From d00602234f4d9eecbe3a0d4d49ae7a07902088f7 Mon Sep 17 00:00:00 2001 From: Giovanni Di Sirio Date: Mon, 22 Feb 2016 13:13:23 +0000 Subject: NASA OSAL prototype. git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8922 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- .../STM32/NASA-OSAL-STM32F407-DISCOVERY/.cproject | 55 +++ demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/.project | 95 ++++ demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/Makefile | 218 +++++++++ demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/chconf.h | 529 +++++++++++++++++++++ ...2F407-DISCOVERY (OpenOCD, Flash and Run).launch | 52 ++ .../STM32/NASA-OSAL-STM32F407-DISCOVERY/halconf.h | 381 +++++++++++++++ demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/main.c | 70 +++ .../STM32/NASA-OSAL-STM32F407-DISCOVERY/mcuconf.h | 327 +++++++++++++ .../STM32/NASA-OSAL-STM32F407-DISCOVERY/osconfig.h | 172 +++++++ .../STM32/NASA-OSAL-STM32F407-DISCOVERY/readme.txt | 25 + os/common/ext/nasa-osal/include/common_types.h | 267 +++++++++++ os/common/ext/nasa-osal/include/osapi-os-core.h | 274 +++++++++++ os/common/ext/nasa-osal/include/osapi-os-filesys.h | 419 ++++++++++++++++ os/common/ext/nasa-osal/include/osapi-os-loader.h | 91 ++++ os/common/ext/nasa-osal/include/osapi-os-net.h | 61 +++ os/common/ext/nasa-osal/include/osapi-os-timer.h | 68 +++ os/common/ext/nasa-osal/include/osapi-version.h | 48 ++ os/common/ext/nasa-osal/include/osapi.h | 142 ++++++ os/common/ext/nasa-osal/nasa-osal.mk | 4 + os/common/ext/nasa-osal/src/osapi.c | 320 +++++++++++++ 20 files changed, 3618 insertions(+) create mode 100644 demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/.cproject create mode 100644 demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/.project create mode 100644 demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/Makefile create mode 100644 demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/chconf.h create mode 100644 demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/debug/NASA-OSAL-STM32F407-DISCOVERY (OpenOCD, Flash and Run).launch create mode 100644 demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/halconf.h create mode 100644 demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/main.c create mode 100644 demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/mcuconf.h create mode 100644 demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/osconfig.h create mode 100644 demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/readme.txt create mode 100644 os/common/ext/nasa-osal/include/common_types.h create mode 100644 os/common/ext/nasa-osal/include/osapi-os-core.h create mode 100644 os/common/ext/nasa-osal/include/osapi-os-filesys.h create mode 100644 os/common/ext/nasa-osal/include/osapi-os-loader.h create mode 100644 os/common/ext/nasa-osal/include/osapi-os-net.h create mode 100644 os/common/ext/nasa-osal/include/osapi-os-timer.h create mode 100644 os/common/ext/nasa-osal/include/osapi-version.h create mode 100644 os/common/ext/nasa-osal/include/osapi.h create mode 100644 os/common/ext/nasa-osal/nasa-osal.mk create mode 100644 os/common/ext/nasa-osal/src/osapi.c diff --git a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/.cproject b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/.cproject new file mode 100644 index 000000000..bc2a939c9 --- /dev/null +++ b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/.cproject @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/.project b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/.project new file mode 100644 index 000000000..2a6df4bba --- /dev/null +++ b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/.project @@ -0,0 +1,95 @@ + + + NASA-OSAL-STM32F407-DISCOVERY + + + + + + org.eclipse.cdt.managedbuilder.core.genmakebuilder + clean,full,incremental, + + + ?name? + + + + org.eclipse.cdt.make.core.append_environment + true + + + org.eclipse.cdt.make.core.autoBuildTarget + all + + + org.eclipse.cdt.make.core.buildArguments + -j1 + + + org.eclipse.cdt.make.core.buildCommand + make + + + org.eclipse.cdt.make.core.cleanBuildTarget + clean + + + org.eclipse.cdt.make.core.contents + org.eclipse.cdt.make.core.activeConfigSettings + + + org.eclipse.cdt.make.core.enableAutoBuild + false + + + org.eclipse.cdt.make.core.enableCleanBuild + true + + + org.eclipse.cdt.make.core.enableFullBuild + true + + + org.eclipse.cdt.make.core.fullBuildTarget + all + + + org.eclipse.cdt.make.core.stopOnError + true + + + org.eclipse.cdt.make.core.useDefaultBuildCmd + true + + + + + org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder + full,incremental, + + + + + + org.eclipse.cdt.core.cnature + org.eclipse.cdt.managedbuilder.core.managedBuildNature + org.eclipse.cdt.managedbuilder.core.ScannerConfigNature + + + + board + 2 + CHIBIOS/os/hal/boards/ST_STM32F4_DISCOVERY + + + os + 2 + CHIBIOS/os + + + test + 2 + CHIBIOS/test + + + diff --git a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/Makefile b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/Makefile new file mode 100644 index 000000000..f22a0062a --- /dev/null +++ b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/Makefile @@ -0,0 +1,218 @@ +############################################################################## +# Build global options +# NOTE: Can be overridden externally. +# + +# Compiler options here. +ifeq ($(USE_OPT),) + USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 +endif + +# C specific options here (added to USE_OPT). +ifeq ($(USE_COPT),) + USE_COPT = +endif + +# C++ specific options here (added to USE_OPT). +ifeq ($(USE_CPPOPT),) + USE_CPPOPT = -fno-rtti +endif + +# Enable this if you want the linker to remove unused code and data +ifeq ($(USE_LINK_GC),) + USE_LINK_GC = yes +endif + +# Linker extra options here. +ifeq ($(USE_LDOPT),) + USE_LDOPT = +endif + +# Enable this if you want link time optimizations (LTO) +ifeq ($(USE_LTO),) + USE_LTO = yes +endif + +# If enabled, this option allows to compile the application in THUMB mode. +ifeq ($(USE_THUMB),) + USE_THUMB = yes +endif + +# Enable this if you want to see the full log while compiling. +ifeq ($(USE_VERBOSE_COMPILE),) + USE_VERBOSE_COMPILE = no +endif + +# If enabled, this option makes the build process faster by not compiling +# modules not used in the current configuration. +ifeq ($(USE_SMART_BUILD),) + USE_SMART_BUILD = yes +endif + +# +# Build global options +############################################################################## + +############################################################################## +# Architecture or project specific options +# + +# Stack size to be allocated to the Cortex-M process stack. This stack is +# the stack used by the main() thread. +ifeq ($(USE_PROCESS_STACKSIZE),) + USE_PROCESS_STACKSIZE = 0x400 +endif + +# Stack size to the allocated to the Cortex-M main/exceptions stack. This +# stack is used for processing interrupts and exceptions. +ifeq ($(USE_EXCEPTIONS_STACKSIZE),) + USE_EXCEPTIONS_STACKSIZE = 0x400 +endif + +# Enables the use of FPU (no, softfp, hard). +ifeq ($(USE_FPU),) + USE_FPU = no +endif + +# +# Architecture or project specific options +############################################################################## + +############################################################################## +# Project, sources and paths +# + +# Define project name here +PROJECT = ch + +# Imported source files and paths +CHIBIOS = ../../.. +# Startup files. +include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk +# HAL-OSAL files (optional). +include $(CHIBIOS)/os/hal/hal.mk +include $(CHIBIOS)/os/hal/ports/STM32/STM32F4xx/platform.mk +include $(CHIBIOS)/os/hal/boards/ST_STM32F4_DISCOVERY/board.mk +include $(CHIBIOS)/os/hal/osal/rt/osal.mk +# RTOS files (optional). +include $(CHIBIOS)/os/rt/rt.mk +include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk +# Other files (optional). +include $(CHIBIOS)/test/rt/test.mk +include $(CHIBIOS)/os/common/ext/nasa-osal/nasa-osal.mk + +# Define linker script file here +LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld + +# C sources that can be compiled in ARM or THUMB mode depending on the global +# setting. +CSRC = $(STARTUPSRC) \ + $(KERNSRC) \ + $(PORTSRC) \ + $(OSALSRC) \ + $(HALSRC) \ + $(PLATFORMSRC) \ + $(BOARDSRC) \ + $(TESTSRC) \ + $(NASAOSALSRC) \ + main.c + +# C++ sources that can be compiled in ARM or THUMB mode depending on the global +# setting. +CPPSRC = + +# C sources to be compiled in ARM mode regardless of the global setting. +# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler +# option that results in lower performance and larger code size. +ACSRC = + +# C++ sources to be compiled in ARM mode regardless of the global setting. +# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler +# option that results in lower performance and larger code size. +ACPPSRC = + +# C sources to be compiled in THUMB mode regardless of the global setting. +# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler +# option that results in lower performance and larger code size. +TCSRC = + +# C sources to be compiled in THUMB mode regardless of the global setting. +# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler +# option that results in lower performance and larger code size. +TCPPSRC = + +# List ASM source files here +ASMSRC = $(STARTUPASM) $(PORTASM) $(OSALASM) + +INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \ + $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \ + $(NASAOSALINC) + +# +# Project, sources and paths +############################################################################## + +############################################################################## +# Compiler settings +# + +MCU = cortex-m4 + +#TRGT = arm-elf- +TRGT = arm-none-eabi- +CC = $(TRGT)gcc +CPPC = $(TRGT)g++ +# Enable loading with g++ only if you need C++ runtime support. +# NOTE: You can use C++ even without C++ support if you are careful. C++ +# runtime support makes code size explode. +LD = $(TRGT)gcc +#LD = $(TRGT)g++ +CP = $(TRGT)objcopy +AS = $(TRGT)gcc -x assembler-with-cpp +AR = $(TRGT)ar +OD = $(TRGT)objdump +SZ = $(TRGT)size +HEX = $(CP) -O ihex +BIN = $(CP) -O binary + +# ARM-specific options here +AOPT = + +# THUMB-specific options here +TOPT = -mthumb -DTHUMB + +# Define C warning options here +CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes + +# Define C++ warning options here +CPPWARN = -Wall -Wextra -Wundef + +# +# Compiler settings +############################################################################## + +############################################################################## +# Start of user section +# + +# List all user C define here, like -D_DEBUG=1 +UDEFS = + +# Define ASM defines here +UADEFS = + +# List all user directories here +UINCDIR = + +# List the user directory to look for the libraries here +ULIBDIR = + +# List all user libraries here +ULIBS = + +# +# End of user defines +############################################################################## + +RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC +include $(RULESPATH)/rules.mk diff --git a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/chconf.h b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/chconf.h new file mode 100644 index 000000000..2ddded71e --- /dev/null +++ b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/chconf.h @@ -0,0 +1,529 @@ +/* + ChibiOS - Copyright (C) 2006..2015 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 templates/chconf.h + * @brief Configuration file template. + * @details A copy of this file must be placed in each project directory, it + * contains the application specific kernel settings. + * + * @addtogroup config + * @details Kernel related settings and hooks. + * @{ + */ + +#ifndef _CHCONF_H_ +#define _CHCONF_H_ + +#define _CHIBIOS_RT_CONF_ + +/*===========================================================================*/ +/** + * @name System timers settings + * @{ + */ +/*===========================================================================*/ + +/** + * @brief System time counter resolution. + * @note Allowed values are 16 or 32 bits. + */ +#define CH_CFG_ST_RESOLUTION 32 + +/** + * @brief System tick frequency. + * @details Frequency of the system timer that drives the system ticks. This + * setting also defines the system tick time unit. + */ +#define CH_CFG_ST_FREQUENCY 1000 + +/** + * @brief Time delta constant for the tick-less mode. + * @note If this value is zero then the system uses the classic + * periodic tick. This value represents the minimum number + * of ticks that is safe to specify in a timeout directive. + * The value one is not valid, timeouts are rounded up to + * this value. + */ +#define CH_CFG_ST_TIMEDELTA 0 + +/** @} */ + +/*===========================================================================*/ +/** + * @name Kernel parameters and options + * @{ + */ +/*===========================================================================*/ + +/** + * @brief Round robin interval. + * @details This constant is the number of system ticks allowed for the + * threads before preemption occurs. Setting this value to zero + * disables the preemption for threads with equal priority and the + * round robin becomes cooperative. Note that higher priority + * threads can still preempt, the kernel is always preemptive. + * @note Disabling the round robin preemption makes the kernel more compact + * and generally faster. + * @note The round robin preemption is not supported in tickless mode and + * must be set to zero in that case. + */ +#define CH_CFG_TIME_QUANTUM 0 + +/** + * @brief Managed RAM size. + * @details Size of the RAM area to be managed by the OS. If set to zero + * then the whole available RAM is used. The core memory is made + * available to the heap allocator and/or can be used directly through + * the simplified core memory allocator. + * + * @note In order to let the OS manage the whole RAM the linker script must + * provide the @p __heap_base__ and @p __heap_end__ symbols. + * @note Requires @p CH_CFG_USE_MEMCORE. + */ +#define CH_CFG_MEMCORE_SIZE 0 + +/** + * @brief Idle thread automatic spawn suppression. + * @details When this option is activated the function @p chSysInit() + * does not spawn the idle thread. The application @p main() + * function becomes the idle thread and must implement an + * infinite loop. + */ +#define CH_CFG_NO_IDLE_THREAD FALSE + +/** @} */ + +/*===========================================================================*/ +/** + * @name Performance options + * @{ + */ +/*===========================================================================*/ + +/** + * @brief OS optimization. + * @details If enabled then time efficient rather than space efficient code + * is used when two possible implementations exist. + * + * @note This is not related to the compiler optimization options. + * @note The default is @p TRUE. + */ +#define CH_CFG_OPTIMIZE_SPEED TRUE + +/** @} */ + +/*===========================================================================*/ +/** + * @name Subsystem options + * @{ + */ +/*===========================================================================*/ + +/** + * @brief Time Measurement APIs. + * @details If enabled then the time measurement APIs are included in + * the kernel. + * + * @note The default is @p TRUE. + */ +#define CH_CFG_USE_TM TRUE + +/** + * @brief Threads registry APIs. + * @details If enabled then the registry APIs are included in the kernel. + * + * @note The default is @p TRUE. + */ +#define CH_CFG_USE_REGISTRY TRUE + +/** + * @brief Threads synchronization APIs. + * @details If enabled then the @p chThdWait() function is included in + * the kernel. + * + * @note The default is @p TRUE. + */ +#define CH_CFG_USE_WAITEXIT TRUE + +/** + * @brief Semaphores APIs. + * @details If enabled then the Semaphores APIs are included in the kernel. + * + * @note The default is @p TRUE. + */ +#define CH_CFG_USE_SEMAPHORES TRUE + +/** + * @brief Semaphores queuing mode. + * @details If enabled then the threads are enqueued on semaphores by + * priority rather than in FIFO order. + * + * @note The default is @p FALSE. Enable this if you have special + * requirements. + * @note Requires @p CH_CFG_USE_SEMAPHORES. + */ +#define CH_CFG_USE_SEMAPHORES_PRIORITY FALSE + +/** + * @brief Mutexes APIs. + * @details If enabled then the mutexes APIs are included in the kernel. + * + * @note The default is @p TRUE. + */ +#define CH_CFG_USE_MUTEXES TRUE + +/** + * @brief Enables recursive behavior on mutexes. + * @note Recursive mutexes are heavier and have an increased + * memory footprint. + * + * @note The default is @p FALSE. + * @note Requires @p CH_CFG_USE_MUTEXES. + */ +#define CH_CFG_USE_MUTEXES_RECURSIVE FALSE + +/** + * @brief Conditional Variables APIs. + * @details If enabled then the conditional variables APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_MUTEXES. + */ +#define CH_CFG_USE_CONDVARS TRUE + +/** + * @brief Conditional Variables APIs with timeout. + * @details If enabled then the conditional variables APIs with timeout + * specification are included in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_CONDVARS. + */ +#define CH_CFG_USE_CONDVARS_TIMEOUT TRUE + +/** + * @brief Events Flags APIs. + * @details If enabled then the event flags APIs are included in the kernel. + * + * @note The default is @p TRUE. + */ +#define CH_CFG_USE_EVENTS TRUE + +/** + * @brief Events Flags APIs with timeout. + * @details If enabled then the events APIs with timeout specification + * are included in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_EVENTS. + */ +#define CH_CFG_USE_EVENTS_TIMEOUT TRUE + +/** + * @brief Synchronous Messages APIs. + * @details If enabled then the synchronous messages APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + */ +#define CH_CFG_USE_MESSAGES TRUE + +/** + * @brief Synchronous Messages queuing mode. + * @details If enabled then messages are served by priority rather than in + * FIFO order. + * + * @note The default is @p FALSE. Enable this if you have special + * requirements. + * @note Requires @p CH_CFG_USE_MESSAGES. + */ +#define CH_CFG_USE_MESSAGES_PRIORITY FALSE + +/** + * @brief Mailboxes APIs. + * @details If enabled then the asynchronous messages (mailboxes) APIs are + * included in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_SEMAPHORES. + */ +#define CH_CFG_USE_MAILBOXES TRUE + +/** + * @brief I/O Queues APIs. + * @details If enabled then the I/O queues APIs are included in the kernel. + * + * @note The default is @p TRUE. + */ +#define CH_CFG_USE_QUEUES TRUE + +/** + * @brief Core Memory Manager APIs. + * @details If enabled then the core memory manager APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + */ +#define CH_CFG_USE_MEMCORE TRUE + +/** + * @brief Heap Allocator APIs. + * @details If enabled then the memory heap allocator APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or + * @p CH_CFG_USE_SEMAPHORES. + * @note Mutexes are recommended. + */ +#define CH_CFG_USE_HEAP TRUE + +/** + * @brief Memory Pools Allocator APIs. + * @details If enabled then the memory pools allocator APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + */ +#define CH_CFG_USE_MEMPOOLS TRUE + +/** + * @brief Dynamic Threads APIs. + * @details If enabled then the dynamic threads creation APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_WAITEXIT. + * @note Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS. + */ +#define CH_CFG_USE_DYNAMIC TRUE + +/** @} */ + +/*===========================================================================*/ +/** + * @name Debug options + * @{ + */ +/*===========================================================================*/ + +/** + * @brief Debug option, kernel statistics. + * + * @note The default is @p FALSE. + */ +#define CH_DBG_STATISTICS FALSE + +/** + * @brief Debug option, system state check. + * @details If enabled the correct call protocol for system APIs is checked + * at runtime. + * + * @note The default is @p FALSE. + */ +#define CH_DBG_SYSTEM_STATE_CHECK FALSE + +/** + * @brief Debug option, parameters checks. + * @details If enabled then the checks on the API functions input + * parameters are activated. + * + * @note The default is @p FALSE. + */ +#define CH_DBG_ENABLE_CHECKS FALSE + +/** + * @brief Debug option, consistency checks. + * @details If enabled then all the assertions in the kernel code are + * activated. This includes consistency checks inside the kernel, + * runtime anomalies and port-defined checks. + * + * @note The default is @p FALSE. + */ +#define CH_DBG_ENABLE_ASSERTS FALSE + +/** + * @brief Debug option, trace buffer. + * @details If enabled then the context switch circular trace buffer is + * activated. + * + * @note The default is @p CH_DBG_TRACE_MASK_NONE. + */ +#define CH_DBG_TRACE_MASK CH_DBG_TRACE_MASK_NONE + +/** + * @brief Trace buffer entries. + * @note The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is + * different from @p CH_DBG_TRACE_MASK_NONE. + */ +#define CH_DBG_TRACE_BUFFER_SIZE 128 + +/** + * @brief Debug option, stack checks. + * @details If enabled then a runtime stack check is performed. + * + * @note The default is @p FALSE. + * @note The stack check is performed in a architecture/port dependent way. + * It may not be implemented or some ports. + * @note The default failure mode is to halt the system with the global + * @p panic_msg variable set to @p NULL. + */ +#define CH_DBG_ENABLE_STACK_CHECK FALSE + +/** + * @brief Debug option, stacks initialization. + * @details If enabled then the threads working area is filled with a byte + * value when a thread is created. This can be useful for the + * runtime measurement of the used stack. + * + * @note The default is @p FALSE. + */ +#define CH_DBG_FILL_THREADS FALSE + +/** + * @brief Debug option, threads profiling. + * @details If enabled then a field is added to the @p thread_t structure that + * counts the system ticks occurred while executing the thread. + * + * @note The default is @p FALSE. + * @note This debug option is not currently compatible with the + * tickless mode. + */ +#define CH_DBG_THREADS_PROFILING TRUE + +/** @} */ + +/*===========================================================================*/ +/** + * @name Kernel hooks + * @{ + */ +/*===========================================================================*/ + +/** + * @brief Threads descriptor structure extension. + * @details User fields added to the end of the @p thread_t structure. + */ +#define CH_CFG_THREAD_EXTRA_FIELDS \ + /* Add threads custom fields here.*/ + +/** + * @brief Threads initialization hook. + * @details User initialization code added to the @p chThdInit() API. + * + * @note It is invoked from within @p chThdInit() and implicitly from all + * the threads creation APIs. + */ +#define CH_CFG_THREAD_INIT_HOOK(tp) { \ + /* Add threads initialization code here.*/ \ +} + +/** + * @brief Threads finalization hook. + * @details User finalization code added to the @p chThdExit() API. + */ +#define CH_CFG_THREAD_EXIT_HOOK(tp) { \ + /* Add threads finalization code here.*/ \ +} + +/** + * @brief Context switch hook. + * @details This hook is invoked just before switching between threads. + */ +#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) { \ + /* Context switch code here.*/ \ +} + +/** + * @brief ISR enter hook. + */ +#define CH_CFG_IRQ_PROLOGUE_HOOK() { \ + /* IRQ prologue code here.*/ \ +} + +/** + * @brief ISR exit hook. + */ +#define CH_CFG_IRQ_EPILOGUE_HOOK() { \ + /* IRQ epilogue code here.*/ \ +} + +/** + * @brief Idle thread enter hook. + * @note This hook is invoked within a critical zone, no OS functions + * should be invoked from here. + * @note This macro can be used to activate a power saving mode. + */ +#define CH_CFG_IDLE_ENTER_HOOK() { \ + /* Idle-enter code here.*/ \ +} + +/** + * @brief Idle thread leave hook. + * @note This hook is invoked within a critical zone, no OS functions + * should be invoked from here. + * @note This macro can be used to deactivate a power saving mode. + */ +#define CH_CFG_IDLE_LEAVE_HOOK() { \ + /* Idle-leave code here.*/ \ +} + +/** + * @brief Idle Loop hook. + * @details This hook is continuously invoked by the idle thread loop. + */ +#define CH_CFG_IDLE_LOOP_HOOK() { \ + /* Idle loop code here.*/ \ +} + +/** + * @brief System tick event hook. + * @details This hook is invoked in the system tick handler immediately + * after processing the virtual timers queue. + */ +#define CH_CFG_SYSTEM_TICK_HOOK() { \ + /* System tick event code here.*/ \ +} + +/** + * @brief System halt hook. + * @details This hook is invoked in case to a system halting error before + * the system is halted. + */ +#define CH_CFG_SYSTEM_HALT_HOOK(reason) { \ + /* System halt code here.*/ \ +} + +/** + * @brief Trace hook. + * @details This hook is invoked each time a new record is written in the + * trace buffer. + */ +#define CH_CFG_TRACE_HOOK(tep) { \ + /* Trace code here.*/ \ +} + +/** @} */ + +/*===========================================================================*/ +/* Port-specific settings (override port settings defaulted in chcore.h). */ +/*===========================================================================*/ + +#endif /* _CHCONF_H_ */ + +/** @} */ diff --git a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/debug/NASA-OSAL-STM32F407-DISCOVERY (OpenOCD, Flash and Run).launch b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/debug/NASA-OSAL-STM32F407-DISCOVERY (OpenOCD, Flash and Run).launch new file mode 100644 index 000000000..44c393035 --- /dev/null +++ b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/debug/NASA-OSAL-STM32F407-DISCOVERY (OpenOCD, Flash and Run).launch @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/halconf.h b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/halconf.h new file mode 100644 index 000000000..dddc44db8 --- /dev/null +++ b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/halconf.h @@ -0,0 +1,381 @@ +/* + ChibiOS - Copyright (C) 2006..2015 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 templates/halconf.h + * @brief HAL configuration header. + * @details HAL configuration file, this file allows to enable or disable the + * various device drivers from your application. You may also use + * this file in order to override the device drivers default settings. + * + * @addtogroup HAL_CONF + * @{ + */ + +#ifndef _HALCONF_H_ +#define _HALCONF_H_ + +#include "mcuconf.h" + +/** + * @brief Enables the PAL subsystem. + */ +#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__) +#define HAL_USE_PAL TRUE +#endif + +/** + * @brief Enables the ADC subsystem. + */ +#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__) +#define HAL_USE_ADC FALSE +#endif + +/** + * @brief Enables the CAN subsystem. + */ +#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__) +#define HAL_USE_CAN FALSE +#endif + +/** + * @brief Enables the DAC subsystem. + */ +#if !defined(HAL_USE_DAC) || defined(__DOXYGEN__) +#define HAL_USE_DAC FALSE +#endif + +/** + * @brief Enables the EXT subsystem. + */ +#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__) +#define HAL_USE_EXT FALSE +#endif + +/** + * @brief Enables the GPT subsystem. + */ +#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__) +#define HAL_USE_GPT FALSE +#endif + +/** + * @brief Enables the I2C subsystem. + */ +#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__) +#define HAL_USE_I2C FALSE +#endif + +/** + * @brief Enables the I2S subsystem. + */ +#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__) +#define HAL_USE_I2S FALSE +#endif + +/** + * @brief Enables the ICU subsystem. + */ +#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__) +#define HAL_USE_ICU FALSE +#endif + +/** + * @brief Enables the MAC subsystem. + */ +#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__) +#define HAL_USE_MAC FALSE +#endif + +/** + * @brief Enables the MMC_SPI subsystem. + */ +#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__) +#define HAL_USE_MMC_SPI FALSE +#endif + +/** + * @brief Enables the PWM subsystem. + */ +#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__) +#define HAL_USE_PWM FALSE +#endif + +/** + * @brief Enables the RTC subsystem. + */ +#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__) +#define HAL_USE_RTC FALSE +#endif + +/** + * @brief Enables the SDC subsystem. + */ +#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__) +#define HAL_USE_SDC FALSE +#endif + +/** + * @brief Enables the SERIAL subsystem. + */ +#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__) +#define HAL_USE_SERIAL TRUE +#endif + +/** + * @brief Enables the SERIAL over USB subsystem. + */ +#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__) +#define HAL_USE_SERIAL_USB FALSE +#endif + +/** + * @brief Enables the SPI subsystem. + */ +#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__) +#define HAL_USE_SPI FALSE +#endif + +/** + * @brief Enables the UART subsystem. + */ +#if !defined(HAL_USE_UART) || defined(__DOXYGEN__) +#define HAL_USE_UART FALSE +#endif + +/** + * @brief Enables the USB subsystem. + */ +#if !defined(HAL_USE_USB) || defined(__DOXYGEN__) +#define HAL_USE_USB FALSE +#endif + +/** + * @brief Enables the WDG subsystem. + */ +#if !defined(HAL_USE_WDG) || defined(__DOXYGEN__) +#define HAL_USE_WDG FALSE +#endif + +/*===========================================================================*/ +/* ADC driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables synchronous APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__) +#define ADC_USE_WAIT TRUE +#endif + +/** + * @brief Enables the @p adcAcquireBus() and @p adcReleaseBus() APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) +#define ADC_USE_MUTUAL_EXCLUSION TRUE +#endif + +/*===========================================================================*/ +/* CAN driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Sleep mode related APIs inclusion switch. + */ +#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__) +#define CAN_USE_SLEEP_MODE TRUE +#endif + +/*===========================================================================*/ +/* I2C driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables the mutual exclusion APIs on the I2C bus. + */ +#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) +#define I2C_USE_MUTUAL_EXCLUSION TRUE +#endif + +/*===========================================================================*/ +/* MAC driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables an event sources for incoming packets. + */ +#if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__) +#define MAC_USE_ZERO_COPY FALSE +#endif + +/** + * @brief Enables an event sources for incoming packets. + */ +#if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__) +#define MAC_USE_EVENTS TRUE +#endif + +/*===========================================================================*/ +/* MMC_SPI driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Delays insertions. + * @details If enabled this options inserts delays into the MMC waiting + * routines releasing some extra CPU time for the threads with + * lower priority, this may slow down the driver a bit however. + * This option is recommended also if the SPI driver does not + * use a DMA channel and heavily loads the CPU. + */ +#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__) +#define MMC_NICE_WAITING TRUE +#endif + +/*===========================================================================*/ +/* SDC driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Number of initialization attempts before rejecting the card. + * @note Attempts are performed at 10mS intervals. + */ +#if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__) +#define SDC_INIT_RETRY 100 +#endif + +/** + * @brief Include support for MMC cards. + * @note MMC support is not yet implemented so this option must be kept + * at @p FALSE. + */ +#if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__) +#define SDC_MMC_SUPPORT FALSE +#endif + +/** + * @brief Delays insertions. + * @details If enabled this options inserts delays into the MMC waiting + * routines releasing some extra CPU time for the threads with + * lower priority, this may slow down the driver a bit however. + */ +#if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__) +#define SDC_NICE_WAITING TRUE +#endif + +/*===========================================================================*/ +/* SERIAL driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Default bit rate. + * @details Configuration parameter, this is the baud rate selected for the + * default configuration. + */ +#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__) +#define SERIAL_DEFAULT_BITRATE 38400 +#endif + +/** + * @brief Serial buffers size. + * @details Configuration parameter, you can change the depth of the queue + * buffers depending on the requirements of your application. + * @note The default is 16 bytes for both the transmission and receive + * buffers. + */ +#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__) +#define SERIAL_BUFFERS_SIZE 16 +#endif + +/*===========================================================================*/ +/* SERIAL_USB driver related setting. */ +/*===========================================================================*/ + +/** + * @brief Serial over USB buffers size. + * @details Configuration parameter, the buffer size must be a multiple of + * the USB data endpoint maximum packet size. + * @note The default is 256 bytes for both the transmission and receive + * buffers. + */ +#if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__) +#define SERIAL_USB_BUFFERS_SIZE 256 +#endif + +/** + * @brief Serial over USB number of buffers. + * @note The default is 2 buffers. + */ +#if !defined(SERIAL_USB_BUFFERS_NUMBER) || defined(__DOXYGEN__) +#define SERIAL_USB_BUFFERS_NUMBER 2 +#endif + +/*===========================================================================*/ +/* SPI driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables synchronous APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__) +#define SPI_USE_WAIT TRUE +#endif + +/** + * @brief Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) +#define SPI_USE_MUTUAL_EXCLUSION TRUE +#endif + +/*===========================================================================*/ +/* UART driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables synchronous APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(UART_USE_WAIT) || defined(__DOXYGEN__) +#define UART_USE_WAIT FALSE +#endif + +/** + * @brief Enables the @p uartAcquireBus() and @p uartReleaseBus() APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(UART_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) +#define UART_USE_MUTUAL_EXCLUSION FALSE +#endif + +/*===========================================================================*/ +/* USB driver related settings. */ +/*===========================================================================*/ + +/** + * @brief Enables synchronous APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(USB_USE_WAIT) || defined(__DOXYGEN__) +#define USB_USE_WAIT FALSE +#endif + +#endif /* _HALCONF_H_ */ + +/** @} */ diff --git a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/main.c b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/main.c new file mode 100644 index 000000000..f2431faee --- /dev/null +++ b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/main.c @@ -0,0 +1,70 @@ +/* + ChibiOS - Copyright (C) 2006..2015 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. +*/ + +#include "hal.h" +#include "osapi.h" + +/* + * This is a periodic thread that does absolutely nothing except flashing + * a LED. + * Note, the working area is created using ChibiOS/RT macro because alignment + * constraints. + */ +static THD_WORKING_AREA(wa_blinker, 128); +static void blinker(void) { + + OS_TaskRegister(); + + while (true) { + palSetPad(GPIOD, GPIOD_LED3); /* Orange. */ + OS_TaskDelay(500); + palClearPad(GPIOD, GPIOD_LED3); /* Orange. */ + OS_TaskDelay(500); + } +} + +/* + * Application entry point. + */ +int main(void) { + uint32 blinker_id; + + /* HAL initialization, this also initializes the configured device drivers + and performs the board-specific initializations.*/ + halInit(); + + /* OS initialization.*/ + (void) OS_API_Init(); + + /* Activates the serial driver 2 using the driver default configuration. + PA2(TX) and PA3(RX) are routed to USART2.*/ + sdStart(&SD2, NULL); + palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7)); + palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7)); + + /* Starting the blinker thread.*/ + (void) OS_TaskCreate(&blinker_id, "blinker", blinker, + (uint32 *)wa_blinker, sizeof wa_blinker, + 128, 0); + + /* In the ChibiOS/RT OSAL implementation the main() function is an + usable thread with priority 128 (NORMALPRIO), here we just sleep + in a loop printing a message on the serial port.*/ + while (true) { + sdWrite(&SD2, (uint8_t *)"Hello World!\r\n", 14); + OS_TaskDelay(500); + } +} diff --git a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/mcuconf.h b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/mcuconf.h new file mode 100644 index 000000000..e0aa520a9 --- /dev/null +++ b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/mcuconf.h @@ -0,0 +1,327 @@ +/* + ChibiOS - Copyright (C) 2006..2015 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. +*/ + +#ifndef _MCUCONF_H_ +#define _MCUCONF_H_ + +/* + * STM32F4xx drivers configuration. + * The following settings override the default settings present in + * the various device driver implementation headers. + * Note that the settings for each driver only have effect if the whole + * driver is enabled in halconf.h. + * + * IRQ priorities: + * 15...0 Lowest...Highest. + * + * DMA priorities: + * 0...3 Lowest...Highest. + */ + +#define STM32F4xx_MCUCONF + +/* + * HAL driver system settings. + */ +#define STM32_NO_INIT FALSE +#define STM32_HSI_ENABLED TRUE +#define STM32_LSI_ENABLED TRUE +#define STM32_HSE_ENABLED TRUE +#define STM32_LSE_ENABLED FALSE +#define STM32_CLOCK48_REQUIRED TRUE +#define STM32_SW STM32_SW_PLL +#define STM32_PLLSRC STM32_PLLSRC_HSE +#define STM32_PLLM_VALUE 8 +#define STM32_PLLN_VALUE 336 +#define STM32_PLLP_VALUE 2 +#define STM32_PLLQ_VALUE 7 +#define STM32_HPRE STM32_HPRE_DIV1 +#define STM32_PPRE1 STM32_PPRE1_DIV4 +#define STM32_PPRE2 STM32_PPRE2_DIV2 +#define STM32_RTCSEL STM32_RTCSEL_LSI +#define STM32_RTCPRE_VALUE 8 +#define STM32_MCO1SEL STM32_MCO1SEL_HSI +#define STM32_MCO1PRE STM32_MCO1PRE_DIV1 +#define STM32_MCO2SEL STM32_MCO2SEL_SYSCLK +#define STM32_MCO2PRE STM32_MCO2PRE_DIV5 +#define STM32_I2SSRC STM32_I2SSRC_CKIN +#define STM32_PLLI2SN_VALUE 192 +#define STM32_PLLI2SR_VALUE 5 +#define STM32_PVD_ENABLE FALSE +#define STM32_PLS STM32_PLS_LEV0 +#define STM32_BKPRAM_ENABLE FALSE + +/* + * ADC driver system settings. + */ +#define STM32_ADC_ADCPRE ADC_CCR_ADCPRE_DIV4 +#define STM32_ADC_USE_ADC1 FALSE +#define STM32_ADC_USE_ADC2 FALSE +#define STM32_ADC_USE_ADC3 FALSE +#define STM32_ADC_ADC1_DMA_STREAM STM32_DMA_STREAM_ID(2, 4) +#define STM32_ADC_ADC2_DMA_STREAM STM32_DMA_STREAM_ID(2, 2) +#define STM32_ADC_ADC3_DMA_STREAM STM32_DMA_STREAM_ID(2, 1) +#define STM32_ADC_ADC1_DMA_PRIORITY 2 +#define STM32_ADC_ADC2_DMA_PRIORITY 2 +#define STM32_ADC_ADC3_DMA_PRIORITY 2 +#define STM32_ADC_IRQ_PRIORITY 6 +#define STM32_ADC_ADC1_DMA_IRQ_PRIORITY 6 +#define STM32_ADC_ADC2_DMA_IRQ_PRIORITY 6 +#define STM32_ADC_ADC3_DMA_IRQ_PRIORITY 6 + +/* + * CAN driver system settings. + */ +#define STM32_CAN_USE_CAN1 FALSE +#define STM32_CAN_USE_CAN2 FALSE +#define STM32_CAN_CAN1_IRQ_PRIORITY 11 +#define STM32_CAN_CAN2_IRQ_PRIORITY 11 + +/* + * DAC driver system settings. + */ +#define STM32_DAC_DUAL_MODE FALSE +#define STM32_DAC_USE_DAC1_CH1 FALSE +#define STM32_DAC_USE_DAC1_CH2 FALSE +#define STM32_DAC_DAC1_CH1_IRQ_PRIORITY 10 +#define STM32_DAC_DAC1_CH2_IRQ_PRIORITY 10 +#define STM32_DAC_DAC1_CH1_DMA_PRIORITY 2 +#define STM32_DAC_DAC1_CH2_DMA_PRIORITY 2 +#define STM32_DAC_DAC1_CH1_DMA_STREAM STM32_DMA_STREAM_ID(1, 5) +#define STM32_DAC_DAC1_CH2_DMA_STREAM STM32_DMA_STREAM_ID(1, 6) + +/* + * EXT driver system settings. + */ +#define STM32_EXT_EXTI0_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI1_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI2_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI3_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI4_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI5_9_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI10_15_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI16_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI17_IRQ_PRIORITY 15 +#define STM32_EXT_EXTI18_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI19_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI20_IRQ_PRIORITY 6 +#define STM32_EXT_EXTI21_IRQ_PRIORITY 15 +#define STM32_EXT_EXTI22_IRQ_PRIORITY 15 + +/* + * GPT driver system settings. + */ +#define STM32_GPT_USE_TIM1 FALSE +#define STM32_GPT_USE_TIM2 FALSE +#define STM32_GPT_USE_TIM3 FALSE +#define STM32_GPT_USE_TIM4 FALSE +#define STM32_GPT_USE_TIM5 FALSE +#define STM32_GPT_USE_TIM6 FALSE +#define STM32_GPT_USE_TIM7 FALSE +#define STM32_GPT_USE_TIM8 FALSE +#define STM32_GPT_USE_TIM9 FALSE +#define STM32_GPT_USE_TIM11 FALSE +#define STM32_GPT_USE_TIM12 FALSE +#define STM32_GPT_USE_TIM14 FALSE +#define STM32_GPT_TIM1_IRQ_PRIORITY 7 +#define STM32_GPT_TIM2_IRQ_PRIORITY 7 +#define STM32_GPT_TIM3_IRQ_PRIORITY 7 +#define STM32_GPT_TIM4_IRQ_PRIORITY 7 +#define STM32_GPT_TIM5_IRQ_PRIORITY 7 +#define STM32_GPT_TIM6_IRQ_PRIORITY 7 +#define STM32_GPT_TIM7_IRQ_PRIORITY 7 +#define STM32_GPT_TIM8_IRQ_PRIORITY 7 +#define STM32_GPT_TIM9_IRQ_PRIORITY 7 +#define STM32_GPT_TIM11_IRQ_PRIORITY 7 +#define STM32_GPT_TIM12_IRQ_PRIORITY 7 +#define STM32_GPT_TIM14_IRQ_PRIORITY 7 + +/* + * I2C driver system settings. + */ +#define STM32_I2C_USE_I2C1 FALSE +#define STM32_I2C_USE_I2C2 FALSE +#define STM32_I2C_USE_I2C3 FALSE +#define STM32_I2C_BUSY_TIMEOUT 50 +#define STM32_I2C_I2C1_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0) +#define STM32_I2C_I2C1_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6) +#define STM32_I2C_I2C2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2) +#define STM32_I2C_I2C2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7) +#define STM32_I2C_I2C3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2) +#define STM32_I2C_I2C3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4) +#define STM32_I2C_I2C1_IRQ_PRIORITY 5 +#define STM32_I2C_I2C2_IRQ_PRIORITY 5 +#define STM32_I2C_I2C3_IRQ_PRIORITY 5 +#define STM32_I2C_I2C1_DMA_PRIORITY 3 +#define STM32_I2C_I2C2_DMA_PRIORITY 3 +#define STM32_I2C_I2C3_DMA_PRIORITY 3 +#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure") + +/* + * ICU driver system settings. + */ +#define STM32_ICU_USE_TIM1 FALSE +#define STM32_ICU_USE_TIM2 FALSE +#define STM32_ICU_USE_TIM3 FALSE +#define STM32_ICU_USE_TIM4 FALSE +#define STM32_ICU_USE_TIM5 FALSE +#define STM32_ICU_USE_TIM8 FALSE +#define STM32_ICU_USE_TIM9 FALSE +#define STM32_ICU_TIM1_IRQ_PRIORITY 7 +#define STM32_ICU_TIM2_IRQ_PRIORITY 7 +#define STM32_ICU_TIM3_IRQ_PRIORITY 7 +#define STM32_ICU_TIM4_IRQ_PRIORITY 7 +#define STM32_ICU_TIM5_IRQ_PRIORITY 7 +#define STM32_ICU_TIM8_IRQ_PRIORITY 7 +#define STM32_ICU_TIM9_IRQ_PRIORITY 7 + +/* + * MAC driver system settings. + */ +#define STM32_MAC_TRANSMIT_BUFFERS 2 +#define STM32_MAC_RECEIVE_BUFFERS 4 +#define STM32_MAC_BUFFERS_SIZE 1522 +#define STM32_MAC_PHY_TIMEOUT 100 +#define STM32_MAC_ETH1_CHANGE_PHY_STATE TRUE +#define STM32_MAC_ETH1_IRQ_PRIORITY 13 +#define STM32_MAC_IP_CHECKSUM_OFFLOAD 0 + +/* + * PWM driver system settings. + */ +#define STM32_PWM_USE_ADVANCED FALSE +#define STM32_PWM_USE_TIM1 FALSE +#define STM32_PWM_USE_TIM2 FALSE +#define STM32_PWM_USE_TIM3 FALSE +#define STM32_PWM_USE_TIM4 FALSE +#define STM32_PWM_USE_TIM5 FALSE +#define STM32_PWM_USE_TIM8 FALSE +#define STM32_PWM_USE_TIM9 FALSE +#define STM32_PWM_TIM1_IRQ_PRIORITY 7 +#define STM32_PWM_TIM2_IRQ_PRIORITY 7 +#define STM32_PWM_TIM3_IRQ_PRIORITY 7 +#define STM32_PWM_TIM4_IRQ_PRIORITY 7 +#define STM32_PWM_TIM5_IRQ_PRIORITY 7 +#define STM32_PWM_TIM8_IRQ_PRIORITY 7 +#define STM32_PWM_TIM9_IRQ_PRIORITY 7 + +/* + * SDC driver system settings. + */ +#define STM32_SDC_SDIO_DMA_PRIORITY 3 +#define STM32_SDC_SDIO_IRQ_PRIORITY 9 +#define STM32_SDC_WRITE_TIMEOUT_MS 250 +#define STM32_SDC_READ_TIMEOUT_MS 25 +#define STM32_SDC_CLOCK_ACTIVATION_DELAY 10 +#define STM32_SDC_SDIO_UNALIGNED_SUPPORT TRUE +#define STM32_SDC_SDIO_DMA_STREAM STM32_DMA_STREAM_ID(2, 3) + +/* + * SERIAL driver system settings. + */ +#define STM32_SERIAL_USE_USART1 FALSE +#define STM32_SERIAL_USE_USART2 TRUE +#define STM32_SERIAL_USE_USART3 FALSE +#define STM32_SERIAL_USE_UART4 FALSE +#define STM32_SERIAL_USE_UART5 FALSE +#define STM32_SERIAL_USE_USART6 FALSE +#define STM32_SERIAL_USART1_PRIORITY 12 +#define STM32_SERIAL_USART2_PRIORITY 12 +#define STM32_SERIAL_USART3_PRIORITY 12 +#define STM32_SERIAL_UART4_PRIORITY 12 +#define STM32_SERIAL_UART5_PRIORITY 12 +#define STM32_SERIAL_USART6_PRIORITY 12 + +/* + * SPI driver system settings. + */ +#define STM32_SPI_USE_SPI1 FALSE +#define STM32_SPI_USE_SPI2 FALSE +#define STM32_SPI_USE_SPI3 FALSE +#define STM32_SPI_SPI1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 0) +#define STM32_SPI_SPI1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 3) +#define STM32_SPI_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3) +#define STM32_SPI_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4) +#define STM32_SPI_SPI3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0) +#define STM32_SPI_SPI3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7) +#define STM32_SPI_SPI1_DMA_PRIORITY 1 +#define STM32_SPI_SPI2_DMA_PRIORITY 1 +#define STM32_SPI_SPI3_DMA_PRIORITY 1 +#define STM32_SPI_SPI1_IRQ_PRIORITY 10 +#define STM32_SPI_SPI2_IRQ_PRIORITY 10 +#define STM32_SPI_SPI3_IRQ_PRIORITY 10 +#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure") + +/* + * ST driver system settings. + */ +#define STM32_ST_IRQ_PRIORITY 8 +#define STM32_ST_USE_TIMER 2 + +/* + * UART driver system settings. + */ +#define STM32_UART_USE_USART1 FALSE +#define STM32_UART_USE_USART2 FALSE +#define STM32_UART_USE_USART3 FALSE +#define STM32_UART_USE_UART4 FALSE +#define STM32_UART_USE_UART5 FALSE +#define STM32_UART_USE_USART6 FALSE +#define STM32_UART_USART1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 5) +#define STM32_UART_USART1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 7) +#define STM32_UART_USART2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5) +#define STM32_UART_USART2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6) +#define STM32_UART_USART3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 1) +#define STM32_UART_USART3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3) +#define STM32_UART_UART4_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2) +#define STM32_UART_UART4_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4) +#define STM32_UART_UART5_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0) +#define STM32_UART_UART5_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7) +#define STM32_UART_USART6_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 2) +#define STM32_UART_USART6_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 7) +#define STM32_UART_USART1_IRQ_PRIORITY 12 +#define STM32_UART_USART2_IRQ_PRIORITY 12 +#define STM32_UART_USART3_IRQ_PRIORITY 12 +#define STM32_UART_UART4_IRQ_PRIORITY 12 +#define STM32_UART_UART5_IRQ_PRIORITY 12 +#define STM32_UART_USART6_IRQ_PRIORITY 12 +#define STM32_UART_USART1_DMA_PRIORITY 0 +#define