mirror of https://github.com/ARMmbed/mbed-os.git
Fixed rtx calls when inside critical sections
Before, rtx calls would hard fault in critical sections when an svc instruction was attempted with interrupts disabled. Required changes: - Added check for CPSR I bit in cortex A rtx - Added check for PRIMASK in cortex M rtx - Modified critical sections in cortex M rtx to be recursive (already recursive in cortex A)pull/2391/head
Christopher Haster
parent
e9c556d356
commit
3e7b5ed6b9
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@ -543,6 +543,11 @@ static __inline char __get_mode(void) {
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}
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static __inline char __exceptional_mode(void) {
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// Interrupts disabled
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if (__get_CPSR() & 0x80) {
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return 1;
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}
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switch(__get_mode()) {
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case MODE_USR:
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case MODE_SYS:
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@ -552,7 +552,7 @@ uint32_t svcKernelSysTick (void) {
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/// Initialize the RTOS Kernel for creating objects
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osStatus osKernelInitialize (void) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return osErrorISR; // Not allowed in ISR
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}
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if ((__get_CONTROL() & 1U) == 0U) { // Privileged mode
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@ -566,7 +566,7 @@ osStatus osKernelInitialize (void) {
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osStatus osKernelStart (void) {
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uint32_t stack[8];
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return osErrorISR; // Not allowed in ISR
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}
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@ -607,7 +607,7 @@ osStatus osKernelStart (void) {
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/// Check if the RTOS kernel is already started
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int32_t osKernelRunning (void) {
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if ((__get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) {
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if ((__get_PRIMASK() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) {
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// in ISR or Privileged
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return (int32_t)os_running;
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} else {
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@ -617,7 +617,7 @@ int32_t osKernelRunning (void) {
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/// Get the RTOS kernel system timer counter
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uint32_t osKernelSysTick (void) {
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if (__get_IPSR() != 0U) { return 0U; } // Not allowed in ISR
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { return 0U; } // Not allowed in ISR
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return __svcKernelSysTick();
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}
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@ -867,7 +867,7 @@ osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument) {
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return osThreadContextCreate(thread_def, argument, NULL);
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}
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osThreadId osThreadContextCreate (const osThreadDef_t *thread_def, void *argument, void *context) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return NULL; // Not allowed in ISR
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}
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if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
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@ -885,7 +885,7 @@ osThreadId osThreadContextCreate (const osThreadDef_t *thread_def, void *argumen
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/// Return the thread ID of the current running thread
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osThreadId osThreadGetId (void) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return NULL; // Not allowed in ISR
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}
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return __svcThreadGetId();
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@ -894,7 +894,7 @@ osThreadId osThreadGetId (void) {
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/// Terminate execution of a thread and remove it from ActiveThreads
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osStatus osThreadTerminate (osThreadId thread_id) {
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osStatus status;
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return osErrorISR; // Not allowed in ISR
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}
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osMutexWait(osMutexId_osThreadMutex, osWaitForever);
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@ -907,7 +907,7 @@ osStatus osThreadTerminate (osThreadId thread_id) {
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/// Pass control to next thread that is in state READY
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osStatus osThreadYield (void) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return osErrorISR; // Not allowed in ISR
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}
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return __svcThreadYield();
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@ -915,7 +915,7 @@ osStatus osThreadYield (void) {
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/// Change priority of an active thread
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osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return osErrorISR; // Not allowed in ISR
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}
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return __svcThreadSetPriority(thread_id, priority);
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@ -923,7 +923,7 @@ osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
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/// Get current priority of an active thread
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osPriority osThreadGetPriority (osThreadId thread_id) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return osPriorityError; // Not allowed in ISR
