RTX5: update library configuration setup

- reorganize Timer thread setup (prepare for MPU isolation)

Author: RobertRostohar

CMSIS/RTOS2/RTX/Include/rtx_os.h

@@ -460,6 +460,8 @@ typedef struct {
   osThreadAttr_t           *idle_thread_attr;   ///< Idle Thread Attributes
   const
   osThreadAttr_t          *timer_thread_attr;   ///< Timer Thread Attributes
+  void               (*timer_thread)(void *);   ///< Timer Thread Function
+  int32_t               (*timer_setup)(void);   ///< Timer Setup Function
   const
   osMessageQueueAttr_t        *timer_mq_attr;   ///< Timer Message Queue Attributes
   uint32_t                     timer_mq_mcnt;   ///< Timer Message Queue maximum Messages

CMSIS/RTOS2/RTX/RTX5.scvd

@@ -414,7 +414,7 @@
     </typedef>
 
     <!-- OS Configuration structure -->
-    <typedef name="osRtxConfig_t" const="1" info="OS Configuration Structure" size="104">
+    <typedef name="osRtxConfig_t" const="1" info="OS Configuration Structure" size="112">
       <member name="flags"                 type="uint32_t" offset="0" info="OS configuration flags"/>
       <member name="tick_freq"             type="uint32_t" offset="4" info="Kernel tick frequency"/>
 
@@ -444,8 +444,13 @@
       <member name="thread_stack_size"     type="uint32_t" offset="84"  info="Default thread stack size"/>
       <member name="idle_thread_attr"      type="uint32_t" offset="88"  info="Idle thread attributes (type is osThreadAttr_s *)"/>
       <member name="timer_thread_attr"     type="uint32_t" offset="92"  info="Timer thread attributes (type is osThreadAttr_s *)"/>
-      <member name="timer_mq_attr"         type="uint32_t" offset="96"  info="Timer message queue attributes (type is osMessageQueueAttr_s *)"/>
-      <member name="timer_mq_mcnt"         type="uint32_t" offset="100" info="Timer message queue maximum messages"/>
+      <member name="timer_thread"          type="uint32_t" offset="96"  info="Timer Thread Function (type is void(*func)(void *)"/>
+      <member name="timer_setup"           type="uint32_t" offset="100" info="Timer Setup Function (type is int32_t(*func)(void)"/>
+      <member name="timer_mq_attr"         type="uint32_t" offset="104" info="Timer message queue attributes (type is osMessageQueueAttr_s *)"/>
+      <member name="timer_mq_mcnt"         type="uint32_t" offset="108" info="Timer message queue maximum messages"/>
+
+      <var name="stack_check"  type="uint8_t" info="Stack checking (0:disabled, 1:enabled)"/>
+      <var name="stack_wmark"  type="uint8_t" info="Stack watermark (0:disabled, 1:enabled)"/>
     </typedef>
 
     <!-- Memory Pool Header -->
@@ -668,6 +673,11 @@
       <read name="os_Info"   type="osRtxInfo_t"   symbol="osRtxInfo"/>
       <read name="os_Config" type="osRtxConfig_t" symbol="osRtxConfig" const="1"/>
 
+      <calc>
+        os_Config.stack_check  = (os_Config.flags >> 1) &amp; 1;
+        os_Config.stack_wmark  = (os_Config.flags >> 2) &amp; 1;
+      </calc>
+
       <calc cond="((os_Info.version / 10000000) == 5) &amp;&amp; (os_Info.kernel_state &gt; 0) &amp;&amp; (os_Info.kernel_state &lt; 5)">
         RTX_En = 1;
       </calc>
@@ -682,9 +692,6 @@
         StaticMp_En = 1;
       </calc>
 
-      <var name="stack_check" type="uint8_t" value="(os_Config.flags >> 1) &amp; 1"/>
-      <var name="stack_wmark" type="uint8_t" value="(os_Config.flags >> 2) &amp; 1"/>
-
       <!-- Read ISR FIFO queue -->
       <read name="ISR_FIFO" cond="RTX_En" type="uint32_t" offset="os_Config.isr_queue_data" size="os_Config.isr_queue_max"/>
 
