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authorGiovanni Di Sirio <gdisirio@gmail.com>2016-02-23 09:31:25 +0000
committerGiovanni Di Sirio <gdisirio@gmail.com>2016-02-23 09:31:25 +0000
commit430facf5652c09fee1d77ebad2fb1cca641de544 (patch)
tree1491d02fb14ef5bbd21ea1d464658a0332802d32 /os/common/abstractions
parent2240934707a4e434c76329ad3051a6ba5c09e299 (diff)
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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8931 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/common/abstractions')
-rw-r--r--os/common/abstractions/cmsis_os/cmsis_os.c555
-rw-r--r--os/common/abstractions/cmsis_os/cmsis_os.h522
-rw-r--r--os/common/abstractions/cmsis_os/cmsis_os.mk4
-rw-r--r--os/common/abstractions/nasa-osal/include/common_types.h267
-rw-r--r--os/common/abstractions/nasa-osal/include/osapi-os-core.h274
-rw-r--r--os/common/abstractions/nasa-osal/include/osapi-os-filesys.h419
-rw-r--r--os/common/abstractions/nasa-osal/include/osapi-os-loader.h91
-rw-r--r--os/common/abstractions/nasa-osal/include/osapi-os-net.h61
-rw-r--r--os/common/abstractions/nasa-osal/include/osapi-os-timer.h68
-rw-r--r--os/common/abstractions/nasa-osal/include/osapi-version.h48
-rw-r--r--os/common/abstractions/nasa-osal/include/osapi.h142
-rw-r--r--os/common/abstractions/nasa-osal/nasa-osal.mk4
-rw-r--r--os/common/abstractions/nasa-osal/src/osapi.c1227
13 files changed, 3682 insertions, 0 deletions
diff --git a/os/common/abstractions/cmsis_os/cmsis_os.c b/os/common/abstractions/cmsis_os/cmsis_os.c
new file mode 100644
index 000000000..04bebeb1d
--- /dev/null
+++ b/os/common/abstractions/cmsis_os/cmsis_os.c
@@ -0,0 +1,555 @@
+/*
+ ChibiOS - Copyright (C) 2006..2015 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 <http://www.gnu.org/licenses/>.
+*/
+/*
+ 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 <string.h>
+
+/*===========================================================================*/
+/* 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, MS2ST(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), chCoreAllocAligned);
+ chPoolLoadArray(&sempool, semaphores, CMSIS_CFG_NUM_SEMAPHORES);
+
+ chPoolObjectInit(&timpool, sizeof(virtual_timer_t), chCoreAllocAligned);
+ 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);
+ }
+ chEvtSignal((thread_t *)thread_id, CH_EVENT_TERMINATE);
+ 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) {
+ osPriority oldprio;
+ thread_t * tp = (thread_t *)thread_id;
+
+ chSysLock();
+
+ /* Changing priority.*/
+#if CH_CFG_USE_MUTEXES
+ oldprio = (osPriority)tp->realprio;
+ if ((tp->prio == tp->realprio) || ((tprio_t)newprio > tp->prio))
+ tp->prio = (tprio_t)newprio;
+ tp->realprio = (tprio_t)newprio;
+#else
+ oldprio = tp->prio;
+ 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 oldprio;
+}
+
+/**
+ * @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, MS2ST(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;
+ systime_t timeout = ((millisec == 0) || (millisec == osWaitForever)) ?
+ TIME_INFINITE : MS2ST(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) {
+ systime_t timeout = ((millisec == 0) || (millisec == osWaitForever)) ?
+ TIME_INFINITE : MS2ST(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) {
+ systime_t timeout = ((millisec == 0) || (millisec == osWaitForever)) ?
+ TIME_INFINITE : MS2ST(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;
+ systime_t timeout = ((millisec == 0) || (millisec == osWaitForever)) ?
+ TIME_INFINITE : MS2ST(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 = chMBPost((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;
+ systime_t timeout = ((millisec == 0) || (millisec == osWaitForever)) ?
+ TIME_INFINITE : MS2ST(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 = chMBFetch((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/os/common/abstractions/cmsis_os/cmsis_os.h b/os/common/abstractions/cmsis_os/cmsis_os.h
new file mode 100644
index 000000000..1c0998baf
--- /dev/null
+++ b/os/common/abstractions/cmsis_os/cmsis_os.h
@@ -0,0 +1,522 @@
+/*
+ ChibiOS - Copyright (C) 2006..2015 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 <http://www.gnu.org/licenses/>.
+*/
+/*
+ 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 TIME_INFINITE
+
+/**
+ * @brief System tick frequency.
