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2018/11/17 Main Page

file:///C:/Keil_v5/ARM/Pack/ARM/CMSIS/5.4.0/CMSIS/Documentation/RTOS/html/index.html 1/1

CMSIS-RTOS Documentation

This manual describes the CMSIS-RTOS API Version 1 and the reference implementation CMSIS-RTOS

RTX which is designed for Cortex-M processor-based devices. The RTOS kernel can be used for creating

applications that perform multiple tasks simultaneously. These tasks are executed by threads that

operate in a quasi-parallel fashion.

While it is certainly possible to create real-time applications without an RTOS (by executing one or more

tasks in a loop), there are numerous scheduling, maintenance, and timing issues that can be solved

better with an RTOS. For example, an RTOS enables flexible scheduling of system resources like CPU and

memory, and offers methods to communicate between threads.

CMSIS-RTOS API programs are written using standard C/C++ constructs and are compiled with the

ARMCC, GCC, or IAR Compiler. The cmsis_os.h header file defines functions and macros that allow

declaring tasks and accessing all RTOS features easily.

This manual contains the following sections:

Revision History : Documents changes made in each version for CMSIS-RTOS API and RTX.

Generic RTOS Interface : Provides an overview about the CMSIS-RTOS API.

Using a CMSIS-RTOS Implementation : Provides generic instructions for using a CMSIS-RTOS

API compliant implementation.

Function Overview : Lists the CMSIS-RTOS API functions including RTX-specific extensions.

RTOS Validation : Describes the Software Pack that can be used to validate a CMSIS-RTOS

implementation.

RTX Implementation : Documents the open-source implementation CMSIS-RTOS RTX.

Note

An extended version of the CMSIS-RTOS API is available in CMSIS-RTOS v2.

CMSIS-RTOS in ARM::CMSIS Pack

The following files relevant to CMSIS-RTOS are present in the ARM::CMSIS Pack directories:

File/Folder Content

CMSIS/Documentation/RTOS This documentation

CMSIS/Documentation/RTOS2 CMSIS-RTOS API Version 2 documentation

CMSIS/RTOS/Template Header File Template: cmsis_os.h

2018/11/17 Revision History

file:///C:/Keil_v5/ARM/Pack/ARM/CMSIS/5.4.0/CMSIS/Documentation/RTOS/html/rtos_revisionHistory.html 1/2

Revision History

CMSIS-RTOS API

Version Description

V1.03 - only

documentation

changes

Incorporated documentation for reference implementation CMSIS-RTOS RTX.

V1.02 - only

documentation

changes

Added: Overview of the CMSIS-RTOS Validation Software Pack.

Clarified: Behaviour of Timout Value.

V1.02

Added: New control functions for short timeouts in microsecond resolution

osKernelSysTick, osKernelSysTickFrequency, osKernelSysTickMicroSec.

Removed: osSignalGet.

V1.01

Added capabilities for C++, kernel initialization and object deletion.

Prepared for C++ class interface. In this context to const attribute has been

moved from osXxxxDef_t typedefs to the osXxxxDef macros.

Added: osTimerDelete, osMutexDelete, osSemaphoreDelete.

Added: osKernelInitialize that prepares the Kernel for object creation.

V1.00

First official Release.

Added: osKernelStart; starting 'main' as a thread is now an optional feature.

Semaphores have now the standard behavior.

osTimerCreate does no longer start the timer. Added: osTimerStart (replaces

osTimerRestart).

Changed: osThreadPass is renamed to osThreadYield.

V0.02 Preview Release.

CMSIS-RTOS RTX

Version Description

V4.82 Corrected: Recursive Mutex 16-bit lock counter is now checked to not overflow.

V4.81

Added provisions for Arm Compiler 6.

Corrected: Message Queue behavior when osMessagePut timed out due to full queue and

osMessageGet was called from ISR.

