Upgrade to ChibiOS 17.6.3

flight/PiOS/Common/Libraries/ChibiOS/os/common/startup/ARMCMx/compilers/GCC/crt0_v7m.S

@@ -52,6 +52,15 @@
 /* Module pre-compile time settings.                                         */
 /*===========================================================================*/
 
+/* dRonin: This if fixed upstream apparently, remove on upgrade to 18.x. */
+/**
+ * @brief   MSP register initialization.
+ * @details MSP is initialized to point to the proper main process tack.
+ */
+#if !defined(CRT0_FORCE_MSP_INIT) || defined(__DOXYGEN__)
+#define CRT0_FORCE_MSP_INIT                 TRUE
+#endif
+
 /**
  * @brief   VTOR special register initialization.
  * @details VTOR is initialized to point to the vectors table.

flight/PiOS/Common/pios_heap.c

@@ -32,6 +32,12 @@
 #include <stdint.h>		/* uintptr_t */
 #include <stdbool.h>		/* bool */
 
+#if defined(PIOS_INCLUDE_CHIBIOS)
+#if !defined(CH_CFG_USE_MEMCORE) || CH_CFG_USE_MEMCORE != TRUE
+#error "pios_heap: Need to use memcore with ChibiOS."
+#endif
+#endif
+
 #define DEBUG_MALLOC_FAILURES 0
 static volatile bool malloc_failed_flag = false;
 static void malloc_failed_hook(void)
@@ -53,6 +59,8 @@ bool PIOS_heap_malloc_failed_p(void)
 #include "pios_thread.h"
 #endif
 
+#if !defined(PIOS_INCLUDE_CHIBIOS) || defined(PIOS_INCLUDE_FASTHEAP)
+
 struct pios_heap {
 	const uintptr_t start_addr;
 	uintptr_t end_addr;
@@ -103,6 +111,10 @@ static size_t simple_get_free_bytes(struct pios_heap *heap)
 	return heap->end_addr - heap->free_addr;
 }
 
+#endif
+
+#if !defined(PIOS_INCLUDE_CHIBIOS)
+
 static void simple_extend_heap(struct pios_heap *heap, size_t bytes)
 {
 	heap->end_addr += bytes;
@@ -119,12 +131,16 @@ static struct pios_heap pios_standard_heap = {
 	.end_addr   = (const uintptr_t)&_eheap,
 	.free_addr  = (uintptr_t)&_sheap,
 };
-
+#endif
 
 void * pvPortMalloc(size_t size) __attribute__((alias ("PIOS_malloc"), weak));
 void * PIOS_malloc(size_t size)
 {
+#if defined(PIOS_INCLUDE_CHIBIOS)
+	void *buf = chCoreAlloc(size);
+#else
 	void *buf = simple_malloc(&pios_standard_heap, size);
+#endif
 
 	if (buf == NULL)
 		malloc_failed_hook();
@@ -178,8 +194,10 @@ void PIOS_free(void * buf)
 		return simple_free(&pios_nodma_heap, buf);
 #endif	/* PIOS_INCLUDE_FASTHEAP */
 
+#if !defined(PIOS_INCLUDE_CHIBIOS)
 	if (is_ptr_in_heap_p(&pios_standard_heap, buf))
 		return simple_free(&pios_standard_heap, buf);
+#endif
 }
 
 size_t xPortGetFreeHeapSize(void) __attribute__((alias ("PIOS_heap_get_free_size")));
@@ -189,7 +207,11 @@ size_t PIOS_heap_get_free_size(void)
 	PIOS_Thread_Scheduler_Suspend();
 #endif	/* PIOS_INCLUDE_RTOS */
 
+#if defined(PIOS_INCLUDE_CHIBIOS)
+	size_t free_bytes = chCoreGetStatusX();
+#else
 	size_t free_bytes = simple_get_free_bytes(&pios_standard_heap);
+#endif
 
 #if defined(PIOS_INCLUDE_RTOS)
 	PIOS_Thread_Scheduler_Resume();
@@ -236,7 +258,9 @@ void PIOS_heap_increase_size(size_t bytes)
 	PIOS_Thread_Scheduler_Suspend();
 #endif	/* PIOS_INCLUDE_RTOS */
 
+#if !defined(PIOS_INCLUDE_CHIBIOS)
 	simple_extend_heap(&pios_standard_heap, bytes);
+#endif
 
 #if defined(PIOS_INCLUDE_RTOS)
 	PIOS_Thread_Scheduler_Resume();

flight/PiOS/Common/pios_thread.c

@@ -30,10 +30,15 @@
 #error "pios_thread.c requires PIOS_INCLUDE_CHIBIOS"
 #endif
 
+#if !defined(CH_CFG_USE_MEMCORE) || CH_CFG_USE_MEMCORE != TRUE
+#error "pios_thread: Need to use memcore with ChibiOS."
+#endif
+
 #if defined(PIOS_INCLUDE_CHIBIOS)
 struct pios_thread
 {
 	thread_t *threadp;
+	uint32_t *stack;
 };
 
