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-rw-r--r--lib/chibios/os/common/abstractions/nasa_cfe/osal/cfe_osal.mk8
-rw-r--r--lib/chibios/os/common/abstractions/nasa_cfe/osal/include/common_types.h267
-rw-r--r--lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-core.h274
-rw-r--r--lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-custom.h68
-rw-r--r--lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-filesys.h419
-rw-r--r--lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-loader.h91
-rw-r--r--lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-net.h61
-rw-r--r--lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-timer.h68
-rw-r--r--lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-version.h48
-rw-r--r--lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi.h143
-rw-r--r--lib/chibios/os/common/abstractions/nasa_cfe/osal/src/osapi.c2281
11 files changed, 3728 insertions, 0 deletions
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/cfe_osal.mk b/lib/chibios/os/common/abstractions/nasa_cfe/osal/cfe_osal.mk
new file mode 100644
index 000000000..c0add1c26
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/cfe_osal.mk
@@ -0,0 +1,8 @@
1# NASA CFE OSAL files.
2CFEOSALSRC = $(CHIBIOS)/os/common/abstractions/nasa_cfe/osal/src/osapi.c
3
4CFEOSALINC = $(CHIBIOS)/os/common/abstractions/nasa_cfe/osal/include
5
6# Shared variables
7ALLCSRC += $(CFEOSALSRC)
8ALLINC += $(CFEOSALINC)
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/common_types.h b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/common_types.h
new file mode 100644
index 000000000..100a9c72e
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/common_types.h
@@ -0,0 +1,267 @@
1/*---------------------------------------------------------------------------
2**
3** Filename:
4** $Id: common_types.h 1.9 2014/01/14 16:28:32GMT-05:00 acudmore Exp $
5**
6** Copyright (c) 2004-2006, United States government as represented by the
7** administrator of the National Aeronautics Space Administration.
8** All rights reserved. This software was created at NASAs Goddard
9** Space Flight Center pursuant to government contracts.
10**
11** This is governed by the NASA Open Source Agreement and may be used,
12** distributed and modified only pursuant to the terms of that agreement.
13**
14** Purpose:
15** Unit specification for common types.
16**
17** Design Notes:
18** Assumes make file has defined processor family
19**
20** References:
21** Flight Software Branch C Coding Standard Version 1.0a
22**
23**
24** Notes:
25**
26**
27** $Date: 2014/01/14 16:28:32GMT-05:00 $
28** $Revision: 1.9 $
29** $Log: common_types.h $
30** Revision 1.9 2014/01/14 16:28:32GMT-05:00 acudmore
31** Fixed typo in macro for x86-64
32** Revision 1.8 2013/08/09 13:58:04GMT-05:00 acudmore
33** Added int64 type, added support for ARM arch, added 64 bit x86 arch, added arch check for GCC arch macros, added check for proper data type sizes
34** Revision 1.7 2013/07/25 10:01:29GMT-05:00 acudmore
35** Added C++ support
36** Revision 1.6 2012/04/11 09:19:03GMT-05:00 acudmore
37** added OS_USED attribute
38** Revision 1.5 2010/02/18 16:43:29EST acudmore
39** Added SPARC processor section
40** Removed special characters from comments that cause problems with some tools.
41** Revision 1.4 2010/02/18 16:41:39EST acudmore
42** Added a block of defines for GCC specific pragmas and extensions.
43** Removed RTEMS boolean related ifdefs
44** moved OS_PACK into the GCC specific block
45** Revision 1.3 2010/02/01 12:31:17EST acudmore
46** Added uint64 type
47** Revision 1.2 2009/07/07 16:30:05EDT acudmore
48** Removed conditinal comp. around boolean for m68k.
49** This will need to be done for all RTEMS targets
50** Revision 1.1 2009/06/02 10:04:58EDT acudmore
51** Initial revision
52** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
53** Revision 1.1 2008/04/20 22:35:58EDT ruperera
54** Initial revision
55** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/inc/project.pj
56** Revision 1.1 2007/10/16 16:14:49EDT apcudmore
57** Initial revision
58** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/inc/project.pj
59** Revision 1.2 2006/06/08 14:28:32EDT David Kobe (dlkobe)
60** Added NASA Open Source Legal Statement
61** Revision 1.1 2005/06/09 09:57:51GMT-05:00 rperera
62** Initial revision
63** Member added to project d:/mksdata/MKS-CFE-REPOSITORY/cfe-core/inc/project.pj
64** Revision 1.6 2005/03/24 19:20:52 rmcgraw
65** Wrapped the boolean defintion for all three processors with #ifndef _USING_RTEMS_INCLUDES_
66**
67** Revision 1.5 2005/03/10 16:59:08 acudmore
68** removed boolean prefix to TRUE and FALSE defintion to avoid vxWorks conflict.
69**
70** Revision 1.4 2005/03/07 20:23:34 acudmore
71** removed duplicate boolean definition
72**
73** Revision 1.3 2005/03/07 20:05:17 acudmore
74** updated with __PPC__ macro that gnu compiler uses
75**
76** Revision 1.2 2005/03/04 16:02:44 acudmore
77** added coldfire architecture
78**
79** Revision 1.1 2005/03/04 15:58:45 acudmore
80** Added common_types.h
81**
82**
83**
84**-------------------------------------------------------------------------*/
85
86#ifndef _common_types_
87#define _common_types_
88
89#ifdef __cplusplus
90 extern "C" {
91#endif
92
93/*
94** Includes
95*/
96
97/*
98** Macro Definitions
99*/
100
101/*
102** Condition = TRUE is ok, Condition = FALSE is error
103*/
104#define CompileTimeAssert(Condition, Message) typedef char Message[(Condition) ? 1 : -1]
105
106
107/*
108** Define compiler specific macros
109** The __extension__ compiler pragma is required
110** for the uint64 type using GCC with the ANSI C90 standard.
111** Other macros can go in here as needed, for example alignment
112** pragmas.
113*/
114#if defined (__GNUC__)
115 #define _EXTENSION_ __extension__
116 #define OS_PACK __attribute__ ((packed))
117 #define OS_ALIGN(n) __attribute__((aligned(n)))
118 #define OS_USED __attribute__((used))
119#else
120 #define _EXTENSION_
121 #define OS_PACK
122 #define OS_ALIGN(n)
123 #define OS_USED
124#endif
125
126#if defined(_ix86_) || defined (__i386__)
127/* ----------------------- Intel x86 processor family -------------------------*/
128 /* Little endian */
129 #undef _STRUCT_HIGH_BIT_FIRST_
130 #define _STRUCT_LOW_BIT_FIRST_
131
132 typedef unsigned char boolean;
133 typedef signed char int8;
134 typedef short int int16;
135 typedef long int int32;
136 _EXTENSION_ typedef long long int int64;
137 typedef unsigned char uint8;
138 typedef unsigned short int uint16;
139 typedef unsigned long int uint32;
140 _EXTENSION_ typedef unsigned long long int uint64;
141
142 typedef unsigned long int cpuaddr;
143
144#elif defined (_ix64_) || defined (__x86_64__)
145/* ----------------------- Intel/AMD x64 processor family -------------------------*/
146 /* Little endian */
147 #undef _STRUCT_HIGH_BIT_FIRST_
148 #define _STRUCT_LOW_BIT_FIRST_
149
150 typedef unsigned char boolean;
151 typedef signed char int8;
152 typedef short int int16;
153 typedef int int32;
154 typedef long int int64;
155 typedef unsigned char uint8;
156 typedef unsigned short int uint16;
157 typedef unsigned int uint32;
158 typedef unsigned long int uint64;
159
160 typedef unsigned long int cpuaddr;
161
162#elif defined(__PPC__) || defined (__ppc__)
163 /* ----------------------- Motorola Power PC family ---------------------------*/
164 /* The PPC can be programmed to be big or little endian, we assume native */
165 /* Big endian */
166 #define _STRUCT_HIGH_BIT_FIRST_
167 #undef _STRUCT_LOW_BIT_FIRST_
168
169 typedef unsigned char boolean;
170 typedef signed char int8;
171 typedef short int int16;
172 typedef long int int32;
173 _EXTENSION_ typedef long long int int64;
174 typedef unsigned char uint8;
175 typedef unsigned short int uint16;
176 typedef unsigned long int uint32;
177 _EXTENSION_ typedef unsigned long long int uint64;
178
179 typedef unsigned long int cpuaddr;
180
181#elif defined(_m68k_) || defined(__m68k__)
182 /* ----------------------- Motorola m68k/Coldfire family ---------------------------*/
183 /* Big endian */
184 #define _STRUCT_HIGH_BIT_FIRST_
185 #undef _STRUCT_LOW_BIT_FIRST_
186
187 typedef unsigned char boolean;
188 typedef signed char int8;
189 typedef short int int16;
190 typedef long int int32;
191 _EXTENSION_ typedef long long int int64;
192 typedef unsigned char uint8;
193 typedef unsigned short int uint16;
194 typedef unsigned long int uint32;
195 _EXTENSION_ typedef unsigned long long int uint64;
196
197 typedef unsigned long int cpuaddr;
198
199#elif defined (__ARM__) || defined(__arm__)
200/* ----------------------- ARM processor family -------------------------*/
201 /* Little endian */
202 #undef _STRUCT_HIGH_BIT_FIRST_
203 #define _STRUCT_LOW_BIT_FIRST_
204
205 typedef unsigned char boolean;
206 typedef signed char int8;
207 typedef short int int16;
208 typedef long int int32;
209 _EXTENSION_ typedef long long int int64;
210 typedef unsigned char uint8;
211 typedef unsigned short int uint16;
212 typedef unsigned long int uint32;
213 _EXTENSION_ typedef unsigned long long int uint64;
214
215 typedef unsigned long int cpuaddr;
216
217#elif defined(__SPARC__) || defined (_sparc_)
218 /* ----------------------- SPARC/LEON family ---------------------------*/
219 /* SPARC Big endian */
220 #define _STRUCT_HIGH_BIT_FIRST_
221 #undef _STRUCT_LOW_BIT_FIRST_
222
223 typedef unsigned char boolean;
224 typedef signed char int8;
225 typedef short int int16;
226 typedef long int int32;
227 _EXTENSION_ typedef long long int int64;
228 typedef unsigned char uint8;
229 typedef unsigned short int uint16;
230 typedef unsigned long int uint32;
231 _EXTENSION_ typedef unsigned long long int uint64;
232
233 typedef unsigned long int cpuaddr;
234
235#else /* not any of the above */
236 #error undefined processor
237#endif /* processor types */
238
239#ifndef NULL /* pointer to nothing */
240 #define NULL ((void *) 0)
241#endif
242
243#ifndef TRUE /* Boolean true */
244 #define TRUE (1)
245#endif
246
247#ifndef FALSE /* Boolean false */
248 #define FALSE (0)
249#endif
250
251/*
252** Check Sizes
253*/
254CompileTimeAssert(sizeof(uint8)==1, TypeUint8WrongSize);
255CompileTimeAssert(sizeof(uint16)==2, TypeUint16WrongSize);
256CompileTimeAssert(sizeof(uint32)==4, TypeUint32WrongSize);
257CompileTimeAssert(sizeof(uint64)==8, TypeUint64WrongSize);
258CompileTimeAssert(sizeof(int8)==1, Typeint8WrongSize);
259CompileTimeAssert(sizeof(int16)==2, Typeint16WrongSize);
260CompileTimeAssert(sizeof(int32)==4, Typeint32WrongSize);
261CompileTimeAssert(sizeof(int64)==8, Typeint64WrongSize);
262
263#ifdef __cplusplus
264 }
265#endif
266
267#endif /* _common_types_ */
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-core.h b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-core.h
new file mode 100644
index 000000000..8c9b13a78
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-core.h
@@ -0,0 +1,274 @@
1/*
2** File: osapi-os-core.h
3**
4** Copyright (c) 2004-2006, United States government as represented by the
5** administrator of the National Aeronautics Space Administration.
6** All rights reserved. This software was created at NASAs Goddard
7** Space Flight Center pursuant to government contracts.
8**
9** This is governed by the NASA Open Source Agreement and may be used,
10** distributed and modified only pursuant to the terms of that agreement.
11**
12** Author: Ezra Yeheksli -Code 582/Raytheon
13**
14** Purpose: Contains functions prototype definitions and variables declarations
15** for the OS Abstraction Layer, Core OS module
16**
17** $Revision: 1.8 $
18**
19** $Date: 2013/07/25 10:02:00GMT-05:00 $
20**
21** $Log: osapi-os-core.h $
22** Revision 1.8 2013/07/25 10:02:00GMT-05:00 acudmore
23** removed circular include "osapi.h"
24** Revision 1.7 2012/04/11 09:30:48GMT-05:00 acudmore
25** Added OS_printf_enable and OS_printf_disable
26** Revision 1.6 2010/11/12 12:00:17EST acudmore
27** replaced copyright character with (c) and added open source notice where needed.
28** Revision 1.5 2010/11/10 15:33:14EST acudmore
29** Updated IntAttachHandler prototype
30** Revision 1.4 2010/03/08 12:06:28EST acudmore
31** added function pointer type to get rid of warnings
32** Revision 1.3 2010/02/01 12:37:15EST acudmore
33** added return code to OS API init
34** Revision 1.2 2009/08/04 10:49:09EDT acudmore
35**
36*/
37
38#ifndef _osapi_core_
39#define _osapi_core_
40
41#include <stdarg.h> /* for va_list */
42
43/*difines constants for OS_BinSemCreate for state of semaphore */
44#define OS_SEM_FULL 1
45#define OS_SEM_EMPTY 0
46
47/* #define for enabling floating point operations on a task*/
48#define OS_FP_ENABLED 1
49
50/* tables for the properties of objects */
51
52/*tasks */
53typedef struct
54{
55 char name [OS_MAX_API_NAME];
56 uint32 creator;
57 uint32 stack_size;
58 uint32 priority;
59 uint32 OStask_id;
60}OS_task_prop_t;
61
62/* queues */
63typedef struct
64{
65 char name [OS_MAX_API_NAME];
66 uint32 creator;
67}OS_queue_prop_t;
68
69/* Binary Semaphores */
70typedef struct
71{
72 char name [OS_MAX_API_NAME];
73 uint32 creator;
74 int32 value;
75}OS_bin_sem_prop_t;
76
77/* Counting Semaphores */
78typedef struct
79{
80 char name [OS_MAX_API_NAME];
81 uint32 creator;
82 int32 value;
83}OS_count_sem_prop_t;
84
85/* Mutexes */
86typedef struct
87{
88 char name [OS_MAX_API_NAME];
89 uint32 creator;
90}OS_mut_sem_prop_t;
91
92
93/* struct for OS_GetLocalTime() */
94
95typedef struct
96{
97 uint32 seconds;
98 uint32 microsecs;
99}OS_time_t;
100
101/* heap info */
102typedef struct
103{
104 uint32 free_bytes;
105 uint32 free_blocks;
106 uint32 largest_free_block;
107}OS_heap_prop_t;
108
109
110/* This typedef is for the OS_GetErrorName function, to ensure
111 * everyone is making an array of the same length */
112
113typedef char os_err_name_t[35];
114
115/*
116** These typedefs are for the task entry point
117*/
118typedef void osal_task;
119typedef osal_task ((*osal_task_entry)(void));
120
121/*
122** Exported Functions
123*/
124
125/*
126** Initialization of API
127*/
128int32 OS_API_Init (void);
129
130
131/*
132** Task API
133*/
134
135int32 OS_TaskCreate (uint32 *task_id, const char *task_name,
136 osal_task_entry function_pointer,
137 const uint32 *stack_pointer,
138 uint32 stack_size,
139 uint32 priority, uint32 flags);
140
141int32 OS_TaskDelete (uint32 task_id);
142void OS_TaskExit (void);
143int32 OS_TaskInstallDeleteHandler(void *function_pointer);
144int32 OS_TaskDelay (uint32 millisecond);
145int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority);
146int32 OS_TaskRegister (void);
147uint32 OS_TaskGetId (void);
148int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name);
149int32 OS_TaskGetInfo (uint32 task_id, OS_task_prop_t *task_prop);
150
151/*
152** Message Queue API
153*/
154
155/*
156** Queue Create now has the Queue ID returned to the caller.
