Merge pull request #783 from eclipse-threadx/devv6.5.2.202603_rel

Merged changes ahead of the v6.5.2.202603 release

12 files changed, 243 insertions, 21 deletions

diff --git a/utility/benchmarks/thread_metric/tm_basic_processing_test.c b/utility/benchmarks/thread_metric/tm_basic_processing_test.c
index f1c4fa22..40ad8f53 100644
--- a/utility/benchmarks/thread_metric/tm_basic_processing_test.c
+++ b/utility/benchmarks/thread_metric/tm_basic_processing_test.c
@@ -41,7 +41,13 @@
 
 /* Define the counters used in the demo application...  */
 
-unsigned long   tm_basic_processing_counter;
+/* volatile because the reporting thread reads this while the processing thread
+   below increments it. The processing loop calls nothing, so without volatile
+   the compiler is free to keep the counter in a register for the lifetime of an
+   infinite loop and never write it back: at -O2 it does exactly that, and the
+   report reads 0 forever.  */
+
+volatile unsigned long   tm_basic_processing_counter;
 
 
 /* Test array.  We will just do a series of calculations on the
@@ -98,7 +104,8 @@ void  tm_basic_processing_initialize(void)
 void  tm_basic_processing_thread_0_entry(void)
 {
 
-int     i;
+int             i;
+unsigned long   snapshot;
 
     /* Initialize the test array.   */
     for (i = 0; i < 1024; i++)
@@ -111,6 +118,15 @@ int     i;
     while(1)
     {
 
+        /* Read the counter once per pass and use the copy in the loop below.
+           Reading the volatile counter inside the loop instead would add a
+           memory access to every one of the 1024 iterations and so change the
+           amount of work this test performs. That matters more here than
+           elsewhere in the suite: this test is the baseline the other results
+           are scaled against, so its throughput has to stay comparable with
+           previously published figures and with other RTOSes.  */
+        snapshot =  tm_basic_processing_counter;
+
         /* Loop through the basic processing array, add the previous
            contents with the contents of the tm_basic_processing_counter
            and xor the result with the previous value...   just to eat
@@ -119,11 +135,11 @@ int     i;
         {
 
             /* Update each array entry.  */
-            tm_basic_processing_array[i] =  (tm_basic_processing_array[i] + tm_basic_processing_counter) ^ tm_basic_processing_array[i];
+            tm_basic_processing_array[i] =  (tm_basic_processing_array[i] + snapshot) ^ tm_basic_processing_array[i];
         }
 
         /* Increment the basic processing counter.  */
-        tm_basic_processing_counter++;
+        tm_basic_processing_counter =  snapshot + 1;
     }
 }
 
diff --git a/utility/execution_profile_kit/smp_version/tx_execution_profile.c b/utility/execution_profile_kit/smp_version/tx_execution_profile.c
index 735dbf14..44e2b161 100644
--- a/utility/execution_profile_kit/smp_version/tx_execution_profile.c
+++ b/utility/execution_profile_kit/smp_version/tx_execution_profile.c
@@ -9,6 +9,7 @@
  * SPDX-License-Identifier: MIT
  **************************************************************************/
 
+// Portions of this file were generated with AI assistance.
 
 /**************************************************************************/
 /**************************************************************************/
@@ -962,7 +963,7 @@ UINT            core;
     for (core = 0; core < TX_THREAD_SMP_MAX_CORES; core++)
     {
 
-        *total_time =  _tx_execution_thread_time_total[core];
+        total_time[core] =  _tx_execution_thread_time_total[core];
     }
 
     /* Restore interrupts.  */
@@ -1025,7 +1026,7 @@ UINT            core;
     {
 
         /* Return the total time.  */
-        *total_time =  _tx_execution_isr_time_total[core];
+        total_time[core] =  _tx_execution_isr_time_total[core];
     }
 
     /* Restore interrupts.  */
@@ -1088,7 +1089,7 @@ UINT            core;
     {
 
         /* Return the total time.  */
-        *total_time =  _tx_execution_idle_time_total[core];
+        total_time[core] =  _tx_execution_idle_time_total[core];
     }
 
     /* Restore interrupts.  */
diff --git a/utility/rtos_compatibility_layers/FreeRTOS/tx_freertos.c b/utility/rtos_compatibility_layers/FreeRTOS/tx_freertos.c
index acac53cc..3391bf8a 100644
--- a/utility/rtos_compatibility_layers/FreeRTOS/tx_freertos.c
+++ b/utility/rtos_compatibility_layers/FreeRTOS/tx_freertos.c
@@ -9,6 +9,8 @@
  * SPDX-License-Identifier: MIT
  **************************************************************************/
 
