Merge branch 'main' into docs-fix-iar-swi-handler-comments

include/mpu_prototypes.h

@@ -369,6 +369,9 @@ BaseType_t MPU_xTimerGenericCommandFromISR( TimerHandle_t xTimer,
                                             BaseType_t * const pxHigherPriorityTaskWoken,
                                             const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
+BaseType_t MPU_xTimerDelete( TimerHandle_t xTimer,
+                             TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+
 /* MPU versions of event_group.h API functions. */
 EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
                                      const EventBits_t uxBitsToWaitFor,

include/mpu_wrappers.h

@@ -190,6 +190,7 @@
             #define xTimerCreateStatic             MPU_xTimerCreateStatic
             #define xTimerGetStaticBuffer          MPU_xTimerGetStaticBuffer
             #define xTimerGenericCommandFromISR    MPU_xTimerGenericCommandFromISR
+            #define xTimerDelete                   MPU_xTimerDelete
         #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
 
 /* Map standard event_group.h API functions to the MPU equivalents. */

include/task.h

@@ -548,6 +548,14 @@ typedef enum
  * The function parameters define the memory regions and associated access
  * permissions allocated to the task.
  *
+ * The parameter macros used in MemoryRegion_t.ulParameters are port specific.
+ * Some ports, including the Cortex-M3/4 MPU ports, use the portMPU_REGION_*
+ * values shown below.
+ * ARMv8-M MPU ports, such as CM23, CM33, CM52, CM55, CM85 and STAR_MC3, use
+ * the tskMPU_REGION_* values defined in this header; the port translates them
+ * into MPU register settings. Check the selected port's headers before selecting
+ * the region parameter macros.
+ *
  * See xTaskCreateRestrictedStatic() for a version that does not use any
  * dynamic memory allocation.
  *
@@ -639,6 +647,14 @@ typedef enum
  * xTaskCreateRestrictedStatic() therefore allows a memory protected task to be
  * created without using any dynamic memory allocation.
  *
+ * The parameter macros used in MemoryRegion_t.ulParameters are port specific.
+ * Some ports, including the Cortex-M3/4 MPU ports, use the portMPU_REGION_*
+ * values shown below.
+ * ARMv8-M MPU ports, such as CM23, CM33, CM52, CM55, CM85 and STAR_MC3, use
+ * the tskMPU_REGION_* values defined in this header; the port translates them
+ * into MPU register settings. Check the selected port's headers before selecting
+ * the region parameter macros.
+ *
  * @param pxTaskDefinition Pointer to a structure that contains a member
  * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
  * documentation) plus an optional stack buffer and the memory region
@@ -728,6 +744,14 @@ typedef enum
  * @param[in] pxRegions A pointer to a MemoryRegion_t structure that contains the
  * new memory region definitions.
  *
+ * The parameter macros used in MemoryRegion_t.ulParameters are port specific.
+ * Some ports, including the Cortex-M3/4 MPU ports, use the portMPU_REGION_*
+ * values shown below.
+ * ARMv8-M MPU ports, such as CM23, CM33, CM52, CM55, CM85 and STAR_MC3, use
+ * the tskMPU_REGION_* values defined in this header; the port translates them
+ * into MPU register settings. Check the selected port's headers before selecting
+ * the region parameter macros.
+ *
  * Example usage:
  * @code{c}
  * // Define an array of MemoryRegion_t structures that configures an MPU region

include/timers.h

@@ -667,8 +667,13 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  *
  * See the xTimerChangePeriod() API function example usage scenario.
  */
-#define xTimerDelete( xTimer, xTicksToWait ) \
+#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
+    BaseType_t xTimerDelete( TimerHandle_t xTimer,
+                             TickType_t xTicksToWait );
+#else
+    #define xTimerDelete( xTimer, xTicksToWait ) \
     xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xTicksToWait ) )
+#endif
 
