Add SEGGER RTT and SystemView bindings for ChibiOS

9 files changed, 909 insertions, 0 deletions

diff --git a/os/various/segger_bindings/RTT/SEGGER_RTT_streams.c b/os/various/segger_bindings/RTT/SEGGER_RTT_streams.c
new file mode 100644
index 0000000..253a2f1
--- /dev/null
+++ b/os/various/segger_bindings/RTT/SEGGER_RTT_streams.c
@@ -0,0 +1,116 @@
+/*
+    ChibiOS - Copyright (C) 2006..2017 Giovanni Di Sirio
+              Copyright (C) 2019 Diego Ismirlian, (dismirlian(at)google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "hal.h"
+#include "SEGGER_RTT_streams.h"
+
+RTTDriver RTTD0;
+static bool rtt_global_init;
+
+static size_t _write(RTTDriver *rttdp, const uint8_t *bp, size_t n) {
+	return SEGGER_RTT_Write(rttdp->up_buffer_index, bp, n);
+}
+
+static size_t _read(RTTDriver *rttdp, uint8_t *bp, size_t n) {
+	(void)rttdp, (void)bp, (void)n;
+	/* TODO: implement */
+	return 0;
+}
+
+static msg_t _put(RTTDriver *rttdp, uint8_t b) {
+	if (SEGGER_RTT_PutChar(rttdp->up_buffer_index, b) == 1) {
+		return MSG_OK;
+	}
+	return MSG_TIMEOUT;
+}
+
+static msg_t _get(RTTDriver *rttdp) {
+	(void)rttdp;
+	/* TODO: implement */
+	return MSG_TIMEOUT;
+}
+
+static const struct RTTDriverVMT vmt = {
+	(size_t)0,
+	(size_t (*)(void *, const uint8_t *, size_t))_write,
+	(size_t (*)(void *, uint8_t *, size_t))_read,
+	(msg_t (*)(void *, uint8_t))_put,
+	(msg_t (*)(void *))_get,
+};
+
+static inline void _object_init(RTTDriver *rttdp) {
+	rttdp->state = RTT_STATE_READY;
+	rttdp->vmt = &vmt;
+}
+
+void rttInit(void) {
+	osalDbgAssert(rtt_global_init == false, "double init");
+	SEGGER_RTT_LOCK();
+	SEGGER_RTT_Init();
+	RTTD0.up_buffer_index = 0;
+	RTTD0.down_buffer_index = 0;
+	_object_init(&RTTD0);
+	rtt_global_init = true;
+	RTTD0.state = RTT_STATE_READY;
+	SEGGER_RTT_UNLOCK();
+}
+
+void rttObjectInit(RTTDriver *rttdp, const RTTConfig *cfg) {
+	osalDbgCheck(rttdp);
+	osalDbgAssert(rtt_global_init, "uninitialized");
+	osalDbgAssert(rttdp != &RTTD0, "RTTD0 is automatically initialized on rttInit");
+
+	int idx;
+
+	SEGGER_RTT_LOCK();
+	if (cfg->down.size) {
+		idx = SEGGER_RTT_AllocDownBuffer(cfg->name, cfg->down.buff, cfg->down.size, cfg->down.flags);
+		osalDbgAssert(idx > 0, "can't alloc down buffer");
+		rttdp->down_buffer_index = (unsigned)idx;
+	} else {
+		rttdp->down_buffer_index = 0;
+	}
+
+	if (cfg->up.size) {
+		idx = SEGGER_RTT_AllocUpBuffer(cfg->name, cfg->up.buff, cfg->up.size, cfg->up.flags);
+		osalDbgAssert(idx > 0, "can't alloc up buffer");
+		rttdp->up_buffer_index = (unsigned)idx;
+	} else {
+		rttdp->up_buffer_index = 0;
+	}
+
+	_object_init(rttdp);
+	SEGGER_RTT_UNLOCK();
+}
+
+void rttSetUpFlags(RTTDriver *rttdp, rtt_mode_flags_t flags) {
+	int ret = SEGGER_RTT_SetFlagsUpBuffer(rttdp->up_buffer_index, (unsigned)flags);
+	osalDbgAssert(ret >= 0, "error");
+}
+
+void rttSetDownFlags(RTTDriver *rttdp, rtt_mode_flags_t flags) {
+	int ret = SEGGER_RTT_SetFlagsDownBuffer(rttdp->down_buffer_index, (unsigned)flags);
+	osalDbgAssert(ret >= 0, "error");
+}
+
+void rttStart(RTTDriver *rttdp) {
+	osalDbgCheck(rttdp);
+	osalDbgAssert(rtt_global_init, "uninitialized");
+	osalDbgAssert((rttdp->state == RTT_STATE_ACTIVE)
+			|| (rttdp->state == RTT_STATE_READY), "wrong state");
+	rttdp->state = RTT_STATE_READY;
+}
diff --git a/os/various/segger_bindings/RTT/SEGGER_RTT_streams.h b/os/various/segger_bindings/RTT/SEGGER_RTT_streams.h
new file mode 100644
index 0000000..3ee679c
--- /dev/null
+++ b/os/various/segger_bindings/RTT/SEGGER_RTT_streams.h
@@ -0,0 +1,107 @@
+/*
+    ChibiOS - Copyright (C) 2006..2017 Giovanni Di Sirio
+              Copyright (C) 2015..2017 Diego Ismirlian, (dismirlian (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#ifndef SEGGER_RTT_streams_H_
+#define SEGGER_RTT_streams_H_
+
+#include "hal.h"
+#include "SEGGER_RTT.h"
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+typedef enum {
+	RTT_STATE_UNINIT = 0,
+	RTT_STATE_STOP = 1,
+	RTT_STATE_ACTIVE = 2,
+	RTT_STATE_READY = 3
+} rtt_state_t;
+
+typedef enum {
+	RTT_MODE_FLAGS_NO_BLOCK_SKIP = SEGGER_RTT_MODE_NO_BLOCK_SKIP,
+	RTT_MODE_FLAGS_NO_BLOCK_TRIM = SEGGER_RTT_MODE_NO_BLOCK_TRIM,
+	RTT_MODE_FLAGS_BLOCK_IF_FIFO_FULL = SEGGER_RTT_MODE_BLOCK_IF_FIFO_FULL,
+} rtt_mode_flags_t;
+
+#define _rtt_driver_methods                                          \
