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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-08-19 17:48:33 -04:00
Core kernel files:
+ Change how queues are allocated and deleted so only one pvPortMalloc() or vPortFree() is required in place of the previous 2. + Where the TCB is allocated in relation to the stack is now dependent on the stack growth direction. The stack will not grow into the TCB. + Introduce the configAPPLICATION_ALLOCATED_HEAP constant to allow the application to provide the array used by heap_4.c as its heap. This allows the application writer to use qualifiers on the array to, for example, force the memory into faster RAM. Demo application: + Add demo for SAMA5D4 using IAR.
This commit is contained in:
Richard Barry
parent
ee541a347d
commit
9e66637bec
196 changed files with 70548 additions and 72 deletions
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@ -719,6 +719,10 @@ extern "C" {
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#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
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#endif
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#ifndef configAPPLICATION_ALLOCATED_HEAP
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#define configAPPLICATION_ALLOCATED_HEAP 0
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#endif
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/* Definitions to allow backward compatibility with FreeRTOS versions prior to
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V8 if desired. */
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#ifndef configENABLE_BACKWARD_COMPATIBILITY
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@ -532,7 +532,6 @@ uint32_t ulReturn;
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FreeRTOS maintains separate thread and ISR API functions to ensure
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interrupt entry is as fast and simple as possible. */
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configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) );
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/* Priority grouping: The interrupt controller (GIC) allows the bits
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@ -551,5 +550,3 @@ uint32_t ulReturn;
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#endif /* configASSERT_DEFINED */
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/*-----------------------------------------------------------*/
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@ -153,6 +153,7 @@ extern void vPortYield( void );
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#define portSTACK_GROWTH ( -1 )
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#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
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#define portNOP()
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#define portPOINTER_SIZE_TYPE uint16_t
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/*-----------------------------------------------------------*/
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/* Task function macros as described on the FreeRTOS.org WEB site. */
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@ -63,10 +63,12 @@
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1 tab == 4 spaces!
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*/
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/* Standard includes. */
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#include <stdio.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include <stdio.h>
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#ifdef __GNUC__
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#include "mmsystem.h"
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@ -90,7 +90,13 @@ task.h is included from an application file. */
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#define heapBITS_PER_BYTE ( ( size_t ) 8 )
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/* Allocate the memory for the heap. */
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static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
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#if( configAPPLICATION_ALLOCATED_HEAP == 1 )
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/* The application writer has already defined the array used for the RTOS
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heap - probably so it can be placed in a special segment or address. */
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extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
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#else
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static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
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#endif /* configAPPLICATION_ALLOCATED_HEAP */
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/* Define the linked list structure. This is used to link free blocks in order
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of their memory address. */
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@ -120,7 +120,8 @@ zero. */
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/*
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* Definition of the queue used by the scheduler.
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* Items are queued by copy, not reference.
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* Items are queued by copy, not reference. See the following link for the
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* rationale: http://www.freertos.org/Embedded-RTOS-Queues.html
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*/
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typedef struct QueueDefinition
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{
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@ -310,55 +311,68 @@ QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseT
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Queue_t *pxNewQueue;
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size_t xQueueSizeInBytes;
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QueueHandle_t xReturn = NULL;
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int8_t *pcAllocatedBuffer;
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/* Remove compiler warnings about unused parameters should
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configUSE_TRACE_FACILITY not be set to 1. */
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( void ) ucQueueType;
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/* Allocate the new queue structure. */
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if( uxQueueLength > ( UBaseType_t ) 0 )
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configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
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if( uxItemSize == ( UBaseType_t ) 0 )
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{
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pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) );
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if( pxNewQueue != NULL )
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/* There is not going to be a queue storage area. */
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xQueueSizeInBytes = ( size_t ) 0;
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}
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else
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{
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/* The queue is one byte longer than asked for to make wrap checking
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easier/faster. */
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xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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}
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/* Allocate the new queue structure and storage area. */
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pcAllocatedBuffer = ( int8_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes );
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if( pcAllocatedBuffer != NULL )
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{
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pxNewQueue = ( Queue_t * ) pcAllocatedBuffer; /*lint !e826 MISRA The buffer cannot be to small because it was dimensioned by sizeof( Queue_t ) + xQueueSizeInBytes. */
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if( uxItemSize == ( UBaseType_t ) 0 )
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{
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/* Create the list of pointers to queue items. The queue is one byte
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longer than asked for to make wrap checking easier/faster. */
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xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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pxNewQueue->pcHead = ( int8_t * ) pvPortMalloc( xQueueSizeInBytes );
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if( pxNewQueue->pcHead != NULL )
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{
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/* Initialise the queue members as described above where the
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queue type is defined. */
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pxNewQueue->uxLength = uxQueueLength;
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pxNewQueue->uxItemSize = uxItemSize;
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( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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#if ( configUSE_TRACE_FACILITY == 1 )
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{
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pxNewQueue->ucQueueType = ucQueueType;
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}
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#endif /* configUSE_TRACE_FACILITY */
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#if( configUSE_QUEUE_SETS == 1 )
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{
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pxNewQueue->pxQueueSetContainer = NULL;
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}
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#endif /* configUSE_QUEUE_SETS */
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traceQUEUE_CREATE( pxNewQueue );
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xReturn = pxNewQueue;
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}
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else
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{
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traceQUEUE_CREATE_FAILED( ucQueueType );
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vPortFree( pxNewQueue );
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}
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/* No RAM was allocated for the queue storage area, but PC head
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cannot be set to NULL because NULL is used as a key to say the queue
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is used as a mutex. Therefore just set pcHead to point to the queue
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as a benign value that is known to be within the memory map. */
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pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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/* Jump past the queue structure to find the location of the queue
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storage area - adding the padding bytes to get a better alignment. */
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pxNewQueue->pcHead = pcAllocatedBuffer + sizeof( Queue_t );
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}
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/* Initialise the queue members as described above where the queue type
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is defined. */
