git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@766 35acf78f-673a-0410-8e92-d51de3d6d3f4

23 files changed, 254 insertions, 162 deletions

diff --git a/demos/ARM7-AT91SAM7X-GCC/chconf.h b/demos/ARM7-AT91SAM7X-GCC/chconf.h
index f05f8b0b5..588445ee0 100644
--- a/demos/ARM7-AT91SAM7X-GCC/chconf.h
+++ b/demos/ARM7-AT91SAM7X-GCC/chconf.h
@@ -310,21 +310,30 @@
 #endif

 

 /**

- * Debug option, if enableed 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.

+ * Debug option, if enabled all the assertions in the kernel code are

+ * activated. This includes function parameters checks and consistency

+ * checks inside the kernel.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_DEBUG

-#define CH_USE_DEBUG                    FALSE

+#ifndef CH_DBG_ENABLE_ASSERTS

+#define CH_DBG_ENABLE_ASSERTS           FALSE

 #endif

 

 /**

- * Debug option, includes the threads context switch tracing feature.

+ * Debug option, if enabled the context switch circular trace buffer is

+ * activated.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_TRACE

-#define CH_USE_TRACE                    FALSE

+#ifndef CH_DBG_ENABLE_TRACE

+#define CH_DBG_ENABLE_TRACE             FALSE

+#endif

+

+/**

+ * Debug option, if enabled the threads working area is filled with a byte

+ * pattern when a thread is created.

+ */

+#ifndef CH_DBG_FILL_THREADS

+#define CH_DBG_FILL_THREADS             FALSE

 #endif

 

 /**

diff --git a/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h b/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h
index f05f8b0b5..588445ee0 100644
--- a/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h
+++ b/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h
@@ -310,21 +310,30 @@
 #endif

 

 /**

- * Debug option, if enableed 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.

+ * Debug option, if enabled all the assertions in the kernel code are

+ * activated. This includes function parameters checks and consistency

+ * checks inside the kernel.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_DEBUG

-#define CH_USE_DEBUG                    FALSE

+#ifndef CH_DBG_ENABLE_ASSERTS

+#define CH_DBG_ENABLE_ASSERTS           FALSE

 #endif

 

 /**

- * Debug option, includes the threads context switch tracing feature.

+ * Debug option, if enabled the context switch circular trace buffer is

+ * activated.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_TRACE

-#define CH_USE_TRACE                    FALSE

+#ifndef CH_DBG_ENABLE_TRACE

+#define CH_DBG_ENABLE_TRACE             FALSE

+#endif

+

+/**

+ * Debug option, if enabled the threads working area is filled with a byte

+ * pattern when a thread is created.

+ */

+#ifndef CH_DBG_FILL_THREADS

+#define CH_DBG_FILL_THREADS             FALSE

 #endif

 

 /**

diff --git a/demos/ARM7-LPC214x-G++/chconf.h b/demos/ARM7-LPC214x-G++/chconf.h
index f05f8b0b5..588445ee0 100644
--- a/demos/ARM7-LPC214x-G++/chconf.h
+++ b/demos/ARM7-LPC214x-G++/chconf.h
@@ -310,21 +310,30 @@
 #endif

 

 /**

- * Debug option, if enableed 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.

+ * Debug option, if enabled all the assertions in the kernel code are

+ * activated. This includes function parameters checks and consistency

+ * checks inside the kernel.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_DEBUG

-#define CH_USE_DEBUG                    FALSE

+#ifndef CH_DBG_ENABLE_ASSERTS

+#define CH_DBG_ENABLE_ASSERTS           FALSE

 #endif

 

 /**

- * Debug option, includes the threads context switch tracing feature.

+ * Debug option, if enabled the context switch circular trace buffer is

+ * activated.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_TRACE

-#define CH_USE_TRACE                    FALSE

+#ifndef CH_DBG_ENABLE_TRACE

+#define CH_DBG_ENABLE_TRACE             FALSE

+#endif

+

+/**

+ * Debug option, if enabled the threads working area is filled with a byte

+ * pattern when a thread is created.

