FreeRTOS v10.0.1 modified by ST

README.md

@@ -5,9 +5,13 @@ This is a port of FreeRTOS for STM32 as Arduino libraries.
 For more information about FreeRTOS, visit the [FreeRTOS Web Site](http://www.freertos.org/ "FreeRTOS").
 Also, See the very useful [Getting Started](http://www.freertos.org/FreeRTOS-quick-start-guide.html "Quick Start Guide") page.
 
-Current FreeRTOS version used for this library is [9.0.0](http://www.freertos.org/FreeRTOS-V9.html) and has been modified by ST (See st_readme.txt in FreeRTOS Source).
+This library provides 2 FreeRTOS versions:
+ * [9.0.0](http://www.freertos.org/FreeRTOS-V9.html)
+ * [10.0.1](http://www.freertos.org/FreeRTOS-V10.html)
 
-This is the current one provided with the [STM32Cube MCU Packages](http://www.st.com/en/embedded-software/stm32cube-mcu-packages.html)
+Both have been modified by ST (See st_readme.txt in FreeRTOS Source).
+
+These are the same provided with the [STM32Cube MCU Packages](http://www.st.com/en/embedded-software/stm32cube-mcu-packages.html)
 
 ## Configuration
 
@@ -17,11 +21,13 @@ This library provides a default FreeRTOS configuration file named `FreeRTOSConfi
 
 User can provide his own FreeRTOS configuration file at sketch level by adding his configuration in a file named `STM32FreeRTOSConfig.h`.
 
+Or add extra FreeRTOS configuration to the default at sketch level by adding an extra configuration in a file named `STM32FreeRTOSConfig_extra.h`.
+
 Heap allocation schemes are provided by FreeRTOS, see [Memory allocation implementations included in the RTOS source](https://www.freertos.org/a00111.html).
 To extend those schemes a thread-safe heap allocation using C runtime (Newlib) has been added based on Dave Nadler work:
 
 http://www.nadler.com/embedded/newlibAndFreeRTOS.html
-    
+
 By default, the `heap_useNewlib.c` is used. It can be changed thanks a define in the configuration file:
 ```
 /* Define memory allocation implementations to use:
@@ -31,24 +37,51 @@ By default, the `heap_useNewlib.c` is used. It can be changed thanks a define in
  */
 ```
 
+Since v10.0.1, CMSIS-RTOSv2 can be used instead of default CMSIS-RTOS.
+
+`configUSE_CMSIS_RTOS_V2` has to be defined and set to `1` to use
+CMSIS-RTOSv2.
+
+
 ## Limitations
 
 * MPU: not supported.
+* No CMSIS-RTOSv2 support provided. It is provided as example.
 
 ## Files & Configuration
 
 * STM32FreeRTOS.h : Must always be #include first. It references required include files.
 * STM32FreeRTOSConfig.h : If exist at sketch level, it contains the FreeRTOS configurations.
+* STM32FreeRTOSConfig_extra.h : If exist at sketch level, it contains extra FreeRTOS configurations.
 * FreeRTOSConfig_Default.h : Contains the default FreeRTOS configurations for this STM32 port if `STM32FreeRTOSConfig.h` doesn't exist.
 
