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  43    <div id="projectname">CMSIS-RTOS2
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  52    <div id="projectbrief">Real-Time Operating System API</div>
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 126 <div><div class="header">
 127   <div class="headertitle"><div class="title">Overview </div></div>
 128 </div><!--header-->
 129 <div class="contents">
 130 <div class="textblock"><p><a class="anchor" id="mainpage"></a> Modern embedded applications often need to concurrently execute multiple activities such as sensor readings, connectivity, machine-learning algorithms, graphics display and others. A real-time operating system (RTOS) equips users with necessary mechanisms that simplify implementation of complex programs and ensure their reliable operation with deterministic timing.</p>
 131 <p><b>CMSIS-RTOS2</b> specifies a generic RTOS interface over real-time OS kernels running on Arm&reg; Cortex&reg; processor-based devices. Applications and middleware components can <a class="el" href="usingOS2.html">use CMSIS_RTOS2 API</a> for better code reuse and simpler integration in various software ecosystems.</p>
 132 <p>CMSIS-RTOS2 also specifies a standard <a class="el" href="group__CMSIS__RTOS__TickAPI.html">OS Tick interface</a> for use by RTOS kernels. It provides several OS tick implementations for simple kernel porting to different Cortex-M and Cortex-A processors.</p>
 133 <div class="image">
 134 <img src="cmsis_rtos2_overview.png" alt=""/>
 135 <div class="caption">
 136 CMSIS-RTOS2 interface</div></div>
 137     <h1><a class="anchor" id="rtos2_benefits"></a>
 138 Benefits</h1>
 139 <p>CMSIS-RTOS2 provides great benefits to the embedded developers and software vendors:</p>
 140 <ul>
 141 <li>The CMSIS-RTOS2 API covers all common services expected from a modern RTOS kernel for efficient thread management, inter-thread communication, timing control and others. See <a class="el" href="usingOS2.html#rtos2_functionalities">Functionality overview</a> for details.</li>
 142 <li>The unified API increases developers' productivity and reduces learning efforts. It makes the software components reusable across different software stacks.</li>
 143 <li>The API enables use of advanced CPU features by RTOS and application, such as secure/non-secure execution with TrustZone, multi-core operation, access protection with MPU, and others.</li>
 144 <li>The C interface is binary compliant with the <a href="https://github.com/ARM-software/abi-aa/">Application Binary Interface (ABI) for Arm architecture</a> and enables inter-operation between various toolchains.</li>
 145 <li><a class="el" href="rtosValidation.html">RTOS Validation Suite</a> provides a set of tests to verify compatibility to CMSIS-RTOS2 API definitions.</li>
 146 <li>CMSIS-RTOS2 is well adopted by the industry, has many years of continuous improvements and commitment for future developments.</li>
 147 </ul>
 148 <blockquote class="doxtable">
 149 <p>&zwj;<b>Note</b></p><ul>
 150 <li>The CMSIS-RTOS2 defines a minimum feature set. It's architecture allows to use advanced vendor-specific features directly as well. </li>
 151 </ul>
 152 </blockquote>
 153 <h1><a class="anchor" id="rtos2_kernels"></a>
 154 Supported RTOS kernels</h1>
 155 <p>Many popular RTOS kernels include support for CMSIS-RTOS2 API:</p>
 156 <p><b>CMSIS-RTX</b> (or Keil RTX5): provides most complete support for CMSIS-RTOS2 API and uses it as native interface. For more information see:</p>
 157 <ul>
 158 <li><a href="https://github.com/ARM-software/CMSIS-RTX">CMSIS-RTX GitHub repository</a></li>
 159 <li><a href="https://arm-software.github.io/CMSIS-RTX/">CMSIS-RTX documentation</a></li>
 160 <li><a href="https://www.keil.arm.com/packs/cmsis-rtx-arm/versions/">CMSIS-RTX pack</a></li>
 161 </ul>
 162 <p><b>FreeRTOS</b> : this popular RTOS kernel is enabled with CMSIS-RTOS2 API in the <em>CMSIS-FreeRTOS</em> variant. To learn more see:</p>
 163 <ul>
 164 <li><a href="https://github.com/ARM-software/CMSIS-FreeRTOS">CMSIS-FreeRTOS GitHub repository</a></li>
 165 <li><a href="https://arm-software.github.io/CMSIS-FreeRTOS/">CMSIS-FreeRTOS documentation</a></li>
