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[RZ/A1H]Support RTX v4.80 for Cortex-A and a few Malloc API
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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
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@TomoYamanaka
TomoYamanaka committed Dec 20, 2016
1 parent 20eb127 commit e71f79a
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Showing 38 changed files with 1,350 additions and 1,410 deletions.
4 changes: 1 addition & 3 deletions rtos/RtosTimer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
};
Expand Down
52 changes: 33 additions & 19 deletions rtos/rtx/TARGET_CORTEX_A/HAL_CA.c
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Original file line number Diff line number Diff line change
@@ -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:
Expand All @@ -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.
*---------------------------------------------------------------------------*/
Expand All @@ -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--;
}

Expand All @@ -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;
}

Expand All @@ -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;
}
Expand All @@ -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));
}
}

Expand Down
101 changes: 73 additions & 28 deletions rtos/rtx/TARGET_CORTEX_A/RTX_CM_lib.h
View file
Original file line number Diff line number Diff line change
@@ -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:
Expand All @@ -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.
*---------------------------------------------------------------------------*/
Expand Down Expand Up @@ -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);
Expand Down Expand Up @@ -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
Expand All @@ -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);
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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);
}
Expand All @@ -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);
}
Expand All @@ -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);
}
Expand Down Expand Up @@ -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)
Expand Down Expand Up @@ -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);
}
Expand All @@ -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);
Expand All @@ -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();
Expand All @@ -556,8 +603,6 @@ void __iar_program_start( void )

#endif


/*----------------------------------------------------------------------------
* end of file
*---------------------------------------------------------------------------*/

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