[RZ/A1H]Support RTX v4.80 for Cortex-A and a few Malloc API (ARMmbed#3470)

* [RZ/A1H]Support RTX v4.80 for Cortex-A and a few Malloc API

PR to update RTX to v4.80 for Cortex-A.
In the latest CI test, three tests result in an error. The cause is mainly three points
- Unsupport RTX v4.80 for Cortex-A
- Insufficient stack size of thread defined in test
- A few Lack of Malloc API in GCC
Therefore, I supported to these. For the stack size for test, @russ already supported in PR ARMmbed#3362.

Reference for issue of test error is here.
ARMmbed#3273

Reference for PR to update RTX for Cortex-M.
ARMmbed#1702

* Revert "[RZ/A1H]Support RTX v4.80 for Cortex-A and a few Malloc API"

This reverts commit e71f79a.

* [RZ/A1H]Support RTX v4.80 for Cortex-A and a few Malloc API

PR to update RTX to v4.80 for Cortex-A.
In the latest CI test, three tests result in an error. The cause is mainly three points
- Unsupport RTX v4.80 for Cortex-A
- Insufficient stack size of thread defined in test
- A few Lack of Malloc API in GCC
Therefore, I supported to these. For the stack size for test, @c1728p9 already supported in PR ARMmbed#3362.

Reference for issue of test error is here.
ARMmbed#3273

Reference for PR to update RTX for Cortex-M.
ARMmbed#1702

Author: TomoYamanaka

rtos/RtosTimer.h

@@ -144,9 +144,7 @@ class RtosTimer {
     mbed::Callback<void()> _function;
     osTimerId _timer_id;
     osTimerDef_t _timer;
-#if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
-    uint32_t _timer_data[5];
-#else
+#ifdef CMSIS_OS_RTX
     uint32_t _timer_data[6];
 #endif
 };

rtos/rtx/TARGET_CORTEX_A/HAL_CA.c

@@ -1,12 +1,12 @@
 /*----------------------------------------------------------------------------
- *      RL-ARM - RTX
+ *      CMSIS-RTOS  -  RTX
  *----------------------------------------------------------------------------
  *      Name:    HAL_CA.C
  *      Purpose: Hardware Abstraction Layer for Cortex-A
- *      Rev.:
+ *      Rev.:    V4.77 plus changes for RTX-Ax
  *----------------------------------------------------------------------------
  *
- * Copyright (c) 2012 ARM Limited
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH, 2012-2015 ARM Limited
  * All rights reserved.
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:
@@ -15,19 +15,19 @@
  *  - Redistributions in binary form must reproduce the above copyright
  *    notice, this list of conditions and the following disclaimer in the
  *    documentation and/or other materials provided with the distribution.
- *  - Neither the name of ARM  nor the names of its contributors may be used
- *    to endorse or promote products derived from this software without
+ *  - Neither the name of ARM  nor the names of its contributors may be used 
+ *    to endorse or promote products derived from this software without 
  *    specific prior written permission.
  *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  *---------------------------------------------------------------------------*/
@@ -44,14 +44,14 @@ void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
 
   /* Prepare a complete interrupt frame for first task start */
   size = p_TCB->priv_stack >> 2;
-  if (size == 0) {
+  if (size == 0U) {
     size = (U16)os_stackinfo >> 2;
   }
   /* Write to the top of stack. */
   stk = &p_TCB->stack[size];
 
   /* Auto correct to 8-byte ARM stack alignment. */
-  if ((U32)stk & 0x04) {
+  if ((U32)stk & 0x04U) {
     stk--;
   }
 
@@ -69,10 +69,10 @@ void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
   /* Assign a void pointer to R0. */
   stk[8]  = (U32)p_TCB->msg;
   /* Clear R1-R12,LR registers. */
-  for (i = 0; i < 8; i++) {
-    stk[i] = 0;
+  for (i = 0U; i < 8U; i++) {
+    stk[i] = 0U;
   }
-  for (i = 9; i < 14; i++) {
+  for (i = 9U; i < 14U; i++) {
     stk[i] = 0;
   }
 
