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ChibiOS
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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8942 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
Giovanni Di Sirio 2016-02-24 15:30:26 +00:00
parent 6d6284c9e6
commit 8faa787ebe
3 changed files with 57 additions and 16 deletions
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60
os/common/abstractions/nasa_osal/src/osapi.c
View File

@ -37,6 +37,10 @@
#error "CH_CFG_ST_FREQUENCY is not a multiple of 1000"
#endif
#if CH_CFG_USE_REGISTRY == FALSE
#error "NASA OSAL requires CH_CFG_USE_REGISTRY"
#endif
#if CH_CFG_USE_EVENTS == FALSE
#error "NASA OSAL requires CH_CFG_USE_EVENTS"
#endif
@ -49,10 +53,6 @@
#error "NASA OSAL requires CH_CFG_USE_SEMAPHORES"
#endif
#if CH_CFG_USE_REGISTRY == FALSE
#error "NASA OSAL requires CH_CFG_USE_REGISTRY"
#endif
#if CH_CFG_USE_MEMCORE == FALSE
#error "NASA OSAL requires CH_CFG_USE_MEMCORE"
#endif
@ -61,6 +61,10 @@
#error "NASA OSAL requires CH_CFG_USE_MEMPOOLS"
#endif
#if CH_CFG_USE_DYNAMIC == FALSE
#error "NASA OSAL requires CH_CFG_USE_DYNAMIC"
#endif
/*===========================================================================*/
/* Module local definitions. */
/*===========================================================================*/
@ -1279,6 +1283,9 @@ int32 OS_TaskCreate(uint32 *task_id,
/* Converting priority to RT type.*/
rt_prio = (tprio_t)256 - (tprio_t)priority;
if (rt_prio == 1) {
rt_prio = 2;
}
tp = chThdCreateFromHeap(NULL, (size_t)stack_size, task_name,
rt_prio, (tfunc_t)function_pointer, NULL);
@ -1325,6 +1332,15 @@ int32 OS_TaskDelete(uint32 task_id) {
return OS_ERR_INVALID_ID;
}
/* Asking for thread termination.*/
chThdTerminate(tp);
/* Releasing the thread reference.*/
chThdRelease(tp);
/* Waiting for termination.*/
chThdWait(tp);
return OS_ERR_NOT_IMPLEMENTED;
}
@ -1354,6 +1370,8 @@ int32 OS_TaskDelay(uint32 milli_second) {
/**
* @brief Change task priority.
* @note Priority 255 is not available and it is transformed internally in
* 254.
*
* @param[in] task_id the task id
* @param[in] new_priority the task new priority
@ -1365,11 +1383,6 @@ int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority) {
tprio_t rt_newprio;
thread_t *tp = (thread_t *)task_id;
/* Check for thread validity.*/
if (chRegFindThreadByPointer(tp) == NULL) {
return OS_ERR_INVALID_ID;
}
/* Checking priority range.*/
if ((new_priority < MIN_PRIORITY) || (new_priority > MAX_PRIORITY)) {
return OS_ERR_INVALID_PRIORITY;
@ -1377,11 +1390,19 @@ int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority) {
/* Converting priority to RT type.*/
rt_newprio = (tprio_t)256 - (tprio_t)new_priority;
if (rt_newprio == 1) {
rt_newprio = 2;
}
if (chThdGetPriorityX() == rt_newprio) {
return OS_SUCCESS;
}
/* Check for thread validity.*/
if (chRegFindThreadByPointer(tp) == NULL) {
return OS_ERR_INVALID_ID;
}
chSysLock();
/* Changing priority.*/
@ -1420,6 +1441,9 @@ int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority) {
chSchRescheduleS();
chSysUnlock();
/* Releasing the thread reference.*/
chThdRelease(tp);
return OS_SUCCESS;
}
@ -1479,6 +1503,9 @@ int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name) {
*task_id = (uint32)tp;
/* Releasing the thread reference.*/
chThdRelease(tp);
return OS_SUCCESS;
}
@ -1486,6 +1513,8 @@ int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name) {
* @brief Returns task information.
* @note This function can be safely called from timer callbacks or ISRs.
* @note It is not currently implemented.
* @note Priority 255 is not available and it is transformed internally in
* 254.
*
* @param[in] task_id the task id
* @param[in] task_prop task properties
@ -1497,22 +1526,25 @@ int32 OS_TaskGetInfo(uint32 task_id, OS_task_prop_t *task_prop) {
thread_t *tp = (thread_t *)task_id;
size_t wasize = (size_t)tp - (size_t)tp->stklimit + sizeof (thread_t);
/* Check for thread validity.*/
if (chRegFindThreadByPointer(tp) == NULL) {
return OS_ERR_INVALID_ID;
}
/* NULL pointer checks.*/
if (task_prop == NULL) {
return OS_INVALID_POINTER;
}
/* Check for thread validity.*/
if (chRegFindThreadByPointer(tp) == NULL) {
return OS_ERR_INVALID_ID;
}
strncpy(task_prop->name, tp->name, OS_MAX_API_NAME - 1);
task_prop->creator = (uint32)chSysGetIdleThreadX();
task_prop->stack_size = (uint32)MEM_ALIGN_NEXT(wasize, PORT_STACK_ALIGN);
task_prop->priority = (uint32)256U - (uint32)tp->realprio;
task_prop->OStask_id = task_id;
/* Releasing the thread reference.*/
chThdRelease(tp);
return OS_SUCCESS;
}

6
os/rt/src/chregistry.c
View File

@ -181,6 +181,9 @@ thread_t *chRegNextThread(thread_t *tp) {
/**
* @brief Retrieves a thread pointer by name.
* @note The reference counter of the found thread is increased by one so
* it cannot be disposed incidentally after the pointer has been
* returned.
*
* @param[in] name the thread name
* @return A pointer to the found thread.
@ -205,6 +208,9 @@ thread_t *chRegFindThreadByName(const char *name) {
/**
* @brief Confirms that a pointer is a valid thread pointer.
* @note The reference counter of the found thread is increased by one so
* it cannot be disposed incidentally after the pointer has been
* returned.
*
* @param[in] tp pointer to the thread
* @return A pointer to the found thread.

7
release_note_next.txt
View File

@ -17,6 +17,7 @@ a series of important new features.
are usable by both RT and NIL.
- Shared ports architecture. Now RTOS ports work for both RT and NIL, no
more duplication.
- MPU use for hardware stack checking in ARMCMx port.
- Enhanced shell.
*** What's new in RT 4.0.0 ***
@ -24,10 +25,12 @@ a series of important new features.
- Common ports architecture.
- Ability to use the new shared RTOS components.
- Enhanced trace buffer, it is able to store events regarding not just threads
but also IRQs, halts and user events.
but also IRQs, halts and user events. The trace record now stores both the
"slow" system time and a RT stamp for increased accuracy.
- Enhanced Registry, it is now possible to find threads by name or by pointer.
- New threading API, now creating static threads is even faster.
- Extended priority range to 1..255.
- New kernel hooks for a more flexible code instrumentation.
- Experimental NASA OSAL implementation.
*** What's new in HAL 4.1.0 ***
@ -38,4 +41,4 @@ a series of important new features.
- Common ports architecture.
- Ability to use the new shared RTOS components.
- State checker.
- Parameter checks.
- Parameters checks.