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Merge SMP feature to main (#716)
FreeRTOS SMP feature is developed in a separate SMP branch. This commit merges the SMP branch to main along with some fixes. User of SMP branch needs to apply the following changes in the port: * Rename configNUM_CORES to configNUMBER_OF_CORES * Define portSET/CLEAR_INTERRUPT_MASK for SMP * Define portENTER/EXIT_CRITICAL_FROM_ISR for SMP. vTaskEnterCriticalFromISR and vTaskExitCriticalFromISR should be used for these port macros * Update portSET/CLEAR_INTERRUPT_MASK_FROM_ISR implementation to mask interrupt only Call xTaskIncrementTick in critical section in port History of the development branch: * Add vTaskYieldWithinAPI for taskYIELD_IF_USING_PREEMPTION * Add configNUM_CORES config for SMP * Add portGET_CORE_ID porting config and default return 0 to compatible with single core demos * Replace xYieldPending with xYieldPendings for multiple cores * Add vTaskYieldWithinAPI function for yield pending if the task is in criticial section. This check are enabled only when portCRITICAL_NESTING_IN_TCB is enabled * taskYIELD_IF_USING_PREEMPTION use vTaskYieldWithinAPI when configUSE_PREEMPTION is set to 1 The following sections will be updated in other commits * taskYIELD_IF_USING_PREEMPTION usage in multiple cores * xYieldPendings usage in multiple cores * Use portYIELD_WITHIN_API for portYIELD_WITHIN_API for single core * Add xTaskRunState and xIsIdle in TCB * Add xTaskRunState and xIsIdle in TCB * Use xTaskAttribute to replace the xIsIdle in SMP TCB * Add pxCurrentTCBs for multiple cores * Keep pxCurrentTCB for single core * Add pxCurrentTCBs for SMP * Add xTaskGetCurrentTaskHandle for SMP * Replace taskSELECT_HIGHEST_PRIORITY_TASK with temporary prvSelectHighestPriorityTask * Add SMP critical section functions * Update vTaskEnterCritical and vTaskExitCritical functions for SMP * Add vTaskEnterCriticalFromISR and vTaskExitCriticalFromISR for SMP * Add SMP prvYieldCore and prvYieldForTask * Add idle tasks for SMP * Add minimal idle task function declaration * Align to use 0x00 for null terminator * Merge vTaskSuspendAll and xTaskResumeAll from SMP branch * Merge vTaskResume and xTaskResumeFromISR from SMP * Merge xTaskIncrementTick from SMP * Update prvYieldForTask usage in kernel APIs * Merge prvAddNewTaskToReadyList from SMP * Merge vTaskSwitchContext from SMP * Add vTaskSwitchContextForCore APIs to switch context for specific core * vTaskSwitchContext will switch context for current core * Merge vTaskDelete from SMP * Add prvYeildCore for single core to reduce multicore macros * Add taskTASK_IS_RUNNING for single core * Add taskTASK_IS_YIELDING * Merge vTaskSuspend from SMP * Set minimal idle task idle attribute * Set minimal idle task idle attribute in prvInitialiseNewTask * Move prvCreateIdleTasks forward and check return value * Add minimal idle hook config check * Fix xTaskResumeAll in SMP * xTaskRusmeAll do nothing when scheduler not running in SMP * check scheduler suspended when scheduler is running * Move suspend scheduler inside critical section * Update comment for uxSchedulerSuspended * Add back xPendingReadyList for single core * Use critical section for SMP * Add in ISR check in prvCheckForRunStateChange function * Add critical section protect for context switch * Add vTaskSwitchContextForCore declaration * Fix missing macro and check for single core * Fix task delete condition * Latest kernel move out the prvDeleteTask and the check condition should be TASK_IS_RUNNING * Use critical section to protect more in SMP for vTaskDelete * The condition task is running is not thread safe in SMP * Once we add the task to termination the task is still running and may add it back to other list. Which cause memory corruption. * Merge SMP prvSelectHighestPriorityTask to main * Merge prvCheckTasksWaitingTermination from SMP branch * Move prvDeleteTCB outside of critical section * Add NULL pointer check in prvCheckTasksWaitingTermination * Update for performance * Remove prvSelectHighestPriorityTask and vTaskSwitchContextForCore for -O0 performance in single core * Update prvSelectHighestPriorityTask * Merge vTaskYieldWithinAPI from SMP Update vTaskYieldWithinAPI from SMP * xTaskDelayUntil * xTaskDelay * ulTaskGenericNotifyTake * xTaskGenericNotifyWait * event_groups.c * queue.c * timers.c Add critical section protection * xTaskGetSchedulerState Update state check macro * vTaskGetInfo * eTaskGetState * Merge vTaskPrioritySet from SMP branch * Void prvYieldForTask return value in vTaskPrioritySet * Yield for SMP when set priority * Move vTaskDelay check uxSchedulerSuspended * Update code logic for performance * Fix yield for task in single core * Merge timer change from SMP branch * Split xTimerGenericCommand into xTimerGenericCommandFromTask and xTimerGenericCommandFromISR to remove the recursion path when called from ISRs. * Add portTIMER_CALLBACK_ATTRIBUTE for timer callback function * Add RP2040 SMP porting support * Seperate task state for SMP and single core * Merge configRUN_MULTIPLE_PRIORITIES from SMP branch * Merge configUSE_TASK_PREEMPTION_DISABLE from SMP * Merge configUSE_CORE_AFFINITY from SMP * Update pxYieldSpinLocks to per-cpu variable in SMP * Remove TODO log * Add suppport for ARM CM55 (#494) * Add supposrt for ARM CM55 * Fix file header * Remove duplicate code * Refactor portmacro.h 1. portmacro.h is re-factored into 2 parts - portmacrocommon.h which is common to all ARMv8-M ports and portmacro.h which is different for different compiler and architecture. This enables us to provide Cortex-M55 ports without code duplication. 2. Update copy_files.py so that it copies Cortex-M55 ports correctly - all files except portmacro.h are used from Cortex-M33 ports. Signed-off-by: Gaurav Aggarwal <[email protected]> Co-authored-by: Gaurav Aggarwal <[email protected]> * add extra check for compiler time (#499) minor change to add extra check for compiler time to prevent bad config Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> * Update feature_request.md (#500) * Update feature_request.md * Remove trailing spaces Signed-off-by: Gaurav Aggarwal <[email protected]> Co-authored-by: Gaurav Aggarwal <[email protected]> * Add callback overrides for stream buffer and message buffers (#437) * Let each stream/message can use its own sbSEND_COMPLETED In FreeRTOS.h, set the default value of configUSE_SB_COMPLETED_CALLBACK to zero, and add additional space for the function pointer when the buffer created statically. In stream_buffer.c, modify the macro of sbSEND_COMPLETED which let the stream buffer to use its own implementation, and then add an pointer to the stream buffer's structure, and modify the implementation of the buffer creating and initializing Co-authored-by: eddie9712 <[email protected]> * Add configUSE_MUTEXES to function declarations in header (#504) This commit adds the configUSE_MUTEXES guard to the function declarations in semphr.h which are only available when configUSE_MUTEXES is set to 1. It was reported here - https://forums.freertos.org/t/mutex-missing-reference-to-configuse-mutexes-on-the-online-documentation/15231 Signed-off-by: Gaurav Aggarwal <[email protected]> * RP2040: Remove incorrect assertion (#508) After the xEventGroupWaitBits in vProtLockInternalSpinUnlockWithWait there was an assertion about pxYiledSpinLock being NULL, however when xEventGroupWaitBits returns, IRQs have been re-enabled and so it is no longer safe to assert on the state which is protected by IRQs being disabled. Co-authored-by: graham sanderson <[email protected]> * Ensure that xTaskGetCurrentTaskHandle is included (#507) This commits adds a check that INCLUDE_xTaskGetCurrentTaskHandle is set to 1. A compile time error message is produced if it is not set to 1. This is needed because stream_buffer.c uses xTaskGetCurrentTaskHandle. This was reported here - https://forums.freertos.org/t/xstreambufferreceive-include-xtaskgetcur/15283 Signed-off-by: Gaurav Aggarwal <[email protected]> * RP2040: Allow FreeRTOS to be added to the parent CMake project post initialization of the Pico SDK (#497) Co-authored-by: graham sanderson <[email protected]> * Update to TF-M version TF-Mv1.6.0 (#517) Signed-off-by: Xinyu Zhang <[email protected]> Change-Id: I0c15564b342873f9bd7a8240822e770950a0563e * Update submodule pointer of Community Supported Ports (#486) Signed-off-by: Gaurav Aggarwal <[email protected]> Co-authored-by: Paul Bartell <[email protected]> Co-authored-by: Joseph Julicher <[email protected]> * Add Cortex M7 r0p1 Errata 837070 workaround to CM4_MPU ports (#513) * Clarify Cortex M7 r0p1 errata number in r0p1 specific port. * Add ARM Cortex M7 r0p0 / r0p1 Errata 837070 workaround to CM4 MPU ports. Optionally, enable the errata workaround by defining configTARGET_ARM_CM7_r0p0 or configTARGET_ARM_CM7_r0p1 in FreeRTOSConfig.h. * Add r0p1 errata support to IAR port as well Signed-off-by: Gaurav Aggarwal <[email protected]> * Change macro name to configENABLE_ERRATA_837070_WORKAROUND Signed-off-by: Gaurav Aggarwal <[email protected]> Co-authored-by: Gaurav Aggarwal <[email protected]> * RP2040: Use indirect reference for pxCurrentTCB (#525) * Posix: Removed unused signal set from port (#528) Co-authored-by: Jakob Hasse <[email protected]> * Add SBOM Generation in auto_release.yml (#524) * add portDONT_DISCARD to pxCurrentTCB (#479) This fixes link failures with LTO: /tmp/ccJbaKaD.ltrans0.ltrans.o: in function `pxCurrentTCBConst2': /root/project/FreeRTOS/portable/GCC/ARM_CM4F/port.c:249: undefined reference to `pxCurrentTCB' /usr/lib/gcc/arm-none-eabi/11.2.0/../../../../arm-none-eabi/bin/ld: /tmp/ccJbaKaD.ltrans0.ltrans.o: in function `pxCurrentTCBConst': /root/project/FreeRTOS/portable/GCC/ARM_CM4F/port.c:443: undefined reference to `pxCurrentTCB' * Implement MicroBlazeV9 stack protection (#523) * Implement stack protection for MicroBlaze (without MPU wrappers) * Update codecov action to v3.1.0 * Add vPortRemoveInterruptHandler API (#533) * Add xPortRemoveInterruptHandler API This API is added to the MicroBlazeV9 port. It enables the application writer to remove an interrupt handler. This was originally contributed in this PR - https://github.com/FreeRTOS/FreeRTOS-Kernel/pull/523 * Change API signature to return void This makes the API similar to vPortDisableInterrupt. Signed-off-by: Gaurav Aggarwal <[email protected]> Co-authored-by: Gavin Lambert <[email protected]> * Fix NULL pointer dereference in vPortGetHeapStats When the heap is exhausted (no free block), start and end markers are the only blocks present in the free block list: +---------------+ +-----------> NULL | | | | V | + ----- + + ----- + | | | | | | | | | | | | + ----- + + ----- + xStart pxEnd The code block which traverses the list of free blocks to calculate heap stats used a do..while loop that moved past the end marker when the heap had no free block resulting in a NULL pointer dereference. This commit changes the do..while loop to while loop thereby ensuring that we never move past the end marker. This was reported here - https://github.com/FreeRTOS/FreeRTOS-Kernel/issues/534 Signed-off-by: Gaurav Aggarwal <[email protected]> * Change type of message buffer handle (#537) * Block SIG_RESUME in the main thread of the Posix port so that sigwait works as expected (#532) Co-authored-by: alfred gedeon <[email protected]> * Update History.txt (#535) * Update History.txt Signed-off-by: Gaurav Aggarwal <[email protected]> * Add .syntax unified to GCC assembly functions (#538) This fixes the compilation issue with XC32 compiler. It was reported here - https://forums.freertos.org/t/xc32-v4-00-error-with-building-freertos-portasm-c/14357/4 Signed-off-by: Gaurav Aggarwal <[email protected]> Co-authored-by: Paul Bartell <[email protected]> * Generalize Thread Local Storage (TLS) support (#540) * Generalize Thread Local Storage (TLS) support FreeRTOS's Thread Local Storage (TLS) support used variables and functions from newlib, thereby making the TLS support specific to newlib. This commit generalizes the TLS support so that it can be used with other c-runtime libraries also. The default behavior for newlib support is still kept same for backward compatibility. The application writer would need to set configUSE_C_RUNTIME_TLS_SUPPORT to 1 in their FreeRTOSConfig.h and define the following macros to support TLS for a c-runtime library: 1. configTLS_BLOCK_TYPE - Type used to define the TLS block in TCB. 2. configINIT_TLS_BLOCK( xTLSBlock ) - Allocate and initialize memory block for the task's TLS Block. 3. configSET_TLS_BLOCK( xTLSBlock ) - Switch C-Runtime's TLS Block to point to xTLSBlock. 4. configDEINIT_TLS_BLOCK( xTLSBlock ) - Free up the memory allocated for the task's TLS Block. The following is an example to support TLS for picolibc: #define configUSE_C_RUNTIME_TLS_SUPPORT 1 #define configTLS_BLOCK_TYPE void* #define configINIT_TLS_BLOCK( xTLSBlock ) _init_tls( xTLSBlock ) #define configSET_TLS_BLOCK( xTLSBlock ) _set_tls( xTLSBlock ) #define configDEINIT_TLS_BLOCK( xTLSBlock ) Signed-off-by: Gaurav Aggarwal <[email protected]> * Change default value of INCLUDE_xTaskGetCurrentTaskHandle (#542) * Include string.h at the top of portable/GCC/ARM_CA9/port.c to prevent memset() generating a warning. (#430) Co-authored-by: none <unknown> * Move some of the complex pre-processor guards on prvWriteNameToBuffer() to compile time checks in FreeRTOS.h. Co-authored-by: Paul Bartell <[email protected]> * Fix formatting of FreeRTOS.h * correct grammar in include/FreeRTOS.h Co-authored-by: Aniruddha Kanhere <[email protected]> * Fix warnings in posix port (#544) Fixes warnings about unused parameters and variables when built with `-Wall -Wextra`. * Add support for MISRA rule 20.7 (#546) Misra rule 20.7 requires parenthesis to all parameter names in macro definitions. The issue was reported here : https://forums.freertos.org/t/misra-20-7-compatibility/15385 * Add FreeRTOS config directory to include dirs (#548) This allows the application write to set FREERTOS_CONFIG_FILE_DIRECTORY to whichever directory the FreeRTOSConfig.h file exists in. This was reported here - https://github.com/FreeRTOS/FreeRTOS-Kernel/issues/545 Signed-off-by: Gaurav Aggarwal <[email protected]> * [Fix] Type for pointers operations (#550) * fix type for pointers operations in some places: size_t -> portPOINTER_SIZE_TYPE * fix pointer arithmetics * fix xAddress type * RISC-V: Add support for RV32E extension in GCC port (#543) Co-authored-by: Joseph Julicher <[email protected]> * Added checks for index in ThreadLocalStorage APIs (#552) Added checks for ( xIndex >= 0 ) in ThreadLocalStorage APIs * Update of three badly terminated macro definitions (#555) * Update of three badly terminated macro definitions - vTaskDelayUntil() to conform to usual pattern do { ... } while(0) - vTaskNotifyGiveFromISR() and - vTaskGenericNotifyGiveFromISR() to remove extra terminating semicolons - This PR addresses issues #553 and #554 * Adjust formatting of task.h Co-authored-by: Paul Bartell <[email protected]> * M85 support (#556) * Extend support to Arm Cortex-M85 Signed-off-by: Gabor Toth <[email protected]> Change-Id: I679ba8e193638126b683b651513f08df445f9fe6 * Add generated Cortex-M85 support files Signed-off-by: Gabor Toth <[email protected]> Change-Id: Ib329d88623c2936ffe3e9a24f5d6e07655e4e5c8 * Extend Trusted Firmware M port Extend Trusted Firmware M port to Cortex-M23, Cortex-M55 and Cortex-M85. Signed-off-by: Gabor Toth <[email protected]> Change-Id: If8f1081acfd04e547b3227579e70e355a6adffe3 * Re-run copy_files.py script Signed-off-by: Gaurav Aggarwal <[email protected]> Signed-off-by: Gabor Toth <[email protected]> Signed-off-by: Gaurav Aggarwal <[email protected]> Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> Co-authored-by: Gaurav Aggarwal <[email protected]> * portable-RP2040: Fix typo in README.md (#559) Replace "import" with "include" in cmake code sample. * Update CMakeLists.txt for Cortex-M55 and Cortex-M85 ports (#560) * Annotate ports CMakeLists.txt with port details * CMake: Add Cortex-M55 and Cortex-M85 ports * Use highest numbered MPU regions for kernel ARMv7-M allows overlapping MPU regions. When 2 MPU regions overlap, the MPU configuration of the higher numbered MPU region is applied. For example, if a memory area is covered by 2 MPU regions 0 and 1, the memory permissions for MPU region 1 are applied. We use 5 MPU regions for kernel code and kernel data protections and leave the remaining for the application writer. We were using lowest numbered MPU regions (0-4) for kernel protections and leaving the remaining for the application writer. The application writer could configure those higher numbered MPU regions to override kernel protections. This commit changes the code to use highest numbered MPU regions for kernel protections and leave the remaining for the application writer. This ensures that the application writer cannot override kernel protections. We thank the SecLab team at Northeastern University for reporting this issue. Signed-off-by: Gaurav Aggarwal <[email protected]> * Make RAM regions non-executable This commit makes the privileged RAM and stack regions non-executable. Signed-off-by: Gaurav Aggarwal <[email protected]> * Remove local stack variable form MPU wrappers It was possible for a third party that had already independently gained the ability to execute injected code to achieve further privilege escalation by branching directly inside a FreeRTOS MPU API wrapper function with a manually crafted stack frame. This commit removes the local stack variable `xRunningPrivileged` so that a manually crafted stack frame cannot be used for privilege escalation by branching directly inside a FreeRTOS MPU API wrapper. We thank Certibit Consulting, LLC, Huazhong University of Science and Technology and the SecLab team at Northeastern University for reporting this issue. Signed-off-by: Gaurav Aggarwal <[email protected]> * Restrict unpriv task to invoke code with privilege It was possible for an unprivileged task to invoke any function