From 2e0c623351f03f2fb94c5aab151b78e8315edb19 Mon Sep 17 00:00:00 2001 From: Gaurav-Aggarwal-AWS <33462878+aggarg@users.noreply.github.com> Date: Tue, 14 May 2024 16:15:54 +0530 Subject: [PATCH 1/4] Fix race in prvProcessSimulatedInterrupts (#1055) Earlier the code was suspending the current thread after calling vTaskSwitchContext. This left a gap where the current thread could access incorrect pxCurrentTCB after it was changed by vTaskSwitchContext. This commit addresses the problem by suspending the current thread before calling vTaskSwitchContext. It was reported here - https://github.com/FreeRTOS/FreeRTOS-Kernel/issues/1054. Signed-off-by: Gaurav Aggarwal --- portable/MSVC-MingW/port.c | 55 +++++++++++++------------------------- 1 file changed, 19 insertions(+), 36 deletions(-) diff --git a/portable/MSVC-MingW/port.c b/portable/MSVC-MingW/port.c index 8b8289b8f..7c34aabd6 100644 --- a/portable/MSVC-MingW/port.c +++ b/portable/MSVC-MingW/port.c @@ -435,48 +435,31 @@ static void prvProcessSimulatedInterrupts( void ) if( ulSwitchRequired != pdFALSE ) { - void * pvOldCurrentTCB; + /* Suspend the old thread. */ + pxThreadState = ( ThreadState_t * ) *( ( size_t * ) pxCurrentTCB ); + SuspendThread( pxThreadState->pvThread ); - pvOldCurrentTCB = pxCurrentTCB; + /* Ensure the thread is actually suspended by performing a + * synchronous operation that can only complete when the thread + * is actually suspended. The below code asks for dummy register + * data. Experimentation shows that these two lines don't appear + * to do anything now, but according to + * https://devblogs.microsoft.com/oldnewthing/20150205-00/?p=44743 + * they do - so as they do not harm (slight run-time hit). */ + xContext.ContextFlags = CONTEXT_INTEGER; + ( void ) GetThreadContext( pxThreadState->pvThread, &xContext ); /* Select the next task to run. */ vTaskSwitchContext(); - /* If the task selected to enter the running state is not the task - * that is already in the running state. */ - if( pvOldCurrentTCB != pxCurrentTCB ) - { - /* Suspend the old thread. In the cases where the (simulated) - * interrupt is asynchronous (tick event swapping a task out rather - * than a task blocking or yielding) it doesn't matter if the - * 'suspend' operation doesn't take effect immediately - if it - * doesn't it would just be like the interrupt occurring slightly - * later. In cases where the yield was caused by a task blocking - * or yielding then the task will block on a yield event after the - * yield operation in case the 'suspend' operation doesn't take - * effect immediately. */ - pxThreadState = ( ThreadState_t * ) *( ( size_t * ) pvOldCurrentTCB ); - SuspendThread( pxThreadState->pvThread ); + /* Obtain the state of the task now selected to enter the + * Running state. */ + pxThreadState = ( ThreadState_t * ) ( *( size_t * ) pxCurrentTCB ); - /* Ensure the thread is actually suspended by performing a - * synchronous operation that can only complete when the thread is - * actually suspended. The below code asks for dummy register - * data. Experimentation shows that these two lines don't appear - * to do anything now, but according to - * https://devblogs.microsoft.com/oldnewthing/20150205-00/?p=44743 - * they do - so as they do not harm (slight run-time hit). */ - xContext.ContextFlags = CONTEXT_INTEGER; - ( void ) GetThreadContext( pxThreadState->pvThread, &xContext ); - - /* Obtain the state of the task now selected to enter the - * Running state. */ - pxThreadState = ( ThreadState_t * ) ( *( size_t * ) pxCurrentTCB ); - - /* pxThreadState->pvThread can be NULL if the task deleted - * itself - but a deleted task should never be resumed here. */ - configASSERT( pxThreadState->pvThread != NULL ); - ResumeThread( pxThreadState->pvThread ); - } + /* pxThreadState->pvThread can be NULL if the task deleted + * itself - but a deleted task should never be resumed here. */ + configASSERT( pxThreadState->pvThread != NULL ); + ResumeThread( pxThreadState->pvThread ); } /* If the thread that is about to be resumed stopped running From a8376dbe816b230985db09d9b9203c33cdf4fc66 Mon Sep 17 00:00:00 2001 From: Gaurav-Aggarwal-AWS <33462878+aggarg@users.noreply.github.com> Date: Tue, 14 May 2024 16:24:49 +0530 Subject: [PATCH 2/4] Revert the change introduced in PR #1051 (#1056) As pointed out by Jeff Tenney, the comment introduced in the PR is not accurate. Signed-off-by: Gaurav Aggarwal --- list.c | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/list.c b/list.c index e6dbaaa3a..eb9efbd2d 100644 --- a/list.c +++ b/list.c @@ -184,14 +184,7 @@ void vListInsert( List_t * const pxList, * 4) Using a queue or semaphore before it has been initialised or * before the scheduler has been started (are interrupts firing * before vTaskStartScheduler() has been called?). - * 5) Attempting to 'take' binary semaphores created using - * `xSemaphoreCreateBinary()` or `xSemaphoreCreateBinaryStatic()` - * APIs, before 