@@ -866,7 +873,7 @@
         </calc>
 
         <!-- Check also control values to determine maximum stack usage -->
-        <calc cond="(stack_wmark != 0) &amp;&amp; (TCB[i].sp != 0) &amp;&amp; (TCB[i].stack_over == 0) &amp;&amp; (TCB[i].stack_size &lt; 65536)">
+        <calc cond="(os_Config.stack_wmark != 0) &amp;&amp; (TCB[i].sp != 0) &amp;&amp; (TCB[i].stack_over == 0) &amp;&amp; (TCB[i].stack_size &lt; 65536)">
           TCB[i].stack_val  = __CalcMemUsed (TCB[i].stack_mem, sp - TCB[i].stack_mem, 0xCCCCCCCC, 0xE25A2EA5);
           TCB[i].stack_over =  TCB[i].stack_val >> 31;
           TCB[i].stack_maxb = (TCB[i].stack_mem + TCB[i].stack_size) - sp;
@@ -1058,10 +1065,10 @@
         <calc>TCB_En += TCB[i].cb_valid; </calc>
 
         <calc cond="TCB[i].cb_valid == 0"> TCB[i].out_type = 0;</calc>
-        <calc cond="TCB[i].cb_valid &amp;&amp; (TCB[i].name == 0) &amp;&amp; (stack_wmark == 0)"> TCB[i].out_type = 1; </calc>
-        <calc cond="TCB[i].cb_valid &amp;&amp; (TCB[i].name == 0) &amp;&amp; (stack_wmark != 0)"> TCB[i].out_type = 2; </calc>
-        <calc cond="TCB[i].cb_valid &amp;&amp; (TCB[i].name != 0) &amp;&amp; (stack_wmark == 0)"> TCB[i].out_type = 3; </calc>
-        <calc cond="TCB[i].cb_valid &amp;&amp; (TCB[i].name != 0) &amp;&amp; (stack_wmark != 0)"> TCB[i].out_type = 4; </calc>
+        <calc cond="TCB[i].cb_valid &amp;&amp; (TCB[i].name == 0) &amp;&amp; (os_Config.stack_wmark == 0)"> TCB[i].out_type = 1; </calc>
+        <calc cond="TCB[i].cb_valid &amp;&amp; (TCB[i].name == 0) &amp;&amp; (os_Config.stack_wmark != 0)"> TCB[i].out_type = 2; </calc>
+        <calc cond="TCB[i].cb_valid &amp;&amp; (TCB[i].name != 0) &amp;&amp; (os_Config.stack_wmark == 0)"> TCB[i].out_type = 3; </calc>
+        <calc cond="TCB[i].cb_valid &amp;&amp; (TCB[i].name != 0) &amp;&amp; (os_Config.stack_wmark != 0)"> TCB[i].out_type = 4; </calc>
 
         <calc cond="TCB[i].sp_valid == 0"> TCB[i].out_type += 4; </calc>
       </list>
@@ -1097,8 +1104,8 @@
           <item property="Round Robin Timeout"    value="%d[os_Config.robin_timeout]"   cond="(os_Config.robin_timeout > 0)  &amp;&amp; (RTX_En != 0)" />
           <item property="Global Dynamic Memory" value="Not used"                                                                                                               cond="(os_Config.mem_common_size == 0) &amp;&amp; (RTX_En != 0)"/>
           <item property="Global Dynamic Memory" value="Base: %x[mem_head_com._addr], Size: %d[mem_head_com.size], Used: %d[mem_head_com.used], Max used: %d[mem_head_com.max_used]" cond="(os_Config.mem_common_size != 0) &amp;&amp; (RTX_En != 0)"/>
-          <item property="Stack Overrun Check"   value="%t[stack_check ? &quot;Enabled&quot; : &quot;Disabled&quot;]" cond="RTX_En != 0"/>
-          <item property="Stack Usage Watermark" value="%t[stack_wmark ? &quot;Enabled&quot; : &quot;Disabled&quot;]" cond="RTX_En != 0"/>
+          <item property="Stack Overrun Check"   value="%t[os_Config.stack_check ? &quot;Enabled&quot; : &quot;Disabled&quot;]" cond="RTX_En != 0"/>
+          <item property="Stack Usage Watermark" value="%t[os_Config.stack_wmark ? &quot;Enabled&quot; : &quot;Disabled&quot;]" cond="RTX_En != 0"/>
           <item property="Default Thread Stack Size" value="%d[os_Config.thread_stack_size]" cond="RTX_En != 0"/>
 