 /**
  * BaseType_t xTimerReset( TimerHandle_t xTimer, TickType_t xTicksToWait );

portable/ARMv8M/non_secure/portable/GCC/ARM_CM23/portasm.c

@@ -47,6 +47,12 @@
     #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0.
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #define SECURE_CONTEXT_OFFSET   -20
+#else
+    #define SECURE_CONTEXT_OFFSET   0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -590,15 +596,16 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   adds r2, r2, %0                                 \n" /* r2 = r2 + SECURE_CONTEXT_OFFSET. */
+        "   ldr r1, [r2]                                    \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   bne free_secure_context                         \n" /* Branch if r1 != 0. */
         "   bx lr                                           \n" /* There is no secure context (xSecureContext is NULL). */
         " free_secure_context:                              \n"
-        "   svc %0                                          \n" /* Secure context is freed in the supervisor call. */
+        "   svc %1                                          \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/

portable/ARMv8M/non_secure/portable/GCC/ARM_CM33/portasm.c

@@ -45,6 +45,16 @@
  * header files. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -609,13 +619,13 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r1, [r2, %0]                                \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   it ne                                           \n"
-        "   svcne %0                                        \n" /* Secure context is freed in the supervisor call. */
+        "   svcne %1                                        \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/

portable/ARMv8M/non_secure/portable/IAR/ARM_CM23/portasm.s

@@ -40,6 +40,12 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #define SECURE_CONTEXT_OFFSET   -20
+#else
+    #define SECURE_CONTEXT_OFFSET   0
+#endif
+
 
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
@@ -512,8 +518,9 @@ SVC_Handler:
 /*-----------------------------------------------------------*/
 
 vPortFreeSecureContext:
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    adds r2, r2, #SECURE_CONTEXT_OFFSET     /* r2 = r2 + SECURE_CONTEXT_OFFSET. */
+    ldr r1, [r2]                            /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     bne free_secure_context                 /* Branch if r1 != 0. */
     bx lr                                   /* There is no secure context (xSecureContext is NULL). */

portable/ARMv8M/non_secure/portable/IAR/ARM_CM33/portasm.s

@@ -41,6 +41,16 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
     EXTERN vTaskSwitchContext
@@ -532,8 +542,8 @@ SVC_Handler:
 
 vPortFreeSecureContext:
     /* r0 = uint32_t *pulTCB. */
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r1, [r2, #SECURE_CONTEXT_OFFSET]    /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     it ne
     svcne 101                               /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 101. */

portable/Common/mpu_wrappers_v2.c

@@ -3890,6 +3890,40 @@
     #endif /* if ( configUSE_TIMERS == 1 ) */
 /*-----------------------------------------------------------*/
 
+    #if ( configUSE_TIMERS == 1 )
+
+        BaseType_t MPU_xTimerDelete( TimerHandle_t xTimer, TickType_t xTicksToWait ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFALSE;
+            TimerHandle_t xInternalTimerHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = ( int32_t ) xTimer;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xInternalTimerHandle = MPU_GetTimerHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalTimerHandle != NULL )
+                {
+                    xReturn = xTimerGenericCommandFromTask( xInternalTimerHandle,
+                                                            tmrCOMMAND_DELETE,
+                                                            0U, /* xOptionalValue */
+                                                            NULL, /* pxHigherPriorityTaskWoken */
+                                                            xTicksToWait );
+                    if( xReturn != pdFALSE )
+                    {
+                        MPU_SetIndexFreeInKernelObjectPool( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
 /*-----------------------------------------------------------*/
 /*           MPU wrappers for event group APIs.              */
 /*-----------------------------------------------------------*/

portable/GCC/ARM_CM23/non_secure/portasm.c

@@ -47,6 +47,12 @@
     #error Cortex-M23 does not have a Floating Point Unit (FPU) and therefore configENABLE_FPU must be set to 0.
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #define SECURE_CONTEXT_OFFSET   -20
+#else
+    #define SECURE_CONTEXT_OFFSET   0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -590,15 +596,16 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   adds r2, r2, %0                                 \n" /* r2 = r2 + SECURE_CONTEXT_OFFSET. */
+        "   ldr r1, [r2]                                    \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   bne free_secure_context                         \n" /* Branch if r1 != 0. */
         "   bx lr                                           \n" /* There is no secure context (xSecureContext is NULL). */
         " free_secure_context:                              \n"
-        "   svc %0                                          \n" /* Secure context is freed in the supervisor call. */
+        "   svc %1                                          \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/

portable/GCC/ARM_CM33/non_secure/portasm.c

@@ -45,6 +45,16 @@
  * header files. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -609,13 +619,13 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r1, [r2, %0]                                \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   it ne                                           \n"
-        "   svcne %0                                        \n" /* Secure context is freed in the supervisor call. */
+        "   svcne %1                                        \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/

