git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9259 35acf78f-673a-0410-8e92-d51de3d6d3f4

11 files changed, 3723 insertions, 0 deletions

diff --git a/os/common/abstractions/nasa_osal/cfe_osal/include/common_types.h b/os/common/abstractions/nasa_osal/cfe_osal/include/common_types.h
new file mode 100644
index 000000000..100a9c72e
--- /dev/null
+++ b/os/common/abstractions/nasa_osal/cfe_osal/include/common_types.h
@@ -0,0 +1,267 @@
+/*---------------------------------------------------------------------------
+**
+**  Filename:
+**    $Id: common_types.h 1.9 2014/01/14 16:28:32GMT-05:00 acudmore Exp  $
+**
+**      Copyright (c) 2004-2006, United States government as represented by the 
+**      administrator of the National Aeronautics Space Administration.  
+**      All rights reserved. This software was created at NASAs Goddard 
+**      Space Flight Center pursuant to government contracts.
+**
+**      This is governed by the NASA Open Source Agreement and may be used, 
+**      distributed and modified only pursuant to the terms of that agreement. 
+**
+**  Purpose:
+**	    Unit specification for common types.
+**
+**  Design Notes:
+**         Assumes make file has defined processor family
+**
+**  References:
+**     Flight Software Branch C Coding Standard Version 1.0a
+**
+**
+**	Notes:
+**
+**
+**  $Date: 2014/01/14 16:28:32GMT-05:00 $
+**  $Revision: 1.9 $
+**  $Log: common_types.h  $
+**  Revision 1.9 2014/01/14 16:28:32GMT-05:00 acudmore 
+**  Fixed typo in macro for x86-64
+**  Revision 1.8 2013/08/09 13:58:04GMT-05:00 acudmore 
+**  Added int64 type, added support for ARM arch, added 64 bit x86 arch, added arch check for GCC arch macros, added check for proper data type sizes
+**  Revision 1.7 2013/07/25 10:01:29GMT-05:00 acudmore 
+**  Added C++ support
+**  Revision 1.6 2012/04/11 09:19:03GMT-05:00 acudmore 
+**  added OS_USED attribute
+**  Revision 1.5 2010/02/18 16:43:29EST acudmore 
+**  Added SPARC processor section
+**  Removed special characters from comments that cause problems with some tools.
+**  Revision 1.4 2010/02/18 16:41:39EST acudmore 
+**  Added a block of defines for GCC specific pragmas and extensions.
+**  Removed RTEMS boolean related ifdefs
+**  moved OS_PACK into the GCC specific block
+**  Revision 1.3 2010/02/01 12:31:17EST acudmore 
+**  Added uint64 type
+**  Revision 1.2 2009/07/07 16:30:05EDT acudmore 
+**  Removed conditinal comp. around boolean for m68k.
+**  This will need to be done for all RTEMS targets
+**  Revision 1.1 2009/06/02 10:04:58EDT acudmore 
+**  Initial revision
+**  Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+**  Revision 1.1 2008/04/20 22:35:58EDT ruperera 
+**  Initial revision
+**  Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/inc/project.pj
+**  Revision 1.1 2007/10/16 16:14:49EDT apcudmore 
+**  Initial revision
+**  Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/inc/project.pj
+**  Revision 1.2 2006/06/08 14:28:32EDT David Kobe (dlkobe) 
+**  Added NASA Open Source Legal Statement
+**  Revision 1.1 2005/06/09 09:57:51GMT-05:00 rperera 
+**  Initial revision
+**  Member added to project d:/mksdata/MKS-CFE-REPOSITORY/cfe-core/inc/project.pj
+**  Revision 1.6  2005/03/24 19:20:52  rmcgraw
+**  Wrapped the boolean defintion for all three processors with #ifndef _USING_RTEMS_INCLUDES_
+**
+**  Revision 1.5  2005/03/10 16:59:08  acudmore
+**  removed boolean prefix to TRUE and FALSE defintion to avoid vxWorks conflict.
+**
+**  Revision 1.4  2005/03/07 20:23:34  acudmore
+**  removed duplicate boolean definition
+**
+**  Revision 1.3  2005/03/07 20:05:17  acudmore
+**  updated with __PPC__ macro that gnu compiler uses
+**
+**  Revision 1.2  2005/03/04 16:02:44  acudmore
+**  added coldfire architecture
+**
+**  Revision 1.1  2005/03/04 15:58:45  acudmore
+**  Added common_types.h
+**
+**
+**
+**-------------------------------------------------------------------------*/
+
+#ifndef _common_types_
+#define _common_types_
+
+#ifdef __cplusplus
+   extern "C" {
+#endif
+
+/*
+** Includes
+*/
+
+/*
+** Macro Definitions
+*/
+
+/* 
+** Condition = TRUE is ok, Condition = FALSE is error 
+*/
+#define CompileTimeAssert(Condition, Message) typedef char Message[(Condition) ? 1 : -1]
+
+
+/*
+** Define compiler specific macros
+** The __extension__ compiler pragma is required
+** for the uint64 type using GCC with the ANSI C90 standard.
+** Other macros can go in here as needed, for example alignment 
+** pragmas.
+*/
+#if defined (__GNUC__)
+   #define _EXTENSION_  __extension__
+   #define OS_PACK      __attribute__ ((packed))
+   #define OS_ALIGN(n)  __attribute__((aligned(n)))
+   #define OS_USED      __attribute__((used))
+#else
+   #define _EXTENSION_ 
+   #define OS_PACK
+   #define OS_ALIGN(n) 
+   #define OS_USED 
+#endif
+
+#if defined(_ix86_) || defined (__i386__)
+/* ----------------------- Intel x86 processor family -------------------------*/
+  /* Little endian */
+  #undef   _STRUCT_HIGH_BIT_FIRST_
+  #define  _STRUCT_LOW_BIT_FIRST_
+
+  typedef unsigned char                         boolean;
+  typedef signed char                           int8;
+  typedef short int                             int16;
+  typedef long int                              int32;
+ _EXTENSION_ typedef long long int              int64; 
+  typedef unsigned char                         uint8;
+  typedef unsigned short int                    uint16;
+  typedef unsigned long int                     uint32;
+  _EXTENSION_ typedef unsigned long long int    uint64;
+
+  typedef unsigned long int                     cpuaddr;
+
+#elif defined (_ix64_) || defined (__x86_64__) 
+/* ----------------------- Intel/AMD x64 processor family -------------------------*/
+  /* Little endian */
+  #undef   _STRUCT_HIGH_BIT_FIRST_
+  #define  _STRUCT_LOW_BIT_FIRST_
+
+  typedef unsigned char                         boolean;
+  typedef signed char                           int8;
+  typedef short int                             int16;
+  typedef int                                   int32;
+  typedef long int                              int64;
+  typedef unsigned char                         uint8;
+  typedef unsigned short int                    uint16;
+  typedef unsigned int                          uint32;
+  typedef unsigned long int                     uint64;
+
+  typedef unsigned long int                     cpuaddr;
+
+#elif defined(__PPC__) || defined (__ppc__)
+   /* ----------------------- Motorola Power PC family ---------------------------*/
+   /* The PPC can be programmed to be big or little endian, we assume native */
+   /* Big endian */
+   #define _STRUCT_HIGH_BIT_FIRST_
+   #undef  _STRUCT_LOW_BIT_FIRST_
+
+   typedef unsigned char                        boolean;
+   typedef signed char                          int8;
+   typedef short int                            int16;
+   typedef long int                             int32;
+   _EXTENSION_ typedef long long int            int64;
+   typedef unsigned char                        uint8;
+   typedef unsigned short int                   uint16;
+   typedef unsigned long int                    uint32;
+   _EXTENSION_ typedef unsigned long long int   uint64;
+
+  typedef unsigned long int                     cpuaddr;
+
+#elif defined(_m68k_) || defined(__m68k__)
+   /* ----------------------- Motorola m68k/Coldfire family ---------------------------*/
+   /* Big endian */
+   #define _STRUCT_HIGH_BIT_FIRST_
+   #undef  _STRUCT_LOW_BIT_FIRST_
+
+   typedef unsigned char                        boolean;
+   typedef signed char                          int8;
+   typedef short int                            int16;
+   typedef long int                             int32;
+   _EXTENSION_ typedef long long int            int64;
+   typedef unsigned char                        uint8;
+   typedef unsigned short int                   uint16;
+   typedef unsigned long int                    uint32;
+   _EXTENSION_ typedef unsigned long long int   uint64;
+
+  typedef unsigned long int                     cpuaddr;
+
+#elif defined (__ARM__) || defined(__arm__)
+/* ----------------------- ARM processor family -------------------------*/
+  /* Little endian */
+  #undef   _STRUCT_HIGH_BIT_FIRST_
+  #define  _STRUCT_LOW_BIT_FIRST_
+
+  typedef unsigned char                         boolean;
+  typedef signed char                           int8;
+  typedef short int                             int16;
+  typedef long int                              int32;
+  _EXTENSION_ typedef long long int             int64;
+  typedef unsigned char                         uint8;
+  typedef unsigned short int                    uint16;
+  typedef unsigned long int                     uint32;
+  _EXTENSION_ typedef unsigned long long int    uint64;
+
+  typedef unsigned long int                     cpuaddr;
+
+#elif defined(__SPARC__) || defined (_sparc_)
+   /* ----------------------- SPARC/LEON family ---------------------------*/
+   /* SPARC Big endian */
+   #define _STRUCT_HIGH_BIT_FIRST_
+   #undef  _STRUCT_LOW_BIT_FIRST_
+
+   typedef unsigned char                        boolean;
+   typedef signed char                          int8;
+   typedef short int                            int16;
+   typedef long int                             int32;
+   _EXTENSION_ typedef long long int            int64;
+   typedef unsigned char                        uint8;
+   typedef unsigned short int                   uint16;
+   typedef unsigned long int                    uint32;
+   _EXTENSION_ typedef unsigned long long int   uint64;
+
+   typedef unsigned long int                     cpuaddr;
+
+#else  /* not any of the above */
+   #error undefined processor
+#endif  /* processor types */
+
+#ifndef NULL              /* pointer to nothing */
+   #define NULL ((void *) 0)
+#endif
+
+#ifndef TRUE              /* Boolean true */
+   #define TRUE (1)
+#endif
+
+#ifndef FALSE              /* Boolean false */
+   #define FALSE (0)
+#endif
+
+/* 
+** Check Sizes 
+*/
+CompileTimeAssert(sizeof(uint8)==1,  TypeUint8WrongSize);
+CompileTimeAssert(sizeof(uint16)==2, TypeUint16WrongSize);
+CompileTimeAssert(sizeof(uint32)==4, TypeUint32WrongSize);
+CompileTimeAssert(sizeof(uint64)==8, TypeUint64WrongSize);
+CompileTimeAssert(sizeof(int8)==1,   Typeint8WrongSize);
+CompileTimeAssert(sizeof(int16)==2,  Typeint16WrongSize);
+CompileTimeAssert(sizeof(int32)==4,  Typeint32WrongSize);
+CompileTimeAssert(sizeof(int64)==8,  Typeint64WrongSize);
+
+#ifdef __cplusplus
+   }
+#endif
+
+#endif  /* _common_types_ */
diff --git a/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-core.h b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-core.h
new file mode 100644
index 000000000..8c9b13a78
--- /dev/null
+++ b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-core.h
@@ -0,0 +1,274 @@
+/*
+** File: osapi-os-core.h
+**
+**      Copyright (c) 2004-2006, United States government as represented by the 
+**      administrator of the National Aeronautics Space Administration.  
+**      All rights reserved. This software was created at NASAs Goddard 
+**      Space Flight Center pursuant to government contracts.
+**
+**      This is governed by the NASA Open Source Agreement and may be used, 
+**      distributed and modified only pursuant to the terms of that agreement.
+**
+** Author:  Ezra Yeheksli -Code 582/Raytheon
+**
+** Purpose: Contains functions prototype definitions and variables declarations
+**          for the OS Abstraction Layer, Core OS module
+**
+** $Revision: 1.8 $ 
+**
+** $Date: 2013/07/25 10:02:00GMT-05:00 $
+**
+** $Log: osapi-os-core.h  $
+** Revision 1.8 2013/07/25 10:02:00GMT-05:00 acudmore 
+** removed circular include "osapi.h"
+** Revision 1.7 2012/04/11 09:30:48GMT-05:00 acudmore 
+** Added OS_printf_enable and OS_printf_disable
+** Revision 1.6 2010/11/12 12:00:17EST acudmore 
+** replaced copyright character with (c) and added open source notice where needed.
+** Revision 1.5 2010/11/10 15:33:14EST acudmore 
+** Updated IntAttachHandler prototype
+** Revision 1.4 2010/03/08 12:06:28EST acudmore 
+** added function pointer type to get rid of warnings
+** Revision 1.3 2010/02/01 12:37:15EST acudmore 
+** added return code to OS API init
+** Revision 1.2 2009/08/04 10:49:09EDT acudmore 
+**   
+*/
+
+#ifndef _osapi_core_
+#define _osapi_core_
+
+#include <stdarg.h>   /* for va_list */
+
+/*difines constants for OS_BinSemCreate for state of semaphore  */
+#define OS_SEM_FULL     1
+#define OS_SEM_EMPTY    0
+
+/* #define for enabling floating point operations on a task*/
+#define OS_FP_ENABLED 1
+
+/*  tables for the properties of objects */
+
+/*tasks */
+typedef struct
+{
+    char name [OS_MAX_API_NAME];
+    uint32 creator;
+    uint32 stack_size;
+    uint32 priority;
+    uint32 OStask_id;
+}OS_task_prop_t;
+    
+/* queues */
+typedef struct
+{
+    char name [OS_MAX_API_NAME];
+    uint32 creator;
+}OS_queue_prop_t;
+
+/* Binary Semaphores */
+typedef struct
+{                     
+    char name [OS_MAX_API_NAME];
+    uint32 creator;
+    int32  value;
+}OS_bin_sem_prop_t;
+
+/* Counting Semaphores */
+typedef struct
+{                     
+    char name [OS_MAX_API_NAME];
+    uint32 creator;
+    int32 value;
+}OS_count_sem_prop_t;
+
+/* Mutexes */
+typedef struct
+{
+    char name [OS_MAX_API_NAME];
+    uint32 creator;
+}OS_mut_sem_prop_t;
+
+
+/* struct for OS_GetLocalTime() */
+
+typedef struct 
+{ 
+    uint32 seconds; 
+    uint32 microsecs;
+}OS_time_t; 
+
+/* heap info */
+typedef struct
+{
+    uint32 free_bytes;
+    uint32 free_blocks;
+    uint32 largest_free_block;
+}OS_heap_prop_t;
+
+
+/* This typedef is for the OS_GetErrorName function, to ensure
+ * everyone is making an array of the same length */
+
+typedef char os_err_name_t[35];
+
+/*
+** These typedefs are for the task entry point
+*/
+typedef void osal_task;
+typedef osal_task ((*osal_task_entry)(void));
+
+/*
+** Exported Functions
+*/
+
+/*
+** Initialization of API
+*/
+int32 OS_API_Init (void);
+
+
+/*
+** Task API
+*/
+
+int32 OS_TaskCreate            (uint32 *task_id, const char *task_name, 
+                                osal_task_entry function_pointer,
+                                const uint32 *stack_pointer, 
+                                uint32 stack_size,
+                                uint32 priority, uint32 flags);
+
+int32 OS_TaskDelete            (uint32 task_id); 
+void OS_TaskExit               (void);
+int32 OS_TaskInstallDeleteHandler(void *function_pointer);
+int32 OS_TaskDelay             (uint32 millisecond);
+int32 OS_TaskSetPriority       (uint32 task_id, uint32 new_priority);
+int32 OS_TaskRegister          (void);
+uint32 OS_TaskGetId            (void);
+int32 OS_TaskGetIdByName       (uint32 *task_id, const char *task_name);
+int32 OS_TaskGetInfo           (uint32 task_id, OS_task_prop_t *task_prop);          
+
+/*
+** Message Queue API
+*/
+
+/*
+** Queue Create now has the Queue ID returned to the caller.
+*/
+int32 OS_QueueCreate           (uint32 *queue_id, const char *queue_name,
+                                uint32 queue_depth, uint32 data_size, uint32 flags);
+int32 OS_QueueDelete           (uint32 queue_id);
+int32 OS_QueueGet              (uint32 queue_id, void *data, uint32 size, 
+                                uint32 *size_copied, int32 timeout);
+int32 OS_QueuePut              (uint32 queue_id, void *data, uint32 size, 
+                                uint32 flags);
+int32 OS_QueueGetIdByName      (uint32 *queue_id, const char *queue_name);
+int32 OS_QueueGetInfo          (uint32 queue_id, OS_queue_prop_t *queue_prop);
+
+/*
+** Semaphore API
+*/
+
+int32 OS_BinSemCreate          (uint32 *sem_id, const char *sem_name, 
+                                uint32 sem_initial_value, uint32 options);
+int32 OS_BinSemFlush            (uint32 sem_id);
+int32 OS_BinSemGive            (uint32 sem_id);
+int32 OS_BinSemTake            (uint32 sem_id);
+int32 OS_BinSemTimedWait       (uint32 sem_id, uint32 msecs);
+int32 OS_BinSemDelete          (uint32 sem_id);
+int32 OS_BinSemGetIdByName     (uint32 *sem_id, const char *sem_name);
+int32 OS_BinSemGetInfo         (uint32 sem_id, OS_bin_sem_prop_t *bin_prop);
+
+int32 OS_CountSemCreate          (uint32 *sem_id, const char *sem_name, 
+                                uint32 sem_initial_value, uint32 options);
+int32 OS_CountSemGive            (uint32 sem_id);
+int32 OS_CountSemTake            (uint32 sem_id);
+int32 OS_CountSemTimedWait       (uint32 sem_id, uint32 msecs);
+int32 OS_CountSemDelete          (uint32 sem_id);
+int32 OS_CountSemGetIdByName     (uint32 *sem_id, const char *sem_name);
+int32 OS_CountSemGetInfo         (uint32 sem_id, OS_count_sem_prop_t *count_prop);
+
+/*
+** Mutex API
+*/
+
+int32 OS_MutSemCreate           (uint32 *sem_id, const char *sem_name, uint32 options);
+int32 OS_MutSemGive             (uint32 sem_id);
+int32 OS_MutSemTake             (uint32 sem_id);
+int32 OS_MutSemDelete           (uint32 sem_id);  
+int32 OS_MutSemGetIdByName      (uint32 *sem_id, const char *sem_name); 
+int32 OS_MutSemGetInfo          (uint32 sem_id, OS_mut_sem_prop_t *mut_prop);
+
+/*
+** OS Time/Tick related API
+*/
+
+int32 OS_Milli2Ticks           (uint32 milli_seconds);
+int32 OS_Tick2Micros           (void);
+int32  OS_GetLocalTime         (OS_time_t *time_struct);
+int32  OS_SetLocalTime         (OS_time_t *time_struct);  
+
+/*
+** Exception API
+*/
+
+int32 OS_ExcAttachHandler      (uint32 ExceptionNumber, 
+                                void (*ExceptionHandler)(uint32, uint32 *,uint32), 
+                                int32 parameter);
+int32 OS_ExcEnable             (int32 ExceptionNumber);
+int32 OS_ExcDisable            (int32 ExceptionNumber);
+
+/*
+** Floating Point Unit API
+*/
+
+int32 OS_FPUExcAttachHandler   (uint32 ExceptionNumber, void * ExceptionHandler ,
+                                 int32 parameter);
+int32 OS_FPUExcEnable          (int32 ExceptionNumber);
+int32 OS_FPUExcDisable         (int32 ExceptionNumber);
+int32 OS_FPUExcSetMask         (uint32 mask);
+int32 OS_FPUExcGetMask         (uint32 *mask);
+
+/*
+** Interrupt API
+*/
+int32 OS_IntAttachHandler  (uint32 InterruptNumber, osal_task_entry InterruptHandler, int32 parameter);
+int32 OS_IntUnlock         (int32 IntLevel);
+int32 OS_IntLock           (void);
+
+int32 OS_IntEnable         (int32 Level);
+int32 OS_IntDisable        (int32 Level);
+
+int32 OS_IntSetMask        (uint32 mask);
+int32 OS_IntGetMask        (uint32 *mask);
+int32 OS_IntAck             (int32 InterruptNumber);
+
+/*
+** Shared memory API 
+*/
+int32 OS_ShMemInit          (void);
+int32 OS_ShMemCreate        (uint32 *Id, uint32 NBytes, char* SegName);
+int32 OS_ShMemSemTake       (uint32 Id);
+int32 OS_ShMemSemGive       (uint32 Id);
+int32 OS_ShMemAttach        (uint32 * Address, uint32 Id);
+int32 OS_ShMemGetIdByName   (uint32 *ShMemId, const char *SegName );
+
+/*
+** Heap API
+*/
+int32 OS_HeapGetInfo       (OS_heap_prop_t *heap_prop);
+
+/*
+** API for useful debugging function
+*/
+int32 OS_GetErrorName      (int32 error_num, os_err_name_t* err_name);
+
+
+/* 
+** Abstraction for printf statements 
+*/
+void OS_printf( const char *string, ...);
+void OS_printf_disable(void);
+void OS_printf_enable(void);
+
+#endif
diff --git a/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-custom.h b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-custom.h
new file mode 100644
index 000000000..4b9213118
--- /dev/null
+++ b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-custom.h
@@ -0,0 +1,68 @@
+/*