@@ -82,6 +82,20 @@ void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
   /* Task entry point. */
   p_TCB->ptask = task_body;
 
+  /* 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;
+      }
+    }
+  }
+
   /* Set a magic word for checking of stack overflow. */
   p_TCB->stack[0] = MAGIC_WORD;
 }
@@ -93,13 +107,13 @@ static __inline U32 *rt_ret_regs (P_TCB p_TCB) {
   /* Get pointer to task return value registers (R0..R3) in Stack */
   if (p_TCB->stack_frame & 0x4) {
     /* NEON/D32 Stack Frame: D0-31,FPSCR,Reserved,R4-R11,R0-R3,R12,LR,PC,xPSR */
-    return (U32 *)(p_TCB->tsk_stack + 8*4 + 2*4 + 32*8);
+    return (U32 *)(p_TCB->tsk_stack + (8U*4U) + (2U*4U) + (32U*8U));
   } else if (p_TCB->stack_frame & 0x2) {
     /* VFP/D16 Stack Frame: D0-D15/S0-31,FPSCR,Reserved,R4-R11,R0-R3,R12,LR,PC,xPSR */
-    return (U32 *)(p_TCB->tsk_stack + 8*4 + 2*4 + 32*4);
+    return (U32 *)(p_TCB->tsk_stack + (8U*4U) + (2U*4U) + (32U*4U));
   } else {
     /* Basic Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
-    return (U32 *)(p_TCB->tsk_stack + 8*4);
+    return (U32 *)(p_TCB->tsk_stack + (8U*4U));
   }
 }
 

rtos/rtx/TARGET_CORTEX_A/RTX_CM_lib.h

@@ -1,12 +1,12 @@
 /*----------------------------------------------------------------------------
- *      RL-ARM - RTX
+ *      CMSIS-RTOS  -  RTX
  *----------------------------------------------------------------------------
  *      Name:    RTX_CM_LIB.H
  *      Purpose: RTX Kernel System Configuration
- *      Rev.:    V4.73
+ *      Rev.:    V4.79
  *----------------------------------------------------------------------------
  *
- * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH
+ * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
  * All rights reserved.
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:
@@ -15,19 +15,19 @@
  *  - Redistributions in binary form must reproduce the above copyright
  *    notice, this list of conditions and the following disclaimer in the
  *    documentation and/or other materials provided with the distribution.
- *  - Neither the name of ARM  nor the names of its contributors may be used
- *    to endorse or promote products derived from this software without
+ *  - Neither the name of ARM  nor the names of its contributors may be used 
+ *    to endorse or promote products derived from this software without 
  *    specific prior written permission.
  *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  *---------------------------------------------------------------------------*/
@@ -63,9 +63,10 @@ typedef uint32_t OS_RESULT;
 
 #define runtask_id()    rt_tsk_self()
 #define mutex_init(m)   rt_mut_init(m)
-#define mutex_wait(m)   os_mut_wait(m,0xFFFF)
+#define mutex_wait(m)   os_mut_wait(m,0xFFFFU)
 #define mutex_rel(m)    os_mut_release(m)
 
+extern uint8_t   os_running;
 extern OS_TID    rt_tsk_self    (void);
 extern void      rt_mut_init    (OS_ID mutex);
 extern OS_RESULT rt_mut_release (OS_ID mutex);
@@ -140,6 +141,14 @@ void __iar_system_Mtxunlock(__iar_Rmtx *);
  *      Global Variables
  *---------------------------------------------------------------------------*/
 
+#if (OS_TASKCNT == 0)
+#error "Invalid number of concurrent running threads!"
+#endif
+
+#if (OS_PRIVCNT >= OS_TASKCNT)
+#error "Too many threads with user-provided stack size!"
+#endif
+
 #if (OS_TIMERS != 0)
 #define OS_TASK_CNT (OS_TASKCNT + 1)
 #ifndef __MBED_CMSIS_RTOS_CA9
@@ -154,24 +163,32 @@ void __iar_system_Mtxunlock(__iar_Rmtx *);
 #endif
 #endif
 
