d-ronin · glowtape · Jan 5, 2018 · Jan 5, 2018 · Jan 5, 2018 · Jan 5, 2018
diff --git a/flight/Modules/Loadable/loadable.c b/flight/Modules/Loadable/loadable.c
@@ -297,9 +297,9 @@ void MemManageHandler_C(uint32_t *exception_stack) {
 	exception_stack[EXCEPTION_STACK_PC_OFFSET] = pc;
 }
 
-void MemManageVector(void) __attribute__((naked));
+void MemManage_Handler(void) __attribute__((naked));
 
-void MemManageVector(void)
+void MemManage_Handler(void)
 {
 	/* Stores the exception stack pointer into an argument, and invokes
 	 * the real handler (without linkage-- the BX LR at completion of

diff --git a/flight/PiOS/Common/Libraries/ChibiOS/documentation.html b/flight/PiOS/Common/Libraries/ChibiOS/documentation.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
 <html>
   <head>
-    <meta http-equiv="Refresh" content="0; URL=http://www.chibios.org/dokuwiki/doku.php?id=chibios:documents">
+    <meta http-equiv="Refresh" content="0; URL=http://www.chibios.org/dokuwiki/doku.php?id=chibios:documentation:start">
   </head>
   <body>
   </body>

diff --git a/flight/PiOS/Common/Libraries/ChibiOS/exception.txt b/flight/PiOS/Common/Libraries/ChibiOS/exception.txt
diff --git a/flight/PiOS/Common/Libraries/ChibiOS/os/common/oslib/include/chbsem.h b/flight/PiOS/Common/Libraries/ChibiOS/os/common/oslib/include/chbsem.h
@@ -0,0 +1,311 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio.
+
+    This file is part of ChibiOS.
+
+    ChibiOS is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    ChibiOS is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file    chbsem.h
+ * @brief   Binary semaphores structures and macros.
+ *
+ * @addtogroup binary_semaphores
+ * @details Binary semaphores related APIs and services.
+ *          <h2>Operation mode</h2>
+ *          Binary semaphores are implemented as a set of inline functions
+ *          that use the existing counting semaphores primitives. The
+ *          difference between counting and binary semaphores is that the
+ *          counter of binary semaphores is not allowed to grow above the
+ *          value 1. Repeated signal operation are ignored. A binary
+ *          semaphore can thus have only two defined states:
+ *          - <b>Taken</b>, when its counter has a value of zero or lower
+ *            than zero. A negative number represent the number of threads
+ *            queued on the binary semaphore.
+ *          - <b>Not taken</b>, when its counter has a value of one.
+ *          .
+ *          Binary semaphores are different from mutexes because there is no
+ *          concept of ownership, a binary semaphore can be taken by a
+ *          thread and signaled by another thread or an interrupt handler,
+ *          mutexes can only be taken and released by the same thread. Another
+ *          difference is that binary semaphores, unlike mutexes, do not
+ *          implement the priority inheritance protocol.<br>
+ *          In order to use the binary semaphores APIs the
+ *          @p CH_CFG_USE_SEMAPHORES option must be enabled in @p chconf.h.
+ * @{
+ */
+
+#ifndef CHBSEM_H
+#define CHBSEM_H
+
+#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @extends semaphore_t
+ *
+ * @brief   Binary semaphore type.
+ */
+typedef struct {
+  semaphore_t           sem;
+} binary_semaphore_t;
+
+/*===========================================================================*/
+/* Module macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @brief   Data part of a static semaphore initializer.
+ * @details This macro should be used when statically initializing a semaphore
+ *          that is part of a bigger structure.
+ *
+ * @param[in] name      the name of the semaphore variable
+ * @param[in] taken     the semaphore initial state
+ */
+#define _BSEMAPHORE_DATA(name, taken)                                       \
+  {_SEMAPHORE_DATA(name.sem, ((taken) ? 0 : 1))}
+
+/**
+ * @brief   Static semaphore initializer.
+ * @details Statically initialized semaphores require no explicit
+ *          initialization using @p chBSemInit().
+ *
+ * @param[in] name      the name of the semaphore variable
+ * @param[in] taken     the semaphore initial state
+ */
+#define BSEMAPHORE_DECL(name, taken)                                        \
+    binary_semaphore_t name = _BSEMAPHORE_DATA(name, taken)
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module inline functions.                                                  */
+/*===========================================================================*/
+
+/**
+ * @brief   Initializes a binary semaphore.
+ *
+ * @param[out] bsp      pointer to a @p binary_semaphore_t structure
+ * @param[in] taken     initial state of the binary semaphore:
+ *                      - @a false, the initial state is not taken.
+ *                      - @a true, the initial state is taken.
+ *                      .
+ *
+ * @init
+ */
+static inline void chBSemObjectInit(binary_semaphore_t *bsp, bool taken) {
+
+  chSemObjectInit(&bsp->sem, taken ? (cnt_t)0 : (cnt_t)1);
+}
+
+/**
+ * @brief   Wait operation on the binary semaphore.
+ *
+ * @param[in] bsp       pointer to a @p binary_semaphore_t structure
+ * @return              A message specifying how the invoking thread has been
+ *                      released from the semaphore.
+ * @retval MSG_OK       if the binary semaphore has been successfully taken.
+ * @retval MSG_RESET    if the binary semaphore has been reset using
+ *                      @p bsemReset().
+ *
+ * @api
+ */
