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Updates to support FreeRTOS MPU in FreeRTOS V9.0.0 - including a GCC project that runs in the Keil simulator to allow development and testing.

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This commit is contained in:
Richard Barry 2016-04-18 10:49:24 +00:00
parent 255145bde1
commit 057b38ad23
16 changed files with 5877 additions and 44 deletions
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159
FreeRTOS/Source/tasks.c
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@ -117,6 +117,26 @@ functions but without including stdio.h here. */
*/
#define tskSTACK_FILL_BYTE ( 0xa5U )
/* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
dynamically allocated RAM, in which case when any task is deleted it is known
that both the task's stack and TCB need to be freed. Sometimes the
FreeRTOSConfig.h settings only allow a task to be created using statically
allocated RAM, in which case when any task is deleted it is known that neither
the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h
settings allow a task to be created using either statically or dynamically
allocated RAM, in which case a member of the TCB is used to record whether the
stack and/or TCB were allocated statically or dynamically, so when a task is
deleted the RAM that was allocated dynamically is freed again and no attempt is
made to free the RAM that was allocated statically.
tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
task to be created using either statically or dynamically allocated RAM. Note
that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
a statically allocated stack and a dynamically allocated TCB. */
#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) || ( portUSING_MPU_WRAPPERS == 1 ) )
#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
#define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
/*
* Macros used by vListTask to indicate which state a task is in.
*/
@ -330,8 +350,10 @@ typedef struct tskTaskControlBlock
volatile uint8_t ucNotifyState;
#endif
#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
uint8_t ucStaticallyAllocated; /* Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
/* See the comments above the definition of
tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
#endif
#if( INCLUDE_xTaskAbortDelay == 1 )
@ -542,7 +564,14 @@ static void prvResetNextTaskUnblockTime( void );
* Called after a Task_t structure has been allocated either statically or
* dynamically to fill in the structure's members.
*/
static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t ulStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask,
TCB_t *pxNewTCB,
const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
/*
* Called after a new task has been created and initialised to place the task
@ -554,7 +583,13 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, StackType_t * const puxStackBuffer, StaticTask_t * const pxTaskBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t ulStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
StackType_t * const puxStackBuffer,
StaticTask_t * const pxTaskBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
{
TCB_t *pxNewTCB;
TaskHandle_t xReturn;
@ -569,15 +604,15 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
{
/* Tasks can be created statically or dynamically, so note this
task was created statically in case the task is later deleted. */
pxNewTCB->ucStaticallyAllocated = pdTRUE;
pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
}
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB );
prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
prvAddNewTaskToReadyList( pxNewTCB );
}
else
@ -591,9 +626,59 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
#endif /* SUPPORT_STATIC_ALLOCATION */
/*-----------------------------------------------------------*/
#if( portUSING_MPU_WRAPPERS == 1 )
BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
{
TCB_t *pxNewTCB;
BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
configASSERT( pxTaskDefinition->puxStackBuffer );
if( pxTaskDefinition->puxStackBuffer != NULL )
{
/* Allocate space for the TCB. Where the memory comes from depends
on the implementation of the port malloc function and whether or
not static allocation is being used. */
pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
if( pxNewTCB != NULL )
{
/* Store the stack location in the TCB. */
pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
/* Tasks can be created statically or dynamically, so note
this task had a statically allocated stack in case it is
later deleted. The TCB was allocated dynamically. */
pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
pxTaskDefinition->pcName,
( uint32_t ) pxTaskDefinition->usStackDepth,
pxTaskDefinition->pvParameters,
pxTaskDefinition->uxPriority,
pxCreatedTask, pxNewTCB,
pxTaskDefinition->xRegions );
prvAddNewTaskToReadyList( pxNewTCB );
xReturn = pdPASS;
}
}
return xReturn;
}
#endif /* portUSING_MPU_WRAPPERS */
/*-----------------------------------------------------------*/
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint16_t usStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
{
TCB_t *pxNewTCB;
BaseType_t xReturn;
@ -656,15 +741,15 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
if( pxNewTCB != NULL )
{
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
{
/* Tasks can be created statically or dynamically, so note this
task was created dynamically in case it is later deleted. */
pxNewTCB->ucStaticallyAllocated = pdFALSE;
pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB );
prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
prvAddNewTaskToReadyList( pxNewTCB );
xReturn = pdPASS;
}
@ -679,7 +764,14 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
/*-----------------------------------------------------------*/
static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, TCB_t *pxNewTCB ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint32_t ulStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask,
TCB_t *pxNewTCB,
const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
{
StackType_t *pxTopOfStack;
UBaseType_t x;
@ -805,6 +897,11 @@ UBaseType_t x;
{
vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
}
#else
{
/* Avoid compiler warning about unreferenced parameter. */
( void ) xRegions;
}
#endif
#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
@ -1740,7 +1837,13 @@ BaseType_t xReturn;
/* The Idle task is created using user provided RAM - obtain the
address of the RAM then create the idle task. */
vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
xIdleTaskHandle = xTaskCreateStatic( prvIdleTask, "IDLE", ulIdleTaskStackSize, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), pxIdleTaskStackBuffer, pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
"IDLE",
ulIdleTaskStackSize,
( void * ) NULL,
( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
pxIdleTaskStackBuffer,
pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
if( xIdleTaskHandle != NULL )
{
@ -1754,7 +1857,11 @@ BaseType_t xReturn;
#else
{
/* The Idle task is being created using dynamically allocated RAM. */
xReturn = xTaskCreate( prvIdleTask, "IDLE", configMINIMAL_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
xReturn = xTaskCreate( prvIdleTask,
"IDLE", configMINIMAL_STACK_SIZE,
( void * ) NULL,
( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
&xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
@ -3486,24 +3593,36 @@ static void prvCheckTasksWaitingTermination( void )
}
#endif /* configUSE_NEWLIB_REENTRANT */
#if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
#if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
{
/* The task can only have been allocated dynamically - free it
again. */
/* The task can only have been allocated dynamically - free both
the stack and TCB. */
vPortFree( pxTCB->pxStack );
vPortFree( pxTCB );
}
#elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
#elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 )
{
/* The task could have been allocated statically or dynamically, so
check before attempting to free the memory. */
if( pxTCB->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
check what was statically allocated before trying to free the
memory. */
if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
{
/* Both the stack and TCB were allocated dynamically, so both
must be freed. */
vPortFree( pxTCB->pxStack );
vPortFree( pxTCB );
}
else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
{
/* Only the stack was statically allocated, so the TCB is the
only memory that must be freed. */
vPortFree( pxTCB );
}
else
{
/* Neither the stack nor the TCB were allocated dynamically, so
nothing needs to be freed. */
configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB )
mtCOVERAGE_TEST_MARKER();
}
}