with privilege by passing it as a parameter to MPU_xTaskCreate, MPU_xTaskCreateStatic, MPU_xTimerCreate, MPU_xTimerCreateStatic, or MPU_xTimerPendFunctionCall. This commit ensures that MPU_xTaskCreate and MPU_xTaskCreateStatic can only create unprivileged tasks. It also removes the following APIs: 1. MPU_xTimerCreate 2. MPU_xTimerCreateStatic 3. MPU_xTimerPendFunctionCall We thank Huazhong University of Science and Technology for reporting this issue. Signed-off-by: Gaurav Aggarwal <[email protected]> * Update History.txt Signed-off-by: Gaurav Aggarwal <[email protected]> * Update History.txt as per the PR feedback Signed-off-by: Gaurav Aggarwal <[email protected]> * Update RISC-V IAR port to support vector mode. (#458) * Update RISC-V IAR port to support vector mode. * uncrustify Co-authored-by: David Chalco <[email protected]> Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> Co-authored-by: alfred gedeon <[email protected]> * Added better pointer declaration readability (#567) * Add better pointer declaration readability I revised the declaration of single-line pointers by splitting it into multiple lines. Now, every pointer is declared (and initialized accordingly) on its own line. This refactoring should enhance readability and decrease the probability of error when a new pointer is added/removed or a current one has its initialization value modified. Signed-off-by: Cristian Cristea <[email protected]> * Remove unnecessary whitespace characters and lines It removes whitespace characters at the end of lines (empty or othwerwise) and clear lines at the end of the file (only one remains). It is an automatic operation done by git. Signed-off-by: Cristian Cristea <[email protected]> Signed-off-by: Cristian Cristea <[email protected]> * Update doc comments in task.h (#570) Signed-off-by: Gaurav Aggarwal <[email protected]> * Tickless idle fixes/improvement (#59) * Fix tickless idle when stopping systick on zero... ...and don't stop SysTick at all in the eAbortSleep case. Prior to this commit, if vPortSuppressTicksAndSleep() happens to stop the SysTick on zero, then after tickless idle ends, xTickCount advances one full tick more than the time that actually elapsed as measured by the SysTick. See "bug 1" in this forum post: https://forums.freertos.org/t/ultasknotifytake-timeout-accuracy/9629/40 SysTick ------- The SysTick is the hardware timer that provides the OS tick interrupt in the official ports for Cortex M. SysTick starts counting down from the value stored in its reload register. When SysTick reaches zero, it requests an interrupt. On the next SysTick clock cycle, it loads the counter again from the reload register. To get periodic interrupts every N SysTick clock cycles, the reload register must be N - 1. Bug Example ----------- - Idle task calls vPortSuppressTicksAndSleep(xExpectedIdleTime = 2). [Doesn't have to be "2" -- could be any number.] - vPortSuppressTicksAndSleep() stops SysTick, and the current-count register happens to stop on zero. - SysTick ISR executes, setting xPendedTicks = 1 - vPortSuppressTicksAndSleep() masks interrupts and calls eTaskConfirmSleepModeStatus() which confirms the sleep operation. *** - vPortSuppressTicksAndSleep() configures SysTick for 1 full tick (xExpectedIdleTime - 1) plus the current-count register (which is 0) - One tick period elapses in sleep. - SysTick wakes CPU, ISR executes and increments xPendedTicks to 2. - vPortSuppressTicksAndSleep() calls vTaskStepTick(1), then returns. - Idle task resumes scheduler, which increments xTickCount twice (for xPendedTicks = 2) In the end, two ticks elapsed as measured by SysTick, but the code increments xTickCount three times. The root cause is that the code assumes the SysTick current-count register always contains the number of SysTick counts remaining in the current tick period. However, when the current-count register is zero, there are ulTimerCountsForOneTick counts remaining, not zero. This error is not the kind of time slippage normally associated with tickless idle. *** Note that a recent commit https://github.com/FreeRTOS/FreeRTOS-Kernel/commit/e1b98f0 results in eAbortSleep in this case, due to xPendedTicks != 0. That commit does mostly resolve this bug without specifically mentioning it, and without this commit. But that resolution allows the code in port.c not to directly address the special case of stopping SysTick on zero in any code or comments. That commit also generates additional instances of eAbortSleep, and a second purpose of this commit is to optimize how vPortSuppressTicksAndSleep() behaves for eAbortSleep, as noted below. This commit also includes an optimization to avoid stopping the SysTick when eTaskConfirmSleepModeStatus() returns eAbortSleep. This optimization belongs with this fix because the method of handling the SysTick being stopped on zero changes with this optimization. * Fix imminent tick rescheduled after tickless idle Prior to this commit, if something other than systick wakes the CPU from tickless idle, vPortSuppressTicksAndSleep() might cause xTickCount to increment once too many times. See "bug 2" in this forum post: https://forums.freertos.org/t/ultasknotifytake-timeout-accuracy/9629/40 SysTick ------- The SysTick is the hardware timer that provides the OS tick interrupt in the official ports for Cortex M. SysTick starts counting down from the value stored in its reload register. When SysTick reaches zero, it requests an interrupt. On the next SysTick clock cycle, it loads the counter again from the reload register. To get periodic interrupts every N SysTick clock cycles, the reload register must be N - 1. Bug Example ----------- - CPU is sleeping in vPortSuppressTicksAndSleep() - Something other than the SysTick wakes the CPU. - vPortSuppressTicksAndSleep() calculates the number of SysTick counts until the next tick. The bug occurs only if this number is small. - vPortSuppressTicksAndSleep() puts this small number into the SysTick reload register, and starts SysTick. - vPortSuppressTicksAndSleep() calls vTaskStepTick() - While vTaskStepTick() executes, the SysTick expires. The ISR pends because interrupts are masked, and SysTick starts a 2nd period still based on the small number of counts in its reload register. This 2nd period is undesirable and is likely to cause the error noted below. - vPortSuppressTicksAndSleep() puts the normal tick duration into the SysTick's reload register. - vPortSuppressTicksAndSleep() unmasks interrupts before the SysTick starts a new period based on the new value in the reload register. [This is a race condition that can go either way, but for the bug to occur, the race must play out this way.] - The pending SysTick ISR executes and increments xPendedTicks. - The SysTick expires again, finishing the second very small period, and starts a new period this time based on the full tick duration. - The SysTick ISR increments xPendedTicks (or xTickCount) even though only a tiny fraction of a tick period has elapsed since the previous tick. The bug occurs when *two* consecutive small periods of the SysTick are both counted as ticks. The root cause is a race caused by the small SysTick period. If vPortSuppressTicksAndSleep() unmasks interrupts *after* the small period expires but *before* the SysTick starts a period based on the full tick period, then two small periods are counted as ticks when only one should be counted. The end result is xTickCount advancing nearly one full tick more than time actually elapsed as measured by the SysTick. This is not the kind of time slippage normally associated with tickless idle. After this commit the code starts the SysTick and then immediately modifies the reload register to ensure the very short cycle (if any) is conducted only once. This strategy requires special consideration for the build option that configures SysTick to use a divided clock. To avoid waiting around for the SysTick to load value from the reload register, the new code temporarily configures the SysTick to use the undivided clock. The resulting timing error is typical for tickless idle. The error (commonly known as drift or slippage in kernel time) caused by this strategy is equivalent to one or two counts in ulStoppedTimerCompensation. This commit also updates comments and #define symbols related to the SysTick clock option. The SysTick can optionally be clocked by a divided version of the CPU clock (commonly divide-by-8). The new code in this commit adjusts these comments and symbols to make them clearer and more useful in configurations that use the divided clock. The fix made in this commit requires the use of these symbols, as noted in the code comments. * Fix tickless idle with alternate systick clocking Prior to this commit, in configurations using the alternate SysTick clocking, vPortSuppressTicksAndSleep() might cause xTickCount to jump ahead as much as the entire expected idle time or fall behind as much as one full tick compared to time as measured by the SysTick. SysTick ------- The SysTick is the hardware timer that provides the OS tick interrupt in the official ports for Cortex M. SysTick starts counting down from the value stored in its reload register. When SysTick reaches zero, it requests an interrupt. On the next SysTick clock cycle, it loads the counter again from the reload register. The SysTick has a configuration option to be clocked by an alternate clock besides the core clock. This alternate clock is MCU dependent. Scenarios Fixed --------------- The new code in this commit handles the following scenarios that were not handled correctly prior to this commit. 