git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@124 35acf78f-673a-0410-8e92-d51de3d6d3f4

docs/Doxyfile

@@ -4,7 +4,7 @@
 # Project related configuration options
 #---------------------------------------------------------------------------
 PROJECT_NAME           = ChibiOS/RT
-PROJECT_NUMBER         = "0.4.3 beta"
+PROJECT_NUMBER         = "0.4.4 beta"
 OUTPUT_DIRECTORY       = .
 CREATE_SUBDIRS         = NO
 OUTPUT_LANGUAGE        = English

docs/index.html

@@ -13,7 +13,7 @@ Homepage</h2>
     </tr>
     <tr>
       <td style="text-align: center; vertical-align: top; width: 150px;">Current
-Version 0.4.3<br>
+Version 0.4.4<br>
 -<br>
       <a href="http://sourceforge.net/projects/chibios/" rel="me" target="_top">Project on SourceForge</a><br>
       <a href="html/index.html" target="_top" rel="me">Documentation</a><br>

readme.txt

@@ -39,6 +39,13 @@ AVR-AT90CANx-GCC       - Port on AVR AT90CAN128, not complete yet.
 *** Releases                                                              ***
 *****************************************************************************
 
+*** 0.4.4 ***
+- Added a chDbgAssert() API to the debug subsystem.
+- Cleaned up the kernel source code using chDbgAssert() instead of a lot of
+  "#ifdef CH_USE_DEBUG", it is much more readable now.
+- Now the threads working area is filled with a 0x55 when in debug mode, this
+  will make easier to track stack usage using a JTAG probe.
+
 *** 0.4.3 ***
 - Size optimization in the events code, now the chEvtWait() reuses the
   chEvtWaitTimeout() code if it is enabled.

src/chevents.c

@@ -143,10 +143,8 @@ t_eventid chEvtWait(t_eventmask ewmask,
 }
 
 static void wakeup(void *p) {
-#ifdef CH_USE_DEBUG
-  if (((Thread *)p)->p_state != PRWTEVENT)
-    chDbgPanic("chevents.c, wakeup()");
-#endif
+
+  chDbgAssert(((Thread *)p)->p_state == PRWTEVENT, "chevents.c, wakeup()");
   chSchReadyI(p, RDY_TIMEOUT);
 }
 

src/chmsg.c

@@ -66,11 +66,8 @@ t_msg chMsgSendWithEvent(Thread *tp, t_msg msg, EventSource *esp) {
 
   chSysLock();
 
+  chDbgAssert(tp->p_state != PRWTMSG, "chmsg.c, chMsgSendWithEvent()");
   fifo_insert(currp, &tp->p_msgqueue);
-#ifdef CH_USE_DEBUG
-  if (tp->p_state == PRWTMSG)
-    chDbgPanic("chmsg.c, chMsgSendWithEvent()");
-#endif
   chEvtSendI(esp);
   currp->p_msg = msg;
   chSchGoSleepS(PRSNDMSG);
@@ -84,10 +81,7 @@ t_msg chMsgSendWithEvent(Thread *tp, t_msg msg, EventSource *esp) {
 #ifdef CH_USE_MESSAGES_TIMEOUT
 static void wakeup(void *p) {
 
-#ifdef CH_USE_DEBUG
-  if (((Thread *)p)->p_state != PRSNDMSG)
-    chDbgPanic("chmsg.c, wakeup()");
-#endif
+  chDbgAssert(((Thread *)p)->p_state == PRSNDMSG, "chmsg.c, wakeup()");
   chSchReadyI(dequeue(p), RDY_TIMEOUT);
 }
 
@@ -186,10 +180,7 @@ void chMsgRelease(t_msg msg) {
 
   chSysLock();
 
-#ifdef CH_USE_DEBUG
-  if (!chMsgIsPendingI(currp))
-    chDbgPanic("chmsg.c, chMsgRelease()");
-#endif
+  chDbgAssert(chMsgIsPendingI(currp), "chmsg.c, chMsgRelease()");
   chSchWakeupS(fifo_remove(&currp->p_msgqueue), msg);
 
   chSysUnlock();

src/chsem.c

@@ -33,6 +33,7 @@
  */
 void chSemInit(Semaphore *sp, t_cnt n) {
 
+  chDbgAssert(n >= 0, "chsem.c, chSemInit()");
   fifo_init(&sp->s_queue);
   sp->s_cnt = n;
 }
@@ -48,6 +49,7 @@ void chSemInit(Semaphore *sp, t_cnt n) {
 void chSemReset(Semaphore *sp, t_cnt n) {
   t_cnt cnt;
 
