diff options
| -rw-r--r-- | os/common/abstractions/nasa_osal/src/osapi.c | 181 |
1 files changed, 170 insertions, 11 deletions
diff --git a/os/common/abstractions/nasa_osal/src/osapi.c b/os/common/abstractions/nasa_osal/src/osapi.c index ae659593e..c84065c34 100644 --- a/os/common/abstractions/nasa_osal/src/osapi.c +++ b/os/common/abstractions/nasa_osal/src/osapi.c @@ -29,6 +29,18 @@ #include "common_types.h"
#include "osapi.h"
+#if CH_CFG_ST_FREQUENCY > 1000000
+#error "CH_CFG_ST_FREQUENCY limit is 1000000"
+#endif
+
+#if (CH_CFG_ST_FREQUENCY % 1000) != 0
+#error "CH_CFG_ST_FREQUENCY is not a multiple of 1000"
+#endif
+
+#if CH_CFG_USE_EVENTS == FALSE
+#error "NASA OSAL requires CH_CFG_USE_EVENTS"
+#endif
+
#if CH_CFG_USE_MUTEXES == FALSE
#error "NASA OSAL requires CH_CFG_USE_MUTEXES"
#endif
@@ -101,6 +113,23 @@ static osal_t osal; /* Module local functions. */
/*===========================================================================*/
+/**
+ * @brief Virtual timers callback.
+ */
+static void timer_handler(void *p) {
+ osal_timer_t *otp = (osal_timer_t *)p;
+
+ /* Real callback.*/
+ otp->callback_ptr((uint32)p);
+
+ /* Timer restart if an interval is defined.*/
+ if (otp->interval_time != 0) {
+ chSysLockFromISR();
+ chVTSetI(&otp->vt, US2ST(otp->interval_time), timer_handler, p);
+ chSysUnlockFromISR();
+ }
+}
+
/*===========================================================================*/
/* Module exported functions. */
/*===========================================================================*/
@@ -263,6 +292,17 @@ int32 OS_Milli2Ticks(uint32 milli_seconds) { /*-- timers API -------------------------------------------------------------*/
+/**
+ * @brief Binary semaphore creation.
+ *
+ * @param[out] timer_id pointer to a timer id variable
+ * @param[in] timer_name the timer name
+ * @param[out] clock_accuracy timer accuracy in microseconds
+ * @param[in] callback_ptr timer callback
+ * @return An error code.
+ *
+ * @api
+ */
int32 OS_TimerCreate(uint32 *timer_id, const char *timer_name,
uint32 *clock_accuracy, OS_TimerCallback_t callback_ptr) {
osal_timer_t *otp;
@@ -296,11 +336,21 @@ int32 OS_TimerCreate(uint32 *timer_id, const char *timer_name, otp->interval_time = 0;
otp->callback_ptr = callback_ptr;
+ *clock_accuracy = (uint32)(1000000 / CH_CFG_ST_FREQUENCY);
+
chSysUnlock();
return OS_SUCCESS;
}
+/**
+ * @brief Timer deletion.
+ *
+ * @param[in] timer_id timer id variable
+ * @return An error code.
+ *
+ * @api
+ */
int32 OS_TimerDelete(uint32 timer_id) {
osal_timer_t *otp = (osal_timer_t *)timer_id;
@@ -325,16 +375,110 @@ int32 OS_TimerDelete(uint32 timer_id) { return OS_SUCCESS;
}
+/**
+ * @brief Timer deletion.
+ * @note This function can be safely called from timer callbacks or ISRs.
+ *
+ * @param[in] timer_id timer id variable
+ * @param[in] start_time start time in microseconds or zero
+ * @param[in] interval_time interval time in microseconds or zero
+ * @return An error code.
+ *
+ * @api
+ */
int32 OS_TimerSet(uint32 timer_id, uint32 start_time, uint32 interval_time) {
+ syssts_t sts;
+ osal_timer_t *otp = (osal_timer_t *)timer_id;
+
+ /* Range check.*/
+ if ((otp < &osal.timers[0]) ||
+ (otp >= &osal.timers[OS_MAX_TIMERS])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ sts = chSysGetStatusAndLockX();
+
+ if (start_time == 0) {
+ chVTResetI(&otp->vt);
+ }
+ else {
+ otp->start_time = start_time;
+ otp->interval_time = interval_time;
+ chVTSetI(&otp->vt, US2ST(start_time), timer_handler, (void *)timer_id);
+ }
+ chSysRestoreStatusX(sts);
+
+ return OS_SUCCESS;
}
+/**
+ * @brief Retrieves a timer id by name.
+ * @note It is not currently implemented.
+ *
+ * @param[out] timer_id pointer to a timer id variable
+ * @param[in] sem_name the timer name
+ * @return An error code.
+ *
+ * @api
+ */
int32 OS_TimerGetIdByName (uint32 *timer_id, const char *timer_name) {
+ /* NULL pointer checks.*/
+ if ((timer_id == NULL) || (timer_id == NULL)) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Checking name length.*/
+ if (strlen(timer_name) >= OS_MAX_API_NAME) {
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
+ return OS_ERR_NOT_IMPLEMENTED;
}
+/**
+ * @brief Returns timer information.
+ * @note This function can be safely called from timer callbacks or ISRs.
+ *
+ * @param[in] timer_id timer id variable
+ * @param[in] timer_prop timer properties
+ * @return An error code.