           <item property="ISR FIFO Queue" value="Size: %d[os_Info.isr_queue_max], Used: %d[os_Info.isr_queue_cnt]" cond="RTX_En">
@@ -1197,16 +1204,16 @@
               </item>
 
               <item>
-                <print cond="(TCB[i].sp_valid == 0) &amp;&amp; (stack_wmark == 0)" property="Stack" value="Used: unknown"/>
-                <print cond="(TCB[i].sp_valid == 0) &amp;&amp; (stack_wmark != 0)" property="Stack" value="Used: unknown, Max: %d[TCB[i].stack_maxp]%% [%d[TCB[i].stack_maxb]]"/>
-                <print cond="(TCB[i].sp_valid == 1) &amp;&amp; (stack_wmark == 0)" property="Stack" value="Used: %d[TCB[i].stack_curp]%% [%d[TCB[i].stack_curb]]"/>
-                <print cond="(TCB[i].sp_valid == 1) &amp;&amp; (stack_wmark != 0)" property="Stack" value="Used: %d[TCB[i].stack_curp]%% [%d[TCB[i].stack_curb]], Max: %d[TCB[i].stack_maxp]%% [%d[TCB[i].stack_maxb]]"/>
+                <print cond="(TCB[i].sp_valid == 0) &amp;&amp; (os_Config.stack_wmark == 0)" property="Stack" value="Used: unknown"/>
+                <print cond="(TCB[i].sp_valid == 0) &amp;&amp; (os_Config.stack_wmark != 0)" property="Stack" value="Used: unknown, Max: %d[TCB[i].stack_maxp]%% [%d[TCB[i].stack_maxb]]"/>
+                <print cond="(TCB[i].sp_valid == 1) &amp;&amp; (os_Config.stack_wmark == 0)" property="Stack" value="Used: %d[TCB[i].stack_curp]%% [%d[TCB[i].stack_curb]]"/>
+                <print cond="(TCB[i].sp_valid == 1) &amp;&amp; (os_Config.stack_wmark != 0)" property="Stack" value="Used: %d[TCB[i].stack_curp]%% [%d[TCB[i].stack_curb]], Max: %d[TCB[i].stack_maxp]%% [%d[TCB[i].stack_maxb]]"/>
 
                 <item>
                   <print cond="TCB[i].sp_valid == 0" property="Used" value="unknown"/>
                   <print cond="TCB[i].sp_valid == 1" property="Used" value="%d[TCB[i].stack_curb]"/>
                 </item>
-                <item property="Max"   value="%d[TCB[i].stack_maxb]" cond="stack_wmark != 0"/>
+                <item property="Max"   value="%d[TCB[i].stack_maxb]" cond="os_Config.stack_wmark != 0"/>
                 <item property="Top"   value="%x[TCB[i].stack_mem + TCB[i].stack_size]"/>
                 <item>
                   <print cond="TCB[i].sp_valid == 0" property="Current" value="unknown"/>

CMSIS/RTOS2/RTX/Source/rtx_lib.c

@@ -111,14 +111,6 @@ __attribute__((section(".bss.os.thread.stack")));
 #endif  // (OS_THREAD_OBJ_MEM != 0)
 
