git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@87 35acf78f-673a-0410-8e92-d51de3d6d3f4

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/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
-       ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c ../../src/chmsg.c \
+       ../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c \
-       ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.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

demos/ARM7-LPC214x-GCC/buzzer.c

@@ -89,4 +89,4 @@ void PlaySoundWait(int freq, t_time duration) {
   StartCounter(tc);
   chThdSleep(duration);
   StopCounter(tc);
-}
+}

demos/ARM7-LPC214x-GCC/buzzer.h

@@ -20,9 +20,15 @@
 #ifndef _BUZZER_H_
 #define _BUZZER_H_
 
-void InitBuzzer(void);
+#ifdef __cplusplus
-void PlaySound(int freq, t_time duration);
+extern "C" {
-void PlaySoundWait(int freq, t_time duration);
+#endif
+  void InitBuzzer(void);
+  void PlaySound(int freq, t_time duration);
+  void PlaySoundWait(int freq, t_time duration);
+#ifdef __cplusplus
+}
+#endif
 
 extern EventSource BuzzerSilentEventSource;
 

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_ */
 
 /** @} */

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_ */

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;

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);
+  BOOL mmcInit(void);
-void mmcStartPolling(void);
+  void mmcStartPolling(void);
-void mmcStopPolling(void);
+  void mmcStopPolling(void);
-BOOL mmcCardInserted (void);
+  BOOL mmcCardInserted (void);
-BYTE8 mmcSendCommand(BYTE8 cmd, ULONG32 arg);
+  BYTE8 mmcSendCommand(BYTE8 cmd, ULONG32 arg);
-BOOL mmcGetSize(MMCCSD *data);
+  BOOL mmcGetSize(MMCCSD *data);
-BOOL mmcRead(BYTE8 *buf, ULONG32 blknum);
+  BOOL mmcRead(BYTE8 *buf, ULONG32 blknum);
-BOOL mmcReadMultiple(BYTE8 *buf, ULONG32 blknum, ULONG32 n);
+  BOOL mmcReadMultiple(BYTE8 *buf, ULONG32 blknum, ULONG32 n);
-BOOL mmcWrite(BYTE8 *buf, ULONG32 blknum);
+  BOOL mmcWrite(BYTE8 *buf, ULONG32 blknum);
-BOOL mmcWriteMultiple(BYTE8 *buf, ULONG32 blknum, ULONG32 n);
+  BOOL mmcWriteMultiple(BYTE8 *buf, ULONG32 blknum, ULONG32 n);
-void mmcSynch(void);
+  void mmcSynch(void);
+#ifdef __cplusplus
+}
+#endif
 
 #endif /* _MMCSD_H_*/

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       =
+EXCLUDE_PATTERNS       = 
-EXAMPLE_PATH           =
+EXAMPLE_PATH           = 
 EXAMPLE_PATTERNS       = *
 EXAMPLE_RECURSIVE      = NO
 IMAGE_PATH             = ./img
-INPUT_FILTER           =
+INPUT_FILTER           = 
-FILTER_PATTERNS        =
+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_HEADER            = 
-HTML_FOOTER            =
+HTML_FOOTER            = 
-HTML_STYLESHEET        =
+HTML_STYLESHEET        = 
 HTML_ALIGN_MEMBERS     = YES
 GENERATE_HTMLHELP      = NO
-CHM_FILE               =
+CHM_FILE               = 
-HHC_LOCATION           =
+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         =
+EXTRA_PACKAGES         = 
-LATEX_HEADER           =
+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_STYLESHEET_FILE    = 
-RTF_EXTENSIONS_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_SCHEMA             = 
-XML_DTD                =
+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_PATH           = 
-INCLUDE_FILE_PATTERNS  =
+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
+                         CH_USE_SEMSW \
-EXPAND_AS_DEFINED      =
+                         CH_USE_DEBUG
+EXPAND_AS_DEFINED      = 
 SKIP_FUNCTION_MACROS   = YES
 #---------------------------------------------------------------------------
-# Configuration::additions related to external references
+# Configuration::additions related to external references   
 #---------------------------------------------------------------------------
-TAGFILES               =
+TAGFILES               = 
-GENERATE_TAGFILE       =
+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               =
+DOT_PATH               = 
-DOTFILE_DIRS           =
+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

