git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8934 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 98 insertions, 13 deletions

diff --git a/os/common/abstractions/nasa_osal/src/osapi.c b/os/common/abstractions/nasa_osal/src/osapi.c
index a2059ee2c..ae659593e 100644
--- a/os/common/abstractions/nasa_osal/src/osapi.c
+++ b/os/common/abstractions/nasa_osal/src/osapi.c
@@ -68,8 +68,9 @@
  * @brief   Type of OSAL timer.

  */

 typedef struct {

-  void                  *free;

+  uint32                is_free;

   char                  name[OS_MAX_API_NAME];

+  OS_TimerCallback_t    callback_ptr;

   uint32                start_time;

   uint32                interval_time;

   virtual_timer_t       vt;

@@ -262,6 +263,80 @@ int32 OS_Milli2Ticks(uint32 milli_seconds) {
 

 /*-- timers API -------------------------------------------------------------*/

 

+int32 OS_TimerCreate(uint32 *timer_id, const char *timer_name,

+                     uint32 *clock_accuracy, OS_TimerCallback_t callback_ptr) {

+  osal_timer_t *otp;

+

+  /* NULL pointer checks.*/

+  if ((timer_id == NULL) || (timer_name == NULL) || (clock_accuracy == NULL)) {

+    return OS_INVALID_POINTER;

+  }

+

+  /* NULL callback check.*/

+  if (callback_ptr == NULL) {

+    return OS_TIMER_ERR_INVALID_ARGS;

+  }

+

+  /* Checking semaphore name length.*/

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

+    return OS_ERR_NAME_TOO_LONG;

+  }

+

+  otp = chPoolAlloc(&osal.binary_semaphores_pool);

+  if (otp == NULL) {

+    return OS_ERR_NO_FREE_IDS;

+  }

+

+  chSysLock();

+

+  strncpy(otp->name, timer_name, OS_MAX_API_NAME);

+  chVTObjectInit(&otp->vt);

+  otp->is_free       = 0;

+  otp->start_time    = 0;

+  otp->interval_time = 0;

+  otp->callback_ptr  = callback_ptr;

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+int32 OS_TimerDelete(uint32 timer_id) {

+  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;

+  }

+

+  chSysLock();

+

+  /* Resetting the timer.*/

+  chVTResetI(&otp->vt);

+  otp->start_time    = 0;

+  otp->interval_time = 0;

+

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

+  chPoolFreeI(&osal.timers_pool, (void *)otp);

+

+  chSysUnlock();

+

+  return OS_SUCCESS;

+}

+

+int32 OS_TimerSet(uint32 timer_id, uint32 start_time, uint32 interval_time) {

+

+}

+

+int32 OS_TimerGetIdByName (uint32 *timer_id, const char *timer_name) {

+

+}

+

+int32 OS_TimerGetInfo (uint32 timer_id, OS_timer_prop_t *timer_prop) {

+

+}

+

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

 

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

@@ -299,9 +374,8 @@ int32 OS_BinSemCreate (uint32 *sem_id, const char *sem_name,
   }

 

   bsp = chPoolAlloc(&osal.binary_semaphores_pool);

-

-  if (bsp == 0) {

-    return OS_SEM_FAILURE;

+  if (bsp == NULL) {

+    return OS_ERR_NO_FREE_IDS;

   }

 

   /* Semaphore is initialized.*/

@@ -323,6 +397,7 @@ int32 OS_BinSemCreate (uint32 *sem_id, const char *sem_name,
 int32 OS_BinSemDelete(uint32 sem_id) {

   binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

 

+  /* Range check.*/

   if ((bsp < &osal.binary_semaphores[0]) ||

       (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {

     return OS_ERR_INVALID_ID;

@@ -359,6 +434,7 @@ int32 OS_BinSemFlush(uint32 sem_id) {
   syssts_t sts;

   binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

 

+  /* Range check.*/

   if ((bsp < &osal.binary_semaphores[0]) ||

       (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {

     return OS_ERR_INVALID_ID;

@@ -392,6 +468,7 @@ int32 OS_BinSemGive(uint32 sem_id) {
   syssts_t sts;

   binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

 

+  /* Range check.*/

   if ((bsp < &osal.binary_semaphores[0]) ||

       (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {

     return OS_ERR_INVALID_ID;

@@ -423,6 +500,7 @@ int32 OS_BinSemGive(uint32 sem_id) {
 int32 OS_BinSemTake(uint32 sem_id) {

   binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

 

+  /* Range check.*/

   if ((bsp < &osal.binary_semaphores[0]) ||

       (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {

     return OS_ERR_INVALID_ID;

@@ -456,6 +534,7 @@ int32 OS_BinSemTimedWait(uint32 sem_id, uint32 msecs) {
   binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

   msg_t msg;

