diff options
Diffstat (limited to 'os/common/abstractions/nasa_osal/src')
| -rw-r--r-- | os/common/abstractions/nasa_osal/src/osapi.c | 60 |
1 files changed, 46 insertions, 14 deletions
diff --git a/os/common/abstractions/nasa_osal/src/osapi.c b/os/common/abstractions/nasa_osal/src/osapi.c index 367d0f2d4..9d02cd05e 100644 --- a/os/common/abstractions/nasa_osal/src/osapi.c +++ b/os/common/abstractions/nasa_osal/src/osapi.c @@ -37,6 +37,10 @@ #error "CH_CFG_ST_FREQUENCY is not a multiple of 1000"
#endif
+#if CH_CFG_USE_REGISTRY == FALSE
+#error "NASA OSAL requires CH_CFG_USE_REGISTRY"
+#endif
+
#if CH_CFG_USE_EVENTS == FALSE
#error "NASA OSAL requires CH_CFG_USE_EVENTS"
#endif
@@ -49,10 +53,6 @@ #error "NASA OSAL requires CH_CFG_USE_SEMAPHORES"
#endif
-#if CH_CFG_USE_REGISTRY == FALSE
-#error "NASA OSAL requires CH_CFG_USE_REGISTRY"
-#endif
-
#if CH_CFG_USE_MEMCORE == FALSE
#error "NASA OSAL requires CH_CFG_USE_MEMCORE"
#endif
@@ -61,6 +61,10 @@ #error "NASA OSAL requires CH_CFG_USE_MEMPOOLS"
#endif
+#if CH_CFG_USE_DYNAMIC == FALSE
+#error "NASA OSAL requires CH_CFG_USE_DYNAMIC"
+#endif
+
/*===========================================================================*/
/* Module local definitions. */
/*===========================================================================*/
@@ -1279,6 +1283,9 @@ int32 OS_TaskCreate(uint32 *task_id, /* Converting priority to RT type.*/
rt_prio = (tprio_t)256 - (tprio_t)priority;
+ if (rt_prio == 1) {
+ rt_prio = 2;
+ }
tp = chThdCreateFromHeap(NULL, (size_t)stack_size, task_name,
rt_prio, (tfunc_t)function_pointer, NULL);
@@ -1325,6 +1332,15 @@ int32 OS_TaskDelete(uint32 task_id) { return OS_ERR_INVALID_ID;
}
+ /* Asking for thread termination.*/
+ chThdTerminate(tp);
+
+ /* Releasing the thread reference.*/
+ chThdRelease(tp);
+
+ /* Waiting for termination.*/
+ chThdWait(tp);
+
return OS_ERR_NOT_IMPLEMENTED;
}
@@ -1354,6 +1370,8 @@ int32 OS_TaskDelay(uint32 milli_second) { /**
* @brief Change task priority.
+ * @note Priority 255 is not available and it is transformed internally in
+ * 254.
*
* @param[in] task_id the task id
* @param[in] new_priority the task new priority
@@ -1365,11 +1383,6 @@ int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority) { tprio_t rt_newprio;
thread_t *tp = (thread_t *)task_id;
- /* Check for thread validity.*/
- if (chRegFindThreadByPointer(tp) == NULL) {
- return OS_ERR_INVALID_ID;
- }
-
/* Checking priority range.*/
if ((new_priority < MIN_PRIORITY) || (new_priority > MAX_PRIORITY)) {
return OS_ERR_INVALID_PRIORITY;
@@ -1377,11 +1390,19 @@ int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority) { /* Converting priority to RT type.*/
rt_newprio = (tprio_t)256 - (tprio_t)new_priority;
+ if (rt_newprio == 1) {
+ rt_newprio = 2;
+ }
if (chThdGetPriorityX() == rt_newprio) {
return OS_SUCCESS;
}
+ /* Check for thread validity.*/
+ if (chRegFindThreadByPointer(tp) == NULL) {
+ return OS_ERR_INVALID_ID;
+ }
+
chSysLock();
/* Changing priority.*/
@@ -1420,6 +1441,9 @@ int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority) { chSchRescheduleS();
chSysUnlock();
+ /* Releasing the thread reference.*/
+ chThdRelease(tp);
+
return OS_SUCCESS;
}
@@ -1479,6 +1503,9 @@ int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name) { *task_id = (uint32)tp;
+ /* Releasing the thread reference.*/
+ chThdRelease(tp);
+
return OS_SUCCESS;
}
@@ -1486,6 +1513,8 @@ int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name) { * @brief Returns task information.
* @note This function can be safely called from timer callbacks or ISRs.
* @note It is not currently implemented.
+ * @note Priority 255 is not available and it is transformed internally in
+ * 254.
*
* @param[in] task_id the task id
* @param[in] task_prop task properties
@@ -1497,22 +1526,25 @@ 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);
- /* Check for thread validity.*/
- if (chRegFindThreadByPointer(tp) == NULL) {
- return OS_ERR_INVALID_ID;
- }
-
/* NULL pointer checks.*/
if (task_prop == NULL) {
return OS_INVALID_POINTER;
}
+ /* Check for thread validity.*/
+ if (chRegFindThreadByPointer(tp) == NULL) {
+ return OS_ERR_INVALID_ID;
+ }
+
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;
+ /* Releasing the thread reference.*/
+ chThdRelease(tp);
+
return OS_SUCCESS;
}
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