/* mbed Microcontroller Library * Copyright (c) 2018-2018 ARM Limited * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #include "cmsis.h" #include "mbed_rtx.h" #include "mbed_rtos_storage.h" #include "cmsis_os2.h" #include "mbed_toolchain.h" #include "mbed_error.h" #include "mbed_critical.h" #include "mbed_boot.h" #if defined(TARGET_PSA) #include "spm_init.h" #include "spm_api.h" #endif #if defined(COMPONENT_NSPE) && defined(COMPONENT_SPM_MAILBOX) MBED_ALIGN(8) char psa_spm_dispatcher_th_stack[0x100]; mbed_rtos_storage_thread_t psa_spm_dispatcher_th_tcb; const osThreadAttr_t psa_spm_dispatcher_th_attr = { .name = "SPM_DISP", .priority = osPriorityNormal, .stack_mem = psa_spm_dispatcher_th_stack, .stack_size = sizeof(psa_spm_dispatcher_th_stack), .cb_mem = &psa_spm_dispatcher_th_tcb, .cb_size = sizeof(psa_spm_dispatcher_th_tcb) }; #endif // defined(COMPONENT_NSPE) && defined(COMPONENT_SPM_MAILBOX) osThreadAttr_t _main_thread_attr; #ifndef MBED_CONF_APP_MAIN_STACK_SIZE #define MBED_CONF_APP_MAIN_STACK_SIZE MBED_CONF_RTOS_MAIN_THREAD_STACK_SIZE #endif MBED_ALIGN(8) char _main_stack[MBED_CONF_APP_MAIN_STACK_SIZE]; mbed_rtos_storage_thread_t _main_obj; osMutexId_t singleton_mutex_id; mbed_rtos_storage_mutex_t singleton_mutex_obj; osMutexAttr_t singleton_mutex_attr; void mbed_rtos_init() { osKernelInitialize(); } MBED_NORETURN void mbed_rtos_start() { singleton_mutex_attr.name = "singleton_mutex"; singleton_mutex_attr.attr_bits = osMutexRecursive | osMutexPrioInherit | osMutexRobust; singleton_mutex_attr.cb_size = sizeof(singleton_mutex_obj); singleton_mutex_attr.cb_mem = &singleton_mutex_obj; _main_thread_attr.stack_mem = _main_stack; _main_thread_attr.stack_size = sizeof(_main_stack); _main_thread_attr.cb_size = sizeof(_main_obj); _main_thread_attr.cb_mem = &_main_obj; _main_thread_attr.priority = osPriorityNormal; _main_thread_attr.name = "main"; /* Allow non-secure main thread to call secure functions */ #if defined(DOMAIN_NS) && (DOMAIN_NS == 1U) _main_thread_attr.tz_module = 1U; #endif #if defined(COMPONENT_SPM_MAILBOX) spm_ipc_mailbox_init(); #endif // defined(COMPONENT_SPM_MAILBOX) #if defined(COMPONENT_SPE) // At this point, the mailbox is already initialized spm_hal_start_nspe(); psa_spm_init(); #endif // defined(COMPONENT_SPE) #if defined(COMPONENT_NSPE) && defined(COMPONENT_SPM_MAILBOX) osThreadId_t spm_result = osThreadNew((osThreadFunc_t)psa_spm_mailbox_dispatcher, NULL, &psa_spm_dispatcher_th_attr); if ((void *)spm_result == NULL) { MBED_ERROR1(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INITIALIZATION_FAILED), "Dispatcher thread not created", &psa_spm_dispatcher_th_attr); } #endif // defined(COMPONENT_NSPE) && defined(COMPONENT_SPM_MAILBOX) singleton_mutex_id = osMutexNew(&singleton_mutex_attr); osThreadId_t result = osThreadNew((osThreadFunc_t)mbed_start, NULL, &_main_thread_attr); if ((void *)result == NULL) { MBED_ERROR1(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INITIALIZATION_FAILED), "Pre main thread not created", &_main_thread_attr); } osKernelStart(); MBED_ERROR(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INITIALIZATION_FAILED), "Failed to start RTOS"); while (1); // Code should never get here }