Update to ChibiOS 17.6.x

Technically I updated to a development version somewhere between 17.6.3
and 17.6.4, but I don't doubt its stability.

This is a good update because I'd like users of the library to be
confident that it works with the latest version of ChibiOS.
Interestingly, none of the changes I made were in the library code, so
it did before, but now I know for sure.

I'm unclear as to whether I can now get rid of the INT_N thread in favor
of a pin interrupt.  I'll have to see if I can, or if that will have to
wait for still more ChibiOS updates.

.gitmodules

@@ -1,4 +1,4 @@
 [submodule "ChibiOS"]
 	path = ChibiOS
 	url = https://github.com/ChibiOS/ChibiOS.git
-	branch = stable_16.1.x
+	branch = stable_17.6.x

ChibiOS

@@ -1 +1 @@
-Subproject commit ad728cc9bce3fb2be49d67ea55e788b6772007e2
+Subproject commit 5b4a1f5837a83f32fd5e5e439eaa370cc7399237

Makefile

@@ -69,6 +69,11 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x400
 endif
 
+# Enables the use of FPU (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
 #
 # Architecture or project specific options
 ##############################################################################
@@ -84,7 +89,7 @@ PROJECT = pd-buddy-firmware
 CHIBIOS = ChibiOS
 PDBLIB = lib
 # Startup files.
-include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/startup_stm32f0xx.mk
+include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f0xx.mk
 # HAL-OSAL files (optional).
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/os/hal/ports/STM32/STM32F0xx/platform.mk
@@ -92,7 +97,7 @@ include $(CHIBIOS)/../boards/PD_BUDDY_SINK/board.mk
 include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 # RTOS files (optional).
 include $(CHIBIOS)/os/rt/rt.mk
-include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
+include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
 # Other files (optional).
 include $(CHIBIOS)/test/rt/test.mk
 include $(PDBLIB)/pd-buddy.mk
@@ -139,9 +144,11 @@ TCSRC =
 TCPPSRC =
 
 # List ASM source files here
-ASMSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC =
+ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
 
-INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
+INCDIR = $(CHIBIOS)/os/license \
+         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
          $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
          $(CHIBIOS)/os/hal/lib/streams $(CHIBIOS)/os/various \
 	 $(PDBINC) \
@@ -213,7 +220,7 @@ ULIBS =
 # End of user defines
 ##############################################################################
 
-RULESPATH = $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC
+RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC
 include $(RULESPATH)/rules.mk
 
 # Special rules follow

boards/PD_BUDDY_SINK/cfg/board.chcfg

@@ -6,7 +6,7 @@
   <configuration_settings>
     <templates_path>resources/gencfg/processors/boards/stm32f0xx/templates</templates_path>
     <output_path>..</output_path>
-    <hal_version>3.0.x</hal_version>
+    <hal_version>5.0.x</hal_version>
   </configuration_settings>
   <board_name>PD Buddy Sink</board_name>
   <board_id>PD_BUDDY_SINK</board_id>

chconf.h

@@ -17,7 +17,7 @@
  */
 
 /*
-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -33,7 +33,7 @@
 */
 
 /**
- * @file    chconf.h
+ * @file    templates/chconf.h
  * @brief   Configuration file template.
  * @details A copy of this file must be placed in each project directory, it
  *          contains the application specific kernel settings.
@@ -43,8 +43,10 @@
  * @{
  */
 
-#ifndef _CHCONF_H_
-#define _CHCONF_H_
+#ifndef CHCONF_H
+#define CHCONF_H
+
+#define _CHIBIOS_RT_CONF_
 
 /*===========================================================================*/
 /**
@@ -280,14 +282,6 @@
  */
 #define CH_CFG_USE_MAILBOXES                TRUE
 
-/**
- * @brief   I/O Queues APIs.
- * @details If enabled then the I/O queues APIs are included in the kernel.
- *
- * @note    The default is @p TRUE.
- */
-#define CH_CFG_USE_QUEUES                   TRUE
-
 /**
  * @brief   Core Memory Manager APIs.
  * @details If enabled then the core memory manager APIs are included
@@ -375,12 +369,18 @@
 
 /**
  * @brief   Debug option, trace buffer.
- * @details If enabled then the context switch circular trace buffer is
- *          activated.
+ * @details If enabled then the trace buffer is activated.
  *
- * @note    The default is @p FALSE.
+ * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_DISABLED
+
+/**
+ * @brief   Trace buffer entries.
+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ *          different from @p CH_DBG_TRACE_MASK_DISABLED.
  */
-#define CH_DBG_ENABLE_TRACE                 FALSE
+#define CH_DBG_TRACE_BUFFER_SIZE            128
 
 /**
  * @brief   Debug option, stack checks.
@@ -445,10 +445,6 @@
 /**
  * @brief   Threads finalization hook.
  * @details User finalization code added to the @p chThdExit() API.
- *
- * @note    It is inserted into lock zone.
- * @note    It is also invoked when the threads simply return in order to
- *          terminate.
  */
 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \
   /* Add threads finalization code here.*/                                  \
@@ -462,6 +458,20 @@
   /* Context switch code here.*/                                            \
 }
 
+/**
+ * @brief   ISR enter hook.
+ */
+#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \
+  /* IRQ prologue code here.*/                                              \
+}
+
+/**
+ * @brief   ISR exit hook.
+ */
+#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \
+  /* IRQ epilogue code here.*/                                              \
+}
+
 /**
  * @brief   Idle thread enter hook.
  * @note    This hook is invoked within a critical zone, no OS functions
@@ -469,6 +479,7 @@
  * @note    This macro can be used to activate a power saving mode.
  */
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
+  /* Idle-enter code here.*/                                                \
 }
 
 /**
@@ -478,6 +489,7 @@
  * @note    This macro can be used to deactivate a power saving mode.
  */
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
+  /* Idle-leave code here.*/                                                \
 }
 
 /**
@@ -506,12 +518,21 @@
   /* System halt code here.*/                                               \
 }
 
+/**
+ * @brief   Trace hook.
+ * @details This hook is invoked each time a new record is written in the
+ *          trace buffer.
+ */
+#define CH_CFG_TRACE_HOOK(tep) {                                            \
+  /* Trace code here.*/                                                     \
+}
+
 /** @} */
 
 /*===========================================================================*/
 /* Port-specific settings (override port settings defaulted in chcore.h).    */
 /*===========================================================================*/
 
-#endif  /* _CHCONF_H_ */
+#endif  /* CHCONF_H */
 
 /** @} */

halconf.h

@@ -17,7 +17,7 @@
  */
 
 /*
-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -33,7 +33,7 @@
 */
 
 /**
- * @file    halconf.h
+ * @file    templates/halconf.h
  * @brief   HAL configuration header.
  * @details HAL configuration file, this file allows to enable or disable the
  *          various device drivers from your application. You may also use
@@ -43,8 +43,8 @@
  * @{
  */
 
-#ifndef _HALCONF_H_
-#define _HALCONF_H_
+#ifndef HALCONF_H
+#define HALCONF_H
 
 #include "mcuconf.h"
 
@@ -132,6 +132,13 @@
 #define HAL_USE_PWM                 FALSE
 #endif
 
+/**
+ * @brief   Enables the QSPI subsystem.
+ */
+#if !defined(HAL_USE_QSPI) || defined(__DOXYGEN__)
+#define HAL_USE_QSPI                FALSE
+#endif
+
 /**
  * @brief   Enables the RTC subsystem.
  */
@@ -394,6 +401,6 @@
 #define USB_USE_WAIT                FALSE
 #endif
 
