diff --git a/demos/nil/NIL-STM32F051-DISCOVERY/Makefile b/demos/nil/NIL-STM32F051-DISCOVERY/Makefile
index efa0f7d96..9e0e6cc8c 100644
--- a/demos/nil/NIL-STM32F051-DISCOVERY/Makefile
+++ b/demos/nil/NIL-STM32F051-DISCOVERY/Makefile
@@ -63,7 +63,7 @@ CHIBIOS = ../../..
#include $(CHIBIOS)/os/hal/boards/ST_STM32F0_DISCOVERY/board.mk
#include $(CHIBIOS)/os/hal/ports/STM32F0xx/platform.mk
include $(CHIBIOS)/os/nil/nil.mk
-#include $(CHIBIOS)/os/rt/osal/osal.mk
+include $(CHIBIOS)/os/nil/osal/osal.mk
include $(CHIBIOS)/os/nil/ports/ARMCMx/compilers/GCC/mk/port_stm32f0xx.mk
#include $(CHIBIOS)/test/test.mk
diff --git a/os/nil/include/nil.h b/os/nil/include/nil.h
index 898ec6f35..30c8012b0 100644
--- a/os/nil/include/nil.h
+++ b/os/nil/include/nil.h
@@ -213,7 +213,7 @@ struct nil_thread_cfg {
/**
* @brief Type of a thread reference.
*/
-typedef thread_t * thread_ref_t;
+typedef thread_t * thread_reference_t;
/**
* @brief Structure representing a thread.
@@ -226,7 +226,7 @@ struct nil_thread {
union {
msg_t msg; /**< @brief Wake-up message. */
void *p; /**< @brief Generic pointer. */
- thread_ref_t *trp; /**< @brief Pointer to thread reference. */
+ thread_reference_t *trp; /**< @brief Pointer to thread reference. */
semaphore_t *semp; /**< @brief Pointer to semaphore. */
} u1;
volatile systime_t timeout;/**< @brief Timeout counter, zero
@@ -244,13 +244,13 @@ typedef struct {
/**
* @brief Pointer to the running thread.
*/
- thread_ref_t current;
+ thread_reference_t current;
/**
* @brief Pointer to the next thread to be executed.
* @note This pointer must point at the same thread pointed by @p currp
* or to an higher priority thread if a switch is required.
*/
- thread_ref_t next;
+ thread_reference_t next;
#if NIL_CFG_TIMEDELTA == 0 || defined(__DOXYGEN__)
/**
* @brief System time.
@@ -583,7 +583,7 @@ typedef struct {
*
* @init
*/
-#define chSemInit(sp, n) ((sp)->cnt = n)
+#define chSemObjectInit(sp, n) ((sp)->cnt = n)
/**
* @brief Performs a wait operation on a semaphore.
@@ -613,6 +613,13 @@ typedef struct {
*/
#define chSemWaitS(sp) chSemWaitTimeoutS(sp, TIME_INFINITE)
+/**
+ * @brief Returns the semaphore counter current value.
+ *
+ * @iclass
+ */
+#define chSemGetCounterI(sp) ((sp)->cnt)
+
/**
* @brief Current system time.
* @details Returns the number of system ticks since the @p chSysInit()
@@ -689,11 +696,11 @@ extern "C" {
void chSysInit(void);
void chSysHalt(const char *reason);
void chSysTimerHandlerI(void);
- thread_ref_t chSchReadyI(thread_ref_t trp, msg_t msg);
+ thread_reference_t chSchReadyI(thread_reference_t trp, msg_t msg);
msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout);
void chSchRescheduleS(void);
- msg_t chThdSuspendTimeoutS(thread_ref_t *trp, systime_t timeout);
- void chThdResumeI(thread_ref_t *trp, msg_t msg);
+ msg_t chThdSuspendTimeoutS(thread_reference_t *trp, systime_t timeout);
+ void chThdResumeI(thread_reference_t *trp, msg_t msg);
void chThdSleep(systime_t time);
void chThdSleepUntil(systime_t time);
systime_t chTimeNow(void);
diff --git a/os/nil/osal/osal.c b/os/nil/osal/osal.c
new file mode 100644
index 000000000..05443d465
--- /dev/null
+++ b/os/nil/osal/osal.c
@@ -0,0 +1,117 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011,2012,2013 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+*/
+
+/**
+ * @file osal.c
+ * @brief OSAL module code.
