Cleanup debug module.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6120 35acf78f-673a-0410-8e92-d51de3d6d3f4

10 files changed, 208 insertions, 179 deletions

diff --git a/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h b/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h
index 6ee0bd743..31dbbcf4f 100644
--- a/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h
+++ b/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h
@@ -357,7 +357,7 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(CH_DBG_STATISTICS) || defined(__DOXYGEN__)

-#define CH_DBG_STATISTICS                   FALSE

+#define CH_DBG_STATISTICS                   TRUE

 #endif

 

 /**

@@ -368,7 +368,7 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)

-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE

+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE

 #endif

 

 /**

@@ -379,7 +379,7 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)

-#define CH_DBG_ENABLE_CHECKS                FALSE

+#define CH_DBG_ENABLE_CHECKS                TRUE

 #endif

 

 /**

@@ -391,7 +391,7 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)

-#define CH_DBG_ENABLE_ASSERTS               FALSE

+#define CH_DBG_ENABLE_ASSERTS               TRUE

 #endif

 

 /**

@@ -402,7 +402,7 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)

-#define CH_DBG_ENABLE_TRACE                 FALSE

+#define CH_DBG_ENABLE_TRACE                 TRUE

 #endif

 

 /**

@@ -416,7 +416,7 @@
  *          @p panic_msg variable set to @p NULL.

  */

 #if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)

-#define CH_DBG_ENABLE_STACK_CHECK           FALSE

+#define CH_DBG_ENABLE_STACK_CHECK           TRUE

 #endif

 

 /**

@@ -428,7 +428,7 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)

-#define CH_DBG_FILL_THREADS                 FALSE

+#define CH_DBG_FILL_THREADS                 TRUE

 #endif

 

 /**

@@ -441,7 +441,7 @@
  *          tickless mode.

  */

 #if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)

-#define CH_DBG_THREADS_PROFILING            FALSE

+#define CH_DBG_THREADS_PROFILING            TRUE

 #endif

 

 /** @} */

diff --git a/os/kernel/include/ch.h b/os/kernel/include/ch.h
index a3d475db4..6af6b8d4d 100644
--- a/os/kernel/include/ch.h
+++ b/os/kernel/include/ch.h
@@ -111,8 +111,8 @@ typedef struct virtual_timer virtual_timer_t;
 #include "chcore.h"

 #include "chtm.h"

 #include "chstats.h"

-#include "chglobal.h"

 #include "chsys.h"

+#include "chglobal.h"

 #include "chvt.h"

 #include "chthreads.h"

 #include "chlists.h"

diff --git a/os/kernel/include/chdebug.h b/os/kernel/include/chdebug.h
index 33363cbca..0f4083c84 100644
--- a/os/kernel/include/chdebug.h
+++ b/os/kernel/include/chdebug.h
@@ -29,34 +29,30 @@
 #ifndef _CHDEBUG_H_

 #define _CHDEBUG_H_

 

-#if CH_DBG_ENABLE_ASSERTS     || CH_DBG_ENABLE_CHECKS      ||               \

-    CH_DBG_ENABLE_STACK_CHECK || CH_DBG_SYSTEM_STATE_CHECK

-#define CH_DBG_ENABLED              TRUE

-#else

-#define CH_DBG_ENABLED              FALSE

-#endif

-

-#define __QUOTE_THIS(p) #p

+/*===========================================================================*/

+/* Module constants.                                                         */

+/*===========================================================================*/

 

 /*===========================================================================*/

+/* Module pre-compile time settings.                                         */

+/*===========================================================================*/

+

 /**

  * @name    Debug related settings

  * @{

  */

-/*===========================================================================*/

-

 /**

  * @brief   Trace buffer entries.

  */

-#ifndef CH_TRACE_BUFFER_SIZE

-#define CH_TRACE_BUFFER_SIZE        64

+#ifndef CH_DBG_TRACE_BUFFER_SIZE

+#define CH_DBG_TRACE_BUFFER_SIZE            64

 #endif

 

 /**

  * @brief   Fill value for thread stack area in debug mode.

