diff options
Diffstat (limited to 'ChibiOS_20.3.2/os/common/abstractions/nasa_cfe')
19 files changed, 4521 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/cfe_osal.mk b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/cfe_osal.mk new file mode 100644 index 0000000..cc129c2 --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/cfe_osal.mk @@ -0,0 +1,8 @@ +# NASA CFE OSAL files.
+CFEOSALSRC = $(CHIBIOS)/os/common/abstractions/nasa_cfe/osal/src/osapi.c
+
+CFEOSALINC = $(CHIBIOS)/os/common/abstractions/nasa_cfe/osal/include
+
+# Shared variables
+ALLCSRC += $(CFEOSALSRC)
+ALLINC += $(CFEOSALINC)
diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/common_types.h b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/common_types.h new file mode 100644 index 0000000..100a9c7 --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/common_types.h @@ -0,0 +1,267 @@ +/*--------------------------------------------------------------------------- +** +** Filename: +** $Id: common_types.h 1.9 2014/01/14 16:28:32GMT-05:00 acudmore Exp $ +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Purpose: +** Unit specification for common types. +** +** Design Notes: +** Assumes make file has defined processor family +** +** References: +** Flight Software Branch C Coding Standard Version 1.0a +** +** +** Notes: +** +** +** $Date: 2014/01/14 16:28:32GMT-05:00 $ +** $Revision: 1.9 $ +** $Log: common_types.h $ +** Revision 1.9 2014/01/14 16:28:32GMT-05:00 acudmore +** Fixed typo in macro for x86-64 +** Revision 1.8 2013/08/09 13:58:04GMT-05:00 acudmore +** 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 +** Revision 1.7 2013/07/25 10:01:29GMT-05:00 acudmore +** Added C++ support +** Revision 1.6 2012/04/11 09:19:03GMT-05:00 acudmore +** added OS_USED attribute +** Revision 1.5 2010/02/18 16:43:29EST acudmore +** Added SPARC processor section +** Removed special characters from comments that cause problems with some tools. +** Revision 1.4 2010/02/18 16:41:39EST acudmore +** Added a block of defines for GCC specific pragmas and extensions. +** Removed RTEMS boolean related ifdefs +** moved OS_PACK into the GCC specific block +** Revision 1.3 2010/02/01 12:31:17EST acudmore +** Added uint64 type +** Revision 1.2 2009/07/07 16:30:05EDT acudmore +** Removed conditinal comp. around boolean for m68k. +** This will need to be done for all RTEMS targets +** Revision 1.1 2009/06/02 10:04:58EDT acudmore +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.1 2008/04/20 22:35:58EDT ruperera +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/inc/project.pj +** Revision 1.1 2007/10/16 16:14:49EDT apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/inc/project.pj +** Revision 1.2 2006/06/08 14:28:32EDT David Kobe (dlkobe) +** Added NASA Open Source Legal Statement +** Revision 1.1 2005/06/09 09:57:51GMT-05:00 rperera +** Initial revision +** Member added to project d:/mksdata/MKS-CFE-REPOSITORY/cfe-core/inc/project.pj +** Revision 1.6 2005/03/24 19:20:52 rmcgraw +** Wrapped the boolean defintion for all three processors with #ifndef _USING_RTEMS_INCLUDES_ +** +** Revision 1.5 2005/03/10 16:59:08 acudmore +** removed boolean prefix to TRUE and FALSE defintion to avoid vxWorks conflict. +** +** Revision 1.4 2005/03/07 20:23:34 acudmore +** removed duplicate boolean definition +** +** Revision 1.3 2005/03/07 20:05:17 acudmore +** updated with __PPC__ macro that gnu compiler uses +** +** Revision 1.2 2005/03/04 16:02:44 acudmore +** added coldfire architecture +** +** Revision 1.1 2005/03/04 15:58:45 acudmore +** Added common_types.h +** +** +** +**-------------------------------------------------------------------------*/ + +#ifndef _common_types_ +#define _common_types_ + +#ifdef __cplusplus + extern "C" { +#endif + +/* +** Includes +*/ + +/* +** Macro Definitions +*/ + +/* +** Condition = TRUE is ok, Condition = FALSE is error +*/ +#define CompileTimeAssert(Condition, Message) typedef char Message[(Condition) ? 1 : -1] + + +/* +** Define compiler specific macros +** The __extension__ compiler pragma is required +** for the uint64 type using GCC with the ANSI C90 standard. +** Other macros can go in here as needed, for example alignment +** pragmas. +*/ +#if defined (__GNUC__) + #define _EXTENSION_ __extension__ + #define OS_PACK __attribute__ ((packed)) + #define OS_ALIGN(n) __attribute__((aligned(n))) + #define OS_USED __attribute__((used)) +#else + #define _EXTENSION_ + #define OS_PACK + #define OS_ALIGN(n) + #define OS_USED +#endif + +#if defined(_ix86_) || defined (__i386__) +/* ----------------------- Intel x86 processor family -------------------------*/ + /* Little endian */ + #undef _STRUCT_HIGH_BIT_FIRST_ + #define _STRUCT_LOW_BIT_FIRST_ + + typedef unsigned char boolean; + typedef signed char int8; + typedef short int int16; + typedef long int int32; + _EXTENSION_ typedef long long int int64; + typedef unsigned char uint8; + typedef unsigned short int uint16; + typedef unsigned long int uint32; + _EXTENSION_ typedef unsigned long long int uint64; + + typedef unsigned long int cpuaddr; + +#elif defined (_ix64_) || defined (__x86_64__) +/* ----------------------- Intel/AMD x64 processor family -------------------------*/ + /* Little endian */ + #undef _STRUCT_HIGH_BIT_FIRST_ + #define _STRUCT_LOW_BIT_FIRST_ + + typedef unsigned char boolean; + typedef signed char int8; + typedef short int int16; + typedef int int32; + typedef long int int64; + typedef unsigned char uint8; + typedef unsigned short int uint16; + typedef unsigned int uint32; + typedef unsigned long int uint64; + + typedef unsigned long int cpuaddr; + +#elif defined(__PPC__) || defined (__ppc__) + /* ----------------------- Motorola Power PC family ---------------------------*/ + /* The PPC can be programmed to be big or little endian, we assume native */ + /* Big endian */ + #define _STRUCT_HIGH_BIT_FIRST_ + #undef _STRUCT_LOW_BIT_FIRST_ + + typedef unsigned char boolean; + typedef signed char int8; + typedef short int int16; + typedef long int int32; + _EXTENSION_ typedef long long int int64; + typedef unsigned char uint8; + typedef unsigned short int uint16; + typedef unsigned long int uint32; + _EXTENSION_ typedef unsigned long long int uint64; + + typedef unsigned long int cpuaddr; + +#elif defined(_m68k_) || defined(__m68k__) + /* ----------------------- Motorola m68k/Coldfire family ---------------------------*/ + /* Big endian */ + #define _STRUCT_HIGH_BIT_FIRST_ + #undef _STRUCT_LOW_BIT_FIRST_ + + typedef unsigned char boolean; + typedef signed char int8; + typedef short int int16; + typedef long int int32; + _EXTENSION_ typedef long long int int64; + typedef unsigned char uint8; + typedef unsigned short int uint16; + typedef unsigned long int uint32; + _EXTENSION_ typedef unsigned long long int uint64; + + typedef unsigned long int cpuaddr; + +#elif defined (__ARM__) || defined(__arm__) +/* ----------------------- ARM processor family -------------------------*/ + /* Little endian */ + #undef _STRUCT_HIGH_BIT_FIRST_ + #define _STRUCT_LOW_BIT_FIRST_ + + typedef unsigned char boolean; + typedef signed char int8; + typedef short int int16; + typedef long int int32; + _EXTENSION_ typedef long long int int64; + typedef unsigned char uint8; + typedef unsigned short int uint16; + typedef unsigned long int uint32; + _EXTENSION_ typedef unsigned long long int uint64; + + typedef unsigned long int cpuaddr; + +#elif defined(__SPARC__) || defined (_sparc_) + /* ----------------------- SPARC/LEON family ---------------------------*/ + /* SPARC Big endian */ + #define _STRUCT_HIGH_BIT_FIRST_ + #undef _STRUCT_LOW_BIT_FIRST_ + + typedef unsigned char boolean; + typedef signed char int8; + typedef short int int16; + typedef long int int32; + _EXTENSION_ typedef long long int int64; + typedef unsigned char uint8; + typedef unsigned short int uint16; + typedef unsigned long int uint32; + _EXTENSION_ typedef unsigned long long int uint64; + + typedef unsigned long int cpuaddr; + +#else /* not any of the above */ + #error undefined processor +#endif /* processor types */ + +#ifndef NULL /* pointer to nothing */ + #define NULL ((void *) 0) +#endif + +#ifndef TRUE /* Boolean true */ + #define TRUE (1) +#endif + +#ifndef FALSE /* Boolean false */ + #define FALSE (0) +#endif + +/* +** Check Sizes +*/ +CompileTimeAssert(sizeof(uint8)==1, TypeUint8WrongSize); +CompileTimeAssert(sizeof(uint16)==2, TypeUint16WrongSize); +CompileTimeAssert(sizeof(uint32)==4, TypeUint32WrongSize); +CompileTimeAssert(sizeof(uint64)==8, TypeUint64WrongSize); +CompileTimeAssert(sizeof(int8)==1, Typeint8WrongSize); +CompileTimeAssert(sizeof(int16)==2, Typeint16WrongSize); +CompileTimeAssert(sizeof(int32)==4, Typeint32WrongSize); +CompileTimeAssert(sizeof(int64)==8, Typeint64WrongSize); + +#ifdef __cplusplus + } +#endif + +#endif /* _common_types_ */ diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-core.h b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-core.h new file mode 100644 index 0000000..8c9b13a --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-core.h @@ -0,0 +1,274 @@ +/* +** File: osapi-os-core.h +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Author: Ezra Yeheksli -Code 582/Raytheon +** +** Purpose: Contains functions prototype definitions and variables declarations +** for the OS Abstraction Layer, Core OS module +** +** $Revision: 1.8 $ +** +** $Date: 2013/07/25 10:02:00GMT-05:00 $ +** +** $Log: osapi-os-core.h $ +** Revision 1.8 2013/07/25 10:02:00GMT-05:00 acudmore +** removed circular include "osapi.h" +** Revision 1.7 2012/04/11 09:30:48GMT-05:00 acudmore +** Added OS_printf_enable and OS_printf_disable +** Revision 1.6 2010/11/12 12:00:17EST acudmore +** replaced copyright character with (c) and added open source notice where needed. +** Revision 1.5 2010/11/10 15:33:14EST acudmore +** Updated IntAttachHandler prototype +** Revision 1.4 2010/03/08 12:06:28EST acudmore +** added function pointer type to get rid of warnings +** Revision 1.3 2010/02/01 12:37:15EST acudmore +** added return code to OS API init +** Revision 1.2 2009/08/04 10:49:09EDT acudmore +** +*/ + +#ifndef _osapi_core_ +#define _osapi_core_ + +#include <stdarg.h> /* for va_list */ + +/*difines constants for OS_BinSemCreate for state of semaphore */ +#define OS_SEM_FULL 1 +#define OS_SEM_EMPTY 0 + +/* #define for enabling floating point operations on a task*/ +#define OS_FP_ENABLED 1 + +/* tables for the properties of objects */ + +/*tasks */ +typedef struct +{ + char name [OS_MAX_API_NAME]; + uint32 creator; + uint32 stack_size; + uint32 priority; + uint32 OStask_id; +}OS_task_prop_t; + +/* queues */ +typedef struct +{ + char name [OS_MAX_API_NAME]; + uint32 creator; +}OS_queue_prop_t; + +/* Binary Semaphores */ +typedef struct +{ + char name [OS_MAX_API_NAME]; + uint32 creator; + int32 value; +}OS_bin_sem_prop_t; + +/* Counting Semaphores */ +typedef struct +{ + char name [OS_MAX_API_NAME]; + uint32 creator; + int32 value; +}OS_count_sem_prop_t; + +/* Mutexes */ +typedef struct +{ + char name [OS_MAX_API_NAME]; + uint32 creator; +}OS_mut_sem_prop_t; + + +/* struct for OS_GetLocalTime() */ + +typedef struct +{ + uint32 seconds; + uint32 microsecs; +}OS_time_t; + +/* heap info */ +typedef struct +{ + uint32 free_bytes; + uint32 free_blocks; + uint32 largest_free_block; +}OS_heap_prop_t; + + +/* This typedef is for the OS_GetErrorName function, to ensure + * everyone is making an array of the same length */ + +typedef char os_err_name_t[35]; + +/* +** These typedefs are for the task entry point +*/ +typedef void osal_task; +typedef osal_task ((*osal_task_entry)(void)); + +/* +** Exported Functions +*/ + +/* +** Initialization of API +*/ +int32 OS_API_Init (void); + + +/* +** Task API +*/ + +int32 OS_TaskCreate (uint32 *task_id, const char *task_name, + osal_task_entry function_pointer, + const uint32 *stack_pointer, + uint32 stack_size, + uint32 priority, uint32 flags); + +int32 OS_TaskDelete (uint32 task_id); +void OS_TaskExit (void); +int32 OS_TaskInstallDeleteHandler(void *function_pointer); +int32 OS_TaskDelay (uint32 millisecond); +int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority); +int32 OS_TaskRegister (void); +uint32 OS_TaskGetId (void); +int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name); +int32 OS_TaskGetInfo (uint32 task_id, OS_task_prop_t *task_prop); + +/* +** Message Queue API +*/ + +/* +** Queue Create now has the Queue ID returned to the caller. +*/ +int32 OS_QueueCreate (uint32 *queue_id, const char *queue_name, + uint32 queue_depth, uint32 data_size, uint32 flags); +int32 OS_QueueDelete (uint32 queue_id); +int32 OS_QueueGet (uint32 queue_id, void *data, uint32 size, + uint32 *size_copied, int32 timeout); +int32 OS_QueuePut (uint32 queue_id, void *data, uint32 size, + uint32 flags); +int32 OS_QueueGetIdByName (uint32 *queue_id, const char *queue_name); +int32 OS_QueueGetInfo (uint32 queue_id, OS_queue_prop_t *queue_prop); + +/* +** Semaphore API +*/ + +int32 OS_BinSemCreate (uint32 *sem_id, const char *sem_name, + uint32 sem_initial_value, uint32 options); +int32 OS_BinSemFlush (uint32 sem_id); +int32 OS_BinSemGive (uint32 sem_id); +int32 OS_BinSemTake (uint32 sem_id); +int32 OS_BinSemTimedWait (uint32 sem_id, uint32 msecs); +int32 OS_BinSemDelete (uint32 sem_id); +int32 OS_BinSemGetIdByName (uint32 *sem_id, const char *sem_name); +int32 OS_BinSemGetInfo (uint32 sem_id, OS_bin_sem_prop_t *bin_prop); + +int32 OS_CountSemCreate (uint32 *sem_id, const char *sem_name, + uint32 sem_initial_value, uint32 options); +int32 OS_CountSemGive (uint32 sem_id); +int32 OS_CountSemTake (uint32 sem_id); +int32 OS_CountSemTimedWait (uint32 sem_id, uint32 msecs); +int32 OS_CountSemDelete (uint32 sem_id); +int32 OS_CountSemGetIdByName (uint32 *sem_id, const char *sem_name); +int32 OS_CountSemGetInfo (uint32 sem_id, OS_count_sem_prop_t *count_prop); + +/* +** Mutex API +*/ + +int32 OS_MutSemCreate (uint32 *sem_id, const char *sem_name, uint32 options); +int32 OS_MutSemGive (uint32 sem_id); +int32 OS_MutSemTake (uint32 sem_id); +int32 OS_MutSemDelete (uint32 sem_id); +int32 OS_MutSemGetIdByName (uint32 *sem_id, const char *sem_name); +int32 OS_MutSemGetInfo (uint32 sem_id, OS_mut_sem_prop_t *mut_prop); + +/* +** OS Time/Tick related API +*/ + +int32 OS_Milli2Ticks (uint32 milli_seconds); +int32 OS_Tick2Micros (void); +int32 OS_GetLocalTime (OS_time_t *time_struct); +int32 OS_SetLocalTime (OS_time_t *time_struct); + +/* +** Exception API +*/ + +int32 OS_ExcAttachHandler (uint32 ExceptionNumber, + void (*ExceptionHandler)(uint32, uint32 *,uint32), + int32 parameter); +int32 OS_ExcEnable (int32 ExceptionNumber); +int32 OS_ExcDisable (int32 ExceptionNumber); + +/* +** Floating Point Unit API +*/ + +int32 OS_FPUExcAttachHandler (uint32 ExceptionNumber, void * ExceptionHandler , + int32 parameter); +int32 OS_FPUExcEnable (int32 ExceptionNumber); +int32 OS_FPUExcDisable (int32 ExceptionNumber); +int32 OS_FPUExcSetMask (uint32 mask); +int32 OS_FPUExcGetMask (uint32 *mask); + +/* +** Interrupt API +*/ +int32 OS_IntAttachHandler (uint32 InterruptNumber, osal_task_entry InterruptHandler, int32 parameter); +int32 OS_IntUnlock (int32 IntLevel); +int32 OS_IntLock (void); + +int32 OS_IntEnable (int32 Level); +int32 OS_IntDisable (int32 Level); + +int32 OS_IntSetMask (uint32 mask); +int32 OS_IntGetMask (uint32 *mask); +int32 OS_IntAck (int32 InterruptNumber); + +/* +** Shared memory API +*/ +int32 OS_ShMemInit (void); +int32 OS_ShMemCreate (uint32 *Id, uint32 NBytes, char* SegName); +int32 OS_ShMemSemTake (uint32 Id); +int32 OS_ShMemSemGive (uint32 Id); +int32 OS_ShMemAttach (uint32 * Address, uint32 Id); +int32 OS_ShMemGetIdByName (uint32 *ShMemId, const char *SegName ); + +/* +** Heap API +*/ +int32 OS_HeapGetInfo (OS_heap_prop_t *heap_prop); + +/* +** API for useful debugging function +*/ +int32 OS_GetErrorName (int32 error_num, os_err_name_t* err_name); + + +/* +** Abstraction for printf statements +*/ +void OS_printf( const char *string, ...); +void OS_printf_disable(void); +void OS_printf_enable(void); + +#endif diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-custom.h b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-custom.h new file mode 100644 index 0000000..c05c1ac --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-custom.h @@ -0,0 +1,68 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file osapi-os-custom.h
+ * @brief Custom OSAPI extensions header.