1. Before the sleep, vPortSuppressTicksAndSleep() stops the SysTick on zero, long after SysTick reached zero. Prior to this commit, this scenario caused xTickCount to jump ahead one full tick for the same reason documented here: https://github.com/FreeRTOS/FreeRTOS-Kernel/pull/59/commits/0c7b04bd3a745c52151abebc882eed3f811c4c81 2. After the sleep, vPortSuppressTicksAndSleep() stops the SysTick before it loads the counter from the reload register. Prior to this commit, this scenario caused xTickCount to jump ahead by the entire expected idle time (xExpectedIdleTime) because the current-count register is zero before it loads from the reload register. 3. Prior to return, vPortSuppressTicksAndSleep() attempts to start a short SysTick period when the current SysTick clock cycle has a lot of time remaining. Prior to this commit, this scenario could cause xTickCount to fall behind by as much as nearly one full tick because the short SysTick cycle never started. Note that #3 is partially fixed by https://github.com/FreeRTOS/FreeRTOS-Kernel/pull/59/commits/967acc9b200d3d4beeb289d9da9e88798074b431 even though that commit addresses a different issue. So this commit completes the partial fix. * Improve comments and name of preprocessor symbol Add a note in the code comments that SysTick requests an interrupt when decrementing from 1 to 0, so that's why stopping SysTick on zero is a special case. Readers might unknowingly assume that SysTick requests an interrupt when wrapping from 0 back to the load-register value. Reconsider new "_SETTING" suffix since "_CONFIG" suffix seems more descriptive. The code relies on *both* of these preprocessor symbols: portNVIC_SYSTICK_CLK_BIT portNVIC_SYSTICK_CLK_BIT_CONFIG **new** A meaningful suffix is really helpful to distinguish the two symbols. * Revert introduction of 2nd name for NVIC register When I added portNVIC_ICSR_REG I didn't realize there was already a portNVIC_INT_CTRL_REG, which identifies the same register. Not good to have both. Note that portNVIC_INT_CTRL_REG is defined in portmacro.h and is already used in this file (port.c). * Replicate to other Cortex M ports Also set a new fiddle factor based on tests with a CM4F. I used gcc, optimizing at -O1. Users can fine-tune as needed. Also add configSYSTICK_CLOCK_HZ to the CM0 ports to be just like the other Cortex M ports. This change allowed uniformity in the default tickless implementations across all Cortex M ports. And CM0 is likely to benefit from configSYSTICK_CLOCK_HZ, especially considering new CM0 devices with very fast CPU clock speeds. * Revert changes to IAR-CM0-portmacro.h portNVIC_INT_CTRL_REG was already defined in port.c. No need to define it in portmacro.h. * Handle edge cases with slow SysTick clock Co-authored-by: Cobus van Eeden <[email protected]> Co-authored-by: abhidixi11 <[email protected]> Co-authored-by: Joseph Julicher <[email protected]> Co-authored-by: alfred gedeon <[email protected]> * Merge SMP commit 45dd83a8e * 45dd83a8e | 2022-06-09 | Fix RP2040 assertion due to yield spin lock info being wrongly shared between multiple cores (#501) * Merge SMP b87dfa3e9 * b87dfa3e9 | 2022-06-04 | RP2040: Allow FreeRTOS to be added to the parent CMake project post initialization of the Pico SDK * Merge SMP 13f034eb7 * 13f034eb7 | 2022-06-24 | RP2040: Fix compiler warning and comment (#509) * Fix compiler warning and spelling * Fix Add new task for single core when scheduler not running * Fix priority set when task is not in ready list for single core * Fix vTaskResume when task is not running * Fix uncrustify formating warning * Add portCHECK_IF_IN_ISR for SMP * Format vTaskSwitchContext * Fix vTaskSwitchContextForCore bug due to uncrustify * First review - did not build yet Signed-off-by: Gaurav Aggarwal <[email protected]> * Corresponding changes in FreeRTOS.h and task.h Signed-off-by: Gaurav Aggarwal <[email protected]> * Fix the single core compilation * vTaskSwtichContextForCore rename vTaskSwitchContext * vTaskYieldWithinAPI for single core * pxCurrentTCBs for single core in xTaskIncrementTick * Fix compilation warning * Update xTaskGetCurrentTaskHandleCPU API * Use BaseType_t instead of UBaseType_t * Make the list traverse loop more readable Signed-off-by: Gaurav Aggarwal <[email protected]> * Remove unnecessary loop in xTaskIncrementTick for single core * Update uxSchedulerSuspended with ISR lock in prvCheckForRunStateChange * Updated ESP32 port-layer to ESP-IDF `v4.4.2` (#572) * Xtensa_ESP32: Added esp-idf v4.4.2 specific changes * Xtensa_ESP32: Updated SPDX license identifiers * Add warning message to ensure min stack size (#575) Co-authored-by: alfred gedeon <[email protected]> * Removed the 'configASSERT( xInheritanceOccurred == pdFALSE )' assertion from xQueueSemaphoreTake as the reasoning behind it is wrong; it can trigger on wrongly on highly-contested semaphores on multicore systems. See https://forums.freertos.org/t/15967 (#576) Co-authored-by: Niklas Gürtler <[email protected]> * Update the NIOSII port to enable longer jumps (#578) Update the NIOSII port so it works on systems with more RAM as per https://forums.freertos.org/t/nios-ii-r-nios2-call26-noat-linker-error/16028 * Update Cortex-M55 and Cortex-M85 ports (#579) These were missed when PR #59 was merged. Signed-off-by: Gaurav Aggarwal <[email protected]> Signed-off-by: Gaurav Aggarwal <[email protected]> * Fix context switch when time slicing is off (#568) * Fix context switch when time slicing is off When time slicing is off, context switch should only happen when a task with priority higher than the currently executing one is unblocked. Earlier the code was invoking a context switch even when a task with priority equal the currently executing task was unblocked. This commit fixes the code to only do a context switch when a higher priority task is unblocked. Signed-off-by: Gaurav Aggarwal <[email protected]> * Merge commit "Add support for retrieving a task's uxCoreAffinityMask with the vTaskGetInfo() API" * Merge commit 8128208bdee1f997f83cae631b861f36aeea9b1f * Use taskENTER/EXIT_CRITICAL_FROM_ISR (#38) * Enter critical section from is implemented differently for single core and smp. Use taskENTER/EXIT_CRITICAL_FROM_ISR in source. * Improve single core unit test coverage (#42) * prvCreateIldeTask use configNUM_CORES * First time yield in idle task in SMP only * prvCheckTasksWaitingTermination check pxTCB NULL pointer for SMP only. Single core won't have to check the pxTCB * Yield for task when core affinity changed (#41) * Yield for task when the task is linked to new allowed cores Signed-off-by: Gaurav Aggarwal <[email protected]> Co-authored-by: Gaurav Aggarwal <[email protected]> * Remove builtin clz in prvSelectHighestPriorityTask (#37) * Remove builtin clz in prvSelectHighestPriorityTask * Move critical nesting count to port (#47) * Move the critical nesting management to port layer Signed-off-by: Gaurav Aggarwal <[email protected]> * Move critical nesting in TCB macro to tasks.c * Add RP2040 support maintain critical nesting count in TCB * Fix formatting * RP2040 maintain critical nesting count in port * Fix constant type Signed-off-by: Gaurav Aggarwal <[email protected]> Co-authored-by: Gaurav Aggarwal <[email protected]> * Rename config num cores (#48) * Rename configNUM_CORES to configNUMBER_OF_CORES * Fix the task selection when task yields (#54) * Move xTaskIncrementTick critical section to port (#55) * Port should use taskENTER/EXIT_CRITICAL_FROM_ISR * Not preempt equal priority task in the following functions (#56) Not to preempt equal priority task in the following functions * vTaskResume * vTaskResumeFromISR * vTaskPrioritySet * vTaskCoreAffinitySet * Remove implicit test (#49) * Remove taskTASK_IS_RUNNING implicit test * Remove portCHECK_IF_IN_ISR implicit test * Fix taskVALID_CORE_ID implicit test * Remove configASSERT implicit test * Fix preempt equal priority task in xTaskIncrementTick (#58) * Not preempt equal priority when a task is removed from delay list. Process time sharing is handle in the logic below. * Remove the xPreemptEqualPriority parameter of prvYieldForTask * Remove prvSelectHighestPriorityTask call in vTaskSuspend (#59) * Every core starts with an idle task in SMP implementation and taskTASK_IS_RUNNING only return ture when the task is idle task before scheduler started. So prvSelectHighestPriorityTask won't be called in vTaskSuspend before scheduler started. * Update prvSelectHighestPriorityTask