git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8928 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 432 insertions, 3 deletions

diff --git a/os/common/ext/nasa-osal/src/osapi.c b/os/common/ext/nasa-osal/src/osapi.c
index bb76f312a..e914196d0 100644
--- a/os/common/ext/nasa-osal/src/osapi.c
+++ b/os/common/ext/nasa-osal/src/osapi.c
@@ -241,7 +241,7 @@ int32 OS_Milli2Ticks(uint32 milli_seconds) {
 

 /*-- Queues API -------------------------------------------------------------*/

 

-/*-- Semaphore and Mutex API ------------------------------------------------*/

+/*-- Binary Semaphore API ---------------------------------------------------*/

 

 /**

  * @brief   Binary semaphore creation.

@@ -314,7 +314,7 @@ int32 OS_BinSemDelete(uint32 sem_id) {
   bsp->sem.queue.prev = NULL;

   chPoolFreeI(&osal.binary_semaphores_pool, (void *)bsp);

 

-  /* Required because some thready could have been made ready.*/

+  /* Required because some thread could have been made ready.*/

   chSchRescheduleS();

 

   chSysUnlock();

@@ -513,6 +513,435 @@ int32 OS_BinSemGetInfo(uint32 sem_id, OS_bin_sem_prop_t *bin_prop) {
   return OS_ERR_NOT_IMPLEMENTED;

 }

 

+/*-- Counter Semaphore API --------------------------------------------------*/

+

+/**

+ * @brief   Counter semaphore creation.

+ *

+ * @param[out] sem_id           pointer to a counter semaphore id variable

+ * @param[in] sem_name          the counter semaphore name

+ * @param[in] sem_initial_value semaphore intial value

+ * @param[in] options           semaphore options

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_CountSemCreate (uint32 *sem_id, const char *sem_name,

+                         uint32 sem_initial_value, uint32 options) {

+  semaphore_t *sp;

+

+  (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 must be non-negative.*/

+  if ((int32)sem_initial_value < 0) {

+    return OS_INVALID_INT_NUM;

+  }

+

+  sp = chPoolAlloc(&osal.count_semaphores_pool);

+

+  if (sp == 0) {

+    return OS_SEM_FAILURE;

+  }

+

+  /* Semaphore is initialized.*/

+  chSemObjectInit(sp, (cnt_t)sem_initial_value);

+

+  *sem_id = (uint32)sp;

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Counter semaphore deletion.

+ *

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

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_CountSemDelete(uint32 sem_id) {

+  semaphore_t *sp = (semaphore_t *)sem_id;

+

+  if ((sp < &osal.count_semaphores[0]) ||

+      (sp >= &osal.count_semaphores[OS_MAX_COUNT_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* Resetting the semaphore, no threads in queue.*/

+  chSemResetI(sp, 0);

+

+  /* Flagging it as unused and returning it to the pool.*/

+  sp->queue.prev = NULL;

+  chPoolFreeI(&osal.count_semaphores_pool, (void *)sp);

+

+  /* Required because some thread could have been made ready.*/

+  chSchRescheduleS();

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Counter semaphore give.

+ *

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

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_CountSemGive(uint32 sem_id) {

+  semaphore_t *sp = (semaphore_t *)sem_id;

+

+  if ((sp < &osal.count_semaphores[0]) ||

+      (sp >= &osal.count_semaphores[OS_MAX_COUNT_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* If the semaphore is not in use then error.*/

+  if (sp->queue.prev == NULL) {

+    chSysUnlock();

+    return OS_SEM_FAILURE;

+  }

+

+  chSemSignalI(sp);

+  chSchRescheduleS();

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Counter semaphore take.

+ *

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

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_CountSemTake(uint32 sem_id) {

+  semaphore_t *sp = (semaphore_t *)sem_id;

+

+  if ((sp < &osal.count_semaphores[0]) ||

+      (sp >= &osal.count_semaphores[OS_MAX_COUNT_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* If the semaphore is not in use then error.*/

+  if (sp->queue.prev == NULL) {

+    chSysUnlock();

+    return OS_SEM_FAILURE;

+  }

+

+  (void) chSemWaitS(sp);

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Counter semaphore take with timeout.

+ *

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

+ * @param[in] msecs             timeout in milliseconds

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_CountSemTimedWait(uint32 sem_id, uint32 msecs) {

+  semaphore_t *sp = (semaphore_t *)sem_id;

+  msg_t msg;

+

+  if ((sp < &osal.count_semaphores[0]) ||

+      (sp >= &osal.count_semaphores[OS_MAX_COUNT_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 (sp->queue.prev == NULL) {

+    chSysUnlock();

+    return OS_SEM_FAILURE;

+  }

+

+  msg = chSemWaitTimeoutS(sp, MS2ST(msecs));

+

+  chSysUnlock();

+

+  return msg == MSG_TIMEOUT ? OS_SEM_TIMEOUT : OS_SUCCESS;

+}

+

+/**

+ * @brief   Retrieves a counter semaphore id by name.

