Merge branch 'main' into vTaskListTasks-prints-affinity-mask

CMakeLists.txt

@@ -8,10 +8,12 @@ cmake_minimum_required(VERSION 3.15)
 #
 # DEPRECATED: FREERTOS_CONFIG_FILE_DIRECTORY - but still supported if no freertos_config defined for now.
 #             May be removed at some point in the future.
+#
 # User can choose which heap implementation to use (either the implementations
-# included with FreeRTOS [1..5] or a custom implementation ) by providing the
-# option FREERTOS_HEAP. If the option is not set, the cmake will default to
-# using heap_4.c.
+# included with FreeRTOS [1..5] or a custom implementation) by providing the
+# option FREERTOS_HEAP. When dynamic allocation is used, the user must specify a
+# heap implementation. If the option is not set, the cmake will use no heap
+# implementation (e.g. when only static allocation is used).
 
 # `freertos_config` target defines the path to FreeRTOSConfig.h and optionally other freertos based config files
 if(NOT TARGET freertos_config )
@@ -37,9 +39,6 @@ if(NOT TARGET freertos_config )
     endif()
 endif()
 
-# Heap number or absolute path to custom heap implementation provided by user
-set(FREERTOS_HEAP "4" CACHE STRING "FreeRTOS heap model number. 1 .. 5. Or absolute path to custom heap source file")
-
 # FreeRTOS port option
 if(NOT FREERTOS_PORT)
     message(WARNING " FREERTOS_PORT is not set. Please specify it from top-level CMake file (example):\n"
@@ -285,11 +284,16 @@ target_sources(freertos_kernel PRIVATE
     stream_buffer.c
     tasks.c
     timers.c
-
-    # If FREERTOS_HEAP is digit between 1 .. 5 - it is heap number, otherwise - it is path to custom heap source file
-    $<IF:$<BOOL:$<FILTER:${FREERTOS_HEAP},EXCLUDE,^[1-5]$>>,${FREERTOS_HEAP},portable/MemMang/heap_${FREERTOS_HEAP}.c>
 )
 
+if (DEFINED FREERTOS_HEAP )
+    # User specified a heap implementation add heap implementation to freertos_kernel.
+    target_sources(freertos_kernel PRIVATE
+        # If FREERTOS_HEAP is digit between 1 .. 5 - it is heap number, otherwise - it is path to custom heap source file
+        $<IF:$<BOOL:$<FILTER:${FREERTOS_HEAP},EXCLUDE,^[1-5]$>>,${FREERTOS_HEAP},portable/MemMang/heap_${FREERTOS_HEAP}.c>
+    )
+endif()
+
 
 target_link_libraries(freertos_kernel
     PUBLIC

README.md

@@ -125,7 +125,7 @@ See the readme file in the ```./portable``` directory for more information.
 - The ```./include``` directory contains the real time kernel header files.
 
 - The ```./sample_configuration``` directory contains a sample `FreeRTOSConfig.h` to help jumpstart a new project.
-See the [FreeRTOSConfig.h](sample_configuration/FreeRTOSConfig.h) file for instructions.
+See the [FreeRTOSConfig.h](examples/sample_configuration/FreeRTOSConfig.h) file for instructions.
 
 ### Code Formatting
 

cmake_example/CMakeLists.txt → examples/cmake_example/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.15)
 
 project(example)
 
-set(FREERTOS_KERNEL_PATH "../")
+set(FREERTOS_KERNEL_PATH "../../")
 
 # Add the freertos_config for FreeRTOS-Kernel
 add_library(freertos_config INTERFACE)
@@ -13,7 +13,7 @@ target_include_directories(freertos_config
 )
 
 # Select the heap port.  values between 1-4 will pick a heap.
-# set(FREERTOS_HEAP "4" CACHE STRING "" FORCE)
+set(FREERTOS_HEAP "4" CACHE STRING "" FORCE)
 
 # Select the native compile PORT
 set(FREERTOS_PORT "TEMPLATE" CACHE STRING "" FORCE)

cmake_example/main.c → examples/cmake_example/main.c

@@ -44,12 +44,6 @@
 static StaticTask_t exampleTaskTCB;
 static StackType_t exampleTaskStack[ configMINIMAL_STACK_SIZE ];
 
-static StaticTask_t xTimerTaskTCB;
-static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
-
-static StaticTask_t xIdleTaskTCB;
-static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
-
 void exampleTask( void * parameters )
 {
     /* Unused parameters. */
@@ -91,21 +85,3 @@ void vApplicationStackOverflowHook( TaskHandle_t xTask,
     ( void ) xTask;
     ( void ) pcTaskName;
 }
-
-void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
-                                     StackType_t ** ppxTimerTaskStackBuffer,
-                                     uint32_t * pulTimerTaskStackSize )
-{
-    *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
-    *ppxTimerTaskStackBuffer = uxTimerTaskStack;
-    *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
-}
-
-void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
-                                    StackType_t ** ppxIdleTaskStackBuffer,
-                                    uint32_t * pulIdleTaskStackSize )
-{
-    *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
-    *ppxIdleTaskStackBuffer = uxIdleTaskStack;
-    *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
-}

sample_configuration/FreeRTOSConfig.h → examples/sample_configuration/FreeRTOSConfig.h

@@ -118,13 +118,21 @@
  * human readable name.  Includes the NULL terminator. */
 #define configMAX_TASK_NAME_LEN                    16
 