+ *
+ * @addtogroup osapi-custom
+ * @{
+ */
+
+#ifndef OSAPI_CUSTOM_H
+#define OSAPI_CUSTOM_H
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void OS_set_printf(int (*printf)(const char *fmt, ...));
+ boolean OS_TaskDeleteCheck(void);
+ int32 OS_TaskWait(uint32 task_id);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+#endif /* OSAPI_CUSTOM_H */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-filesys.h b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-filesys.h new file mode 100644 index 0000000..c468003 --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-filesys.h @@ -0,0 +1,419 @@ +/* +** File: osapi-os-filesys.h +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Author: Alan Cudmore Code 582 +** +** Purpose: Contains functions prototype definitions and variables declarations +** for the OS Abstraction Layer, File System module +** +** $Revision: 1.11 $ +** +** $Date: 2013/12/16 12:57:41GMT-05:00 $ +** +** $Log: osapi-os-filesys.h $ +** Revision 1.11 2013/12/16 12:57:41GMT-05:00 acudmore +** Added macros for Volume name length and physical device name length +** Revision 1.10 2013/07/29 12:05:48GMT-05:00 acudmore +** Added define for device and volume name length +** Revision 1.9 2013/07/25 14:31:21GMT-05:00 acudmore +** Added prototype and datatype for OS_GetFsInfo +** Revision 1.8 2011/12/05 12:04:21GMT-05:00 acudmore +** Added OS_rewinddir API +** Revision 1.7 2011/04/05 16:01:12EDT acudmore +** Added OS_CloseFileByName and OS_CloseAllFiles +** Revision 1.6 2010/11/15 11:04:38EST acudmore +** Added OS_FileOpenCheck function. +** Revision 1.5 2010/11/12 12:00:18EST acudmore +** replaced copyright character with (c) and added open source notice where needed. +** Revision 1.4 2010/02/01 12:28:57EST acudmore +** Added OS_fsBytesFree API +** Revision 1.3 2010/01/25 14:44:26EST acudmore +** renamed "new" variable to avoid C++ reserved name conflict. +** Revision 1.2 2009/07/14 15:16:05EDT acudmore +** Added OS_TranslatePath to the API +** Revision 1.1 2008/04/20 22:36:01EDT ruperera +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.1 2007/10/16 16:14:52EDT apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.1 2007/08/24 13:43:24EDT apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-CFE-PROJECT/fsw/cfe-core/os/inc/project.pj +** Revision 1.17 2007/06/07 09:59:14EDT njyanchik +** I replaced the second OS_cp definition with OS_mv +** Revision 1.16 2007/06/05 16:25:33EDT apcudmore +** Increased Number of volume table entries from 10 to 14. +** Added 2 extra EEPROM disk mappings to RAD750 Volume table + 2 spares +** Added 4 spares to every other volume table. +** Revision 1.15 2007/05/25 09:17:56EDT njyanchik +** I added the rmfs call to the OSAL and updated the unit test stubs to match +** Revision 1.14 2007/03/21 10:15:29EST njyanchik +** I mistakenly put the wrong length in for the path in the OS_FDTableEntry structure, and I added +** some code that will set and out of range file descriptors .IsValid flag to false in OS_FDGetInfo +** Revision 1.13 2007/03/06 11:52:46EST njyanchik +** This change goes with the previous CP, I forgot to include it +** Revision 1.12 2007/02/28 14:57:45EST njyanchik +** The updates for supporting copying and moving files are now supported +** Revision 1.11 2007/02/27 15:22:11EST njyanchik +** This CP has the initial import of the new file descripor table mechanism +** Revision 1.10 2006/12/20 10:27:09EST njyanchik +** This change package incorporates all the changes necessary for the addition +** of a new API to get the real physical drive undernieth a mount point +** Revision 1.9 2006/11/14 14:44:28GMT-05:00 njyanchik +** Checks were added to the OS fs calls that look at the return of a function that +** changes the name of paths from abstracted to local path names. +** Revision 1.8 2006/10/30 16:12:19GMT-05:00 apcudmore +** Updated Compact flash and RAM device names for vxWorks 6.2 changes. +** Revision 1.7 2006/10/25 11:31:18EDT njyanchik +** This CP incorporates changes to every bsp_voltab.c file. I increased the number +** entries in the volume table to 10. I also changed the #define in the os_filesys.h +** file for the number of entries to match. +** +** This update also includes adding the prototype for OS_initfs in os_filesys.h +** Revision 1.6 2006/09/26 09:03:46GMT-05:00 njyanchik +** Contains the initial import of the ES Shell commands interface +** Revision 1.5 2006/07/25 15:37:52EDT njyanchik +** It turns out the both the FS app and the OSAL were incorrect where file descriptors are +** concerned. the file descriptors should be int32 across the board. +** Revision 1.4 2006/01/20 11:56:18EST njyanchik +** Fixed header file information to match api document +** Revision 1.26 2005/07/12 17:13:56 nyanchik +** Moved the Volume table to a bsp table in the arch directories. +** +** Revision 1.2 2005/07/11 16:26:57EDT apcudmore +** OSAPI 2.0 integration +** Revision 1.25 2005/07/06 16:11:17 nyanchik +** *** empty log message *** +** +** Revision 1.24 2005/07/05 18:34:55 nyanchik +** fixed issues found in code walkthrogh. Also removed the OS_Info* functions that are going in the BSP +** +** Revision 1.23 2005/06/17 19:46:34 nyanchik +** added new file system style to linux and rtems. +** +** Revision 1.22 2005/06/15 16:43:48 nyanchik +** added extra parenthesis for the .h file # defines +** +** Revision 1.21 2005/06/06 14:17:42 nyanchik +** added headers to osapi-os-core.h and osapi-os-filesys.h +** +** Revision 1.20 2005/06/02 18:04:24 nyanchik +** *** empty log message *** +** +** Revision 1.1 2005/03/15 18:26:32 nyanchik +** *** empty log message *** +** +** +** Date Written: +** +** +*/ + +#ifndef _osapi_filesys_ +#define _osapi_filesys_ +#include <stdio.h> +#include <stdlib.h> +#include <dirent.h> +#include <sys/stat.h> + +#define OS_READ_ONLY 0 +#define OS_WRITE_ONLY 1 +#define OS_READ_WRITE 2 + +#define OS_SEEK_SET 0 +#define OS_SEEK_CUR 1 +#define OS_SEEK_END 2 + +#define OS_CHK_ONLY 0 +#define OS_REPAIR 1 + +#define FS_BASED 0 +#define RAM_DISK 1 +#define EEPROM_DISK 2 +#define ATA_DISK 3 + + +/* +** Number of entries in the internal volume table +*/ +#define NUM_TABLE_ENTRIES 14 + +/* +** Length of a Device and Volume name +*/ +#define OS_FS_DEV_NAME_LEN 32 +#define OS_FS_PHYS_NAME_LEN 64 +#define OS_FS_VOL_NAME_LEN 32 + + +/* +** Defines for File System Calls +*/ +#define OS_FS_SUCCESS 0 +#define OS_FS_ERROR (-1) +#define OS_FS_ERR_INVALID_POINTER (-2) +#define OS_FS_ERR_PATH_TOO_LONG (-3) +#define OS_FS_ERR_NAME_TOO_LONG (-4) +#define OS_FS_UNIMPLEMENTED (-5) +#define OS_FS_ERR_DRIVE_NOT_CREATED (-6) +#define OS_FS_ERR_DEVICE_NOT_FREE (-7) +#define OS_FS_ERR_PATH_INVALID (-8) +#define OS_FS_ERR_NO_FREE_FDS (-9) +#define OS_FS_ERR_INVALID_FD (-10) + +/* This typedef is for the OS_FS_GetErrorName function, to ensure + * everyone is making an array of the same length */ + +typedef char os_fs_err_name_t[35]; + + +/* +** Internal structure of the OS volume table for +** mounted file systems and path translation +*/ +typedef struct +{ + char DeviceName [OS_FS_DEV_NAME_LEN]; + char PhysDevName [OS_FS_PHYS_NAME_LEN]; + uint32 VolumeType; + uint8 VolatileFlag; + uint8 FreeFlag; + uint8 IsMounted; + char VolumeName [OS_FS_VOL_NAME_LEN]; + char MountPoint [OS_MAX_PATH_LEN]; + uint32 BlockSize; + +}OS_VolumeInfo_t; + +typedef struct +{ + int32 OSfd; /* The underlying OS's file descriptor */ + char Path[OS_MAX_PATH_LEN]; /* The path of the file opened */ + uint32 User; /* The task id of the task who opened the file*/ + uint8 IsValid; /* Whether or not this entry is valid */ +}OS_FDTableEntry; + +typedef struct +{ + uint32 MaxFds; /* Total number of file descriptors */ + uint32 FreeFds; /* Total number that are free */ + uint32 MaxVolumes; /* Maximum number of volumes */ + uint32 FreeVolumes; /* Total number of volumes free */ +} os_fsinfo_t; + +/* modified to posix calls, since all of the + * applicable OSes use the posix calls */ + +typedef struct stat os_fstat_t; +typedef DIR* os_dirp_t; +typedef struct dirent os_dirent_t; +/* still don't know what this should be*/ +typedef unsigned long int os_fshealth_t; + +/* + * Exported Functions +*/ + + +/****************************************************************************** +** Standard File system API +******************************************************************************/ +/* + * Initializes the File System functions +*/ + +int32 OS_FS_Init(void); + +/* + * Creates a file specified by path +*/ +int32 OS_creat (const char *path, int32 access); + +/* + * Opend a file for reading/writing. Returns file descriptor +*/ +int32 OS_open (const char *path, int32 access, uint32 mode); + +/* + * Closes an open file. +*/ +int32 OS_close (int32 filedes); + +/* + * Reads nbytes bytes from file into buffer +*/ +int32 OS_read (int32 filedes, void *buffer, uint32 nbytes); + +/* + * Write nybytes bytes of buffer into the file +*/ +int32 OS_write (int32 filedes, void *buffer, uint32 nbytes); + +/* + * Changes the permissions of a file +*/ +int32 OS_chmod (const char *path, uint32 access); + +/* + * Returns file status information in filestats +*/ +int32 OS_stat (const char *path, os_fstat_t *filestats); + +/* + * Seeks to the specified position of an open file +*/ +int32 OS_lseek (int32 filedes, int32 offset, uint32 whence); + +/* + * Removes a file from the file system +*/ +int32 OS_remove (const char *path); + +/* + * Renames a file in the file system +*/ +int32 OS_rename (const char *old_filename, const char *new_filename); + +/* + * copies a single file from src to dest +*/ +int32 OS_cp (const char *src, const char *dest); + +/* + * moves a single file from src to dest +*/ +int32 OS_mv (const char *src, const char *dest); + +/* + * Copies the info of an open file to the structure +*/ +int32 OS_FDGetInfo (int32 filedes, OS_FDTableEntry *fd_prop); + +/* +** Check to see if a file is open +*/ +int32 OS_FileOpenCheck(char *Filename); + +/* +** Close all open files +*/ +int32 OS_CloseAllFiles(void); + +/* +** Close a file by filename +*/ +int32 OS_CloseFileByName(char *Filename); + + +/****************************************************************************** +** Directory API +******************************************************************************/ + +/* + * Makes a new directory +*/ +int32 OS_mkdir (const char *path, uint32 access); + +/* + * Opens a directory for searching +*/ +os_dirp_t OS_opendir (const char *path); + +/* + * Closes an open directory +*/ +int32 OS_closedir(os_dirp_t directory); + +/* + * Rewinds an open directory +*/ +void OS_rewinddir(os_dirp_t directory); + +/* + * Reads the next object in the directory +*/ +os_dirent_t * OS_readdir (os_dirp_t directory); + +/* + * Removes an empty directory from the file system. +*/ +int32 OS_rmdir (const char *path); + +/****************************************************************************** +** System Level API +******************************************************************************/ +/* + * Makes a file system +*/ +int32 OS_mkfs (char *address,char *devname, char *volname, + uint32 blocksize, uint32 numblocks); +/* + * Mounts a file system +*/ +int32 OS_mount (const char *devname, char *mountpoint); + +/* + * Initializes an existing file system +*/ +int32 OS_initfs (char *address,char *devname, char *volname, + uint32 blocksize, uint32 numblocks); + +/* + * removes a file system +*/ +int32 OS_rmfs (char *devname); + +/* + * Unmounts a mounted file system +*/ +int32 OS_unmount (const char *mountpoint); + +/* + * Returns the number of free blocks in a file system +*/ +int32 OS_fsBlocksFree (const char *name); + +/* +** Returns the number of free bytes in a file system +** Note the 64 bit data type to support filesystems that +** are greater than 4 Gigabytes +*/ +int32 OS_fsBytesFree (const char *name, uint64 *bytes_free); + +/* + * Checks the health of a file system and repairs it if neccesary +*/ +os_fshealth_t OS_chkfs (const char *name, boolean repair); + +/* + * Returns in the parameter the physical drive underneith the mount point +*/ +int32 OS_FS_GetPhysDriveName (char * PhysDriveName, char * MountPoint); + +/* +** Translates a OSAL Virtual file system path to a host Local path +*/ +int32 OS_TranslatePath ( const char *VirtualPath, char *LocalPath); + +/* +** Returns information about the file system in an os_fsinfo_t +*/ +int32 OS_GetFsInfo(os_fsinfo_t *filesys_info); + +/****************************************************************************** +** Shell API +******************************************************************************/ + +/* executes the shell command passed into is and writes the output of that + * command to the file specified by the given OSAPI file descriptor */ +int32 OS_ShellOutputToFile(char* Cmd, int32 OS_fd); +#endif diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-loader.h b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-loader.h new file mode 100644 index 0000000..4f0b21b --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-loader.h @@ -0,0 +1,91 @@ +/* +** File: osapi-os-loader.h +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Author: Alan Cudmore - Code 582 +** +** Purpose: Contains functions prototype definitions and