git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8994 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 142 insertions, 4 deletions

diff --git a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/main.c b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/main.c
index f2431faee..ba102be73 100644
--- a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/main.c
+++ b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/main.c
@@ -29,9 +29,9 @@ static void blinker(void) {
   OS_TaskRegister();

 

   while (true) {

-    palSetPad(GPIOD, GPIOD_LED3);       /* Orange.  */

+    palSetLine(LINE_LED3);       /* Orange.  */

     OS_TaskDelay(500);

-    palClearPad(GPIOD, GPIOD_LED3);     /* Orange.  */

+    palClearLine(LINE_LED3);     /* Orange.  */

     OS_TaskDelay(500);

   }

 }

diff --git a/os/common/abstractions/nasa_osal/src/osapi.c b/os/common/abstractions/nasa_osal/src/osapi.c
index 0a805a99a..de31ccae4 100644
--- a/os/common/abstractions/nasa_osal/src/osapi.c
+++ b/os/common/abstractions/nasa_osal/src/osapi.c
@@ -61,6 +61,10 @@
 #error "NASA OSAL requires CH_CFG_USE_MEMPOOLS"

 #endif

 

+#if CH_CFG_USE_HEAP == FALSE

+#error "NASA OSAL requires CH_CFG_USE_HEAP"

+#endif

+

 /*===========================================================================*/

 /* Module local definitions.                                                 */

 /*===========================================================================*/

@@ -68,6 +72,12 @@
 #define MIN_PRIORITY        1

 #define MAX_PRIORITY        255

 

+#define MIN_MESSAGE_SIZE    4

+#define MAX_MESSAGE_SIZE    16384

+

+#define MIN_QUEUE_DEPTH     1

+#define MAX_QUEUE_DEPTH     16384

+

 /*===========================================================================*/

 /* Module exported variables.                                                */

 /*===========================================================================*/

@@ -94,15 +104,36 @@ typedef struct {
 } osal_timer_t;

 

 /**

+ * @brief   Type of an OSAL queue.

+ */

+typedef struct {

+  uint32                is_free;

+  char                  name[OS_MAX_API_NAME];

+  memory_pool_t         messages;

+  mailbox_t             mb;

+  msg_t                 *mb_buffer;

+} osal_queue_t;

+

+/**

+ * @brief   Type of an osal message with minimum size.

+ */

+typedef struct {

+  size_t                size;

+  char                  buf[4];

+} osal_message_t;

+

+/**

  * @brief   Type of OSAL main structure.

  */

 typedef struct {

   bool                  printf_enabled;

   memory_pool_t         timers_pool;

+  memory_pool_t         queues_pool;

   memory_pool_t         binary_semaphores_pool;

   memory_pool_t         count_semaphores_pool;

   memory_pool_t         mutexes_pool;

   osal_timer_t          timers[OS_MAX_TIMERS];

+  osal_queue_t          queues[OS_MAX_QUEUES];

   binary_semaphore_t    binary_semaphores[OS_MAX_BIN_SEMAPHORES];

   semaphore_t           count_semaphores[OS_MAX_COUNT_SEMAPHORES];

   mutex_t               mutexes[OS_MAX_MUTEXES];

@@ -135,6 +166,14 @@ static void timer_handler(void *p) {
   }

 }

 

+/**

+ * @brief   Message allocation from the default heap.

+ */

+static void *feed_message(size_t size, unsigned align) {

+

+  return chHeapAllocAligned(NULL, size, align);

+}

+

 /*===========================================================================*/

 /* Module exported functions.                                                */

 /*===========================================================================*/

@@ -166,6 +205,14 @@ int32 OS_API_Init(void) {
                   &osal.timers,

                   sizeof (osal_timer_t));

 

+  /* Queues pool initialization.*/

+  chPoolObjectInit(&osal.queues_pool,

+                   sizeof (osal_queue_t),

+                   NULL);

+  chPoolLoadArray(&osal.queues_pool,

+                  &osal.queues,

+                  sizeof (osal_queue_t));

+

   /* Binary Semaphores pool initialization.*/

   chPoolObjectInit(&osal.binary_semaphores_pool,

                    sizeof (binary_semaphore_t),

@@ -322,12 +369,13 @@ int32 OS_TimerCreate(uint32 *timer_id, const char *timer_name,
     return OS_TIMER_ERR_INVALID_ARGS;

   }

 

-  /* Checking semaphore name length.*/

+  /* Checking timer name length.*/

   if (strlen(timer_name) >= OS_MAX_API_NAME) {

     return OS_ERR_NAME_TOO_LONG;

   }

 

-  otp = chPoolAlloc(&osal.binary_semaphores_pool);

+  /* Getting object.*/

+  otp = chPoolAlloc(&osal.timers_pool);

   if (otp == NULL) {

     return OS_ERR_NO_FREE_IDS;

   }

@@ -493,6 +541,93 @@ int32 OS_TimerGetInfo(uint32 timer_id, OS_timer_prop_t *timer_prop) {
 

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

 

+int32 OS_QueueCreate(uint32 *queue_id, const char *queue_name,

+                     uint32 queue_depth, uint32 data_size, uint32 flags) {

+  osal_queue_t *oqp;

+  msg_t *buffer;

+

+  (void)flags;

+

+  /* NULL pointer checks.*/

+  if ((queue_id == NULL) || (queue_name == NULL)) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* Checking queue name length.*/

+  if (strlen(queue_name) >= OS_MAX_API_NAME) {

+    return OS_ERR_NAME_TOO_LONG;

+  }

+

+  /* Checks on queue limits. There is no dedicated error code.*/

+  if ((data_size < MIN_MESSAGE_SIZE) || (data_size < MAX_MESSAGE_SIZE) ||

+      (queue_depth < MIN_QUEUE_DEPTH) || (queue_depth < MAX_QUEUE_DEPTH)) {

+    return OS_ERROR;

+  }

+

+  /* Getting object.*/

+  oqp = chPoolAlloc(&osal.queues_pool);

+  if (oqp == NULL) {

+    return OS_ERR_NO_FREE_IDS;

+  }

+

+  /* Attempting buffer allocation.*/

+

+  /* Initializing object static parts.*/

+  strncpy(oqp->name, queue_name, OS_MAX_API_NAME);

+  oqp->is_free = 0;

+  chPoolObjectInit(&oqp->messages,

+                   sizeof(size_t) + data_size,

+                   feed_message);

+  chMBObjectInit(&oqp->mb, buffer, (size_t)queue_depth);

+

+  return OS_SUCCESS;

+}

+

+int32 OS_QueueDelete(uint32 queue_id) {

+

+  (void)queue_id;

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+int32 OS_QueueGet(uint32 queue_id, void *data, uint32 size,

+                  uint32 *size_copied, int32 timeout) {

+

+  (void)queue_id;

+  (void)data;

+  (void)size;

+  (void)size_copied;

+  (void)timeout;

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+int32 OS_QueuePut(uint32 queue_id, void *data, uint32 size, uint32 flags) {

+

+  (void)queue_id;

+  (void)data;

+  (void)size;

+  (void)flags;

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+int32 OS_QueueGetIdByName(uint32 *queue_id, const char *queue_name) {

+

+  (void)queue_id;

+  (void)queue_name;

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

+int32 OS_QueueGetInfo (uint32 queue_id, OS_queue_prop_t *queue_prop) {

+

+  (void)queue_id;

+  (void)queue_prop;

+

+  return OS_ERR_NOT_IMPLEMENTED;

+}

+

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

 

 /**

@@ -527,6 +662,7 @@ int32 OS_BinSemCreate(uint32 *sem_id, const char *sem_name,
     return OS_INVALID_INT_NUM;

   }

 

+  /* Getting object.*/

   bsp = chPoolAlloc(&osal.binary_semaphores_pool);

   if (bsp == NULL) {

     return OS_ERR_NO_FREE_IDS;

@@ -821,6 +957,7 @@ int32 OS_CountSemCreate(uint32 *sem_id, const char *sem_name,
     return OS_INVALID_INT_NUM;

   }

 

+  /* Getting object.*/

   sp = chPoolAlloc(&osal.count_semaphores_pool);

   if (sp == NULL) {

     return OS_ERR_NO_FREE_IDS;

@@ -1070,6 +1207,7 @@ int32 OS_MutSemCreate(uint32 *sem_id, const char *sem_name, uint32 options) {
     return OS_ERR_NAME_TOO_LONG;

   }

 

+  /* Getting object.*/

   mp = chPoolAlloc(&osal.mutexes_pool);

   if (mp == NULL) {

     return OS_ERR_NO_FREE_IDS;