Merge branch 'main' into update-pxcurrentTCB

README.md

@@ -14,12 +14,12 @@ application projects.  That way you will have the correct FreeRTOS source files
 included, and the correct include paths configured. Once a demo application is
 building and executing you can remove the demo application files, and start to
 add in your own application source files.  See the
-[FreeRTOS Kernel Quick Start Guide](https://www.FreeRTOS.org/FreeRTOS-quick-start-guide.html)
+[FreeRTOS Kernel Quick Start Guide](https://www.freertos.org/Documentation/01-FreeRTOS-quick-start/01-Beginners-guide/02-Quick-start-guide)
 for detailed instructions and other useful links.
 
 Additionally, for FreeRTOS kernel feature information refer to the
-[Developer Documentation](https://www.FreeRTOS.org/features.html),
+[Developer Documentation](https://www.freertos.org/Documentation/02-Kernel/02-Kernel-features/00-Developer-docs),
-and [API Reference](https://www.FreeRTOS.org/a00106.html).
+and [API Reference](https://www.freertos.org/Documentation/02-Kernel/04-API-references/01-Task-creation/00-TaskHandle).
 
 Also for contributing and creating a Pull Request please refer to
 [the instructions here](.github/CONTRIBUTING.md#contributing-via-pull-request).

examples/cmake_example/main.c

@@ -30,7 +30,7 @@
  * This is a simple main that will start the FreeRTOS-Kernel and run a periodic task
  * that only delays if compiled with the template port, this project will do nothing.
  * For more information on getting started please look here:
- * https://freertos.org/FreeRTOS-quick-start-guide.html
+ * https://www.freertos.org/Documentation/01-FreeRTOS-quick-start/01-Beginners-guide/02-Quick-start-guide
  */
 
 /* FreeRTOS includes. */

include/queue.h

@@ -1645,7 +1645,7 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  * or semaphores contained in the set is in a state where a queue read or
  * semaphore take operation would be successful.
  *
- * Note 1:  See the documentation on https://www.FreeRTOS.org/RTOS-queue-sets.html
+ * Note 1:  See the documentation on https://www.freertos.org/Documentation/02-Kernel/04-API-references/07-Queue-sets/00-RTOS-queue-sets
  * for reasons why queue sets are very rarely needed in practice as there are
  * simpler methods of blocking on multiple objects.
  *
@@ -1742,7 +1742,7 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
  * function.
  *
- * Note 1:  See the documentation on https://www.FreeRTOS.org/RTOS-queue-sets.html
+ * Note 1:  See the documentation on https://www.freertos.org/Documentation/02-Kernel/04-API-references/07-Queue-sets/00-RTOS-queue-sets
  * for reasons why queue sets are very rarely needed in practice as there are
  * simpler methods of blocking on multiple objects.
  *

list.c

@@ -166,7 +166,7 @@ void vListInsert( List_t * const pxList,
     {
         /* *** NOTE ***********************************************************
         *  If you find your application is crashing here then likely causes are
-        *  listed below.  In addition see https://www.FreeRTOS.org/FAQHelp.html for
+        *  listed below.  In addition see https://www.freertos.org/Why-FreeRTOS/FAQs for
         *  more tips, and ensure configASSERT() is defined!
         *  https://www.FreeRTOS.org/a00110.html#configASSERT
         *

portable/ARMv8M/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/CCS/ARM_CM3/port.c

@@ -669,7 +669,7 @@ void vPortSetupTimerInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/CCS/ARM_CM4F/port.c

@@ -694,7 +694,7 @@ void vPortSetupTimerInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CM0/port.c

@@ -1288,7 +1288,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if

portable/GCC/ARM_CM23/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CM23_NTZ/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CM3/port.c

@@ -292,7 +292,7 @@ BaseType_t xPortStartScheduler( void )
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -801,7 +801,7 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CM33/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CM33_NTZ/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CM35P/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CM35P_NTZ/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CM3_MPU/port.c

@@ -767,7 +767,7 @@ BaseType_t xPortStartScheduler( void )
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -1462,7 +1462,7 @@ void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CM4F/port.c

@@ -335,7 +335,7 @@ BaseType_t xPortStartScheduler( void )
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -886,7 +886,7 @@ static void vPortEnableVFP( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CM4_MPU/port.c

@@ -853,7 +853,7 @@ BaseType_t xPortStartScheduler( void )
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -1605,7 +1605,7 @@ void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CM55/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CM55_NTZ/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CM7/r0p1/port.c

@@ -323,7 +323,7 @@ BaseType_t xPortStartScheduler( void )
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -876,7 +876,7 @@ static void vPortEnableVFP( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CM85/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CM85_NTZ/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/GCC/ARM_CRx_No_GIC/port.c

@@ -28,6 +28,7 @@
 
 /* Standard includes. */
 #include <stdlib.h>
+#include <string.h>
 
 /* Scheduler includes. */
 #include "FreeRTOS.h"
@@ -80,13 +81,22 @@
     #define portTASK_RETURN_ADDRESS    prvTaskExitError
 #endif
 
