1 files changed, 28 insertions, 20 deletions
diff --git a/test/nasa_osal/configuration.xml b/test/nasa_osal/configuration.xml
index 0d628e57f..aae9b72df 100644
--- a/test/nasa_osal/configuration.xml
+++ b/test/nasa_osal/configuration.xml
@@ -283,7 +283,8 @@ err = OS_TaskCreate(&tid,
                     0);
 test_assert(err == OS_ERR_NO_FREE_IDS, "stack conflict not detected");
 
-OS_TaskDelay(5);
+err = OS_TaskWait(tid);
+test_assert(err == OS_SUCCESS, "wait failed");
 test_assert_sequence("A", "task not executed");
 
 err = OS_TaskCreate(&tid,
@@ -295,7 +296,8 @@ err = OS_TaskCreate(&tid,
                     0);
 test_assert(err == OS_SUCCESS, "task creation failed");
 
-OS_TaskDelay(5);
+err = OS_TaskWait(tid);
+test_assert(err == OS_SUCCESS, "wait failed");
 test_assert_sequence("A", "task not executed");]]></value>
                     </code>
                   </step>
@@ -616,13 +618,13 @@ test_assert_sequence("ABC", "events order violation");]]></value>
               <value>This sequence tests the NASA OSAL over ChibiOS/RT functionalities related to queues</value>
             </description>
             <shared_code>
-              <value><![CDATA[#include <string.h>
-
+              <value><![CDATA[#include <string.h>
+
 #include "osapi.h"
 
-uint32 qid;
+uint32 qid, tid;
 
-#define WRITER_NUM_MESSAGES 16
+#define WRITER_NUM_MESSAGES 16
 #define MESSAGE_SIZE        20
 
 static void test_task_writer(void) {
@@ -765,15 +767,20 @@ test_assert(err == OS_SUCCESS, "queue deletion failed");]]></value>
                 </condition>
                 <various_code>
                   <setup_code>
-                    <value><![CDATA[qid = 0;]]></value>
+                    <value><![CDATA[qid = 0;
+tid = 0;]]></value>
                   </setup_code>
                   <teardown_code>
-                    <value><![CDATA[if (qid != 0) {
-  (void) OS_QueueDelete(qid);
+                    <value><![CDATA[if (qid != 0) {
+  (void) OS_QueueDelete(qid);
+}
+
+if (tid != 0) {
+  (void) OS_TaskWait(tid);
 }]]></value>
                   </teardown_code>
                   <local_variables>
-                    <value><![CDATA[uint32 tid;
+                    <value><![CDATA[uint32 tid;
 unsigned i;]]></value>
                   </local_variables>
                 </various_code>
@@ -820,15 +827,15 @@ test_assert(err == OS_SUCCESS, "writer task creation failed");]]></value>
                       <value />
                     </tags>
                     <code>
-                      <value><![CDATA[for (i = 0; i < WRITER_NUM_MESSAGES; i++) {
-  int32 err;
-  char data[MESSAGE_SIZE];
-  uint32 copied;
-
-  err = OS_QueueGet(qid, data, MESSAGE_SIZE, &copied, OS_Milli2Ticks(200));
-  test_assert(err == OS_SUCCESS, "timed out");
-  test_assert(strncmp(data, "Hello World", sizeof (data)) == 0,
-              "wrong message");
+                      <value><![CDATA[for (i = 0; i < WRITER_NUM_MESSAGES; i++) {
+  int32 err;
+  char data[MESSAGE_SIZE];
+  uint32 copied;
+
+  err = OS_QueueGet(qid, data, MESSAGE_SIZE, &copied, OS_Milli2Ticks(200));
+  test_assert(err == OS_SUCCESS, "timed out");
+  test_assert(strncmp(data, "Hello World", sizeof (data)) == 0,
+              "wrong message");
 }]]></value>
                     </code>
                   </step>
@@ -840,7 +847,8 @@ test_assert(err == OS_SUCCESS, "writer task creation failed");]]></value>
                       <value />
                     </tags>
                     <code>
-                      <value><![CDATA[OS_TaskDelay(10);
+                      <value><![CDATA[(void) OS_TaskWait(tid);
+tid = 0;
 test_assert_sequence("", "queue write errors occurred");]]></value>
                     </code>
                   </step>