.0f, 1.0f - (float)irraw.value4 * (1.0f / 4095.0f), 1.0f);
+}
+
+/*===========================================================================*/
+/* PUBLISHED TOPIC FUNCTIONS */
+/*===========================================================================*/
+
+/** @addtogroup tcpros_pubtopic_funcs */
+/** @{ */
+
+/*~~~ PUBLISHED TOPIC: /triskar/proximity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name Topic /triskar/proximity publisher */
+/** @{ */
+
+/**
+ * @brief TCPROS /triskar/proximity published topic handler.
+ *
+ * @param[in,out] tcpstp
+ * Pointer to a working @p UrosTcpRosStatus object.
+ * @return
+ * Error code.
+ */
+uros_err_t pub_tpc__triskar__proximity(UrosTcpRosStatus *tcpstp) {
+
+ /* Message allocation and initialization.*/
+ UROS_TPC_INIT_S(msg__triskar__Proximity);
+ IRRaw *r2p_msg;
+ Subscriber lsubProximity("IRRaw");
+ Node mwNode("mwNode");
+ Middleware::instance().newNode(&mwNode);
+ mwNode.subscribe(&lsubProximity);
+
+ /* Published messages loop.*/
+ while (!urosTcpRosStatusCheckExit(tcpstp)) {
+ /* Republish the received R2P raw proximity message to ROS.*/
+ mwNode.spin(MS2ST(1000));
+ r2p_msg = lsubProximity.get();
+ if (r2p_msg != NULL) {
+ irraw_to_proximities(*r2p_msg, msg);
+ lsubProximity.release(r2p_msg);
+
+ /* Send the message.*/
+ UROS_MSG_SEND_LENGTH(&msg, msg__triskar__Proximity);
+ UROS_MSG_SEND_BODY(&msg, msg__triskar__Proximity);
+
+ /* Dispose the contents of the message.*/
+ clean_msg__triskar__Proximity(&msg);
+ }
+ }
+ tcpstp->err = UROS_OK;
+
+_finally:
+ /* Message deinitialization and deallocation.*/
+ UROS_TPC_UNINIT_S(msg__triskar__Proximity);
+ return tcpstp->err;
+}
+
+/** @} */
+
+/** @} */
+
+/*===========================================================================*/
+/* SUBSCRIBED TOPIC FUNCTIONS */
+/*===========================================================================*/
+
+/** @addtogroup tcpros_subtopic_funcs */
+/** @{ */
+
+/*~~~ SUBSCRIBED TOPIC: /triskar/velocity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name Topic /triskar/velocity subscriber */
+/** @{ */
+
+/**
+ * @brief TCPROS /triskar/velocity subscribed topic handler.
+ *
+ * @param[in,out] tcpstp
+ * Pointer to a working @p UrosTcpRosStatus object.
+ * @return
+ * Error code.
+ */
+uros_err_t sub_tpc__triskar__velocity(UrosTcpRosStatus *tcpstp) {
+
+ /* Message allocation and initialization.*/
+ UROS_TPC_INIT_S(msg__triskar__Velocity);
+ SpeedSetpoint3 *r2p_msg;
+
+ /* Subscribed messages loop.*/
+ while (!urosTcpRosStatusCheckExit(tcpstp)) {
+ /* Receive the next message.*/
+ UROS_MSG_RECV_LENGTH();
+ UROS_MSG_RECV_BODY(&msg, msg__triskar__Velocity);
+
+ /* Republish the received ROS message to R2P DC motor modules.*/
+ r2p_msg = lpubVelocity.alloc();
+ if (r2p_msg != NULL) {
+ velocity_to_setpoints(msg, *r2p_msg);
+ lpubVelocity.broadcast(r2p_msg);
+ palTogglePad(GPIOC, GPIOC_LED2);
+ }
+
+ /* Dispose the contents of the message.*/
+ clean_msg__triskar__Velocity(&msg);
+ }
+ tcpstp->err = UROS_OK;
+
+_finally:
+ /* Message deinitialization and deallocation.*/
+ UROS_TPC_UNINIT_S(msg__triskar__Velocity);
+ return tcpstp->err;
+}
+
+/** @} */
+
+/** @} */
+
+/*===========================================================================*/
+/* PUBLISHED SERVICE FUNCTIONS */
+/*===========================================================================*/
+
+/** @addtogroup tcpros_pubservice_funcs */
+/** @{ */
+
+/* There are no published services.*/
+
+/** @} */
+
+/*===========================================================================*/
+/* CALLED SERVICE FUNCTIONS */
+/*===========================================================================*/
+
+/** @addtogroup tcpros_callservice_funcs */
+/** @{ */
+
+/* There are no called services.*/
+
+/** @} */
+
+/*===========================================================================*/
+/* GLOBAL FUNCTIONS */
+/*===========================================================================*/
+
+/** @addtogroup tcpros_funcs */
+/** @{ */
+
+/**
+ * @brief Registers all the published topics to the Master node.
