From 48026bb824fd2d9cfb00ecd040db6ef3a416bae9 Mon Sep 17 00:00:00 2001 From: Clyne Sullivan Date: Fri, 22 Jan 2021 21:43:36 -0500 Subject: upload initial port --- .../os/common/abstractions/cmsis_os/cmsis_os.c | 557 +++++ .../os/common/abstractions/cmsis_os/cmsis_os.h | 522 +++++ .../os/common/abstractions/cmsis_os/cmsis_os.mk | 8 + .../common/abstractions/nasa_cfe/osal/cfe_osal.mk | 8 + .../nasa_cfe/osal/include/common_types.h | 267 +++ .../nasa_cfe/osal/include/osapi-os-core.h | 274 +++ .../nasa_cfe/osal/include/osapi-os-custom.h | 68 + .../nasa_cfe/osal/include/osapi-os-filesys.h | 419 ++++ .../nasa_cfe/osal/include/osapi-os-loader.h | 91 + .../nasa_cfe/osal/include/osapi-os-net.h | 61 + .../nasa_cfe/osal/include/osapi-os-timer.h | 68 + .../nasa_cfe/osal/include/osapi-version.h | 48 + .../abstractions/nasa_cfe/osal/include/osapi.h | 143 ++ .../common/abstractions/nasa_cfe/osal/src/osapi.c | 2280 ++++++++++++++++++++ .../os/common/abstractions/nasa_cfe/psp/cfe_psp.mk | 11 + .../abstractions/nasa_cfe/psp/include/cfe_psp.h | 375 ++++ .../nasa_cfe/psp/include/cfe_psp_config.h | 21 + .../nasa_cfe/psp/include/psp_version.h | 38 + .../nasa_cfe/psp/src/cfe_psp_exception.c | 60 + .../abstractions/nasa_cfe/psp/src/cfe_psp_memory.c | 136 ++ .../nasa_cfe/psp/src/cfe_psp_support.c | 72 + .../abstractions/nasa_cfe/psp/src/cfe_psp_timer.c | 81 + 22 files changed, 5608 insertions(+) create mode 100644 ChibiOS_20.3.2/os/common/abstractions/cmsis_os/cmsis_os.c create mode 100644 ChibiOS_20.3.2/os/common/abstractions/cmsis_os/cmsis_os.h create mode 100644 ChibiOS_20.3.2/os/common/abstractions/cmsis_os/cmsis_os.mk create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/cfe_osal.mk create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/common_types.h create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-core.h create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-custom.h create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-filesys.h create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-loader.h create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-net.h create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-os-timer.h create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi-version.h create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/include/osapi.h create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/osal/src/osapi.c create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/cfe_psp.mk create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/include/cfe_psp.h create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/include/cfe_psp_config.h create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/include/psp_version.h create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_exception.c create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_memory.c create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_support.c create mode 100644 ChibiOS_20.3.2/os/common/abstractions/nasa_cfe/psp/src/cfe_psp_timer.c (limited to 'ChibiOS_20.3.2/os/common/abstractions') diff --git a/ChibiOS_20.3.2/os/common/abstractions/cmsis_os/cmsis_os.c b/ChibiOS_20.3.2/os/common/abstractions/cmsis_os/cmsis_os.c new file mode 100644 index 0000000..af1c85f --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/cmsis_os/cmsis_os.c @@ -0,0 +1,557 