Realtime Micro Kernel -- Event-driven Run-to-Completion RTOS with Active Objects, Timed Events, Memory Pools, and Message Queues

Overview

Realtime Micro Kernel

Features

  • Active Objects
    • Message queues
    • Variable sized, custom messages
  • Periodic and single timed events
  • Memory pools

Supported Platforms

Tested and developed on STM32 platforms using stm32-cmake

  • ARM Cortex-M4 (STM32L4R5ZI, STM32F401RE)

UART

  • VddIO2 must be enabled for LPUART to work. Enable PWR clock beforehand.

Clocks, Timing

  • SysTick_Handler runs at lower interrupt priority for rmkernel. However, STM32 HAL expects to hook into the 1ms tick. Therefore, we need an alternative to SysTick_Handler for the STM32 HAL. The solution was to sacrifice TIM2 to the HAL and configure it as a 1ms clock to drive the millisecond-precision OSTime and HAL time. Can hook onto the __weakly defined HAL_IncTick, HAL_InitTick, and HAL_GetTick to make this happen.
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