Merge branch 'master' into fix/configUSE_TIME_SLICING

.github/CODEOWNERS

@@ -0,0 +1,39 @@
+# Each line is a file pattern followed by one or more owners.
+
+# These owners will be the default owners for everything in
+# the repo. Unless a later match takes precedence,
+# @global-owner1 and @global-owner2 will be requested for
+# review when someone opens a pull request.
+*      @FreeRTOS/pr-bar-raiser
+
+# Order is important; the last matching pattern takes the most
+# precedence. When someone opens a pull request that only
+# modifies JS files, only @js-owner and not the global
+# owner(s) will be requested for a review.
+# *.c FreeRTOS/pr-bar-raiser
+
+# You can also use email addresses if you prefer. They'll be
+# used to look up users just like we do for commit author
+# emails.
+# *.go docs@example.com
+
+# In this example, @doctocat owns any files in the build/logs
+# directory at the root of the repository and any of its
+# subdirectories.
+# /build/logs/ @doctocat
+
+# The `docs/*` pattern will match files like
+# `docs/getting-started.md` but not further nested files like
+# `docs/build-app/troubleshooting.md`.
+# docs/*  docs@example.com
+
+# In this example, @octocat owns any file in an apps directory
+# anywhere in your repository.
+# apps/ @octocat
+
+# In this example, @doctocat owns any file in the `/docs`
+# directory in the root of your repository and any of its
+# subdirectories.
+# /docs/ @doctocat
+
+

.github/workflows/ci.yml

@@ -28,7 +28,7 @@ jobs:
           PATH=$PATH:main/tools/spell
           # Make sure that the portable directory is not included in the spellcheck.
           sed -i 's/find $DIRNAME/find $DIRNAME -not -path '*portable*'/g' main/tools/spell/find-unknown-comment-words
-          find-unknown-comment-words --directory kernel/
+          find-unknown-comment-words --directory kernel/ --lexicon ./kernel/.github/lexicon.txt
           if [ "$?" = "0" ]; then
             exit 0
           else

include/task.h

@@ -129,7 +129,7 @@ typedef struct xMEMORY_REGION
 typedef struct xTASK_PARAMETERS
 {
     TaskFunction_t pvTaskCode;
-    const char * const pcName;     /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+    const char * pcName;     /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
     configSTACK_DEPTH_TYPE usStackDepth;
     void * pvParameters;
     UBaseType_t uxPriority;

portable/GCC/ATMega323/port.c

@@ -402,8 +402,8 @@ uint8_t ucHighByte, ucLowByte;
 	 * the context is saved at the start of vPortYieldFromTick().  The tick
 	 * count is incremented after the context is saved.
 	 */
-	void SIG_OUTPUT_COMPARE1A( void ) __attribute__ ( ( signal, naked ) );
+	void TIMER1_COMPA_vect( void ) __attribute__ ( ( signal, naked ) );
-	void SIG_OUTPUT_COMPARE1A( void )
+	void TIMER1_COMPA_vect( void )
 	{
 		vPortYieldFromTick();
 		asm volatile ( "reti" );
@@ -415,8 +415,8 @@ uint8_t ucHighByte, ucLowByte;
 	 * tick count.  We don't need to switch context, this can only be done by
 	 * manual calls to taskYIELD();
 	 */
-	void SIG_OUTPUT_COMPARE1A( void ) __attribute__ ( ( signal ) );
+	void TIMER1_COMPA_vect( void ) __attribute__ ( ( signal ) );
-	void SIG_OUTPUT_COMPARE1A( void )
+	void TIMER1_COMPA_vect( void )
 	{
 		xTaskIncrementTick();
 	}

portable/IAR/AVR_AVRDx/porthardware.h

@@ -1,7 +1,9 @@
 #ifndef PORTHARDWARE_H
 #define PORTHARDWARE_H
 
-#include <ioavr.h>
+#ifndef __IAR_SYSTEMS_ASM__
+    #include <ioavr.h>
+#endif
 #include "FreeRTOSConfig.h"
 
