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  46    <div id="projectname">CMSIS-RTOS2
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  55    <div id="projectbrief">Real-Time Operating System API</div>
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 130   <div class="headertitle"><div class="title">Overview </div></div>
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 133 <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>
 134 <p>The <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>
 135 <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>
 136 <div class="image">
 137 <img src="cmsis_rtos2_overview.png" alt=""/>
 138 <div class="caption">
 139 CMSIS-RTOS2 interface</div></div>
 140     <h1><a class="anchor" id="rtos2_benefits"></a>
 141 Benefits</h1>
 142 <p>CMSIS-RTOS2 provides great benefits to the embedded developers and software vendors:</p>
 143 <ul>
 144 <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>
 145 <li>The unified API increases developers' productivity and reduces learning efforts. It makes the software components reusable across different software stacks.</li>
 146 <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>
 147 <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>
 148 <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>
 149 <li>CMSIS-RTOS2 is well adopted by the industry, has many years of continuous improvements and commitment for future developments.</li>
 150 </ul>
 151 <dl class="section note"><dt>Note</dt><dd>The CMSIS-RTOS2 defines a minimum feature set. It's architecture allows to use advanced vendor-specific features directly as well.</dd></dl>
 152 <h1><a class="anchor" id="rtos2_kernels"></a>
 153 Supported RTOS kernels</h1>
 154 <p>Several popular RTOS kernels include support for CMSIS-RTOS2 API:</p>
 155 <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><ul>
 156 <li><a href="https://github.com/ARM-software/CMSIS-RTX">CMSIS-RTX GitHub repository</a></li>
 157 <li><a href="https://arm-software.github.io/CMSIS-RTX/">CMSIS-RTX Documentation</a></li>
 158 </ul>
 159 <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><ul>
 160 <li><a href="https://github.com/ARM-software/CMSIS-FreeRTOS">CMSIS-FreeRTOS GitHub repository</a></li>
 161 <li><a href="https://arm-software.github.io/CMSIS-FreeRTOS/">CMSIS-FreeRTOS Documentation</a></li>
 162 </ul>
 163 <p><b>Zephyr RTOS</b>: is developed under governance of Linux Foundation and includes CMSIS-RTOS2 support. See more at:</p><ul>
 164 <li><a href="https://github.com/zephyrproject-rtos/zephyr">Zephyr GitHub repository</a>, see folder <em>subsys/portability/cmsis_rtos_v2/</em></li>
 165 <li><a href="https://docs.zephyrproject.org/latest/services/portability/cmsis_rtos_v2.html">Zephyr documentation about CMSIS-RTOS2 support</a></li>
 166 </ul>
 167 <h1><a class="anchor" id="rtos2_access"></a>
 168 Access to CMSIS-RTOS2</h1>
 169 <p>CMSIS-RTOS2 and OS Tick intefaces are actively maintained in <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/html/cmsis_pack.html">CMSIS Software Pack</a>.</p>
 170 <p>The following files relevant to CMSIS-RTOS2 are present in the <b>ARM::CMSIS</b> Pack directories:</p>
 171 <table class="markdownTable">
 172 <tr class="markdownTableHead">
 173 <th class="markdownTableHeadLeft">File/Directory   </th><th class="markdownTableHeadLeft">Content    </th></tr>
 174 <tr class="markdownTableRowOdd">
 175 <td class="markdownTableBodyLeft">📂 CMSIS   </td><td class="markdownTableBodyLeft">CMSIS Base software components folder    </td></tr>
 176 <tr class="markdownTableRowEven">
 177 <td class="markdownTableBodyLeft">┣ 📂 Documentation/RTOS2   </td><td class="markdownTableBodyLeft">A local copy of this CMSIS-RTOS2 documentation    </td></tr>
 178 <tr class="markdownTableRowOdd">
 179 <td class="markdownTableBodyLeft">┗ 📂 RTOS2   </td><td class="markdownTableBodyLeft">CMSIS-RTOS2 API header files and OS tick implementations    </td></tr>
 180 <tr class="markdownTableRowEven">
 181 <td class="markdownTableBodyLeft">&emsp;&#160; ┣ 📂 Include   </td><td class="markdownTableBodyLeft">API header files    </td></tr>
 182 <tr class="markdownTableRowOdd">
 183 <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>
 184 <tr class="markdownTableRowEven">
 185 <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>
 186 <tr class="markdownTableRowOdd">
 187 <td class="markdownTableBodyLeft">&emsp;&#160; ┗ 📂 Source   </td><td class="markdownTableBodyLeft">OS tick implementations    </td></tr>
 188 <tr class="markdownTableRowEven">
 189 <td class="markdownTableBodyLeft">&emsp;&emsp;&#160; ┣ 📄 os_systick.c   </td><td class="markdownTableBodyLeft">OS tick implementation using Cortex-M SysTick timer    </td></tr>
 190 <tr class="markdownTableRowOdd">
 191 <td class="markdownTableBodyLeft">&emsp;&emsp;&#160; ┣ 📄 os_tick_gtim.c   </td><td class="markdownTableBodyLeft">OS tick implementation using Cortex-A Generic Timer    </td></tr>
 192 <tr class="markdownTableRowEven">
 193 <td class="markdownTableBodyLeft">&emsp;&emsp;&#160; ┗ 📄 os_tick_ptim.c   </td><td class="markdownTableBodyLeft">OS tick implementation using Cortex-A Private Timer   </td></tr>
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