CMSIS/RTOS support for mbedOS 5.5 release

Further changes to PAL to make it work with mbed OS 5.5.

Author: Janne Kiiskilä

Source/PAL-Impl/Modules/RTOS/pal_rtos.c

@@ -118,9 +118,10 @@ palThreadID_t pal_osThreadGetId(void)
     return result;
 }
 
-void*  pal_osThreadGetLocalStore(void)
+palThreadLocalStore_t*  pal_osThreadGetLocalStore(void)
 {
-    void* result;
+    palThreadLocalStore_t* result = NULL;
+
     result = pal_plat_osThreadGetLocalStore();
     return result;
 }

Source/PAL-Impl/Services-API/pal_configuration.h

@@ -30,6 +30,9 @@ extern "C" {
 #define PAL_RTOS_64BIT_TICK_SUPPORTED       false /* add pal support for asynchronous sockets */
 #define PAL_UNIQUE_THREAD_PRIORITY          (!defined(PAL_IGNORE_UNIQUE_THREAD_PRIORITY))/* if defined code skips the uniqueness priority check */
 
+//! This define is used to determine the size of the initial random buffer (in bytes) held by PAL for random the algorithm.
+#define PAL_INITIAL_RANDOM_SIZE 48
+
 //! number of valid priorities limits the number of threads- if priorities are added this value should be increased
 #define PAL_MAX_NUMBER_OF_THREADS 7 
 

Source/PAL-Impl/Services-API/pal_errors.h

@@ -62,6 +62,8 @@ typedef enum {
     PAL_ERR_RTOS_PRIORITY =                                 PAL_ERR_RTOS_ERROR_BASE + 0x84,/*! PAL mapping of CMSIS error osErrorPriority : system cannot determine priority or thread has illegal priority.*/
     PAL_ERR_RTOS_NO_MEMORY =                                PAL_ERR_RTOS_ERROR_BASE + 0x85,/*! PAL mapping of CMSIS error osErrorNoMemory : system is out of memory: it was impossible to allocate or reserve memory for the operation.*/
     PAL_ERR_RTOS_VALUE =                                    PAL_ERR_RTOS_ERROR_BASE + 0x86,/*! PAL mapping of CMSIS error osErrorValue :  value of a parameter is out of range.*/
+    PAL_ERR_RTOS_TRNG_FAILED =                              PAL_ERR_RTOS_ERROR_BASE + 0x87, /*! True Random Number Failed */
+    PAL_ERR_RTOS_TASK =                                     PAL_ERR_RTOS_ERROR_BASE + 0x88,/*! PAL mapping - Cannot kill own task. */
     PAL_ERR_RTOS_OS =                                       PAL_ERR_RTOS_ERROR_BASE + 0xFF,/*! PAL mapping of CMSIS error osErrorOS : unspecified RTOS error: run-time error but no other error message fits.*/
     // network errors
     PAL_ERR_SOCKET_ERROR_BASE =                             (-1 << PAL_ERR_MODULE_NET),             /*! generic socket error */

Source/PAL-Impl/Services-API/pal_rtos.h

@@ -27,6 +27,8 @@ extern "C" {
 #include "pal_macros.h"
 #include "pal_types.h"
 
+#define PRIORITY_INDEX_OFFSET 3
+
 //! Wait forever define. used for Semaphores and Mutexes
 #define PAL_RTOS_WAIT_FOREVER PAL_MAX_UINT32
 
@@ -143,7 +145,7 @@ palThreadID_t pal_osThreadGetId(void);
 
 /*! Get the storage of current thread
 * \return the storage of the current thread */
-void* pal_osThreadGetLocalStore(void);
+palThreadLocalStore_t* pal_osThreadGetLocalStore(void);
 
 /*! Wait for a specified time period in milliseconds.
 *

Source/PAL-Impl/Services-API/pal_types.h

@@ -27,6 +27,8 @@ extern "C" {
 
 #define PAL_SUCCESS 0
 #define NULLPTR 0
+#define PAL_INVALID_THREAD     0xFFFFFFFF
+
 
 typedef int32_t palStatus_t;
 