-#endif /* _HALCONF_H_ */
+#endif /* HALCONF_H */
 
 /** @} */

ld/STM32F072x8.ld

@@ -1,5 +1,5 @@
 /*
-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -22,19 +22,52 @@
  */
 MEMORY
 {
-    flash : org = 0x08000000, len = 62k
-    ram0  : org = 0x20000000, len = 16k
-    ram1  : org = 0x00000000, len = 0
-    ram2  : org = 0x00000000, len = 0
-    ram3  : org = 0x00000000, len = 0
-    ram4  : org = 0x00000000, len = 0
-    ram5  : org = 0x00000000, len = 0
-    ram6  : org = 0x00000000, len = 0
-    ram7  : org = 0x00000000, len = 0
+    flash0  : org = 0x08000000, len = 62k
+    flash1  : org = 0x00000000, len = 0
+    flash2  : org = 0x00000000, len = 0
+    flash3  : org = 0x00000000, len = 0
+    flash4  : org = 0x00000000, len = 0
+    flash5  : org = 0x00000000, len = 0
+    flash6  : org = 0x00000000, len = 0
+    flash7  : org = 0x00000000, len = 0
+    ram0    : org = 0x20000000, len = 16k
+    ram1    : org = 0x00000000, len = 0
+    ram2    : org = 0x00000000, len = 0
+    ram3    : org = 0x00000000, len = 0
+    ram4    : org = 0x00000000, len = 0
+    ram5    : org = 0x00000000, len = 0
+    ram6    : org = 0x00000000, len = 0
+    ram7    : org = 0x00000000, len = 0
 }
 
+/* For each data/text section two region are defined, a virtual region
+   and a load region (_LMA suffix).*/
+
+/* Flash region to be used for exception vectors.*/
+REGION_ALIAS("VECTORS_FLASH", flash0);
+REGION_ALIAS("VECTORS_FLASH_LMA", flash0);
+
+/* Flash region to be used for constructors and destructors.*/
+REGION_ALIAS("XTORS_FLASH", flash0);
+REGION_ALIAS("XTORS_FLASH_LMA", flash0);
+
+/* Flash region to be used for code text.*/
+REGION_ALIAS("TEXT_FLASH", flash0);
+REGION_ALIAS("TEXT_FLASH_LMA", flash0);
+
+/* Flash region to be used for read only data.*/
+REGION_ALIAS("RODATA_FLASH", flash0);
+REGION_ALIAS("RODATA_FLASH_LMA", flash0);
+
+/* Flash region to be used for various.*/
+REGION_ALIAS("VARIOUS_FLASH", flash0);
+REGION_ALIAS("VARIOUS_FLASH_LMA", flash0);
+
+/* Flash region to be used for RAM(n) initialization data.*/
+REGION_ALIAS("RAM_INIT_FLASH_LMA", flash0);
+
 /* RAM region to be used for Main stack. This stack accommodates the processing
-   of all exceptions and interrupts*/
+   of all exceptions and interrupts.*/
 REGION_ALIAS("MAIN_STACK_RAM", ram0);
 
 /* RAM region to be used for the process stack. This is the stack used by
@@ -43,6 +76,7 @@ REGION_ALIAS("PROCESS_STACK_RAM", ram0);
 
 /* RAM region to be used for data segment.*/
 REGION_ALIAS("DATA_RAM", ram0);
+REGION_ALIAS("DATA_RAM_LMA", flash0);
 
 /* RAM region to be used for BSS segment.*/
 REGION_ALIAS("BSS_RAM", ram0);
@@ -50,4 +84,5 @@ REGION_ALIAS("BSS_RAM", ram0);
 /* RAM region to be used for the default heap.*/
 REGION_ALIAS("HEAP_RAM", ram0);
 