  */

-#ifndef CH_STACK_FILL_VALUE

-#define CH_STACK_FILL_VALUE         0x55

+#ifndef CH_DBG_STACK_FILL_VALUE

+#define CH_DBG_STACK_FILL_VALUE             0x55

 #endif

 

 /**

@@ -66,37 +62,24 @@
  *          a debugger. A uninitialized field is not an error in itself but it

  *          better to know it.

  */

-#ifndef CH_THREAD_FILL_VALUE

-#define CH_THREAD_FILL_VALUE        0xFF

+#ifndef CH_DBG_THREAD_FILL_VALUE

+#define CH_DBG_THREAD_FILL_VALUE            0xFF

 #endif

-

 /** @} */

 

 /*===========================================================================*/

-/* System state checker related code and variables.                          */

+/* Derived constants and error checks.                                       */

 /*===========================================================================*/

 

-#if !CH_DBG_SYSTEM_STATE_CHECK

-#define dbg_enter_lock()

-#define dbg_leave_lock()

-#define dbg_check_disable()

-#define dbg_check_suspend()

-#define dbg_check_enable()

-#define dbg_check_lock()

-#define dbg_check_unlock()

-#define dbg_check_lock_from_isr()

-#define dbg_check_unlock_from_isr()

-#define dbg_check_enter_isr()

-#define dbg_check_leave_isr()

-#define chDbgCheckClassI();

-#define chDbgCheckClassS();

+#if CH_DBG_ENABLE_ASSERTS     || CH_DBG_ENABLE_CHECKS      ||               \

+    CH_DBG_ENABLE_STACK_CHECK || CH_DBG_SYSTEM_STATE_CHECK

+#define CH_DBG_ENABLED              TRUE

 #else

-#define dbg_enter_lock() (dbg_lock_cnt = 1)

-#define dbg_leave_lock() (dbg_lock_cnt = 0)

+#define CH_DBG_ENABLED              FALSE

 #endif

 

 /*===========================================================================*/

-/* Trace related structures and macros.                                      */

+/* Module data structures and types.                                         */

 /*===========================================================================*/

 

 #if CH_DBG_ENABLE_TRACE || defined(__DOXYGEN__)

@@ -104,43 +87,89 @@
  * @brief   Trace buffer record.

  */

 typedef struct {

-  systime_t             se_time;    /**< @brief Time of the switch event.   */

-  thread_t              *se_tp;     /**< @brief Switched in thread.         */

-  void                  *se_wtobjp; /**< @brief Object where going to sleep.*/

-  uint8_t               se_state;   /**< @brief Switched out thread state.  */

+  /**

+   * @brief   Time of the switch event.

+   */

+  systime_t             se_time;

+  /**

+   * @brief   Switched in thread.

+   */

+  thread_t              *se_tp;

+  /**

+   * @brief   Object where going to sleep.

+   */

+  void                  *se_wtobjp;

+  /**

+   * @brief   Switched out thread state.

+   */

+  uint8_t               se_state;

 } ch_swc_event_t;

 

 /**

  * @brief   Trace buffer header.

  */

 typedef struct {

-  unsigned              tb_size;    /**< @brief Trace buffer size (entries).*/

-  ch_swc_event_t        *tb_ptr;    /**< @brief Pointer to the buffer front.*/

-  /** @brief Ring buffer.*/

-  ch_swc_event_t        tb_buffer[CH_TRACE_BUFFER_SIZE];

+  /**

+   * @brief   Trace buffer size (entries).

+   */

+  unsigned              tb_size;

+  /**

+   * @brief   Pointer to the buffer front.

+   */

+  ch_swc_event_t        *tb_ptr;

+  /**

+   * @brief   Ring buffer.