 /*-----------------------------------------------------------*/

portable/IAR/AVR_Mega0/porthardware.h

@@ -1,7 +1,9 @@
 #ifndef PORTHARDWARE_H
 #define PORTHARDWARE_H
 
-#include <ioavr.h>
+#ifndef __IAR_SYSTEMS_ASM__
+    #include <ioavr.h>
+#endif
 #include "FreeRTOSConfig.h"
 
 /*-----------------------------------------------------------*/

portable/ThirdParty/GCC/Xtensa_ESP32/port.c

@@ -176,7 +176,7 @@ void _xt_user_exit( void );
     #endif
 
     /* Create interrupt stack frame aligned to 16 byte boundary */
-    sp = ( StackType_t * ) ( ( ( UBaseType_t ) ( pxTopOfStack + 1 ) - XT_CP_SIZE - XT_STK_FRMSZ ) & ~0xf );
+    sp = ( StackType_t * ) ( ( ( UBaseType_t ) pxTopOfStack - XT_CP_SIZE - XT_STK_FRMSZ ) & ~0xf );
 
     /* Clear the entire frame (do not use memset() because we don't depend on C library) */
     for( tp = sp; tp <= pxTopOfStack; ++tp )
@@ -229,6 +229,7 @@ void _xt_user_exit( void );
          * //p = (uint32_t *) xMPUSettings->coproc_area;
          */
         p = ( uint32_t * ) ( ( ( uint32_t ) pxTopOfStack - XT_CP_SIZE ) & ~0xf );
+        configASSERT( ( uint32_t ) p >= frame->a1 );
         p[ 0 ] = 0;
         p[ 1 ] = 0;
         p[ 2 ] = ( ( ( uint32_t ) p ) + 12 + XCHAL_TOTAL_SA_ALIGN - 1 ) & -XCHAL_TOTAL_SA_ALIGN;
@@ -319,7 +320,9 @@ void vPortYieldOtherCore( BaseType_t coreid )
                                     uint32_t usStackDepth )
     {
         #if XCHAL_CP_NUM > 0
-            xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( ( uint32_t ) ( pxBottomOfStack + usStackDepth - 1 ) ) - XT_CP_SIZE ) & ~0xf );
+            xMPUSettings->coproc_area = ( StackType_t * ) ( ( uint32_t ) ( pxBottomOfStack + usStackDepth - 1 ));
+            xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) xMPUSettings->coproc_area ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) );
+            xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( uint32_t ) xMPUSettings->coproc_area - XT_CP_SIZE ) & ~0xf );
 
 
             /* NOTE: we cannot initialize the coprocessor save area here because FreeRTOS is going to

portable/ThirdParty/GCC/Xtensa_ESP32_IDF3/port.c

@@ -157,7 +157,7 @@ void _xt_user_exit( void );
     #endif
 
     /* Create interrupt stack frame aligned to 16 byte boundary */
-    sp = ( StackType_t * ) ( ( ( UBaseType_t ) ( pxTopOfStack + 1 ) - XT_CP_SIZE - XT_STK_FRMSZ ) & ~0xf );
+    sp = ( StackType_t * ) ( ( ( UBaseType_t ) pxTopOfStack - XT_CP_SIZE - XT_STK_FRMSZ ) & ~0xf );
 