+// Portions of this file were generated with AI assistance.
+
 /**************************************************************************/
 /**************************************************************************/
 /**                                                                       */
@@ -348,6 +350,7 @@ TaskHandle_t xTaskCreateStatic(TaskFunction_t pxTaskCode,
     ret = tx_thread_create(&pxTaskBuffer->thread, (CHAR *)pcName, txfr_thread_wrapper, (ULONG)pvParameters,
             puxStackBuffer, stack_depth_bytes, prio, prio, 0u, TX_DONT_START);
     if(ret != TX_SUCCESS) {
+        (void)tx_semaphore_delete(&pxTaskBuffer->notification_sem);
         TX_FREERTOS_ASSERT_FAIL();
         return NULL;
     }
@@ -356,6 +359,12 @@ TaskHandle_t xTaskCreateStatic(TaskFunction_t pxTaskCode,
 
     ret = tx_thread_resume(&pxTaskBuffer->thread);
     if(ret != TX_SUCCESS) {
+        /* The thread exists but was never started. It has to be terminated
+           before it can be deleted, which is the order the idle task uses when
+           it reaps a deleted task.  */
+        (void)tx_thread_terminate(&pxTaskBuffer->thread);
+        (void)tx_thread_delete(&pxTaskBuffer->thread);
+        (void)tx_semaphore_delete(&pxTaskBuffer->notification_sem);
         TX_FREERTOS_ASSERT_FAIL();
         return NULL;
     }
@@ -643,7 +652,7 @@ void vTaskPrioritySet(TaskHandle_t xTask,
 char *pcTaskGetName(TaskHandle_t xTaskToQuery)
 {
     TX_THREAD *p_thread;
-    char *p_task_name;
+    const char *p_task_name;
     UINT ret;
 
     if(xTaskToQuery == NULL) {
@@ -658,7 +667,8 @@ char *pcTaskGetName(TaskHandle_t xTaskToQuery)
         return 0;
     }
 
-    return p_task_name;
+    /* FreeRTOS exposes task names through a writable pointer type. */
+    return (char *)p_task_name;
 }
 
 
@@ -1487,6 +1497,7 @@ QueueHandle_t xQueueCreateStatic(UBaseType_t uxQueueLength,
 
     ret = tx_semaphore_create(&pxQueueBuffer->write_sem, "", uxQueueLength);
     if(ret != TX_SUCCESS) {
+        (void)tx_semaphore_delete(&pxQueueBuffer->read_sem);
         return NULL;
     }
 
@@ -1543,11 +1554,16 @@ QueueHandle_t xQueueCreate(UBaseType_t uxQueueLength, UBaseType_t uxItemSize)
 
     ret = tx_semaphore_create(&p_queue->read_sem, "", 0u);
     if(ret != TX_SUCCESS) {
+        txfr_free(p_mem);
+        txfr_free(p_queue);
         return NULL;
     }
 
     ret = tx_semaphore_create(&p_queue->write_sem, "", uxQueueLength);
     if(ret != TX_SUCCESS) {
+        (void)tx_semaphore_delete(&p_queue->read_sem);
+        txfr_free(p_mem);
+        txfr_free(p_queue);
         return NULL;
     }
 
