RTX5: Enable priority inheritance and robust mode

Add the attribute flash to enable priority inheritance and robust mode.
The robust flag allows mutexes held by terminated threads to be
properly released.

Author: c1728p9

features/FEATURE_COMMON_PAL/nanostack-hal-mbed-cmsis-rtos/arm_hal_interrupt.c

@@ -13,7 +13,7 @@ static uint8_t sys_irq_disable_counter;
 static mbed_rtos_storage_mutex_t critical_mutex;
 static const osMutexAttr_t critical_mutex_attr = {
   .name = "nanostack_critical_mutex",
-  .attr_bits = osMutexRecursive,
+  .attr_bits = osMutexRecursive | osMutexPrioInherit | osMutexRobust,
   .cb_mem = &critical_mutex,
   .cb_size = sizeof critical_mutex,
 };

features/FEATURE_COMMON_PAL/nanostack-hal-mbed-cmsis-rtos/ns_event_loop.c

@@ -30,7 +30,7 @@ static osThreadId_t event_thread_id;
 static mbed_rtos_storage_mutex_t event_mutex;
 static const osMutexAttr_t event_mutex_attr = {
   .name = "nanostack_event_mutex",
-  .attr_bits = osMutexRecursive,
+  .attr_bits = osMutexRecursive | osMutexPrioInherit | osMutexRobust,
   .cb_mem = &event_mutex,
   .cb_size = sizeof event_mutex,
 };

rtos/Mutex.cpp

@@ -44,7 +44,7 @@ void Mutex::constructor(const char *name)
     _attr.name = name ? name : "aplication_unnamed_mutex";
     _attr.cb_mem = &_obj_mem;
     _attr.cb_size = sizeof(_obj_mem);
-    _attr.attr_bits = osMutexRecursive;
+    _attr.attr_bits = osMutexRecursive | osMutexPrioInherit | osMutexRobust;
     _id = osMutexNew(&_attr);
     MBED_ASSERT(_id);
 }

rtos/mbed_boot.c

@@ -363,7 +363,7 @@ void $Sub$$__cpp_initialize__aeabi_(void)
 void pre_main()
 {
     singleton_mutex_attr.name = "singleton_mutex";
-    singleton_mutex_attr.attr_bits = osMutexRecursive;
+    singleton_mutex_attr.attr_bits = osMutexRecursive | osMutexPrioInherit | osMutexRobust;
     singleton_mutex_attr.cb_size = sizeof(singleton_mutex_obj);
     singleton_mutex_attr.cb_mem = &singleton_mutex_obj;
     singleton_mutex_id = osMutexNew(&singleton_mutex_attr);
@@ -383,7 +383,7 @@ extern int main(int argc, char* argv[]);
 void pre_main (void)
 {
     singleton_mutex_attr.name = "singleton_mutex";
-    singleton_mutex_attr.attr_bits = osMutexRecursive;
+    singleton_mutex_attr.attr_bits = osMutexRecursive | osMutexPrioInherit | osMutexRobust;
     singleton_mutex_attr.cb_size = sizeof(singleton_mutex_obj);
     singleton_mutex_attr.cb_mem = &singleton_mutex_obj;
     singleton_mutex_id = osMutexNew(&singleton_mutex_attr);
@@ -440,19 +440,19 @@ int __wrap_main(void) {
 void pre_main(void)
 {
     singleton_mutex_attr.name = "singleton_mutex";
-    singleton_mutex_attr.attr_bits = osMutexRecursive;
+    singleton_mutex_attr.attr_bits = osMutexRecursive | osMutexPrioInherit | osMutexRobust;
     singleton_mutex_attr.cb_size = sizeof(singleton_mutex_obj);
     singleton_mutex_attr.cb_mem = &singleton_mutex_obj;
     singleton_mutex_id = osMutexNew(&singleton_mutex_attr);
 
     malloc_mutex_attr.name = "malloc_mutex";
-    malloc_mutex_attr.attr_bits = osMutexRecursive;
+    malloc_mutex_attr.attr_bits = osMutexRecursive | osMutexPrioInherit | osMutexRobust;
     malloc_mutex_attr.cb_size = sizeof(malloc_mutex_obj);
     malloc_mutex_attr.cb_mem = &malloc_mutex_obj;
     malloc_mutex_id = osMutexNew(&malloc_mutex_attr);
 
     env_mutex_attr.name = "env_mutex";
-    env_mutex_attr.attr_bits = osMutexRecursive;
+    env_mutex_attr.attr_bits = osMutexRecursive | osMutexPrioInherit | osMutexRobust;
     env_mutex_attr.cb_size = sizeof(env_mutex_obj);
     env_mutex_attr.cb_mem = &env_mutex_obj;
     env_mutex_id = osMutexNew(&env_mutex_attr);
@@ -526,7 +526,7 @@ static uint8_t low_level_init_needed;
 void pre_main(void)
 {
     singleton_mutex_attr.name = "singleton_mutex";
-    singleton_mutex_attr.attr_bits = osMutexRecursive;
+    singleton_mutex_attr.attr_bits = osMutexRecursive | osMutexPrioInherit | osMutexRobust;
     singleton_mutex_attr.cb_size = sizeof(singleton_mutex_obj);
     singleton_mutex_attr.cb_mem = &singleton_mutex_obj;
     singleton_mutex_id = osMutexNew(&singleton_mutex_attr);
@@ -583,7 +583,7 @@ void __iar_system_Mtxinit(__iar_Rmtx *mutex) /* Initialize a system lock */
             attr.name = "system_mutex";
             attr.cb_mem = &std_mutex_sys[index];
             attr.cb_size = sizeof(std_mutex_sys[index]);
-            attr.attr_bits = osMutexRecursive;
+            attr.attr_bits = osMutexRecursive | osMutexPrioInherit | osMutexRobust;
             std_mutex_id_sys[index] = osMutexNew(&attr);
             *mutex = (__iar_Rmtx*)&std_mutex_id_sys[index];
             return;
@@ -619,7 +619,7 @@ void __iar_file_Mtxinit(__iar_Rmtx *mutex) /* Initialize a file lock */
             attr.name = "file_mutex";
             attr.cb_mem = &std_mutex_file[index];
             attr.cb_size = sizeof(std_mutex_file[index]);
-            attr.attr_bits = osMutexRecursive;
+            attr.attr_bits = osMutexRecursive | osMutexPrioInherit | osMutexRobust;
             std_mutex_id_file[index] = osMutexNew(&attr);
             *mutex = (__iar_Rmtx*)&std_mutex_id_file[index];
             return;