 166 <li><a href="https://www.keil.arm.com/packs/cmsis-freertos-arm/versions/">CMSIS-FreeRTOS pack</a></li>
 167 </ul>
 168 <p><b>Zephyr RTOS</b>: is developed under governance of Linux Foundation and includes CMSIS-RTOS2 API support. See more at:</p>
 169 <ul>
 170 <li><a href="https://github.com/zephyrproject-rtos/zephyr">Zephyr GitHub repository</a>, see folder <em>subsys/portability/cmsis_rtos_v2/</em></li>
 171 <li><a href="https://docs.zephyrproject.org/latest/services/portability/cmsis_rtos_v2.html">Zephyr documentation about CMSIS-RTOS2 support</a></li>
 172 </ul>
 173 <p><b>embOS</b>: is a preemptive RTOS designed by Segger, and provides support for CMSIS-RTOS2 API.</p>
 174 <ul>
 175 <li><a href="https://wiki.segger.com/Using_embOS_in_CMSIS-Pack_projects">Using embOS in CMSIS-Pack projects</a></li>
 176 <li><a href="https://www.keil.arm.com/packs/cmsis-embos-segger/versions/">CMSIS-embOS pack</a></li>
 177 </ul>
 178 <p><b>Azure ThreadX RTOS for STM32</b>: is an integration of Azure RTOS into STM32 middleware provided by STMicroelectronics.</p>
 179 <ul>
 180 <li><a href="https://wiki.st.com/stm32mcu/wiki/Introduction_to_THREADX#CMSIS-RTOS_API_Support">CMSIS-RTOS API support in ThreadX for STM32</a></li>
 181 </ul>
 182 <p><b>Micrium OS</b> is developed and maintained by Silicon Labs.</p>
 183 <ul>
 184 <li><a href="https://www.silabs.com/developers/rtos">Micrium OS overview and comparison</a></li>
 185 </ul>
 186 <h1><a class="anchor" id="rtos2_access"></a>
 187 Access to CMSIS-RTOS2</h1>
 188 <p>CMSIS-RTOS2 and OS Tick intefaces are actively maintained in the <a href="https://github.com/ARM-software/CMSIS_6"><b>CMSIS 6 GitHub repository</b></a> and provided as part of the <a href="../General/cmsis_pack.html"><b>CMSIS Software Pack</b></a>.</p>
 189 <p>The following files and directories relevant to CMSIS-RTOS2 are present in the <b>ARM::CMSIS</b> Pack:</p>
 190 <table class="markdownTable">
 191 <tr class="markdownTableHead">
 192 <th class="markdownTableHeadLeft">File/Directory   </th><th class="markdownTableHeadLeft">Content    </th></tr>
 193 <tr class="markdownTableRowOdd">
 194 <td class="markdownTableBodyLeft">📂 CMSIS   </td><td class="markdownTableBodyLeft">CMSIS Base software components folder    </td></tr>
 195 <tr class="markdownTableRowEven">
 196 <td class="markdownTableBodyLeft">┣ 📂 Documentation/html/RTOS2   </td><td class="markdownTableBodyLeft">A local copy of this CMSIS-RTOS2 documentation    </td></tr>
 197 <tr class="markdownTableRowOdd">
 198 <td class="markdownTableBodyLeft">┗ 📂 RTOS2   </td><td class="markdownTableBodyLeft">CMSIS-RTOS2 API header files and OS tick implementations    </td></tr>
 199 <tr class="markdownTableRowEven">
 200 <td class="markdownTableBodyLeft">&emsp;&#160; ┣ 📂 Include   </td><td class="markdownTableBodyLeft">API header files    </td></tr>
 201 <tr class="markdownTableRowOdd">
 202 <td class="markdownTableBodyLeft">&emsp;&emsp;&#160; ┣ 📄 cmsis_os2.h   </td><td class="markdownTableBodyLeft"><a class="el" href="usingOS2.html#cmsis_os2_h">cmsis_os2.h API header file</a>    </td></tr>
 203 <tr class="markdownTableRowEven">
 204 <td class="markdownTableBodyLeft">&emsp;&emsp;&#160; ┗ 📄 os_tick.h   </td><td class="markdownTableBodyLeft"><a class="el" href="group__CMSIS__RTOS__TickAPI.html">OS Tick API</a> header file    </td></tr>
 205 <tr class="markdownTableRowOdd">
 206 <td class="markdownTableBodyLeft">&emsp;&#160; ┗ 📂 Source   </td><td class="markdownTableBodyLeft">OS tick implementations    </td></tr>
 207 <tr class="markdownTableRowEven">
 208 <td class="markdownTableBodyLeft">&emsp;&emsp;&#160; ┣ 📄 os_systick.c   </td><td class="markdownTableBodyLeft">OS tick implementation using Cortex-M SysTick timer    </td></tr>
 209 <tr class="markdownTableRowOdd">
 210 <td class="markdownTableBodyLeft">&emsp;&emsp;&#160; ┣ 📄 os_tick_gtim.c   </td><td class="markdownTableBodyLeft">OS tick implementation using Cortex-A Generic Timer    </td></tr>
 211 <tr class="markdownTableRowEven">
 212 <td class="markdownTableBodyLeft">&emsp;&emsp;&#160; ┗ 📄 os_tick_ptim.c   </td><td class="markdownTableBodyLeft">OS tick implementation using Cortex-A Private Timer   </td></tr>
 213 </table>
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