'giving' them. Binary semaphores created using - * `xSemaphoreCreateBinary()` or `xSemaphoreCreateBinaryStatic()`, - * are created in a state such that the semaphore must first be - * 'given' using xSemaphoreGive() API before it can be 'taken' using - * xSemaphoreTake() API. - * 6) If the FreeRTOS port supports interrupt nesting then ensure that + * 5) If the FreeRTOS port supports interrupt nesting then ensure that * the priority of the tick interrupt is at or below * configMAX_SYSCALL_INTERRUPT_PRIORITY. **********************************************************************/ From c9e3949f02f0350986f7a7df273e8bf2e9311d04 Mon Sep 17 00:00:00 2001 From: Joseph Julicher Date: Tue, 14 May 2024 20:58:41 -0700 Subject: [PATCH 3/4] added configUSE_POSIX_ERRNO to the template FreeRTOSConfig.h (#1052) * added a reference to configUSE_POSIX_ERRNO * fixed formatting * format changes from PR check --- .../template_configuration/FreeRTOSConfig.h | 327 +++++++++--------- 1 file changed, 173 insertions(+), 154 deletions(-) diff --git a/examples/template_configuration/FreeRTOSConfig.h b/examples/template_configuration/FreeRTOSConfig.h index c1c05966a..c35630bd1 100644 --- a/examples/template_configuration/FreeRTOSConfig.h +++ b/examples/template_configuration/FreeRTOSConfig.h @@ -4,22 +4,23 @@ * * SPDX-License-Identifier: MIT * - * Permission is hereby granted, free of charge, to any person obtaining a copy of - * this software and associated documentation files (the "Software"), to deal in - * the Software without restriction, including without limitation the rights to - * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of - * the Software, and to permit persons to whom the Software is furnished to do so, - * subject to the following conditions: + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS - * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR - * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER - * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. * * https://www.FreeRTOS.org * https://github.com/FreeRTOS @@ -47,10 +48,11 @@ /******************************************************************************/ /* In most cases, configCPU_CLOCK_HZ must be set to the frequency of the clock - * that drives the peripheral used to generate the kernels periodic tick interrupt. - * The default value is set to 20MHz and matches the QEMU demo settings. Your - * application will certainly need a different value so set this correctly. - * This is very often, but not always, equal to the main system clock frequency. */ + * that drives the peripheral used to generate the kernels periodic tick + * interrupt. The default value is set to 20MHz and matches the QEMU demo + * settings. Your application will certainly need a different value so set this + * correctly. This is very often, but not always, equal to the main system clock + * frequency. */ #define configCPU_CLOCK_HZ ( ( unsigned long ) 20000000 ) /* configSYSTICK_CLOCK_HZ is an optional parameter for ARM Cortex-M ports only. @@ -59,11 +61,11 @@ * Cortex-M SysTick timer. Most Cortex-M MCUs run the SysTick timer at the same * frequency as the MCU itself - when that is the case configSYSTICK_CLOCK_HZ is * not needed and should be left undefined. If the SysTick timer is clocked at a - * different frequency to the MCU core then set configCPU_CLOCK_HZ to the MCU clock - * frequency, as normal, and configSYSTICK_CLOCK_HZ to the SysTick clock + * different frequency to the MCU core then set configCPU_CLOCK_HZ to the MCU + * clock frequency, as normal, and configSYSTICK_CLOCK_HZ to the SysTick clock * frequency. Not used if left undefined. - * The default value is undefined (commented out). If you need this value bring it - * back and set it to a suitable value. */ + * The default value is undefined (commented out). If you need this value bring + * it back and set it to a suitable value. */ /* #define configSYSTICK_CLOCK_HZ [Platform specific] @@ -90,28 +92,29 @@ #define configUSE_TIME_SLICING 0 /* Set configUSE_PORT_OPTIMISED_TASK_SELECTION to 1 to select the next task to - * run using an algorithm optimised to the instruction set of the target hardware - - * normally using a count leading zeros assembly instruction. Set to 0 to select - * the next task to run using a generic C algorithm that works for all FreeRTOS - * ports. Not all FreeRTOS ports have this option. Defaults to 0 if left - * undefined. */ + * run using an algorithm optimised to the instruction set of the target + * hardware - normally using a count leading zeros assembly instruction. Set to + * 0 to select the next task to run using a generic C algorithm that works for + * all FreeRTOS ports. Not all FreeRTOS ports have this option. Defaults to 0 + * if left undefined. */ #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 /* Set configUSE_TICKLESS_IDLE to 1 to use the low power tickless mode. Set to * 0 