+ *
+ * @addtogroup OSAL
+ * @{
+ */
+
+#include "osal.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Dequeues and wakes up one thread from the queue, if any.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {
+ semaphore_t *sp = &tqp->sem;
+
+ if (chSemGetCounterI(&tqp->sem) < 0) {
+ thread_reference_t tr = nil.threads;
+ while (true) {
+ /* Is this thread waiting on this semaphore?*/
+ if (tr->u1.semp == sp) {
+
+ chDbgAssert(NIL_THD_IS_WTSEM(tr), "not waiting");
+
+ chSchReadyI(tr, msg);
+ return;
+ }
+ tr++;
+
+ chDbgAssert(tr < &nil.threads[NIL_CFG_NUM_THREADS],
+ "pointer out of range");
+ }
+ }
+}
+
+/**
+ * @brief Dequeues and wakes up all threads from the queue.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {
+ semaphore_t *sp = &tqp->sem;
+ thread_reference_t tr;
+ cnt_t cnt;
+
+ cnt = sp->cnt;
+ sp->cnt = 0;
+ tr = nil.threads;
+ while (cnt < 0) {
+ /* Is this thread waiting on this semaphore?*/
+ if (tr->u1.semp == sp) {
+
+ chDbgAssert(NIL_THD_IS_WTSEM(tr), "not waiting");
+
+ cnt++;
+ chSchReadyI(tr, msg);
+ }
+ tr++;
+
+ chDbgAssert(tr < &nil.threads[NIL_CFG_NUM_THREADS],
+ "pointer out of range");
+ }
+}
+
+/** @} */
diff --git a/os/nil/osal/osal.h b/os/nil/osal/osal.h
new file mode 100644
index 000000000..3e58154fa
--- /dev/null
+++ b/os/nil/osal/osal.h
@@ -0,0 +1,735 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011,2012,2013 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+*/
+
+/**
+ * @file osal.h
+ * @brief OSAL module header.
+ *
+ * @addtogroup OSAL
+ * @{
+ */
+
+#ifndef _OSAL_H_
+#define _OSAL_H_
+
+#include
+#include
+#include
+
+#include "nil.h"
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/**
+ * @name Common constants
+ * @{
+ */
+#if !defined(FALSE) || defined(__DOXYGEN__)
+#define FALSE 0
+#endif
+
+#if !defined(TRUE) || defined(__DOXYGEN__)
+#define TRUE (!FALSE)
+#endif
+
+#define OSAL_SUCCESS FALSE
+#define OSAL_FAILED TRUE
+/** @} */
+
+#if 0
+/**
+ * @name Messages
+ * @{
+ */
+#define MSG_OK RDY_OK
+#define MSG_RESET RDY_RESET
+#define MSG_TIMEOUT RDY_TIMEOUT
+/** @} */
+#endif
+
+#if 0
+/**
+ * @name Special time constants
+ * @{
+ */
+#define TIME_IMMEDIATE ((systime_t)0)
+#define TIME_INFINITE ((systime_t)-1)
+/** @} */
+#endif
+
+/**
+ * @name Systick modes.
+ * @{
+ */
+#define OSAL_ST_MODE_NONE 0
+#define OSAL_ST_MODE_PERIODIC 1
+#define OSAL_ST_MODE_FREERUNNING 2
+/** @} */
+
+/**
+ * @brief Systick mode required by the underlying OS.
+ */
+#if (NIL_CFG_TIMEDELTA == 0) || defined(__DOXYGEN__)
+#define OSAL_ST_MODE OSAL_ST_MODE_PERIODIC
+#else
+#define OSAL_ST_MODE OSAL_ST_MODE_FREERUNNING
+#endif
+
+/**
+ * @brief Required systick frequency or resolution.
+ */
+#define OSAL_SYSTICK_FREQUENCY NIL_CFG_ST_FREQUENCY
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if !(OSAL_ST_MODE == OSAL_ST_MODE_NONE) && \
+ !(OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) && \
+ !(OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING)
+#error "invalid OSAL_ST_MODE setting in osal.h"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+#if 0
+/**
+ * @brief Type of a system status word.