+/* The space on the stack required to hold the FPU registers. */
+#if ( configFPU_D32 == 1 )
+    #define portFPU_REGISTER_WORDS     ( ( 32 * 2 ) + 1 ) /* D0-D31 and FPSCR. */
+#else
+    #define portFPU_REGISTER_WORDS     ( ( 16 * 2 ) + 1 ) /* D0-D15 and FPSCR. */
+#endif /* configFPU_D32 */
+
 /*-----------------------------------------------------------*/
 
 /*
- * Starts the first task executing.  This function is necessarily written in
+ * These functions are necessarily written in assembly code, so are implemented
- * assembly code so is implemented in portASM.s.
+ * in portASM.S.
  */
 extern void vPortRestoreTaskContext( void );
+extern void vPortInitialiseFPSCR( void );
+extern uint32_t ulReadAPSR( void );
 
 /*
  * Used to catch tasks that attempt to return from their implementing function.
@@ -184,12 +194,33 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
     /* The task will start with a critical nesting count of 0 as interrupts are
      * enabled. */
     *pxTopOfStack = portNO_CRITICAL_NESTING;
-    pxTopOfStack--;
 
+    #if ( configUSE_TASK_FPU_SUPPORT == 1 )
+    {
         /* The task will start without a floating point context.  A task that uses
          * the floating point hardware must call vPortTaskUsesFPU() before executing
          * any floating point instructions. */
+        pxTopOfStack--;
         *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;
+    }
+    #elif ( configUSE_TASK_FPU_SUPPORT == 2 )
+    {
+        /* The task will start with a floating point context.  Leave enough
+         * space for the registers - and ensure they are initialised to 0. */
+        pxTopOfStack -= portFPU_REGISTER_WORDS;
+        memset( pxTopOfStack, 0x00, portFPU_REGISTER_WORDS * sizeof( StackType_t ) );
+
+        /* Initialise the slot containing ulPortTaskHasFPUContext to true as
+         * the task starts with a floating point context. */
+        pxTopOfStack--;
+        *pxTopOfStack = pdTRUE;
+        ulPortTaskHasFPUContext = pdTRUE;
+    }
+    #else
+    {
+        #error "Invalid configUSE_TASK_FPU_SUPPORT value - configUSE_TASK_FPU_SUPPORT must be set to 1, 2, or left undefined."
+    }
+    #endif /* if ( configUSE_TASK_FPU_SUPPORT == 1 ) */
 
     return pxTopOfStack;
 }
@@ -218,7 +249,7 @@ BaseType_t xPortStartScheduler( void )
 
     /* Only continue if the CPU is not in User mode.  The CPU must be in a
      * Privileged mode for the scheduler to start. */
-    __asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR )::"memory" );
+    ulAPSR = ulReadAPSR();
 
     ulAPSR &= portAPSR_MODE_BITS_MASK;
     configASSERT( ulAPSR != portAPSR_USER_MODE );
@@ -310,15 +341,17 @@ void FreeRTOS_Tick_Handler( void )
 }
 /*-----------------------------------------------------------*/
 
+#if ( configUSE_TASK_FPU_SUPPORT != 2 )
+
     void vPortTaskUsesFPU( void )
     {
-    uint32_t ulInitialFPSCR = 0;
-
         /* A task is registering the fact that it needs an FPU context.  Set the
          * FPU flag (which is saved as part of the task context). */
         ulPortTaskHasFPUContext = pdTRUE;
 
         /* Initialise the floating point status register. */
-    __asm volatile ( "FMXR  FPSCR, %0" ::"r" ( ulInitialFPSCR ) : "memory" );
+        vPortInitialiseFPSCR();
     }
+
+#endif /* configUSE_TASK_FPU_SUPPORT */
 /*-----------------------------------------------------------*/

portable/GCC/ARM_CRx_No_GIC/portASM.S

@@ -28,14 +28,14 @@
 
     .text
     .arm
+    .syntax unified
 
     .set SYS_MODE,   0x1f
     .set SVC_MODE,   0x13
     .set IRQ_MODE,   0x12
+    .set CPSR_I_BIT, 0x80
 
     /* Variables and functions. */
-    .extern ulMaxAPIPriorityMask
-    .extern _freertos_vector_table
     .extern pxCurrentTCB
     .extern vTaskSwitchContext
     .extern vApplicationIRQHandler
@@ -47,29 +47,38 @@
     .global FreeRTOS_IRQ_Handler
     .global FreeRTOS_SVC_Handler
     .global vPortRestoreTaskContext
+    .global vPortInitialiseFPSCR
+    .global ulReadAPSR
+    .global vPortYield
+    .global vPortEnableInterrupts
+    .global vPortDisableInterrupts
+    .global ulPortSetInterruptMaskFromISR
+    .global ulPortCountLeadingZeros
 
