I2C. 1 - Merge code from trunk. 2 - Fix driver problems detected by the CH_DBG_SYSTEM_STATE_CHECK

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/i2c_dev@3249 35acf78f-673a-0410-8e92-d51de3d6d3f4
author: barthess <barthess@35acf78f-673a-0410-8e92-d51de3d6d3f4> 2011-08-23 08:11:23 +0000
committer: barthess <barthess@35acf78f-673a-0410-8e92-d51de3d6d3f4> 2011-08-23 08:11:23 +0000
commit: 4ec82f62c18894d92bafc6c6f98784650106373d (patch)
tree: a0cec5585dff0434608241c373b9ad30af5ae869 /demos
parent: c877f5bfcc5301b441c9b13e8c32d83e9df04f37 (diff)
parent: 2a494cb534dbe3535a9bf4c61dfbc8b6c9e750be (diff)
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31 files changed, 1466 insertions, 575 deletions
diff --git a/demos/ARM7-AT91SAM7S-FATFS-GCC/chconf.h b/demos/ARM7-AT91SAM7S-FATFS-GCC/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/ARM7-AT91SAM7S-FATFS-GCC/chconf.h
+++ b/demos/ARM7-AT91SAM7S-FATFS-GCC/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARM7-AT91SAM7S-GCC/chconf.h b/demos/ARM7-AT91SAM7S-GCC/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/ARM7-AT91SAM7S-GCC/chconf.h
+++ b/demos/ARM7-AT91SAM7S-GCC/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARM7-AT91SAM7X-FATFS-GCC/chconf.h b/demos/ARM7-AT91SAM7X-FATFS-GCC/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/ARM7-AT91SAM7X-FATFS-GCC/chconf.h
+++ b/demos/ARM7-AT91SAM7X-FATFS-GCC/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARM7-AT91SAM7X-GCC/chconf.h b/demos/ARM7-AT91SAM7X-GCC/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/ARM7-AT91SAM7X-GCC/chconf.h
+++ b/demos/ARM7-AT91SAM7X-GCC/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARM7-AT91SAM7X-LWIP-GCC/chconf.h b/demos/ARM7-AT91SAM7X-LWIP-GCC/chconf.h
index 202dfc511..9dd831c96 100644
--- a/demos/ARM7-AT91SAM7X-LWIP-GCC/chconf.h
+++ b/demos/ARM7-AT91SAM7X-LWIP-GCC/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             TRUE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -433,9 +452,7 @@
  */
 #if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__)
 #define THREAD_EXT_FIELDS                                                   \
-struct {                                                                    \
-  /* Add threads custom fields here.*/                                      \
-};
+  /* Add threads custom fields here.*/
 #endif
 
 /**
@@ -466,6 +483,16 @@ struct {                                                                    \
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -497,6 +524,8 @@ struct {                                                                    \
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARM7-AT91SAM7X-UIP-GCC/chconf.h b/demos/ARM7-AT91SAM7X-UIP-GCC/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/ARM7-AT91SAM7X-UIP-GCC/chconf.h
+++ b/demos/ARM7-AT91SAM7X-UIP-GCC/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARM7-LPC214x-FATFS-GCC/chconf.h b/demos/ARM7-LPC214x-FATFS-GCC/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/ARM7-LPC214x-FATFS-GCC/chconf.h
+++ b/demos/ARM7-LPC214x-FATFS-GCC/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARM7-LPC214x-G++/chconf.h b/demos/ARM7-LPC214x-G++/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/ARM7-LPC214x-G++/chconf.h
+++ b/demos/ARM7-LPC214x-G++/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARM7-LPC214x-GCC/chconf.h b/demos/ARM7-LPC214x-GCC/chconf.h
index c9c4c286a..a5d129956 100644
--- a/demos/ARM7-LPC214x-GCC/chconf.h
+++ b/demos/ARM7-LPC214x-GCC/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       TRUE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -358,7 +372,7 @@
  * @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
 
 /**
@@ -370,7 +384,7 @@
  * @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
 
 /**
@@ -381,7 +395,7 @@
  * @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
 
 /**
@@ -395,7 +409,7 @@
  *          @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
 
 /**
@@ -407,7 +421,7 @@
  * @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
 
