Merge branch 'main' into detect-startup-config-errors

.github/workflows/kernel-checks.yml

@@ -9,10 +9,7 @@ jobs:
     steps:
       # Install python 3
       - name: Tool Setup
-        uses: actions/setup-python@v2
-        with:
-          python-version: 3.7.10
-          architecture:   x64
+        uses: actions/setup-python@v3
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
@@ -21,6 +18,7 @@ jobs:
         uses: actions/checkout@v3
         with:
           repository: FreeRTOS/FreeRTOS
+          sparse-checkout: '.github'
           ref:  main
           path: tools
 
@@ -32,15 +30,40 @@ jobs:
 
       # Collect all affected files
       - name: Collecting changed files
-        uses: lots0logs/gh-action-get-changed-files@2.1.4
+        uses: lots0logs/gh-action-get-changed-files@2.2.2
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
 
       # Run checks
-      - name: Check File Headers
+      - env:
+          bashPass: \033[32;1mPASSED -
+          bashInfo: \033[33;1mINFO -
+          bashFail: \033[31;1mFAILED -
+          bashEnd:  \033[0m
+          stepName: Check File Headers
+        name: ${{ env.stepName }}
+        shell: bash
         run: |
+          # ${{ env.stepName }}
+          echo -e "::group::${{ env.bashInfo }} Install Dependencies ${{ env.bashEnd }}"
+
+          # Copy the common tools from the FreeRTOS/FreeRTOS repo.
           mv tools/.github/scripts/common inspect/.github/scripts
+
+          # Install the necessary python dependencies
           pip install -r inspect/.github/scripts/common/requirements.txt
           cd inspect
+
+          echo -e "::group::${{ env.bashInfo }} ${{ env.stepName }} ${{ env.bashEnd }}"
+
+          # Use the python script to check the copyright header of modified files.
           .github/scripts/kernel_checker.py --json ${HOME}/files_modified.json ${HOME}/files_added.json ${HOME}/files_renamed.json
-          exit $?
+          exitStatus=$?
+          echo -e "::endgroup::"
+
+          if [ $exitStatus -eq 0 ]; then
+            echo -e "${{ env.bashPass }} ${{ env.stepName }} ${{ env.bashEnd }}"
+          else
+            echo -e "${{ env.bashFail }} ${{ env.stepName }} ${{ env.bashEnd }}"
+          fi
+          exit $exitStatus

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/Common/mpu_wrappers_v2.c

@@ -113,14 +113,14 @@
     #define CONVERT_TO_INTERNAL_INDEX( lIndex )    ( ( lIndex ) - INDEX_OFFSET )
 
 /**
- * @brief Max value that fits in a size_t type.
+ * @brief Max value that fits in a uint32_t type.
  */
-    #define mpuSIZE_MAX    ( ~( ( size_t ) 0 ) )
+    #define mpuUINT32_MAX    ( ~( ( uint32_t ) 0 ) )
 
 /**
  * @brief Check if multiplying a and b will result in overflow.
  */
-    #define mpuMULTIPLY_WILL_OVERFLOW( a, b )    ( ( ( a ) > 0 ) && ( ( b ) > ( mpuSIZE_MAX / ( a ) ) ) )
+    #define mpuMULTIPLY_UINT32_WILL_OVERFLOW( a, b )    ( ( ( a ) > 0 ) && ( ( b ) > ( mpuUINT32_MAX / ( a ) ) ) )
 
 /**
  * @brief Get the index of a free slot in the kernel object pool.
@@ -324,9 +324,16 @@
     static OpaqueObjectHandle_t MPU_GetHandleAtIndex( int32_t lIndex,
                                                       uint32_t ulKernelObjectType ) /* PRIVILEGED_FUNCTION */
     {
+        OpaqueObjectHandle_t xObjectHandle = NULL;
+
         configASSERT( IS_INTERNAL_INDEX_VALID( lIndex ) != pdFALSE );
-        configASSERT( xKernelObjectPool[ lIndex ].ulKernelObjectType == ulKernelObjectType );
-        return xKernelObjectPool[ lIndex ].xInternalObjectHandle;
+
+        if( xKernelObjectPool[ lIndex ].ulKernelObjectType == ulKernelObjectType )
+        {
+            xObjectHandle = xKernelObjectPool[ lIndex ].xInternalObjectHandle;
+        }
+
+        return xObjectHandle;
     }
 /*-----------------------------------------------------------*/
 
@@ -1048,11 +1055,13 @@
             UBaseType_t uxReturn = 0;
             UBaseType_t xIsTaskStatusArrayWriteable = pdFALSE;
             UBaseType_t xIsTotalRunTimeWriteable = pdFALSE;
+            uint32_t ulArraySize = ( uint32_t ) uxArraySize;
+            uint32_t ulTaskStatusSize = ( uint32_t ) sizeof( TaskStatus_t );
 
-            if( mpuMULTIPLY_WILL_OVERFLOW( sizeof( TaskStatus_t ), uxArraySize ) == 0 )
+            if( mpuMULTIPLY_UINT32_WILL_OVERFLOW( ulTaskStatusSize, ulArraySize ) == 0 )
             {
                 xIsTaskStatusArrayWriteable = xPortIsAuthorizedToAccessBuffer( pxTaskStatusArray,
-                                                                               sizeof( TaskStatus_t ) * uxArraySize,
+                                                                               ulTaskStatusSize * ulArraySize,
                                                                                tskMPU_WRITE_PERMISSION );
 
                 if( pulTotalRunTime != NULL )
@@ -1065,7 +1074,7 @@
                 if( ( xIsTaskStatusArrayWriteable == pdTRUE ) &&
                     ( ( pulTotalRunTime == NULL ) || ( xIsTotalRunTimeWriteable == pdTRUE ) ) )
                 {
-                    uxReturn = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, pulTotalRunTime );
+                    uxReturn = uxTaskGetSystemState( pxTaskStatusArray, ( UBaseType_t ) ulArraySize, pulTotalRunTime );
                 }
             }
 
@@ -2133,7 +2142,7 @@
                         if( pvItemToQueue != NULL )
                         {
                             xIsItemToQueueReadable = xPortIsAuthorizedToAccessBuffer( pvItemToQueue,
-                                                                                      uxQueueGetQueueItemSize( xInternalQueueHandle ),
+                                                                                      uxQueueItemSize,
                                                                                       tskMPU_READ_PERMISSION );
                         }
 
@@ -2246,7 +2255,7 @@
                         )
                     {
                         xIsReceiveBufferWritable = xPortIsAuthorizedToAccessBuffer( pvBuffer,
-                                                                                    uxQueueGetQueueItemSize( xInternalQueueHandle ),
+                                                                                    uxQueueItemSize,
                                                                                     tskMPU_WRITE_PERMISSION );
 
                         if( xIsReceiveBufferWritable == pdTRUE )
@@ -2298,7 +2307,7 @@
                         )
                     {
                         xIsReceiveBufferWritable = xPortIsAuthorizedToAccessBuffer( pvBuffer,
-                                                                                    uxQueueGetQueueItemSize( xInternalQueueHandle ),
+                                                                                    uxQueueItemSize,
                                                                                     tskMPU_WRITE_PERMISSION );
 
                         if( xIsReceiveBufferWritable == pdTRUE )

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;
         }