+    .weak   vApplicationSVCHandler
+/*-----------------------------------------------------------*/
 
 .macro portSAVE_CONTEXT
 
     /* Save the LR and SPSR onto the system mode stack before switching to
-    system mode to save the remaining system mode registers. */
+     * system mode to save the remaining system mode registers. */
-    SRSDB   sp!, #SYS_MODE
+    SRSDB   SP!, #SYS_MODE
     CPS     #SYS_MODE
     PUSH    {R0-R12, R14}
 
     /* Push the critical nesting count. */
-    LDR     R2, ulCriticalNestingConst
+    LDR     R2, =ulCriticalNesting
     LDR     R1, [R2]
     PUSH    {R1}
 
     /* Does the task have a floating point context that needs saving?  If
-    ulPortTaskHasFPUContext is 0 then no. */
+     * ulPortTaskHasFPUContext is 0 then no. */
-    LDR     R2, ulPortTaskHasFPUContextConst
+    LDR     R2, =ulPortTaskHasFPUContext
     LDR     R3, [R2]
     CMP     R3, #0
 
     /* Save the floating point context, if any. */
-    FMRXNE  R1,  FPSCR
+    VMRSNE  R1,  FPSCR
     VPUSHNE {D0-D15}
 #if configFPU_D32 == 1
     VPUSHNE {D16-D31}
@@ -80,24 +89,24 @@
     PUSH    {R3}
 
     /* Save the stack pointer in the TCB. */
-    LDR     R0, pxCurrentTCBConst
+    LDR     R0, =pxCurrentTCB
     LDR     R1, [R0]
     STR     SP, [R1]
 
     .endm
 
-; /**********************************************************************/
+/*-----------------------------------------------------------*/
 
 .macro portRESTORE_CONTEXT
 
     /* Set the SP to point to the stack of the task being restored. */
-    LDR     R0, pxCurrentTCBConst
+    LDR     R0, =pxCurrentTCB
     LDR     R1, [R0]
     LDR     SP, [R1]
 
     /* Is there a floating point context to restore?  If the restored
-    ulPortTaskHasFPUContext is zero then no. */
+     * ulPortTaskHasFPUContext is zero then no. */
-    LDR     R0, ulPortTaskHasFPUContextConst
+    LDR     R0, =ulPortTaskHasFPUContext
     POP     {R1}
     STR     R1, [R0]
     CMP     R1, #0
@@ -111,7 +120,7 @@
     VMSRNE  FPSCR, R0
 
     /* Restore the critical section nesting depth. */
-    LDR     R0, ulCriticalNestingConst
+    LDR     R0, =ulCriticalNesting
     POP     {R1}
     STR     R1, [R0]
 
@@ -120,29 +129,17 @@
     POP     {R0-R12, R14}
 
     /* Return to the task code, loading CPSR on the way. */
-    RFEIA   sp!
+    RFEIA   SP!
 
     .endm
 
+/*-----------------------------------------------------------*/
 
-
+/*
-
+ * void vPortRestoreTaskContext( void );
-/******************************************************************************
+ *
- * SVC handler is used to yield.
- *****************************************************************************/
-.align 4
-.type FreeRTOS_SVC_Handler, %function
-FreeRTOS_SVC_Handler:
-    /* Save the context of the current task and select a new task to run. */
-    portSAVE_CONTEXT
-    LDR R0, vTaskSwitchContextConst
-    BLX R0
-    portRESTORE_CONTEXT
-
-
-/******************************************************************************
  * vPortRestoreTaskContext is used to start the scheduler.
- *****************************************************************************/
+ */
 .align 4
 .type vPortRestoreTaskContext, %function
 vPortRestoreTaskContext:
@@ -150,72 +147,212 @@ vPortRestoreTaskContext:
     CPS     #SYS_MODE
     portRESTORE_CONTEXT
 