+   */

+  ch_swc_event_t        tb_buffer[CH_DBG_TRACE_BUFFER_SIZE];

 } ch_trace_buffer_t;

+#endif /* CH_DBG_ENABLE_TRACE */

+

+/*===========================================================================*/

+/* Module macros.                                                            */

+/*===========================================================================*/

 

-#if !defined(__DOXYGEN__)

-extern ch_trace_buffer_t dbg_trace_buffer;

+#define __QUOTE_THIS(p) #p

+

+#if CH_DBG_SYSTEM_STATE_CHECK

+#define _dbg_enter_lock() (ch.dbg_lock_cnt = 1)

+#define _dbg_leave_lock() (ch.dbg_lock_cnt = 0)

 #endif

 

-#endif /* CH_DBG_ENABLE_TRACE */

+/* When the state checker feature is disabled then the following functions

+   are replaced by an empty macro.*/

+#if !CH_DBG_SYSTEM_STATE_CHECK

+#define _dbg_enter_lock()

+#define _dbg_leave_lock()

+#define _dbg_check_disable()

+#define _dbg_check_suspend()

+#define _dbg_check_enable()

+#define _dbg_check_lock()

+#define _dbg_check_unlock()

+#define _dbg_check_lock_from_isr()

+#define _dbg_check_unlock_from_isr()

+#define _dbg_check_enter_isr()

+#define _dbg_check_leave_isr()

+#define chDbgCheckClassI()

+#define chDbgCheckClassS()

+#endif

 

-#if !CH_DBG_ENABLE_TRACE

 /* When the trace feature is disabled this function is replaced by an empty

    macro.*/

-#define dbg_trace(otp)

+#if !CH_DBG_ENABLE_TRACE

+#define _dbg_trace(otp)

 #endif

 

-/*===========================================================================*/

-/* Parameters checking related macros.                                       */

-/*===========================================================================*/

+/* When the debug features are disabled this function is replaced by an empty

+   macro.*/

+#if !CH_DBG_ENABLED

+#define chDbgPanic(msg) {}

+#endif

 

-#if CH_DBG_ENABLE_CHECKS || defined(__DOXYGEN__)

 /**

  * @name    Macro Functions

  * @{

  */

+#if CH_DBG_ENABLE_CHECKS || defined(__DOXYGEN__)

 /**

  * @brief   Function parameters check.

  * @details If the condition check fails then the kernel panics and halts.

@@ -158,23 +187,15 @@ extern ch_trace_buffer_t dbg_trace_buffer;
     chDbgPanic(__QUOTE_THIS(func)"()");                                     \

 }

 #endif /* !defined(chDbgCheck) */

-/** @} */

+

 #else /* !CH_DBG_ENABLE_CHECKS */

 #define chDbgCheck(c, func) {                                               \

   (void)(c), (void)__QUOTE_THIS(func)"()";                                  \

 }

 #endif /* !CH_DBG_ENABLE_CHECKS */

 

-/*===========================================================================*/

-/* Assertions related macros.                                                */

-/*===========================================================================*/

-

 #if CH_DBG_ENABLE_ASSERTS || defined(__DOXYGEN__)

 /**

- * @name    Macro Functions

- * @{

- */

-/**

  * @brief   Condition assertion.

  * @details If the condition check fails then the kernel panics with the

  *          specified message and halts.

@@ -197,51 +218,46 @@ extern ch_trace_buffer_t dbg_trace_buffer;
     chDbgPanic(m);                                                          \

 }

 #endif /* !defined(chDbgAssert) */

-/** @} */

 #else /* !CH_DBG_ENABLE_ASSERTS */

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

 #endif /* !CH_DBG_ENABLE_ASSERTS */

+/** @} */

 

 /*===========================================================================*/

-/* Panic related macros.                                                     */

+/* External declarations.                                                    */

 /*===========================================================================*/

 

-#if !CH_DBG_ENABLED

-/* When the debug features are disabled this function is replaced by an empty

-   macro.*/

-#define chDbgPanic(msg) {}

-#endif

-

 #ifdef __cplusplus

 extern "C" {

 #endif

 #if CH_DBG_SYSTEM_STATE_CHECK

-  extern cnt_t dbg_isr_cnt;

-  extern cnt_t dbg_lock_cnt;

-  void dbg_check_disable(void);