variables declarations +** for the OS Abstraction Layer, Object file loader API +** +** $Revision: 1.5 $ +** +** $Date: 2013/07/25 10:02:08GMT-05:00 $ +** +** $Log: osapi-os-loader.h $ +** Revision 1.5 2013/07/25 10:02:08GMT-05:00 acudmore +** removed circular include "osapi.h" +** Revision 1.4 2010/11/12 12:00:18GMT-05:00 acudmore +** replaced copyright character with (c) and added open source notice where needed. +** Revision 1.3 2010/02/01 12:38:06EST acudmore +** added return code to OS_ModuleTableInit +** Revision 1.2 2008/06/20 15:13:43EDT apcudmore +** Checked in new Module loader/symbol table functionality +** Revision 1.1 2008/04/20 22:36:02EDT ruperera +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.1 2008/02/07 11:08:24EST apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** +** +*/ + +#ifndef _osapi_loader_ +#define _osapi_loader_ + +/* +** Defines +*/ + + +/* +** Typedefs +*/ + +typedef struct +{ + uint32 valid; + uint32 code_address; + uint32 code_size; + uint32 data_address; + uint32 data_size; + uint32 bss_address; + uint32 bss_size; + uint32 flags; +} OS_module_address_t; + +typedef struct +{ + int free; + uint32 entry_point; + uint32 host_module_id; + char filename[OS_MAX_PATH_LEN]; + char name[OS_MAX_API_NAME]; + OS_module_address_t addr; + +} OS_module_record_t; + +/* +** Loader API +*/ +int32 OS_ModuleTableInit ( void ); + +int32 OS_SymbolLookup (uint32 *symbol_address, char *symbol_name ); + +int32 OS_SymbolTableDump ( char *filename, uint32 size_limit ); + +int32 OS_ModuleLoad ( uint32 *module_id, char *module_name, char *filename ); + +int32 OS_ModuleUnload ( uint32 module_id ); + +int32 OS_ModuleInfo ( uint32 module_id, OS_module_record_t *module_info ); + + +#endif diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-net.h b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-net.h new file mode 100644 index 0000000..b8cc67d --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-net.h @@ -0,0 +1,61 @@ +/* +** File: osapi-os-net.h +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Author: Alan Cudmore Code 582 +** +** Purpose: Contains functions prototype definitions and variables declarations +** for the OS Abstraction Layer, Network Module +** +** $Revision: 1.2 $ +** +** $Date: 2010/11/12 12:00:19GMT-05:00 $ +** +** $Log: osapi-os-net.h $ +** Revision 1.2 2010/11/12 12:00:19GMT-05:00 acudmore +** replaced copyright character with (c) and added open source notice where needed. +** Revision 1.1 2008/04/20 22:36:02EDT ruperera +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.1 2007/10/16 16:14:52EDT apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.1 2007/08/24 13:43:25EDT apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-CFE-PROJECT/fsw/cfe-core/os/inc/project.pj +** Revision 1.3 2006/01/20 11:56:18EST njyanchik +** Fixed header file information to match api document +** Revision 1.4 2005/06/07 16:49:31 nyanchik +** changed returns code for osapi.c to all int32 from uint32 +** +** Revision 1.3 2005/03/22 19:04:54 acudmore +** fixed uint type +** +** Revision 1.2 2005/03/22 18:59:33 acudmore +** updated prototype +** +** Revision 1.1 2005/03/22 18:58:51 acudmore +** added osapi network interface +** +** Revision 1.1 2005/03/15 18:26:32 nyanchik +** *** empty log message *** +** +** +** Date Written: +** +** +*/ +#ifndef _osapi_network_ +#define _osapi_network_ + +int32 OS_NetworkGetID (void); +int32 OS_NetworkGetHostName (char *host_name, uint32 name_len); + +#endif diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-timer.h b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-timer.h new file mode 100644 index 0000000..8082c62 --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-timer.h @@ -0,0 +1,68 @@ +/* +** File: osapi-os-timer.h +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Author: Alan Cudmore - Code 582 +** +** Purpose: Contains functions prototype definitions and variable declarations +** for the OS Abstraction Layer, Timer API +** +** $Revision: 1.5 $ +** +** $Date: 2013/07/25 10:02:20GMT-05:00 $ +** +** $Log: osapi-os-timer.h $ +** Revision 1.5 2013/07/25 10:02:20GMT-05:00 acudmore +** removed circular include "osapi.h" +** Revision 1.4 2010/11/12 12:00:19GMT-05:00 acudmore +** replaced copyright character with (c) and added open source notice where needed. +** Revision 1.3 2010/02/01 12:38:34EST acudmore +** Added return code to OS_TimerAPIInit +** Revision 1.2 2008/08/26 13:52:52EDT apcudmore +** removed linux specific define +** Revision 1.1 2008/08/20 16:12:07EDT apcudmore +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** +** +*/ + +#ifndef _osapi_timer_ +#define _osapi_timer_ + +/* +** Typedefs +*/ +typedef void (*OS_TimerCallback_t)(uint32 timer_id); + +typedef struct +{ + char name[OS_MAX_API_NAME]; + uint32 creator; + uint32 start_time; + uint32 interval_time; + uint32 accuracy; + +} OS_timer_prop_t; + + +/* +** Timer API +*/ +int32 OS_TimerAPIInit (void); + +int32 OS_TimerCreate (uint32 *timer_id, const char *timer_name, uint32 *clock_accuracy, OS_TimerCallback_t callback_ptr); +int32 OS_TimerSet (uint32 timer_id, uint32 start_msec, uint32 interval_msec); +int32 OS_TimerDelete (uint32 timer_id); + +int32 OS_TimerGetIdByName (uint32 *timer_id, const char *timer_name); +int32 OS_TimerGetInfo (uint32 timer_id, OS_timer_prop_t *timer_prop); + +#endif diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-version.h b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-version.h new file mode 100644 index 0000000..331e96c --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-version.h @@ -0,0 +1,48 @@ +/************************************************************************ +** File: +** $Id: osapi-version.h 1.11 2014/05/02 13:53:14GMT-05:00 acudmore Exp $ +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Purpose: +** The OSAL version numbers +** +** Notes: +** +** $Log: osapi-version.h $ +** Revision 1.11 2014/05/02 13:53:14GMT-05:00 acudmore +** Updated version to 4.1.1 +** Revision 1.10 2014/01/23 16:33:31GMT-05:00 acudmore +** Update for 4.1 release +** Revision 1.9 2013/01/16 14:35:18GMT-05:00 acudmore +** updated version label +** Revision 1.8 2012/04/16 14:57:04GMT-05:00 acudmore +** Updated version label to 3.5.0.0 +** Revision 1.7 2012/01/17 16:04:29EST acudmore +** Updated version to 3.4.1 +** Revision 1.6 2011/12/05 15:45:16EST acudmore +** Updated version label to 3.4.0 +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** +*************************************************************************/ +#ifndef _osapi_version_h_ +#define _osapi_version_h_ + +#define OS_MAJOR_VERSION (4) +#define OS_MINOR_VERSION (1) +#define OS_REVISION (1) +#define OS_MISSION_REV (0) + + +#endif /* _osapi_version_h_ */ + +/************************/ +/* End of File Comment */ +/************************/ diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi.h b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi.h new file mode 100644 index 0000000..72a7c34 --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi.h @@ -0,0 +1,143 @@ +/* +** File: osapi.h +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software was created at NASAs Goddard +** Space Flight Center pursuant to government contracts. +** +** This is governed by the NASA Open Source Agreement and may be used, +** distributed and modified only pursuant to the terms of that agreement. +** +** Author: Alan Cudmore - Code 582 +** +** Purpose: Contains functions prototype definitions and variables declarations +** for the OS Abstraction Layer, Core OS module +** +** $Revision: 1.10 $ +** +** $Date: 2013/07/25 10:01:32GMT-05:00 $ +** +** $Log: osapi.h $ +** Revision 1.10 2013/07/25 10:01:32GMT-05:00 acudmore +** Added C++ support +** Revision 1.9 2010/11/12 12:00:17GMT-05:00 acudmore +** replaced copyright character with (c) and added open source notice where needed. +** Revision 1.8 2010/03/08 15:57:20EST acudmore +** include new OSAL version header file +** Revision 1.7 2009/08/10 14:01:10EDT acudmore +** Reset OSAL version for trunk +** Revision 1.6 2009/08/10 13:55:49EDT acudmore +** Updated OSAL version defines to 3.0 +** Revision 1.5 2009/06/10 14:15:55EDT acudmore +** Removed HAL include files. HAL code was removed from OSAL. +** Revision 1.4 2008/08/20 16:12:51EDT apcudmore +** Updated timer error codes +** Revision 1.3 2008/08/20 15:46:27EDT apcudmore +** Add support for timer API +** Revision 1.2 2008/06/20 15:13:43EDT apcudmore +** Checked in new Module loader/symbol table functionality +** Revision 1.1 2008/04/20 22:36:02EDT ruperera +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.6 2008/02/14 11:29:10EST apcudmore +** Updated version define ( 2.11 ) +** Revision 1.5 2008/02/07 11:31:58EST apcudmore +** Fixed merge problem +** Revision 1.4 2008/02/07 11:07:29EST apcudmore +** Added dynamic loader / Symbol lookup API +** -- API only, next release will have functionality +** Revision 1.2 2008/01/29 14:30:49EST njyanchik +** I added code to all the ports that allow the values of both binary and counting semaphores to be +** gotten through the OS_*SemGetInfo API. +** Revision 1.1 2007/10/16 16:14:52EDT apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj +** Revision 1.2 2007/09/28 15:46:49EDT rjmcgraw +** Updated version numbers to 5.0 +** Revision 1.1 2007/08/24 13:43:25EDT apcudmore +** Initial revision +** Member added to project d:/mksdata/MKS-CFE-PROJECT/fsw/cfe-core/os/inc/project.pj +** Revision 1.9.1.1 2007/05/21 08:58:51EDT njyanchik +** The trunk version number has been updated to version 0.0 +** Revision 1.9 2006/06/12 10:20:07EDT rjmcgraw +** Updated OS_MINOR_VERSION from 3 to 4 +** Revision 1.8 2006/02/03 09:30:45EST njyanchik +** Changed version number to 2.3 +** Revision 1.7 2006/01/20 11:56:16EST njyanchik +** Fixed header file information to match api document +** Revision 1.15 2005/11/09 13:35:49 nyanchik +** Revisions for 2.2 include: +** a new scheduler mapper for Linux and OS X +** addition of OS_printf function +** fixed issues that would cause warnings at compile time +** +** +*/ + +#ifndef _osapi_ +#define _osapi_ + +#include "common_types.h" + +#ifdef __cplusplus + extern "C" { +#endif + +#define OS_SUCCESS (0) +#define OS_ERROR (-1) +#define OS_INVALID_POINTER (-2) +#define OS_ERROR_ADDRESS_MISALIGNED (-3) +#define OS_ERROR_TIMEOUT (-4) +#define OS_INVALID_INT_NUM (-5) +#define OS_SEM_FAILURE (-6) +#define OS_SEM_TIMEOUT (-7) +#define OS_QUEUE_EMPTY (-8) +#define OS_QUEUE_FULL (-9) +#define OS_QUEUE_TIMEOUT (-10) +#define OS_QUEUE_INVALID_SIZE (-11) +#define OS_QUEUE_ID_ERROR (-12) +#define OS_ERR_NAME_TOO_LONG (-13) +#define OS_ERR_NO_FREE_IDS (-14) +#define OS_ERR_NAME_TAKEN (-15) +#define OS_ERR_INVALID_ID (-16) +#define OS_ERR_NAME_NOT_FOUND (-17) +#define OS_ERR_SEM_NOT_FULL (-18) +#define OS_ERR_INVALID_PRIORITY (-19) +#define OS_INVALID_SEM_VALUE (-20) +#define OS_ERR_FILE (-27) +#define OS_ERR_NOT_IMPLEMENTED (-28) +#define OS_TIMER_ERR_INVALID_ARGS (-29) +#define OS_TIMER_ERR_TIMER_ID (-30) +#define OS_TIMER_ERR_UNAVAILABLE (-31) +#define OS_TIMER_ERR_INTERNAL (-32) + +/* +** Defines for Queue Timeout parameters +*/ +#define OS_PEND (0) +#define OS_CHECK (-1) + +#include "osapi-version.h" + +/* +** Include the configuration file +*/ +#include "osconfig.h" + +/* +** Include the OS API modules +*/ +#include "osapi-os-core.h" +//#include "osapi-os-filesys.h" +//#include "osapi-os-net.h" +//#include "osapi-os-loader.h" +#include "osapi-os-timer.h" +#include "osapi-os-custom.h" + +#ifdef __cplusplus + } +#endif + +#endif + diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/src/osapi.c b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/src/osapi.c new file mode 100644 index 0000000..c3c5110 --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/src/osapi.c @@ -0,0 +1,2280 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file osapi.c
+ * @brief OS API module code.
+ *
+ * @addtogroup nasa_osapi
+ * @{
+ */
+
+#include <stdarg.h>
+#include <string.h>
+
+#include "ch.h"
+
+#include "common_types.h"
+#include "osapi.h"
+
+#if CH_CFG_ST_FREQUENCY > 1000000
+#error "CH_CFG_ST_FREQUENCY limit is 1000000"
+#endif
+
+#if (CH_CFG_ST_FREQUENCY % 1000) != 0
+#error "CH_CFG_ST_FREQUENCY is not a multiple of 1000"
+#endif
+
+#if CH_CFG_USE_REGISTRY == FALSE
+#error "NASA OSAL requires CH_CFG_USE_REGISTRY"
+#endif
+
+#if CH_CFG_USE_EVENTS == FALSE
+#error "NASA OSAL requires CH_CFG_USE_EVENTS"
+#endif
+
+#if CH_CFG_USE_MUTEXES == FALSE
+#error "NASA OSAL requires CH_CFG_USE_MUTEXES"
+#endif
+
+#if CH_CFG_USE_SEMAPHORES == FALSE
+#error "NASA OSAL requires CH_CFG_USE_SEMAPHORES"
+#endif
+
+#if CH_CFG_USE_MEMCORE == FALSE
+#error "NASA OSAL requires CH_CFG_USE_MEMCORE"
+#endif
+
+#if CH_CFG_USE_MEMPOOLS == FALSE
+#error "NASA OSAL requires CH_CFG_USE_MEMPOOLS"
+#endif
+
+#if CH_CFG_USE_HEAP == FALSE
+#error "NASA OSAL requires CH_CFG_USE_HEAP"
+#endif
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+#define MIN_PRIORITY 1
+#define MAX_PRIORITY 255
+
+#define MIN_MESSAGE_SIZE 4
+#define MAX_MESSAGE_SIZE 16384
+
+#define MIN_QUEUE_DEPTH 1
+#define MAX_QUEUE_DEPTH 16384
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/**
+ * @brief Generic function pointer type.