 
-// Stack overrun checking
-#if (OS_STACK_CHECK == 0)
-// Override library function
-extern void osRtxThreadStackCheck (void);
-       void osRtxThreadStackCheck (void) {}
-#endif
-
-
 // Idle Thread Control Block
 static osRtxThread_t os_idle_thread_cb \
 __attribute__((section(".bss.os.thread.cb")));
@@ -224,10 +216,8 @@ static const osMessageQueueAttr_t os_timer_mq_attr = {
   (uint32_t)sizeof(os_timer_mq_data)
 };
 
-#else
-
-extern void osRtxTimerThread (void *argument);
-       void osRtxTimerThread (void *argument) { (void)argument; }
+extern int32_t osRtxTimerSetup  (void);
+extern void    osRtxTimerThread (void *argument);
 
 #endif  // ((OS_TIMER_THREAD_STACK_SIZE != 0) && (OS_TIMER_CB_QUEUE != 0))
 
@@ -519,9 +509,13 @@ __attribute__((section(".rodata"))) =
   &os_idle_thread_attr,
 #if ((OS_TIMER_THREAD_STACK_SIZE != 0) && (OS_TIMER_CB_QUEUE != 0))
   &os_timer_thread_attr,
+  osRtxTimerThread,
+  osRtxTimerSetup,
   &os_timer_mq_attr,
   (uint32_t)OS_TIMER_CB_QUEUE
 #else
+  NULL,
+  NULL,
   NULL,
   NULL,
   0U
@@ -533,9 +527,9 @@ __attribute__((section(".rodata"))) =
 //lint -esym(526,irqRtxLib)    "Defined by Exception handlers"
 //lint -esym(714,irqRtxLibRef) "Non weak reference"
 //lint -esym(765,irqRtxLibRef) "Global scope"
-extern       uint8_t  irqRtxLib;
-extern const uint8_t *irqRtxLibRef;
-       const uint8_t *irqRtxLibRef = &irqRtxLib;
+extern const uint8_t         irqRtxLib;
+extern const uint8_t * const irqRtxLibRef;
+       const uint8_t * const irqRtxLibRef = &irqRtxLib;
 
 // Default User SVC Table
 //lint -esym(714,osRtxUserSVC) "Referenced by Exception handlers"

CMSIS/RTOS2/RTX/Source/rtx_lib.h

@@ -195,7 +195,8 @@ extern bool_t       osRtxThreadStackCheck (const os_thread_t *thread);
 extern bool_t       osRtxThreadStartup    (void);
 
 // Timer Library functions
-extern void osRtxTimerThread (void *argument);
+extern int32_t osRtxTimerSetup  (void);
+extern void    osRtxTimerThread (void *argument);
 
 // Mutex Library functions
 extern void osRtxMutexOwnerRelease (os_mutex_t *mutex_list);
@@ -211,6 +212,9 @@ extern uint32_t   osRtxMemoryPoolInit  (os_mp_info_t *mp_info, uint32_t block_co
 extern void      *osRtxMemoryPoolAlloc (os_mp_info_t *mp_info);
 extern osStatus_t osRtxMemoryPoolFree  (os_mp_info_t *mp_info, void *block);
 
+// Message Queue Library functions
+extern int32_t osRtxMessageQueueTimerSetup (void);
+
 // System Library functions
 extern void osRtxTick_Handler   (void);
 extern void osRtxPendSV_Handler (void);

CMSIS/RTOS2/RTX/Source/rtx_msgqueue.c

@@ -812,6 +812,23 @@ osStatus_t isrRtxMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8
 }
 
 
+//  ==== Library functions ====
+
+/// Create a Message Queue for the Timer Thread.
+int32_t osRtxMessageQueueTimerSetup (void) {
+  int32_t ret = -1;
+
+  osRtxInfo.timer.mq = osRtxMessageQueueId(
+    svcRtxMessageQueueNew(osRtxConfig.timer_mq_mcnt, sizeof(os_timer_finfo_t), osRtxConfig.timer_mq_attr)
+  );
+  if (osRtxInfo.timer.mq != NULL) {
+    ret = 0;
+  }
+
+  return ret;
+}
+
+
 //  ==== Public API ====
 
 /// Create and Initialize a Message Queue object.

