diff --git a/demos/ARM7-LPC214x-GCC/Makefile b/demos/ARM7-LPC214x-GCC/Makefile
index 0ee445783..755c134e5 100644
--- a/demos/ARM7-LPC214x-GCC/Makefile
+++ b/demos/ARM7-LPC214x-GCC/Makefile
@@ -65,9 +65,9 @@ UADEFS =
ASRC = chcore.c main.c buzzer.c mmcsd.c ../../src/lib/evtimer.c ../../test/test.c \
../../ports/ARM7-LPC214x/GCC/vic.c ../../ports/ARM7-LPC214x/GCC/lpc214x_serial.c \
../../ports/ARM7-LPC214x/GCC/lpc214x_ssp.c \
- ../../src/chinit.c ../../src/chlists.c ../../src/chdelta.c ../../src/chschd.c \
- ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c ../../src/chmsg.c \
- ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c
+ ../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
+ ../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c \
+ ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c
# List THUMB-mode C sources here
# NOTE: If any module is compiled in thumb mode then -mthumb-interwork is
diff --git a/demos/ARM7-LPC214x-GCC/buzzer.c b/demos/ARM7-LPC214x-GCC/buzzer.c
index a93bafa98..218d920d0 100644
--- a/demos/ARM7-LPC214x-GCC/buzzer.c
+++ b/demos/ARM7-LPC214x-GCC/buzzer.c
@@ -89,4 +89,4 @@ void PlaySoundWait(int freq, t_time duration) {
StartCounter(tc);
chThdSleep(duration);
StopCounter(tc);
-}
\ No newline at end of file
+}
diff --git a/demos/ARM7-LPC214x-GCC/buzzer.h b/demos/ARM7-LPC214x-GCC/buzzer.h
index f5f9e82ac..464e081d8 100644
--- a/demos/ARM7-LPC214x-GCC/buzzer.h
+++ b/demos/ARM7-LPC214x-GCC/buzzer.h
@@ -20,9 +20,15 @@
#ifndef _BUZZER_H_
#define _BUZZER_H_
-void InitBuzzer(void);
-void PlaySound(int freq, t_time duration);
-void PlaySoundWait(int freq, t_time duration);
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void InitBuzzer(void);
+ void PlaySound(int freq, t_time duration);
+ void PlaySoundWait(int freq, t_time duration);
+#ifdef __cplusplus
+}
+#endif
extern EventSource BuzzerSilentEventSource;
diff --git a/demos/ARM7-LPC214x-GCC/chconf.h b/demos/ARM7-LPC214x-GCC/chconf.h
index f4d902a9a..ba9957e49 100644
--- a/demos/ARM7-LPC214x-GCC/chconf.h
+++ b/demos/ARM7-LPC214x-GCC/chconf.h
@@ -156,6 +156,12 @@
*/
//#define CH_CURRP_REGISTER_CACHE "r7"
+/** Configuration option: Includes basic debug support to the kernel.
+ * @note the debug support is port-dependent, it may be not present on some
+ * targets. In that case stub functions will be included.
+ */
+#define CH_USE_DEBUG
+
#endif /* _CHCONF_H_ */
/** @} */
diff --git a/demos/ARM7-LPC214x-GCC/chcore.h b/demos/ARM7-LPC214x-GCC/chcore.h
index 9c583c2ac..5a42cdf89 100644
--- a/demos/ARM7-LPC214x-GCC/chcore.h
+++ b/demos/ARM7-LPC214x-GCC/chcore.h
@@ -92,8 +92,9 @@ extern void chSysUnlock(void);
#define chSysUnlock() asm("msr CPSR_c, #0x1F")
#endif /* THUMB */
-#define INT_REQUIRED_STACK 0x40 // Must include registers and stack frames.
+#define chSysPuts(msg) {}
+#define INT_REQUIRED_STACK 0x40 // Must include registers and stack frames.
