git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8931 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 0 insertions, 1227 deletions

diff --git a/os/common/ext/nasa-osal/src/osapi.c b/os/common/ext/nasa-osal/src/osapi.c
deleted file mode 100644
index b69caea62..000000000
--- a/os/common/ext/nasa-osal/src/osapi.c
+++ /dev/null
@@ -1,1227 +0,0 @@
-/*

-    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-/**

- * @file    osapi.c

- * @brief   OS API module code.

- *

- * @addtogroup nasa_osapi

- * @{

- */

-

-#include <string.h>

-

-#include "ch.h"

-

-#include "common_types.h"

-#include "osapi.h"

-

-#if CH_CFG_USE_MUTEXES == FALSE

-#error "NASA OSAL requires CH_CFG_USE_MUTEXES"

-#endif

-

-#if CH_CFG_USE_SEMAPHORES == FALSE

-#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

-

-#if CH_CFG_USE_MEMPOOLS == FALSE

-#error "NASA OSAL requires CH_CFG_USE_MEMPOOLS"

-#endif

-

-/*===========================================================================*/

-/* Module local definitions.                                                 */

-/*===========================================================================*/

-

-#define MIN_PRIORITY        1

-#define MAX_PRIORITY        255

-

-/*===========================================================================*/

-/* Module exported variables.                                                */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Module local types.                                                       */

-/*===========================================================================*/

-

-/**

- * @brief   Type of OSAL main structure.

- */

-typedef struct {

-  bool                  printf_enabled;

-  memory_pool_t         binary_semaphores_pool;

-  memory_pool_t         count_semaphores_pool;

-  memory_pool_t         mutexes_pool;

-  binary_semaphore_t    binary_semaphores[OS_MAX_BIN_SEMAPHORES];

-  semaphore_t           count_semaphores[OS_MAX_COUNT_SEMAPHORES];

-  mutex_t               mutexes[OS_MAX_MUTEXES];

-} osal_t;

-

-/*===========================================================================*/

-/* Module local variables.                                                   */

-/*===========================================================================*/

-

-static osal_t osal;

-

-/*===========================================================================*/

-/* Module local functions.                                                   */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Module exported functions.                                                */

-/*===========================================================================*/

-

-/*-- Initialization API -----------------------------------------------------*/

-

-/**

- * @brief   OS initialization.

- * @details This function returns initializes the internal data structures

- *          of the OS Abstraction Layer. It must be called in the application

- *          startup code before calling any other OS routines.

- *

- * @return                      kAn error code.

- *

- * @api

- */

-int32 OS_API_Init(void) {

-

-  chSysInit();

-

-  /* OS_printf() initially disabled.*/

-  osal.printf_enabled = false;

-

-  /* Binary Semaphores pool initialization.*/

-  chPoolObjectInit(&osal.binary_semaphores_pool,

-                   sizeof (binary_semaphore_t),

-                   NULL);

-  chPoolLoadArray(&osal.binary_semaphores_pool,

-                  &osal.binary_semaphores,

-                  sizeof (binary_semaphore_t));

-

-  /* Counter Semaphores pool initialization.*/

-  chPoolObjectInit(&osal.count_semaphores_pool,

-                   sizeof (semaphore_t),

-                   NULL);

-  chPoolLoadArray(&osal.count_semaphores_pool,

-                  &osal.count_semaphores,

-                  sizeof (semaphore_t));

-

-  /* Mutexes pool initialization.*/

-  chPoolObjectInit(&osal.mutexes_pool,

-                   sizeof (mutex_t),

-                   NULL);

-  chPoolLoadArray(&osal.mutexes_pool,

-                  &osal.mutexes,

-                  sizeof (mutex_t));

-

-  return OS_SUCCESS;

-}

-

-/*-- Various API -----------------------------------------------------------*/

-

-/**

- * @brief   OS printf-like function.

- * @note    It is initially disabled.

- * @note    It is not currently implemented.

- *

- * @param[in] string            formatter string

- *

- * @api

- */

-void OS_printf(const char *string, ...) {

-

-  (void)string;

-

-  if (osal.printf_enabled) {

-

-  }

-}

-

-/**

- * @brief   Disables @p OS_printf().