to ensure that this function is called only when scheduler started. * Adding portIDLE_TASK_TEST_MOCK in idle task function (#66) * Adding configIDLE_TASK_HOOK in idle task function * Add INFINITE_LOOP macro to test idle task function (#67) * Remove configIDLE_TASK_HOOK * Add INFINIT_LOOP. Unit test can redefine this macro to mock the function. * portYield is not called when exit critical section from ISR (#60) * Reference SMP branch * Fix list index is moved in prvSearchForNameWithinSingleList (#61) * index pointer should not be moved in SMP * Yield for priority inherit and disinherit (#64) * Yield the core runs the task with prority changed when priority inheritance and disinheritance. * fix performance counting for SMP (#65) * performance counting: ulTaskSwitchedInTime and ulTotalRunTime must be (#618) arrays, index is core number --------- Co-authored-by: Hardy Griech <[email protected]> * Remomve unreachable assert in prvCheckForRunStateChange (#68) * Previous assert already ensure this assert won't be triggered * Remove unreachable code in preYieldForTask (#69) * xLowestPriorityCore index can't be greater than configNUMBER_OF_CORES * Add first version of XCOREAI port (#63) * xTaskIncrementTick need to be called in critical section * Rename configNUM_CORES to configNUMBER_OF_CORES * Define portENTER/EXIT_CRITICAL_FROM_ISR for SMP * portSET/CLEAR_INTERRUPT_MASK_FROM_ISR is not used in SMP * Fix configDEINIT_TLS_BLOCK (#73) configDEINIT_TLS_BLOCK() should deinit the TLS block of the task to being deleted instead of the currently running task. * Sync with main branch (#71) * Fix array-bounds compiler warning on gcc11+ in list.h (#580) listGET_OWNER_OF_NEXT_ENTRY computes `( pxConstList )->pxIndex->pxNext` after verifying that `( pxConstList )->pxIndex` points to `xListEnd`, which due to being a MiniListItem_t, can be shorter than a ListItem_t. Thus, `( pxConstList )->pxIndex` is a `ListItem_t *` that extends past the end of the `List_t` whose `xListEnd` it points to. This is fixed by accessing `pxNext` through a `MiniListItem_t` instead. * move the prototype for vApplicationIdleHook to task.h. (#600) Co-authored-by: pluess <[email protected]> Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> * Update equal priority task preemption (#603) * vTaskResume and vTaskPrioritySet don't preempt equal priority task * Update vTaskResumeAll not to preempt task with equal priority * Fix in xTaskResumeFromISR * Update FreeRTOS/FreeRTOS build checks (#613) This is needed to be compatible with the refactoring done in this PR - https://github.com/FreeRTOS/FreeRTOS/pull/889 Signed-off-by: Gaurav Aggarwal <[email protected]> Signed-off-by: Gaurav Aggarwal <[email protected]> * Add ulTaskGetRunTimeCounter and ulTaskGetRunTimePercent (#611) Allow ulTaskGetIdleRunTimeCounter and ulTaskGetIdleRunTimePercent to be used whenever configGENERATE_RUN_TIME_STATS is enabled, as this is the only requirement for these functions to work. * Fix some CMake documentation typos (#616) The quick start instructions for CMake mention the "master" git branch which has been replaced by "main" in the current repo. The main CMakeLists.txt documents how to integrate a custom port. Fix a typo in the suggested CMake code. * Added support of 64bit events. (#597) * Added support of 64bit even Signed-off-by: Cervenka Dusan <[email protected]> * Added missing brackets Signed-off-by: Cervenka Dusan <[email protected]> * Made proper name for tick macro. Signed-off-by: Cervenka Dusan <[email protected]> * Improved macro evaluation Signed-off-by: Cervenka Dusan <[email protected]> * Fixed missed port files + documentation Signed-off-by: Cervenka Dusan <[email protected]> * Changes made on PR Signed-off-by: Cervenka Dusan <[email protected]> * Fix macro definition. Signed-off-by: Cervenka Dusan <[email protected]> * Formatted code with uncrustify Signed-off-by: Cervenka Dusan <[email protected]> --------- Signed-off-by: Cervenka Dusan <[email protected]> * Introduce portMEMORY_BARRIER for Microblaze port. (#621) The introduction of `portMEMORY_BARRIER` will ensure the places in the kernel use a barrier will work. For example, `xTaskResumeAll` has a memory barrier to ensure its correctness when compiled with optimization enabled. Without the barrier `xTaskResumeAll` can fail (e.g. start reading and writing to address 0 and/or infinite looping) when `xPendingReadyList` contains more than one task to restore. In `xTaskResumeAll` the compiler chooses to cache the `pxTCB` the first time through the loop for use in every subsequent loop. This is incorrect as the removal of `pxTCB->xEventListItem` will actually change the value of `pxTCB` if it was read again at the top of the loop. The barrier forces the compiler to read `pxTCB` again at the top of the loop. The compiler is operating correctly. The removal `pxTCB->xEventListItem` executes on a `List_t *` and `ListItem_t *`. This means that the compiler can assume that any `MiniListItem_t` values are unchanged by the loop (i.e. "strict-aliasing"). This allows the compiler to cache `pxTCB` as it is obtained via a `MiniListItem_t`. This is incorrect in this case because it is possible for a `ListItem_t *` to actually alias a `MiniListItem_t`. This is technically a "violation of aliasing rules" so we use the the barrier to disable the strict-aliasing optimization in this loop. * Do not call exit() on MSVC Port when calling vPortEndScheduler (#624) * make port exitable * correctly set xPortRunning to False * add suggestions from Review Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> * add suggestions from Review Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> --------- Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> * Update PR template to include checkbox for Unit Test related changes (#627) * Fix build failure introduced in PR #597 (#629) The PR #597 introduced a new config option configTICK_TYPE_WIDTH_IN_BITS which can be defined to one of the following: * TICK_TYPE_WIDTH_16_BITS - Tick type is 16 bit wide. * TICK_TYPE_WIDTH_32_BITS - Tick type is 32 bit wide. * TICK_TYPE_WIDTH_64_BITS - Tick type is 64 bit wide. Earlier we supported 16 and 32 bit width for tick type which was controlled using the config option configUSE_16_BIT_TICKS. The PR tried to maintain backward compatibility by honoring configUSE_16_BIT_TICKS. The backward compatibility did not work as expected though, as the macro configTICK_TYPE_WIDTH_IN_BITS was used before it was defined. This PR addresses it by ensuring that the macro configTICK_TYPE_WIDTH_IN_BITS is defined before it is used. Testing 1. configUSE_16_BIT_TICKS is defined to 0. Source (function xTaskIncrementTick in tasks.c): ``` const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1; ``` Assembly: ``` 109e: 4b50 ldr r3, [pc, #320] ; (11e0 <xTaskIncrementTick+0x150>) 10a0: f8d3 4134 ldr.w r4, [r3, #308] ; 0x134 10a4: 3401 adds r4, #1 10a6: f8c3 4134 str.w r4, [r3, #308] ; 0x134 ``` It is clear from assembly that the tick type is 32 bit. 2. configUSE_16_BIT_TICKS is defined to 1. Source (function xTaskIncrementTick in tasks.c): ``` const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1; ``` Assembly: ``` 10e2: 4b53 ldr r3, [pc, #332] ; (1230 <xTaskIncrementTick+0x15c>) 10e4: f8b3 4134 ldrh.w r4, [r3, #308] ; 0x134 10e8: b2a4 uxth r4, r4 10ea: 3401 adds r4, #1 10ec: b2a4 uxth r4, r4 10ee: f8a3 4134 strh.w r4, [r3, #308] ; 0x134 ``` It is clear from assembly that the tick type is 16 bit. 3. configTICK_TYPE_WIDTH_IN_BITS is defined to TICK_TYPE_WIDTH_16_BITS. Source (function xTaskIncrementTick in tasks.c): ``` const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1; ``` Assembly: ``` 10e2: 4b53 ldr r3, [pc, #332] ; (1230 <xTaskIncrementTick+0x15c>) 10e4: f8b3 4134 ldrh.w r4, [r3, #308] ; 0x134 10e8: b2a4 uxth r4, r4 10ea: 3401 adds r4, #1 10ec: b2a4 uxth r4, r4 10ee: f8a3 4134 strh.w r4, [r3, #308] ; 0x134 ``` It is clear from assembly that the tick type is 16 bit. 4. configTICK_TYPE_WIDTH_IN_BITS is defined to TICK_TYPE_WIDTH_32_BITS. Source (function xTaskIncrementTick in tasks.c): ``` const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1; ``` Assembly: ``` 109e: 4b50 ldr r3, [pc, #320] ; (11e0 <xTaskIncrementTick+0x150>) 10a0: f8d3 4134 ldr.w r4, [r3, #308] ; 0x134 10a4: 3401 adds r4, #1 10a6: f8c3 4134 str.w r4, [r3, #308] ; 0x134 ``` It is clear from assembly that the tick type is 32 bit. 5. configTICK_TYPE_WIDTH_IN_BITS is defined to TICK_TYPE_WIDTH_64_BITS. ``` #error configTICK_TYPE_WIDTH_IN_BITS set to unsupported tick type width. ``` The testing was done for GCC/ARM_CM3 port which does not support 64 bit tick type. 6. Neither configUSE_16_BIT_TICKS nor configTICK_TYPE_WIDTH_IN_BITS defined. ``` #error Missing definition: One of configUSE_16_BIT_TICKS and configTICK_TYPE_WIDTH_IN_BITS must be defined in FreeRTOSConfig.h. See the Configuration section of the FreeRTOS API documentation for details. ``` 7. Both configUSE_16_BIT_TICKS and configTICK_TYPE_WIDTH_IN_BITS defined. ``` #error Only one of