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

os/common/abstractions/nasa_osal/src/osapi.c

@@ -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;
 }
 

os/rt/src/chregistry.c

@@ -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.

release_note_next.txt

@@ -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.