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gekygeky
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Fixed rtx calls when inside critical sections
Before, rtx calls would hard fault in critical sections when an svc instruction was attempted with interrupts disabled. Required changes: - Added check for CPSR I bit in cortex A rtx - Added check for PRIMASK and BASEPRI in cortex M rtx - Modified critical sections in cortex M rtx to be recursive (already recursive in cortex A)
1 parent 0712b8a commit e41b129

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3 files changed

+112
-44
lines changed

3 files changed

+112
-44
lines changed

‎rtos/rtx/TARGET_CORTEX_A/rt_CMSIS.c

Lines changed: 5 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -539,6 +539,11 @@ static __inline char __get_mode(void) {
539539
}
540540

541541
static __inline char __exceptional_mode(void) {
542+
// Interrupts disabled
543+
if (__get_CPSR() & 0x80) {
544+
return 1;
545+
}
546+
542547
switch(__get_mode()) {
543548
case MODE_USR:
544549
case MODE_SYS:

‎rtos/rtx/TARGET_CORTEX_M/rt_CMSIS.c

Lines changed: 40 additions & 40 deletions
Original file line numberDiff line numberDiff line change
@@ -546,7 +546,7 @@ uint32_t svcKernelSysTick (void) {
546546

547547
/// Initialize the RTOS Kernel for creating objects
548548
osStatus osKernelInitialize (void) {
549-
if (__get_IPSR() != 0U) {
549+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
550550
return osErrorISR; // Not allowed in ISR
551551
}
552552
if ((__get_CONTROL() & 1U) == 0U) { // Privileged mode
@@ -560,7 +560,7 @@ osStatus osKernelInitialize (void) {
560560
osStatus osKernelStart (void) {
561561
uint32_t stack[8];
562562

563-
if (__get_IPSR() != 0U) {
563+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
564564
return osErrorISR; // Not allowed in ISR
565565
}
566566

@@ -601,7 +601,7 @@ osStatus osKernelStart (void) {
601601

602602
/// Check if the RTOS kernel is already started
603603
int32_t osKernelRunning (void) {
604-
if ((__get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) {
604+
if ((__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) {
605605
// in ISR or Privileged
606606
return (int32_t)os_running;
607607
} else {
@@ -611,7 +611,7 @@ int32_t osKernelRunning (void) {
611611

612612
/// Get the RTOS kernel system timer counter
613613
uint32_t osKernelSysTick (void) {
614-
if (__get_IPSR() != 0U) { return 0U; } // Not allowed in ISR
614+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) { return 0U; } // Not allowed in ISR
615615
return __svcKernelSysTick();
616616
}
617617

@@ -799,7 +799,7 @@ osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument) {
799799
return osThreadContextCreate(thread_def, argument, NULL);
800800
}
801801
osThreadId osThreadContextCreate (const osThreadDef_t *thread_def, void *argument, void *context) {
802-
if (__get_IPSR() != 0U) {
802+
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
803803
return NULL; // Not allowed in ISR
804804
}
805805
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
@@ -812,39 +812,39 @@ osThreadId osThreadContextCreate (const osThreadDef_t *thread_def, void *argumen
812812

813813
/// Return the thread ID of the current running thread
814814
osThreadId osThreadGetId (void) {
815-
if (__get_IPSR() != 0U) {
815+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
816816
return NULL; // Not allowed in ISR
817817
}
818818
return __svcThreadGetId();
819819
}
820820

821821
/// Terminate execution of a thread and remove it from ActiveThreads
822822
osStatus osThreadTerminate (osThreadId thread_id) {
823-
if (__get_IPSR() != 0U) {
823+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
824824
return osErrorISR; // Not allowed in ISR
825825
}
826826
return __svcThreadTerminate(thread_id);
827827
}
828828

829829
/// Pass control to next thread that is in state READY
830830
osStatus osThreadYield (void) {
831-
if (__get_IPSR() != 0U) {
831+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
832832
return osErrorISR; // Not allowed in ISR
833833
}
834834
return __svcThreadYield();
835835
}
836836