- *

- * @api

- */

-void OS_printf_disable(void) {

-

-  osal.printf_enabled = false;

-}

-

-/**

- * @brief   Enables @p OS_printf().

- *

- * @api

- */

-void OS_printf_enable(void) {

-

-  osal.printf_enabled = true;

-}

-

-/**

- * @brief   System tick period in microseconds.

- *

- * @return                      The system tick period.

- */

-int32 OS_Tick2Micros(void) {

-

-  return 1000000 / CH_CFG_ST_FREQUENCY;

-}

-

-/**

- * @brief   Returns the local time.

- * @note    It is not currently implemented.

- *

- * @param[out] time_struct      the system time

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_GetLocalTime(OS_time_t *time_struct) {

-

-  if (time_struct == NULL) {

-     return OS_INVALID_POINTER;

-  }

-

-  time_struct->seconds = 0;

-  time_struct->microsecs = 0;

-

-  return OS_ERR_NOT_IMPLEMENTED;

-}

-

-/**

- * @brief   Changes the local time.

- * @note    It is not currently implemented.

- *

- * @param[in] time_struct       the system time

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_SetLocalTime(OS_time_t *time_struct) {

-

-  if (time_struct == NULL) {

-     return OS_INVALID_POINTER;

-  }

-

-  return OS_ERR_NOT_IMPLEMENTED;

-}

-

-/**

- * @brief   Conversion from milliseconds to ticks.

- *

- * @param[in] milli_seconds     the time in milliseconds

- * @return                      The system ticks.

- *

- * @api

- */

-int32 OS_Milli2Ticks(uint32 milli_seconds) {

-

-  return (int32)MS2ST(milli_seconds);

-}

-

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

-

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

-

-/**

- * @brief   Binary semaphore creation.

- *

- * @param[out] sem_id           pointer to a binary semaphore id variable

- * @param[in] sem_name          the binary semaphore name

- * @param[in] sem_initial_value semaphore initial value

- * @param[in] options           semaphore options

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_BinSemCreate (uint32 *sem_id, const char *sem_name,

-                       uint32 sem_initial_value, uint32 options) {

-  binary_semaphore_t *bsp;

-

-  (void)options;

-

-  /* NULL pointer checks.*/

-  if ((sem_id == NULL) || (sem_name == NULL)) {

-    return OS_INVALID_POINTER;

-  }

-

-  /* Checking semaphore name length.*/

-  if (strlen(sem_name) >= OS_MAX_API_NAME) {

-    return OS_ERR_NAME_TOO_LONG;

-  }

-

-  /* Semaphore counter check, it is binary so only 0 and 1.*/

-  if (sem_initial_value > 1) {

-    return OS_INVALID_INT_NUM;

-  }

-

-  bsp = chPoolAlloc(&osal.binary_semaphores_pool);

-

-  if (bsp == 0) {

-    return OS_SEM_FAILURE;

-  }

-

-  /* Semaphore is initialized.*/

-  chBSemObjectInit(bsp, sem_initial_value == 0 ? false : true);

-

-  *sem_id = (uint32)bsp;

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Binary semaphore deletion.

- *

- * @param[in] sem_id            binary semaphore id variable

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_BinSemDelete(uint32 sem_id) {

-  binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

-

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

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

-    return OS_ERR_INVALID_ID;

-  }

-

-  chSysLock();

-

-  /* Resetting the semaphore, no threads in queue.*/

-  chBSemResetI(bsp, true);

-

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

-  bsp->sem.queue.prev = NULL;

-  chPoolFreeI(&osal.binary_semaphores_pool, (void *)bsp);

-

-  /* Required because some thread could have been made ready.*/

-  chSchRescheduleS();

-

-  chSysUnlock();

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Binary semaphore flush.

- * @note    The state of the binary semaphore is not changed.