+static inline msg_t chBSemWait(binary_semaphore_t *bsp) {
+
+  return chSemWait(&bsp->sem);
+}
+
+/**
+ * @brief   Wait operation on the binary semaphore.
+ *
+ * @param[in] bsp       pointer to a @p binary_semaphore_t structure
+ * @return              A message specifying how the invoking thread has been
+ *                      released from the semaphore.
+ * @retval MSG_OK       if the binary semaphore has been successfully taken.
+ * @retval MSG_RESET    if the binary semaphore has been reset using
+ *                      @p bsemReset().
+ *
+ * @sclass
+ */
+static inline msg_t chBSemWaitS(binary_semaphore_t *bsp) {
+
+  chDbgCheckClassS();
+
+  return chSemWaitS(&bsp->sem);
+}
+
+/**
+ * @brief   Wait operation on the binary semaphore.
+ *
+ * @param[in] bsp       pointer to a @p binary_semaphore_t structure
+ * @param[in] time      the number of ticks before the operation timeouts,
+ *                      the following special values are allowed:
+ *                      - @a TIME_IMMEDIATE immediate timeout.
+ *                      - @a TIME_INFINITE no timeout.
+ *                      .
+ * @return              A message specifying how the invoking thread has been
+ *                      released from the semaphore.
+ * @retval MSG_OK       if the binary semaphore has been successfully taken.
+ * @retval MSG_RESET    if the binary semaphore has been reset using
+ *                      @p bsemReset().
+ * @retval MSG_TIMEOUT  if the binary semaphore has not been signaled or reset
+ *                      within the specified timeout.
+ *
+ * @sclass
+ */
+static inline msg_t chBSemWaitTimeoutS(binary_semaphore_t *bsp,
+                                       systime_t time) {
+
+  chDbgCheckClassS();
+
+  return chSemWaitTimeoutS(&bsp->sem, time);
+}
+
+/**
+ * @brief   Wait operation on the binary semaphore.
+ *
+ * @param[in] bsp       pointer to a @p binary_semaphore_t structure
+ * @param[in] time      the number of ticks before the operation timeouts,
+ *                      the following special values are allowed:
+ *                      - @a TIME_IMMEDIATE immediate timeout.
+ *                      - @a TIME_INFINITE no timeout.
+ *                      .
+ * @return              A message specifying how the invoking thread has been
+ *                      released from the semaphore.
+ * @retval MSG_OK       if the binary semaphore has been successfully taken.
+ * @retval MSG_RESET    if the binary semaphore has been reset using
+ *                      @p bsemReset().
+ * @retval MSG_TIMEOUT  if the binary semaphore has not been signaled or reset
+ *                      within the specified timeout.
+ *
+ * @api
+ */
+static inline msg_t chBSemWaitTimeout(binary_semaphore_t *bsp,
+                                      systime_t time) {
+
+  return chSemWaitTimeout(&bsp->sem, time);
+}
+
+/**
+ * @brief   Reset operation on the binary semaphore.
+ * @note    The released threads can recognize they were waked up by a reset
+ *          rather than a signal because the @p bsemWait() will return
+ *          @p MSG_RESET instead of @p MSG_OK.
+ * @note    This function does not reschedule.
+ *
+ * @param[in] bsp       pointer to a @p binary_semaphore_t structure
+ * @param[in] taken     new state of the binary semaphore
+ *                      - @a false, the new state is not taken.
+ *                      - @a true, the new state is taken.
+ *                      .
+ *
+ * @iclass
+ */
+static inline void chBSemResetI(binary_semaphore_t *bsp, bool taken) {
+
+  chDbgCheckClassI();
+
+  chSemResetI(&bsp->sem, taken ? (cnt_t)0 : (cnt_t)1);
+}
+
+/**
+ * @brief   Reset operation on the binary semaphore.
+ * @note    The released threads can recognize they were waked up by a reset
+ *          rather than a signal because the @p bsemWait() will return
+ *          @p MSG_RESET instead of @p MSG_OK.
+ *
+ * @param[in] bsp       pointer to a @p binary_semaphore_t structure
+ * @param[in] taken     new state of the binary semaphore
+ *                      - @a false, the new state is not taken.
+ *                      - @a true, the new state is taken.
+ *                      .
+ *
+ * @api
+ */
+static inline void chBSemReset(binary_semaphore_t *bsp, bool taken) {
+
+  chSemReset(&bsp->sem, taken ? (cnt_t)0 : (cnt_t)1);
+}
+
+/**
+ * @brief   Performs a signal operation on a binary semaphore.
+ * @note    This function does not reschedule.
+ *
+ * @param[in] bsp       pointer to a @p binary_semaphore_t structure
+ *
+ * @iclass
+ */
+static inline void chBSemSignalI(binary_semaphore_t *bsp) {
+
+  chDbgCheckClassI();
+
+  if (bsp->sem.cnt < (cnt_t)1) {
+    chSemSignalI(&bsp->sem);
+  }
+}
+
+/**
+ * @brief   Performs a signal operation on a binary semaphore.
+ *
+ * @param[in] bsp       pointer to a @p binary_semaphore_t structure
+ *
+ * @api
+ */
+static inline void chBSemSignal(binary_semaphore_t *bsp) {
+
+  chSysLock();
+  chBSemSignalI(bsp);
+  chSchRescheduleS();
+  chSysUnlock();
+}
+
+/**
+ * @brief   Returns the binary semaphore current state.
+ *
+ * @param[in] bsp       pointer to a @p binary_semaphore_t structure
+ * @return              The binary semaphore current state.
+ * @retval false        if the binary semaphore is not taken.
+ * @retval true         if the binary semaphore is taken.
+ *
+ * @iclass
+ */
+static inline bool chBSemGetStateI(binary_semaphore_t *bsp) {
+
+  chDbgCheckClassI();
+
+  return (bsp->sem.cnt > (cnt_t)0) ? false : true;
+}
+
+#endif /* CH_CFG_USE_SEMAPHORES == TRUE */
+
+#endif /* CHBSEM_H */
+
+/** @} */