Merge branch 'main' into update-cortex-a9-alignment

README.md

@@ -21,6 +21,9 @@ Additionally, for FreeRTOS kernel feature information refer to the
 [Developer Documentation](https://www.FreeRTOS.org/features.html),
 and [API Reference](https://www.FreeRTOS.org/a00106.html).
 
+Also for contributing and creating a Pull Request please refer to
+[the instructions here](.github/CONTRIBUTING.md#contributing-via-pull-request).
+
 ### Getting help
 
 If you have any questions or need assistance troubleshooting your FreeRTOS project,

include/FreeRTOS.h

@@ -175,8 +175,8 @@
 #endif
 
 #if ( configNUMBER_OF_CORES > 1 )
-    #ifndef configUSE_MINIMAL_IDLE_HOOK
-        #error Missing definition:  configUSE_MINIMAL_IDLE_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
+    #ifndef configUSE_PASSIVE_IDLE_HOOK
+        #error Missing definition:  configUSE_PASSIVE_IDLE_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
     #endif
 #endif
 
@@ -473,9 +473,9 @@
     #define configUSE_CORE_AFFINITY    0
 #endif /* configUSE_CORE_AFFINITY */
 
-#ifndef configUSE_MINIMAL_IDLE_HOOK
-    #define configUSE_MINIMAL_IDLE_HOOK    0
-#endif /* configUSE_MINIMAL_IDLE_HOOK */
+#ifndef configUSE_PASSIVE_IDLE_HOOK
+    #define configUSE_PASSIVE_IDLE_HOOK    0
+#endif /* configUSE_PASSIVE_IDLE_HOOK */
 
 /* The timers module relies on xTaskGetSchedulerState(). */
 #if configUSE_TIMERS == 1
@@ -1610,6 +1610,14 @@
     #define traceRETURN_xTaskCreateStatic( xReturn )
 #endif
 
+#ifndef traceENTER_xTaskCreateStaticAffinitySet
+    #define traceENTER_xTaskCreateStaticAffinitySet( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer, uxCoreAffinityMask )
+#endif
+
+#ifndef traceRETURN_xTaskCreateStaticAffinitySet
+    #define traceRETURN_xTaskCreateStaticAffinitySet( xReturn )
+#endif
+
 #ifndef traceENTER_xTaskCreateRestrictedStatic
     #define traceENTER_xTaskCreateRestrictedStatic( pxTaskDefinition, pxCreatedTask )
 #endif
@@ -1618,6 +1626,14 @@
     #define traceRETURN_xTaskCreateRestrictedStatic( xReturn )
 #endif
 
+#ifndef traceENTER_xTaskCreateRestrictedStaticAffinitySet
+    #define traceENTER_xTaskCreateRestrictedStaticAffinitySet( pxTaskDefinition, uxCoreAffinityMask, pxCreatedTask )
+#endif
+
+#ifndef traceRETURN_xTaskCreateRestrictedStaticAffinitySet
+    #define traceRETURN_xTaskCreateRestrictedStaticAffinitySet( xReturn )
+#endif
+
 #ifndef traceENTER_xTaskCreateRestricted
     #define traceENTER_xTaskCreateRestricted( pxTaskDefinition, pxCreatedTask )
 #endif
@@ -1626,6 +1642,14 @@
     #define traceRETURN_xTaskCreateRestricted( xReturn )
 #endif
 
+#ifndef traceENTER_xTaskCreateRestrictedAffinitySet
+    #define traceENTER_xTaskCreateRestrictedAffinitySet( pxTaskDefinition, uxCoreAffinityMask, pxCreatedTask )
+#endif
+
+#ifndef traceRETURN_xTaskCreateRestrictedAffinitySet
+    #define traceRETURN_xTaskCreateRestrictedAffinitySet( xReturn )
+#endif
+
 #ifndef traceENTER_xTaskCreate
     #define traceENTER_xTaskCreate( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask )
 #endif
@@ -1634,6 +1658,14 @@
     #define traceRETURN_xTaskCreate( xReturn )
 #endif
 
+#ifndef traceENTER_xTaskCreateAffinitySet
+    #define traceENTER_xTaskCreateAffinitySet( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, uxCoreAffinityMask, pxCreatedTask )
+#endif
+
+#ifndef traceRETURN_xTaskCreateAffinitySet
+    #define traceRETURN_xTaskCreateAffinitySet( xReturn )
+#endif
+
 #ifndef traceENTER_vTaskDelete
     #define traceENTER_vTaskDelete( xTaskToDelete )
 #endif
@@ -1834,8 +1866,14 @@
     #define traceRETURN_uxTaskGetSystemState( uxTask )
 #endif
 