 /**
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARMCM0-LPC1114-LPCXPRESSO/chconf.h b/demos/ARMCM0-LPC1114-LPCXPRESSO/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/ARMCM0-LPC1114-LPCXPRESSO/chconf.h
+++ b/demos/ARMCM0-LPC1114-LPCXPRESSO/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARMCM3-LPC1343-LPCXPRESSO/chconf.h b/demos/ARMCM3-LPC1343-LPCXPRESSO/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/ARMCM3-LPC1343-LPCXPRESSO/chconf.h
+++ b/demos/ARMCM3-LPC1343-LPCXPRESSO/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARMCM3-STM32F100-DISCOVERY/chconf.h b/demos/ARMCM3-STM32F100-DISCOVERY/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/ARMCM3-STM32F100-DISCOVERY/chconf.h
+++ b/demos/ARMCM3-STM32F100-DISCOVERY/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARMCM3-STM32F103-FATFS/chconf.h b/demos/ARMCM3-STM32F103-FATFS/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/ARMCM3-STM32F103-FATFS/chconf.h
+++ b/demos/ARMCM3-STM32F103-FATFS/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARMCM3-STM32F103-G++/chconf.h b/demos/ARMCM3-STM32F103-G++/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/ARMCM3-STM32F103-G++/chconf.h
+++ b/demos/ARMCM3-STM32F103-G++/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARMCM3-STM32F103/chconf.h b/demos/ARMCM3-STM32F103/chconf.h
index c9c4c286a..a5d129956 100644
--- a/demos/ARMCM3-STM32F103/chconf.h
+++ b/demos/ARMCM3-STM32F103/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       TRUE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -358,7 +372,7 @@
  * @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
 
 /**
@@ -370,7 +384,7 @@
  * @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
 
 /**
@@ -381,7 +395,7 @@
  * @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
 
 /**
@@ -395,7 +409,7 @@
  *          @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
 
 /**
@@ -407,7 +421,7 @@
  * @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
 
 /**
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARMCM3-STM32F103ZG-FATFS/chconf.h b/demos/ARMCM3-STM32F103ZG-FATFS/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/ARMCM3-STM32F103ZG-FATFS/chconf.h
+++ b/demos/ARMCM3-STM32F103ZG-FATFS/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARMCM3-STM32F107/chconf.h b/demos/ARMCM3-STM32F107/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/ARMCM3-STM32F107/chconf.h
+++ b/demos/ARMCM3-STM32F107/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/ARMCM3-STM32L152-DISCOVERY/chconf.h b/demos/ARMCM3-STM32L152-DISCOVERY/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/ARMCM3-STM32L152-DISCOVERY/chconf.h
+++ b/demos/ARMCM3-STM32L152-DISCOVERY/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/AVR-AT90CANx-GCC/chconf.h b/demos/AVR-AT90CANx-GCC/chconf.h
index 15e938e53..7a50c5b5a 100644
--- a/demos/AVR-AT90CANx-GCC/chconf.h
+++ b/demos/AVR-AT90CANx-GCC/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/AVR-ATmega128-GCC/chconf.h b/demos/AVR-ATmega128-GCC/chconf.h
index 15e938e53..7a50c5b5a 100644
--- a/demos/AVR-ATmega128-GCC/chconf.h
+++ b/demos/AVR-ATmega128-GCC/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/MSP430-MSP430x1611-GCC/chconf.h b/demos/MSP430-MSP430x1611-GCC/chconf.h
index 59112cded..058dd1cb3 100644
--- a/demos/MSP430-MSP430x1611-GCC/chconf.h
+++ b/demos/MSP430-MSP430x1611-GCC/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/PPC-SPC563-GCC/chconf.h b/demos/PPC-SPC563-GCC/chconf.h
index c9c4c286a..9dd831c96 100644
--- a/demos/PPC-SPC563-GCC/chconf.h
+++ b/demos/PPC-SPC563-GCC/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/Posix-GCC/Makefile b/demos/Posix-GCC/Makefile
index 3a8b43c90..55fa40fb7 100644
--- a/demos/Posix-GCC/Makefile
+++ b/demos/Posix-GCC/Makefile
@@ -72,6 +72,7 @@ SRC  = ${PORTSRC} \
        ${PLATFORMSRC} \
        $(BOARDSRC) \
        ${CHIBIOS}/os/various/shell.c \
+       ${CHIBIOS}/os/various/chprintf.c \
        main.c
 