157*/
158int32 OS_QueueCreate (uint32 *queue_id, const char *queue_name,
159 uint32 queue_depth, uint32 data_size, uint32 flags);
160int32 OS_QueueDelete (uint32 queue_id);
161int32 OS_QueueGet (uint32 queue_id, void *data, uint32 size,
162 uint32 *size_copied, int32 timeout);
163int32 OS_QueuePut (uint32 queue_id, void *data, uint32 size,
164 uint32 flags);
165int32 OS_QueueGetIdByName (uint32 *queue_id, const char *queue_name);
166int32 OS_QueueGetInfo (uint32 queue_id, OS_queue_prop_t *queue_prop);
167
168/*
169** Semaphore API
170*/
171
172int32 OS_BinSemCreate (uint32 *sem_id, const char *sem_name,
173 uint32 sem_initial_value, uint32 options);
174int32 OS_BinSemFlush (uint32 sem_id);
175int32 OS_BinSemGive (uint32 sem_id);
176int32 OS_BinSemTake (uint32 sem_id);
177int32 OS_BinSemTimedWait (uint32 sem_id, uint32 msecs);
178int32 OS_BinSemDelete (uint32 sem_id);
179int32 OS_BinSemGetIdByName (uint32 *sem_id, const char *sem_name);
180int32 OS_BinSemGetInfo (uint32 sem_id, OS_bin_sem_prop_t *bin_prop);
181
182int32 OS_CountSemCreate (uint32 *sem_id, const char *sem_name,
183 uint32 sem_initial_value, uint32 options);
184int32 OS_CountSemGive (uint32 sem_id);
185int32 OS_CountSemTake (uint32 sem_id);
186int32 OS_CountSemTimedWait (uint32 sem_id, uint32 msecs);
187int32 OS_CountSemDelete (uint32 sem_id);
188int32 OS_CountSemGetIdByName (uint32 *sem_id, const char *sem_name);
189int32 OS_CountSemGetInfo (uint32 sem_id, OS_count_sem_prop_t *count_prop);
190
191/*
192** Mutex API
193*/
194
195int32 OS_MutSemCreate (uint32 *sem_id, const char *sem_name, uint32 options);
196int32 OS_MutSemGive (uint32 sem_id);
197int32 OS_MutSemTake (uint32 sem_id);
198int32 OS_MutSemDelete (uint32 sem_id);
199int32 OS_MutSemGetIdByName (uint32 *sem_id, const char *sem_name);
200int32 OS_MutSemGetInfo (uint32 sem_id, OS_mut_sem_prop_t *mut_prop);
201
202/*
203** OS Time/Tick related API
204*/
205
206int32 OS_Milli2Ticks (uint32 milli_seconds);
207int32 OS_Tick2Micros (void);
208int32 OS_GetLocalTime (OS_time_t *time_struct);
209int32 OS_SetLocalTime (OS_time_t *time_struct);
210
211/*
212** Exception API
213*/
214
215int32 OS_ExcAttachHandler (uint32 ExceptionNumber,
216 void (*ExceptionHandler)(uint32, uint32 *,uint32),
217 int32 parameter);
218int32 OS_ExcEnable (int32 ExceptionNumber);
219int32 OS_ExcDisable (int32 ExceptionNumber);
220
221/*
222** Floating Point Unit API
223*/
224
225int32 OS_FPUExcAttachHandler (uint32 ExceptionNumber, void * ExceptionHandler ,
226 int32 parameter);
227int32 OS_FPUExcEnable (int32 ExceptionNumber);
228int32 OS_FPUExcDisable (int32 ExceptionNumber);
229int32 OS_FPUExcSetMask (uint32 mask);
230int32 OS_FPUExcGetMask (uint32 *mask);
231
232/*
233** Interrupt API
234*/
235int32 OS_IntAttachHandler (uint32 InterruptNumber, osal_task_entry InterruptHandler, int32 parameter);
236int32 OS_IntUnlock (int32 IntLevel);
237int32 OS_IntLock (void);
238
239int32 OS_IntEnable (int32 Level);
240int32 OS_IntDisable (int32 Level);
241
242int32 OS_IntSetMask (uint32 mask);
243int32 OS_IntGetMask (uint32 *mask);
244int32 OS_IntAck (int32 InterruptNumber);
245
246/*
247** Shared memory API
248*/
249int32 OS_ShMemInit (void);
250int32 OS_ShMemCreate (uint32 *Id, uint32 NBytes, char* SegName);
251int32 OS_ShMemSemTake (uint32 Id);
252int32 OS_ShMemSemGive (uint32 Id);
253int32 OS_ShMemAttach (uint32 * Address, uint32 Id);
254int32 OS_ShMemGetIdByName (uint32 *ShMemId, const char *SegName );
255
256/*
257** Heap API
258*/
259int32 OS_HeapGetInfo (OS_heap_prop_t *heap_prop);
260
261/*
262** API for useful debugging function
263*/
264int32 OS_GetErrorName (int32 error_num, os_err_name_t* err_name);
265
266
267/*
268** Abstraction for printf statements
269*/
270void OS_printf( const char *string, ...);
271void OS_printf_disable(void);
272void OS_printf_enable(void);
273
274#endif
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-custom.h b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-custom.h
new file mode 100644
index 000000000..15a308848
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-custom.h
@@ -0,0 +1,68 @@
1/*
2 ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
3
4 Licensed under the Apache License, Version 2.0 (the "License");
5 you may not use this file except in compliance with the License.
6 You may obtain a copy of the License at
7
8 http://www.apache.org/licenses/LICENSE-2.0
9
10 Unless required by applicable law or agreed to in writing, software
11 distributed under the License is distributed on an "AS IS" BASIS,
12 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 See the License for the specific language governing permissions and
14 limitations under the License.
15*/
16
17/**
18 * @file osapi-os-custom.h
19 * @brief Custom OSAPI extensions header.
20 *
21 * @addtogroup osapi-custom
22 * @{
23 */
24
25#ifndef OSAPI_CUSTOM_H
26#define OSAPI_CUSTOM_H
27
28/*===========================================================================*/
29/* Module constants. */
30/*===========================================================================*/
31
32/*===========================================================================*/
33/* Module pre-compile time settings. */
34/*===========================================================================*/
35
36/*===========================================================================*/
37/* Derived constants and error checks. */
38/*===========================================================================*/
39
40/*===========================================================================*/
41/* Module data structures and types. */
42/*===========================================================================*/
43
44/*===========================================================================*/
45/* Module macros. */
46/*===========================================================================*/
47
48/*===========================================================================*/
49/* External declarations. */
50/*===========================================================================*/
51
52#ifdef __cplusplus
53extern "C" {
54#endif
55 void OS_set_printf(int (*printf)(const char *fmt, ...));
56 boolean OS_TaskDeleteCheck(void);
57 int32 OS_TaskWait(uint32 task_id);
58#ifdef __cplusplus
59}
60#endif
61
62/*===========================================================================*/
63/* Module inline functions. */
64/*===========================================================================*/
65
66#endif /* OSAPI_CUSTOM_H */
67
68/** @} */
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-filesys.h b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-filesys.h
new file mode 100644
index 000000000..c46800341
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-filesys.h
@@ -0,0 +1,419 @@
1/*
2** File: osapi-os-filesys.h
3**
4** Copyright (c) 2004-2006, United States government as represented by the
5** administrator of the National Aeronautics Space Administration.
6** All rights reserved. This software was created at NASAs Goddard
7** Space Flight Center pursuant to government contracts.
8**
9** This is governed by the NASA Open Source Agreement and may be used,
10** distributed and modified only pursuant to the terms of that agreement.
11**
12** Author: Alan Cudmore Code 582
13**
14** Purpose: Contains functions prototype definitions and variables declarations
15** for the OS Abstraction Layer, File System module
16**
17** $Revision: 1.11 $
18**
19** $Date: 2013/12/16 12:57:41GMT-05:00 $
20**
21** $Log: osapi-os-filesys.h $
22** Revision 1.11 2013/12/16 12:57:41GMT-05:00 acudmore
23** Added macros for Volume name length and physical device name length
24** Revision 1.10 2013/07/29 12:05:48GMT-05:00 acudmore
25** Added define for device and volume name length
26** Revision 1.9 2013/07/25 14:31:21GMT-05:00 acudmore
27** Added prototype and datatype for OS_GetFsInfo
28** Revision 1.8 2011/12/05 12:04:21GMT-05:00 acudmore
29** Added OS_rewinddir API
30** Revision 1.7 2011/04/05 16:01:12EDT acudmore
31** Added OS_CloseFileByName and OS_CloseAllFiles
32** Revision 1.6 2010/11/15 11:04:38EST acudmore
33** Added OS_FileOpenCheck function.
34** Revision 1.5 2010/11/12 12:00:18EST acudmore
35** replaced copyright character with (c) and added open source notice where needed.
36** Revision 1.4 2010/02/01 12:28:57EST acudmore
37** Added OS_fsBytesFree API
38** Revision 1.3 2010/01/25 14:44:26EST acudmore
39** renamed "new" variable to avoid C++ reserved name conflict.
40** Revision 1.2 2009/07/14 15:16:05EDT acudmore
41** Added OS_TranslatePath to the API
42** Revision 1.1 2008/04/20 22:36:01EDT ruperera
43** Initial revision
44** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
45** Revision 1.1 2007/10/16 16:14:52EDT apcudmore
46** Initial revision
47** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
48** Revision 1.1 2007/08/24 13:43:24EDT apcudmore
49** Initial revision
50** Member added to project d:/mksdata/MKS-CFE-PROJECT/fsw/cfe-core/os/inc/project.pj
51** Revision 1.17 2007/06/07 09:59:14EDT njyanchik
52** I replaced the second OS_cp definition with OS_mv
53** Revision 1.16 2007/06/05 16:25:33EDT apcudmore
54** Increased Number of volume table entries from 10 to 14.
55** Added 2 extra EEPROM disk mappings to RAD750 Volume table + 2 spares
56** Added 4 spares to every other volume table.
57** Revision 1.15 2007/05/25 09:17:56EDT njyanchik
58** I added the rmfs call to the OSAL and updated the unit test stubs to match
59** Revision 1.14 2007/03/21 10:15:29EST njyanchik
60** I mistakenly put the wrong length in for the path in the OS_FDTableEntry structure, and I added
61** some code that will set and out of range file descriptors .IsValid flag to false in OS_FDGetInfo
62** Revision 1.13 2007/03/06 11:52:46EST njyanchik
63** This change goes with the previous CP, I forgot to include it
64** Revision 1.12 2007/02/28 14:57:45EST njyanchik
65** The updates for supporting copying and moving files are now supported
66** Revision 1.11 2007/02/27 15:22:11EST njyanchik
67** This CP has the initial import of the new file descripor table mechanism
68** Revision 1.10 2006/12/20 10:27:09EST njyanchik
69** This change package incorporates all the changes necessary for the addition
70** of a new API to get the real physical drive undernieth a mount point
71** Revision 1.9 2006/11/14 14:44:28GMT-05:00 njyanchik
72** Checks were added to the OS fs calls that look at the return of a function that
73** changes the name of paths from abstracted to local path names.
74** Revision 1.8 2006/10/30 16:12:19GMT-05:00 apcudmore
75** Updated Compact flash and RAM device names for vxWorks 6.2 changes.
76** Revision 1.7 2006/10/25 11:31:18EDT njyanchik
77** This CP incorporates changes to every bsp_voltab.c file. I increased the number
78** entries in the volume table to 10. I also changed the #define in the os_filesys.h
79** file for the number of entries to match.
80**
81** This update also includes adding the prototype for OS_initfs in os_filesys.h
82** Revision 1.6 2006/09/26 09:03:46GMT-05:00 njyanchik
83** Contains the initial import of the ES Shell commands interface
84** Revision 1.5 2006/07/25 15:37:52EDT njyanchik
85** It turns out the both the FS app and the OSAL were incorrect where file descriptors are
86** concerned. the file descriptors should be int32 across the board.
87** Revision 1.4 2006/01/20 11:56:18EST njyanchik
88** Fixed header file information to match api document
89** Revision 1.26 2005/07/12 17:13:56 nyanchik
90** Moved the Volume table to a bsp table in the arch directories.
91**
92** Revision 1.2 2005/07/11 16:26:57EDT apcudmore
93** OSAPI 2.0 integration
94** Revision 1.25 2005/07/06 16:11:17 nyanchik
95** *** empty log message ***
96**
97** Revision 1.24 2005/07/05 18:34:55 nyanchik
98** fixed issues found in code walkthrogh. Also removed the OS_Info* functions that are going in the BSP
99**
100** Revision 1.23 2005/06/17 19:46:34 nyanchik
101** added new file system style to linux and rtems.
102**
103** Revision 1.22 2005/06/15 16:43:48 nyanchik
104** added extra parenthesis for the .h file # defines
105**
106** Revision 1.21 2005/06/06 14:17:42 nyanchik
107** added headers to osapi-os-core.h and osapi-os-filesys.h
108**
109** Revision 1.20 2005/06/02 18:04:24 nyanchik
110** *** empty log message ***
111**
112** Revision 1.1 2005/03/15 18:26:32 nyanchik
113** *** empty log message ***
114**
115**
116** Date Written:
117**
118**
119*/
120
121#ifndef _osapi_filesys_
122#define _osapi_filesys_
123#include <stdio.h>
124#include <stdlib.h>
125#include <dirent.h>
126#include <sys/stat.h>
127
128#define OS_READ_ONLY 0
129#define OS_WRITE_ONLY 1
130#define OS_READ_WRITE 2
131
132#define OS_SEEK_SET 0
133#define OS_SEEK_CUR 1
134#define OS_SEEK_END 2
135
136#define OS_CHK_ONLY 0
137#define OS_REPAIR 1
138
139#define FS_BASED 0
140#define RAM_DISK 1
141#define EEPROM_DISK 2
142#define ATA_DISK 3
143
144
145/*
146** Number of entries in the internal volume table
147*/
148#define NUM_TABLE_ENTRIES 14
149
150/*
151** Length of a Device and Volume name
152*/
153#define OS_FS_DEV_NAME_LEN 32
154#define OS_FS_PHYS_NAME_LEN 64
155#define OS_FS_VOL_NAME_LEN 32
156
157
158/*
159** Defines for File System Calls
160*/
161#define OS_FS_SUCCESS 0
162#define OS_FS_ERROR (-1)
163#define OS_FS_ERR_INVALID_POINTER (-2)
164#define OS_FS_ERR_PATH_TOO_LONG (-3)
165#define OS_FS_ERR_NAME_TOO_LONG (-4)
166#define OS_FS_UNIMPLEMENTED (-5)
167#define OS_FS_ERR_DRIVE_NOT_CREATED (-6)
168#define OS_FS_ERR_DEVICE_NOT_FREE (-7)
169#define OS_FS_ERR_PATH_INVALID (-8)
170#define OS_FS_ERR_NO_FREE_FDS (-9)
171#define OS_FS_ERR_INVALID_FD (-10)
172
173/* This typedef is for the OS_FS_GetErrorName function, to ensure
174 * everyone is making an array of the same length */
175
176typedef char os_fs_err_name_t[35];
177
178
179/*
180** Internal structure of the OS volume table for
181** mounted file systems and path translation
182*/
183typedef struct
184{
185 char DeviceName [OS_FS_DEV_NAME_LEN];
186 char PhysDevName [OS_FS_PHYS_NAME_LEN];
187 uint32 VolumeType;
188 uint8 VolatileFlag;
189 uint8 FreeFlag;
190 uint8 IsMounted;
191 char VolumeName [OS_FS_VOL_NAME_LEN];
192 char MountPoint [OS_MAX_PATH_LEN];
193 uint32 BlockSize;
194
195}OS_VolumeInfo_t;
196
197typedef struct
198{
199 int32 OSfd; /* The underlying OS's file descriptor */
200 char Path[OS_MAX_PATH_LEN]; /* The path of the file opened */
201 uint32 User; /* The task id of the task who opened the file*/
202 uint8 IsValid; /* Whether or not this entry is valid */
203}OS_FDTableEntry;
204
205typedef struct
206{
207 uint32 MaxFds; /* Total number of file descriptors */
208 uint32 FreeFds; /* Total number that are free */
209 uint32 MaxVolumes; /* Maximum number of volumes */
210 uint32 FreeVolumes; /* Total number of volumes free */
211} os_fsinfo_t;
212
213/* modified to posix calls, since all of the
214 * applicable OSes use the posix calls */
215
216typedef struct stat os_fstat_t;
217typedef DIR* os_dirp_t;
218typedef struct dirent os_dirent_t;
219/* still don't know what this should be*/
220typedef unsigned long int os_fshealth_t;
221
222/*
223 * Exported Functions
224*/
225
226
227/******************************************************************************
228** Standard File system API
229******************************************************************************/
230/*
231 * Initializes the File System functions
232*/
233
234int32 OS_FS_Init(void);
235
236/*
237 * Creates a file specified by path
238*/
239int32 OS_creat (const char *path, int32 access);
240
241/*
242 * Opend a file for reading/writing. Returns file descriptor
243*/
244int32 OS_open (const char *path, int32 access, uint32 mode);
245
246/*
247 * Closes an open file.