+ */
+#define osKernelSysTickFrequency CH_CFG_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 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/os/common/abstractions/cmsis_os/cmsis_os.mk b/os/common/abstractions/cmsis_os/cmsis_os.mk
new file mode 100644
index 000000000..eb35bc574
--- /dev/null
+++ b/os/common/abstractions/cmsis_os/cmsis_os.mk
@@ -0,0 +1,4 @@
+# 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
diff --git a/os/common/abstractions/nasa-osal/include/common_types.h b/os/common/abstractions/nasa-osal/include/common_types.h
new file mode 100644
index 000000000..100a9c72e
--- /dev/null
+++ b/os/common/abstractions/nasa-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/os/common/abstractions/nasa-osal/include/osapi-os-core.h b/os/common/abstractions/nasa-osal/include/osapi-os-core.h
new file mode 100644
index 000000000..8c9b13a78
--- /dev/null
+++ b/os/common/abstractions/nasa-osal/include/osapi-os-core.h
@@ -0,0 +1,274 @@
+/*
+** File: osapi-os-core.h
+**
+** Copyright (c) 2004-2006, United States government as represented by the
+** administrator of the National Aeronautics Space Administration.
+** All rights reserved. This software was created at NASAs Goddard
+** Space Flight Center pursuant to government contracts.
+**
+** This is governed by the NASA Open Source Agreement and may be used,
+** distributed and modified only pursuant to the terms of that agreement.
+**
+** Author: Ezra Yeheksli -Code 582/Raytheon
+**
+** Purpose: Contains functions prototype definitions and variables declarations
+** for the OS Abstraction Layer, Core OS module
+**
+** $Revision: 1.8 $
+**
+** $Date: 2013/07/25 10:02:00GMT-05:00 $
+**
+** $Log: osapi-os-core.h $
+** Revision 1.8 2013/07/25 10:02:00GMT-05:00 acudmore
+** removed circular include "osapi.h"
+** Revision 1.7 2012/04/11 09:30:48GMT-05:00 acudmore
+** Added OS_printf_enable and OS_printf_disable
+** Revision 1.6 2010/11/12 12:00:17EST acudmore
+** replaced copyright character with (c) and added open source notice where needed.
+** Revision 1.5 2010/11/10 15:33:14EST acudmore
+** Updated IntAttachHandler prototype
+** Revision 1.4 2010/03/08 12:06:28EST acudmore
+** added function pointer type to get rid of warnings
+** Revision 1.3 2010/02/01 12:37:15EST acudmore
+** added return code to OS API init
+** Revision 1.2 2009/08/04 10:49:09EDT acudmore
+**
+*/
+
+#ifndef _osapi_core_
+#define _osapi_core_
+
+#include <stdarg.h> /* for va_list */
+
+/*difines constants for OS_BinSemCreate for state of semaphore */
+#define OS_SEM_FULL 1
+#define OS_SEM_EMPTY 0
+
+/* #define for enabling floating point operations on a task*/
+#define OS_FP_ENABLED 1
+
+/* tables for the properties of objects */
+
+/*tasks */
+typedef struct
+{
+ char name [OS_MAX_API_NAME];
+ uint32 creator;
+ uint32 stack_size;
+ uint32 priority;
+ uint32 OStask_id;
+}OS_task_prop_t;
+
+/* queues */
+typedef struct
+{
+ char name [OS_MAX_API_NAME];
+ uint32 creator;
+}OS_queue_prop_t;
+
+/* Binary Semaphores */
+typedef struct
+{
+ char name [OS_MAX_API_NAME];
+ uint32 creator;
+ int32 value;
+}OS_bin_sem_prop_t;
+
+/* Counting Semaphores */
+typedef struct
+{
+ char name [OS_MAX_API_NAME];
+ uint32 creator;
+ int32 value;
+}OS_count_sem_prop_t;
+
+/* Mutexes */
+typedef struct
+{
+ char name [OS_MAX_API_NAME];
+ uint32 creator;
+}OS_mut_sem_prop_t;
+
+
+/* struct for OS_GetLocalTime() */
+
+typedef struct
+{
+ uint32 seconds;
+ uint32 microsecs;
+}OS_time_t;
+
+/* heap info */
+typedef struct
+{
+ uint32 free_bytes;
+ uint32 free_blocks;
+ uint32 largest_free_block;
+}OS_heap_prop_t;
+
+
+/* This typedef is for the OS_GetErrorName function, to ensure
+ * everyone is making an array of the same length */
+
+typedef char os_err_name_t[35];
+
+/*
+** These typedefs are for the task entry point
+*/
+typedef void osal_task;
+typedef osal_task ((*osal_task_entry)(void));
+
+/*
+** Exported Functions
+*/
+
+/*
+** Initialization of API
+*/
+int32 OS_API_Init (void);
+
+
+/*
+** Task API
+*/
+
+int32 OS_TaskCreate (uint32 *task_id, const char *task_name,
+ osal_task_entry function_pointer,
+ const uint32 *stack_pointer,
+ uint32 stack_size,
+ uint32 priority, uint32 flags);
+
+int32 OS_TaskDelete (uint32 task_id);
+void OS_TaskExit (void);
+int32 OS_TaskInstallDeleteHandler(void *function_pointer);
+int32 OS_TaskDelay (uint32 millisecond);
+int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority);
+int32 OS_TaskRegister (void);
+uint32 OS_TaskGetId (void);
+int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name);
+int32 OS_TaskGetInfo (uint32 task_id, OS_task_prop_t *task_prop);
+
+/*
+** Message Queue API
+*/
+
+/*
+** Queue Create now has the Queue ID returned to the caller.
