Merge pull request #1146 from masaohamanaka/master

RZ_A1H - Modify the OS track acquisition method

libraries/net/lwip/lwip-sys/arch/sys_arch.c

@@ -426,12 +426,10 @@ sys_thread_t sys_thread_new(const char *pcName,
     t->def.pthread = (os_pthread)thread;
     t->def.tpriority = (osPriority)priority;
     t->def.stacksize = stacksize;
-#ifndef __MBED_CMSIS_RTOS_CA9
     t->def.stack_pointer = (uint32_t*)malloc(stacksize);
     if (t->def.stack_pointer == NULL) {
       error("Error allocating the stack memory");
     }
-#endif
 #endif
     t->id = osThreadCreate(&t->def, arg);
     if (t->id == NULL)

libraries/rtos/rtos/Thread.cpp

@@ -31,7 +31,6 @@ Thread::Thread(void (*task)(void const *argument), void *argument,
     _thread_def.pthread = task;
     _thread_def.tpriority = priority;
     _thread_def.stacksize = stack_size;
-#ifndef __MBED_CMSIS_RTOS_CA9
     if (stack_pointer != NULL) {
         _thread_def.stack_pointer = (uint32_t*)stack_pointer;
         _dynamic_stack = false;
@@ -46,7 +45,6 @@ Thread::Thread(void (*task)(void const *argument), void *argument,
     for (int i = 0; i < (stack_size / sizeof(uint32_t)); i++) {
         _thread_def.stack_pointer[i] = 0xE25A2EA5;
     }
-#endif
 #endif
     _tid = osThreadCreate(&_thread_def, argument);
 }
@@ -136,11 +134,9 @@ osThreadId Thread::gettid() {
 
 Thread::~Thread() {
     terminate();
-#ifndef __MBED_CMSIS_RTOS_CA9
     if (_dynamic_stack) {
         delete[] (_thread_def.stack_pointer);
     }
-#endif
 }
 
 }

libraries/rtos/rtx/TARGET_CORTEX_A/RTX_CM_lib.h

@@ -85,16 +85,24 @@ OS_RESULT _os_mut_wait    (uint32_t p, OS_ID mutex, uint16_t timeout) __svc_indi
 
 #if (OS_TIMERS != 0)
 #define OS_TASK_CNT (OS_TASKCNT + 1)
+#ifndef __MBED_CMSIS_RTOS_CA9
 #define OS_PRIV_CNT (OS_PRIVCNT + 2)
 #define OS_STACK_SZ (4*(OS_PRIVSTKSIZE+OS_MAINSTKSIZE+OS_TIMERSTKSZ))
+#endif
 #else
 #define OS_TASK_CNT  OS_TASKCNT
+#ifndef __MBED_CMSIS_RTOS_CA9
 #define OS_PRIV_CNT (OS_PRIVCNT + 1)
 #define OS_STACK_SZ (4*(OS_PRIVSTKSIZE+OS_MAINSTKSIZE))
 #endif
+#endif
 
 uint16_t const os_maxtaskrun = OS_TASK_CNT;
+#ifdef __MBED_CMSIS_RTOS_CA9
+uint32_t const os_stackinfo  = (OS_STKCHECK<<24)| (OS_IDLESTKSIZE*4);
+#else
 uint32_t const os_stackinfo  = (OS_STKCHECK<<24)| (OS_PRIV_CNT<<16) | (OS_STKSIZE*4);
+#endif
 uint32_t const os_rrobin     = (OS_ROBIN << 16) | OS_ROBINTOUT;
 uint32_t const os_trv        = OS_TRV;
 uint8_t  const os_flags      = OS_RUNPRIV;
@@ -107,6 +115,11 @@ __USED uint32_t const os_timernum  = 0;
 _declare_box  (mp_tcb, OS_TCB_SIZE, OS_TASK_CNT);
 uint16_t const mp_tcb_size = sizeof(mp_tcb);
 
+#ifdef __MBED_CMSIS_RTOS_CA9
+/* Memory pool for os_idle_demon stack allocation. */
+_declare_box8 (mp_stk, OS_IDLESTKSIZE*4, 1);
+uint32_t const mp_stk_size = sizeof(mp_stk);
+#else
 /* Memory pool for System stack allocation (+os_idle_demon). */
 _declare_box8 (mp_stk, OS_STKSIZE*4, OS_TASK_CNT-OS_PRIV_CNT+1);
 uint32_t const mp_stk_size = sizeof(mp_stk);
@@ -114,6 +127,7 @@ uint32_t const mp_stk_size = sizeof(mp_stk);
 /* Memory pool for user specified stack allocation (+main, +timer) */
 uint64_t       os_stack_mem[2+OS_PRIV_CNT+(OS_STACK_SZ/8)];
 uint32_t const os_stack_sz = sizeof(os_stack_mem);
+#endif
 
