ChibiOS 19.1.3 with Teensy 4.0

greiman · Oct 3, 2019 · a24c7fe · a24c7fe
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diff --git a/README.md b/README.md
@@ -1,25 +1,40 @@
 #### ChRt - ChibiOS/RT Arduino Library
 
-This is the initial release of an improved version of ChibiOS-Arduino.
+This is a version of ChibiOS for Arduino.
 I am starting a new repository since this version is not backward
-compatible with the previous library. Both AVR and ARM are now in
+compatible with the previous libraries. Both AVR and ARM are now in
 a single library.
 
-I have done some testing with an Uno, Zero, Due, and Teensy 3.6 but
-bugs are still likely.
+This version adds support for Teensy 4.0. Teensy 4.0 has support for free 
+running tick-less mode and periodic mode.  The default for Teensy 4.0 is
+tick-less mode. Edit libraries/ChRt/src/teensy4/chconf_teensy4.h to
+select periodic mode or change parameters for Teensy 4.
+
+See this article about ChibiOS tick-less mode:
+
+http://www.chibios.org/dokuwiki/doku.php?id=chibios:articles:tickless
+
+AVR also supports tick-less mode.  The default is periodic mode.  Edit
+libraries/ChRt/src/teensy4/chconf_teensy4.h to select tick-less mode.
+
+Due, SAMD, and Teensy 3.x are supported in periodic mode.
 
 The base code for ChRt was written by Giovanni Di Sirio, the author
 of ChibiOS/Nil and ChibiOS/RT.
 
+See this site for detailed documentation of ChibiOS/RT 19.1.
+
 http://www.chibios.org/dokuwiki/doku.php
 
-The code is version 4.0.0 of ChibiOS/RT from a recent, 17.6, version of ChibiOS.
+The kernel is version 6.0.3 of ChibiOS/RT from ChibiOS release 19.1.3.
+
+https://osdn.net/projects/chibios/releases
 
-If you are installing from GitHub repo zips, rename the folder ChRt
+If you are installing from the GitHub repo zips, rename the folder ChRt
 before copying it to your Arduino/libraries folder.
 
-Please read doc/ChRt.html for more information.  See the Examples section
-of the html documentation.
+Please read libraries/ChRt/doc/ChRt.html for more information.  See the 
+Examples section of the html documentation.
 
 Start with the ChBlink example which is traditional for almost every RTOS.
 
diff --git a/doc/MainPage/ChRtMainPage.h b/doc/MainPage/ChRtMainPage.h
@@ -1,7 +1,7 @@
 /**
 \mainpage ChibiOS RTOS library
 <CENTER>William Greiman</CENTER>
-<CENTER>1 Aug 2017</CENTER>
+<CENTER>1 Oct 2019</CENTER>
 
 \section Intro Introduction
 
@@ -16,11 +16,11 @@ MCAL (Microcontroller Abstraction Layer) development team based in the Arzano
 This package contains a version of the ChbiOS/RT RTOS for AVR Arduinos,
 SAMD Arduinos, Arduino Due, and Teensy 3.x.
 
-The port is based on ChibiOS 17.6.0. The ChibiOS/RT kernel is version 4.0.0.
+The port is based on ChibiOS 19.1.3. The ChibiOS/RT kernel is version 6.0.3.
 
 These systems are packaged as the Arduino library ChRt.
 
-The documentation for ChibiOS/RT 4.0.0 is located here:
+The documentation for ChibiOS/RT 6.0.3 is located here:
 
 http://www.chibios.org/dokuwiki/doku.php?id=chibios:documentation:start
 

diff --git a/doc/html/_ch_rt_8h.html b/doc/html/_ch_rt_8h.html
@@ -3,17 +3,15 @@
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@@ -32,38 +30,22 @@
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@@ -94,7 +76,8 @@
 
 <p>main ChRt include file.  
 <a href="#details">More...</a></p>
-<div class="textblock"><code>#include &quot;rt/ch.h&quot;</code><br />
+<div class="textblock"><code>#include &quot;rt/include/ch.h&quot;</code><br />
+<code>#include &quot;hal_st.h&quot;</code><br />
 </div>
 <p><a href="_ch_rt_8h_source.html">Go to the source code of this file.</a></p>
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 <tr class="memitem:a8a5009aeaddf095fe34fee2fd029171c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_ch_rt_8h.html#a8a5009aeaddf095fe34fee2fd029171c">errorBlink</a> (int n)</td></tr>
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 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><p>main ChRt include file. </p>
 </div><h2 class="groupheader">Macro Definition Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#acdb3e86f36ba7ea83d508e406d29dca1">&#9670;&nbsp;</a></span>HANDLER_STACK_SIZE</h2>
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 <h2 class="groupheader">Function Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a0e513af394d20a21b12570380bb56773">&#9670;&nbsp;</a></span>chUnusedHandlerStack()</h2>
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 </div><div class="memdoc">
 <dl class="section return"><dt>Returns</dt><dd>Heap end address. Best if called from the main thread. </dd></dl>
 
-</div>
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-          <td class="memname">void st_lld_init </td>
-          <td>(</td>
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-          <td class="paramname"></td><td>)</td>
-          <td></td>
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-
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