+*/
+int32 OS_QueueCreate (uint32 *queue_id, const char *queue_name,
+ uint32 queue_depth, uint32 data_size, uint32 flags);
+int32 OS_QueueDelete (uint32 queue_id);
+int32 OS_QueueGet (uint32 queue_id, void *data, uint32 size,
+ uint32 *size_copied, int32 timeout);
+int32 OS_QueuePut (uint32 queue_id, void *data, uint32 size,
+ uint32 flags);
+int32 OS_QueueGetIdByName (uint32 *queue_id, const char *queue_name);
+int32 OS_QueueGetInfo (uint32 queue_id, OS_queue_prop_t *queue_prop);
+
+/*
+** Semaphore API
+*/
+
+int32 OS_BinSemCreate (uint32 *sem_id, const char *sem_name,
+ uint32 sem_initial_value, uint32 options);
+int32 OS_BinSemFlush (uint32 sem_id);
+int32 OS_BinSemGive (uint32 sem_id);
+int32 OS_BinSemTake (uint32 sem_id);
+int32 OS_BinSemTimedWait (uint32 sem_id, uint32 msecs);
+int32 OS_BinSemDelete (uint32 sem_id);
+int32 OS_BinSemGetIdByName (uint32 *sem_id, const char *sem_name);
+int32 OS_BinSemGetInfo (uint32 sem_id, OS_bin_sem_prop_t *bin_prop);
+
+int32 OS_CountSemCreate (uint32 *sem_id, const char *sem_name,
+ uint32 sem_initial_value, uint32 options);
+int32 OS_CountSemGive (uint32 sem_id);
+int32 OS_CountSemTake (uint32 sem_id);
+int32 OS_CountSemTimedWait (uint32 sem_id, uint32 msecs);
+int32 OS_CountSemDelete (uint32 sem_id);
+int32 OS_CountSemGetIdByName (uint32 *sem_id, const char *sem_name);
+int32 OS_CountSemGetInfo (uint32 sem_id, OS_count_sem_prop_t *count_prop);
+
+/*
+** Mutex API
+*/
+
+int32 OS_MutSemCreate (uint32 *sem_id, const char *sem_name, uint32 options);
+int32 OS_MutSemGive (uint32 sem_id);
+int32 OS_MutSemTake (uint32 sem_id);
+int32 OS_MutSemDelete (uint32 sem_id);
+int32 OS_MutSemGetIdByName (uint32 *sem_id, const char *sem_name);
+int32 OS_MutSemGetInfo (uint32 sem_id, OS_mut_sem_prop_t *mut_prop);
+
+/*
+** OS Time/Tick related API
+*/
+
+int32 OS_Milli2Ticks (uint32 milli_seconds);
+int32 OS_Tick2Micros (void);
+int32 OS_GetLocalTime (OS_time_t *time_struct);
+int32 OS_SetLocalTime (OS_time_t *time_struct);
+
+/*
+** Exception API
+*/
+
+int32 OS_ExcAttachHandler (uint32 ExceptionNumber,
+ void (*ExceptionHandler)(uint32, uint32 *,uint32),
+ int32 parameter);
+int32 OS_ExcEnable (int32 ExceptionNumber);
+int32 OS_ExcDisable (int32 ExceptionNumber);
+
+/*
+** Floating Point Unit API
+*/
+
+int32 OS_FPUExcAttachHandler (uint32 ExceptionNumber, void * ExceptionHandler ,
+ int32 parameter);
+int32 OS_FPUExcEnable (int32 ExceptionNumber);
+int32 OS_FPUExcDisable (int32 ExceptionNumber);
+int32 OS_FPUExcSetMask (uint32 mask);
+int32 OS_FPUExcGetMask (uint32 *mask);
+
+/*
+** Interrupt API
+*/
+int32 OS_IntAttachHandler (uint32 InterruptNumber, osal_task_entry InterruptHandler, int32 parameter);
+int32 OS_IntUnlock (int32 IntLevel);
+int32 OS_IntLock (void);
+
+int32 OS_IntEnable (int32 Level);
+int32 OS_IntDisable (int32 Level);
+
+int32 OS_IntSetMask (uint32 mask);
+int32 OS_IntGetMask (uint32 *mask);
+int32 OS_IntAck (int32 InterruptNumber);
+
+/*
+** Shared memory API
+*/
+int32 OS_ShMemInit (void);
+int32 OS_ShMemCreate (uint32 *Id, uint32 NBytes, char* SegName);
+int32 OS_ShMemSemTake (uint32 Id);
+int32 OS_ShMemSemGive (uint32 Id);
+int32 OS_ShMemAttach (uint32 * Address, uint32 Id);
+int32 OS_ShMemGetIdByName (uint32 *ShMemId, const char *SegName );
+
+/*
+** Heap API
+*/
+int32 OS_HeapGetInfo (OS_heap_prop_t *heap_prop);
+
+/*
+** API for useful debugging function
+*/
+int32 OS_GetErrorName (int32 error_num, os_err_name_t* err_name);
+
+
+/*
+** Abstraction for printf statements
+*/
+void OS_printf( const char *string, ...);
+void OS_printf_disable(void);
+void OS_printf_enable(void);
+
+#endif
diff --git a/os/common/abstractions/nasa-osal/include/osapi-os-filesys.h b/os/common/abstractions/nasa-osal/include/osapi-os-filesys.h
new file mode 100644
index 000000000..c46800341
--- /dev/null
+++ b/os/common/abstractions/nasa-osal/include/osapi-os-filesys.h
@@ -0,0 +1,419 @@
+/*
+** File: osapi-os-filesys.h
+**
+** Copyright (c) 2004-2006, United States government as represented by the
+** administrator of the National Aeronautics Space Administration.
