Skip to content

[rtos] Fix irq-safe rtx calls when inside critical sections #2391

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Sep 24, 2016
Merged

[rtos] Fix irq-safe rtx calls when inside critical sections #2391

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions rtos/rtx/TARGET_CORTEX_A/rt_CMSIS.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -543,6 +543,11 @@ static __inline char __get_mode(void) {
}

static __inline char __exceptional_mode(void) {
// Interrupts disabled
if (__get_CPSR() & 0x80) {
return 1;
}

switch(__get_mode()) {
case MODE_USR:
case MODE_SYS:
Expand Down
80 changes: 40 additions & 40 deletions rtos/rtx/TARGET_CORTEX_M/rt_CMSIS.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -552,7 +552,7 @@ uint32_t svcKernelSysTick (void) {

/// Initialize the RTOS Kernel for creating objects
osStatus osKernelInitialize (void) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
if ((__get_CONTROL() & 1U) == 0U) { // Privileged mode
Expand All @@ -566,7 +566,7 @@ osStatus osKernelInitialize (void) {
osStatus osKernelStart (void) {
uint32_t stack[8];

if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}

Expand Down Expand Up @@ -607,7 +607,7 @@ osStatus osKernelStart (void) {

/// Check if the RTOS kernel is already started
int32_t osKernelRunning (void) {
if ((__get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) {
if ((__get_PRIMASK() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) {
// in ISR or Privileged
return (int32_t)os_running;
} else {
Expand All @@ -617,7 +617,7 @@ int32_t osKernelRunning (void) {

/// Get the RTOS kernel system timer counter
uint32_t osKernelSysTick (void) {
if (__get_IPSR() != 0U) { return 0U; } // Not allowed in ISR
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { return 0U; } // Not allowed in ISR
return __svcKernelSysTick();
}

Expand Down Expand Up @@ -867,7 +867,7 @@ osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument) {
return osThreadContextCreate(thread_def, argument, NULL);
}
osThreadId osThreadContextCreate (const osThreadDef_t *thread_def, void *argument, void *context) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
Expand All @@ -885,7 +885,7 @@ osThreadId osThreadContextCreate (const osThreadDef_t *thread_def, void *argumen

/// Return the thread ID of the current running thread
osThreadId osThreadGetId (void) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
return __svcThreadGetId();
Expand All @@ -894,7 +894,7 @@ osThreadId osThreadGetId (void) {
/// Terminate execution of a thread and remove it from ActiveThreads
osStatus osThreadTerminate (osThreadId thread_id) {
osStatus status;
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
osMutexWait(osMutexId_osThreadMutex, osWaitForever);
Expand All @@ -907,23 +907,23 @@ osStatus osThreadTerminate (osThreadId thread_id) {

/// Pass control to next thread that is in state READY
osStatus osThreadYield (void) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcThreadYield();
}

/// Change priority of an active thread
osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcThreadSetPriority(thread_id, priority);
}

/// Get current priority of an active thread
osPriority osThreadGetPriority (osThreadId thread_id) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osPriorityError; // Not allowed in ISR
}
return __svcThreadGetPriority(thread_id);
Expand All @@ -948,7 +948,7 @@ __NO_RETURN void osThreadExit (void) {
uint8_t osThreadGetState (osThreadId thread_id) {
P_TCB ptcb;

if (__get_IPSR() != 0U) return osErrorISR; // Not allowed in ISR
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) return osErrorISR; // Not allowed in ISR

ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
if (ptcb == NULL) return INACTIVE;
Expand Down Expand Up @@ -1040,7 +1040,7 @@ os_InRegs osEvent_type svcWait (uint32_t millisec) {

/// Wait for Timeout (Time Delay)
osStatus osDelay (uint32_t millisec) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcDelay(millisec);
Expand All @@ -1054,7 +1054,7 @@ os_InRegs osEvent osWait (uint32_t millisec) {
ret.status = osErrorOS;
return ret;
#else
if (__get_IPSR() != 0U) { // Not allowed in ISR
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // Not allowed in ISR
ret.status = osErrorISR;
return ret;
}
Expand Down Expand Up @@ -1337,7 +1337,7 @@ void sysUserTimerUpdate (uint32_t sleep_time) {

/// Create timer
osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
Expand All @@ -1350,23 +1350,23 @@ osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void

/// Start or restart timer
osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcTimerStart(timer_id, millisec);
}

/// Stop timer
osStatus osTimerStop (osTimerId timer_id) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcTimerStop(timer_id);
}

/// Delete timer
osStatus osTimerDelete (osTimerId timer_id) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcTimerDelete(timer_id);
Expand Down Expand Up @@ -1503,7 +1503,7 @@ int32_t isrSignalSet (osThreadId thread_id, int32_t signals) {

/// Set the specified Signal Flags of an active thread
int32_t osSignalSet (osThreadId thread_id, int32_t signals) {
if (__get_IPSR() != 0U) { // in ISR
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
return isrSignalSet(thread_id, signals);
} else { // in Thread
return __svcSignalSet(thread_id, signals);
Expand All @@ -1512,7 +1512,7 @@ int32_t osSignalSet (osThreadId thread_id, int32_t signals) {