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}
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return __svcThreadGetPriority(thread_id);
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@ -948,7 +948,7 @@ __NO_RETURN void osThreadExit (void) {
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uint8_t osThreadGetState (osThreadId thread_id) {
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P_TCB ptcb;
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if (__get_IPSR() != 0U) return osErrorISR; // Not allowed in ISR
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) return osErrorISR; // Not allowed in ISR
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ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
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if (ptcb == NULL) return INACTIVE;
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@ -1040,7 +1040,7 @@ os_InRegs osEvent_type svcWait (uint32_t millisec) {
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/// Wait for Timeout (Time Delay)
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osStatus osDelay (uint32_t millisec) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return osErrorISR; // Not allowed in ISR
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}
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return __svcDelay(millisec);
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@ -1054,7 +1054,7 @@ os_InRegs osEvent osWait (uint32_t millisec) {
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ret.status = osErrorOS;
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return ret;
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#else
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if (__get_IPSR() != 0U) { // Not allowed in ISR
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // Not allowed in ISR
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ret.status = osErrorISR;
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return ret;
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}
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@ -1337,7 +1337,7 @@ void sysUserTimerUpdate (uint32_t sleep_time) {
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/// Create timer
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osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return NULL; // Not allowed in ISR
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}
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if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
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@ -1350,7 +1350,7 @@ osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void
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/// Start or restart timer
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osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return osErrorISR; // Not allowed in ISR
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}
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return __svcTimerStart(timer_id, millisec);
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@ -1358,7 +1358,7 @@ osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
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/// Stop timer
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osStatus osTimerStop (osTimerId timer_id) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return osErrorISR; // Not allowed in ISR
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}
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return __svcTimerStop(timer_id);
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@ -1366,7 +1366,7 @@ osStatus osTimerStop (osTimerId timer_id) {
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/// Delete timer
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osStatus osTimerDelete (osTimerId timer_id) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return osErrorISR; // Not allowed in ISR
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}
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return __svcTimerDelete(timer_id);
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@ -1503,7 +1503,7 @@ int32_t isrSignalSet (osThreadId thread_id, int32_t signals) {
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/// Set the specified Signal Flags of an active thread
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int32_t osSignalSet (osThreadId thread_id, int32_t signals) {
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if (__get_IPSR() != 0U) { // in ISR
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
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return isrSignalSet(thread_id, signals);
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} else { // in Thread
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return __svcSignalSet(thread_id, signals);
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@ -1512,7 +1512,7 @@ int32_t osSignalSet (osThreadId thread_id, int32_t signals) {
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/// Clear the specified Signal Flags of an active thread
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int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return (int32_t)0x80000000U; // Not allowed in ISR
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}
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return __svcSignalClear(thread_id, signals);
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@ -1522,7 +1522,7 @@ int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
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os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) {
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osEvent ret;
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if (__get_IPSR() != 0U) { // Not allowed in ISR
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // Not allowed in ISR
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ret.status = osErrorISR;
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return ret;
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}
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@ -1634,7 +1634,7 @@ osStatus svcMutexDelete (osMutexId mutex_id) {
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/// Create and Initialize a Mutex object
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osMutexId osMutexCreate (const osMutexDef_t *mutex_def) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return NULL; // Not allowed in ISR
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}
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if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
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@ -1647,7 +1647,7 @@ osMutexId osMutexCreate (const osMutexDef_t *mutex_def) {
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/// Wait until a Mutex becomes available
