diff options
Diffstat (limited to 'os')
| -rw-r--r-- | os/hal/dox/main.dox | 64 | ||||
| -rw-r--r-- | os/hal/osal/nil/osal.h | 2 | ||||
| -rw-r--r-- | os/hal/osal/rt/osal.h | 2 | ||||
| -rw-r--r-- | os/hal/templates/osal/osal.h | 2 |
4 files changed, 65 insertions, 5 deletions
diff --git a/os/hal/dox/main.dox b/os/hal/dox/main.dox index a704c9c90..a8d0f9a20 100644 --- a/os/hal/dox/main.dox +++ b/os/hal/dox/main.dox @@ -21,9 +21,9 @@ /**
* @defgroup IO HAL
* @brief Hardware Abstraction Layer.
- * @details Under ChibiOS/RT the set of the various device driver interfaces
+ * @details Under ChibiOS the set of the various device driver interfaces
* is called the HAL subsystem: Hardware Abstraction Layer. The HAL is the
- * abstract interface between ChibiOS/RT application and hardware.
+ * abstract interface between ChibiOS applications and hardware.
*
* @section hal_device_driver_arch HAL Device Drivers Architecture
* The HAL contains several kind of modules:
@@ -130,3 +130,63 @@ *
* @ingroup IO
*/
+
+/**
+ * @defgroup OSAL OSAL
+ * @brief Operating System Abstraction Layer.
+ * @details <h2>The OSAL</h2>
+ * The OSAL is the link between ChibiOS/HAL and services
+ * provided by operating systems like:
+ * - Critical Zones handling.
+ * - Interrupts handling.
+ * - Runtime Errors management.
+ * - Inter-task synchronization.
+ * - Task-ISR synchronization.
+ * - Time management.
+ * - Events.
+ * .
+ * ChibiOS/HAL is designed to tightly integrate with the underlying
+ * RTOS in order to provide the best experience to developers and
+ * minimize integration issues.<br>
+ * This section describes the API that OSALs are expected to expose
+ * to the HAL.
+ *
+ * <h2>RTOS Requirements</h2>
+ * The OSAL API closely resembles the ChibiOS/RT API, for obvious
+ * reasons, however an OSAL module can be implemented for any
+ * reasonably complete RTOS or even a RTOS-less bare metal
+ * machine, if required.<br>
+ * In order to be able to support an HAL an RTOS should support the
+ * following minimal set of features:
+ * - Task-level critical zones API.
+ * - ISR-level critical zones API, only required on those CPU
+ * architectures supporting preemptable ISRs like Cortex-Mx
+ * cores.
+ * - Ability to invoke API functions from inside a task critical
+ * zone. Functions that are required to support this feature are
+ * marked with an "I" or "S" letter at the end of the name.
+ * - Ability to invoke API functions from inside an ISR critical
+ * zone. Functions that are required to support this feature are
+ * marked with an "I" letter at the end of the name.
+ * - Tasks Queues or Counting Semaphores with Timeout capability.
+ * - Ability to suspend a task and wakeup it from ISR with Timeout
+ * capability.
+ * - Event flags, the mechanism can be simulated using callbacks in
+ * case the RTOS does not support it.
+ * - Mutual Exclusion mechanism like Semaphores or Mutexes.
+ * .
+ * All the above requirements can be satisfied even on naked HW with
+ * a very think SW layer. In case that the HAL is required to work
+ * without an RTOS.
+ *
+ * <h2>Supported RTOSes</h2>
+ * The RTOSes supported out of the box are:
+ * - ChibiOS/RT
+ * - ChibiOS/NIL
+ * .
+ * Implementations have also been successfully created on RTOSes not
+ * belonging to the ChibiOS products family but are not supported
+ * as a core feature of ChibiOS/HAL.
+ *
+ * @ingroup IO
+ */
diff --git a/os/hal/osal/nil/osal.h b/os/hal/osal/nil/osal.h index 59b13b2f2..c5dd68db9 100644 --- a/os/hal/osal/nil/osal.h +++ b/os/hal/osal/nil/osal.h @@ -549,7 +549,7 @@ static inline void osalOsRescheduleS(void) { * @note The counter can reach its maximum and then restart from zero.
* @note This function can be called from any context but its atomicity
* is not guaranteed on architectures whose word size is less than
- * @systime_t size.
+ * @p systime_t size.
*
* @return The system time in ticks.
*
diff --git a/os/hal/osal/rt/osal.h b/os/hal/osal/rt/osal.h index 004d5f493..fd39e860f 100644 --- a/os/hal/osal/rt/osal.h +++ b/os/hal/osal/rt/osal.h @@ -540,7 +540,7 @@ static inline void osalOsRescheduleS(void) { * @note The counter can reach its maximum and then restart from zero.
* @note This function can be called from any context but its atomicity
* is not guaranteed on architectures whose word size is less than
- * @systime_t size.
+ * @p systime_t size.
*
* @return The system time in ticks.
*
diff --git a/os/hal/templates/osal/osal.h b/os/hal/templates/osal/osal.h index d1df76826..af51fad27 100644 --- a/os/hal/templates/osal/osal.h +++ b/os/hal/templates/osal/osal.h @@ -513,7 +513,7 @@ static inline void osalOsRescheduleS(void) { * @note The counter can reach its maximum and then restart from zero.
* @note This function can be called from any context but its atomicity
* is not guaranteed on architectures whose word size is less than
- * @systime_t size.
+ * @p systime_t size.
*
* @return The system time in ticks.
*
|