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Merge branch 'main' into cortex-m-port-improvements

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Gaurav-Aggarwal-AWS 2024-04-18 19:09:50 +05:30 • committed by GitHub
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9 changed files with 76 additions and 74 deletions
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3
examples/cmake_example/CMakeLists.txt
View file

@ -1,5 +1,4 @@
cmake_minimum_required(VERSION 3.15)
project(example)
set(FREERTOS_KERNEL_PATH "../../")
@ -71,3 +70,5 @@ add_executable(${PROJECT_NAME}
)
target_link_libraries(${PROJECT_NAME} freertos_kernel freertos_config)
set_property(TARGET freertos_kernel PROPERTY C_STANDARD 90)

24
include/event_groups.h
View file

@ -40,20 +40,20 @@
* item value. It is important they don't clash with the
* taskEVENT_LIST_ITEM_VALUE_IN_USE definition. */
#if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
#define eventCLEAR_EVENTS_ON_EXIT_BIT ( ( uint16_t ) 0x0100U )
#define eventUNBLOCKED_DUE_TO_BIT_SET ( ( uint16_t ) 0x0200U )
#define eventWAIT_FOR_ALL_BITS ( ( uint16_t ) 0x0400U )
#define eventEVENT_BITS_CONTROL_BYTES ( ( uint16_t ) 0xff00U )
#define eventCLEAR_EVENTS_ON_EXIT_BIT ( ( uint16_t ) 0x0100 )
#define eventUNBLOCKED_DUE_TO_BIT_SET ( ( uint16_t ) 0x0200 )
#define eventWAIT_FOR_ALL_BITS ( ( uint16_t ) 0x0400 )
#define eventEVENT_BITS_CONTROL_BYTES ( ( uint16_t ) 0xff00 )
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
#define eventCLEAR_EVENTS_ON_EXIT_BIT ( ( uint32_t ) 0x01000000UL )
#define eventUNBLOCKED_DUE_TO_BIT_SET ( ( uint32_t ) 0x02000000UL )
#define eventWAIT_FOR_ALL_BITS ( ( uint32_t ) 0x04000000UL )
#define eventEVENT_BITS_CONTROL_BYTES ( ( uint32_t ) 0xff000000UL )
#define eventCLEAR_EVENTS_ON_EXIT_BIT ( ( uint32_t ) 0x01000000 )
#define eventUNBLOCKED_DUE_TO_BIT_SET ( ( uint32_t ) 0x02000000 )
#define eventWAIT_FOR_ALL_BITS ( ( uint32_t ) 0x04000000 )
#define eventEVENT_BITS_CONTROL_BYTES ( ( uint32_t ) 0xff000000 )
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_64_BITS )
#define eventCLEAR_EVENTS_ON_EXIT_BIT ( ( uint64_t ) 0x0100000000000000ULL )
#define eventUNBLOCKED_DUE_TO_BIT_SET ( ( uint64_t ) 0x0200000000000000ULL )
#define eventWAIT_FOR_ALL_BITS ( ( uint64_t ) 0x0400000000000000ULL )
#define eventEVENT_BITS_CONTROL_BYTES ( ( uint64_t ) 0xff00000000000000ULL )
#define eventCLEAR_EVENTS_ON_EXIT_BIT ( ( uint64_t ) 0x0100000000000000 )
#define eventUNBLOCKED_DUE_TO_BIT_SET ( ( uint64_t ) 0x0200000000000000 )
#define eventWAIT_FOR_ALL_BITS ( ( uint64_t ) 0x0400000000000000 )
#define eventEVENT_BITS_CONTROL_BYTES ( ( uint64_t ) 0xff00000000000000 )
#endif /* if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS ) */
/* *INDENT-OFF* */