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +/* + Concepts and parts of this file have been contributed by Andre R. + */ + +/** + * @file cmsis_os.c + * @brief CMSIS RTOS module code. + * + * @addtogroup CMSIS_OS + * @{ + */ + +#include "cmsis_os.h" +#include + +/*===========================================================================*/ +/* Module local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +int32_t cmsis_os_started; + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +static memory_pool_t sempool; +static semaphore_t semaphores[CMSIS_CFG_NUM_SEMAPHORES]; + +static memory_pool_t timpool; +static struct os_timer_cb timers[CMSIS_CFG_NUM_TIMERS]; + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +/** + * @brief Virtual timers common callback. + */ +static void timer_cb(void const *arg) { + + osTimerId timer_id = (osTimerId)arg; + timer_id->ptimer(timer_id->argument); + if (timer_id->type == osTimerPeriodic) { + chSysLockFromISR(); + chVTDoSetI(&timer_id->vt, TIME_MS2I(timer_id->millisec), + (vtfunc_t)timer_cb, timer_id); + chSysUnlockFromISR(); + } +} + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +/** + * @brief Kernel initialization. + */ +osStatus osKernelInitialize(void) { + + cmsis_os_started = 0; + + chSysInit(); + chThdSetPriority(HIGHPRIO); + + chPoolObjectInit(&sempool, sizeof(semaphore_t), chCoreAllocAlignedI); + chPoolLoadArray(&sempool, semaphores, CMSIS_CFG_NUM_SEMAPHORES); + + chPoolObjectInit(&timpool, sizeof(struct os_timer_cb), chCoreAllocAlignedI); + chPoolLoadArray(&timpool, timers, CMSIS_CFG_NUM_TIMERS); + + return osOK; +} + +/** + * @brief Kernel start. + */ +osStatus osKernelStart(void) { + + cmsis_os_started = 1; + + chThdSetPriority(NORMALPRIO); + + return osOK; +} + +/** + * @brief Creates a thread. + */ +osThreadId osThreadCreate(const osThreadDef_t *thread_def, void *argument) { + size_t size; + + size = thread_def->stacksize == 0 ? CMSIS_CFG_DEFAULT_STACK : + thread_def->stacksize; + return (osThreadId)chThdCreateFromHeap(0, + THD_WORKING_AREA_SIZE(size), + thread_def->name, + NORMALPRIO+thread_def->tpriority, + (tfunc_t)thread_def->pthread, + argument); +} + +/** + * @brief Thread termination. + * @note The thread is not really terminated but asked to terminate which + * is not compliant. + */ +osStatus osThreadTerminate(osThreadId thread_id) { + + if (thread_id == osThreadGetId()) { + /* Note, no memory will be recovered unless a cleaner thread is + implemented using the registry.*/ + chThdExit(0); + } + chThdTerminate(thread_id); + chThdWait((thread_t *)thread_id); + + return osOK; +} + +/** + * @brief Change thread priority. + * @note This can interfere with the priority inheritance mechanism. + */ +osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio) { + thread_t * tp = (thread_t *)thread_id; + + chSysLock(); + + /* Changing priority.*/ +#if CH_CFG_USE_MUTEXES + if ((tp->prio == tp->realprio) || ((tprio_t)newprio > tp->prio)) + tp->prio = (tprio_t)newprio; + tp->realprio = (tprio_t)newprio; +#else + tp->prio = (tprio_t)newprio; +#endif + + /* The following states need priority queues reordering.