 

+  /* Range check.*/

   if ((bsp < &osal.binary_semaphores[0]) ||

       (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {

     return OS_ERR_INVALID_ID;

@@ -521,6 +600,7 @@ int32 OS_BinSemGetInfo(uint32 sem_id, OS_bin_sem_prop_t *bin_prop) {
     return OS_INVALID_POINTER;

   }

 

+  /* Range check.*/

   if ((bsp < &osal.binary_semaphores[0]) ||

       (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {

     return OS_ERR_INVALID_ID;

@@ -574,9 +654,8 @@ int32 OS_CountSemCreate (uint32 *sem_id, const char *sem_name,
   }

 

   sp = chPoolAlloc(&osal.count_semaphores_pool);

-

-  if (sp == 0) {

-    return OS_SEM_FAILURE;

+  if (sp == NULL) {

+    return OS_ERR_NO_FREE_IDS;

   }

 

   /* Semaphore is initialized.*/

@@ -598,6 +677,7 @@ int32 OS_CountSemCreate (uint32 *sem_id, const char *sem_name,
 int32 OS_CountSemDelete(uint32 sem_id) {

   semaphore_t *sp = (semaphore_t *)sem_id;

 

+  /* Range check.*/

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

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

     return OS_ERR_INVALID_ID;

@@ -633,6 +713,7 @@ int32 OS_CountSemGive(uint32 sem_id) {
   syssts_t sts;

   semaphore_t *sp = (semaphore_t *)sem_id;

 

+  /* Range check.*/

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

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

     return OS_ERR_INVALID_ID;

@@ -664,6 +745,7 @@ int32 OS_CountSemGive(uint32 sem_id) {
 int32 OS_CountSemTake(uint32 sem_id) {

   semaphore_t *sp = (semaphore_t *)sem_id;

 

+  /* Range check.*/

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

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

     return OS_ERR_INVALID_ID;

@@ -697,6 +779,7 @@ int32 OS_CountSemTimedWait(uint32 sem_id, uint32 msecs) {
   semaphore_t *sp = (semaphore_t *)sem_id;

   msg_t msg;

 

+  /* Range check.*/

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

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

     return OS_ERR_INVALID_ID;

@@ -762,6 +845,7 @@ int32 OS_CountSemGetInfo(uint32 sem_id, OS_count_sem_prop_t *sem_prop) {
     return OS_INVALID_POINTER;

   }

 

+  /* Range check.*/

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

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

     return OS_ERR_INVALID_ID;

@@ -808,9 +892,8 @@ int32 OS_MutSemCreate (uint32 *sem_id, const char *sem_name, uint32 options) {
   }

 

   mp = chPoolAlloc(&osal.mutexes_pool);

-

-  if (mp == 0) {

-    return OS_SEM_FAILURE;

+  if (mp == NULL) {

+    return OS_ERR_NO_FREE_IDS;

   }

 

   /* Semaphore is initialized.*/

@@ -832,6 +915,7 @@ int32 OS_MutSemCreate (uint32 *sem_id, const char *sem_name, uint32 options) {
 int32 OS_MutSemDelete(uint32 sem_id) {

   mutex_t *mp = (mutex_t *)sem_id;

 

+  /* Range check.*/

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

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

     return OS_ERR_INVALID_ID;

@@ -865,6 +949,7 @@ int32 OS_MutSemDelete(uint32 sem_id) {
 int32 OS_MutSemGive(uint32 sem_id) {

   mutex_t *mp = (mutex_t *)sem_id;

 

+  /* Range check.*/

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

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

     return OS_ERR_INVALID_ID;

@@ -897,6 +982,7 @@ int32 OS_MutSemGive(uint32 sem_id) {
 int32 OS_MutSemTake(uint32 sem_id) {

   mutex_t *mp = (mutex_t *)sem_id;

 

+  /* Range check.*/

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

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

     return OS_ERR_INVALID_ID;

@@ -957,6 +1043,7 @@ int32 OS_MutSemGetInfo(uint32 sem_id, OS_mut_sem_prop_t *sem_prop) {
     return OS_INVALID_POINTER;

   }

 

+  /* Range check.*/

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

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

     return OS_ERR_INVALID_ID;

@@ -1036,10 +1123,8 @@ int32 OS_TaskCreate(uint32 *task_id,
 

   tp = chThdCreateFromHeap(NULL, (size_t)stack_size, task_name,

                            rt_prio, (tfunc_t)function_pointer, NULL);

-

-  /* Out-of-memory condition.*/

   if (tp == NULL) {

-    return OS_ERROR;

+    return OS_ERR_NO_FREE_IDS;

   }

 

   /* Storing the task id.*/