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Merge branch 'main' into blocking_buffer

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Paul Bartell 2024-02-01 10:20:46 -08:00 • committed by GitHub
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7 changed files with 94 additions and 55 deletions
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12
CMakeLists.txt
View file

@ -217,16 +217,17 @@ elseif((FREERTOS_PORT STREQUAL "A_CUSTOM_PORT") AND (NOT TARGET freertos_kernel_
" port.c\n"
" portmacro.h\n"
" Where FreeRTOSCustomPort/CMakeLists.txt is a modified version of:\n"
" add_library(freertos_kernel_port STATIC)\n"
" add_library(freertos_kernel_port OBJECT)\n"
" target_sources(freertos_kernel_port\n"
" PRIVATE\n"
" port.c\n"
" portmacro.h)\n"
" target_include_directories(freertos_kernel_port\n"
" PUBLIC\n"
" add_library(freertos_kernel_port_headers INTERFACE)\n"
" target_include_directories(freertos_kernel_port_headers INTERFACE \n"
" .)\n"
" target_link_libraries(freertos_kernel_port\n"
" PRIVATE\n"
" freertos_kernel_port_headers\n"
" freertos_kernel_include)")
endif()
@ -257,8 +258,11 @@ endif()
target_link_libraries(freertos_kernel
PUBLIC
freertos_kernel_port
freertos_kernel_include
freertos_kernel_port_headers
PRIVATE
freertos_kernel_port
)
########################################################################

32
examples/template_configuration/FreeRTOSConfig.h
View file

@ -531,6 +531,38 @@
* setting configKERNEL_PROVIDED_STATIC_MEMORY to 0 or leaving it undefined. */
#define configKERNEL_PROVIDED_STATIC_MEMORY 1
/******************************************************************************/
/* ARMv8-M port Specific Configuration definitions. ***************************/
/******************************************************************************/
/* Set configENABLE_TRUSTZONE to 1 when running FreeRTOS on the non-secure side
* to enable the TrustZone support in FreeRTOS ARMv8-M ports which allows the
* non-secure FreeRTOS tasks to call the (non-secure callable) functions
* exported from secure side. */
#define configENABLE_TRUSTZONE 1
/* If the application writer does not want to use TrustZone, but the hardware does
* not support disabling TrustZone then the entire application (including the FreeRTOS
* scheduler) can run on the secure side without ever branching to the non-secure side.
* To do that, in addition to setting configENABLE_TRUSTZONE to 0, also set
* configRUN_FREERTOS_SECURE_ONLY to 1. */
#define configRUN_FREERTOS_SECURE_ONLY 1
/* Set configENABLE_MPU to 1 to enable the Memory Protection Unit (MPU), or 0
* to leave the Memory Protection Unit disabled. */
#define configENABLE_MPU 1
/* Set configENABLE_FPU to 1 to enable the Floating Point Unit (FPU), or 0
* to leave the Floating Point Unit disabled. */
#define configENABLE_FPU 1
/* Set configENABLE_MVE to 1 to enable the M-Profile Vector Extension (MVE) support,
* or 0 to leave the MVE support disabled. This option is only applicable to Cortex-M55
* and Cortex-M85 ports as M-Profile Vector Extension (MVE) is available only on
* these architectures. configENABLE_MVE must be left undefined, or defined to 0
* for the Cortex-M23,Cortex-M33 and Cortex-M35P ports. */
#define configENABLE_MVE 1
/******************************************************************************/
/* Definitions that include or exclude functionality. *************************/
/******************************************************************************/