+** All rights reserved. This software was created at NASAs Goddard
+** Space Flight Center pursuant to government contracts.
+**
+** This is governed by the NASA Open Source Agreement and may be used,
+** distributed and modified only pursuant to the terms of that agreement.
+**
+** Author: Alan Cudmore Code 582
+**
+** Purpose: Contains functions prototype definitions and variables declarations
+** for the OS Abstraction Layer, File System module
+**
+** $Revision: 1.11 $
+**
+** $Date: 2013/12/16 12:57:41GMT-05:00 $
+**
+** $Log: osapi-os-filesys.h $
+** Revision 1.11 2013/12/16 12:57:41GMT-05:00 acudmore
+** Added macros for Volume name length and physical device name length
+** Revision 1.10 2013/07/29 12:05:48GMT-05:00 acudmore
+** Added define for device and volume name length
+** Revision 1.9 2013/07/25 14:31:21GMT-05:00 acudmore
+** Added prototype and datatype for OS_GetFsInfo
+** Revision 1.8 2011/12/05 12:04:21GMT-05:00 acudmore
+** Added OS_rewinddir API
+** Revision 1.7 2011/04/05 16:01:12EDT acudmore
+** Added OS_CloseFileByName and OS_CloseAllFiles
+** Revision 1.6 2010/11/15 11:04:38EST acudmore
+** Added OS_FileOpenCheck function.
+** Revision 1.5 2010/11/12 12:00:18EST acudmore
+** replaced copyright character with (c) and added open source notice where needed.
+** Revision 1.4 2010/02/01 12:28:57EST acudmore
+** Added OS_fsBytesFree API
+** Revision 1.3 2010/01/25 14:44:26EST acudmore
+** renamed "new" variable to avoid C++ reserved name conflict.
+** Revision 1.2 2009/07/14 15:16:05EDT acudmore
+** Added OS_TranslatePath to the API
+** Revision 1.1 2008/04/20 22:36:01EDT ruperera
+** Initial revision
+** Member added to project c:/MKSDATA/MKS-REPOSITORY/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+** Revision 1.1 2007/10/16 16:14:52EDT apcudmore
+** Initial revision
+** Member added to project d:/mksdata/MKS-OSAL-REPOSITORY/src/os/inc/project.pj
+** Revision 1.1 2007/08/24 13:43:24EDT apcudmore
+** Initial revision
+** Member added to project d:/mksdata/MKS-CFE-PROJECT/fsw/cfe-core/os/inc/project.pj
+** Revision 1.17 2007/06/07 09:59:14EDT njyanchik
+** I replaced the second OS_cp definition with OS_mv
+** Revision 1.16 2007/06/05 16:25:33EDT apcudmore
+** Increased Number of volume table entries from 10 to 14.
+** Added 2 extra EEPROM disk mappings to RAD750 Volume table + 2 spares
+** Added 4 spares to every other volume table.
+** Revision 1.15 2007/05/25 09:17:56EDT njyanchik
+** I added the rmfs call to the OSAL and updated the unit test stubs to match
+** Revision 1.14 2007/03/21 10:15:29EST njyanchik
+** I mistakenly put the wrong length in for the path in the OS_FDTableEntry structure, and I added
+** some code that will set and out of range file descriptors .IsValid flag to false in OS_FDGetInfo
+** Revision 1.13 2007/03/06 11:52:46EST njyanchik
+** This change goes with the previous CP, I forgot to include it
+** Revision 1.12 2007/02/28 14:57:45EST njyanchik
+** The updates for supporting copying and moving files are now supported
+** Revision 1.11 2007/02/27 15:22:11EST njyanchik
+** This CP has the initial import of the new file descripor table mechanism
+** Revision 1.10 2006/12/20 10:27:09EST njyanchik
+** This change package incorporates all the changes necessary for the addition
+** of a new API to get the real physical drive undernieth a mount point
+** Revision 1.9 2006/11/14 14:44:28GMT-05:00 njyanchik
+** Checks were added to the OS fs calls that look at the return of a function that
+** changes the name of paths from abstracted to local path names.
+** Revision 1.8 2006/10/30 16:12:19GMT-05:00 apcudmore
+** Updated Compact flash and RAM device names for vxWorks 6.2 changes.
+** Revision 1.7 2006/10/25 11:31:18EDT njyanchik
+** This CP incorporates changes to every bsp_voltab.c file. I increased the number
+** entries in the volume table to 10. I also changed the #define in the os_filesys.h
+** file for the number of entries to match.