+    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.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    osapi-os-custom.h

+ * @brief   Custom OSAPI extensions header.

+ *

+ * @addtogroup osapi-custom

+ * @{

+ */

+

+#ifndef OSAPI_CUSTOM_H

+#define OSAPI_CUSTOM_H

+

+/*===========================================================================*/

+/* Module constants.                                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module data structures and types.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module macros.                                                            */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void OS_set_printf(int (*printf)(const char *fmt, ...));

+  boolean OS_TaskDeleteCheck(void);

+  int32 OS_TaskWait(uint32 task_id);

+#ifdef __cplusplus

+}

+#endif

+

+/*===========================================================================*/

+/* Module inline functions.                                                  */

+/*===========================================================================*/

+

+#endif /* OSAPI_CUSTOM_H */

+

+/** @} */

diff --git a/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-filesys.h b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-filesys.h
new file mode 100644
index 000000000..c46800341
--- /dev/null
+++ b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-filesys.h
@@ -0,0 +1,419 @@
+/*
+** File: osapi-os-filesys.h
+**
+**      Copyright (c) 2004-2006, United States government as represented by the 
+**      administrator of the National Aeronautics Space Administration.  
+**      All rights reserved. This software was created at NASAs Goddard 
+**      Space Flight Center pursuant to government contracts.
+**
+**      This is governed by the NASA Open Source Agreement and may be used, 
+**      distributed and modified only pursuant to the terms of that agreement.
+**
+** Author:  Alan Cudmore Code 582
+**
+** Purpose: Contains functions prototype definitions and variables declarations
+**          for the OS Abstraction Layer, File System module
+**
+** $Revision: 1.11 $ 
+**
+** $Date: 2013/12/16 12:57:41GMT-05:00 $
+**
+** $Log: osapi-os-filesys.h  $
+** Revision 1.11 2013/12/16 12:57:41GMT-05:00 acudmore 
+** Added macros for Volume name length and physical device name length
+** Revision 1.10 2013/07/29 12:05:48GMT-05:00 acudmore 
+** Added define for device and volume name length
+** Revision 1.9 2013/07/25 14:31:21GMT-05:00 acudmore 
+** Added prototype and datatype for OS_GetFsInfo
+** Revision 1.8 2011/12/05 12:04:21GMT-05:00 acudmore 
+** Added OS_rewinddir API
+** Revision 1.7 2011/04/05 16:01:12EDT acudmore 
+** Added OS_CloseFileByName and OS_CloseAllFiles
+** Revision 1.6 2010/11/15 11:04:38EST acudmore 
+** Added OS_FileOpenCheck function.
+** Revision 1.5 2010/11/12 12:00:18EST acudmore 
+** replaced copyright character with (c) and added open source notice where needed.
+** Revision 1.4 2010/02/01 12:28:57EST acudmore 
+** Added OS_fsBytesFree API
+** Revision 1.3 2010/01/25 14:44:26EST acudmore 
+** renamed "new" variable to avoid C++ reserved name conflict.
+** Revision 1.2 2009/07/14 15:16:05EDT acudmore 
+** Added OS_TranslatePath to the API
+** Revision 1.1 2008/04/20 22:36:01EDT ruperera 
+** Initial revision
+** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+** Revision 1.1 2007/10/16 16:14:52EDT apcudmore 
+** Initial revision
+** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+** Revision 1.1 2007/08/24 13:43:24EDT apcudmore 
+** Initial revision
+** Member added to project d:/mksdata/MKS-CFE-PROJECT/fsw/cfe-core/os/inc/project.pj
+** Revision 1.17 2007/06/07 09:59:14EDT njyanchik 
+** I replaced the second OS_cp definition with OS_mv
+** Revision 1.16 2007/06/05 16:25:33EDT apcudmore 
+** Increased Number of volume table entries from 10 to 14.
+** Added 2 extra EEPROM disk mappings to RAD750 Volume table + 2 spares
+** Added 4 spares to every other volume table.
+** Revision 1.15 2007/05/25 09:17:56EDT njyanchik 
+** I added the rmfs call to the OSAL and updated the unit test stubs to match
+** Revision 1.14 2007/03/21 10:15:29EST njyanchik 
+** I mistakenly put the wrong length in for the path in the OS_FDTableEntry structure, and I added 
+** some code that will set and out of range file descriptors .IsValid flag to false in OS_FDGetInfo
+** Revision 1.13 2007/03/06 11:52:46EST njyanchik 
+** This change goes with the previous CP, I forgot to include it
+** Revision 1.12 2007/02/28 14:57:45EST njyanchik 
+** The updates for supporting copying and moving files are now supported
+** Revision 1.11 2007/02/27 15:22:11EST njyanchik 
+** This CP has the initial import of the new file descripor table mechanism
+** Revision 1.10 2006/12/20 10:27:09EST njyanchik 
+** This change package incorporates all the changes necessary for the addition
+** of a new API to get the real physical drive undernieth a mount point
+** Revision 1.9 2006/11/14 14:44:28GMT-05:00 njyanchik 
+** Checks were added to the OS fs calls that look at the return of a function that
+** changes the name of paths from abstracted to local path names.
+** Revision 1.8 2006/10/30 16:12:19GMT-05:00 apcudmore 
+** Updated Compact flash and RAM device names for vxWorks 6.2 changes. 
+** Revision 1.7 2006/10/25 11:31:18EDT njyanchik 
+** This CP incorporates changes to every bsp_voltab.c file. I increased the number
+** entries in the volume table to 10. I also changed the #define in the os_filesys.h
+** file for the number of entries to match.
+** 
+** This update also includes adding the prototype for OS_initfs in os_filesys.h
+** Revision 1.6 2006/09/26 09:03:46GMT-05:00 njyanchik 
+** Contains the initial import of the ES Shell commands interface
+** Revision 1.5 2006/07/25 15:37:52EDT njyanchik 
+** It turns out the both the FS app and the OSAL were incorrect where file descriptors are
+** concerned. the file descriptors should be int32 across the board.
+** Revision 1.4 2006/01/20 11:56:18EST njyanchik 
+** Fixed header file information to match api document
+** Revision 1.26  2005/07/12 17:13:56  nyanchik
+** Moved the Volume table to a bsp table in the arch directories.
+**
+** Revision 1.2 2005/07/11 16:26:57EDT apcudmore 
+** OSAPI 2.0 integration
+** Revision 1.25  2005/07/06 16:11:17  nyanchik
+** *** empty log message ***
+**
+** Revision 1.24  2005/07/05 18:34:55  nyanchik
+** fixed issues found in code walkthrogh. Also removed the OS_Info* functions that are going in the BSP
+**
+** Revision 1.23  2005/06/17 19:46:34  nyanchik
+** added new file system style to linux and rtems.
+**
+** Revision 1.22  2005/06/15 16:43:48  nyanchik
+** added extra parenthesis for the .h file # defines
+**
+** Revision 1.21  2005/06/06 14:17:42  nyanchik
+** added headers to osapi-os-core.h and osapi-os-filesys.h
+**
+** Revision 1.20  2005/06/02 18:04:24  nyanchik
+** *** empty log message ***
+**
+** Revision 1.1  2005/03/15 18:26:32  nyanchik
+** *** empty log message ***
+**
+**
+** Date Written:
+**
+**    
+*/
+
+#ifndef _osapi_filesys_
+#define _osapi_filesys_
+#include <stdio.h>
+#include <stdlib.h>
+#include <dirent.h>
+#include <sys/stat.h>
+
+#define OS_READ_ONLY        0
+#define OS_WRITE_ONLY       1
+#define OS_READ_WRITE       2
+
+#define OS_SEEK_SET         0
+#define OS_SEEK_CUR         1
+#define OS_SEEK_END         2
+
+#define OS_CHK_ONLY         0
+#define OS_REPAIR           1
+
+#define FS_BASED            0
+#define RAM_DISK            1
+#define EEPROM_DISK         2
+#define ATA_DISK            3
+
+
+/*
+** Number of entries in the internal volume table
+*/
+#define NUM_TABLE_ENTRIES 14
+
+/*
+** Length of a Device and Volume name 
+*/
+#define OS_FS_DEV_NAME_LEN  32
+#define OS_FS_PHYS_NAME_LEN 64
+#define OS_FS_VOL_NAME_LEN  32
+
+
+/*
+** Defines for File System Calls
+*/
+#define OS_FS_SUCCESS                    0
+#define OS_FS_ERROR                    (-1)
+#define OS_FS_ERR_INVALID_POINTER      (-2) 
+#define OS_FS_ERR_PATH_TOO_LONG        (-3)
+#define OS_FS_ERR_NAME_TOO_LONG        (-4)
+#define OS_FS_UNIMPLEMENTED            (-5) 
+#define OS_FS_ERR_DRIVE_NOT_CREATED    (-6)
+#define OS_FS_ERR_DEVICE_NOT_FREE      (-7)
+#define OS_FS_ERR_PATH_INVALID         (-8)
+#define OS_FS_ERR_NO_FREE_FDS          (-9)
+#define OS_FS_ERR_INVALID_FD           (-10)
+
+/* This typedef is for the OS_FS_GetErrorName function, to ensure
+ * everyone is making an array of the same length */
+
+typedef char os_fs_err_name_t[35];
+
+
+/*
+** Internal structure of the OS volume table for 
+** mounted file systems and path translation
+*/
+typedef struct
+{
+    char   DeviceName [OS_FS_DEV_NAME_LEN];
+    char   PhysDevName [OS_FS_PHYS_NAME_LEN];
+    uint32 VolumeType;
+    uint8  VolatileFlag;
+    uint8  FreeFlag;
+    uint8  IsMounted;
+    char   VolumeName [OS_FS_VOL_NAME_LEN];
+    char   MountPoint [OS_MAX_PATH_LEN];
+    uint32 BlockSize;
+
+}OS_VolumeInfo_t;
+
+typedef struct
+{
+    int32   OSfd;                   /* The underlying OS's file descriptor */
+    char    Path[OS_MAX_PATH_LEN];  /* The path of the file opened */
+    uint32   User;                  /* The task id of the task who opened the file*/
+    uint8   IsValid;                /* Whether or not this entry is valid */
+}OS_FDTableEntry;
+
+typedef struct
+{
+   uint32   MaxFds;                /* Total number of file descriptors */
+   uint32   FreeFds;               /* Total number that are free */
+   uint32   MaxVolumes;            /* Maximum number of volumes */
+   uint32   FreeVolumes;           /* Total number of volumes free */
+} os_fsinfo_t; 
+
+/* modified to posix calls, since all of the 
+ * applicable OSes use the posix calls */
+
+typedef struct stat         os_fstat_t;
+typedef DIR*                os_dirp_t;
+typedef struct dirent       os_dirent_t;
+/* still don't know what this should be*/
+typedef unsigned long int   os_fshealth_t; 
+
+/*
+ * Exported Functions
+*/
+
+
+/******************************************************************************
+** Standard File system API
+******************************************************************************/
+/*
+ * Initializes the File System functions 
+*/
+
+int32           OS_FS_Init(void);
+
+/*
+ * Creates a file specified by path
+*/
+int32           OS_creat  (const char *path, int32  access);
+
+/*
+ * Opend a file for reading/writing. Returns file descriptor
+*/
+int32           OS_open   (const char *path,  int32 access,  uint32 mode);
+
+/*
+ * Closes an open file.
+*/
+int32           OS_close  (int32  filedes);
+
+/*
+ * Reads nbytes bytes from file into buffer
+*/
+int32           OS_read   (int32  filedes, void *buffer, uint32 nbytes);
+
+/*
+ * Write nybytes bytes of buffer into the file
+*/
+int32           OS_write  (int32  filedes, void *buffer, uint32 nbytes);
+
+/*
+ * Changes the permissions of a file
+*/
+int32           OS_chmod  (const char *path, uint32 access);
+
+/*
+ * Returns file status information in filestats
+*/
+int32           OS_stat   (const char *path, os_fstat_t  *filestats);
+
+/*
+ * Seeks to the specified position of an open file 
+*/
+int32           OS_lseek  (int32  filedes, int32 offset, uint32 whence);
+
+/*
+ * Removes a file from the file system
+*/
+int32           OS_remove (const char *path);
+
+/*
+ * Renames a file in the file system
+*/
+int32           OS_rename (const char *old_filename, const char *new_filename);
+
+/* 
+ * copies a single file from src to dest
+*/
+int32 OS_cp (const char *src, const char *dest);
+
+/* 
+ * moves a single file from src to dest
+*/
+int32 OS_mv (const char *src, const char *dest);
+
+/*
+ * Copies the info of an open file to the structure
+*/
+int32 OS_FDGetInfo (int32 filedes, OS_FDTableEntry *fd_prop);
+
+/*
+** Check to see if a file is open
+*/
+int32 OS_FileOpenCheck(char *Filename);
+
+/*
+** Close all open files
+*/
+int32 OS_CloseAllFiles(void);
+
+/*
+** Close a file by filename
+*/
+int32 OS_CloseFileByName(char *Filename);
+
+
+/******************************************************************************
+** Directory API 
+******************************************************************************/
+
+/*
+ * Makes a new directory
+*/
+int32           OS_mkdir   (const char *path, uint32 access);
+
+/*
+ * Opens a directory for searching
+*/
+os_dirp_t       OS_opendir (const char *path);
+
+/*
+ * Closes an open directory
+*/
+int32           OS_closedir(os_dirp_t directory);
+
+/*
+ * Rewinds an open directory
+*/
+void           OS_rewinddir(os_dirp_t directory);
+
+/*
+ * Reads the next object in the directory
+*/
+os_dirent_t *   OS_readdir (os_dirp_t directory);
+
+/*
+ * Removes an empty directory from the file system.
+*/
+int32           OS_rmdir   (const char *path);
+
+/******************************************************************************
+** System Level API 
+******************************************************************************/
+/*
+ * Makes a file system
+*/
+int32           OS_mkfs        (char *address,char *devname, char *volname,
+                                uint32 blocksize, uint32 numblocks);
+/*
+ * Mounts a file system
+*/
+int32           OS_mount       (const char *devname, char *mountpoint);
+
+/*
+ * Initializes an existing file system
+*/
+int32           OS_initfs      (char *address,char *devname, char *volname,
+                                uint32 blocksize, uint32 numblocks);
+
+/*
+ * removes a file system 
+*/
+int32           OS_rmfs        (char *devname);
+
+/*
+ * Unmounts a mounted file system
+*/
+int32           OS_unmount     (const char *mountpoint);
+
+/*
+ * Returns the number of free blocks in a file system
+*/
+int32           OS_fsBlocksFree (const char *name);
+
+/*
+** Returns the number of free bytes in a file system 
+** Note the 64 bit data type to support filesystems that
+** are greater than 4 Gigabytes
+*/
+int32 OS_fsBytesFree (const char *name, uint64 *bytes_free);
+
+/*
+ * Checks the health of a file system and repairs it if neccesary
+*/
+os_fshealth_t   OS_chkfs       (const char *name, boolean repair);
+
+/*
+ * Returns in the parameter the physical drive underneith the mount point 
+*/
+int32       OS_FS_GetPhysDriveName  (char * PhysDriveName, char * MountPoint);
+
+/*
+** Translates a OSAL Virtual file system path to a host Local path
+*/
+int32       OS_TranslatePath ( const char *VirtualPath, char *LocalPath);
+
+/*             
+**  Returns information about the file system in an os_fsinfo_t
+*/
+int32       OS_GetFsInfo(os_fsinfo_t  *filesys_info);
+
+/******************************************************************************
+** Shell API
+******************************************************************************/
+
+/* executes the shell command passed into is and writes the output of that 
+ * command to the file specified by the given OSAPI file descriptor */
+int32 OS_ShellOutputToFile(char* Cmd, int32 OS_fd);
+#endif
diff --git a/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-loader.h b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-loader.h