+	_base_sequential_stream_methods
+
+struct RTTDriverVMT {
+	_rtt_driver_methods
+};
+
+typedef struct RTTDriver RTTDriver;
+typedef struct RTTConfig RTTConfig;
+typedef struct RTTBufferConfig RTTBufferConfig;
+
+struct RTTDriver {
+	/* inherited from abstract asyncrhonous channel driver */
+	const struct RTTDriverVMT *vmt;
+	_base_sequential_stream_data
+
+	rtt_state_t state;
+	unsigned int up_buffer_index;
+	unsigned int down_buffer_index;
+};
+
+struct RTTBufferConfig {
+	void *buff;
+	unsigned int size;
+	rtt_mode_flags_t flags;
+};
+
+struct RTTConfig {
+	const char *name;
+	RTTBufferConfig up;
+	RTTBufferConfig down;
+};
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+#define rttGetState(rttdp) ((rttdp)->state)
+#define rttGetUpBufferIndex(rttdp) ((rttdp)->up_buffer_index)
+#define rttGetDownBufferIndex(rttdp) ((rttdp)->down_buffer_index)
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+extern RTTDriver RTTD0;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+	/* RTT device driver */
+	void rttInit(void);
+	void rttObjectInit(RTTDriver *rttdp, const RTTConfig *cfg);
+	void rttStart(RTTDriver *rttdp);
+	void rttSetUpFlags(RTTDriver *rttdp, rtt_mode_flags_t flags);
+	void rttSetDownFlags(RTTDriver *rttdp, rtt_mode_flags_t flags);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* SEGGER_RTT_streams_H_ */
diff --git a/os/various/segger_bindings/SYSTEMVIEW/SEGGER_SYSVIEW_ChibiOS.c b/os/various/segger_bindings/SYSTEMVIEW/SEGGER_SYSVIEW_ChibiOS.c
new file mode 100644
index 0000000..08d2e73
--- /dev/null
+++ b/os/various/segger_bindings/SYSTEMVIEW/SEGGER_SYSVIEW_ChibiOS.c
@@ -0,0 +1,73 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+              Copyright (C) 2019 Diego Ismirlian, (dismirlian (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+        http://www.apache.org/licenses/LICENSE-2.0
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "ch.h"
+#include "SEGGER_SYSVIEW.h"
+#include "hal.h"
+
+#include <string.h>
+
+static systime_t start;
+static const char *isr_desc;
+
+static void _cbSendTaskList(void) {
+  thread_t *tp;
+  tp = chRegFirstThread();
+  do {
+    SYSVIEW_ChibiOS_SendTaskInfo(tp);
+    tp = chRegNextThread(tp);
+  } while (tp != NULL);
+}
+
+static U64 _cbGetTime(void) {
+  return TIME_I2US(chVTTimeElapsedSinceX(start));
+}
+
+static void _cbSendSystemDesc(void) {
+  SEGGER_SYSVIEW_SendSysDesc("O=ChibiOS");
+  SEGGER_SYSVIEW_SendSysDesc(isr_desc);
+}
+
+static const SEGGER_SYSVIEW_OS_API os_api = {
+  _cbGetTime,
+  _cbSendTaskList,
+};
+
+void SYSVIEW_ChibiOS_Start(U32 SysFreq, U32 CPUFreq, const char *isr_description) {
+  start = chVTGetSystemTimeX();
+  isr_desc = isr_description;
+  SEGGER_SYSVIEW_Init(SysFreq, CPUFreq, &os_api, _cbSendSystemDesc);
+  SEGGER_SYSVIEW_Start();
+}
+
+void SYSVIEW_ChibiOS_SendTaskInfo(const void *_tp) {
+  const thread_t *const tp = (const thread_t *)_tp;
+  SEGGER_SYSVIEW_TASKINFO TaskInfo;
+
+  //Fill all elements with 0 to allow extending the structure
+  //in future version without breaking the code
+  memset(&TaskInfo, 0, sizeof(TaskInfo));
+  TaskInfo.TaskID     = (U32)tp;
+  TaskInfo.sName      = tp->name;
+  TaskInfo.Prio       = (U32)tp->prio;
+#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE)
+  TaskInfo.StackBase  = (U32)tp->wabase;
+  TaskInfo.StackSize  = (U32)tp->ctx.sp - (U32)tp->wabase;
+#else
+  TaskInfo.StackBase  = 0U;
+  TaskInfo.StackSize  = (U32)tp->wabase;
+#endif
+  SEGGER_SYSVIEW_SendTaskInfo(&TaskInfo);
+}
diff --git a/os/various/segger_bindings/SYSTEMVIEW/SEGGER_SYSVIEW_ChibiOS.h b/os/various/segger_bindings/SYSTEMVIEW/SEGGER_SYSVIEW_ChibiOS.h
new file mode 100644
index 0000000..c3e0384
--- /dev/null
+++ b/os/various/segger_bindings/SYSTEMVIEW/SEGGER_SYSVIEW_ChibiOS.h
@@ -0,0 +1,281 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+              Copyright (C) 2019 Diego Ismirlian, (dismirlian(at)google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+        http://www.apache.org/licenses/LICENSE-2.0
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/*
+ *  To use:
+ *
+ *  1)
+ *  #include this file at the bottom of chconf.h. You may need to
+ *	redefine some of the hooks in chconf.h, for example
+ *
+ *	    CH_CFG_THREAD_INIT_HOOK => _CH_CFG_THREAD_INIT_HOOK.