- *

- * @param[in] sem_id            binary semaphore id variable

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_BinSemFlush(uint32 sem_id) {

-  binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

-

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

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

-    return OS_ERR_INVALID_ID;

-  }

-

-  chSysLock();

-

-  /* If the semaphore is not in use then error.*/

-  if (bsp->sem.queue.prev == NULL) {

-    chSysUnlock();

-    return OS_SEM_FAILURE;

-  }

-

-  if (bsp->sem.cnt < 0) {

-    chBSemResetI(bsp, true);

-    chSchRescheduleS();

-  }

-

-  chSysUnlock();

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Binary semaphore give.

- *

- * @param[in] sem_id            binary semaphore id variable

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_BinSemGive(uint32 sem_id) {

-  binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

-

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

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

-    return OS_ERR_INVALID_ID;

-  }

-

-  chSysLock();

-

-  /* If the semaphore is not in use then error.*/

-  if (bsp->sem.queue.prev == NULL) {

-    chSysUnlock();

-    return OS_SEM_FAILURE;

-  }

-

-  chBSemSignalI(bsp);

-  chSchRescheduleS();

-

-  chSysUnlock();

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Binary semaphore take.

- *

- * @param[in] sem_id            binary semaphore id variable

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_BinSemTake(uint32 sem_id) {

-  binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

-

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

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

-    return OS_ERR_INVALID_ID;

-  }

-

-  chSysLock();

-

-  /* If the semaphore is not in use then error.*/

-  if (bsp->sem.queue.prev == NULL) {

-    chSysUnlock();

-    return OS_SEM_FAILURE;

-  }

-

-  (void) chBSemWaitS(bsp);

-

-  chSysUnlock();

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Binary semaphore take with timeout.

- *

- * @param[in] sem_id            binary semaphore id variable

- * @param[in] msecs             timeout in milliseconds

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_BinSemTimedWait(uint32 sem_id, uint32 msecs) {

-  binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

-  msg_t msg;

-

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

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

-    return OS_ERR_INVALID_ID;

-  }

-

-  /* Timeouts of zero not allowed.*/

-  if (msecs == 0) {

-    return OS_INVALID_INT_NUM;

-  }

-

-  chSysLock();

-

-  /* If the semaphore is not in use then error.*/

-  if (bsp->sem.queue.prev == NULL) {

-    chSysUnlock();

-    return OS_SEM_FAILURE;

-  }

-

-  msg = chBSemWaitTimeoutS(bsp, MS2ST(msecs));

-

-  chSysUnlock();

-

-  return msg == MSG_TIMEOUT ? OS_SEM_TIMEOUT : OS_SUCCESS;

-}

-

-/**

- * @brief   Retrieves a binary semaphore id by name.

- * @note    It is not currently implemented.

- *

- * @param[out] sem_id           pointer to a binary semaphore id variable

- * @param[in] sem_name          the binary semaphore name

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_BinSemGetIdByName(uint32 *sem_id, const char *sem_name) {

-

-  /* NULL pointer checks.*/

-  if ((sem_id == NULL) || (sem_name == NULL)) {

-    return OS_INVALID_POINTER;

-  }

-

-  return OS_ERR_NOT_IMPLEMENTED;

-}

-

-/**

- * @brief   Returns binary semaphore information.

- *

- * @param[in] sem_id            binary semaphore id variable

- * @param[in] bin_prop          binary semaphore properties

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_BinSemGetInfo(uint32 sem_id, OS_bin_sem_prop_t *bin_prop) {

-  binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;

-

-  /* NULL pointer checks.*/

-  if (bin_prop == NULL) {

-    return OS_INVALID_POINTER;

-  }

-

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

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

-    return OS_ERR_INVALID_ID;

-  }

-

-  chSysLock();

-

-  /* If the semaphore is not in use then error.*/

-  if (bsp->sem.queue.prev == NULL) {

-    chSysUnlock();

-    return OS_SEM_FAILURE;

-  }

-

-  chSysUnlock();

-

-  return OS_ERR_NOT_IMPLEMENTED;

-}

-

-/*-- Counter Semaphore API --------------------------------------------------*/

-

-/**

- * @brief   Counter semaphore creation.

