The expected behaviour of portIS_PRIVILEGED is:
- return 0 if the processor is not running privileged.
- return 1 if the processor is running privileged.
Some TI ports do not return 1 when the processor is running privileged
causing the following check to fail: if( xRunningPrivileged != pdTRUE )
This commit change the check to: if( xRunningPrivileged == pdFALSE ). It
ensures that the check is successful even on the ports which return incorrect
value from portIS_PRIVILEGED when the processor is running privileged.
See https://forums.freertos.org/t/kernel-bug-nested-mpu-wrapper-calls-generate-an-exception/10391
Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>
configSYSTICK_CLOCK_HZ should be used to configure SysTick to support
the use case when the clock for SysTick timer is scaled from the main
CPU clock.
configSYSTICK_CLOCK_HZ is defined to configCPU_CLOCK_HZ when it is not
defined in FreeRTOSConfig.h.
Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>
ARMv7-M supports 8 or 16 MPU regions. FreeRTOS Cortex-M4 MPU ports so
far assumed 8 regions. This change adds support for 16 MPU regions. The
hardware with 16 MPU regions must define configTOTAL_MPU_REGIONS to 16
in their FreeRTOSConfig.h.
If left undefined, it defaults to 8 for backward compatibility.
Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>
Update BSP APIs to latest version
Remove unused macro which could have caused warnings
(Code Style) Manually align some macros
Signed-off-by: Yuguo Zou <yuguo.zou@synopsys.com>
These definitions were not useful because the corresponding mapping was
removed from mpu_wrappers.h earlier.
Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>
The reason for the change is that the register is called System Handler
Priority Register 3 (SHPR3).
Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>
Some of the privileged symbols were not being placed in their respective
sections. This commit addresses those and places them in
privileged_functions or privileged_data section.
Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>
If xTaskCreate API is used to create a task, the task's stack is
allocated on heap using pvPortMalloc. This places the task's stack
in the privileged data section, if the heap is placed in the
privileged data section.
We use a separate MPU region to grant a task access to its stack.
If the task's stack is in the privileged data section, this results in
overlapping MPU regions as privileged data section is already protected
using a separate MPU region. ARMv8-M does not allow overlapping MPU
regions and this results in a fault. This commit ensures to not use a
separate MPU region for the task's stack if it lies within the
privileged data section.
Note that if the heap memory is placed in the privileged data section,
the xTaskCreate API cannot be used to create an unprivileged task as
the task's stack will be in the privileged data section and the task
won't have access to it. xTaskCreateRestricted and
xTaskCreateRestrictedStatic API should be used to create unprivileged
tasks.
Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>
* Added protection for xQueueGenericCreate
* prevent eventual invalid state change from int8 overflow
* Append period at end of comment. To be consistent with file.
* check operand, not destination
* parantheses -- to not show assumptive precendence
* Per request, less dependence on stdint by defining and checking against queueINT8_MAX instead
When Link Time Optimization (LTO) is enabled, some of the LDR
instructions result in out of range access. The reason is that the
default generated literal pool is too far and not within the permissible
range of 4K.
This commit adds LTORG assembly instructions at required places to
ensure that access to literals remain in the permissible range of 4K.
Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>
* * Renamed trace point in prvNotifyQueueSetContainer() so it isn't a duplicate of the trace point in xQueueGenericSend()
* * Fixed backwards compatibility.
Co-authored-by: Erik Tamlin <erik.tamlin@percepio.com>
Refer to https://www.freertos.org/a00133.html.
The issue with the implementation is that, if only stop kernel tick the program will keep executing current task.
The desired behavior is to at least return/jump to the next instruction after vTaskStartScheduler().
Signed-off-by: Yuhui Zheng <10982575+yuhui-zheng@users.noreply.github.com>
Description
Before this change each task had a single direct to task notification value and state as described here: https://www.FreeRTOS.org/RTOS-task-notifications.html. After this change each task has an array of task notifications, so more than one task notification value and state per task. The new FreeRTOSConfig.h compile time constant configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the array.
Each notification within the array operates independently - a task can only block on one notification within the array at a time and will not be unblocked by a notification sent to any other array index.
Task notifications were introduced as a light weight method for peripheral drivers to pass data and events to tasks without the need for an intermediary object such as a semaphore - for example, to unblock a task from an ISR when the operation of a peripheral completed. That use case only requires a single notification value. Their popularity and resultant expanded use cases have since made the single value a limitation - especially as FreeRTOS stream and message buffers themselves use the notification mechanism. This change resolves that limitation. Stream and message buffers still use the task notification at array index 0, but now application writers can avoid any conflict that might have with their own use of task notifications by using notifications at array indexes other than 0.
The pre-existing task notification API functions work in a backward compatible way by always using the task notification at array index 0. For each such function there is now an equivalent that is postfixed "Indexed" and takes an additional parameter to specify which index within the array it should operate upon. For example, xTaskNotify() is the original that only operates on array index 0. xTaskNotifyIndexed() is the new function that can operate on any array index.
Test Steps
The update is tested using the Win32 demo (PR to be created in the FreeRTOS/FreeRTOS github repo), which has been updated to build and run a new test file FreeRTOS/Demo/Common/Minimal/TaskNotifyArray.c. The tests in that file are in addition to, not a replacement for those in FreeRTOS/Demo/Common/Minimal/TaskNotify.c.
By submitting this pull request, I confirm that you can use, modify, copy, and redistribute this contribution, under the terms of your choice.
* fix: CLEAR MIE BIT IN INITIAL RISC-V MSTATUS VALUE
The MIE bit in the RISC-V MSTATUS register is used to globally enable
or disable interrupts. It is copied into the MPIE bit and cleared
on entry to an interrupt, and then copied back from the MPIE bit on
exit from an interrupt.
When a task is created it is given an initial MSTATUS value that is
derived from the current MSTATUS value with the MPIE bit force to 1,
but the MIE bit is not forced into any state. This change forces
the MIE bit to 0 (interrupts disabled).
Why:
If a task is created before the scheduler is started the MIE bit
will happen to be 0 (interrupts disabled), which is fine. If a
task is created after the scheduler has been started the MIE bit
is set (interrupts enabled), causing interrupts to unintentionally
become enabled inside the interrupt in which the task is first
moved to the running state - effectively breaking a critical
section which in turn could cause a crash if enabling interrupts
causes interrupts to nest. It is only an issue when starting a
newly created task that was created after the scheduler was started.
Related Issues:
https://forums.freertos.org/t/risc-v-port-pxportinitialisestack-issue-about-mstatus-value-onto-the-stack/9622
Co-authored-by: Cobus van Eeden <35851496+cobusve@users.noreply.github.com>
Enabling Link Time Optimization (LTO) causes some of the functions used
in assembly to be incorrectly stripped off, resulting in linker error.
To avoid this, these functions are marked with portDONT_DISCARD macro,
definition of which is port specific. This commit adds the definition
of portDONT_DISCARD for ARMv7-M ports.
Signed-off-by: Gaurav Aggarwal