+  chDbgAssert(n >= 0, "chsem.c, chSemReset()");
   chSysLock();
 
   cnt = sp->s_cnt;
@@ -73,6 +75,7 @@ void chSemReset(Semaphore *sp, t_cnt n) {
 void chSemResetI(Semaphore *sp, t_cnt n) {
   t_cnt cnt;
 
+  chDbgAssert(n >= 0, "chsem.c, chSemResetI()");
   cnt = sp->s_cnt;
   sp->s_cnt = n;
   while (cnt++ < 0)
@@ -116,10 +119,7 @@ t_msg chSemWaitS(Semaphore *sp) {
 #ifdef CH_USE_SEMAPHORES_TIMEOUT
 static void wakeup(void *p) {
 
-#ifdef CH_USE_DEBUG
-  if (((Thread *)p)->p_state != PRWTSEM)
-    chDbgPanic("chsem.c, wakeup()");
-#endif
+  chDbgAssert(((Thread *)p)->p_state == PRWTSEM, "chsem.c, wakeup()");
   chSemFastSignalI(((Thread *)p)->p_semp);
   chSchReadyI(dequeue(p), RDY_TIMEOUT);
 }

src/chthreads.c

@@ -51,6 +51,14 @@ void _InitThread(t_prio prio, t_tmode mode, Thread *tp) {
 #endif
 }
 
+#ifdef CH_USE_DEBUG
+static void memfill(BYTE8 *p, ULONG32 n, BYTE8 v) {
+
+  while (n)
+    *p++ = v, n--;
+}
+#endif
+
 /**
  * Creates a new thread.
  * @param prio the priority level for the new thread. Usually the threads are
@@ -84,6 +92,12 @@ Thread *chThdCreate(t_prio prio, t_tmode mode, void *workspace,
                     t_size wsize, t_tfunc pf, void *arg) {
   Thread *tp = workspace;
 
+  chDbgAssert((wsize > UserStackSize(0)) && (prio <= HIGHPRIO) &&
+              (workspace != NULL) && (pf != NULL),
+              "chthreads.c, chThdCreate()");
+#ifdef CH_USE_DEBUG
+  memfill(workspace, wsize, MEM_FILL_PATTERN);
+#endif
   _InitThread(prio, mode, tp);
   SETUP_CONTEXT(workspace, wsize, pf, arg);
 #ifdef CH_USE_RESUME
@@ -108,6 +122,7 @@ Thread *chThdCreate(t_prio prio, t_tmode mode, void *workspace,
  */
 void chThdSetPriority(t_prio newprio) {
 
+  chDbgAssert(newprio <= HIGHPRIO, "chthreads.c, chThdSetPriority()")
   chSysLock();
 
 #ifdef CH_USE_RT_SEMAPHORES
@@ -139,10 +154,7 @@ void chThdSuspend(Thread **tpp) {
 
   chSysLock();
 
-#ifdef CH_USE_DEBUG
-  if (*tpp)
-    chDbgPanic("chthreads.c, chThdSuspend()");
-#endif
+  chDbgAssert(*tpp == NULL, "chthreads.c, chThdSuspend()");
   *tpp = currp;
   chSchGoSleepS(PRSUSPENDED);
   *tpp = NULL;

src/include/debug.h

@@ -31,6 +31,11 @@
 #define TRACE_BUFFER_SIZE 64
 #endif
 
+/**
+ * Fill value for threads working area in debug mode.
+ */
+#define MEM_FILL_PATTERN 0x55
+
 typedef struct {
   void          *cse_slpdata;
   t_time        cse_time;
@@ -58,10 +63,24 @@ extern "C" {
 }
 #endif
 
+/**
+ * Condition assertion, if the condition check fails then the kernel panics
+ * with the specified message.
+ * @param c the condition to be verified to be true
+ * @param m the text message
+ * @note The condition is tested only if the \p CH_USE_DEBUG switch is
+ *       specified in \p chconf.h else the macro does nothing.
+ */
+#define chDbgAssert(c, m) {                                             \
+  if (!(c))                                                             \
+    chDbgPanic(m);                                                      \
+}
+
 #else /* CH_USE_DEBUG */
 
 #define chDbgInit()
 #define chDbgPanic(msg) {}
+#define chDbgAssert(c, m) {}
 
 #endif /* CH_USE_DEBUG */