-/* The tick count is held in a variable of type TickType_t.  Set
- * configUSE_16_BIT_TICKS to 1 to make TickType_t a 16-bit type.  Set
- * configUSE_16_BIT_TICKS to 0 to make TickType_t either a 32 or 64-bit type
- * depending on the architecture.  Using a 16-bit type can greatly improve
- * efficiency on 8-bit and 16-bit microcontrollers, but at the cost of limiting the
- * maximum specifiable block time to 0xffff. */
-#define configUSE_16_BIT_TICKS                     0
+/* Time is measured in 'ticks' - which is the number of times the tick interrupt
+ * has executed since the RTOS kernel was started.
+ * The tick count is held in a variable of type TickType_t.
+ *
+ * configTICK_TYPE_WIDTH_IN_BITS controls the type (and therefore bit-width) of TickType_t:
+ *
+ * Defining configTICK_TYPE_WIDTH_IN_BITS as TICK_TYPE_WIDTH_16_BITS causes
+ * TickType_t to be defined (typedef'ed) as an unsigned 16-bit type.
+ *
+ * Defining configTICK_TYPE_WIDTH_IN_BITS as TICK_TYPE_WIDTH_32_BITS causes
+ * TickType_t to be defined (typedef'ed) as an unsigned 32-bit type.
+ *
+ * Defining configTICK_TYPE_WIDTH_IN_BITS as TICK_TYPE_WIDTH_64_BITS causes
+ * TickType_t to be defined (typedef'ed) as an unsigned 64-bit type. */
+#define configTICK_TYPE_WIDTH_IN_BITS              TICK_TYPE_WIDTH_64_BITS
 
 /* Set configIDLE_SHOULD_YIELD to 1 to have the Idle task yield to an
  * application task if there is an Idle priority (priority 0) application task that
@@ -388,7 +396,15 @@
 
 /* secureconfigMAX_SECURE_CONTEXTS define the maximum number of tasks that can
  *  call into the secure side of an ARMv8-M chip.  Not used by any other ports. */
-#define secureconfigMAX_SECURE_CONTEXTS    5
+#define secureconfigMAX_SECURE_CONTEXTS        5
+
+/* Defines the kernel provided implementation of
+ * vApplicationGetIdleTaskMemory() and vApplicationGetTimerTaskMemory()
+ * to provide the memory that is used by the Idle task and Timer task respectively.
+ * The application can provide it's own implementation of
+ * vApplicationGetIdleTaskMemory() and vApplicationGetTimerTaskMemory() by
+ * setting configKERNEL_PROVIDED_STATIC_MEMORY to 0 or leaving it undefined. */
+#define configKERNEL_PROVIDED_STATIC_MEMORY    1
 
 /******************************************************************************/
 /* Definitions that include or exclude functionality. *************************/

include/FreeRTOS.h

@@ -2120,12 +2120,12 @@
     #define traceRETURN_xTaskGetCurrentTaskHandle( xReturn )
 #endif
 
-#ifndef traceENTER_xTaskGetCurrentTaskHandleCPU
-    #define traceENTER_xTaskGetCurrentTaskHandleCPU( xCoreID )
+#ifndef traceENTER_xTaskGetCurrentTaskHandleForCore
+    #define traceENTER_xTaskGetCurrentTaskHandleForCore( xCoreID )
 #endif
 
-#ifndef traceRETURN_xTaskGetCurrentTaskHandleCPU
-    #define traceRETURN_xTaskGetCurrentTaskHandleCPU( xReturn )
+#ifndef traceRETURN_xTaskGetCurrentTaskHandleForCore
+    #define traceRETURN_xTaskGetCurrentTaskHandleForCore( xReturn )
 #endif
 
 #ifndef traceENTER_xTaskGetSchedulerState

include/task.h

@@ -3539,7 +3539,7 @@ TaskHandle_t xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION;
 /*
  * Return the handle of the task running on specified core.
  */
-TaskHandle_t xTaskGetCurrentTaskHandleCPU( BaseType_t xCoreID ) PRIVILEGED_FUNCTION;
+TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID ) PRIVILEGED_FUNCTION;
 
 /*
  * Shortcut used by the queue implementation to prevent unnecessary call to

portable/template/portmacro.h

@@ -38,6 +38,9 @@ typedef unsigned char    UBaseType_t;
 #elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
     typedef uint32_t     TickType_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
 #else
     #error configTICK_TYPE_WIDTH_IN_BITS set to unsupported tick type width.
 #endif

tasks.c

@@ -6425,18 +6425,18 @@ static void prvResetNextTaskUnblockTime( void )
             return xReturn;
         }
 
-        TaskHandle_t xTaskGetCurrentTaskHandleCPU( BaseType_t xCoreID )
+        TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID )
         {
             TaskHandle_t xReturn = NULL;
 
-            traceENTER_xTaskGetCurrentTaskHandleCPU( xCoreID );
+            traceENTER_xTaskGetCurrentTaskHandleForCore( xCoreID );
 
             if( taskVALID_CORE_ID( xCoreID ) != pdFALSE )
             {
                 xReturn = pxCurrentTCBs[ xCoreID ];
             }
 
-            traceRETURN_xTaskGetCurrentTaskHandleCPU( xReturn );
+            traceRETURN_xTaskGetCurrentTaskHandleForCore( xReturn );
 
             return xReturn;
         }