git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8942 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 46 insertions, 14 deletions

diff --git a/os/common/abstractions/nasa_osal/src/osapi.c b/os/common/abstractions/nasa_osal/src/osapi.c
index 367d0f2d4..9d02cd05e 100644
--- a/os/common/abstractions/nasa_osal/src/osapi.c
+++ b/os/common/abstractions/nasa_osal/src/osapi.c
@@ -37,6 +37,10 @@
 #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

@@ -49,10 +53,6 @@
 #error "NASA OSAL requires CH_CFG_USE_SEMAPHORES"

 #endif

 

-#if CH_CFG_USE_REGISTRY == FALSE

-#error "NASA OSAL requires CH_CFG_USE_REGISTRY"

-#endif

-

 #if CH_CFG_USE_MEMCORE == FALSE

 #error "NASA OSAL requires CH_CFG_USE_MEMCORE"

 #endif

@@ -61,6 +61,10 @@
 #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.                                                 */

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

@@ -1279,6 +1283,9 @@ int32 OS_TaskCreate(uint32 *task_id,
 

   /* 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);

@@ -1325,6 +1332,15 @@ int32 OS_TaskDelete(uint32 task_id) {
     return OS_ERR_INVALID_ID;

   }

 

+  /* Asking for thread termination.*/

+  chThdTerminate(tp);

+

+  /* Releasing the thread reference.*/

+  chThdRelease(tp);

+

+  /* Waiting for termination.*/

+  chThdWait(tp);

+

   return OS_ERR_NOT_IMPLEMENTED;

 }

 

@@ -1354,6 +1370,8 @@ int32 OS_TaskDelay(uint32 milli_second) {
 

 /**

  * @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

@@ -1365,11 +1383,6 @@ int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority) {
   tprio_t rt_newprio;

   thread_t *tp = (thread_t *)task_id;

 

-  /* Check for thread validity.*/

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

-    return OS_ERR_INVALID_ID;

-  }

-

   /* Checking priority range.*/

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

     return OS_ERR_INVALID_PRIORITY;

@@ -1377,11 +1390,19 @@ int32 OS_TaskSetPriority (uint32 task_id, uint32 new_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.*/

@@ -1420,6 +1441,9 @@ int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority) {
   chSchRescheduleS();

   chSysUnlock();

 

+  /* Releasing the thread reference.*/

+  chThdRelease(tp);

+

   return OS_SUCCESS;

 }

 

@@ -1479,6 +1503,9 @@ int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name) {
 

   *task_id = (uint32)tp;

 

+  /* Releasing the thread reference.*/

+  chThdRelease(tp);

+

   return OS_SUCCESS;

 }

 

@@ -1486,6 +1513,8 @@ int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name) {
  * @brief   Returns task information.

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

  * @note    It is not currently implemented.

+ * @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

@@ -1497,22 +1526,25 @@ 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->stklimit + sizeof (thread_t);

 

-  /* Check for thread validity.*/

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

-    return OS_ERR_INVALID_ID;

-  }

-

   /* 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;

 }