From b90464f4c2fcab74e15ecd4727559b12f1b7ffd5 Mon Sep 17 00:00:00 2001
From: rus084 <rus084@bk.ru>
Date: Tue, 12 May 2026 12:41:36 +0300
Subject: [PATCH] Add affinity to IDLE tasks in SMP systems

---
 include/FreeRTOS.h | 4 ++++
 tasks.c            | 5 +++++
 2 files changed, 9 insertions(+)

diff --git a/include/FreeRTOS.h b/include/FreeRTOS.h
index 63e2feb51..83fd430bd 100644
--- a/include/FreeRTOS.h
+++ b/include/FreeRTOS.h
@@ -377,6 +377,10 @@
     #define configIDLE_SHOULD_YIELD    1
 #endif
 
+#ifndef configIDLE_AFFINITY
+    #define configIDLE_AFFINITY    0
+#endif
+
 #if configMAX_TASK_NAME_LEN < 1
     #error configMAX_TASK_NAME_LEN must be set to a minimum of 1 in FreeRTOSConfig.h
 #endif
diff --git a/tasks.c b/tasks.c
index c596c475f..ca8189863 100644
--- a/tasks.c
+++ b/tasks.c
@@ -3687,6 +3687,11 @@ static BaseType_t prvCreateIdleTasks( void )
                 /* Assign idle task to each core before SMP scheduler is running. */
                 xIdleTaskHandles[ xCoreID ]->xTaskRunState = xCoreID;
                 pxCurrentTCBs[ xCoreID ] = xIdleTaskHandles[ xCoreID ];
+                #if ( ( configIDLE_AFFINITY == 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
+                {
+                    xIdleTaskHandles[ xCoreID ]->uxCoreAffinityMask = ( ( UBaseType_t ) 1U << ( UBaseType_t ) xCoreID );
+                }
+                #endif
             }
             #endif
         }