     /* Clear the entire frame (do not use memset() because we don't depend on C library) */
     for( tp = sp; tp <= pxTopOfStack; ++tp )
@@ -196,6 +196,7 @@ void _xt_user_exit( void );
          * //p = (uint32_t *) xMPUSettings->coproc_area;
          */
         p = ( uint32_t * ) ( ( ( uint32_t ) pxTopOfStack - XT_CP_SIZE ) & ~0xf );
+        configASSERT( ( uint32_t ) p >= frame->a1 );
         p[ 0 ] = 0;
         p[ 1 ] = 0;
         p[ 2 ] = ( ( ( uint32_t ) p ) + 12 + XCHAL_TOTAL_SA_ALIGN - 1 ) & -XCHAL_TOTAL_SA_ALIGN;
@@ -286,9 +287,11 @@ void vPortYieldOtherCore( BaseType_t coreid )
                                     uint32_t usStackDepth )
     {
         #if XCHAL_CP_NUM > 0
-            xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( ( uint32_t ) ( pxBottomOfStack + usStackDepth - 1 ) ) - XT_CP_SIZE ) & ~0xf );
+            xMPUSettings->coproc_area = ( StackType_t * ) ( ( uint32_t ) ( pxBottomOfStack + usStackDepth - 1 ));
-
+            xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) xMPUSettings->coproc_area ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) );
+            xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( uint32_t ) xMPUSettings->coproc_area - XT_CP_SIZE ) & ~0xf );
 
+                
             /* NOTE: we cannot initialize the coprocessor save area here because FreeRTOS is going to
              * clear the stack area after we return. This is done in pxPortInitialiseStack().
              */

portable/ThirdParty/XCC/Xtensa/port.c

@@ -90,55 +90,60 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
 #endif
 {
-	StackType_t *sp, *tp;
+    StackType_t * sp, * tp;
-	XtExcFrame  *frame;
+    XtExcFrame * frame;
-	#if XCHAL_CP_NUM > 0
-	uint32_t *p;
-	#endif
 
-	/* Create interrupt stack frame aligned to 16 byte boundary */
+    #if XCHAL_CP_NUM > 0
-	sp = (StackType_t *) (((UBaseType_t)(pxTopOfStack + 1) - XT_CP_SIZE - XT_STK_FRMSZ) & ~0xf);
+        uint32_t * p;
+    #endif
 
-	/* Clear the entire frame (do not use memset() because we don't depend on C library) */
+    /* Create interrupt stack frame aligned to 16 byte boundary */
-	for (tp = sp; tp <= pxTopOfStack; ++tp)
+    sp = ( StackType_t * ) ( ( ( UBaseType_t ) pxTopOfStack - XT_CP_SIZE - XT_STK_FRMSZ ) & ~0xf );
-		*tp = 0;
 
-	frame = (XtExcFrame *) sp;
+    /* Clear the entire frame (do not use memset() because we don't depend on C library) */
+    for( tp = sp; tp <= pxTopOfStack; ++tp )
+    {
+        *tp = 0;
+    }
 
-	/* Explicitly initialize certain saved registers */
+    frame = ( XtExcFrame * ) sp;
-	frame->pc   = (UBaseType_t) pxCode;             /* task entrypoint                */
-	frame->a0   = 0;                                /* to terminate GDB backtrace     */
-	frame->a1   = (UBaseType_t) sp + XT_STK_FRMSZ;  /* physical top of stack frame    */
-	frame->exit = (UBaseType_t) _xt_user_exit;      /* user exception exit dispatcher */
 
-	/* Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode. */
+    /* Explicitly initialize certain saved registers */
-	/* Also set entry point argument parameter. */
+    frame->pc = ( UBaseType_t ) pxCode;             /* task entrypoint                */
-	#ifdef __XTENSA_CALL0_ABI__
+    frame->a0 = 0;                                  /* to terminate GDB backtrace     */
-	frame->a2 = (UBaseType_t) pvParameters;
+    frame->a1 = ( UBaseType_t ) sp + XT_STK_FRMSZ;  /* physical top of stack frame    */
-	frame->ps = PS_UM | PS_EXCM;
+    frame->exit = ( UBaseType_t ) _xt_user_exit;    /* user exception exit dispatcher */
-	#else
-	/* + for windowed ABI also set WOE and CALLINC (pretend task was 'call4'd). */
-	frame->a6 = (UBaseType_t) pvParameters;
-	frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC(1);
-	#endif
 