new file mode 100644
index 000000000..4f0b21b62
--- /dev/null
+++ b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-loader.h
@@ -0,0 +1,91 @@
+/*
+** File: osapi-os-loader.h
+**
+**      Copyright (c) 2004-2006, United States government as represented by the 
+**      administrator of the National Aeronautics Space Administration.  
+**      All rights reserved. This software was created at NASAs Goddard 
+**      Space Flight Center pursuant to government contracts.
+**
+**      This is governed by the NASA Open Source Agreement and may be used, 
+**      distributed and modified only pursuant to the terms of that agreement.
+**
+** Author:  Alan Cudmore - Code 582
+**
+** Purpose: Contains functions prototype definitions and variables declarations
+**          for the OS Abstraction Layer, Object file loader API
+**
+** $Revision: 1.5 $ 
+**
+** $Date: 2013/07/25 10:02:08GMT-05:00 $
+**
+** $Log: osapi-os-loader.h  $
+** Revision 1.5 2013/07/25 10:02:08GMT-05:00 acudmore 
+** removed circular include "osapi.h"
+** Revision 1.4 2010/11/12 12:00:18GMT-05:00 acudmore 
+** replaced copyright character with (c) and added open source notice where needed.
+** Revision 1.3 2010/02/01 12:38:06EST acudmore 
+** added return code to OS_ModuleTableInit
+** Revision 1.2 2008/06/20 15:13:43EDT apcudmore 
+** Checked in new Module loader/symbol table functionality
+** Revision 1.1 2008/04/20 22:36:02EDT ruperera 
+** Initial revision
+** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+** Revision 1.1 2008/02/07 11:08:24EST apcudmore 
+** Initial revision
+** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+** 
+**  
+*/
+
+#ifndef _osapi_loader_
+#define _osapi_loader_
+
+/*
+** Defines
+*/
+
+
+/*
+** Typedefs
+*/
+
+typedef struct
+{
+   uint32 valid;
+   uint32 code_address;
+   uint32 code_size;
+   uint32 data_address;
+   uint32 data_size;
+   uint32 bss_address;
+   uint32 bss_size;
+   uint32 flags;  
+} OS_module_address_t;
+
+typedef struct 
+{
+   int                 free;
+   uint32              entry_point; 
+   uint32              host_module_id;
+   char                filename[OS_MAX_PATH_LEN];
+   char                name[OS_MAX_API_NAME];
+   OS_module_address_t addr;
+
+} OS_module_record_t;
+
+/*
+** Loader API
+*/
+int32 OS_ModuleTableInit ( void );
+
+int32 OS_SymbolLookup (uint32 *symbol_address, char *symbol_name );
+
+int32 OS_SymbolTableDump ( char *filename, uint32 size_limit );
+
+int32 OS_ModuleLoad ( uint32 *module_id, char *module_name, char *filename );
+
+int32 OS_ModuleUnload ( uint32 module_id );
+
+int32 OS_ModuleInfo ( uint32 module_id, OS_module_record_t *module_info );
+
+
+#endif
diff --git a/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-net.h b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-net.h
new file mode 100644
index 000000000..b8cc67d69
--- /dev/null
+++ b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-net.h
@@ -0,0 +1,61 @@
+/*
+** File: osapi-os-net.h
+**
+**      Copyright (c) 2004-2006, United States government as represented by the 
+**      administrator of the National Aeronautics Space Administration.  
+**      All rights reserved. This software was created at NASAs Goddard 
+**      Space Flight Center pursuant to government contracts.
+**
+**      This is governed by the NASA Open Source Agreement and may be used, 
+**      distributed and modified only pursuant to the terms of that agreement.
+**
+** Author:  Alan Cudmore Code 582
+**
+** Purpose: Contains functions prototype definitions and variables declarations
+**          for the OS Abstraction Layer, Network Module
+**
+** $Revision: 1.2 $ 
+**
+** $Date: 2010/11/12 12:00:19GMT-05:00 $
+**
+** $Log: osapi-os-net.h  $
+** Revision 1.2 2010/11/12 12:00:19GMT-05:00 acudmore 
+** replaced copyright character with (c) and added open source notice where needed.
+** Revision 1.1 2008/04/20 22:36:02EDT ruperera 
+** Initial revision
+** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+** Revision 1.1 2007/10/16 16:14:52EDT apcudmore 
+** Initial revision
+** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+** Revision 1.1 2007/08/24 13:43:25EDT apcudmore 
+** Initial revision
+** Member added to project d:/mksdata/MKS-CFE-PROJECT/fsw/cfe-core/os/inc/project.pj
+** Revision 1.3 2006/01/20 11:56:18EST njyanchik 
+** Fixed header file information to match api document
+** Revision 1.4  2005/06/07 16:49:31  nyanchik
+** changed returns code for osapi.c to all int32 from uint32
+**
+** Revision 1.3  2005/03/22 19:04:54  acudmore
+** fixed uint type
+**
+** Revision 1.2  2005/03/22 18:59:33  acudmore
+** updated prototype
+**
+** Revision 1.1  2005/03/22 18:58:51  acudmore
+** added osapi network interface
+**
+** Revision 1.1  2005/03/15 18:26:32  nyanchik
+** *** empty log message ***
+**
+**
+** Date Written:
+**
+**    
+*/
+#ifndef _osapi_network_
+#define _osapi_network_
+
+int32 OS_NetworkGetID             (void);
+int32 OS_NetworkGetHostName       (char *host_name, uint32 name_len);
+
+#endif
diff --git a/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-timer.h b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-timer.h
new file mode 100644
index 000000000..8082c6227
--- /dev/null
+++ b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-os-timer.h
@@ -0,0 +1,68 @@
+/*
+** File: osapi-os-timer.h
+**
+**      Copyright (c) 2004-2006, United States government as represented by the 
+**      administrator of the National Aeronautics Space Administration.  
+**      All rights reserved. This software was created at NASAs Goddard 
+**      Space Flight Center pursuant to government contracts.
+**
+**      This is governed by the NASA Open Source Agreement and may be used, 
+**      distributed and modified only pursuant to the terms of that agreement.
+**
+** Author:  Alan Cudmore - Code 582
+**
+** Purpose: Contains functions prototype definitions and variable declarations
+**          for the OS Abstraction Layer, Timer API
+**
+** $Revision: 1.5 $ 
+**
+** $Date: 2013/07/25 10:02:20GMT-05:00 $
+**
+** $Log: osapi-os-timer.h  $
+** Revision 1.5 2013/07/25 10:02:20GMT-05:00 acudmore 
+** removed circular include "osapi.h"
+** Revision 1.4 2010/11/12 12:00:19GMT-05:00 acudmore 
+** replaced copyright character with (c) and added open source notice where needed.
+** Revision 1.3 2010/02/01 12:38:34EST acudmore 
+** Added return code to OS_TimerAPIInit
+** Revision 1.2 2008/08/26 13:52:52EDT apcudmore 
+** removed linux specific define
+** Revision 1.1 2008/08/20 16:12:07EDT apcudmore 
+** Initial revision
+** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+** 
+**  
+*/
+
+#ifndef _osapi_timer_
+#define _osapi_timer_
+
+/*
+** Typedefs
+*/
+typedef void (*OS_TimerCallback_t)(uint32 timer_id);
+
+typedef struct 
+{
+   char                name[OS_MAX_API_NAME];
+   uint32              creator;
+   uint32              start_time;
+   uint32              interval_time;
+   uint32              accuracy;
+
+} OS_timer_prop_t;
+
+
+/*
+** Timer API
+*/
+int32  OS_TimerAPIInit     (void);
+
+int32 OS_TimerCreate      (uint32 *timer_id, const char *timer_name, uint32 *clock_accuracy, OS_TimerCallback_t callback_ptr);
+int32 OS_TimerSet         (uint32 timer_id, uint32 start_msec, uint32 interval_msec);
+int32 OS_TimerDelete      (uint32 timer_id);
+
+int32 OS_TimerGetIdByName (uint32 *timer_id, const char *timer_name);
+int32 OS_TimerGetInfo     (uint32  timer_id, OS_timer_prop_t *timer_prop);
+
+#endif
diff --git a/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-version.h b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-version.h
new file mode 100644
index 000000000..331e96c94
--- /dev/null
+++ b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi-version.h
@@ -0,0 +1,48 @@
+/************************************************************************
+** File:
+**   $Id: osapi-version.h 1.11 2014/05/02 13:53:14GMT-05:00 acudmore Exp  $
+**
+**      Copyright (c) 2004-2006, United States government as represented by the 
+**      administrator of the National Aeronautics Space Administration.  
+**      All rights reserved. This software was created at NASAs Goddard 
+**      Space Flight Center pursuant to government contracts.
+**
+**      This is governed by the NASA Open Source Agreement and may be used, 
+**      distributed and modified only pursuant to the terms of that agreement.
+**
+** Purpose: 
+**  The OSAL version numbers 
+**
+** Notes:
+**
+** $Log: osapi-version.h  $
+** Revision 1.11 2014/05/02 13:53:14GMT-05:00 acudmore 
+** Updated version to 4.1.1
+** Revision 1.10 2014/01/23 16:33:31GMT-05:00 acudmore 
+** Update for 4.1 release
+** Revision 1.9 2013/01/16 14:35:18GMT-05:00 acudmore 
+** updated version label
+** Revision 1.8 2012/04/16 14:57:04GMT-05:00 acudmore 
+** Updated version label to 3.5.0.0
+** Revision 1.7 2012/01/17 16:04:29EST acudmore 
+** Updated version to 3.4.1
+** Revision 1.6 2011/12/05 15:45:16EST acudmore 
+** Updated version label to 3.4.0
+** Initial revision
+** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+**
+*************************************************************************/
+#ifndef _osapi_version_h_
+#define _osapi_version_h_
+
+#define OS_MAJOR_VERSION (4)
+#define OS_MINOR_VERSION (1)
+#define OS_REVISION      (1)
+#define OS_MISSION_REV   (0)
+
+      
+#endif /* _osapi_version_h_ */
+
+/************************/
+/*  End of File Comment */
+/************************/
diff --git a/os/common/abstractions/nasa_osal/cfe_osal/include/osapi.h b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi.h
new file mode 100644
index 000000000..72a7c340a
--- /dev/null
+++ b/os/common/abstractions/nasa_osal/cfe_osal/include/osapi.h
@@ -0,0 +1,143 @@
+/*
+** File: osapi.h
+**
+**      Copyright (c) 2004-2006, United States government as represented by the 
+**      administrator of the National Aeronautics Space Administration.  
+**      All rights reserved. This software was created at NASAs Goddard 
+**      Space Flight Center pursuant to government contracts.
+**
+**      This is governed by the NASA Open Source Agreement and may be used, 
+**      distributed and modified only pursuant to the terms of that agreement.
+**
+** Author:  Alan Cudmore - Code 582
+**
+** Purpose: Contains functions prototype definitions and variables declarations
+**          for the OS Abstraction Layer, Core OS module
+**
+** $Revision: 1.10 $
+**
+** $Date: 2013/07/25 10:01:32GMT-05:00 $
+**
+** $Log: osapi.h  $
+** Revision 1.10 2013/07/25 10:01:32GMT-05:00 acudmore 
+** Added C++ support
+** Revision 1.9 2010/11/12 12:00:17GMT-05:00 acudmore 
+** replaced copyright character with (c) and added open source notice where needed.
+** Revision 1.8 2010/03/08 15:57:20EST acudmore 
+** include new OSAL version header file
+** Revision 1.7 2009/08/10 14:01:10EDT acudmore 
+** Reset OSAL version for trunk
+** Revision 1.6 2009/08/10 13:55:49EDT acudmore 
+** Updated OSAL version defines to 3.0
+** Revision 1.5 2009/06/10 14:15:55EDT acudmore 
+** Removed HAL include files. HAL code was removed from OSAL.
+** Revision 1.4 2008/08/20 16:12:51EDT apcudmore 
+** Updated timer error codes
+** Revision 1.3 2008/08/20 15:46:27EDT apcudmore 
+** Add support for timer API
+** Revision 1.2 2008/06/20 15:13:43EDT apcudmore 
+** Checked in new Module loader/symbol table functionality
+** Revision 1.1 2008/04/20 22:36:02EDT ruperera 
+** Initial revision
+** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+** Revision 1.6 2008/02/14 11:29:10EST apcudmore 
+** Updated version define ( 2.11 )
+** Revision 1.5 2008/02/07 11:31:58EST apcudmore 
+** Fixed merge problem
+** Revision 1.4 2008/02/07 11:07:29EST apcudmore 
+** Added dynamic loader / Symbol lookup API 
+**   -- API only, next release will have functionality
+** Revision 1.2 2008/01/29 14:30:49EST njyanchik 
+** I added code to all the ports that allow the values of both binary and counting semaphores to be
+** gotten through the OS_*SemGetInfo API.
+** Revision 1.1 2007/10/16 16:14:52EDT apcudmore 
+** Initial revision
+** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+** Revision 1.2 2007/09/28 15:46:49EDT rjmcgraw 
+** Updated version numbers to 5.0
+** Revision 1.1 2007/08/24 13:43:25EDT apcudmore
+** Initial revision
+** Member added to project d:/mksdata/MKS-CFE-PROJECT/fsw/cfe-core/os/inc/project.pj
+** Revision 1.9.1.1 2007/05/21 08:58:51EDT njyanchik
+** The trunk version number has been updated to version 0.0
+** Revision 1.9 2006/06/12 10:20:07EDT rjmcgraw
+** Updated OS_MINOR_VERSION from 3 to 4
+** Revision 1.8 2006/02/03 09:30:45EST njyanchik
+** Changed version number to 2.3
+** Revision 1.7 2006/01/20 11:56:16EST njyanchik
+** Fixed header file information to match api document
+** Revision 1.15  2005/11/09 13:35:49  nyanchik
+** Revisions for 2.2 include:
+** a new scheduler mapper for Linux and OS X
+** addition of OS_printf function
+** fixed issues that would cause warnings at compile time
+**
+**
+*/
+
+#ifndef _osapi_
+#define _osapi_
+
+#include "common_types.h"
+
+#ifdef __cplusplus
+   extern "C" {
+#endif
+
+#define OS_SUCCESS                     (0)
+#define OS_ERROR                       (-1)
+#define OS_INVALID_POINTER             (-2)
+#define OS_ERROR_ADDRESS_MISALIGNED    (-3)
+#define OS_ERROR_TIMEOUT               (-4)
+#define OS_INVALID_INT_NUM             (-5)
+#define OS_SEM_FAILURE                 (-6)
+#define OS_SEM_TIMEOUT                 (-7)
+#define OS_QUEUE_EMPTY                 (-8)
+#define OS_QUEUE_FULL                  (-9)
+#define OS_QUEUE_TIMEOUT               (-10)
+#define OS_QUEUE_INVALID_SIZE          (-11)
+#define OS_QUEUE_ID_ERROR              (-12)
+#define OS_ERR_NAME_TOO_LONG           (-13)
+#define OS_ERR_NO_FREE_IDS             (-14)
+#define OS_ERR_NAME_TAKEN              (-15)
+#define OS_ERR_INVALID_ID              (-16)
+#define OS_ERR_NAME_NOT_FOUND          (-17)
+#define OS_ERR_SEM_NOT_FULL            (-18)
+#define OS_ERR_INVALID_PRIORITY        (-19)
+#define OS_INVALID_SEM_VALUE           (-20)
+#define OS_ERR_FILE                    (-27)
+#define OS_ERR_NOT_IMPLEMENTED         (-28)
+#define OS_TIMER_ERR_INVALID_ARGS      (-29)
+#define OS_TIMER_ERR_TIMER_ID          (-30)
+#define OS_TIMER_ERR_UNAVAILABLE       (-31)
+#define OS_TIMER_ERR_INTERNAL          (-32)
+
+/*
+** Defines for Queue Timeout parameters
+*/
+#define OS_PEND   (0)
+#define OS_CHECK (-1)
+
+#include "osapi-version.h"
+
+/*
+** Include the configuration file
+*/
+#include "osconfig.h"
+
+/*
+** Include the OS API modules
+*/
+#include "osapi-os-core.h"
+//#include "osapi-os-filesys.h"
+//#include "osapi-os-net.h"
+//#include "osapi-os-loader.h"
+#include "osapi-os-timer.h"
+#include "osapi-os-custom.h"
+
+#ifdef __cplusplus
+   }
+#endif
+
+#endif
+
diff --git a/os/common/abstractions/nasa_osal/cfe_osal/nasa_osal.mk b/os/common/abstractions/nasa_osal/cfe_osal/nasa_osal.mk
new file mode 100644
index 000000000..a9eb9ee68
--- /dev/null
+++ b/os/common/abstractions/nasa_osal/cfe_osal/nasa_osal.mk
@@ -0,0 +1,4 @@
+# NASA CFE OSAL files.