+/* Generic rules inclusion.*/
 INCLUDE rules.ld

ld/STM32F072xB.ld

@@ -1,5 +1,5 @@
 /*
-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -22,19 +22,52 @@
  */
 MEMORY
 {
-    flash : org = 0x08000000, len = 126k
-    ram0  : org = 0x20000000, len = 16k
-    ram1  : org = 0x00000000, len = 0
-    ram2  : org = 0x00000000, len = 0
-    ram3  : org = 0x00000000, len = 0
-    ram4  : org = 0x00000000, len = 0
-    ram5  : org = 0x00000000, len = 0
-    ram6  : org = 0x00000000, len = 0
-    ram7  : org = 0x00000000, len = 0
+    flash0  : org = 0x08000000, len = 126k
+    flash1  : org = 0x00000000, len = 0
+    flash2  : org = 0x00000000, len = 0
+    flash3  : org = 0x00000000, len = 0
+    flash4  : org = 0x00000000, len = 0
+    flash5  : org = 0x00000000, len = 0
+    flash6  : org = 0x00000000, len = 0
+    flash7  : org = 0x00000000, len = 0
+    ram0    : org = 0x20000000, len = 16k
+    ram1    : org = 0x00000000, len = 0
+    ram2    : org = 0x00000000, len = 0
+    ram3    : org = 0x00000000, len = 0
+    ram4    : org = 0x00000000, len = 0
+    ram5    : org = 0x00000000, len = 0
+    ram6    : org = 0x00000000, len = 0
+    ram7    : org = 0x00000000, len = 0
 }
 
+/* For each data/text section two region are defined, a virtual region
+   and a load region (_LMA suffix).*/
+
+/* Flash region to be used for exception vectors.*/
+REGION_ALIAS("VECTORS_FLASH", flash0);
+REGION_ALIAS("VECTORS_FLASH_LMA", flash0);
+
+/* Flash region to be used for constructors and destructors.*/
+REGION_ALIAS("XTORS_FLASH", flash0);
+REGION_ALIAS("XTORS_FLASH_LMA", flash0);
+
+/* Flash region to be used for code text.*/
+REGION_ALIAS("TEXT_FLASH", flash0);
+REGION_ALIAS("TEXT_FLASH_LMA", flash0);
+
+/* Flash region to be used for read only data.*/
+REGION_ALIAS("RODATA_FLASH", flash0);
+REGION_ALIAS("RODATA_FLASH_LMA", flash0);
+
+/* Flash region to be used for various.*/
+REGION_ALIAS("VARIOUS_FLASH", flash0);
+REGION_ALIAS("VARIOUS_FLASH_LMA", flash0);
+
+/* Flash region to be used for RAM(n) initialization data.*/
+REGION_ALIAS("RAM_INIT_FLASH_LMA", flash0);
+
 /* RAM region to be used for Main stack. This stack accommodates the processing
-   of all exceptions and interrupts*/
+   of all exceptions and interrupts.*/
 REGION_ALIAS("MAIN_STACK_RAM", ram0);
 
 /* RAM region to be used for the process stack. This is the stack used by
@@ -43,6 +76,7 @@ REGION_ALIAS("PROCESS_STACK_RAM", ram0);
 
 /* RAM region to be used for data segment.*/
 REGION_ALIAS("DATA_RAM", ram0);
+REGION_ALIAS("DATA_RAM_LMA", flash0);
 
 /* RAM region to be used for BSS segment.*/
 REGION_ALIAS("BSS_RAM", ram0);
@@ -50,4 +84,5 @@ REGION_ALIAS("BSS_RAM", ram0);
 /* RAM region to be used for the default heap.*/
 REGION_ALIAS("HEAP_RAM", ram0);
 
+/* Generic rules inclusion.*/
 INCLUDE rules.ld

mcuconf.h

@@ -17,7 +17,7 @@
  */
 
 /*
-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -32,8 +32,8 @@
     limitations under the License.
 */
 
-#ifndef _MCUCONF_H_
-#define _MCUCONF_H_
+#ifndef MCUCONF_H
+#define MCUCONF_H
 
 /*
  * STM32F0xx drivers configuration.
@@ -211,8 +211,11 @@
  */
 #define STM32_SERIAL_USE_USART1             FALSE
 #define STM32_SERIAL_USE_USART2             FALSE
+#define STM32_SERIAL_USE_USART3             FALSE
+#define STM32_SERIAL_USE_UART4              FALSE
 #define STM32_SERIAL_USART1_PRIORITY        3
 #define STM32_SERIAL_USART2_PRIORITY        3
+#define STM32_SERIAL_USART3_8_PRIORITY      3
 