V4.80

Restored time delay parameter 'millisec' old behavior (before V4.79) for software

compatibility.

Corrected: implicit mutex release when mutex owner thread is terminated.

V4.79

Corrected: time delay parameter ‘millisec’ in all functions (osDelay, osSignalWait, …) is now

treated as lower bound – wait for at least time given (before it could have been up to 1ms

less).

Corrected: Lazy Context switching for Cortex-M4 with FPU could lead to a crash when

thread which used FPU was terminated.

Corrected: osMailCAlloc only cleared the allocated memory block if it was available without

waiting.

Corrected: osThreadCreate function returns NULL when trying to create more concurrent

threads than defined in the configuration.

Improved source code MISRA compliance.

V4.78

Corrected: osTimerStart function accepts full 32-bit range for time delay value in milisec.

Added: User Timer Callback Queue overflow reported through

os_error(OS_ERROR_TIMER_OVF).

V4.77 Added: Stack usage watermark.

V4.76

Optimized Service calls in GCC libraries.

Corrected: Stack/Heap regions can be used with scatter loading.

V4.75 Corrected: Service calls for Cortex-M4 with Floating Point for GCC.

Corrected: osSignalClear returns 0x80000000 when called from interrupt service routines.

2018/11/17 Generic RTOS Interface

file:///C:/Keil_v5/ARM/Pack/ARM/CMSIS/5.4.0/CMSIS/Documentation/RTOS/html/genRTOSIF.html 1/2

Generic RTOS Interface

The CMSIS-RTOS API is a generic RTOS interface for Arm® Cortex®-M processor-based devices.

CMSIS-RTOS provides a standardized API for software components that require RTOS functionality and

gives therefore serious benefits to the users and the software industry.

CMSIS-RTOS provides basic features that are required in many applications or technologies such

as UML or Java (JVM).

The unified feature set of the CMSIS-RTOS API simplifies sharing of software components and

reduces learning efforts.

Middleware components that use the CMSIS-RTOS API are RTOS agnostic. CMSIS-RTOS compliant

middleware is easier to adapt.

Standard project templates (such as motor control) of the CMSIS-RTOS API may be shipped with

freely available CMSIS-RTOS implementations.

Note

The CMSIS-RTOS API defines a minimum feature set. Implementations with extended features may

be provided by RTOS vendors.

CMSIS-RTOS API Structure

A typical CMSIS-RTOS API implementation interfaces to an existing real-time Kernel. The CMSIS-RTOS

API provides the following attributes and functionalities:

Function names, identifiers, and parameters are descriptive and easy to understand. The

functions are powerful and flexible which reduces the number of functions exposed to the user.

Thread Management allows you to define, create, and control threads.

Interrupt Service Routines (ISR) can call some CMSIS-RTOS functions. When a CMSIS-RTOS

function cannot be called from ISR context, it rejects the invocation.

Three different thread event types support communication between multiple threads and/or ISR:

Signal: is a flag that may be used to indicate specific conditions to a thread. Signals can be

modified in an ISR or set from other threads.

Message: is a 32-bit value that can be sent to a thread or an ISR. Messages are buffered

in a queue. The message type and queue size is defined in a descriptor.

Mail: is a fixed-size memory block that can be sent to a thread or an ISR. Mails are buffered

in a queue and memory allocation is provided. The mail type and queue size is defined in a

descriptor.

Mutexes and Semaphores are incorporated.

CPU time can be schedule with the following functionalities:

A timeout parameter is incorporated in many CMSIS-RTOS functions to avoid system lockup.

When a timeout is specified, the system waits until a resource is available or an event

occurs. While waiting, other threads are scheduled.

The osDelay function puts a thread into the state WAITING for a specified period of time.

The generic osWait function waits for events that are assigned to a thread.

The osThreadYield provides co-operative thread switching and passes execution to

another thread of the same priority.

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lrzxc

2020-05-16

嗯，整理得还可以，谢谢分享

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