From fde2a2cc60934f77816a4d2200b97127cdb3a6d2 Mon Sep 17 00:00:00 2001
From: Giovanni Di Sirio <gdisirio@gmail.com>
Date: Thu, 25 Feb 2016 10:37:07 +0000
Subject: [PATCH] git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8946
 35acf78f-673a-0410-8e92-d51de3d6d3f4

---
 os/common/abstractions/nasa_osal/src/osapi.c | 44 ++++++++++----------
 os/rt/include/chregistry.h                   |  1 +
 os/rt/src/chregistry.c                       | 27 ++++++++++++
 3 files changed, 51 insertions(+), 21 deletions(-)

diff --git a/os/common/abstractions/nasa_osal/src/osapi.c b/os/common/abstractions/nasa_osal/src/osapi.c
index bbbbd045c..f192a35e0 100644
--- a/os/common/abstractions/nasa_osal/src/osapi.c
+++ b/os/common/abstractions/nasa_osal/src/osapi.c
@@ -61,10 +61,6 @@
 #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.                                                 */
 /*===========================================================================*/
@@ -1312,17 +1308,35 @@ int32 OS_TaskCreate(uint32 *task_id,
     return OS_INVALID_INT_NUM;
   }
 
+  /* Checking if this working area is already in use by some thread, the
+     error code is not very appropriate but this case seems to not be
+     coveded by the specification.*/
+  if ((tp = chRegFindThreadByWorkingArea((stkalign_t *)stack_pointer)) != NULL) {
+    return OS_ERR_NO_FREE_IDS;
+  }
+
+  /* Checking if the name is already in use.*/
+  if ((tp = chRegFindThreadByName(task_name)) != NULL) {
+    return OS_ERR_NAME_TAKEN;
+  }
+
   /* 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);
-  if (tp == NULL) {
-    return OS_ERR_NO_FREE_IDS;
-  }
+  thread_descriptor_t td = {
+    task_name,
+    (stkalign_t *)stack_pointer,
+    (stkalign_t *)((uint8_t *)stack_pointer + stack_size),
+    rt_prio,
+    (tfunc_t)function_pointer,
+    NULL
+  };
+
+  /* Creating the task.*/
+  tp = chThdCreate(&td);
 
   /* Storing the task id.*/
   *task_id = (uint32)tp;
@@ -1376,9 +1390,6 @@ int32 OS_TaskDelete(uint32 task_id) {
     ((funcptr_t)(tp->osal_delete_handler))();
   }
 
-  /* Releasing the thread reference.*/
-  chThdRelease(tp);
-
   return OS_SUCCESS;
 }
 
@@ -1479,9 +1490,6 @@ int32 OS_TaskSetPriority(uint32 task_id, uint32 new_priority) {
   chSchRescheduleS();
   chSysUnlock();
 
-  /* Releasing the thread reference.*/
-  chThdRelease(tp);
-
   return OS_SUCCESS;
 }
 
@@ -1541,9 +1549,6 @@ int32 OS_TaskGetIdByName(uint32 *task_id, const char *task_name) {
 
   *task_id = (uint32)tp;
 
-  /* Releasing the thread reference.*/
-  chThdRelease(tp);
-
   return OS_SUCCESS;
 }
 
@@ -1580,9 +1585,6 @@ int32 OS_TaskGetInfo(uint32 task_id, OS_task_prop_t *task_prop) {
   task_prop->priority   = (uint32)256U - (uint32)tp->realprio;
   task_prop->OStask_id  = task_id;
 
-  /* Releasing the thread reference.*/
-  chThdRelease(tp);
-
   return OS_SUCCESS;
 }
 
diff --git a/os/rt/include/chregistry.h b/os/rt/include/chregistry.h
index a786e93a0..f60b1b2c3 100644
--- a/os/rt/include/chregistry.h
+++ b/os/rt/include/chregistry.h
@@ -110,6 +110,7 @@ extern "C" {
   thread_t *chRegNextThread(thread_t *tp);
   thread_t *chRegFindThreadByName(const char *name);
   thread_t *chRegFindThreadByPointer(thread_t *tp);
+  thread_t *chRegFindThreadByWorkingArea(stkalign_t *wa);
 #ifdef __cplusplus
 }
 #endif
diff --git a/os/rt/src/chregistry.c b/os/rt/src/chregistry.c
index ec90b4168..24246c012 100644
--- a/os/rt/src/chregistry.c
+++ b/os/rt/src/chregistry.c
@@ -233,6 +233,33 @@ thread_t *chRegFindThreadByPointer(thread_t *tp) {
   return NULL;
 }
 
+/**
+ * @brief   Confirms that a working area is being used by some active thread.
+ * @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] wa        pointer to a static working area
+ * @return              A pointer to the found thread.
+ * @retval NULL         if a matching thread has not been found.
+ *
+ * @api
+ */
+thread_t *chRegFindThreadByWorkingArea(stkalign_t *wa) {
+  thread_t *ctp;
+
+  /* Scanning registry.*/
+  ctp = chRegFirstThread();
+  do {
+    if (ctp->stklimit == wa) {
+      return ctp;
+    }
+    ctp = chRegNextThread(ctp);
+  } while (ctp != NULL);
+
+  return NULL;
+}
+
 #endif /* CH_CFG_USE_REGISTRY == TRUE */
 
 /** @} */