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osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return osErrorISR; // Not allowed in ISR
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}
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return __svcMutexWait(mutex_id, millisec);
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@ -1655,7 +1655,7 @@ osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
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/// Release a Mutex that was obtained with osMutexWait
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osStatus osMutexRelease (osMutexId mutex_id) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return osErrorISR; // Not allowed in ISR
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}
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return __svcMutexRelease(mutex_id);
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@ -1663,7 +1663,7 @@ osStatus osMutexRelease (osMutexId mutex_id) {
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/// Delete a Mutex that was created by osMutexCreate
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osStatus osMutexDelete (osMutexId mutex_id) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return osErrorISR; // Not allowed in ISR
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}
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return __svcMutexDelete(mutex_id);
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@ -1801,7 +1801,7 @@ osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) {
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/// Create and Initialize a Semaphore object
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osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return NULL; // Not allowed in ISR
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}
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if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
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@ -1814,7 +1814,7 @@ osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t
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/// Wait until a Semaphore becomes available
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int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return -1; // Not allowed in ISR
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}
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return __svcSemaphoreWait(semaphore_id, millisec);
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@ -1822,16 +1822,16 @@ int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
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/// Release a Semaphore
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osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
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if (__get_IPSR() != 0U) { // in ISR
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
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return isrSemaphoreRelease(semaphore_id);
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} else { // in Thread
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} else { // in Thread
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return __svcSemaphoreRelease(semaphore_id);
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}
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}
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/// Delete a Semaphore that was created by osSemaphoreCreate
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osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return osErrorISR; // Not allowed in ISR
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}
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return __svcSemaphoreDelete(semaphore_id);
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@ -1914,7 +1914,7 @@ osStatus sysPoolFree (osPoolId pool_id, void *block) {
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/// Create and Initialize memory pool
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osPoolId osPoolCreate (const osPoolDef_t *pool_def) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return NULL; // Not allowed in ISR
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}
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if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
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@ -1927,7 +1927,7 @@ osPoolId osPoolCreate (const osPoolDef_t *pool_def) {
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/// Allocate a memory block from a memory pool
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void *osPoolAlloc (osPoolId pool_id) {
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if ((__get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
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if ((__get_PRIMASK() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
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return sysPoolAlloc(pool_id);
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} else { // in Thread
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return __sysPoolAlloc(pool_id);
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@ -1938,7 +1938,7 @@ void *osPoolAlloc (osPoolId pool_id) {
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void *osPoolCAlloc (osPoolId pool_id) {
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void *mem;
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if ((__get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
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if ((__get_PRIMASK() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
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mem = sysPoolAlloc(pool_id);
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} else { // in Thread
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mem = __sysPoolAlloc(pool_id);
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@ -1951,7 +1951,7 @@ void *osPoolCAlloc (osPoolId pool_id) {
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/// Return an allocated memory block back to a specific memory pool
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osStatus osPoolFree (osPoolId pool_id, void *block) {
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if ((__get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
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if ((__get_PRIMASK() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
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return sysPoolFree(pool_id, block);
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} else { // in Thread
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return __sysPoolFree(pool_id, block);
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@ -2091,7 +2091,7 @@ os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) {
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/// Create and Initialize Message Queue