 /*
  * SPI driver system settings.
@@ -240,14 +243,23 @@
  */
 #define STM32_UART_USE_USART1               FALSE
 #define STM32_UART_USE_USART2               FALSE
+#define STM32_UART_USE_USART3               FALSE
+#define STM32_UART_USE_UART4                FALSE
 #define STM32_UART_USART1_IRQ_PRIORITY      3
 #define STM32_UART_USART2_IRQ_PRIORITY      3
+#define STM32_UART_USART3_8_IRQ_PRIORITY    3
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
+#define STM32_UART_USART3_DMA_PRIORITY      0
+#define STM32_UART_UART4_DMA_PRIORITY       0
 #define STM32_UART_USART1_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 3)
 #define STM32_UART_USART1_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 2)
 #define STM32_UART_USART2_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 5)
 #define STM32_UART_USART2_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 4)
+#define STM32_UART_USART3_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 3)
+#define STM32_UART_USART3_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 2)
+#define STM32_UART_UART4_RX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 6)
+#define STM32_UART_UART4_TX_DMA_STREAM      STM32_DMA_STREAM_ID(1, 7)
 #define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
 
 /*
@@ -262,4 +274,4 @@
  */
 #define STM32_WDG_USE_IWDG                  FALSE
 
-#endif /* _MCUCONF_H_ */
+#endif /* MCUCONF_H */

src/config.h

@@ -22,6 +22,7 @@
 #include <stdint.h>
 
 #include <ch.h>
+#include <hal.h>
 
 
 /*

src/shell.c

@@ -674,9 +674,9 @@ bool shellGetLine(BaseSequentialStream *chp, char *line, unsigned size)
         /* Delete a character if ASCII backspace or delete is received */
         if ((c == '\b') || (c == '\x7F')) {
             if (p != line) {
-                chSequentialStreamPut(chp, 0x08);
-                chSequentialStreamPut(chp, 0x20);
-                chSequentialStreamPut(chp, 0x08);
+                streamPut(chp, 0x08);
+                streamPut(chp, 0x20);
+                streamPut(chp, 0x08);
                 p--;
             }
             continue;
@@ -692,7 +692,7 @@ bool shellGetLine(BaseSequentialStream *chp, char *line, unsigned size)
             continue;
         /* If there's room in the line buffer, append the new character */
         if (p < line + size - 1) {
-            chSequentialStreamPut(chp, c);
+            streamPut(chp, c);
             *p++ = (char)c;
         }
     }

src/usbcfg.c

@@ -17,7 +17,7 @@
  */
 
 /*
-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
 
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
@@ -292,8 +292,6 @@ static void usb_event(USBDriver *usbp, usbevent_t event) {
     extern SerialUSBDriver SDU1;
 
     switch (event) {
-        case USB_EVENT_RESET:
-            return;
         case USB_EVENT_ADDRESS:
             return;
         case USB_EVENT_CONFIGURED:
@@ -310,17 +308,25 @@ static void usb_event(USBDriver *usbp, usbevent_t event) {
 
             chSysUnlockFromISR();
             return;
+        case USB_EVENT_RESET:
+            /* Falls into.*/
         case USB_EVENT_UNCONFIGURED:
-            return;
+            /* Falls into.*/
         case USB_EVENT_SUSPEND:
             chSysLockFromISR();
 
             /* Disconnection event on suspend.*/
-            sduDisconnectI(&SDU1);
+            sduSuspendHookI(&SDU1);
 
             chSysUnlockFromISR();
             return;
         case USB_EVENT_WAKEUP:
+            chSysLockFromISR();
+
+            /* Disconnection event on suspend.*/
+            sduWakeupHookI(&SDU1);
+
+            chSysUnlockFromISR();
             return;
         case USB_EVENT_STALLED:
             return;