+ */

+#ifndef CH_DBG_FILL_THREADS

+#define CH_DBG_FILL_THREADS             FALSE

 #endif

 

 /**

diff --git a/demos/ARM7-LPC214x-GCC-minimal/chconf.h b/demos/ARM7-LPC214x-GCC-minimal/chconf.h
index 03352998a..bebe419b2 100644
--- a/demos/ARM7-LPC214x-GCC-minimal/chconf.h
+++ b/demos/ARM7-LPC214x-GCC-minimal/chconf.h
@@ -310,21 +310,30 @@
 #endif

 

 /**

- * Debug option, if enableed 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.

+ * Debug option, if enabled all the assertions in the kernel code are

+ * activated. This includes function parameters checks and consistency

+ * checks inside the kernel.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_DEBUG

-#define CH_USE_DEBUG                    FALSE

+#ifndef CH_DBG_ENABLE_ASSERTS

+#define CH_DBG_ENABLE_ASSERTS           FALSE

 #endif

 

 /**

- * Debug option, includes the threads context switch tracing feature.

+ * Debug option, if enabled the context switch circular trace buffer is

+ * activated.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_TRACE

-#define CH_USE_TRACE                    FALSE

+#ifndef CH_DBG_ENABLE_TRACE

+#define CH_DBG_ENABLE_TRACE             FALSE

+#endif

+

+/**

+ * Debug option, if enabled the threads working area is filled with a byte

+ * pattern when a thread is created.

+ */

+#ifndef CH_DBG_FILL_THREADS

+#define CH_DBG_FILL_THREADS             FALSE

 #endif

 

 /**

diff --git a/demos/ARM7-LPC214x-GCC/chconf.h b/demos/ARM7-LPC214x-GCC/chconf.h
index f05f8b0b5..588445ee0 100644
--- a/demos/ARM7-LPC214x-GCC/chconf.h
+++ b/demos/ARM7-LPC214x-GCC/chconf.h
@@ -310,21 +310,30 @@
 #endif

 

 /**

- * Debug option, if enableed 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.

+ * Debug option, if enabled all the assertions in the kernel code are

+ * activated. This includes function parameters checks and consistency

+ * checks inside the kernel.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_DEBUG

-#define CH_USE_DEBUG                    FALSE

+#ifndef CH_DBG_ENABLE_ASSERTS

+#define CH_DBG_ENABLE_ASSERTS           FALSE

 #endif

 

 /**

- * Debug option, includes the threads context switch tracing feature.

+ * Debug option, if enabled the context switch circular trace buffer is

+ * activated.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_TRACE

-#define CH_USE_TRACE                    FALSE

+#ifndef CH_DBG_ENABLE_TRACE

+#define CH_DBG_ENABLE_TRACE             FALSE

+#endif

+

+/**

+ * Debug option, if enabled the threads working area is filled with a byte

+ * pattern when a thread is created.

+ */

+#ifndef CH_DBG_FILL_THREADS

+#define CH_DBG_FILL_THREADS             FALSE

 #endif

 

 /**

diff --git a/demos/ARMCM3-STM32F103-GCC/chconf.h b/demos/ARMCM3-STM32F103-GCC/chconf.h
index f05f8b0b5..588445ee0 100644
--- a/demos/ARMCM3-STM32F103-GCC/chconf.h
+++ b/demos/ARMCM3-STM32F103-GCC/chconf.h
@@ -310,21 +310,30 @@
 #endif

 

 /**

- * Debug option, if enableed 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.

+ * Debug option, if enabled all the assertions in the kernel code are

+ * activated. This includes function parameters checks and consistency

+ * checks inside the kernel.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_DEBUG

-#define CH_USE_DEBUG                    FALSE

+#ifndef CH_DBG_ENABLE_ASSERTS

+#define CH_DBG_ENABLE_ASSERTS           FALSE

 #endif

 

 /**

- * Debug option, includes the threads context switch tracing feature.

+ * Debug option, if enabled the context switch circular trace buffer is

+ * activated.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_TRACE

-#define CH_USE_TRACE                    FALSE

+#ifndef CH_DBG_ENABLE_TRACE

+#define CH_DBG_ENABLE_TRACE             FALSE

+#endif

+

+/**

+ * Debug option, if enabled the threads working area is filled with a byte

+ * pattern when a thread is created.