 # List ASM source files here
diff --git a/demos/Posix-GCC/chconf.h b/demos/Posix-GCC/chconf.h
index e571b2800..fa22f7210 100644
--- a/demos/Posix-GCC/chconf.h
+++ b/demos/Posix-GCC/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -484,6 +513,7 @@
 }
 #endif
 
+
 /**
  * @brief   System halt hook.
  * @details This hook is invoked in case to a system halting error before
@@ -495,6 +525,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/Posix-GCC/main.c b/demos/Posix-GCC/main.c
index adfcf6925..543386a85 100644
--- a/demos/Posix-GCC/main.c
+++ b/demos/Posix-GCC/main.c
@@ -24,6 +24,7 @@
 #include "hal.h"
 #include "test.h"
 #include "shell.h"
+#include "chprintf.h"
 
 #define SHELL_WA_SIZE       THD_WA_SIZE(4096)
 #define CONSOLE_WA_SIZE     THD_WA_SIZE(4096)
@@ -35,24 +36,76 @@ static Thread *cdtp;
 static Thread *shelltp1;
 static Thread *shelltp2;
 
-void cmd_test(BaseChannel *chp, int argc, char *argv[]) {
+static void cmd_mem(BaseChannel *chp, int argc, char *argv[]) {
+  size_t n, size;
+
+  (void)argv;
+  if (argc > 0) {
+    chprintf(chp, "Usage: mem\r\n");
+    return;
+  }
+  n = chHeapStatus(NULL, &size);
+  chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus());
+  chprintf(chp, "heap fragments   : %u\r\n", n);
+  chprintf(chp, "heap free total  : %u bytes\r\n", size);
+}
+
+static void cmd_threads(BaseChannel *chp, int argc, char *argv[]) {
+  static const char *states[] = {
+    "READY",
+    "CURRENT",
+    "SUSPENDED",
+    "WTSEM",
+    "WTMTX",
+    "WTCOND",
+    "SLEEPING",
+    "WTEXIT",
+    "WTOREVT",
+    "WTANDEVT",
+    "SNDMSGQ",
+    "SNDMSG",
+    "WTMSG",
+    "WTQUEUE",
+    "FINAL"
+  };
+  Thread *tp;
+
+  (void)argv;
+  if (argc > 0) {
+    chprintf(chp, "Usage: threads\r\n");
+    return;
+  }
+  chprintf(chp, "    addr    stack prio refs     state time\r\n");
+  tp = chRegFirstThread();
+  do {
+    chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s %lu\r\n",
+            (uint32_t)tp, (uint32_t)tp->p_ctx.esp,
+            (uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
+            states[tp->p_state], (uint32_t)tp->p_time);
+    tp = chRegNextThread(tp);
+  } while (tp != NULL);
+}
+
+static void cmd_test(BaseChannel *chp, int argc, char *argv[]) {
   Thread *tp;
 
   (void)argv;
   if (argc > 0) {
-    shellPrintLine(chp, "Usage: test");
+    chprintf(chp, "Usage: test\r\n");
     return;
   }
   tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriority(),
                            TestThread, chp);
   if (tp == NULL) {
-    shellPrintLine(chp, "out of memory");
+    chprintf(chp, "out of memory\r\n");
     return;
   }
   chThdWait(tp);
 }
 
 static const ShellCommand commands[] = {
+  {"mem", cmd_mem},
+  {"threads", cmd_threads},
   {"test", cmd_test},
   {NULL, NULL}
 };
@@ -76,9 +129,10 @@ static msg_t console_thread(void *arg) {
 
