With the latest K64F linker file the initial stack is out of sync
with INITIAL_SP when uVisor is not present. This patch removes
the incorrect declaration.
Set well defined limits for the heap and configure GCC and ARMCC to
correctly check these. IAR already correctly checked its heap.
This also statically declares the main thread stack so the
linker is responsible for its placement.
Add a mutex to the thread object to protect its internal data. Prevent
making OS calls with a thread ID that has been terminated. This thread
ID can be reused by another thread, leading to undefined behavior if it
is used after termination.
Update the function Thread::join to use a semaphore to
determine when the thread finishes. This both avoids polling and
prevents a freed TCB from being accessed.
In cmsis_os.h OS_TIMERS is undefined unless the timer thread is
disabled, in which case it is defined to 0. When comparing against
an undefined value, the undefined value will evaluate as if it were
0. Because of this the MAIN_THREAD_ID was always set to 0x1.
This patch fixes that problem by checking if OS_TIMERS is defined
before comparing it to 0.
This problem only effects IAR since it has a different heap/stack
layout. GCC_ARM and ARM have a dedicated stack region so
the presence of a guard word and stack checking does not cause
problems.
This problem manifested on the NRF51_DK in the pull request
https://github.com/mbedmicro/mbed/pull/2211
as a c_strings test failure on floating point. This is because the
guard word of the main stack overlapped with standard library
data used by sprintf and corrupted it.
Currently Semaphore can not be instantiated without an explicit count
as a constructor argument. This limits where Semaphores can be declared
and requires explicit initialization in several annoying places, such
as in member variables and SingletonPtr targets.
This adds a default count of 0, which has shown to be the most common
initial value used for semaphores.
Create the wrapper class SingletonPtr. This provides a safe way to
declare and use singletons. This class allows both the lazy
initialization of a singleton, and allows the singleton to be
garbage collected by the linker if it is never referenced.
This patch also updates the HAL to use SingletonPtr when declaring
singleton mutexes.
Fixes#2059. As reported, if timer thread is not created, the main thread
id is 0x01. We introduce MAIN_THREAD_ID macro to define the id. We shall consider,
if we keep this in a variable.
I placed MAIN_THREAD_ID in cmsis_os.h as that header is safe to include within RTX, not like
RTX_Config.h or RTX_CM_Lib.h).
Thread-spawning constructors hide errors and may lead to complex
program state when a thread is declared.
The explicit Thread::start member function should be used to spawn
a thread.
uVisor requires the SVCall to have priority 0, while RTX allows it to be
the second lowest priority level in the system (after PendSV).
This commit makes sure that the SVCall priority is not changed if uVisor
is present. The PendSV priority is not affected.
We changed the stack size of main thread for RZ_A1H.
We changed "OS_MAINSTKSIZE" from 2048 to 4096.
Because stack shortage was found in the automatic test by the CI System .
This patch enables RTOS support on Beetle.
It contains:
* Updated Beetle Startup code for ARMCC
* Modified SysTick Driver
* RTOS specific configuration parameters
* RTOS specific test suite enablement
Signed-off-by: Vincenzo Frascino <vincenzo.frascino@arm.com>
When the malloc lock and unlock functions are inside a library they
conflict with the standard libraries weak version of these functions.
This is because of the way weak references are handled by the linker.
This patch renames the lock and unlock functions defined inside RTX
so they do not conflict. A thunk inside retarget.cpp then calls the
RTX functions. This problem does not occur with retarget.cpp since
it is always build into an object file rather than a library file.
The define OS_TCB_SIZE does not match the real stack size. This
leaves the system with less than OS_TASKCNT TCBs and prevents
a single thread configuration. This updates OS_TCB_SIZE to the
correct value to fix the problem.
The main stack ends at the start of the heap. In some configurations
this causes the guard word to be overwritten when memory is allocated.
This causes an OS error in RTX since it appears that the main stack
overflowed.
