diff options
| -rw-r--r-- | os/common/abstractions/nasa_osal/include/osapi-os-custom.h | 1 | ||||
| -rw-r--r-- | os/common/abstractions/nasa_osal/src/osapi.c | 198 |
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;
+}
+
/** @} */
|