6
portable/CMakeLists.txt
View file

@ -15,7 +15,7 @@ endif()
# FreeRTOS internal cmake file. Do not use it in user top-level project
add_library(freertos_kernel_port STATIC
add_library(freertos_kernel_port OBJECT
# TEMPLATE Port
$<$<STREQUAL:${FREERTOS_PORT},TEMPLATE>:
template/port.c>
@ -755,8 +755,9 @@ if( FREERTOS_PORT MATCHES "GCC_ARM_CM(3|4)_MPU" OR
Common/mpu_wrappers_v2.c
)
endif()
add_library(freertos_kernel_port_headers INTERFACE)
target_include_directories(freertos_kernel_port PUBLIC
target_include_directories(freertos_kernel_port_headers INTERFACE
# TEMPLATE Port
$<$<STREQUAL:${FREERTOS_PORT},TEMPLATE>:${CMAKE_CURRENT_LIST_DIR}/template>
@ -1094,6 +1095,7 @@ target_link_libraries(freertos_kernel_port
PUBLIC
$<$<STREQUAL:${FREERTOS_PORT},GCC_RP2040>:pico_base_headers>
$<$<STREQUAL:${FREERTOS_PORT},GCC_XTENSA_ESP32>:idf::esp32>
freertos_kernel_port_headers
PRIVATE
freertos_kernel_include
$<$<STREQUAL:${FREERTOS_PORT},GCC_POSIX>:Threads::Threads>

8
portable/Common/mpu_wrappers_v2.c
View file

@ -245,7 +245,7 @@
/**
* @brief Kernel object pool.
*/
PRIVILEGED_DATA static KernelObject_t xKernelObjectPool[ configPROTECTED_KERNEL_OBJECT_POOL_SIZE ] = { NULL };
PRIVILEGED_DATA static KernelObject_t xKernelObjectPool[ configPROTECTED_KERNEL_OBJECT_POOL_SIZE ] = { 0 };
/*-----------------------------------------------------------*/
static int32_t MPU_GetFreeIndexInKernelObjectPool( void ) /* PRIVILEGED_FUNCTION */
@ -263,13 +263,13 @@
if( xKernelObjectPool[ i ].xInternalObjectHandle == NULL )
{
/* Mark this index as not free. */
xKernelObjectPool[ i ].xInternalObjectHandle = ( OpaqueObjectHandle_t ) ( ~0 );
xKernelObjectPool[ i ].xInternalObjectHandle = ( OpaqueObjectHandle_t ) ( ~0U );
lFreeIndex = i;
break;
}
}
}
xTaskResumeAll();
( void ) xTaskResumeAll();
return lFreeIndex;
}
@ -2964,7 +2964,7 @@
QueueHandle_t xInternalQueueHandle = NULL;
BaseType_t xReturn = pdFAIL;
lIndex = ( uint32_t ) xQueue;
lIndex = ( int32_t ) xQueue;
if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
{