+ */
+typedef uint32_t syssts_t;
+#endif
+
+#if 0
+/**
+ * @brief Type of a message.
+ */
+typedef int32_t msg_t;
+#endif
+
+#if 0
+/**
+ * @brief Type of system time counter.
+ */
+typedef uint32_t systime_t;
+#endif
+
+#if 0
+/**
+ * @brief Type of realtime counter.
+ */
+typedef uint32_t rtcnt_t;
+#endif
+
+#if 0
+/**
+ * @brief Type of a thread reference.
+ */
+typedef thread_t * thread_reference_t;
+#endif
+
+typedef (*eventcallback_t)()
+/**
+ * @brief Type of an event flags mask.
+ */
+typedef uint32_t eventflags_t;
+
+/**
+ * @brief Type of an event flags object.
+ * @note The content of this structure is not part of the API and should
+ * not be relied upon. Implementers may define this structure in
+ * an entirely different way.
+ * @note Retrieval and clearing of the flags are not defined in this
+ * API and are implementation-dependent.
+ */
+typedef struct {
+ volatile eventflags_t flags; /**< @brief Flags stored into the
+ object. */
+} eventsource_t;
+
+/**
+ * @brief Type of a mutex.
+ * @note If the OS does not support mutexes or there is no OS then them
+ * mechanism can be simulated.
+ */
+typedef semaphore_t mutex_t;
+
+/**
+ * @brief Type of a thread queue.
+ * @details A thread queue is a queue of sleeping threads, queued threads
+ * can be dequeued one at time or all together.
+ * @note In this implementation it is implemented as a single reference
+ * because there are no real threads.
+ */
+typedef struct {
+ semaphore_t sem;
+} threads_queue_t;
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/**
+ * @name Debug related macros
+ * @{
+ */
+/**
+ * @brief Condition assertion.
+ * @details If the condition check fails then the OSAL panics with a
+ * message and halts.
+ * @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS
+ * switch is enabled.
+ * @note The convention for the message is the following:
+ * @(), #@
+ * @note The remark string is not currently used except for putting a
+ * comment in the code about the assertion.
+ *
+ * @param[in] c the condition to be verified to be true
+ * @param[in] remark a remark string
+ *
+ * @api
+ */
+#define osalDbgAssert(c, remark) chDbgAssert(c, remark)
+
+/**
+ * @brief Function parameters check.
+ * @details If the condition check fails then the OSAL panics and halts.
+ * @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch
+ * is enabled.
+ *
+ * @param[in] c the condition to be verified to be true
+ *
+ * @api
+ */
+#define osalDbgCheck(c) /*chDbgCheck(c)*/
+
+/**
+ * @brief I-Class state check.
+ * @note Not implemented in this simplified OSAL.
+ */
+#define osalDbgCheckClassI() /*chDbgCheckClassI()*/
+/** @} */
+
+/**
+ * @brief S-Class state check.
+ * @note Not implemented in this simplified OSAL.
+ */
+#define osalDbgCheckClassS() /*chDbgCheckClassS()*/
+
+/**
+ * @name IRQ service routines wrappers
+ * @{
+ */
+/**
+ * @brief IRQ prologue code.
+ * @details This macro must be inserted at the start of all IRQ handlers.
+ */
+#define OSAL_IRQ_PROLOGUE() CH_IRQ_PROLOGUE()
+
+/**
+ * @brief IRQ epilogue code.
+ * @details This macro must be inserted at the end of all IRQ handlers.
+ */
+#define OSAL_IRQ_EPILOGUE() CH_IRQ_EPILOGUE()
+
+/**
+ * @brief IRQ handler function declaration.
+ * @details This macro hides the details of an ISR function declaration.
+ *
+ * @param[in] id a vector name as defined in @p vectors.s
+ */
+#define OSAL_IRQ_HANDLER(id) CH_IRQ_HANDLER(id)
+/** @} */
+
+/**
+ * @name Time conversion utilities
+ * @{
+ */
+/**
+ * @brief Seconds to system ticks.