+ *
+ *  If you don't use those hooks in your original code, you may just delete
+ *  them from chconf.h
+ *
+ *
+ *  2)
+ *  Copy the SEGGER_RTT_Conf.h and SEGGER_SYSVIEW_Conf.h files from the
+ *  segger_bindings/example_configurations/ directory to the project's
+ *  cfg directory.
+ *
+ *  You can tune the config files to suit your needs; see the SEGGER RTT and
+ *  SystemView documentation for details.
+ *
+ *
+ *  3)
+ *  Add the following call to main():
+ *    SYSVIEW_ChibiOS_Start(STM32_SYSCLK, STM32_SYSCLK, "I#15=SysTick");
+ *
+ *  The first parameter, SysFreq, is the time base for all the timestamps. It
+ *  must match SEGGER_SYSVIEW_GET_TIMESTAMP in SEGGER_SYSVIEW_Conf.h. By
+ *  default, SEGGER_SYSVIEW_GET_TIMESTAMP is configured to use the DWT cycle
+ *  counter, so this parameter should match the CPU frequency (eg.
+ *  STM32_SYSCLK).
+ *
+ *  The second parameter, CPUFreq, appears to be just for information.
+ *
+ *  The third parameter can be used to name the interrupts in the system.
+ *  For example, on the Cortex-M*, when using the classic periodic tick for
+ *  ChibiOS (CH_CFG_ST_TIMEDELTA == 0), this parameter should include
+ *  "I#15=OSTick" (interrupt #15 is the SysTick). When using the tick-less
+ *  mode, this parameter could be tuned to show the ISR name of the timer
+ *  module used as the OS timer.
+ *
+ *  Also, you can include all other interrupts in this configuration string
+ *  (eg. "I#15=OSTick,I#54=USART2").
+ *
+ *  See the SystemView documentation for more details.
+ *
+ *
+ *  4)
+ *  Copy the file SYSVIEW_ChibiOS.txt (in the segger_bindings directory) to
+ *  the following directory:
+ *
+ *    Path\to\SystemView\Description\
+ *
+ *  This will allow SystemView to map the ChibiOS's task state values to names.
+ *
+ */
+
+#ifndef SYSVIEW_CHIBIOS_H
+#define SYSVIEW_CHIBIOS_H
+
+#include "SEGGER_SYSVIEW.h"
+void SYSVIEW_ChibiOS_SendTaskInfo(const void *_tp);
+void SYSVIEW_ChibiOS_Start(U32 SysFreq, U32 CPUFreq, const char *isr_description);
+
+/********************************************************************/
+/*      Checks                                                      */
+/********************************************************************/
+#if !(CH_CFG_USE_REGISTRY == TRUE)
+#error "SYSVIEW integration requires CH_CFG_USE_REGISTRY"
+#endif
+
+#if defined(CH_CFG_THREAD_INIT_HOOK)
+#error "SYSVIEW integration: rename CH_CFG_THREAD_INIT_HOOK to _CH_CFG_THREAD_INIT_HOOK"
+#endif
+
+#if defined(CH_CFG_THREAD_READY_HOOK)
+#error "SYSVIEW integration: rename CH_CFG_THREAD_READY_HOOK to _CH_CFG_THREAD_READY_HOOK"
+#endif
+
+#if defined(CH_CFG_CONTEXT_SWITCH_HOOK)
+#error "SYSVIEW integration: rename CH_CFG_CONTEXT_SWITCH_HOOK to _CH_CFG_CONTEXT_SWITCH_HOOK"
+#endif
+
+#if defined(CH_CFG_THREAD_EXIT_HOOK)
+#error "SYSVIEW integration: rename CH_CFG_THREAD_EXIT_HOOK to _CH_CFG_THREAD_EXIT_HOOK"
+#endif
+
+#if defined(CH_CFG_IRQ_PROLOGUE_HOOK)
+#error "SYSVIEW integration: rename CH_CFG_IRQ_PROLOGUE_HOOK to _CH_CFG_IRQ_PROLOGUE_HOOK"
+#endif
+
+#if defined(CH_CFG_IRQ_EPILOGUE_HOOK)
+#error "SYSVIEW integration: rename CH_CFG_IRQ_EPILOGUE_HOOK to _CH_CFG_IRQ_EPILOGUE_HOOK"
+#endif
+
+#if defined(CH_CFG_SYSTEM_HALT_HOOK)
+#error "SYSVIEW integration: rename CH_CFG_SYSTEM_HALT_HOOK to _CH_CFG_SYSTEM_HALT_HOOK"
+#endif
+
+#if !defined(_CH_CFG_THREAD_INIT_HOOK)
+#define _CH_CFG_THREAD_INIT_HOOK(tp) do {} while(0)
+#endif
+
+#if !defined(_CH_CFG_THREAD_READY_HOOK)
+#define _CH_CFG_THREAD_READY_HOOK(tp) do {} while(0)
+#endif
+
+#if !defined(_CH_CFG_CONTEXT_SWITCH_HOOK)
+#define _CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) do {} while(0)
+#endif
+
+#if !defined(_CH_CFG_THREAD_EXIT_HOOK)
+#define _CH_CFG_THREAD_EXIT_HOOK(tp) do {} while(0)
+#endif
+
+#if !defined(_CH_CFG_IRQ_PROLOGUE_HOOK)