+ * @note Should be called at node initialization.
+ */
+void urosHandlersPublishTopics(void) {
+
+ /* /triskar/proximity */
+ urosNodePublishTopicSZ(
+ "/triskar/proximity",
+ "triskar/Proximity",
+ (uros_proc_f)pub_tpc__triskar__proximity,
+ uros_nulltopicflags
+ );
+}
+
+/**
+ * @brief Unregisters all the published topics to the Master node.
+ * @note Should be called at node shutdown.
+ */
+void urosHandlersUnpublishTopics(void) {
+
+ /* /triskar/proximity */
+ urosNodeUnpublishTopicSZ(
+ "/triskar/proximity"
+ );
+}
+
+/**
+ * @brief Registers all the subscribed topics to the Master node.
+ * @note Should be called at node initialization.
+ */
+void urosHandlersSubscribeTopics(void) {
+
+ /* /triskar/velocity */
+ urosNodeSubscribeTopicSZ(
+ "/triskar/velocity",
+ "triskar/Velocity",
+ (uros_proc_f)sub_tpc__triskar__velocity,
+ uros_nulltopicflags
+ );
+}
+
+/**
+ * @brief Unregisters all the subscribed topics to the Master node.
+ * @note Should be called at node shutdown.
+ */
+void urosHandlersUnsubscribeTopics(void) {
+
+ /* /triskar/velocity */
+ urosNodeUnsubscribeTopicSZ(
+ "/triskar/velocity"
+ );
+}
+
+/**
+ * @brief Registers all the published services to the Master node.
+ * @note Should be called at node initialization.
+ */
+void urosHandlersPublishServices(void) {
+
+ /* No services to publish.*/
+}
+
+/**
+ * @brief Unregisters all the published services to the Master node.
+ * @note Should be called at node shutdown.
+ */
+void urosHandlersUnpublishServices(void) {
+
+ /* No services to unpublish.*/
+}
+
+/** @} */
+
diff --git a/demos/triskar-r2pgw/src/urosMsgTypes.c b/demos/triskar-r2pgw/src/urosMsgTypes.c
new file mode 100644
index 0000000..b5db20d
--- /dev/null
+++ b/demos/triskar-r2pgw/src/urosMsgTypes.c
@@ -0,0 +1,348 @@
+/*
+Copyright (c) 2012-2013, Politecnico di Milano. All rights reserved.
+
+Andrea Zoppi
+Martino Migliavacca
+
+http://airlab.elet.polimi.it/
+http://www.openrobots.com/
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/**
+ * @file urosMsgTypes.c
+ * @author Andrea Zoppi
+ *
+ * @brief TCPROS message and service descriptor functions.
+ */
+
+/*===========================================================================*/
+/* HEADER FILES */
+/*===========================================================================*/
+
+#include "urosMsgTypes.h"
+
+/*===========================================================================*/
+/* MESSAGE CONSTANTS */
+/*===========================================================================*/
+
+/** @addtogroup tcpros_msg_consts */
+/** @{ */
+
+/* There are no message constants.*/
+
+/** @} */
+
+/*===========================================================================*/
+/* SERVICE CONSTANTS */
+/*===========================================================================*/
+
+/** @addtogroup tcpros_srv_consts */
+/** @{ */
+
+/* There are no service constants.*/
+
+/** @} */
+
+/*===========================================================================*/
+/* MESSAGE FUNCTIONS */
+/*===========================================================================*/
+
+/** @addtogroup tcpros_msg_funcs */
+/** @{ */
+
+/*~~~ MESSAGE: triskar/Proximity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name Message triskar/Proximity */
+/** @{ */
+
+/**
+ * @brief Content length of a TCPROS triskar/Proximity message.
+ *
+ * @param[in,out] objp
+ * Pointer to an initialized struct msg__triskar__Proximity object.
+ * @return
+ * Length of the TCPROS message contents, in bytes.