+**
+** This update also includes adding the prototype for OS_initfs in os_filesys.h
+** Revision 1.6 2006/09/26 09:03:46GMT-05:00 njyanchik
+** Contains the initial import of the ES Shell commands interface
+** Revision 1.5 2006/07/25 15:37:52EDT njyanchik
+** It turns out the both the FS app and the OSAL were incorrect where file descriptors are
+** concerned. the file descriptors should be int32 across the board.
+** Revision 1.4 2006/01/20 11:56:18EST njyanchik
+** Fixed header file information to match api document
+** Revision 1.26 2005/07/12 17:13:56 nyanchik
+** Moved the Volume table to a bsp table in the arch directories.
+**
+** Revision 1.2 2005/07/11 16:26:57EDT apcudmore
+** OSAPI 2.0 integration
+** Revision 1.25 2005/07/06 16:11:17 nyanchik
+** *** empty log message ***
+**
+** Revision 1.24 2005/07/05 18:34:55 nyanchik
+** fixed issues found in code walkthrogh. Also removed the OS_Info* functions that are going in the BSP
+**
+** Revision 1.23 2005/06/17 19:46:34 nyanchik
+** added new file system style to linux and rtems.
+**
+** Revision 1.22 2005/06/15 16:43:48 nyanchik
+** added extra parenthesis for the .h file # defines
+**
+** Revision 1.21 2005/06/06 14:17:42 nyanchik
+** added headers to osapi-os-core.h and osapi-os-filesys.h
+**
+** Revision 1.20 2005/06/02 18:04:24 nyanchik
+** *** empty log message ***
+**
+** Revision 1.1 2005/03/15 18:26:32 nyanchik
+** *** empty log message ***
+**
+**
+** Date Written:
+**
+**
+*/
+
+#ifndef _osapi_filesys_
+#define _osapi_filesys_
+#include <stdio.h>
+#include <stdlib.h>
+#include <dirent.h>
+#include <sys/stat.h>
+
+#define OS_READ_ONLY 0
+#define OS_WRITE_ONLY 1
+#define OS_READ_WRITE 2
+
+#define OS_SEEK_SET 0
+#define OS_SEEK_CUR 1
+#define OS_SEEK_END 2
+
+#define OS_CHK_ONLY 0
+#define OS_REPAIR 1
+
+#define FS_BASED 0
+#define RAM_DISK 1
+#define EEPROM_DISK 2
+#define ATA_DISK 3
+
+
+/*
+** Number of entries in the internal volume table
+*/
+#define NUM_TABLE_ENTRIES 14
+
+/*
+** Length of a Device and Volume name
+*/
+#define OS_FS_DEV_NAME_LEN 32
+#define OS_FS_PHYS_NAME_LEN 64
+#define OS_FS_VOL_NAME_LEN 32
+
+
+/*
+** Defines for File System Calls
+*/
+#define OS_FS_SUCCESS 0
+#define OS_FS_ERROR (-1)
+#define OS_FS_ERR_INVALID_POINTER (-2)
+#define OS_FS_ERR_PATH_TOO_LONG (-3)
+#define OS_FS_ERR_NAME_TOO_LONG (-4)
+#define OS_FS_UNIMPLEMENTED (-5)
+#define OS_FS_ERR_DRIVE_NOT_CREATED (-6)
+#define OS_FS_ERR_DEVICE_NOT_FREE (-7)
+#define OS_FS_ERR_PATH_INVALID (-8)
+#define OS_FS_ERR_NO_FREE_FDS (-9)
+#define OS_FS_ERR_INVALID_FD (-10)
+
+/* This typedef is for the OS_FS_GetErrorName function, to ensure
+ * everyone is making an array of the same length */
+
+typedef char os_fs_err_name_t[35];
+
+
+/*
+** Internal structure of the OS volume table for
+** mounted file systems and path translation
+*/
+typedef struct
+{
+ char DeviceName [OS_FS_DEV_NAME_LEN];
+ char PhysDevName [OS_FS_PHYS_NAME_LEN];
+ uint32 VolumeType;
+ uint8 VolatileFlag;
+ uint8 FreeFlag;
+ uint8 IsMounted;
+ char VolumeName [OS_FS_VOL_NAME_LEN];
+ char MountPoint [OS_MAX_PATH_LEN];
+ uint32 BlockSize;
+
+}OS_VolumeInfo_t;
+
+typedef struct
+{
+ int32 OSfd; /* The underlying OS's file descriptor */
+ char Path[OS_MAX_PATH_LEN]; /* The path of the file opened */
+ uint32 User; /* The task id of the task who opened the file*/
+ uint8 IsValid; /* Whether or not this entry is valid */
+}OS_FDTableEntry;
+
+typedef struct
+{
+ uint32 MaxFds; /* Total number of file descriptors */
+ uint32 FreeFds; /* Total number that are free */
+ uint32 MaxVolumes; /* Maximum number of volumes */
+ uint32 FreeVolumes; /* Total number of volumes free */
+} os_fsinfo_t;
+
+/* modified to posix calls, since all of the
+ * applicable OSes use the posix calls */
+
+typedef struct stat os_fstat_t;
+typedef DIR* os_dirp_t;
+typedef struct dirent os_dirent_t;
+/* still don't know what this should be*/
+typedef unsigned long int os_fshealth_t;
+
+/*
+ * Exported Functions
+*/
+
+
+/******************************************************************************
+** Standard File system API
+******************************************************************************/
+/*
+ * Initializes the File System functions
+*/
+
+int32 OS_FS_Init(void);
+
+/*
+ * Creates a file specified by path
+*/
+int32 OS_creat (const char *path, int32 access);
+
+/*
+ * Opend a file for reading/writing. Returns file descriptor
+*/
+int32 OS_open (const char *path, int32 access, uint32 mode);
+
+/*
+ * Closes an open file.
