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| author | Giovanni Di Sirio <gdisirio@gmail.com> | 2016-03-01 10:03:37 +0000 |
|---|---|---|
| committer | Giovanni Di Sirio <gdisirio@gmail.com> | 2016-03-01 10:03:37 +0000 |
| commit | 1c9814ef11861ab968cf8ab0c4021dbe46d86bf5 (patch) | |
| tree | 4e523db7d1cf1306637bccc0ecf459a2c09d9d5e /os/common/abstractions | |
| parent | 1643fb26c9748ba28f6950e9f17f98259ae7ef15 (diff) | |
| download | ChibiOS-1c9814ef11861ab968cf8ab0c4021dbe46d86bf5.tar.gz ChibiOS-1c9814ef11861ab968cf8ab0c4021dbe46d86bf5.tar.bz2 ChibiOS-1c9814ef11861ab968cf8ab0c4021dbe46d86bf5.zip | |
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8999 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/common/abstractions')
| -rw-r--r-- | os/common/abstractions/nasa_osal/src/osapi.c | 78 |
1 files changed, 62 insertions, 16 deletions
diff --git a/os/common/abstractions/nasa_osal/src/osapi.c b/os/common/abstractions/nasa_osal/src/osapi.c index de31ccae4..babde2975 100644 --- a/os/common/abstractions/nasa_osal/src/osapi.c +++ b/os/common/abstractions/nasa_osal/src/osapi.c @@ -109,9 +109,13 @@ typedef struct { 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;
/**
@@ -166,14 +170,6 @@ static void timer_handler(void *p) { }
}
-/**
- * @brief Message allocation from the default heap.
- */
-static void *feed_message(size_t size, unsigned align) {
-
- return chHeapAllocAligned(NULL, size, align);
-}
-
/*===========================================================================*/
/* Module exported functions. */
/*===========================================================================*/
@@ -544,7 +540,7 @@ int32 OS_TimerGetInfo(uint32 timer_id, OS_timer_prop_t *timer_prop) { int32 OS_QueueCreate(uint32 *queue_id, const char *queue_name,
uint32 queue_depth, uint32 data_size, uint32 flags) {
osal_queue_t *oqp;
- msg_t *buffer;
+ size_t msgsize;
(void)flags;
@@ -570,24 +566,74 @@ int32 OS_QueueCreate(uint32 *queue_id, const char *queue_name, return OS_ERR_NO_FREE_IDS;
}
- /* Attempting buffer allocation.*/
+ /* 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) {
+ 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) {
+ chHeapFree(oqp->mb_buffer);
+ return OS_ERROR;
+ }
/* Initializing object static parts.*/
strncpy(oqp->name, queue_name, OS_MAX_API_NAME);
+ 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;
- chPoolObjectInit(&oqp->messages,
- sizeof(size_t) + data_size,
- feed_message);
- chMBObjectInit(&oqp->mb, buffer, (size_t)queue_depth);
return OS_SUCCESS;
}
int32 OS_QueueDelete(uint32 queue_id) {
+ osal_queue_t *oqp = (osal_queue_t *)queue_id;
+ void *q_buffer, *mb_buffer;
- (void)queue_id;
+ /* Range check.*/
+ if ((oqp < &osal.queues[0]) ||
+ (oqp >= &osal.queues[OS_MAX_QUEUES])) {
+ return OS_ERR_INVALID_ID;
+ }
- return OS_ERR_NOT_IMPLEMENTED;
+ /* Critical zone.*/
+ chSysLock();
+
+ /* Marking as no more free.*/
+ 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;
}
int32 OS_QueueGet(uint32 queue_id, void *data, uint32 size,
|