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.