configUSE_16_BIT_TICKS and configTICK_TYPE_WIDTH_IN_BITS must be defined in FreeRTOSConfig.h. See the Configuration section of the FreeRTOS API documentation for details. ``` Related issue - https://github.com/FreeRTOS/FreeRTOS-Kernel/issues/628 Signed-off-by: Gaurav Aggarwal <[email protected]> * Feature/fixing clang gnu compiler warnings (#620) * Adding in ability to support a library for freertos_config and a custom freertos_kernel_port (#558) * Using single name definition for libraries everywhere. (#558) * Supporting backwards compatibility with FREERTOS_CONFIG_FILE_DIRECTORY (#571) * Removing compiler warnings for GNU and Clang. (#571) * Added in documentation on how to consume from a main project. Added default PORT selection for native POSIX and MINGW platforms. * Only adding freertos_config if it exists. Removing auto generation of it from a FREERTOS_CONFIG_FILE_DIRECTORY. * Fixing clang and gnu compiler warnings. * Adding in project information and how to compile for GNU/clang * Fixing compiler issue with unused variable - no need to declare variable. * Adding in compile warnings for linux builds that kernel is okay with using. * Fixing more extra-semi-stmt clang warnings. * Moving definition of hooks into header files if features are enabled. * Fixing formatting with uncrustify. * Fixing merge conflicts with main merge. * Fixing compiler errors due to merge issues and formatting. * Fixing Line feeds. * Adding 'portNORETURN' into portmacros.h. Other Updates based on PR request * Further clean-up of clang and clang-tidy issues. * Removing compiler specific pragmas from common c files. * Fixing missing lexicon entry and uncrustify formatting changes. * Resolving merge issue multiple defnitions of proto for prvIdleTask * Fixing formatting issues that are not covered by uncrustify. Use clang-tidy instead if you want this level of control. * More uncrustify formatting issues. * Fixing extra bracket in #if statement. --------- Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> * POSIX port fixes (#626) * Fix types in POSIX port Use TaskFunction_t and StackType_t as other ports do. * Fix portTICK_RATE_MICROSECONDS in POSIX port --------- Co-authored-by: Jacques GUILLOU <[email protected]> Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> * Cortex-M35P: Add Cortex-M35P port (#631) * Cortex-M35P: Add Cortex-M35P port The Cortex-M35P support added to kernel. The port hasn't been validated yet with TF-M. Hence TF-M support is not included in this port. Signed-off-by: Devaraj Ranganna <[email protected]> * Add portNORETURN to the newly added portmacro.h Signed-off-by: Gaurav Aggarwal <[email protected]> --------- Signed-off-by: Devaraj Ranganna <[email protected]> Signed-off-by: Gaurav Aggarwal <[email protected]> Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> Co-authored-by: Gaurav Aggarwal <[email protected]> Co-authored-by: kar-rahul-aws <[email protected]> * Introduced Github Status Badge for Unit Tests (#634) * Introduced Github Status Badge for Unit Tests * Github status badge to point to latest run * Github status badge UT points to latest results * Fixed URL for Github Status badge --------- Co-authored-by: kar-rahul-aws <[email protected]> * Remove C99 requirement from CMake file (#633) * Remove C99 requirement from CMake file The kernel source is C89 compliant and does not need C99. Signed-off-by: Gaurav Aggarwal <[email protected]> * Explicitly set C89 requirement for kernel Signed-off-by: Gaurav Aggarwal <[email protected]> --------- Signed-off-by: Gaurav Aggarwal <[email protected]> * Add Thread Local Storage (TLS) support using Picolibc functions (#343) * Pass top of stack to configINIT_TLS_BLOCK Picolibc wants to allocate the per-task TLS block within the stack segment, so it will need to modify the top of stack value. Pass the pxTopOfStack variable to make this explicit. Signed-off-by: Keith Packard <[email protected]> * Move newlib-specific definitions to separate file This reduces the clutter in FreeRTOS.h caused by having newlib-specific macros present there. Signed-off-by: Keith Packard <[email protected]> * Make TLS code depend only on configUSE_C_RUNTIME_TLS_SUPPORT Remove reference to configUSE_NEWLIB_REENTRANT as that only works when using newlib. configUSE_C_RUNTIME_TLS_SUPPORT is always set when configUSE_NEWLIB_REENTRANT is set, so using both was redundant in that case. Signed-off-by: Keith Packard <[email protected]> * portable-ARC: Adapt ARC support to use generalized TLS support With generalized thread local storage (TLS) support present in the core, the two ARC ports need to have the changes to the TCB mirrored to them. Signed-off-by: Keith Packard <[email protected]> * Add Thread Local Storage (TLS) support using Picolibc functions This patch provides definitions of the general TLS support macros in terms of the Picolibc TLS support functions. Picolibc is normally configured to use TLS internally for all variables that are intended to be task-local, so these changes are necessary for picolibc to work correctly with FreeRTOS. The picolibc helper functions rely on elements within the linker script to arrange the TLS data in memory and define some symbols. Applications wanting to use this mechanism will need changes in their linker script when migrating to picolibc. Signed-off-by: Keith Packard <[email protected]> --------- Signed-off-by: Keith Packard <[email protected]> Co-authored-by: Keith Packard <[email protected]> Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> * Interrupt priority assert improvements for CM3/4/7 (#602) * Interrupt priority assert improvements for CM3/4/7 In the ARM_CM3, ARM_CM4, and ARM_CM7 ports, change the assertion that `configMAX_SYSCALL_INTERRUPT_PRIORITY` is nonzero to account for the number of priority bits implemented by the hardware. Change these ports to also use the lowest priority for PendSV and SysTick, ignoring `configKERNEL_INTERRUPT_PRIORITY`. * Remove not needed configKERNEL_INTERRUPT_PRIORITY define Signed-off-by: Gaurav Aggarwal <[email protected]> --------- Signed-off-by: Gaurav Aggarwal <[email protected]> Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> Co-authored-by: Gaurav Aggarwal <[email protected]> * Introduced code coverage status badge (#635) * Introduced code coverage status badge * Trying to fix the URL checker issue * Fix URL check Signed-off-by: Gaurav Aggarwal <[email protected]> --------- Signed-off-by: Gaurav Aggarwal <[email protected]> Co-authored-by: Gaurav Aggarwal <[email protected]> Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> * added portPOINTER_SIZE_TYPE and SIZE_MAX definition to PIC24/dsPIC port (#636) * added portPOINTER_SIZE_TYPE definition to PIC24/dsPIC port * Added SIZE_MAX definition to PIC24/dsPIC33 * Fix TLS and stack alignment when using picolibc (#637) Both the TLS block and stack must be correctly aligned when using picolibc. The architecture stack alignment is represented by the portBYTE_ALIGNMENT_MASK and the TLS block alignment is provided by the Picolibc _tls_align() inline function for Picolibc version 1.8 and above. For older versions of Picolibc, we'll assume that the TLS block requires the same alignment as the stack. For downward growing stacks, this requires aligning the start of the TLS block to the maximum of the stack alignment and the TLS alignment. With this, both the TLS block and stack will now be correctly aligned. For upward growing stacks, the two areas must be aligned independently; the TLS block is aligned from the start of the stack, then the tls space is allocated, and then the stack is aligned above that. It's probably useful to know here that the linker ensures that variables within the TLS block are assigned offsets that match their alignment requirements. If the TLS block itself is correctly aligned, then everything within will also be. I have only tested the downward growing stack branch of this patch. Signed-off-by: Keith Packard <[email protected]> Co-authored-by: Keith Packard <[email protected]> Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> * Enable building the GCC Cortex-R5 port without an FPU (#586) * Ensure configUSE_TASK_FPU_SUPPORT option is set correctly If one does enable the FPU of the Cortex-R5 processor, then the GCC compiler will define the macro __ARM_FP. This can be used to ensure, that the configUSE_TASK_FPU_SUPPORT is set accordingly. * Enable the implementation of vPortTaskUsesFPU only if configUSE_TASK_FPU_SUPPORT is set to 1 * Remove error case in pxPortInitialiseStack The case of configUSE_TASK_FPU_SUPPORT is 0 is now handled * Enable access to FPU registers only if FPU is enabled * Make minor formating changes * Format ARM Cortex-R5 port * Address review comments from @ChristosZosi * Minor code review suggestions Signed-off-by: Gaurav Aggarwal <[email protected]> --------- Signed-off-by: Gaurav Aggarwal <[email protected]> Co-authored-by: Christos Zosimidis <[email protected]> Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> Co-authored-by: Gaurav Aggarwal <[email