-  void dbg_check_suspend(void);

-  void dbg_check_enable(void);

-  void dbg_check_lock(void);

-  void dbg_check_unlock(void);

-  void dbg_check_lock_from_isr(void);

-  void dbg_check_unlock_from_isr(void);

-  void dbg_check_enter_isr(void);

-  void dbg_check_leave_isr(void);

+  void _dbg_check_disable(void);

+  void _dbg_check_suspend(void);

+  void _dbg_check_enable(void);

+  void _dbg_check_lock(void);

+  void _dbg_check_unlock(void);

+  void _dbg_check_lock_from_isr(void);

+  void _dbg_check_unlock_from_isr(void);

+  void _dbg_check_enter_isr(void);

+  void _dbg_check_leave_isr(void);

   void chDbgCheckClassI(void);

   void chDbgCheckClassS(void);

 #endif

 #if CH_DBG_ENABLE_TRACE || defined(__DOXYGEN__)

   void _trace_init(void);

-  void dbg_trace(thread_t *otp);

+  void _dbg_trace(thread_t *otp);

 #endif

 #if CH_DBG_ENABLED

-  extern const char *dbg_panic_msg;

   void chDbgPanic(const char *msg);

 #endif

 #ifdef __cplusplus

 }

 #endif

 

+/*===========================================================================*/

+/* Module inline functions.                                                  */

+/*===========================================================================*/

+

 #endif /* _CHDEBUG_H_ */

 

 /** @} */

diff --git a/os/kernel/include/chglobal.h b/os/kernel/include/chglobal.h
index c8e0ca15b..4bbc0775b 100644
--- a/os/kernel/include/chglobal.h
+++ b/os/kernel/include/chglobal.h
@@ -120,6 +120,30 @@ typedef struct ch_system {
    * @brief   Virtual timers delta list header.

    */

   virtual_timers_list_t vtlist;

+#if CH_DBG_ENABLED || defined(__DOXYGEN__)

+  /**

+   * @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.

+   */

+  const char            *dbg_panic_msg;

+#endif

+#if CH_DBG_SYSTEM_STATE_CHECK || defined(__DOXYGEN__)

+  /**

+   * @brief   ISR nesting level.

+   */

+  cnt_t                 dbg_isr_cnt;

+  /**

+   * @brief   Lock nesting level.

+   */

+  cnt_t                 dbg_lock_cnt;

+#endif

+#if CH_DBG_ENABLE_TRACE || defined(__DOXYGEN__)

+  /**

+   * @brief   Public trace buffer.

+   */

+  ch_trace_buffer_t     dbg_trace_buffer;

+#endif

 } ch_system_t;

 

 /*===========================================================================*/

diff --git a/os/kernel/include/chsys.h b/os/kernel/include/chsys.h
index 2d7cfa430..475e090bd 100644
--- a/os/kernel/include/chsys.h
+++ b/os/kernel/include/chsys.h
@@ -62,7 +62,7 @@
 #define CH_IRQ_PROLOGUE()                                                   \

   PORT_IRQ_PROLOGUE();                                                      \

   _stats_increase_irq();                                                    \

-  dbg_check_enter_isr()

+  _dbg_check_enter_isr()

 

 /**

  * @brief   IRQ handler exit code.

@@ -73,7 +73,7 @@
  * @special

  */

 #define CH_IRQ_EPILOGUE()                                                   \

-  dbg_check_leave_isr();                                                    \

+  _dbg_check_leave_isr();                                                   \

   PORT_IRQ_EPILOGUE()

 

 /**

@@ -202,7 +202,7 @@
  */

 #define chSysSwitch(ntp, otp) {                                             \

                                                                             \

-  dbg_trace(otp);                                                           \

+  _dbg_trace(otp);                                                          \

   _stats_ctxswc(ntp, otp);                                                  \

   CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp);                                     \

   port_switch(ntp, otp);                                                    \

@@ -243,7 +243,7 @@ extern "C" {
 static inline void chSysDisable(void) {

 

   port_disable();