+ */

+#ifndef CH_DBG_FILL_THREADS

+#define CH_DBG_FILL_THREADS             FALSE

 #endif

 

 /**

diff --git a/demos/AVR-AT90CANx-GCC/chconf.h b/demos/AVR-AT90CANx-GCC/chconf.h
index 5e787d675..da4744a16 100644
--- a/demos/AVR-AT90CANx-GCC/chconf.h
+++ b/demos/AVR-AT90CANx-GCC/chconf.h
@@ -310,21 +310,30 @@
 #endif

 

 /**

- * Debug option, if enableed 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.

+ * Debug option, if enabled all the assertions in the kernel code are

+ * activated. This includes function parameters checks and consistency

+ * checks inside the kernel.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_DEBUG

-#define CH_USE_DEBUG                    FALSE

+#ifndef CH_DBG_ENABLE_ASSERTS

+#define CH_DBG_ENABLE_ASSERTS           FALSE

 #endif

 

 /**

- * Debug option, includes the threads context switch tracing feature.

+ * Debug option, if enabled the context switch circular trace buffer is

+ * activated.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_TRACE

-#define CH_USE_TRACE                    FALSE

+#ifndef CH_DBG_ENABLE_TRACE

+#define CH_DBG_ENABLE_TRACE             FALSE

+#endif

+

+/**

+ * Debug option, if enabled the threads working area is filled with a byte

+ * pattern when a thread is created.

+ */

+#ifndef CH_DBG_FILL_THREADS

+#define CH_DBG_FILL_THREADS             FALSE

 #endif

 

 /**

diff --git a/demos/AVR-ATmega128-GCC/chconf.h b/demos/AVR-ATmega128-GCC/chconf.h
index 5e787d675..da4744a16 100644
--- a/demos/AVR-ATmega128-GCC/chconf.h
+++ b/demos/AVR-ATmega128-GCC/chconf.h
@@ -310,21 +310,30 @@
 #endif

 

 /**

- * Debug option, if enableed 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.

+ * Debug option, if enabled all the assertions in the kernel code are

+ * activated. This includes function parameters checks and consistency

+ * checks inside the kernel.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_DEBUG

-#define CH_USE_DEBUG                    FALSE

+#ifndef CH_DBG_ENABLE_ASSERTS

+#define CH_DBG_ENABLE_ASSERTS           FALSE

 #endif

 

 /**

- * Debug option, includes the threads context switch tracing feature.

+ * Debug option, if enabled the context switch circular trace buffer is

+ * activated.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_TRACE

-#define CH_USE_TRACE                    FALSE

+#ifndef CH_DBG_ENABLE_TRACE

+#define CH_DBG_ENABLE_TRACE             FALSE

+#endif

+

+/**

+ * Debug option, if enabled the threads working area is filled with a byte

+ * pattern when a thread is created.

+ */

+#ifndef CH_DBG_FILL_THREADS

+#define CH_DBG_FILL_THREADS             FALSE

 #endif

 

 /**

diff --git a/demos/MSP430-MSP430x1611-GCC/chconf.h b/demos/MSP430-MSP430x1611-GCC/chconf.h
index f24019fcd..e270a6ccf 100644
--- a/demos/MSP430-MSP430x1611-GCC/chconf.h
+++ b/demos/MSP430-MSP430x1611-GCC/chconf.h
@@ -310,21 +310,30 @@
 #endif

 

 /**

- * Debug option, if enableed 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.

+ * Debug option, if enabled all the assertions in the kernel code are

+ * activated. This includes function parameters checks and consistency

+ * checks inside the kernel.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_DEBUG

-#define CH_USE_DEBUG                    FALSE

+#ifndef CH_DBG_ENABLE_ASSERTS

+#define CH_DBG_ENABLE_ASSERTS           FALSE

 #endif

 

 /**

- * Debug option, includes the threads context switch tracing feature.

+ * Debug option, if enabled the context switch circular trace buffer is

+ * activated.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_TRACE

-#define CH_USE_TRACE                    FALSE

+#ifndef CH_DBG_ENABLE_TRACE

+#define CH_DBG_ENABLE_TRACE             FALSE

+#endif

+

+/**

+ * Debug option, if enabled the threads working area is filled with a byte

+ * pattern when a thread is created.

+ */

+#ifndef CH_DBG_FILL_THREADS

+#define CH_DBG_FILL_THREADS             FALSE

 #endif

 

 /**

diff --git a/demos/Win32-MinGW/chconf.h b/demos/Win32-MinGW/chconf.h
index ac7131871..396f8d9a1 100644
--- a/demos/Win32-MinGW/chconf.h
+++ b/demos/Win32-MinGW/chconf.h
@@ -310,21 +310,30 @@
 #endif

 

 /**

- * Debug option, if enableed 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.