39
portable/ThirdParty/GCC/Posix/port.c vendored
View file

@ -74,7 +74,6 @@
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "list.h"
#include "timers.h"
#include "utils/wait_for_event.h"
/*-----------------------------------------------------------*/
@ -88,7 +87,6 @@ typedef struct THREAD
void * pvParams;
BaseType_t xDying;
struct event * ev;
ListItem_t xThreadListItem;
} Thread_t;
/*
@ -113,7 +111,6 @@ static BaseType_t xSchedulerEnd = pdFALSE;
static pthread_t hTimerTickThread;
static bool xTimerTickThreadShouldRun;
static uint64_t prvStartTimeNs;
static List_t xThreadList;
/*-----------------------------------------------------------*/
static void prvSetupSignalsAndSchedulerPolicy( void );
@ -197,14 +194,8 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
thread->ev = event_create();
vListInitialiseItem( &thread->xThreadListItem );
listSET_LIST_ITEM_OWNER( &thread->xThreadListItem, thread );
vPortEnterCritical();
/* Add the new thread in xThreadList. */
vListInsertEnd( &xThreadList, &thread->xThreadListItem );
iRet = pthread_create( &thread->pthread, &xThreadAttributes,
prvWaitForStart, thread );
@ -235,8 +226,6 @@ BaseType_t xPortStartScheduler( void )
{
int iSignal;
sigset_t xSignals;
ListItem_t * pxIterator;
const ListItem_t * pxEndMarker;
hMainThread = pthread_self();
prvPortSetCurrentThreadName("Scheduler");
@ -263,19 +252,6 @@ BaseType_t xPortStartScheduler( void )
sigwait( &xSignals, &iSignal );
}
/* Cancel all the running thread. */
pxEndMarker = listGET_END_MARKER( &xThreadList );
for( pxIterator = listGET_HEAD_ENTRY( &xThreadList ); pxIterator != pxEndMarker; pxIterator = listGET_NEXT( pxIterator ) )
{
Thread_t * pxThread = ( Thread_t * ) listGET_LIST_ITEM_OWNER( pxIterator );
pthread_cancel( pxThread->pthread );
event_signal( pxThread->ev );
pthread_join( pxThread->pthread, NULL );
event_delete( pxThread->ev );
}
/*
* clear out the variable that is used to end the scheduler, otherwise
* subsequent scheduler restarts will end immediately.
@ -300,6 +276,8 @@ BaseType_t xPortStartScheduler( void )
void vPortEndScheduler( void )
{
Thread_t * pxCurrentThread;
/* Stop the timer tick thread. */
xTimerTickThreadShouldRun = false;
pthread_join( hTimerTickThread, NULL );
@ -308,7 +286,10 @@ void vPortEndScheduler( void )
xSchedulerEnd = pdTRUE;
( void ) pthread_kill( hMainThread, SIG_RESUME );
pthread_exit( NULL );
/* Waiting to be deleted here. */
pxCurrentThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
event_wait( pxCurrentThread->ev );
pthread_testcancel();
}
/*-----------------------------------------------------------*/
@ -491,11 +472,6 @@ void vPortCancelThread( void * pxTaskToDelete )
{
Thread_t * pxThreadToCancel = prvGetThreadFromTask( pxTaskToDelete );
/* Remove the thread from xThreadList. */
vPortEnterCritical();
uxListRemove( &pxThreadToCancel->xThreadListItem );
vPortExitCritical();
/*
* The thread has already been suspended so it can be safely cancelled.
*/
@ -600,9 +576,6 @@ static void prvSetupSignalsAndSchedulerPolicy( void )
hMainThread = pthread_self();
/* Setup thread list to record all the task which are not deleted. */
vListInitialise( &xThreadList );
/* Initialise common signal masks. */
sigfillset( &xAllSignals );

8
queue.c
View file

@ -1190,7 +1190,7 @@ BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue,
* read, instead return a flag to say whether a context switch is required or
* not (i.e. has a task with a higher priority than us been woken by this
* post). */
uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
uxSavedInterruptStatus = ( UBaseType_t ) taskENTER_CRITICAL_FROM_ISR();
{
if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
{
@ -1365,7 +1365,7 @@ BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue,
* link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
uxSavedInterruptStatus = ( UBaseType_t ) taskENTER_CRITICAL_FROM_ISR();
{
const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
@ -2055,7 +2055,7 @@ BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue,
* link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
uxSavedInterruptStatus = ( UBaseType_t ) taskENTER_CRITICAL_FROM_ISR();
{
const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
@ -2153,7 +2153,7 @@ BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue,
* link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
uxSavedInterruptStatus = ( UBaseType_t ) taskENTER_CRITICAL_FROM_ISR();
{
/* Cannot block in an ISR, so check there is data available. */
if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )

44
tasks.c
View file

@ -2229,7 +2229,7 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
/* If the task is running (or yielding), we must add it to the
* termination list so that an idle task can delete it when it is
* no longer running. */
if( taskTASK_IS_RUNNING_OR_SCHEDULED_TO_YIELD( pxTCB ) != pdFALSE )
if( ( xSchedulerRunning != pdFALSE ) && ( taskTASK_IS_RUNNING_OR_SCHEDULED_TO_YIELD( pxTCB ) != pdFALSE ) )
{
/* A running task or a task which is scheduled to yield is being
* deleted. This cannot complete when the task is still running
@ -2657,7 +2657,7 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
* https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
uxSavedInterruptStatus = ( UBaseType_t ) taskENTER_CRITICAL_FROM_ISR();
{
/* If null is passed in here then it is the priority of the calling
* task that is being queried. */
@ -2728,7 +2728,7 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
* https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
uxSavedInterruptStatus = ( UBaseType_t ) taskENTER_CRITICAL_FROM_ISR();
{
/* If null is passed in here then it is the base priority of the calling
* task that is being queried. */
@ -3740,11 +3740,39 @@ void vTaskEndScheduler( void )
{
traceENTER_vTaskEndScheduler();
#if ( INCLUDE_vTaskDelete == 1 )
{
BaseType_t xCoreID;
#if ( configUSE_TIMERS == 1 )
{
/* Delete the timer task created by the kernel. */
vTaskDelete( xTimerGetTimerDaemonTaskHandle() );
}
#endif /* #if ( configUSE_TIMERS == 1 ) */
/* Delete Idle tasks created by the kernel.*/
for( xCoreID = 0; xCoreID < ( BaseType_t ) configNUMBER_OF_CORES; xCoreID++ )
{
vTaskDelete( xIdleTaskHandles[ xCoreID ] );
}
/* Idle task is responsible for reclaiming the resources of the tasks in
* xTasksWaitingTermination list. Since the idle task is now deleted and
* no longer going to run, we need to reclaim resources of all the tasks
* in the xTasksWaitingTermination list. */
prvCheckTasksWaitingTermination();
}
#endif /* #if ( INCLUDE_vTaskDelete == 1 ) */
/* Stop the scheduler interrupts and call the portable scheduler end
* routine so the original ISRs can be restored if necessary. The port
* layer must ensure interrupts enable bit is left in the correct state. */
portDISABLE_INTERRUPTS();
xSchedulerRunning = pdFALSE;
/* This function must be called from a task and the application is
* responsible for deleting that task after the scheduler is stopped. */
vPortEndScheduler();
traceRETURN_vTaskEndScheduler();
@ -4629,7 +4657,7 @@ BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
/* This lets the task know it was forcibly removed from the
* blocked state so it should not re-evaluate its block time and
* then block again. */
pxTCB->ucDelayAborted = pdTRUE;
pxTCB->ucDelayAborted = ( uint8_t ) pdTRUE;
}
else
{
@ -5570,7 +5598,7 @@ BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
{
/* The delay was aborted, which is not the same as a time out,
* but has the same result. */
pxCurrentTCB->ucDelayAborted = pdFALSE;
pxCurrentTCB->ucDelayAborted = ( uint8_t ) pdFALSE;
xReturn = pdTRUE;
}
else
@ -8036,7 +8064,7 @@ TickType_t uxTaskResetEventItemValue( void )
pxTCB = xTaskToNotify;
uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
uxSavedInterruptStatus = ( UBaseType_t ) taskENTER_CRITICAL_FROM_ISR();
{
if( pulPreviousNotificationValue != NULL )
{
@ -8195,7 +8223,7 @@ TickType_t uxTaskResetEventItemValue( void )
pxTCB = xTaskToNotify;
uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
uxSavedInterruptStatus = ( UBaseType_t ) taskENTER_CRITICAL_FROM_ISR();
{
ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
@ -8469,7 +8497,7 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
/* About to enter a delayed list, so ensure the ucDelayAborted flag is
* reset to pdFALSE so it can be detected as having been set to pdTRUE
* when the task leaves the Blocked state. */
pxCurrentTCB->ucDelayAborted = pdFALSE;
pxCurrentTCB->ucDelayAborted = ( uint8_t ) pdFALSE;
}
#endif