-#ifndef traceENTER_xTaskGetIdleTaskHandle
-    #define traceENTER_xTaskGetIdleTaskHandle()
+#if ( configNUMBER_OF_CORES == 1 )
+    #ifndef traceENTER_xTaskGetIdleTaskHandle
+        #define traceENTER_xTaskGetIdleTaskHandle()
+    #endif
+#else
+    #ifndef traceENTER_xTaskGetIdleTaskHandle
+        #define traceENTER_xTaskGetIdleTaskHandle( xCoreID )
+    #endif
 #endif
 
 #ifndef traceRETURN_xTaskGetIdleTaskHandle
@@ -2872,6 +2910,12 @@
     #define configRUN_ADDITIONAL_TESTS    0
 #endif
 
+/* The following config allows infinite loop control. For example, control the
+ * infinite loop in idle task function when performing unit tests. */
+#ifndef configCONTROL_INFINITE_LOOP
+    #define configCONTROL_INFINITE_LOOP()
+#endif
+
 /* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
  * dynamically allocated RAM, in which case when any task is deleted it is known
  * that both the task's stack and TCB need to be freed.  Sometimes the

include/task.h

@@ -1930,6 +1930,8 @@ configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) PRIVIL
 
 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
 
+    #if ( configNUMBER_OF_CORES == 1 )
+
 /**
  * task.h
  * @code{c}
@@ -1943,10 +1945,41 @@ configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) PRIVIL
  * @param ppxIdleTaskStackBuffer A handle to a statically allocated Stack buffer for the idle task
  * @param pulIdleTaskStackSize A pointer to the number of elements that will fit in the allocated stack buffer
  */
-    void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
-                                        StackType_t ** ppxIdleTaskStackBuffer,
-                                        uint32_t * pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
-#endif
+        void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
+                                            StackType_t ** ppxIdleTaskStackBuffer,
+                                            uint32_t * pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
+    #else /* #if ( configNUMBER_OF_CORES == 1 ) */
+
+/**
+ * task.h
+ * @code{c}
+ * void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer, StackType_t ** ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize, BaseType_t xCoreID )
+ * @endcode
+ *
+ * This function is used to provide a statically allocated block of memory to FreeRTOS to hold the Idle Tasks TCB.  This function is required when
+ * configSUPPORT_STATIC_ALLOCATION is set.  For more information see this URI: https://www.FreeRTOS.org/a00110.html#configSUPPORT_STATIC_ALLOCATION
+ *
+ * In the FreeRTOS SMP, there are a total of configNUMBER_OF_CORES idle tasks:
+ *  1. 1 Active idle task which does all the housekeeping.
+ *  2. ( configNUMBER_OF_CORES - 1 ) Passive idle tasks which do nothing.
+ * These idle tasks are created to ensure that each core has an idle task to run when
+ * no other task is available to run.
+ *
+ * The function vApplicationGetIdleTaskMemory is called with xCoreID 0 to get the
+ * memory for Active idle task. It is called with xCoreID 1, 2 ... ( configNUMBER_OF_CORES - 1 )
+ * to get memory for passive idle tasks.
+ *
+ * @param ppxIdleTaskTCBBuffer A handle to a statically allocated TCB buffer
+ * @param ppxIdleTaskStackBuffer A handle to a statically allocated Stack buffer for the idle task
+ * @param pulIdleTaskStackSize A pointer to the number of elements that will fit in the allocated stack buffer
+ * @param xCoreId The core index of the idle task buffer
+ */
+        void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
+                                            StackType_t ** ppxIdleTaskStackBuffer,
+                                            uint32_t * pulIdleTaskStackSize, /*lint !e526 Symbol not defined as it is an application callback. */
+                                            BaseType_t xCoreID );
+    #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
+#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
 