   (void)arg;
   while (!chThdShouldTerminate()) {
-    puts((char *)chMsgWait());
+    Thread *tp = chMsgWait();
+    puts((char *)chMsgGet(tp));
     fflush(stdout);
-    chMsgRelease(RDY_OK);
+    chMsgRelease(tp, RDY_OK);
   }
   return 0;
 }
diff --git a/demos/STM8L-STM8L152-DISCOVERY-STVD/demo/chconf.h b/demos/STM8L-STM8L152-DISCOVERY-STVD/demo/chconf.h
index cd12e6e2b..c004cf310 100644
--- a/demos/STM8L-STM8L152-DISCOVERY-STVD/demo/chconf.h
+++ b/demos/STM8L-STM8L152-DISCOVERY-STVD/demo/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/STM8S-STM8S105-DISCOVERY-STVD/demo/chconf.h b/demos/STM8S-STM8S105-DISCOVERY-STVD/demo/chconf.h
index cd12e6e2b..c004cf310 100644
--- a/demos/STM8S-STM8S105-DISCOVERY-STVD/demo/chconf.h
+++ b/demos/STM8S-STM8S105-DISCOVERY-STVD/demo/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/STM8S-STM8S208-RC/chconf.h b/demos/STM8S-STM8S208-RC/chconf.h
index cd12e6e2b..c004cf310 100644
--- a/demos/STM8S-STM8S208-RC/chconf.h
+++ b/demos/STM8S-STM8S208-RC/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -495,6 +524,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/Win32-MinGW/Makefile b/demos/Win32-MinGW/Makefile
index 652c60b44..73e938d44 100644
--- a/demos/Win32-MinGW/Makefile
+++ b/demos/Win32-MinGW/Makefile
@@ -72,6 +72,7 @@ SRC  = ${PORTSRC} \
        ${PLATFORMSRC} \
        $(BOARDSRC) \
        ${CHIBIOS}/os/various/shell.c \
+       ${CHIBIOS}/os/various/chprintf.c \
        main.c
 
 # List ASM source files here
diff --git a/demos/Win32-MinGW/chconf.h b/demos/Win32-MinGW/chconf.h
index e571b2800..fa22f7210 100644
--- a/demos/Win32-MinGW/chconf.h
+++ b/demos/Win32-MinGW/chconf.h
@@ -33,7 +33,10 @@
 #define _CHCONF_H_
 
 /*===========================================================================*/
-/* Kernel parameters.                                                        */
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -61,21 +64,6 @@
 #endif
 
 /**
- * @brief   Nested locks.
- * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
- *          operations is allowed.<br>
- *          For performance and code size reasons the recommended setting
- *          is to leave this option disabled.<br>
- *          You may use this option if you need to merge ChibiOS/RT with
- *          external libraries that require nested lock/unlock operations.
- *
- * @note    The default is @p FALSE.
- */
-#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
-#define CH_USE_NESTED_LOCKS             FALSE
-#endif
-
-/**
  * @brief   Managed RAM size.
  * @details Size of the RAM area to be managed by the OS. If set to zero
  *          then the whole available RAM is used. The core memory is made
@@ -107,8 +95,13 @@
 #define CH_NO_IDLE_THREAD               FALSE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Performance options.                                                      */
+/**
+ * @name Performance options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -123,8 +116,13 @@
 #define CH_OPTIMIZE_SPEED               TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Subsystem options.                                                        */
+/**
+ * @name Subsystem options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -346,11 +344,27 @@
 #define CH_USE_DYNAMIC                  TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Debug options.                                                            */
+/**
+ * @name Debug options
+ * @{
+ */
 /*===========================================================================*/
 
 /**
+ * @brief   Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ *          at runtime.
+ *
+ * @note    The default is @p FALSE.
+ */
+#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
+#define CH_DBG_SYSTEM_STATE_CHECK       FALSE
+#endif
+
+/**
  * @brief   Debug option, parameters checks.
  * @details If enabled then the checks on the API functions input
  *          parameters are activated.
@@ -423,8 +437,13 @@
 #define CH_DBG_THREADS_PROFILING        TRUE
 #endif
 
+/** @} */
+
 /*===========================================================================*/
-/* Kernel hooks.                                                             */
+/**
+ * @name Kernel hooks
+ * @{
+ */
 /*===========================================================================*/
 
 /**
@@ -464,6 +483,16 @@
 #endif
 
 /**
+ * @brief   Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
+#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \
+  /* System halt code here.*/                                               \
+}
+#endif
+
+/**
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
@@ -484,6 +513,7 @@
 }
 #endif
 
+
 /**
  * @brief   System halt hook.
  * @details This hook is invoked in case to a system halting error before
@@ -495,6 +525,8 @@
 }
 #endif
 