CMSIS/RTOS2/RTX/Source/rtx_thread.c

@@ -1619,21 +1619,25 @@ uint32_t isrRtxThreadFlagsSet (osThreadId_t thread_id, uint32_t flags) {
 /// Thread startup (Idle and Timer Thread).
 /// \return true - success, false - failure.
 bool_t osRtxThreadStartup (void) {
-  bool_t ret = TRUE;
+  bool_t ret = FALSE;
 
   // Create Idle Thread
   osRtxInfo.thread.idle = osRtxThreadId(
     svcRtxThreadNew(osRtxIdleThread, NULL, osRtxConfig.idle_thread_attr)
   );
 
   // Create Timer Thread
-  if (osRtxConfig.timer_mq_mcnt != 0U) {
-    osRtxInfo.timer.thread = osRtxThreadId(
-      svcRtxThreadNew(osRtxTimerThread, NULL, osRtxConfig.timer_thread_attr)
-    );
-    if (osRtxInfo.timer.thread == NULL) {
-      ret = FALSE;
+  if (osRtxConfig.timer_setup != NULL) {
+    if (osRtxConfig.timer_setup() == 0) {
+      osRtxInfo.timer.thread = osRtxThreadId(
+        svcRtxThreadNew(osRtxConfig.timer_thread, osRtxInfo.timer.mq, osRtxConfig.timer_thread_attr)
+      );
+      if (osRtxInfo.timer.thread != NULL) {
+        ret = TRUE;
+      }
     }
+  } else {
+    ret = TRUE;
   }
 
   return ret;

CMSIS/RTOS2/RTX/Source/rtx_timer.c

@@ -130,20 +130,33 @@ static void osRtxTimerTick (void) {
   osRtxThreadSetRunning(thread_running);
 }
 
-/// Timer Thread
-__WEAK __NO_RETURN void osRtxTimerThread (void *argument) {
-  os_timer_finfo_t finfo;
-  osStatus_t       status;
-  (void)           argument;
+/// Setup Timer Thread objects.
+//lint -esym(714,osRtxTimerSetup) "Referenced from library configuration"
+//lint -esym(759,osRtxTimerSetup) "Prototype in header"
+//lint -esym(765,osRtxTimerSetup) "Global scope"
+int32_t osRtxTimerSetup (void) {
+  int32_t ret = -1;
+
+  if (osRtxMessageQueueTimerSetup() == 0) {
+    osRtxInfo.timer.tick = osRtxTimerTick;
+    ret = 0;
+  }
 
-  osRtxInfo.timer.mq = osRtxMessageQueueId(
-    osMessageQueueNew(osRtxConfig.timer_mq_mcnt, sizeof(os_timer_finfo_t), osRtxConfig.timer_mq_attr)
-  );
-  osRtxInfo.timer.tick = osRtxTimerTick;
+  return ret;
+}
+
+/// Timer Thread
+//lint -esym(714,osRtxTimerThread) "Referenced from library configuration"
+//lint -esym(759,osRtxTimerThread) "Prototype in header"
+//lint -esym(765,osRtxTimerThread) "Global scope"
+__NO_RETURN void osRtxTimerThread (void *argument) {
+  os_timer_finfo_t   finfo;
+  osStatus_t         status;
+  osMessageQueueId_t mq = (osMessageQueueId_t)argument;
 
   for (;;) {
     //lint -e{934} "Taking address of near auto variable"
-    status = osMessageQueueGet(osRtxInfo.timer.mq, &finfo, NULL, osWaitForever);
+    status = osMessageQueueGet(mq, &finfo, NULL, osWaitForever);
     if (status == osOK) {
       EvrRtxTimerCallback(finfo.func, finfo.arg);
       (finfo.func)(finfo.arg);