48
include/list.h
View file

@ -322,19 +322,19 @@ typedef struct xLIST
#define listREMOVE_ITEM( pxItemToRemove ) \
do { \
/* The list item knows which list it is in. Obtain the list from the list \
* item. */ \
List_t * const pxList = ( pxItemToRemove )->pxContainer; \
\
( pxItemToRemove )->pxNext->pxPrevious = ( pxItemToRemove )->pxPrevious; \
( pxItemToRemove )->pxPrevious->pxNext = ( pxItemToRemove )->pxNext; \
/* Make sure the index is left pointing to a valid item. */ \
if( pxList->pxIndex == ( pxItemToRemove ) ) \
{ \
pxList->pxIndex = ( pxItemToRemove )->pxPrevious; \
} \
\
( pxItemToRemove )->pxContainer = NULL; \
( ( pxList )->uxNumberOfItems ) -= ( UBaseType_t ) 1U; \
* item. */ \
List_t * const pxList = ( pxItemToRemove )->pxContainer; \
\
( pxItemToRemove )->pxNext->pxPrevious = ( pxItemToRemove )->pxPrevious; \
( pxItemToRemove )->pxPrevious->pxNext = ( pxItemToRemove )->pxNext; \
/* Make sure the index is left pointing to a valid item. */ \
if( pxList->pxIndex == ( pxItemToRemove ) ) \
{ \
pxList->pxIndex = ( pxItemToRemove )->pxPrevious; \
} \
\
( pxItemToRemove )->pxContainer = NULL; \
( ( pxList )->uxNumberOfItems ) = ( UBaseType_t ) ( ( ( pxList )->uxNumberOfItems ) - 1U ); \
} while( 0 )
/*
@ -371,17 +371,17 @@ typedef struct xLIST
\
/* Insert a new list item into ( pxList ), but rather than sort the list, \
* makes the new list item the last item to be removed by a call to \
* listGET_OWNER_OF_NEXT_ENTRY(). */ \
( pxNewListItem )->pxNext = pxIndex; \
( pxNewListItem )->pxPrevious = pxIndex->pxPrevious; \
\
pxIndex->pxPrevious->pxNext = ( pxNewListItem ); \
pxIndex->pxPrevious = ( pxNewListItem ); \
\
/* Remember which list the item is in. */ \
( pxNewListItem )->pxContainer = ( pxList ); \
\
( ( pxList )->uxNumberOfItems ) += ( UBaseType_t ) 1U; \
* listGET_OWNER_OF_NEXT_ENTRY(). */ \
( pxNewListItem )->pxNext = pxIndex; \
( pxNewListItem )->pxPrevious = pxIndex->pxPrevious; \
\
pxIndex->pxPrevious->pxNext = ( pxNewListItem ); \
pxIndex->pxPrevious = ( pxNewListItem ); \
\
/* Remember which list the item is in. */ \
( pxNewListItem )->pxContainer = ( pxList ); \
\
( ( pxList )->uxNumberOfItems ) = ( UBaseType_t ) ( ( ( pxList )->uxNumberOfItems ) + 1U ); \
} while( 0 )
/*

5
include/task.h
View file

@ -180,9 +180,10 @@ typedef struct xTASK_STATUS
/* Possible return values for eTaskConfirmSleepModeStatus(). */
typedef enum
{
eAbortSleep = 0, /* A task has been made ready or a context switch pended since portSUPPRESS_TICKS_AND_SLEEP() was called - abort entering a sleep mode. */
eStandardSleep, /* Enter a sleep mode that will not last any longer than the expected idle time. */
eAbortSleep = 0, /* A task has been made ready or a context switch pended since portSUPPRESS_TICKS_AND_SLEEP() was called - abort entering a sleep mode. */
eStandardSleep /* Enter a sleep mode that will not last any longer than the expected idle time. */
#if ( INCLUDE_vTaskSuspend == 1 )
,
eNoTasksWaitingTimeout /* No tasks are waiting for a timeout so it is safe to enter a sleep mode that can only be exited by an external interrupt. */
#endif /* INCLUDE_vTaskSuspend */
} eSleepModeStatus;

