From 2a604f4a2818b8354b5e1a39e388eb5e16cfbc1f Mon Sep 17 00:00:00 2001 From: Gaurav-Aggarwal-AWS <33462878+aggarg@users.noreply.github.com> Date: Tue, 23 Feb 2021 18:36:27 -0800 Subject: [PATCH 1/7] Support allocating stack from separate heap (#267) The change adds support for allocating task stacks from separate heap. When configSTACK_ALLOCATION_FROM_SEPARATE_HEAP is defined as 1 in FreeRTOSConfig.h, task stacks are allocated and freed using pvPortMallocStack and vPortFreeStack functions. This allows the application writer to provide a separate allocator for task stacks. When configSTACK_ALLOCATION_FROM_SEPARATE_HEAP is defined as 0, task stacks are allocated and freed using FreeRTOS heap functions pvPortMalloc and vPortFree. For backward compatibility, configSTACK_ALLOCATION_FROM_SEPARATE_HEAP defaults to 0. Signed-off-by: Gaurav Aggarwal --- .github/lexicon.txt | 1 + include/FreeRTOS.h | 5 +++++ include/portable.h | 8 ++++++++ tasks.c | 10 +++++----- 4 files changed, 19 insertions(+), 5 deletions(-) diff --git a/.github/lexicon.txt b/.github/lexicon.txt index d2ac65fe7..9ffef9ac6 100644 --- a/.github/lexicon.txt +++ b/.github/lexicon.txt @@ -1617,6 +1617,7 @@ pvowner pvparameter pvparameters pvportmalloc +pvportmallocstack pvportrealloc pvreg pvrxdata diff --git a/include/FreeRTOS.h b/include/FreeRTOS.h index df263a1bd..957325875 100644 --- a/include/FreeRTOS.h +++ b/include/FreeRTOS.h @@ -896,6 +896,11 @@ #define configSUPPORT_DYNAMIC_ALLOCATION 1 #endif +#ifndef configSTACK_ALLOCATION_FROM_SEPARATE_HEAP + /* Defaults to 0 for backward compatibility. */ + #define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0 +#endif + #ifndef configSTACK_DEPTH_TYPE /* Defaults to uint16_t for backward compatibility, but can be overridden diff --git a/include/portable.h b/include/portable.h index 4f4c1d52a..f836747f8 100644 --- a/include/portable.h +++ b/include/portable.h @@ -179,6 +179,14 @@ void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION; size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION; size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION; +#if( configSTACK_ALLOCATION_FROM_SEPARATE_HEAP == 1 ) + void *pvPortMallocStack( size_t xSize ) PRIVILEGED_FUNCTION; + void vPortFreeStack( void *pv ) PRIVILEGED_FUNCTION; +#else + #define pvPortMallocStack pvPortMalloc + #define vPortFreeStack vPortFree +#endif + /* * Setup the hardware ready for the scheduler to take control. This generally * sets up a tick interrupt and sets timers for the correct tick frequency. diff --git a/tasks.c b/tasks.c index fc44c817d..6ba21bbd3 100644 --- a/tasks.c +++ b/tasks.c @@ -748,7 +748,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION; /* Allocate space for the stack used by the task being created. * The base of the stack memory stored in the TCB so the task can * be deleted later if required. */ - pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ if( pxNewTCB->pxStack == NULL ) { @@ -763,7 +763,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION; StackType_t * pxStack; /* Allocate space for the stack used by the task being created. */ - pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */ + pxStack = pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */ if( pxStack != NULL ) { @@ -779,7 +779,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION; { /* The stack cannot be used as the TCB was not created. Free * it again. */ - vPortFree( pxStack ); + vPortFreeStack( pxStack ); } } else @@ -3950,7 +3950,7 @@ static void prvCheckTasksWaitingTermination( void ) { /* The task can only have been allocated dynamically - free both * the stack and TCB. */ - vPortFree( pxTCB->pxStack ); + vPortFreeStack( pxTCB->pxStack ); vPortFree( pxTCB ); } #elif ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */ @@ -3962,7 +3962,7 @@ static void prvCheckTasksWaitingTermination( void ) { /* Both the stack and TCB were allocated dynamically, so both * must be freed. */ - vPortFree( pxTCB->pxStack ); + vPortFreeStack( pxTCB->pxStack ); vPortFree( pxTCB ); } else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY ) From 4fde4a8d0adfb302cd9915f5b21010bf1662c834 Mon Sep 17 00:00:00 2001 From: gomonovych Date: Tue, 2 Mar 2021 02:10:00 +0100 Subject: [PATCH 2/7] Add description for vTaskList (#206) Describe each column which vTaskList print: task name, task status, task priority, task stack unused watermark lewel, task number Co-authored-by: David Chalco <59750547+dachalco@users.noreply.github.com> --- include/task.h | 6 ++++-- tasks.c | 4 +++- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/include/task.h b/include/task.h index d2d1a1901..181ed70fd 100644 --- a/include/task.h +++ b/include/task.h @@ -1795,8 +1795,10 @@ UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, * demo applications. Do not consider it to be part of the scheduler. * * vTaskList() calls uxTaskGetSystemState(), then formats part of the - * uxTaskGetSystemState() output into a human readable table that displays task - * names, states and stack usage. + * uxTaskGetSystemState() output into a human readable table that displays task: + * names, states, priority, stack usage and task number. + * Stack usage specified as the number of unused StackType_t words stack can hold + * on top of stack - not the number of bytes. * * vTaskList() has a dependency on the sprintf() C library function that might * bloat the code size, use a lot of stack, and provide different results on diff --git a/tasks.c b/tasks.c index 6ba21bbd3..a994ec908 100644 --- a/tasks.c +++ b/tasks.c @@ -4434,7 +4434,9 @@ static void prvResetNextTaskUnblockTime( void ) * * vTaskList() calls uxTaskGetSystemState(), then formats part of the * uxTaskGetSystemState() output into a human readable table that - * displays task names, states and stack usage. + * displays task: names, states, priority, stack usage and task number. + * Stack usage specified as the number of unused StackType_t words stack can hold + * on top of stack - not the number of bytes. * * vTaskList() has a dependency on the sprintf() C library function that * might bloat the code size, use a lot of stack, and provide different From 5e45472d6ec29d89eb677c8588cfab2038837636 Mon Sep 17 00:00:00 2001 From: Joseph Julicher Date: Wed, 3 Mar 2021 10:38:12 -0700 Subject: [PATCH 3/7] fixed documentation for ulTaskNotifyTake() and ulTaskNotifyTakeIndexed() (#269) --- include/task.h | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/include/task.h b/include/task.h index 181ed70fd..d17bef8e7 100644 --- a/include/task.h +++ b/include/task.h @@ -1934,9 +1934,8 @@ uint32_t ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION; * that way task notifications can be used to send data to a task, or be used as * light weight and fast binary or counting semaphores. * - * A task can use xTaskNotifyWaitIndexed() to [optionally] block to wait for a - * notification to be pending, or ulTaskNotifyTakeIndexed() to [optionally] block - * to wait for a notification value to have a non-zero value. The task does + * A task can use xTaskNotifyWaitIndexed() or ulTaskNotifyTakeIndexed() to + * [optionally] block to wait for a notification to be pending. The task does * not consume any CPU time while it is in the Blocked state. * * A notification sent to a task will remain pending until it is cleared by the @@ -2522,8 +2521,8 @@ void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify, * value acts like a counting semaphore. * * A task can use ulTaskNotifyTakeIndexed() to [optionally] block to wait for - * the task's notification value to be non-zero. The task does not consume any - * CPU time while it is in the Blocked state. + * a notification. The task does not consume any CPU time while it is in the + * Blocked state. * * Where as xTaskNotifyWaitIndexed() will return when a notification is pending, * ulTaskNotifyTakeIndexed() will return when the task's notification value is From 98eba938e2defa4eca516517113e5bfb0c38969f Mon Sep 17 00:00:00 2001 From: xuelix <33909469+xuelix@users.noreply.github.com> Date: Thu, 4 Mar 2021 21:00:22 +0000 Subject: [PATCH 4/7] Added git-secrets check to Github Actions (#270) Co-authored-by: Gary Wicker <14828980+gkwicker@users.noreply.github.com> --- .github/workflows/ci.yml | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index f5ff4eefb..cb689b7d4 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -44,3 +44,23 @@ jobs: - name: URL Checker run: | bash kernel/.github/actions/url_verifier.sh kernel + + git-secrets: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + with: + submodules: recursive + - name: Checkout awslabs/git-secrets + uses: actions/checkout@v2 + with: + repository: awslabs/git-secrets + ref: master + path: git-secrets + - name: Install git-secrets + run: cd git-secrets && sudo make install && cd .. + - name: Run git-secrets + run: | + git-secrets --register-aws + git-secrets --scan + From 4b5d1e43959e5f4e245c3af708056f6b4b324862 Mon Sep 17 00:00:00 2001 From: alfred gedeon <28123637+alfred2g@users.noreply.github.com> Date: Fri, 5 Mar 2021 09:13:03 -0800 Subject: [PATCH 5/7] Comment: fix code comment for xTaskAbortDelay (#272) --- tasks.