Source/Port/Platform-API/pal_plat_rtos.h

@@ -60,7 +60,7 @@ palStatus_t pal_plat_RTOSInitialize(void* opaqueContext);
 
 /*! De-Initialize thread objects.
 */
-void pal_plat_RTOSDestroy(void);
+palStatus_t pal_plat_RTOSDestroy(void);
 
 /*! Get the RTOS kernel system timer counter.
 *
@@ -69,7 +69,7 @@ void pal_plat_RTOSDestroy(void);
 * \note The required tick counter is the OS (platform) kernel system tick counter.
 * \note This counter wraps around very often (for example, once every 42 sec for 100Mhz).
 */
-uint32_t pal_plat_osKernelSysTick();
+uint64_t pal_plat_osKernelSysTick(void);
 
 /*! Get the RTOS kernel system timer counter.
 *
@@ -132,7 +132,7 @@ palThreadID_t pal_plat_osThreadGetId();
 /*! Get the storage of the current thread.
 * \return The storage of the current thread.
 */
-void* pal_plat_osThreadGetLocalStore();
+palThreadLocalStore_t* pal_plat_osThreadGetLocalStore();
 
 /*! Wait for a specified period of time in milliseconds.
 *

Source/Port/Reference-Impl/mbedOS/RTOS/pal_plat_rtos.cpp

@@ -39,8 +39,8 @@
 #define PAL_NUM_OF_THREAD_INSTANCES 1
 #define PAL_MAX_SEMAPHORE_COUNT 1024
 
-PAL_PRIVATE uint8_t g_randomBuffer[PAL_INITIAL_RANDOM_SIZE] = {0};
-PAL_PRIVATE bool g_randInitiated = false;
+uint8_t g_randomBuffer[PAL_INITIAL_RANDOM_SIZE] = {0};
+static bool g_randInitiated = false;
 
 typedef struct palThreadFuncWrapper{
     palTimerFuncPtr         realThreadFunc;
@@ -98,7 +98,7 @@ typedef struct palMessageQ{
 }palMessageQ_t;
 
 
-inline PAL_PRIVATE void setDefaultThreadValues(palThread_t* thread)
+inline static void setDefaultThreadValues(palThread_t* thread)
 {
 #if PAL_UNIQUE_THREAD_PRIORITY
     g_palThreadPriorities[thread->osThread.priority+PRIORITY_INDEX_OFFSET] = false;
@@ -132,7 +132,7 @@ inline PAL_PRIVATE void setDefaultThreadValues(palThread_t* thread)
 * @param[in] dbPointer: data base pointer.
 * @param[in] index: the index in the data base to be cleaned.
 */
-PAL_PRIVATE void threadCleanUp(void* dbPointer, uint32_t index)
+static void threadCleanUp(void* dbPointer, uint32_t index)
 {
     palThread_t* threadsDB = (palThread_t*)dbPointer;
 
@@ -149,7 +149,7 @@ PAL_PRIVATE void threadCleanUp(void* dbPointer, uint32_t index)
 *
 *   @param[in] arg: data structure which contains the real data about the thread.
 */
-PAL_PRIVATE void threadFunctionWrapper(void const* arg)
+static void threadFunctionWrapper(void const* arg)
 {
     palThreadFuncWrapper_t* threadWrapper = (palThreadFuncWrapper_t*)arg;
 

Test/Common/pal_rtos_test_utils.c

@@ -26,7 +26,7 @@ timerArgument_t timerArgs;
 void palThreadFunc1(void const *argument)
 {
     palThreadID_t threadID = 10;
-    uint32_t* threadStorage = NULL;
+    pal_osThreadGetLocalStore* threadStorage = NULL;
     threadsArgument_t *tmp = (threadsArgument_t*)argument;
 #ifdef MUTEX_UNITY_TEST
     palStatus_t status = PAL_SUCCESS;