Merge branch 'main' into blocking_buffer

CMakeLists.txt

@@ -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"
+    "   add_library(freertos_kernel_port_headers INTERFACE)\n"
-    "     PUBLIC\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
+
 )
 
 ########################################################################

examples/template_configuration/FreeRTOSConfig.h

@@ -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. *************************/
 /******************************************************************************/

portable/CMakeLists.txt

@@ -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>

portable/Common/mpu_wrappers_v2.c

@@ -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 )
         {

portable/ThirdParty/GCC/Posix/port.c

@@ -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 );
 

queue.c

@@ -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 )

tasks.c

@@ -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