STM32_UART_USART2_DMA_PRIORITY 0 +#define STM32_UART_USART3_DMA_PRIORITY 0 +#define STM32_UART_UART4_DMA_PRIORITY 0 +#define STM32_UART_UART5_DMA_PRIORITY 0 +#define STM32_UART_USART6_DMA_PRIORITY 0 +#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure") + +/* + * USB driver system settings. + */ +#define STM32_USB_USE_OTG1 FALSE +#define STM32_USB_USE_OTG2 FALSE +#define STM32_USB_OTG1_IRQ_PRIORITY 14 +#define STM32_USB_OTG2_IRQ_PRIORITY 14 +#define STM32_USB_OTG1_RX_FIFO_SIZE 512 +#define STM32_USB_OTG2_RX_FIFO_SIZE 1024 +#define STM32_USB_OTG_THREAD_PRIO LOWPRIO +#define STM32_USB_OTG_THREAD_STACK_SIZE 128 +#define STM32_USB_OTGFIFO_FILL_BASEPRI 0 + +/* + * WDG driver system settings. + */ +#define STM32_WDG_USE_IWDG FALSE + +#endif /* _MCUCONF_H_ */ diff --git a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/osconfig.h b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/osconfig.h new file mode 100644 index 000000000..d231b4767 --- /dev/null +++ b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/osconfig.h @@ -0,0 +1,172 @@ +/****************************************************************************** +** File: osconfig.h +** $Id: osconfig.h 1.2 2013/12/16 13:08:05GMT-05:00 acudmore Exp $ +** +** Purpose: +** This header file contains the OS API configuration parameters. +** +** Author: A. Cudmore +** +** Notes: +** +** $Date: 2013/12/16 13:08:05GMT-05:00 $ +** $Revision: 1.2 $ +** $Log: osconfig.h $ +** Revision 1.2 2013/12/16 13:08:05GMT-05:00 acudmore +** use OS_FS_PHYS_NAME_LEN macro instead of hard-coded value +** Revision 1.1 2013/07/19 14:05:44GMT-05:00 acudmore +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/bsp/sis-rtems/config/project.pj +** Revision 1.8 2011/12/05 12:41:15GMT-05:00 acudmore +** Removed OS_MEM_TABLE_SIZE parameter +** Revision 1.7 2009/07/14 14:24:53EDT acudmore +** Added parameter for local path size. +** Revision 1.6 2009/07/07 14:01:02EDT acudmore +** Changed OS_MAX_NUM_OPEN_FILES to 50 to preserve data/telmetry space +** Revision 1.5 2009/07/07 13:58:22EDT acudmore +** Added OS_STATIC_LOADER define to switch between static and dynamic loaders. +** Revision 1.4 2009/06/04 11:43:43EDT rmcgraw +** DCR8290:1 Increased settings for max tasks,queues,sems and modules +** Revision 1.3 2008/08/20 15:49:37EDT apcudmore +** Add OS_MAX_TIMERS parameter for Timer API +** Revision 1.2 2008/06/20 15:17:56EDT apcudmore +** Added conditional define for Module Loader API configuration +** Revision 1.1 2008/04/20 22:35:19EDT ruperera +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/build/inc/project.pj +** Revision 1.6 2008/02/12 13:27:59EST apcudmore +** New API updates: +** - fixed RTEMS osapi compile error +** - related makefile fixes +** - header file parameter update +** +** Revision 1.1 2005/06/09 10:57:58EDT rperera +** Initial revision +** +******************************************************************************/ + +#ifndef _osconfig_ +#define _osconfig_ + +/* +** Platform Configuration Parameters for the OS API +*/ + +#define OS_MAX_TASKS 64 +#define OS_MAX_QUEUES 64 +#define OS_MAX_COUNT_SEMAPHORES 20 +#define OS_MAX_BIN_SEMAPHORES 20 +#define OS_MAX_MUTEXES 20 + +/* +** Maximum length for an absolute path name +*/ +#define OS_MAX_PATH_LEN 64 + +/* +** Maximum length for a local or host path/filename. +** This parameter can consist of the OSAL filename/path + +** the host OS physical volume name or path. +*/ +#define OS_MAX_LOCAL_PATH_LEN (OS_MAX_PATH_LEN + OS_FS_PHYS_NAME_LEN) + + +/* +** The maxium length allowed for a object (task,queue....) name +*/ +#define OS_MAX_API_NAME 20 + +/* +** The maximum length for a file name +*/ +#define OS_MAX_FILE_NAME 20 + +/* +** These defines are for OS_printf +*/ +#define OS_BUFFER_SIZE 172 +#define OS_BUFFER_MSG_DEPTH 100 + +/* This #define turns on a utility task that + * will read the statements to print from + * the OS_printf function. If you want OS_printf + * to print the text out itself, comment this out + * + * NOTE: The Utility Task #defines only have meaning + * on the VxWorks operating systems + */ + +#define OS_UTILITY_TASK_ON + + +#ifdef OS_UTILITY_TASK_ON + #define OS_UTILITYTASK_STACK_SIZE 2048 + /* some room is left for other lower priority tasks */ + #define OS_UTILITYTASK_PRIORITY 245 +#endif + + +/* +** the size of a command that can be passed to the underlying OS +*/ +#define OS_MAX_CMD_LEN 1000 + +/* +** This define will include the OS network API. +** It should be turned off for targtets that do not have a network stack or +** device ( like the basic RAD750 vxWorks BSP ) +*/ +#undef OS_INCLUDE_NETWORK + +/* +** This is the maximum number of open file descriptors allowed at a time +*/ +#define OS_MAX_NUM_OPEN_FILES 50 + +/* +** This defines the filethe input command of OS_ShellOutputToFile +** is written to in the VxWorks6 port +*/ +#define OS_SHELL_CMD_INPUT_FILE_NAME "/ram/OS_ShellCmd.in" + +/* +** This define sets the queue implentation of the Linux port to use sockets +** commenting this out makes the Linux port use the POSIX message queues. +*/ +/* #define OSAL_SOCKET_QUEUE */ + +/* +** Module loader/symbol table is optional +*/ +#undef OS_INCLUDE_MODULE_LOADER + +#ifdef OS_INCLUDE_MODULE_LOADER + /* + ** This define sets the size of the OS Module Table, which keeps track of the loaded modules in + ** the running system. This define must be set high enough to support the maximum number of + ** loadable modules in the system. If the the table is filled up at runtime, a new module load + ** would fail. + */ + #define OS_MAX_MODULES 10 + + /* + ** The Static Loader define is used for switching between the Dynamic and Static loader implementations. + */ + /* #define OS_STATIC_LOADER */ + +#endif + + +/* +** This define sets the maximum symbol name string length. It is used in implementations that +** support the symbols and symbol lookup. +*/ +#define OS_MAX_SYM_LEN 64 + + +/* +** This define sets the maximum number of timers available +*/ +#define OS_MAX_TIMERS 5 + +#endif diff --git a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/readme.txt b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/readme.txt new file mode 100644 index 000000000..793da2edb --- /dev/null +++ b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/readme.txt @@ -0,0 +1,25 @@ +***************************************************************************** +** ChibiOS/RT port for ARM-Cortex-M4 STM32F407. ** +***************************************************************************** + +** TARGET ** + +The demo runs on an ST STM32F4-Discovery board. + +** The Demo ** + + +** Build Procedure ** + +The demo has been tested by using the free Codesourcery GCC-based toolchain +and YAGARTO. just modify the TRGT line in the makefile in order to use +different GCC toolchains. + +** Notes ** + +Some files used by the demo are not part of ChibiOS/RT but are copyright of +ST Microelectronics and are licensed under a different license. +Also note that not all the files present in the ST library are distributed +with ChibiOS/RT, you can find the whole library on the ST web site: + + http://www.st.com diff --git a/os/common/ext/nasa-osal/include/common_types.h b/os/common/ext/nasa-osal/include/common_types.h new file mode 100644 index 000000000..100a9c72e --- /dev/null +++ b/os/common/ext/nasa-osal/include/common_types.h @@ -0,0 +1,267 @@ +/*--------------------------------------------------------------------------- +** +** Filename: +** $Id: common_types.h 1.9 2014/01/14 16:28:32GMT-05:00 acudmore Exp $ +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Purpose: +** Unit specification for common types. +** +** Design Notes: +** Assumes make file has defined processor family +** +** References: +** Flight Software Branch C Coding Standard Version 1.0a +** +** +** Notes: +** +** +** $Date: 2014/01/14 16:28:32GMT-05:00 $ +** $Revision: 1.9 $ +** $Log: common_types.h $ +** Revision 1.9 2014/01/14 16:28:32GMT-05:00 acudmore +** Fixed typo in macro for x86-64 +** Revision 1.8 2013/08/09 13:58:04GMT-05:00 acudmore +** Added int64 type, added support for ARM arch, added 64 bit x86 arch, added arch check for GCC arch macros, added check for proper data type sizes +** Revision 1.7 2013/07/25 10:01:29GMT-05:00 acudmore +** Added C++ support +** Revision 1.6 2012/04/11 09:19:03GMT-05:00 acudmore +** added OS_USED attribute +** Revision 1.5 2010/02/18 16:43:29EST acudmore +** Added SPARC processor section +** Removed special characters from comments that cause problems with some tools. +** Revision 1.4 2010/02/18 16:41:39EST acudmore +** Added a block of defines for GCC specific pragmas and extensions. +** Removed RTEMS boolean related ifdefs +** moved OS_PACK into the GCC specific block +** Revision 1.3 2010/02/01 12:31:17EST acudmore +** Added uint64 type +** Revision 1.2 2009/07/07 16:30:05EDT acudmore +** Removed conditinal comp. around boolean for m68k. +** This will need to be done for all RTEMS targets +** Revision 1.1 2009/06/02 10:04:58EDT acudmore +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.1 2008/04/20 22:35:58EDT ruperera +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/inc/project.pj +** Revision 1.1 2007/10/16 16:14:49EDT apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/inc/project.pj +** Revision 1.2 2006/06/08 14:28:32EDT David Kobe (dlkobe) +** Added NASA Open Source Legal Statement +** Revision 1.1 2005/06/09 09:57:51GMT-05:00 rperera +** Initial revision +** Member added to project d:/mksdata/MKS-CFE-REPOSITORY/cfe-core/inc/project.pj +** Revision 1.6 2005/03/24 19:20:52 rmcgraw +** Wrapped the boolean defintion for all three processors with #ifndef _USING_RTEMS_INCLUDES_ +** +** Revision 1.5 2005/03/10 16:59:08 acudmore +** removed boolean prefix to TRUE and FALSE defintion to avoid vxWorks conflict. +** +** Revision 1.4 2005/03/07 20:23:34 acudmore +** removed duplicate boolean definition +** +** Revision 1.3 2005/03/07 20:05:17 acudmore +** updated with __PPC__ macro that gnu compiler uses +** +** Revision 1.2 2005/03/04 16:02:44 acudmore +** added coldfire architecture +** +** Revision 1.1 2005/03/04 15:58:45 acudmore +** Added common_types.h +** +** +** +**-------------------------------------------------------------------------*/ + +#ifndef _common_types_ +#define _common_types_ + +#ifdef __cplusplus + extern "C" { +#endif + +/* +** Includes +*/ + +/* +** Macro Definitions +*/ + +/* +** Condition = TRUE is ok, Condition = FALSE is error +*/ +#define CompileTimeAssert(Condition, Message) typedef char Message[(Condition) ? 1 : -1] + + +/* +** Define compiler specific macros +** The __extension__ compiler pragma is required +** for the uint64 type using GCC with the ANSI C90 standard. +** Other macros can go in here as needed, for example alignment +** pragmas. +*/ +#if defined (__GNUC__) + #define _EXTENSION_ __extension__ + #define OS_PACK __attribute__ ((packed)) + #define OS_ALIGN(n) __attribute__((aligned(n))) + #define OS_USED __attribute__((used)) +#else + #define _EXTENSION_ + #define OS_PACK + #define OS_ALIGN(n) + #define OS_USED +#endif + +#if defined(_ix86_) || defined (__i386__) +/* ----------------------- Intel x86 processor family -------------------------*/ + /* Little endian */ + #undef _STRUCT_HIGH_BIT_FIRST_ + #define _STRUCT_LOW_BIT_FIRST_ + + typedef unsigned char boolean; + typedef signed char int8; + typedef short int int16; + typedef long int int32; + _EXTENSION_ typedef long long int int64; + typedef unsigned char uint8; + typedef unsigned short int uint16; + typedef unsigned long int uint32; + _EXTENSION_ typedef unsigned long long int uint64; + + typedef unsigned long int cpuaddr; + +#elif defined (_ix64_) || defined (__x86_64__) +/* ----------------------- Intel/AMD x64 processor family -------------------------*/ + /* Little endian */ + #undef _STRUCT_HIGH_BIT_FIRST_ + #define _STRUCT_LOW_BIT_FIRST_ + + typedef unsigned char boolean; + typedef signed char int8; + typedef short int int16; + typedef int int32; + typedef long int int64; + typedef unsigned char uint8; + typedef unsigned short int uint16; + typedef unsigned int uint32; + typedef unsigned long int uint64; + + typedef unsigned long int cpuaddr; + +#elif defined(__PPC__) || defined (__ppc__) + /* ----------------------- Motorola Power PC family ---------------------------*/ + /* The PPC can be programmed to be big or little endian, we assume native */ + /* Big endian */ + #define _STRUCT_HIGH_BIT_FIRST_ + #undef _STRUCT_LOW_BIT_FIRST_ + + typedef unsigned char boolean; + typedef signed char int8; + typedef short int int16; + typedef long int int32; + _EXTENSION_ typedef long long int int64; + typedef unsigned char uint8; + typedef unsigned short int uint16; + typedef unsigned long int uint32; + _EXTENSION_ typedef unsigned long long int uint64; + + typedef unsigned long int cpuaddr; + +#elif defined(_m68k_) || defined(__m68k__) + /* ----------------------- Motorola m68k/Coldfire family ---------------------------*/ + /* Big endian */ + #define _STRUCT_HIGH_BIT_FIRST_ + #undef _STRUCT_LOW_BIT_FIRST_ + + typedef unsigned char boolean; + typedef signed char int8; + typedef short int int16; + typedef long int int32; + _EXTENSION_ typedef long long int int64; + typedef unsigned char uint8; + typedef unsigned short int uint16; + typedef unsigned long int uint32; + _EXTENSION_ typedef unsigned long long int uint64; + + typedef unsigned long int cpuaddr; + +#elif defined (__ARM__) || defined(__arm__) +/* ----------------------- ARM processor family -------------------------*/ + /* Little endian */ + #undef _STRUCT_HIGH_BIT_FIRST_ + #define _STRUCT_LOW_BIT_FIRST_ + + typedef unsigned char boolean; + typedef signed char int8; + typedef short int int16; + typedef long int int32; + _EXTENSION_ typedef long long int int64; + typedef unsigned char uint8; + typedef unsigned short int uint16; + typedef unsigned long int uint32; + _EXTENSION_ typedef unsigned long long int uint64; + + typedef unsigned long int cpuaddr; + +#elif defined(__SPARC__) || defined (_sparc_) + /* ----------------------- SPARC/LEON family ---------------------------*/ + /* SPARC Big endian */ + #define _STRUCT_HIGH_BIT_FIRST_ + #undef _STRUCT_LOW_BIT_FIRST_ + + typedef unsigned char boolean; + typedef signed char int8; + typedef short int int16; + typedef long int int32; + _EXTENSION_ typedef long long int int64; + typedef unsigned char uint8; + typedef unsigned short int uint16; + typedef unsigned long int uint32; + _EXTENSION_ typedef unsigned long long int uint64; + + typedef unsigned long int cpuaddr; + +#else /* not any of the above */ + #error undefined processor +#endif /* processor types */ + +#ifndef NULL /* pointer to nothing */ + #define NULL ((void *) 0) +#endif + +#ifndef TRUE /* Boolean true */ + #define TRUE (1) +#endif + +#ifndef FALSE /* Boolean false */ + #define FALSE (0) +#endif + +/* +** Check Sizes +*/ +CompileTimeAssert(sizeof(uint8)==1, TypeUint8WrongSize); +CompileTimeAssert(sizeof(uint16)==2, TypeUint16WrongSize); +CompileTimeAssert(sizeof(uint32)==4, TypeUint32WrongSize); +CompileTimeAssert(sizeof(uint64)==8, TypeUint64WrongSize); +CompileTimeAssert(sizeof(int8)==1, Typeint8WrongSize); +CompileTimeAssert(sizeof(int16)==2, Typeint16WrongSize); +CompileTimeAssert(sizeof(int32)==4, Typeint32WrongSize); +CompileTimeAssert(sizeof(int64)==8, Typeint64WrongSize); + +#ifdef __cplusplus + } +#endif + +#endif /* _common_types_ */ diff --git a/os/common/ext/nasa-osal/include/osapi-os-core.h b/os/common/ext/nasa-osal/include/osapi-os-core.h new file mode 100644 index 000000000..8c9b13a78 --- /dev/null +++ b/os/common/ext/nasa-osal/include/osapi-os-core.h @@ -0,0 +1,274 @@ +/* +** File: osapi-os-core.h +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Author: Ezra Yeheksli -Code 582/Raytheon +** +** Purpose: Contains functions prototype definitions and variables declarations +** for the OS Abstraction Layer, Core OS module +** +** $Revision: 1.8 $ +** +** $Date: 2013/07/25 10:02:00GMT-05:00 $ +** +** $Log: osapi-os-core.h $ +** Revision 1.8 2013/07/25 10:02:00GMT-05:00 acudmore +** removed circular include "osapi.h" +** Revision 1.7 2012/04/11 09:30:48GMT-05:00 acudmore +** Added OS_printf_enable and OS_printf_disable +** Revision 1.6 2010/11/12 12:00:17EST acudmore +** replaced copyright character with (c) and added open source notice where needed. +** Revision 1.5 2010/11/10 15:33:14EST acudmore +** Updated IntAttachHandler prototype +** Revision 1.4 2010/03/08 12:06:28EST acudmore +** added function pointer type to get rid of warnings +** Revision 1.3 2010/02/01 12:37:15EST acudmore +** added return code to OS API init +** Revision 1.2 2009/08/04 10:49:09EDT acudmore +** +*/ + +#ifndef _osapi_core_ +#define _osapi_core_ + +#include /* for va_list */ + +/*difines constants for OS_BinSemCreate for state of semaphore */ +#define OS_SEM_FULL 1 +#define OS_SEM_EMPTY 0 + +/* #define for enabling floating point operations on a task*/ +#define OS_FP_ENABLED 1 + +/* tables for the properties of objects */ + +/*tasks */ +typedef struct +{ + char name [OS_MAX_API_NAME]; + uint32 creator; + uint32 stack_size; + uint32 priority; + uint32 OStask_id; +}OS_task_prop_t; + +/* queues */ +typedef struct +{ + char name [OS_MAX_API_NAME]; + uint32 creator; +}OS_queue_prop_t; + +/* Binary Semaphores */ +typedef struct +{ + char name [OS_MAX_API_NAME]; + uint32 creator; + int32 value; +}OS_bin_sem_prop_t; + +/* Counting Semaphores */ +typedef struct +{ + char name [OS_MAX_API_NAME]; + uint32 creator; + int32 value; +}OS_count_sem_prop_t; + +/* Mutexes */ +typedef struct +{ + char name [OS_MAX_API_NAME]; + uint32 creator; +}OS_mut_sem_prop_t; + + +/* struct for OS_GetLocalTime() */ + +typedef struct +{ + uint32 seconds; + uint32 microsecs; +}OS_time_t; + +/* heap info */ +typedef struct +{ + uint32 free_bytes; + uint32 free_blocks; + uint32 largest_free_block; +}OS_heap_prop_t; + + +/* This typedef is for the OS_GetErrorName function, to ensure + * everyone is making an array of the same length */ + +typedef char os_err_name_t[35]; + +/* +** These typedefs are for the task entry point +*/ +typedef void osal_task; +typedef osal_task ((*osal_task_entry)(void)); + +/* +** Exported Functions +*/ + +/* +** Initialization of API +*/ +int32 OS_API_Init (void); + + +/* +** Task 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); + +int32 OS_TaskDelete (uint32 task_id); +void OS_TaskExit (void); +int32 OS_TaskInstallDeleteHandler(void *function_pointer); +int32 OS_TaskDelay (uint32 millisecond); +int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority); +int32 OS_TaskRegister (void); +uint32 OS_TaskGetId (void); +int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name); +int32 OS_TaskGetInfo (uint32 task_id, OS_task_prop_t *task_prop); + +/* +** Message Queue API +*/ + +/* +** Queue Create now has the Queue ID returned to the caller. +*/ +int32 OS_QueueCreate (uint32 *queue_id, const char *queue_name, + uint32 queue_depth, uint32 data_size, uint32 flags); +int32 OS_QueueDelete (uint32 queue_id); +int32 OS_QueueGet (uint32 queue_id, void *data, uint32 size, + uint32 *size_copied, int32 timeout); +int32 OS_QueuePut (uint32 queue_id, void *data, uint32 size, + uint32 flags); +int32 OS_QueueGetIdByName (uint32 *queue_id, const char *queue_name); +int32 OS_QueueGetInfo (uint32 queue_id, OS_queue_prop_t *queue_prop); + +/* +** Semaphore API +*/ + +int32 OS_BinSemCreate (uint32 *sem_id, const char *sem_name, + uint32 sem_initial_value, uint32 options); +int32 OS_BinSemFlush (uint32 sem_id); +int32 OS_BinSemGive (uint32 sem_id); +int32 OS_BinSemTake (uint32 sem_id); +int32 OS_BinSemTimedWait (uint32 sem_id, uint32 msecs); +int32 OS_BinSemDelete (uint32 sem_id); +int32 OS_BinSemGetIdByName (uint32 *sem_id, const char *sem_name); +int32 OS_BinSemGetInfo (uint32 sem_id, OS_bin_sem_prop_t *bin_prop); + +int32 OS_CountSemCreate (uint32 *sem_id, const char *sem_name, + uint32 sem_initial_value, uint32 options); +int32 OS_CountSemGive (uint32 sem_id); +int32 OS_CountSemTake (uint32 sem_id); +int32 OS_CountSemTimedWait (uint32 sem_id, uint32 msecs); +int32 OS_CountSemDelete (uint32 sem_id); +int32 OS_CountSemGetIdByName (uint32 *sem_id, const char *sem_name); +int32 OS_CountSemGetInfo (uint32 sem_id, OS_count_sem_prop_t *count_prop); + +/* +** Mutex API +*/ + +int32 OS_MutSemCreate (uint32 *sem_id, const char *sem_name, uint32 options); +int32 OS_MutSemGive (uint32 sem_id); +int32 OS_MutSemTake (uint32 sem_id); +int32 OS_MutSemDelete (uint32 sem_id); +int32 OS_MutSemGetIdByName (uint32 *sem_id, const char *sem_name); +int32 OS_MutSemGetInfo (uint32 sem_id, OS_mut_sem_prop_t *mut_prop); + +/* +** OS Time/Tick related API +*/ + +int32 OS_Milli2Ticks (uint32 milli_seconds); +int32 OS_Tick2Micros (void); +int32 OS_GetLocalTime (OS_time_t *time_struct); +int32 OS_SetLocalTime (OS_time_t *time_struct); + +/* +** Exception API +*/ + +int32 OS_ExcAttachHandler (uint32 ExceptionNumber, + void (*ExceptionHandler)(uint32, uint32 *,uint32), + int32 parameter); +int32 OS_ExcEnable (int32 ExceptionNumber); +int32 OS_ExcDisable (int32 ExceptionNumber); + +/* +** Floating Point Unit API +*/ + +int32 OS_FPUExcAttachHandler (uint32 ExceptionNumber, void * ExceptionHandler , + int32 parameter); +int32 OS_FPUExcEnable (int32 ExceptionNumber); +int32 OS_FPUExcDisable (int32 ExceptionNumber); +int32 OS_FPUExcSetMask (uint32 mask); +int32 OS_FPUExcGetMask (uint32 *mask); + +/* +** Interrupt API +*/ +int32 OS_IntAttachHandler (uint32 InterruptNumber, osal_task_entry InterruptHandler, int32 parameter); +int32 OS_IntUnlock (int32 IntLevel); +int32 OS_IntLock (void); + +int32 OS_IntEnable (int32 Level); +int32 OS_IntDisable (int32 Level); + +int32 OS_IntSetMask (uint32 mask); +int32 OS_IntGetMask (uint32 *mask); +int32 OS_IntAck (int32 InterruptNumber); + +/* +** Shared memory API +*/ +int32 OS_ShMemInit (void); +int32 OS_ShMemCreate (uint32 *Id, uint32 NBytes, char* SegName); +int32 OS_ShMemSemTake (uint32 Id); +int32 OS_ShMemSemGive (uint32 Id); +int32 OS_ShMemAttach (uint32 * Address, uint32 Id); +int32 OS_ShMemGetIdByName (uint32 *ShMemId, const char *SegName ); + +/* +** Heap API +*/ +int32 OS_HeapGetInfo (OS_heap_prop_t *heap_prop); + +/* +** API for useful debugging function +*/ +int32 OS_GetErrorName (int32 error_num, os_err_name_t* err_name); + + +/* +** Abstraction for printf statements +*/ +void OS_printf( const char *string, ...); +void OS_printf_disable(void); +void OS_printf_enable(void); + +#endif diff --git a/os/common/ext/nasa-osal/include/osapi-os-filesys.h b/os/common/ext/nasa-osal/include/osapi-os-filesys.h new file mode 100644 index 000000000..c46800341 --- /dev/null +++ b/os/common/ext/nasa-osal/include/osapi-os-filesys.h @@ -0,0 +1,419 @@ +/* +** File: osapi-os-filesys.h +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Author: Alan Cudmore Code 582 +** +** Purpose: Contains functions prototype definitions and variables declarations +** for the OS Abstraction Layer, File System module +** +** $Revision: 1.11 $ +** +** $Date: 2013/12/16 12:57:41GMT-05:00 $ +** +** $Log: osapi-os-filesys.h $ +** Revision 1.11 2013/12/16 12:57:41GMT-05:00 acudmore +** Added macros for Volume name length and physical device name length +** Revision 1.10 2013/07/29 12:05:48GMT-05:00 acudmore +** Added define for device and volume name length +** Revision 1.9 2013/07/25 14:31:21GMT-05:00 acudmore +** Added prototype and datatype for OS_GetFsInfo +** Revision 1.8 2011/12/05 12:04:21GMT-05:00 acudmore +** Added OS_rewinddir API +** Revision 1.7 2011/04/05 16:01:12EDT acudmore +** Added OS_CloseFileByName and OS_CloseAllFiles +** Revision 1.6 2010/11/15 11:04:38EST acudmore +** Added OS_FileOpenCheck function. +** Revision 1.5 2010/11/12 12:00:18EST acudmore +** replaced copyright character with (c) and added open source notice where needed. +** Revision 1.4 2010/02/01 12:28:57EST acudmore +** Added OS_fsBytesFree API +** Revision 1.3 2010/01/25 14:44:26EST acudmore +** renamed "new" variable to avoid C++ reserved name conflict. +** Revision 1.2 2009/07/14 15:16:05EDT acudmore +** Added OS_TranslatePath to the API +** Revision 1.1 2008/04/20 22:36:01EDT ruperera +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.1 2007/10/16 16:14:52EDT apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.1 2007/08/24 13:43:24EDT apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-CFE-PROJECT/fsw/cfe-core/os/inc/project.pj +** Revision 1.17 2007/06/07 09:59:14EDT njyanchik +** I replaced the second OS_cp definition with OS_mv +** Revision 1.16 2007/06/05 16:25:33EDT apcudmore +** Increased Number of volume table entries from 10 to 14. +** Added 2 extra EEPROM disk mappings to RAD750 Volume table + 2 spares +** Added 4 spares to every other volume table. +** Revision 1.15 2007/05/25 09:17:56EDT njyanchik +** I added the rmfs call to the OSAL and updated the unit test stubs to match +** Revision 1.14 2007/03/21 10:15:29EST njyanchik +** I mistakenly put the wrong length in for the path in the OS_FDTableEntry structure, and I added +** some code that will set and out of range file descriptors .IsValid flag to false in OS_FDGetInfo +** Revision 1.13 2007/03/06 11:52:46EST njyanchik +** This change goes with the previous CP, I forgot to include it +** Revision 1.12 2007/02/28 14:57:45EST njyanchik +** The updates for supporting copying and moving files are now supported +** Revision 1.11 2007/02/27 15:22:11EST njyanchik +** This CP has the initial import of the new file descripor table mechanism +** Revision 1.10 2006/12/20 10:27:09EST njyanchik +** This change package incorporates all the changes necessary for the addition +** of a new API to get the real physical drive undernieth a mount point +** Revision 1.9 2006/11/14 14:44:28GMT-05:00 njyanchik +** Checks were added to the OS fs calls that look at the return of a function that +** changes the name of paths from abstracted to local path names. +** Revision 1.8 2006/10/30 16:12:19GMT-05:00 apcudmore +** Updated Compact flash and RAM device names for vxWorks 6.2 changes. +** Revision 1.7 2006/10/25 11:31:18EDT njyanchik +** This CP incorporates changes to every bsp_voltab.c file. I increased the number +** entries in the volume table to 10. I also changed the #define in the os_filesys.h +** file for the number of entries to match. +** +** This update also includes adding the prototype for OS_initfs in os_filesys.h +** Revision 1.6 2006/09/26 09:03:46GMT-05:00 njyanchik +** Contains the initial import of the ES Shell commands interface +** Revision 1.5 2006/07/25 15:37:52EDT njyanchik +** It turns out the both the FS app and the OSAL were incorrect where file descriptors are +** concerned. the file descriptors should be int32 across the board. +** Revision 1.4 2006/01/20 11:56:18EST njyanchik +** Fixed header file information to match api document +** Revision 1.26 2005/07/12 17:13:56 nyanchik +** Moved the Volume table to a bsp table in the arch directories. +** +** Revision 1.2 2005/07/11 16:26:57EDT apcudmore +** OSAPI 2.0 integration +** Revision 1.25 2005/07/06 16:11:17 nyanchik +** *** empty log message *** +** +** Revision 1.24 2005/07/05 18:34:55 nyanchik +** fixed issues found in code walkthrogh. Also removed the OS_Info* functions that are going in the BSP +** +** Revision 1.23 2005/06/17 19:46:34 nyanchik +** added new file system style to linux and rtems. +** +** Revision 1.22 2005/06/15 16:43:48 nyanchik +** added extra parenthesis for the .h file # defines +** +** Revision 1.21 2005/06/06 14:17:42 nyanchik +** added headers to osapi-os-core.h and osapi-os-filesys.h +** +** Revision 1.20 2005/06/02 18:04:24 nyanchik +** *** empty log message *** +** +** Revision 1.1 2005/03/15 18:26:32 nyanchik +** *** empty log message *** +** +** +** Date Written: +** +** +*/ + +#ifndef _osapi_filesys_ +#define _osapi_filesys_ +#include +#include +#include +#include + +#define OS_READ_ONLY 0 +#define OS_WRITE_ONLY 1 +#define OS_READ_WRITE 2 + +#define OS_SEEK_SET 0 +#define OS_SEEK_CUR 1 +#define OS_SEEK_END 2 + +#define OS_CHK_ONLY 0 +#define OS_REPAIR 1 + +#define FS_BASED 0 +#define RAM_DISK 1 +#define EEPROM_DISK 2 +#define ATA_DISK 3 + + +/* +** Number of entries in the internal volume table +*/ +#define NUM_TABLE_ENTRIES 14 + +/* +** Length of a Device and Volume name +*/ +#define OS_FS_DEV_NAME_LEN 32 +#define OS_FS_PHYS_NAME_LEN 64 +#define OS_FS_VOL_NAME_LEN 32 + + +/* +** Defines for File System Calls +*/ +#define OS_FS_SUCCESS 0 +#define OS_FS_ERROR (-1) +#define OS_FS_ERR_INVALID_POINTER (-2) +#define OS_FS_ERR_PATH_TOO_LONG (-3) +#define OS_FS_ERR_NAME_TOO_LONG (-4) +#define OS_FS_UNIMPLEMENTED (-5) +#define OS_FS_ERR_DRIVE_NOT_CREATED (-6) +#define OS_FS_ERR_DEVICE_NOT_FREE (-7) +#define OS_FS_ERR_PATH_INVALID (-8) +#define OS_FS_ERR_NO_FREE_FDS (-9) +#define OS_FS_ERR_INVALID_FD (-10) + +/* This typedef is for the OS_FS_GetErrorName function, to ensure + * everyone is making an array of the same length */ + +typedef char os_fs_err_name_t[35]; + + +/* +** Internal structure of the OS volume table for +** mounted file systems and path translation +*/ +typedef struct +{ + char DeviceName [OS_FS_DEV_NAME_LEN]; + char PhysDevName [OS_FS_PHYS_NAME_LEN]; + uint32 VolumeType; + uint8 VolatileFlag; + uint8 FreeFlag; + uint8 IsMounted; + char VolumeName [OS_FS_VOL_NAME_LEN]; + char MountPoint [OS_MAX_PATH_LEN]; + uint32 BlockSize; + +}OS_VolumeInfo_t; + +typedef struct +{ + int32 OSfd; /* The underlying OS's file descriptor */ + char Path[OS_MAX_PATH_LEN]; /* The path of the file opened */ + uint32 User; /* The task id of the task who opened the file*/ + uint8 IsValid; /* Whether or not this entry is valid */ +}OS_FDTableEntry; + +typedef struct +{ + uint32 MaxFds; /* Total number of file descriptors */ + uint32 FreeFds; /* Total number that are free */ + uint32 MaxVolumes; /* Maximum number of volumes */ + uint32 FreeVolumes; /* Total number of volumes free */ +} os_fsinfo_t; + +/* modified to posix calls, since all of the + * applicable OSes use the posix calls */ + +typedef struct stat os_fstat_t; +typedef DIR* os_dirp_t; +typedef struct dirent os_dirent_t; +/* still don't know what this should be*/ +typedef unsigned long int os_fshealth_t; + +/* + * Exported Functions +*/ + + +/****************************************************************************** +** Standard File system API +******************************************************************************/ +/* + * Initializes the File System functions +*/ + +int32 OS_FS_Init(void); + +/* + * Creates a file specified by path +*/ +int32 OS_creat (const char *path, int32 access); + +/* + * Opend a file for reading/writing. Returns file descriptor +*/ +int32 OS_open (const char *path, int32 access, uint32 mode); + +/* + * Closes an open file. +*/ +int32 OS_close (int32 filedes); + +/* + * Reads nbytes bytes from file into buffer +*/ +int32 OS_read (int32 filedes, void *buffer, uint32 nbytes); + +/* + * Write nybytes bytes of buffer into the file +*/ +int32 OS_write (int32 filedes, void *buffer, uint32 nbytes); + +/* + * Changes the permissions of a file +*/ +int32 OS_chmod (const char *path, uint32 access); + +/* + * Returns file status information in filestats +*/ +int32 OS_stat (const char *path, os_fstat_t *filestats); + +/* + * Seeks to the specified position of an open file +*/ +int32 OS_lseek (int32 filedes, int32 offset, uint32 whence); + +/* + * Removes a file from the file system +*/ +int32 OS_remove (const char *path); + +/* + * Renames a file in the file system +*/ +int32 OS_rename (const char *old_filename, const char *new_filename); + +/* + * copies a single file from src to dest +*/ +int32 OS_cp (const char *src, const char *dest); + +/* + * moves a single file from src to dest +*/ +int32 OS_mv (const char *src, const char *dest); + +/* + * Copies the info of an open file to the structure +*/ +int32 OS_FDGetInfo (int32 filedes, OS_FDTableEntry *fd_prop); + +/* +** Check to see if a file is open +*/ +int32 OS_FileOpenCheck(char *Filename); + +/* +** Close all open files +*/ +int32 OS_CloseAllFiles(void); + +/* +** Close a file by filename +*/ +int32 OS_CloseFileByName(char *Filename); + + +/****************************************************************************** +** Directory API +******************************************************************************/ + +/* + * Makes a new directory +*/ +int32 OS_mkdir (const char *path, uint32 access); + +/* + * Opens a directory for searching +*/ +os_dirp_t OS_opendir (const char *path); + +/* + * Closes an open directory +*/ +int32 OS_closedir(os_dirp_t directory); + +/* + * Rewinds an open directory +*/ +void OS_rewinddir(os_dirp_t directory); + +/* + * Reads the next object in the directory +*/ +os_dirent_t * OS_readdir (os_dirp_t directory); + +/* + * Removes an empty directory from the file system. +*/ +int32 OS_rmdir (const char *path); + +/****************************************************************************** +** System Level API +******************************************************************************/ +/* + * Makes a file system +*/ +int32 OS_mkfs (char *address,char *devname, char *volname, + uint32 blocksize, uint32 numblocks); +/* + * Mounts a file system +*/ +int32 OS_mount (const char *devname, char *mountpoint); + +/* + * Initializes an existing file system +*/ +int32 OS_initfs (char *address,char *devname, char *volname, + uint32 blocksize, uint32 numblocks); + +/* + * removes a file system +*/ +int32 OS_rmfs (char *devname); + +/* + * Unmounts a mounted file system +*/ +int32 OS_unmount (const char *mountpoint); + +/* + * Returns the number of free blocks in a file system +*/ +int32 OS_fsBlocksFree (const char *name); + +/* +** Returns the number of free bytes in a file system +** Note the 64 bit data type to support filesystems that +** are greater than 4 Gigabytes +*/ +int32 OS_fsBytesFree (const char *name, uint64 *bytes_free); + +/* + * Checks the health of a file system and repairs it if neccesary +*/ +os_fshealth_t OS_chkfs (const char *name, boolean repair); + +/* + * Returns in the parameter the physical drive underneith the mount point +*/ +int32 OS_FS_GetPhysDriveName (char * PhysDriveName, char * MountPoint); + +/* +** Translates a OSAL Virtual file system path to a host Local path +*/ +int32 OS_TranslatePath ( const char *VirtualPath, char *LocalPath); + +/* +** Returns information about the file system in an os_fsinfo_t +*/ +int32 OS_GetFsInfo(os_fsinfo_t *filesys_info); + +/****************************************************************************** +** Shell API +******************************************************************************/ + +/* executes the shell command passed into is and writes the output of that + * command to the file specified by the given OSAPI file descriptor */ +int32 OS_ShellOutputToFile(char* Cmd, int32 OS_fd); +#endif diff --git a/os/common/ext/nasa-osal/include/osapi-os-loader.h b/os/common/ext/nasa-osal/include/osapi-os-loader.h new file mode 100644 index 000000000..4f0b21b62 --- /dev/null +++ b/os/common/ext/nasa-osal/include/osapi-os-loader.h @@ -0,0 +1,91 @@ +/* +** File: osapi-os-loader.h +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Author: Alan Cudmore - Code 582 +** +** Purpose: Contains functions prototype definitions and variables declarations +** for the OS Abstraction Layer, Object file loader API +** +** $Revision: 1.5 $ +** +** $Date: 2013/07/25 10:02:08GMT-05:00 $ +** +** $Log: osapi-os-loader.h $ +** Revision 1.5 2013/07/25 10:02:08GMT-05:00 acudmore +** removed circular include "osapi.h" +** Revision 1.4 2010/11/12 12:00:18GMT-05:00 acudmore +** replaced copyright character with (c) and added open source notice where needed. +** Revision 1.3 2010/02/01 12:38:06EST acudmore +** added return code to OS_ModuleTableInit +** Revision 1.2 2008/06/20 15:13:43EDT apcudmore +** Checked in new Module loader/symbol table functionality +** Revision 1.1 2008/04/20 