portable/GCC/ARM_CM35P/non_secure/portasm.c

@@ -45,6 +45,16 @@
  * header files. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -609,13 +619,13 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r1, [r2, %0]                                \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   it ne                                           \n"
-        "   svcne %0                                        \n" /* Secure context is freed in the supervisor call. */
+        "   svcne %1                                        \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/

portable/GCC/ARM_CM52/non_secure/portasm.c

@@ -45,6 +45,16 @@
  * header files. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -609,13 +619,13 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r1, [r2, %0]                                \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   it ne                                           \n"
-        "   svcne %0                                        \n" /* Secure context is freed in the supervisor call. */
+        "   svcne %1                                        \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/

portable/GCC/ARM_CM55/non_secure/portasm.c

@@ -45,6 +45,16 @@
  * header files. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -609,13 +619,13 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r1, [r2, %0]                                \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   it ne                                           \n"
-        "   svcne %0                                        \n" /* Secure context is freed in the supervisor call. */
+        "   svcne %1                                        \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/

portable/GCC/ARM_CM85/non_secure/portasm.c

@@ -45,6 +45,16 @@
  * header files. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -609,13 +619,13 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r1, [r2, %0]                                \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   it ne                                           \n"
-        "   svcne %0                                        \n" /* Secure context is freed in the supervisor call. */
+        "   svcne %1                                        \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/

portable/GCC/ARM_STAR_MC3/non_secure/portasm.c

@@ -45,6 +45,16 @@
  * header files. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
 #if ( configENABLE_MPU == 1 )
 
     void vRestoreContextOfFirstTask( void ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */
@@ -609,13 +619,13 @@ void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PR
     (
         "   .syntax unified                                 \n"
         "                                                   \n"
-        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the top of the stack. */
+        "   ldr r2, [r0]                                    \n" /* The first item in the TCB is the stored context location. */
-        "   ldr r1, [r2]                                    \n" /* The first item on the stack is the task's xSecureContext. */
+        "   ldr r1, [r2, %0]                                \n" /* Read xSecureContext from the task's context. */
         "   cmp r1, #0                                      \n" /* Raise svc if task's xSecureContext is not NULL. */
         "   it ne                                           \n"
-        "   svcne %0                                        \n" /* Secure context is freed in the supervisor call. */
+        "   svcne %1                                        \n" /* Secure context is freed in the supervisor call. */
         "   bx lr                                           \n" /* Return. */
-        ::"i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
+        ::"i" ( SECURE_CONTEXT_OFFSET ), "i" ( portSVC_FREE_SECURE_CONTEXT ) : "memory"
     );
 }
 /*-----------------------------------------------------------*/

portable/IAR/ARM_CM23/non_secure/portasm.s

@@ -40,6 +40,12 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #define SECURE_CONTEXT_OFFSET   -20
+#else
+    #define SECURE_CONTEXT_OFFSET   0
+#endif
+
 
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
@@ -512,8 +518,9 @@ SVC_Handler:
 /*-----------------------------------------------------------*/
 
 vPortFreeSecureContext:
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    adds r2, r2, #SECURE_CONTEXT_OFFSET     /* r2 = r2 + SECURE_CONTEXT_OFFSET. */
+    ldr r1, [r2]                            /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     bne free_secure_context                 /* Branch if r1 != 0. */
     bx lr                                   /* There is no secure context (xSecureContext is NULL). */

portable/IAR/ARM_CM33/non_secure/portasm.s

@@ -41,6 +41,16 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
     EXTERN vTaskSwitchContext
@@ -532,8 +542,8 @@ SVC_Handler:
 
 vPortFreeSecureContext:
     /* r0 = uint32_t *pulTCB. */
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r1, [r2, #SECURE_CONTEXT_OFFSET]    /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     it ne
     svcne 101                               /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 101. */

portable/IAR/ARM_CM35P/non_secure/portasm.s

@@ -41,6 +41,16 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
     EXTERN vTaskSwitchContext
@@ -532,8 +542,8 @@ SVC_Handler:
 
 vPortFreeSecureContext:
     /* r0 = uint32_t *pulTCB. */
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r1, [r2, #SECURE_CONTEXT_OFFSET]    /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     it ne
     svcne 101                               /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 101. */

portable/IAR/ARM_CM52/non_secure/portasm.s

@@ -41,6 +41,16 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
     EXTERN vTaskSwitchContext
@@ -532,8 +542,8 @@ SVC_Handler:
 