 /**
  * task.h
@@ -1970,8 +2003,22 @@ BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask,
  *
  * Simply returns the handle of the idle task.  It is not valid to call
  * xTaskGetIdleTaskHandle() before the scheduler has been started.
+ *
+ * In the FreeRTOS SMP, there are a total of configNUMBER_OF_CORES idle tasks:
+ *  1. 1 Active idle task which does all the housekeeping.
+ *  2. ( configNUMBER_OF_CORES - 1 ) Passive idle tasks which do nothing.
+ * These idle tasks are created to ensure that each core has an idle task to run when
+ * no other task is available to run.
+ *
+ * Set xCoreID to 0 to get the Active idle task handle. Set xCoreID to
+ * 1,2 ... ( configNUMBER_OF_CORES - 1 ) to get the Passive idle task
+ * handles.
  */
-TaskHandle_t xTaskGetIdleTaskHandle( void ) PRIVILEGED_FUNCTION;
+#if ( configNUMBER_OF_CORES == 1 )
+    TaskHandle_t xTaskGetIdleTaskHandle( void ) PRIVILEGED_FUNCTION;
+#else /* #if ( configNUMBER_OF_CORES == 1 ) */
+    TaskHandle_t xTaskGetIdleTaskHandle( BaseType_t xCoreID ) PRIVILEGED_FUNCTION;
+#endif /* #if ( configNUMBER_OF_CORES == 1 ) */
 
 /**
  * configUSE_TRACE_FACILITY must be defined as 1 in FreeRTOSConfig.h for

portable/ARMv8M/non_secure/port.c

@@ -1118,6 +1118,12 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
                     break;
             #endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
 
+            #if ( configENABLE_MPU == 1 )
+                case portSVC_YIELD:
+                    vPortYield();
+                    break;
+            #endif /* configENABLE_MPU == 1 */
+
         default:
             /* Incorrect SVC call. */
             configASSERT( pdFALSE );

portable/ARMv8M/non_secure/portmacrocommon.h

@@ -329,12 +329,20 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portSVC_SYSTEM_CALL_ENTER          4   /* System calls with upto 4 parameters. */
 #define portSVC_SYSTEM_CALL_ENTER_1        5   /* System calls with 5 parameters. */
 #define portSVC_SYSTEM_CALL_EXIT           6
+#define portSVC_YIELD                      7
 /*-----------------------------------------------------------*/
 
 /**
  * @brief Scheduler utilities.
  */
-#define portYIELD()    vPortYield()
+#if ( configENABLE_MPU == 1 )
+    #define portYIELD()               __asm volatile ( "svc %0" ::"i" ( portSVC_YIELD ) : "memory" )
+    #define portYIELD_WITHIN_API()    vPortYield()
+#else
+    #define portYIELD()               vPortYield()
+    #define portYIELD_WITHIN_API()    vPortYield()
+#endif
+
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
 #define portEND_SWITCHING_ISR( xSwitchRequired )            \

portable/GCC/ARM_CM23/non_secure/port.c

@@ -1118,6 +1118,12 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
                     break;
             #endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
 
+            #if ( configENABLE_MPU == 1 )
+                case portSVC_YIELD:
+                    vPortYield();
+                    break;
+            #endif /* configENABLE_MPU == 1 */
+
         default:
             /* Incorrect SVC call. */
             configASSERT( pdFALSE );

portable/GCC/ARM_CM23/non_secure/portmacrocommon.h

@@ -329,12 +329,20 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portSVC_SYSTEM_CALL_ENTER          4   /* System calls with upto 4 parameters. */
 #define portSVC_SYSTEM_CALL_ENTER_1        5   /* System calls with 5 parameters. */
 #define portSVC_SYSTEM_CALL_EXIT           6
+#define portSVC_YIELD                      7
 /*-----------------------------------------------------------*/
 
 /**
  * @brief Scheduler utilities.
  */
-#define portYIELD()    vPortYield()
+#if ( configENABLE_MPU == 1 )
+    #define portYIELD()               __asm volatile ( "svc %0" ::"i" ( portSVC_YIELD ) : "memory" )
+    #define portYIELD_WITHIN_API()    vPortYield()
+#else
+    #define portYIELD()               vPortYield()
+    #define portYIELD_WITHIN_API()    vPortYield()
+#endif
+
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
 #define portEND_SWITCHING_ISR( xSwitchRequired )            \

portable/GCC/ARM_CM23_NTZ/non_secure/port.c

@@ -1118,6 +1118,12 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
                     break;
             #endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
 