6
list.c
View file

@ -130,7 +130,7 @@ void vListInsertEnd( List_t * const pxList,
/* Remember which list the item is in. */
pxNewListItem->pxContainer = pxList;
( pxList->uxNumberOfItems ) += ( UBaseType_t ) 1U;
( pxList->uxNumberOfItems ) = ( UBaseType_t ) ( pxList->uxNumberOfItems + 1U );
traceRETURN_vListInsertEnd();
}
@ -205,7 +205,7 @@ void vListInsert( List_t * const pxList,
* item later. */
pxNewListItem->pxContainer = pxList;
( pxList->uxNumberOfItems ) += ( UBaseType_t ) 1U;
( pxList->uxNumberOfItems ) = ( UBaseType_t ) ( pxList->uxNumberOfItems + 1U );
traceRETURN_vListInsert();
}
@ -237,7 +237,7 @@ UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove )
}
pxItemToRemove->pxContainer = NULL;
( pxList->uxNumberOfItems ) -= ( UBaseType_t ) 1U;
( pxList->uxNumberOfItems ) = ( UBaseType_t ) ( pxList->uxNumberOfItems - 1U );
traceRETURN_uxListRemove( pxList->uxNumberOfItems );

38
portable/ThirdParty/GCC/ARM_TFM/README.md vendored
View file

@ -7,16 +7,17 @@ platform.
The Platform Security Architecture (PSA) makes it quicker, easier and cheaper
to design security into a device from the ground up. PSA is made up of four key
stages: analyze, architect, implement, and certify. See [PSA Resource Page](https://developer.arm.com/architectures/security-architectures/platform-security-architecture).
stages: analyze, architect, implement, and certify. See [PSA Resource Page](https://www.arm.com/architecture/security-features/platform-security).
TF-M is an open source project. It provides a reference implementation of PSA
for Arm M-profile architecture. Please get the details from this [link](https://www.trustedfirmware.org/about/).
for Arm M-profile architecture. Please get the details from this [link](https://www.trustedfirmware.org/projects/tf-m/).
# Derivation of the source code
* ```os_wrapper_freertos.c```
The implementation of APIs which are defined in ```\ns_interface\os_wrapper\mutex.h``` by tf-m-tests
(tag: TF-Mv1.5.0 & TF-Mv1.6.0). The implementation is based on FreeRTOS mutex type semaphore.
* `os_wrapper_freertos.c`
The implementation of APIs which are defined in `/interface/include/os_wrapper/mutex.h`
in trusted-firmware-m (tag: TF-Mv2.0.0). The implementation is based on
FreeRTOS mutex type semaphore.
# Usage notes
@ -28,53 +29,52 @@ To build a project based on this port:
### Get the TF-M source code
See the [link](https://git.trustedfirmware.org/TF-M/trusted-firmware-m.git/) to get the source code. This port is supported by TF-M version **tag: TF-Mv1.5.0** & **tag: TF-Mv1.6.0**.
See the [link](https://git.trustedfirmware.org/TF-M/trusted-firmware-m.git/) to get the source code. This port is supported by TF-M version **tag: TF-Mv2.0.0**.
### Build TF-M
Please refer to this [link](https://developer.nordicsemi.com/nRF_Connect_SDK/doc/latest/tfm/building/tfm_build_instruction.html) to build the secure side.
_**Note:** ```TFM_NS_MANAGE_NSID``` must be configured as "OFF" when building TF-M_.
Please refer to this [link](https://trustedfirmware-m.readthedocs.io/en/latest/getting_started/) to build the secure side.
_**Note:** `TFM_NS_MANAGE_NSID` must be configured as "OFF" when building TF-M_.
## Build the Non-Secure Side
Please copy all the files in ```freertos_kernel\portable\GCC\ARM_CM[23|33|55|85]_NTZ``` into the ```freertos_kernel\portable\ThirdParty\GCC\ARM_TFM``` folder before using this port. Note that TrustZone is enabled in this port. The TF-M runs in the Secure Side.