+ */
+size_t length_msg__triskar__Proximity(
+ struct msg__triskar__Proximity *objp
+) {
+ size_t length = 0;
+
+ urosAssert(objp != NULL);
+
+ length += (size_t)4 * sizeof(float);
+
+ (void)objp;
+ return length;
+}
+
+/**
+ * @brief Initializes a TCPROS triskar/Proximity message.
+ *
+ * @param[in,out] objp
+ * Pointer to an allocated struct msg__triskar__Proximity object.
+ * @return
+ * Error code.
+ */
+void init_msg__triskar__Proximity(
+ struct msg__triskar__Proximity *objp
+) {
+ urosAssert(objp != NULL);
+
+ /* Nothing to initialize.*/
+ (void)objp;
+}
+
+/**
+ * @brief Cleans a TCPROS triskar/Proximity message.
+ *
+ * @param[in,out] objp
+ * Pointer to an initialized struct msg__triskar__Proximity object, or @p NULL.
+ * @return
+ * Error code.
+ */
+void clean_msg__triskar__Proximity(
+ struct msg__triskar__Proximity *objp
+) {
+ /* Nothing to clean.*/
+ (void)objp;
+}
+
+/**
+ * @brief Receives a TCPROS triskar/Proximity message.
+ *
+ * @param[in,out] tcpstp
+ * Pointer to a working @p UrosTcpRosStatus object.
+ * @param[out] objp
+ * Pointer to an initialized struct msg__triskar__Proximity object.
+ * @return
+ * Error code.
+ */
+uros_err_t recv_msg__triskar__Proximity(
+ UrosTcpRosStatus *tcpstp,
+ struct msg__triskar__Proximity *objp
+) {
+ urosAssert(tcpstp != NULL);
+ urosAssert(urosConnIsValid(tcpstp->csp));
+ urosAssert(objp != NULL);
+#define _CHKOK { if (tcpstp->err != UROS_OK) { goto _error; } }
+
+ urosTcpRosRecv(tcpstp, objp->proximities,
+ (size_t)4 * sizeof(float)); _CHKOK
+
+ return tcpstp->err = UROS_OK;
+_error:
+ clean_msg__triskar__Proximity(objp);
+ return tcpstp->err;
+#undef _CHKOK
+}
+
+/**
+ * @brief Sends a TCPROS triskar/Proximity message.
+ *
+ * @param[in,out] tcpstp
+ * Pointer to a working @p UrosTcpRosStatus object.
+ * @param[in] objp
+ * Pointer to an initialized struct msg__triskar__Proximity object.
+ * @return
+ * Error code.
+ */
+uros_err_t send_msg__triskar__Proximity(
+ UrosTcpRosStatus *tcpstp,
+ struct msg__triskar__Proximity *objp
+) {
+ urosAssert(tcpstp != NULL);
+ urosAssert(urosConnIsValid(tcpstp->csp));
+ urosAssert(objp != NULL);
+#define _CHKOK { if (tcpstp->err != UROS_OK) { return tcpstp->err; } }
+
+ urosTcpRosSend(tcpstp, objp->proximities,
+ (size_t)4 * sizeof(float)); _CHKOK
+
+ return tcpstp->err = UROS_OK;
+#undef _CHKOK
+}
+
+/** @} */
+
+/*~~~ MESSAGE: triskar/Velocity ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
+
+/** @name Message triskar/Velocity */
+/** @{ */
+
+/**
+ * @brief Content length of a TCPROS triskar/Velocity message.
+ *
+ * @param[in,out] objp
+ * Pointer to an initialized struct msg__triskar__Velocity object.
+ * @return
+ * Length of the TCPROS message contents, in bytes.
+ */
+size_t length_msg__triskar__Velocity(
+ struct msg__triskar__Velocity *objp
+) {
+ size_t length = 0;
+
+ urosAssert(objp != NULL);
+
+ length += sizeof(float);
+ length += sizeof(float);
+ length += sizeof(float);
+
+ (void)objp;
+ return length;
+}
+
+/**
+ * @brief Initializes a TCPROS triskar/Velocity message.
+ *
+ * @param[in,out] objp
+ * Pointer to an allocated struct msg__triskar__Velocity object.
+ * @return
+ * Error code.