diff --git a/utility/rtos_compatibility_layers/posix/CMakeLists.txt b/utility/rtos_compatibility_layers/posix/CMakeLists.txt
new file mode 100644
index 00000000..8cf3ab9a
--- /dev/null
+++ b/utility/rtos_compatibility_layers/posix/CMakeLists.txt
@@ -0,0 +1,130 @@
+# POSIX compatibility layer for ThreadX.
+#
+# This target is EXCLUDE_FROM_ALL: it is not part of the default build and is
+# only produced when something asks for it, either by name or by linking it.
+#
+# The include directory is deliberately PUBLIC. The layer ships replacements for
+# errno.h, fcntl.h, pthread.h, sched.h, signal.h and time.h, and application code
+# has to see those rather than a toolchain's own copies. That is also why the
+# layer cannot be used on the hosted simulation ports, where the C library
+# already supplies them; the top-level CMakeLists.txt skips it there.
+
+add_library(posix-threadx EXCLUDE_FROM_ALL)
+
+target_include_directories(posix-threadx
+    SYSTEM
+    PUBLIC
+    ${CMAKE_CURRENT_LIST_DIR}
+)
+
+target_sources(posix-threadx
+    PRIVATE
+    ${CMAKE_CURRENT_LIST_DIR}/px_abs_time_to_rel_ticks.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_clock_getres.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_clock_gettime.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_clock_settime.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_cond_broadcast.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_cond_destroy.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_cond_init.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_cond_signal.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_cond_timedwait.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_cond_wait.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_error.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_in_thread_context.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_internal_signal_dispatch.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_memory_allocate.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_memory_release.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_arrange_msg.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_attr_init.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_close.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_create.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_find_queue.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_get_new_queue.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_get_queue_desc.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_open.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_priority_search.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_putback_queue.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_queue_delete.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_queue_init.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_receive.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_reset_queue.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_send.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mq_unlink.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mx_attr_destroy.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mx_attr_getprotocol.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mx_attr_getpshared.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mx_attr_gettype.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mx_attr_initi.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mx_attr_setprotocol.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mx_attr_setpshared.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mx_attr_settype.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mx_destroy.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mx_init.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mx_lock.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mx_set_default_mutexattr.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mx_timedlock.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mx_trylock.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_mx_unlock.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_nanosleep.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_destroy.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_getdetachstate.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_getinheritsched.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_getschedparam.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_getschedpolicy.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_getstack.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_getstackaddr.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_getstacksize.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_init.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_setdetachstate.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_setinheritsched.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_setschedparam.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_setschedpolicyl.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_setstack.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_setstackaddr.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_attr_setstacksize.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_cancel.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_create.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_detach.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_equal.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_exit.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_getcanceltype.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_getschedparam.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_init.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_join.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_kill.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_once.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_self.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_set_default_pthread_attr.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_setcancelstate.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_setcanceltype.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_setschedparam.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_sigmask.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_testcancel.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_pth_yield.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_px_initialize.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sched_get_prio.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sched_yield.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sem_close.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sem_destroy.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sem_find_sem.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sem_get_new_sem.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sem_getvalue.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sem_init.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sem_open.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sem_post.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sem_reset.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sem_set_sem_name.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sem_trywait.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sem_unlink.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sem_wait.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sig_addset.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sig_delset.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sig_emptyset.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sig_fillset.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sig_signal.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sig_wait.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_sleep.c
+    ${CMAKE_CURRENT_LIST_DIR}/px_system_manager.c
+)
+
+target_link_libraries(posix-threadx PUBLIC threadx)
diff --git a/utility/rtos_compatibility_layers/posix/px_cond_broadcast.c b/utility/rtos_compatibility_layers/posix/px_cond_broadcast.c
index f9c8f151..fe54532c 100644
--- a/utility/rtos_compatibility_layers/posix/px_cond_broadcast.c
+++ b/utility/rtos_compatibility_layers/posix/px_cond_broadcast.c
@@ -9,6 +9,7 @@
  * SPDX-License-Identifier: MIT
  **************************************************************************/
 
+// Portions of this file were generated with AI assistance.
 
 /**************************************************************************/
 /**************************************************************************/
@@ -91,7 +92,7 @@ UINT                 old_threshold,dummy;
 
 
     /* Get the condition variable's internal semaphore.  */
-    /* Simply convert the condition variable control block into a semaphore  a cast */
+    /* Simply convert the condition variable control block into a semaphore using casting.  */
     semaphore_ptr = (&( cond->cond_semaphore ));
     sem_count = semaphore_ptr->tx_semaphore_suspended_count;
 
diff --git a/utility/rtos_compatibility_layers/posix/px_cond_destroy.c b/utility/rtos_compatibility_layers/posix/px_cond_destroy.c
index efa99be1..5f9d8f8a 100644
--- a/utility/rtos_compatibility_layers/posix/px_cond_destroy.c
+++ b/utility/rtos_compatibility_layers/posix/px_cond_destroy.c
@@ -9,6 +9,7 @@
  * SPDX-License-Identifier: MIT
  **************************************************************************/
 
+// Portions of this file were generated with AI assistance.
 
