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interop/cmsis/rtos2/README.md

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# CMSIS-RTOS2 Wrapper (`interop/cmsis-rtos2`)
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# CMSIS-RTOS2 Wrapper (`interop/cmsis/rtos2`)
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STK provides a complete **CMSIS-RTOS2** compatibility layer (`cmsis_os2_stk.cpp`) that maps the standard ARM [CMSIS-RTOS2 C API](https://arm-software.github.io/CMSIS_6/latest/RTOS2/group__CMSIS__RTOS.html) (`cmsis_os2.h` v2.3.0) onto the STK C++ kernel. This allows you to use STK as a drop-in RTOS backend in any project that targets the CMSIS-RTOS2 interface, including code generated by STM32CubeMX, MCUXpresso, or any other CMSIS-aware IDE or middleware stack.
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* **Thread capacity:** Controlled by the `CMSIS_STK_MAX_THREADS` macro (default: 16). Increase it if more concurrent threads are needed.
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* **Priority mapping:** CMSIS priorities (`osPriorityIdle=1``osPriorityISR=56`) are linearly mapped to STK FP32 priority levels 0–31: `stk_prio = (cmsis_prio × 31) / 56`.
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* **Timeouts:** CMSIS tick values are passed through directly as STK ticks (1:1 when tick resolution is 1 ms / `PERIODICITY_DEFAULT`). `osWaitForever` is translated to `stk::WAIT_INFINITE`.
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* **Thread flags & event flags:** Backed by `stk::sync::EventFlags` STK's native 32-bit multi-flag synchronization primitive with ISR-safe `Set`/`Clear` and `ANY`/`ALL`/`NO_CLEAR` wait options.
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* **Message queues:** Backed by `stk::sync::MessageQueue` STK's native fixed-capacity, fixed-message-size ring-buffer with integrated blocking `Put`/`Get`, ISR-safe `TryPut`/`TryGet`, and configurable timeouts.
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* **Memory pools:** Backed by `stk::memory::BlockMemoryPool` STK's O(1), zero-fragmentation fixed-block allocator.
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* **Thread flags & event flags:** Backed by `stk::sync::EventFlags` - STK's native 32-bit multi-flag synchronization primitive with ISR-safe `Set`/`Clear` and `ANY`/`ALL`/`NO_CLEAR` wait options.
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* **Message queues:** Backed by `stk::sync::MessageQueue` - STK's native fixed-capacity, fixed-message-size ring-buffer with integrated blocking `Put`/`Get`, ISR-safe `TryPut`/`TryGet`, and configurable timeouts.
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* **Memory pools:** Backed by `stk::memory::BlockMemoryPool` - STK's O(1), zero-fragmentation fixed-block allocator.
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* **Timers:** Backed by `stk::time::TimerHost`. A single global `TimerHost` is created on the first `osTimerNew()` call.
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* **Static vs. heap allocation:** All CMSIS objects support the standard `cb_mem` / `cb_size` placement-new path (zero heap usage when caller provides memory), falling back to `operator new` when no buffer is supplied.
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* **Stack memory:** Thread stacks can be caller-supplied (`attr->stack_mem`) or heap-allocated. The default stack size is `CMSIS_STK_DEFAULT_STACK_WORDS` (default: 256 words).

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