+/*-----------------------------------------------------------*/
+
+/*
+ * void vPortInitialiseFPSCR( void );
+ *
+ * vPortInitialiseFPSCR is used to initialize the FPSCR register.
+ */
+.align 4
+.type vPortInitialiseFPSCR, %function
+vPortInitialiseFPSCR:
+    MOV     R0, #0
+    VMSR    FPSCR, R0
+    BX      LR
+
+/*-----------------------------------------------------------*/
+
+/*
+ * uint32_t ulReadAPSR( void );
+ *
+ * ulReadAPSR is used to read the value of APSR context.
+ */
+.align 4
+.type ulReadAPSR, %function
+ulReadAPSR:
+    MRS R0, APSR
+    BX  LR
+
+/*-----------------------------------------------------------*/
+
+/*
+ * void vPortYield( void );
+ */
+.align 4
+.type vPortYield, %function
+vPortYield:
+    SVC 0
+    ISB
+    BX  LR
+
+/*-----------------------------------------------------------*/
+
+/*
+ * void vPortEnableInterrupts( void );
+ */
+.align 4
+.type vPortEnableInterrupts, %function
+vPortEnableInterrupts:
+    CPSIE   I
+    BX      LR
+
+/*-----------------------------------------------------------*/
+
+/*
+ * void vPortDisableInterrupts( void );
+ */
+.align 4
+.type vPortDisableInterrupts, %function
+vPortDisableInterrupts:
+    CPSID    I
+    DSB
+    ISB
+    BX      LR
+
+/*-----------------------------------------------------------*/
+
+/*
+ * uint32_t ulPortSetInterruptMaskFromISR( void );
+ */
+.align 4
+.type ulPortSetInterruptMaskFromISR, %function
+ulPortSetInterruptMaskFromISR:
+    MRS     R0, CPSR
+    AND     R0, R0, #CPSR_I_BIT
+    CPSID   I
+    DSB
+    ISB
+    BX      LR
+
+/*-----------------------------------------------------------*/
+
+/*
+ * void vApplicationSVCHandler( uint32_t ulSvcNumber );
+ */
+.align 4
+.type vApplicationSVCHandler, %function
+vApplicationSVCHandler:
+    B vApplicationSVCHandler
+
+/*-----------------------------------------------------------*/
+
+/*
+ * UBaseType_t ulPortCountLeadingZeros( UBaseType_t ulBitmap );
+ *
+ * According to the Procedure Call Standard for the ARM Architecture (AAPCS):
+ * - Parameter ulBitmap is passed in R0.
+ * - Return value must be in R0.
+ */
+.align 4
+.type ulPortCountLeadingZeros, %function
+ulPortCountLeadingZeros:
+    CLZ     R0, R0
+    BX      LR
+
+/*-----------------------------------------------------------*/
+
+/*
+ * SVC handler is used to yield.
+ */
+.align 4
+.type FreeRTOS_SVC_Handler, %function
+FreeRTOS_SVC_Handler:
+    PUSH    { R0-R1 }
+
+    /* ---------------------------- Get Caller SVC Number ---------------------------- */
+    MRS     R0, SPSR               /* R0 = CPSR at the time of SVC. */
+    TST     R0, #0x20              /* Check Thumb bit (5) in CPSR. */
+    LDRHNE  R0, [LR, #-0x2]        /* If Thumb, load halfword. */
+    BICNE   R0, R0, #0xFF00        /* And extract immidiate field (i.e. SVC number). */
+    LDREQ   R0, [LR, #-0x4]        /* If ARM, load word. */
+    BICEQ   R0, R0, #0xFF000000    /* And extract immidiate field (i.e. SVC number). */
+
+    /* --------------------------------- SVC Routing --------------------------------- */
+    CMP     R0, #0
+    BEQ     svcPortYield
+    BNE     svcApplicationCall
+
+svcPortYield:
+    POP     { R0-R1 }
+    portSAVE_CONTEXT
+    BLX     vTaskSwitchContext
+    portRESTORE_CONTEXT
+
+svcApplicationCall:
+    POP     { R0-R1 }
+    portSAVE_CONTEXT
+    BLX     vApplicationSVCHandler
+    portRESTORE_CONTEXT
+
+/*-----------------------------------------------------------*/
+
 .align 4
 .type FreeRTOS_IRQ_Handler, %function
 FreeRTOS_IRQ_Handler:
     /* Return to the interrupted instruction. */
-    SUB     lr, lr, #4
+    SUB     LR, LR, #4
 
     /* Push the return address and SPSR. */
-    PUSH    {lr}
+    PUSH    {LR}
-    MRS     lr, SPSR
+    MRS     LR, SPSR
-    PUSH    {lr}
+    PUSH    {LR}
 
     /* Change to supervisor mode to allow reentry. */
-    CPS     #0x13
+    CPS     #SVC_MODE
 
     /* Push used registers. */
-    PUSH    {r0-r3, r12}
+    PUSH    {R0-R3, R12}
 
     /* Increment nesting count.  r3 holds the address of ulPortInterruptNesting
-    for future use.  r1 holds the original ulPortInterruptNesting value for
+     * for future use.  r1 holds the original ulPortInterruptNesting value for
-    future use. */
+     * future use. */
-    LDR     r3, ulPortInterruptNestingConst
+    LDR     R3, =ulPortInterruptNesting
-    LDR     r1, [r3]
+    LDR     R1, [R3]
-    ADD     r0, r1, #1
+    ADD     R0, R1, #1
-    STR     r0, [r3]
+    STR     R0, [R3]
 
     /* Ensure bit 2 of the stack pointer is clear.  r2 holds the bit 2 value for
-    future use. */
+     * future use. */
-    MOV     r0, sp
+    MOV     R0, SP
-    AND     r2, r0, #4
+    AND     R2, R0, #4
-    SUB     sp, sp, r2
+    SUB     SP, SP, R2
 
     /* Call the interrupt handler. */
-    PUSH    {r0-r3, lr}
+    PUSH    {R0-R3, LR}
-    LDR     r1, vApplicationIRQHandlerConst
+    BLX     vApplicationIRQHandler
-    BLX     r1
+    POP     {R0-R3, LR}
-    POP     {r0-r3, lr}
+    ADD     SP, SP, R2
-    ADD     sp, sp, r2
 