+*/
+int32 OS_close (int32 filedes);
+
+/*
+ * Reads nbytes bytes from file into buffer
+*/
+int32 OS_read (int32 filedes, void *buffer, uint32 nbytes);
+
+/*
+ * Write nybytes bytes of buffer into the file
+*/
+int32 OS_write (int32 filedes, void *buffer, uint32 nbytes);
+
+/*
+ * Changes the permissions of a file
+*/
+int32 OS_chmod (const char *path, uint32 access);
+
+/*
+ * Returns file status information in filestats
+*/
+int32 OS_stat (const char *path, os_fstat_t *filestats);
+
+/*
+ * Seeks to the specified position of an open file
+*/
+int32 OS_lseek (int32 filedes, int32 offset, uint32 whence);
+
+/*
+ * Removes a file from the file system
+*/
+int32 OS_remove (const char *path);
+
+/*
+ * Renames a file in the file system
+*/
+int32 OS_rename (const char *old_filename, const char *new_filename);
+
+/*
+ * copies a single file from src to dest
+*/
+int32 OS_cp (const char *src, const char *dest);
+
+/*
+ * moves a single file from src to dest
+*/
+int32 OS_mv (const char *src, const char *dest);
+
+/*
+ * Copies the info of an open file to the structure
+*/
+int32 OS_FDGetInfo (int32 filedes, OS_FDTableEntry *fd_prop);
+
+/*
+** Check to see if a file is open
+*/
+int32 OS_FileOpenCheck(char *Filename);
+
+/*
+** Close all open files
+*/
+int32 OS_CloseAllFiles(void);
+
+/*
+** Close a file by filename
+*/
+int32 OS_CloseFileByName(char *Filename);
+
+
+/******************************************************************************
+** Directory API
+******************************************************************************/
+
+/*
+ * Makes a new directory
+*/
+int32 OS_mkdir (const char *path, uint32 access);
+
+/*
+ * Opens a directory for searching
+*/
+os_dirp_t OS_opendir (const char *path);
+
+/*
+ * Closes an open directory
+*/
+int32 OS_closedir(os_dirp_t directory);
+
+/*
+ * Rewinds an open directory
+*/
+void OS_rewinddir(os_dirp_t directory);
+
+/*
+ * Reads the next object in the directory
+*/
+os_dirent_t * OS_readdir (os_dirp_t directory);
+
+/*
+ * Removes an empty directory from the file system.
+*/
+int32 OS_rmdir (const char *path);
+
+/******************************************************************************
+** System Level API
+******************************************************************************/
+/*
+ * Makes a file system
+*/
+int32 OS_mkfs (char *address,char *devname, char *volname,
+ uint32 blocksize, uint32 numblocks);
+/*
+ * Mounts a file system
+*/
+int32 OS_mount (const char *devname, char *mountpoint);
+
+/*
+ * Initializes an existing file system
+*/
+int32 OS_initfs (char *address,char *devname, char *volname,
+ uint32 blocksize, uint32 numblocks);
+
+/*
+ * removes a file system
+*/
+int32 OS_rmfs (char *devname);
+
+/*
+ * Unmounts a mounted file system
+*/
+int32 OS_unmount (const char *mountpoint);
+
+/*
+ * Returns the number of free blocks in a file system
+*/
+int32 OS_fsBlocksFree (const char *name);
+
+/*
+** Returns the number of free bytes in a file system
+** Note the 64 bit data type to support filesystems that
+** are greater than 4 Gigabytes
+*/
+int32 OS_fsBytesFree (const char *name, uint64 *bytes_free);
+
+/*
+ * Checks the health of a file system and repairs it if neccesary
+*/
+os_fshealth_t OS_chkfs (const char *name, boolean repair);
+
+/*
+ * Returns in the parameter the physical drive underneith the mount point
+*/
+int32 OS_FS_GetPhysDriveName (char * PhysDriveName, char * MountPoint);
+
+/*
+** Translates a OSAL Virtual file system path to a host Local path
+*/
+int32 OS_TranslatePath ( const char *VirtualPath, char *LocalPath);
+
+/*
+** Returns information about the file system in an os_fsinfo_t
+*/
+int32 OS_GetFsInfo(os_fsinfo_t *filesys_info);
+
+/******************************************************************************
+** Shell API
+******************************************************************************/
+
+/* executes the shell command passed into is and writes the output of that
+ * command to the file specified by the given OSAPI file descriptor */
+int32 OS_ShellOutputToFile(char* Cmd, int32 OS_fd);
+#endif
diff --git a/os/common/abstractions/nasa-osal/include/osapi-os-loader.h b/os/common/abstractions/nasa-osal/include/osapi-os-loader.h
new file mode 100644
index 000000000..4f0b21b62
--- /dev/null
+++ b/os/common/abstractions/nasa-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/os/common/abstractions/nasa-osal/include/osapi-os-net.h b/os/common/abstractions/nasa-osal/include/osapi-os-net.h
new file mode 100644
index 000000000..b8cc67d69
--- /dev/null
+++ b/os/common/abstractions/nasa-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/os/common/abstractions/nasa-osal/include/osapi-os-timer.h b/os/common/abstractions/nasa-osal/include/osapi-os-timer.h