 ## Test results (using [Arduino_Core_STM32](https://github.com/stm32duino/Arduino_Core_STM32))
+
+### STM32FreeRTOS v9.0.x
 | Board | AnalogRead_DigitalRead | Blink_AnalogRead | frBlink | frBlinkPrint | frJitter | frLiuLayland |
 | --- | :---: | :---: | :---: | :---: | :---: | :---: |
 | [Nucleo F091RC](http://www.st.com/en/evaluation-tools/nucleo-f091rc.html) | PASSED | PASSED | PASSED | PASSED | PASSED | FAILED |
 | [Nucleo F103RB](http://www.st.com/en/evaluation-tools/nucleo-f103rb.html) | PASSED | PASSED | PASSED | PASSED | PASSED | PASSED |
 | [Nucleo F303RE](http://www.st.com/en/evaluation-tools/nucleo-f303re.html) | PASSED | PASSED | PASSED | PASSED | PASSED | PASSED |
 | [Nucleo F429ZI](http://www.st.com/en/evaluation-tools/nucleo-f429zi.html) | PASSED | PASSED | PASSED | PASSED | PASSED | PASSED |
 | [STM32F746G-DISCOVERY](http://www.st.com/en/evaluation-tools/32f746gdiscovery.html) | PASSED | PASSED | PASSED | PASSED | PASSED | PASSED |
-| [Nucleo L053R8](http://www.st.com/en/evaluation-tools/nucleo-l053r8.html) | PASSED | PASSED | PASSED | PASSED | PASSED | FAILED |
+| [Nucleo L053R8](http://www.st.com/en/evaluation-tools/nucleo-l053r8.html) | PASSED* | PASSED* | PASSED* | PASSED* | PASSED* | FAILED |
 | [Nucleo L152RE](http://www.st.com/en/evaluation-tools/nucleo-l152re.html) | PASSED | PASSED | PASSED | PASSED | PASSED | PASSED |
 | [B-L475E-IOT01A](http://www.st.com/en/evaluation-tools/b-l475e-iot01a.html) | PASSED | PASSED | PASSED | PASSED | PASSED | PASSED |
+
+### STM32FreeRTOS v10.0.x
+| Board | AnalogRead_DigitalRead | frBlinkPrint | frLiuLayland | frBlink (CMSIS-RTOSv2) | Blinky (CMSIS-RTOSv2) |
+| --- | :---: | :---: | :---: | :---: | :---: |
+| [Nucleo F091RC](http://www.st.com/en/evaluation-tools/nucleo-f091rc.html) | PASSED | PASSED | FAILED | PASSED | PASSED |
+| [Nucleo F103RB](http://www.st.com/en/evaluation-tools/nucleo-f103rb.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
+| [Nucleo F303RE](http://www.st.com/en/evaluation-tools/nucleo-f303re.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
+| [Nucleo F429ZI](http://www.st.com/en/evaluation-tools/nucleo-f429zi.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
+| [STM32F746G-DISCOVERY](http://www.st.com/en/evaluation-tools/32f746gdiscovery.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
+| [Nucleo-G071RB](https://www.st.com/en/evaluation-tools/nucleo-g071rb.html) | PASSED | PASSED | FAILED | PASSED | PASSED |
+| [Nucleo H743ZI](https://www.st.com/en/evaluation-tools/nucleo-h743zi.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
+| [Nucleo L053R8](http://www.st.com/en/evaluation-tools/nucleo-l053r8.html) | PASSED* | PASSED* | FAILED | PASSED | PASSED |
+| [Nucleo L152RE](http://www.st.com/en/evaluation-tools/nucleo-l152re.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
+| [B-L475E-IOT01A](http://www.st.com/en/evaluation-tools/b-l475e-iot01a.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
+| [P-Nucleo-WB55RG](https://www.st.com/en/evaluation-tools/p-nucleo-wb55.html) | PASSED | PASSED | FAILED | PASSED | PASSED |
+
+\* PASSED with `configUSE_NEWLIB_REENTRANT` set to 0 due to small RAM.

