git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8946 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 23 insertions, 21 deletions

diff --git a/os/common/abstractions/nasa_osal/src/osapi.c b/os/common/abstractions/nasa_osal/src/osapi.c
index bbbbd045c..f192a35e0 100644
--- a/os/common/abstractions/nasa_osal/src/osapi.c
+++ b/os/common/abstractions/nasa_osal/src/osapi.c
@@ -61,10 +61,6 @@
 #error "NASA OSAL requires CH_CFG_USE_MEMPOOLS"

 #endif

 

-#if CH_CFG_USE_DYNAMIC == FALSE

-#error "NASA OSAL requires CH_CFG_USE_DYNAMIC"

-#endif

-

 /*===========================================================================*/

 /* Module local definitions.                                                 */

 /*===========================================================================*/

@@ -1312,17 +1308,35 @@ int32 OS_TaskCreate(uint32 *task_id,
     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.*/

+  if ((tp = chRegFindThreadByWorkingArea((stkalign_t *)stack_pointer)) != NULL) {

+    return OS_ERR_NO_FREE_IDS;

+  }

+

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

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

+    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;

   }

 

-  tp = chThdCreateFromHeap(NULL, (size_t)stack_size, task_name,

-                           rt_prio, (tfunc_t)function_pointer, NULL);

-  if (tp == NULL) {

-    return OS_ERR_NO_FREE_IDS;

-  }

+  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.*/

+  tp = chThdCreate(&td);

 

   /* Storing the task id.*/

   *task_id = (uint32)tp;

@@ -1376,9 +1390,6 @@ int32 OS_TaskDelete(uint32 task_id) {
     ((funcptr_t)(tp->osal_delete_handler))();

   }

 

-  /* Releasing the thread reference.*/

-  chThdRelease(tp);

-

   return OS_SUCCESS;

 }

 

@@ -1479,9 +1490,6 @@ int32 OS_TaskSetPriority(uint32 task_id, uint32 new_priority) {
   chSchRescheduleS();

   chSysUnlock();

 

-  /* Releasing the thread reference.*/

-  chThdRelease(tp);

-

   return OS_SUCCESS;

 }

 

@@ -1541,9 +1549,6 @@ int32 OS_TaskGetIdByName(uint32 *task_id, const char *task_name) {
 

   *task_id = (uint32)tp;

 

-  /* Releasing the thread reference.*/

-  chThdRelease(tp);

-

   return OS_SUCCESS;

 }

 

@@ -1580,9 +1585,6 @@ int32 OS_TaskGetInfo(uint32 task_id, OS_task_prop_t *task_prop) {
   task_prop->priority   = (uint32)256U - (uint32)tp->realprio;

   task_prop->OStask_id  = task_id;

 

-  /* Releasing the thread reference.*/

-  chThdRelease(tp);

-

   return OS_SUCCESS;

 }