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pxNewQueue->uxLength = uxQueueLength;
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pxNewQueue->uxItemSize = uxItemSize;
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( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
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#if ( configUSE_TRACE_FACILITY == 1 )
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{
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pxNewQueue->ucQueueType = ucQueueType;
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}
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#endif /* configUSE_TRACE_FACILITY */
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#if( configUSE_QUEUE_SETS == 1 )
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{
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pxNewQueue->pxQueueSetContainer = NULL;
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}
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#endif /* configUSE_QUEUE_SETS */
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traceQUEUE_CREATE( pxNewQueue );
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xReturn = pxNewQueue;
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}
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else
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{
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@ -943,7 +957,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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{
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traceQUEUE_PEEK( pxQueue );
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/* We are not removing the data, so reset our read
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/* The data is not being removed, so reset our read
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pointer. */
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pxQueue->u.pcReadFrom = pcOriginalReadPosition;
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@ -1334,7 +1348,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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xReturn = errQUEUE_FULL;
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}
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}
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portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); //0.36
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portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
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return xReturn;
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}
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@ -1625,6 +1639,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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configASSERT( pxQueue );
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configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
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configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
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/* RTOS ports that support interrupt nesting have the concept of a maximum
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system call (or maximum API call) interrupt priority. Interrupts that are
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@ -1727,10 +1742,6 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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vQueueUnregisterQueue( pxQueue );
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}
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#endif
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if( pxQueue->pcHead != NULL )
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{
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vPortFree( pxQueue->pcHead );
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}
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vPortFree( pxQueue );
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}
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/*-----------------------------------------------------------*/
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@ -412,7 +412,9 @@ static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const p
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* currently in the Suspended state, or pdFALSE if the task referenced by xTask
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* is in any other state.
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*/
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static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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#if ( INCLUDE_vTaskSuspend == 1 )
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static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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#endif /* INCLUDE_vTaskSuspend */
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/*
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* Utility to ready all the lists used by the scheduler. This is called
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@ -2915,34 +2917,72 @@ static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t *
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{
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TCB_t *pxNewTCB;
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/* Allocate space for the TCB. Where the memory comes from depends on
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the implementation of the port malloc function. */
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pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
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if( pxNewTCB != NULL )
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/* If the stack grows down then allocate the stack then the TCB so the stack
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does not grow into the TCB. Likewise if the stack grows up then allocate
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the TCB then the stack. */
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#if( portSTACK_GROWTH > 0 )
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{
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/* Allocate space for the stack used by the task being created.
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The base of the stack memory stored in the TCB so the task can
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be deleted later if required. */
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pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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/* Allocate space for the TCB. Where the memory comes from depends on
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the implementation of the port malloc function. */
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pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
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if( pxNewTCB->pxStack == NULL )
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if( pxNewTCB != NULL )
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{
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/* Could not allocate the stack. Delete the allocated TCB. */
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vPortFree( pxNewTCB );
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pxNewTCB = NULL;
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/* Allocate space for the stack used by the task being created.
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The base of the stack memory stored in the TCB so the task can
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be deleted later if required. */
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pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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if( pxNewTCB->pxStack == NULL )
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{
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/* Could not allocate the stack. Delete the allocated TCB. */
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vPortFree( pxNewTCB );
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pxNewTCB = NULL;
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}
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}
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}
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#else /* portSTACK_GROWTH */
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{
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StackType_t *pxStack;
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/* Allocate space for the stack used by the task being created. */
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pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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if( pxStack != NULL )
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{
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/* Allocate space for the TCB. Where the memory comes from depends
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on the implementation of the port malloc function. */
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pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
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if( pxNewTCB != NULL )
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{
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/* Store the stack location in the TCB. */
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pxNewTCB->pxStack = pxStack;
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}
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else
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{
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/* The stack cannot be used as the TCB was not created. Free it
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again. */
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vPortFree( pxStack );
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}
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}
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else
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{
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/* Avoid dependency on memset() if it is not required. */
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#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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{
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/* Just to help debugging. */
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( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
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}
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#endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
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pxNewTCB = NULL;
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}
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}
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#endif /* portSTACK_GROWTH */
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if( pxNewTCB != NULL )
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{
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/* Avoid dependency on memset() if it is not required. */
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#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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{
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/* Just to help debugging. */
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( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
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}
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#endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
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}
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return pxNewTCB;
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}
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