- *

- * @param[out] sem_id           pointer to a counter semaphore id variable

- * @param[in] sem_name          the counter semaphore name

- * @param[in] sem_initial_value semaphore initial value

- * @param[in] options           semaphore options

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_CountSemCreate (uint32 *sem_id, const char *sem_name,

-                         uint32 sem_initial_value, uint32 options) {

-  semaphore_t *sp;

-

-  (void)options;

-

-  /* NULL pointer checks.*/

-  if ((sem_id == NULL) || (sem_name == NULL)) {

-    return OS_INVALID_POINTER;

-  }

-

-  /* Checking semaphore name length.*/

-  if (strlen(sem_name) >= OS_MAX_API_NAME) {

-    return OS_ERR_NAME_TOO_LONG;

-  }

-

-  /* Semaphore counter check, it must be non-negative.*/

-  if ((int32)sem_initial_value < 0) {

-    return OS_INVALID_INT_NUM;

-  }

-

-  sp = chPoolAlloc(&osal.count_semaphores_pool);

-

-  if (sp == 0) {

-    return OS_SEM_FAILURE;

-  }

-

-  /* Semaphore is initialized.*/

-  chSemObjectInit(sp, (cnt_t)sem_initial_value);

-

-  *sem_id = (uint32)sp;

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Counter semaphore deletion.

- *

- * @param[in] sem_id            counter semaphore id variable

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_CountSemDelete(uint32 sem_id) {

-  semaphore_t *sp = (semaphore_t *)sem_id;

-

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

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

-    return OS_ERR_INVALID_ID;

-  }

-

-  chSysLock();

-

-  /* Resetting the semaphore, no threads in queue.*/

-  chSemResetI(sp, 0);

-

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

-  sp->queue.prev = NULL;

-  chPoolFreeI(&osal.count_semaphores_pool, (void *)sp);

-

-  /* Required because some thread could have been made ready.*/

-  chSchRescheduleS();

-

-  chSysUnlock();

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Counter semaphore give.

- *

- * @param[in] sem_id            counter semaphore id variable

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_CountSemGive(uint32 sem_id) {

-  semaphore_t *sp = (semaphore_t *)sem_id;

-

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

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

-    return OS_ERR_INVALID_ID;

-  }

-

-  chSysLock();

-

-  /* If the semaphore is not in use then error.*/

-  if (sp->queue.prev == NULL) {

-    chSysUnlock();

-    return OS_SEM_FAILURE;

-  }

-

-  chSemSignalI(sp);

-  chSchRescheduleS();

-

-  chSysUnlock();

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Counter semaphore take.

- *

- * @param[in] sem_id            counter semaphore id variable

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_CountSemTake(uint32 sem_id) {

-  semaphore_t *sp = (semaphore_t *)sem_id;

-

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

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

-    return OS_ERR_INVALID_ID;

-  }

-

-  chSysLock();

-

-  /* If the semaphore is not in use then error.*/

-  if (sp->queue.prev == NULL) {

-    chSysUnlock();

-    return OS_SEM_FAILURE;

-  }

-

-  (void) chSemWaitS(sp);

-

-  chSysUnlock();

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Counter semaphore take with timeout.

- *

- * @param[in] sem_id            counter semaphore id variable

- * @param[in] msecs             timeout in milliseconds

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_CountSemTimedWait(uint32 sem_id, uint32 msecs) {

-  semaphore_t *sp = (semaphore_t *)sem_id;

-  msg_t msg;

-

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

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

-    return OS_ERR_INVALID_ID;

-  }

-

-  /* Timeouts of zero not allowed.*/

-  if (msecs == 0) {

-    return OS_INVALID_INT_NUM;

-  }

-

-  chSysLock();

-

-  /* If the semaphore is not in use then error.*/

-  if (sp->queue.prev == NULL) {

-    chSysUnlock();

-    return OS_SEM_FAILURE;

-  }

-

-  msg = chSemWaitTimeoutS(sp, MS2ST(msecs));

-

-  chSysUnlock();

-

-  return msg == MSG_TIMEOUT ? OS_SEM_TIMEOUT : OS_SUCCESS;

-}

-

-/**

- * @brief   Retrieves a counter semaphore id by name.

- * @note    It is not currently implemented.

