Merge branch 'main' into ulTaskGetRunTimeCounter

portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake

@@ -10,11 +10,28 @@ if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
     message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
 endif ()
 
-set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040")
+# first pass we look in old tree; second pass we look in new tree
-# undo the above
+foreach(SEARCH_PASS RANGE 0 1)
-set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
+    if (SEARCH_PASS)
+        # ports may be moving to submodule in the future
+        set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/Community-Supported-Ports/GCC")
+        set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../../..")
+    else()
+        set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC")
+        set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
+    endif()
 
-if (NOT FREERTOS_KERNEL_PATH)
+    if(PICO_PLATFORM STREQUAL "rp2040")
+        set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2040")
+    else()
+        if (PICO_PLATFORM STREQUAL "rp2350-riscv")
+            set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2350_RISC-V")
+        else()
+            set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2350_ARM_NTZ")
+        endif()
+    endif()
+
+    if (NOT FREERTOS_KERNEL_PATH)
         # check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
         get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
         get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
@@ -24,13 +41,15 @@ if (NOT FREERTOS_KERNEL_PATH)
         if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
             get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
             message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
+            break()
         elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
             set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
             message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
+            break()
         endif()
-endif ()
+    endif ()
 
-if (NOT FREERTOS_KERNEL_PATH)
+    if (NOT FREERTOS_KERNEL_PATH)
         foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
             # check if FreeRTOS-Kernel exists under directory that included us
             set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
@@ -41,7 +60,18 @@ if (NOT FREERTOS_KERNEL_PATH)
                 break()
             endif()
         endforeach()
-endif()
+        if (FREERTOS_KERNEL_PATH)
+            break()
+        endif()
+    endif()
+
+    # user must have specified
+    if (FREERTOS_KERNEL_PATH)
+        if (EXISTS "${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
+            break()
+        endif()
+    endif()
+endforeach ()
 
 if (NOT FREERTOS_KERNEL_PATH)
     message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.")
@@ -54,7 +84,7 @@ if (NOT EXISTS ${FREERTOS_KERNEL_PATH})
     message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found")
 endif()
 if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
-    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
+    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain a '${PICO_PLATFORM}' port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
 endif()
 set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE)
 

tasks.c

@@ -156,16 +156,15 @@
     #define configIDLE_TASK_NAME    "IDLE"
 #endif
 
+/* Reserve space for Core ID and null termination. */
 #if ( configNUMBER_OF_CORES > 1 )
-    /* Reserve space for Core ID and null termination. */
+    /* Multi-core systems with up to 9 cores require 1 character for core ID and 1 for null termination. */
     #if ( configMAX_TASK_NAME_LEN < 2U )
         #error Minimum required task name length is 2. Please increase configMAX_TASK_NAME_LEN.
     #endif
     #define taskRESERVED_TASK_NAME_LENGTH    2U
 
-#elif ( configNUMBER_OF_CORES > 9 )
+#else /* if ( configNUMBER_OF_CORES > 1 ) */
-    #warning Please increase taskRESERVED_TASK_NAME_LENGTH. 1 character is insufficient to store the core ID.
-#else
     /* Reserve space for null termination. */
     #if ( configMAX_TASK_NAME_LEN < 1U )
         #error Minimum required task name length is 1. Please increase configMAX_TASK_NAME_LEN.
@@ -3597,7 +3596,12 @@ static BaseType_t prvCreateIdleTasks( void )
          * only one idle task. */
         #if ( configNUMBER_OF_CORES > 1 )
         {
-            /* Append the idle task number to the end of the name. */
+            /* Append the idle task number to the end of the name.
+             *
+             * Note: Idle task name index only supports single-character
+             * core IDs (0-9). If the core ID exceeds 9, the idle task
+             * name will contain an incorrect ASCII character. This is
+             * acceptable as the task name is used mainly for debugging. */
             cIdleName[ xIdleTaskNameIndex ] = ( char ) ( xCoreID + '0' );
             cIdleName[ xIdleTaskNameIndex + 1 ] = '\0';
         }