248*/
249int32 OS_close (int32 filedes);
250
251/*
252 * Reads nbytes bytes from file into buffer
253*/
254int32 OS_read (int32 filedes, void *buffer, uint32 nbytes);
255
256/*
257 * Write nybytes bytes of buffer into the file
258*/
259int32 OS_write (int32 filedes, void *buffer, uint32 nbytes);
260
261/*
262 * Changes the permissions of a file
263*/
264int32 OS_chmod (const char *path, uint32 access);
265
266/*
267 * Returns file status information in filestats
268*/
269int32 OS_stat (const char *path, os_fstat_t *filestats);
270
271/*
272 * Seeks to the specified position of an open file
273*/
274int32 OS_lseek (int32 filedes, int32 offset, uint32 whence);
275
276/*
277 * Removes a file from the file system
278*/
279int32 OS_remove (const char *path);
280
281/*
282 * Renames a file in the file system
283*/
284int32 OS_rename (const char *old_filename, const char *new_filename);
285
286/*
287 * copies a single file from src to dest
288*/
289int32 OS_cp (const char *src, const char *dest);
290
291/*
292 * moves a single file from src to dest
293*/
294int32 OS_mv (const char *src, const char *dest);
295
296/*
297 * Copies the info of an open file to the structure
298*/
299int32 OS_FDGetInfo (int32 filedes, OS_FDTableEntry *fd_prop);
300
301/*
302** Check to see if a file is open
303*/
304int32 OS_FileOpenCheck(char *Filename);
305
306/*
307** Close all open files
308*/
309int32 OS_CloseAllFiles(void);
310
311/*
312** Close a file by filename
313*/
314int32 OS_CloseFileByName(char *Filename);
315
316
317/******************************************************************************
318** Directory API
319******************************************************************************/
320
321/*
322 * Makes a new directory
323*/
324int32 OS_mkdir (const char *path, uint32 access);
325
326/*
327 * Opens a directory for searching
328*/
329os_dirp_t OS_opendir (const char *path);
330
331/*
332 * Closes an open directory
333*/
334int32 OS_closedir(os_dirp_t directory);
335
336/*
337 * Rewinds an open directory
338*/
339void OS_rewinddir(os_dirp_t directory);
340
341/*
342 * Reads the next object in the directory
343*/
344os_dirent_t * OS_readdir (os_dirp_t directory);
345
346/*
347 * Removes an empty directory from the file system.
348*/
349int32 OS_rmdir (const char *path);
350
351/******************************************************************************
352** System Level API
353******************************************************************************/
354/*
355 * Makes a file system
356*/
357int32 OS_mkfs (char *address,char *devname, char *volname,
358 uint32 blocksize, uint32 numblocks);
359/*
360 * Mounts a file system
361*/
362int32 OS_mount (const char *devname, char *mountpoint);
363
364/*
365 * Initializes an existing file system
366*/
367int32 OS_initfs (char *address,char *devname, char *volname,
368 uint32 blocksize, uint32 numblocks);
369
370/*
371 * removes a file system
372*/
373int32 OS_rmfs (char *devname);
374
375/*
376 * Unmounts a mounted file system
377*/
378int32 OS_unmount (const char *mountpoint);
379
380/*
381 * Returns the number of free blocks in a file system
382*/
383int32 OS_fsBlocksFree (const char *name);
384
385/*
386** Returns the number of free bytes in a file system
387** Note the 64 bit data type to support filesystems that
388** are greater than 4 Gigabytes
389*/
390int32 OS_fsBytesFree (const char *name, uint64 *bytes_free);
391
392/*
393 * Checks the health of a file system and repairs it if neccesary
394*/
395os_fshealth_t OS_chkfs (const char *name, boolean repair);
396
397/*
398 * Returns in the parameter the physical drive underneith the mount point
399*/
400int32 OS_FS_GetPhysDriveName (char * PhysDriveName, char * MountPoint);
401
402/*
403** Translates a OSAL Virtual file system path to a host Local path
404*/
405int32 OS_TranslatePath ( const char *VirtualPath, char *LocalPath);
406
407/*
408** Returns information about the file system in an os_fsinfo_t
409*/
410int32 OS_GetFsInfo(os_fsinfo_t *filesys_info);
411
412/******************************************************************************
413** Shell API
414******************************************************************************/
415
416/* executes the shell command passed into is and writes the output of that
417 * command to the file specified by the given OSAPI file descriptor */
418int32 OS_ShellOutputToFile(char* Cmd, int32 OS_fd);
419#endif
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-loader.h b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-loader.h
new file mode 100644
index 000000000..4f0b21b62
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-loader.h
@@ -0,0 +1,91 @@
1/*
2** File: osapi-os-loader.h
3**
4** Copyright (c) 2004-2006, United States government as represented by the
5** administrator of the National Aeronautics Space Administration.
6** All rights reserved. This software was created at NASAs Goddard
7** Space Flight Center pursuant to government contracts.
8**
9** This is governed by the NASA Open Source Agreement and may be used,
10** distributed and modified only pursuant to the terms of that agreement.
11**
12** Author: Alan Cudmore - Code 582
13**
14** Purpose: Contains functions prototype definitions and variables declarations
15** for the OS Abstraction Layer, Object file loader API
16**
17** $Revision: 1.5 $
18**
19** $Date: 2013/07/25 10:02:08GMT-05:00 $
20**
21** $Log: osapi-os-loader.h $
22** Revision 1.5 2013/07/25 10:02:08GMT-05:00 acudmore
23** removed circular include "osapi.h"
24** Revision 1.4 2010/11/12 12:00:18GMT-05:00 acudmore
25** replaced copyright character with (c) and added open source notice where needed.
26** Revision 1.3 2010/02/01 12:38:06EST acudmore
27** added return code to OS_ModuleTableInit
28** Revision 1.2 2008/06/20 15:13:43EDT apcudmore
29** Checked in new Module loader/symbol table functionality
30** Revision 1.1 2008/04/20 22:36:02EDT ruperera
31** Initial revision
32** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
33** Revision 1.1 2008/02/07 11:08:24EST apcudmore
34** Initial revision
35** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
36**
37**
38*/
39
40#ifndef _osapi_loader_
41#define _osapi_loader_
42
43/*
44** Defines
45*/
46
47
48/*
49** Typedefs
50*/
51
52typedef struct
53{
54 uint32 valid;
55 uint32 code_address;
56 uint32 code_size;
57 uint32 data_address;
58 uint32 data_size;
59 uint32 bss_address;
60 uint32 bss_size;
61 uint32 flags;
62} OS_module_address_t;
63
64typedef struct
65{
66 int free;
67 uint32 entry_point;
68 uint32 host_module_id;
69 char filename[OS_MAX_PATH_LEN];
70 char name[OS_MAX_API_NAME];
71 OS_module_address_t addr;
72
73} OS_module_record_t;
74
75/*
76** Loader API
77*/
78int32 OS_ModuleTableInit ( void );
79
80int32 OS_SymbolLookup (uint32 *symbol_address, char *symbol_name );
81
82int32 OS_SymbolTableDump ( char *filename, uint32 size_limit );
83
84int32 OS_ModuleLoad ( uint32 *module_id, char *module_name, char *filename );
85
86int32 OS_ModuleUnload ( uint32 module_id );
87
88int32 OS_ModuleInfo ( uint32 module_id, OS_module_record_t *module_info );
89
90
91#endif
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-net.h b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-net.h
new file mode 100644
index 000000000..b8cc67d69
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-net.h
@@ -0,0 +1,61 @@
1/*
2** File: osapi-os-net.h
3**
4** Copyright (c) 2004-2006, United States government as represented by the
5** administrator of the National Aeronautics Space Administration.
6** All rights reserved. This software was created at NASAs Goddard
7** Space Flight Center pursuant to government contracts.
8**
9** This is governed by the NASA Open Source Agreement and may be used,
10** distributed and modified only pursuant to the terms of that agreement.
11**
12** Author: Alan Cudmore Code 582
13**
14** Purpose: Contains functions prototype definitions and variables declarations
15** for the OS Abstraction Layer, Network Module
16**
17** $Revision: 1.2 $
18**
19** $Date: 2010/11/12 12:00:19GMT-05:00 $
20**
21** $Log: osapi-os-net.h $
22** Revision 1.2 2010/11/12 12:00:19GMT-05:00 acudmore
23** replaced copyright character with (c) and added open source notice where needed.
24** Revision 1.1 2008/04/20 22:36:02EDT ruperera
25** Initial revision
26** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
27** Revision 1.1 2007/10/16 16:14:52EDT apcudmore
28** Initial revision
29** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
30** Revision 1.1 2007/08/24 13:43:25EDT apcudmore
31** Initial revision
32** Member added to project d:/mksdata/MKS-CFE-PROJECT/fsw/cfe-core/os/inc/project.pj
33** Revision 1.3 2006/01/20 11:56:18EST njyanchik
34** Fixed header file information to match api document
35** Revision 1.4 2005/06/07 16:49:31 nyanchik
36** changed returns code for osapi.c to all int32 from uint32
37**
38** Revision 1.3 2005/03/22 19:04:54 acudmore
39** fixed uint type
40**
41** Revision 1.2 2005/03/22 18:59:33 acudmore
42** updated prototype
43**
44** Revision 1.1 2005/03/22 18:58:51 acudmore
45** added osapi network interface
46**
47** Revision 1.1 2005/03/15 18:26:32 nyanchik
48** *** empty log message ***
49**
50**
51** Date Written:
52**
53**
54*/
55#ifndef _osapi_network_
56#define _osapi_network_
57
58int32 OS_NetworkGetID (void);
59int32 OS_NetworkGetHostName (char *host_name, uint32 name_len);
60
61#endif
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-timer.h b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-timer.h
new file mode 100644
index 000000000..8082c6227
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-os-timer.h
@@ -0,0 +1,68 @@
1/*
2** File: osapi-os-timer.h
3**
4** Copyright (c) 2004-2006, United States government as represented by the
5** administrator of the National Aeronautics Space Administration.
6** All rights reserved. This software was created at NASAs Goddard
7** Space Flight Center pursuant to government contracts.
8**
9** This is governed by the NASA Open Source Agreement and may be used,
10** distributed and modified only pursuant to the terms of that agreement.
11**
12** Author: Alan Cudmore - Code 582
13**
14** Purpose: Contains functions prototype definitions and variable declarations
15** for the OS Abstraction Layer, Timer API
16**
17** $Revision: 1.5 $
18**
19** $Date: 2013/07/25 10:02:20GMT-05:00 $
20**
21** $Log: osapi-os-timer.h $
22** Revision 1.5 2013/07/25 10:02:20GMT-05:00 acudmore
23** removed circular include "osapi.h"
24** Revision 1.4 2010/11/12 12:00:19GMT-05:00 acudmore
25** replaced copyright character with (c) and added open source notice where needed.
26** Revision 1.3 2010/02/01 12:38:34EST acudmore
27** Added return code to OS_TimerAPIInit
28** Revision 1.2 2008/08/26 13:52:52EDT apcudmore
29** removed linux specific define
30** Revision 1.1 2008/08/20 16:12:07EDT apcudmore
31** Initial revision
32** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
33**
34**
35*/
36
37#ifndef _osapi_timer_
38#define _osapi_timer_
39
40/*
41** Typedefs
42*/
43typedef void (*OS_TimerCallback_t)(uint32 timer_id);
44
45typedef struct
46{
47 char name[OS_MAX_API_NAME];
48 uint32 creator;
49 uint32 start_time;
50 uint32 interval_time;
51 uint32 accuracy;
52
53} OS_timer_prop_t;
54
55
56/*
57** Timer API
58*/
59int32 OS_TimerAPIInit (void);
60
61int32 OS_TimerCreate (uint32 *timer_id, const char *timer_name, uint32 *clock_accuracy, OS_TimerCallback_t callback_ptr);
62int32 OS_TimerSet (uint32 timer_id, uint32 start_msec, uint32 interval_msec);
63int32 OS_TimerDelete (uint32 timer_id);
64
65int32 OS_TimerGetIdByName (uint32 *timer_id, const char *timer_name);
66int32 OS_TimerGetInfo (uint32 timer_id, OS_timer_prop_t *timer_prop);
67
68#endif
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-version.h b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-version.h
new file mode 100644
index 000000000..331e96c94
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi-version.h
@@ -0,0 +1,48 @@
1/************************************************************************
2** File:
3** $Id: osapi-version.h 1.11 2014/05/02 13:53:14GMT-05:00 acudmore Exp $
4**
5** Copyright (c) 2004-2006, United States government as represented by the
6** administrator of the National Aeronautics Space Administration.
7** All rights reserved. This software was created at NASAs Goddard
8** Space Flight Center pursuant to government contracts.
9**
10** This is governed by the NASA Open Source Agreement and may be used,
11** distributed and modified only pursuant to the terms of that agreement.
12**
13** Purpose:
14** The OSAL version numbers
15**
16** Notes:
17**
18** $Log: osapi-version.h $
19** Revision 1.11 2014/05/02 13:53:14GMT-05:00 acudmore
20** Updated version to 4.1.1
21** Revision 1.10 2014/01/23 16:33:31GMT-05:00 acudmore
22** Update for 4.1 release
23** Revision 1.9 2013/01/16 14:35:18GMT-05:00 acudmore
24** updated version label
25** Revision 1.8 2012/04/16 14:57:04GMT-05:00 acudmore
26** Updated version label to 3.5.0.0
27** Revision 1.7 2012/01/17 16:04:29EST acudmore
28** Updated version to 3.4.1
29** Revision 1.6 2011/12/05 15:45:16EST acudmore
30** Updated version label to 3.4.0
31** Initial revision
32** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
33**
34*************************************************************************/
35#ifndef _osapi_version_h_
36#define _osapi_version_h_
37
38#define OS_MAJOR_VERSION (4)
39#define OS_MINOR_VERSION (1)
40#define OS_REVISION (1)
41#define OS_MISSION_REV (0)
42
43
44#endif /* _osapi_version_h_ */
45
46/************************/
47/* End of File Comment */
48/************************/
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi.h b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi.h
new file mode 100644
index 000000000..72a7c340a
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/include/osapi.h
@@ -0,0 +1,143 @@
1/*
2** File: osapi.h
3**
4** Copyright (c) 2004-2006, United States government as represented by the
5** administrator of the National Aeronautics Space Administration.
6** All rights reserved. This software was created at NASAs Goddard
7** Space Flight Center pursuant to government contracts.