*/ + switch (tp->state) { +#if CH_CFG_USE_MUTEXES | \ + CH_CFG_USE_CONDVARS | \ + (CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY) | \ + (CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY) +#if CH_CFG_USE_MUTEXES + case CH_STATE_WTMTX: +#endif +#if CH_CFG_USE_CONDVARS + case CH_STATE_WTCOND: +#endif +#if CH_CFG_USE_SEMAPHORES && 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; +#endif + 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(); + + return osOK; +} + +/** + * @brief Create a timer. + */ +osTimerId osTimerCreate(const osTimerDef_t *timer_def, + os_timer_type type, + void *argument) { + + osTimerId timer = chPoolAlloc(&timpool); + chVTObjectInit(&timer->vt); + timer->ptimer = timer_def->ptimer; + timer->type = type; + timer->argument = argument; + return timer; +} + +/** + * @brief Start a timer. + */ +osStatus osTimerStart(osTimerId timer_id, uint32_t millisec) { + + if ((millisec == 0) || (millisec == osWaitForever)) + return osErrorValue; + + timer_id->millisec = millisec; + chVTSet(&timer_id->vt, TIME_MS2I(millisec), (vtfunc_t)timer_cb, timer_id); + + return osOK; +} + +/** + * @brief Stop a timer. + */ +osStatus osTimerStop(osTimerId timer_id) { + + chVTReset(&timer_id->vt); + + return osOK; +} + +/** + * @brief Delete a timer. + */ +osStatus osTimerDelete(osTimerId timer_id) { + + chVTReset(&timer_id->vt); + chPoolFree(&timpool, (void *)timer_id); + + return osOK; +} + +/** + * @brief Send signals. + */ +int32_t osSignalSet(osThreadId thread_id, int32_t signals) { + int32_t oldsignals; + + syssts_t sts = chSysGetStatusAndLockX(); + oldsignals = (int32_t)thread_id->epending; + chEvtSignalI((thread_t *)thread_id, (eventmask_t)signals); + chSysRestoreStatusX(sts); + + return oldsignals; +} + +/** + * @brief Clear signals. + */ +int32_t osSignalClear(osThreadId thread_id, int32_t signals) { + eventmask_t m; + + chSysLock(); + + m = thread_id->epending & (eventmask_t)signals; + thread_id->epending &= ~(eventmask_t)signals; + + chSysUnlock(); + + return (int32_t)m; +} + +/** + * @brief Wait for signals. + */ +osEvent osSignalWait(int32_t signals, uint32_t millisec) { + osEvent event; + sysinterval_t timeout = (millisec == osWaitForever ? + TIME_INFINITE : (millisec == 0 ? TIME_IMMEDIATE : + TIME_MS2I(millisec))); + + if (signals == 0) + event.value.signals = (uint32_t)chEvtWaitAnyTimeout(ALL_EVENTS, timeout); + else + event.value.signals = (uint32_t)chEvtWaitAllTimeout((eventmask_t)signals, + timeout); + + /* Type of event.*/ + if (event.value.signals == 0) + event.status = osEventTimeout; + else + event.status = osEventSignal; + + return event; +} + +/** + * @brief Create a semaphore. + * @note @p semaphore_def is not used. + * @note Can involve memory allocation. + */ +osSemaphoreId osSemaphoreCreate(const osSemaphoreDef_t *semaphore_def, + int32_t count) { + + (void)semaphore_def; + + semaphore_t *sem = chPoolAlloc(&sempool); + chSemObjectInit(sem, (cnt_t)count); + return sem; +} + +/** + * @brief Wait on a semaphore. + */ +int32_t osSemaphoreWait(osSemaphoreId semaphore_id, uint32_t millisec) { + sysinterval_t timeout = (millisec == osWaitForever ? + TIME_INFINITE : (millisec == 0 ? TIME_IMMEDIATE : + TIME_MS2I(millisec))); + + msg_t msg = chSemWaitTimeout((semaphore_t *)semaphore_id, timeout); + switch (msg) { + case MSG_OK: + return osOK; + case MSG_TIMEOUT: + return osErrorTimeoutResource; + } + return osErrorResource; +} + +/** + * @brief Release a semaphore. + */ +osStatus osSemaphoreRelease(osSemaphoreId semaphore_id) { + + syssts_t sts = chSysGetStatusAndLockX(); + chSemSignalI((semaphore_t *)semaphore_id); + chSysRestoreStatusX(sts); + + return osOK; +} + +/** + * @brief Deletes a semaphore. + * @note After deletion there could be references in the system to a + * non-existent semaphore. + */ +osStatus osSemaphoreDelete(osSemaphoreId semaphore_id) { + + chSemReset((semaphore_t *)semaphore_id, 0); + chPoolFree(&sempool, (void *)semaphore_id); + + return osOK; +} + +/** + * @brief Create a mutex. + * @note @p mutex_def is not used. + * @note Can involve memory allocation. + */ +osMutexId osMutexCreate(const osMutexDef_t *mutex_def) { + + (void)mutex_def; + + binary_semaphore_t *mtx = chPoolAlloc(&sempool); + chBSemObjectInit(mtx, false); + return mtx; +} + +/** + * @brief Wait on a mutex. + */ +osStatus osMutexWait(osMutexId mutex_id, uint32_t millisec) { + sysinterval_t timeout = (millisec == osWaitForever ? + TIME_INFINITE : (millisec == 0 ? TIME_IMMEDIATE : + TIME_MS2I(millisec))); + + msg_t msg = chBSemWaitTimeout((binary_semaphore_t *)mutex_id, timeout); + switch (msg) { + case MSG_OK: + return osOK; + case MSG_TIMEOUT: + return osErrorTimeoutResource; + } + return osErrorResource; +} + +/** + * @brief Release a mutex. + */ +osStatus osMutexRelease(osMutexId mutex_id) { + + syssts_t sts = chSysGetStatusAndLockX(); + chBSemSignalI((binary_semaphore_t *)mutex_id); + chSysRestoreStatusX(sts); + + return osOK; +} + +/** + * @brief Deletes a mutex. + * @note After deletion there could be references in the system to a + * non-existent semaphore. + */ +osStatus osMutexDelete(osMutexId mutex_id) { + + chSemReset((semaphore_t *)mutex_id, 0); + chPoolFree(&sempool, (void *)mutex_id); + + return osOK; +} + +/** + * @brief Create a memory pool. + * @note The pool is not really created because it is allocated statically, + * this function just re-initializes it. + */ +osPoolId osPoolCreate(const osPoolDef_t *pool_def) { + + chPoolObjectInit(pool_def->pool, (size_t)pool_def->item_sz, NULL); + chPoolLoadArray(pool_def->pool, pool_def->items, (size_t)pool_def->pool_sz); + + return (osPoolId)pool_def->pool; +} + +/** + * @brief Allocate an object. + */ +void *osPoolAlloc(osPoolId pool_id) { + void *object; + + syssts_t sts = chSysGetStatusAndLockX(); + object = chPoolAllocI((memory_pool_t *)pool_id); + chSysRestoreStatusX(sts); + + return object; +} + +/** + * @brief Allocate an object clearing it. + */ +void *osPoolCAlloc(osPoolId pool_id) { + void *object; + + object = chPoolAllocI((memory_pool_t *)pool_id); + memset(object, 0, pool_id->object_size); + return object; +} + +/** + * @brief Free an object. + */ +osStatus osPoolFree(osPoolId pool_id, void *block) { + + syssts_t sts = chSysGetStatusAndLockX(); + chPoolFreeI((memory_pool_t *)pool_id, block); + chSysRestoreStatusX(sts); + + return osOK; +} + +/** + * @brief Create a message queue. + * @note The queue is not really created because it is allocated statically, + * this function just re-initializes it. + */ +osMessageQId osMessageCreate(const osMessageQDef_t *queue_def, + osThreadId thread_id) { + + /* Ignoring this parameter for now.