-  dbg_check_disable();

+  _dbg_check_disable();

 }

 

 /**

@@ -260,7 +260,7 @@ static inline void chSysDisable(void) {
 static inline void chSysSuspend(void) {

 

   port_suspend();

-  dbg_check_suspend();

+  _dbg_check_suspend();

 }

 

 /**

@@ -274,7 +274,7 @@ static inline void chSysSuspend(void) {
  */

 static inline void chSysEnable(void) {

 

-  dbg_check_enable();

+  _dbg_check_enable();

   port_enable();

 }

 

@@ -287,7 +287,7 @@ static inline void chSysLock(void)  {
 

   port_lock();

   _stats_start_measure_crit_thd();

-  dbg_check_lock();

+  _dbg_check_lock();

 }

 

 /**

@@ -297,7 +297,7 @@ static inline void chSysLock(void)  {
  */

 static inline void chSysUnlock(void) {

 

-  dbg_check_unlock();

+  _dbg_check_unlock();

   _stats_stop_measure_crit_thd();

   port_unlock();

 }

@@ -318,7 +318,7 @@ static inline void chSysLockFromISR(void) {
 

   port_lock_from_isr();

   _stats_start_measure_crit_isr();

-  dbg_check_lock_from_isr();

+  _dbg_check_lock_from_isr();

 }

 

 /**

@@ -336,7 +336,7 @@ static inline void chSysLockFromISR(void) {
  */

 static inline void chSysUnlockFromISR(void) {

 

-  dbg_check_unlock_from_isr();

+  _dbg_check_unlock_from_isr();

   _stats_stop_measure_crit_isr();

   port_unlock_from_isr();

 }

diff --git a/os/kernel/ports/ARMCMx/chcore_v7m.h b/os/kernel/ports/ARMCMx/chcore_v7m.h
index a0a2680b7..3426977a1 100644
--- a/os/kernel/ports/ARMCMx/chcore_v7m.h
+++ b/os/kernel/ports/ARMCMx/chcore_v7m.h
@@ -371,7 +371,7 @@ struct context {
 #define port_switch(ntp, otp) _port_switch(ntp, otp)

 #else

 #define port_switch(ntp, otp) {                                             \

-  struct intctx *r13 = __get_PSP();                                         \

+  struct intctx *r13 = (struct intctx *)__get_PSP();                        \

   if ((stkalign_t *)(r13 - 1) < otp->p_stklimit)                            \

     chDbgPanic("stack overflow");                                           \

   _port_switch(ntp, otp);                                                   \

diff --git a/os/kernel/ports/ARMCMx/compilers/GCC/chcoreasm_v7m.s b/os/kernel/ports/ARMCMx/compilers/GCC/chcoreasm_v7m.s
index 881448dfc..36864a2c9 100644
--- a/os/kernel/ports/ARMCMx/compilers/GCC/chcoreasm_v7m.s
+++ b/os/kernel/ports/ARMCMx/compilers/GCC/chcoreasm_v7m.s
@@ -85,7 +85,7 @@ _port_switch:
                 .globl  _port_thread_start

 _port_thread_start:

 #if CH_DBG_SYSTEM_STATE_CHECK

-                bl      dbg_check_unlock

+                bl      _dbg_check_unlock

 #endif

 #if CH_DBG_STATISTICS

                 bl      _stats_stop_measure_crit_thd

@@ -112,11 +112,11 @@ _port_switch_from_isr:
                 bl      _stats_start_measure_crit_thd

 #endif

 #if CH_DBG_SYSTEM_STATE_CHECK

-                bl      dbg_check_lock

+                bl      _dbg_check_lock

 #endif

                 bl      chSchDoReschedule

 #if CH_DBG_SYSTEM_STATE_CHECK

-                bl      dbg_check_unlock

+                bl      _dbg_check_unlock

 #endif

 #if CH_DBG_STATISTICS

                 bl      _stats_stop_measure_crit_thd

diff --git a/os/kernel/src/chdebug.c b/os/kernel/src/chdebug.c
index ba9c469b9..05b746357 100644
--- a/os/kernel/src/chdebug.c
+++ b/os/kernel/src/chdebug.c
@@ -51,29 +51,38 @@
 #include "ch.h"

 

 /*===========================================================================*/

-/* System state checker related code and variables.                          */

+/* Module local definitions.                                                 */

 /*===========================================================================*/

 

-#if CH_DBG_SYSTEM_STATE_CHECK || defined(__DOXYGEN__)

+/*===========================================================================*/

+/* Module exported variables.                                                */

+/*===========================================================================*/

 

-/**

- * @brief   ISR nesting level.