+            #if ( configENABLE_MPU == 1 )
+                case portSVC_YIELD:
+                    vPortYield();
+                    break;
+            #endif /* configENABLE_MPU == 1 */
+
         default:
             /* Incorrect SVC call. */
             configASSERT( pdFALSE );

portable/GCC/ARM_CM23_NTZ/non_secure/portmacrocommon.h

@@ -329,12 +329,20 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portSVC_SYSTEM_CALL_ENTER          4   /* System calls with upto 4 parameters. */
 #define portSVC_SYSTEM_CALL_ENTER_1        5   /* System calls with 5 parameters. */
 #define portSVC_SYSTEM_CALL_EXIT           6
+#define portSVC_YIELD                      7
 /*-----------------------------------------------------------*/
 
 /**
  * @brief Scheduler utilities.
  */
-#define portYIELD()    vPortYield()
+#if ( configENABLE_MPU == 1 )
+    #define portYIELD()               __asm volatile ( "svc %0" ::"i" ( portSVC_YIELD ) : "memory" )
+    #define portYIELD_WITHIN_API()    vPortYield()
+#else
+    #define portYIELD()               vPortYield()
+    #define portYIELD_WITHIN_API()    vPortYield()
+#endif
+
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
 #define portEND_SWITCHING_ISR( xSwitchRequired )            \

portable/GCC/ARM_CM33/non_secure/port.c

@@ -1118,6 +1118,12 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
                     break;
             #endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
 
+            #if ( configENABLE_MPU == 1 )
+                case portSVC_YIELD:
+                    vPortYield();
+                    break;
+            #endif /* configENABLE_MPU == 1 */
+
         default:
             /* Incorrect SVC call. */
             configASSERT( pdFALSE );

portable/GCC/ARM_CM33/non_secure/portmacrocommon.h

@@ -329,12 +329,20 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portSVC_SYSTEM_CALL_ENTER          4   /* System calls with upto 4 parameters. */
 #define portSVC_SYSTEM_CALL_ENTER_1        5   /* System calls with 5 parameters. */
 #define portSVC_SYSTEM_CALL_EXIT           6
+#define portSVC_YIELD                      7
 /*-----------------------------------------------------------*/
 
 /**
  * @brief Scheduler utilities.
  */
-#define portYIELD()    vPortYield()
+#if ( configENABLE_MPU == 1 )
+    #define portYIELD()               __asm volatile ( "svc %0" ::"i" ( portSVC_YIELD ) : "memory" )
+    #define portYIELD_WITHIN_API()    vPortYield()
+#else
+    #define portYIELD()               vPortYield()
+    #define portYIELD_WITHIN_API()    vPortYield()
+#endif
+
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
 #define portEND_SWITCHING_ISR( xSwitchRequired )            \

portable/GCC/ARM_CM33_NTZ/non_secure/port.c

@@ -1118,6 +1118,12 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
                     break;
             #endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
 
+            #if ( configENABLE_MPU == 1 )
+                case portSVC_YIELD:
+                    vPortYield();
+                    break;
+            #endif /* configENABLE_MPU == 1 */
+
         default:
             /* Incorrect SVC call. */
             configASSERT( pdFALSE );

portable/GCC/ARM_CM33_NTZ/non_secure/portmacrocommon.h

@@ -329,12 +329,20 @@ extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) P
 #define portSVC_SYSTEM_CALL_ENTER          4   /* System calls with upto 4 parameters. */
 #define portSVC_SYSTEM_CALL_ENTER_1        5   /* System calls with 5 parameters. */
 #define portSVC_SYSTEM_CALL_EXIT           6
+#define portSVC_YIELD                      7
 /*-----------------------------------------------------------*/
 
 /**
  * @brief Scheduler utilities.
  */
-#define portYIELD()    vPortYield()
+#if ( configENABLE_MPU == 1 )
+    #define portYIELD()               __asm volatile ( "svc %0" ::"i" ( portSVC_YIELD ) : "memory" )
+    #define portYIELD_WITHIN_API()    vPortYield()
+#else
+    #define portYIELD()               vPortYield()
+    #define portYIELD_WITHIN_API()    vPortYield()
+#endif
+
 #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
 #define portEND_SWITCHING_ISR( xSwitchRequired )            \

portable/GCC/ARM_CM35P/non_secure/port.c

@@ -1118,6 +1118,12 @@ void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTIO
                     break;
             #endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
 
+            #if ( configENABLE_MPU == 1 )
+                case portSVC_YIELD:
+                    vPortYield();
+                    break;
+            #endif /* configENABLE_MPU == 1 */
+
         default:
             /* Incorrect SVC call. */
             configASSERT( pdFALSE );