22:36:02EDT ruperera +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.1 2008/02/07 11:08:24EST apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** +** +*/ + +#ifndef _osapi_loader_ +#define _osapi_loader_ + +/* +** Defines +*/ + + +/* +** Typedefs +*/ + +typedef struct +{ + uint32 valid; + uint32 code_address; + uint32 code_size; + uint32 data_address; + uint32 data_size; + uint32 bss_address; + uint32 bss_size; + uint32 flags; +} OS_module_address_t; + +typedef struct +{ + int free; + uint32 entry_point; + uint32 host_module_id; + char filename[OS_MAX_PATH_LEN]; + char name[OS_MAX_API_NAME]; + OS_module_address_t addr; + +} OS_module_record_t; + +/* +** Loader API +*/ +int32 OS_ModuleTableInit ( void ); + +int32 OS_SymbolLookup (uint32 *symbol_address, char *symbol_name ); + +int32 OS_SymbolTableDump ( char *filename, uint32 size_limit ); + +int32 OS_ModuleLoad ( uint32 *module_id, char *module_name, char *filename ); + +int32 OS_ModuleUnload ( uint32 module_id ); + +int32 OS_ModuleInfo ( uint32 module_id, OS_module_record_t *module_info ); + + +#endif diff --git a/os/common/ext/nasa-osal/include/osapi-os-net.h b/os/common/ext/nasa-osal/include/osapi-os-net.h new file mode 100644 index 000000000..b8cc67d69 --- /dev/null +++ b/os/common/ext/nasa-osal/include/osapi-os-net.h @@ -0,0 +1,61 @@ +/* +** File: osapi-os-net.h +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Author: Alan Cudmore Code 582 +** +** Purpose: Contains functions prototype definitions and variables declarations +** for the OS Abstraction Layer, Network Module +** +** $Revision: 1.2 $ +** +** $Date: 2010/11/12 12:00:19GMT-05:00 $ +** +** $Log: osapi-os-net.h $ +** Revision 1.2 2010/11/12 12:00:19GMT-05:00 acudmore +** replaced copyright character with (c) and added open source notice where needed. +** Revision 1.1 2008/04/20 22:36:02EDT ruperera +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.1 2007/10/16 16:14:52EDT apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.1 2007/08/24 13:43:25EDT apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-CFE-PROJECT/fsw/cfe-core/os/inc/project.pj +** Revision 1.3 2006/01/20 11:56:18EST njyanchik +** Fixed header file information to match api document +** Revision 1.4 2005/06/07 16:49:31 nyanchik +** changed returns code for osapi.c to all int32 from uint32 +** +** Revision 1.3 2005/03/22 19:04:54 acudmore +** fixed uint type +** +** Revision 1.2 2005/03/22 18:59:33 acudmore +** updated prototype +** +** Revision 1.1 2005/03/22 18:58:51 acudmore +** added osapi network interface +** +** Revision 1.1 2005/03/15 18:26:32 nyanchik +** *** empty log message *** +** +** +** Date Written: +** +** +*/ +#ifndef _osapi_network_ +#define _osapi_network_ + +int32 OS_NetworkGetID (void); +int32 OS_NetworkGetHostName (char *host_name, uint32 name_len); + +#endif diff --git a/os/common/ext/nasa-osal/include/osapi-os-timer.h b/os/common/ext/nasa-osal/include/osapi-os-timer.h new file mode 100644 index 000000000..8082c6227 --- /dev/null +++ b/os/common/ext/nasa-osal/include/osapi-os-timer.h @@ -0,0 +1,68 @@ +/* +** File: osapi-os-timer.h +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Author: Alan Cudmore - Code 582 +** +** Purpose: Contains functions prototype definitions and variable declarations +** for the OS Abstraction Layer, Timer API +** +** $Revision: 1.5 $ +** +** $Date: 2013/07/25 10:02:20GMT-05:00 $ +** +** $Log: osapi-os-timer.h $ +** Revision 1.5 2013/07/25 10:02:20GMT-05:00 acudmore +** removed circular include "osapi.h" +** Revision 1.4 2010/11/12 12:00:19GMT-05:00 acudmore +** replaced copyright character with (c) and added open source notice where needed. +** Revision 1.3 2010/02/01 12:38:34EST acudmore +** Added return code to OS_TimerAPIInit +** Revision 1.2 2008/08/26 13:52:52EDT apcudmore +** removed linux specific define +** Revision 1.1 2008/08/20 16:12:07EDT apcudmore +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** +** +*/ + +#ifndef _osapi_timer_ +#define _osapi_timer_ + +/* +** Typedefs +*/ +typedef void (*OS_TimerCallback_t)(uint32 timer_id); + +typedef struct +{ + char name[OS_MAX_API_NAME]; + uint32 creator; + uint32 start_time; + uint32 interval_time; + uint32 accuracy; + +} OS_timer_prop_t; + + +/* +** Timer API +*/ +int32 OS_TimerAPIInit (void); + +int32 OS_TimerCreate (uint32 *timer_id, const char *timer_name, uint32 *clock_accuracy, OS_TimerCallback_t callback_ptr); +int32 OS_TimerSet (uint32 timer_id, uint32 start_msec, uint32 interval_msec); +int32 OS_TimerDelete (uint32 timer_id); + +int32 OS_TimerGetIdByName (uint32 *timer_id, const char *timer_name); +int32 OS_TimerGetInfo (uint32 timer_id, OS_timer_prop_t *timer_prop); + +#endif diff --git a/os/common/ext/nasa-osal/include/osapi-version.h b/os/common/ext/nasa-osal/include/osapi-version.h new file mode 100644 index 000000000..331e96c94 --- /dev/null +++ b/os/common/ext/nasa-osal/include/osapi-version.h @@ -0,0 +1,48 @@ +/************************************************************************ +** File: +** $Id: osapi-version.h 1.11 2014/05/02 13:53:14GMT-05:00 acudmore Exp $ +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Purpose: +** The OSAL version numbers +** +** Notes: +** +** $Log: osapi-version.h $ +** Revision 1.11 2014/05/02 13:53:14GMT-05:00 acudmore +** Updated version to 4.1.1 +** Revision 1.10 2014/01/23 16:33:31GMT-05:00 acudmore +** Update for 4.1 release +** Revision 1.9 2013/01/16 14:35:18GMT-05:00 acudmore +** updated version label +** Revision 1.8 2012/04/16 14:57:04GMT-05:00 acudmore +** Updated version label to 3.5.0.0 +** Revision 1.7 2012/01/17 16:04:29EST acudmore +** Updated version to 3.4.1 +** Revision 1.6 2011/12/05 15:45:16EST acudmore +** Updated version label to 3.4.0 +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** +*************************************************************************/ +#ifndef _osapi_version_h_ +#define _osapi_version_h_ + +#define OS_MAJOR_VERSION (4) +#define OS_MINOR_VERSION (1) +#define OS_REVISION (1) +#define OS_MISSION_REV (0) + + +#endif /* _osapi_version_h_ */ + +/************************/ +/* End of File Comment */ +/************************/ diff --git a/os/common/ext/nasa-osal/include/osapi.h b/os/common/ext/nasa-osal/include/osapi.h new file mode 100644 index 000000000..46f6dc031 --- /dev/null +++ b/os/common/ext/nasa-osal/include/osapi.h @@ -0,0 +1,142 @@ +/* +** File: osapi.h +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Author: Alan Cudmore - Code 582 +** +** Purpose: Contains functions prototype definitions and variables declarations +** for the OS Abstraction Layer, Core OS module +** +** $Revision: 1.10 $ +** +** $Date: 2013/07/25 10:01:32GMT-05:00 $ +** +** $Log: osapi.h $ +** Revision 1.10 2013/07/25 10:01:32GMT-05:00 acudmore +** Added C++ support +** Revision 1.9 2010/11/12 12:00:17GMT-05:00 acudmore +** replaced copyright character with (c) and added open source notice where needed. +** Revision 1.8 2010/03/08 15:57:20EST acudmore +** include new OSAL version header file +** Revision 1.7 2009/08/10 14:01:10EDT acudmore +** Reset OSAL version for trunk +** Revision 1.6 2009/08/10 13:55:49EDT acudmore +** Updated OSAL version defines to 3.0 +** Revision 1.5 2009/06/10 14:15:55EDT acudmore +** Removed HAL include files. HAL code was removed from OSAL. +** Revision 1.4 2008/08/20 16:12:51EDT apcudmore +** Updated timer error codes +** Revision 1.3 2008/08/20 15:46:27EDT apcudmore +** Add support for timer API +** Revision 1.2 2008/06/20 15:13:43EDT apcudmore +** Checked in new Module loader/symbol table functionality +** Revision 1.1 2008/04/20 22:36:02EDT ruperera +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.6 2008/02/14 11:29:10EST apcudmore +** Updated version define ( 2.11 ) +** Revision 1.5 2008/02/07 11:31:58EST apcudmore +** Fixed merge problem +** Revision 1.4 2008/02/07 11:07:29EST apcudmore +** Added dynamic loader / Symbol lookup API +** -- API only, next release will have functionality +** Revision 1.2 2008/01/29 14:30:49EST njyanchik +** I added code to all the ports that allow the values of both binary and counting semaphores to be +** gotten through the OS_*SemGetInfo API. +** Revision 1.1 2007/10/16 16:14:52EDT apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.2 2007/09/28 15:46:49EDT rjmcgraw +** Updated version numbers to 5.0 +** Revision 1.1 2007/08/24 13:43:25EDT apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-CFE-PROJECT/fsw/cfe-core/os/inc/project.pj +** Revision 1.9.1.1 2007/05/21 08:58:51EDT njyanchik +** The trunk version number has been updated to version 0.0 +** Revision 1.9 2006/06/12 10:20:07EDT rjmcgraw +** Updated OS_MINOR_VERSION from 3 to 4 +** Revision 1.8 2006/02/03 09:30:45EST njyanchik +** Changed version number to 2.3 +** Revision 1.7 2006/01/20 11:56:16EST njyanchik +** Fixed header file information to match api document +** Revision 1.15 2005/11/09 13:35:49 nyanchik +** Revisions for 2.2 include: +** a new scheduler mapper for Linux and OS X +** addition of OS_printf function +** fixed issues that would cause warnings at compile time +** +** +*/ + +#ifndef _osapi_ +#define _osapi_ + +#include "common_types.h" + +#ifdef __cplusplus + extern "C" { +#endif + +#define OS_SUCCESS (0) +#define OS_ERROR (-1) +#define OS_INVALID_POINTER (-2) +#define OS_ERROR_ADDRESS_MISALIGNED (-3) +#define OS_ERROR_TIMEOUT (-4) +#define OS_INVALID_INT_NUM (-5) +#define OS_SEM_FAILURE (-6) +#define OS_SEM_TIMEOUT (-7) +#define OS_QUEUE_EMPTY (-8) +#define OS_QUEUE_FULL (-9) +#define OS_QUEUE_TIMEOUT (-10) +#define OS_QUEUE_INVALID_SIZE (-11) +#define OS_QUEUE_ID_ERROR (-12) +#define OS_ERR_NAME_TOO_LONG (-13) +#define OS_ERR_NO_FREE_IDS (-14) +#define OS_ERR_NAME_TAKEN (-15) +#define OS_ERR_INVALID_ID (-16) +#define OS_ERR_NAME_NOT_FOUND (-17) +#define OS_ERR_SEM_NOT_FULL (-18) +#define OS_ERR_INVALID_PRIORITY (-19) +#define OS_INVALID_SEM_VALUE (-20) +#define OS_ERR_FILE (-27) +#define OS_ERR_NOT_IMPLEMENTED (-28) +#define OS_TIMER_ERR_INVALID_ARGS (-29) +#define OS_TIMER_ERR_TIMER_ID (-30) +#define OS_TIMER_ERR_UNAVAILABLE (-31) +#define OS_TIMER_ERR_INTERNAL (-32) + +/* +** Defines for Queue Timeout parameters +*/ +#define OS_PEND (0) +#define OS_CHECK (-1) + +#include "osapi-version.h" + +/* +** Include the configuration file +*/ +#include "osconfig.h" + +/* +** Include the OS API modules +*/ +#include "osapi-os-core.h" +//#include "osapi-os-filesys.h" +//#include "osapi-os-net.h" +//#include "osapi-os-loader.h" +#include "osapi-os-timer.h" + +#ifdef __cplusplus + } +#endif + +#endif + diff --git a/os/common/ext/nasa-osal/nasa-osal.mk b/os/common/ext/nasa-osal/nasa-osal.mk new file mode 100644 index 000000000..23b994f87 --- /dev/null +++ b/os/common/ext/nasa-osal/nasa-osal.mk @@ -0,0 +1,4 @@ +# NASAOSAL files. +NASAOSALSRC = $(CHIBIOS)/os/common/ext/nasa-osal/src/osapi.c + +NASAOSALINC = $(CHIBIOS)/os/common/ext/nasa-osal/include diff --git a/os/common/ext/nasa-osal/src/osapi.c b/os/common/ext/nasa-osal/src/osapi.c new file mode 100644 index 000000000..16735e45f --- /dev/null +++ b/os/common/ext/nasa-osal/src/osapi.c @@ -0,0 +1,320 @@ +/* + 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 + +#include "ch.h" + +#include "common_types.h" +#include "osapi.h" + +/*===========================================================================*/ +/* 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; +} 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(); + + osal.printf_enabled = false; + + 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 -------------------------------------------------------------*/ + +/*-- Semaphore and Mutex API ------------------------------------------------*/ + +/*-- 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 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 Task registration. + * @note In ChibiOS/RT it does nothing. + * + * @return An error code. + * + * @api + */ +int32 OS_TaskRegister(void) { + + return OS_SUCCESS; +} +/** @} */ -- cgit v1.2.3