8**
9** This is governed by the NASA Open Source Agreement and may be used,
10** distributed and modified only pursuant to the terms of that agreement.
11**
12** Author: Alan Cudmore - Code 582
13**
14** Purpose: Contains functions prototype definitions and variables declarations
15** for the OS Abstraction Layer, Core OS module
16**
17** $Revision: 1.10 $
18**
19** $Date: 2013/07/25 10:01:32GMT-05:00 $
20**
21** $Log: osapi.h $
22** Revision 1.10 2013/07/25 10:01:32GMT-05:00 acudmore
23** Added C++ support
24** Revision 1.9 2010/11/12 12:00:17GMT-05:00 acudmore
25** replaced copyright character with (c) and added open source notice where needed.
26** Revision 1.8 2010/03/08 15:57:20EST acudmore
27** include new OSAL version header file
28** Revision 1.7 2009/08/10 14:01:10EDT acudmore
29** Reset OSAL version for trunk
30** Revision 1.6 2009/08/10 13:55:49EDT acudmore
31** Updated OSAL version defines to 3.0
32** Revision 1.5 2009/06/10 14:15:55EDT acudmore
33** Removed HAL include files. HAL code was removed from OSAL.
34** Revision 1.4 2008/08/20 16:12:51EDT apcudmore
35** Updated timer error codes
36** Revision 1.3 2008/08/20 15:46:27EDT apcudmore
37** Add support for timer API
38** Revision 1.2 2008/06/20 15:13:43EDT apcudmore
39** Checked in new Module loader/symbol table functionality
40** Revision 1.1 2008/04/20 22:36:02EDT ruperera
41** Initial revision
42** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
43** Revision 1.6 2008/02/14 11:29:10EST apcudmore
44** Updated version define ( 2.11 )
45** Revision 1.5 2008/02/07 11:31:58EST apcudmore
46** Fixed merge problem
47** Revision 1.4 2008/02/07 11:07:29EST apcudmore
48** Added dynamic loader / Symbol lookup API
49** -- API only, next release will have functionality
50** Revision 1.2 2008/01/29 14:30:49EST njyanchik
51** I added code to all the ports that allow the values of both binary and counting semaphores to be
52** gotten through the OS_*SemGetInfo API.
53** Revision 1.1 2007/10/16 16:14:52EDT apcudmore
54** Initial revision
55** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
56** Revision 1.2 2007/09/28 15:46:49EDT rjmcgraw
57** Updated version numbers to 5.0
58** Revision 1.1 2007/08/24 13:43:25EDT apcudmore
59** Initial revision
60** Member added to project d:/mksdata/MKS-CFE-PROJECT/fsw/cfe-core/os/inc/project.pj
61** Revision 1.9.1.1 2007/05/21 08:58:51EDT njyanchik
62** The trunk version number has been updated to version 0.0
63** Revision 1.9 2006/06/12 10:20:07EDT rjmcgraw
64** Updated OS_MINOR_VERSION from 3 to 4
65** Revision 1.8 2006/02/03 09:30:45EST njyanchik
66** Changed version number to 2.3
67** Revision 1.7 2006/01/20 11:56:16EST njyanchik
68** Fixed header file information to match api document
69** Revision 1.15 2005/11/09 13:35:49 nyanchik
70** Revisions for 2.2 include:
71** a new scheduler mapper for Linux and OS X
72** addition of OS_printf function
73** fixed issues that would cause warnings at compile time
74**
75**
76*/
77
78#ifndef _osapi_
79#define _osapi_
80
81#include "common_types.h"
82
83#ifdef __cplusplus
84 extern "C" {
85#endif
86
87#define OS_SUCCESS (0)
88#define OS_ERROR (-1)
89#define OS_INVALID_POINTER (-2)
90#define OS_ERROR_ADDRESS_MISALIGNED (-3)
91#define OS_ERROR_TIMEOUT (-4)
92#define OS_INVALID_INT_NUM (-5)
93#define OS_SEM_FAILURE (-6)
94#define OS_SEM_TIMEOUT (-7)
95#define OS_QUEUE_EMPTY (-8)
96#define OS_QUEUE_FULL (-9)
97#define OS_QUEUE_TIMEOUT (-10)
98#define OS_QUEUE_INVALID_SIZE (-11)
99#define OS_QUEUE_ID_ERROR (-12)
100#define OS_ERR_NAME_TOO_LONG (-13)
101#define OS_ERR_NO_FREE_IDS (-14)
102#define OS_ERR_NAME_TAKEN (-15)
103#define OS_ERR_INVALID_ID (-16)
104#define OS_ERR_NAME_NOT_FOUND (-17)
105#define OS_ERR_SEM_NOT_FULL (-18)
106#define OS_ERR_INVALID_PRIORITY (-19)
107#define OS_INVALID_SEM_VALUE (-20)
108#define OS_ERR_FILE (-27)
109#define OS_ERR_NOT_IMPLEMENTED (-28)
110#define OS_TIMER_ERR_INVALID_ARGS (-29)
111#define OS_TIMER_ERR_TIMER_ID (-30)
112#define OS_TIMER_ERR_UNAVAILABLE (-31)
113#define OS_TIMER_ERR_INTERNAL (-32)
114
115/*
116** Defines for Queue Timeout parameters
117*/
118#define OS_PEND (0)
119#define OS_CHECK (-1)
120
121#include "osapi-version.h"
122
123/*
124** Include the configuration file
125*/
126#include "osconfig.h"
127
128/*
129** Include the OS API modules
130*/
131#include "osapi-os-core.h"
132//#include "osapi-os-filesys.h"
133//#include "osapi-os-net.h"
134//#include "osapi-os-loader.h"
135#include "osapi-os-timer.h"
136#include "osapi-os-custom.h"
137
138#ifdef __cplusplus
139 }
140#endif
141
142#endif
143
diff --git a/lib/chibios/os/common/abstractions/nasa_cfe/osal/src/osapi.c b/lib/chibios/os/common/abstractions/nasa_cfe/osal/src/osapi.c
new file mode 100644
index 000000000..ea0ac535b
--- /dev/null
+++ b/lib/chibios/os/common/abstractions/nasa_cfe/osal/src/osapi.c
@@ -0,0 +1,2281 @@
1/*
2 ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
3
4 Licensed under the Apache License, Version 2.0 (the "License");
5 you may not use this file except in compliance with the License.
6 You may obtain a copy of the License at
7
8 http://www.apache.org/licenses/LICENSE-2.0
9
10 Unless required by applicable law or agreed to in writing, software
11 distributed under the License is distributed on an "AS IS" BASIS,
12 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 See the License for the specific language governing permissions and
14 limitations under the License.
15*/
16
17/**
18 * @file osapi.c
19 * @brief OS API module code.
20 *
21 * @addtogroup nasa_osapi
22 * @{
23 */
24
25#include <stdarg.h>
26#include <string.h>
27
28#include "ch.h"
29
30#include "common_types.h"
31#include "osapi.h"
32
33#if CH_CFG_ST_FREQUENCY > 1000000
34#error "CH_CFG_ST_FREQUENCY limit is 1000000"
35#endif
36
37#if (CH_CFG_ST_FREQUENCY % 1000) != 0
38#error "CH_CFG_ST_FREQUENCY is not a multiple of 1000"
39#endif
40
41#if CH_CFG_USE_REGISTRY == FALSE
42#error "NASA OSAL requires CH_CFG_USE_REGISTRY"
43#endif
44
45#if CH_CFG_USE_EVENTS == FALSE
46#error "NASA OSAL requires CH_CFG_USE_EVENTS"
47#endif
48
49#if CH_CFG_USE_MUTEXES == FALSE
50#error "NASA OSAL requires CH_CFG_USE_MUTEXES"
51#endif
52
53#if CH_CFG_USE_SEMAPHORES == FALSE
54#error "NASA OSAL requires CH_CFG_USE_SEMAPHORES"
55#endif
56
57#if CH_CFG_USE_MEMCORE == FALSE
58#error "NASA OSAL requires CH_CFG_USE_MEMCORE"
59#endif
60
61#if CH_CFG_USE_MEMPOOLS == FALSE
62#error "NASA OSAL requires CH_CFG_USE_MEMPOOLS"
63#endif
64
65#if CH_CFG_USE_HEAP == FALSE
66#error "NASA OSAL requires CH_CFG_USE_HEAP"
67#endif
68
69/*===========================================================================*/
70/* Module local definitions. */
71/*===========================================================================*/
72
73#define MIN_PRIORITY 1
74#define MAX_PRIORITY 255
75
76#define MIN_MESSAGE_SIZE 4
77#define MAX_MESSAGE_SIZE 16384
78
79#define MIN_QUEUE_DEPTH 1
80#define MAX_QUEUE_DEPTH 16384
81
82/*===========================================================================*/
83/* Module exported variables. */
84/*===========================================================================*/
85
86/*===========================================================================*/
87/* Module local types. */
88/*===========================================================================*/
89
90/**
91 * @brief Generic function pointer type.
92 */
93typedef void (*funcptr_t)(void);
94
95/**
96 * @brief Type of OSAL timer.
97 */
98typedef struct {
99 uint32 is_free;
100 char name[OS_MAX_API_NAME];
101 OS_TimerCallback_t callback_ptr;
102 uint32 start_time;
103 uint32 interval_time;
104 virtual_timer_t vt;
105} osal_timer_t;
106
107/**
108 * @brief Type of an OSAL queue.
109 */
110typedef struct {
111 uint32 is_free;
112 char name[OS_MAX_API_NAME];
113 semaphore_t free_msgs;
114 memory_pool_t messages;
115 mailbox_t mb;
116 msg_t *mb_buffer;
117 void *q_buffer;
118 uint32 depth;
119 uint32 size;
120} osal_queue_t;
121
122/**
123 * @brief Type of an osal message with minimum size.
124 */
125typedef struct {
126 size_t size;
127 char buf[4];
128} osal_message_t;
129
130/**
131 * @brief Type of OSAL main structure.
132 */
133typedef struct {
134 bool printf_enabled;
135 int (*printf)(const char *fmt, ...);
136 virtual_timer_t vt;
137 OS_time_t localtime;
138 memory_pool_t timers_pool;
139 memory_pool_t queues_pool;
140 memory_pool_t binary_semaphores_pool;
141 memory_pool_t count_semaphores_pool;
142 memory_pool_t mutexes_pool;
143 osal_timer_t timers[OS_MAX_TIMERS];
144 osal_queue_t queues[OS_MAX_QUEUES];
145 binary_semaphore_t binary_semaphores[OS_MAX_BIN_SEMAPHORES];
146 semaphore_t count_semaphores[OS_MAX_COUNT_SEMAPHORES];
147 mutex_t mutexes[OS_MAX_MUTEXES];
148} osal_t;
149
150/*===========================================================================*/
151/* Module local variables. */
152/*===========================================================================*/
153
154static osal_t osal;
155
156/*===========================================================================*/
157/* Module local functions. */
158/*===========================================================================*/
159
160/**
161 * @brief System time callback.
162 */
163static void systime_update(void *p) {
164 sysinterval_t delay = (sysinterval_t)p;
165
166 chSysLockFromISR();
167 osal.localtime.microsecs += 1000;
168 if (osal.localtime.microsecs >= 1000000) {
169 osal.localtime.microsecs = 0;
170 osal.localtime.seconds++;
171 }
172 chVTDoSetI(&osal.vt, delay, systime_update, p);
173 chSysUnlockFromISR();
174}
175
176/**
177 * @brief Virtual timers callback.
178 */
179static void timer_handler(void *p) {
180 osal_timer_t *otp = (osal_timer_t *)p;
181
182 /* Real callback.*/
183 otp->callback_ptr((uint32)p);
184
185 /* Timer restart if an interval is defined.*/
186 if (otp->interval_time != 0) {
187 chSysLockFromISR();
188 chVTSetI(&otp->vt, TIME_US2I(otp->interval_time), timer_handler, p);
189 chSysUnlockFromISR();
190 }
191}
192
193/**
194 * @brief Finds a queue by name.
195 */
196uint32 queue_find(const char *queue_name) {
197 osal_queue_t *oqp;
198
199 /* Searching the queue in the table.*/
200 for (oqp = &osal.queues[0]; oqp < &osal.queues[OS_MAX_QUEUES]; oqp++) {
201 /* Entering a reentrant critical zone.*/
202 syssts_t sts = chSysGetStatusAndLockX();
203
204 if (!oqp->is_free &&
205 (strncmp(oqp->name, queue_name, OS_MAX_API_NAME - 1) == 0)) {
206 /* Leaving the critical zone.*/
207 chSysRestoreStatusX(sts);
208 return (uint32)oqp;
209 }
210
211 /* Leaving the critical zone.*/
212 chSysRestoreStatusX(sts);
213 }
214
215 return 0;
216}
217
218/**
219 * @brief Finds a timer by name.
220 */
221uint32 timer_find(const char *timer_name) {
222 osal_timer_t *otp;
223
224 /* Searching the queue in the table.*/
225 for (otp = &osal.timers[0]; otp < &osal.timers[OS_MAX_TIMERS]; otp++) {
226 /* Entering a reentrant critical zone.*/
227 syssts_t sts = chSysGetStatusAndLockX();
228
229 if (!otp->is_free &&
230 (strncmp(otp->name, timer_name, OS_MAX_API_NAME - 1) == 0)) {
231 /* Leaving the critical zone.*/
232 chSysRestoreStatusX(sts);
233 return (uint32)otp;
234 }
235
236 /* Leaving the critical zone.*/
237 chSysRestoreStatusX(sts);
238 }
239
240 return 0;
241}
242
243/*===========================================================================*/
244/* Module exported functions. */
245/*===========================================================================*/
246
247/*-- Initialization API -----------------------------------------------------*/
248
249/**
250 * @brief OS initialization.
251 * @details This function returns initializes the internal data structures
252 * of the OS Abstraction Layer. It must be called in the application
253 * startup code before calling any other OS routines.
254 *
255 * @return An error code.
256 *
257 * @api
258 */
259int32 OS_API_Init(void) {
260
261 chSysInit();
262
263 /* OS_printf() initially disabled.*/
264 osal.printf_enabled = false;
265 osal.printf = NULL;
266
267 /* System time handling.*/
268 osal.localtime.microsecs = 0;
269 osal.localtime.seconds = 0;
270 chVTObjectInit(&osal.vt);
271 chVTSet(&osal.vt, TIME_MS2I(1), systime_update, (void *)TIME_MS2I(1));
272
273 /* Timers pool initialization.*/
274 chPoolObjectInit(&osal.timers_pool,
275 sizeof (osal_timer_t),
276 NULL);
277 chPoolLoadArray(&osal.timers_pool,
278 &osal.timers[0],
279 OS_MAX_TIMERS);
280
281 /* Queues pool initialization.*/
282 chPoolObjectInit(&osal.queues_pool,
283 sizeof (osal_queue_t),
284 NULL);
285 chPoolLoadArray(&osal.queues_pool,
286 &osal.queues[0],
287 OS_MAX_QUEUES);
288
289 /* Binary Semaphores pool initialization.*/
290 chPoolObjectInit(&osal.binary_semaphores_pool,
291 sizeof (binary_semaphore_t),
292 NULL);
293 chPoolLoadArray(&osal.binary_semaphores_pool,
294 &osal.binary_semaphores[0],
295 OS_MAX_BIN_SEMAPHORES);
296
297 /* Counter Semaphores pool initialization.*/
298 chPoolObjectInit(&osal.count_semaphores_pool,
299 sizeof (semaphore_t),
300 NULL);
301 chPoolLoadArray(&osal.count_semaphores_pool,
302 &osal.count_semaphores[0],
303 OS_MAX_COUNT_SEMAPHORES);
304
305 /* Mutexes pool initialization.*/
306 chPoolObjectInit(&osal.mutexes_pool,
307 sizeof (mutex_t),
308 NULL);
309 chPoolLoadArray(&osal.mutexes_pool,
310 &osal.mutexes[0],
311 OS_MAX_MUTEXES);
312
313 return OS_SUCCESS;
314}
315
316/*-- Various API -----------------------------------------------------------*/
317
318/**
319 * @brief OS printf-like function.