- */

-cnt_t dbg_isr_cnt;

+/*===========================================================================*/

+/* Module local types.                                                       */

+/*===========================================================================*/

 

-/**

- * @brief   Lock nesting level.

- */

-cnt_t dbg_lock_cnt;

+/*===========================================================================*/

+/* Module local variables.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module local functions.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module exported functions.                                                */

+/*===========================================================================*/

 

+#if CH_DBG_SYSTEM_STATE_CHECK || defined(__DOXYGEN__)

 /**

  * @brief   Guard code for @p chSysDisable().

  *

  * @notapi

  */

-void dbg_check_disable(void) {

+void _dbg_check_disable(void) {

 

-  if ((dbg_isr_cnt != 0) || (dbg_lock_cnt != 0))

+  if ((ch.dbg_isr_cnt != 0) || (ch.dbg_lock_cnt != 0))

     chDbgPanic("SV#1");

 }

 

@@ -82,9 +91,9 @@ void dbg_check_disable(void) {
  *

  * @notapi

  */

-void dbg_check_suspend(void) {

+void _dbg_check_suspend(void) {

 

-  if ((dbg_isr_cnt != 0) || (dbg_lock_cnt != 0))

+  if ((ch.dbg_isr_cnt != 0) || (ch.dbg_lock_cnt != 0))

     chDbgPanic("SV#2");

 }

 

@@ -93,9 +102,9 @@ void dbg_check_suspend(void) {
  *

  * @notapi

  */

-void dbg_check_enable(void) {

+void _dbg_check_enable(void) {

 

-  if ((dbg_isr_cnt != 0) || (dbg_lock_cnt != 0))

+  if ((ch.dbg_isr_cnt != 0) || (ch.dbg_lock_cnt != 0))

     chDbgPanic("SV#3");

 }

 

@@ -104,11 +113,11 @@ void dbg_check_enable(void) {
  *

  * @notapi

  */

-void dbg_check_lock(void) {

+void _dbg_check_lock(void) {

 

-  if ((dbg_isr_cnt != 0) || (dbg_lock_cnt != 0))

+  if ((ch.dbg_isr_cnt != 0) || (ch.dbg_lock_cnt != 0))

     chDbgPanic("SV#4");

-  dbg_enter_lock();

+  _dbg_enter_lock();

 }

 

 /**

@@ -116,11 +125,11 @@ void dbg_check_lock(void) {
  *

  * @notapi

  */

-void dbg_check_unlock(void) {

+void _dbg_check_unlock(void) {

 

-  if ((dbg_isr_cnt != 0) || (dbg_lock_cnt <= 0))

+  if ((ch.dbg_isr_cnt != 0) || (ch.dbg_lock_cnt <= 0))

     chDbgPanic("SV#5");

-  dbg_leave_lock();

+  _dbg_leave_lock();

 }

 

 /**

@@ -128,11 +137,11 @@ void dbg_check_unlock(void) {
  *

  * @notapi

  */

-void dbg_check_lock_from_isr(void) {

+void _dbg_check_lock_from_isr(void) {

 

-  if ((dbg_isr_cnt <= 0) || (dbg_lock_cnt != 0))

+  if ((ch.dbg_isr_cnt <= 0) || (ch.dbg_lock_cnt != 0))

     chDbgPanic("SV#6");

-  dbg_enter_lock();

+  _dbg_enter_lock();

 }

 