 /**************************************************************************/
 /**************************************************************************/
@@ -80,7 +81,7 @@ UINT              status;
     {
         cond->in_use = TX_FALSE;
         /* Get the condition variable's internal semaphore.  */
-        /* Simply convert the Condition variable control block into a semaphore  a cast */
+        /* Simply convert the condition variable control block into a semaphore using casting.  */
         semaphore_ptr = (&( cond->cond_semaphore ));
         status = tx_semaphore_delete(semaphore_ptr);
         if (status != TX_SUCCESS)
diff --git a/utility/rtos_compatibility_layers/posix/px_cond_init.c b/utility/rtos_compatibility_layers/posix/px_cond_init.c
index b376132d..27bfd41d 100644
--- a/utility/rtos_compatibility_layers/posix/px_cond_init.c
+++ b/utility/rtos_compatibility_layers/posix/px_cond_init.c
@@ -9,6 +9,7 @@
  * SPDX-License-Identifier: MIT
  **************************************************************************/
 
+// Portions of this file were generated with AI assistance.
 
 /**************************************************************************/
 /**************************************************************************/
@@ -72,7 +73,7 @@ UINT            status;
 
     cond->in_use = TX_TRUE;
     /* Get the condition variable's internal semaphore.  */
-    /* Simply convert the COndition variable control block into a semaphore  a cast */
+    /* Simply convert the condition variable control block into a semaphore using casting.  */
     semaphore_ptr = (&( cond->cond_semaphore ));
     /* Now create the internal semaphore for this cond variable */
     status = tx_semaphore_create(semaphore_ptr,"csem",0);
diff --git a/utility/rtos_compatibility_layers/posix/px_cond_signal.c b/utility/rtos_compatibility_layers/posix/px_cond_signal.c
index b1f4f285..611202ac 100644
--- a/utility/rtos_compatibility_layers/posix/px_cond_signal.c
+++ b/utility/rtos_compatibility_layers/posix/px_cond_signal.c
@@ -9,6 +9,7 @@
  * SPDX-License-Identifier: MIT
  **************************************************************************/
 
+// Portions of this file were generated with AI assistance.
 
 /**************************************************************************/
 /**************************************************************************/
@@ -84,7 +85,7 @@ TX_SEMAPHORE        *semaphore_ptr;
 UINT                 status;
 
     /* Get the condition variable's internal semaphore.  */
-    /* Simply convert the COndition variable control block into a semaphore  a cast */
+    /* Simply convert the condition variable control block into a semaphore using casting.  */
     semaphore_ptr = (&( cond->cond_semaphore ));
     if ( semaphore_ptr->tx_semaphore_suspended_count)
     {
diff --git a/utility/rtos_compatibility_layers/posix/px_mq_send.c b/utility/rtos_compatibility_layers/posix/px_mq_send.c
index 464af01f..f641419a 100644
--- a/utility/rtos_compatibility_layers/posix/px_mq_send.c
+++ b/utility/rtos_compatibility_layers/posix/px_mq_send.c
@@ -60,6 +60,7 @@
 /*                                                                        */
 /*    tx_thread_identify                returns currently running thread  */
 /*    tx_byte_allocate                  allocate memory                   */
+/*    tx_byte_release                   release memory                    */
 /*    tx_queue_send                     ThreadX queue send                */
 /*    posix_priority_search             search message for same priority  */
 /*                                                                        */
@@ -166,7 +167,16 @@ ULONG               msg[TX_POSIX_MESSAGE_SIZE];
 
     if (temp1 != TX_SUCCESS)
     {
-    posix_internal_error(9999);
+        posix_internal_error(9999);
+
+        /* posix_internal_error() does not return today, but do not depend on
+           that: bp is indeterminate here, so falling through would copy
+           msg_len bytes through an unset pointer.  */
+        posix_errno = ENOMEM;
+        posix_set_pthread_errno(ENOMEM);
+
+        /* Return ERROR.  */
+        return(ERROR);
     }
     /* Got the memory , Setup source and destination pointers
        Cast them in UCHAR as message length is in bytes.  */
@@ -201,9 +211,14 @@ ULONG               msg[TX_POSIX_MESSAGE_SIZE];
     temp1 = tx_queue_send(Queue, msg, TX_WAIT_FOREVER);
     if ( temp1 != TX_SUCCESS)
     {
+        /* The message was never handed over to the queue, so this function
+           still owns the private buffer. Release it before returning,
+           otherwise it is leaked from the queue's byte pool.  */
+        tx_byte_release(bp);
+
         /* POSIX doesn't have error for this, hence give default.  */
         posix_errno = EINTR ;
-	    posix_set_pthread_errno(EINTR);
+        posix_set_pthread_errno(EINTR);
 