320 * @note It is initially disabled.
321 *
322 * @param[in] string formatter string
323 *
324 * @api
325 */
326void OS_printf(const char *string, ...) {
327 va_list ap;
328
329 if (osal.printf_enabled && (osal.printf != NULL)) {
330 va_start(ap, string);
331 (void) osal.printf(string);
332 va_end(ap);
333 }
334}
335
336/**
337 * @brief Disables @p OS_printf().
338 *
339 * @api
340 */
341void OS_printf_disable(void) {
342
343 osal.printf_enabled = false;
344}
345
346/**
347 * @brief Enables @p OS_printf().
348 *
349 * @api
350 */
351void OS_printf_enable(void) {
352
353 osal.printf_enabled = true;
354}
355
356/**
357 * @brief Sets the system printf function.
358 * @note By default the printf function is not defined.
359 * @note This is a ChibiOS/RT extension.
360 *
361 * @param[in] printf pointer to a @p printf() like function
362 *
363 * @api
364 */
365void OS_set_printf(int (*printf)(const char *fmt, ...)) {
366
367 osal.printf = printf;
368}
369
370/**
371 * @brief System tick period in microseconds.
372 *
373 * @return The system tick period.
374 */
375int32 OS_Tick2Micros(void) {
376
377 return 1000000 / CH_CFG_ST_FREQUENCY;
378}
379
380/**
381 * @brief Returns the local time.
382 *
383 * @param[out] time_struct the system time
384 * @return An error code.
385 *
386 * @api
387 */
388int32 OS_GetLocalTime(OS_time_t *time_struct) {
389
390 if (time_struct == NULL) {
391 return OS_INVALID_POINTER;
392 }
393
394 chSysLock();
395 *time_struct = osal.localtime;
396 chSysUnlock();
397
398 return OS_SUCCESS;
399}
400
401/**
402 * @brief Changes the local time.
403 *
404 * @param[in] time_struct the system time
405 * @return An error code.
406 *
407 * @api
408 */
409int32 OS_SetLocalTime(OS_time_t *time_struct) {
410
411 if (time_struct == NULL) {
412 return OS_INVALID_POINTER;
413 }
414
415 chSysLock();
416 osal.localtime = *time_struct;
417 chSysUnlock();
418
419 return OS_SUCCESS;
420}
421
422/**
423 * @brief Conversion from milliseconds to ticks.
424 *
425 * @param[in] milli_seconds the time in milliseconds
426 * @return The system ticks.
427 *
428 * @api
429 */
430int32 OS_Milli2Ticks(uint32 milli_seconds) {
431
432 return (int32)TIME_MS2I(milli_seconds);
433}
434
435/*-- timers API -------------------------------------------------------------*/
436
437/**
438 * @brief Timer creation.
439 *
440 * @param[out] timer_id pointer to a timer id variable
441 * @param[in] timer_name the timer name
442 * @param[out] clock_accuracy timer accuracy in microseconds
443 * @param[in] callback_ptr timer callback
444 * @return An error code.
445 *
446 * @api
447 */
448int32 OS_TimerCreate(uint32 *timer_id, const char *timer_name,
449 uint32 *clock_accuracy, OS_TimerCallback_t callback_ptr) {
450 osal_timer_t *otp;
451
452 /* NULL pointer checks.*/
453 if ((timer_id == NULL) || (timer_name == NULL) ||
454 (clock_accuracy == NULL)) {
455 return OS_INVALID_POINTER;
456 }
457
458 /* NULL callback check.*/
459 if (callback_ptr == NULL) {
460 *timer_id = 0;
461 return OS_TIMER_ERR_INVALID_ARGS;
462 }
463
464 /* Checking timer name length.*/
465 if (strlen(timer_name) >= OS_MAX_API_NAME) {
466 *timer_id = 0;
467 return OS_ERR_NAME_TOO_LONG;
468 }
469
470 /* Checking if the name is already taken.*/
471 if (timer_find(timer_name) > 0) {
472 *timer_id = 0;
473 return OS_ERR_NAME_TAKEN;
474 }
475
476 /* Getting object.*/
477 otp = chPoolAlloc(&osal.timers_pool);
478 if (otp == NULL) {
479 *timer_id = 0;
480 return OS_ERR_NO_FREE_IDS;
481 }
482
483 strncpy(otp->name, timer_name, OS_MAX_API_NAME - 1);
484 chVTObjectInit(&otp->vt);
485 otp->start_time = 0;
486 otp->interval_time = 0;
487 otp->callback_ptr = callback_ptr;
488 otp->is_free = 0; /* Note, last.*/
489
490 *timer_id = (uint32)otp;
491 *clock_accuracy = (uint32)(1000000 / CH_CFG_ST_FREQUENCY);
492
493 return OS_SUCCESS;
494}
495
496/**
497 * @brief Timer deletion.
498 *
499 * @param[in] timer_id timer id variable
500 * @return An error code.
501 *
502 * @api
503 */
504int32 OS_TimerDelete(uint32 timer_id) {
505 osal_timer_t *otp = (osal_timer_t *)timer_id;
506
507 /* Range check.*/
508 if ((otp < &osal.timers[0]) ||
509 (otp >= &osal.timers[OS_MAX_TIMERS]) ||
510 (otp->is_free)) {
511 return OS_ERR_INVALID_ID;
512 }
513
514 chSysLock();
515
516 /* Marking as no more free, will be overwritten by the pool pointer.*/
517 otp->is_free = 1;
518
519 /* Resetting the timer.*/
520 chVTResetI(&otp->vt);
521 otp->start_time = 0;
522 otp->interval_time = 0;
523
524 /* Flagging it as unused and returning it to the pool.*/
525 chPoolFreeI(&osal.timers_pool, (void *)otp);
526
527 chSysUnlock();
528
529 return OS_SUCCESS;
530}
531
532/**
533 * @brief Timer deletion.
534 * @note This function can be safely called from timer callbacks or ISRs.
535 *
536 * @param[in] timer_id timer id variable
537 * @param[in] start_time start time in microseconds or zero
538 * @param[in] interval_time interval time in microseconds or zero
539 * @return An error code.
540 *
541 * @api
542 */
543int32 OS_TimerSet(uint32 timer_id, uint32 start_time, uint32 interval_time) {
544 syssts_t sts;
545 osal_timer_t *otp = (osal_timer_t *)timer_id;
546
547 /* Range check.*/
548 if ((otp < &osal.timers[0]) ||
549 (otp >= &osal.timers[OS_MAX_TIMERS]) ||
550 (otp->is_free)) {
551 return OS_ERR_INVALID_ID;
552 }
553
554 /* Entering a reentrant critical zone.*/
555 sts = chSysGetStatusAndLockX();
556
557 if (start_time == 0) {
558 chVTResetI(&otp->vt);
559 }
560 else {
561 otp->start_time = start_time;
562 otp->interval_time = interval_time;
563 chVTSetI(&otp->vt, TIME_US2I(start_time), timer_handler, (void *)timer_id);
564 }
565
566 /* Leaving the critical zone.*/
567 chSysRestoreStatusX(sts);
568
569 return OS_SUCCESS;
570}
571
572/**
573 * @brief Retrieves a timer id by name.
574 *
575 * @param[out] timer_id pointer to a timer id variable
576 * @param[in] sem_name the timer name
577 * @return An error code.
578 *
579 * @api
580 */
581int32 OS_TimerGetIdByName(uint32 *timer_id, const char *timer_name) {
582
583 /* NULL pointer checks.*/
584 if ((timer_id == NULL) || (timer_name == NULL)) {
585 return OS_INVALID_POINTER;
586 }
587
588 /* Checking name length.*/
589 if (strlen(timer_name) >= OS_MAX_API_NAME) {
590 return OS_ERR_NAME_TOO_LONG;
591 }
592
593 /* Searching the queue.*/
594 *timer_id = timer_find(timer_name);
595 if (*timer_id > 0) {
596 return OS_SUCCESS;
597 }
598
599 return OS_ERR_NAME_NOT_FOUND;
600}
601
602/**
603 * @brief Returns timer information.
604 * @note This function can be safely called from timer callbacks or ISRs.
605 *
606 * @param[in] timer_id timer id variable
607 * @param[in] timer_prop timer properties
608 * @return An error code.
609 *
610 * @api
611 */
612int32 OS_TimerGetInfo(uint32 timer_id, OS_timer_prop_t *timer_prop) {
613 syssts_t sts;
614 osal_timer_t *otp = (osal_timer_t *)timer_id;
615
616 /* NULL pointer checks.*/
617 if (timer_prop == NULL) {
618 return OS_INVALID_POINTER;
619 }
620
621 /* Range check.*/
622 if ((otp < &osal.timers[0]) ||
623 (otp >= &osal.timers[OS_MAX_TIMERS]) ||
624 (otp->is_free)) {
625 return OS_ERR_INVALID_ID;
626 }
627
628 /* Entering a reentrant critical zone.*/
629 sts = chSysGetStatusAndLockX();
630
631 /* If the timer is not in use then error.*/
632 if (otp->is_free) {
633 /* Leaving the critical zone.*/
634 chSysRestoreStatusX(sts);
635 return OS_ERR_INVALID_ID;
636 }
637
638 strncpy(timer_prop->name, otp->name, OS_MAX_API_NAME - 1);
639 timer_prop->creator = (uint32)0;
640 timer_prop->start_time = otp->start_time;
641 timer_prop->interval_time = otp->interval_time;
642 timer_prop->accuracy = (uint32)(1000000 / CH_CFG_ST_FREQUENCY);
643
644 /* Leaving the critical zone.*/
645 chSysRestoreStatusX(sts);
646
647 return OS_SUCCESS;
648}
649
650/*-- Queues API -------------------------------------------------------------*/
651
652/**
653 * @brief Queue creation.
654 *
655 * @param[out] queue_id pointer to a queue id variable
656 * @param[in] queue_name the queue name
657 * @param[in] queue_depth desired queue depth
658 * @param[in] data_size maximum message size
659 * @param[in] flags queue option flags
660 * @return An error code.
661 *
662 * @api
663 */
664int32 OS_QueueCreate(uint32 *queue_id, const char *queue_name,
665 uint32 queue_depth, uint32 data_size, uint32 flags) {
666 osal_queue_t *oqp;
667 size_t msgsize;
668
669 (void)flags;
670
671 /* NULL pointer checks.*/
672 if ((queue_id == NULL) || (queue_name == NULL)) {
673 return OS_INVALID_POINTER;
674 }
675
676 /* Checking queue name length.*/
677 if (strlen(queue_name) >= OS_MAX_API_NAME) {
678 *queue_id = 0;
679 return OS_ERR_NAME_TOO_LONG;
680 }
681
682 /* Checking if the name is already taken.*/
683 if (queue_find(queue_name) > 0) {
684 *queue_id = 0;
685 return OS_ERR_NAME_TAKEN;
686 }
687
688 /* Checks on queue limits. There is no dedicated error code.*/
689 if ((data_size < MIN_MESSAGE_SIZE) || (data_size > MAX_MESSAGE_SIZE) ||
690 (queue_depth < MIN_QUEUE_DEPTH) || (queue_depth > MAX_QUEUE_DEPTH)) {
691 *queue_id = 0;
692 return OS_ERROR;
693 }
694
695 /* Getting object.*/
696 oqp = chPoolAlloc(&osal.queues_pool);
697 if (oqp == NULL) {
698 *queue_id = 0;
699 return OS_ERR_NO_FREE_IDS;
700 }
701
702 /* Attempting messages buffer allocation.*/
703 msgsize = MEM_ALIGN_NEXT(data_size + sizeof (size_t), PORT_NATURAL_ALIGN);
704 oqp->mb_buffer = chHeapAllocAligned(NULL,
705 msgsize * (size_t)queue_depth,
706 PORT_NATURAL_ALIGN);
707 if (oqp->mb_buffer == NULL) {
708 *queue_id = 0;
709 return OS_ERROR;
710 }
711
712 /* Attempting queue buffer allocation.*/
713 oqp->q_buffer = chHeapAllocAligned(NULL,
714 sizeof (msg_t) * (size_t)queue_depth,
715 PORT_NATURAL_ALIGN);
716 if (oqp->q_buffer == NULL) {
717 *queue_id = 0;
718 chHeapFree(oqp->mb_buffer);
719 return OS_ERROR;
720 }
721
722 /* Initializing object static parts.*/
723 strncpy(oqp->name, queue_name, OS_MAX_API_NAME - 1);
724 chMBObjectInit(&oqp->mb, oqp->q_buffer, (size_t)queue_depth);
725 chSemObjectInit(&oqp->free_msgs, (cnt_t)queue_depth);
726 chPoolObjectInit(&oqp->messages, msgsize, NULL);
727 chPoolLoadArray(&oqp->messages, oqp->mb_buffer, (size_t)queue_depth);
728 oqp->depth = queue_depth;
729 oqp->size = data_size;
730 oqp->is_free = 0; /* Note, last.*/
731 *queue_id = (uint32)oqp;
732
733 return OS_SUCCESS;
734}
735
736/**
737 * @brief Queue deletion.
738 *
739 * @param[in] queue_id queue id variable
740 * @return An error code.
741 *
742 * @api
743 */
744int32 OS_QueueDelete(uint32 queue_id) {
745 osal_queue_t *oqp = (osal_queue_t *)queue_id;
746 void *q_buffer, *mb_buffer;
747
748 /* Range check.*/
749 if ((oqp < &osal.queues[0]) ||
750 (oqp >= &osal.queues[OS_MAX_QUEUES]) ||
751 (oqp->is_free)) {
752 return OS_ERR_INVALID_ID;
753 }
754
755 /* Critical zone.*/
756 chSysLock();
757
758 /* Marking as no more free, will be overwritten by the pool pointer.*/
759 oqp->is_free = 1;
760
761 /* Pointers to areas to be freed.*/
762 q_buffer = oqp->q_buffer;
763 mb_buffer = oqp->mb_buffer;
764
765 /* Resetting the queue.*/
766 chMBResetI(&oqp->mb);
767 chSemResetI(&oqp->free_msgs, 0);
768
769 /* Flagging it as unused and returning it to the pool.*/
770 chPoolFreeI(&osal.queues_pool, (void *)oqp);
771
772 chSchRescheduleS();
773
774 /* Leaving critical zone.*/
775 chSysUnlock();
776
777 /* Freeing buffers, outside critical zone, slow heap operation.*/
778 chHeapFree(q_buffer);
779 chHeapFree(mb_buffer);
780
781 return OS_SUCCESS;
782}
783
784/**
785 * @brief Retrieves a message from the queue.
786 *
787 * @param[in] queue_id queue id variable
788 * @param[out] data message buffer pointer
789 * @param[in] size size of the buffer
790 * @param[out] size_copied size of the received message
791 * @param[in] timeout timeout in ticks, the special values @p OS_PEND
792 * and @p OS_CHECK can be specified
793 * @return An error code.