-	#ifdef XT_USE_SWPRI
+    /* Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode. */
-	/* Set the initial virtual priority mask value to all 1's. */
+    /* Also set entry point argument parameter. */
-	frame->vpri = 0xFFFFFFFF;
+    #ifdef __XTENSA_CALL0_ABI__
-	#endif
+        frame->a2 = ( UBaseType_t ) pvParameters;
+        frame->ps = PS_UM | PS_EXCM;
+    #else
+        /* + for windowed ABI also set WOE and CALLINC (pretend task was 'call4'd). */
+        frame->a6 = ( UBaseType_t ) pvParameters;
+        frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC( 1 );
+    #endif
 
-	#if XCHAL_CP_NUM > 0
+    #ifdef XT_USE_SWPRI
-	/* Init the coprocessor save area (see xtensa_context.h) */
+        /* Set the initial virtual priority mask value to all 1's. */
-	/* No access to TCB here, so derive indirectly. Stack growth is top to bottom.
+        frame->vpri = 0xFFFFFFFF;
+    #endif
+
+    #if XCHAL_CP_NUM > 0
+        /* Init the coprocessor save area (see xtensa_context.h) */
+
+        /* No access to TCB here, so derive indirectly. Stack growth is top to bottom.
          * //p = (uint32_t *) xMPUSettings->coproc_area;
-	 */
+         */
-	p = (uint32_t *)(((uint32_t) pxTopOfStack - XT_CP_SIZE) & ~0xf);
+        p = ( uint32_t * ) ( ( ( uint32_t ) pxTopOfStack - XT_CP_SIZE ) & ~0xf );
-	p[0] = 0;
+        configASSERT( ( uint32_t ) p >= frame->a1 );
-	p[1] = 0;
+        p[ 0 ] = 0;
-	p[2] = (((uint32_t) p) + 12 + XCHAL_TOTAL_SA_ALIGN - 1) & -XCHAL_TOTAL_SA_ALIGN;
+        p[ 1 ] = 0;
-	#endif
+        p[ 2 ] = ( ( ( uint32_t ) p ) + 12 + XCHAL_TOTAL_SA_ALIGN - 1 ) & -XCHAL_TOTAL_SA_ALIGN;
+    #endif
 
-	return sp;
+    return sp;
 }
 
 /*-----------------------------------------------------------*/
@@ -207,16 +212,19 @@ BaseType_t xPortSysTickHandler( void )
  * Used to set coprocessor area in stack. Current hack is to reuse MPU pointer for coprocessor area.
  */
 #if portUSING_MPU_WRAPPERS
-void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t ulStackDepth )
+void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
+                                const struct xMEMORY_REGION * const xRegions,
+                                StackType_t * pxBottomOfStack,
+                                uint32_t ulStackDepth )
 {
-	#if XCHAL_CP_NUM > 0
+    #if XCHAL_CP_NUM > 0
-	xMPUSettings->coproc_area = (StackType_t*)((((uint32_t)(pxBottomOfStack + ulStackDepth - 1)) - XT_CP_SIZE ) & ~0xf);
+        xMPUSettings->coproc_area = ( StackType_t * ) ( ( uint32_t ) ( pxBottomOfStack + ulStackDepth - 1 ));
+        xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) xMPUSettings->coproc_area ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) );
+        xMPUSettings->coproc_area = ( StackType_t * ) ( ( ( uint32_t ) xMPUSettings->coproc_area - XT_CP_SIZE ) & ~0xf );
 
-
+        /* NOTE: we cannot initialize the coprocessor save area here because FreeRTOS is going to
-	/* NOTE: we cannot initialize the coprocessor save area here because FreeRTOS is going to
          * clear the stack area after we return. This is done in pxPortInitialiseStack().
-	 */
+         */
-	#endif
+    #endif
 }
-#endif
+#endif /* if portUSING_MPU_WRAPPERS */
-

tasks.c

@@ -1949,6 +1949,11 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
                     if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
                     {
                         xYieldRequired = pdTRUE;
+
+                        /* Mark that a yield is pending in case the user is not
+                         * using the return value to initiate a context switch
+                         * from the ISR using portYIELD_FROM_ISR. */
+                        xYieldPending = pdTRUE;
                     }
                     else
                     {