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

cmake_example/main.c

@@ -52,14 +52,17 @@ static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
 
 void exampleTask( void * parameters )
 {
+    /* Unused parameters. */
+    ( void ) parameters;
+
     for( ; ; )
     {
         /* Example Task Code */
         vTaskDelay( 100 ); /* delay 100 ticks */
     }
 }
 
-int main( void )
+void main( void )
 {
     printf( "Example FreeRTOS Project\n" );
 
@@ -71,19 +74,22 @@ int main( void )
                        exampleTaskStack,
                        &exampleTaskTCB );
 
+    /* Start the scheduler. */
     vTaskStartScheduler();
 
-    /* should never get here. */
     for( ; ; )
     {
+        /* Should not reach here. */
     }
-
-    return 0;
 }
 
 void vApplicationStackOverflowHook( TaskHandle_t xTask,
                                     char * pcTaskName )
 {
+    /* Check pcTaskName for the name of the offending task,
+     * or pxCurrentTCB if pcTaskName has itself been corrupted. */
+    ( void ) xTask;
+    ( void ) pcTaskName;
 }
 
 void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,

include/FreeRTOS.h

@@ -1714,6 +1714,22 @@
     #define traceRETURN_uxTaskPriorityGetFromISR( uxReturn )
 #endif
 
+#ifndef traceENTER_uxTaskBasePriorityGet
+    #define traceENTER_uxTaskBasePriorityGet( xTask )
+#endif
+
+#ifndef traceRETURN_uxTaskBasePriorityGet
+    #define traceRETURN_uxTaskBasePriorityGet( uxReturn )
+#endif
+
+#ifndef traceENTER_uxTaskBasePriorityGetFromISR
+    #define traceENTER_uxTaskBasePriorityGetFromISR( xTask )
+#endif
+
+#ifndef traceRETURN_uxTaskBasePriorityGetFromISR
+    #define traceRETURN_uxTaskBasePriorityGetFromISR( uxReturn )
+#endif
+
 #ifndef traceENTER_vTaskPrioritySet
     #define traceENTER_vTaskPrioritySet( xTask, uxNewPriority )
 #endif

include/mpu_prototypes.h

@@ -128,6 +128,8 @@ BaseType_t MPU_xTaskGetStaticBuffers( TaskHandle_t xTask,
                                       StackType_t ** ppuxStackBuffer,
                                       StaticTask_t ** ppxTaskBuffer ) PRIVILEGED_FUNCTION;
 UBaseType_t MPU_uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+UBaseType_t MPU_uxTaskBasePriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+UBaseType_t MPU_uxTaskBasePriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 BaseType_t MPU_xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
 TaskHookFunction_t MPU_xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 BaseType_t MPU_xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,

include/mpu_wrappers.h

@@ -99,6 +99,8 @@
             #define vTaskAllocateMPURegions              MPU_vTaskAllocateMPURegions
             #define xTaskGetStaticBuffers                MPU_xTaskGetStaticBuffers
             #define uxTaskPriorityGetFromISR             MPU_uxTaskPriorityGetFromISR
+            #define uxTaskBasePriorityGet                MPU_uxTaskBasePriorityGet
+            #define uxTaskBasePriorityGetFromISR         MPU_uxTaskBasePriorityGetFromISR
             #define xTaskResumeFromISR                   MPU_xTaskResumeFromISR
             #define xTaskGetApplicationTaskTagFromISR    MPU_xTaskGetApplicationTaskTagFromISR
             #define xTaskGenericNotifyFromISR            MPU_xTaskGenericNotifyFromISR

include/task.h

@@ -1021,6 +1021,37 @@ UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
  */
 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
+/**
+ * task. h
+ * @code{c}
+ * UBaseType_t uxTaskBasePriorityGet( const TaskHandle_t xTask );
+ * @endcode
+ *
+ * INCLUDE_uxTaskPriorityGet and configUSE_MUTEXES must be defined as 1 for this
+ * function to be available. See the configuration section for more information.
+ *
+ * Obtain the base priority of any task.
+ *
+ * @param xTask Handle of the task to be queried.  Passing a NULL
+ * handle results in the base priority of the calling task being returned.
+ *
+ * @return The base priority of xTask.
+ *
+ * \defgroup uxTaskPriorityGet uxTaskBasePriorityGet
+ * \ingroup TaskCtrl
+ */
+UBaseType_t uxTaskBasePriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * @code{c}
+ * UBaseType_t uxTaskBasePriorityGetFromISR( const TaskHandle_t xTask );
+ * @endcode
+ *
+ * A version of uxTaskBasePriorityGet() that can be used from an ISR.
+ */
+UBaseType_t uxTaskBasePriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
 /**
  * task. h
  * @code{c}

portable/Common/mpu_wrappers_v2.c

@@ -112,6 +112,16 @@
  */
     #define CONVERT_TO_INTERNAL_INDEX( lIndex )    ( ( lIndex ) - INDEX_OFFSET )
 