794 *
795 * @api
796 */
797int32 OS_QueueGet(uint32 queue_id, void *data, uint32 size,
798 uint32 *size_copied, int32 timeout) {
799 osal_queue_t *oqp = (osal_queue_t *)queue_id;
800 msg_t msg, msgsts;
801 void *body;
802
803 /* NULL pointer checks.*/
804 if ((data == NULL) || (size_copied == NULL)) {
805 return OS_INVALID_POINTER;
806 }
807
808 /* Range check.*/
809 if ((oqp < &osal.queues[0]) ||
810 (oqp >= &osal.queues[OS_MAX_QUEUES]) ||
811 (oqp->is_free)) {
812 return OS_ERR_INVALID_ID;
813 }
814
815 /* Check on minimum size.*/
816 if (size < oqp->size) {
817 return OS_QUEUE_INVALID_SIZE;
818 }
819
820 /* Special time handling.*/
821 if (timeout == OS_PEND) {
822 msgsts = chMBFetchTimeout(&oqp->mb, &msg, TIME_INFINITE);
823 if (msgsts < MSG_OK) {
824 *size_copied = 0;
825 return OS_ERROR;
826 }
827 }
828 else if (timeout == OS_CHECK) {
829 msgsts = chMBFetchTimeout(&oqp->mb, &msg, TIME_IMMEDIATE);
830 if (msgsts < MSG_OK) {
831 *size_copied = 0;
832 return OS_QUEUE_EMPTY;
833 }
834 }
835 else {
836 msgsts = chMBFetchTimeout(&oqp->mb, &msg, (sysinterval_t)timeout);
837 if (msgsts < MSG_OK) {
838 *size_copied = 0;
839 return OS_QUEUE_TIMEOUT;
840 }
841 }
842
843 /* Message body and size.*/
844 *size_copied = ((osal_message_t *)msg)->size;
845 body = (void *)((osal_message_t *)msg)->buf;
846
847 /* Copying the message body.*/
848 memcpy(data, body, *size_copied);
849
850 /* Freeing the message buffer.*/
851 chPoolFree(&oqp->messages, (void *)msg);
852 chSemSignal(&oqp->free_msgs);
853
854 return OS_SUCCESS;
855}
856
857/**
858 * @brief Puts a message in the queue.
859 *
860 * @param[in] queue_id queue id variable
861 * @param[in] data message buffer pointer
862 * @param[in] size size of the message
863 * @param[in] flags operation flags
864 * @return An error code.
865 *
866 * @api
867 */
868int32 OS_QueuePut(uint32 queue_id, void *data, uint32 size, uint32 flags) {
869 osal_queue_t *oqp = (osal_queue_t *)queue_id;
870 msg_t msgsts;
871 osal_message_t *omsg;
872
873 (void)flags;
874
875 /* NULL pointer checks.*/
876 if (data == NULL) {
877 return OS_INVALID_POINTER;
878 }
879
880 /* Range check.*/
881 if ((oqp < &osal.queues[0]) ||
882 (oqp >= &osal.queues[OS_MAX_QUEUES]) ||
883 (oqp->is_free)) {
884 return OS_ERR_INVALID_ID;
885 }
886
887 /* Check on maximum size.*/
888 if (size > oqp->size) {
889 return OS_QUEUE_INVALID_SIZE;
890 }
891
892 /* Getting a message buffer from the pool.*/
893 msgsts = chSemWait(&oqp->free_msgs);
894 if (msgsts < MSG_OK) {
895 return OS_ERROR;
896 }
897 omsg = chPoolAlloc(&oqp->messages);
898
899 /* Filling message size and data.*/
900 omsg->size = (size_t)size;
901 memcpy(omsg->buf, data, size);
902
903 /* Posting the message.*/
904 msgsts = chMBPostTimeout(&oqp->mb, (msg_t)omsg, TIME_INFINITE);
905 if (msgsts < MSG_OK) {
906 return OS_ERROR;
907 }
908
909 return OS_SUCCESS;
910}
911
912/**
913 * @brief Retrieves a queue id by name.
914 *
915 * @param[out] queue_id pointer to a queue id variable
916 * @param[in] sem_name the queue name
917 * @return An error code.
918 *
919 * @api
920 */
921int32 OS_QueueGetIdByName(uint32 *queue_id, const char *queue_name) {
922
923 /* NULL pointer checks.*/
924 if ((queue_id == NULL) || (queue_name == NULL)) {
925 return OS_INVALID_POINTER;
926 }
927
928 /* Checking name length.*/
929 if (strlen(queue_name) >= OS_MAX_API_NAME) {
930 return OS_ERR_NAME_TOO_LONG;
931 }
932
933 /* Searching the queue.*/
934 *queue_id = queue_find(queue_name);
935 if (*queue_id > 0) {
936 return OS_SUCCESS;
937 }
938
939 return OS_ERR_NAME_NOT_FOUND;
940}
941
942/**
943 * @brief Returns queue information.
944 * @note This function can be safely called from timer callbacks or ISRs.
945 *
946 * @param[in] queue_id queue id variable
947 * @param[in] queue_prop queue properties
948 * @return An error code.
949 *
950 * @api
951 */
952int32 OS_QueueGetInfo (uint32 queue_id, OS_queue_prop_t *queue_prop) {
953 osal_queue_t *oqp = (osal_queue_t *)queue_id;
954 syssts_t sts;
955
956 /* NULL pointer checks.*/
957 if (queue_prop == NULL) {
958 return OS_INVALID_POINTER;
959 }
960
961 /* Range check.*/
962 if ((oqp < &osal.queues[0]) ||
963 (oqp >= &osal.queues[OS_MAX_QUEUES]) ||
964 (oqp->is_free)) {
965 return OS_ERR_INVALID_ID;
966 }
967
968 /* Entering a reentrant critical zone.*/
969 sts = chSysGetStatusAndLockX();
970
971 /* If the queue is not in use then error.*/
972 if (oqp->is_free) {
973 /* Leaving the critical zone.*/
974 chSysRestoreStatusX(sts);
975 return OS_ERR_INVALID_ID;
976 }
977
978 strncpy(queue_prop->name, oqp->name, OS_MAX_API_NAME - 1);
979 queue_prop->creator = (uint32)0;
980
981 /* Leaving the critical zone.*/
982 chSysRestoreStatusX(sts);
983
984 return OS_SUCCESS;
985
986 return OS_ERR_NOT_IMPLEMENTED;
987}
988
989/*-- Binary Semaphore API ---------------------------------------------------*/
990
991/**
992 * @brief Binary semaphore creation.
993 *
994 * @param[out] sem_id pointer to a binary semaphore id variable
995 * @param[in] sem_name the binary semaphore name
996 * @param[in] sem_initial_value semaphore initial value
997 * @param[in] options semaphore options
998 * @return An error code.
999 *
1000 * @api
1001 */
1002int32 OS_BinSemCreate(uint32 *sem_id, const char *sem_name,
1003 uint32 sem_initial_value, uint32 options) {
1004 binary_semaphore_t *bsp;
1005
1006 (void)options;
1007
1008 /* NULL pointer checks.*/
1009 if ((sem_id == NULL) || (sem_name == NULL)) {
1010 return OS_INVALID_POINTER;
1011 }
1012
1013 /* Checking semaphore name length.*/
1014 if (strlen(sem_name) >= OS_MAX_API_NAME) {
1015 return OS_ERR_NAME_TOO_LONG;
1016 }
1017
1018 /* Semaphore counter check, it is binary so only 0 and 1.*/
1019 if (sem_initial_value > 1) {
1020 return OS_INVALID_INT_NUM;
1021 }
1022
1023 /* Getting object.*/
1024 bsp = chPoolAlloc(&osal.binary_semaphores_pool);
1025 if (bsp == NULL) {
1026 return OS_ERR_NO_FREE_IDS;
1027 }
1028
1029 /* Semaphore is initialized.*/
1030 chBSemObjectInit(bsp, sem_initial_value == 0 ? true : false);
1031
1032 *sem_id = (uint32)bsp;
1033
1034 return OS_SUCCESS;
1035}
1036
1037/**
1038 * @brief Binary semaphore deletion.
1039 *
1040 * @param[in] sem_id binary semaphore id variable
1041 * @return An error code.
1042 *
1043 * @api
1044 */
1045int32 OS_BinSemDelete(uint32 sem_id) {
1046 binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
1047
1048 /* Range check.*/
1049 if ((bsp < &osal.binary_semaphores[0]) ||
1050 (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {
1051 return OS_ERR_INVALID_ID;
1052 }
1053
1054 chSysLock();
1055
1056 /* Resetting the semaphore, no threads in queue.*/
1057 chBSemResetI(bsp, true);
1058
1059 /* Flagging it as unused and returning it to the pool.*/
1060 bsp->sem.queue.prev = NULL;
1061 chPoolFreeI(&osal.binary_semaphores_pool, (void *)bsp);
1062
1063 /* Required because some thread could have been made ready.*/
1064 chSchRescheduleS();
1065
1066 chSysUnlock();
1067
1068 return OS_SUCCESS;
1069}
1070
1071/**
1072 * @brief Binary semaphore flush.
1073 * @note The state of the binary semaphore is not changed.
1074 * @note This function can be safely called from timer callbacks or ISRs.
1075 *
1076 * @param[in] sem_id binary semaphore id variable
1077 * @return An error code.
1078 *
1079 * @api
1080 */
1081int32 OS_BinSemFlush(uint32 sem_id) {
1082 syssts_t sts;
1083 binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
1084
1085 /* Range check.*/
1086 if ((bsp < &osal.binary_semaphores[0]) ||
1087 (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {
1088 return OS_ERR_INVALID_ID;
1089 }
1090
1091 /* Entering a reentrant critical zone.*/
1092 sts = chSysGetStatusAndLockX();
1093
1094 /* If the semaphore is not in use then error.*/
1095 if (bsp->sem.queue.prev == NULL) {
1096 /* Leaving the critical zone.*/
1097 chSysRestoreStatusX(sts);
1098 return OS_SEM_FAILURE;
1099 }
1100
1101 /* If the semaphore state is "not taken" then it is not touched.*/
1102 if (bsp->sem.cnt < 0) {
1103 chBSemResetI(bsp, true);
1104 }
1105
1106 /* Leaving the critical zone.*/
1107 chSysRestoreStatusX(sts);
1108
1109 return OS_SUCCESS;
1110}
1111
1112/**
1113 * @brief Binary semaphore give.
1114 * @note This function can be safely called from timer callbacks or ISRs.
1115 *
1116 * @param[in] sem_id binary semaphore id variable
1117 * @return An error code.
1118 *
1119 * @api
1120 */
1121int32 OS_BinSemGive(uint32 sem_id) {
1122 syssts_t sts;
1123 binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
1124
1125 /* Range check.*/
1126 if ((bsp < &osal.binary_semaphores[0]) ||
1127 (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {
1128 return OS_ERR_INVALID_ID;
1129 }
1130
1131 /* Entering a reentrant critical zone.*/
1132 sts = chSysGetStatusAndLockX();
1133
1134 /* If the semaphore is not in use then error.*/
1135 if (bsp->sem.queue.prev == NULL) {
1136 /* Leaving the critical zone.*/
1137 chSysRestoreStatusX(sts);
1138 return OS_SEM_FAILURE;
1139 }
1140
1141 chBSemSignalI(bsp);
1142
1143 /* Leaving the critical zone.*/
1144 chSysRestoreStatusX(sts);
1145
1146 return OS_SUCCESS;
1147}
1148
1149/**
1150 * @brief Binary semaphore take.
1151 *
1152 * @param[in] sem_id binary semaphore id variable
1153 * @return An error code.
1154 *
1155 * @api
1156 */
1157int32 OS_BinSemTake(uint32 sem_id) {
1158 binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
1159
1160 /* Range check.*/
1161 if ((bsp < &osal.binary_semaphores[0]) ||
1162 (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {
1163 return OS_ERR_INVALID_ID;
1164 }
1165
1166 chSysLock();
1167
1168 /* If the semaphore is not in use then error.*/
1169 if (bsp->sem.queue.prev == NULL) {
1170 chSysUnlock();
1171 return OS_SEM_FAILURE;
1172 }
1173
1174 (void) chBSemWaitS(bsp);
1175
1176 chSysUnlock();
1177
1178 return OS_SUCCESS;
1179}
1180
1181/**
1182 * @brief Binary semaphore take with timeout.
1183 *
1184 * @param[in] sem_id binary semaphore id variable
1185 * @param[in] msecs timeout in milliseconds
1186 * @return An error code.
1187 *
1188 * @api
1189 */
1190int32 OS_BinSemTimedWait(uint32 sem_id, uint32 msecs) {
1191 binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
1192 msg_t msg;
1193
1194 /* Range check.*/
1195 if ((bsp < &osal.binary_semaphores[0]) ||
1196 (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {
1197 return OS_ERR_INVALID_ID;
1198 }
1199
1200 /* Timeouts of zero not allowed.*/
1201 if (msecs == 0) {
1202 return OS_INVALID_INT_NUM;
1203 }
1204
1205 chSysLock();
1206
1207 /* If the semaphore is not in use then error.*/
1208 if (bsp->sem.queue.prev == NULL) {
1209 chSysUnlock();
1210 return OS_SEM_FAILURE;
1211 }
1212
1213 msg = chBSemWaitTimeoutS(bsp, TIME_MS2I(msecs));
1214
1215 chSysUnlock();
1216
1217 return msg == MSG_TIMEOUT ? OS_SEM_TIMEOUT : OS_SUCCESS;
1218}
1219
1220/**
1221 * @brief Retrieves a binary semaphore id by name.
1222 * @note It is not currently implemented.
1223 *
1224 * @param[out] sem_id pointer to a binary semaphore id variable
1225 * @param[in] sem_name the binary semaphore name
1226 * @return An error code.
1227 *
1228 * @api
1229 */
1230int32 OS_BinSemGetIdByName(uint32 *sem_id, const char *sem_name) {
1231
1232 /* NULL pointer checks.*/
1233 if ((sem_id == NULL) || (sem_name == NULL)) {
1234 return OS_INVALID_POINTER;
1235 }
1236
1237 /* Checking name length.*/
1238 if (strlen(sem_name) >= OS_MAX_API_NAME) {
1239 return OS_ERR_NAME_TOO_LONG;
1240 }
1241
1242 return OS_ERR_NOT_IMPLEMENTED;
1243}
1244
1245/**
1246 * @brief Returns binary semaphore information.
1247 * @note This function can be safely called from timer callbacks or ISRs.
1248 * @note It is not currently implemented.
1249 *
1250 * @param[in] sem_id binary semaphore id variable
1251 * @param[in] bin_prop binary semaphore properties
1252 * @return An error code.
1253 *
1254 * @api
1255 */
1256int32 OS_BinSemGetInfo(uint32 sem_id, OS_bin_sem_prop_t *bin_prop) {
1257 syssts_t sts;
1258 binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
1259
1260 /* NULL pointer checks.*/
1261 if (bin_prop == NULL) {
1262 return OS_INVALID_POINTER;
1263 }
1264
1265 /* Range check.*/
1266 if ((bsp < &osal.binary_semaphores[0]) ||
1267 (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {
1268 return OS_ERR_INVALID_ID;
1269 }
1270
1271 /* Entering a reentrant critical zone.*/
1272 sts = chSysGetStatusAndLockX();
1273
1274 /* If the semaphore is not in use then error.*/
1275 if (bsp->sem.queue.prev == NULL) {
1276 /* Leaving the critical zone.*/
1277 chSysRestoreStatusX(sts);
1278 return OS_ERR_INVALID_ID;
1279 }
1280
1281 /* Leaving the critical zone.*/
1282 chSysRestoreStatusX(sts);
1283
1284 return OS_ERR_NOT_IMPLEMENTED;
1285}
1286
1287/*-- Counter Semaphore API --------------------------------------------------*/
1288
1289/**
1290 * @brief Counter semaphore creation.
1291 *
1292 * @param[out] sem_id pointer to a counter semaphore id variable
1293 * @param[in] sem_name the counter semaphore name
1294 * @param[in] sem_initial_value semaphore initial value
1295 * @param[in] options semaphore options
1296 * @return An error code.