to keep the tick interrupt running at all times. Not all FreeRTOS ports - * support tickless mode. See https://www.freertos.org/low-power-tickless-rtos.html - * Defaults to 0 if left undefined. */ + * support tickless mode. See + * https://www.freertos.org/low-power-tickless-rtos.html Defaults to 0 if left + * undefined. */ #define configUSE_TICKLESS_IDLE 0 /* configMAX_PRIORITIES Sets the number of available task priorities. Tasks can - * be assigned priorities of 0 to (configMAX_PRIORITIES - 1). Zero is the lowest - * priority. */ + * be assigned priorities of 0 to (configMAX_PRIORITIES - 1). Zero is the + * lowest priority. */ #define configMAX_PRIORITIES 5 /* configMINIMAL_STACK_SIZE defines the size of the stack used by the Idle task - * (in words, not in bytes!). The kernel does not use this constant for any other - * purpose. Demo applications use the constant to make the demos somewhat portable - * across hardware architectures. */ + * (in words, not in bytes!). The kernel does not use this constant for any + * other purpose. Demo applications use the constant to make the demos somewhat + * portable across hardware architectures. */ #define configMINIMAL_STACK_SIZE 128 /* configMAX_TASK_NAME_LEN sets the maximum length (in characters) of a task's @@ -122,7 +125,8 @@ * has executed since the RTOS kernel was started. * The tick count is held in a variable of type TickType_t. * - * configTICK_TYPE_WIDTH_IN_BITS controls the type (and therefore bit-width) of TickType_t: + * configTICK_TYPE_WIDTH_IN_BITS controls the type (and therefore bit-width) of + * TickType_t: * * Defining configTICK_TYPE_WIDTH_IN_BITS as TICK_TYPE_WIDTH_16_BITS causes * TickType_t to be defined (typedef'ed) as an unsigned 16-bit type. @@ -135,15 +139,15 @@ #define configTICK_TYPE_WIDTH_IN_BITS TICK_TYPE_WIDTH_64_BITS /* Set configIDLE_SHOULD_YIELD to 1 to have the Idle task yield to an - * application task if there is an Idle priority (priority 0) application task that - * can run. Set to 0 to have the Idle task use all of its timeslice. Default to 1 - * if left undefined. */ + * application task if there is an Idle priority (priority 0) application task + * that can run. Set to 0 to have the Idle task use all of its timeslice. + * Default to 1 if left undefined. */ #define configIDLE_SHOULD_YIELD 1 /* Each task has an array of task notifications. - * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the array. - * See https://www.freertos.org/RTOS-task-notifications.html Defaults to 1 if - * left undefined. */ + * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the + * array. See https://www.freertos.org/RTOS-task-notifications.html Defaults to + * 1 if left undefined. */ #define configTASK_NOTIFICATION_ARRAY_ENTRIES 1 /* configQUEUE_REGISTRY_SIZE sets the maximum number of queues and semaphores @@ -152,21 +156,22 @@ #define configQUEUE_REGISTRY_SIZE 0 /* Set configENABLE_BACKWARD_COMPATIBILITY to 1 to map function names and - * datatypes from old version of FreeRTOS to their latest equivalent. Defaults to - * 1 if left undefined. */ + * datatypes from old version of FreeRTOS to their latest equivalent. Defaults + * to 1 if left undefined. */ #define configENABLE_BACKWARD_COMPATIBILITY 0 /* Each task has its own array of pointers that can be used as thread local - * storage. configNUM_THREAD_LOCAL_STORAGE_POINTERS set the number of indexes in - * the array. See https://www.freertos.org/thread-local-storage-pointers.html - * Defaults to 0 if left undefined. */ + * storage. configNUM_THREAD_LOCAL_STORAGE_POINTERS set the number of indexes + * in the array. See + * https://www.freertos.org/thread-local-storage-pointers.html Defaults to 0 if + * left undefined. */ #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0 /* When configUSE_MINI_LIST_ITEM is set to 0, MiniListItem_t and ListItem_t are - * both the same. When configUSE_MINI_LIST_ITEM is set to 1, MiniListItem_t contains - * 3 fewer fields than ListItem_t which saves some RAM at the cost of violating - * strict aliasing rules which some compilers depend on for optimization. Defaults - * to 1 if left undefined. */ + * both the same. When configUSE_MINI_LIST_ITEM is set to 1, MiniListItem_t + * contains 3 fewer fields than ListItem_t which saves some RAM at the cost of + * violating strict aliasing rules which some compilers depend on for + * optimization. Defaults to 1 if left undefined. */ #define configUSE_MINI_LIST_ITEM 1 /* Sets the type used by the parameter to xTaskCreate() that specifies the stack @@ -176,22 +181,22 @@ #define configSTACK_DEPTH_TYPE size_t /* configMESSAGE_BUFFER_LENGTH_TYPE sets the type used to store the length of - * each message written to a FreeRTOS message buffer (the length is also written to - * the message buffer. Defaults to size_t if left undefined - but that may waste - * space if messages never go above a length that could be held in a uint8_t. */ + * each