+ *
+ * @api
+ */
int32 OS_TimerGetInfo (uint32 timer_id, OS_timer_prop_t *timer_prop) {
+ syssts_t sts;
+ osal_timer_t *otp = (osal_timer_t *)timer_id;
+
+ /* NULL pointer checks.*/
+ if (timer_prop == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Range check.*/
+ if ((otp < &osal.timers[0]) ||
+ (otp >= &osal.timers[OS_MAX_TIMERS])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ sts = chSysGetStatusAndLockX();
+
+ /* If the semaphore is not in use then error.*/
+ if (otp->is_free) {
+ chSysRestoreStatusX(sts);
+ return OS_ERR_INVALID_ID;
+ }
+
+ strncpy(timer_prop->name, otp->name, OS_MAX_API_NAME - 1);
+ timer_prop->creator = (uint32)0;
+ timer_prop->start_time = otp->start_time;
+ timer_prop->interval_time = otp->interval_time;
+ timer_prop->accuracy = (uint32)(1000000 / CH_CFG_ST_FREQUENCY);
+ chSysRestoreStatusX(sts);
+
+ return OS_SUCCESS;
}
/*-- Queues API -------------------------------------------------------------*/
@@ -423,7 +567,7 @@ int32 OS_BinSemDelete(uint32 sem_id) { /**
* @brief Binary semaphore flush.
* @note The state of the binary semaphore is not changed.
- * @note This function can be safely called from timer handlers.
+ * @note This function can be safely called from timer callbacks or ISRs.
*
* @param[in] sem_id binary semaphore id variable
* @return An error code.
@@ -457,7 +601,7 @@ int32 OS_BinSemFlush(uint32 sem_id) { /**
* @brief Binary semaphore give.
- * @note This function can be safely called from timer handlers.
+ * @note This function can be safely called from timer callbacks or ISRs.
*
* @param[in] sem_id binary semaphore id variable
* @return An error code.
@@ -577,12 +721,17 @@ int32 OS_BinSemGetIdByName(uint32 *sem_id, const char *sem_name) { return OS_INVALID_POINTER;
}
+ /* Checking name length.*/
+ if (strlen(sem_name) >= OS_MAX_API_NAME) {
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
return OS_ERR_NOT_IMPLEMENTED;
}
/**
* @brief Returns binary semaphore information.
- * @note This function can be safely called from timer handlers.
+ * @note This function can be safely called from timer callbacks or ISRs.
* @note It is not currently implemented.
*
* @param[in] sem_id binary semaphore id variable
@@ -611,7 +760,7 @@ int32 OS_BinSemGetInfo(uint32 sem_id, OS_bin_sem_prop_t *bin_prop) { /* If the semaphore is not in use then error.*/
if (bsp->sem.queue.prev == NULL) {
chSysRestoreStatusX(sts);
- return OS_SEM_FAILURE;
+ return OS_ERR_INVALID_ID;
}
chSysRestoreStatusX(sts);
@@ -702,7 +851,7 @@ int32 OS_CountSemDelete(uint32 sem_id) { /**
* @brief Counter semaphore give.
- * @note This function can be safely called from timer handlers.
+ * @note This function can be safely called from timer callbacks or ISRs.
*
* @param[in] sem_id counter semaphore id variable
* @return An error code.
@@ -822,12 +971,17 @@ int32 OS_CountSemGetIdByName(uint32 *sem_id, const char *sem_name) { return OS_INVALID_POINTER;
}
+ /* Checking name length.*/
+ if (strlen(sem_name) >= OS_MAX_API_NAME) {
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
return OS_ERR_NOT_IMPLEMENTED;
}
/**
* @brief Returns counter semaphore information.
- * @note This function can be safely called from timer handlers.
+ * @note This function can be safely called from timer callbacks or ISRs.
* @note It is not currently implemented.
*
* @param[in] sem_id counter semaphore id variable
@@ -856,7 +1010,7 @@ int32 OS_CountSemGetInfo(uint32 sem_id, OS_count_sem_prop_t *sem_prop) { /* If the semaphore is not in use then error.*/
if (sp->queue.prev == NULL) {
chSysRestoreStatusX(sts);
- return OS_SEM_FAILURE;
+ return OS_ERR_INVALID_ID;
}
chSysRestoreStatusX(sts);
@@ -1020,12 +1174,17 @@ int32 OS_MutSemGetIdByName(uint32 *sem_id, const char *sem_name) { return OS_INVALID_POINTER;
}
+ /* Checking name length.*/
+ if (strlen(sem_name) >= OS_MAX_API_NAME) {
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
return OS_ERR_NOT_IMPLEMENTED;
}
/**
* @brief Returns mutex information.
- * @note This function can be safely called from timer handlers.
+ * @note This function can be safely called from timer callbacks or ISRs.
* @note It is not currently implemented.
*
* @param[in] sem_id mutex id variable
@@ -1054,7 +1213,7 @@ int32 OS_MutSemGetInfo(uint32 sem_id, OS_mut_sem_prop_t *sem_prop) { /* If the mutex is not in use then error.*/
if (mp->queue.prev == NULL) {
chSysRestoreStatusX(sts);
- return OS_SEM_FAILURE;
+ return OS_ERR_INVALID_ID;
}
chSysRestoreStatusX(sts);
@@ -1272,7 +1431,7 @@ int32 OS_TaskRegister(void) { /**
* @brief Current task id.
- * @note This function can be safely called from timer handlers.
+ * @note This function can be safely called from timer callbacks or ISRs.
*
* @return The current task id.
*
@@ -1322,7 +1481,7 @@ int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name) { /**
* @brief Returns task information.
- * @note This function can be safely called from timer handlers.
+ * @note This function can be safely called from timer callbacks or ISRs.
* @note It is not currently implemented.
*
* @param[in] task_id the task id
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