+/** @} */
+
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
diff --git a/demos/Win32-MinGW/main.c b/demos/Win32-MinGW/main.c
index 8540afed5..a735dfa0c 100644
--- a/demos/Win32-MinGW/main.c
+++ b/demos/Win32-MinGW/main.c
@@ -22,6 +22,7 @@
 #include "hal.h"
 #include "test.h"
 #include "shell.h"
+#include "chprintf.h"
 
 #define SHELL_WA_SIZE       THD_WA_SIZE(4096)
 #define CONSOLE_WA_SIZE     THD_WA_SIZE(4096)
@@ -35,20 +36,16 @@ static Thread *shelltp2;
 
 static void cmd_mem(BaseChannel *chp, int argc, char *argv[]) {
   size_t n, size;
-  char buf[52];
 
   (void)argv;
   if (argc > 0) {
-    shellPrintLine(chp, "Usage: mem");
+    chprintf(chp, "Usage: mem\r\n");
     return;
   }
   n = chHeapStatus(NULL, &size);
-  sprintf(buf, "core free memory : %i bytes", chCoreStatus());
-  shellPrintLine(chp, buf);
-  sprintf(buf, "heap fragments   : %i", n);
-  shellPrintLine(chp, buf);
-  sprintf(buf, "heap free total  : %i bytes", size);
-  shellPrintLine(chp, buf);
+  chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus());
+  chprintf(chp, "heap fragments   : %u\r\n", n);
+  chprintf(chp, "heap free total  : %u bytes\r\n", size);
 }
 
 static void cmd_threads(BaseChannel *chp, int argc, char *argv[]) {
@@ -63,25 +60,26 @@ static void cmd_threads(BaseChannel *chp, int argc, char *argv[]) {
     "WTEXIT",
     "WTOREVT",
     "WTANDEVT",
+    "SNDMSGQ",
     "SNDMSG",
     "WTMSG",
+    "WTQUEUE",
     "FINAL"
   };
   Thread *tp;
-  char buf[60];
 
   (void)argv;
   if (argc > 0) {
-    shellPrintLine(chp, "Usage: threads");
+    chprintf(chp, "Usage: threads\r\n");
     return;
   }
-  shellPrintLine(chp, "    addr    stack prio refs     state time");
+  chprintf(chp, "    addr    stack prio refs     state time\r\n");
   tp = chRegFirstThread();
   do {
-    sprintf(buf, "%8p %8p %4i %4i %9s %i",
-            tp, tp->p_ctx.esp, tp->p_prio, tp->p_refs - 1,
-            states[tp->p_state], tp->p_time);
-    shellPrintLine(chp, buf);
+    chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s %lu\r\n",
+            (uint32_t)tp, (uint32_t)tp->p_ctx.r13,
+            (uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
+            states[tp->p_state], (uint32_t)tp->p_time);
     tp = chRegNextThread(tp);
   } while (tp != NULL);
 }
@@ -91,13 +89,13 @@ static void cmd_test(BaseChannel *chp, int argc, char *argv[]) {
 
   (void)argv;
   if (argc > 0) {
-    shellPrintLine(chp, "Usage: test");
+    chprintf(chp, "Usage: test\r\n");
     return;
   }
   tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriority(),
                            TestThread, chp);
   if (tp == NULL) {
-    shellPrintLine(chp, "out of memory");
+    chprintf(chp, "out of memory\r\n");
     return;
   }
   chThdWait(tp);
author	barthess <barthess@35acf78f-673a-0410-8e92-d51de3d6d3f4>	2011-08-23 08:11:23 +0000
committer	barthess <barthess@35acf78f-673a-0410-8e92-d51de3d6d3f4>	2011-08-23 08:11:23 +0000
commit	4ec82f62c18894d92bafc6c6f98784650106373d (patch)
tree	a0cec5585dff0434608241c373b9ad30af5ae869 /demos
parent	c877f5bfcc5301b441c9b13e8c32d83e9df04f37 (diff)
parent	2a494cb534dbe3535a9bf4c61dfbc8b6c9e750be (diff)
download	ChibiOS-4ec82f62c18894d92bafc6c6f98784650106373d.tar.gz ChibiOS-4ec82f62c18894d92bafc6c6f98784650106373d.tar.bz2 ChibiOS-4ec82f62c18894d92bafc6c6f98784650106373d.zip