 vPortFreeSecureContext:
     /* r0 = uint32_t *pulTCB. */
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r1, [r2, #SECURE_CONTEXT_OFFSET]    /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     it ne
     svcne 101                               /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 101. */

portable/IAR/ARM_CM55/non_secure/portasm.s

@@ -41,6 +41,16 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
     EXTERN vTaskSwitchContext
@@ -532,8 +542,8 @@ SVC_Handler:
 
 vPortFreeSecureContext:
     /* r0 = uint32_t *pulTCB. */
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r1, [r2, #SECURE_CONTEXT_OFFSET]    /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     it ne
     svcne 101                               /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 101. */

portable/IAR/ARM_CM85/non_secure/portasm.s

@@ -41,6 +41,16 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
     EXTERN vTaskSwitchContext
@@ -532,8 +542,8 @@ SVC_Handler:
 
 vPortFreeSecureContext:
     /* r0 = uint32_t *pulTCB. */
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r1, [r2, #SECURE_CONTEXT_OFFSET]    /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     it ne
     svcne 101                               /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 101. */

portable/IAR/ARM_STAR_MC3/non_secure/portasm.s

@@ -41,6 +41,16 @@ files (__ICCARM__ is defined by the IAR C compiler but not by the IAR assembler.
     #define configUSE_MPU_WRAPPERS_V1 0
 #endif
 
+#if ( configENABLE_MPU == 1 )
+    #if ( configENABLE_PAC == 1 )
+        #define SECURE_CONTEXT_OFFSET   -36
+    #else
+        #define SECURE_CONTEXT_OFFSET   -20
+    #endif
+#else
+    #define SECURE_CONTEXT_OFFSET       0
+#endif
+
     EXTERN pxCurrentTCB
     EXTERN xSecureContext
     EXTERN vTaskSwitchContext
@@ -532,8 +542,8 @@ SVC_Handler:
 
 vPortFreeSecureContext:
     /* r0 = uint32_t *pulTCB. */
-    ldr r2, [r0]                            /* The first item in the TCB is the top of the stack. */
+    ldr r2, [r0]                            /* The first item in the TCB is the stored context location. */
-    ldr r1, [r2]                            /* The first item on the stack is the task's xSecureContext. */
+    ldr r1, [r2, #SECURE_CONTEXT_OFFSET]    /* Read xSecureContext from the task's context. */
     cmp r1, #0                              /* Raise svc if task's xSecureContext is not NULL. */
     it ne
     svcne 101                               /* Secure context is freed in the supervisor call. portSVC_FREE_SECURE_CONTEXT = 101. */

queue.c

@@ -2261,6 +2261,8 @@ void vQueueDelete( QueueHandle_t xQueue )
     traceENTER_vQueueDelete( xQueue );
 
     configASSERT( pxQueue );
+    configASSERT( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) );
+    configASSERT( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) );
     traceQUEUE_DELETE( pxQueue );
 
     #if ( configQUEUE_REGISTRY_SIZE > 0 )

tasks.c

@@ -5035,11 +5035,11 @@ BaseType_t xTaskIncrementTick( void )
 
         traceENTER_xTaskGetApplicationTaskTag( xTask );
 
-        /* If xTask is NULL then set the calling task's hook. */
+        /* If xTask is NULL then get the calling task's hook. */
         pxTCB = prvGetTCBFromHandle( xTask );
         configASSERT( pxTCB != NULL );
 
-        /* Save the hook function in the TCB.  A critical section is required as
+        /* Access the hook function in the TCB.  A critical section is required as
          * the value can be accessed from an interrupt. */
         taskENTER_CRITICAL();
         {
@@ -5065,11 +5065,11 @@ BaseType_t xTaskIncrementTick( void )
 
         traceENTER_xTaskGetApplicationTaskTagFromISR( xTask );
 
-        /* If xTask is NULL then set the calling task's hook. */
+        /* If xTask is NULL then get the calling task's hook. */
         pxTCB = prvGetTCBFromHandle( xTask );
         configASSERT( pxTCB != NULL );
 
-        /* Save the hook function in the TCB.  A critical section is required as
+        /* Access the hook function in the TCB.  A critical section is required as
          * the value can be accessed from an interrupt. */
         /* MISRA Ref 4.7.1 [Return value shall be checked] */
         /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#dir-47 */