+ * @details Converts from seconds to system ticks number.
+ * @note The result is rounded upward to the next tick boundary.
+ *
+ * @param[in] sec number of seconds
+ * @return The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_S2ST(sec) S2ST(sec)
+
+/**
+ * @brief Milliseconds to system ticks.
+ * @details Converts from milliseconds to system ticks number.
+ * @note The result is rounded upward to the next tick boundary.
+ *
+ * @param[in] msec number of milliseconds
+ * @return The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_MS2ST(msec) MS2ST(msec)
+/**
+ * @brief Microseconds to system ticks.
+ * @details Converts from microseconds to system ticks number.
+ * @note The result is rounded upward to the next tick boundary.
+ *
+ * @param[in] usec number of microseconds
+ * @return The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_US2ST(usec) US2ST(usec)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg);
+ void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+/**
+ * @brief OSAL module initialization.
+ *
+ * @api
+ */
+static inline void osalInit(void) {
+
+}
+
+/**
+ * @brief System halt with error message.
+ *
+ * @param[in] reason the halt message pointer
+ *
+ * @api
+ */
+static inline void osalSysHalt(const char *reason) {
+
+ chSysHalt(reason);
+}
+
+/**
+ * @brief Enters a critical zone from thread context.
+ * @note This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysLock(void) {
+
+ chSysLock();
+}
+
+/**
+ * @brief Leaves a critical zone from thread context.
+ * @note This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysUnlock(void) {
+
+ chSysUnlock();
+}
+
+/**
+ * @brief Enters a critical zone from ISR context.
+ * @note This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysLockFromISR(void) {
+
+ chSysLockFromISR();
+}
+
+/**
+ * @brief Leaves a critical zone from ISR context.
+ * @note This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysUnlockFromISR(void) {
+
+ chSysUnlockFromISR();
+}
+
+/**
+ * @brief Returns the execution status and enters a critical zone.
+ * @details This functions enters into a critical zone and can be called
+ * from any context. Because its flexibility it is less efficient
+ * than @p chSysLock() which is preferable when the calling context
+ * is known.
+ * @post The system is in a critical zone.
+ *
+ * @return The previous system status, the encoding of this
+ * status word is architecture-dependent and opaque.
+ *
+ * @xclass
+ */
+static inline syssts_t osalSysGetStatusAndLockX(void) {
+
+ return chSysGetStatusAndLockX();
+}
+
+/**
+ * @brief Restores the specified execution status and leaves a critical zone.
+ * @note A call to @p chSchRescheduleS() is automatically performed
+ * if exiting the critical zone and if not in ISR context.
+ *
+ * @param[in] sts the system status to be restored.
+ *
+ * @xclass
+ */
+static inline void osalSysRestoreStatusX(syssts_t sts) {
+
+ chSysRestoreStatusX(sts);
+}
+
+/**
+ * @brief Polled delay.
+ * @note The real delay is always few cycles in excess of the specified
+ * value.
+ *
+ * @param[in] cycles number of cycles
+ *
+ * @xclass
+ */
+#if PORT_SUPPORTS_RT || defined(__DOXYGEN__)
+static inline void osalSysPolledDelayX(rtcnt_t cycles) {
+
+ chSysPolledDelayX(cycles);
+}
+#endif
+
+/**
+ * @brief Systick callback for the underlying OS.
+ * @note This callback is only defined if the OSAL requires such a
+ * service from the HAL.
+ */
+#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
+static inline void osalOsTimerHandlerI(void) {
+
+ chSysTimerHandlerI();
+}
+#endif
+
+/**
+ * @brief Checks if a reschedule is required and performs it.
+ * @note I-Class functions invoked from thread context must not reschedule
+ * by themselves, an explicit reschedule using this function is
+ * required in this scenario.
+ * @note Not implemented in this simplified OSAL.
+ *
+ * @sclass
+ */
+static inline void osalOsRescheduleS(void) {
+
+ chSchRescheduleS();
+}
+
+/**
+ * @brief Current system time.
+ * @details Returns the number of system ticks since the @p chSysInit()
+ * invocation.