message written to a FreeRTOS message buffer (the length is also written + * to the message buffer. Defaults to size_t if left undefined - but that may + * waste space if messages never go above a length that could be held in a + * uint8_t. */ #define configMESSAGE_BUFFER_LENGTH_TYPE size_t -/* If configHEAP_CLEAR_MEMORY_ON_FREE is set to 1, then blocks of memory allocated - * using pvPortMalloc() will be cleared (i.e. set to zero) when freed using - * vPortFree(). Defaults to 0 if left undefined. */ +/* If configHEAP_CLEAR_MEMORY_ON_FREE is set to 1, then blocks of memory + * allocated using pvPortMalloc() will be cleared (i.e. set to zero) when freed + * using vPortFree(). Defaults to 0 if left undefined. */ #define configHEAP_CLEAR_MEMORY_ON_FREE 1 -/* vTaskList and vTaskGetRunTimeStats APIs take a buffer as a parameter and assume - * that the length of the buffer is configSTATS_BUFFER_MAX_LENGTH. Defaults to - * 0xFFFF if left undefined. - * New applications are recommended to use vTaskListTasks and - * vTaskGetRunTimeStatistics APIs instead and supply the length of the buffer - * explicitly to avoid memory corruption. */ +/* vTaskList and vTaskGetRunTimeStats APIs take a buffer as a parameter and + * assume that the length of the buffer is configSTATS_BUFFER_MAX_LENGTH. + * Defaults to 0xFFFF if left undefined. New applications are recommended to use + * vTaskListTasks and vTaskGetRunTimeStatistics APIs instead and supply the + * length of the buffer explicitly to avoid memory corruption. */ #define configSTATS_BUFFER_MAX_LENGTH 0xFFFF /* Set configUSE_NEWLIB_REENTRANT to 1 to have a newlib reent structure @@ -199,11 +204,11 @@ * Default to 0 if left undefined. * * Note Newlib support has been included by popular demand, but is not used or - * tested by the FreeRTOS maintainers themselves. FreeRTOS is not responsible for - * resulting newlib operation. User must be familiar with newlib and must provide - * system-wide implementations of the necessary stubs. Note that (at the time of - * writing) the current newlib design implements a system-wide malloc() that must - * be provided with locks. */ + * tested by the FreeRTOS maintainers themselves. FreeRTOS is not responsible + * for resulting newlib operation. User must be familiar with newlib and must + * provide system-wide implementations of the necessary stubs. Note that (at the + * time of writing) the current newlib design implements a system-wide malloc() + * that must be provided with locks. */ #define configUSE_NEWLIB_REENTRANT 0 /******************************************************************************/ @@ -220,20 +225,21 @@ /* configTIMER_TASK_PRIORITY sets the priority used by the timer task. Only * used if configUSE_TIMERS is set to 1. The timer task is a standard FreeRTOS * task, so its priority is set like any other task. See - * https://www.freertos.org/RTOS-software-timer-service-daemon-task.html Only used - * if configUSE_TIMERS is set to 1. */ + * https://www.freertos.org/RTOS-software-timer-service-daemon-task.html Only + * used if configUSE_TIMERS is set to 1. */ #define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 ) /* configTIMER_TASK_STACK_DEPTH sets the size of the stack allocated to the * timer task (in words, not in bytes!). The timer task is a standard FreeRTOS - * task. See https://www.freertos.org/RTOS-software-timer-service-daemon-task.html - * Only used if configUSE_TIMERS is set to 1. */ + * task. See + * https://www.freertos.org/RTOS-software-timer-service-daemon-task.html Only + * used if configUSE_TIMERS is set to 1. */ #define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE /* configTIMER_QUEUE_LENGTH sets the length of the queue (the number of discrete * items the queue can hold) used to send commands to the timer task. See - * https://www.freertos.org/RTOS-software-timer-service-daemon-task.html Only used - * if configUSE_TIMERS is set to 1. */ + * https://www.freertos.org/RTOS-software-timer-service-daemon-task.html Only + * used if configUSE_TIMERS is set to 1. */ #define configTIMER_QUEUE_LENGTH 10 /******************************************************************************/ @@ -270,21 +276,22 @@ #define configSUPPORT_STATIC_ALLOCATION 1 /* Set configSUPPORT_DYNAMIC_ALLOCATION to 1 to include FreeRTOS API functions - * that create FreeRTOS objects (tasks, queues, etc.) using dynamically allocated - * memory in the build. Set to 0 to exclude the ability to create dynamically - * allocated objects from the build. Defaults to 1 if left undefined. See + * that create FreeRTOS objects (tasks, queues, etc.) using dynamically + * allocated memory in the build. Set to 0 to exclude the ability to create + * dynamically allocated objects from the build. Defaults to 1 if left + * undefined. See * https://www.freertos.org/Static_Vs_Dynamic_Memory_Allocation.html. */ #define configSUPPORT_DYNAMIC_ALLOCATION 1 /* Sets the total size of