+ */
+void init_msg__triskar__Velocity(
+ struct msg__triskar__Velocity *objp
+) {
+ urosAssert(objp != NULL);
+
+ /* Nothing to initialize.*/
+ (void)objp;
+}
+
+/**
+ * @brief Cleans a TCPROS triskar/Velocity message.
+ *
+ * @param[in,out] objp
+ * Pointer to an initialized struct msg__triskar__Velocity object, or @p NULL.
+ * @return
+ * Error code.
+ */
+void clean_msg__triskar__Velocity(
+ struct msg__triskar__Velocity *objp
+) {
+ /* Nothing to clean.*/
+ (void)objp;
+}
+
+/**
+ * @brief Receives a TCPROS triskar/Velocity message.
+ *
+ * @param[in,out] tcpstp
+ * Pointer to a working @p UrosTcpRosStatus object.
+ * @param[out] objp
+ * Pointer to an initialized struct msg__triskar__Velocity object.
+ * @return
+ * Error code.
+ */
+uros_err_t recv_msg__triskar__Velocity(
+ UrosTcpRosStatus *tcpstp,
+ struct msg__triskar__Velocity *objp
+) {
+ urosAssert(tcpstp != NULL);
+ urosAssert(urosConnIsValid(tcpstp->csp));
+ urosAssert(objp != NULL);
+#define _CHKOK { if (tcpstp->err != UROS_OK) { goto _error; } }
+
+ urosTcpRosRecvRaw(tcpstp, objp->strafe); _CHKOK
+ urosTcpRosRecvRaw(tcpstp, objp->forward); _CHKOK
+ urosTcpRosRecvRaw(tcpstp, objp->angular); _CHKOK
+
+ return tcpstp->err = UROS_OK;
+_error:
+ clean_msg__triskar__Velocity(objp);
+ return tcpstp->err;
+#undef _CHKOK
+}
+
+/**
+ * @brief Sends a TCPROS triskar/Velocity message.
+ *
+ * @param[in,out] tcpstp
+ * Pointer to a working @p UrosTcpRosStatus object.
+ * @param[in] objp
+ * Pointer to an initialized struct msg__triskar__Velocity object.
+ * @return
+ * Error code.
+ */
+uros_err_t send_msg__triskar__Velocity(
+ UrosTcpRosStatus *tcpstp,
+ struct msg__triskar__Velocity *objp
+) {
+ urosAssert(tcpstp != NULL);
+ urosAssert(urosConnIsValid(tcpstp->csp));
+ urosAssert(objp != NULL);
+#define _CHKOK { if (tcpstp->err != UROS_OK) { return tcpstp->err; } }
+
+ urosTcpRosSendRaw(tcpstp, objp->strafe); _CHKOK
+ urosTcpRosSendRaw(tcpstp, objp->forward); _CHKOK
+ urosTcpRosSendRaw(tcpstp, objp->angular); _CHKOK
+
+ return tcpstp->err = UROS_OK;
+#undef _CHKOK
+}
+
+/** @} */
+
+/** @} */
+
+/*===========================================================================*/
+/* SERVICE FUNCTIONS */
+/*===========================================================================*/
+
+/** @addtogroup tcpros_srv_funcs */
+/** @{ */
+
+/* There are no service types.*/
+
+/** @} */
+
+/*===========================================================================*/
+/* GLOBAL FUNCTIONS */
+/*===========================================================================*/
+
+/** @addtogroup tcpros_funcs */
+/** @{ */
+
+/**
+ * @brief Static TCPROS types registration.
+ * @details Statically registers all the TCPROS message and service types used
+ * within this source file.
+ * @note Should be called by @p urosUserRegisterStaticMsgTypes().
+ * @see urosUserRegisterStaticMsgTypes()
+ */
+void urosMsgTypesRegStaticTypes(void) {
+
+ /* MESSAGE TYPES */
+
+ /* triskar/Proximity */
+ urosRegisterStaticMsgTypeSZ("triskar/Proximity",
+ NULL, "e375dcd2b74602ba85b8ccd90a2e7d70");
+
+ /* triskar/Velocity */
+ urosRegisterStaticMsgTypeSZ("triskar/Velocity",
+ NULL, "23d55db697c48d93db1057083ac92653");
+}
+
+/** @} */
+
diff --git a/demos/triskar-r2pgw/src/urosUser.c b/demos/triskar-r2pgw/src/urosUser.c
new file mode 100644
index 0000000..75ae092
--- /dev/null
+++ b/demos/triskar-r2pgw/src/urosUser.c
@@ -0,0 +1,277 @@
+/*
+Copyright (c) 2012-2013, Politecnico di Milano. All rights reserved.
+
+Andrea Zoppi
+Martino Migliavacca
+
+http://airlab.elet.polimi.it/
+http://www.openrobots.com/
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/**
+ * @file urosUser.c
+ * @author Andrea Zoppi
+ *
+ * @brief User-defined callback functions.
+ */
+
+/*===========================================================================*/
+/* HEADER FILES */
+/*===========================================================================*/
+
+#include "urosHandlers.h"
+#include "app.h"
+
+#include
+#include
+#include
+#include
+
+/*===========================================================================*/
+/* TYPES & MACROS */
+/*===========================================================================*/
+
+/** @brief File where the Node configuration is stored. */
+#define UROS_NODECONFIG_FILENAME "urosNode.config"
+
+/*===========================================================================*/
+/* GLOBAL FUNCTIONS */
+/*===========================================================================*/
+
+/** @addtogroup user_funcs */
+/** @{ */
+
+/**
+ * @brief Loads node configuration.
+ * @details Any previously allocated data is freed, then the configuration is
+ * loaded from a static non-volatile memory chunk.
+ * @see uros_lld_nodeconfig_load()
+ *
+ * @pre The related @p UrosNode is initialized.
+ *
+ * @param[in,out] cfgp
+ * Pointer to the target configuration descriptor.
+ */
+void urosUserNodeConfigLoad(UrosNodeConfig *cfgp) {
+
+ urosAssert(cfgp != NULL);
+
+ /* Clean any allocated variables.*/
+ urosStringClean(&cfgp->nodeName);
+ urosStringClean(&cfgp->xmlrpcUri);
+ urosStringClean(&cfgp->tcprosUri);
+ urosStringClean(&cfgp->masterUri);
+
+ /* TODO: Load from EEPROM.*/
+ urosNodeConfigLoadDefaults(cfgp);
+}
+
+/**
+ * @brief Saves the node configuration.
+ * @details The node configuration is saved to a static non-volatile memory
+ * chunk.
+ * @see uros_lld_nodeconfig_save()
+ *
+ * @pre The related @p UrosNode is initialized.
+ *
+ * @param[in] cfgp
+ * Pointer to the configuration descriptor to be saved.
+ */
+void urosUserNodeConfigSave(const UrosNodeConfig *cfgp) {
+
+ /* TODO: Save to EEPROM.*/
+ (void)cfgp;
+}
+
+/**
+ * @brief Shutdown callback function.
+ * @details This callback function notifies the user that a @p shutdown()
+ * XMLRPC call was issued by the Master node, and has to be handled.
+ *
+ * @param[in] msgp
+ * Pointer to a string which explains the reason why it is asked to be
+ * shutdown.
+ * @return
+ * Error code.
+ */
+uros_err_t urosUserShutdown(const UrosString *msgp) {
+
+ static UrosNodeStatus *const stp = &urosNode.status;
+
+ (void)msgp;
+ (void)stp;
+
+#if UROS_USE_ASSERT
+ urosAssert(msgp != NULL);
+ urosMutexLock(&stp->stateLock);
+ urosAssert(stp->state == UROS_NODE_SHUTDOWN);
+ urosMutexUnlock(&stp->stateLock);
+#endif
+
+ /* Send a dummy getPid() request, to unlock XMLRPC listener and pool.*/
+ {
+ UrosRpcResponse res;
+ urosRpcResponseObjectInit(&res);
+ urosRpcCallGetPid(
+ &urosNode.config.xmlrpcAddr,
+ &urosNode.config.nodeName,
+ &res
+ );
+ urosRpcResponseClean(&res);
+ }
+
+ return UROS_OK;
+}
+
+/**
+ * @brief Registers static message types.
+ * @details This callback function is called at boot time to initialize the
+ * set of message types recognized by the system.
+ *
+ * @pre The global static message type set has not been initialized yet.
+ */
+void urosUserRegisterStaticTypes(void) {
+
+ urosMsgTypesRegStaticTypes();
+}
+
+/**
+ * @brief Registers all the published topics to the Master node.
+ * @note Should be called at node initialization.
+ *
+ * @return Error code.
+ */
+uros_err_t urosUserPublishTopics(void) {
+
+ urosHandlersPublishTopics();
+ return UROS_OK;
+}
+
+/**
+ * @brief Unregisters all the published topics to the Master node.