+ * Debug option, if enabled all the assertions in the kernel code are

+ * activated. This includes function parameters checks and consistency

+ * checks inside the kernel.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_DEBUG

-#define CH_USE_DEBUG                    FALSE

+#ifndef CH_DBG_ENABLE_ASSERTS

+#define CH_DBG_ENABLE_ASSERTS           FALSE

 #endif

 

 /**

- * Debug option, includes the threads context switch tracing feature.

+ * Debug option, if enabled the context switch circular trace buffer is

+ * activated.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_TRACE

-#define CH_USE_TRACE                    FALSE

+#ifndef CH_DBG_ENABLE_TRACE

+#define CH_DBG_ENABLE_TRACE             FALSE

+#endif

+

+/**

+ * Debug option, if enabled the threads working area is filled with a byte

+ * pattern when a thread is created.

+ */

+#ifndef CH_DBG_FILL_THREADS

+#define CH_DBG_FILL_THREADS             FALSE

 #endif

 

 /**

diff --git a/docs/Doxyfile b/docs/Doxyfile
index e785dccc3..a7d3a256d 100644
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@@ -31,7 +31,7 @@ PROJECT_NAME           = ChibiOS/RT
 # This could be handy for archiving the generated documentation or
 # if some version control system is used.
 
-PROJECT_NUMBER         = 1.1.0unstable
+PROJECT_NUMBER         = 1.1.1unstable
 
 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
 # base path where the generated documentation will be put.
diff --git a/docs/index.html b/docs/index.html
index 6543c3647..f499e90a5 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -14,7 +14,7 @@
       <td style="text-align: center; vertical-align: top; width: 150px;">Current

 Versions<br>

 1.0.0 stable<br>

-1.1.0 unstable<br>

+1.1.1 unstable<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>

diff --git a/ports/ARMCM3/chcore.c b/ports/ARMCM3/chcore.c
index cd568a509..2e247289a 100644
--- a/ports/ARMCM3/chcore.c
+++ b/ports/ARMCM3/chcore.c
@@ -182,7 +182,7 @@ void PendSVVector(void) {
   /* set the round-robin time quantum */

   rlist.r_preempt = CH_TIME_QUANTUM;

 #endif

-#if CH_USE_TRACE

+#if CH_DBG_ENABLE_TRACE

   chDbgTrace(otp, currp);

 #endif

   sp_thd = currp->p_ctx.r13;

diff --git a/readme.txt b/readme.txt
index d14a92d3d..9ee439f12 100644
--- a/readme.txt
+++ b/readme.txt
@@ -73,14 +73,18 @@ Win32-MinGW            - ChibiOS/RT simulator and demo into a WIN32 process,
 *****************************************************************************

 

 *** 1.1.1unstable ***

-- FIX: fixed a small problem in the chcore.c template file.

+- FIX: Fixed a small problem in the chcore.c template file.

+- FIX: Fixed wrong assertions in chThdWait() and chHeapFree() (backported in

+  stable branch).

+- NEW: Mode flexible debug configuration options, removed the old CH_USE_DEBUG

+  and CH_USE_TRACE.

 

 *** 1.1.0unstable ***

 - FIX: Modified the default value for the STM32 HSI setup it was 1, it should

   be 0x10 (backported in stable branch).

 - FIX: Removed an obsolete constant (P_SUSPENDED) from thread.h (backported in

   stable branch).

-- FIX: Removed unused field mp_grow in the MemoryPool structure  (backported in

+- FIX: Removed unused field mp_grow in the MemoryPool structure (backported in

   stable branch).

 - NEW: Added to the STM32 demo makefile an option to build ChibiOS/RT with the

   full STM32 FWLib 2.03. **NOTE**, except for the makefile option, the

diff --git a/src/chdebug.c b/src/chdebug.c
index 4a16e2d2a..63d5090ee 100644
--- a/src/chdebug.c
+++ b/src/chdebug.c
@@ -26,58 +26,57 @@
 

 #include <ch.h>

 

-#if CH_USE_DEBUG

-

-char *panicmsg;

+#if CH_DBG_ENABLE_TRACE

+/**

+ * @brief Public trace buffer.

+ */

+TraceBuffer trace_buffer;

 

 /**

- * @brief Debug subsystem initialization.

+ * @brief Trace circular buffer subsystem initialization.

  */

-void debug_init(void) {

+void trace_init(void) {

 

-#if CH_USE_TRACE

-  dbgtb.tb_size = TRACE_BUFFER_SIZE;

-  dbgtb.tb_ptr = &dbgtb.tb_buffer[0];

-#endif

+  trace_buffer.tb_size = TRACE_BUFFER_SIZE;

+  trace_buffer.tb_ptr = &trace_buffer.tb_buffer[0];

 }

-

 /**

- * @brief Prints a panic message on the console/debugger and then halts the

- * system.

+ * @brief Inserts in the circular debug trace buffer a context switch record.

  *

- * @param msg the pointer to the message string

+ * @param otp the thread being switched out

+ * @param ntp the thread to be resumed

  */

-void chDbgPanic(char *msg) {

+void chDbgTrace(Thread *otp, Thread *ntp) {

 

-  panicmsg = msg;

-  chSysPuts("PANIC: ");

-  chSysPuts(msg);

-  chSysHalt();

+  trace_buffer.tb_ptr->cse_wtobjp = otp->p_wtobjp;

+  trace_buffer.tb_ptr->cse_time = chSysGetTime();

+  trace_buffer.tb_ptr->cse_state = otp->p_state;

+  trace_buffer.tb_ptr->cse_tid = (unsigned)ntp >> 4;

+  if (++trace_buffer.tb_ptr >= &trace_buffer.tb_buffer[TRACE_BUFFER_SIZE])

+    trace_buffer.tb_ptr = &trace_buffer.tb_buffer[0];

 }

+#endif /* CH_DBG_ENABLE_TRACE */

 

-#if CH_USE_TRACE

+#if CH_DBG_ENABLE_ASSERTS

 /**

- * @brief Public trace buffer.

+ * @brief Pointer to the panic message.

+ * @details This pointer is meant to be accessed through the debugger, it is

+ * written once and then the system is halted.
  */

-TraceBuffer dbgtb;

+char *panic_msg;

 

 /**

- * @brief Inserts in the circular debug trace buffer a context switch record.

+ * @brief Prints a panic message on the console and then halts the system.

  *

- * @param otp the thread being switched out

- * @param ntp the thread to be resumed

+ * @param msg the pointer to the panic message string

  */

-void chDbgTrace(Thread *otp, Thread *ntp) {

+void chDbgPanic(char *msg) {

 

-  dbgtb.tb_ptr->cse_wtobjp = otp->p_wtobjp;

-  dbgtb.tb_ptr->cse_time = chSysGetTime();

-  dbgtb.tb_ptr->cse_state = otp->p_state;

-  dbgtb.tb_ptr->cse_tid = (unsigned)ntp >> 4;

-  if (++dbgtb.tb_ptr >= &dbgtb.tb_buffer[TRACE_BUFFER_SIZE])

-    dbgtb.tb_ptr = &dbgtb.tb_buffer[0];

+  panic_msg = msg;

+  chSysPuts("PANIC: ");

+  chSysPuts(msg);

+  chSysHalt();

 }

-#endif /* CH_USE_TRACE */

-

-#endif /* CH_USE_DEBUG */

+#endif /* CH_DBG_ENABLE_ASSERTS */

 

 /** @} */

diff --git a/src/chheap.c b/src/chheap.c
index 5193f19b8..f2bcc2b9e 100644
--- a/src/chheap.c
+++ b/src/chheap.c
@@ -162,7 +162,7 @@ void chHeapFree(void *p) {
 

   while (TRUE) {

 

-    chDbgAssert((hp < qp) && (hp >= LIMIT(qp)), "chheap.c, chHeapFree() #2");

+    chDbgAssert((hp < qp) || (hp >= LIMIT(qp)), "chheap.c, chHeapFree() #2");

 

     if (((qp == &heap.free) || (hp > qp)) &&

         ((qp->h_next == NULL) || (hp < qp->h_next))) {

diff --git a/src/chschd.c b/src/chschd.c
index a07db5737..e3f4d9e0d 100644
--- a/src/chschd.c
+++ b/src/chschd.c
@@ -88,7 +88,7 @@ void chSchGoSleepS(tstate_t newstate) {
 #if CH_USE_ROUNDROBIN
   rlist.r_preempt = CH_TIME_QUANTUM;
 #endif
-#if CH_USE_TRACE
+#if CH_DBG_ENABLE_TRACE
   chDbgTrace(otp, currp);
 #endif
   chSysSwitchI(otp, currp);
@@ -171,7 +171,7 @@ void chSchWakeupS(Thread *ntp, msg_t msg) {
 #if CH_USE_ROUNDROBIN
     rlist.r_preempt = CH_TIME_QUANTUM;
 #endif
-#if CH_USE_TRACE
+#if CH_DBG_ENABLE_TRACE
     /* trace the context switch */
     chDbgTrace(otp, ntp);
 #endif
@@ -194,7 +194,7 @@ void chSchDoRescheduleI(void) {
 #if CH_USE_ROUNDROBIN
   rlist.r_preempt = CH_TIME_QUANTUM;
 #endif
-#if CH_USE_TRACE
+#if CH_DBG_ENABLE_TRACE
   chDbgTrace(otp, currp);
 #endif
   chSysSwitchI(otp, currp);
diff --git a/src/chsys.c b/src/chsys.c
index 2b48278af..db1e7f955 100644
--- a/src/chsys.c
+++ b/src/chsys.c
@@ -61,11 +61,13 @@ void chSysInit(void) {
 
   port_init();
   scheduler_init();
-  debug_init();
   vt_init();
 #if CH_USE_HEAP
   heap_init();
 #endif
+#if CH_DBG_ENABLE_TRACE
+  trace_init();
+#endif
 
   /*
    * Now this instructions flow becomes the main thread.
diff --git a/src/chthreads.c b/src/chthreads.c
index 58f2b46d5..e91c4c18f 100644
--- a/src/chthreads.c
+++ b/src/chthreads.c
@@ -55,7 +55,7 @@ Thread *init_thread(Thread *tp, tprio_t prio) {
   return tp;
 }
 
-#if CH_USE_DEBUG
+#if CH_DBG_FILL_THREADS
 static void memfill(uint8_t *p, uint32_t n, uint8_t v) {
 
   while (n)
@@ -91,7 +91,7 @@ Thread *chThdInit(void *workspace, size_t wsize,
   chDbgAssert((wsize >= THD_WA_SIZE(0)) && (prio <= HIGHPRIO) &&
               (workspace != NULL) && (pf != NULL),
               "chthreads.c, chThdInit()");
-#if CH_USE_DEBUG
+#if CH_DBG_FILL_THREADS
   memfill(workspace, wsize, MEM_FILL_PATTERN);
 #endif
   SETUP_CONTEXT(workspace, wsize, pf, arg);
@@ -327,7 +327,7 @@ msg_t chThdWait(Thread *tp) {
   msg_t msg;
 
   chSysLock();
-  chDbgAssert((tp != NULL) && (tp != currp) && (tp->p_waiting != NULL),
+  chDbgAssert((tp != NULL) && (tp != currp) && (tp->p_waiting == NULL),
               "chthreads.c, chThdWait()");
   if (tp->p_state != PREXIT) {
     tp->p_waiting = currp;
diff --git a/src/include/ch.h b/src/include/ch.h
index 8303d90f6..ec53b4197 100644
--- a/src/include/ch.h
+++ b/src/include/ch.h
@@ -35,7 +35,7 @@
 /**

  * Kernel version string.
  */

-#define CH_KERNEL_VERSION       "1.1.0unstable"

+#define CH_KERNEL_VERSION       "1.1.1unstable"

 

 /**

  * Kernel version major number.
@@ -50,7 +50,7 @@
 /**

  * Kernel version patch number.
  */

-#define CH_KERNEL_PATCH         0

+#define CH_KERNEL_PATCH         1

 

 /*

  * Common values.

diff --git a/src/include/debug.h b/src/include/debug.h
index 37400d967..ac9034a8b 100644
--- a/src/include/debug.h
+++ b/src/include/debug.h
@@ -27,8 +27,6 @@
 #ifndef _DEBUG_H_

 #define _DEBUG_H_

 

-#if CH_USE_DEBUG

-

 /**

  * @brief Trace buffer entries.
  */

@@ -62,25 +60,13 @@ typedef struct {
   CtxSwcEvent           tb_buffer[TRACE_BUFFER_SIZE];   /**< Ring buffer.*/

