From a71a2c173310bc6e0dd37bf1d32dd290f6866435 Mon Sep 17 00:00:00 2001
From: Giovanni Di Sirio <gdisirio@gmail.com>
Date: Sat, 9 Nov 2019 08:07:20 +0000
Subject: [PATCH] Fixed bug #1056.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@13160 27425a3e-05d8-49a3-a47f-9c15f0e5edd8
---
 os/hal/osal/os-less/ARMCMx/osal.h | 15 +++++++++------
 readme.txt                        |  2 ++
 2 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/os/hal/osal/os-less/ARMCMx/osal.h b/os/hal/osal/os-less/ARMCMx/osal.h
index 14ba6b115..5cbd6630b 100644
--- a/os/hal/osal/os-less/ARMCMx/osal.h
+++ b/os/hal/osal/os-less/ARMCMx/osal.h
@@ -112,6 +112,11 @@
 #else
 #define OSAL_IRQ_MAXIMUM_PRIORITY           1
 #endif
+
+/**
+ * @brief   Converts from numeric priority to BASEPRI register value.
+ */
+#define OSAL_BASEPRI(priority)              ((priority) << (8U - CORTEX_PRIORITY_BITS))
 /** @} */
 
 /*===========================================================================*/
@@ -556,7 +561,7 @@ static inline void osalSysLock(void) {
 #if CORTEX_MODEL == 0
   __disable_irq();
 #else
-  __set_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY);
+  __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY));
 #endif
 }
 
@@ -586,7 +591,7 @@ static inline void osalSysLockFromISR(void) {
 #if CORTEX_MODEL == 0
   __disable_irq();
 #else
-  __set_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY);
+  __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY));
 #endif
 }
 
@@ -626,7 +631,7 @@ static inline syssts_t osalSysGetStatusAndLockX(void) {
   __disable_irq();
 #else
   sts = (syssts_t)__get_BASEPRI();
-  __set_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY);
+  __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY));
 #endif
   return sts;
 }
@@ -647,9 +652,7 @@ static inline void osalSysRestoreStatusX(syssts_t sts) {
     __enable_irq();
   }
 #else
-  if (sts == (syssts_t)0) {
-    __set_BASEPRI(0);
-  }
+  __set_BASEPRI(sts);
 #endif
 }
 
diff --git a/readme.txt b/readme.txt
index 6b5a15f77..e514b02ba 100644
--- a/readme.txt
+++ b/readme.txt
@@ -133,6 +133,8 @@
 - HAL: Added a new interface for range-finder devices (used by EX).
 - HAL: Added mcuconf.h updater tool for STM32F407 (backported to 19.1.1).
 - NIL: Integrated NIL 4.0.
+- FIX: Fixed OS-less Cortex-M OSAL problem with critical zones (bug #1056)
+       (backported to 19.1.4)(backported to 18.2.3).
 - FIX: Fixed missing RTCv1 definitions in STM32F37x registry (bug #1054)
        (backported to 19.1.4).
 - FIX: Fixed assertion triggered in STM32 OTGv1 driver (bug #1053)