+ * @note Should be called at node shutdown.
+ *
+ * @return Error code.
+ */
+uros_err_t urosUserUnpublishTopics(void) {
+
+ urosHandlersUnpublishTopics();
+ return UROS_OK;
+}
+
+/**
+ * @brief Registers all the subscribed topics to the Master node.
+ * @note Should be called at node initialization.
+ *
+ * @return Error code.
+ */
+uros_err_t urosUserSubscribeTopics(void) {
+
+ urosHandlersSubscribeTopics();
+ return UROS_OK;
+}
+
+/**
+ * @brief Unregisters all the subscribed topics to the Master node.
+ * @note Should be called at node shutdown.
+ *
+ * @return Error code.
+ */
+uros_err_t urosUserUnsubscribeTopics(void) {
+
+ urosHandlersUnsubscribeTopics();
+ return UROS_OK;
+}
+
+/**
+ * @brief Registers all the published services to the Master node.
+ * @note Should be called at node initialization.
+ *
+ * @return Error code.
+ */
+uros_err_t urosUserPublishServices(void) {
+
+ urosHandlersPublishServices();
+ return UROS_OK;
+}
+
+/**
+ * @brief Unregisters all the published services to the Master node.
+ * @note Should be called at node shutdown.
+ *
+ * @return Error code.
+ */
+uros_err_t urosUserUnpublishServices(void) {
+
+ urosHandlersUnpublishServices();
+ return UROS_OK;
+}
+
+/**
+ * @brief Registers all the subscribed parameters to the Master node.
+ * @note Should be called at node initialization.
+ *
+ * @return Error code.
+ */
+uros_err_t urosUserSubscribeParams(void) {
+
+ return UROS_OK;
+}
+
+/**
+ * @brief Unregisters all the subscribed parameters to the Master node.
+ * @note Should be called at node shutdown.
+ *
+ * @return Error code.
+ */
+uros_err_t urosUserUnsubscribeParams(void) {
+
+ return UROS_OK;
+}
+
+/**
+ * @brief Updates a subscribed ROS parameter locally.
+ * @details This callback function notifies the user that the value of a
+ * subscribed ROS parameter has changed.
+ *
+ * @param[in] keyp
+ * Pointer to the parameter name string.
+ * @param[in] paramp
+ * Pointer to the parameter value.
+ * @return
+ * Error code.
+ */
+uros_err_t urosUserParamUpdate(const UrosString *keyp,
+ const UrosRpcParam *paramp) {
+
+ (void)keyp;
+ (void)paramp;
+
+ urosAssert(urosStringNotEmpty(keyp));
+ urosAssert(paramp != NULL);
+
+ /* Unknown parameter name.*/
+ return UROS_ERR_BADPARAM;
+}
+
+/** @} */
diff --git a/demos/turtlesim-chibios+lwip/src/urosUser.c b/demos/turtlesim-chibios+lwip/src/urosUser.c
index d30de06..c489226 100644
--- a/demos/turtlesim-chibios+lwip/src/urosUser.c
+++ b/demos/turtlesim-chibios+lwip/src/urosUser.c
@@ -350,7 +350,7 @@ uros_err_t urosUserParamUpdate(const UrosString *keyp,
/* Check if [/background_r].*/
if (0 == urosStringCmp(keyp, &backcolparnameR)) {
- urosError(paramp->class != UROS_RPCP_INT, return UROS_ERR_BADPARAM,
+ urosError(paramp->pclass != UROS_RPCP_INT, return UROS_ERR_BADPARAM,
("Parameter [%.*s] class id %d, expected %d (UROS_RPCP_INT)\n",
UROS_STRARG(keyp), (int)paramp->class, (int)UROS_RPCP_INT));
urosError(paramp->value.int32 < 0 || paramp->value.int32 > 255,
@@ -365,7 +365,7 @@ uros_err_t urosUserParamUpdate(const UrosString *keyp,
/* Check if [/background_g].*/
if (0 == urosStringCmp(keyp, &backcolparnameG)) {
- urosError(paramp->class != UROS_RPCP_INT, return UROS_ERR_BADPARAM,