new file mode 100644
index 000000000..8082c6227
--- /dev/null
+++ b/os/common/abstractions/nasa-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/os/common/abstractions/nasa-osal/include/osapi-version.h b/os/common/abstractions/nasa-osal/include/osapi-version.h
new file mode 100644
index 000000000..331e96c94
--- /dev/null
+++ b/os/common/abstractions/nasa-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/os/common/abstractions/nasa-osal/include/osapi.h b/os/common/abstractions/nasa-osal/include/osapi.h
new file mode 100644
index 000000000..46f6dc031
--- /dev/null
+++ b/os/common/abstractions/nasa-osal/include/osapi.h
@@ -0,0 +1,142 @@
+/*
+** 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"
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif
+
diff --git a/os/common/abstractions/nasa-osal/nasa-osal.mk b/os/common/abstractions/nasa-osal/nasa-osal.mk
new file mode 100644
index 000000000..9562970a0
--- /dev/null
+++ b/os/common/abstractions/nasa-osal/nasa-osal.mk
@@ -0,0 +1,4 @@
+# NASAOSAL files.
+NASAOSALSRC = $(CHIBIOS)/os/common/abstractions/nasa-osal/src/osapi.c
+
+NASAOSALINC = $(CHIBIOS)/os/common/abstractions/nasa-osal/include
diff --git a/os/common/abstractions/nasa-osal/src/osapi.c b/os/common/abstractions/nasa-osal/src/osapi.c
new file mode 100644
index 000000000..b69caea62
--- /dev/null
+++ b/os/common/abstractions/nasa-osal/src/osapi.c
@@ -0,0 +1,1227 @@
+/*
+ ChibiOS - Copyright (C) 2006..2016 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 <string.h>
+
+#include "ch.h"
+
+#include "common_types.h"
+#include "osapi.h"
+
+#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_REGISTRY == FALSE
+#error "NASA OSAL requires CH_CFG_USE_REGISTRY"
+#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
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+#define MIN_PRIORITY 1
+#define MAX_PRIORITY 255
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type of OSAL main structure.
+ */
+typedef struct {
+ bool printf_enabled;
+ memory_pool_t binary_semaphores_pool;
+ memory_pool_t count_semaphores_pool;
+ memory_pool_t mutexes_pool;
+ 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. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* 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 kAn error code.
+ *
+ * @api
+ */
+int32 OS_API_Init(void) {
+
+ chSysInit();
+
+ /* OS_printf() initially disabled.*/
+ osal.printf_enabled = false;
+
+ /* Binary Semaphores pool initialization.*/
+ chPoolObjectInit(&osal.binary_semaphores_pool,
+ sizeof (binary_semaphore_t),
+ NULL);
+ chPoolLoadArray(&osal.binary_semaphores_pool,
+ &osal.binary_semaphores,
+ sizeof (binary_semaphore_t));
+
+ /* Counter Semaphores pool initialization.*/
+ chPoolObjectInit(&osal.count_semaphores_pool,
+ sizeof (semaphore_t),
+ NULL);
+ chPoolLoadArray(&osal.count_semaphores_pool,
+ &osal.count_semaphores,
+ sizeof (semaphore_t));
+
+ /* Mutexes pool initialization.*/
+ chPoolObjectInit(&osal.mutexes_pool,
+ sizeof (mutex_t),
+ NULL);
+ chPoolLoadArray(&osal.mutexes_pool,
+ &osal.mutexes,
+ sizeof (mutex_t));
+
+ return OS_SUCCESS;
+}
+
+/*-- Various API -----------------------------------------------------------*/
+
+/**
+ * @brief OS printf-like function.
+ * @note It is initially disabled.
+ * @note It is not currently implemented.
+ *
+ * @param[in] string formatter string
+ *
+ * @api
+ */
+void OS_printf(const char *string, ...) {
+
+ (void)string;
+
+ if (osal.printf_enabled) {
+
+ }
+}
+
+/**
+ * @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 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.
+ * @note It is not currently implemented.
+ *
+ * @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;
+ }
+
+ time_struct->seconds = 0;
+ time_struct->microsecs = 0;
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/**
+ * @brief Changes the local time.
+ * @note It is not currently implemented.
+ *
+ * @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;
+ }
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/**
+ * @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)MS2ST(milli_seconds);
+}
+
+/*-- Queues API -------------------------------------------------------------*/
+
+/*-- 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;
+ }
+
+ bsp = chPoolAlloc(&osal.binary_semaphores_pool);
+
+ if (bsp == 0) {
+ return OS_SEM_FAILURE;
+ }
+
+ /* Semaphore is initialized.*/
+ chBSemObjectInit(bsp, sem_initial_value == 0 ? false : true);
+
+ *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;
+
+ 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.