837837
/// Change priority of an active thread
838838
osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
839-
if (__get_IPSR() != 0U) {
839+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
840840
return osErrorISR; // Not allowed in ISR
841841
}
842842
return __svcThreadSetPriority(thread_id, priority);
843843
}
844844

845845
/// Get current priority of an active thread
846846
osPriority osThreadGetPriority (osThreadId thread_id) {
847-
if (__get_IPSR() != 0U) {
847+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
848848
return osPriorityError; // Not allowed in ISR
849849
}
850850
return __svcThreadGetPriority(thread_id);
@@ -862,7 +862,7 @@ __NO_RETURN void osThreadExit (void) {
862862
uint8_t osThreadGetState (osThreadId thread_id) {
863863
P_TCB ptcb;
864864

865-
if (__get_IPSR() != 0U) return osErrorISR; // Not allowed in ISR
865+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) return osErrorISR; // Not allowed in ISR
866866

867867
ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
868868
if (ptcb == NULL) return INACTIVE;
@@ -911,7 +911,7 @@ os_InRegs osEvent_type svcWait (uint32_t millisec) {
911911

912912
/// Wait for Timeout (Time Delay)
913913
osStatus osDelay (uint32_t millisec) {
914-
if (__get_IPSR() != 0U) {
914+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
915915
return osErrorISR; // Not allowed in ISR
916916
}
917917
return __svcDelay(millisec);
@@ -925,7 +925,7 @@ os_InRegs osEvent osWait (uint32_t millisec) {
925925
ret.status = osErrorOS;
926926
return ret;
927927
#else
928-
if (__get_IPSR() != 0U) { // Not allowed in ISR
928+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) { // Not allowed in ISR
929929
ret.status = osErrorISR;
930930
return ret;
931931
}
@@ -1208,7 +1208,7 @@ void sysUserTimerUpdate (uint32_t sleep_time) {
12081208

12091209
/// Create timer
12101210
osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument) {
1211-
if (__get_IPSR() != 0U) {
1211+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
12121212
return NULL; // Not allowed in ISR
12131213
}
12141214
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
@@ -1221,23 +1221,23 @@ osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void
12211221

12221222
/// Start or restart timer
12231223
osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
1224-
if (__get_IPSR() != 0U) {
1224+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
12251225
return osErrorISR; // Not allowed in ISR
12261226
}
12271227
return __svcTimerStart(timer_id, millisec);
12281228
}
12291229

12301230
/// Stop timer
12311231
osStatus osTimerStop (osTimerId timer_id) {
1232-
if (__get_IPSR() != 0U) {
1232+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
12331233
return osErrorISR; // Not allowed in ISR
12341234
}
12351235
return __svcTimerStop(timer_id);
12361236
}
12371237

12381238
/// Delete timer
12391239
osStatus osTimerDelete (osTimerId timer_id) {
1240-
if (__get_IPSR() != 0U) {
1240+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
12411241
return osErrorISR; // Not allowed in ISR
12421242
}
12431243
return __svcTimerDelete(timer_id);
@@ -1374,7 +1374,7 @@ int32_t isrSignalSet (osThreadId thread_id, int32_t signals) {
13741374

13751375
/// Set the specified Signal Flags of an active thread
13761376
int32_t osSignalSet (osThreadId thread_id, int32_t signals) {
1377-
if (__get_IPSR() != 0U) { // in ISR
1377+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) { // in ISR
13781378
return isrSignalSet(thread_id, signals);
13791379
} else { // in Thread
13801380
return __svcSignalSet(thread_id, signals);
@@ -1383,7 +1383,7 @@ int32_t osSignalSet (osThreadId thread_id, int32_t signals) {
13831383