+CFEOSALSRC = $(CHIBIOS)/os/common/abstractions/nasa_cfe/cfe_osal/src/osapi.c

+

+CFEOSALINC = $(CHIBIOS)/os/common/abstractions/nasa_cfe/cfe_osal/include

diff --git a/os/common/abstractions/nasa_osal/cfe_osal/src/osapi.c b/os/common/abstractions/nasa_osal/cfe_osal/src/osapi.c
new file mode 100644
index 000000000..28088165e
--- /dev/null
+++ b/os/common/abstractions/nasa_osal/cfe_osal/src/osapi.c
@@ -0,0 +1,2280 @@
+/*

+    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.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    osapi.c

+ * @brief   OS API module code.

+ *

+ * @addtogroup nasa_osapi

+ * @{

+ */

+

+#include <stdarg.h>

+#include <string.h>

+

+#include "ch.h"

+

+#include "common_types.h"

+#include "osapi.h"

+

+#if CH_CFG_ST_FREQUENCY > 1000000

+#error "CH_CFG_ST_FREQUENCY limit is 1000000"

+#endif

+

+#if (CH_CFG_ST_FREQUENCY % 1000) != 0

+#error "CH_CFG_ST_FREQUENCY is not a multiple of 1000"

+#endif

+

+#if CH_CFG_USE_REGISTRY == FALSE

+#error "NASA OSAL requires CH_CFG_USE_REGISTRY"

+#endif

+

+#if CH_CFG_USE_EVENTS == FALSE

+#error "NASA OSAL requires CH_CFG_USE_EVENTS"

+#endif

+

+#if CH_CFG_USE_MUTEXES == FALSE

+#error "NASA OSAL requires CH_CFG_USE_MUTEXES"

+#endif

+

+#if CH_CFG_USE_SEMAPHORES == FALSE

+#error "NASA OSAL requires CH_CFG_USE_SEMAPHORES"

+#endif

+

+#if CH_CFG_USE_MEMCORE == FALSE

+#error "NASA OSAL requires CH_CFG_USE_MEMCORE"

+#endif

+

+#if CH_CFG_USE_MEMPOOLS == FALSE

+#error "NASA OSAL requires CH_CFG_USE_MEMPOOLS"

+#endif

+

+#if CH_CFG_USE_HEAP == FALSE

+#error "NASA OSAL requires CH_CFG_USE_HEAP"

+#endif

+

+/*===========================================================================*/

+/* Module local definitions.                                                 */

+/*===========================================================================*/

+

+#define MIN_PRIORITY        1

+#define MAX_PRIORITY        255

+

+#define MIN_MESSAGE_SIZE    4

+#define MAX_MESSAGE_SIZE    16384

+

+#define MIN_QUEUE_DEPTH     1

+#define MAX_QUEUE_DEPTH     16384

+

+/*===========================================================================*/

+/* Module exported variables.                                                */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module local types.                                                       */

+/*===========================================================================*/

+

+/**

+ * @brief   Generic function pointer type.