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tasks.c b/tasks.c index a994ec908..fd3c25744 100644 --- a/tasks.c +++ b/tasks.c @@ -2694,8 +2694,8 @@ BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) #if ( configUSE_PREEMPTION == 1 ) { /* Preemption is on, but a context switch should only be - * performed if the unblocked task has a priority that is - * equal to or higher than the currently executing task. */ + * performed if the unblocked task has a priority that is + * higher than the currently executing task. */ if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) { /* Pend the yield to be performed when the scheduler From de19eeb7d343531496a7e46ca36e10abe3874f02 Mon Sep 17 00:00:00 2001 From: xuelix <33909469+xuelix@users.noreply.github.com> Date: Fri, 5 Mar 2021 22:00:57 +0000 Subject: [PATCH 6/7] Moved git-secrets check to a different workflow (#271) git-secrets check is now performed on all PR branches --- .github/workflows/ci.yml | 19 ------------------- .github/workflows/git-secrets.yml | 24 ++++++++++++++++++++++++ 2 files changed, 24 insertions(+), 19 deletions(-) create mode 100644 .github/workflows/git-secrets.yml diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index cb689b7d4..50c1b1871 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -45,22 +45,3 @@ jobs: run: | bash kernel/.github/actions/url_verifier.sh kernel - git-secrets: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v2 - with: - submodules: recursive - - name: Checkout awslabs/git-secrets - uses: actions/checkout@v2 - with: - repository: awslabs/git-secrets - ref: master - path: git-secrets - - name: Install git-secrets - run: cd git-secrets && sudo make install && cd .. - - name: Run git-secrets - run: | - git-secrets --register-aws - git-secrets --scan - diff --git a/.github/workflows/git-secrets.yml b/.github/workflows/git-secrets.yml new file mode 100644 index 000000000..b78a79c45 --- /dev/null +++ b/.github/workflows/git-secrets.yml @@ -0,0 +1,24 @@ +name: git-secrets Check +on: + push: + pull_request: + workflow_dispatch: +jobs: + git-secrets: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + with: + submodules: recursive + - name: Checkout awslabs/git-secrets + uses: actions/checkout@v2 + with: + repository: awslabs/git-secrets + ref: master + path: git-secrets + - name: Install git-secrets + run: cd git-secrets && sudo make install && cd .. + - name: Run git-secrets + run: | + git-secrets --register-aws + git-secrets --scan From 18d4ba9c0792278a4e6351508e3410bdabe98275 Mon Sep 17 00:00:00 2001 From: Paul Bartell Date: Fri, 5 Mar 2021 18:46:49 -0800 Subject: [PATCH 7/7] Add some assertions and coverage exceptions to queue.c (#273) * Add an LCOV_BRANCH exception for the check that sizeof( StaticQueue_t ) == sizeof( Queue_t ) * Add LCOV_BRANCH coverage exception for a configASSERT on pxQueueSetContainer with a condition that is unreachable. * Add configASSERTs to alert when invalid parameters are passed into Queue Registry related functions. * Assert that the semaphore handle passed into xQueueGetMutexHolder is not NULL. * Correct some typos in queue.c * Update lexicon.txt --- .github/lexicon.txt | 6 ++++-- queue.c | 30 ++++++++++++++++++++++-------- 2 files changed, 26 insertions(+), 10 deletions(-) diff --git a/.github/lexicon.txt b/.github/lexicon.txt index 9ffef9ac6..800def74d 100644 --- a/.github/lexicon.txt +++ b/.github/lexicon.txt @@ -1529,6 +1529,7 @@ prvinitialisenewstreambuffer prvinitialisenewtimer prvinsertblockintofreelist prvlockqueue +prvnotifyqueuesetcontainer prvportmalloc prvportresetpic prvprocesssimulatedinterrupts @@ -1631,7 +1632,6 @@ pvyieldevent pwdtc pwm pwmc -pxtaskcode pxblock pxblocktoinsert pxcallbackfunction @@ -1688,6 +1688,7 @@ pxprevious pxpreviouswaketime pxqueue pxqueuebuffer +pxqueuesetcontainer pxramstack pxreadycoroutinelists pxreadytaskslists @@ -1707,6 +1708,7 @@ pxstreambuffercreatestatic pxtagvalue pxtask pxtaskbuffer +pxtaskcode pxtaskdefinition pxtaskstatus pxtaskstatusarray @@ -2653,7 +2655,6 @@ wu www wwwfreertos wxr -xtasktodelete xa xaa xaaaa @@ -3020,6 +3021,7 @@ xtaskswaitingforbits