From 1d2c15ce8101cc13bb7e272d30022f37e2ed2130 Mon Sep 17 00:00:00 2001
From: Nicolas Reinecke <nr@das-labor.org>
Date: Wed, 1 Jun 2016 12:09:34 +0200
Subject: [PATCH] add support for ChibiOS RT 4 kernel

---
 src/gos/gos_chibios.c | 12 ++++++++----
 src/gos/gos_chibios.h | 11 ++++++++---
 2 files changed, 16 insertions(+), 7 deletions(-)

diff --git a/src/gos/gos_chibios.c b/src/gos/gos_chibios.c
index c23155ca..fc34b94b 100644
--- a/src/gos/gos_chibios.c
+++ b/src/gos/gos_chibios.c
@@ -20,7 +20,7 @@
 		#error "GOS: CH_USE_SEMAPHORES must be defined in chconf.h"
 	#endif
 	
-#elif CH_KERNEL_MAJOR == 3
+#elif (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
 
 	#if !CH_CFG_USE_MUTEXES
 		#error "GOS: CH_CFG_USE_MUTEXES must be defined in chconf.h"
@@ -42,7 +42,7 @@ void _gosInit(void)
 				halInit();
 				chSysInit();
 			}
-		#elif CH_KERNEL_MAJOR == 3
+		#elif (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
 			if (!chThdGetSelfX()) {
 				halInit();
 				chSysInit();
@@ -102,7 +102,7 @@ void gfxSemInit(gfxSem *psem, semcount_t val, semcount_t limit)
 	
 	#if CH_KERNEL_MAJOR == 2
 		chSemInit(&psem->sem, val);
-	#elif CH_KERNEL_MAJOR == 3
+	#elif (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
 		chSemObjectInit(&psem->sem, val);
 	#endif
 }
@@ -120,7 +120,7 @@ bool_t gfxSemWait(gfxSem *psem, delaytime_t ms)
 		case TIME_INFINITE:		chSemWait(&psem->sem);	return TRUE;
 		default:				return chSemWaitTimeout(&psem->sem, MS2ST(ms)) != RDY_TIMEOUT;
 		}
-	#elif CH_KERNEL_MAJOR == 3
+	#elif (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
 		switch(ms) {
 		case TIME_IMMEDIATE:	return chSemWaitTimeout(&psem->sem, TIME_IMMEDIATE) != MSG_TIMEOUT;
 		case TIME_INFINITE:		chSemWait(&psem->sem);	return TRUE;
@@ -158,7 +158,11 @@ gfxThreadHandle gfxThreadCreate(void *stackarea, size_t stacksz, threadpriority_
 {
 	if (!stackarea) {
 		if (!stacksz) stacksz = 256;
+#if (CH_KERNEL_MAJOR == 2) || (CH_KERNEL_MAJOR == 3)
 		return chThdCreateFromHeap(0, stacksz, prio, (tfunc_t)fn, param);
+#elif CH_KERNEL_MAJOR == 4
+		return chThdCreateFromHeap(0, stacksz, "ugfx", prio, (tfunc_t)fn, param);
+#endif
 	}
 
 	if (!stacksz)
diff --git a/src/gos/gos_chibios.h b/src/gos/gos_chibios.h
index 30a65423..c3fc9d36 100644
--- a/src/gos/gos_chibios.h
+++ b/src/gos/gos_chibios.h
@@ -39,7 +39,7 @@
 #if !defined(TRUE)
 	#define TRUE        -1
 #endif
-#if CH_KERNEL_MAJOR == 3
+#if (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
 	typedef char	bool_t;
 #endif
 
@@ -66,7 +66,7 @@ typedef tprio_t		threadpriority_t;
 
 	typedef Mutex		gfxMutex;
 	typedef Thread*		gfxThreadHandle;
-#elif CH_KERNEL_MAJOR == 3
+#elif (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
 	#undef DECLARE_THREAD_STACK
 	#define DECLARE_THREAD_STACK(a, b)  THD_WORKING_AREA(a, b)
 	
@@ -95,7 +95,7 @@ extern "C" {
 	#define gfxMutexExit(pmutex)		chMtxUnlock()
 	#define gfxExit()					chSysHalt()
 	#define gfxHalt(msg)				{ chDbgPanic(msg); chSysHalt(); }
-#elif CH_KERNEL_MAJOR == 3
+#elif (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
 	#define gfxSystemTicks()			chVTGetSystemTimeX()
 	#define gfxMutexInit(pmutex)		chMtxObjectInit(pmutex)
 	#define gfxMutexExit(pmutex)		chMtxUnlock(pmutex)
@@ -120,8 +120,13 @@ bool_t gfxSemWait(gfxSem *psem, delaytime_t ms);
 bool_t gfxSemWaitI(gfxSem *psem);
 void gfxSemSignal(gfxSem *psem);
 void gfxSemSignalI(gfxSem *psem);
+#if (CH_KERNEL_MAJOR == 2) || (CH_KERNEL_MAJOR == 3)
 #define gfxSemCounterI(psem)		((psem)->sem.s_cnt)
 #define gfxSemCounter(psem)			((psem)->sem.s_cnt)
+#elif (CH_KERNEL_MAJOR == 4)
+#define gfxSemCounterI(psem)		((psem)->sem.cnt)
+#define gfxSemCounter(psem)			((psem)->sem.cnt)
+#endif
 gfxThreadHandle gfxThreadCreate(void *stackarea, size_t stacksz, threadpriority_t prio, DECLARE_THREAD_FUNCTION((*fn),p), void *param);
 #define gfxThreadWait(thread)		chThdWait(thread)
 #define gfxThreadMe()				chThdSelf()