+ * @note    It is not currently implemented.

+ *

+ * @param[out] sem_id           pointer to a counter semaphore id variable

+ * @param[in] sem_name          the counter semaphore name

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_CountSemGetIdByName(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 counter semaphore information.

+ *

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

+ * @param[in] sem_prop          counter semaphore properties

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_CountSemGetInfo(uint32 sem_id, OS_count_sem_prop_t *sem_prop) {

+  semaphore_t *sp = (semaphore_t *)sem_id;

+

+  /* NULL pointer checks.*/

+  if (sem_prop == NULL) {

+    return OS_INVALID_POINTER;

+  }

+

+  if ((sp < &osal.count_semaphores[0]) ||

+      (sp >= &osal.count_semaphores[OS_MAX_BIN_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* If the semaphore is not in use then error.*/

+  if (sp->queue.prev == NULL) {

+    chSysUnlock();

+    return OS_SEM_FAILURE;

+  }

+

+  chSysUnlock();

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+/*-- Mutex API --------------------------------------------------------------*/

+

+/**

+ * @brief   Mutex creation.

+ *

+ * @param[out] sem_id           pointer to a mutex id variable

+ * @param[in] sem_name          the mutex name

+ * @param[in] options           mutex options

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_MutSemCreate (uint32 *sem_id, const char *sem_name, uint32 options) {

+  mutex_t *mp;

+

+  (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;

+  }

+

+  mp = chPoolAlloc(&osal.mutexes_pool);

+

+  if (mp == 0) {

+    return OS_SEM_FAILURE;

+  }

+

+  /* Semaphore is initialized.*/

+  chMtxObjectInit(mp);

+

+  *sem_id = (uint32)mp;

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Mutex deletion.

+ *

+ * @param[in] sem_id            mutex id variable

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_MutSemDelete(uint32 sem_id) {

+  mutex_t *mp = (mutex_t *)sem_id;

+

+  if ((mp < &osal.mutexes[0]) ||

+      (mp >= &osal.mutexes[OS_MAX_MUTEXES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* Resetting the mutex, no threads in queue.*/

+  chMtxUnlockAllS();

+

+  /* Flagging it as unused and returning it to the pool.*/

+  mp->queue.prev = NULL;

+  chPoolFreeI(&osal.mutexes_pool, (void *)mp);

+

+  /* Required because some thread could have been made ready.*/

+  chSchRescheduleS();

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Mutex give.

+ *

+ * @param[in] sem_id            mutex id variable

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_MutSemGive(uint32 sem_id) {

+  mutex_t *mp = (mutex_t *)sem_id;

+

+  if ((mp < &osal.mutexes[0]) ||

+      (mp >= &osal.mutexes[OS_MAX_COUNT_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* If the mutex is not in use then error.*/

+  if (mp->queue.prev == NULL) {

+    chSysUnlock();

+    return OS_SEM_FAILURE;

+  }

+

+  chMtxUnlockS(mp);

+  chSchRescheduleS();

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Mutex take.

+ *

+ * @param[in] sem_id            mutex id variable

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_MutSemTake(uint32 sem_id) {

+  mutex_t *mp = (mutex_t *)sem_id;

+

+  if ((mp < &osal.mutexes[0]) ||

+      (mp >= &osal.mutexes[OS_MAX_COUNT_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* If the mutex is not in use then error.*/

+  if (mp->queue.prev == NULL) {

+    chSysUnlock();

+    return OS_SEM_FAILURE;

+  }

+

+  chMtxLockS(mp);

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+/**

+ * @brief   Retrieves a mutex id by name.

+ * @note    It is not currently implemented.

+ *

+ * @param[out] sem_id           pointer to a mutex id variable

+ * @param[in] sem_name          the mutex name

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OSMutSemGetIdByName(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 mutex information.

+ *

+ * @param[in] sem_id            mutex id variable

+ * @param[in] sem_prop          mutex properties

+ * @return                      An error code.

+ *

+ * @api

+ */

+int32 OS_MutSemGetInfo(uint32 sem_id, OS_mut_sem_prop_t *sem_prop) {

+  mutex_t *mp = (mutex_t *)sem_id;

+

+  /* NULL pointer checks.*/

+  if (sem_prop == NULL) {

+    return OS_INVALID_POINTER;

+  }

+

+  if ((mp < &osal.mutexes[0]) ||

+      (mp >= &osal.mutexes[OS_MAX_BIN_SEMAPHORES])) {

+    return OS_ERR_INVALID_ID;

+  }

+

+  chSysLock();

+

+  /* If the mutex is not in use then error.*/

+  if (mp->queue.prev == NULL) {

+    chSysUnlock();

+    return OS_SEM_FAILURE;

+  }

+

+  chSysUnlock();

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

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

 

 /**

@@ -771,7 +1200,7 @@ int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name) {
 /**

  * @brief   Returns task information.

  *

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

+ * @param[in] task_id           the task id

  * @param[in] task_prop         task properties

  * @return                      An error code.

  *