 #ifndef OS_FIFOSZ
  #define OS_FIFOSZ      16
@@ -129,7 +143,7 @@ void *os_active_TCB[OS_TASK_CNT];
 /* User Timers Resources */
 #if (OS_TIMERS != 0)
 extern void osTimerThread (void const *argument);
-#if defined (__MBED_CMSIS_RTOS_CA9)
+#ifdef __MBED_CMSIS_RTOS_CA9
 osThreadDef(osTimerThread, (osPriority)(OS_TIMERPRIO-3), 4*OS_TIMERSTKSZ);
 #else
 osThreadDef(osTimerThread, (osPriority)(OS_TIMERPRIO-3), 1, 4*OS_TIMERSTKSZ);
@@ -237,7 +251,12 @@ __attribute__((used)) void _mutex_release (OS_ID *mutex) {
 
 /* Main Thread definition */
 extern int main (void);
+#ifdef __MBED_CMSIS_RTOS_CA9
+uint32_t os_thread_def_stack_main [(4 * OS_MAINSTKSIZE) / sizeof(uint32_t)];
+osThreadDef_t os_thread_def_main = {(os_pthread)main, osPriorityNormal, 1, 4*OS_MAINSTKSIZE, os_thread_def_stack_main };
+#else
 osThreadDef_t os_thread_def_main = {(os_pthread)main, osPriorityNormal, 1, 4*OS_MAINSTKSIZE };
+#endif
 
 
 #if defined (__CC_ARM)

libraries/rtos/rtx/TARGET_CORTEX_A/RTX_Conf_CA.c

@@ -50,12 +50,20 @@
  #define OS_TASKCNT     25
 #endif
 
+#ifdef __MBED_CMSIS_RTOS_CA9
+//   <o>Idle stack size [bytes] <64-4096:8><#/4>
+//   <i> Defines default stack size for the Idle thread.
+#ifndef OS_IDLESTKSIZE
+ #define OS_IDLESTKSIZE 128
+#endif
+#else // __MBED_CMSIS_RTOS_CA9
 //   <o>Default Thread stack size [bytes] <64-4096:8><#/4>
 //   <i> Defines default stack size for threads with osThreadDef stacksz = 0
 //   <i> Default: 200
 #ifndef OS_STKSIZE
  #define OS_STKSIZE     200
 #endif
+#endif // __MBED_CMSIS_RTOS_CA9
 
 //   <o>Main Thread stack size [bytes] <64-4096:8><#/4>
 //   <i> Defines stack size for main thread.
@@ -64,19 +72,21 @@
  #define OS_MAINSTKSIZE 2048
 #endif
 
+#ifndef __MBED_CMSIS_RTOS_CA9
 //   <o>Number of threads with user-provided stack size <0-250>
 //   <i> Defines the number of threads with user-provided stack size.
 //   <i> Default: 0
 #ifndef OS_PRIVCNT
- #define OS_PRIVCNT     10
+ #define OS_PRIVCNT     0
 #endif
 
 //   <o>Total stack size [bytes] for threads with user-provided stack size <0-4096:8><#/4>
 //   <i> Defines the combined stack size for threads with user-provided stack size.
 //   <i> Default: 0
 #ifndef OS_PRIVSTKSIZE
- #define OS_PRIVSTKSIZE 8192
+ #define OS_PRIVSTKSIZE 0
 #endif
+#endif // __MBED_CMSIS_RTOS_CA9
 
 // <q>Check for stack overflow
 // <i> Includes the stack checking code for stack overflow.

libraries/rtos/rtx/TARGET_CORTEX_A/cmsis_os.h

@@ -264,6 +264,9 @@ typedef struct os_thread_def  {
   osPriority             tpriority;    ///< initial thread priority
   uint32_t               instances;    ///< maximum number of instances of that thread function
   uint32_t               stacksize;    ///< stack size requirements in bytes; 0 is default stack size
+#ifdef __MBED_CMSIS_RTOS_CA9
+  uint32_t               *stack_pointer;  ///< pointer to the stack memory block
+#endif
 } osThreadDef_t;
 
