实现MPU抽象层 (#8080)

- 为RT-Thread设计MPU抽象层，支持ARMV7-M，ARMV8-M架构，让用户使用MPU检测栈溢出等内存问题，实现线程内存隔离
- 在components/mp目录下提供通用的API，libcpu目录下提供各处理器架构的具体实现
- 在STM32U575 NUCLEO， STM32H75 NUCLEO开发板测试通过

src/idle.c

@@ -233,11 +233,21 @@ static void rt_defunct_execute(void)
         }
 
 #ifdef RT_USING_HEAP
+#ifdef RT_USING_MEM_PROTECTION
+        if (thread->mem_regions != RT_NULL)
+        {
+            RT_KERNEL_FREE(thread->mem_regions);
+        }
+#endif
         /* if need free, delete it */
         if (object_is_systemobject == RT_FALSE)
         {
             /* release thread's stack */
+#ifdef RT_USING_HW_STACK_GUARD
+            RT_KERNEL_FREE(thread->stack_buf);
+#else
             RT_KERNEL_FREE(thread->stack_addr);
+#endif
             /* delete thread object */
             rt_object_delete((rt_object_t)thread);
         }

src/scheduler_mp.c

@@ -107,6 +107,7 @@ static void _scheduler_stack_check(struct rt_thread *thread)
 #endif /* not defined ARCH_MM_MMU */
 #endif /* RT_USING_SMART */
 
+#ifndef RT_USING_HW_STACK_GUARD
 #ifdef ARCH_CPU_STACK_GROWS_UPWARD
     if (*((rt_uint8_t *)((rt_ubase_t)thread->stack_addr + thread->stack_size - 1)) != '#' ||
 #else
@@ -124,14 +125,23 @@ static void _scheduler_stack_check(struct rt_thread *thread)
         rt_spin_lock(&_spinlock);
         while (level);
     }
+#endif
 #ifdef ARCH_CPU_STACK_GROWS_UPWARD
+#ifndef RT_USING_HW_STACK_GUARD
     else if ((rt_ubase_t)thread->sp > ((rt_ubase_t)thread->stack_addr + thread->stack_size))
+#else
+    if ((rt_ubase_t)thread->sp > ((rt_ubase_t)thread->stack_addr + thread->stack_size))
+#endif
     {
         rt_kprintf("warning: %s stack is close to the top of stack address.\n",
                    thread->parent.name);
     }
 #else
+#ifndef RT_USING_HW_STACK_GUARD
     else if ((rt_ubase_t)thread->sp <= ((rt_ubase_t)thread->stack_addr + 32))
+#else
+    if ((rt_ubase_t)thread->sp <= ((rt_ubase_t)thread->stack_addr + 32))
+#endif
     {
         rt_kprintf("warning: %s stack is close to end of stack address.\n",
                    thread->parent.name);

src/scheduler_up.c

@@ -110,6 +110,7 @@ static void _scheduler_stack_check(struct rt_thread *thread)
 #endif /* not defined ARCH_MM_MMU */
 #endif /* RT_USING_SMART */
 
+#ifndef RT_USING_HW_STACK_GUARD
 #ifdef ARCH_CPU_STACK_GROWS_UPWARD
     if (*((rt_uint8_t *)((rt_ubase_t)thread->stack_addr + thread->stack_size - 1)) != '#' ||
 #else
@@ -126,14 +127,23 @@ static void _scheduler_stack_check(struct rt_thread *thread)
         level = rt_hw_interrupt_disable();
         while (level);
     }
+#endif
 #ifdef ARCH_CPU_STACK_GROWS_UPWARD
+#ifndef RT_USING_HW_STACK_GUARD
     else if ((rt_ubase_t)thread->sp > ((rt_ubase_t)thread->stack_addr + thread->stack_size))
+#else
+    if ((rt_ubase_t)thread->sp > ((rt_ubase_t)thread->stack_addr + thread->stack_size))
+#endif
     {
         rt_kprintf("warning: %s stack is close to the top of stack address.\n",
                    thread->parent.name);
     }
 #else
+#ifndef RT_USING_HW_STACK_GUARD
     else if ((rt_ubase_t)thread->sp <= ((rt_ubase_t)thread->stack_addr + 32))
+#else
+    if ((rt_ubase_t)thread->sp <= ((rt_ubase_t)thread->stack_addr + 32))
+#endif
     {
         rt_kprintf("warning: %s stack is close to end of stack address.\n",
                    thread->parent.name);

src/thread.c

@@ -157,6 +157,10 @@ static rt_err_t _thread_init(struct rt_thread *thread,
     rt_list_init(&(thread->tlist));
     rt_list_init(&(thread->tlist_schedule));
 
+#ifdef RT_USING_MEM_PROTECTION
+    thread->mem_regions = RT_NULL;
+#endif
+
 #ifdef RT_USING_SMART
     thread->wakeup.func = RT_NULL;
 #endif
@@ -170,6 +174,9 @@ static rt_err_t _thread_init(struct rt_thread *thread,
 
     /* init thread stack */
     rt_memset(thread->stack_addr, '#', thread->stack_size);
+#ifdef RT_USING_HW_STACK_GUARD
+    rt_hw_stack_guard_init(thread);
+#endif
 #ifdef ARCH_CPU_STACK_GROWS_UPWARD
     thread->sp = (void *)rt_hw_stack_init(thread->entry, thread->parameter,
                                           (void *)((char *)thread->stack_addr),