 /**

@@ -140,11 +149,11 @@ void dbg_check_lock_from_isr(void) {
  *

  * @notapi

  */

-void dbg_check_unlock_from_isr(void) {

+void _dbg_check_unlock_from_isr(void) {

 

-  if ((dbg_isr_cnt <= 0) || (dbg_lock_cnt <= 0))

+  if ((ch.dbg_isr_cnt <= 0) || (ch.dbg_lock_cnt <= 0))

     chDbgPanic("SV#7");

-  dbg_leave_lock();

+  _dbg_leave_lock();

 }

 

 /**

@@ -152,12 +161,12 @@ void dbg_check_unlock_from_isr(void) {
  *

  * @notapi

  */

-void dbg_check_enter_isr(void) {

+void _dbg_check_enter_isr(void) {

 

   port_lock_from_isr();

-  if ((dbg_isr_cnt < 0) || (dbg_lock_cnt != 0))

+  if ((ch.dbg_isr_cnt < 0) || (ch.dbg_lock_cnt != 0))

     chDbgPanic("SV#8");

-  dbg_isr_cnt++;

+  ch.dbg_isr_cnt++;

   port_unlock_from_isr();

 }

 

@@ -166,12 +175,12 @@ void dbg_check_enter_isr(void) {
  *

  * @notapi

  */

-void dbg_check_leave_isr(void) {

+void _dbg_check_leave_isr(void) {

 

   port_lock_from_isr();

-  if ((dbg_isr_cnt <= 0) || (dbg_lock_cnt != 0))

+  if ((ch.dbg_isr_cnt <= 0) || (ch.dbg_lock_cnt != 0))

     chDbgPanic("SV#9");

-  dbg_isr_cnt--;

+  ch.dbg_isr_cnt--;

   port_unlock_from_isr();

 }

 

@@ -185,7 +194,7 @@ void dbg_check_leave_isr(void) {
  */

 void chDbgCheckClassI(void) {

 

-  if ((dbg_isr_cnt < 0) || (dbg_lock_cnt <= 0))

+  if ((ch.dbg_isr_cnt < 0) || (ch.dbg_lock_cnt <= 0))

     chDbgPanic("SV#10");

 }

 

@@ -199,30 +208,21 @@ void chDbgCheckClassI(void) {
  */

 void chDbgCheckClassS(void) {

 

-  if ((dbg_isr_cnt != 0) || (dbg_lock_cnt <= 0))

+  if ((ch.dbg_isr_cnt != 0) || (ch.dbg_lock_cnt <= 0))

     chDbgPanic("SV#11");

 }

 

 #endif /* CH_DBG_SYSTEM_STATE_CHECK */

 

-/*===========================================================================*/

-/* Trace related code and variables.                                         */

-/*===========================================================================*/

-

 #if CH_DBG_ENABLE_TRACE || defined(__DOXYGEN__)

 /**

- * @brief   Public trace buffer.

- */

-ch_trace_buffer_t dbg_trace_buffer;

-

-/**

  * @brief   Trace circular buffer subsystem initialization.

  * @note    Internal use only.

  */

 void _trace_init(void) {

 

-  dbg_trace_buffer.tb_size = CH_TRACE_BUFFER_SIZE;

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

+  ch.dbg_trace_buffer.tb_size = CH_DBG_TRACE_BUFFER_SIZE;

+  ch.dbg_trace_buffer.tb_ptr = &ch.dbg_trace_buffer.tb_buffer[0];

 }

 

 /**

@@ -232,38 +232,27 @@ void _trace_init(void) {
  *

  * @notapi

  */

-void dbg_trace(thread_t *otp) {

-

-  dbg_trace_buffer.tb_ptr->se_time   = chVTGetSystemTimeX();

-  dbg_trace_buffer.tb_ptr->se_tp     = currp;

-  dbg_trace_buffer.tb_ptr->se_wtobjp = otp->p_u.wtobjp;

-  dbg_trace_buffer.tb_ptr->se_state  = (uint8_t)otp->p_state;