examples/CMSIS-RTOSv2/Blinky/Blinky.ino

@@ -0,0 +1,169 @@
+/* --------------------------------------------------------------------------
+ * Original code from:
+ * https://github.com/ARM-software/CMSIS-FreeRTOS/tree/develop/CMSIS/RTOS2/FreeRTOS/Examples/Blinky
+ *
+ * Copyright (c) 2013-2017 ARM Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *      Original name:    Blinky.c
+ *      OriginalPurpose: RTOS2 example program
+ ************************************************
+ * Abstract.txt:
+ * The Blinky project is a simple CMSIS RTOS2 Kernel based example
+ * for a simulated Cortex-M3 device.
+ * The example simulates the step-motor driver. Four phase variables are
+ * simulating the activation of the four output driver stages. The state
+ * changes are output on the Watch window variable g_phases:
+ * - phase A
+ * - phase B
+ * - phase C
+ * - phase D
+ *
+ * This example simulates Half step driver mode and CW rotation direction.
+ *
+ * The Blinky example program is available for one target:
+ *
+ * Simulation: configured for a simulated on-chip Flash
+ ************************************************
+ * Updated to STM32FreeRTOS example
+ *---------------------------------------------------------------------------*/
+
+#include <STM32FreeRTOS.h>
+
+osThreadId_t tid_phaseA;                /* Thread id of thread: phase_a      */
+osThreadId_t tid_phaseB;                /* Thread id of thread: phase_b      */
+osThreadId_t tid_phaseC;                /* Thread id of thread: phase_c      */
+osThreadId_t tid_phaseD;                /* Thread id of thread: phase_d      */
+osThreadId_t tid_clock;                 /* Thread id of thread: clock        */
+
+struct phases_t {
+  int_fast8_t phaseA;
+  int_fast8_t phaseB;
+  int_fast8_t phaseC;
+  int_fast8_t phaseD;
+} g_phases;
+
+
+/*----------------------------------------------------------------------------
+ *      Function 'signal_func' called from multiple threads
+ *---------------------------------------------------------------------------*/
+void signal_func (osThreadId_t tid)  {
+  osThreadFlagsSet(tid_clock, 0x0100);      /* set signal to clock thread    */
+  osDelay(500);                             /* delay 500ms                   */
+  osThreadFlagsSet(tid_clock, 0x0100);      /* set signal to clock thread    */
+  osDelay(500);                             /* delay 500ms                   */
+  osThreadFlagsSet(tid, 0x0001);            /* set signal to thread 'thread' */
+  osDelay(500);                             /* delay 500ms                   */
+}
+
+/*----------------------------------------------------------------------------
+ *      Thread 1 'phaseA': Phase A output
+ *---------------------------------------------------------------------------*/
+void phaseA (void */*argument*/) {
+  for (;;) {
+    osThreadFlagsWait(0x0001, osFlagsWaitAny ,osWaitForever);   /* wait for an event flag 0x0001 */
+    g_phases.phaseA = 1;
+    digitalToggle(LED_BUILTIN);
+    signal_func(tid_phaseB);                                    /* call common signal function   */
+    g_phases.phaseA = 0;
+  }
+}
+
+/*----------------------------------------------------------------------------
+ *      Thread 2 'phaseB': Phase B output
+ *---------------------------------------------------------------------------*/
+void phaseB (void */*argument*/) {
+  for (;;) {
+    osThreadFlagsWait(0x0001, osFlagsWaitAny, osWaitForever);   /* wait for an event flag 0x0001 */
+    g_phases.phaseB = 1;
+    digitalToggle(LED_BUILTIN);
+    signal_func(tid_phaseC);                                    /* call common signal function   */
+    g_phases.phaseB = 0;
+  }
+}
+
+/*----------------------------------------------------------------------------
+ *      Thread 3 'phaseC': Phase C output
+ *---------------------------------------------------------------------------*/
+void phaseC (void */*argument*/) {
+  for (;;) {
+    osThreadFlagsWait(0x0001, osFlagsWaitAny, osWaitForever);   /* wait for an event flag 0x0001 */
+    g_phases.phaseC = 1;
+    digitalToggle(LED_BUILTIN);
+    signal_func(tid_phaseD);                                    /* call common signal function   */
+    g_phases.phaseC = 0;
+  }
+}
+
+/*----------------------------------------------------------------------------
+ *      Thread 4 'phaseD': Phase D output
+ *---------------------------------------------------------------------------*/
+void phaseD (void */*argument*/) {
+  for (;;) {
+    osThreadFlagsWait(0x0001, osFlagsWaitAny, osWaitForever);   /* wait for an event flag 0x0001 */
+    g_phases.phaseD = 1;
+    digitalToggle(LED_BUILTIN);
+    signal_func(tid_phaseA);                                    /* call common signal function   */
+    g_phases.phaseD = 0;
+  }
+}
+
+/*----------------------------------------------------------------------------
+ *      Thread 5 'clock': Signal Clock
+ *---------------------------------------------------------------------------*/
+void clock (void */*argument*/) {
+  for (;;) {
+    osThreadFlagsWait(0x0100, osFlagsWaitAny, osWaitForever);   /* wait for an event flag 0x0100 */
+    osDelay(80);                                                /* delay  80ms                   */
+  }
+}
+
+/*----------------------------------------------------------------------------
+ *      Main: Initialize and start the application
+ *---------------------------------------------------------------------------*/
+void app_main (void */*argument*/) {
+
+  tid_phaseA = osThreadNew(phaseA, NULL, NULL);
+  tid_phaseB = osThreadNew(phaseB, NULL, NULL);
+  tid_phaseC = osThreadNew(phaseC, NULL, NULL);
+  tid_phaseD = osThreadNew(phaseD, NULL, NULL);
+  tid_clock  = osThreadNew(clock,  NULL, NULL);
+
+  osThreadFlagsSet(tid_phaseA, 0x0001); /* set signal to phaseA thread   */
+
+  osDelay(osWaitForever);
+  while(1);
+}
+
+/*----------------------------------------------------------------------------
+ *      Main: Initialize and start the RTOS2 Kernel
+ *---------------------------------------------------------------------------*/
+void setup() {
+  pinMode(LED_BUILTIN, OUTPUT);
+
+  osKernelInitialize();                 // Initialize CMSIS-RTOS
+  osThreadNew(app_main, NULL, NULL);    // Create application main thread
+  if (osKernelGetState() == osKernelReady) {
+    osKernelStart();                    // Start thread execution
+  }
+
+  while(1);
+}
+
+//------------------------------------------------------------------------------
+// loop must never block
+void loop() {
+}