+#ifndef OS_STKINIT
+#define OS_STKINIT  0
+#endif
+
 uint16_t const os_maxtaskrun = OS_TASK_CNT;
 #ifdef __MBED_CMSIS_RTOS_CA9
-uint32_t const os_stackinfo  = (OS_STKCHECK<<24)| (OS_IDLESTKSIZE*4);
+uint32_t const os_stackinfo  = (OS_STKINIT<<28) | (OS_STKCHECK<<24) | (OS_IDLESTKSIZE*4);
 #else
-uint32_t const os_stackinfo  = (OS_STKCHECK<<24)| (OS_PRIV_CNT<<16) | (OS_STKSIZE*4);
+uint32_t const os_stackinfo  = (OS_STKINIT<<28) | (OS_STKCHECK<<24) | (OS_PRIV_CNT<<16) | (OS_STKSIZE*4);
 #endif
 uint32_t const os_rrobin     = (OS_ROBIN << 16) | OS_ROBINTOUT;
 uint32_t const os_tickfreq   = OS_CLOCK;
 uint16_t const os_tickus_i   = OS_CLOCK/1000000;
 uint16_t const os_tickus_f   = (((uint64_t)(OS_CLOCK-1000000*(OS_CLOCK/1000000)))<<16)/1000000;
 uint32_t const os_trv        = OS_TRV;
+#if       defined(FEATURE_UVISOR) && defined(TARGET_UVISOR_SUPPORTED)
+uint8_t  const os_flags      = 0;
+#else  /* defined(FEATURE_UVISOR) && defined(TARGET_UVISOR_SUPPORTED) */
 uint8_t  const os_flags      = OS_RUNPRIV;
+#endif /* defined(FEATURE_UVISOR) && defined(TARGET_UVISOR_SUPPORTED) */
 
 /* Export following defines to uVision debugger. */
 __USED uint32_t const CMSIS_RTOS_API_Version = osCMSIS;
 __USED uint32_t const CMSIS_RTOS_RTX_Version = osCMSIS_RTX;
 __USED uint32_t const os_clockrate = OS_TICK;
-__USED uint32_t const os_timernum  = 0;
+__USED uint32_t const os_timernum  = 0U;
 
 /* Memory pool for TCB allocation    */
 _declare_box  (mp_tcb, OS_TCB_SIZE, OS_TASK_CNT);
@@ -216,14 +233,14 @@ osMessageQId osMessageQId_osTimerMessageQ;
 #else
 osThreadDef_t os_thread_def_osTimerThread = { NULL };
 osThreadId osThreadId_osTimerThread;
-osMessageQDef(osTimerMessageQ, 0, void *);
+osMessageQDef(osTimerMessageQ, 0U, void *);
 osMessageQId osMessageQId_osTimerMessageQ;
 #endif
 
 /* Legacy RTX User Timers not used */
-uint32_t       os_tmr = 0;
+uint32_t       os_tmr = 0U; 
 uint32_t const *m_tmr = NULL;
-uint16_t const mp_tmr_size = 0;
+uint16_t const mp_tmr_size = 0U;
 
 /* singleton mutex */
 osMutexId singleton_mutex_id;
@@ -272,8 +289,8 @@ void *__user_perthread_libspace (void) {
   /* Provide a separate libspace for each task. */
   uint32_t idx;
 
-  idx = runtask_id ();
-  if (idx == 0) {
+  idx = (os_running != 0U) ? runtask_id () : 0U;
+  if (idx == 0U) {
     /* RTX not running yet. */
     return (&__libspace_start);
   }
@@ -299,7 +316,7 @@ int _mutex_initialize (OS_ID *mutex) {
 