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osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return NULL; // Not allowed in ISR
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}
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if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
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@ -2104,7 +2104,7 @@ osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId threa
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/// Put a Message to a Queue
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osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
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if (__get_IPSR() != 0U) { // in ISR
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
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return isrMessagePut(queue_id, info, millisec);
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} else { // in Thread
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return __svcMessagePut(queue_id, info, millisec);
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@ -2113,7 +2113,7 @@ osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec)
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/// Get a Message or Wait for a Message from a Queue
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os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) {
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if (__get_IPSR() != 0U) { // in ISR
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
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return isrMessageGet(queue_id, millisec);
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} else { // in Thread
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return __svcMessageGet(queue_id, millisec);
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@ -2250,7 +2250,7 @@ osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) {
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/// Create and Initialize mail queue
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osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) {
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if (__get_IPSR() != 0U) {
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if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
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return NULL; // Not allowed in ISR
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}
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if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
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@ -2263,7 +2263,7 @@ osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) {
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/// Allocate a memory block from a mail
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void *osMailAlloc (osMailQId queue_id, uint32_t millisec) {
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if (__get_IPSR() != 0U) { // in ISR
|
||||
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
|
||||
return sysMailAlloc(queue_id, millisec, 1U);
|
||||
} else { // in Thread
|
||||
return __sysMailAlloc(queue_id, millisec, 0U);
|
||||
|
|
@ -2275,7 +2275,7 @@ void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
|
|||
void *pool;
|
||||
void *mem;
|
||||
|
||||
if (__get_IPSR() != 0U) { // in ISR
|
||||
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
|
||||
mem = sysMailAlloc(queue_id, millisec, 1U);
|
||||
} else { // in Thread
|
||||
mem = __sysMailAlloc(queue_id, millisec, 0U);
|
||||
|
|
@ -2290,7 +2290,7 @@ void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
|
|||
|
||||
/// Free a memory block from a mail
|
||||
osStatus osMailFree (osMailQId queue_id, void *mail) {
|
||||
if (__get_IPSR() != 0U) { // in ISR
|
||||
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
|
||||
return sysMailFree(queue_id, mail, 1U);
|
||||
} else { // in Thread
|
||||
return __sysMailFree(queue_id, mail, 0U);
|
||||
|
|
|
|||
|
|
@ -53,11 +53,19 @@
|
|||
#endif
|
||||
|
||||
#ifndef __CMSIS_GENERIC
|
||||
|
||||
__attribute__((always_inline)) static inline U32 __get_PRIMASK(void)
|
||||
{
|
||||
register U32 primask __asm("primask");
|
||||
return primask;
|
||||
}
|
||||
|
||||
#define __DMB() do {\
|
||||
__schedule_barrier();\
|
||||
__dmb(0xF);\
|
||||
__schedule_barrier();\
|
||||
} while (0)
|
||||
|
||||
#endif
|
||||
|
||||
#elif defined (__GNUC__) /* GNU Compiler */
|
||||
|
|
@ -77,6 +85,14 @@
|
|||
|
||||
#ifndef __CMSIS_GENERIC
|
||||
|
||||
__attribute__((always_inline)) static inline U32 __get_PRIMASK(void)
|
||||
{
|
||||
U32 result;
|
||||
|
||||
__asm volatile ("mrs %0, primask" : "=r" (result));
|
||||
return result;
|
||||
}
|
||||
|
||||
__attribute__((always_inline)) static inline void __enable_irq(void)
|
||||
{
|
||||
__asm volatile ("cpsie i");
|
||||
|
|
@ -101,7 +117,7 @@ __attribute__((always_inline)) static inline void __DMB(void)
|
|||
__attribute__(( always_inline)) static inline U8 __clz(U32 value)
|
||||
{
|
||||
U8 result;
|
||||
|
||||
|
||||
__asm volatile ("clz %0, %1" : "=r" (result) : "r" (value));
|
||||
return(result);
|
||||
}
|
||||
|
|
@ -122,6 +138,14 @@ __attribute__(( always_inline)) static inline U8 __clz(U32 value)
|
|||
|
||||
#ifndef __CMSIS_GENERIC
|
||||
|
||||
static inline U32 __get_PRIMASK(void)
|
||||
{
|
||||
U32 result;
|
||||
|
||||
__asm volatile ("mrs %0, primask" : "=r" (result));
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline void __enable_irq(void)
|
||||
{
|
||||
__asm volatile ("cpsie i");
|
||||
|
|
@ -203,8 +227,22 @@ extern BIT dbg_msg;
|
|||
#define rt_inc(p) while(__strex((__ldrex(p)+1U),p))
|
||||
#define rt_dec(p) while(__strex((__ldrex(p)-1U),p))
|
||||
#else
|
||||
#define rt_inc(p) __disable_irq();(*p)++;__enable_irq();
|
||||
#define rt_dec(p) __disable_irq();(*p)--;__enable_irq();
|
||||
#define rt_inc(p) do {\
|
||||
U32 primask = __get_PRIMASK();\
|
||||
__disable_irq();\
|
||||
(*p)++;\
|
||||
if (!primask) {\
|
||||
__enable_irq();\
|
||||
}\
|
||||
} while (0)
|
||||
#define rt_dec(p) do {\
|
||||
U32 primask = __get_PRIMASK();\
|
||||
__disable_irq();\
|
||||
(*p)--;\
|
||||
if (!primask) {\
|
||||
__enable_irq();\
|
||||
}\
|
||||
} while (0)
|
||||
#endif
|
||||
|
||||
__inline static U32 rt_inc_qi (U32 size, U8 *count, U8 *first) {
|
||||
|
|
@ -220,6 +258,7 @@ __inline static U32 rt_inc_qi (U32 size, U8 *count, U8 *first) {
|
|||
if (c2 == size) { c2 = 0U; }
|
||||
} while (__strex(c2, first));
|
||||
#else
|
||||
U32 primask = __get_PRIMASK();
|
||||
__disable_irq();
|
||||
if ((cnt = *count) < size) {
|
||||
*count = (U8)(cnt+1U);
|
||||
|
|
@ -227,7 +266,9 @@ __inline static U32 rt_inc_qi (U32 size, U8 *count, U8 *first) {
|
|||
if (c2 == size) { c2 = 0U; }
|
||||
*first = (U8)c2;
|
||||
}
|
||||
__enable_irq ();
|
||||
if (!primask) {
|
||||
__enable_irq ();
|
||||
}
|
||||
#endif
|
||||
return (cnt);
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue