Merge branch 'main' into inline-some-list-functions-to-optimise-xTaskIncrementTick

.github/lexicon.txt

@@ -1529,6 +1529,7 @@ prvinitialisenewstreambuffer
 prvinitialisenewtimer
 prvinsertblockintofreelist
 prvlockqueue
+prvnotifyqueuesetcontainer
 prvportmalloc
 prvportresetpic
 prvprocesssimulatedinterrupts
@@ -1617,6 +1618,7 @@ pvowner
 pvparameter
 pvparameters
 pvportmalloc
+pvportmallocstack
 pvportrealloc
 pvreg
 pvrxdata
@@ -1630,7 +1632,6 @@ pvyieldevent
 pwdtc
 pwm
 pwmc
-pxtaskcode
 pxblock
 pxblocktoinsert
 pxcallbackfunction
@@ -1687,6 +1688,7 @@ pxprevious
 pxpreviouswaketime
 pxqueue
 pxqueuebuffer
+pxqueuesetcontainer
 pxramstack
 pxreadycoroutinelists
 pxreadytaskslists
@@ -1706,6 +1708,7 @@ pxstreambuffercreatestatic
 pxtagvalue
 pxtask
 pxtaskbuffer
+pxtaskcode
 pxtaskdefinition
 pxtaskstatus
 pxtaskstatusarray
@@ -2652,7 +2655,6 @@ wu
 www
 wwwfreertos
 wxr
-xtasktodelete
 xa
 xaa
 xaaaa
@@ -3019,6 +3021,7 @@ xtaskswaitingforbits
 xtaskswaitingtermination
 xtaskswaitingtoreceive
 xtaskswaitingtosend
+xtasktodelete
 xtasktonotify
 xtasktoquery
 xtasktoresume

.github/workflows/ci.yml

@@ -44,3 +44,4 @@ jobs:
       - name: URL Checker
         run: |
             bash kernel/.github/actions/url_verifier.sh kernel
+

.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

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

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.

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
+ * uxTaskGetSystemState() output into a human readable table that displays task:
- * names, states and stack usage.
+ * 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
@@ -1932,9 +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
+ * A task can use xTaskNotifyWaitIndexed() or ulTaskNotifyTakeIndexed() to
- * notification to be pending, or ulTaskNotifyTakeIndexed() to [optionally] block
+ * [optionally] block to wait for a notification to be pending.  The task does
- * to wait for a notification value to have a non-zero value.  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
@@ -2520,8 +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
+ * a notification.  The task does not consume any CPU time while it is in the
- * CPU time while it is in the Blocked state.
+ * Blocked state.
  *
  * Where as xTaskNotifyWaitIndexed() will return when a notification is pending,
  * ulTaskNotifyTakeIndexed() will return when the task's notification value is

queue.c

@@ -342,7 +342,9 @@ 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 ) );
+
+                /* 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 */
@@ -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
@@ -947,12 +951,12 @@ BaseType_t xQueueGenericSend( QueueHandle_t xQueue,
                  * 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 )

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
@@ -2696,7 +2696,7 @@ BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
                     {
                         /* 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. */
+                         * higher than the currently executing task. */
                         if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
                         {
                             /* Pend the yield to be performed when the scheduler
@@ -3951,7 +3951,7 @@ 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. */
@@ -3963,7 +3963,7 @@ 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 )
@@ -4435,7 +4435,9 @@ 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