+ * @note The counter can reach its maximum and then restart from zero.
+ * @note This function can be called from any context but its atomicity
+ * is not guaranteed on architectures whose word size is less than
+ * @systime_t size.
+ *
+ * @return The system time in ticks.
+ *
+ * @xclass
+ */
+static inline systime_t osalOsGetSystemTimeX(void) {
+
+ return chVTGetSystemTimeX();
+}
+
+/**
+ * @brief Checks if the specified time is within the specified time window.
+ * @note When start==end then the function returns always true because the
+ * whole time range is specified.
+ * @note This function can be called from any context.
+ *
+ * @param[in] time the time to be verified
+ * @param[in] start the start of the time window (inclusive)
+ * @param[in] end the end of the time window (non inclusive)
+ * @retval true current time within the specified time window.
+ * @retval false current time not within the specified time window.
+ *
+ * @xclass
+ */
+static inline bool osalOsIsTimeWithinX(systime_t time,
+ systime_t start,
+ systime_t end) {
+
+ return chVTIsTimeWithinX(time, start, end);
+}
+
+/**
+ * @brief Suspends the invoking thread for the specified time.
+ *
+ * @param[in] time the delay in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE is allowed but interpreted as a
+ * normal time specification.
+ * - @a TIME_IMMEDIATE this value is not allowed.
+ * .
+ *
+ * @sclass
+ */
+static inline void osalThreadSleepS(systime_t time) {
+
+ chThdSleepS(time);
+}
+
+/**
+ * @brief Suspends the invoking thread for the specified time.
+ *
+ * @param[in] time the delay in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE is allowed but interpreted as a
+ * normal time specification.
+ * - @a TIME_IMMEDIATE this value is not allowed.
+ * .
+ *
+ * @api
+ */
+static inline void osalThreadSleep(systime_t time) {
+
+ chThdSleep(time);
+}
+
+/**
+ * @brief Sends the current thread sleeping and sets a reference variable.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @return The wake up message.
+ *
+ * @sclass
+ */
+static inline msg_t osalThreadSuspendS(thread_reference_t *trp) {
+
+ return chThdSuspendTimeoutS(trp, TIME_INFINITE);
+}
+
+/**
+ * @brief Sends the current thread sleeping and sets a reference variable.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] timeout the timeout in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state.
+ * - @a TIME_IMMEDIATE the thread is not enqueued and
+ * the function returns @p MSG_TIMEOUT as if a timeout
+ * occurred.
+ * .
+ * @return The wake up message.
+ * @retval MSG_TIMEOUT if the operation timed out.
+ *
+ * @sclass
+ */
+static inline msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp,
+ systime_t timeout) {
+
+ return chThdSuspendTimeoutS(trp, timeout);
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @note This function must not reschedule because it can be called from
+ * ISR context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+static inline void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
+
+ chThdResumeI(trp, msg);
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+static inline void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
+
+ chThdResumeI(trp, msg);
+ chSchRescheduleS();
+}
+
+/**
+ * @brief Initializes a threads queue object.
+ *
+ * @param[out] tqp pointer to the threads queue object
+ *
+ * @init
+ */
+static inline void osalQueueObjectInit(threads_queue_t *tqp) {
+
+ chSemObjectInit(&tqp->sem, 0);
+}
+
+/**
+ * @brief Enqueues the caller thread.
+ * @details The caller thread is enqueued and put to sleep until it is
+ * dequeued or the specified timeouts expires.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] time the timeout in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state.
+ * - @a TIME_IMMEDIATE the thread is not enqueued and
+ * the function returns @p MSG_TIMEOUT as if a timeout
+ * occurred.
+ * .
+ * @return The message from @p osalQueueWakeupOneI() or
+ * @p osalQueueWakeupAllI() functions.
+ * @retval RDY_TIMEOUT if the thread has not been dequeued within the
+ * specified timeout or if the function has been
+ * invoked with @p TIME_IMMEDIATE as timeout
+ * specification.
+ *
+ * @sclass
+ */
+static inline msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp,
+ systime_t time) {
+
+ return chSemWaitTimeout(&tqp->sem, time);
+}
+
+/**
+ * @brief Initializes an event flags object.
+ *
+ * @param[out] esp pointer to the event flags object
+ *
+ * @init
+ */
+static inline void osalEventObjectInit(eventsource_t *esp) {
+
+ chEvtObjectInit(esp);
+}
+
+/**
+ * @brief Add flags to an event source object.
+ *
+ * @param[in] esp pointer to the event flags object
+ * @param[in] flags flags to be ORed to the flags mask
+ *
+ * @iclass
+ */
+static inline void osalEventBroadcastFlagsI(eventsource_t *esp,
+ eventflags_t flags) {
+
+ chEvtBroadcastFlagsI(esp, flags);
+}
+
+/**
+ * @brief Add flags to an event source object.
+ *
+ * @param[in] esp pointer to the event flags object
+ * @param[in] flags flags to be ORed to the flags mask
+ *
+ * @iclass
+ */
+static inline void osalEventBroadcastFlags(eventsource_t *esp,
+ eventflags_t flags) {
+
+ chEvtBroadcastFlags(esp, flags);
+}
+
+/**
+ * @brief Initializes s @p mutex_t object.
+ *
+ * @param[out] mp pointer to the @p mutex_t object
+ *
+ * @init
+ */
+static inline void osalMutexObjectInit(mutex_t *mp) {
+
+ chSemObjectInit((semaphore_t *)mp, 1);
+}
+
+/*
+ * @brief Locks the specified mutex.
+ * @post The mutex is locked and inserted in the per-thread stack of owned
+ * mutexes.
+ *
+ * @param[in,out] mp pointer to the @p mutex_t object
+ *
+ * @api
+ */
+static inline void osalMutexLock(mutex_t *mp) {
+
+ chSemWait((semaphore_t *)mp);
+}
+
+/**
+ * @brief Unlocks the specified mutex.
+ * @note The HAL guarantees to release mutex in reverse lock order. The
+ * mutex being unlocked is guaranteed to be the last locked mutex
+ * by the invoking thread.
+ * The implementation can rely on this behavior and eventually
+ * ignore the @p mp parameter which is supplied in order to support
+ * those OSes not supporting a stack of the owned mutexes.
+ *
+ * @param[in,out] mp pointer to the @p mutex_t object
+ *
+ * @api
+ */
+static inline void osalMutexUnlock(mutex_t *mp) {
+
+ chSemSignal((semaphore_t *)mp);
+}
+
+#endif /* _OSAL_H_ */
+
+/** @} */
diff --git a/os/nil/osal/osal.mk b/os/nil/osal/osal.mk
new file mode 100644
index 000000000..f43560e2d
--- /dev/null
+++ b/os/nil/osal/osal.mk
@@ -0,0 +1,5 @@
+# OSAL files.
+OSALSRC += ${CHIBIOS}/os/nil/osal/osal.c
+
+# Required include directories
+OSALINC += ${CHIBIOS}/os/nil/osal
diff --git a/os/nil/src/nil.c b/os/nil/src/nil.c
index a7677aeeb..d316f01e0 100644
--- a/os/nil/src/nil.c
+++ b/os/nil/src/nil.c
@@ -66,7 +66,7 @@ nil_system_t nil;
* @special
*/
void chSysInit(void) {
- thread_ref_t tr;
+ thread_reference_t tr;
const thread_config_t *tcp;
/* Port layer initialization.*/
@@ -136,7 +136,7 @@ void chSysHalt(const char *reason) {
void chSysTimerHandlerI(void) {
#if NIL_CFG_TIMEDELTA == 0
- thread_ref_t tr = &nil.threads[0];
+ thread_reference_t tr = &nil.threads[0];
nil.systime++;
do {
/* Is the thread in a wait state with timeout?.*/
@@ -162,7 +162,7 @@ void chSysTimerHandlerI(void) {
chSysLockFromISR();
} while (tr < &nil.threads[NIL_CFG_NUM_THREADS]);
#else
- thread_ref_t tr = &nil.threads[0];
+ thread_reference_t tr = &nil.threads[0];
systime_t next = 0;
chDbgAssert(nil.nexttime == port_timer_get_alarm(),
@@ -218,7 +218,7 @@ void chSysTimerHandlerI(void) {
*
* @return The same reference passed as parameter.