1297 *
1298 * @api
1299 */
1300int32 OS_CountSemCreate(uint32 *sem_id, const char *sem_name,
1301 uint32 sem_initial_value, uint32 options) {
1302 semaphore_t *sp;
1303
1304 (void)options;
1305
1306 /* NULL pointer checks.*/
1307 if ((sem_id == NULL) || (sem_name == NULL)) {
1308 return OS_INVALID_POINTER;
1309 }
1310
1311 /* Checking semaphore name length.*/
1312 if (strlen(sem_name) >= OS_MAX_API_NAME) {
1313 return OS_ERR_NAME_TOO_LONG;
1314 }
1315
1316 /* Semaphore counter check, it must be non-negative.*/
1317 if ((int32)sem_initial_value < 0) {
1318 return OS_INVALID_INT_NUM;
1319 }
1320
1321 /* Getting object.*/
1322 sp = chPoolAlloc(&osal.count_semaphores_pool);
1323 if (sp == NULL) {
1324 return OS_ERR_NO_FREE_IDS;
1325 }
1326
1327 /* Semaphore is initialized.*/
1328 chSemObjectInit(sp, (cnt_t)sem_initial_value);
1329
1330 *sem_id = (uint32)sp;
1331
1332 return OS_SUCCESS;
1333}
1334
1335/**
1336 * @brief Counter semaphore deletion.
1337 *
1338 * @param[in] sem_id counter semaphore id variable
1339 * @return An error code.
1340 *
1341 * @api
1342 */
1343int32 OS_CountSemDelete(uint32 sem_id) {
1344 semaphore_t *sp = (semaphore_t *)sem_id;
1345
1346 /* Range check.*/
1347 if ((sp < &osal.count_semaphores[0]) ||
1348 (sp >= &osal.count_semaphores[OS_MAX_COUNT_SEMAPHORES])) {
1349 return OS_ERR_INVALID_ID;
1350 }
1351
1352 chSysLock();
1353
1354 /* Resetting the semaphore, no threads in queue.*/
1355 chSemResetI(sp, 0);
1356
1357 /* Flagging it as unused and returning it to the pool.*/
1358 sp->queue.prev = NULL;
1359 chPoolFreeI(&osal.count_semaphores_pool, (void *)sp);
1360
1361 /* Required because some thread could have been made ready.*/
1362 chSchRescheduleS();
1363
1364 chSysUnlock();
1365
1366 return OS_SUCCESS;
1367}
1368
1369/**
1370 * @brief Counter semaphore give.
1371 * @note This function can be safely called from timer callbacks or ISRs.
1372 *
1373 * @param[in] sem_id counter semaphore id variable
1374 * @return An error code.
1375 *
1376 * @api
1377 */
1378int32 OS_CountSemGive(uint32 sem_id) {
1379 syssts_t sts;
1380 semaphore_t *sp = (semaphore_t *)sem_id;
1381
1382 /* Range check.*/
1383 if ((sp < &osal.count_semaphores[0]) ||
1384 (sp >= &osal.count_semaphores[OS_MAX_COUNT_SEMAPHORES])) {
1385 return OS_ERR_INVALID_ID;
1386 }
1387
1388 /* Entering a reentrant critical zone.*/
1389 sts = chSysGetStatusAndLockX();
1390
1391 /* If the semaphore is not in use then error.*/
1392 if (sp->queue.prev == NULL) {
1393 /* Leaving the critical zone.*/
1394 chSysRestoreStatusX(sts);
1395 return OS_SEM_FAILURE;
1396 }
1397
1398 chSemSignalI(sp);
1399
1400 /* Leaving the critical zone.*/
1401 chSysRestoreStatusX(sts);
1402
1403 return OS_SUCCESS;
1404}
1405
1406/**
1407 * @brief Counter semaphore take.
1408 *
1409 * @param[in] sem_id counter semaphore id variable
1410 * @return An error code.
1411 *
1412 * @api
1413 */
1414int32 OS_CountSemTake(uint32 sem_id) {
1415 semaphore_t *sp = (semaphore_t *)sem_id;
1416
1417 /* Range check.*/
1418 if ((sp < &osal.count_semaphores[0]) ||
1419 (sp >= &osal.count_semaphores[OS_MAX_COUNT_SEMAPHORES])) {
1420 return OS_ERR_INVALID_ID;
1421 }
1422
1423 chSysLock();
1424
1425 /* If the semaphore is not in use then error.*/
1426 if (sp->queue.prev == NULL) {
1427 chSysUnlock();
1428 return OS_SEM_FAILURE;
1429 }
1430
1431 (void) chSemWaitS(sp);
1432
1433 chSysUnlock();
1434
1435 return OS_SUCCESS;
1436}
1437
1438/**
1439 * @brief Counter semaphore take with timeout.
1440 *
1441 * @param[in] sem_id counter semaphore id variable
1442 * @param[in] msecs timeout in milliseconds
1443 * @return An error code.
1444 *
1445 * @api
1446 */
1447int32 OS_CountSemTimedWait(uint32 sem_id, uint32 msecs) {
1448 semaphore_t *sp = (semaphore_t *)sem_id;
1449 msg_t msg;
1450
1451 /* Range check.*/
1452 if ((sp < &osal.count_semaphores[0]) ||
1453 (sp >= &osal.count_semaphores[OS_MAX_COUNT_SEMAPHORES])) {
1454 return OS_ERR_INVALID_ID;
1455 }
1456
1457 /* Timeouts of zero not allowed.*/
1458 if (msecs == 0) {
1459 return OS_INVALID_INT_NUM;
1460 }
1461
1462 chSysLock();
1463
1464 /* If the semaphore is not in use then error.*/
1465 if (sp->queue.prev == NULL) {
1466 chSysUnlock();
1467 return OS_SEM_FAILURE;
1468 }
1469
1470 msg = chSemWaitTimeoutS(sp, TIME_MS2I(msecs));
1471
1472 chSysUnlock();
1473
1474 return msg == MSG_TIMEOUT ? OS_SEM_TIMEOUT : OS_SUCCESS;
1475}
1476
1477/**
1478 * @brief Retrieves a counter semaphore id by name.
1479 * @note It is not currently implemented.
1480 *
1481 * @param[out] sem_id pointer to a counter semaphore id variable
1482 * @param[in] sem_name the counter semaphore name
1483 * @return An error code.
1484 *
1485 * @api
1486 */
1487int32 OS_CountSemGetIdByName(uint32 *sem_id, const char *sem_name) {
1488
1489 /* NULL pointer checks.*/
1490 if ((sem_id == NULL) || (sem_name == NULL)) {
1491 return OS_INVALID_POINTER;
1492 }
1493
1494 /* Checking name length.*/
1495 if (strlen(sem_name) >= OS_MAX_API_NAME) {
1496 return OS_ERR_NAME_TOO_LONG;
1497 }
1498
1499 return OS_ERR_NOT_IMPLEMENTED;
1500}
1501
1502/**
1503 * @brief Returns counter semaphore information.
1504 * @note This function can be safely called from timer callbacks or ISRs.
1505 * @note It is not currently implemented.
1506 *
1507 * @param[in] sem_id counter semaphore id variable
1508 * @param[in] sem_prop counter semaphore properties
1509 * @return An error code.
1510 *
1511 * @api
1512 */
1513int32 OS_CountSemGetInfo(uint32 sem_id, OS_count_sem_prop_t *sem_prop) {
1514 syssts_t sts;
1515 semaphore_t *sp = (semaphore_t *)sem_id;
1516
1517 /* NULL pointer checks.*/
1518 if (sem_prop == NULL) {
1519 return OS_INVALID_POINTER;
1520 }
1521
1522 /* Range check.*/
1523 if ((sp < &osal.count_semaphores[0]) ||
1524 (sp >= &osal.count_semaphores[OS_MAX_BIN_SEMAPHORES])) {
1525 return OS_ERR_INVALID_ID;
1526 }
1527
1528 /* Entering a reentrant critical zone.*/
1529 sts = chSysGetStatusAndLockX();
1530
1531 /* If the semaphore is not in use then error.*/
1532 if (sp->queue.prev == NULL) {
1533 /* Leaving the critical zone.*/
1534 chSysRestoreStatusX(sts);
1535 return OS_ERR_INVALID_ID;
1536 }
1537
1538 /* Leaving the critical zone.*/
1539 chSysRestoreStatusX(sts);
1540
1541 return OS_ERR_NOT_IMPLEMENTED;
1542}
1543
1544/*-- Mutex API --------------------------------------------------------------*/
1545
1546/**
1547 * @brief Mutex creation.
1548 *
1549 * @param[out] sem_id pointer to a mutex id variable
1550 * @param[in] sem_name the mutex name
1551 * @param[in] options mutex options
1552 * @return An error code.
1553 *
1554 * @api
1555 */
1556int32 OS_MutSemCreate(uint32 *sem_id, const char *sem_name, uint32 options) {
1557 mutex_t *mp;
1558
1559 (void)options;
1560
1561 /* NULL pointer checks.*/
1562 if ((sem_id == NULL) || (sem_name == NULL)) {
1563 return OS_INVALID_POINTER;
1564 }
1565
1566 /* Checking semaphore name length.*/
1567 if (strlen(sem_name) >= OS_MAX_API_NAME) {
1568 return OS_ERR_NAME_TOO_LONG;
1569 }
1570
1571 /* Getting object.*/
1572 mp = chPoolAlloc(&osal.mutexes_pool);
1573 if (mp == NULL) {
1574 return OS_ERR_NO_FREE_IDS;
1575 }
1576
1577 /* Semaphore is initialized.*/
1578 chMtxObjectInit(mp);
1579
1580 *sem_id = (uint32)mp;
1581
1582 return OS_SUCCESS;
1583}
1584
1585/**
1586 * @brief Mutex deletion.
1587 *
1588 * @param[in] sem_id mutex id variable
1589 * @return An error code.
1590 *
1591 * @api
1592 */
1593int32 OS_MutSemDelete(uint32 sem_id) {
1594 mutex_t *mp = (mutex_t *)sem_id;
1595
1596 /* Range check.*/
1597 if ((mp < &osal.mutexes[0]) ||
1598 (mp >= &osal.mutexes[OS_MAX_MUTEXES])) {
1599 return OS_ERR_INVALID_ID;
1600 }
1601
1602 chSysLock();
1603
1604 /* Resetting the mutex, no threads in queue.*/
1605 chMtxUnlockAllS();
1606
1607 /* Flagging it as unused and returning it to the pool.*/
1608 mp->queue.prev = NULL;
1609 chPoolFreeI(&osal.mutexes_pool, (void *)mp);
1610
1611 /* Required because some thread could have been made ready.*/
1612 chSchRescheduleS();
1613
1614 chSysUnlock();
1615
1616 return OS_SUCCESS;
1617}
1618
1619/**
1620 * @brief Mutex give.
1621 *
1622 * @param[in] sem_id mutex id variable
1623 * @return An error code.
1624 *
1625 * @api
1626 */
1627int32 OS_MutSemGive(uint32 sem_id) {
1628 mutex_t *mp = (mutex_t *)sem_id;
1629
1630 /* Range check.*/
1631 if ((mp < &osal.mutexes[0]) ||
1632 (mp >= &osal.mutexes[OS_MAX_COUNT_SEMAPHORES])) {
1633 return OS_ERR_INVALID_ID;
1634 }
1635
1636 chSysLock();
1637
1638 /* If the mutex is not in use then error.*/
1639 if (mp->queue.prev == NULL) {
1640 chSysUnlock();
1641 return OS_SEM_FAILURE;
1642 }
1643
1644 chMtxUnlockS(mp);
1645 chSchRescheduleS();
1646
1647 chSysUnlock();
1648
1649 return OS_SUCCESS;
1650}
1651
1652/**
1653 * @brief Mutex take.
1654 *
1655 * @param[in] sem_id mutex id variable
1656 * @return An error code.
1657 *
1658 * @api
1659 */
1660int32 OS_MutSemTake(uint32 sem_id) {
1661 mutex_t *mp = (mutex_t *)sem_id;
1662
1663 /* Range check.*/
1664 if ((mp < &osal.mutexes[0]) ||
1665 (mp >= &osal.mutexes[OS_MAX_COUNT_SEMAPHORES])) {
1666 return OS_ERR_INVALID_ID;
1667 }
1668
1669 chSysLock();
1670
1671 /* If the mutex is not in use then error.*/
1672 if (mp->queue.prev == NULL) {
1673 chSysUnlock();
1674 return OS_SEM_FAILURE;
1675 }
1676
1677 chMtxLockS(mp);
1678
1679 chSysUnlock();
1680
1681 return OS_SUCCESS;
1682}
1683
1684/**
1685 * @brief Retrieves a mutex id by name.
1686 * @note It is not currently implemented.
1687 *
1688 * @param[out] sem_id pointer to a mutex id variable
1689 * @param[in] sem_name the mutex name
1690 * @return An error code.
1691 *
1692 * @api
1693 */
1694int32 OS_MutSemGetIdByName(uint32 *sem_id, const char *sem_name) {
1695
1696 /* NULL pointer checks.*/
1697 if ((sem_id == NULL) || (sem_name == NULL)) {
1698 return OS_INVALID_POINTER;
1699 }
1700
1701 /* Checking name length.*/
1702 if (strlen(sem_name) >= OS_MAX_API_NAME) {
1703 return OS_ERR_NAME_TOO_LONG;
1704 }
1705
1706 return OS_ERR_NOT_IMPLEMENTED;
1707}
1708
1709/**
1710 * @brief Returns mutex information.
1711 * @note This function can be safely called from timer callbacks or ISRs.
1712 * @note It is not currently implemented.
1713 *
1714 * @param[in] sem_id mutex id variable
1715 * @param[in] sem_prop mutex properties
1716 * @return An error code.
1717 *
1718 * @api
1719 */
1720int32 OS_MutSemGetInfo(uint32 sem_id, OS_mut_sem_prop_t *sem_prop) {
1721 syssts_t sts;
1722 mutex_t *mp = (mutex_t *)sem_id;
1723
1724 /* NULL pointer checks.*/
1725 if (sem_prop == NULL) {
1726 return OS_INVALID_POINTER;
1727 }
1728
1729 /* Range check.*/
1730 if ((mp < &osal.mutexes[0]) ||
1731 (mp >= &osal.mutexes[OS_MAX_BIN_SEMAPHORES])) {
1732 return OS_ERR_INVALID_ID;
1733 }
1734
1735 /* Entering a reentrant critical zone.*/
1736 sts = chSysGetStatusAndLockX();
1737
1738 /* If the mutex is not in use then error.*/
1739 if (mp->queue.prev == NULL) {
1740 /* Leaving the critical zone.*/
1741 chSysRestoreStatusX(sts);
1742 return OS_ERR_INVALID_ID;
1743 }
1744
1745 /* Leaving the critical zone.*/
1746 chSysRestoreStatusX(sts);
1747
1748 return OS_ERR_NOT_IMPLEMENTED;
1749}
1750
1751/*-- Task Control API -------------------------------------------------------*/
1752
1753/**
1754 * @brief Task creation.
1755 * @note The task name is not copied inside the task but kept by reference,
1756 * the name is supposed to be persistent, better if defined as a
1757 * sting constant.
1758 *
1759 * @param[out] task_id pointer to a task id variable
1760 * @param[in] task_name the task name
1761 * @param[in] function_pointer the task function
1762 * @param[in] stack_pointer base of stack area
1763 * @param[in] stack_size size of stack area
1764 * @param[in] priority the task priority
1765 * @param[in] flags task attributes
1766 * @return An error code.