         /* Return ERROR.  */
         return(ERROR);
diff --git a/utility/rtos_compatibility_layers/posix/px_pth_init.c b/utility/rtos_compatibility_layers/posix/px_pth_init.c
index 5d2f36ad..ff0a01a9 100644
--- a/utility/rtos_compatibility_layers/posix/px_pth_init.c
+++ b/utility/rtos_compatibility_layers/posix/px_pth_init.c
@@ -538,12 +538,30 @@ POSIX_TCB          *p_tcb;
     if (!thread_ptr)
     {
         /* Not called from a thread - error!  */
-           posix_internal_error(222);
+        posix_internal_error(222);
+
+        /* posix_internal_error() does not return today, but do not depend on
+           that: posix_thread2tcb() hands back NULL for this input and the read
+           below would dereference it. A pthread ID is the address of the TCB,
+           so zero is never a valid one.  */
+        return((pthread_t) 0);
     }
 
     /* Get the TCB for this pthread */
 
     p_tcb = posix_thread2tcb(thread_ptr);
+
+    /* A running ThreadX thread that was not created through pthread_create()
+       has no TCB in the pool, and posix_thread2tcb() returns NULL for it.  It
+       has no pthread ID either, so report zero rather than reading through the
+       null pointer.  Zero can never collide with a real ID, because
+       px_pth_create.c uses the address of the TCB as the ID.  */
+    if (!p_tcb)
+    {
+
+        return((pthread_t) 0);
+    }
+
     thread_ID = p_tcb->pthreadID;
 
     /* All done.  */
diff --git a/utility/rtos_compatibility_layers/posix/px_pth_self.c b/utility/rtos_compatibility_layers/posix/px_pth_self.c
index fd876459..2272fa31 100644
--- a/utility/rtos_compatibility_layers/posix/px_pth_self.c
+++ b/utility/rtos_compatibility_layers/posix/px_pth_self.c
@@ -74,12 +74,21 @@ pthread_t    thread_ID;
 
     thread_ID = posix_thread2tid(thread_ptr);
 
-    /* Determine if this thread is actually the signal thread helper.  */
-    if (((POSIX_TCB *) thread_ptr) -> signals.signal_handler)
+    /* Only a pthread has the signal fields read below: they belong to the
+       POSIX_TCB that surrounds the thread, and reading them through anything
+       else runs off the end of a plain TX_THREAD.  A zero ID means the caller
+       is not a pthread, either because it is a ThreadX thread created directly
+       or because there is no current thread at all, so leave it alone.  */
+    if (thread_ID != (pthread_t) 0)
     {
 
-        /* Yes, override the thread_ID with the non-signal thread ID.  */
-        thread_ID =  (pthread_t) ((POSIX_TCB *) thread_ptr) -> signals.base_thread_ptr;
+        /* Determine if this thread is actually the signal thread helper.  */
+        if (((POSIX_TCB *) thread_ptr) -> signals.signal_handler)
+        {
+
+            /* Yes, override the thread_ID with the non-signal thread ID.  */
+            thread_ID =  (pthread_t) ((POSIX_TCB *) thread_ptr) -> signals.base_thread_ptr;
+        }
     }
 
 
diff --git a/utility/rtos_compatibility_layers/posix/tx_posix.h b/utility/rtos_compatibility_layers/posix/tx_posix.h
index ce533dd8..3f235cb9 100644
--- a/utility/rtos_compatibility_layers/posix/tx_posix.h
+++ b/utility/rtos_compatibility_layers/posix/tx_posix.h
@@ -278,9 +278,22 @@ typedef struct pthread_attr_obj
 } pthread_attr_t;
 
 
-typedef  INT    ssize_t ;     /* this should be pulled in from sys\types.h  */
+/* ssize_t and mode_t belong to <sys/types.h>. A C library that has already
+   declared them wins: it knows the target's real widths, and on an LP64 target
+   ssize_t is 64 bits while INT is not. newlib guards each type with its own
+   _*_DECLARED macro, so honour those and only define what is missing. A port
+   whose library uses different guards can predefine them to the same effect.  */
+#ifndef _SSIZE_T_DECLARED
+typedef  INT    ssize_t ;
+#define  _SSIZE_T_DECLARED
+#endif
+
 typedef  ALIGN_TYPE  pthread_t;
+
+#ifndef _MODE_T_DECLARED
 typedef  ULONG  mode_t;
+#define  _MODE_T_DECLARED
+#endif