+ */
+typedef void (*funcptr_t)(void);
+
+/**
+ * @brief Type of OSAL timer.
+ */
+typedef struct {
+ uint32 is_free;
+ char name[OS_MAX_API_NAME];
+ OS_TimerCallback_t callback_ptr;
+ uint32 start_time;
+ uint32 interval_time;
+ virtual_timer_t vt;
+} osal_timer_t;
+
+/**
+ * @brief Type of an OSAL queue.
+ */
+typedef struct {
+ uint32 is_free;
+ char name[OS_MAX_API_NAME];
+ semaphore_t free_msgs;
+ memory_pool_t messages;
+ mailbox_t mb;
+ msg_t *mb_buffer;
+ void *q_buffer;
+ uint32 depth;
+ uint32 size;
+} osal_queue_t;
+
+/**
+ * @brief Type of an osal message with minimum size.
+ */
+typedef struct {
+ size_t size;
+ char buf[4];
+} osal_message_t;
+
+/**
+ * @brief Type of OSAL main structure.
+ */
+typedef struct {
+ bool printf_enabled;
+ int (*printf)(const char *fmt, ...);
+ virtual_timer_t vt;
+ OS_time_t localtime;
+ memory_pool_t timers_pool;
+ memory_pool_t queues_pool;
+ memory_pool_t binary_semaphores_pool;
+ memory_pool_t count_semaphores_pool;
+ memory_pool_t mutexes_pool;
+ osal_timer_t timers[OS_MAX_TIMERS];
+ osal_queue_t queues[OS_MAX_QUEUES];
+ binary_semaphore_t binary_semaphores[OS_MAX_BIN_SEMAPHORES];
+ semaphore_t count_semaphores[OS_MAX_COUNT_SEMAPHORES];
+ mutex_t mutexes[OS_MAX_MUTEXES];
+} osal_t;
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+static osal_t osal;
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/**
+ * @brief System time callback.
+ */
+static void systime_update(void *p) {
+ sysinterval_t delay = (sysinterval_t)p;
+
+ chSysLockFromISR();
+ osal.localtime.microsecs += 1000;
+ if (osal.localtime.microsecs >= 1000000) {
+ osal.localtime.microsecs = 0;
+ osal.localtime.seconds++;
+ }
+ chVTDoSetI(&osal.vt, delay, systime_update, p);
+ chSysUnlockFromISR();
+}
+
+/**
+ * @brief Virtual timers callback.
+ */
+static void timer_handler(void *p) {
+ osal_timer_t *otp = (osal_timer_t *)p;
+
+ /* Real callback.*/
+ otp->callback_ptr((uint32)p);
+
+ /* Timer restart if an interval is defined.*/
+ if (otp->interval_time != 0) {
+ chSysLockFromISR();
+ chVTSetI(&otp->vt, TIME_US2I(otp->interval_time), timer_handler, p);
+ chSysUnlockFromISR();
+ }
+}
+
+/**
+ * @brief Finds a queue by name.
+ */
+uint32 queue_find(const char *queue_name) {
+ osal_queue_t *oqp;
+
+ /* Searching the queue in the table.*/
+ for (oqp = &osal.queues[0]; oqp < &osal.queues[OS_MAX_QUEUES]; oqp++) {
+ /* Entering a reentrant critical zone.*/
+ syssts_t sts = chSysGetStatusAndLockX();
+
+ if (!oqp->is_free &&
+ (strncmp(oqp->name, queue_name, OS_MAX_API_NAME - 1) == 0)) {
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+ return (uint32)oqp;
+ }
+
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Finds a timer by name.
+ */
+uint32 timer_find(const char *timer_name) {
+ osal_timer_t *otp;
+
+ /* Searching the queue in the table.*/
+ for (otp = &osal.timers[0]; otp < &osal.timers[OS_MAX_TIMERS]; otp++) {
+ /* Entering a reentrant critical zone.*/
+ syssts_t sts = chSysGetStatusAndLockX();
+
+ if (!otp->is_free &&
+ (strncmp(otp->name, timer_name, OS_MAX_API_NAME - 1) == 0)) {
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+ return (uint32)otp;
+ }
+
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+ }
+
+ return 0;
+}
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/*-- Initialization API -----------------------------------------------------*/
+
+/**
+ * @brief OS initialization.
+ * @details This function returns initializes the internal data structures
+ * of the OS Abstraction Layer. It must be called in the application
+ * startup code before calling any other OS routines.
+ *
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_API_Init(void) {
+
+ chSysInit();
+
+ /* OS_printf() initially disabled.*/
+ osal.printf_enabled = false;
+ osal.printf = NULL;
+
+ /* System time handling.*/
+ osal.localtime.microsecs = 0;
+ osal.localtime.seconds = 0;
+ chVTObjectInit(&osal.vt);
+ chVTSet(&osal.vt, TIME_MS2I(1), systime_update, (void *)TIME_MS2I(1));
+
+ /* Timers pool initialization.*/
+ chPoolObjectInit(&osal.timers_pool,
+ sizeof (osal_timer_t),
+ NULL);
+ chPoolLoadArray(&osal.timers_pool,
+ &osal.timers[0],
+ OS_MAX_TIMERS);
+
+ /* Queues pool initialization.*/
+ chPoolObjectInit(&osal.queues_pool,
+ sizeof (osal_queue_t),
+ NULL);
+ chPoolLoadArray(&osal.queues_pool,
+ &osal.queues[0],
+ OS_MAX_QUEUES);
+
+ /* Binary Semaphores pool initialization.*/
+ chPoolObjectInit(&osal.binary_semaphores_pool,
+ sizeof (binary_semaphore_t),
+ NULL);
+ chPoolLoadArray(&osal.binary_semaphores_pool,
+ &osal.binary_semaphores[0],
+ OS_MAX_BIN_SEMAPHORES);
+
+ /* Counter Semaphores pool initialization.*/
+ chPoolObjectInit(&osal.count_semaphores_pool,
+ sizeof (semaphore_t),
+ NULL);
+ chPoolLoadArray(&osal.count_semaphores_pool,
+ &osal.count_semaphores[0],
+ OS_MAX_COUNT_SEMAPHORES);
+
+ /* Mutexes pool initialization.*/
+ chPoolObjectInit(&osal.mutexes_pool,
+ sizeof (mutex_t),
+ NULL);
+ chPoolLoadArray(&osal.mutexes_pool,
+ &osal.mutexes[0],
+ OS_MAX_MUTEXES);
+
+ return OS_SUCCESS;
+}
+
+/*-- Various API -----------------------------------------------------------*/
+
+/**
+ * @brief OS printf-like function.
+ * @note It is initially disabled.
+ *
+ * @param[in] string formatter string
+ *
+ * @api
+ */
+void OS_printf(const char *string, ...) {
+ va_list ap;
+
+ if (osal.printf_enabled && (osal.printf != NULL)) {
+ va_start(ap, string);
+ (void) osal.printf(string);
+ va_end(ap);
+ }
+}
+
+/**
+ * @brief Disables @p OS_printf().
+ *
+ * @api
+ */
+void OS_printf_disable(void) {
+
+ osal.printf_enabled = false;
+}
+
+/**
+ * @brief Enables @p OS_printf().
+ *
+ * @api
+ */
+void OS_printf_enable(void) {
+
+ osal.printf_enabled = true;
+}
+
+/**
+ * @brief Sets the system printf function.
+ * @note By default the printf function is not defined.
+ * @note This is a ChibiOS/RT extension.
+ *
+ * @param[in] printf pointer to a @p printf() like function
+ *
+ * @api
+ */
+void OS_set_printf(int (*printf)(const char *fmt, ...)) {
+
+ osal.printf = printf;
+}
+
+/**
+ * @brief System tick period in microseconds.
+ *
+ * @return The system tick period.
+ */
+int32 OS_Tick2Micros(void) {
+
+ return 1000000 / CH_CFG_ST_FREQUENCY;
+}
+
+/**
+ * @brief Returns the local time.
+ *
+ * @param[out] time_struct the system time
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_GetLocalTime(OS_time_t *time_struct) {
+
+ if (time_struct == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ chSysLock();
+ *time_struct = osal.localtime;
+ chSysUnlock();
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Changes the local time.
+ *
+ * @param[in] time_struct the system time
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_SetLocalTime(OS_time_t *time_struct) {
+
+ if (time_struct == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ chSysLock();
+ osal.localtime = *time_struct;
+ chSysUnlock();
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Conversion from milliseconds to ticks.
+ *
+ * @param[in] milli_seconds the time in milliseconds
+ * @return The system ticks.
+ *
+ * @api
+ */
+int32 OS_Milli2Ticks(uint32 milli_seconds) {
+
+ return (int32)TIME_MS2I(milli_seconds);
+}
+
+/*-- timers API -------------------------------------------------------------*/
+
+/**
+ * @brief Timer creation.
+ *
+ * @param[out] timer_id pointer to a timer id variable
+ * @param[in] timer_name the timer name
+ * @param[out] clock_accuracy timer accuracy in microseconds
+ * @param[in] callback_ptr timer callback
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TimerCreate(uint32 *timer_id, const char *timer_name,
+ uint32 *clock_accuracy, OS_TimerCallback_t callback_ptr) {
+ osal_timer_t *otp;
+
+ /* NULL pointer checks.*/
+ if ((timer_id == NULL) || (timer_name == NULL) ||
+ (clock_accuracy == NULL)) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* NULL callback check.*/
+ if (callback_ptr == NULL) {
+ *timer_id = 0;
+ return OS_TIMER_ERR_INVALID_ARGS;
+ }
+
+ /* Checking timer name length.*/
+ if (strlen(timer_name) >= OS_MAX_API_NAME) {
+ *timer_id = 0;
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
+ /* Checking if the name is already taken.*/
+ if (timer_find(timer_name) > 0) {
+ *timer_id = 0;
+ return OS_ERR_NAME_TAKEN;
+ }
+
+ /* Getting object.*/
+ otp = chPoolAlloc(&osal.timers_pool);
+ if (otp == NULL) {
+ *timer_id = 0;
+ return OS_ERR_NO_FREE_IDS;
+ }
+
+ strncpy(otp->name, timer_name, OS_MAX_API_NAME - 1);
+ chVTObjectInit(&otp->vt);
+ otp->start_time = 0;
+ otp->interval_time = 0;
+ otp->callback_ptr = callback_ptr;
+ otp->is_free = 0; /* Note, last.*/
+
+ *timer_id = (uint32)otp;
+ *clock_accuracy = (uint32)(1000000 / CH_CFG_ST_FREQUENCY);
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Timer deletion.
+ *
+ * @param[in] timer_id timer id variable
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TimerDelete(uint32 timer_id) {
+ osal_timer_t *otp = (osal_timer_t *)timer_id;
+
+ /* Range check.*/
+ if ((otp < &osal.timers[0]) ||
+ (otp >= &osal.timers[OS_MAX_TIMERS]) ||
+ (otp->is_free)) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ chSysLock();
+
+ /* Marking as no more free, will be overwritten by the pool pointer.*/
+ otp->is_free = 1;
+
+ /* Resetting the timer.*/
+ chVTResetI(&otp->vt);
+ otp->start_time = 0;
+ otp->interval_time = 0;
+
+ /* Flagging it as unused and returning it to the pool.*/
+ chPoolFreeI(&osal.timers_pool, (void *)otp);
+
+ chSysUnlock();
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Timer deletion.
+ * @note This function can be safely called from timer callbacks or ISRs.
+ *
+ * @param[in] timer_id timer id variable
+ * @param[in] start_time start time in microseconds or zero
+ * @param[in] interval_time interval time in microseconds or zero
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TimerSet(uint32 timer_id, uint32 start_time, uint32 interval_time) {
+ syssts_t sts;
+ osal_timer_t *otp = (osal_timer_t *)timer_id;
+
+ /* Range check.*/
+ if ((otp < &osal.timers[0]) ||
+ (otp >= &osal.timers[OS_MAX_TIMERS]) ||
+ (otp->is_free)) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Entering a reentrant critical zone.*/
+ sts = chSysGetStatusAndLockX();
+
+ if (start_time == 0) {
+ chVTResetI(&otp->vt);
+ }
+ else {
+ otp->start_time = start_time;
+ otp->interval_time = interval_time;
+ chVTSetI(&otp->vt, TIME_US2I(start_time), timer_handler, (void *)timer_id);
+ }
+
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Retrieves a timer id by name.
+ *
+ * @param[out] timer_id pointer to a timer id variable
+ * @param[in] sem_name the timer name
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TimerGetIdByName(uint32 *timer_id, const char *timer_name) {
+
+ /* NULL pointer checks.*/
+ if ((timer_id == NULL) || (timer_name == NULL)) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Checking name length.*/
+ if (strlen(timer_name) >= OS_MAX_API_NAME) {
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
+ /* Searching the queue.*/
+ *timer_id = timer_find(timer_name);
+ if (*timer_id > 0) {
+ return OS_SUCCESS;
+ }
+
+ return OS_ERR_NAME_NOT_FOUND;
+}
+
+/**
+ * @brief Returns timer information.
+ * @note This function can be safely called from timer callbacks or ISRs.
+ *
+ * @param[in] timer_id timer id variable
+ * @param[in] timer_prop timer properties
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TimerGetInfo(uint32 timer_id, OS_timer_prop_t *timer_prop) {
+ syssts_t sts;
+ osal_timer_t *otp = (osal_timer_t *)timer_id;
+
+ /* NULL pointer checks.*/
+ if (timer_prop == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Range check.*/
+ if ((otp < &osal.timers[0]) ||
+ (otp >= &osal.timers[OS_MAX_TIMERS]) ||
+ (otp->is_free)) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Entering a reentrant critical zone.*/
+ sts = chSysGetStatusAndLockX();
+
+ /* If the timer is not in use then error.*/
+ if (otp->is_free) {
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+ return OS_ERR_INVALID_ID;
+ }
+
+ strncpy(timer_prop->name, otp->name, OS_MAX_API_NAME - 1);
+ timer_prop->creator = (uint32)0;
+ timer_prop->start_time = otp->start_time;
+ timer_prop->interval_time = otp->interval_time;
+ timer_prop->accuracy = (uint32)(1000000 / CH_CFG_ST_FREQUENCY);
+
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+
+ return OS_SUCCESS;
+}
+
+/*-- Queues API -------------------------------------------------------------*/
+
+/**
+ * @brief Queue creation.