+ */

+typedef void (*funcptr_t)(void);

+

+/**

+ * @brief   Type of OSAL timer.

+ */

+typedef struct {

+  uint32                is_free;

+  char                  name[OS_MAX_API_NAME];

+  OS_TimerCallback_t    callback_ptr;

+  uint32                start_time;

+  uint32                interval_time;

+  virtual_timer_t       vt;

+} osal_timer_t;

+

+/**

+ * @brief   Type of an OSAL queue.

+ */

+typedef struct {

+  uint32                is_free;

+  char                  name[OS_MAX_API_NAME];

+  semaphore_t           free_msgs;

+  memory_pool_t         messages;

+  mailbox_t             mb;

+  msg_t                 *mb_buffer;

+  void                  *q_buffer;

+  uint32                depth;

+  uint32                size;

+} osal_queue_t;

+

+/**

+ * @brief   Type of an osal message with minimum size.

+ */

+typedef struct {

+  size_t                size;

+  char                  buf[4];

+} osal_message_t;

+

+/**

+ * @brief   Type of OSAL main structure.

+ */

+typedef struct {

+  bool                  printf_enabled;

+  int (*printf)(const char *fmt, ...);

+  virtual_timer_t       vt;

+  OS_time_t             localtime;

+  memory_pool_t         timers_pool;

+  memory_pool_t         queues_pool;

+  memory_pool_t         binary_semaphores_pool;

+  memory_pool_t         count_semaphores_pool;

+  memory_pool_t         mutexes_pool;

+  osal_timer_t          timers[OS_MAX_TIMERS];

+  osal_queue_t          queues[OS_MAX_QUEUES];

+  binary_semaphore_t    binary_semaphores[OS_MAX_BIN_SEMAPHORES];

+  semaphore_t           count_semaphores[OS_MAX_COUNT_SEMAPHORES];

+  mutex_t               mutexes[OS_MAX_MUTEXES];

+} osal_t;

+

+/*===========================================================================*/

+/* Module local variables.                                                   */

+/*===========================================================================*/

+

+static osal_t osal;

+

+/*===========================================================================*/

+/* Module local functions.                                                   */

+/*===========================================================================*/

+

+/**

+ * @brief   System time callback.

+ */

+static void systime_update(void *p) {

+  systime_t delay = (systime_t)p;

+

+  chSysLockFromISR();

+  osal.localtime.microsecs += 1000;

+  if (osal.localtime.microsecs >= 1000000) {

+    osal.localtime.microsecs = 0;

+    osal.localtime.seconds++;

+  }

+  chVTDoSetI(&osal.vt, delay, systime_update, p);

+  chSysUnlockFromISR();

+}

+

+/**

+ * @brief   Virtual timers callback.

+ */

+static void timer_handler(void *p) {

+  osal_timer_t *otp = (osal_timer_t *)p;

+

+  /* Real callback.*/

+  otp->callback_ptr((uint32)p);

+

+  /* Timer restart if an interval is defined.*/

+  if (otp->interval_time != 0) {

+    chSysLockFromISR();

+    chVTSetI(&otp->vt, US2ST(otp->interval_time), timer_handler, p);

+    chSysUnlockFromISR();

+  }

+}

+

+/**

+ * @brief   Finds a queue by name.

+ */

+uint32 queue_find(const char *queue_name) {

+  osal_queue_t *oqp;

+

+  /* Searching the queue in the table.*/

+  for (oqp = &osal.queues[0]; oqp < &osal.queues[OS_MAX_QUEUES]; oqp++) {

+    /* Entering a reentrant critical zone.*/

+    syssts_t sts = chSysGetStatusAndLockX();

+

+    if (!oqp->is_free &&

+        (strncmp(oqp->name, queue_name, OS_MAX_API_NAME - 1) == 0)) {

+      /* Leaving the critical zone.*/

+      chSysRestoreStatusX(sts);

+      return (uint32)oqp;

+    }

+

+    /* Leaving the critical zone.*/

+    chSysRestoreStatusX(sts);

+  }

+

+  return 0;

+}

+

+/**

+ * @brief   Finds a timer by name.

+ */

+uint32 timer_find(const char *timer_name) {

+  osal_timer_t *otp;

+

+  /* Searching the queue in the table.*/

+  for (otp = &osal.timers[0]; otp < &osal.timers[OS_MAX_TIMERS]; otp++) {

+    /* Entering a reentrant critical zone.*/

+    syssts_t sts = chSysGetStatusAndLockX();

+

+    if (!otp->is_free &&

+        (strncmp(otp->name, timer_name, OS_MAX_API_NAME - 1) == 0)) {

+      /* Leaving the critical zone.*/

+      chSysRestoreStatusX(sts);

+      return (uint32)otp;

+    }

+

+    /* Leaving the critical zone.*/

+    chSysRestoreStatusX(sts);

+  }

+

+  return 0;

+}

+

+/*===========================================================================*/

+/* Module exported functions.                                                */

+/*===========================================================================*/

+

+/*-- Initialization API -----------------------------------------------------*/

+

+/**

+ * @brief   OS initialization.

+ * @details This function returns initializes the internal data structures

+ *          of the OS Abstraction Layer. It must be called in the application

+ *          startup code before calling any other OS routines.

+ *

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_API_Init(void) {

+

+  chSysInit();

+

+  /* OS_printf() initially disabled.*/

+  osal.printf_enabled = false;

+  osal.printf = NULL;

+

+  /* System time handling.*/

+  osal.localtime.microsecs = 0;

+  osal.localtime.seconds   = 0;

+  chVTObjectInit(&osal.vt);

+  chVTSet(&osal.vt, MS2ST(1), systime_update, (void *)MS2ST(1));

+

+  /* Timers pool initialization.*/

+  chPoolObjectInit(&osal.timers_pool,

+                   sizeof (osal_timer_t),

+                   NULL);

+  chPoolLoadArray(&osal.timers_pool,

+                  &osal.timers[0],

+                  OS_MAX_TIMERS);

+

+  /* Queues pool initialization.*/

+  chPoolObjectInit(&osal.queues_pool,

+                   sizeof (osal_queue_t),

+                   NULL);

+  chPoolLoadArray(&osal.queues_pool,

+                  &osal.queues[0],

+                  OS_MAX_QUEUES);

+

+  /* Binary Semaphores pool initialization.*/

+  chPoolObjectInit(&osal.binary_semaphores_pool,

+                   sizeof (binary_semaphore_t),

+                   NULL);

+  chPoolLoadArray(&osal.binary_semaphores_pool,

+                  &osal.binary_semaphores[0],

+                  OS_MAX_BIN_SEMAPHORES);

+

+  /* Counter Semaphores pool initialization.*/

+  chPoolObjectInit(&osal.count_semaphores_pool,

+                   sizeof (semaphore_t),

+                   NULL);

+  chPoolLoadArray(&osal.count_semaphores_pool,

+                  &osal.count_semaphores[0],

+                  OS_MAX_COUNT_SEMAPHORES);

+

+  /* Mutexes pool initialization.*/

+  chPoolObjectInit(&osal.mutexes_pool,

+                   sizeof (mutex_t),

+                   NULL);

+  chPoolLoadArray(&osal.mutexes_pool,

+                  &osal.mutexes[0],

+                  OS_MAX_MUTEXES);

+

+  return OS_SUCCESS;

+}

+

+/*-- Various API -----------------------------------------------------------*/

+

+/**

+ * @brief   OS printf-like function.

+ * @note    It is initially disabled.

+ *

+ * @param[in] string            formatter string

+ *

+ * @api

+ */

+void OS_printf(const char *string, ...) {

+  va_list ap;

+

+  if (osal.printf_enabled && (osal.printf != NULL)) {

+    va_start(ap, string);

+    (void) osal.printf(string);

+    va_end(ap);

+  }

+}

+

+/**

+ * @brief   Disables @p OS_printf().

+ *

+ * @api

+ */

+void OS_printf_disable(void) {

+

+  osal.printf_enabled = false;

+}

+

+/**

+ * @brief   Enables @p OS_printf().

+ *

+ * @api

+ */

+void OS_printf_enable(void) {

+

+  osal.printf_enabled = true;

+}

+

+/**

+ * @brief   Sets the system printf function.

+ * @note    By default the printf function is not defined.

+ * @note    This is a ChibiOS/RT extension.

+ *

+ * @param[in] printf    pointer to a @p printf() like function

+ *

+ * @api

+ */

+void OS_set_printf(int (*printf)(const char *fmt, ...)) {

+

+  osal.printf = printf;

+}

+

+/**

+ * @brief   System tick period in microseconds.

+ *

+ * @return                      The system tick period.

+ */

+int32 OS_Tick2Micros(void) {

+

+  return 1000000 / CH_CFG_ST_FREQUENCY;

+}

+

+/**

+ * @brief   Returns the local time.

+ *

+ * @param[out] time_struct      the system time

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_GetLocalTime(OS_time_t *time_struct) {

+

+  if (time_struct == NULL) {

+     return OS_INVALID_POINTER;

+  }

+

+  chSysLock();

+  *time_struct = osal.localtime;

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Changes the local time.

+ *

+ * @param[in] time_struct       the system time

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_SetLocalTime(OS_time_t *time_struct) {

+

+  if (time_struct == NULL) {

+     return OS_INVALID_POINTER;

+  }

+

+  chSysLock();

+  osal.localtime = *time_struct;

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Conversion from milliseconds to ticks.

+ *

+ * @param[in] milli_seconds     the time in milliseconds

+ * @return                      The system ticks.

+ *

+ * @api

+ */

+int32 OS_Milli2Ticks(uint32 milli_seconds) {

+

+  return (int32)MS2ST(milli_seconds);

+}

+

+/*-- timers API -------------------------------------------------------------*/

+

+/**

+ * @brief   Timer creation.

+ *

+ * @param[out] timer_id         pointer to a timer id variable

+ * @param[in] timer_name        the timer name

+ * @param[out] clock_accuracy   timer accuracy in microseconds

+ * @param[in] callback_ptr      timer callback

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_TimerCreate(uint32 *timer_id, const char *timer_name,

+                     uint32 *clock_accuracy, OS_TimerCallback_t callback_ptr) {

+  osal_timer_t *otp;

+

+  /* NULL pointer checks.*/

+  if ((timer_id == NULL) || (timer_name == NULL) ||

+      (clock_accuracy == NULL)) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* NULL callback check.*/

+  if (callback_ptr == NULL) {

+    *timer_id = 0;

+    return OS_TIMER_ERR_INVALID_ARGS;

+  }

+

+  /* Checking timer name length.*/

+  if (strlen(timer_name) >= OS_MAX_API_NAME) {

+    *timer_id = 0;

+    return OS_ERR_NAME_TOO_LONG;

+  }

+

+  /* Checking if the name is already taken.*/

+  if (timer_find(timer_name) > 0) {

+    *timer_id = 0;

+    return OS_ERR_NAME_TAKEN;

+  }

+

+  /* Getting object.*/

+  otp = chPoolAlloc(&osal.timers_pool);

+  if (otp == NULL) {

+    *timer_id = 0;

+    return OS_ERR_NO_FREE_IDS;

+  }

+

+  strncpy(otp->name, timer_name, OS_MAX_API_NAME - 1);

+  chVTObjectInit(&otp->vt);

+  otp->start_time    = 0;

+  otp->interval_time = 0;

+  otp->callback_ptr  = callback_ptr;

+  otp->is_free       = 0;   /* Note, last.*/

+

+  *timer_id = (uint32)otp;

+  *clock_accuracy = (uint32)(1000000 / CH_CFG_ST_FREQUENCY);

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Timer deletion.

+ *

+ * @param[in] timer_id          timer id variable

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_TimerDelete(uint32 timer_id) {

+  osal_timer_t *otp = (osal_timer_t *)timer_id;

+

+  /* Range check.*/

+  if ((otp < &osal.timers[0]) ||

+      (otp >= &osal.timers[OS_MAX_TIMERS]) ||

+      (otp->is_free)) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* Marking as no more free, will be overwritten by the pool pointer.*/

+  otp->is_free = 1;

+

+  /* Resetting the timer.*/

+  chVTResetI(&otp->vt);

+  otp->start_time    = 0;

+  otp->interval_time = 0;

+

+  /* Flagging it as unused and returning it to the pool.*/

+  chPoolFreeI(&osal.timers_pool, (void *)otp);

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Timer deletion.

+ * @note    This function can be safely called from timer callbacks or ISRs.

+ *

+ * @param[in] timer_id          timer id variable

+ * @param[in] start_time        start time in microseconds or zero

+ * @param[in] interval_time     interval time in microseconds or zero

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_TimerSet(uint32 timer_id, uint32 start_time, uint32 interval_time) {

+  syssts_t sts;

+  osal_timer_t *otp = (osal_timer_t *)timer_id;

+

+  /* Range check.*/

+  if ((otp < &osal.timers[0]) ||

+      (otp >= &osal.timers[OS_MAX_TIMERS]) ||

+      (otp->is_free)) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Entering a reentrant critical zone.*/

+  sts = chSysGetStatusAndLockX();

+

+  if (start_time == 0) {

+    chVTResetI(&otp->vt);

+  }

+  else {

+    otp->start_time    = start_time;

+    otp->interval_time = interval_time;

+    chVTSetI(&otp->vt, US2ST(start_time), timer_handler, (void *)timer_id);

+  }

+

+  /* Leaving the critical zone.*/

+  chSysRestoreStatusX(sts);

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Retrieves a timer id by name.

+ *

+ * @param[out] timer_id         pointer to a timer id variable

+ * @param[in] sem_name          the timer name

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_TimerGetIdByName(uint32 *timer_id, const char *timer_name) {

+

+  /* NULL pointer checks.*/

+  if ((timer_id == NULL) || (timer_name == NULL)) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Checking name length.*/

+  if (strlen(timer_name) >= OS_MAX_API_NAME) {

+    return OS_ERR_NAME_TOO_LONG;

+  }

+

+  /* Searching the queue.*/

+  *timer_id = timer_find(timer_name);

+  if (*timer_id > 0) {

+    return OS_SUCCESS;

+  }

+

+  return OS_ERR_NAME_NOT_FOUND;

+}

+

+/**

+ * @brief   Returns timer information.

+ * @note    This function can be safely called from timer callbacks or ISRs.