13841384
/// Clear the specified Signal Flags of an active thread
13851385
int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
1386-
if (__get_IPSR() != 0U) {
1386+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
13871387
return (int32_t)0x80000000U; // Not allowed in ISR
13881388
}
13891389
return __svcSignalClear(thread_id, signals);
@@ -1393,7 +1393,7 @@ int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
13931393
os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) {
13941394
osEvent ret;
13951395

1396-
if (__get_IPSR() != 0U) { // Not allowed in ISR
1396+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) { // Not allowed in ISR
13971397
ret.status = osErrorISR;
13981398
return ret;
13991399
}
@@ -1505,7 +1505,7 @@ osStatus svcMutexDelete (osMutexId mutex_id) {
15051505

15061506
/// Create and Initialize a Mutex object
15071507
osMutexId osMutexCreate (const osMutexDef_t *mutex_def) {
1508-
if (__get_IPSR() != 0U) {
1508+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
15091509
return NULL; // Not allowed in ISR
15101510
}
15111511
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
@@ -1518,23 +1518,23 @@ osMutexId osMutexCreate (const osMutexDef_t *mutex_def) {
15181518

15191519
/// Wait until a Mutex becomes available
15201520
osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
1521-
if (__get_IPSR() != 0U) {
1521+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
15221522
return osErrorISR; // Not allowed in ISR
15231523
}
15241524
return __svcMutexWait(mutex_id, millisec);
15251525
}
15261526

15271527
/// Release a Mutex that was obtained with osMutexWait
15281528
osStatus osMutexRelease (osMutexId mutex_id) {
1529-
if (__get_IPSR() != 0U) {
1529+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
15301530
return osErrorISR; // Not allowed in ISR
15311531
}
15321532
return __svcMutexRelease(mutex_id);
15331533
}
15341534

15351535
/// Delete a Mutex that was created by osMutexCreate
15361536
osStatus osMutexDelete (osMutexId mutex_id) {
1537-
if (__get_IPSR() != 0U) {
1537+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
15381538
return osErrorISR; // Not allowed in ISR
15391539
}
15401540
return __svcMutexDelete(mutex_id);
@@ -1672,7 +1672,7 @@ osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) {
16721672

16731673
/// Create and Initialize a Semaphore object
16741674
osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
1675-
if (__get_IPSR() != 0U) {
1675+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
16761676
return NULL; // Not allowed in ISR
16771677
}
16781678
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
@@ -1685,24 +1685,24 @@ osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t
16851685

16861686
/// Wait until a Semaphore becomes available
16871687
int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
1688-
if (__get_IPSR() != 0U) {
1688+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
16891689
return -1; // Not allowed in ISR
16901690
}
16911691
return __svcSemaphoreWait(semaphore_id, millisec);
16921692
}
16931693

16941694
/// Release a Semaphore
16951695
osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
1696-
if (__get_IPSR() != 0U) { // in ISR
1696+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) { // in ISR
16971697
return isrSemaphoreRelease(semaphore_id);
1698-
} else { // in Thread
1698+
} else { // in Thread
16991699
return __svcSemaphoreRelease(semaphore_id);
17001700
}
17011701
}
17021702

17031703
/// Delete a Semaphore that was created by osSemaphoreCreate
17041704
osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
1705-
if (__get_IPSR() != 0U) {
1705+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
17061706
return osErrorISR; // Not allowed in ISR
17071707
}
17081708
return __svcSemaphoreDelete(semaphore_id);
@@ -1785,7 +1785,7 @@ osStatus sysPoolFree (osPoolId pool_id, void *block) {
17851785

17861786
/// Create and Initialize memory pool
17871787
osPoolId osPoolCreate (const osPoolDef_t *pool_def) {
1788-
if (__get_IPSR() != 0U) {
1788+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
17891789
return NULL; // Not allowed in ISR
17901790
}
17911791
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
@@ -1798,7 +1798,7 @@ osPoolId osPoolCreate (const osPoolDef_t *pool_def) {
17981798