#define UserStackSize(n) (sizeof(Thread) + \
sizeof(struct stackregs) + (n) + (INT_REQUIRED_STACK))
@@ -105,6 +106,4 @@ void DefFiqHandler(void);
void DefIrqHandler(void);
void SpuriousHandler(void);
-void SetVICVector(void *handler, int vector, int source);
-
#endif /* _CHCORE_H_ */
diff --git a/demos/ARM7-LPC214x-GCC/chtypes.h b/demos/ARM7-LPC214x-GCC/chtypes.h
index 803b5ead4..2ac219148 100644
--- a/demos/ARM7-LPC214x-GCC/chtypes.h
+++ b/demos/ARM7-LPC214x-GCC/chtypes.h
@@ -33,6 +33,7 @@
typedef BYTE8 t_tmode;
typedef BYTE8 t_tstate;
+typedef UWORD16 t_tid;
typedef ULONG32 t_prio;
typedef LONG32 t_msg;
typedef LONG32 t_eventid;
diff --git a/demos/ARM7-LPC214x-GCC/mmcsd.h b/demos/ARM7-LPC214x-GCC/mmcsd.h
index 823a76a3d..b5f0ea57c 100644
--- a/demos/ARM7-LPC214x-GCC/mmcsd.h
+++ b/demos/ARM7-LPC214x-GCC/mmcsd.h
@@ -43,18 +43,24 @@ typedef struct {
extern EventSource MMCInsertEventSource, MMCRemoveEventSource;
-void InitMMC(void);
+#ifdef __cplusplus
+}
+#endif
+ void InitMMC(void);
-BOOL mmcInit(void);
-void mmcStartPolling(void);
-void mmcStopPolling(void);
-BOOL mmcCardInserted (void);
-BYTE8 mmcSendCommand(BYTE8 cmd, ULONG32 arg);
-BOOL mmcGetSize(MMCCSD *data);
-BOOL mmcRead(BYTE8 *buf, ULONG32 blknum);
-BOOL mmcReadMultiple(BYTE8 *buf, ULONG32 blknum, ULONG32 n);
-BOOL mmcWrite(BYTE8 *buf, ULONG32 blknum);
-BOOL mmcWriteMultiple(BYTE8 *buf, ULONG32 blknum, ULONG32 n);
-void mmcSynch(void);
+ BOOL mmcInit(void);
+ void mmcStartPolling(void);
+ void mmcStopPolling(void);
+ BOOL mmcCardInserted (void);
+ BYTE8 mmcSendCommand(BYTE8 cmd, ULONG32 arg);
+ BOOL mmcGetSize(MMCCSD *data);
+ BOOL mmcRead(BYTE8 *buf, ULONG32 blknum);
+ BOOL mmcReadMultiple(BYTE8 *buf, ULONG32 blknum, ULONG32 n);
+ BOOL mmcWrite(BYTE8 *buf, ULONG32 blknum);
+ BOOL mmcWriteMultiple(BYTE8 *buf, ULONG32 blknum, ULONG32 n);
+ void mmcSynch(void);
+#ifdef __cplusplus
+}
+#endif
#endif /* _MMCSD_H_*/
diff --git a/docs/Doxyfile b/docs/Doxyfile
index c107c987a..1a98bb58c 100644
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@@ -4,7 +4,7 @@
# Project related configuration options
#---------------------------------------------------------------------------
PROJECT_NAME = ChibiOS/RT
-PROJECT_NUMBER = "0.3.4 beta"
+PROJECT_NUMBER = "0.4.0 beta"
OUTPUT_DIRECTORY = .