+#define _CH_CFG_IRQ_PROLOGUE_HOOK() do {} while(0)
+#endif
+
+#if !defined(_CH_CFG_IRQ_EPILOGUE_HOOK)
+#define _CH_CFG_IRQ_EPILOGUE_HOOK() do {} while(0)
+#endif
+
+#if !defined(_CH_CFG_SYSTEM_HALT_HOOK)
+#define _CH_CFG_SYSTEM_HALT_HOOK(reason) do {} while(0)
+#endif
+
+/* CH_CFG_THREAD_INIT_HOOK:
+ *
+ * We report the thread creation and we immediately send the TaskInfo
+ * structure, so that SystemView can show it as early as possible.
+ */
+#define CH_CFG_THREAD_INIT_HOOK(tp) {                     \
+  _CH_CFG_THREAD_INIT_HOOK(tp);                           \
+  SEGGER_SYSVIEW_OnTaskCreate((U32)tp);                   \
+  SYSVIEW_ChibiOS_SendTaskInfo((const void *)tp);         \
+}
+
+/* CH_CFG_THREAD_READY_HOOK:
+ *
+ * This is an *extra* hook, not present in the "stock" ChibiOS code. It is
+ * important if you want SystemView to show all the ready threads, even if
+ * they are not executing.
+ *
+ * The hook should be placed just before the return lines of the chSchReadyI
+ * and the chSchReadyAheadI functions, in chschd.c:
+ *
+ * thread_t *chSchReadyAheadI(thread_t *tp) {
+ *   ...
+ *   CH_CFG_THREAD_READY_HOOK(tp);
+ *   return tp;
+ * }
+ *
+ * thread_t *chSchReadyI(thread_t *tp) {
+ *   ...
+ *   CH_CFG_THREAD_READY_HOOK(tp);
+ *   return tp;
+ * }
+ */
+#define CH_CFG_THREAD_READY_HOOK(tp) {                    \
+  _CH_CFG_THREAD_READY_HOOK(tp);                          \
+  SEGGER_SYSVIEW_OnTaskStartReady((U32)tp);               \
+}
+
+/* CH_CFG_CONTEXT_SWITCH_HOOK:
+ *
+ * This hook is called when switching context from Thread to Thread, or by the
+ * tail ISR exit sequence (see comments at CH_CFG_IRQ_EPILOGUE_HOOK).
+ *
+ * First, we report the switching-out of the "old" thread (otp), and then the
+ * switching-in of the "new" thread. Unfortunately, SystemView treats the idle
+ * thread as a special case, so we need to do some ugly handling here.
+ */
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {            \
+  if (otp->prio != IDLEPRIO) {                            \
+    SEGGER_SYSVIEW_OnTaskStopReady((U32)otp, otp->state); \
+  }                                                       \
+  if (ntp->prio == IDLEPRIO) {                            \
+    SEGGER_SYSVIEW_OnIdle();                              \
+  } else {                                                \
+    SEGGER_SYSVIEW_OnTaskStartExec((U32)ntp);             \
+  }                                                       \
+  _CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp);                  \
+}
+
+#define CH_CFG_THREAD_EXIT_HOOK(tp) {                     \
+  _CH_CFG_THREAD_EXIT_HOOK(tp);                           \
+  SEGGER_SYSVIEW_OnTaskStopExec();                        \
+}
+
+/* CH_CFG_IRQ_PROLOGUE_HOOK:
+ *
+ * For the ARM Cortex-M* architectures, the PORT_IRQ_PROLOGUE doesn't contain
+ * any code, so the timestamp shown by SystemView for the ISR entry is quite
+ * accurate.
+ */
+#define CH_CFG_IRQ_PROLOGUE_HOOK() {                      \
+  SEGGER_SYSVIEW_RecordEnterISR();                        \
+  _CH_CFG_IRQ_PROLOGUE_HOOK();                            \
+}
+
+/* CH_CFG_IRQ_EPILOGUE_HOOK:
+ *
+ * When the ISR is at the tail, and preemption is required, we tell SystemView
+ * that we exit the ISR to the scheduler first so that the code between
+ * CH_CFG_IRQ_EPILOGUE_HOOK and the actual context switch will be shown as
+ * "scheduler". Otherwise, that time will be shown as belonging to the thread
+ * that was running before the first ISR. If the ISR is not at the tail, we
+ * simply tell SystemView that the ISR has been exited. If the ISR is at the
+ * tail but preemption is not required, we tell Systemview that we exit the ISR
+ * so that it shows that the last thread resumes execution.