+    /* Disable IRQs incase vApplicationIRQHandler enabled them for re-entry. */
     CPSID   i
     DSB
     ISB
 
     /* Write to the EOI register. */
-    LDR     r0, ulICCEOIRConst
+    LDR     R0, =ulICCEOIR
-    LDR     r2, [r0]
+    LDR     R2, [R0]
-    STR     r0, [r2]
+    STR     R0, [R2]
 
     /* Restore the old nesting count. */
-    STR     r1, [r3]
+    STR     R1, [R3]
 
     /* A context switch is never performed if the nesting count is not 0. */
-    CMP     r1, #0
+    CMP     R1, #0
     BNE     exit_without_switch
 
     /* Did the interrupt request a context switch?  r1 holds the address of
-    ulPortYieldRequired and r0 the value of ulPortYieldRequired for future
+     * ulPortYieldRequired and r0 the value of ulPortYieldRequired for future
-    use. */
+     * use. */
-    LDR     r1, ulPortYieldRequiredConst
+    LDR     R1, =ulPortYieldRequired
-    LDR     r0, [r1]
+    LDR     R0, [R1]
-    CMP     r0, #0
+    CMP     R0, #0
     BNE     switch_before_exit
 
 exit_without_switch:
     /* No context switch.  Restore used registers, LR_irq and SPSR before
-    returning. */
+     * returning. */
-    POP     {r0-r3, r12}
+    POP     {R0-R3, R12}
     CPS     #IRQ_MODE
     POP     {LR}
     MSR     SPSR_cxsf, LR
@@ -224,13 +361,13 @@ exit_without_switch:
 
 switch_before_exit:
     /* A context switch is to be performed.  Clear the context switch pending
-    flag. */
+     * flag. */
-    MOV     r0, #0
+    MOV     R0, #0
-    STR     r0, [r1]
+    STR     R0, [R1]
 
     /* Restore used registers, LR-irq and SPSR before saving the context
-    to the task stack. */
+     * to the task stack. */
-    POP     {r0-r3, r12}
+    POP     {R0-R3, R12}
     CPS     #IRQ_MODE
     POP     {LR}
     MSR     SPSR_cxsf, LR
@@ -238,23 +375,15 @@ switch_before_exit:
     portSAVE_CONTEXT
 
     /* Call the function that selects the new task to execute.
-    vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD
+     * vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD
-    instructions, or 8 byte aligned stack allocated data.  LR does not need
+     * instructions, or 8 byte aligned stack allocated data.  LR does not need
-    saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. */
+     * saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. */
-    LDR     R0, vTaskSwitchContextConst
+    BLX     vTaskSwitchContext
-    BLX     R0
 
     /* Restore the context of, and branch to, the task selected to execute
-    next. */
+     * next. */
     portRESTORE_CONTEXT
 
-ulICCEOIRConst: .word ulICCEOIR
+/*-----------------------------------------------------------*/
-pxCurrentTCBConst: .word pxCurrentTCB
-ulCriticalNestingConst: .word ulCriticalNesting
-ulPortTaskHasFPUContextConst: .word ulPortTaskHasFPUContext
-vTaskSwitchContextConst: .word vTaskSwitchContext
-vApplicationIRQHandlerConst: .word vApplicationIRQHandler
-ulPortInterruptNestingConst: .word ulPortInterruptNesting
-ulPortYieldRequiredConst: .word ulPortYieldRequired
 
 .end

portable/GCC/ARM_CRx_No_GIC/portmacro.h

@@ -88,46 +88,30 @@ typedef uint32_t         TickType_t;
     }
 
 #define portYIELD_FROM_ISR( x )    portEND_SWITCHING_ISR( x )
-#define portYIELD()                 \
-    __asm volatile ( "SWI 0     \n" \
-                     "ISB         " ::: "memory" );
 
+void vPortYield( void );
 
-/*-----------------------------------------------------------
+#define portYIELD()     vPortYield();
-* Critical section control
+
-*----------------------------------------------------------*/
+/*-----------------------------------------------------------*/
+
+/*
+ * Critical section management.
+ */
 
 extern void vPortEnterCritical( void );
 extern void vPortExitCritical( void );
-extern uint32_t ulPortSetInterruptMask( void );
+extern void vPortEnableInterrupts( void );
-extern void vPortClearInterruptMask( uint32_t ulNewMaskValue );
+extern void vPortDisableInterrupts( void );
-extern void vPortInstallFreeRTOSVectorTable( void );
+extern uint32_t ulPortSetInterruptMaskFromISR( void );
-
-/* The I bit within the CPSR. */
-#define portINTERRUPT_ENABLE_BIT    ( 1 << 7 )
 