+ *
+ * @param[out] queue_id pointer to a queue id variable
+ * @param[in] queue_name the queue name
+ * @param[in] queue_depth desired queue depth
+ * @param[in] data_size maximum message size
+ * @param[in] flags queue option flags
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_QueueCreate(uint32 *queue_id, const char *queue_name,
+ uint32 queue_depth, uint32 data_size, uint32 flags) {
+ osal_queue_t *oqp;
+ size_t msgsize;
+
+ (void)flags;
+
+ /* NULL pointer checks.*/
+ if ((queue_id == NULL) || (queue_name == NULL)) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Checking queue name length.*/
+ if (strlen(queue_name) >= OS_MAX_API_NAME) {
+ *queue_id = 0;
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
+ /* Checking if the name is already taken.*/
+ if (queue_find(queue_name) > 0) {
+ *queue_id = 0;
+ return OS_ERR_NAME_TAKEN;
+ }
+
+ /* Checks on queue limits. There is no dedicated error code.*/
+ if ((data_size < MIN_MESSAGE_SIZE) || (data_size > MAX_MESSAGE_SIZE) ||
+ (queue_depth < MIN_QUEUE_DEPTH) || (queue_depth > MAX_QUEUE_DEPTH)) {
+ *queue_id = 0;
+ return OS_ERROR;
+ }
+
+ /* Getting object.*/
+ oqp = chPoolAlloc(&osal.queues_pool);
+ if (oqp == NULL) {
+ *queue_id = 0;
+ return OS_ERR_NO_FREE_IDS;
+ }
+
+ /* Attempting messages buffer allocation.*/
+ msgsize = MEM_ALIGN_NEXT(data_size + sizeof (size_t), PORT_NATURAL_ALIGN);
+ oqp->mb_buffer = chHeapAllocAligned(NULL,
+ msgsize * (size_t)queue_depth,
+ PORT_NATURAL_ALIGN);
+ if (oqp->mb_buffer == NULL) {
+ *queue_id = 0;
+ return OS_ERROR;
+ }
+
+ /* Attempting queue buffer allocation.*/
+ oqp->q_buffer = chHeapAllocAligned(NULL,
+ sizeof (msg_t) * (size_t)queue_depth,
+ PORT_NATURAL_ALIGN);
+ if (oqp->q_buffer == NULL) {
+ *queue_id = 0;
+ chHeapFree(oqp->mb_buffer);
+ return OS_ERROR;
+ }
+
+ /* Initializing object static parts.*/
+ strncpy(oqp->name, queue_name, OS_MAX_API_NAME - 1);
+ chMBObjectInit(&oqp->mb, oqp->q_buffer, (size_t)queue_depth);
+ chSemObjectInit(&oqp->free_msgs, (cnt_t)queue_depth);
+ chPoolObjectInit(&oqp->messages, msgsize, NULL);
+ chPoolLoadArray(&oqp->messages, oqp->mb_buffer, (size_t)queue_depth);
+ oqp->depth = queue_depth;
+ oqp->size = data_size;
+ oqp->is_free = 0; /* Note, last.*/
+ *queue_id = (uint32)oqp;
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Queue deletion.
+ *
+ * @param[in] queue_id queue id variable
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_QueueDelete(uint32 queue_id) {
+ osal_queue_t *oqp = (osal_queue_t *)queue_id;
+ void *q_buffer, *mb_buffer;
+
+ /* Range check.*/
+ if ((oqp < &osal.queues[0]) ||
+ (oqp >= &osal.queues[OS_MAX_QUEUES]) ||
+ (oqp->is_free)) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Critical zone.*/
+ chSysLock();
+
+ /* Marking as no more free, will be overwritten by the pool pointer.*/
+ oqp->is_free = 1;
+
+ /* Pointers to areas to be freed.*/
+ q_buffer = oqp->q_buffer;
+ mb_buffer = oqp->mb_buffer;
+
+ /* Resetting the queue.*/
+ chMBResetI(&oqp->mb);
+ chSemResetI(&oqp->free_msgs, 0);
+
+ /* Flagging it as unused and returning it to the pool.*/
+ chPoolFreeI(&osal.queues_pool, (void *)oqp);
+
+ chSchRescheduleS();
+
+ /* Leaving critical zone.*/
+ chSysUnlock();
+
+ /* Freeing buffers, outside critical zone, slow heap operation.*/
+ chHeapFree(q_buffer);
+ chHeapFree(mb_buffer);
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Retrieves a message from the queue.
+ *
+ * @param[in] queue_id queue id variable
+ * @param[out] data message buffer pointer
+ * @param[in] size size of the buffer
+ * @param[out] size_copied size of the received message
+ * @param[in] timeout timeout in ticks, the special values @p OS_PEND
+ * and @p OS_CHECK can be specified
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_QueueGet(uint32 queue_id, void *data, uint32 size,
+ uint32 *size_copied, int32 timeout) {
+ osal_queue_t *oqp = (osal_queue_t *)queue_id;
+ msg_t msg, msgsts;
+ void *body;
+
+ /* NULL pointer checks.*/
+ if ((data == NULL) || (size_copied == NULL)) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Range check.*/
+ if ((oqp < &osal.queues[0]) ||
+ (oqp >= &osal.queues[OS_MAX_QUEUES]) ||
+ (oqp->is_free)) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Check on minimum size.*/
+ if (size < oqp->size) {
+ return OS_QUEUE_INVALID_SIZE;
+ }
+
+ /* Special time handling.*/
+ if (timeout == OS_PEND) {
+ msgsts = chMBFetchTimeout(&oqp->mb, &msg, TIME_INFINITE);
+ if (msgsts < MSG_OK) {
+ *size_copied = 0;
+ return OS_ERROR;
+ }
+ }
+ else if (timeout == OS_CHECK) {
+ msgsts = chMBFetchTimeout(&oqp->mb, &msg, TIME_IMMEDIATE);
+ if (msgsts < MSG_OK) {
+ *size_copied = 0;
+ return OS_QUEUE_EMPTY;
+ }
+ }
+ else {
+ msgsts = chMBFetchTimeout(&oqp->mb, &msg, (sysinterval_t)timeout);
+ if (msgsts < MSG_OK) {
+ *size_copied = 0;
+ return OS_QUEUE_TIMEOUT;
+ }
+ }
+
+ /* Message body and size.*/
+ *size_copied = ((osal_message_t *)msg)->size;
+ body = (void *)((osal_message_t *)msg)->buf;
+
+ /* Copying the message body.*/
+ memcpy(data, body, *size_copied);
+
+ /* Freeing the message buffer.*/
+ chPoolFree(&oqp->messages, (void *)msg);
+ chSemSignal(&oqp->free_msgs);
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Puts a message in the queue.
+ *
+ * @param[in] queue_id queue id variable
+ * @param[in] data message buffer pointer
+ * @param[in] size size of the message
+ * @param[in] flags operation flags
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_QueuePut(uint32 queue_id, void *data, uint32 size, uint32 flags) {
+ osal_queue_t *oqp = (osal_queue_t *)queue_id;
+ msg_t msgsts;
+ osal_message_t *omsg;
+
+ (void)flags;
+
+ /* NULL pointer checks.*/
+ if (data == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Range check.*/
+ if ((oqp < &osal.queues[0]) ||
+ (oqp >= &osal.queues[OS_MAX_QUEUES]) ||
+ (oqp->is_free)) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Check on maximum size.*/
+ if (size > oqp->size) {
+ return OS_QUEUE_INVALID_SIZE;
+ }
+
+ /* Getting a message buffer from the pool.*/
+ msgsts = chSemWait(&oqp->free_msgs);
+ if (msgsts < MSG_OK) {
+ return OS_ERROR;
+ }
+ omsg = chPoolAlloc(&oqp->messages);
+
+ /* Filling message size and data.*/
+ omsg->size = (size_t)size;
+ memcpy(omsg->buf, data, size);
+
+ /* Posting the message.*/
+ msgsts = chMBPostTimeout(&oqp->mb, (msg_t)omsg, TIME_INFINITE);
+ if (msgsts < MSG_OK) {
+ return OS_ERROR;
+ }
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Retrieves a queue id by name.
+ *
+ * @param[out] queue_id pointer to a queue id variable
+ * @param[in] sem_name the queue name
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_QueueGetIdByName(uint32 *queue_id, const char *queue_name) {
+
+ /* NULL pointer checks.*/
+ if ((queue_id == NULL) || (queue_name == NULL)) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Checking name length.*/
+ if (strlen(queue_name) >= OS_MAX_API_NAME) {
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
+ /* Searching the queue.*/
+ *queue_id = queue_find(queue_name);
+ if (*queue_id > 0) {
+ return OS_SUCCESS;
+ }
+
+ return OS_ERR_NAME_NOT_FOUND;
+}
+
+/**
+ * @brief Returns queue information.
+ * @note This function can be safely called from timer callbacks or ISRs.
+ *
+ * @param[in] queue_id queue id variable
+ * @param[in] queue_prop queue properties
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_QueueGetInfo (uint32 queue_id, OS_queue_prop_t *queue_prop) {
+ osal_queue_t *oqp = (osal_queue_t *)queue_id;
+ syssts_t sts;
+
+ /* NULL pointer checks.*/
+ if (queue_prop == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Range check.*/
+ if ((oqp < &osal.queues[0]) ||
+ (oqp >= &osal.queues[OS_MAX_QUEUES]) ||
+ (oqp->is_free)) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Entering a reentrant critical zone.*/
+ sts = chSysGetStatusAndLockX();
+
+ /* If the queue is not in use then error.*/
+ if (oqp->is_free) {
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+ return OS_ERR_INVALID_ID;
+ }
+
+ strncpy(queue_prop->name, oqp->name, OS_MAX_API_NAME - 1);
+ queue_prop->creator = (uint32)0;
+
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+
+ return OS_SUCCESS;
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/*-- Binary Semaphore API ---------------------------------------------------*/
+
+/**
+ * @brief Binary semaphore creation.
+ *
+ * @param[out] sem_id pointer to a binary semaphore id variable
+ * @param[in] sem_name the binary semaphore name
+ * @param[in] sem_initial_value semaphore initial value
+ * @param[in] options semaphore options
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_BinSemCreate(uint32 *sem_id, const char *sem_name,
+ uint32 sem_initial_value, uint32 options) {
+ binary_semaphore_t *bsp;
+
+ (void)options;
+
+ /* NULL pointer checks.*/
+ if ((sem_id == NULL) || (sem_name == NULL)) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Checking semaphore name length.*/
+ if (strlen(sem_name) >= OS_MAX_API_NAME) {
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
+ /* Semaphore counter check, it is binary so only 0 and 1.*/
+ if (sem_initial_value > 1) {
+ return OS_INVALID_INT_NUM;
+ }
+
+ /* Getting object.*/
+ bsp = chPoolAlloc(&osal.binary_semaphores_pool);
+ if (bsp == NULL) {
+ return OS_ERR_NO_FREE_IDS;
+ }
+
+ /* Semaphore is initialized.*/
+ chBSemObjectInit(bsp, sem_initial_value == 0 ? true : false);
+
+ *sem_id = (uint32)bsp;
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Binary semaphore deletion.
+ *
+ * @param[in] sem_id binary semaphore id variable
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_BinSemDelete(uint32 sem_id) {
+ binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
+
+ /* Range check.*/
+ if ((bsp < &osal.binary_semaphores[0]) ||
+ (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ chSysLock();
+
+ /* Resetting the semaphore, no threads in queue.*/
+ chBSemResetI(bsp, true);
+
+ /* Flagging it as unused and returning it to the pool.*/
+ bsp->sem.queue.prev = NULL;
+ chPoolFreeI(&osal.binary_semaphores_pool, (void *)bsp);
+
+ /* Required because some thread could have been made ready.*/
+ chSchRescheduleS();
+
+ chSysUnlock();
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Binary semaphore flush.
+ * @note The state of the binary semaphore is not changed.
+ * @note This function can be safely called from timer callbacks or ISRs.
+ *
+ * @param[in] sem_id binary semaphore id variable
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_BinSemFlush(uint32 sem_id) {
+ syssts_t sts;
+ binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
+
+ /* Range check.*/
+ if ((bsp < &osal.binary_semaphores[0]) ||
+ (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Entering a reentrant critical zone.*/
+ sts = chSysGetStatusAndLockX();
+
+ /* If the semaphore is not in use then error.*/
+ if (bsp->sem.queue.prev == NULL) {
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+ return OS_SEM_FAILURE;
+ }
+
+ /* If the semaphore state is "not taken" then it is not touched.*/
+ if (bsp->sem.cnt < 0) {
+ chBSemResetI(bsp, true);
+ }
+
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Binary semaphore give.
+ * @note This function can be safely called from timer callbacks or ISRs.
+ *
+ * @param[in] sem_id binary semaphore id variable
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_BinSemGive(uint32 sem_id) {
+ syssts_t sts;
+ binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
+
+ /* Range check.*/
+ if ((bsp < &osal.binary_semaphores[0]) ||
+ (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Entering a reentrant critical zone.*/
+ sts = chSysGetStatusAndLockX();
+
+ /* If the semaphore is not in use then error.*/
+ if (bsp->sem.queue.prev == NULL) {
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+ return OS_SEM_FAILURE;
+ }
+
+ chBSemSignalI(bsp);
+
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Binary semaphore take.
+ *
+ * @param[in] sem_id binary semaphore id variable
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_BinSemTake(uint32 sem_id) {
+ binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
+
+ /* Range check.*/
+ if ((bsp < &osal.binary_semaphores[0]) ||
+ (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ chSysLock();
+
+ /* If the semaphore is not in use then error.*/
+ if (bsp->sem.queue.prev == NULL) {
+ chSysUnlock();
+ return OS_SEM_FAILURE;
+ }
+
+ (void) chBSemWaitS(bsp);
+
+ chSysUnlock();
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Binary semaphore take with timeout.
+ *
+ * @param[in] sem_id binary semaphore id variable
+ * @param[in] msecs timeout in milliseconds
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_BinSemTimedWait(uint32 sem_id, uint32 msecs) {
+ binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
+ msg_t msg;
+
+ /* Range check.*/
+ if ((bsp < &osal.binary_semaphores[0]) ||
+ (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Timeouts of zero not allowed.*/
+ if (msecs == 0) {
+ return OS_INVALID_INT_NUM;
+ }
+
+ chSysLock();
+
+ /* If the semaphore is not in use then error.*/
+ if (bsp->sem.queue.prev == NULL) {
+ chSysUnlock();
+ return OS_SEM_FAILURE;
+ }
+
+ msg = chBSemWaitTimeoutS(bsp, TIME_MS2I(msecs));
+
+ chSysUnlock();
+
+ return msg == MSG_TIMEOUT ? OS_SEM_TIMEOUT : OS_SUCCESS;
+}
+
+/**
+ * @brief Retrieves a binary semaphore id by name.
+ * @note It is not currently implemented.
+ *
+ * @param[out] sem_id pointer to a binary semaphore id variable
+ * @param[in] sem_name the binary semaphore name
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_BinSemGetIdByName(uint32 *sem_id, const char *sem_name) {
+
+ /* NULL pointer checks.*/
+ if ((sem_id == NULL) || (sem_name == NULL)) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Checking name length.*/
+ if (strlen(sem_name) >= OS_MAX_API_NAME) {
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/**
+ * @brief Returns binary semaphore information.
+ * @note This function can be safely called from timer callbacks or ISRs.
+ * @note It is not currently implemented.