xtaskswaitingtermination xtaskswaitingtoreceive xtaskswaitingtosend +xtasktodelete xtasktonotify xtasktoquery xtasktoresume diff --git a/queue.c b/queue.c index 7ed8e9878..6805cd050 100644 --- a/queue.c +++ b/queue.c @@ -342,8 +342,10 @@ BaseType_t xQueueGenericReset( QueueHandle_t xQueue, * variable of type StaticQueue_t or StaticSemaphore_t equals the size of * the real queue and semaphore structures. */ volatile size_t xSize = sizeof( StaticQueue_t ); - configASSERT( xSize == sizeof( Queue_t ) ); - ( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */ + + /* This assertion cannot be branch covered in unit tests */ + configASSERT( xSize == sizeof( Queue_t ) ); /* LCOV_EXCL_BR_LINE */ + ( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */ } #endif /* configASSERT_DEFINED */ @@ -398,7 +400,7 @@ BaseType_t xQueueGenericReset( QueueHandle_t xQueue, configASSERT( ( uxItemSize == 0 ) || ( uxQueueLength == ( xQueueSizeInBytes / uxItemSize ) ) ); /* Check for addition overflow. */ - configASSERT( ( sizeof( Queue_t ) + xQueueSizeInBytes ) > xQueueSizeInBytes ); + configASSERT( ( sizeof( Queue_t ) + xQueueSizeInBytes ) > xQueueSizeInBytes ); /* Allocate the queue and storage area. Justification for MISRA * deviation as follows: pvPortMalloc() always ensures returned memory @@ -561,6 +563,8 @@ static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, TaskHandle_t pxReturn; Queue_t * const pxSemaphore = ( Queue_t * ) xSemaphore; + configASSERT( xSemaphore ); + /* This function is called by xSemaphoreGetMutexHolder(), and should not * be called directly. Note: This is a good way of determining if the * calling task is the mutex holder, but not a good way of determining the @@ -944,15 +948,15 @@ BaseType_t xQueueGenericSend( QueueHandle_t xQueue, vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait ); /* Unlocking the queue means queue events can effect the - * event list. It is possible that interrupts occurring now + * event list. It is possible that interrupts occurring now * remove this task from the event list again - but as the * scheduler is suspended the task will go onto the pending - * ready last instead of the actual ready list. */ + * ready list instead of the actual ready list. */ prvUnlockQueue( pxQueue ); /* Resuming the scheduler will move tasks from the pending * ready list into the ready list - so it is feasible that this - * task is already in a ready list before it yields - in which + * task is already in the ready list before it yields - in which * case the yield will not cause a context switch unless there * is also a higher priority task in the pending ready list. */ if( xTaskResumeAll() == pdFALSE ) @@ -1774,7 +1778,7 @@ BaseType_t xQueuePeek( QueueHandle_t xQueue, taskEXIT_CRITICAL(); /* Interrupts and other tasks can send to and receive from the queue - * now the critical section has been exited. */ + * now that the critical section has been exited. */ vTaskSuspendAll(); prvLockQueue( pxQueue ); @@ -2723,6 +2727,9 @@ BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) { UBaseType_t ux; + configASSERT( xQueue ); + configASSERT( pcQueueName ); + /* See if there is an empty space in the registry. A NULL name denotes * a free slot. */ for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ ) @@ -2753,6 +2760,8 @@ BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) UBaseType_t ux; const char * pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + configASSERT( xQueue ); + /* Note there is nothing here to protect against another task adding or * removing entries from the registry while it is being searched. */ @@ -2781,6 +2790,8 @@ BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) { UBaseType_t ux; + configASSERT( xQueue ); + /* See if the handle of the queue being unregistered in actually in the * registry. */ for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ ) @@ -2967,7 +2978,10 @@ BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) /* This function must be called form a critical section. */ - configASSERT( pxQueueSetContainer ); + /* The following line is not reachable in unit tests because every call + * to prvNotifyQueueSetContainer is preceded by a check that + * pxQueueSetContainer != NULL */ + configASSERT( pxQueueSetContainer ); /* LCOV_EXCL_BR_LINE */ configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength ); if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )