Linker Errors when enabling CMSIS RTOS v2 and TrustZone

[NickO]

I have started a new project using STM32H573. This is using the following:

• Cube MX 6.16
• Cube IDE 2.0 - Build: 26820_20251114_1348 (UTC)

The project has secure zone enabled. I have written bare metal code and shown I can run/debug code in the non-secure environment without issues, and I can invoke non-secure callable functions etc.

My problem comes when I add Free RTOS and enable CMSIS RTOS v2 to the non-secure side.

When I build, I get linker errors (see below).

When I search the forums, there have been similar issues raised, but most are quite old posts or seem overly complex (which always worries me)

``

C:/Users/531023/git/TEML20/Monitor/NonSecure/Debug/../Core/Src/app_freertos.c:86:(.text.MX_FREERTOS_Init+0xa): undefined reference to `osThreadNew'
C:/ST/STM32CubeIDE_1.18.0/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.13.3.rel1.win32_1.0.100.202509120712/tools/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld.exe: ./Core/Src/app_freertos.o: in function `StartDefaultTask':
C:/Users/531023/git/TEML20/Monitor/NonSecure/Debug/../Core/Src/app_freertos.c:110:(.text.StartDefaultTask+0xa): undefined reference to `osDelay'
C:/ST/STM32CubeIDE_1.18.0/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.13.3.rel1.win32_1.0.100.202509120712/tools/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld.exe: ./Core/Src/main.o: in function `main':
C:/Users/531023/git/TEML20/Monitor/NonSecure/Debug/../Core/Src/main.c:96:(.text.main+0x10): undefined reference to `osKernelInitialize'
C:/ST/STM32CubeIDE_1.18.0/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.13.3.rel1.win32_1.0.100.202509120712/tools/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/531023/git/TEML20/Monitor/NonSecure/Debug/../Core/Src/main.c:101:(.text.main+0x18): undefined reference to `osKernelStart'
collect2.exe: error: ld returned 1 exit status
make: *** [makefile:91: Monitor_NonSecure.elf] Error 1
"make -j16 all" terminated with exit code 2. Build might be incomplete.

 I also get the following warning (which is likely related):

Invalid project path: Missing project folder or file: \Monitor_NonSecure\RTOS2 for Source path. Monitor_NonSecure pathentry Path Entry Problem

[NickO]

Now I am getting this (and I don't know what I changed):

C:/Users/531023/git/TEML20/Monitor/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/port.c:1133:(.text.vPortSVCHandler_C+0x38): undefined reference to `SecureContext_AllocateContext'
C:/ST/STM32CubeIDE_1.18.0/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.13.3.rel1.win32_1.0.100.202509120712/tools/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/531023/git/TEML20/Monitor/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/port.c:1138:(.text.vPortSVCHandler_C+0x5e): undefined reference to `SecureContext_LoadContext'
C:/ST/STM32CubeIDE_1.18.0/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.13.3.rel1.win32_1.0.100.202509120712/tools/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/531023/git/TEML20/Monitor/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/port.c:1149:(.text.vPortSVCHandler_C+0x76): undefined reference to `SecureContext_FreeContext'
C:/ST/STM32CubeIDE_1.18.0/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.13.3.rel1.win32_1.0.100.202509120712/tools/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/531023/git/TEML20/Monitor/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/port.c:1158:(.text.vPortSVCHandler_C+0x7c): undefined reference to `SecureInit_DePrioritizeNSExceptions'
C:/ST/STM32CubeIDE_1.18.0/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.13.3.rel1.win32_1.0.100.202509120712/tools/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/531023/git/TEML20/Monitor/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/port.c:1161:(.text.vPortSVCHandler_C+0x80): undefined reference to `SecureContext_Init'
C:/ST/STM32CubeIDE_1.18.0/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.13.3.rel1.win32_1.0.100.202509120712/tools/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld.exe: ./Middlewares/RTOS2/CMSIS/RTOS2/Core/TZ_Non_Secure/portasm.o: in function `PendSV_Handler':
C:/Users/531023/git/TEML20/Monitor/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/portasm.c:433:(.text.PendSV_Handler+0x10): undefined reference to `SecureContext_SaveContext'
C:/ST/STM32CubeIDE_1.18.0/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.13.3.rel1.win32_1.0.100.202509120712/tools/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/ld.exe: C:/Users/531023/git/TEML20/Monitor/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM33/non_secure/portasm.c:433:(.text.PendSV_Handler+0x5e): undefined reference to `SecureContext_LoadContext'
collect2.exe: error: ld returned 1 exit status
make: *** [makefile:94: Monitor_NonSecure.elf] Error 1

[Souhaib MAZHOUD]

Hello @NickO 

Could you please attach your ioc, in order to further investigate the issue?

KR, Souhaib

[NickO]

Thank you for replying. Please see attached.

[NickO]

Some success! 

I added X-CUBE_FREERTOS to the secure M33S project as well, and it now links.

I also had to assign a spare timer to the Timebase for the Secure side (SYS_S->Timebase Source) for the scheduler to run.

Is this intended behaviour?

If so, I think I am missing a detail somewhere. I assumed only the non-secure side needed to reference the RTOS, but I seem to be mistaken (or there is a bug). I can see my thread is running in non-secure mode which is at least reassuring.

Updated .ioc file attached

[Souhaib MAZHOUD]

Hello @NickO 

Yes, the compilation error you are facing are caused by the fact that X-Cube-FREERTOS is not selected for the secure project. Therefore, some dependencies are not generated and will lead to those errors.