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

26 files changed, 322 insertions, 86 deletions

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);

-

-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

+  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);

+#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
@@ -153,6 +153,16 @@
 /** @} */

 

 /**

+ * @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

  * @{

  * ChibiOS/RT 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);

-

-void sspAcquireBus(void);

-void sspReleaseBus(void);

-void sspRW(BYTE8 *in, BYTE8 *out, t_size n);

+#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);

+#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 <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 */

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 <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_ */

+

+/** @} */

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.*/