/// Clear the specified Signal Flags of an active thread
int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return (int32_t)0x80000000U; // Not allowed in ISR
}
return __svcSignalClear(thread_id, signals);
Expand All @@ -1522,7 +1522,7 @@ int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) {
osEvent ret;

if (__get_IPSR() != 0U) { // Not allowed in ISR
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // Not allowed in ISR
ret.status = osErrorISR;
return ret;
}
Expand Down Expand Up @@ -1634,7 +1634,7 @@ osStatus svcMutexDelete (osMutexId mutex_id) {

/// Create and Initialize a Mutex object
osMutexId osMutexCreate (const osMutexDef_t *mutex_def) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
Expand All @@ -1647,23 +1647,23 @@ osMutexId osMutexCreate (const osMutexDef_t *mutex_def) {

/// Wait until a Mutex becomes available
osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcMutexWait(mutex_id, millisec);
}

/// Release a Mutex that was obtained with osMutexWait
osStatus osMutexRelease (osMutexId mutex_id) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcMutexRelease(mutex_id);
}

/// Delete a Mutex that was created by osMutexCreate
osStatus osMutexDelete (osMutexId mutex_id) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcMutexDelete(mutex_id);
Expand Down Expand Up @@ -1801,7 +1801,7 @@ osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) {

/// Create and Initialize a Semaphore object
osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
Expand All @@ -1814,24 +1814,24 @@ osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t

/// Wait until a Semaphore becomes available
int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return -1; // Not allowed in ISR
}
return __svcSemaphoreWait(semaphore_id, millisec);
}

/// Release a Semaphore
osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
if (__get_IPSR() != 0U) { // in ISR
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
return isrSemaphoreRelease(semaphore_id);
} else { // in Thread
} else { // in Thread
return __svcSemaphoreRelease(semaphore_id);
}
}

/// Delete a Semaphore that was created by osSemaphoreCreate
osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcSemaphoreDelete(semaphore_id);
Expand Down Expand Up @@ -1914,7 +1914,7 @@ osStatus sysPoolFree (osPoolId pool_id, void *block) {

/// Create and Initialize memory pool
osPoolId osPoolCreate (const osPoolDef_t *pool_def) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
Expand All @@ -1927,7 +1927,7 @@ osPoolId osPoolCreate (const osPoolDef_t *pool_def) {

/// Allocate a memory block from a memory pool
void *osPoolAlloc (osPoolId pool_id) {
if ((__get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
if ((__get_PRIMASK() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
return sysPoolAlloc(pool_id);
} else { // in Thread
return __sysPoolAlloc(pool_id);
Expand All @@ -1938,7 +1938,7 @@ void *osPoolAlloc (osPoolId pool_id) {
void *osPoolCAlloc (osPoolId pool_id) {
void *mem;

if ((__get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
if ((__get_PRIMASK() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
mem = sysPoolAlloc(pool_id);
} else { // in Thread
mem = __sysPoolAlloc(pool_id);
Expand All @@ -1951,7 +1951,7 @@ void *osPoolCAlloc (osPoolId pool_id) {

/// Return an allocated memory block back to a specific memory pool
osStatus osPoolFree (osPoolId pool_id, void *block) {
if ((__get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
if ((__get_PRIMASK() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
return sysPoolFree(pool_id, block);
} else { // in Thread
return __sysPoolFree(pool_id, block);
Expand Down Expand Up @@ -2091,7 +2091,7 @@ os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) {

/// Create and Initialize Message Queue
osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
Expand All @@ -2104,7 +2104,7 @@ osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId threa

/// Put a Message to a Queue
osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
if (__get_IPSR() != 0U) { // in ISR
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
return isrMessagePut(queue_id, info, millisec);
} else { // in Thread
return __svcMessagePut(queue_id, info, millisec);
Expand All @@ -2113,7 +2113,7 @@ osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec)

/// Get a Message or Wait for a Message from a Queue
os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) {
if (__get_IPSR() != 0U) { // in ISR
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
return isrMessageGet(queue_id, millisec);
} else { // in Thread
return __svcMessageGet(queue_id, millisec);
Expand Down Expand Up @@ -2250,7 +2250,7 @@ osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) {

/// Create and Initialize mail queue
osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) {
if (__get_IPSR() != 0U) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
Expand All @@ -2263,7 +2263,7 @@ osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) {

/// Allocate a memory block from a mail
void *osMailAlloc (osMailQId queue_id, uint32_t millisec) {
if (__get_IPSR() != 0U) { // in ISR
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
return sysMailAlloc(queue_id, millisec, 1U);
} else { // in Thread
return __sysMailAlloc(queue_id, millisec, 0U);
Expand All @@ -2275,7 +2275,7 @@ void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
void *pool;
void *mem;

if (__get_IPSR() != 0U) { // in ISR
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
mem = sysMailAlloc(queue_id, millisec, 1U);
} else { // in Thread
mem = __sysMailAlloc(queue_id, millisec, 0U);
Expand All @@ -2290,7 +2290,7 @@ void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {

/// Free a memory block from a mail
osStatus osMailFree (osMailQId queue_id, void *mail) {
if (__get_IPSR() != 0U) { // in ISR
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
return sysMailFree(queue_id, mail, 1U);
} else { // in Thread
return __sysMailFree(queue_id, mail, 0U);
Expand Down
Loading