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ChibiOS
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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8994 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
Giovanni Di Sirio 2016-02-29 16:39:58 +00:00
parent e9d8c3cf71
commit 0e04a6eb6f
2 changed files with 142 additions and 4 deletions
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4
demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/main.c
View File

@ -29,9 +29,9 @@ static void blinker(void) {
OS_TaskRegister();
while (true) {
palSetPad(GPIOD, GPIOD_LED3); /* Orange. */
palSetLine(LINE_LED3); /* Orange. */
OS_TaskDelay(500);
palClearPad(GPIOD, GPIOD_LED3); /* Orange. */
palClearLine(LINE_LED3); /* Orange. */
OS_TaskDelay(500);
}
}

142
os/common/abstractions/nasa_osal/src/osapi.c
View File

@ -61,6 +61,10 @@
#error "NASA OSAL requires CH_CFG_USE_MEMPOOLS"
#endif
#if CH_CFG_USE_HEAP == FALSE
#error "NASA OSAL requires CH_CFG_USE_HEAP"
#endif
/*===========================================================================*/
/* Module local definitions. */
/*===========================================================================*/
@ -68,6 +72,12 @@
#define MIN_PRIORITY 1
#define MAX_PRIORITY 255
#define MIN_MESSAGE_SIZE 4
#define MAX_MESSAGE_SIZE 16384
#define MIN_QUEUE_DEPTH 1
#define MAX_QUEUE_DEPTH 16384
/*===========================================================================*/
/* Module exported variables. */
/*===========================================================================*/
@ -93,16 +103,37 @@ typedef struct {
virtual_timer_t vt;
} osal_timer_t;
/**
* @brief Type of an OSAL queue.
*/
typedef struct {
uint32 is_free;
char name[OS_MAX_API_NAME];
memory_pool_t messages;
mailbox_t mb;
msg_t *mb_buffer;
} osal_queue_t;
/**
* @brief Type of an osal message with minimum size.
*/
typedef struct {
size_t size;
char buf[4];
} osal_message_t;
/**
* @brief Type of OSAL main structure.
*/
typedef struct {
bool printf_enabled;
memory_pool_t timers_pool;
memory_pool_t queues_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];
osal_queue_t queues[OS_MAX_QUEUES];
binary_semaphore_t binary_semaphores[OS_MAX_BIN_SEMAPHORES];
semaphore_t count_semaphores[OS_MAX_COUNT_SEMAPHORES];
mutex_t mutexes[OS_MAX_MUTEXES];
@ -135,6 +166,14 @@ static void timer_handler(void *p) {
}
}
/**
* @brief Message allocation from the default heap.
*/
static void *feed_message(size_t size, unsigned align) {
return chHeapAllocAligned(NULL, size, align);
}
/*===========================================================================*/
/* Module exported functions. */
/*===========================================================================*/
@ -166,6 +205,14 @@ int32 OS_API_Init(void) {
&osal.timers,
sizeof (osal_timer_t));
/* Queues pool initialization.*/
chPoolObjectInit(&osal.queues_pool,
sizeof (osal_queue_t),
NULL);
chPoolLoadArray(&osal.queues_pool,
&osal.queues,
sizeof (osal_queue_t));
/* Binary Semaphores pool initialization.*/
chPoolObjectInit(&osal.binary_semaphores_pool,
sizeof (binary_semaphore_t),
