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ChibiOS
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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8933 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
Giovanni Di Sirio 2016-02-23 11:57:14 +00:00
parent 7630471ecf
commit c6ce51eb22
1 changed files with 67 additions and 25 deletions
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92
os/common/abstractions/nasa_osal/src/osapi.c
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@ -64,14 +64,27 @@
/* Module local types. */
/*===========================================================================*/
/**
* @brief Type of OSAL timer.
*/
typedef struct {
void *free;
char name[OS_MAX_API_NAME];
uint32 start_time;
uint32 interval_time;
virtual_timer_t vt;
} osal_timer_t;
/**
* @brief Type of OSAL main structure.
*/
typedef struct {
bool printf_enabled;
memory_pool_t timers_pool;
memory_pool_t binary_semaphores_pool;
memory_pool_t count_semaphores_pool;
memory_pool_t mutexes_pool;
osal_timer_t timers[OS_MAX_TIMERS];
binary_semaphore_t binary_semaphores[OS_MAX_BIN_SEMAPHORES];
semaphore_t count_semaphores[OS_MAX_COUNT_SEMAPHORES];
mutex_t mutexes[OS_MAX_MUTEXES];
@ -110,6 +123,14 @@ int32 OS_API_Init(void) {
/* OS_printf() initially disabled.*/
osal.printf_enabled = false;
/* Timers pool initialization.*/
chPoolObjectInit(&osal.timers_pool,
sizeof (osal_timer_t),
NULL);
chPoolLoadArray(&osal.timers_pool,
&osal.timers,
sizeof (osal_timer_t));
/* Binary Semaphores pool initialization.*/
chPoolObjectInit(&osal.binary_semaphores_pool,
sizeof (binary_semaphore_t),
@ -239,6 +260,8 @@ int32 OS_Milli2Ticks(uint32 milli_seconds) {
return (int32)MS2ST(milli_seconds);
}
/*-- timers API -------------------------------------------------------------*/
/*-- Queues API -------------------------------------------------------------*/
/*-- Binary Semaphore API ---------------------------------------------------*/
@ -325,6 +348,7 @@ int32 OS_BinSemDelete(uint32 sem_id) {
/**
* @brief Binary semaphore flush.
* @note The state of the binary semaphore is not changed.
* @note This function can be safely called from timer handlers.
*
* @param[in] sem_id binary semaphore id variable
* @return An error code.
@ -332,6 +356,7 @@ int32 OS_BinSemDelete(uint32 sem_id) {
* @api
*/
int32 OS_BinSemFlush(uint32 sem_id) {
syssts_t sts;
binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
if ((bsp < &osal.binary_semaphores[0]) ||
@ -339,26 +364,24 @@ int32 OS_BinSemFlush(uint32 sem_id) {
return OS_ERR_INVALID_ID;
}
chSysLock();
sts = chSysGetStatusAndLockX();
/* If the semaphore is not in use then error.*/
if (bsp->sem.queue.prev == NULL) {
chSysUnlock();
chSysRestoreStatusX(sts);
return OS_SEM_FAILURE;
}
if (bsp->sem.cnt < 0) {
chBSemResetI(bsp, true);
chSchRescheduleS();
}
chBSemResetI(bsp, true);
chSysUnlock();
chSysRestoreStatusX(sts);
return OS_SUCCESS;
}
/**
* @brief Binary semaphore give.
* @note This function can be safely called from timer handlers.
*
* @param[in] sem_id binary semaphore id variable
* @return An error code.
@ -366,6 +389,7 @@ int32 OS_BinSemFlush(uint32 sem_id) {
* @api
*/
int32 OS_BinSemGive(uint32 sem_id) {
syssts_t sts;
binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
if ((bsp < &osal.binary_semaphores[0]) ||
@ -373,18 +397,17 @@ int32 OS_BinSemGive(uint32 sem_id) {
return OS_ERR_INVALID_ID;
}
chSysLock();
sts = chSysGetStatusAndLockX();
/* If the semaphore is not in use then error.*/
if (bsp->sem.queue.prev == NULL) {
chSysUnlock();
chSysRestoreStatusX(sts);
return OS_SEM_FAILURE;
}
chBSemSignalI(bsp);
chSchRescheduleS();
chSysUnlock();
chSysRestoreStatusX(sts);
return OS_SUCCESS;
}
@ -480,6 +503,8 @@ int32 OS_BinSemGetIdByName(uint32 *sem_id, const char *sem_name) {
/**
* @brief Returns binary semaphore information.
* @note This function can be safely called from timer handlers.
* @note It is not currently implemented.
*
* @param[in] sem_id binary semaphore id variable
* @param[in] bin_prop binary semaphore properties
@ -488,6 +513,7 @@ int32 OS_BinSemGetIdByName(uint32 *sem_id, const char *sem_name) {
* @api
*/
int32 OS_BinSemGetInfo(uint32 sem_id, OS_bin_sem_prop_t *bin_prop) {
syssts_t sts;
binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
/* NULL pointer checks.*/
@ -500,15 +526,15 @@ int32 OS_BinSemGetInfo(uint32 sem_id, OS_bin_sem_prop_t *bin_prop) {
return OS_ERR_INVALID_ID;
}
chSysLock();
sts = chSysGetStatusAndLockX();
/* If the semaphore is not in use then error.*/
if (bsp->sem.queue.prev == NULL) {
chSysUnlock();
chSysRestoreStatusX(sts);
return OS_SEM_FAILURE;
}
chSysUnlock();
chSysRestoreStatusX(sts);
return OS_ERR_NOT_IMPLEMENTED;
}
@ -596,6 +622,7 @@ int32 OS_CountSemDelete(uint32 sem_id) {
/**
* @brief Counter semaphore give.