CREATE_SUBDIRS = NO
OUTPUT_LANGUAGE = English
@@ -26,7 +26,7 @@ ALWAYS_DETAILED_SEC = NO
INLINE_INHERITED_MEMB = NO
FULL_PATH_NAMES = NO
STRIP_FROM_PATH = "C:/Documents and Settings/Administrator/"
-STRIP_FROM_INC_PATH =
+STRIP_FROM_INC_PATH =
SHORT_NAMES = NO
JAVADOC_AUTOBRIEF = YES
MULTILINE_CPP_IS_BRIEF = NO
@@ -34,7 +34,7 @@ DETAILS_AT_TOP = YES
INHERIT_DOCS = NO
SEPARATE_MEMBER_PAGES = NO
TAB_SIZE = 2
-ALIASES =
+ALIASES =
OPTIMIZE_OUTPUT_FOR_C = YES
OPTIMIZE_OUTPUT_JAVA = NO
BUILTIN_STL_SUPPORT = NO
@@ -64,11 +64,11 @@ GENERATE_TODOLIST = YES
GENERATE_TESTLIST = YES
GENERATE_BUGLIST = YES
GENERATE_DEPRECATEDLIST= YES
-ENABLED_SECTIONS =
+ENABLED_SECTIONS =
MAX_INITIALIZER_LINES = 30
SHOW_USED_FILES = NO
SHOW_DIRECTORIES = NO
-FILE_VERSION_FILTER =
+FILE_VERSION_FILTER =
#---------------------------------------------------------------------------
# configuration options related to warning and progress messages
#---------------------------------------------------------------------------
@@ -78,7 +78,7 @@ WARN_IF_UNDOCUMENTED = YES
WARN_IF_DOC_ERROR = YES
WARN_NO_PARAMDOC = NO
WARN_FORMAT = "$file:$line: $text"
-WARN_LOGFILE =
+WARN_LOGFILE =
#---------------------------------------------------------------------------
# configuration options related to the input files
#---------------------------------------------------------------------------
@@ -115,15 +115,15 @@ FILE_PATTERNS = *.c \
*.py \
*.ddf
RECURSIVE = YES
-EXCLUDE =
+EXCLUDE =
EXCLUDE_SYMLINKS = NO
-EXCLUDE_PATTERNS =
-EXAMPLE_PATH =
+EXCLUDE_PATTERNS =
+EXAMPLE_PATH =
EXAMPLE_PATTERNS = *
EXAMPLE_RECURSIVE = NO
IMAGE_PATH = ./img
-INPUT_FILTER =
-FILTER_PATTERNS =
+INPUT_FILTER =
+FILTER_PATTERNS =
FILTER_SOURCE_FILES = NO
#---------------------------------------------------------------------------
# configuration options related to source browsing
@@ -141,20 +141,20 @@ VERBATIM_HEADERS = NO
#---------------------------------------------------------------------------
ALPHABETICAL_INDEX = NO
COLS_IN_ALPHA_INDEX = 5
-IGNORE_PREFIX =
+IGNORE_PREFIX =
#---------------------------------------------------------------------------
# configuration options related to the HTML output
#---------------------------------------------------------------------------
GENERATE_HTML = YES
HTML_OUTPUT = html
HTML_FILE_EXTENSION = .html
-HTML_HEADER =
-HTML_FOOTER =
-HTML_STYLESHEET =
+HTML_HEADER =
+HTML_FOOTER =
+HTML_STYLESHEET =
HTML_ALIGN_MEMBERS = YES
GENERATE_HTMLHELP = NO
-CHM_FILE =
-HHC_LOCATION =
+CHM_FILE =
+HHC_LOCATION =
GENERATE_CHI = NO
BINARY_TOC = NO
TOC_EXPAND = NO
@@ -171,8 +171,8 @@ LATEX_CMD_NAME = latex
MAKEINDEX_CMD_NAME = makeindex
COMPACT_LATEX = NO
PAPER_TYPE = a4wide
-EXTRA_PACKAGES =
-LATEX_HEADER =
+EXTRA_PACKAGES =
+LATEX_HEADER =
PDF_HYPERLINKS = NO
USE_PDFLATEX = NO
LATEX_BATCHMODE = NO
@@ -184,8 +184,8 @@ GENERATE_RTF = NO
RTF_OUTPUT = rtf
COMPACT_RTF = NO
RTF_HYPERLINKS = NO
-RTF_STYLESHEET_FILE =
-RTF_EXTENSIONS_FILE =
+RTF_STYLESHEET_FILE =
+RTF_EXTENSIONS_FILE =
#---------------------------------------------------------------------------