+ *

+ * @param[in] timer_id          timer id variable

+ * @param[in] timer_prop        timer properties

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_TimerGetInfo(uint32 timer_id, OS_timer_prop_t *timer_prop) {

+  syssts_t sts;

+  osal_timer_t *otp = (osal_timer_t *)timer_id;

+

+  /* NULL pointer checks.*/

+  if (timer_prop == NULL) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Range check.*/

+  if ((otp < &osal.timers[0]) ||

+      (otp >= &osal.timers[OS_MAX_TIMERS]) ||

+      (otp->is_free)) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Entering a reentrant critical zone.*/

+  sts = chSysGetStatusAndLockX();

+

+  /* If the timer is not in use then error.*/

+  if (otp->is_free) {

+    /* Leaving the critical zone.*/

+    chSysRestoreStatusX(sts);

+    return OS_ERR_INVALID_ID;

+  }

+

+  strncpy(timer_prop->name, otp->name, OS_MAX_API_NAME - 1);

+  timer_prop->creator       = (uint32)0;

+  timer_prop->start_time    = otp->start_time;

+  timer_prop->interval_time = otp->interval_time;

+  timer_prop->accuracy      = (uint32)(1000000 / CH_CFG_ST_FREQUENCY);

+

+  /* Leaving the critical zone.*/

+  chSysRestoreStatusX(sts);

+

+  return OS_SUCCESS;

+}

+

+/*-- Queues API -------------------------------------------------------------*/

+

+/**

+ * @brief   Queue creation.

+ *

+ * @param[out] queue_id         pointer to a queue id variable

+ * @param[in] queue_name        the queue name

+ * @param[in] queue_depth       desired queue depth

+ * @param[in] data_size         maximum message size

+ * @param[in] flags             queue option flags

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_QueueCreate(uint32 *queue_id, const char *queue_name,

+                     uint32 queue_depth, uint32 data_size, uint32 flags) {

+  osal_queue_t *oqp;

+  size_t msgsize;

+

+  (void)flags;

+

+  /* NULL pointer checks.*/

+  if ((queue_id == NULL) || (queue_name == NULL)) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Checking queue name length.*/

+  if (strlen(queue_name) >= OS_MAX_API_NAME) {

+    *queue_id = 0;

+    return OS_ERR_NAME_TOO_LONG;

+  }

+

+  /* Checking if the name is already taken.*/

+  if (queue_find(queue_name) > 0) {

+    *queue_id = 0;

+    return OS_ERR_NAME_TAKEN;

+  }

+

+  /* Checks on queue limits. There is no dedicated error code.*/

+  if ((data_size < MIN_MESSAGE_SIZE) || (data_size > MAX_MESSAGE_SIZE) ||

+      (queue_depth < MIN_QUEUE_DEPTH) || (queue_depth > MAX_QUEUE_DEPTH)) {

+    *queue_id = 0;

+    return OS_ERROR;

+  }

+

+  /* Getting object.*/

+  oqp = chPoolAlloc(&osal.queues_pool);

+  if (oqp == NULL) {

+    *queue_id = 0;

+    return OS_ERR_NO_FREE_IDS;

+  }

+

+  /* Attempting messages buffer allocation.*/

+  msgsize = MEM_ALIGN_NEXT(data_size + sizeof (size_t), PORT_NATURAL_ALIGN);

+  oqp->mb_buffer = chHeapAllocAligned(NULL,

+                                      msgsize * (size_t)queue_depth,

+                                      PORT_NATURAL_ALIGN);

+  if (oqp->mb_buffer == NULL) {

+    *queue_id = 0;

+    return OS_ERROR;

+  }

+

+  /* Attempting queue buffer allocation.*/

+  oqp->q_buffer = chHeapAllocAligned(NULL,

+                                     sizeof (msg_t) * (size_t)queue_depth,

+                                     PORT_NATURAL_ALIGN);

+  if (oqp->q_buffer == NULL) {

+    *queue_id = 0;

+    chHeapFree(oqp->mb_buffer);

+    return OS_ERROR;

+  }

+

+  /* Initializing object static parts.*/

+  strncpy(oqp->name, queue_name, OS_MAX_API_NAME - 1);

+  chMBObjectInit(&oqp->mb, oqp->q_buffer, (size_t)queue_depth);

+  chSemObjectInit(&oqp->free_msgs, (cnt_t)queue_depth);

+  chPoolObjectInit(&oqp->messages, msgsize, NULL);

+  chPoolLoadArray(&oqp->messages, oqp->mb_buffer, (size_t)queue_depth);

+  oqp->depth   = queue_depth;

+  oqp->size    = data_size;

+  oqp->is_free = 0;   /* Note, last.*/

+  *queue_id = (uint32)oqp;

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Queue deletion.

+ *

+ * @param[in] queue_id          queue id variable

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_QueueDelete(uint32 queue_id) {

+  osal_queue_t *oqp = (osal_queue_t *)queue_id;

+  void *q_buffer, *mb_buffer;

+

+  /* Range check.*/

+  if ((oqp < &osal.queues[0]) ||

+      (oqp >= &osal.queues[OS_MAX_QUEUES]) ||

+      (oqp->is_free)) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Critical zone.*/

+  chSysLock();

+

+  /* Marking as no more free, will be overwritten by the pool pointer.*/

+  oqp->is_free = 1;

+

+  /* Pointers to areas to be freed.*/

+  q_buffer  = oqp->q_buffer;

+  mb_buffer = oqp->mb_buffer;

+

+  /* Resetting the queue.*/

+  chMBResetI(&oqp->mb);

+  chSemResetI(&oqp->free_msgs, 0);

+

+  /* Flagging it as unused and returning it to the pool.*/

+  chPoolFreeI(&osal.queues_pool, (void *)oqp);

+

+  chSchRescheduleS();

+

+  /* Leaving critical zone.*/

+  chSysUnlock();

+

+  /* Freeing buffers, outside critical zone, slow heap operation.*/

+  chHeapFree(q_buffer);

+  chHeapFree(mb_buffer);

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Retrieves a message from the queue.

+ *

+ * @param[in] queue_id          queue id variable

+ * @param[out] data             message buffer pointer

+ * @param[in] size              size of the buffer

+ * @param[out] size_copied      size of the received message

+ * @param[in] timeout           timeout in ticks, the special values @p OS_PEND

+ *                              and @p OS_CHECK can be specified

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_QueueGet(uint32 queue_id, void *data, uint32 size,

+                  uint32 *size_copied, int32 timeout) {

+  osal_queue_t *oqp = (osal_queue_t *)queue_id;

+  msg_t msg, msgsts;

+  void *body;

+

+  /* NULL pointer checks.*/

+  if ((data == NULL) || (size_copied == NULL)) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Range check.*/

+  if ((oqp < &osal.queues[0]) ||

+      (oqp >= &osal.queues[OS_MAX_QUEUES]) ||

+      (oqp->is_free)) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Check on minimum size.*/

+  if (size < oqp->size) {

+    return OS_QUEUE_INVALID_SIZE;

+  }

+

+  /* Special time handling.*/

+  if (timeout == OS_PEND) {

+    msgsts = chMBFetch(&oqp->mb, &msg, TIME_INFINITE);

+    if (msgsts < MSG_OK) {

+      *size_copied = 0;

+      return OS_ERROR;

+    }

+  }

+  else if (timeout == OS_CHECK) {

+    msgsts = chMBFetch(&oqp->mb, &msg, TIME_IMMEDIATE);

+    if (msgsts < MSG_OK) {

+      *size_copied = 0;

+      return OS_QUEUE_EMPTY;

+    }

+  }

+  else {

+    msgsts = chMBFetch(&oqp->mb, &msg, (systime_t)timeout);

+    if (msgsts < MSG_OK) {

+      *size_copied = 0;

+      return OS_QUEUE_TIMEOUT;

+    }

+  }

+

+  /* Message body and size.*/

+  *size_copied = ((osal_message_t *)msg)->size;

+  body  = (void *)((osal_message_t *)msg)->buf;

+

+  /* Copying the message body.*/

+  memcpy(data, body, *size_copied);

+

+  /* Freeing the message buffer.*/

+  chPoolFree(&oqp->messages, (void *)msg);

+  chSemSignal(&oqp->free_msgs);

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Puts a message in the queue.

+ *

+ * @param[in] queue_id          queue id variable

+ * @param[in] data              message buffer pointer

+ * @param[in] size              size of the message

+ * @param[in] flags             operation flags

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_QueuePut(uint32 queue_id, void *data, uint32 size, uint32 flags) {

+  osal_queue_t *oqp = (osal_queue_t *)queue_id;

+  msg_t msgsts;

+  osal_message_t *omsg;

+

+  (void)flags;

+

+  /* NULL pointer checks.*/

+  if (data == NULL) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Range check.*/

+  if ((oqp < &osal.queues[0]) ||

+      (oqp >= &osal.queues[OS_MAX_QUEUES]) ||

+      (oqp->is_free)) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Check on maximum size.*/

+  if (size > oqp->size) {

+    return OS_QUEUE_INVALID_SIZE;

+  }

+

+  /* Getting a message buffer from the pool.*/

+  msgsts = chSemWait(&oqp->free_msgs);

+  if (msgsts < MSG_OK) {

+    return OS_ERROR;

+  }

+  omsg = chPoolAlloc(&oqp->messages);

+

+  /* Filling message size and data.*/

+  omsg->size = (size_t)size;

+  memcpy(omsg->buf, data, size);

+

+  /* Posting the message.*/

+  msgsts = chMBPost(&oqp->mb, (msg_t)omsg, TIME_INFINITE);

+  if (msgsts < MSG_OK) {

+    return OS_ERROR;

+  }

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Retrieves a queue id by name.

+ *

+ * @param[out] queue_id         pointer to a queue id variable

+ * @param[in] sem_name          the queue name

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_QueueGetIdByName(uint32 *queue_id, const char *queue_name) {

+

+  /* NULL pointer checks.*/

+  if ((queue_id == NULL) || (queue_name == NULL)) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Checking name length.*/

+  if (strlen(queue_name) >= OS_MAX_API_NAME) {

+    return OS_ERR_NAME_TOO_LONG;

+  }

+

+  /* Searching the queue.*/

+  *queue_id = queue_find(queue_name);

+  if (*queue_id > 0) {

+    return OS_SUCCESS;

+  }

+

+  return OS_ERR_NAME_NOT_FOUND;

+}

+

+/**

+ * @brief   Returns queue information.

+ * @note    This function can be safely called from timer callbacks or ISRs.

+ *

+ * @param[in] queue_id          queue id variable

+ * @param[in] queue_prop        queue properties

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_QueueGetInfo (uint32 queue_id, OS_queue_prop_t *queue_prop) {

+  osal_queue_t *oqp = (osal_queue_t *)queue_id;

+  syssts_t sts;

+

+  /* NULL pointer checks.*/

+  if (queue_prop == NULL) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Range check.*/

+  if ((oqp < &osal.queues[0]) ||

+      (oqp >= &osal.queues[OS_MAX_QUEUES]) ||

+      (oqp->is_free)) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Entering a reentrant critical zone.*/

+  sts = chSysGetStatusAndLockX();

+

+  /* If the queue is not in use then error.*/

+  if (oqp->is_free) {

+    /* Leaving the critical zone.*/

+    chSysRestoreStatusX(sts);

+    return OS_ERR_INVALID_ID;

+  }

+

+  strncpy(queue_prop->name, oqp->name, OS_MAX_API_NAME - 1);

+  queue_prop->creator = (uint32)0;

+

+  /* Leaving the critical zone.*/

+  chSysRestoreStatusX(sts);

+

+  return OS_SUCCESS;

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+/*-- Binary Semaphore API ---------------------------------------------------*/

+

+/**

+ * @brief   Binary semaphore creation.

+ *

+ * @param[out] sem_id           pointer to a binary semaphore id variable

+ * @param[in] sem_name          the binary semaphore name

+ * @param[in] sem_initial_value semaphore initial value

+ * @param[in] options           semaphore options

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_BinSemCreate(uint32 *sem_id, const char *sem_name,

+                      uint32 sem_initial_value, uint32 options) {

+  binary_semaphore_t *bsp;

+

+  (void)options;

+

+  /* NULL pointer checks.*/

+  if ((sem_id == NULL) || (sem_name == NULL)) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Checking semaphore name length.*/

+  if (strlen(sem_name) >= OS_MAX_API_NAME) {

+    return OS_ERR_NAME_TOO_LONG;

+  }

+

+  /* Semaphore counter check, it is binary so only 0 and 1.*/

+  if (sem_initial_value > 1) {

+    return OS_INVALID_INT_NUM;

+  }

+

+  /* Getting object.*/

+  bsp = chPoolAlloc(&osal.binary_semaphores_pool);

+  if (bsp == NULL) {

+    return OS_ERR_NO_FREE_IDS;

+  }

+

+  /* Semaphore is initialized.*/

+  chBSemObjectInit(bsp, sem_initial_value == 0 ? true : false);

+

+  *sem_id = (uint32)bsp;

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Binary semaphore deletion.

+ *

+ * @param[in] sem_id            binary semaphore id variable

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_BinSemDelete(uint32 sem_id) {

+  binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

+

+  /* Range check.*/

+  if ((bsp < &osal.binary_semaphores[0]) ||

+      (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* Resetting the semaphore, no threads in queue.*/

+  chBSemResetI(bsp, true);

+

+  /* Flagging it as unused and returning it to the pool.*/

+  bsp->sem.queue.prev = NULL;

+  chPoolFreeI(&osal.binary_semaphores_pool, (void *)bsp);

+

+  /* Required because some thread could have been made ready.*/

+  chSchRescheduleS();

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Binary semaphore flush.

+ * @note    The state of the binary semaphore is not changed.

+ * @note    This function can be safely called from timer callbacks or ISRs.

+ *

+ * @param[in] sem_id            binary semaphore id variable

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_BinSemFlush(uint32 sem_id) {

+  syssts_t sts;

+  binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

+

+  /* Range check.*/

+  if ((bsp < &osal.binary_semaphores[0]) ||

+      (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Entering a reentrant critical zone.*/

+  sts = chSysGetStatusAndLockX();

+

+  /* If the semaphore is not in use then error.*/

+  if (bsp->sem.queue.prev == NULL) {

+    /* Leaving the critical zone.*/

+    chSysRestoreStatusX(sts);

+    return OS_SEM_FAILURE;

+  }

+

+  /* If the semaphore state is "not taken" then it is not touched.*/

+  if (bsp->sem.cnt < 0) {

+    chBSemResetI(bsp, true);

+  }

+

+  /* Leaving the critical zone.*/

+  chSysRestoreStatusX(sts);

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Binary semaphore give.