+/**
+ * @brief Max value that fits in a size_t type.
+ */
+    #define mpuSIZE_MAX    ( ~( ( size_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 ) ) ) )
+
 /**
  * @brief Get the index of a free slot in the kernel object pool.
  *
@@ -1035,25 +1045,28 @@
                                                   UBaseType_t uxArraySize,
                                                   configRUN_TIME_COUNTER_TYPE * pulTotalRunTime ) /* PRIVILEGED_FUNCTION */
         {
-            UBaseType_t uxReturn = pdFALSE;
+            UBaseType_t uxReturn = 0;
             UBaseType_t xIsTaskStatusArrayWriteable = pdFALSE;
             UBaseType_t xIsTotalRunTimeWriteable = pdFALSE;
 
-            xIsTaskStatusArrayWriteable = xPortIsAuthorizedToAccessBuffer( pxTaskStatusArray,
-                                                                           sizeof( TaskStatus_t ) * uxArraySize,
-                                                                           tskMPU_WRITE_PERMISSION );
-
-            if( pulTotalRunTime != NULL )
+            if( mpuMULTIPLY_WILL_OVERFLOW( sizeof( TaskStatus_t ), uxArraySize ) == 0 )
             {
-                xIsTotalRunTimeWriteable = xPortIsAuthorizedToAccessBuffer( pulTotalRunTime,
-                                                                            sizeof( configRUN_TIME_COUNTER_TYPE ),
-                                                                            tskMPU_WRITE_PERMISSION );
-            }
+                xIsTaskStatusArrayWriteable = xPortIsAuthorizedToAccessBuffer( pxTaskStatusArray,
+                                                                               sizeof( TaskStatus_t ) * uxArraySize,
+                                                                               tskMPU_WRITE_PERMISSION );
 
-            if( ( xIsTaskStatusArrayWriteable == pdTRUE ) &&
-                ( ( pulTotalRunTime == NULL ) || ( xIsTotalRunTimeWriteable == pdTRUE ) ) )
-            {
-                uxReturn = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, pulTotalRunTime );
+                if( pulTotalRunTime != NULL )
+                {
+                    xIsTotalRunTimeWriteable = xPortIsAuthorizedToAccessBuffer( pulTotalRunTime,
+                                                                                sizeof( configRUN_TIME_COUNTER_TYPE ),
+                                                                                tskMPU_WRITE_PERMISSION );
+                }
+
+                if( ( xIsTaskStatusArrayWriteable == pdTRUE ) &&
+                    ( ( pulTotalRunTime == NULL ) || ( xIsTotalRunTimeWriteable == pdTRUE ) ) )
+                {
+                    uxReturn = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, pulTotalRunTime );
+                }
             }
 
             return uxReturn;
@@ -1894,6 +1907,72 @@
     #endif /* #if ( INCLUDE_uxTaskPriorityGet == 1 ) */
 /*-----------------------------------------------------------*/
 
+    #if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) )
+
+        UBaseType_t MPU_uxTaskBasePriorityGet( const TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
+        {
+            UBaseType_t uxReturn = configMAX_PRIORITIES;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+
+            if( xTask == NULL )
+            {
+                uxReturn = uxTaskBasePriorityGet( xTask );
+            }
+            else
+            {
+                lIndex = ( int32_t ) xTask;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTaskHandle != NULL )
+                    {
+                        uxReturn = uxTaskBasePriorityGet( xInternalTaskHandle );
+                    }
+                }
+            }
+
+            return uxReturn;
+        }
+
+    #endif /* #if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+    #if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) )
+
+        UBaseType_t MPU_uxTaskBasePriorityGetFromISR( const TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
+        {
+            UBaseType_t uxReturn = configMAX_PRIORITIES;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+
+            if( xTask == NULL )
+            {
+                uxReturn = uxTaskBasePriorityGetFromISR( xTask );
+            }
+            else
+            {
+                lIndex = ( int32_t ) xTask;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTaskHandle != NULL )
+                    {
+                        uxReturn = uxTaskBasePriorityGetFromISR( xInternalTaskHandle );
+                    }
+                }
+            }
+
+            return uxReturn;
+        }
+
+    #endif /* #if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) ) */
+/*-----------------------------------------------------------*/
+
     #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
 
         BaseType_t MPU_xTaskResumeFromISR( TaskHandle_t xTaskToResume ) /* PRIVILEGED_FUNCTION */