1767 *
1768 * @api
1769 */
1770int32 OS_TaskCreate(uint32 *task_id,
1771 const char *task_name,
1772 osal_task_entry function_pointer,
1773 const uint32 *stack_pointer,
1774 uint32 stack_size,
1775 uint32 priority,
1776 uint32 flags) {
1777 tprio_t rt_prio;
1778 thread_t *tp;
1779
1780 (void)flags;
1781
1782 /* NULL pointer checks.*/
1783 if ((task_id == NULL) || (task_name == NULL) ||
1784 (function_pointer == NULL) || (stack_pointer == NULL)) {
1785 return OS_INVALID_POINTER;
1786 }
1787
1788 /* Checking alignment of stack base and size, it is application
1789 responsibility to pass correct values.*/
1790 if (!MEM_IS_ALIGNED(stack_pointer, PORT_WORKING_AREA_ALIGN) ||
1791 !MEM_IS_ALIGNED(stack_size, sizeof (stkalign_t))) {
1792 return OS_ERROR_ADDRESS_MISALIGNED;
1793 }
1794
1795 /* Checking task name length.*/
1796 if (strlen(task_name) >= OS_MAX_API_NAME) {
1797 return OS_ERR_NAME_TOO_LONG;
1798 }
1799
1800 /* Checking priority range.*/
1801 if ((priority < MIN_PRIORITY) || (priority > MAX_PRIORITY)) {
1802 return OS_ERR_INVALID_PRIORITY;
1803 }
1804
1805 /* Checking if the specified stack size is below the bare minimum.*/
1806 if (stack_size < (uint32)THD_WORKING_AREA_SIZE(0)) {
1807 return OS_INVALID_INT_NUM;
1808 }
1809
1810 /* Checking if this working area is already in use by some thread, the
1811 error code is not very appropriate but this case seems to not be
1812 coveded by the specification.*/
1813 tp = chRegFindThreadByWorkingArea((stkalign_t *)stack_pointer);
1814 if (tp != NULL) {
1815 /* Releasing the thread reference.*/
1816 chThdRelease(tp);
1817 return OS_ERR_NO_FREE_IDS;
1818 }
1819
1820 /* Checking if the name is already in use.*/
1821 if ((tp = chRegFindThreadByName(task_name)) != NULL) {
1822 /* Releasing the thread reference.*/
1823 chThdRelease(tp);
1824 return OS_ERR_NAME_TAKEN;
1825 }
1826
1827 /* Converting priority to RT type.*/
1828 rt_prio = (tprio_t)256 - (tprio_t)priority;
1829 if (rt_prio == 1) {
1830 rt_prio = 2;
1831 }
1832
1833 thread_descriptor_t td = {
1834 task_name,
1835 (stkalign_t *)stack_pointer,
1836 (stkalign_t *)((uint8_t *)stack_pointer + stack_size),
1837 rt_prio,
1838 (tfunc_t)(void *)function_pointer,
1839 NULL
1840 };
1841
1842 /* Creating the task and detaching it, other APIs will have to gain a
1843 reference using the registry API.*/
1844 tp = chThdCreate(&td);
1845 chThdRelease(tp);
1846
1847 /* Storing the task id.*/
1848 *task_id = (uint32)tp;
1849
1850 return OS_SUCCESS;
1851}
1852
1853/**
1854 * @brief Installs a deletion handler.
1855 * @note It is implemented as hooks in chconf.h.
1856 *
1857 * @param[in] function_pointer the handler function
1858 * @return An error code.
1859 *
1860 * @api
1861 */
1862int32 OS_TaskInstallDeleteHandler(void *function_pointer) {
1863
1864 chThdGetSelfX()->osal_delete_handler = function_pointer;
1865
1866 return OS_SUCCESS;
1867}
1868
1869/**
1870 * @brief Check for task termination request.
1871 * @note This is a ChibiOS/RT extension, direct task delete is not
1872 * allowed in RT.
1873 *
1874 * @return The termination request flag.
1875 * @retval false if termination has not been requested.
1876 * @retval true if termination has been requested.
1877 *
1878 * @api
1879 */
1880boolean OS_TaskDeleteCheck(void) {
1881
1882 return (boolean)chThdShouldTerminateX();
1883}
1884
1885/**
1886 * @brief Task delete.
1887 * @note Limitation, it does not actually kill the thread, it just sets a
1888 * flag in the thread that has then to terminate voluntarily. The
1889 * flag can be checked using @p chThdShouldTerminateX().
1890 *
1891 * @param[in] task_id the task id
1892 * @return An error code.
1893 *
1894 * @api
1895 */
1896int32 OS_TaskDelete(uint32 task_id) {
1897 thread_t *tp = (thread_t *)task_id;
1898 funcptr_t fp;
1899
1900 /* Check for thread validity, getting a reference.*/
1901 if (chRegFindThreadByPointer(tp) == NULL) {
1902 return OS_ERR_INVALID_ID;
1903 }
1904
1905 /* Asking for thread termination.*/
1906 chThdTerminate(tp);
1907
1908 /* Getting the delete handler while the thread is still referenced.*/
1909 fp = (funcptr_t)tp->osal_delete_handler;
1910
1911 /* Waiting for termination, releasing the reference.*/
1912 chThdWait(tp);
1913
1914 /* Calling the delete handler, if defined.*/
1915 if (fp != NULL) {
1916 fp();
1917 }
1918
1919 return OS_SUCCESS;
1920}
1921
1922/**
1923 * @brief Task exit.
1924 *
1925 * @api
1926 */
1927void OS_TaskExit(void) {
1928
1929 chThdExit(MSG_OK);
1930}
1931
1932/**
1933 * @brief Wait for task termination.
1934 * @note This is a ChibiOS/RT extension, added for improved testability.
1935 *
1936 * @param[in] task_id the task id
1937 * @return An error code.
1938 *
1939 * @api
1940 */
1941int32 OS_TaskWait(uint32 task_id) {
1942 thread_t *tp = (thread_t *)task_id;
1943
1944 /* Check for thread validity, getting a reference.*/
1945 if (chRegFindThreadByPointer(tp) == NULL) {
1946 return OS_ERR_INVALID_ID;
1947 }
1948
1949 (void) chThdWait(tp);
1950
1951 return OS_SUCCESS;
1952}
1953
1954/**
1955 * @brief Task delay.
1956 *
1957 * @param[in] milli_second the period in miliseconds
1958 * @return An error code.
1959 *
1960 * @api
1961 */
1962int32 OS_TaskDelay(uint32 milli_second) {
1963
1964 chThdSleepMilliseconds(milli_second);
1965 return OS_SUCCESS;
1966}
1967
1968/**
1969 * @brief Change task priority.
1970 * @note Priority 255 is not available and it is transformed internally in
1971 * 254.
1972 *
1973 * @param[in] task_id the task id
1974 * @param[in] new_priority the task new priority
1975 * @return An error code.
1976 *
1977 * @api
1978 */
1979int32 OS_TaskSetPriority(uint32 task_id, uint32 new_priority) {
1980 tprio_t rt_newprio;
1981 thread_t *tp = (thread_t *)task_id;
1982
1983 /* Checking priority range.*/
1984 if ((new_priority < MIN_PRIORITY) || (new_priority > MAX_PRIORITY)) {
1985 return OS_ERR_INVALID_PRIORITY;
1986 }
1987
1988 /* Converting priority to RT type.*/
1989 rt_newprio = (tprio_t)256 - (tprio_t)new_priority;
1990 if (rt_newprio == 1) {
1991 rt_newprio = 2;
1992 }
1993
1994 if (chThdGetPriorityX() == rt_newprio) {
1995 return OS_SUCCESS;
1996 }
1997
1998 /* Check for thread validity.*/
1999 if (chRegFindThreadByPointer(tp) == NULL) {
2000 return OS_ERR_INVALID_ID;
2001 }
2002
2003 chSysLock();
2004
2005 /* Changing priority.*/
2006 if ((tp->hdr.pqueue.prio == tp->realprio) ||
2007 (rt_newprio > tp->hdr.pqueue.prio)) {
2008 tp->hdr.pqueue.prio = rt_newprio;
2009 }
2010 tp->realprio = rt_newprio;
2011
2012 /* The following states need priority queues reordering.*/
2013 switch (tp->state) {
2014 case CH_STATE_WTMTX:
2015#if CH_CFG_USE_CONDVARS
2016 case CH_STATE_WTCOND:
2017#endif
2018#if CH_CFG_USE_SEMAPHORES_PRIORITY
2019 case CH_STATE_WTSEM:
2020#endif
2021#if CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY
2022 case CH_STATE_SNDMSGQ:
2023#endif
2024 /* Re-enqueues tp with its new priority on the queue.*/
2025 ch_sch_prio_insert(ch_queue_dequeue(&tp->hdr.queue),
2026 (ch_queue_t *)tp->u.wtobjp);
2027 break;
2028 case CH_STATE_READY:
2029#if CH_DBG_ENABLE_ASSERTS
2030 /* Prevents an assertion in chSchReadyI().*/
2031 tp->state = CH_STATE_CURRENT;
2032#endif
2033 /* Re-enqueues tp with its new priority on the ready list.*/
2034 chSchReadyI((thread_t *)ch_queue_dequeue(&tp->hdr.queue));
2035 break;
2036 }
2037
2038 /* Rescheduling.*/
2039 chSchRescheduleS();
2040 chSysUnlock();
2041
2042 /* Releasing the thread reference.*/
2043 chThdRelease(tp);
2044
2045 return OS_SUCCESS;
2046}
2047
2048/**
2049 * @brief Task registration.
2050 * @note In ChibiOS/RT it does nothing.
2051 *
2052 * @return An error code.
2053 *
2054 * @api
2055 */
2056int32 OS_TaskRegister(void) {
2057
2058 return OS_SUCCESS;
2059}
2060
2061/**
2062 * @brief Current task id.
2063 * @note This function can be safely called from timer callbacks or ISRs.
2064 *
2065 * @return The current task id.
2066 *
2067 * @api
2068 */
2069uint32 OS_TaskGetId(void) {
2070
2071 return (uint32)chThdGetSelfX();
2072}
2073
2074/**
2075 * @brief Retrieves a task id by name.
2076 *
2077 * @param[out] task_id pointer to a task id variable
2078 * @param[in] task_name the task name
2079 * @return An error code.
2080 *
2081 * @api
2082 */
2083int32 OS_TaskGetIdByName(uint32 *task_id, const char *task_name) {
2084 thread_t *tp;
2085
2086 /* NULL pointer checks.*/
2087 if ((task_id == NULL) || (task_name == NULL)) {
2088 return OS_INVALID_POINTER;
2089 }
2090
2091 /* Checking task name length.*/
2092 if (strlen(task_name) >= OS_MAX_API_NAME) {
2093 return OS_ERR_NAME_TOO_LONG;
2094 }
2095
2096 /* Searching in the registry.*/
2097 tp = chRegFindThreadByName(task_name);
2098 if (tp == NULL) {
2099 return OS_ERR_NAME_NOT_FOUND;
2100 }
2101
2102 *task_id = (uint32)tp;
2103
2104 /* Releasing the thread reference.*/
2105 chThdRelease(tp);
2106
2107 return OS_SUCCESS;
2108}
2109
2110/**
2111 * @brief Returns task information.
2112 * @note This function can be safely called from timer callbacks or ISRs.
2113 * @note Priority 255 is not available and it is transformed internally in
2114 * 254.
2115 *
2116 * @param[in] task_id the task id
2117 * @param[in] task_prop task properties
2118 * @return An error code.
2119 *
2120 * @api
2121 */
2122int32 OS_TaskGetInfo(uint32 task_id, OS_task_prop_t *task_prop) {
2123 thread_t *tp = (thread_t *)task_id;
2124 size_t wasize = (size_t)tp - (size_t)tp->wabase + sizeof (thread_t);
2125
2126 /* NULL pointer checks.*/
2127 if (task_prop == NULL) {
2128 return OS_INVALID_POINTER;
2129 }
2130
2131 /* Check for thread validity.*/
2132 if (chRegFindThreadByPointer(tp) == NULL) {
2133 return OS_ERR_INVALID_ID;
2134 }
2135
2136 strncpy(task_prop->name, tp->name, OS_MAX_API_NAME - 1);
2137 task_prop->creator = (uint32)chSysGetIdleThreadX();
2138 task_prop->stack_size = (uint32)MEM_ALIGN_NEXT(wasize, PORT_STACK_ALIGN);
2139 task_prop->priority = (uint32)256U - (uint32)tp->realprio;
2140 task_prop->OStask_id = task_id;
2141
2142 /* Releasing the thread reference.*/
2143 chThdRelease(tp);
2144
2145 return OS_SUCCESS;
2146}
2147
2148/*-- System Interrupt API ---------------------------------------------------*/
2149
2150/* In ChibiOS interrupts are statically linked, the vectors table is in
2151 flash.*/
2152int32 OS_IntAttachHandler (uint32 InterruptNumber,
2153 osal_task_entry InterruptHandler,
2154 int32 parameter) {
2155 (void)InterruptNumber;
2156 (void)parameter;
2157
2158 /* NULL pointer checks.*/
2159 if (InterruptHandler == NULL) {
2160 return OS_INVALID_POINTER;
2161 }
2162
2163 return OS_ERR_NOT_IMPLEMENTED;
2164}
2165
2166int32 OS_IntLock(void) {
2167
2168 return (int32)chSysGetStatusAndLockX();
2169}
2170
2171int32 OS_IntUnlock(int32 IntLevel) {
2172
2173 chSysRestoreStatusX((syssts_t) IntLevel);
2174
2175 return OS_SUCCESS;
2176}
2177
2178int32 OS_IntEnable(int32 Level) {
2179
2180 NVIC_EnableIRQ((IRQn_Type)Level);
2181
2182 return OS_SUCCESS;
2183}
2184
2185int32 OS_IntDisable(int32 Level) {
2186
2187 NVIC_DisableIRQ((IRQn_Type)Level);
2188
2189 return OS_SUCCESS;
2190}
2191
2192int32 OS_IntAck(int32 InterruptNumber) {
2193
2194 NVIC_ClearPendingIRQ((IRQn_Type)InterruptNumber);
2195
2196 return OS_SUCCESS;
2197}
2198
2199/*-- System Exception API ---------------------------------------------------*/
2200
2201/* In ChibiOS exceptions are statically linked, the vectors table is in
2202 flash.*/
2203int32 OS_ExcAttachHandler(uint32 ExceptionNumber,
2204 void (*ExceptionHandler)(uint32, uint32 *,uint32),
2205 int32 parameter) {
2206
2207 (void)ExceptionNumber;
2208 (void)parameter;
2209
2210 /* NULL pointer checks.*/
2211 if (ExceptionHandler == NULL) {
2212 return OS_INVALID_POINTER;
2213 }
2214
2215 return OS_ERR_NOT_IMPLEMENTED;
2216}
2217
2218/* No exceptions masking.*/
2219int32 OS_ExcEnable(int32 ExceptionNumber) {
2220
2221 (void)ExceptionNumber;
2222
2223 return OS_ERR_NOT_IMPLEMENTED;
2224}
2225
2226/* No exceptions masking.*/
2227int32 OS_ExcDisable(int32 ExceptionNumber) {
2228
2229 (void)ExceptionNumber;
2230
2231 return OS_ERR_NOT_IMPLEMENTED;
2232}
2233
2234/*-- Floating Point Unit API ------------------------------------------------*/
2235
2236/* In ChibiOS exceptions are statically linked, the vectors table is in
2237 flash.*/
2238int32 OS_FPUExcAttachHandler(uint32 ExceptionNumber,
2239 void * ExceptionHandler ,
2240 int32 parameter) {
2241
2242 (void)ExceptionNumber;
2243 (void)parameter;
2244
2245 /* NULL pointer checks.*/
2246 if (ExceptionHandler == NULL) {
2247 return OS_INVALID_POINTER;
2248 }
2249
2250 return OS_ERR_NOT_IMPLEMENTED;
2251}
2252
2253int32 OS_FPUExcEnable(int32 ExceptionNumber) {
2254
2255 (void)ExceptionNumber;
2256
2257 return OS_ERR_NOT_IMPLEMENTED;
2258}
2259
2260int32 OS_FPUExcDisable(int32 ExceptionNumber) {
2261
2262 (void)ExceptionNumber;
2263
2264 return OS_ERR_NOT_IMPLEMENTED;
2265}
2266
2267int32 OS_FPUExcSetMask(uint32 mask) {
2268
2269 (void)mask;
2270
2271 return OS_ERR_NOT_IMPLEMENTED;
2272}
2273
2274int32 OS_FPUExcGetMask(uint32 *mask) {
2275
2276 (void)mask;
2277
2278 return OS_ERR_NOT_IMPLEMENTED;
2279}
2280
2281/** @} */
generated by cgit v1.2.3 (git 2.25.1) at 2025-08-31 12:04:42 +0100