git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8924 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 339 insertions, 3 deletions

diff --git a/os/common/ext/nasa-osal/src/osapi.c b/os/common/ext/nasa-osal/src/osapi.c
index 85237d27c..bb76f312a 100644
--- a/os/common/ext/nasa-osal/src/osapi.c
+++ b/os/common/ext/nasa-osal/src/osapi.c
@@ -41,6 +41,14 @@
 #error "NASA OSAL requires CH_CFG_USE_REGISTRY"

 #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

+

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

 /* Module local definitions.                                                 */

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

@@ -61,6 +69,12 @@
  */

 typedef struct {

   bool                  printf_enabled;

+  memory_pool_t         binary_semaphores_pool;

+  memory_pool_t         count_semaphores_pool;

+  memory_pool_t         mutexes_pool;

+  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;

 

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

@@ -93,8 +107,33 @@ int32 OS_API_Init(void) {
 

   chSysInit();

 

+  /* OS_printf() initially disabled.*/

   osal.printf_enabled = false;

 

+  /* Binary Semaphores pool initialization.*/

+  chPoolObjectInit(&osal.binary_semaphores_pool,

+                   sizeof (binary_semaphore_t),

+                   NULL);

+  chPoolLoadArray(&osal.binary_semaphores_pool,

+                  &osal.binary_semaphores,

+                  sizeof (binary_semaphore_t));

+

+  /* Counter Semaphores pool initialization.*/

+  chPoolObjectInit(&osal.count_semaphores_pool,

+                   sizeof (semaphore_t),

+                   NULL);

+  chPoolLoadArray(&osal.count_semaphores_pool,

+                  &osal.count_semaphores,

+                  sizeof (semaphore_t));

+

+  /* Mutexes pool initialization.*/

+  chPoolObjectInit(&osal.mutexes_pool,

+                   sizeof (mutex_t),

+                   NULL);

+  chPoolLoadArray(&osal.mutexes_pool,

+                  &osal.mutexes,

+                  sizeof (mutex_t));

+

   return OS_SUCCESS;

 }

 

@@ -204,6 +243,276 @@ int32 OS_Milli2Ticks(uint32 milli_seconds) {
 

 /*-- Semaphore and Mutex 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 intial 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;

+  }

+

+  bsp = chPoolAlloc(&osal.binary_semaphores_pool);

+

+  if (bsp == 0) {

+    return OS_SEM_FAILURE;

+  }

+

+  /* Semaphore is initialized.*/

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

+

+  *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;

+

+  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 thready could have been made ready.*/

+  chSchRescheduleS();

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Binary semaphore flush.

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

+ *

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

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_BinSemFlush(uint32 sem_id) {

+  binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

+

+  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;

+  }

+

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

+    chBSemResetI(bsp, true);

+    chSchRescheduleS();

+  }

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Binary semaphore give.

+ *

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

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_BinSemGive(uint32 sem_id) {

+  binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

+

+  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;

+  }

+

+  chBSemSignalI(bsp);

+  chSchRescheduleS();

+

+  chSysUnlock();

+

+  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;

+

+  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;

+

+  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;

+  }

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+/**

+ * @brief   Returns binary semaphore information.

+ *

+ * @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) {

+  binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

+

+  /* NULL pointer checks.*/

+  if (bin_prop == NULL) {

+    return OS_INVALID_POINTER;

+  }

+

+  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;

+  }

+

+  chSysUnlock();

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

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

 

 /**

@@ -279,6 +588,7 @@ int32 OS_TaskCreate(uint32 *task_id,
 

 /**

  * @brief   Installs a deletion handler.

+ * @note    It is not currently implemented.

  *

  * @param[in] function_pointer  the handler function

  * @return                      An error code.

@@ -425,6 +735,12 @@ uint32 OS_TaskGetId(void) {
 

 /**

  * @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;

@@ -452,11 +768,31 @@ int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name) {
   return OS_ERR_NAME_NOT_FOUND;

 }

 

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

+/**

+ * @brief   Returns task information.

+ *

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

+ * @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->stklimit + sizeof (thread_t);

 

-  (void)task_id;

-  (void)task_prop;

+  /* NULL pointer checks.*/

+  if (task_prop == NULL) {

+    return OS_INVALID_POINTER;

+  }

+

+  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;

 

   return OS_ERR_NOT_IMPLEMENTED;

 }

+

 /** @} */