*/ + (void)thread_id; + + if (queue_def->item_sz > sizeof (msg_t)) + return NULL; + + chMBObjectInit(queue_def->mailbox, + queue_def->items, + (size_t)queue_def->queue_sz); + + return (osMessageQId) queue_def->mailbox; +} + +/** + * @brief Put a message in the queue. + */ +osStatus osMessagePut(osMessageQId queue_id, + uint32_t info, + uint32_t millisec) { + msg_t msg; + sysinterval_t timeout = (millisec == osWaitForever ? + TIME_INFINITE : (millisec == 0 ? TIME_IMMEDIATE : + TIME_MS2I(millisec))); + + if (port_is_isr_context()) { + + /* Waiting makes no sense in ISRs so any value except "immediate" + makes no sense.*/ + if (millisec != 0) + return osErrorValue; + + chSysLockFromISR(); + msg = chMBPostI((mailbox_t *)queue_id, (msg_t)info); + chSysUnlockFromISR(); + } + else + msg = chMBPostTimeout((mailbox_t *)queue_id, (msg_t)info, timeout); + + return msg == MSG_OK ? osOK : osEventTimeout; +} + +/** + * @brief Get a message from the queue. + */ +osEvent osMessageGet(osMessageQId queue_id, + uint32_t millisec) { + msg_t msg; + osEvent event; + sysinterval_t timeout = (millisec == osWaitForever ? + TIME_INFINITE : (millisec == 0 ? TIME_IMMEDIATE : + TIME_MS2I(millisec))); + + event.def.message_id = queue_id; + + if (port_is_isr_context()) { + + /* Waiting makes no sense in ISRs so any value except "immediate" + makes no sense.*/ + if (millisec != 0) { + event.status = osErrorValue; + return event; + } + + chSysLockFromISR(); + msg = chMBFetchI((mailbox_t *)queue_id, (msg_t*)&event.value.v); + chSysUnlockFromISR(); + } + else { + msg = chMBFetchTimeout((mailbox_t *)queue_id, (msg_t*)&event.value.v, timeout); + } + + /* Returned event type.*/ + event.status = msg == MSG_OK ? osEventMessage : osEventTimeout; + return event; +} + +/** @} */ diff --git a/ChibiOS_20.3.2/os/common/abstractions/cmsis_os/cmsis_os.h b/ChibiOS_20.3.2/os/common/abstractions/cmsis_os/cmsis_os.h new file mode 100644 index 0000000..1b41318 --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/cmsis_os/cmsis_os.h @@ -0,0 +1,522 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ +/* + Concepts and parts of this file have been contributed by Andre R. + */ + +/** + * @file cmsis_os.h + * @brief CMSIS RTOS module macros and structures. + * + * @addtogroup CMSIS_OS + * @{ + */ + +#ifndef CMSIS_OS_H +#define CMSIS_OS_H + +#include "ch.h" + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/** + * @brief API version. + */ +#define osCMSIS 0x10002 + +/** + * @brief Kernel version. + */ +#define osKernelSystemId "KERNEL V1.00" + +/** + * @brief ChibiOS/RT version encoded for CMSIS. + */ +#define osCMSIS_KERNEL ((CH_KERNEL_MAJOR << 16) | \ + (CH_KERNEL_MINOR << 8) | \ + (CH_KERNEL_PATCH)) + +/** + * @name CMSIS Capabilities + * @{ + */ +#define osFeature_MainThread 1 +#define osFeature_Pool 1 +#define osFeature_MailQ 0 +#define osFeature_MessageQ 1 +#define osFeature_Signals 24 +#define osFeature_Semaphore ((1U << 31) - 1U) +#define osFeature_Wait 0 +#define osFeature_SysTick 1 +/**< @} */ + +/** + * @brief Wait forever specification for timeouts. + */ +#define osWaitForever ((uint32_t)-1) + +/** + * @brief System tick frequency. + */ +#define osKernelSysTickFrequency CH_CFG_ST_FREQUENCY + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @brief Number of pre-allocated static semaphores/mutexes. + */ +#if !defined(CMSIS_CFG_DEFAULT_STACK) +#define CMSIS_CFG_DEFAULT_STACK 256 +#endif + +/** + * @brief Number of pre-allocated static semaphores/mutexes. + */ +#if !defined(CMSIS_CFG_NUM_SEMAPHORES) +#define CMSIS_CFG_NUM_SEMAPHORES 4 +#endif + +/** + * @brief Number of pre-allocated static timers. + */ +#if !defined(CMSIS_CFG_NUM_TIMERS) +#define