 /* In the absence of a priority mask register, these functions and macros
  * globally enable and disable interrupts. */
 #define portENTER_CRITICAL()                    vPortEnterCritical();
 #define portEXIT_CRITICAL()                     vPortExitCritical();
-#define portENABLE_INTERRUPTS()    __asm volatile ( "CPSIE i   \n" ::: "memory" );
+#define portENABLE_INTERRUPTS()                 vPortEnableInterrupts();
-#define portDISABLE_INTERRUPTS()    \
+#define portDISABLE_INTERRUPTS()                vPortDisableInterrupts();
-    __asm volatile ( "CPSID i   \n" \
+#define portSET_INTERRUPT_MASK_FROM_ISR()       ulPortSetInterruptMaskFromISR();
-                     "DSB       \n" \
-                     "ISB         " ::: "memory" );
-
-__attribute__( ( always_inline ) ) static __inline uint32_t portINLINE_SET_INTERRUPT_MASK_FROM_ISR( void )
-{
-    volatile uint32_t ulCPSR;
-
-    __asm volatile ( "MRS %0, CPSR" : "=r" ( ulCPSR )::"memory" );
-
-    ulCPSR &= portINTERRUPT_ENABLE_BIT;
-    portDISABLE_INTERRUPTS();
-    return ulCPSR;
-}
-
-#define portSET_INTERRUPT_MASK_FROM_ISR()         portINLINE_SET_INTERRUPT_MASK_FROM_ISR()
 #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x )  do { if( x == 0 ) portENABLE_INTERRUPTS(); } while( 0 )
 
 /*-----------------------------------------------------------*/
@@ -148,9 +132,27 @@ __attribute__( ( always_inline ) ) static __inline uint32_t portINLINE_SET_INTER
  * handler for whichever peripheral is used to generate the RTOS tick. */
 void FreeRTOS_Tick_Handler( void );
 
-/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU()
+/**
- * before any floating point instructions are executed. */
+ * @brief Returns the number of leading zeros in a 32 bit variable.
+ *
+ * @param[in] ulBitmap 32-Bit number to count leading zeros in.
+ *
+ * @return The number of leading zeros in ulBitmap.
+ */
+UBaseType_t ulPortCountLeadingZeros( UBaseType_t ulBitmap );
+
+/* If configUSE_TASK_FPU_SUPPORT is set to 1 (or left undefined) then tasks are
+ * created without an FPU context and must call vPortTaskUsesFPU() to give
+ * themselves an FPU context before using any FPU instructions.  If
+ * configUSE_TASK_FPU_SUPPORT is set to 2 then all tasks will have an FPU
+ * context by default. */
+#if ( configUSE_TASK_FPU_SUPPORT != 2 )
     void vPortTaskUsesFPU( void );
+#else
+    /* Each task has an FPU context already, so define this function as a
+     * no-op. */
+    #define vPortTaskUsesFPU()
+#endif
 #define portTASK_USES_FLOATING_POINT()    vPortTaskUsesFPU()
 
 #define portLOWEST_INTERRUPT_PRIORITY           ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL )
@@ -163,19 +165,15 @@ void vPortTaskUsesFPU( void );
 
 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
 
-/* Store/clear the ready priorities in a bit map. */
+    /* Store, clear and get the ready priorities in a bit map. */
     #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities )    ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
     #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities )     ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
-
+    #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities )  uxTopPriority = ( 31UL - ulPortCountLeadingZeros( ( uxTopReadyPriority ) ) )
-/*-----------------------------------------------------------*/
-
-    #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities )    uxTopPriority = ( 31UL - ( uint32_t ) __builtin_clz( uxReadyPriorities ) )
 
 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
 
 #define portNOP()               __asm volatile ( "NOP" )
 #define portINLINE              __inline
-
 #define portMEMORY_BARRIER()    __asm volatile ( "" ::: "memory" )
 
 /* *INDENT-OFF* */

portable/IAR/ARM_CA9/port.c

@@ -427,7 +427,7 @@ uint32_t ulPortSetInterruptMask( void )
          *
          * The following links provide detailed information:
          * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-         * https://www.FreeRTOS.org/FAQHelp.html */
+         * https://www.freertos.org/Why-FreeRTOS/FAQs */
         configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) );
 
         /* Priority grouping:  The interrupt controller (GIC) allows the bits

portable/IAR/ARM_CM0/port.c

@@ -205,7 +205,7 @@ BaseType_t xPortStartScheduler( void )
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handler. For help installing the FreeRTOS handler, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if

portable/IAR/ARM_CM23/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/IAR/ARM_CM23_NTZ/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/IAR/ARM_CM3/port.c

@@ -246,7 +246,7 @@ BaseType_t xPortStartScheduler( void )
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -709,7 +709,7 @@ __weak void vPortSetupTimerInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/IAR/ARM_CM33/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/IAR/ARM_CM33_NTZ/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/IAR/ARM_CM35P/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/IAR/ARM_CM35P_NTZ/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/IAR/ARM_CM4F/port.c