*/
-thread_ref_t chSchReadyI(thread_ref_t tr, msg_t msg) {
+thread_reference_t chSchReadyI(thread_reference_t tr, msg_t msg) {
chDbgAssert((tr >= nil.threads) &&
(tr < &nil.threads[NIL_CFG_NUM_THREADS]),
@@ -240,8 +240,8 @@ thread_ref_t chSchReadyI(thread_ref_t tr, msg_t msg) {
* @sclass
*/
void chSchRescheduleS() {
- thread_ref_t otr = nil.current;
- thread_ref_t ntr = nil.next;
+ thread_reference_t otr = nil.current;
+ thread_reference_t ntr = nil.next;
if (ntr != otr) {
nil.current = ntr;
@@ -272,7 +272,7 @@ void chSchRescheduleS() {
* @sclass
*/
msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {
- thread_ref_t ntr, otr = nil.current;
+ thread_reference_t ntr, otr = nil.current;
chDbgAssert(otr != &nil.threads[NIL_CFG_NUM_THREADS],
"idle cannot sleep");
@@ -348,7 +348,7 @@ msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {
*
* @sclass
*/
-msg_t chThdSuspendTimeoutS(thread_ref_t *trp, systime_t timeout) {
+msg_t chThdSuspendTimeoutS(thread_reference_t *trp, systime_t timeout) {
chDbgAssert(*trp == NULL, "not NULL");
@@ -367,10 +367,10 @@ msg_t chThdSuspendTimeoutS(thread_ref_t *trp, systime_t timeout) {
*
* @iclass
*/
-void chThdResumeI(thread_ref_t *trp, msg_t msg) {
+void chThdResumeI(thread_reference_t *trp, msg_t msg) {
if (*trp != NULL) {
- thread_ref_t tr = *trp;
+ thread_reference_t tr = *trp;
chDbgAssert(NIL_THD_IS_SUSP(tr), "not suspended");
@@ -544,7 +544,7 @@ void chSemSignal(semaphore_t *sp) {
void chSemSignalI(semaphore_t *sp) {
if (++sp->cnt <= 0) {
- thread_ref_t tr = nil.threads;
+ thread_reference_t tr = nil.threads;
while (true) {
/* Is this thread waiting on this semaphore?*/
if (tr->u1.semp == sp) {
@@ -555,6 +555,9 @@ void chSemSignalI(semaphore_t *sp) {
return;
}
tr++;
+
+ chDbgAssert(tr < &nil.threads[NIL_CFG_NUM_THREADS],
+ "pointer out of range");
}
}
}
@@ -600,7 +603,7 @@ void chSemReset(semaphore_t *sp, cnt_t n) {
* @iclass
*/
void chSemResetI(semaphore_t *sp, cnt_t n) {
- thread_ref_t tr;
+ thread_reference_t tr;
cnt_t cnt;
cnt = sp->cnt;
@@ -616,6 +619,9 @@ void chSemResetI(semaphore_t *sp, cnt_t n) {
chSchReadyI(tr, MSG_RESET);
}
tr++;
+
+ chDbgAssert(tr < &nil.threads[NIL_CFG_NUM_THREADS],
+ "pointer out of range");
}
}
diff --git a/os/rt/osal/osal.h b/os/rt/osal/osal.h
index 7ae97f92b..f1d37699f 100644
--- a/os/rt/osal/osal.h
+++ b/os/rt/osal/osal.h
@@ -437,7 +437,7 @@ static inline void osalSysRestoreStatusX(syssts_t sts) {
*
* @xclass
*/
-#if CH_PORT_SUPPORTS_RT || defined(__DOXYGEN__)
+#if PORT_SUPPORTS_RT || defined(__DOXYGEN__)
static inline void osalSysPolledDelayX(rtcnt_t cycles) {
chSysPolledDelayX(cycles);
@@ -648,7 +648,8 @@ static inline void osalQueueObjectInit(threads_queue_t *tqp) {
*
* @sclass
*/
-static inline msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) {
+static inline msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp,
+ systime_t time) {
return chQueueGoSleepTimeoutS(tqp, time);
}