CMSIS_CFG_NUM_TIMERS 4 +#endif + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if !CH_CFG_USE_MEMPOOLS +#error "CMSIS RTOS requires CH_CFG_USE_MEMPOOLS" +#endif + +#if !CH_CFG_USE_EVENTS +#error "CMSIS RTOS requires CH_CFG_USE_EVENTS" +#endif + +#if !CH_CFG_USE_EVENTS_TIMEOUT +#error "CMSIS RTOS requires CH_CFG_USE_EVENTS_TIMEOUT" +#endif + +#if !CH_CFG_USE_SEMAPHORES +#error "CMSIS RTOS requires CH_CFG_USE_SEMAPHORES" +#endif + +#if !CH_CFG_USE_DYNAMIC +#error "CMSIS RTOS requires CH_CFG_USE_DYNAMIC" +#endif + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Type of priority levels. + */ +typedef enum { + osPriorityIdle = -3, + osPriorityLow = -2, + osPriorityBelowNormal = -1, + osPriorityNormal = 0, + osPriorityAboveNormal = +1, + osPriorityHigh = +2, + osPriorityRealtime = +3, + osPriorityError = 0x84 +} osPriority; + +/** + * @brief Type of error codes. + */ +typedef enum { + osOK = 0, + osEventSignal = 0x08, + osEventMessage = 0x10, + osEventMail = 0x20, + osEventTimeout = 0x40, + osErrorParameter = 0x80, + osErrorResource = 0x81, + osErrorTimeoutResource = 0xC1, + osErrorISR = 0x82, + osErrorISRRecursive = 0x83, + osErrorPriority = 0x84, + osErrorNoMemory = 0x85, + osErrorValue = 0x86, + osErrorOS = 0xFF, + os_status_reserved = 0x7FFFFFFF +} osStatus; + +/** + * @brief Type of a timer mode. + */ +typedef enum { + osTimerOnce = 0, + osTimerPeriodic = 1 +} os_timer_type; + +/** + * @brief Type of thread functions. + */ +typedef void (*os_pthread) (void const *argument); + +/** + * @brief Type of timer callback. + */ +typedef void (*os_ptimer) (void const *argument); + +/** + * @brief Type of pointer to thread control block. + */ +typedef thread_t *osThreadId; + +/** + * @brief Type of pointer to timer control block. + */ +typedef struct os_timer_cb { + virtual_timer_t vt; + os_timer_type type; + os_ptimer ptimer; + void *argument; + uint32_t millisec; +} *osTimerId; + +/** + * @brief Type of pointer to mutex control block. + */ +typedef binary_semaphore_t *osMutexId; + +/** + * @brief Type of pointer to semaphore control block. + */ +typedef semaphore_t *osSemaphoreId; + +/** + * @brief Type of pointer to memory pool control block. + */ +typedef memory_pool_t *osPoolId; + +/** + * @brief Type of pointer to message queue control block. + */ +typedef struct mailbox *osMessageQId; + +/** + * @brief Type of an event. + */ +typedef struct { + osStatus status; + union { + uint32_t v; + void *p; + int32_t signals; + } value; + union { +/* osMailQId mail_id;*/ + osMessageQId message_id; + } def; +} osEvent; + +/** + * @brief Type of a thread definition block. + */ +typedef struct os_thread_def { + os_pthread pthread; + osPriority tpriority; + uint32_t stacksize; + const char *name; +} osThreadDef_t; + +/** + * @brief Type of a timer definition block. + */ +typedef struct os_timer_def { + os_ptimer ptimer; +} osTimerDef_t; + +/** + * @brief Type of a mutex definition block. + */ +typedef struct os_mutex_def { + uint32_t dummy; +} osMutexDef_t; + +/** + * @brief Type of a semaphore definition block. + */ +typedef struct os_semaphore_def { + uint32_t dummy; +} osSemaphoreDef_t; + +/** + * @brief Type of a memory pool definition block. + */ +typedef struct os_pool_def { + uint32_t pool_sz; + uint32_t item_sz; + memory_pool_t *pool; + void *items; +} osPoolDef_t; + +/** + * @brief