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

13 files changed, 193 insertions, 15 deletions

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.*/