+ urosError(paramp->pclass != UROS_RPCP_INT, return UROS_ERR_BADPARAM,
("Parameter [%.*s] class id %d, expected %d (UROS_RPCP_INT)\n",
UROS_STRARG(keyp), (int)paramp->class, (int)UROS_RPCP_INT));
urosError(paramp->value.int32 < 0 || paramp->value.int32 > 255,
@@ -380,7 +380,7 @@ uros_err_t urosUserParamUpdate(const UrosString *keyp,
/* Check if [/background_b].*/
if (0 == urosStringCmp(keyp, &backcolparnameB)) {
- urosError(paramp->class != UROS_RPCP_INT, return UROS_ERR_BADPARAM,
+ urosError(paramp->pclass != UROS_RPCP_INT, return UROS_ERR_BADPARAM,
("Parameter [%.*s] class id %d, expected %d (UROS_RPCP_INT)\n",
UROS_STRARG(keyp), (int)paramp->class, (int)UROS_RPCP_INT));
urosError(paramp->value.int32 < 0 || paramp->value.int32 > 255,
diff --git a/demos/turtlesim-posix/src/urosUser.c b/demos/turtlesim-posix/src/urosUser.c
index 81aa4e5..e16a2fa 100644
--- a/demos/turtlesim-posix/src/urosUser.c
+++ b/demos/turtlesim-posix/src/urosUser.c
@@ -470,9 +470,9 @@ uros_err_t urosUserParamUpdate(const UrosString *keyp,
/* Check if [/background_r].*/
if (0 == urosStringCmp(keyp, &backcolparnameR)) {
- urosError(paramp->class != UROS_RPCP_INT, return UROS_ERR_BADPARAM,
+ urosError(paramp->pclass != UROS_RPCP_INT, return UROS_ERR_BADPARAM,
("Parameter [%.*s] class id %d, expected %d (UROS_RPCP_INT)\n",
- UROS_STRARG(keyp), (int)paramp->class, (int)UROS_RPCP_INT));
+ UROS_STRARG(keyp), (int)paramp->pclass, (int)UROS_RPCP_INT));
urosError(paramp->value.int32 < 0 || paramp->value.int32 > 255,
return UROS_ERR_BADPARAM,
("Parameter [%.*s] value %d outside [0..255]\n",
@@ -485,9 +485,9 @@ uros_err_t urosUserParamUpdate(const UrosString *keyp,
/* Check if [/background_g].*/
if (0 == urosStringCmp(keyp, &backcolparnameG)) {
- urosError(paramp->class != UROS_RPCP_INT, return UROS_ERR_BADPARAM,
+ urosError(paramp->pclass != UROS_RPCP_INT, return UROS_ERR_BADPARAM,
("Parameter [%.*s] class id %d, expected %d (UROS_RPCP_INT)\n",
- UROS_STRARG(keyp), (int)paramp->class, (int)UROS_RPCP_INT));
+ UROS_STRARG(keyp), (int)paramp->pclass, (int)UROS_RPCP_INT));
urosError(paramp->value.int32 < 0 || paramp->value.int32 > 255,
return UROS_ERR_BADPARAM,
("Parameter [%.*s] value %d outside [0..255]\n",
@@ -500,9 +500,9 @@ uros_err_t urosUserParamUpdate(const UrosString *keyp,
/* Check if [/background_b].*/
if (0 == urosStringCmp(keyp, &backcolparnameB)) {
- urosError(paramp->class != UROS_RPCP_INT, return UROS_ERR_BADPARAM,
+ urosError(paramp->pclass != UROS_RPCP_INT, return UROS_ERR_BADPARAM,
("Parameter [%.*s] class id %d, expected %d (UROS_RPCP_INT)\n",
- UROS_STRARG(keyp), (int)paramp->class, (int)UROS_RPCP_INT));
+ UROS_STRARG(keyp), (int)paramp->pclass, (int)UROS_RPCP_INT));
urosError(paramp->value.int32 < 0 || paramp->value.int32 > 255,
return UROS_ERR_BADPARAM,
("Parameter [%.*s] value %d outside [0..255]\n",
diff --git a/src/urosRpcCall.c b/src/urosRpcCall.c
index 2209ef1..1c843f8 100644
--- a/src/urosRpcCall.c
+++ b/src/urosRpcCall.c
@@ -115,6 +115,7 @@ uros_err_t uros_rpcpcall_buildctx(uros_rpcpcallctx_t *ctxp,
urosAssert(ctxp != NULL);
urosAssert(addrp != NULL);
+ memset(ctxp, 0, sizeof(uros_rpcpcallctx_t));
ctxp->addrp = addrp;
ctxp->parsing = UROS_FALSE;