Type of a message queue definition block. + */ +typedef struct os_messageQ_def { + uint32_t queue_sz; + uint32_t item_sz; + mailbox_t *mailbox; + void *items; +} osMessageQDef_t; + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/** + * @brief Convert a microseconds value to a RTOS kernel system timer value. + */ +#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * \ + (osKernelSysTickFrequency)) / \ + 1000000) + +/** + * @brief Create a Thread definition. + */ +#if defined(osObjectsExternal) +#define osThreadDef(thd, priority, stacksz, name) \ + extern const osThreadDef_t os_thread_def_##thd +#else +#define osThreadDef(thd, priority, stacksz, name) \ +const osThreadDef_t os_thread_def_##thd = { \ + (thd), \ + (priority), \ + (stacksz), \ + (name) \ +} +#endif + +/** + * @brief Access a Thread definition. + */ +#define osThread(name) &os_thread_def_##name + +/** + * @brief Define a Timer object. + */ +#if defined(osObjectsExternal) +#define osTimerDef(name, function) \ + extern const osTimerDef_t os_timer_def_##name +#else +#define osTimerDef(name, function) \ +const osTimerDef_t os_timer_def_##name = { \ + (function) \ +} +#endif + +/** + * @brief Access a Timer definition. + */ +#define osTimer(name) &os_timer_def_##name + +/** + * @brief Define a Mutex. + */ +#if defined(osObjectsExternal) +#define osMutexDef(name) extern const osMutexDef_t os_mutex_def_##name +#else +#define osMutexDef(name) const osMutexDef_t os_mutex_def_##name = {0} +#endif + +/** + * @brief Access a Mutex definition. + */ +#define osMutex(name) &os_mutex_def_##name + +/** + * @brief Define a Semaphore. + */ +#if defined(osObjectsExternal) +#define osSemaphoreDef(name) \ + extern const osSemaphoreDef_t os_semaphore_def_##name +#else // define the object +#define osSemaphoreDef(name) \ + const osSemaphoreDef_t os_semaphore_def_##name = {0} +#endif + +/** + * @brief Access a Semaphore definition. + */ +#define osSemaphore(name) &os_semaphore_def_##name + +/** + * @brief Define a Memory Pool. + */ +#if defined(osObjectsExternal) +#define osPoolDef(name, no, type) \ + extern const osPoolDef_t os_pool_def_##name +#else +#define osPoolDef(name, no, type) \ +static const type os_pool_buf_##name[no]; \ +static memory_pool_t os_pool_obj_##name; \ +const osPoolDef_t os_pool_def_##name = { \ + (no), \ + sizeof (type), \ + (void *)&os_pool_obj_##name, \ + (void *)&os_pool_buf_##name[0] \ +} +#endif + +/** + * @brief Access a Memory Pool definition. + */ +#define osPool(name) &os_pool_def_##name + +/** + * @brief Define a Message Queue. + */ +#if defined(osObjectsExternal) +#define osMessageQDef(name, queue_sz, type) \ + extern const osMessageQDef_t os_messageQ_def_##name +#else +#define osMessageQDef(name, queue_sz, type) \ +static const msg_t os_messageQ_buf_##name[queue_sz]; \ +static mailbox_t os_messageQ_obj_##name; \ +const osMessageQDef_t os_messageQ_def_##name = { \ + (queue_sz), \ + sizeof (type), \ + (void *)&os_messageQ_obj_##name, \ + (void *)&os_messageQ_buf_##name[0] \ +} +#endif + +/** + * @brief Access a Message Queue definition. + */ +#define osMessageQ(name) &os_messageQ_def_##name + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +extern int32_t cmsis_os_started; + +#ifdef __cplusplus +extern "C" { +#endif + osStatus osKernelInitialize(void); + osStatus osKernelStart(void); + osThreadId osThreadCreate(const osThreadDef_t *thread_def, void *argument); + osStatus osThreadTerminate(osThreadId thread_id); + osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio); + /*osEvent osWait(uint32_t millisec);*/ + osTimerId osTimerCreate(const osTimerDef_t *timer_def, + os_timer_type type, + void *argument); + osStatus osTimerStart(osTimerId timer_id, uint32_t millisec); + osStatus osTimerStop(osTimerId timer_id); + osStatus osTimerDelete(osTimerId timer_id); + int32_t osSignalSet(osThreadId thread_id, int32_t signals); + int32_t osSignalClear(osThreadId thread_id, int32_t signals); + osEvent osSignalWait(int32_t signals, uint32_t millisec); + osSemaphoreId osSemaphoreCreate(const osSemaphoreDef_t *semaphore_def, + int32_t count); + int32_t osSemaphoreWait(osSemaphoreId semaphore_id, uint32_t millisec); + osStatus osSemaphoreRelease(osSemaphoreId semaphore_id); + osStatus osSemaphoreDelete(osSemaphoreId semaphore_id); + osMutexId osMutexCreate(const osMutexDef_t *mutex_def); + osStatus osMutexWait(osMutexId mutex_id, uint32_t millisec); + osStatus osMutexRelease(osMutexId mutex_id); + osStatus osMutexDelete(osMutexId mutex_id); + osPoolId osPoolCreate(const osPoolDef_t *pool_def); + void *osPoolAlloc(osPoolId pool_id); + void *osPoolCAlloc(osPoolId pool_id); + osStatus osPoolFree(osPoolId pool_id, void *block); + osMessageQId osMessageCreate(const osMessageQDef_t *queue_def, + osThreadId thread_id); + osStatus osMessagePut(osMessageQId queue_id, + uint32_t info, + uint32_t millisec); + osEvent osMessageGet(osMessageQId queue_id, + uint32_t millisec); +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @brief To be or not to be. + */ +static inline int32_t osKernelRunning(void) { + + return cmsis_os_started; +} + +/** + * @brief System ticks since start. + */ +static inline uint32_t osKernelSysTick(void) { + + return (uint32_t)chVTGetSystemTimeX(); +} + +/** + * @brief Returns the current thread. + */ +static inline osThreadId osThreadGetId(void) { + + return (osThreadId)chThdGetSelfX(); +} + +/** + * @brief Thread time slice yield. + */ +static inline osStatus osThreadYield(void) { + + chThdYield(); + + return osOK; +} + +/** + * @brief Returns priority of a thread. + */ +static inline osPriority osThreadGetPriority(osThreadId thread_id) { + + return (osPriority)(NORMALPRIO - thread_id->prio); +} + +/** + * @brief Thread delay in milliseconds. + */ +static inline osStatus osDelay(uint32_t millisec) { + + chThdSleepMilliseconds(millisec); + + return osOK; +} + +#endif /* CMSIS_OS_H */ + +/** @} */ diff --git a/ChibiOS_20.3.2/os/common/abstractions/cmsis_os/cmsis_os.mk b/ChibiOS_20.3.2/os/common/abstractions/cmsis_os/cmsis_os.mk new file mode 100644 index 0000000..530a479 --- /dev/null +++ b/ChibiOS_20.3.2/os/common/abstractions/cmsis_os/cmsis_os.mk @@ -0,0 +1,8 @@ +# List of the ChibiOS/RT CMSIS RTOS wrapper. +CMSISRTOSSRC = ${CHIBIOS}/os/common/abstractions/cmsis_os/cmsis_os.c + +CMSISRTOSINC = ${CHIBIOS}/os/common/abstractions/cmsis_os + +# Shared variables +ALLCSRC += $(CMSISRTOSSRC) +ALLINC += $(CMSISRTOSINC) 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 /* 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 +#include +#include +#include + +#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 +#include + +#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; +} + +/** @} */ -- cgit v1.2.3