git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9055 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 190 insertions, 9 deletions

diff --git a/os/common/abstractions/nasa_osal/include/osapi-os-custom.h b/os/common/abstractions/nasa_osal/include/osapi-os-custom.h
index f14c4fd33..dffe97c6d 100644
--- a/os/common/abstractions/nasa_osal/include/osapi-os-custom.h
+++ b/os/common/abstractions/nasa_osal/include/osapi-os-custom.h
@@ -52,6 +52,7 @@
 #ifdef __cplusplus

 extern "C" {

 #endif

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

   boolean OS_TaskDeleteCheck(void);

 #ifdef __cplusplus

 }

diff --git a/os/common/abstractions/nasa_osal/src/osapi.c b/os/common/abstractions/nasa_osal/src/osapi.c
index aac0cf4bd..7033716e6 100644
--- a/os/common/abstractions/nasa_osal/src/osapi.c
+++ b/os/common/abstractions/nasa_osal/src/osapi.c
@@ -22,6 +22,7 @@
  * @{

  */

 

+#include <stdarg.h>

 #include <string.h>

 

 #include "ch.h"

@@ -131,6 +132,9 @@ typedef struct {
  */

 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;

@@ -154,6 +158,22 @@ static osal_t osal;
 /*===========================================================================*/

 

 /**

+ * @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) {

@@ -182,7 +202,7 @@ static void timer_handler(void *p) {
  *          of the OS Abstraction Layer. It must be called in the application

  *          startup code before calling any other OS routines.

  *

- * @return                      kAn error code.

+ * @return                      An error code.

  *

  * @api

  */

@@ -192,6 +212,13 @@ int32 OS_API_Init(void) {
 

   /* 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,

@@ -248,11 +275,12 @@ int32 OS_API_Init(void) {
  * @api

  */

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

+  va_list ap;

 

-  (void)string;

-

-  if (osal.printf_enabled) {

-

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

+    va_start(ap, string);

+    (void) osal.printf(string);

+    va_end(ap);

   }

 }

 

@@ -277,6 +305,20 @@ void OS_printf_enable(void) {
 }

 

 /**

+ * @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.

@@ -301,10 +343,11 @@ int32 OS_GetLocalTime(OS_time_t *time_struct) {
      return OS_INVALID_POINTER;

   }

 

-  time_struct->seconds = 0;

-  time_struct->microsecs = 0;

+  chSysLock();

+  *time_struct = osal.localtime;

+  chSysUnlock();

 

-  return OS_ERR_NOT_IMPLEMENTED;

+  return OS_SUCCESS;

 }

 

 /**

@@ -322,7 +365,11 @@ int32 OS_SetLocalTime(OS_time_t *time_struct) {
      return OS_INVALID_POINTER;

   }

 

-  return OS_ERR_NOT_IMPLEMENTED;

+  chSysLock();

+  osal.localtime = *time_struct;

+  chSysUnlock();

+

+  return OS_SUCCESS;

 }

 

 /**

@@ -2034,4 +2081,137 @@ int32 OS_TaskGetInfo(uint32 task_id, OS_task_prop_t *task_prop) {
   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;

+}

+

 /** @} */