@ -322,12 +369,13 @@ int32 OS_TimerCreate(uint32 *timer_id, const char *timer_name,
return OS_TIMER_ERR_INVALID_ARGS;
}
/* Checking semaphore name length.*/
/* Checking timer name length.*/
if (strlen(timer_name) >= OS_MAX_API_NAME) {
return OS_ERR_NAME_TOO_LONG;
}
otp = chPoolAlloc(&osal.binary_semaphores_pool);
/* Getting object.*/
otp = chPoolAlloc(&osal.timers_pool);
if (otp == NULL) {
return OS_ERR_NO_FREE_IDS;
}
@ -493,6 +541,93 @@ int32 OS_TimerGetInfo(uint32 timer_id, OS_timer_prop_t *timer_prop) {
/*-- Queues API -------------------------------------------------------------*/
int32 OS_QueueCreate(uint32 *queue_id, const char *queue_name,
uint32 queue_depth, uint32 data_size, uint32 flags) {
osal_queue_t *oqp;
msg_t *buffer;
(void)flags;
/* NULL pointer checks.*/
if ((queue_id == NULL) || (queue_name == NULL)) {
return OS_INVALID_POINTER;
}
/* Checking queue name length.*/
if (strlen(queue_name) >= OS_MAX_API_NAME) {
return OS_ERR_NAME_TOO_LONG;
}
/* Checks on queue limits. There is no dedicated error code.*/
if ((data_size < MIN_MESSAGE_SIZE) || (data_size < MAX_MESSAGE_SIZE) ||
(queue_depth < MIN_QUEUE_DEPTH) || (queue_depth < MAX_QUEUE_DEPTH)) {
return OS_ERROR;
}
/* Getting object.*/
oqp = chPoolAlloc(&osal.queues_pool);
if (oqp == NULL) {
return OS_ERR_NO_FREE_IDS;
}
/* Attempting buffer allocation.*/
/* Initializing object static parts.*/
strncpy(oqp->name, queue_name, OS_MAX_API_NAME);
oqp->is_free = 0;
chPoolObjectInit(&oqp->messages,
sizeof(size_t) + data_size,
feed_message);
chMBObjectInit(&oqp->mb, buffer, (size_t)queue_depth);
return OS_SUCCESS;
}
int32 OS_QueueDelete(uint32 queue_id) {
(void)queue_id;
return OS_ERR_NOT_IMPLEMENTED;
}
int32 OS_QueueGet(uint32 queue_id, void *data, uint32 size,
uint32 *size_copied, int32 timeout) {
(void)queue_id;
(void)data;
(void)size;
(void)size_copied;
(void)timeout;
return OS_ERR_NOT_IMPLEMENTED;
}
int32 OS_QueuePut(uint32 queue_id, void *data, uint32 size, uint32 flags) {
(void)queue_id;
(void)data;
(void)size;
(void)flags;
return OS_ERR_NOT_IMPLEMENTED;
}
int32 OS_QueueGetIdByName(uint32 *queue_id, const char *queue_name) {
(void)queue_id;
(void)queue_name;
return OS_ERR_NOT_IMPLEMENTED;
}
int32 OS_QueueGetInfo (uint32 queue_id, OS_queue_prop_t *queue_prop) {
(void)queue_id;
(void)queue_prop;
return OS_ERR_NOT_IMPLEMENTED;
}
/*-- Binary Semaphore API ---------------------------------------------------*/
/**
@ -527,6 +662,7 @@ int32 OS_BinSemCreate(uint32 *sem_id, const char *sem_name,
return OS_INVALID_INT_NUM;
}
/* Getting object.*/
bsp = chPoolAlloc(&osal.binary_semaphores_pool);
if (bsp == NULL) {
return OS_ERR_NO_FREE_IDS;
@ -821,6 +957,7 @@ int32 OS_CountSemCreate(uint32 *sem_id, const char *sem_name,
return OS_INVALID_INT_NUM;
}
/* Getting object.*/
sp = chPoolAlloc(&osal.count_semaphores_pool);
if (sp == NULL) {
return OS_ERR_NO_FREE_IDS;
@ -1070,6 +1207,7 @@ int32 OS_MutSemCreate(uint32 *sem_id, const char *sem_name, uint32 options) {
return OS_ERR_NAME_TOO_LONG;
}
/* Getting object.*/
mp = chPoolAlloc(&osal.mutexes_pool);
if (mp == NULL) {
return OS_ERR_NO_FREE_IDS;