Please copy all the files in `freertos_kernel/portable/GCC/ARM_CM[23|33|55|85]_NTZ` into the `freertos_kernel/portable/ThirdParty/GCC/ARM_TFM` folder before using this port. Note that TrustZone is enabled in this port. The TF-M runs in the Secure Side.
Please call the API ```tfm_ns_interface_init()``` which is defined in ```\app\tfm_ns_interface.c``` by tf-m-tests
(tag: TF-Mv1.5.0 & TF-Mv1.6.0) at the very beginning of your application. Otherwise, it will always fail when calling a TF-M service in the Nonsecure Side.
Please call the API `tfm_ns_interface_init()` which is defined in `/interface/src/os_wrapper/tfm_ns_interface_rtos.c` by trusted-firmware-m (tag: TF-Mv2.0.0) at the very beginning of your application. Otherwise, it will always fail when calling a TF-M service in the Nonsecure Side.
### Configuration in FreeRTOS kernel
* ```configRUN_FREERTOS_SECURE_ONLY```
* `configRUN_FREERTOS_SECURE_ONLY`
This macro should be configured as 0. In this port, TF-M runs in the Secure Side while FreeRTOS
Kernel runs in the Non-Secure Side.
* ```configENABLE_FPU```
* `configENABLE_FPU`
The setting of this macro is decided by the setting in Secure Side which is platform-specific.
If the Secure Side enables Non-Secure access to FPU, then this macro can be configured as 0 or 1. Otherwise, this macro can only be configured as 0.
Please note that Cortex-M23 does not support FPU.
Please refer to [TF-M documentation](https://tf-m-user-guide.trustedfirmware.org/integration_guide/tfm_fpu_support.html) for FPU usage on the Non-Secure side.
* ```configENABLE_MVE```
* `configENABLE_MVE`
The setting of this macro is decided by the setting in Secure Side which is platform-specific.
If the Secure Side enables Non-Secure access to MVE, then this macro can be configured as 0 or 1. Otherwise, this macro can only be configured as 0.
Please note that only Cortex-M55 and Cortex-M85 support MVE.
Please refer to [TF-M documentation](https://tf-m-user-guide.trustedfirmware.org/integration_guide/tfm_fpu_support.html) for MVE usage on the Non-Secure side.
* ```configENABLE_TRUSTZONE```
* `configENABLE_TRUSTZONE`
This macro should be configured as 0 because TF-M doesn't use the secure context management function of FreeRTOS. New secure context management might be introduced when TF-M supports multiple secure context.
### Integrate TF-M Non-Secure interface with FreeRTOS project
To enable calling TF-M services by the Non-Secure Side, the files below should be included in the FreeRTOS project and built together.
* files in ```trusted-firmware-m\build\install\interface\src```
* files in `trusted-firmware-m/build/api_ns/interface/src`
These files contain the implementation of PSA Functional Developer APIs which can be called by Non-Secure Side directly and PSA Firmware Framework APIs in the IPC model. These files should be taken as part of the Non-Secure source code.
* files in ```trusted-firmware-m\build\install\interface\include```
* files in `trusted-firmware-m/build/api_ns/interface/include`
These files are the necessary header files to call TF-M services.
* ```trusted-firmware-m\build\install\interface\lib\s_veneers.o```
* `trusted-firmware-m/build/api_ns/interface/lib/s_veneers.o`
This object file contains all the Non-Secure callable functions exported by
TF-M and it should be linked when generating the Non-Secure image.
*Copyright (c) 2020-2022, Arm Limited. All rights reserved.*
*Copyright (c) 2020-2024, Arm Limited. All rights reserved.*