@@ -284,7 +284,7 @@ BaseType_t xPortStartScheduler( void )
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -753,7 +753,7 @@ __weak void vPortSetupTimerInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/IAR/ARM_CM4F_MPU/port.c

@@ -748,7 +748,7 @@ BaseType_t xPortStartScheduler( void )
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -1336,7 +1336,7 @@ void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/IAR/ARM_CM55/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/IAR/ARM_CM55_NTZ/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/IAR/ARM_CM7/r0p1/port.c

@@ -272,7 +272,7 @@ BaseType_t xPortStartScheduler( void )
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -741,7 +741,7 @@ __weak void vPortSetupTimerInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/IAR/ARM_CM85/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/IAR/ARM_CM85_NTZ/non_secure/port.c

@@ -1650,7 +1650,7 @@ BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -2041,7 +2041,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/MikroC/ARM_CM4F/port.c

@@ -892,7 +892,7 @@ BaseType_t xPortIsInsideInterrupt( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/RVDS/ARM_CA9/port.c

@@ -465,7 +465,7 @@ uint32_t ulPortSetInterruptMask( void )
          *
          * The following links provide detailed information:
          * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-         * https://www.FreeRTOS.org/FAQHelp.html */
+         * https://www.freertos.org/Why-FreeRTOS/FAQs */
         configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) );
 
         /* Priority grouping:  The interrupt controller (GIC) allows the bits

portable/RVDS/ARM_CM3/port.c

@@ -770,7 +770,7 @@ __asm uint32_t vPortGetIPSR( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/RVDS/ARM_CM4F/port.c

@@ -866,7 +866,7 @@ __asm uint32_t vPortGetIPSR( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/RVDS/ARM_CM4_MPU/port.c

@@ -852,7 +852,7 @@ BaseType_t xPortStartScheduler( void )
          *
          * Assertion failures here indicate incorrect installation of the
          * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
-         * https://www.FreeRTOS.org/FAQHelp.html.
+         * https://www.freertos.org/Why-FreeRTOS/FAQs.
          *
          * Systems with a configurable address for the interrupt vector table
          * can also encounter assertion failures or even system faults here if
@@ -1602,7 +1602,7 @@ __asm uint32_t prvPortGetIPSR( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/RVDS/ARM_CM7/r0p1/port.c

@@ -852,7 +852,7 @@ __asm uint32_t vPortGetIPSR( void )
              *
              * The following links provide detailed information:
              * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
-             * https://www.FreeRTOS.org/FAQHelp.html */
+             * https://www.freertos.org/Why-FreeRTOS/FAQs */
             configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
         }
 

portable/ThirdParty/GCC/Posix/port.c

@@ -420,36 +420,19 @@ static void vPortSystemTickHandler( int sig )
 
     ( void ) sig;
 
-/* uint64_t xExpectedTicks; */
-
     uxCriticalNesting++; /* Signals are blocked in this signal handler. */
 
-    #if ( configUSE_PREEMPTION == 1 )
     pxThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
-    #endif
 
-    /* Tick Increment, accounting for any lost signals or drift in
+    if( xTaskIncrementTick() != pdFALSE )
-     * the timer. */
+    {
-
-/*
- *      Comment code to adjust timing according to full demo requirements
- *      xExpectedTicks = (prvGetTimeNs() - prvStartTimeNs)
- *        / (portTICK_RATE_MICROSECONDS * 1000);
- * do { */
-    xTaskIncrementTick();
-
-/*        prvTickCount++;
- *    } while (prvTickCount < xExpectedTicks);
- */
-
-    #if ( configUSE_PREEMPTION == 1 )
         /* Select Next Task. */
         vTaskSwitchContext();
 
         pxThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
 
         prvSwitchThread( pxThreadToResume, pxThreadToSuspend );
-    #endif
+    }
 
     uxCriticalNesting--;
 }

stream_buffer.c

@@ -39,14 +39,6 @@
 #include "task.h"
 #include "stream_buffer.h"
 
-#if ( configUSE_TASK_NOTIFICATIONS != 1 )
-    #error configUSE_TASK_NOTIFICATIONS must be set to 1 to build stream_buffer.c
-#endif
-
-#if ( INCLUDE_xTaskGetCurrentTaskHandle != 1 )
-    #error INCLUDE_xTaskGetCurrentTaskHandle must be set to 1 to build stream_buffer.c
-#endif
-
 /* The MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
  * for the header files above, but not in this file, in order to generate the
  * correct privileged Vs unprivileged linkage and placement. */
@@ -58,6 +50,14 @@
  * configUSE_STREAM_BUFFERS is set to 1 in FreeRTOSConfig.h. */
 #if ( configUSE_STREAM_BUFFERS == 1 )
 