 /// Timer Definition structure contains timer parameters.
@@ -356,10 +359,11 @@ int32_t osKernelRunning(void);
 #define osThreadDef(name, priority, instances, stacksz)  \
 extern const osThreadDef_t os_thread_def_##name
 #else                            // define the object
-#if defined (__MBED_CMSIS_RTOS_CA9)
+#ifdef __MBED_CMSIS_RTOS_CA9
 #define osThreadDef(name, priority, stacksz)  \
+uint32_t os_thread_def_stack_##name [stacksz / sizeof(uint32_t)]; \
 const osThreadDef_t os_thread_def_##name = \
-{ (name), (priority), 1, (stacksz)  }
+{ (name), (priority), 1, (stacksz), (os_thread_def_stack_##name) }
 #else
 #define osThreadDef(name, priority, instances, stacksz)  \
 const osThreadDef_t os_thread_def_##name = \

libraries/rtos/rtx/TARGET_CORTEX_A/rt_CMSIS.c

@@ -442,9 +442,11 @@ extern const uint32_t  os_section_id$$Base;
 extern const uint32_t  os_section_id$$Limit;
 #endif
 
+#ifndef __MBED_CMSIS_RTOS_CA9
 // OS Stack Memory for Threads definitions
 extern       uint64_t  os_stack_mem[];
 extern const uint32_t  os_stack_sz;
+#endif
 
 // OS Timers external resources
 extern const osThreadDef_t   os_thread_def_osTimerThread;
@@ -546,6 +548,11 @@ osMessageQId svcMessageCreate (const osMessageQDef_t *queue_def, osThreadId thre
 
 /// Initialize the RTOS Kernel for creating objects
 osStatus svcKernelInitialize (void) {
+#ifdef __MBED_CMSIS_RTOS_CA9
+  if (!os_initialized) {
+    rt_sys_init();                              // RTX System Initialization
+  }
+#else
   int ret;
 
   if (!os_initialized) {
@@ -557,6 +564,7 @@ osStatus svcKernelInitialize (void) {
 
     rt_sys_init();                              // RTX System Initialization
   }
+#endif
 
   os_tsk.run->prio = 255;                       // Highest priority
 
@@ -668,6 +676,13 @@ osThreadId svcThreadCreate (const osThreadDef_t *thread_def, void *argument) {
     return NULL;
   }
 
+#ifdef __MBED_CMSIS_RTOS_CA9
+  if (thread_def->stacksize != 0) {             // Custom stack size
+    stk = (void *)thread_def->stack_pointer;
+  } else {                                      // Default stack size
+    stk = NULL;
+  }
+#else
   if (thread_def->stacksize != 0) {             // Custom stack size
     stk = rt_alloc_mem(                         // Allocate stack
       os_stack_mem,
@@ -680,6 +695,7 @@ osThreadId svcThreadCreate (const osThreadDef_t *thread_def, void *argument) {
   } else {                                      // Default stack size
     stk = NULL;
   }
+#endif
 
   tsk = rt_tsk_create(                          // Create task
     (FUNCP)thread_def->pthread,                 // Task function pointer
@@ -690,9 +706,11 @@ osThreadId svcThreadCreate (const osThreadDef_t *thread_def, void *argument) {
   );
 
   if (tsk == 0) {                               // Invalid task ID
+#ifndef __MBED_CMSIS_RTOS_CA9
     if (stk != NULL) {
       rt_free_mem(os_stack_mem, stk);           // Free allocated stack
     }
+#endif
     sysThreadError(osErrorNoMemory);            // Create task failed (Out of memory)
     return NULL;
   }
@@ -717,20 +735,26 @@ osThreadId svcThreadGetId (void) {
 osStatus svcThreadTerminate (osThreadId thread_id) {
   OS_RESULT res;
   P_TCB     ptcb;
+#ifndef __MBED_CMSIS_RTOS_CA9
   void     *stk;
+#endif
 
   ptcb = rt_tid2ptcb(thread_id);                // Get TCB pointer
   if (ptcb == NULL) return osErrorParameter;
 
+#ifndef __MBED_CMSIS_RTOS_CA9
   stk = ptcb->priv_stack ? ptcb->stack : NULL;  // Private stack
+#endif
 
   res = rt_tsk_delete(ptcb->task_id);           // Delete task
 
   if (res == OS_R_NOK) return osErrorResource;  // Delete task failed
 
+#ifndef __MBED_CMSIS_RTOS_CA9
   if (stk != NULL) {
     rt_free_mem(os_stack_mem, stk);             // Free private stack
   }
+#endif
 
   return osOK;
 }