# configuration options related to the man page output
#---------------------------------------------------------------------------
@@ -198,8 +198,8 @@ MAN_LINKS = NO
#---------------------------------------------------------------------------
GENERATE_XML = NO
XML_OUTPUT = xml
-XML_SCHEMA =
-XML_DTD =
+XML_SCHEMA =
+XML_DTD =
XML_PROGRAMLISTING = YES
#---------------------------------------------------------------------------
# configuration options for the AutoGen Definitions output
@@ -211,16 +211,16 @@ GENERATE_AUTOGEN_DEF = NO
GENERATE_PERLMOD = NO
PERLMOD_LATEX = NO
PERLMOD_PRETTY = YES
-PERLMOD_MAKEVAR_PREFIX =
+PERLMOD_MAKEVAR_PREFIX =
#---------------------------------------------------------------------------
-# Configuration options related to the preprocessor
+# Configuration options related to the preprocessor
#---------------------------------------------------------------------------
ENABLE_PREPROCESSING = YES
MACRO_EXPANSION = NO
EXPAND_ONLY_PREDEF = NO
SEARCH_INCLUDES = YES
-INCLUDE_PATH =
-INCLUDE_FILE_PATTERNS =
+INCLUDE_PATH =
+INCLUDE_FILE_PATTERNS =
PREDEFINED = __JUST_STUBS__ \
__DOXIGEN__ \
CH_USE_VIRTUAL_TIMERS \
@@ -243,19 +243,20 @@ PREDEFINED = __JUST_STUBS__ \
CH_USE_MESSAGES \
CH_USE_MESSAGES_TIMEOUT \
CH_USE_MESSAGES_EVENT \
- CH_USE_SEMSW
-EXPAND_AS_DEFINED =
+ CH_USE_SEMSW \
+ CH_USE_DEBUG
+EXPAND_AS_DEFINED =
SKIP_FUNCTION_MACROS = YES
#---------------------------------------------------------------------------
-# Configuration::additions related to external references
+# Configuration::additions related to external references
#---------------------------------------------------------------------------
-TAGFILES =
-GENERATE_TAGFILE =
+TAGFILES =
+GENERATE_TAGFILE =
ALLEXTERNALS = NO
EXTERNAL_GROUPS = YES
PERL_PATH = /usr/bin/perl
#---------------------------------------------------------------------------
-# Configuration options related to the dot tool
+# Configuration options related to the dot tool
#---------------------------------------------------------------------------
CLASS_DIAGRAMS = NO
HIDE_UNDOC_RELATIONS = YES
@@ -272,8 +273,8 @@ CALLER_GRAPH = NO
GRAPHICAL_HIERARCHY = YES
DIRECTORY_GRAPH = YES
DOT_IMAGE_FORMAT = png
-DOT_PATH =
-DOTFILE_DIRS =
+DOT_PATH =
+DOTFILE_DIRS =
MAX_DOT_GRAPH_WIDTH = 1024
MAX_DOT_GRAPH_HEIGHT = 1024
MAX_DOT_GRAPH_DEPTH = 1000
@@ -282,6 +283,6 @@ DOT_MULTI_TARGETS = NO
GENERATE_LEGEND = YES
DOT_CLEANUP = YES
#---------------------------------------------------------------------------
-# Configuration::additions related to the search engine
+# Configuration::additions related to the search engine
#---------------------------------------------------------------------------
SEARCHENGINE = NO
diff --git a/docs/ch.txt b/docs/ch.txt
index 38d6d589a..02152047b 100644
--- a/docs/ch.txt
+++ b/docs/ch.txt
@@ -152,6 +152,16 @@
*/
/** @} */
+/**
+ * @defgroup Debug Debug
+ * @{
+ * Debug APIs and procedures.
+ * @ingroup Kernel
+ * @file debug.h Debug macros and structures.
+ * @file chdebug.c ChibiOS/RT Debug code.
+ */
+/** @} */
+
/**
* @defgroup Scheduler Scheduler
* @{
diff --git a/ports/ARM7-LPC214x/GCC/lpc214x_serial.h b/ports/ARM7-LPC214x/GCC/lpc214x_serial.h
index 1ee910b4a..2d82817cb 100644
--- a/ports/ARM7-LPC214x/GCC/lpc214x_serial.h
+++ b/ports/ARM7-LPC214x/GCC/lpc214x_serial.h
@@ -37,10 +37,16 @@
*/
#define SERIAL_BUFFERS_SIZE 128
-void InitSerial(void);
-void SetUARTI(UART *u, int speed, int lcr, int fcr);
-void UART0IrqHandler(void);
-void UART1IrqHandler(void);
+#ifdef __cplusplus
+}
+#endif
+ void InitSerial(void);
+ void UART0IrqHandler(void);
+ void UART1IrqHandler(void);
+ void SetUARTI(UART *u, int speed, int lcr, int fcr);
+#ifdef __cplusplus
+}
+#endif
extern FullDuplexDriver COM1, COM2;
diff --git a/ports/ARM7-LPC214x/GCC/lpc214x_ssp.h b/ports/ARM7-LPC214x/GCC/lpc214x_ssp.h
index c7b4bcbdd..07401d173 100644
--- a/ports/ARM7-LPC214x/GCC/lpc214x_ssp.h
+++ b/ports/ARM7-LPC214x/GCC/lpc214x_ssp.h
@@ -26,11 +26,17 @@
*/
#define SSP_USE_MUTEX
-void InitSSP(void);
-void SetSSP(int cpsr, int cr0, int cr1);
+#ifdef __cplusplus
+}
+#endif
+ void InitSSP(void);
+ void SetSSP(int cpsr, int cr0, int cr1);
-void sspAcquireBus(void);
-void sspReleaseBus(void);
-void sspRW(BYTE8 *in, BYTE8 *out, t_size n);
+ void sspAcquireBus(void);
+ void sspReleaseBus(void);
+ void sspRW(BYTE8 *in, BYTE8 *out, t_size n);
+#ifdef __cplusplus
+}
+#endif
#endif /* _LPC214x_SSP_H_*/
diff --git a/ports/ARM7-LPC214x/GCC/vic.h b/ports/ARM7-LPC214x/GCC/vic.h
index cbcb525fc..9d8ba93ad 100644
--- a/ports/ARM7-LPC214x/GCC/vic.h
+++ b/ports/ARM7-LPC214x/GCC/vic.h
@@ -20,7 +20,13 @@
#ifndef _VIC_H_
#define _VIC_H_
-void InitVIC(void);
-void SetVICVector(void *handler, int vector, int source);
+#ifdef __cplusplus
+}
+#endif
+ void InitVIC(void);
+ void SetVICVector(void *handler, int vector, int source);
+#ifdef __cplusplus
+}
+#endif
#endif /* _VIC_H_*/
diff --git a/readme.txt b/readme.txt
index 733f9f08c..38792a82e 100644
--- a/readme.txt
+++ b/readme.txt
@@ -38,6 +38,17 @@ AVR-AT90CANx-GCC - Port on AVR AT90CAN128, not complete yet.
*** Releases ***
*****************************************************************************
+*** 0.4.0 ***
+- Implemented a debug subsystem, it supports debug messages and a context
+ switch circular trace buffer. The debug code can be enabled/disabled by
+ using the CH_USE_DEBUG in chconf.h.
+ The trace buffer is meant to be fetched and decoded by an external tool
+ (coming soon, it can be accessed using JTAG in the meanwhile).
+- Implemented panic messages when CH_USE_DEBUG is enabled.
+- Added a thread identifier field to the Thread structure, it is used only
+ for debug.
+- Fixed an harmless warning message in buzzer.c.
+
*** 0.3.6 ***
- Added SSP (SPI1) and ext.interrupts definitions to the lpc214x.h file.
- Added SSP driver for the LPC2148.
diff --git a/src/chdebug.c b/src/chdebug.c
new file mode 100644
index 000000000..d08f91fd1
--- /dev/null
+++ b/src/chdebug.c
@@ -0,0 +1,75 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006-2007 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
+
+#ifdef CH_USE_DEBUG
+
+TraceBuffer dbgtb;
+char *dbglastmsg;
+
+/**
+ * Debug subsystem initialization.