+ *
+ * @param[in] sem_id binary semaphore id variable
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_BinSemFlush(uint32 sem_id) {
+ binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
+
+ 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;
+ }
+
+ if (bsp->sem.cnt < 0) {
+ chBSemResetI(bsp, true);
+ chSchRescheduleS();
+ }
+
+ chSysUnlock();
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Binary semaphore give.
+ *
+ * @param[in] sem_id binary semaphore id variable
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_BinSemGive(uint32 sem_id) {
+ binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
+
+ 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;
+ }
+
+ chBSemSignalI(bsp);
+ chSchRescheduleS();
+
+ chSysUnlock();
+
+ 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;
+
+ 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;
+
+ 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, MS2ST(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;
+ }
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/**
+ * @brief Returns binary semaphore information.
+ *
+ * @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) {
+ binary_semaphore_t *bsp = (binary_semaphore_t *)sem_id;
+
+ /* NULL pointer checks.*/
+ if (bin_prop == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ 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;
+ }
+
+ chSysUnlock();
+
+ 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;
+ }
+
+ sp = chPoolAlloc(&osal.count_semaphores_pool);
+
+ if (sp == 0) {
+ return OS_SEM_FAILURE;
+ }
+
+ /* 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;
+
+ 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.
+ *
+ * @param[in] sem_id counter semaphore id variable
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_CountSemGive(uint32 sem_id) {
+ semaphore_t *sp = (semaphore_t *)sem_id;
+
+ 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;
+ }
+
+ chSemSignalI(sp);
+ chSchRescheduleS();
+
+ chSysUnlock();
+
+ 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;
+
+ 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;
+
+ 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, MS2ST(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;
+ }
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/**
+ * @brief Returns counter semaphore information.
+ *
+ * @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) {
+ semaphore_t *sp = (semaphore_t *)sem_id;
+
+ /* NULL pointer checks.*/
+ if (sem_prop == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ if ((sp < &osal.count_semaphores[0]) ||
+ (sp >= &osal.count_semaphores[OS_MAX_BIN_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;
+ }
+
+ chSysUnlock();
+
+ 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;
+ }
+
+ mp = chPoolAlloc(&osal.mutexes_pool);
+
+ if (mp == 0) {
+ return OS_SEM_FAILURE;
+ }
+
+ /* 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;
+
+ 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;
+
+ 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;
+
+ 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;
+ }
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/**
+ * @brief Returns mutex information.
+ *
+ * @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) {
+ mutex_t *mp = (mutex_t *)sem_id;
+
+ /* NULL pointer checks.*/
+ if (sem_prop == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ if ((mp < &osal.mutexes[0]) ||
+ (mp >= &osal.mutexes[OS_MAX_BIN_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;
+ }
+
+ chSysUnlock();
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/*-- Task Control API -------------------------------------------------------*/
+
+/**
+ * @brief Task creation.
+ *
+ * @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;
+ }
+
+ /* Converting priority to RT type.*/
+ rt_prio = (tprio_t)256 - (tprio_t)priority;
+
+ tp = chThdCreateFromHeap(NULL, (size_t)stack_size, task_name,
+ rt_prio, (tfunc_t)function_pointer, NULL);
+
+ /* Out-of-memory condition.*/
+ if (tp == NULL) {
+ return OS_ERROR;
+ }
+
+ /* Storing the task id.*/
+ *task_id = (uint32)tp;
+
+ return OS_SUCCESS;
+}
+
+/**
+ * @brief Installs a deletion handler.
+ * @note It is not currently implemented.
+ *
+ * @param[in] function_pointer the handler function
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TaskInstallDeleteHandler(void *function_pointer) {
+
+ (void)function_pointer;
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/**
+ * @brief Task delete.
+ * @note It is not currently implemented.
+ *
+ * @param[in] task_id the task id
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TaskDelete(uint32 task_id) {
+
+ (void)task_id;
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/**
+ * @brief Task exit.
+ *
+ * @api
+ */
+void OS_TaskExit(void) {
+
+ chThdExit(MSG_OK);
+}
+
+/**
+ * @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.
+ *
+ * @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 (chThdGetPriorityX() == rt_newprio) {
+ return OS_SUCCESS;
+ }
+
+ 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();
+
+ 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.
+ *
+ * @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;
+ }
+
+ /* Scanning registry.*/
+ tp = chRegFirstThread();
+ do {
+ if (strcmp(chRegGetThreadNameX(tp), task_name) == 0) {
+ *task_id = (uint32)tp;
+ return OS_SUCCESS;
+ }
+ tp = chRegNextThread(tp);
+ } while (tp != NULL);
+
+ return OS_ERR_NAME_NOT_FOUND;
+}
+
+/**
+ * @brief Returns task information.
+ *
+ * @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->stklimit + sizeof (thread_t);
+
+ /* NULL pointer checks.*/
+ if (task_prop == NULL) {
+ return OS_INVALID_POINTER;
+ }
+
+ 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;
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/** @} */
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-15 08:32:19 +0000