+ *
+ * @param[in] sem_id binary semaphore id variable
+ * @param[in] bin_prop binary semaphore properties
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_BinSemGetInfo(uint32 sem_id, OS_bin_sem_prop_t *bin_prop) {
+ syssts_t sts;
+ binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
+
+ /* NULL pointer checks.*/
+ if (bin_prop == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Range check.*/
+ if ((bsp < &osal.binary_semaphores[0]) ||
+ (bsp >= &osal.binary_semaphores[OS_MAX_BIN_SEMAPHORES])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Entering a reentrant critical zone.*/
+ sts = chSysGetStatusAndLockX();
+
+ /* If the semaphore is not in use then error.*/
+ if (bsp->sem.queue.prev == NULL) {
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/*-- Counter Semaphore API --------------------------------------------------*/
+
+/**
+ * @brief Counter semaphore creation.
+ *
+ * @param[out] sem_id pointer to a counter semaphore id variable
+ * @param[in] sem_name the counter semaphore name
+ * @param[in] sem_initial_value semaphore initial value
+ * @param[in] options semaphore options
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_CountSemCreate(uint32 *sem_id, const char *sem_name,
+ uint32 sem_initial_value, uint32 options) {
+ semaphore_t *sp;
+
+ (void)options;
+
+ /* NULL pointer checks.*/
+ if ((sem_id == NULL) || (sem_name == NULL)) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Checking semaphore name length.*/
+ if (strlen(sem_name) >= OS_MAX_API_NAME) {
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
+ /* Semaphore counter check, it must be non-negative.*/
+ if ((int32)sem_initial_value < 0) {
+ return OS_INVALID_INT_NUM;
+ }
+
+ /* Getting object.*/
+ sp = chPoolAlloc(&osal.count_semaphores_pool);
+ if (sp == NULL) {
+ return OS_ERR_NO_FREE_IDS;
+ }
+
+ /* Semaphore is initialized.*/
+ chSemObjectInit(sp, (cnt_t)sem_initial_value);
+
+ *sem_id = (uint32)sp;
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Counter semaphore deletion.
+ *
+ * @param[in] sem_id counter semaphore id variable
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_CountSemDelete(uint32 sem_id) {
+ semaphore_t *sp = (semaphore_t *)sem_id;
+
+ /* Range check.*/
+ if ((sp < &osal.count_semaphores[0]) ||
+ (sp >= &osal.count_semaphores[OS_MAX_COUNT_SEMAPHORES])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ chSysLock();
+
+ /* Resetting the semaphore, no threads in queue.*/
+ chSemResetI(sp, 0);
+
+ /* Flagging it as unused and returning it to the pool.*/
+ sp->queue.prev = NULL;
+ chPoolFreeI(&osal.count_semaphores_pool, (void *)sp);
+
+ /* Required because some thread could have been made ready.*/
+ chSchRescheduleS();
+
+ chSysUnlock();
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Counter semaphore give.
+ * @note This function can be safely called from timer callbacks or ISRs.
+ *
+ * @param[in] sem_id counter semaphore id variable
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_CountSemGive(uint32 sem_id) {
+ syssts_t sts;
+ semaphore_t *sp = (semaphore_t *)sem_id;
+
+ /* Range check.*/
+ if ((sp < &osal.count_semaphores[0]) ||
+ (sp >= &osal.count_semaphores[OS_MAX_COUNT_SEMAPHORES])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Entering a reentrant critical zone.*/
+ sts = chSysGetStatusAndLockX();
+
+ /* If the semaphore is not in use then error.*/
+ if (sp->queue.prev == NULL) {
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+ return OS_SEM_FAILURE;
+ }
+
+ chSemSignalI(sp);
+
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Counter semaphore take.
+ *
+ * @param[in] sem_id counter semaphore id variable
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_CountSemTake(uint32 sem_id) {
+ semaphore_t *sp = (semaphore_t *)sem_id;
+
+ /* Range check.*/
+ if ((sp < &osal.count_semaphores[0]) ||
+ (sp >= &osal.count_semaphores[OS_MAX_COUNT_SEMAPHORES])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ chSysLock();
+
+ /* If the semaphore is not in use then error.*/
+ if (sp->queue.prev == NULL) {
+ chSysUnlock();
+ return OS_SEM_FAILURE;
+ }
+
+ (void) chSemWaitS(sp);
+
+ chSysUnlock();
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Counter semaphore take with timeout.
+ *
+ * @param[in] sem_id counter semaphore id variable
+ * @param[in] msecs timeout in milliseconds
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_CountSemTimedWait(uint32 sem_id, uint32 msecs) {
+ semaphore_t *sp = (semaphore_t *)sem_id;
+ msg_t msg;
+
+ /* Range check.*/
+ if ((sp < &osal.count_semaphores[0]) ||
+ (sp >= &osal.count_semaphores[OS_MAX_COUNT_SEMAPHORES])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Timeouts of zero not allowed.*/
+ if (msecs == 0) {
+ return OS_INVALID_INT_NUM;
+ }
+
+ chSysLock();
+
+ /* If the semaphore is not in use then error.*/
+ if (sp->queue.prev == NULL) {
+ chSysUnlock();
+ return OS_SEM_FAILURE;
+ }
+
+ msg = chSemWaitTimeoutS(sp, TIME_MS2I(msecs));
+
+ chSysUnlock();
+
+ return msg == MSG_TIMEOUT ? OS_SEM_TIMEOUT : OS_SUCCESS;
+}
+
+/**
+ * @brief Retrieves a counter semaphore id by name.
+ * @note It is not currently implemented.
+ *
+ * @param[out] sem_id pointer to a counter semaphore id variable
+ * @param[in] sem_name the counter semaphore name
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_CountSemGetIdByName(uint32 *sem_id, const char *sem_name) {
+
+ /* NULL pointer checks.*/
+ if ((sem_id == NULL) || (sem_name == NULL)) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Checking name length.*/
+ if (strlen(sem_name) >= OS_MAX_API_NAME) {
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/**
+ * @brief Returns counter semaphore information.
+ * @note This function can be safely called from timer callbacks or ISRs.
+ * @note It is not currently implemented.
+ *
+ * @param[in] sem_id counter semaphore id variable
+ * @param[in] sem_prop counter semaphore properties
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_CountSemGetInfo(uint32 sem_id, OS_count_sem_prop_t *sem_prop) {
+ syssts_t sts;
+ semaphore_t *sp = (semaphore_t *)sem_id;
+
+ /* NULL pointer checks.*/
+ if (sem_prop == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Range check.*/
+ if ((sp < &osal.count_semaphores[0]) ||
+ (sp >= &osal.count_semaphores[OS_MAX_BIN_SEMAPHORES])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Entering a reentrant critical zone.*/
+ sts = chSysGetStatusAndLockX();
+
+ /* If the semaphore is not in use then error.*/
+ if (sp->queue.prev == NULL) {
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/*-- Mutex API --------------------------------------------------------------*/
+
+/**
+ * @brief Mutex creation.
+ *
+ * @param[out] sem_id pointer to a mutex id variable
+ * @param[in] sem_name the mutex name
+ * @param[in] options mutex options
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_MutSemCreate(uint32 *sem_id, const char *sem_name, uint32 options) {
+ mutex_t *mp;
+
+ (void)options;
+
+ /* NULL pointer checks.*/
+ if ((sem_id == NULL) || (sem_name == NULL)) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Checking semaphore name length.*/
+ if (strlen(sem_name) >= OS_MAX_API_NAME) {
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
+ /* Getting object.*/
+ mp = chPoolAlloc(&osal.mutexes_pool);
+ if (mp == NULL) {
+ return OS_ERR_NO_FREE_IDS;
+ }
+
+ /* Semaphore is initialized.*/
+ chMtxObjectInit(mp);
+
+ *sem_id = (uint32)mp;
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Mutex deletion.
+ *
+ * @param[in] sem_id mutex id variable
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_MutSemDelete(uint32 sem_id) {
+ mutex_t *mp = (mutex_t *)sem_id;
+
+ /* Range check.*/
+ if ((mp < &osal.mutexes[0]) ||
+ (mp >= &osal.mutexes[OS_MAX_MUTEXES])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ chSysLock();
+
+ /* Resetting the mutex, no threads in queue.*/
+ chMtxUnlockAllS();
+
+ /* Flagging it as unused and returning it to the pool.*/
+ mp->queue.prev = NULL;
+ chPoolFreeI(&osal.mutexes_pool, (void *)mp);
+
+ /* Required because some thread could have been made ready.*/
+ chSchRescheduleS();
+
+ chSysUnlock();
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Mutex give.
+ *
+ * @param[in] sem_id mutex id variable
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_MutSemGive(uint32 sem_id) {
+ mutex_t *mp = (mutex_t *)sem_id;
+
+ /* Range check.*/
+ if ((mp < &osal.mutexes[0]) ||
+ (mp >= &osal.mutexes[OS_MAX_COUNT_SEMAPHORES])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ chSysLock();
+
+ /* If the mutex is not in use then error.*/
+ if (mp->queue.prev == NULL) {
+ chSysUnlock();
+ return OS_SEM_FAILURE;
+ }
+
+ chMtxUnlockS(mp);
+ chSchRescheduleS();
+
+ chSysUnlock();
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Mutex take.
+ *
+ * @param[in] sem_id mutex id variable
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_MutSemTake(uint32 sem_id) {
+ mutex_t *mp = (mutex_t *)sem_id;
+
+ /* Range check.*/
+ if ((mp < &osal.mutexes[0]) ||
+ (mp >= &osal.mutexes[OS_MAX_COUNT_SEMAPHORES])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ chSysLock();
+
+ /* If the mutex is not in use then error.*/
+ if (mp->queue.prev == NULL) {
+ chSysUnlock();
+ return OS_SEM_FAILURE;
+ }
+
+ chMtxLockS(mp);
+
+ chSysUnlock();
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Retrieves a mutex id by name.
+ * @note It is not currently implemented.
+ *
+ * @param[out] sem_id pointer to a mutex id variable
+ * @param[in] sem_name the mutex name
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_MutSemGetIdByName(uint32 *sem_id, const char *sem_name) {
+
+ /* NULL pointer checks.*/
+ if ((sem_id == NULL) || (sem_name == NULL)) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Checking name length.*/
+ if (strlen(sem_name) >= OS_MAX_API_NAME) {
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/**
+ * @brief Returns mutex information.
+ * @note This function can be safely called from timer callbacks or ISRs.
+ * @note It is not currently implemented.
+ *
+ * @param[in] sem_id mutex id variable
+ * @param[in] sem_prop mutex properties
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_MutSemGetInfo(uint32 sem_id, OS_mut_sem_prop_t *sem_prop) {
+ syssts_t sts;
+ mutex_t *mp = (mutex_t *)sem_id;
+
+ /* NULL pointer checks.*/
+ if (sem_prop == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Range check.*/
+ if ((mp < &osal.mutexes[0]) ||
+ (mp >= &osal.mutexes[OS_MAX_BIN_SEMAPHORES])) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Entering a reentrant critical zone.*/
+ sts = chSysGetStatusAndLockX();
+
+ /* If the mutex is not in use then error.*/
+ if (mp->queue.prev == NULL) {
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Leaving the critical zone.*/
+ chSysRestoreStatusX(sts);
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/*-- Task Control API -------------------------------------------------------*/
+
+/**
+ * @brief Task creation.
+ * @note The task name is not copied inside the task but kept by reference,
+ * the name is supposed to be persistent, better if defined as a
+ * sting constant.
+ *
+ * @param[out] task_id pointer to a task id variable
+ * @param[in] task_name the task name
+ * @param[in] function_pointer the task function
+ * @param[in] stack_pointer base of stack area
+ * @param[in] stack_size size of stack area
+ * @param[in] priority the task priority
+ * @param[in] flags task attributes
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TaskCreate(uint32 *task_id,
+ const char *task_name,
+ osal_task_entry function_pointer,
+ const uint32 *stack_pointer,
+ uint32 stack_size,
+ uint32 priority,
+ uint32 flags) {
+ tprio_t rt_prio;
+ thread_t *tp;
+
+ (void)flags;
+
+ /* NULL pointer checks.*/
+ if ((task_id == NULL) || (task_name == NULL) ||
+ (function_pointer == NULL) || (stack_pointer == NULL)) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Checking alignment of stack base and size, it is application
+ responsibility to pass correct values.*/
+ if (!MEM_IS_ALIGNED(stack_pointer, PORT_WORKING_AREA_ALIGN) ||
+ !MEM_IS_ALIGNED(stack_size, sizeof (stkalign_t))) {
+ return OS_ERROR_ADDRESS_MISALIGNED;
+ }
+
+ /* Checking task name length.*/
+ if (strlen(task_name) >= OS_MAX_API_NAME) {
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
+ /* Checking priority range.*/
+ if ((priority < MIN_PRIORITY) || (priority > MAX_PRIORITY)) {
+ return OS_ERR_INVALID_PRIORITY;
+ }
+
+ /* Checking if the specified stack size is below the bare minimum.*/
+ if (stack_size < (uint32)THD_WORKING_AREA_SIZE(0)) {
+ return OS_INVALID_INT_NUM;
+ }
+
+ /* Checking if this working area is already in use by some thread, the
+ error code is not very appropriate but this case seems to not be
+ coveded by the specification.*/
+ tp = chRegFindThreadByWorkingArea((stkalign_t *)stack_pointer);
+ if (tp != NULL) {
+ /* Releasing the thread reference.*/
+ chThdRelease(tp);
+ return OS_ERR_NO_FREE_IDS;
+ }
+
+ /* Checking if the name is already in use.*/
+ if ((tp = chRegFindThreadByName(task_name)) != NULL) {
+ /* Releasing the thread reference.*/
+ chThdRelease(tp);
+ return OS_ERR_NAME_TAKEN;
+ }
+
+ /* Converting priority to RT type.*/
+ rt_prio = (tprio_t)256 - (tprio_t)priority;
+ if (rt_prio == 1) {
+ rt_prio = 2;
+ }
+
+ thread_descriptor_t td = {
+ task_name,
+ (stkalign_t *)stack_pointer,
+ (stkalign_t *)((uint8_t *)stack_pointer + stack_size),
+ rt_prio,
+ (tfunc_t)(void *)function_pointer,
+ NULL
+ };
+
+ /* Creating the task and detaching it, other APIs will have to gain a
+ reference using the registry API.*/
+ tp = chThdCreate(&td);
+ chThdRelease(tp);
+
+ /* Storing the task id.*/
+ *task_id = (uint32)tp;
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Installs a deletion handler.
+ * @note It is implemented as hooks in chconf.h.
+ *
+ * @param[in] function_pointer the handler function
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TaskInstallDeleteHandler(void *function_pointer) {
+
+ chThdGetSelfX()->osal_delete_handler = function_pointer;
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Check for task termination request.
+ * @note This is a ChibiOS/RT extension, direct task delete is not
+ * allowed in RT.
+ *
+ * @return The termination request flag.
+ * @retval false if termination has not been requested.
+ * @retval true if termination has been requested.
+ *
+ * @api
+ */
+boolean OS_TaskDeleteCheck(void) {
+
+ return (boolean)chThdShouldTerminateX();
+}
+
+/**
+ * @brief Task delete.
+ * @note Limitation, it does not actually kill the thread, it just sets a
+ * flag in the thread that has then to terminate voluntarily. The
+ * flag can be checked using @p chThdShouldTerminateX().