protected]> * Fix freertos_kernel cmake property, Posix Port (#640) * Fix freertos_kernel cmake property, Posix Port * Moves the `set_property()` call below the target definition in top level CMakeLists file * Corrects billion value from `ULL` suffix (not C90 compliant) to `UL` suffix with cast to uint64_t * Add blank line to CMakeLists.txt * Add missing FreeRTOS+ defines * Run kernel demos and unit tests for PR changes (#645) * Run kernel demos and unit tests for PR changes Kernel demos check builds multiple demos from FreeRTOS/FreeRTOS and unit tests check runs unit tests in FreeRTOS/FreeRTOS. Both of these checks currently use main branch of FreeRTOS-Kernel. This commits updates these checks to use the changes in the PR. Signed-off-by: Gaurav Aggarwal <[email protected]> * Do not specify PR SHA explicitly as that is default Signed-off-by: Gaurav Aggarwal <[email protected]> * Remove explicit PR SHA from kernel checks Signed-off-by: Gaurav Aggarwal <[email protected]> --------- Signed-off-by: Gaurav Aggarwal <[email protected]> * Add functions to get the buffers of statically created objects (#641) Added various ...GetStaticBuffer() functions to get the buffers of statically created objects. --------- Co-authored-by: Paul Bartell <[email protected]> Co-authored-by: Nikhil Kamath <[email protected]> Co-authored-by: Gaurav Aggarwal <[email protected]> * Cortex-M Assert when NVIC implements 8 PRIO bits (#639) * Cortex-M Assert when NVIC implements 8 PRIO bits * Fix CM3 ports * Fix ARM_CM3_MPU * Fix ARM CM3 * Fix ARM_CM4_MPU * Fix ARM_CM4 * Fix GCC ARM_CM7 * Fix IAR ARM ports * Uncrustify changes * Fix MikroC_ARM_CM4F port * Fix MikroC_ARM_CM4F port-(2) * Fix RVDS ARM ports * Revert changes for Tasking/ARM_CM4F port * Revert changes for Tasking/ARM_CM4F port-(2) * Update port.c Fix GCC/ARM_CM4F port * Update port.c * update GCC\ARM_CM4F port * update port.c * Assert to check configMAX_SYSCALL_INTERRUPT_PRIORITY is set to higher priority * Fix merge error: remove duplicate code * Fix typos --------- Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> Co-authored-by: Ubuntu <[email protected]> * Remove C90 requirement from CMakeLists (#649) This is needed as it is breaking projects - https://forums.freertos.org/t/freertos-gcc-cmake/16984 We will re-evaluate and accordingly add this later. Signed-off-by: Gaurav Aggarwal <[email protected]> * Only add alignment padding when needed (#650) Heap 4 and Heap 5 add some padding to ensure that the allocated blocks are always aligned to portBYTE_ALIGNMENT bytes. The code until now was adding padding always even if the resulting block was already aligned. This commits updates the code to only add padding if the resulting block is not aligned. Signed-off-by: Gaurav Aggarwal <[email protected]> * add a missing comma (#651) * fix conversion warning (#658) FreeRTOS-Kernel/portable/GCC/ARM_CM4F/port.c:399:41: error: conversion from 'uint32_t' {aka 'long unsigned int'} to 'uint8_t' {aka 'unsigned char'} may change value [-Werror=conversion] Signed-off-by: Vo Trung Chi <[email protected]> --------- Signed-off-by: Gaurav Aggarwal <[email protected]> Signed-off-by: Cervenka Dusan <[email protected]> Signed-off-by: Devaraj Ranganna <[email protected]> Signed-off-by: Keith Packard <[email protected]> Signed-off-by: Vo Trung Chi <[email protected]> Co-authored-by: Archit Gupta <[email protected]> Co-authored-by: tcpluess <[email protected]> Co-authored-by: pluess <[email protected]> Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> Co-authored-by: Chris Copeland <[email protected]> Co-authored-by: David J. Fiddes <[email protected]> Co-authored-by: Dusan Cervenka <[email protected]> Co-authored-by: bbain <[email protected]> Co-authored-by: Ju1He1 <[email protected]> Co-authored-by: Aniruddha Kanhere <[email protected]> Co-authored-by: phelter <[email protected]> Co-authored-by: jacky309 <[email protected]> Co-authored-by: Jacques GUILLOU <[email protected]> Co-authored-by: Devaraj Ranganna <[email protected]> Co-authored-by: Gaurav Aggarwal <[email protected]> Co-authored-by: kar-rahul-aws <[email protected]> Co-authored-by: Nikhil Kamath <[email protected]> Co-authored-by: Keith Packard <[email protected]> Co-authored-by: Keith Packard <[email protected]> Co-authored-by: Joseph Julicher <[email protected]> Co-authored-by: Paul Bartell <[email protected]> Co-authored-by: Christos Zosimidis <[email protected]> Co-authored-by: Kody Stribrny <[email protected]> Co-authored-by: Holden <holden-zenithaerotech.com> Co-authored-by: Darian <[email protected]> Co-authored-by: Ubuntu <[email protected]> Co-authored-by: Nicolas <[email protected]> Co-authored-by: Vo Trung Chi <[email protected]> * Smp dev merge main 20230410 (#74) * Fix array-bounds compiler warning on gcc11+ in list.h (#580) listGET_OWNER_OF_NEXT_ENTRY computes `( pxConstList )->pxIndex->pxNext` after verifying that `( pxConstList )->pxIndex` points to `xListEnd`, which due to being a MiniListItem_t, can be shorter than a ListItem_t. Thus, `( pxConstList )->pxIndex` is a `ListItem_t *` that extends past the end of the `List_t` whose `xListEnd` it points to. This is fixed by accessing `pxNext` through a `MiniListItem_t` instead. * move the prototype for vApplicationIdleHook to task.h. (#600) Co-authored-by: pluess <[email protected]> Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]> * Update equal priority task preemption (#603) * vTaskResume and vTaskPrioritySet don't preempt equal priority task * Update vTaskResumeAll not to preempt task with equal priority * Fix in xTaskResumeFromISR * Update FreeRTOS/FreeRTOS build checks (#613) This is needed to be compatible with the refactoring done in this PR - https://github.com/FreeRTOS/FreeRTOS/pull/889 Signed-off-by: Gaurav Aggarwal <[email protected]> Signed-off-by: Gaurav Aggarwal <[email protected]> * Add ulTaskGetRunTimeCounter and ulTaskGetRunTimePercent (#611) Allow ulTaskGetIdleRunTimeCounter and ulTaskGetIdleRunTimePercent to be used whenever configGENERATE_RUN_TIME_STATS is enabled, as this is the only requirement for these functions to work. * Fix some CMake documentation typos (#616) The quick start instructions for CMake mention the "master" git branch which has been replaced by "main" in the current repo. The main CMakeLists.txt documents how to integrate a custom port. Fix a typo in the suggested CMake code. * Added support of 64bit events. (#597) * Added support of 64bit even Signed-off-by: Cervenka Dusan <[email protected]> * Added missing brackets Signed-off-by: Cervenka Dusan <[email protected]> * Made proper name for tick macro. Signed-off-by: Cervenka Dusan <[email protected]> * Improved macro evaluation Signed-off-by: Cervenka Dusan <[email protected]> * Fixed missed port files + documentation Signed-o…
1 parent 83da5fc commit ae3a498

21 files changed

+4869
-951
lines changed

‎.github/lexicon.txt

Lines changed: 33 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -319,6 +319,7 @@ coprocessor
319319
coprocessors
320320
coreid
321321
coroutinehandle
322+
coverity
322323
covfs
323324
cp
324325
cpacr
@@ -340,31 +341,20 @@ cprivilegedonlyaccessarray
340341
cpsid
341342
cpsie
342343
cpsr
343-
cpsr
344-
cpstored
345344
cpstored
346345
cpu
347-
cpu
348346
cr
349-
cr
350-
crc
351347
crc
352348
crcb
353349
crcoroutine
354-
crcoroutine
355-
crdelay
356350
crdelay
357351
creadonlyarray
358352
creadwritearray
359353
createevent
360354
crend
361-
crend
362355
crgint
363356
croutine
364-
croutine
365357
crqueue
366-
crqueue
367-
crstart
368358
crstart
369359
crt
370360
crtv
@@ -1110,6 +1100,7 @@ mikroc
11101100
min
11111101
mingw
11121102
minilistitem
1103+
minimalidle
11131104
mips
11141105
misadd
11151106
misc
@@ -1539,25 +1530,24 @@ prstc
15391530
prttc
15401531
prv
15411532
prvaddcurrenttasktodelayedlist
1533+
prvcheckforrunstatechange
15421534
prvcheckinterfaces
15431535
prvchecktaskswaitingtermination
15441536
prvcopydatatoqueue
15451537
prvcoroutineflashtask
1546-
prvcoroutineflashtask
1547-
prvcoroutineflashworktask
15481538
prvcoroutineflashworktask
15491539
prvdeletetcb
15501540
prvexitfunction
15511541
prvgettimens
15521542
prvheapinit
15531543
prvidletask
15541544
prvinitialisecoroutinelists
1555-
prvinitialisecoroutinelists
15561545
prvinitialisemutex
15571546
prvinitialisenewstreambuffer
15581547
prvinitialisenewtimer
15591548
prvinsertblockintofreelist
15601549
prvlockqueue
1550+
prvminimalidletask
15611551
prvnotifyqueuesetcontainer
15621552
prvportmalloc
15631553
prvportresetpic
@@ -1575,6 +1565,7 @@ prvtickcount
15751565
prvtimercallback
15761566
prvwritebytestobuffer
15771567
prvwritemessagetobuffer
1568+
prvyieldfortask
15781569
prvyieldhandler
15791570
ps
15801571
psp
@@ -1668,13 +1659,10 @@ pxcallbackfunction
16681659
pxcode
16691660
pxcontainer
16701661
pxcoroutinecode
1671-
pxcoroutinecode
1672-
pxcoroutinewoken
16731662
pxcoroutinewoken
16741663
pxcrcb
16751664
pxcreatedtask
16761665
pxcurrentcoroutine
1677-
pxcurrentcoroutine
16781666
pxcurrenttcb
16791667
pxcurrenttcbconst
16801668
pxcurrenttimerlist