* @note This function can be safely called from timer handlers.
*
* @param[in] sem_id counter semaphore id variable
* @return An error code.
@ -603,6 +630,7 @@ int32 OS_CountSemDelete(uint32 sem_id) {
* @api
*/
int32 OS_CountSemGive(uint32 sem_id) {
syssts_t sts;
semaphore_t *sp = (semaphore_t *)sem_id;
if ((sp < &osal.count_semaphores[0]) ||
@ -610,18 +638,17 @@ int32 OS_CountSemGive(uint32 sem_id) {
return OS_ERR_INVALID_ID;
}
chSysLock();
sts = chSysGetStatusAndLockX();
/* If the semaphore is not in use then error.*/
if (sp->queue.prev == NULL) {
chSysUnlock();
chSysRestoreStatusX(sts);
return OS_SEM_FAILURE;
}
chSemSignalI(sp);
chSchRescheduleS();
chSysUnlock();
chSysRestoreStatusX(sts);
return OS_SUCCESS;
}
@ -717,6 +744,8 @@ int32 OS_CountSemGetIdByName(uint32 *sem_id, const char *sem_name) {
/**
* @brief Returns counter semaphore information.
* @note This function can be safely called from timer handlers.
* @note It is not currently implemented.
*
* @param[in] sem_id counter semaphore id variable
* @param[in] sem_prop counter semaphore properties
@ -725,6 +754,7 @@ int32 OS_CountSemGetIdByName(uint32 *sem_id, const char *sem_name) {
* @api
*/
int32 OS_CountSemGetInfo(uint32 sem_id, OS_count_sem_prop_t *sem_prop) {
syssts_t sts;
semaphore_t *sp = (semaphore_t *)sem_id;
/* NULL pointer checks.*/
@ -737,15 +767,15 @@ int32 OS_CountSemGetInfo(uint32 sem_id, OS_count_sem_prop_t *sem_prop) {
return OS_ERR_INVALID_ID;
}
chSysLock();
sts = chSysGetStatusAndLockX();
/* If the semaphore is not in use then error.*/
if (sp->queue.prev == NULL) {
chSysUnlock();
chSysRestoreStatusX(sts);
return OS_SEM_FAILURE;
}
chSysUnlock();
chSysRestoreStatusX(sts);
return OS_ERR_NOT_IMPLEMENTED;
}
@ -909,6 +939,8 @@ int32 OS_MutSemGetIdByName(uint32 *sem_id, const char *sem_name) {
/**
* @brief Returns mutex information.
* @note This function can be safely called from timer handlers.
* @note It is not currently implemented.
*
* @param[in] sem_id mutex id variable
* @param[in] sem_prop mutex properties
@ -917,6 +949,7 @@ int32 OS_MutSemGetIdByName(uint32 *sem_id, const char *sem_name) {
* @api
*/
int32 OS_MutSemGetInfo(uint32 sem_id, OS_mut_sem_prop_t *sem_prop) {
syssts_t sts;
mutex_t *mp = (mutex_t *)sem_id;
/* NULL pointer checks.*/
@ -929,15 +962,15 @@ int32 OS_MutSemGetInfo(uint32 sem_id, OS_mut_sem_prop_t *sem_prop) {
return OS_ERR_INVALID_ID;
}
chSysLock();
sts = chSysGetStatusAndLockX();
/* If the mutex is not in use then error.*/
if (mp->queue.prev == NULL) {
chSysUnlock();
chSysRestoreStatusX(sts);
return OS_SEM_FAILURE;
}
chSysUnlock();
chSysRestoreStatusX(sts);
return OS_ERR_NOT_IMPLEMENTED;
}
@ -1096,6 +1129,8 @@ int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority) {
return OS_SUCCESS;
}
/* TODO: Check presence in registry.*/
chSysLock();
/* Changing priority.*/
@ -1152,6 +1187,7 @@ int32 OS_TaskRegister(void) {
/**
* @brief Current task id.
* @note This function can be safely called from timer handlers.
*
* @return The current task id.
*
@ -1184,6 +1220,8 @@ int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name) {
return OS_ERR_NAME_TOO_LONG;
}
/* TODO: Check presence in registry.*/
/* Scanning registry.*/
tp = chRegFirstThread();
do {
@ -1199,6 +1237,8 @@ int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name) {
/**
* @brief Returns task information.
* @note This function can be safely called from timer handlers.
* @note It is not currently implemented.
*
* @param[in] task_id the task id
* @param[in] task_prop task properties
@ -1215,13 +1255,15 @@ int32 OS_TaskGetInfo(uint32 task_id, OS_task_prop_t *task_prop) {
return OS_INVALID_POINTER;
}
/* TODO: Check presence in registry.*/
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;
return OS_ERR_NOT_IMPLEMENTED;
return OS_SUCCESS;
}
/** @} */