+ *
+ * @param[in] task_id the task id
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TaskDelete(uint32 task_id) {
+ thread_t *tp = (thread_t *)task_id;
+ funcptr_t fp;
+
+ /* Check for thread validity, getting a reference.*/
+ if (chRegFindThreadByPointer(tp) == NULL) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ /* Asking for thread termination.*/
+ chThdTerminate(tp);
+
+ /* Getting the delete handler while the thread is still referenced.*/
+ fp = (funcptr_t)tp->osal_delete_handler;
+
+ /* Waiting for termination, releasing the reference.*/
+ chThdWait(tp);
+
+ /* Calling the delete handler, if defined.*/
+ if (fp != NULL) {
+ fp();
+ }
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Task exit.
+ *
+ * @api
+ */
+void OS_TaskExit(void) {
+
+ chThdExit(MSG_OK);
+}
+
+/**
+ * @brief Wait for task termination.
+ * @note This is a ChibiOS/RT extension, added for improved testability.
+ *
+ * @param[in] task_id the task id
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TaskWait(uint32 task_id) {
+ thread_t *tp = (thread_t *)task_id;
+
+ /* Check for thread validity, getting a reference.*/
+ if (chRegFindThreadByPointer(tp) == NULL) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ (void) chThdWait(tp);
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Task delay.
+ *
+ * @param[in] milli_second the period in miliseconds
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TaskDelay(uint32 milli_second) {
+
+ chThdSleepMilliseconds(milli_second);
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Change task priority.
+ * @note Priority 255 is not available and it is transformed internally in
+ * 254.
+ *
+ * @param[in] task_id the task id
+ * @param[in] new_priority the task new priority
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TaskSetPriority(uint32 task_id, uint32 new_priority) {
+ tprio_t rt_newprio;
+ thread_t *tp = (thread_t *)task_id;
+
+ /* Checking priority range.*/
+ if ((new_priority < MIN_PRIORITY) || (new_priority > MAX_PRIORITY)) {
+ return OS_ERR_INVALID_PRIORITY;
+ }
+
+ /* Converting priority to RT type.*/
+ rt_newprio = (tprio_t)256 - (tprio_t)new_priority;
+ if (rt_newprio == 1) {
+ rt_newprio = 2;
+ }
+
+ if (chThdGetPriorityX() == rt_newprio) {
+ return OS_SUCCESS;
+ }
+
+ /* Check for thread validity.*/
+ if (chRegFindThreadByPointer(tp) == NULL) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ chSysLock();
+
+ /* Changing priority.*/
+ if ((tp->prio == tp->realprio) || (rt_newprio > tp->prio)) {
+ tp->prio = rt_newprio;
+ }
+ tp->realprio = rt_newprio;
+
+ /* The following states need priority queues reordering.*/
+ switch (tp->state) {
+ case CH_STATE_WTMTX:
+#if CH_CFG_USE_CONDVARS
+ case CH_STATE_WTCOND:
+#endif
+#if CH_CFG_USE_SEMAPHORES_PRIORITY
+ case CH_STATE_WTSEM:
+#endif
+#if CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY
+ case CH_STATE_SNDMSGQ:
+#endif
+ /* Re-enqueues tp with its new priority on the queue.*/
+ queue_prio_insert(queue_dequeue(tp),
+ (threads_queue_t *)tp->u.wtobjp);
+ break;
+ case CH_STATE_READY:
+#if CH_DBG_ENABLE_ASSERTS
+ /* Prevents an assertion in chSchReadyI().*/
+ tp->state = CH_STATE_CURRENT;
+#endif
+ /* Re-enqueues tp with its new priority on the ready list.*/
+ chSchReadyI(queue_dequeue(tp));
+ break;
+ }
+
+ /* Rescheduling.*/
+ chSchRescheduleS();
+ chSysUnlock();
+
+ /* Releasing the thread reference.*/
+ chThdRelease(tp);
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Task registration.
+ * @note In ChibiOS/RT it does nothing.
+ *
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TaskRegister(void) {
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Current task id.
+ * @note This function can be safely called from timer callbacks or ISRs.
+ *
+ * @return The current task id.
+ *
+ * @api
+ */
+uint32 OS_TaskGetId(void) {
+
+ return (uint32)chThdGetSelfX();
+}
+
+/**
+ * @brief Retrieves a task id by name.
+ *
+ * @param[out] task_id pointer to a task id variable
+ * @param[in] task_name the task name
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TaskGetIdByName(uint32 *task_id, const char *task_name) {
+ thread_t *tp;
+
+ /* NULL pointer checks.*/
+ if ((task_id == NULL) || (task_name == NULL)) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Checking task name length.*/
+ if (strlen(task_name) >= OS_MAX_API_NAME) {
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
+ /* Searching in the registry.*/
+ tp = chRegFindThreadByName(task_name);
+ if (tp == NULL) {
+ return OS_ERR_NAME_NOT_FOUND;
+ }
+
+ *task_id = (uint32)tp;
+
+ /* Releasing the thread reference.*/
+ chThdRelease(tp);
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Returns task information.
+ * @note This function can be safely called from timer callbacks or ISRs.
+ * @note Priority 255 is not available and it is transformed internally in
+ * 254.
+ *
+ * @param[in] task_id the task id
+ * @param[in] task_prop task properties
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TaskGetInfo(uint32 task_id, OS_task_prop_t *task_prop) {
+ thread_t *tp = (thread_t *)task_id;
+ size_t wasize = (size_t)tp - (size_t)tp->wabase + sizeof (thread_t);
+
+ /* NULL pointer checks.*/
+ if (task_prop == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Check for thread validity.*/
+ if (chRegFindThreadByPointer(tp) == NULL) {
+ return OS_ERR_INVALID_ID;
+ }
+
+ strncpy(task_prop->name, tp->name, OS_MAX_API_NAME - 1);
+ task_prop->creator = (uint32)chSysGetIdleThreadX();
+ task_prop->stack_size = (uint32)MEM_ALIGN_NEXT(wasize, PORT_STACK_ALIGN);
+ task_prop->priority = (uint32)256U - (uint32)tp->realprio;
+ task_prop->OStask_id = task_id;
+
+ /* Releasing the thread reference.*/
+ chThdRelease(tp);
+
+ return OS_SUCCESS;
+}
+
+/*-- System Interrupt API ---------------------------------------------------*/
+
+/* In ChibiOS interrupts are statically linked, the vectors table is in
+ flash.*/
+int32 OS_IntAttachHandler (uint32 InterruptNumber,
+ osal_task_entry InterruptHandler,
+ int32 parameter) {
+ (void)InterruptNumber;
+ (void)parameter;
+
+ /* NULL pointer checks.*/
+ if (InterruptHandler == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+int32 OS_IntLock(void) {
+
+ return (int32)chSysGetStatusAndLockX();
+}
+
+int32 OS_IntUnlock(int32 IntLevel) {
+
+ chSysRestoreStatusX((syssts_t) IntLevel);
+
+ return OS_SUCCESS;
+}
+
+int32 OS_IntEnable(int32 Level) {
+
+ NVIC_EnableIRQ((IRQn_Type)Level);
+
+ return OS_SUCCESS;
+}
+
+int32 OS_IntDisable(int32 Level) {
+
+ NVIC_DisableIRQ((IRQn_Type)Level);
+
+ return OS_SUCCESS;
+}
+
+int32 OS_IntAck(int32 InterruptNumber) {
+
+ NVIC_ClearPendingIRQ((IRQn_Type)InterruptNumber);
+
+ return OS_SUCCESS;
+}
+
+/*-- System Exception API ---------------------------------------------------*/
+
+/* In ChibiOS exceptions are statically linked, the vectors table is in
+ flash.*/
+int32 OS_ExcAttachHandler(uint32 ExceptionNumber,
+ void (*ExceptionHandler)(uint32, uint32 *,uint32),
+ int32 parameter) {
+
+ (void)ExceptionNumber;
+ (void)parameter;
+
+ /* NULL pointer checks.*/
+ if (ExceptionHandler == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/* No exceptions masking.*/
+int32 OS_ExcEnable(int32 ExceptionNumber) {
+
+ (void)ExceptionNumber;
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/* No exceptions masking.*/
+int32 OS_ExcDisable(int32 ExceptionNumber) {
+
+ (void)ExceptionNumber;
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/*-- Floating Point Unit API ------------------------------------------------*/
+
+/* In ChibiOS exceptions are statically linked, the vectors table is in
+ flash.*/
+int32 OS_FPUExcAttachHandler(uint32 ExceptionNumber,
+ void * ExceptionHandler ,
+ int32 parameter) {
+
+ (void)ExceptionNumber;
+ (void)parameter;
+
+ /* NULL pointer checks.*/
+ if (ExceptionHandler == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+int32 OS_FPUExcEnable(int32 ExceptionNumber) {
+
+ (void)ExceptionNumber;
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+int32 OS_FPUExcDisable(int32 ExceptionNumber) {
+
+ (void)ExceptionNumber;
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+int32 OS_FPUExcSetMask(uint32 mask) {
+
+ (void)mask;
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+int32 OS_FPUExcGetMask(uint32 *mask) {
+
+ (void)mask;
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/cfe_psp.mk b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/cfe_psp.mk new file mode 100644 index 0000000..0409c3f --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/cfe_psp.mk @@ -0,0 +1,11 @@ +# NASA CFE PSP files.
+CFEPSPSRC = $(CHIBIOS)/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_support.c \
+ $(CHIBIOS)/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_timer.c \
+ $(CHIBIOS)/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_memory.c \
+ $(CHIBIOS)/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_exception.c
+
+CFEPSPINC = $(CHIBIOS)/os/common/abstractions/nasa_cfe/psp/include
+
+# Shared variables
+ALLCSRC += $(CFEPSPSRC)
+ALLINC += $(CFEPSPINC)
diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/include/cfe_psp.h b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/include/cfe_psp.h new file mode 100644 index 0000000..402064c --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/include/cfe_psp.h @@ -0,0 +1,375 @@ +/* +** File Name: cfe_psp.h +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software(cFE) was created at NASA's Goddard +** Space Flight Center pursuant to government contracts. +** +** This software may be used only pursuant to a United States government +** sponsored project and the United States government may not be charged +** for use thereof. +** +** Author: A. Cudmore +** +** Purpose: This file contains the cFE Platform Support Package(PSP) +** prototypes. +** The PSP routines serve as the "glue" between the RTOS and +** the cFE Flight Software. The routines fill gaps that are not +** really considered part of the OS Abstraction, but are required +** for the cFE flight software implementation. It is possible that +** some of these routines could migrate into the OS AL. +** +** $Log: cfe_psp.h $ +** Revision 1.3 2009/07/29 12:04:46GMT-05:00 acudmore +** Added Bank parameter to EEPROM Power up/down and EEPROM write enable/disable functions. +** Revision 1.2 2009/07/22 17:34:10EDT acudmore +** Added new watchdog API +** Revision 1.1 2009/06/10 09:28:44EDT acudmore +** Initial revision +** Member added to project c:/MKSDATA/MKS-REPOSITORY/CFE-PSP-REPOSITORY/fsw/inc/project.pj +** +*/ + +#ifndef _cfe_psp_ +#define _cfe_psp_ + +/* +** Include Files +*/ + +#include "common_types.h" +#include "osapi.h" +#include "cfe_psp_config.h" +#include "psp_version.h" + +/* +** Macro Definitions +*/ + +/* +** Error and return codes +*/ +#define CFE_PSP_SUCCESS (0) +#define CFE_PSP_ERROR (-1) +#define CFE_PSP_INVALID_POINTER (-2) +#define CFE_PSP_ERROR_ADDRESS_MISALIGNED (-3) +#define CFE_PSP_ERROR_TIMEOUT (-4) +#define CFE_PSP_INVALID_INT_NUM (-5) +#define CFE_PSP_INVALID_MEM_ADDR (-21) +#define CFE_PSP_INVALID_MEM_TYPE (-22) +#define CFE_PSP_INVALID_MEM_RANGE (-23) +#define CFE_PSP_INVALID_MEM_WORDSIZE (-24) +#define CFE_PSP_INVALID_MEM_SIZE (-25) +#define CFE_PSP_INVALID_MEM_ATTR (-26) +#define CFE_PSP_ERROR_NOT_IMPLEMENTED (-27) + + + +/* +** Definitions for PSP PANIC types +*/ +#define CFE_PSP_PANIC_STARTUP 1 +#define CFE_PSP_PANIC_VOLATILE_DISK 2 +#define CFE_PSP_PANIC_MEMORY_ALLOC 3 +#define CFE_PSP_PANIC_NONVOL_DISK 4 +#define CFE_PSP_PANIC_STARTUP_SEM 5 +#define CFE_PSP_PANIC_CORE_APP 6 +#define CFE_PSP_PANIC_GENERAL_FAILURE 7 + +/* +** Macros for the file loader +*/ +#define BUFF_SIZE 256 +#define SIZE_BYTE 1 +#define SIZE_HALF 2 +#define SIZE_WORD 3 + +/* +** Define memory types +*/ +#define CFE_PSP_MEM_RAM 1 +#define CFE_PSP_MEM_EEPROM 2 +#define CFE_PSP_MEM_ANY 3 +#define CFE_PSP_MEM_INVALID 4 + +/* +** Define Memory Read/Write Attributes +*/ +#define CFE_PSP_MEM_ATTR_WRITE 0x01 +#define CFE_PSP_MEM_ATTR_READ 0x02 +#define CFE_PSP_MEM_ATTR_READWRITE 0x03 + +/* +** Define the Memory Word Sizes +*/ +#define CFE_PSP_MEM_SIZE_BYTE 0x01 +#define CFE_PSP_MEM_SIZE_WORD 0x02 +#define CFE_PSP_MEM_SIZE_DWORD 0x04 + +/* +** Type Definitions +*/ + +/* +** Memory table type +*/ +typedef struct +{ + uint32 MemoryType; + uint32 WordSize; + uint32 StartAddr; + uint32 Size; + uint32 Attributes; +} CFE_PSP_MemTable_t; + +/* +** Function prototypes +*/ + +/* +** PSP entry point and reset routines +*/ +extern void CFE_PSP_Main(int ModeId, char *StartupFilePath); + +/* +** CFE_PSP_Main is the entry point that the real time OS calls to start our +** software. This routine will do any BSP/OS specific setup, then call the +** entrypoint of the flight software ( i.e. the cFE main entry point ). +** The flight software (i.e. cFE ) should not call this routine. +*/ + +extern void CFE_PSP_GetTime(OS_time_t *LocalTime); +/* This call gets the local time from the hardware on the Vxworks system + * on the mcp750s + * on the other os/hardware setup, it will get the time the normal way */ + + +extern void CFE_PSP_Restart(uint32 resetType); +/* +** CFE_PSP_Restart is the entry point back to the BSP to restart the processor. +** The flight software calls this routine to restart the processor. +*/ + + +extern uint32 CFE_PSP_GetRestartType(uint32 *restartSubType ); +/* +** CFE_PSP_GetRestartType returns the last reset type and if a pointer to a valid +** memory space is passed in, it returns the reset sub-type in that memory. +** Right now the reset types are application specific. For the cFE they +** are defined in the cfe_es.h file. +*/ + + +extern void CFE_PSP_FlushCaches(uint32 type, uint32 address, uint32 size); +/* +** This is a BSP specific cache flush routine +*/ + +extern uint32 CFE_PSP_GetProcessorId ( void ); +/* +** CFE_PSP_GetProcessorId returns the CPU ID as defined by the specific board +** and BSP. +*/ + + +extern uint32 CFE_PSP_GetSpacecraftId ( void ); +/* +** CFE_PSP_GetSpacecraftId retuns the Spacecraft ID (if any ) +*/ + + +extern uint32 CFE_PSP_Get_Timer_Tick(void); +/* +** CFE_PSP_Get_Timer_Tick returns the underlying OS timer tick value +** It is used for the performance monitoring software +*/ + +extern uint32 CFE_PSP_GetTimerTicksPerSecond(void); +/* +** CFE_PSP_GetTimerTicksPerSecond provides the resolution of the least significant +** 32 bits of the 64 bit time stamp returned by CFE_PSP_Get_Timebase in timer +** ticks per second. The timer resolution for accuracy should not be any slower +** than 1000000 ticks per second or 1 us per tick +*/ + +extern uint32 CFE_PSP_GetTimerLow32Rollover(void); +/* +** CFE_PSP_GetTimerLow32Rollover provides the number that the least significant +** 32 bits of the 64 bit time stamp returned by CFE_PSP_Get_Timebase rolls over. +** If the lower 32 bits rolls at 1 second, then the CFE_PSP_TIMER_LOW32_ROLLOVER +** will be 1000000. if the lower 32 bits rolls at its maximum value (2^32) then +** CFE_PSP_TIMER_LOW32_ROLLOVER will be 0. +*/ + +extern void CFE_PSP_Get_Timebase(uint32 *Tbu, uint32 *Tbl); +/* +** CFE_PSP_Get_Timebase +*/ + +extern uint32 CFE_PSP_Get_Dec(void); +/* +** CFE_PSP_Get_Dec +*/ + + +extern int32 CFE_PSP_InitProcessorReservedMemory(uint32 RestartType ); +/* +** CFE_PSP_InitProcessorReservedMemory initializes all of the memory in the +** BSP that is preserved on a processor reset. The memory includes the +** Critical Data Store, the ES Reset Area, the Volatile Disk Memory, and +** the User Reserved Memory. In general, the memory areas will be initialized +** ( cleared ) on a Power On reset, and preserved during a processor reset. +*/ + +extern int32 CFE_PSP_GetCDSSize(uint32 *SizeOfCDS); +/* +** CFE_PSP_GetCDSSize fetches the size of the OS Critical Data Store area. +*/ + +extern int32 CFE_PSP_WriteToCDS(void *PtrToDataToWrite, uint32 CDSOffset, uint32 NumBytes); +/* +** CFE_PSP_WriteToCDS writes to the CDS Block. +*/ + +extern int32 CFE_PSP_ReadFromCDS(void *PtrToDataToRead, uint32 CDSOffset, uint32 NumBytes); +/* +** CFE_PSP_ReadFromCDS reads from the CDS Block +*/ + +extern int32 CFE_PSP_GetResetArea (void *PtrToResetArea, uint32 *SizeOfResetArea); +/* +** CFE_PSP_GetResetArea returns the location and size of the ES Reset information area. +** This area is preserved during a processor reset and is used to store the +** ER Log, System Log and reset related variables +*/ + +extern int32 CFE_PSP_GetUserReservedArea(void *PtrToUserArea, uint32 *SizeOfUserArea ); +/* +** CFE_PSP_GetUserReservedArea returns the location and size of the memory used for the cFE +** User reserved area. +*/ + +extern int32 CFE_PSP_GetVolatileDiskMem(void *PtrToVolDisk, uint32 *SizeOfVolDisk ); +/* +** CFE_PSP_GetVolatileDiskMem returns the location and size of the memory used for the cFE +** volatile disk. +*/ + +extern int32 CFE_PSP_GetKernelTextSegmentInfo(void *PtrToKernelSegment, uint32 *SizeOfKernelSegment); +/* +** CFE_PSP_GetKernelTextSegmentInfo returns the location and size of the kernel memory. +*/ + +extern int32 CFE_PSP_GetCFETextSegmentInfo(void *PtrToCFESegment, uint32 *SizeOfCFESegment); +/* +** CFE_PSP_GetCFETextSegmentInfo returns the location and size of the kernel memory. +*/ + +extern void CFE_PSP_WatchdogInit(void); +/* +** CFE_PSP_WatchdogInit configures the watchdog timer. +*/ + +extern void CFE_PSP_WatchdogEnable(void); +/* +** CFE_PSP_WatchdogEnable enables the watchdog timer. +*/ + +extern void CFE_PSP_WatchdogDisable(void); +/* +** CFE_PSP_WatchdogDisable disables the watchdog timer. +*/ + +extern void CFE_PSP_WatchdogService(void); +/* +** CFE_PSP_WatchdogService services the watchdog timer according to the +** value set in WatchDogSet. +*/ + +extern uint32 CFE_PSP_WatchdogGet(void); +/* +** CFE_PSP_WatchdogGet gets the watchdog time in milliseconds +*/ + +extern void CFE_PSP_WatchdogSet(uint32 WatchdogValue); +/* +** CFE_PSP_WatchdogSet sets the watchdog time in milliseconds +*/ + +extern void CFE_PSP_Panic(int32 ErrorCode); +/* +** CFE_PSP_Panic is called by the cFE Core startup code when it needs to abort the +** cFE startup. This should not be called by applications. +*/ + +extern int32 CFE_PSP_InitSSR(uint32 bus, uint32 device, char *DeviceName ); +/* +** CFE_PSP_InitSSR will initialize the Solid state recorder memory for a particular platform +*/ + +extern int32 CFE_PSP_Decompress( char * srcFileName, char * dstFileName ); +/* +** CFE_PSP_Decompress will uncompress the source file to the file specified in the +** destination file name. The Decompress uses the "gzip" algorithm. Files can +** be compressed using the "gzip" program available on almost all host platforms. +*/ + +extern void CFE_PSP_AttachExceptions(void); +/* +** CFE_PSP_AttachExceptions will setup the exception environment for the chosen platform +** On a board, this can be configured to look at a debug flag or switch in order to +** keep the standard OS exeption handlers, rather than restarting the system +*/ + + +extern void CFE_PSP_SetDefaultExceptionEnvironment(void); +/* +** +** CFE_PSP_SetDefaultExceptionEnvironment defines the CPU and FPU exceptions that are enabled for each cFE Task/App +** +** Notes: The exception environment is local to each task Therefore this must be +** called for each task that that wants to do floating point and catch exceptions +*/ + + +/* +** I/O Port API +*/ +int32 CFE_PSP_PortRead8 (uint32 PortAddress, uint8 *ByteValue); +int32 CFE_PSP_PortWrite8 (uint32 PortAddress, uint8 ByteValue); +int32 CFE_PSP_PortRead16 (uint32 PortAddress, uint16 *uint16Value); +int32 CFE_PSP_PortWrite16 (uint32 PortAddress, uint16 uint16Value); +int32 CFE_PSP_PortRead32 (uint32 PortAddress, uint32 *uint32Value); +int32 CFE_PSP_PortWrite32 (uint32 PortAddress, uint32 uint32Value); + +/* +** Memory API +*/ +int32 CFE_PSP_MemRead8 (uint32 MemoryAddress, uint8 *ByteValue); +int32 CFE_PSP_MemWrite8 (uint32 MemoryAddress, uint8 ByteValue); +int32 CFE_PSP_MemRead16 (uint32 MemoryAddress, uint16 *uint16Value); +int32 CFE_PSP_MemWrite16 (uint32 MemoryAddress, uint16 uint16Value); +int32 CFE_PSP_MemRead32 (uint32 MemoryAddress, uint32 *uint32Value); +int32 CFE_PSP_MemWrite32 (uint32 MemoryAddress, uint32 uint32Value); + +int32 CFE_PSP_MemCpy (void *dest, void *src, uint32 n); +int32 CFE_PSP_MemSet (void *dest, uint8 value, uint32 n); + +int32 CFE_PSP_MemValidateRange (uint32 Address, uint32 Size, uint32 MemoryType); +uint32 CFE_PSP_MemRanges (void); +int32 CFE_PSP_MemRangeSet (uint32 RangeNum, uint32 MemoryType, uint32 StartAddr, + uint32 Size, uint32 WordSize, uint32 Attributes); +int32 CFE_PSP_MemRangeGet (uint32 RangeNum, uint32 *MemoryType, uint32 *StartAddr, + uint32 *Size, uint32 *WordSize, uint32 *Attributes); + +int32 CFE_PSP_EepromWrite8 (uint32 MemoryAddress, uint8 ByteValue); +int32 CFE_PSP_EepromWrite16 (uint32 MemoryAddress, uint16 uint16Value); +int32 CFE_PSP_EepromWrite32 (uint32 MemoryAddress, uint32 uint32Value); + +int32 CFE_PSP_EepromWriteEnable (uint32 Bank); +int32 CFE_PSP_EepromWriteDisable(uint32 Bank); +int32 CFE_PSP_EepromPowerUp (uint32 Bank); +int32 CFE_PSP_EepromPowerDown (uint32 Bank); + +#endif /* _cfe_psp_ */ diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/include/cfe_psp_config.h b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/include/cfe_psp_config.h new file mode 100644 index 0000000..0967e07 --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/include/cfe_psp_config.h @@ -0,0 +1,21 @@ +/* +** cfe_psp_config.h +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software(cFE) was created at NASA Goddard +** Space Flight Center pursuant to government contracts. +** +** This software may be used only pursuant to a United States government +** sponsored project and the United States government may not be charged +** for use thereof. +** +** +*/ + +#ifndef _cfe_psp_config_ +#define _cfe_psp_config_ + +#include "common_types.h" + +#endif /* _cfe_psp_config_ */ diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/include/psp_version.h b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/include/psp_version.h new file mode 100644 index 0000000..c5374c4 --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/include/psp_version.h @@ -0,0 +1,38 @@ +/* +** $Id: psp_version.h 1.2.2.3 2014/10/01 15:41:27GMT-05:00 sstrege Exp $ +** +** +** Copyright (c) 2004-2006, United States government as represented by the +** administrator of the National Aeronautics Space Administration. +** All rights reserved. This software(cFE) was created at NASA's Goddard +** Space Flight Center pursuant to government contracts. +** +** This software may be used only pursuant to a United States government +** sponsored project and the United States government may not be charged +** for use thereof. +** +** +** +** Purpose: +** Provide version identifiers for the cFE Platform Support Packages (PSP). +** +*/ + +#ifndef _psp_version_ +#define _psp_version_ + + +/* +** Macro Definitions +*/ +#define CFE_PSP_MAJOR_VERSION 1 +#define CFE_PSP_MINOR_VERSION 2 +#define CFE_PSP_REVISION 0 +#define CFE_PSP_MISSION_REV 0 + +/* For backwards compatibility */ +#define CFE_PSP_SUBMINOR_VERSION CFE_PSP_REVISION + + +#endif /* _psp_version_ */ + diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_exception.c b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_exception.c new file mode 100644 index 0000000..47dfe42 --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_exception.c @@ -0,0 +1,60 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file cfe_psp_exception.c
+ * @brief CFE PSP exception module code.
+ *
+ * @addtogroup nasa_cfe_psp_exception
+ * @{
+ */
+
+#include "ch.h"
+
+#include "common_types.h"
+#include "osapi.h"
+#include "cfe_psp.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+void CFE_PSP_SetDefaultExceptionEnvironment(void) {
+
+ /* Does nothing in ChibiOS, exceptions are initialized by the OS.*/
+}
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_memory.c b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_memory.c new file mode 100644 index 0000000..7036b76 --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_memory.c @@ -0,0 +1,136 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file cfe_psp_memory.c
+ * @brief CFE PSP memory module code.
+ *
+ * @addtogroup nasa_cfe_psp_memory
+ * @{
+ */
+
+#include "ch.h"
+
+#include "common_types.h"
+#include "osapi.h"
+#include "cfe_psp.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+int32 CFE_PSP_GetCDSSize(uint32 *SizeOfCDS) {
+
+ (void)SizeOfCDS;
+
+ return 0;
+}
+
+int32 CFE_PSP_WriteToCDS(void *PtrToDataToWrite,
+ uint32 CDSOffset,
+ uint32 NumBytes) {
+
+ (void)PtrToDataToWrite;
+ (void)CDSOffset;
+ (void)NumBytes;
+
+ return 0;
+}
+
+int32 CFE_PSP_ReadFromCDS(void *PtrToDataToRead,
+ uint32 CDSOffset,
+ uint32 NumBytes) {
+
+ (void)PtrToDataToRead;
+ (void)CDSOffset;
+ (void)NumBytes;
+
+ return 0;
+}
+
+int32 CFE_PSP_GetResetArea(void *PtrToResetArea,
+ uint32 *SizeOfResetArea) {
+
+ (void)PtrToResetArea;
+ (void)SizeOfResetArea;
+
+ return 0;
+}
+
+int32 CFE_PSP_GetUserReservedArea(void *PtrToUserArea,
+ uint32 *SizeOfUserArea) {
+
+ (void)PtrToUserArea;
+ (void)SizeOfUserArea;
+
+ return 0;
+}
+
+int32 CFE_PSP_GetVolatileDiskMem(void *PtrToVolDisk,
+ uint32 *SizeOfVolDisk) {
+
+ (void)PtrToVolDisk;
+ (void)SizeOfVolDisk;
+
+ return 0;
+}
+
+int32 CFE_PSP_InitProcessorReservedMemory(uint32 RestartType) {
+
+ (void)RestartType;
+
+ return 0;
+}
+
+int32 CFE_PSP_GetKernelTextSegmentInfo(void *PtrToKernelSegment,
+ uint32 *SizeOfKernelSegment) {
+
+ (void)PtrToKernelSegment;
+ (void)SizeOfKernelSegment;
+
+ return 0;
+}
+
+int32 CFE_PSP_GetCFETextSegmentInfo(void *PtrToCFESegment,
+ uint32 *SizeOfCFESegment) {
+
+ (void)PtrToCFESegment;
+ (void)SizeOfCFESegment;
+
+ return 0;
+}
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_support.c b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_support.c new file mode 100644 index 0000000..77df47e --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_support.c @@ -0,0 +1,72 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file cfe_psp_support.c
+ * @brief CFE PSP support module code.
+ *
+ * @addtogroup nasa_cfe_psp_support
+ * @{
+ */
+
+#include "ch.h"
+
+#include "common_types.h"
+#include "osapi.h"
+#include "cfe_psp.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Provides a common interface to the processor reset.
+ * @note Not currently implemented.
+ */
+void CFE_PSP_Restart(uint32 reset_type) {
+
+ (void)reset_type;
+}
+
+/**
+ * @brief Generic panic handler.
+ */
+void CFE_PSP_Panic(int32 ErrorCode) {
+
+ chSysHalt((char *)ErrorCode);
+}
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_timer.c b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_timer.c new file mode 100644 index 0000000..407dd1b --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_timer.c @@ -0,0 +1,81 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file cfe_psp_timer.c
+ * @brief CFE PSP timer module code.
+ *
+ * @addtogroup nasa_cfe_psp_timer
+ * @{
+ */
+
+#include "ch.h"
+
+#include "common_types.h"
+#include "osapi.h"
+#include "cfe_psp.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+void CFE_PSP_GetTime(OS_time_t *LocalTime) {
+
+ (void)LocalTime;
+}
+
+uint32 CFE_PSP_GetTimerTicksPerSecond(void) {
+
+ return 0;
+}
+
+uint32 CFE_PSP_GetTimerLow32Rollover(void) {
+
+ return 0;
+}
+
+void CFE_PSP_Get_Timebase(uint32 *Tbu, uint32* Tbl) {
+
+ (void)Tbu;
+ (void)Tbl;
+}
+
+uint32 CFE_PSP_Get_Dec(void) {
+
+ return 0;
+}
+
+/** @} */
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