+ */
+void chDbgInit(void) {
+
+ dbgtb.tb_size = TRACE_BUFFER_SIZE;
+ dbgtb.tb_ptr = &dbgtb.tb_buffer[0];
+}
+
+/**
+ * Inserts in the circular debug trace buffer a context switch record.
+ * @param otp the thread being switched out
+ * @param ntp the thread to be resumed
+ */
+void chDbgTrace(Thread *otp, Thread *ntp) {
+
+ dbgtb.tb_ptr->cse_slpdata = otp->p_common;
+#ifdef CH_USE_SYSTEMTIME
+ dbgtb.tb_ptr->cse_time = chSysGetTime();
+#else
+ dbgtb.tb_ptr->cse_time = 0;
+#endif
+ dbgtb.tb_ptr->cse_state = otp->p_state;
+ dbgtb.tb_ptr->cse_tid = ntp->p_tid;
+ if (++dbgtb.tb_ptr >= &dbgtb.tb_buffer[TRACE_BUFFER_SIZE])
+ dbgtb.tb_ptr = &dbgtb.tb_buffer[0];
+}
+
+/**
+ * Prints a message on the console/debugger. The latest message pointer
+ * is retained.
+ */
+void chDbgPuts(char *msg) {
+
+ dbglastmsg = msg;
+ chSysPuts(msg);
+}
+
+/**
+ * Prints a panic message on the console/debugger and then halts the system.
+ */
+void chDbgPanic(char *msg) {
+
+ chSysPuts("PANIC: ");
+ chDbgPuts(msg);
+ chSysHalt();
+}
+
+#endif /* CH_USE_DEBUG */
diff --git a/src/chevents.c b/src/chevents.c
index 93d93ff3d..5f7ce6aaa 100644
--- a/src/chevents.c
+++ b/src/chevents.c
@@ -160,10 +160,11 @@ t_eventid chEvtWait(t_eventmask ewmask,
}
#ifdef CH_USE_EVENTS_TIMEOUT
-static void unwait(void *p) {
-
-// Test removed, it should never happen.
-// if (((Thread *)p)->p_state == PRWTEVENT)
+static void wakeup(void *p) {
+#ifdef CH_USE_DEBUG
+ if (((Thread *)p)->p_state != PRWTEVENT)
+ chDbgPanic("chevents.c, wakeup()\r\n");
+#endif
chSchReadyI(p)->p_rdymsg = RDY_TIMEOUT;
}
@@ -200,7 +201,7 @@ t_eventid chEvtWaitTimeout(t_eventmask ewmask,
if ((currp->p_epending & ewmask) == 0) {
VirtualTimer vt;
- chVTSetI(&vt, time, unwait, currp);
+ chVTSetI(&vt, time, wakeup, currp);
currp->p_ewmask = ewmask;
chSchGoSleepS(PRWTEVENT);
if (!chVTIsArmedI(&vt)) {
diff --git a/src/chinit.c b/src/chinit.c
index 55a69b1fc..4a25567a8 100644
--- a/src/chinit.c
+++ b/src/chinit.c
@@ -47,6 +47,7 @@ static Thread idlethread;
void chSysInit(void) {
chSchInit();
+ chDbgInit();
#ifdef CH_USE_VIRTUAL_TIMERS
chVTInit();
#endif
diff --git a/src/chmsg.c b/src/chmsg.c
index 010da86e5..5ea3f9821 100644
--- a/src/chmsg.c
+++ b/src/chmsg.c
@@ -80,10 +80,12 @@ t_msg chMsgSendWithEvent(Thread *tp, t_msg msg, EventSource *esp) {
#endif
#ifdef CH_USE_MESSAGES_TIMEOUT
-static void unsend(void *p) {
+static void wakeup(void *p) {
-// Test removed, it should never happen.