+    #if ( configUSE_TASK_NOTIFICATIONS != 1 )
+        #error configUSE_TASK_NOTIFICATIONS must be set to 1 to build stream_buffer.c
+    #endif
+
+    #if ( INCLUDE_xTaskGetCurrentTaskHandle != 1 )
+        #error INCLUDE_xTaskGetCurrentTaskHandle must be set to 1 to build stream_buffer.c
+    #endif
+
 /* If the user has not provided application specific Rx notification macros,
  * or #defined the notification macros away, then provide default implementations
  * that uses task notifications. */

tasks.c

@@ -3868,9 +3868,30 @@ void vTaskSuspendAll( void )
     #if ( configNUMBER_OF_CORES == 1 )
     {
         /* A critical section is not required as the variable is of type
-         * BaseType_t.  Please read Richard Barry's reply in the following link to a
+         * BaseType_t. Each task maintains its own context, and a context switch
-         * post in the FreeRTOS support forum before reporting this as a bug! -
+         * cannot occur if the variable is non zero. So, as long as the writing
-         * https://goo.gl/wu4acr */
+         * from the register back into the memory is atomic, it is not a
+         * problem.
+         *
+         * Consider the following scenario, which starts with
+         * uxSchedulerSuspended at zero.
+         *
+         * 1. load uxSchedulerSuspended into register.
+         * 2. Now a context switch causes another task to run, and the other
+         *    task uses the same variable. The other task will see the variable
+         *    as zero because the variable has not yet been updated by the
+         *    original task. Eventually the original task runs again. **That can
+         *    only happen when uxSchedulerSuspended is once again zero**. When
+         *    the original task runs again, the contents of the CPU registers
+         *    are restored to exactly how they were when it was switched out -
+         *    therefore the value it read into the register still matches the
+         *    value of the uxSchedulerSuspended variable.
+         *
+         * 3. increment register.
+         * 4. store register into uxSchedulerSuspended. The value restored to
+         *    uxSchedulerSuspended will be the correct value of 1, even though
+         *    the variable was used by other tasks in the mean time.
+         */
 
         /* portSOFTWARE_BARRIER() is only implemented for emulated/simulated ports that
          * do not otherwise exhibit real time behaviour. */
@@ -8096,6 +8117,22 @@ TickType_t uxTaskResetEventItemValue( void )
                 {
                     listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
                     prvAddTaskToReadyList( pxTCB );
+
+                    #if ( configUSE_TICKLESS_IDLE != 0 )
+                    {
+                        /* If a task is blocked waiting for a notification then
+                         * xNextTaskUnblockTime might be set to the blocked task's time
+                         * out time.  If the task is unblocked for a reason other than
+                         * a timeout xNextTaskUnblockTime is normally left unchanged,
+                         * because it will automatically get reset to a new value when
+                         * the tick count equals xNextTaskUnblockTime.  However if
+                         * tickless idling is used it might be more important to enter
+                         * sleep mode at the earliest possible time - so reset
+                         * xNextTaskUnblockTime here to ensure it is updated at the
+                         * earliest possible time. */
+                        prvResetNextTaskUnblockTime();
+                    }
+                    #endif
                 }
                 else
                 {
@@ -8214,6 +8251,22 @@ TickType_t uxTaskResetEventItemValue( void )
                 {
                     listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
                     prvAddTaskToReadyList( pxTCB );
+
+                    #if ( configUSE_TICKLESS_IDLE != 0 )
+                    {
+                        /* If a task is blocked waiting for a notification then
+                         * xNextTaskUnblockTime might be set to the blocked task's time
+                         * out time.  If the task is unblocked for a reason other than
+                         * a timeout xNextTaskUnblockTime is normally left unchanged,
+                         * because it will automatically get reset to a new value when
+                         * the tick count equals xNextTaskUnblockTime.  However if
+                         * tickless idling is used it might be more important to enter
+                         * sleep mode at the earliest possible time - so reset
+                         * xNextTaskUnblockTime here to ensure it is updated at the
+                         * earliest possible time. */
+                        prvResetNextTaskUnblockTime();
+                    }
+                    #endif
                 }
                 else
                 {
@@ -8657,7 +8710,7 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
 #endif /* #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configKERNEL_PROVIDED_STATIC_MEMORY == 1 ) && ( portUSING_MPU_WRAPPERS == 0 ) ) */
 /*-----------------------------------------------------------*/
 
-#if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configKERNEL_PROVIDED_STATIC_MEMORY == 1 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
+#if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configKERNEL_PROVIDED_STATIC_MEMORY == 1 ) && ( portUSING_MPU_WRAPPERS == 0 ) && ( configUSE_TIMERS == 1 ) )
 
 /*
  * This is the kernel provided implementation of vApplicationGetTimerTaskMemory()
@@ -8678,7 +8731,7 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
         *puxTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
     }
 
-#endif /* #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configKERNEL_PROVIDED_STATIC_MEMORY == 1 ) && ( portUSING_MPU_WRAPPERS == 0 ) ) */
+#endif /* #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configKERNEL_PROVIDED_STATIC_MEMORY == 1 ) && ( portUSING_MPU_WRAPPERS == 0 ) && ( configUSE_TIMERS == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 /*