17991799
/// Allocate a memory block from a memory pool
18001800
void *osPoolAlloc (osPoolId pool_id) {
1801-
if ((__get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
1801+
if ((__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
18021802
return sysPoolAlloc(pool_id);
18031803
} else { // in Thread
18041804
return __sysPoolAlloc(pool_id);
@@ -1809,7 +1809,7 @@ void *osPoolAlloc (osPoolId pool_id) {
18091809
void *osPoolCAlloc (osPoolId pool_id) {
18101810
void *mem;
18111811

1812-
if ((__get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
1812+
if ((__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
18131813
mem = sysPoolAlloc(pool_id);
18141814
} else { // in Thread
18151815
mem = __sysPoolAlloc(pool_id);
@@ -1822,7 +1822,7 @@ void *osPoolCAlloc (osPoolId pool_id) {
18221822

18231823
/// Return an allocated memory block back to a specific memory pool
18241824
osStatus osPoolFree (osPoolId pool_id, void *block) {
1825-
if ((__get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
1825+
if ((__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
18261826
return sysPoolFree(pool_id, block);
18271827
} else { // in Thread
18281828
return __sysPoolFree(pool_id, block);
@@ -1962,7 +1962,7 @@ os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) {
19621962

19631963
/// Create and Initialize Message Queue
19641964
osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id) {
1965-
if (__get_IPSR() != 0U) {
1965+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
19661966
return NULL; // Not allowed in ISR
19671967
}
19681968
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
@@ -1975,7 +1975,7 @@ osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId threa
19751975

19761976
/// Put a Message to a Queue
19771977
osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
1978-
if (__get_IPSR() != 0U) { // in ISR
1978+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) { // in ISR
19791979
return isrMessagePut(queue_id, info, millisec);
19801980
} else { // in Thread
19811981
return __svcMessagePut(queue_id, info, millisec);
@@ -1984,7 +1984,7 @@ osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec)
19841984

19851985
/// Get a Message or Wait for a Message from a Queue
19861986
os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) {
1987-
if (__get_IPSR() != 0U) { // in ISR
1987+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) { // in ISR
19881988
return isrMessageGet(queue_id, millisec);
19891989
} else { // in Thread
19901990
return __svcMessageGet(queue_id, millisec);
@@ -2121,7 +2121,7 @@ osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) {
21212121

21222122
/// Create and Initialize mail queue
21232123
osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) {
2124-
if (__get_IPSR() != 0U) {
2124+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) {
21252125
return NULL; // Not allowed in ISR
21262126
}
21272127
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
@@ -2134,7 +2134,7 @@ osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) {
21342134

21352135
/// Allocate a memory block from a mail
21362136
void *osMailAlloc (osMailQId queue_id, uint32_t millisec) {
2137-
if (__get_IPSR() != 0U) { // in ISR
2137+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) { // in ISR
21382138
return sysMailAlloc(queue_id, millisec, 1U);
21392139
} else { // in Thread
21402140
return __sysMailAlloc(queue_id, millisec, 0U);
@@ -2146,7 +2146,7 @@ void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
21462146
void *pool;
21472147
void *mem;
21482148

2149-
if (__get_IPSR() != 0U) { // in ISR
2149+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) { // in ISR
21502150
mem = sysMailAlloc(queue_id, millisec, 1U);
21512151
} else { // in Thread
21522152
mem = __sysMailAlloc(queue_id, millisec, 0U);
@@ -2161,7 +2161,7 @@ void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
21612161

21622162
/// Free a memory block from a mail
21632163
osStatus osMailFree (osMailQId queue_id, void *mail) {
2164-
if (__get_IPSR() != 0U) { // in ISR
2164+
if (__get_PRIMASK() != 0U || __get_BASEPRI() != 0U || __get_IPSR() != 0U) { // in ISR
21652165
return sysMailFree(queue_id, mail, 1U);
21662166
} else { // in Thread
21672167
return __sysMailFree(queue_id, mail, 0U);

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