+ * @note    This function can be safely called from timer callbacks or ISRs.

+ *

+ * @param[in] sem_id            binary semaphore id variable

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_BinSemGive(uint32 sem_id) {

+  syssts_t sts;

+  binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

+

+  /* Range check.*/

+  if ((bsp < &osal.binary_semaphores[0]) ||

+      (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Entering a reentrant critical zone.*/

+  sts = chSysGetStatusAndLockX();

+

+  /* If the semaphore is not in use then error.*/

+  if (bsp->sem.queue.prev == NULL) {

+    /* Leaving the critical zone.*/

+    chSysRestoreStatusX(sts);

+    return OS_SEM_FAILURE;

+  }

+

+  chBSemSignalI(bsp);

+

+  /* Leaving the critical zone.*/

+  chSysRestoreStatusX(sts);

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Binary semaphore take.

+ *

+ * @param[in] sem_id            binary semaphore id variable

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_BinSemTake(uint32 sem_id) {

+  binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

+

+  /* Range check.*/

+  if ((bsp < &osal.binary_semaphores[0]) ||

+      (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* If the semaphore is not in use then error.*/

+  if (bsp->sem.queue.prev == NULL) {

+    chSysUnlock();

+    return OS_SEM_FAILURE;

+  }

+

+  (void) chBSemWaitS(bsp);

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Binary semaphore take with timeout.

+ *

+ * @param[in] sem_id            binary semaphore id variable

+ * @param[in] msecs             timeout in milliseconds

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_BinSemTimedWait(uint32 sem_id, uint32 msecs) {

+  binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

+  msg_t msg;

+

+  /* Range check.*/

+  if ((bsp < &osal.binary_semaphores[0]) ||

+      (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Timeouts of zero not allowed.*/

+  if (msecs == 0) {

+    return OS_INVALID_INT_NUM;

+  }

+

+  chSysLock();

+

+  /* If the semaphore is not in use then error.*/

+  if (bsp->sem.queue.prev == NULL) {

+    chSysUnlock();

+    return OS_SEM_FAILURE;

+  }

+

+  msg = chBSemWaitTimeoutS(bsp, MS2ST(msecs));

+

+  chSysUnlock();

+

+  return msg == MSG_TIMEOUT ? OS_SEM_TIMEOUT : OS_SUCCESS;

+}

+

+/**

+ * @brief   Retrieves a binary semaphore id by name.

+ * @note    It is not currently implemented.

+ *

+ * @param[out] sem_id           pointer to a binary semaphore id variable

+ * @param[in] sem_name          the binary semaphore name

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_BinSemGetIdByName(uint32 *sem_id, const char *sem_name) {

+

+  /* NULL pointer checks.*/

+  if ((sem_id == NULL) || (sem_name == NULL)) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Checking name length.*/

+  if (strlen(sem_name) >= OS_MAX_API_NAME) {

+    return OS_ERR_NAME_TOO_LONG;

+  }

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+/**

+ * @brief   Returns binary semaphore information.

+ * @note    This function can be safely called from timer callbacks or ISRs.

+ * @note    It is not currently implemented.

+ *

+ * @param[in] sem_id            binary semaphore id variable

+ * @param[in] bin_prop          binary semaphore properties

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_BinSemGetInfo(uint32 sem_id, OS_bin_sem_prop_t *bin_prop) {

+  syssts_t sts;

+  binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

+

+  /* NULL pointer checks.*/

+  if (bin_prop == NULL) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Range check.*/

+  if ((bsp < &osal.binary_semaphores[0]) ||

+      (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Entering a reentrant critical zone.*/

+  sts = chSysGetStatusAndLockX();

+

+  /* If the semaphore is not in use then error.*/

+  if (bsp->sem.queue.prev == NULL) {

+    /* Leaving the critical zone.*/

+    chSysRestoreStatusX(sts);

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Leaving the critical zone.*/

+  chSysRestoreStatusX(sts);

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+/*-- Counter Semaphore API --------------------------------------------------*/

+

+/**

+ * @brief   Counter semaphore creation.

+ *

+ * @param[out] sem_id           pointer to a counter semaphore id variable

+ * @param[in] sem_name          the counter semaphore name

+ * @param[in] sem_initial_value semaphore initial value

+ * @param[in] options           semaphore options

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_CountSemCreate(uint32 *sem_id, const char *sem_name,

+                        uint32 sem_initial_value, uint32 options) {

+  semaphore_t *sp;

+

+  (void)options;

+

+  /* NULL pointer checks.*/

+  if ((sem_id == NULL) || (sem_name == NULL)) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Checking semaphore name length.*/

+  if (strlen(sem_name) >= OS_MAX_API_NAME) {

+    return OS_ERR_NAME_TOO_LONG;

+  }

+

+  /* Semaphore counter check, it must be non-negative.*/

+  if ((int32)sem_initial_value < 0) {

+    return OS_INVALID_INT_NUM;

+  }

+

+  /* Getting object.*/

+  sp = chPoolAlloc(&osal.count_semaphores_pool);

+  if (sp == NULL) {

+    return OS_ERR_NO_FREE_IDS;

+  }

+

+  /* Semaphore is initialized.*/

+  chSemObjectInit(sp, (cnt_t)sem_initial_value);

+

+  *sem_id = (uint32)sp;

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Counter semaphore deletion.

+ *

+ * @param[in] sem_id            counter semaphore id variable

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_CountSemDelete(uint32 sem_id) {

+  semaphore_t *sp = (semaphore_t *)sem_id;

+

+  /* Range check.*/

+  if ((sp < &osal.count_semaphores[0]) ||

+      (sp >= &osal.count_semaphores[OS_MAX_COUNT_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* Resetting the semaphore, no threads in queue.*/

+  chSemResetI(sp, 0);

+

+  /* Flagging it as unused and returning it to the pool.*/

+  sp->queue.prev = NULL;

+  chPoolFreeI(&osal.count_semaphores_pool, (void *)sp);

+

+  /* Required because some thread could have been made ready.*/

+  chSchRescheduleS();

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Counter semaphore give.

+ * @note    This function can be safely called from timer callbacks or ISRs.

+ *

+ * @param[in] sem_id            counter semaphore id variable

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_CountSemGive(uint32 sem_id) {

+  syssts_t sts;

+  semaphore_t *sp = (semaphore_t *)sem_id;

+

+  /* Range check.*/

+  if ((sp < &osal.count_semaphores[0]) ||

+      (sp >= &osal.count_semaphores[OS_MAX_COUNT_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Entering a reentrant critical zone.*/

+  sts = chSysGetStatusAndLockX();

+

+  /* If the semaphore is not in use then error.*/

+  if (sp->queue.prev == NULL) {

+    /* Leaving the critical zone.*/

+    chSysRestoreStatusX(sts);

+    return OS_SEM_FAILURE;

+  }

+

+  chSemSignalI(sp);

+

+  /* Leaving the critical zone.*/

+  chSysRestoreStatusX(sts);

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Counter semaphore take.

+ *

+ * @param[in] sem_id            counter semaphore id variable

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_CountSemTake(uint32 sem_id) {

+  semaphore_t *sp = (semaphore_t *)sem_id;

+

+  /* Range check.*/

+  if ((sp < &osal.count_semaphores[0]) ||

+      (sp >= &osal.count_semaphores[OS_MAX_COUNT_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* If the semaphore is not in use then error.*/

+  if (sp->queue.prev == NULL) {

+    chSysUnlock();

+    return OS_SEM_FAILURE;

+  }

+

+  (void) chSemWaitS(sp);

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Counter semaphore take with timeout.

+ *

+ * @param[in] sem_id            counter semaphore id variable

+ * @param[in] msecs             timeout in milliseconds

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_CountSemTimedWait(uint32 sem_id, uint32 msecs) {

+  semaphore_t *sp = (semaphore_t *)sem_id;

+  msg_t msg;

+

+  /* Range check.*/

+  if ((sp < &osal.count_semaphores[0]) ||

+      (sp >= &osal.count_semaphores[OS_MAX_COUNT_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Timeouts of zero not allowed.*/

+  if (msecs == 0) {

+    return OS_INVALID_INT_NUM;

+  }

+

+  chSysLock();

+

+  /* If the semaphore is not in use then error.*/

+  if (sp->queue.prev == NULL) {

+    chSysUnlock();

+    return OS_SEM_FAILURE;

+  }

+

+  msg = chSemWaitTimeoutS(sp, MS2ST(msecs));

+

+  chSysUnlock();

+

+  return msg == MSG_TIMEOUT ? OS_SEM_TIMEOUT : OS_SUCCESS;

+}

+

+/**

+ * @brief   Retrieves a counter semaphore id by name.

+ * @note    It is not currently implemented.

+ *

+ * @param[out] sem_id           pointer to a counter semaphore id variable

+ * @param[in] sem_name          the counter semaphore name

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_CountSemGetIdByName(uint32 *sem_id, const char *sem_name) {

+

+  /* NULL pointer checks.*/

+  if ((sem_id == NULL) || (sem_name == NULL)) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Checking name length.*/

+  if (strlen(sem_name) >= OS_MAX_API_NAME) {

+    return OS_ERR_NAME_TOO_LONG;

+  }

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+/**

+ * @brief   Returns counter semaphore information.

+ * @note    This function can be safely called from timer callbacks or ISRs.

+ * @note    It is not currently implemented.

+ *

+ * @param[in] sem_id            counter semaphore id variable

+ * @param[in] sem_prop          counter semaphore properties

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_CountSemGetInfo(uint32 sem_id, OS_count_sem_prop_t *sem_prop) {

+  syssts_t sts;

+  semaphore_t *sp = (semaphore_t *)sem_id;

+

+  /* NULL pointer checks.*/

+  if (sem_prop == NULL) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Range check.*/

+  if ((sp < &osal.count_semaphores[0]) ||

+      (sp >= &osal.count_semaphores[OS_MAX_BIN_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Entering a reentrant critical zone.*/

+  sts = chSysGetStatusAndLockX();

+

+  /* If the semaphore is not in use then error.*/

+  if (sp->queue.prev == NULL) {

+    /* Leaving the critical zone.*/

+    chSysRestoreStatusX(sts);

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Leaving the critical zone.*/

+  chSysRestoreStatusX(sts);

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+/*-- Mutex API --------------------------------------------------------------*/

+

+/**

+ * @brief   Mutex creation.

+ *

+ * @param[out] sem_id           pointer to a mutex id variable

+ * @param[in] sem_name          the mutex name

+ * @param[in] options           mutex options

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_MutSemCreate(uint32 *sem_id, const char *sem_name, uint32 options) {

+  mutex_t *mp;

+

+  (void)options;

+

+  /* NULL pointer checks.*/

+  if ((sem_id == NULL) || (sem_name == NULL)) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Checking semaphore name length.*/

+  if (strlen(sem_name) >= OS_MAX_API_NAME) {

+    return OS_ERR_NAME_TOO_LONG;

+  }

+

+  /* Getting object.*/

+  mp = chPoolAlloc(&osal.mutexes_pool);

+  if (mp == NULL) {

+    return OS_ERR_NO_FREE_IDS;

+  }

+

+  /* Semaphore is initialized.*/

+  chMtxObjectInit(mp);

+

+  *sem_id = (uint32)mp;

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Mutex deletion.

+ *

+ * @param[in] sem_id            mutex id variable

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_MutSemDelete(uint32 sem_id) {

+  mutex_t *mp = (mutex_t *)sem_id;

+

+  /* Range check.*/

+  if ((mp < &osal.mutexes[0]) ||

+      (mp >= &osal.mutexes[OS_MAX_MUTEXES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* Resetting the mutex, no threads in queue.*/

+  chMtxUnlockAllS();

+

+  /* Flagging it as unused and returning it to the pool.*/

+  mp->queue.prev = NULL;

+  chPoolFreeI(&osal.mutexes_pool, (void *)mp);

+

+  /* Required because some thread could have been made ready.*/

+  chSchRescheduleS();

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Mutex give.

+ *

+ * @param[in] sem_id            mutex id variable

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_MutSemGive(uint32 sem_id) {

+  mutex_t *mp = (mutex_t *)sem_id;

+

+  /* Range check.*/

+  if ((mp < &osal.mutexes[0]) ||

+      (mp >= &osal.mutexes[OS_MAX_COUNT_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* If the mutex is not in use then error.*/

+  if (mp->queue.prev == NULL) {

+    chSysUnlock();

+    return OS_SEM_FAILURE;

+  }

+

+  chMtxUnlockS(mp);

+  chSchRescheduleS();

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Mutex take.

+ *

+ * @param[in] sem_id            mutex id variable

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_MutSemTake(uint32 sem_id) {

+  mutex_t *mp = (mutex_t *)sem_id;

+

+  /* Range check.*/

+  if ((mp < &osal.mutexes[0]) ||

+      (mp >= &osal.mutexes[OS_MAX_COUNT_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* If the mutex is not in use then error.*/

+  if (mp->queue.prev == NULL) {

+    chSysUnlock();

+    return OS_SEM_FAILURE;

+  }

+

+  chMtxLockS(mp);

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Retrieves a mutex id by name.

+ * @note    It is not currently implemented.

+ *

+ * @param[out] sem_id           pointer to a mutex id variable

+ * @param[in] sem_name          the mutex name

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_MutSemGetIdByName(uint32 *sem_id, const char *sem_name) {

+

+  /* NULL pointer checks.*/

+  if ((sem_id == NULL) || (sem_name == NULL)) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Checking name length.*/

+  if (strlen(sem_name) >= OS_MAX_API_NAME) {

+    return OS_ERR_NAME_TOO_LONG;

+  }

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+/**

+ * @brief   Returns mutex information.

+ * @note    This function can be safely called from timer callbacks or ISRs.

+ * @note    It is not currently implemented.

