RTOS - update for RTX v4.79 for Cortex-M

Thread - stack methods are not available for now, as tcb pointer was removed from
internal structure. To obtain it, we could get it from the kernel, but this should be
reconsidered. Either RTOS should provide it, or these methods will become deprecated.

Author: 0xc0170

libraries/rtos/rtos/Mutex.h

@@ -57,7 +57,7 @@ class Mutex {
     osMutexId _osMutexId;
     osMutexDef_t _osMutexDef;
 #ifdef CMSIS_OS_RTX
-#ifdef __MBED_CMSIS_RTOS_CA9
+#if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
     int32_t _mutex_data[4];
 #else
     int32_t _mutex_data[3];

libraries/rtos/rtos/RtosTimer.h

@@ -61,8 +61,10 @@ class RtosTimer {
 private:
     osTimerId _timer_id;
     osTimerDef_t _timer;
-#ifdef CMSIS_OS_RTX
+#if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
     uint32_t _timer_data[5];
+#else
+    uint32_t _timer_data[6];
 #endif
 };
 

libraries/rtos/rtos/Thread.cpp

@@ -28,7 +28,7 @@ namespace rtos {
 
 Thread::Thread(void (*task)(void const *argument), void *argument,
         osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
-#ifdef CMSIS_OS_RTX
+#ifdef __MBED_CMSIS_RTOS_CM
     _thread_def.pthread = task;
     _thread_def.tpriority = priority;
     _thread_def.stacksize = stack_size;
@@ -71,8 +71,10 @@ int32_t Thread::signal_clr(int32_t signals) {
 }
 
 Thread::State Thread::get_state() {
-#ifndef __MBED_CMSIS_RTOS_CA9
+#if !defined(__MBED_CMSIS_RTOS_CA9) && !defined(__MBED_CMSIS_RTOS_CM)
+#ifdef CMSIS_OS_RTX
     return ((State)_thread_def.tcb.state);
+#endif
 #else
     uint8_t status;
     status = osThreadGetState(_tid);
@@ -82,39 +84,55 @@ Thread::State Thread::get_state() {
 
 uint32_t Thread::stack_size() {
 #ifndef __MBED_CMSIS_RTOS_CA9
+#if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
     return _thread_def.tcb.priv_stack;
 #else
     return 0;
 #endif
+#else
+    return 0;
+#endif
 }
 
 uint32_t Thread::free_stack() {
 #ifndef __MBED_CMSIS_RTOS_CA9
+#if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
     uint32_t bottom = (uint32_t)_thread_def.tcb.stack;
     return _thread_def.tcb.tsk_stack - bottom;
 #else
     return 0;
 #endif
+#else
+    return 0;
+#endif
 }
 
 uint32_t Thread::used_stack() {
 #ifndef __MBED_CMSIS_RTOS_CA9
+#if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
     uint32_t top = (uint32_t)_thread_def.tcb.stack + _thread_def.tcb.priv_stack;
     return top - _thread_def.tcb.tsk_stack;
 #else
     return 0;
 #endif
+#else
+    return 0;
+#endif
 }
 
 uint32_t Thread::max_stack() {
 #ifndef __MBED_CMSIS_RTOS_CA9
+#if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
     uint32_t high_mark = 0;
     while (_thread_def.tcb.stack[high_mark] == 0xE25A2EA5)
         high_mark++;
     return _thread_def.tcb.priv_stack - (high_mark * 4);
 #else
     return 0;
 #endif
+#else
+    return 0;
+#endif
 }
 
 osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
@@ -139,9 +157,11 @@ void Thread::attach_idle_hook(void (*fptr)(void)) {
 
 Thread::~Thread() {
     terminate();
+#ifdef __MBED_CMSIS_RTOS_CM
     if (_dynamic_stack) {
         delete[] (_thread_def.stack_pointer);
     }
+#endif
 }
 
 }

libraries/rtos/rtx/TARGET_CORTEX_M/HAL_CM.c

@@ -90,6 +90,32 @@ void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
   /* Task entry point. */
   p_TCB->ptask = task_body;
 
+
+#ifdef __MBED_CMSIS_RTOS_CM
+  /* Set a magic word for checking of stack overflow.
+   For the main thread (ID: 0x02) the stack is in a memory area shared with the
+   heap, therefore the last word of the stack is a moving target.
+   We want to do stack/heap collision detection instead.
+   Similar applies to stack filling for the magic pattern.
+  */
+  if (p_TCB->task_id != 0x02) {
+    p_TCB->stack[0] = MAGIC_WORD;
+
+    /* Initialize stack with magic pattern. */
+    if (os_stackinfo & 0x10000000U) {
+      if (size > (16U+1U)) {
+        for (i = ((size - 16U)/2U) - 1U; i; i--) {
+          stk -= 2U;
+          stk[1] = MAGIC_PATTERN;
+          stk[0] = MAGIC_PATTERN;
+        }
+        if (--stk > p_TCB->stack) {
+          *stk = MAGIC_PATTERN;
+        }
+      }
+    }
+  }
+#else
   /* Initialize stack with magic pattern. */
   if (os_stackinfo & 0x10000000U) {
     if (size > (16U+1U)) {
@@ -104,15 +130,6 @@ void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
     }
   }
 
-#ifdef __MBED_CMSIS_RTOS_CM
-  /* Set a magic word for checking of stack overflow.
-   For the main thread (ID: 0x02) the stack is in a memory area shared with the
-   heap, therefore the last word of the stack is a moving target.
-   We want to do stack/heap collision detection instead.
-  */
-  if (p_TCB->task_id != 0x02)
-      p_TCB->stack[0] = MAGIC_WORD;
-#else
   /* Set a magic word for checking of stack overflow. */
   p_TCB->stack[0] = MAGIC_WORD;
 #endif

libraries/rtos/rtx/TARGET_CORTEX_M/RTX_CM_lib.h

@@ -571,7 +571,7 @@ __attribute__((naked)) void software_init_hook (void) {
     "mov  r0,r4\n"
     "mov  r1,r5\n"
     "bl   osKernelInitialize\n"
-#ifdef
+#ifdef __MBED_CMSIS_RTOS_CM
     "bl   set_main_stack\n"
 #endif
     "ldr  r0,=os_thread_def_main\n"