examples/CMSIS-RTOSv2/Blinky/STM32FreeRTOSConfig_extra.h

@@ -0,0 +1 @@
+#define configUSE_CMSIS_RTOS_V2 1

examples/CMSIS-RTOSv2/frBlink/STM32FreeRTOSConfig_extra.h

@@ -0,0 +1 @@
+#define configUSE_CMSIS_RTOS_V2 1

examples/CMSIS-RTOSv2/frBlink/frBlink.ino

@@ -0,0 +1,60 @@
+/* --------------------------------------------------------------------------
+  Simple LED blink example using CMS-RTOSv2
+  ---------------------------------------------------------------------------*/
+
+#include <STM32FreeRTOS.h>
+
+osThreadId_t tid_ledOn;  /* Thread id of thread: ledOn */
+osThreadId_t tid_ledOff; /* Thread id of thread: ledOff */
+
+//Thread 1
+void ledOn(void */*argument*/) {
+  for (;;) {
+    digitalToggle(LED_BUILTIN);
+    osThreadFlagsSet(tid_ledOff, 0x0001);
+    //signal ledOffthread
+    osDelay(500);
+  }
+}
+
+// Thread  2
+void ledOff(void */*argument*/) {
+  for (;;) {
+    // wait for signal from ledOnthread
+    osThreadFlagsWait(0x0001, osFlagsWaitAny,  osWaitForever) ;
+    osDelay(1000);
+    digitalToggle(LED_BUILTIN);
+  }
+}
+
+/*----------------------------------------------------------------------------
+        Main: Initialize and start the application
+  ---------------------------------------------------------------------------*/
+void app_main (void */*argument*/) {
+
+  tid_ledOn = osThreadNew(ledOn, NULL, NULL);
+  tid_ledOff = osThreadNew(ledOff, NULL, NULL);
+
+  osDelay(osWaitForever);
+  while (1);
+}
+
+/*----------------------------------------------------------------------------
+        Main: Initialize and start the RTOS2 Kernel
+  ---------------------------------------------------------------------------*/
+void setup() {
+  pinMode(LED_BUILTIN, OUTPUT);
+
+  osKernelInitialize();                 // Initialize CMSIS-RTOS
+  osThreadNew(app_main, NULL, NULL);    // Create application main thread
+  if (osKernelGetState() == osKernelReady) {
+    osKernelStart();                    // Start thread execution
+  }
+
+  while (1);
+}
+
+//------------------------------------------------------------------------------
+// loop must never block
+void loop() {
+}

library.json

@@ -1,6 +1,6 @@
 {
     "name": "STM32duino FreeRTOS",
-    "version": "9.0.4",
+    "version": "10.0.1",
     "keywords": "rtos, timing, thread, task, mutex, semaphore",
     "description": "Real Time Operating System implemented for STM32",
     "repository": {

library.properties

@@ -1,5 +1,5 @@
 name=STM32duino FreeRTOS
-version=9.0.4
+version=10.0.1
 author=Richard Barry <[email protected]>
 maintainer=stm32duino
 sentence=Real Time Operating System implemented for STM32

src/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c → portable/CMSIS_RTOS/cmsis_os.c

@@ -53,49 +53,6 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *---------------------------------------------------------------------------*/
 
- /**
-  ******************************************************************************
-  * @file    cmsis_os.c
-  * @author  MCD Application Team
-  * @date    13-July-2017
-  * @brief   CMSIS-RTOS API implementation for FreeRTOS V9.0.0
-  ******************************************************************************
-  * @attention
-  *
-  * Redistribution and use in source and binary forms, with or without 
-  * modification, are permitted, provided that the following conditions are met:
-  *
-  * 1. Redistribution of source code must retain the above copyright notice, 
-  *    this list of conditions and the following disclaimer.
-  * 2. 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.
-  * 3. Neither the name of STMicroelectronics nor the names of other 
-  *    contributors to this software may be used to endorse or promote products 
-  *    derived from this software without specific written permission.
-  * 4. This software, including modifications and/or derivative works of this 
-  *    software, must execute solely and exclusively on microcontroller or
-  *    microprocessor devices manufactured by or for STMicroelectronics.
-  * 5. Redistribution and use of this software other than as permitted under 
-  *    this license is void and will automatically terminate your rights under 
-  *    this license. 
-  *
-  * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS" 
-  * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT 
-  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A 
-  * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
-  * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT 
-  * SHALL STMICROELECTRONICS OR 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) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
-  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-  *
-  ******************************************************************************
-  */ 
-
 #include <string.h>
 #include "cmsis_os.h"
 
@@ -991,10 +948,7 @@ void *osPoolAlloc (osPoolId pool_id)
   }
 
   for (i = 0; i < pool_id->pool_sz; i++) {
-    index = pool_id->currentIndex + i;
-    if (index >= pool_id->pool_sz) {
-      index = 0;
-    }
+    index = (pool_id->currentIndex + i) % pool_id->pool_sz;
 
     if (pool_id->markers[index] == 0) {
       pool_id->markers[index] = 1;