- *

- * @param[out] sem_id           pointer to a counter semaphore id variable

- * @param[in] sem_name          the counter semaphore name

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_CountSemGetIdByName(uint32 *sem_id, const char *sem_name) {

-

-  /* NULL pointer checks.*/

-  if ((sem_id == NULL) || (sem_name == NULL)) {

-    return OS_INVALID_POINTER;

-  }

-

-  return OS_ERR_NOT_IMPLEMENTED;

-}

-

-/**

- * @brief   Returns counter semaphore information.

- *

- * @param[in] sem_id            counter semaphore id variable

- * @param[in] sem_prop          counter semaphore properties

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_CountSemGetInfo(uint32 sem_id, OS_count_sem_prop_t *sem_prop) {

-  semaphore_t *sp = (semaphore_t *)sem_id;

-

-  /* NULL pointer checks.*/

-  if (sem_prop == NULL) {

-    return OS_INVALID_POINTER;

-  }

-

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

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

-    return OS_ERR_INVALID_ID;

-  }

-

-  chSysLock();

-

-  /* If the semaphore is not in use then error.*/

-  if (sp->queue.prev == NULL) {

-    chSysUnlock();

-    return OS_SEM_FAILURE;

-  }

-

-  chSysUnlock();

-

-  return OS_ERR_NOT_IMPLEMENTED;

-}

-

-/*-- Mutex API --------------------------------------------------------------*/

-

-/**

- * @brief   Mutex creation.

- *

- * @param[out] sem_id           pointer to a mutex id variable

- * @param[in] sem_name          the mutex name

- * @param[in] options           mutex options

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_MutSemCreate (uint32 *sem_id, const char *sem_name, uint32 options) {

-  mutex_t *mp;

-

-  (void)options;

-

-  /* NULL pointer checks.*/

-  if ((sem_id == NULL) || (sem_name == NULL)) {

-    return OS_INVALID_POINTER;

-  }

-

-  /* Checking semaphore name length.*/

-  if (strlen(sem_name) >= OS_MAX_API_NAME) {

-    return OS_ERR_NAME_TOO_LONG;

-  }

-

-  mp = chPoolAlloc(&osal.mutexes_pool);

-

-  if (mp == 0) {

-    return OS_SEM_FAILURE;

-  }

-

-  /* Semaphore is initialized.*/

-  chMtxObjectInit(mp);

-

-  *sem_id = (uint32)mp;

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Mutex deletion.

- *

- * @param[in] sem_id            mutex id variable

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_MutSemDelete(uint32 sem_id) {

-  mutex_t *mp = (mutex_t *)sem_id;

-

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

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

-    return OS_ERR_INVALID_ID;

-  }

-

-  chSysLock();

-

-  /* Resetting the mutex, no threads in queue.*/

-  chMtxUnlockAllS();

-

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

-  mp->queue.prev = NULL;

-  chPoolFreeI(&osal.mutexes_pool, (void *)mp);

-

-  /* Required because some thread could have been made ready.*/

-  chSchRescheduleS();

-

-  chSysUnlock();

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Mutex give.

- *

- * @param[in] sem_id            mutex id variable

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_MutSemGive(uint32 sem_id) {

-  mutex_t *mp = (mutex_t *)sem_id;

-

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

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

-    return OS_ERR_INVALID_ID;

-  }

-

-  chSysLock();

-

-  /* If the mutex is not in use then error.*/

-  if (mp->queue.prev == NULL) {

-    chSysUnlock();

-    return OS_SEM_FAILURE;

-  }

-

-  chMtxUnlockS(mp);

-  chSchRescheduleS();

-

-  chSysUnlock();

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Mutex take.

- *

- * @param[in] sem_id            mutex id variable

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_MutSemTake(uint32 sem_id) {

-  mutex_t *mp = (mutex_t *)sem_id;

-

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

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

-    return OS_ERR_INVALID_ID;

-  }

-

-  chSysLock();

-

-  /* If the mutex is not in use then error.*/

-  if (mp->queue.prev == NULL) {

-    chSysUnlock();

-    return OS_SEM_FAILURE;

-  }

-

-  chMtxLockS(mp);

-

-  chSysUnlock();

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Retrieves a mutex id by name.

- * @note    It is not currently implemented.

- *

- * @param[out] sem_id           pointer to a mutex id variable

- * @param[in] sem_name          the mutex name

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_MutSemGetIdByName(uint32 *sem_id, const char *sem_name) {

-

-  /* NULL pointer checks.*/

-  if ((sem_id == NULL) || (sem_name == NULL)) {

-    return OS_INVALID_POINTER;

-  }

-

-  return OS_ERR_NOT_IMPLEMENTED;

-}

-

-/**

- * @brief   Returns mutex information.

- *

- * @param[in] sem_id            mutex id variable

- * @param[in] sem_prop          mutex properties

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_MutSemGetInfo(uint32 sem_id, OS_mut_sem_prop_t *sem_prop) {

-  mutex_t *mp = (mutex_t *)sem_id;

-

-  /* NULL pointer checks.*/

-  if (sem_prop == NULL) {

-    return OS_INVALID_POINTER;

-  }

-

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

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

-    return OS_ERR_INVALID_ID;

-  }

-

-  chSysLock();

-

-  /* If the mutex is not in use then error.*/

-  if (mp->queue.prev == NULL) {

-    chSysUnlock();

-    return OS_SEM_FAILURE;

-  }

-

-  chSysUnlock();

-

-  return OS_ERR_NOT_IMPLEMENTED;

-}

-

-/*-- Task Control API -------------------------------------------------------*/

-

-/**

- * @brief   Task creation.

- *

- * @param[out] task_id          pointer to a task id variable

- * @param[in] task_name         the task name

- * @param[in] function_pointer  the task function

- * @param[in] stack_pointer     base of stack area

- * @param[in] stack_size        size of stack area

- * @param[in] priority          the task priority

- * @param[in] flags             task attributes

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_TaskCreate(uint32 *task_id,

-                    const char *task_name,

-                    osal_task_entry function_pointer,

-                    const uint32 *stack_pointer,

-                    uint32 stack_size,

-                    uint32 priority,

-                    uint32 flags) {

-  tprio_t rt_prio;

-  thread_t *tp;

-

-  (void)flags;

-

-  /* NULL pointer checks.*/

-  if ((task_id == NULL) || (task_name == NULL) ||

-      (function_pointer == NULL) || (stack_pointer == NULL)) {

-    return OS_INVALID_POINTER;

-  }

-

-  /* Checking alignment of stack base and size, it is application

-     responsibility to pass correct values.*/

-  if (!MEM_IS_ALIGNED(stack_pointer, PORT_WORKING_AREA_ALIGN) ||

-      !MEM_IS_ALIGNED(stack_size, sizeof (stkalign_t))) {

-    return OS_ERROR_ADDRESS_MISALIGNED;

-  }

-

-  /* Checking task name length.*/

-  if (strlen(task_name) >= OS_MAX_API_NAME) {

-    return OS_ERR_NAME_TOO_LONG;

-  }

-

-  /* Checking priority range.*/

-  if ((priority < MIN_PRIORITY) || (priority > MAX_PRIORITY)) {

-    return OS_ERR_INVALID_PRIORITY;

-  }

-

-  /* Checking if the specified stack size is below the bare minimum.*/

-  if (stack_size < (uint32)THD_WORKING_AREA_SIZE(0)) {

-    return OS_INVALID_INT_NUM;

-  }

-

-  /* Converting priority to RT type.*/

-  rt_prio = (tprio_t)256 - (tprio_t)priority;

-

-  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;

-  }

-

-  /* Storing the task id.*/

-  *task_id = (uint32)tp;

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Installs a deletion handler.

- * @note    It is not currently implemented.

- *

- * @param[in] function_pointer  the handler function

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_TaskInstallDeleteHandler(void *function_pointer) {

-

-  (void)function_pointer;

-

-  return OS_ERR_NOT_IMPLEMENTED;

-}

-

-/**

- * @brief   Task delete.

- * @note    It is not currently implemented.

- *

- * @param[in] task_id           the task id

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_TaskDelete(uint32 task_id) {

-

-  (void)task_id;

-

-  return OS_ERR_NOT_IMPLEMENTED;

-}

-

-/**

- * @brief   Task exit.

- *

- * @api

- */

-void OS_TaskExit(void) {

-

-  chThdExit(MSG_OK);

-}

-

-/**

- * @brief   Task delay.

- *

- * @param[in] milli_second      the period in miliseconds

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_TaskDelay(uint32 milli_second) {

-

-  chThdSleepMilliseconds(milli_second);

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Change task priority.

- *

- * @param[in] task_id           the task id

- * @param[in] new_priority      the task new priority

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority) {

-  tprio_t rt_newprio;

-  thread_t *tp = (thread_t *)task_id;

-

-  /* Checking priority range.*/

-  if ((new_priority < MIN_PRIORITY) || (new_priority > MAX_PRIORITY)) {

-    return OS_ERR_INVALID_PRIORITY;

-  }

-

-  /* Converting priority to RT type.*/

-  rt_newprio = (tprio_t)256 - (tprio_t)new_priority;

-

-  if (chThdGetPriorityX() == rt_newprio) {

-    return OS_SUCCESS;

-  }

-

-  chSysLock();

-

-  /* Changing priority.*/

-  if ((tp->prio == tp->realprio) || (rt_newprio > tp->prio)) {

-    tp->prio = rt_newprio;

-  }

-  tp->realprio = rt_newprio;

-

-  /* The following states need priority queues reordering.*/

-  switch (tp->state) {

-  case CH_STATE_WTMTX:

-#if CH_CFG_USE_CONDVARS

-  case CH_STATE_WTCOND:

-#endif

-#if CH_CFG_USE_SEMAPHORES_PRIORITY

-  case CH_STATE_WTSEM:

-#endif

-#if CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY

-  case CH_STATE_SNDMSGQ:

-#endif

-    /* Re-enqueues tp with its new priority on the queue.*/

-    queue_prio_insert(queue_dequeue(tp),

-                      (threads_queue_t *)tp->u.wtobjp);

-    break;

-  case CH_STATE_READY:

-#if CH_DBG_ENABLE_ASSERTS

-    /* Prevents an assertion in chSchReadyI().*/

-    tp->state = CH_STATE_CURRENT;

-#endif

-    /* Re-enqueues tp with its new priority on the ready list.*/

-    chSchReadyI(queue_dequeue(tp));

-    break;

-  }

-

-  /* Rescheduling.*/

-  chSchRescheduleS();

-  chSysUnlock();

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Task registration.

- * @note    In ChibiOS/RT it does nothing.

- *

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_TaskRegister(void) {

-

-  return OS_SUCCESS;

-}

-

-/**

- * @brief   Current task id.

- *

- * @return                      The current task id.

- *

- * @api

- */

-uint32 OS_TaskGetId(void) {

-

-  return (uint32)chThdGetSelfX();

-}

-

-/**

- * @brief   Retrieves a task id by name.

- *

- * @param[out] task_id          pointer to a task id variable

- * @param[in] task_name         the task name

- * @return                      An error code.

- *

- * @api

- */

-int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name) {

-  thread_t *tp;

-

-  /* NULL pointer checks.*/

-  if ((task_id == NULL) || (task_name == NULL)) {

-    return OS_INVALID_POINTER;

-  }

-

-  /* Checking task name length.*/

-  if (strlen(task_name) >= OS_MAX_API_NAME) {

-    return OS_ERR_NAME_TOO_LONG;

-  }

-

-  /* Scanning registry.*/

-  tp = chRegFirstThread();

-  do {

-    if (strcmp(chRegGetThreadNameX(tp), task_name) == 0) {

-      *task_id = (uint32)tp;

-      return OS_SUCCESS;

-    }

-    tp = chRegNextThread(tp);

-  } while (tp != NULL);

-

-  return OS_ERR_NAME_NOT_FOUND;

-}

-

-/**

- * @brief   Returns task information.

- *

- * @param[in] task_id           the task id

- * @param[in] task_prop         task properties

- * @return                      An error code.

- *

- * @api

- */

-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);

-

-  /* NULL pointer checks.*/

-  if (task_prop == NULL) {

-    return OS_INVALID_POINTER;

-  }

-

-  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;

-

-  return OS_ERR_NOT_IMPLEMENTED;

-}

-

-/** @} */