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
  * @{

ports/ARM7-LPC214x/GCC/lpc214x_serial.h

@@ -37,10 +37,16 @@
  */
 #define SERIAL_BUFFERS_SIZE 128
 
-void InitSerial(void);
+#ifdef __cplusplus
-void SetUARTI(UART *u, int speed, int lcr, int fcr);
+}
-void UART0IrqHandler(void);
+#endif
-void UART1IrqHandler(void);
+  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;
 

ports/ARM7-LPC214x/GCC/lpc214x_ssp.h

@@ -26,11 +26,17 @@
  */
 #define SSP_USE_MUTEX
 
-void InitSSP(void);
+#ifdef __cplusplus
-void SetSSP(int cpsr, int cr0, int cr1);
+}
+#endif
+  void InitSSP(void);
+  void SetSSP(int cpsr, int cr0, int cr1);
 
-void sspAcquireBus(void);
+  void sspAcquireBus(void);
-void sspReleaseBus(void);
+  void sspReleaseBus(void);
-void sspRW(BYTE8 *in, BYTE8 *out, t_size n);
+  void sspRW(BYTE8 *in, BYTE8 *out, t_size n);
+#ifdef __cplusplus
+}
+#endif
 
 #endif /* _LPC214x_SSP_H_*/

ports/ARM7-LPC214x/GCC/vic.h

@@ -20,7 +20,13 @@
 #ifndef _VIC_H_
 #define _VIC_H_
 
-void InitVIC(void);
+#ifdef __cplusplus
-void SetVICVector(void *handler, int vector, int source);
+}
+#endif
+  void InitVIC(void);
+  void SetVICVector(void *handler, int vector, int source);
+#ifdef __cplusplus
+}
+#endif
 
 #endif /* _VIC_H_*/

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.

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 <http://www.gnu.org/licenses/>.
+*/
+
+#include <ch.h>
+
+#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 */

src/chevents.c

@@ -160,10 +160,11 @@ t_eventid chEvtWait(t_eventmask ewmask,
 }
 
 #ifdef CH_USE_EVENTS_TIMEOUT
-static void unwait(void *p) {
+static void wakeup(void *p) {
-
+#ifdef CH_USE_DEBUG
-// Test removed, it should never happen.
+  if (((Thread *)p)->p_state != PRWTEVENT)
-//  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)) {

src/chinit.c

@@ -47,6 +47,7 @@ static Thread idlethread;
 void chSysInit(void) {
 
   chSchInit();
+  chDbgInit();
 #ifdef CH_USE_VIRTUAL_TIMERS
   chVTInit();
 #endif

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.
+#ifdef CH_USE_DEBUG
-//  if (((Thread *)p)->p_state == PRSNDMSG)
+  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);

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);
   }
 }

src/chsem.c

@@ -112,10 +112,11 @@ void chSemWaitS(Semaphore *sp) {
 }
 
 #ifdef CH_USE_SEMAPHORES_TIMEOUT
-static void unwait(void *p) {
+static void wakeup(void *p) {
-
+#ifdef CH_USE_DEBUG
-// Test removed, it should never happen.
+  if (((Thread *)p)->p_state != PRWTSEM)
-//  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);

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;

src/include/ch.h

@@ -83,6 +83,10 @@
 #include "serial.h"
 #endif
 
+#ifndef _DEBUG_H_
+#include "debug.h"
+#endif
+
 /*
  * Common values.
  */

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 <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @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_ */
+
+/** @} */

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;

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_ */
 
 /** @} */

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);

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.*/