+ *
+ * When the ISR is at the tail, and preemption is required, this hook will
+ * be immediately followed by CH_CFG_CONTEXT_SWITCH_HOOK (see
+ * _port_switch_from_isr()).
+ *
+ * Actually, this hook runs a bit early in the ISR exit sequence, so the
+ * scheduler time shown by SystemView will be underestimated. The ideal place
+ * to place these calls would be at _port_irq_epilogue.
+ *
+ * Note: Unfortunately, this hook is specific to the Cortex-M architecture
+ * until ChibiOS gets a generic "_isr_is_tail()" macro/function.
+ */
+#if defined(__GNUC__)
+#  if (defined(__ARM_ARCH_6M__) || defined(__ARM_ARCH_8M_BASE__))
+#    define _isr_is_tail()    (_saved_lr != (regarm_t)0xFFFFFFF1U)
+#  elif (defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__) || defined(__ARM_ARCH_8M_MAIN__))
+#    define _isr_is_tail()    ((SCB->ICSR & SCB_ICSR_RETTOBASE_Msk) != 0U)
+#  else
+#    error "SYSVIEW integration: unsupported architecture"
+#  endif
+#elif defined(__ICCARM__)
+#  if (defined (__ARM6M__) && (__CORE__ == __ARM6M__))
+#    define _isr_is_tail()    (_saved_lr != (regarm_t)0xFFFFFFF1U)
+#  elif ((defined (__ARM7EM__) && (__CORE__ == __ARM7EM__)) || (defined (__ARM7M__) && (__CORE__ == __ARM7M__)))
+#    define _isr_is_tail()    ((SCB->ICSR & SCB_ICSR_RETTOBASE_Msk) != 0U)
+#  else
+#    error "SYSVIEW integration: unsupported architecture"
+#  endif
+#elif defined(__CC_ARM)
+#  if (defined __TARGET_ARCH_6S_M)
+#    define _isr_is_tail()    (_saved_lr != (regarm_t)0xFFFFFFF1U)
+#  elif (defined(__TARGET_ARCH_7_M) || defined(__TARGET_ARCH_7E_M))
+#    define _isr_is_tail()    ((SCB->ICSR & SCB_ICSR_RETTOBASE_Msk) != 0U)
+#  else
+#    error "SYSVIEW integration: unsupported architecture"
+#  endif
+#else
+#  error "SYSVIEW integration: unsupported compiler"
+#endif
+
+#define CH_CFG_IRQ_EPILOGUE_HOOK() {                      \
+  _CH_CFG_IRQ_EPILOGUE_HOOK();                            \
+  if (_isr_is_tail() && chSchIsPreemptionRequired()) {    \
+    SEGGER_SYSVIEW_RecordExitISRToScheduler();            \
+  } else {                                                \
+    SEGGER_SYSVIEW_RecordExitISR();                       \
+  }                                                       \
+}
+
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                 \
+  _CH_CFG_SYSTEM_HALT_HOOK(reason);                       \
+  SEGGER_SYSVIEW_Error(reason);                           \
+}
+
+#endif
diff --git a/os/various/segger_bindings/SYSTEMVIEW/SYSVIEW_ChibiOS.txt b/os/various/segger_bindings/SYSTEMVIEW/SYSVIEW_ChibiOS.txt
new file mode 100644
index 0000000..a0e97db
--- /dev/null
+++ b/os/various/segger_bindings/SYSTEMVIEW/SYSVIEW_ChibiOS.txt
@@ -0,0 +1,8 @@
+# This file describes the ChibiOS Tasks' states.
+# Put this file in the following directory:
+#       Path\to\SystemView\Description\
+
+#
+# Task States
+#
+TaskState 0xFF 0=Ready, 1=Current, 2=Wait start, 3=Suspended, 4=Wait queue, 5=Wait semaphore, 6=Wait mutex, 7=Wait condvar, 8=Sleeping, 9=Wait thread, 10=Wait one event, 11=Wait several events, 12=Send message queue, 13=Wait answer, 14=Wait message, 15=Terminated
diff --git a/os/various/segger_bindings/example_configurations/SEGGER_RTT_Conf.h b/os/various/segger_bindings/example_configurations/SEGGER_RTT_Conf.h
new file mode 100644
index 0000000..5aa7a69
--- /dev/null
+++ b/os/various/segger_bindings/example_configurations/SEGGER_RTT_Conf.h
@@ -0,0 +1,123 @@
+/*********************************************************************
+*                    SEGGER Microcontroller GmbH                     *
+*                        The Embedded Experts                        *
+**********************************************************************
+*                                                                    *
+*            (c) 1995 - 2019 SEGGER Microcontroller GmbH             *
+*                                                                    *
+*       www.segger.com     Support: support@segger.com               *
+*                                                                    *
+**********************************************************************
+*                                                                    *
+*       SEGGER RTT * Real Time Transfer for embedded targets         *
+*                                                                    *
+**********************************************************************
+*                                                                    *
+* All rights reserved.                                               *
+*                                                                    *
+* SEGGER strongly recommends to not make any changes                 *
+* to or modify the source code of this software in order to stay     *
+* compatible with the RTT protocol and J-Link.                       *
+*                                                                    *
+* Redistribution and use in source and binary forms, with or         *
+* without modification, are permitted provided that the following    *
+* conditions are met:                                                *
+*                                                                    *
+* o Redistributions of source code must retain the above copyright   *
+*   notice, this list of conditions and the following disclaimer.    *
+*                                                                    *
+* o 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.                                           *
+*                                                                    *
+* o Neither the name of SEGGER Microcontroller GmbH                  *
+*   nor the names of its contributors may be used to endorse or      *
+*   promote products derived from this software without specific     *
+*   prior written permission.                                        *
+*                                                                    *
+* 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 SEGGER Microcontroller 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.                                                            *
+*                                                                    *
+**********************************************************************
+*                                                                    *
+*       RTT version: 6.44i                                           *
+*                                                                    *
+**********************************************************************
+---------------------------END-OF-HEADER------------------------------
+File    : SEGGER_RTT_Conf.h
+Purpose : Implementation of SEGGER real-time transfer (RTT) which
+          allows real-time communication on targets which support
+          debugger memory accesses while the CPU is running.
+Revision: $Rev: 13430 $
+
+*/
+
+#ifndef SEGGER_RTT_CONF_H
+#define SEGGER_RTT_CONF_H
+
+#ifdef __IAR_SYSTEMS_ICC__
+  #include <intrinsics.h>
+#endif
+
+/*********************************************************************
+*
+*       Defines, configurable
+*
+**********************************************************************
+*/
+
+#define SEGGER_RTT_MAX_NUM_UP_BUFFERS             (2)     // Max. number of up-buffers (T->H) available on this target    (Default: 3)
+#define SEGGER_RTT_MAX_NUM_DOWN_BUFFERS           (2)     // Max. number of down-buffers (H->T) available on this target  (Default: 3)
+
+#define BUFFER_SIZE_UP                            (1024)  // Size of the buffer for terminal output of target, up to host (Default: 1k)
+#define BUFFER_SIZE_DOWN                          (16)    // Size of the buffer for terminal input to target from host (Usually keyboard input) (Default: 16)
+
+#define SEGGER_RTT_PRINTF_BUFFER_SIZE             (128u)    // Size of buffer for RTT printf to bulk-send chars via RTT     (Default: 64)
+
+#define SEGGER_RTT_MODE_DEFAULT                   SEGGER_RTT_MODE_NO_BLOCK_SKIP // Mode for pre-initialized terminal channel (buffer 0)
+
+/*********************************************************************
+*
+*       RTT memcpy configuration
+*
+*       memcpy() is good for large amounts of data, 
+*       but the overhead is big for small amounts, which are usually stored via RTT.
+*       With SEGGER_RTT_MEMCPY_USE_BYTELOOP a simple byte loop can be used instead.
+*
+*       SEGGER_RTT_MEMCPY() can be used to replace standard memcpy() in RTT functions.
+*       This is may be required with memory access restrictions, 
+*       such as on Cortex-A devices with MMU.
+*/
+#define SEGGER_RTT_MEMCPY_USE_BYTELOOP              0 // 0: Use memcpy/SEGGER_RTT_MEMCPY, 1: Use a simple byte-loop
+//
+// Example definition of SEGGER_RTT_MEMCPY to external memcpy with GCC toolchains and Cortex-A targets
+//
+//#if ((defined __SES_ARM) || (defined __CROSSWORKS_ARM) || (defined __GNUC__)) && (defined (__ARM_ARCH_7A__))  
+//  #define SEGGER_RTT_MEMCPY(pDest, pSrc, NumBytes)      SEGGER_memcpy((pDest), (pSrc), (NumBytes))
+//#endif
+
+//
+// Target is not allowed to perform other RTT operations while string still has not been stored completely.
+// Otherwise we would probably end up with a mixed string in the buffer.
+// If using  RTT from within interrupts, multiple tasks or multi processors, define the SEGGER_RTT_LOCK() and SEGGER_RTT_UNLOCK() function here.
+#if !defined(SEGGER_RTT_ASM)
+#include "ch.h"
+#define SEGGER_RTT_LOCK()		do {													\
+									syssts_t LockState = chSysGetStatusAndLockX()
+#define SEGGER_RTT_UNLOCK()			chSysRestoreStatusX(LockState);						\
+								} while(0)
+#endif
+#endif
+/*************************** End of file ****************************/
diff --git a/os/various/segger_bindings/example_configurations/SEGGER_SYSVIEW_Conf.h b/os/various/segger_bindings/example_configurations/SEGGER_SYSVIEW_Conf.h
new file mode 100644
index 0000000..8d8ffa2
--- /dev/null
+++ b/os/various/segger_bindings/example_configurations/SEGGER_SYSVIEW_Conf.h
@@ -0,0 +1,174 @@
+/*********************************************************************
+*                    SEGGER Microcontroller GmbH                     *
+*                        The Embedded Experts                        *
+**********************************************************************
+*                                                                    *
+*            (c) 1995 - 2019 SEGGER Microcontroller GmbH             *
+*                                                                    *
+*       www.segger.com     Support: support@segger.com               *
+*                                                                    *
+**********************************************************************
+*                                                                    *
+*       SEGGER SystemView * Real-time application analysis           *
+*                                                                    *
+**********************************************************************
+*                                                                    *
+* All rights reserved.                                               *
+*                                                                    *
+* SEGGER strongly recommends to not make any changes                 *
+* to or modify the source code of this software in order to stay     *
+* compatible with the RTT protocol and J-Link.                       *
+*                                                                    *
+* Redistribution and use in source and binary forms, with or         *
+* without modification, are permitted provided that the following    *
+* conditions are met:                                                *
+*                                                                    *
+* o Redistributions of source code must retain the above copyright   *
+*   notice, this list of conditions and the following disclaimer.    *
+*                                                                    *
+* o 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.                                           *
+*                                                                    *
+* o Neither the name of SEGGER Microcontroller GmbH         *
+*   nor the names of its contributors may be used to endorse or      *
+*   promote products derived from this software without specific     *
+*   prior written permission.                                        *
+*                                                                    *
+* 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 SEGGER Microcontroller 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.                                                            *
+*                                                                    *
+**********************************************************************
+*                                                                    *
+*       SystemView version: V2.52h                                    *
+*                                                                    *
+**********************************************************************
+-------------------------- END-OF-HEADER -----------------------------
+
+File    : SEGGER_SYSVIEW_Conf.h
+Purpose : SEGGER SystemView configuration.
+Revision: $Rev: 13453 $
+*/
+
+#ifndef SEGGER_SYSVIEW_CONF_H
+#define SEGGER_SYSVIEW_CONF_H
+
+/*********************************************************************
+*
+*       Defines, fixed
+*
+**********************************************************************
+*/
+//
+// Constants for known core configuration
+//
+#define SEGGER_SYSVIEW_CORE_OTHER   0
+#define SEGGER_SYSVIEW_CORE_CM0     1 // Cortex-M0/M0+/M1
+#define SEGGER_SYSVIEW_CORE_CM3     2 // Cortex-M3/M4/M7
+#define SEGGER_SYSVIEW_CORE_RX      3 // Renesas RX
+
+#if (defined __SES_ARM) || (defined __CROSSWORKS_ARM) || (defined __GNUC__) || (defined __clang__)
+  #if (defined __ARM_ARCH_6M__) || (defined __ARM_ARCH_8M_BASE__)
+    #define SEGGER_SYSVIEW_CORE SEGGER_SYSVIEW_CORE_CM0
+  #elif (defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__))
+    #define SEGGER_SYSVIEW_CORE SEGGER_SYSVIEW_CORE_CM3
+  #endif
+#elif defined(__ICCARM__)
+  #if (defined (__ARM6M__) && (__CORE__ == __ARM6M__))
+    #define SEGGER_SYSVIEW_CORE SEGGER_SYSVIEW_CORE_CM0
+  #elif ((defined (__ARM7M__) && (__CORE__ == __ARM7M__)) || (defined (__ARM7EM__) && (__CORE__ == __ARM7EM__)))
+    #define SEGGER_SYSVIEW_CORE SEGGER_SYSVIEW_CORE_CM3
+  #endif
+#elif defined(__CC_ARM)
+  #if (defined(__TARGET_ARCH_6S_M))
+    #define SEGGER_SYSVIEW_CORE SEGGER_SYSVIEW_CORE_CM0
+  #elif (defined(__TARGET_ARCH_7_M) || defined(__TARGET_ARCH_7E_M))
+    #define SEGGER_SYSVIEW_CORE SEGGER_SYSVIEW_CORE_CM3
+  #endif
+#elif defined(__TI_ARM__)
+  #ifdef __TI_ARM_V6M0__
+    #define SEGGER_SYSVIEW_CORE SEGGER_SYSVIEW_CORE_CM0
+  #elif (defined(__TI_ARM_V7M3__) || defined(__TI_ARM_V7M4__))
+    #define SEGGER_SYSVIEW_CORE SEGGER_SYSVIEW_CORE_CM3
+  #endif
+#elif defined(__ICCRX__)
+  #define SEGGER_SYSVIEW_CORE SEGGER_SYSVIEW_CORE_RX
+#elif defined(__RX)
+  #define SEGGER_SYSVIEW_CORE SEGGER_SYSVIEW_CORE_RX
+#endif
+
+#ifndef   SEGGER_SYSVIEW_CORE
+  #define SEGGER_SYSVIEW_CORE SEGGER_SYSVIEW_CORE_OTHER
+#endif
+
+/*********************************************************************
+*
+*       Defines, configurable
+*
+**********************************************************************
+*/
+/*********************************************************************
+*
+*       SystemView buffer configuration
+*/
+#define SEGGER_SYSVIEW_RTT_BUFFER_SIZE      2048                                // Number of bytes that SystemView uses for the buffer.
+#define SEGGER_SYSVIEW_RTT_CHANNEL          1                                   // The RTT channel that SystemView will use. 0: Auto selection
+
+#define SEGGER_SYSVIEW_USE_STATIC_BUFFER    1                                   // Use a static buffer to generate events instead of a buffer on the stack
+
+#define SEGGER_SYSVIEW_POST_MORTEM_MODE     0                                   // 1: Enable post mortem analysis mode
+
+/*********************************************************************
+*
+*       SystemView timestamp configuration
+*/
+#if SEGGER_SYSVIEW_CORE == SEGGER_SYSVIEW_CORE_CM3
+  #define SEGGER_SYSVIEW_GET_TIMESTAMP()      (*(U32 *)(0xE0001004))            // Retrieve a system timestamp. Cortex-M cycle counter.
+  #define SEGGER_SYSVIEW_TIMESTAMP_BITS       32                                // Define number of valid bits low-order delivered by clock source
+#else
+  #define SEGGER_SYSVIEW_GET_TIMESTAMP()      SEGGER_SYSVIEW_X_GetTimestamp()   // Retrieve a system timestamp via user-defined function
+  #define SEGGER_SYSVIEW_TIMESTAMP_BITS       32                                // Define number of valid bits low-order delivered by SEGGER_SYSVIEW_X_GetTimestamp()
+#endif
+
+/*********************************************************************
+*
+*       SystemView Id configuration
+*/
+#define SEGGER_SYSVIEW_ID_BASE         0x20000000                               // Default value for the lowest Id reported by the application. Can be overridden by the application via SEGGER_SYSVIEW_SetRAMBase(). (i.e. 0x20000000 when all Ids are an address in this RAM)
+#define SEGGER_SYSVIEW_ID_SHIFT        2                                        // Number of bits to shift the Id to save bandwidth. (i.e. 2 when Ids are 4 byte aligned)
+
+/*********************************************************************
+*
+*       SystemView interrupt configuration
+*/
+#if SEGGER_SYSVIEW_CORE == SEGGER_SYSVIEW_CORE_CM3
+  #define SEGGER_SYSVIEW_GET_INTERRUPT_ID()   ((*(U32 *)(0xE000ED04)) & 0x1FF)  // Get the currently active interrupt Id. (i.e. read Cortex-M ICSR[8:0] = active vector)
+#elif SEGGER_SYSVIEW_CORE == SEGGER_SYSVIEW_CORE_CM0
+  #if defined(__ICCARM__)
+    #if (__VER__ > 6100000)
+    #define SEGGER_SYSVIEW_GET_INTERRUPT_ID()   (__get_IPSR())                  // Workaround for IAR, which might do a byte-access to 0xE000ED04. Read IPSR instead.
+    #else
+      #define SEGGER_SYSVIEW_GET_INTERRUPT_ID()   ((*(U32 *)(0xE000ED04)) & 0x3F) // Older versions of IAR do not include __get_IPSR, but might also not optimize to byte-access.
+    #endif
+  #else
+    #define SEGGER_SYSVIEW_GET_INTERRUPT_ID()   ((*(U32 *)(0xE000ED04)) & 0x3F) // Get the currently active interrupt Id. (i.e. read Cortex-M ICSR[5:0] = active vector)
+  #endif
+#else
+  #define SEGGER_SYSVIEW_GET_INTERRUPT_ID()   SEGGER_SYSVIEW_X_GetInterruptId() // Get the currently active interrupt Id from the user-provided function.
+#endif
+
+#endif  // SEGGER_SYSVIEW_CONF_H
+
+/*************************** End of file ****************************/
diff --git a/os/various/segger_bindings/segger_rtt.mk b/os/various/segger_bindings/segger_rtt.mk
new file mode 100644
index 0000000..b2f1840
--- /dev/null
+++ b/os/various/segger_bindings/segger_rtt.mk
@@ -0,0 +1,14 @@
+# SEGGER RTT files.
+SEGGERASMSRC =  $(CHIBIOS_CONTRIB)/ext/SEGGER/RTT/SEGGER_RTT_ASM_ARMv7M.s
+SEGGERRTTCSRC = $(CHIBIOS_CONTRIB)/ext/SEGGER/RTT/SEGGER_RTT.c             \
+                $(CHIBIOS_CONTRIB)/ext/SEGGER/RTT/SEGGER_RTT_printf.c	   \
+                $(CHIBIOS_CONTRIB)/os/various/segger_bindings/RTT/SEGGER_RTT_streams.c
+SEGGERRTTINC =  $(CHIBIOS_CONTRIB)/ext/SEGGER/RTT \
+                $(CHIBIOS_CONTRIB)/os/various/segger_bindings/RTT
+
+
+SEGGER_RTT_ACTIVE = 1
+
+ALLASMSRC += $(SEGGERASMSRC)
+ALLCSRC += $(SEGGERRTTCSRC)
+ALLINC += $(SEGGERRTTINC)
\ No newline at end of file
diff --git a/os/various/segger_bindings/segger_systemview.mk b/os/various/segger_bindings/segger_systemview.mk
new file mode 100644
index 0000000..577c6ed
--- /dev/null
+++ b/os/various/segger_bindings/segger_systemview.mk
@@ -0,0 +1,13 @@
+# Compiler options here.
+ifeq ($(SEGGER_RTT_ACTIVE),)
+  $(error "SEGGER SystemView needs segger_rtt.mk")
+endif
+
+# SEGGER RTT files.
+SEGGERSYSTEMVIEWCSRC =  $(CHIBIOS_CONTRIB)/ext/SEGGER/SYSTEMVIEW/SEGGER_SYSVIEW.c 								\
+						$(CHIBIOS_CONTRIB)/os/various/segger_bindings/SYSTEMVIEW/SEGGER_SYSVIEW_ChibiOS.c
+SEGGERSYSTEMVIEWINC =   $(CHIBIOS_CONTRIB)/ext/SEGGER/SYSTEMVIEW												\
+						$(CHIBIOS_CONTRIB)/os/various/segger_bindings/SYSTEMVIEW
+
+ALLCSRC += $(SEGGERSYSTEMVIEWCSRC)
+ALLINC += $(SEGGERSYSTEMVIEWINC)
\ No newline at end of file