 #define CVT_MS2ST(msec) ((systime_t)(((((uint32_t)(msec)) * ((uint64_t)CH_CFG_ST_FREQUENCY) - 1UL) / 1000UL) + 1UL))
@@ -49,26 +54,6 @@ static uint32_t ceil_size(uint32_t size)
 	size = size + (a - size % a);
 	return size;
 }
-/**
- * ChibiOS stack expects alignment (both start and end)
- * to 8 byte boundaries. This makes sure to allocate enough
- * memory and return an address that has the requested size
- * or more with these constraints.
- */
-static uint8_t * align8_alloc(uint32_t size)
-{
-	// round size up to at nearest multiple of 8 + 4 bytes to guarantee
-	// sufficient size within. This is because PIOS_malloc only guarantees
-	// uintptr_t alignment which is 4 bytes.
-	size = size + sizeof(uintptr_t);
-	uint8_t *wap = PIOS_malloc(size);
-
-	// shift start point to nearest 8 byte boundary.
-	uint32_t pad = ((uint32_t) wap) % sizeof(stkalign_t);
-	wap = wap + pad;
-
-	return wap;
-}
 
 /**
  * @brief   Creates a handle for the current thread.
@@ -83,6 +68,9 @@ struct pios_thread *PIOS_Thread_WrapCurrentThread(const char *namep)
 
 	if (thread) {
 		thread->threadp = chThdGetSelfX();
+
+		extern uint32_t __main_thread_stack_base__;
+		thread->stack = &__main_thread_stack_base__;
 #if CH_CFG_USE_REGISTRY
 		thread->threadp->name = namep;
 #endif /* CH_USE_REGISTRY */
@@ -122,7 +110,7 @@ struct pios_thread *PIOS_Thread_Create(void (*fp)(void *), const char *namep, si
 
 	// Use special functions to ensure ChibiOS stack requirements
 	stack_bytes = ceil_size(stack_bytes);
-	uint8_t *wap = align8_alloc(stack_bytes);
+	uint8_t *wap = chCoreAllocAligned(stack_bytes, PORT_STACK_ALIGN);
 	if (wap == NULL)
 	{
 		PIOS_free(thread);
@@ -141,6 +129,10 @@ struct pios_thread *PIOS_Thread_Create(void (*fp)(void *), const char *namep, si
 	thread->threadp->name = namep;
 #endif /* CH_CFG_USE_REGISTRY */
 
+	/* Newer ChibiOS versions store the thread struct at the bottom of the stack allocation
+	   instead of the top. */
+	thread->stack = (uint32_t*)wap;
+
 	return thread;
 }
 
@@ -255,7 +247,7 @@ bool PIOS_Thread_Period_Elapsed(const uint32_t prev_systime, const uint32_t incr
 uint32_t PIOS_Thread_Get_Stack_Usage(struct pios_thread *threadp)
 {
 #if CH_DBG_FILL_THREADS
-	uint32_t *stack = (uint32_t*)((size_t)threadp->threadp + sizeof(*threadp->threadp));
+	uint32_t *stack = threadp->stack;
 	uint32_t *stklimit = stack;
 	while (*stack ==
 			((CH_DBG_STACK_FILL_VALUE << 24) |
@@ -282,8 +274,8 @@ uint32_t PIOS_Thread_Get_Stack_Usage(struct pios_thread *threadp)
 {
 	chSysLock();
 
-	uint32_t result = threadp->threadp->time;
-	threadp->threadp->time = 0;
+	uint32_t result = threadp->threadp->ticks_total;
+	threadp->threadp->ticks_total = 0;
 
 	chSysUnlock();
 

flight/PiOS/STM32/inc/chconf.h

@@ -413,8 +413,8 @@
 /*
     Backwards compat for dRonin
 */
-#define halGetCounterValue() hal_lld_get_counter_value()
 #define hal_lld_get_counter_value()         DWT->CYCCNT
+#define halGetCounterValue() hal_lld_get_counter_value()
 
 // typedef uint32_t halrtcnt_t;
 

flight/PiOS/STM32F10x/sections_chibios.ld

@@ -210,5 +210,5 @@ SECTIONS
 PROVIDE(end = .);
 _end            = .;
 
-__heap_base__ = .;
-__heap_end__    = __ram_end__;
+__heap_base__ = _sheap;
+__heap_end__    = _eheap;

flight/PiOS/STM32F30x/sections_chibios.ld

@@ -230,5 +230,5 @@ SECTIONS
 PROVIDE(end = .);
 _end            = .;
 
-__heap_base__ = .;
-__heap_end__    = __ram_end__;
+__heap_base__ = _sheap;
+__heap_end__    = _eheap;

flight/PiOS/STM32F4xx/sections_chibios.ld

@@ -230,5 +230,5 @@ SECTIONS
 PROVIDE(end = .);
 _end            = .;
 
-__heap_base__ = .;
-__heap_end__    = __ram_end__;
+__heap_base__ = _sheap;
+__heap_end__    = _eheap;