the FreeRTOS heap, in bytes, when heap_1.c, heap_2.c - * or heap_4.c are included in the build. This value is defaulted to 4096 bytes but - * it must be tailored to each application. Note the heap will appear in the .bss - * section. See https://www.freertos.org/a00111.html. */ + * or heap_4.c are included in the build. This value is defaulted to 4096 bytes + * but it must be tailored to each application. Note the heap will appear in + * the .bss section. See https://www.freertos.org/a00111.html. */ #define configTOTAL_HEAP_SIZE 4096 /* Set configAPPLICATION_ALLOCATED_HEAP to 1 to have the application allocate - * the array used as the FreeRTOS heap. Set to 0 to have the linker allocate the - * array used as the FreeRTOS heap. Defaults to 0 if left undefined. */ + * the array used as the FreeRTOS heap. Set to 0 to have the linker allocate + * the array used as the FreeRTOS heap. Defaults to 0 if left undefined. */ #define configAPPLICATION_ALLOCATED_HEAP 0 /* Set configSTACK_ALLOCATION_FROM_SEPARATE_HEAP to 1 to have task stacks @@ -295,9 +302,9 @@ * Defaults to 0 if left undefined. */ #define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0 -/* Set configENABLE_HEAP_PROTECTOR to 1 to enable bounds checking and obfuscation - * to internal heap block pointers in heap_4.c and heap_5.c to help catch pointer - * corruptions. Defaults to 0 if left undefined. */ +/* Set configENABLE_HEAP_PROTECTOR to 1 to enable bounds checking and + * obfuscation to internal heap block pointers in heap_4.c and heap_5.c to help + * catch pointer corruptions. Defaults to 0 if left undefined. */ #define configENABLE_HEAP_PROTECTOR 0 /******************************************************************************/ @@ -311,11 +318,11 @@ #define configKERNEL_INTERRUPT_PRIORITY 0 /* configMAX_SYSCALL_INTERRUPT_PRIORITY sets the interrupt priority above which - * FreeRTOS API calls must not be made. Interrupts above this priority are never - * disabled, so never delayed by RTOS activity. The default value is set to the - * highest interrupt priority (0). Not supported by all FreeRTOS ports. - * See https://www.freertos.org/RTOS-Cortex-M3-M4.html for information specific to - * ARM Cortex-M devices. */ + * FreeRTOS API calls must not be made. Interrupts above this priority are + * never disabled, so never delayed by RTOS activity. The default value is set + * to the highest interrupt priority (0). Not supported by all FreeRTOS ports. + * See https://www.freertos.org/RTOS-Cortex-M3-M4.html for information specific + * to ARM Cortex-M devices. */ #define configMAX_SYSCALL_INTERRUPT_PRIORITY 0 /* Another name for configMAX_SYSCALL_INTERRUPT_PRIORITY - the name used depends @@ -327,9 +334,9 @@ /******************************************************************************/ /* Set the following configUSE_* constants to 1 to include the named hook - * functionality in the build. Set to 0 to exclude the hook functionality from the - * build. The application writer is responsible for providing the hook function - * for any set to 1. See https://www.freertos.org/a00016.html. */ + * functionality in the build. Set to 0 to exclude the hook functionality from + * the build. The application writer is responsible for providing the hook + * function for any set to 1. See https://www.freertos.org/a00016.html. */ #define configUSE_IDLE_HOOK 0 #define configUSE_TICK_HOOK 0 #define configUSE_MALLOC_FAILED_HOOK 0 @@ -346,14 +353,15 @@ /* Set configCHECK_FOR_STACK_OVERFLOW to 1 or 2 for FreeRTOS to check for a * stack overflow at the time of a context switch. Set to 0 to not look for a * stack overflow. If configCHECK_FOR_STACK_OVERFLOW is 1 then the check only - * looks for the stack pointer being out of bounds when a task's context is saved - * to its stack - this is fast but somewhat ineffective. If - * configCHECK_FOR_STACK_OVERFLOW is 2 then the check looks for a pattern written - * to the end of a task's stack having been overwritten. This is slower, but will - * catch most (but not all) stack overflows. The application writer must provide - * the stack overflow callback when configCHECK_FOR_STACK_OVERFLOW is set to 1. - * See https://www.freertos.org/Stacks-and-stack-overflow-checking.html Defaults - * to 0 if left undefined. */ + * looks for the stack pointer being out of bounds when a task's context is + * saved to its stack - this is fast but somewhat ineffective. If + * configCHECK_FOR_STACK_OVERFLOW is 2 then the check looks for a pattern + * written to the end of a task's stack having been overwritten. This is + * slower, but will catch most (but not all) stack overflows. The application + * writer must provide the stack overflow callback when + * configCHECK_FOR_STACK_OVERFLOW is set to 1. See + * https://www.freertos.org/Stacks-and-stack-overflow-checking.html Defaults to + * 0 if left undefined. */ #define configCHECK_FOR_STACK_OVERFLOW 2 /******************************************************************************/ @@ -362,8 +370,9 @@ /* Set configGENERATE_RUN_TIME_STATS to 1 to have FreeRTOS collect data on the * processing time used by each task. Set to 0 to not collect the data. The - * application writer needs to provide a clock source if set to 1. Defaults to 0 - * if left undefined. See https://www.freertos.org/rtos-run-time-stats.html. */ + * application writer needs to provide a clock source if set to 1. Defaults to + * 0 if left undefined. See https://www.freertos.org/rtos-run-time-stats.html. + */ #define configGENERATE_RUN_TIME_STATS 0 /* Set configUSE_TRACE_FACILITY to include additional task structure members @@ -385,8 +394,8 @@ /* Set configUSE_CO_ROUTINES to 1 to include co-routine functionality in the * build, or 0 to omit co-routine functionality from the build. To include - * co-routines, croutine.c must be included in the project. Defaults to 0 if left - * undefined. */ + * co-routines, croutine.c must be included in the project. Defaults to 0 if + * left undefined. */ #define configUSE_CO_ROUTINES 0 /* configMAX_CO_ROUTINE_PRIORITIES defines the number of priorities available @@ -403,9 +412,9 @@ * at all (i.e. comment out or delete the definitions) to completely remove * assertions. configASSERT() can be defined to anything you want, for example * you can call a function if an assert fails that passes the filename and line - * number of the failing assert (for example, "vAssertCalled( __FILE__, __LINE__ )" - * or it can simple disable interrupts and sit in a loop to halt all execution - * on the failing line for viewing in a debugger. */ + * number of the failing assert (for example, "vAssertCalled( __FILE__, __LINE__ + * )" or it can simple disable interrupts and sit in a loop to halt all + * execution on the failing line for viewing in a debugger. */ #define configASSERT( x ) \ if( ( x ) == 0 ) \ { \ @@ -420,9 +429,10 @@ /* If configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS is set to 1 then * the application writer can provide functions that execute in privileged mode. - * See: https://www.freertos.org/a00110.html#configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS - * Defaults to 0 if left undefined. Only used by the FreeRTOS Cortex-M MPU ports, - * not the standard ARMv7-M Cortex-M port. */ + * See: + * https://www.freertos.org/a00110.html#configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS + * Defaults to 0 if left undefined. Only used by the FreeRTOS Cortex-M MPU + * ports, not the standard ARMv7-M Cortex-M port. */ #define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0 /* Set configTOTAL_MPU_REGIONS to the number of MPU regions implemented on your @@ -432,24 +442,24 @@ #define configTOTAL_MPU_REGIONS 8 /* configTEX_S_C_B_FLASH allows application writers to override the default - * values for the for TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits for - * the MPU region covering Flash. Defaults to 0x07UL (which means TEX=000, S=1, - * C=1, B=1) if left undefined. Only used by the FreeRTOS Cortex-M MPU ports, not - * the standard ARMv7-M Cortex-M port. */ + * values for the for TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits + * for the MPU region covering Flash. Defaults to 0x07UL (which means TEX=000, + * S=1, C=1, B=1) if left undefined. Only used by the FreeRTOS Cortex-M MPU + * ports, not the standard ARMv7-M Cortex-M port. */ #define configTEX_S_C_B_FLASH 0x07UL /* configTEX_S_C_B_SRAM allows application writers to override the default - * values for the for TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits for - * the MPU region covering RAM. Defaults to 0x07UL (which means TEX=000, S=1, C=1, - * B=1) if left undefined. Only used by the FreeRTOS Cortex-M MPU ports, not - * the standard ARMv7-M Cortex-M port. */ + * values for the for TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits + * for the MPU region covering RAM. Defaults to 0x07UL (which means TEX=000, + * S=1, C=1, B=1) if left undefined. Only used by the FreeRTOS Cortex-M MPU + * ports, not the standard ARMv7-M Cortex-M port. */ #define configTEX_S_C_B_SRAM 0x07UL /* Set configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY to 0 to prevent any privilege * escalations originating from outside of the kernel code itself. Set to 1 to * allow application tasks to raise privilege. Defaults to 1 if left undefined. - * Only used by the FreeRTOS Cortex-M MPU ports, not the standard ARMv7-M Cortex-M - * port. */ + * Only used by the FreeRTOS Cortex-M MPU ports, not the standard ARMv7-M + * Cortex-M port. */ #define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 1 /* Set configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS to 1 to allow unprivileged @@ -493,8 +503,8 @@ /* SMP( Symmetric MultiProcessing ) Specific Configuration definitions. *******/ /******************************************************************************/ -/* Set configNUMBER_OF_CORES to the number of available processor cores. Defaults - * to 1 if left undefined. */ +/* Set configNUMBER_OF_CORES to the number of available processor cores. + * Defaults to 1 if left undefined. */ /* #define configNUMBER_OF_CORES [Num of available cores] @@ -511,19 +521,20 @@ /* When using SMP (i.e. configNUMBER_OF_CORES is greater than one), set * configUSE_CORE_AFFINITY to 1 to enable core affinity feature. When core - * affinity feature is enabled, the vTaskCoreAffinitySet and vTaskCoreAffinityGet - * APIs can be used to set and retrieve which cores a task can run on. If - * configUSE_CORE_AFFINITY is set to 0 then the FreeRTOS scheduler is free to - * run any task on any available core. */ + * affinity feature is enabled, the vTaskCoreAffinitySet and + * vTaskCoreAffinityGet APIs can be used to set and retrieve which cores a task + * can run on. If configUSE_CORE_AFFINITY is set to 0 then the FreeRTOS + * scheduler is free to run any task on any available core. */ #define configUSE_CORE_AFFINITY 0 /* When using SMP with core affinity feature enabled, set * configTASK_DEFAULT_CORE_AFFINITY to change the default core affinity mask for - * tasks created without an affinity mask specified. Setting the define to 1 would - * make such tasks run on core 0 and setting it to (1 << portGET_CORE_ID()) would - * make such tasks run on the current core. This config value is useful, if - * swapping tasks between cores is not supported (e.g. Tricore) or if legacy code - * should be controlled. Defaults to tskNO_AFFINITY if left undefined. */ + * tasks created without an affinity mask specified. Setting the define to 1 + * would make such tasks run on core 0 and setting it to (1 << + * portGET_CORE_ID()) would make such tasks run on the current core. This config + * value is useful, if swapping tasks between cores is not supported (e.g. + * Tricore) or if legacy code should be controlled. Defaults to tskNO_AFFINITY + * if left undefined. */ #define configTASK_DEFAULT_CORE_AFFINITY tskNO_AFFINITY /* When using SMP (i.e. configNUMBER_OF_CORES is greater than one), if @@ -534,8 +545,8 @@ /* When using SMP (i.e. configNUMBER_OF_CORES is greater than one), set * configUSE_PASSIVE_IDLE_HOOK to 1 to allow the application writer to use - * the passive idle task hook to add background functionality without the overhead - * of a separate task. Defaults to 0 if left undefined. */ + * the passive idle task hook to add background functionality without the + * overhead of a separate task. Defaults to 0 if left undefined. */ #define configUSE_PASSIVE_IDLE_HOOK 0 /* When using SMP (i.e. configNUMBER_OF_CORES is greater than one), @@ -544,19 +555,19 @@ * tskNO_AFFINITY if left undefined. */ #define configTIMER_SERVICE_TASK_CORE_AFFINITY tskNO_AFFINITY - /******************************************************************************/ /* ARMv8-M secure side port related definitions. ******************************/ /******************************************************************************/ /* secureconfigMAX_SECURE_CONTEXTS define the maximum number of tasks that can - * call into the secure side of an ARMv8-M chip. Not used by any other ports. */ + * call into the secure side of an ARMv8-M chip. Not used by any other ports. + */ #define secureconfigMAX_SECURE_CONTEXTS 5 /* Defines the kernel provided implementation of * vApplicationGetIdleTaskMemory() and vApplicationGetTimerTaskMemory() - * to provide the memory that is used by the Idle task and Timer task respectively. - * The application can provide it's own implementation of + * to provide the memory that is used by the Idle task and Timer task + * respectively. The application can provide it's own implementation of * vApplicationGetIdleTaskMemory() and vApplicationGetTimerTaskMemory() by * setting configKERNEL_PROVIDED_STATIC_MEMORY to 0 or leaving it undefined. */ #define configKERNEL_PROVIDED_STATIC_MEMORY 1 @@ -571,11 +582,11 @@ * exported from secure side. */ #define configENABLE_TRUSTZONE 1 -/* If the application writer does not want to use TrustZone, but the hardware does - * not support disabling TrustZone then the entire application (including the FreeRTOS - * scheduler) can run on the secure side without ever branching to the non-secure side. - * To do that, in addition to setting configENABLE_TRUSTZONE to 0, also set - * configRUN_FREERTOS_SECURE_ONLY to 1. */ +/* If the application writer does not want to use TrustZone, but the hardware + * does not support disabling TrustZone then the entire application (including + * the FreeRTOS scheduler) can run on the secure side without ever branching to + * the non-secure side. To do that, in addition to setting + * configENABLE_TRUSTZONE to 0, also set configRUN_FREERTOS_SECURE_ONLY to 1. */ #define configRUN_FREERTOS_SECURE_ONLY 1 /* Set configENABLE_MPU to 1 to enable the Memory Protection Unit (MPU), or 0 @@ -586,27 +597,31 @@ * to leave the Floating Point Unit disabled. */ #define configENABLE_FPU 1 -/* Set configENABLE_MVE to 1 to enable the M-Profile Vector Extension (MVE) support, - * or 0 to leave the MVE support disabled. This option is only applicable to Cortex-M55 - * and Cortex-M85 ports as M-Profile Vector Extension (MVE) is available only on - * these architectures. configENABLE_MVE must be left undefined, or defined to 0 - * for the Cortex-M23,Cortex-M33 and Cortex-M35P ports. */ +/* Set configENABLE_MVE to 1 to enable the M-Profile Vector Extension (MVE) + * support, or 0 to leave the MVE support disabled. This option is only + * applicable to Cortex-M55 and Cortex-M85 ports as M-Profile Vector Extension + * (MVE) is available only on these architectures. configENABLE_MVE must be left + * undefined, or defined to 0 for the Cortex-M23,Cortex-M33 and Cortex-M35P + * ports. */ #define configENABLE_MVE 1 /******************************************************************************/ /* ARMv7-M and ARMv8-M port Specific Configuration definitions. ***************/ /******************************************************************************/ -/* Set configCHECK_HANDLER_INSTALLATION to 1 to enable additional asserts to verify - * that the application has correctly installed FreeRTOS interrupt handlers. +/* Set configCHECK_HANDLER_INSTALLATION to 1 to enable additional asserts to + * verify that the application has correctly installed FreeRTOS interrupt + * handlers. * - * An application can install FreeRTOS interrupt handlers in one of the following ways: - * 1. Direct Routing - Install the functions vPortSVCHandler and xPortPendSVHandler - * for SVC call and PendSV interrupts respectively. + * An application can install FreeRTOS interrupt handlers in one of the + * following ways: + * 1. Direct Routing - Install the functions vPortSVCHandler and + * xPortPendSVHandler for SVC call and PendSV interrupts respectively. * 2. Indirect Routing - Install separate handlers for SVC call and PendSV - * interrupts and route program control from those handlers - * to vPortSVCHandler and xPortPendSVHandler functions. - * The applications that use Indirect Routing must set configCHECK_HANDLER_INSTALLATION to 0. + * interrupts and route program control from those + * handlers to vPortSVCHandler and xPortPendSVHandler functions. The + * applications that use Indirect Routing must set + * configCHECK_HANDLER_INSTALLATION to 0. * * Defaults to 1 if left undefined. */ #define configCHECK_HANDLER_INSTALLATION 1 @@ -624,6 +639,10 @@ #define configUSE_QUEUE_SETS 0 #define configUSE_APPLICATION_TASK_TAG 0 +/* USE_POSIX_ERRNO enables the task global FreeRTOS_errno variable which will + * containthe most recent error for that task. */ +#define configUSE_POSIX_ERRNO 0 + /* Set the following INCLUDE_* constants to 1 to incldue the named API function, * or 0 to exclude the named API function. Most linkers will remove unused * functions even when the constant is 1. */ From 0801c91bc6c7a6cfd6e248a07d952619fc144653 Mon Sep 17 00:00:00 2001 From: Rahul Kar <118818625+kar-rahul-aws@users.noreply.github.com> Date: Thu, 16 May 2024 21:11:05 +0530 Subject: [PATCH 4/4] Add Noreturn attribute in template port for static analysis (#1060) * Add _Noreturn attribute in the template function to fix MISRA 17.11 advisory warnings * Add _Noreturn attribute in function declaration * Code review suggestions --- examples/cmake_example/main.c | 6 ++++-- portable/template/portmacro.h | 2 +- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/examples/cmake_example/main.c b/examples/cmake_example/main.c index 00c5405b3..b7ced4dd9 100644 --- a/examples/cmake_example/main.c +++ b/examples/cmake_example/main.c @@ -45,7 +45,7 @@ /*-----------------------------------------------------------*/ -static void exampleTask( void * parameters ); +static void exampleTask( void * parameters ) __attribute__( ( noreturn ) ); /*-----------------------------------------------------------*/ @@ -62,7 +62,7 @@ static void exampleTask( void * parameters ) } /*-----------------------------------------------------------*/ -void main( void ) +int main( void ) { static StaticTask_t exampleTaskTCB; static StackType_t exampleTaskStack[ configMINIMAL_STACK_SIZE ]; @@ -84,6 +84,8 @@ void main( void ) { /* Should not reach here. */ } + + return 0; } /*-----------------------------------------------------------*/ diff --git a/portable/template/portmacro.h b/portable/template/portmacro.h index 90668043c..4a4a5876c 100644 --- a/portable/template/portmacro.h +++ b/portable/template/portmacro.h @@ -105,7 +105,7 @@ extern void vPortYield( void ); #define portYIELD() vPortYield() /* Task function macros as described on the FreeRTOS.org WEB site. */ -#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) __attribute__( ( noreturn ) ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) #if ( configNUMBER_OF_CORES > 1 )