 } TraceBuffer;

 

-extern CtxSwcEvent *dbgnext;

-extern TraceBuffer dbgtb;

-extern char *dbglastmsg;

-

-#ifdef __cplusplus

-extern "C" {

-#endif

-  void debug_init(void);

-  void chDbgPanic(char *msg);

-#ifdef __cplusplus

-}

-#endif

-

+#if CH_DBG_ENABLE_ASSERTS

 /**

  * 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

+ * @note The condition is tested only if the @p CH_DBG_ENABLE_ASSERTS switch is

  *       specified in @p chconf.h else the macro does nothing.

  */

 #define chDbgAssert(c, m) {                                             \

@@ -88,23 +74,27 @@ extern "C" {
     chDbgPanic(m);                                                      \

 }

 

-#else /* !CH_USE_DEBUG */

+#else /* !CH_DBG_ENABLE_ASSERTS */

 

-#define debug_init()

 #define chDbgPanic(msg) {}

 #define chDbgAssert(c, m) {(void)(c);}

 

-#endif /* CH_USE_DEBUG */

+#endif /* !CH_DBG_ENABLE_ASSERTS */

 

-#if CH_USE_TRACE

 #ifdef __cplusplus

 extern "C" {

 #endif

+#if CH_DBG_ENABLE_TRACE

+  extern TraceBuffer trace_buffer;

   void chDbgTrace(Thread *otp, Thread *ntp);

+#endif

+#if CH_DBG_ENABLE_ASSERTS

+  extern char *panic_msg;

+  void chDbgPanic(char *msg);

+#endif

 #ifdef __cplusplus

 }

 #endif

-#endif /* CH_USE_TRACE */

 

 #endif /* _DEBUG_H_ */

 

diff --git a/src/include/threads.h b/src/include/threads.h
index 29ed7f21f..be48fcbb3 100644
--- a/src/include/threads.h
+++ b/src/include/threads.h
@@ -59,6 +59,8 @@ struct Thread {
     msg_t               p_rdymsg;       /**< Thread wakeup code.*/
     msg_t               p_exitcode;     /**< The thread exit code
                                              (@p PREXIT state).*/
+    void                *p_wtobjp;      /**< Generic kernel object pointer used
+                                             for opaque access.*/
 #if CH_USE_SEMAPHORES
     Semaphore           *p_wtsemp;      /**< Semaphore where the thread is
                                              waiting on (@p PRWTSEM state).*/
@@ -79,10 +81,6 @@ struct Thread {
     eventmask_t         p_ewmask;       /**< Enabled events mask (@p PRWTOREVT
                                              or @p PRWTANDEVT states).*/
 #endif
-#if CH_USE_TRACE
-    void                *p_wtobjp;      /**< Generic kernel object pointer used
-                                             for opaque access.*/
-#endif
   };
   /*
    * Start of the optional fields.
diff --git a/src/templates/chconf.h b/src/templates/chconf.h
index f05f8b0b5..3338d5b3f 100644
--- a/src/templates/chconf.h
+++ b/src/templates/chconf.h
@@ -310,21 +310,30 @@
 #endif

 

 /**

- * Debug option, if enableed 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.

+ * Debug option, if enabled all the assertions in the kernel code are

+ * activated. This includes function parameters checks and consistency

+ * checks inside the kernel.
  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_DEBUG

-#define CH_USE_DEBUG                    FALSE

+#ifndef CH_DBG_ENABLE_ASSERTS

+#define CH_DBG_ENABLE_ASSERTS           FALSE

 #endif

 

 /**

- * Debug option, includes the threads context switch tracing feature.

+ * Debug option, if enabled the context switch circular trace buffer is

+ * activated.

  * @note The default is @p FALSE.

  */

-#ifndef CH_USE_TRACE

-#define CH_USE_TRACE                    FALSE

+#ifndef CH_DBG_ENABLE_TRACE

+#define CH_DBG_ENABLE_TRACE             FALSE

+#endif

+

+/**

+ * Debug option, if enabled the threads working area is filled with a byte

+ * pattern when a thread is created.
+ */

+#ifndef CH_DBG_FILL_THREADS

+#define CH_DBG_FILL_THREADS             FALSE

 #endif

 

 /**