6
portable/ThirdParty/GCC/ARM_TFM/os_wrapper_freertos.c vendored
View file

@ -1,5 +1,5 @@
/*
* Copyright (c) 2019-2020, Arm Limited. All rights reserved.
* Copyright (c) 2019-2024, Arm Limited. All rights reserved.
*
* SPDX-License-Identifier: MIT
*
@ -24,8 +24,8 @@
/*
* This file contains the implementation of APIs which are defined in
* os_wrapper/mutex.h by TF-M(tag: TF-Mv1.1). The implementation is based
* on FreeRTOS mutex type semaphore.
* \interface/include/os_wrapper/mutex.h by TF-M(tag: TF-Mv2.0.0).
* The implementation is based on FreeRTOS mutex type semaphore.
*/
#include "os_wrapper/mutex.h"

2
portable/template/portmacro.h
View file

@ -40,7 +40,7 @@ typedef unsigned char UBaseType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_64_BITS )
typedef uint64_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffffffffffULL
#define portMAX_DELAY ( TickType_t ) 0xffffffffffffffff
#else
#error configTICK_TYPE_WIDTH_IN_BITS set to unsupported tick type width.
#endif

18
tasks.c
View file

@ -255,7 +255,7 @@
pxTemp = pxDelayedTaskList; \
pxDelayedTaskList = pxOverflowDelayedTaskList; \
pxOverflowDelayedTaskList = pxTemp; \
xNumOfOverflows += ( BaseType_t ) 1; \
xNumOfOverflows = ( BaseType_t ) ( xNumOfOverflows + 1 ); \
prvResetNextTaskUnblockTime(); \
} while( 0 )
@ -291,11 +291,11 @@
* responsibility of whichever module is using the value to ensure it gets set back
* to its original value when it is released. */
#if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
#define taskEVENT_LIST_ITEM_VALUE_IN_USE ( ( uint16_t ) 0x8000U )
#define taskEVENT_LIST_ITEM_VALUE_IN_USE ( ( uint16_t ) 0x8000 )
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
#define taskEVENT_LIST_ITEM_VALUE_IN_USE ( ( uint32_t ) 0x80000000UL )
#define taskEVENT_LIST_ITEM_VALUE_IN_USE ( ( uint32_t ) 0x80000000 )
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_64_BITS )
#define taskEVENT_LIST_ITEM_VALUE_IN_USE ( ( uint64_t ) 0x8000000000000000ULL )
#define taskEVENT_LIST_ITEM_VALUE_IN_USE ( ( uint64_t ) 0x8000000000000000 )
#endif
/* Indicates that the task is not actively running on any core. */
@ -903,7 +903,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
/* System idle tasks are being assigned a priority of tskIDLE_PRIORITY - 1 here. */
if( ( pxCurrentTCBs[ xCoreID ]->uxTaskAttributes & taskATTRIBUTE_IS_IDLE ) != 0U )
{
xCurrentCoreTaskPriority = xCurrentCoreTaskPriority - 1;
xCurrentCoreTaskPriority = ( BaseType_t ) ( xCurrentCoreTaskPriority - 1 );
}
if( ( taskTASK_IS_RUNNING( pxCurrentTCBs[ xCoreID ] ) != pdFALSE ) && ( xYieldPendings[ xCoreID ] == pdFALSE ) )
@ -2022,7 +2022,7 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
* updated. */
taskENTER_CRITICAL();
{
uxCurrentNumberOfTasks += ( UBaseType_t ) 1U;
uxCurrentNumberOfTasks = ( UBaseType_t ) ( uxCurrentNumberOfTasks + 1U );
if( pxCurrentTCB == NULL )
{
@ -3594,7 +3594,7 @@ static BaseType_t prvCreateIdleTasks( void )
}
else
{
vApplicationGetPassiveIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &uxIdleTaskStackSize, xCoreID - 1 );
vApplicationGetPassiveIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &uxIdleTaskStackSize, ( BaseType_t ) ( xCoreID - 1 ) );
}
}
#endif /* if ( configNUMBER_OF_CORES == 1 ) */
@ -3816,7 +3816,7 @@ void vTaskSuspendAll( void )
/* The scheduler is suspended if uxSchedulerSuspended is non-zero. An increment
* is used to allow calls to vTaskSuspendAll() to nest. */
uxSchedulerSuspended += ( UBaseType_t ) 1U;
uxSchedulerSuspended = ( UBaseType_t ) ( uxSchedulerSuspended + 1U );
/* Enforces ordering for ports and optimised compilers that may otherwise place
* the above increment elsewhere. */
@ -3969,7 +3969,7 @@ BaseType_t xTaskResumeAll( void )
* previous call to vTaskSuspendAll(). */
configASSERT( uxSchedulerSuspended != 0U );
uxSchedulerSuspended -= ( UBaseType_t ) 1U;
uxSchedulerSuspended = ( UBaseType_t ) ( uxSchedulerSuspended - 1U );
portRELEASE_TASK_LOCK();
if( uxSchedulerSuspended == ( UBaseType_t ) 0U )