+ *

+ * @param[in] sem_id            mutex id variable

+ * @param[in] sem_prop          mutex properties

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_MutSemGetInfo(uint32 sem_id, OS_mut_sem_prop_t *sem_prop) {

+  syssts_t sts;

+  mutex_t *mp = (mutex_t *)sem_id;

+

+  /* NULL pointer checks.*/

+  if (sem_prop == NULL) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Range check.*/

+  if ((mp < &osal.mutexes[0]) ||

+      (mp >= &osal.mutexes[OS_MAX_BIN_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Entering a reentrant critical zone.*/

+  sts = chSysGetStatusAndLockX();

+

+  /* If the mutex is not in use then error.*/

+  if (mp->queue.prev == NULL) {

+    /* Leaving the critical zone.*/

+    chSysRestoreStatusX(sts);

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Leaving the critical zone.*/

+  chSysRestoreStatusX(sts);

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+/*-- Task Control API -------------------------------------------------------*/

+

+/**

+ * @brief   Task creation.

+ * @note    The task name is not copied inside the task but kept by reference,

+ *          the name is supposed to be persistent, better if defined as a

+ *          sting constant.

+ *

+ * @param[out] task_id          pointer to a task id variable

+ * @param[in] task_name         the task name

+ * @param[in] function_pointer  the task function

+ * @param[in] stack_pointer     base of stack area

+ * @param[in] stack_size        size of stack area

+ * @param[in] priority          the task priority

+ * @param[in] flags             task attributes

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_TaskCreate(uint32 *task_id,

+                    const char *task_name,

+                    osal_task_entry function_pointer,

+                    const uint32 *stack_pointer,

+                    uint32 stack_size,

+                    uint32 priority,

+                    uint32 flags) {

+  tprio_t rt_prio;

+  thread_t *tp;

+

+  (void)flags;

+

+  /* NULL pointer checks.*/

+  if ((task_id == NULL) || (task_name == NULL) ||

+      (function_pointer == NULL) || (stack_pointer == NULL)) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Checking alignment of stack base and size, it is application

+     responsibility to pass correct values.*/

+  if (!MEM_IS_ALIGNED(stack_pointer, PORT_WORKING_AREA_ALIGN) ||

+      !MEM_IS_ALIGNED(stack_size, sizeof (stkalign_t))) {

+    return OS_ERROR_ADDRESS_MISALIGNED;

+  }

+

+  /* Checking task name length.*/

+  if (strlen(task_name) >= OS_MAX_API_NAME) {

+    return OS_ERR_NAME_TOO_LONG;

+  }

+

+  /* Checking priority range.*/

+  if ((priority < MIN_PRIORITY) || (priority > MAX_PRIORITY)) {

+    return OS_ERR_INVALID_PRIORITY;

+  }

+

+  /* Checking if the specified stack size is below the bare minimum.*/

+  if (stack_size < (uint32)THD_WORKING_AREA_SIZE(0)) {

+    return OS_INVALID_INT_NUM;

+  }

+

+  /* Checking if this working area is already in use by some thread, the

+     error code is not very appropriate but this case seems to not be

+     coveded by the specification.*/

+  tp = chRegFindThreadByWorkingArea((stkalign_t *)stack_pointer);

+  if (tp != NULL) {

+    /* Releasing the thread reference.*/

+    chThdRelease(tp);

+    return OS_ERR_NO_FREE_IDS;

+  }

+

+  /* Checking if the name is already in use.*/

+  if ((tp = chRegFindThreadByName(task_name)) != NULL) {

+    /* Releasing the thread reference.*/

+    chThdRelease(tp);

+    return OS_ERR_NAME_TAKEN;

+  }

+

+  /* Converting priority to RT type.*/

+  rt_prio = (tprio_t)256 - (tprio_t)priority;

+  if (rt_prio == 1) {

+    rt_prio = 2;

+  }

+

+  thread_descriptor_t td = {

+    task_name,

+    (stkalign_t *)stack_pointer,

+    (stkalign_t *)((uint8_t *)stack_pointer + stack_size),

+    rt_prio,

+    (tfunc_t)function_pointer,

+    NULL

+  };

+

+  /* Creating the task and detaching it, other APIs will have to gain a

+     reference using the registry API.*/

+  tp = chThdCreate(&td);

+  chThdRelease(tp);

+

+  /* Storing the task id.*/

+  *task_id = (uint32)tp;

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Installs a deletion handler.

+ * @note    It is implemented as hooks in chconf.h.

+ *

+ * @param[in] function_pointer  the handler function

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_TaskInstallDeleteHandler(void *function_pointer) {

+

+  chThdGetSelfX()->osal_delete_handler = function_pointer;

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Check for task termination request.

+ * @note    This is a ChibiOS/RT extension, direct task delete is not

+ *          allowed in RT.

+ *

+ * @return                      The termination request flag.

+ * @retval false                if termination has not been requested.

+ * @retval true                 if termination has been requested.

+ *

+ * @api

+ */

+boolean OS_TaskDeleteCheck(void) {

+

+  return (boolean)chThdShouldTerminateX();

+}

+

+/**

+ * @brief   Task delete.

+ * @note    Limitation, it does not actually kill the thread, it just sets a

+ *          flag in the thread that has then to terminate voluntarily. The

+ *          flag can be checked using @p chThdShouldTerminateX().

+ *

+ * @param[in] task_id           the task id

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_TaskDelete(uint32 task_id) {

+  thread_t *tp = (thread_t *)task_id;

+  funcptr_t fp;

+

+  /* Check for thread validity, getting a reference.*/

+  if (chRegFindThreadByPointer(tp) == NULL) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  /* Asking for thread termination.*/

+  chThdTerminate(tp);

+

+  /* Getting the delete handler while the thread is still referenced.*/

+  fp = (funcptr_t)tp->osal_delete_handler;

+

+  /* Waiting for termination, releasing the reference.*/

+  chThdWait(tp);

+

+  /* Calling the delete handler, if defined.*/

+  if (fp != NULL) {

+    fp();

+  }

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Task exit.

+ *

+ * @api

+ */

+void OS_TaskExit(void) {

+

+  chThdExit(MSG_OK);

+}

+

+/**

+ * @brief   Wait for task termination.

+ * @note    This is a ChibiOS/RT extension, added for improved testability.

+ *

+ * @param[in] task_id           the task id

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_TaskWait(uint32 task_id) {

+  thread_t *tp = (thread_t *)task_id;

+

+  /* Check for thread validity, getting a reference.*/

+  if (chRegFindThreadByPointer(tp) == NULL) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  (void) chThdWait(tp);

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Task delay.

+ *

+ * @param[in] milli_second      the period in miliseconds

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_TaskDelay(uint32 milli_second) {

+

+  chThdSleepMilliseconds(milli_second);

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Change task priority.

+ * @note    Priority 255 is not available and it is transformed internally in

+ *          254.

+ *

+ * @param[in] task_id           the task id

+ * @param[in] new_priority      the task new priority

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_TaskSetPriority(uint32 task_id, uint32 new_priority) {

+  tprio_t rt_newprio;

+  thread_t *tp = (thread_t *)task_id;

+

+  /* Checking priority range.*/

+  if ((new_priority < MIN_PRIORITY) || (new_priority > MAX_PRIORITY)) {

+    return OS_ERR_INVALID_PRIORITY;

+  }

+

+  /* Converting priority to RT type.*/

+  rt_newprio = (tprio_t)256 - (tprio_t)new_priority;

+  if (rt_newprio == 1) {

+    rt_newprio = 2;

+  }

+

+  if (chThdGetPriorityX() == rt_newprio) {

+    return OS_SUCCESS;

+  }

+

+  /* Check for thread validity.*/

+  if (chRegFindThreadByPointer(tp) == NULL) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* Changing priority.*/

+  if ((tp->prio == tp->realprio) || (rt_newprio > tp->prio)) {

+    tp->prio = rt_newprio;

+  }

+  tp->realprio = rt_newprio;

+

+  /* The following states need priority queues reordering.*/

+  switch (tp->state) {

+  case CH_STATE_WTMTX:

+#if CH_CFG_USE_CONDVARS

+  case CH_STATE_WTCOND:

+#endif

+#if CH_CFG_USE_SEMAPHORES_PRIORITY

+  case CH_STATE_WTSEM:

+#endif

+#if CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY

+  case CH_STATE_SNDMSGQ:

+#endif

+    /* Re-enqueues tp with its new priority on the queue.*/

+    queue_prio_insert(queue_dequeue(tp),

+                      (threads_queue_t *)tp->u.wtobjp);

+    break;

+  case CH_STATE_READY:

+#if CH_DBG_ENABLE_ASSERTS

+    /* Prevents an assertion in chSchReadyI().*/

+    tp->state = CH_STATE_CURRENT;

+#endif

+    /* Re-enqueues tp with its new priority on the ready list.*/

+    chSchReadyI(queue_dequeue(tp));

+    break;

+  }

+

+  /* Rescheduling.*/

+  chSchRescheduleS();

+  chSysUnlock();

+

+  /* Releasing the thread reference.*/

+  chThdRelease(tp);

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Task registration.

+ * @note    In ChibiOS/RT it does nothing.

+ *

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_TaskRegister(void) {

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Current task id.

+ * @note    This function can be safely called from timer callbacks or ISRs.

+ *

+ * @return                      The current task id.

+ *

+ * @api

+ */

+uint32 OS_TaskGetId(void) {

+

+  return (uint32)chThdGetSelfX();

+}

+

+/**

+ * @brief   Retrieves a task id by name.

+ *

+ * @param[out] task_id          pointer to a task id variable

+ * @param[in] task_name         the task name

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_TaskGetIdByName(uint32 *task_id, const char *task_name) {

+  thread_t *tp;

+

+  /* NULL pointer checks.*/

+  if ((task_id == NULL) || (task_name == NULL)) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Checking task name length.*/

+  if (strlen(task_name) >= OS_MAX_API_NAME) {

+    return OS_ERR_NAME_TOO_LONG;

+  }

+

+  /* Searching in the registry.*/

+  tp = chRegFindThreadByName(task_name);

+  if (tp == NULL) {

+    return OS_ERR_NAME_NOT_FOUND;

+  }

+

+  *task_id = (uint32)tp;

+

+  /* Releasing the thread reference.*/

+  chThdRelease(tp);

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Returns task information.

+ * @note    This function can be safely called from timer callbacks or ISRs.

+ * @note    Priority 255 is not available and it is transformed internally in

+ *          254.

+ *

+ * @param[in] task_id           the task id

+ * @param[in] task_prop         task properties

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_TaskGetInfo(uint32 task_id, OS_task_prop_t *task_prop) {

+  thread_t *tp = (thread_t *)task_id;

+  size_t wasize = (size_t)tp - (size_t)tp->wabase + sizeof (thread_t);

+

+  /* NULL pointer checks.*/

+  if (task_prop == NULL) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Check for thread validity.*/

+  if (chRegFindThreadByPointer(tp) == NULL) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  strncpy(task_prop->name, tp->name, OS_MAX_API_NAME - 1);

+  task_prop->creator    = (uint32)chSysGetIdleThreadX();

+  task_prop->stack_size = (uint32)MEM_ALIGN_NEXT(wasize, PORT_STACK_ALIGN);

+  task_prop->priority   = (uint32)256U - (uint32)tp->realprio;

+  task_prop->OStask_id  = task_id;

+

+  /* Releasing the thread reference.*/

+  chThdRelease(tp);

+

+  return OS_SUCCESS;

+}

+

+/*-- System Interrupt API ---------------------------------------------------*/

+

+/* In ChibiOS interrupts are statically linked, the vectors table is in

+   flash.*/

+int32 OS_IntAttachHandler (uint32 InterruptNumber,

+                           osal_task_entry InterruptHandler,

+                           int32 parameter) {

+  (void)InterruptNumber;

+  (void)parameter;

+

+  /* NULL pointer checks.*/

+  if (InterruptHandler == NULL) {

+    return OS_INVALID_POINTER;

+  }

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+int32 OS_IntLock(void) {

+

+  return (int32)chSysGetStatusAndLockX();

+}

+

+int32 OS_IntUnlock(int32 IntLevel) {

+

+  chSysRestoreStatusX((syssts_t) IntLevel);

+

+  return OS_SUCCESS;

+}

+

+int32 OS_IntEnable(int32 Level) {

+

+  NVIC_EnableIRQ((IRQn_Type)Level);

+

+  return OS_SUCCESS;

+}

+

+int32 OS_IntDisable(int32 Level) {

+

+  NVIC_DisableIRQ((IRQn_Type)Level);

+

+  return OS_SUCCESS;

+}

+

+int32 OS_IntAck(int32 InterruptNumber) {

+

+  NVIC_ClearPendingIRQ((IRQn_Type)InterruptNumber);

+

+  return OS_SUCCESS;

+}

+

+/*-- System Exception API ---------------------------------------------------*/

+

+/* In ChibiOS exceptions are statically linked, the vectors table is in

+   flash.*/

+int32 OS_ExcAttachHandler(uint32 ExceptionNumber,

+                          void (*ExceptionHandler)(uint32, uint32 *,uint32),

+                          int32 parameter) {

+

+  (void)ExceptionNumber;

+  (void)parameter;

+

+  /* NULL pointer checks.*/

+  if (ExceptionHandler == NULL) {

+    return OS_INVALID_POINTER;

+  }

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+/* No exceptions masking.*/

+int32 OS_ExcEnable(int32 ExceptionNumber) {

+

+  (void)ExceptionNumber;

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+/* No exceptions masking.*/

+int32 OS_ExcDisable(int32 ExceptionNumber) {

+

+  (void)ExceptionNumber;

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+/*-- Floating Point Unit API ------------------------------------------------*/

+

+/* In ChibiOS exceptions are statically linked, the vectors table is in

+   flash.*/

+int32 OS_FPUExcAttachHandler(uint32 ExceptionNumber,

+                             void * ExceptionHandler ,

+                             int32 parameter) {

+

+  (void)ExceptionNumber;

+  (void)parameter;

+

+  /* NULL pointer checks.*/

+  if (ExceptionHandler == NULL) {

+    return OS_INVALID_POINTER;

+  }

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+int32 OS_FPUExcEnable(int32 ExceptionNumber) {

+

+  (void)ExceptionNumber;

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+int32 OS_FPUExcDisable(int32 ExceptionNumber) {

+

+  (void)ExceptionNumber;

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+int32 OS_FPUExcSetMask(uint32 mask) {

+

+  (void)mask;

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+int32 OS_FPUExcGetMask(uint32 *mask) {

+

+  (void)mask;

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+/** @} */