 __attribute__((used)) void _mutex_acquire (OS_ID *mutex) {
   /* Acquire a system mutex, lock stdlib resources. */
-  if (runtask_id ()) {
+  if (os_running) {
     /* RTX running, acquire a mutex. */
     mutex_wait (*mutex);
   }
@@ -310,7 +327,7 @@ __attribute__((used)) void _mutex_acquire (OS_ID *mutex) {
 
 __attribute__((used)) void _mutex_release (OS_ID *mutex) {
   /* Release a system mutex, unlock stdlib resources. */
-  if (runtask_id ()) {
+  if (os_running) {
     /* RTX running, release a mutex. */
     mutex_rel (*mutex);
   }
@@ -403,9 +420,9 @@ void __iar_system_Mtxunlock(__iar_Rmtx *mutex)
 extern void pre_main (void);
 #ifdef __MBED_CMSIS_RTOS_CA9
 uint32_t os_thread_def_stack_main [(4 * OS_MAINSTKSIZE) / sizeof(uint32_t)];
-osThreadDef_t os_thread_def_main = {(os_pthread)pre_main, osPriorityNormal, 1, 4*OS_MAINSTKSIZE, os_thread_def_stack_main };
+osThreadDef_t os_thread_def_main = {(os_pthread)pre_main, osPriorityNormal, 1U, 4*OS_MAINSTKSIZE, os_thread_def_stack_main };
 #else
-osThreadDef_t os_thread_def_main = {(os_pthread)pre_main, osPriorityNormal, 1, 4*OS_MAINSTKSIZE };
+osThreadDef_t os_thread_def_main = {(os_pthread)pre_main, osPriorityNormal, 1U, 4*OS_MAINSTKSIZE };
 #endif
 
 #if defined (__CC_ARM)
@@ -485,14 +502,21 @@ __asm void __rt_entry (void) {
 #endif
 
 #elif defined (__GNUC__)
+
+osMutexDef(malloc_mutex);
+static osMutexId malloc_mutex_id;
+osMutexDef(env_mutex);
+static osMutexId env_mutex_id;
+
 extern int atexit(void (*func)(void));
 extern void __libc_fini_array(void);
 extern void __libc_init_array (void);
 extern int main(int argc, char **argv);
 
 void pre_main(void) {
     singleton_mutex_id = osMutexCreate(osMutex(singleton_mutex));
-    atexit(__libc_fini_array);
+    malloc_mutex_id = osMutexCreate(osMutex(malloc_mutex));
+    env_mutex_id = osMutexCreate(osMutex(env_mutex));
     __libc_init_array();
     main(0, NULL);
 }
@@ -511,6 +535,29 @@ __attribute__((naked)) void software_init_hook_rtos (void) {
   );
 }
 
+// Opaque declaration of _reent structure
+struct _reent;
+
+void __rtos_malloc_lock( struct _reent *_r )
+{
+    osMutexWait(malloc_mutex_id, osWaitForever);
+}
+
+void __rtos_malloc_unlock( struct _reent *_r )
+{
+    osMutexRelease(malloc_mutex_id);
+}
+
+void __rtos_env_lock( struct _reent *_r )
+{
+    osMutexWait(env_mutex_id, osWaitForever);
+}
+
+void __rtos_env_unlock( struct _reent *_r )
+{
+    osMutexRelease(env_mutex_id);
+}
+
 #elif defined (__ICCARM__)
 extern void* __vector_core_a9;
 extern int  __low_level_init(void);
@@ -533,7 +580,7 @@ void pre_main(void) {
 }
 
 #pragma required=__vector_core_a9
-void __iar_program_start( void )
+void __iar_program_start(void)
 {
   __iar_init_core();
   __iar_init_vfp();
@@ -556,8 +603,6 @@ void __iar_program_start( void )
 
 #endif
 
-
 /*----------------------------------------------------------------------------
  * end of file
  *---------------------------------------------------------------------------*/
-