uVisor doesn't set the PSP of the target thread. The RTOS sets the PSP
of the target thread from the target thread's TCB. However, when
interrupts of higher priority than PendSV happen between the call to
uVisor to switch boxes, and the RTOS setting PSP, the uVisor vIRQ
interrupt handler will attempt to use an invalid PSP (the PSP from
before the box and thread switch). This leads to a crash. Make box and
thread switching atomic by disabling interrupts immediately before the
box switching until immediately after the new PSP is set.
OsEventObserver objects expect a context to be maintained per thread on
their behalf. Add this context to the thread control block and extend
the thread creation functions with the ability to supply a context.
Add the OsEventObserver mechanism. A client interested in receiving
notifications on certain OS events can register to receive notifications
with osRegisterForOsEvents. This is useful for clients like the secure
memory allocator, which observes thread switching events in order to
swap in and out different memory allocator objects.
mbed OS used older RTX4 version and with osThreadDef accepting only 3
parameters, to preserve compatibility we hardcode the 'instances'
parameter to 1.
Ensure both the stack and stack size used in the Thread class are
aligned to 8 bytes. This prevents the runtime error
"Thread 0 error -11: Unknown" due to incorrect stack alignment.
The current mbed-os drivers rely on a tickrate of 1ms for timing.
This means that if OS_TICK_FREQ is set to any value other than 1000
then mbed-os driver will no longer delay for the correct amount of
time. To prevent this from happening this patch triggers a compile
time error if a tickrate other than 1m is used.
The osKernelGetTickCount() is the only function to get kernel tick information,
however it's not allowed to access in ISR.
It's already enabled in API v2.1.1.
Some Cortex-M0 devices, such as the nrf51, don't have the SysTick.
Instead, these targets use a software interrupt to simulate SysTick.
Add the hooks in the tickless code to support these devices. Targets
which do not have SysTick should now define NO_SYSTICK in targets.json
and implement mbed_get_m0_tick_irqn to add os suport.
This patch also removes os tick handling from the existing devices
(nrf51) since this is now handled in common code.
Add support for tickless by replacing RTX's SysTick timer code with
with code which uses an mbed timer along with suspending and
resuming the kernel in the idle loop. Tickless is enabled on a
per-target basis by defining the macro MBED_TICKLESS.
Make calls to cmsis-os to get thread state, stack size, and max stack
usage rather than accessing internal RTX data directly. Wrap RTX5
specific code in OS_BACKEND_RTX5.
Also refactor the code to use mbed types rather than RTX types:
os_timer_t -> mbed_rtos_storage_timer_t
os_event_flags_t -> mbed_rtos_storage_event_flags_t
osRtxMutex_t -> mbed_rtos_storage_thread_t
Update directory structure to include RTX for only cortex targets, and
for all cortex targets. This patch accomplishes this by moving mbed-os
specific RTX files and RTX itself into rtos/TARGET_CORTEX along with
removing TARGET_CORTEX_M from the RTX5 directory.
The old directory structure:
rtos/rtx5/<mbed-os specific RTX files>
rtos/rtx5/TARGET_CORTEX_M/*
rtos/rtx4/*
rtos/<mbed-os specific RTX files>
Is re-arranged to:
rtos/TARGET_CORTEX/rtx5/*
rtos/TARGET_CORTEX/rtx4/*
rtos/TARGET_CORTEX/<mbed-os specific rtx files>
This both encapsulates RTX code more cleanly and makes it easier to
experiment with non-cortex cmsis-os2 backends, such as a posix
based cmsis-os2 backend.
Note - A potentially better name for the CORTEX_M directory would be
something like FEATURE_RTX5 since this directory only contains RTX5
related files. This cannot be done because there is not an easy way
to turn this feature on, since it cannot be done from mbed_lib.json.
Provide fix for pool buffer size: pool block size must be
a multiple of 4 bytes.
Add assertion to forbid creation of MemoryPool object with queue size equal to 0.
Update description of free() function. Add information about
statuses returned by this function.
The prev-pointer of the running threads mutex list was not set when
multiple mutexes are acquired at a time. This leads to a corrupted list
if the mutexes are not freed in reversed order.
Original commit for CMSIS_5:
commit 729f6ab08540342b7de7612fac103539d5b2f168
Author: Jonatan Antoni <jonatan.antoni@arm.com>
Date: Wed Apr 19 15:38:43 2017 +0200
Before rtx 5, the max count on semaphores was UINT16_MAX, aftewards it
was decreased to 1024 with an assert on overflow.
This is especially problematic for semaphores used for signaling, since
there is no replacement currently available in C++.
The stack required for the idle thread is highly dependent on the
target because it will call the sleep function which is target
specific.
While 256 bytes of stack is enough for most targets, others like the
NRF52840 might require more.
With this change, target maintainers can specify the idle thread stack
size in their mbed_rtx.h file.
uVisor doesn't set the PSP of the target thread. The RTOS sets the PSP
of the target thread from the target thread's TCB. However, when
interrupts of higher priority than PendSV happen between the call to
uVisor to switch boxes, and the RTOS setting PSP, the uVisor vIRQ
interrupt handler will attempt to use an invalid PSP (the PSP from
before the box and thread switch). This leads to a crash. Make box and
thread switching atomic by disabling interrupts immediately before the
box switching until immediately after the new PSP is set.
Add the attribute flash to enable priority inheritance and robust mode.
The robust flag allows mutexes held by terminated threads to be
properly released.
Wrap the file mbed_rtos_storage.h in extern "C". This allows the
functions inside rtx_lib.h to have correct definitions when included
in a C++ file.
This is required for the RTX5 error trapping.
OsEventObserver objects expect a context to be maintained per thread on
their behalf. Add this context to the thread control block and extend
the thread creation functions with the ability to supply a context.
Add the OsEventObserver mechanism. A client interested in receiving
notifications on certain OS events can register to receive notifications
with osRegisterForOsEvents. This is useful for clients like the secure
memory allocator, which observes thread switching events in order to
swap in and out different memory allocator objects.
Russ Butler
Jimmy Brisson
Jaeden Amero
Bartek Szatkowski
Senthil Ramakrishnan
Anna Bridge
Martin Kojtal
Maciej Bocianski
YarivCol
Deepika
Viller Hsiao
Russ Butler
Filip Jagodzinski
Przemyslaw Stekiel
Kevin Gilbert
Vincent Coubard
Christopher Haster
Bartosz Szatkowski
Yuguo Zou