-// if (((Thread *)p)->p_state == PRSNDMSG)
+#ifdef CH_USE_DEBUG
+ if (((Thread *)p)->p_state != PRSNDMSG)
+ chDbgPanic("chmsg.c, wakeup()\r\n");
+#endif
chSchReadyI(dequeue(p))->p_rdymsg = RDY_TIMEOUT;
}
@@ -108,7 +110,7 @@ t_msg chMsgSendTimeout(Thread *tp, t_msg msg, t_time time) {
chSysLock();
- chVTSetI(&vt, time, unsend, currp);
+ chVTSetI(&vt, time, wakeup, currp);
fifo_insert(currp, &tp->p_msgqueue);
if (tp->p_state == PRWTMSG)
chSchReadyI(tp);
diff --git a/src/chschd.c b/src/chschd.c
index c95c0cd0e..c30040520 100644
--- a/src/chschd.c
+++ b/src/chschd.c
@@ -86,6 +86,9 @@ static void nextready(void) {
(currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR;
preempt = CH_TIME_QUANTUM;
+#ifdef CH_USE_DEBUG
+ chDbgTrace(otp, currp);
+#endif
chSysSwitchI(&otp->p_ctx, &currp->p_ctx);
}
@@ -125,6 +128,9 @@ void chSchWakeupS(Thread *tp, t_msg msg) {
(currp = tp)->p_state = PRCURR;
tp->p_rdymsg = msg;
preempt = CH_TIME_QUANTUM;
+#ifdef CH_USE_DEBUG
+ chDbgTrace(ctp, tp);
+#endif
chSysSwitchI(&ctp->p_ctx, &tp->p_ctx);
}
}
diff --git a/src/chsem.c b/src/chsem.c
index 091a045b5..099dc4db4 100644
--- a/src/chsem.c
+++ b/src/chsem.c
@@ -112,10 +112,11 @@ void chSemWaitS(Semaphore *sp) {
}
#ifdef CH_USE_SEMAPHORES_TIMEOUT
-static void unwait(void *p) {
-
-// Test removed, it should never happen.
-// if (((Thread *)p)->p_state == PRWTSEM)
+static void wakeup(void *p) {
+#ifdef CH_USE_DEBUG
+ if (((Thread *)p)->p_state != PRWTSEM)
+ chDbgPanic("chsem.c, wakeup()\r\n");
+#endif
chSemFastSignalI(((Thread *)p)->p_semp);
chSchReadyI(dequeue(p))->p_rdymsg = RDY_TIMEOUT;
}
@@ -134,7 +135,7 @@ t_msg chSemWaitTimeout(Semaphore *sp, t_time time) {
if (--sp->s_cnt < 0) {
VirtualTimer vt;
- chVTSetI(&vt, time, unwait, currp);
+ chVTSetI(&vt, time, wakeup, currp);
fifo_insert(currp, &sp->s_queue);
currp->p_semp = sp;
chSchGoSleepS(PRWTSEM);
@@ -165,7 +166,7 @@ t_msg chSemWaitTimeoutS(Semaphore *sp, t_time time) {
if (--sp->s_cnt < 0) {
VirtualTimer vt;
- chVTSetI(&vt, time, unwait, currp);
+ chVTSetI(&vt, time, wakeup, currp);
fifo_insert(currp, &sp->s_queue);
currp->p_semp = sp;
chSchGoSleepS(PRWTSEM);
diff --git a/src/chthreads.c b/src/chthreads.c
index 56ab4969e..9729a9b59 100644
--- a/src/chthreads.c
+++ b/src/chthreads.c
@@ -28,7 +28,9 @@
* Initializes a thread structure.
*/
void _InitThread(t_prio prio, t_tmode mode, Thread *tp) {
+ static t_tid nextid = 0;
+ tp->p_tid = nextid++;
tp->p_flags = mode;
tp->p_prio = prio;
tp->p_rdymsg = RDY_OK;
diff --git a/src/include/ch.h b/src/include/ch.h
index 9df1b8363..1102f4013 100644
--- a/src/include/ch.h
+++ b/src/include/ch.h
@@ -83,6 +83,10 @@
#include "serial.h"
#endif
+#ifndef _DEBUG_H_
+#include "debug.h"
+#endif
+
/*
* Common values.
*/
diff --git a/src/include/debug.h b/src/include/debug.h
new file mode 100644
index 000000000..5a4f3ac44
--- /dev/null
+++ b/src/include/debug.h
@@ -0,0 +1,70 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006-2007 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 .
+*/
+
+/**
+ * @addtogroup Debug
+ * @{
+ */
+
+#ifndef _DEBUG_H_
+#define _DEBUG_H_
+
+#ifdef CH_USE_DEBUG
+
+#define TRACE_BUFFER_SIZE 1024
+
+typedef struct {
+ void *cse_slpdata;
+ t_time cse_time;
+ UWORD16 cse_state: 4;
+ UWORD16 cse_tid: 12;
+} CtxSwcEvent;
+
+typedef struct {
+ t_size tb_size;
+ CtxSwcEvent *tb_ptr;
+ CtxSwcEvent tb_buffer[TRACE_BUFFER_SIZE];
+} TraceBuffer;
+
+extern CtxSwcEvent *dbgnext;
+extern TraceBuffer dbgtb;
+extern char *dbglastmsg;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chDbgInit(void);
+ void chDbgTrace(Thread *otp, Thread *ntp);
+ void chDbgPuts(char *msg);
+ void chDbgPanic(char *msg);
+#ifdef __cplusplus
+}
+#endif
+
+#else /* CH_USE_DEBUG */
+
+#define chDbgInit()
+#define chDbgPuts(msg) {}
+#define chDbgPanic(msg) {}
+
+#endif /* CH_USE_DEBUG */
+
+#endif /* _DEBUG_H_ */
+
+/** @} */
diff --git a/src/include/threads.h b/src/include/threads.h
index effad525c..e4cd8376e 100644
--- a/src/include/threads.h
+++ b/src/include/threads.h
@@ -41,6 +41,8 @@ struct Thread {
/** The thread priority.*/
t_prio p_prio;
/* End of the fields shared with the ReadyList structure. */
+ /** Thread identifier. */
+ t_tid p_tid;
/** Current thread state.*/
t_tstate p_state;
/** Mode flags.*/
@@ -68,6 +70,8 @@ struct Thread {
/** Message (only while in \p PRSNDMSG state).*/
t_msg p_msg;
#endif
+ /** Generic way to access the union.*/
+ void *p_common;
};
/** Machine dependent processor context.*/
Context p_ctx;
diff --git a/src/templates/chconf.h b/src/templates/chconf.h
index 9c5d303bd..c8214c623 100644
--- a/src/templates/chconf.h
+++ b/src/templates/chconf.h
@@ -157,6 +157,12 @@
*/
//#define CH_CURRP_REGISTER_CACHE "reg"
+/** Configuration option: Includes basic debug support to the kernel.
+ * @note the debug support is port-dependent, it may be not present on some
+ * targets. In that case stub functions will be included.
+ */
+#define CH_USE_DEBUG
+
#endif /* _CHCONF_H_ */
/** @} */
diff --git a/src/templates/chcore.h b/src/templates/chcore.h
index a9bfcce63..e917ffa6f 100644
--- a/src/templates/chcore.h
+++ b/src/templates/chcore.h
@@ -69,6 +69,11 @@ typedef struct {
*/
#define chSysUnlock()
+/**
+ * Prints a message on the system console (if any).
+ */
+#define chSysPuts(msg) {}
+
void chSysHalt(void);
void chSysPause(void);
void chSysSwitchI(Context *oldp, Context *newp);
diff --git a/src/templates/chtypes.h b/src/templates/chtypes.h
index 45f60a1a3..fdbdae7b9 100644
--- a/src/templates/chtypes.h
+++ b/src/templates/chtypes.h
@@ -38,6 +38,7 @@
typedef BYTE8 t_tmode; /* Thread mode flags, BYTE8 is ok. */
typedef BYTE8 t_tstate; /* Thread state, BYTE8 is ok. */
+typedef UWORD16 t_tid; /* Thread id. */
typedef ULONG32 t_prio; /* Priority, use the fastest unsigned type. */
typedef LONG32 t_msg; /* Message, use signed pointer equivalent.*/
typedef LONG32 t_eventid; /* Event Id, use fastest signed.*/