@@ -1795,6 +1783,7 @@ rdc
17951783
rdr
17961784
rdrf
17971785
rdy
1786+
reacquisition
17981787
readbit
17991788
readme
18001789
readvalue
@@ -2439,6 +2428,7 @@ uxbitstoset
24392428
uxbitstowait
24402429
uxbitstowaitfor
24412430
uxcontrolbits
2431+
uxcoreaffinitymask
24422432
uxcriticalnesting
24432433
uxcurrenteventbits
24442434
uxcurrentnumberoftasks
@@ -2462,9 +2452,12 @@ uxlength
24622452
uxlistremove
24632453
uxmaxcount
24642454
uxmessageswaiting
2455+
uxnetworkingcoreaffinitymask
24652456
uxnewpriority
24662457
uxoriginalpriority
2458+
uxpendedcounts
24672459
uxportcomparesetextram
2460+
uxprevschedulersuspended
24682461
uxpriority
24692462
uxprioritytouse
24702463
uxqueue
@@ -2483,6 +2476,7 @@ uxsemaphoregetcount
24832476
uxsemaphoregetcountfromisr
24842477
uxstate
24852478
uxstreambuffernumber
2479+
uxtaskattributes
24862480
uxtaskgetnumberoftasks
24872481
uxtaskgetstackhighwatermark
24882482
uxtaskgetsystemstate
@@ -2516,6 +2510,7 @@ vapplicationgettimertaskmemory
25162510
vapplicationidlehook
25172511
vapplicationirqhandler
25182512
vapplicationmallocfailedhook
2513+
vapplicationminimalidlehook
25192514
vapplicationsetuptickinterrupt
25202515
vapplicationsetupticktimerinterrupt
25212516
vapplicationsetuptimerinterrupt
@@ -2618,12 +2613,15 @@ vstreambufferdelete
26182613
vtask
26192614
vtaskallocatempuregions
26202615
vtaskcode
2616+
vtaskcoreaffinityget
2617+
vtaskcoreaffinityset
26212618
vtaskdelay
26222619
vtaskdelayuntil
26232620
vtaskdelete
26242621
vtaskendscheduler
26252622
vtaskentercritical
26262623
vtaskexitcritical
2624+
vtaskexitcriticalfromisr
26272625
vtaskfunction
26282626
vtaskgetinfo
26292627
vtaskgetruntimestats
@@ -2632,6 +2630,8 @@ vtasknotify
26322630
vtasknotifygivefromisr
26332631
vtasknotifygiveindexedfromisr
26342632
vtaskplaceoneventlist
2633+
vtaskpreemptiondisable
2634+
vtaskpreemptionenable
26352635
vtaskpriorityset
26362636
vtaskremovefromunorderedeventlist
26372637
vtaskresume
@@ -2645,6 +2645,7 @@ vtasksteptick
26452645
vtasksuspend
26462646
vtasksuspendall
26472647
vtaskswitchcontext
2648+
vtaskswitchcontextforcore
26482649
vtaskusesdpfpu
26492650
vtickisr
26502651
vtimercallback
@@ -2742,6 +2743,8 @@ xcommandtime
27422743
xcommsrxqueue
27432744
xconsttickcount
27442745
xcopyposition
2746+
xcore
2747+
xcoreid
27452748
xcoroutinecreate
27462749
xcoroutinepreviouslywoken
27472750
xcoroutinequeue
@@ -2824,6 +2827,8 @@ xhigherpriorittaskwoken
28242827
xhigherprioritytaskwoken
28252828
xhigherprioritytaskwokenbypost
28262829
xidletaskhandle
2830+
xidletaskhandles
2831+
xidletcbbuffers
28272832
xilinx
28282833
xindex
28292834
xinheritanceoccurred
@@ -2843,6 +2848,9 @@ xlastwaketime
28432848
xlength
28442849
xlist
28452850
xlistend
2851+
xlowestpriority
2852+
xlowestprioritycore
2853+
xlowestprioritytopreempt
28462854
xmair
28472855
xmaxcount
28482856
xmaxexpirycountbeforestopping
@@ -2881,6 +2889,7 @@ xmutexbuffer
28812889
xmutexholder
28822890
xn
28832891
xnearstartscheduler
2892+
xnetworkingtaskhandle
28842893
xnewperiod
28852894
xnewqueue
28862895
xnextexpiretime
@@ -2913,6 +2922,7 @@ xportregistercinterrupthandler
29132922
xportregisterdump
29142923
xportstartfirsttask
29152924
xportstartscheduler
2925+
xpreemptiondisable
29162926
xpsr
29172927
xqueue
29182928
xqueueaddtoset
@@ -3026,6 +3036,7 @@ xtail
30263036
xtal
30273037
xtask
30283038
xtaskabortdelay
3039+
xtaskattribute
30293040
xtaskbuffer
30303041
xtaskcallapplicationtaskhook
30313042
xtaskcatchupticks
@@ -3072,6 +3083,7 @@ xtasknumber
30723083
xtaskremovefromeventlist
30733084
xtaskresumeall
30743085
xtaskresumefromisr
3086+
xtaskrunstate
30753087
xtaskswaitingforbits
30763088
xtaskswaitingtermination
30773089
xtaskswaitingtoreceive
@@ -3108,6 +3120,7 @@ xtimercreate
31083120
xtimercreated
31093121
xtimercreatestatic
31103122
xtimerdelete
3123+
xtimergenericcommand
31113124
xtimergetexpirytime
31123125
xtimergetperiod
31133126
xtimergetreloadmode
@@ -3143,5 +3156,8 @@ xwantedsize
31433156
xwasdelayed
31443157
xwritevalue
31453158
xxr
3159+
xyieldfortask
31463160
xyieldpending
3161+
xyieldpendings
31473162
xzr
3163+
yeilding

‎.github/scripts/kernel_checker.py

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -87,7 +87,8 @@
8787
r'.*\.git.*',
8888
r'.*portable/IAR/AtmelSAM7S64/.*AT91SAM7.*',
8989
r'.*portable/GCC/ARM7_AT91SAM7S/.*',
90-
r'.*portable/MPLAB/PIC18F/stdio.h'
90+
r'.*portable/MPLAB/PIC18F/stdio.h',
91+
r'.*portable/ThirdParty/xClang/XCOREAI/*'
9192
]
9293

9394
KERNEL_THIRD_PARTY_PATTERNS = [

‎MISRA.md

Lines changed: 72 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,72 @@
1+
# MISRA Compliance
2+
3+
FreeRTOS-Kernel conforms to [MISRA C:2012](https://www.misra.org.uk/misra-c)
4+
guidelines, with the deviations listed below. Compliance is checked with
5+
Coverity static analysis. Since the FreeRTOS kernel is designed for
6+
small-embedded devices, it needs to have a very small memory footprint and
7+
has to be efficient. To achieve that and to increase the performance, it
8+
deviates from some MISRA rules. The specific deviations, suppressed inline,
9+
are listed below.
10+
11+
Additionally, [MISRA configuration](#misra-configuration) contains project
12+
wide deviations.
13+
14+
### Suppressed with Coverity Comments
15+
To find the violation references in the source files run grep on the source code
16+
with ( Assuming rule 8.4 violation; with justification in point 1 ):
17+
```
18+
grep 'MISRA Ref 8.4.1' . -rI
19+
```
20+
21+
#### Rule 8.4
22+
23+
_Ref 8.4.1_
24+
25+
- MISRA C:2012 Rule 8.4: A compatible declaration shall be visible when an
26+
object or function with external linkage is defined.
27+
This rule requires that a compatible declaration is made available
28+
in a header file when an object with external linkage is defined.
29+
pxCurrentTCB(s) is defined with external linkage but it is only
30+
referenced from the assembly code in the port files. Therefore, adding
31+
a declaration in header file is not useful as the assembly code will
32+
still need to declare it separately.
33+
34+
### MISRA configuration
35+
36+
Copy below content to `misra.conf` to run Coverity on FreeRTOS-Kernel.
37+
38+
```
39+
// MISRA C-2012 Rules
40+
{
41+
version : "2.0",
42+
standard : "c2012",
43+
title: "Coverity MISRA Configuration",
44+
deviations : [
45+
// Disable the following rules.
46+
{
47+
deviation: "Directive 4.8",
48+
reason: "HeapRegion_t and HeapStats_t are used only in heap files but declared in portable.h which is included in multiple source files. As a result, these definitions appear in multiple source files where they are not used."
49+
},
50+
{
51+
deviation: "Directive 4.9",
52+
reason: "FreeRTOS-Kernel is optimised to work on small micro-controllers. To achieve that, function-like macros are used."
53+
},
54+
{
55+
deviation: "Rule 1.2",
56+
reason: "The __attribute__ tags are used via macros which are defined in port files."
57+
},
58+
{
59+
deviation: "Rule 3.1",
60+
reason: "We post HTTP links in code comments which contain // inside comments blocks."
61+
},
62+
{
63+
deviation: "Rule 8.7",
64+
reason: "API functions are not used by the library outside of the files they are defined; however, they must be externally visible in order to be used by an application."
65+
},
66+
{
67+
deviation: "Rule 11.5",
68+
reason: "Allow casts from `void *`. List owner, pvOwner, is stored as `void *` and are cast to various types for use in functions."
69+
}
70+
]
71+
}
72+
```

‎event_groups.c

Lines changed: 20 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -263,7 +263,15 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
263263
{
264264
if( xAlreadyYielded == pdFALSE )
265265
{
266-
portYIELD_WITHIN_API();
266+
#if ( configNUMBER_OF_CORES == 1 )
267+
{
268+
portYIELD_WITHIN_API();
269+
}
270+
#else /* #if ( configNUMBER_OF_CORES == 1 ) */
271+
{
272+
vTaskYieldWithinAPI();
273+
}
274+
#endif /* #if ( configNUMBER_OF_CORES == 1 ) */
267275
}
268276
else
269277
{
@@ -415,7 +423,15 @@ EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
415423
{
416424
if( xAlreadyYielded == pdFALSE )
417425
{
418-
portYIELD_WITHIN_API();
426+
#if ( configNUMBER_OF_CORES == 1 )
427+
{
428+
portYIELD_WITHIN_API();
429+
}
430+
#else /* #if ( configNUMBER_OF_CORES == 1 ) */
431+
{
432+
vTaskYieldWithinAPI();
433+
}
434+
#endif /* #if ( configNUMBER_OF_CORES == 1 ) */
419435
}
420436
else
421437
{
@@ -525,11 +541,11 @@ EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup )
525541
EventGroup_t const * const pxEventBits = xEventGroup;
526542
EventBits_t uxReturn;
527543

528-
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
544+
uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
529545
{
530546
uxReturn = pxEventBits->uxEventBits;
531547
}
532-
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
548+
taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus );
533549

534550
return uxReturn;
535551
} /*lint !e818 EventGroupHandle_t is a typedef used in other functions to so can't be pointer to const. */

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