-  if (++dbg_trace_buffer.tb_ptr >=

-      &dbg_trace_buffer.tb_buffer[CH_TRACE_BUFFER_SIZE])

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

+void _dbg_trace(thread_t *otp) {

+

+  ch.dbg_trace_buffer.tb_ptr->se_time   = chVTGetSystemTimeX();

+  ch.dbg_trace_buffer.tb_ptr->se_tp     = currp;

+  ch.dbg_trace_buffer.tb_ptr->se_wtobjp = otp->p_u.wtobjp;

+  ch.dbg_trace_buffer.tb_ptr->se_state  = (uint8_t)otp->p_state;

+  if (++ch.dbg_trace_buffer.tb_ptr >=

+      &ch.dbg_trace_buffer.tb_buffer[CH_DBG_TRACE_BUFFER_SIZE])

+    ch.dbg_trace_buffer.tb_ptr = &ch.dbg_trace_buffer.tb_buffer[0];

 }

 #endif /* CH_DBG_ENABLE_TRACE */

 

-/*===========================================================================*/

-/* Panic related code and variables.                                         */

-/*===========================================================================*/

-

 #if CH_DBG_ENABLED || defined(__DOXYGEN__)

 /**

- * @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.

- */

-const char *dbg_panic_msg;

-

-/**

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

  *

  * @param[in] msg       the pointer to the panic message string

  */

 void chDbgPanic(const char *msg) {

 

-  dbg_panic_msg = msg;

+  ch.dbg_panic_msg = msg;

   chSysHalt();

 }

 #endif /* CH_DBG_ENABLED */

diff --git a/os/kernel/src/chdynamic.c b/os/kernel/src/chdynamic.c
index 2b12e698f..86e37df14 100644
--- a/os/kernel/src/chdynamic.c
+++ b/os/kernel/src/chdynamic.c
@@ -156,10 +156,10 @@ thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size,
 #if CH_DBG_FILL_THREADS

   _thread_memfill((uint8_t *)wsp,

                   (uint8_t *)wsp + sizeof(thread_t),

-                  CH_THREAD_FILL_VALUE);

+                  CH_DBG_THREAD_FILL_VALUE);

   _thread_memfill((uint8_t *)wsp + sizeof(thread_t),

                   (uint8_t *)wsp + size,

-                  CH_STACK_FILL_VALUE);

+                  CH_DBG_STACK_FILL_VALUE);

 #endif

   

   chSysLock();

@@ -207,10 +207,10 @@ thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, tprio_t prio,
 #if CH_DBG_FILL_THREADS

   _thread_memfill((uint8_t *)wsp,

                   (uint8_t *)wsp + sizeof(thread_t),

-                  CH_THREAD_FILL_VALUE);

+                  CH_DBG_THREAD_FILL_VALUE);

   _thread_memfill((uint8_t *)wsp + sizeof(thread_t),

                   (uint8_t *)wsp + mp->mp_object_size,

-                  CH_STACK_FILL_VALUE);

+                  CH_DBG_STACK_FILL_VALUE);

 #endif

 

   chSysLock();

diff --git a/os/kernel/src/chthreads.c b/os/kernel/src/chthreads.c
index ff6e5e597..a18e82005 100644
--- a/os/kernel/src/chthreads.c
+++ b/os/kernel/src/chthreads.c
@@ -212,10 +212,10 @@ thread_t *chThdCreateStatic(void *wsp, size_t size,
 #if CH_DBG_FILL_THREADS

   _thread_memfill((uint8_t *)wsp,

                   (uint8_t *)wsp + sizeof(thread_t),

-                  CH_THREAD_FILL_VALUE);

+                  CH_DBG_THREAD_FILL_VALUE);

   _thread_memfill((uint8_t *)wsp + sizeof(thread_t),

                   (uint8_t *)wsp + size,

-                  CH_STACK_FILL_VALUE);

+                  CH_DBG_STACK_FILL_VALUE);

 #endif

   chSysLock();

   chSchWakeupS(tp = chThdCreateI(wsp, size, prio, pf, arg), RDY_OK);