This patch moves the main stack to the upper 1/4th of the heap which
prevents the guard word from getting overwritten.
The rtx SVC_Handler for IAR clobbers r0-r3 despite the number of
arguments. However, in the SVC calls, the __swi function is declared
with fewer arguments. IAR doesn't understand that the other registers are
clobbered and stores variables in r0-r3 when multiple SVCs are
dispatched in a single function.
This bug was noticed in osThreadExit, which hard-faults on IAR,
preventing any threads from exiting.
Prevent a switch to a NULL target thread by setting the new task to run
to be the idle task. Otherwise, we get nasty usage fault because we
would be returning from the rt_sys_init SVC with a PSP of 0x20.
Wrap software_init_hook so that it can be used or extended from outside the
RTOS. This is desirable so that code can be added to the software_init_hook
without making the RTOS depend on new features or libraries.
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.
softdevice.
The call stack of the soft device can be 0x600 (1536) bytes long, by
adjusting the stack to a value of 2048 bytes, their is enough room for
the softdevice and RTX kernel to live together in the main stack.
Random issues due to stack overflow were visible with the previous value.
The NRF51 doesn't have a systick. When the MCU doesn't have a systick, the
HAL has to export several functions which will be use by the kernel to
manage the tick:
* os_tick_init provides the initialization function for the alternative
hardware timer.
* os_tick_val returns the current value of the alternative hardware timer.
* os_tick_ovf returns the overflow flag of the alternative hardware timer.
* os_tick_irqack is an interrupt acknowledge function that is called to
confirm the alternative hardware timer interrupt.
The HAL should also call OS_Tick_Handler needs to be called as the
hardware timer interrupt function.
In the case of the NRF51, two RTCs are available:
* RTC0: reserved for soft device
* RTC1: used by us_ticker.
RTC1 is a 4 channels timers, channel 0 is used for us_ticker, and
in this port channel 1 is used for tick generation.
Implementation notes:
* RTC1_IRQHandler: has to be written in assembly otherwise a stack
overflow will occur because the function OS_Tick_Handler never
returns. This function is called when RTC1 channel IRQ is triggered.
* tick generation has been optimised for a tick with a duration of
1000us.
* us_ticker can still be compiled and used without RTX enabled.
More information about alternative timer as RTX Kernel Timer:
https://www.keil.com/pack/doc/CMSIS/RTX/html/_timer_tick.html
Add lock functions so that malloc and environment variable access are
thread safe. Add the compiler option "-o thread-safe" to use the full
version of newlib which is thread safe.
Note that this patch does NOT make file access thread safe.
Add the locks and flags necessary to make the IAR standard library
thread safe. These changes consist of:
-Add compiler flag "--guard_calls" to ensure C++ function-static
variables with dynamic initializers are initialized in a
thread safe manner
-Add the linker flag "--threaded_lib" so the thread safe version of
the standard library is used
-Implement mutex functions required for IAR thread safety
-Create a set of stub functions in retarget.c for when the rtos is not present
Added an #ifndef directive to the __MBED_CMSIS_RTOS_CM and __CMSIS_RTOS macro definitions in order to prevent "Incompatible redefinition of macro" warnings from the online compiler.
- Allows threads to started separately from when they are declared,
avoiding the need to dynamically allocate threads at runtime.
- Allows multiple threads to join without forceful termination. Allowing
threads to synchronize on cleanup.
Russ Butler
Sam Grove
ccli8
Mahadevan Mahesh
Martin Kojtal
Vincent Coubard
Neil Thiessen
Christopher Haster
jeromecoutant
tomoyuki yamanaka
Laurent Meunier
Michel JAOUEN
ohagendorf
svastm
Alessandro Angelino
Niklas Hauser
Brian Daniels
Jaeden Amero
Vincenzo Frascino
Niklas Hauser
Steven Cooreman
Russ Butler
Mihail Stoyanov