freertos: upgrade to 10.4.3 -- extras

components/freertos/include/freertos/FreeRTOS.h

@@ -267,11 +267,11 @@
     #define configASSERT_DEFINED    1
 #endif
 
-/* configPRECONDITION should be resolve to configASSERT.
+/* configPRECONDITION should be defined as configASSERT.
  * The CBMC proofs need a way to track assumptions and assertions.
- * A configPRECONDITION statement should express an implicit invariant or assumption made.
- * A configASSERT statement should express an invariant that must hold explicit before calling
- * the code. */
+ * A configPRECONDITION statement should express an implicit invariant or
+ * assumption made.  A configASSERT statement should express an invariant that must
+ * hold explicit before calling the code. */
 #ifndef configPRECONDITION
     #define configPRECONDITION( X )    configASSERT( X )
     #define configPRECONDITION_DEFINED    0
@@ -916,6 +916,11 @@
     #define configSUPPORT_DYNAMIC_ALLOCATION    1
 #endif
 
+#ifndef configSTACK_ALLOCATION_FROM_SEPARATE_HEAP
+    /* Defaults to 0 for backward compatibility. */
+    #define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP   0
+#endif
+
 #ifndef configSTACK_DEPTH_TYPE
 
 /* Defaults to uint16_t for backward compatibility, but can be overridden
@@ -999,7 +1004,7 @@
 
 #ifndef configMIN
 
-/* The application writer has not provided their own MAX macro, so define
+/* The application writer has not provided their own MIN macro, so define
  * the following generic implementation. */
     #define configMIN( a, b )    ( ( ( a ) < ( b ) ) ? ( a ) : ( b ) )
 #endif
@@ -1024,6 +1029,7 @@
     #define pcTimerGetTimerName           pcTimerGetName
     #define pcQueueGetQueueName           pcQueueGetName
     #define vTaskGetTaskInfo              vTaskGetInfo
+    #define xTaskGetIdleRunTimeCounter    ulTaskGetIdleRunTimeCounter
 
 /* Backward compatibility within the scheduler code only - these definitions
  * are not really required but are included for completeness. */
@@ -1130,7 +1136,7 @@
  * data hiding policy, so the real structures used by FreeRTOS to maintain the
  * state of tasks, queues, semaphores, etc. are not accessible to the application
  * code.  However, if the application writer wants to statically allocate such
- * an object then the size of the object needs to be know.  Dummy structures
+ * an object then the size of the object needs to be known.  Dummy structures
  * that are guaranteed to have the same size and alignment requirements of the
  * real objects are used for this purpose.  The dummy list and list item
  * structures below are used for inclusion in such a dummy structure.
@@ -1179,7 +1185,7 @@ typedef struct xSTATIC_LIST
  * strict data hiding policy.  This means the Task structure used internally by
  * FreeRTOS is not accessible to application code.  However, if the application
  * writer wants to statically allocate the memory required to create a task then
- * the size of the task object needs to be know.  The StaticTask_t structure
+ * the size of the task object needs to be known.  The StaticTask_t structure
  * below is provided for this purpose.  Its sizes and alignment requirements are
  * guaranteed to match those of the genuine structure, no matter which
  * architecture is being used, and no matter how the values in FreeRTOSConfig.h
@@ -1246,7 +1252,7 @@ typedef struct xSTATIC_TCB
  * strict data hiding policy.  This means the Queue structure used internally by
  * FreeRTOS is not accessible to application code.  However, if the application
  * writer wants to statically allocate the memory required to create a queue
- * then the size of the queue object needs to be know.  The StaticQueue_t
+ * then the size of the queue object needs to be known.  The StaticQueue_t
  * structure below is provided for this purpose.  Its sizes and alignment
  * requirements are guaranteed to match those of the genuine structure, no
  * matter which architecture is being used, and no matter how the values in
@@ -1319,7 +1325,7 @@ typedef struct xSTATIC_EVENT_GROUP
  * strict data hiding policy.  This means the software timer structure used
  * internally by FreeRTOS is not accessible to application code.  However, if
  * the application writer wants to statically allocate the memory required to
- * create a software timer then the size of the queue object needs to be know.
+ * create a software timer then the size of the queue object needs to be known.
  * The StaticTimer_t structure below is provided for this purpose.  Its sizes
  * and alignment requirements are guaranteed to match those of the genuine
  * structure, no matter which architecture is being used, and no matter how the
@@ -1347,12 +1353,12 @@ typedef struct xSTATIC_TIMER
  * internally by FreeRTOS is not accessible to application code.  However, if
  * the application writer wants to statically allocate the memory required to
  * create a stream buffer then the size of the stream buffer object needs to be
- * know.  The StaticStreamBuffer_t structure below is provided for this purpose.
- * Its size and alignment requirements are guaranteed to match those of the
- * genuine structure, no matter which architecture is being used, and no matter
- * how the values in FreeRTOSConfig.h are set.  Its contents are somewhat
- * obfuscated in the hope users will recognise that it would be unwise to make
- * direct use of the structure members.
+ * known.  The StaticStreamBuffer_t structure below is provided for this
+ * purpose.  Its size and alignment requirements are guaranteed to match those
+ * of the genuine structure, no matter which architecture is being used, and
+ * no matter how the values in FreeRTOSConfig.h are set.  Its contents are
+ * somewhat obfuscated in the hope users will recognise that it would be unwise
+ * to make direct use of the structure members.
  */
 typedef struct xSTATIC_STREAM_BUFFER
 {

components/freertos/include/freertos/portable.h

@@ -181,6 +181,13 @@ void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION;
 size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION;
 size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION;
 
+#if( configSTACK_ALLOCATION_FROM_SEPARATE_HEAP == 1 )
+    void *pvPortMallocStack( size_t xSize ) PRIVILEGED_FUNCTION;
+    void vPortFreeStack( void *pv ) PRIVILEGED_FUNCTION;
+#else
+    #define pvPortMallocStack pvPortMalloc
+    #define vPortFreeStack vPortFree
+#endif
 #else  // configUSE_FREERTOS_PROVIDED_HEAP
 
 /*

components/freertos/include/freertos/queue.h

@@ -1189,7 +1189,7 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  * void vFunction( void *pvParameters )
  * {
  *  // Create a queue to hold one uint32_t value.  It is strongly
- *  // recommended \*not\* to use xQueueOverwriteFromISR() on queues that can
+ *  // recommended *not* to use xQueueOverwriteFromISR() on queues that can
  *  // contain more than one value, and doing so will trigger an assertion
  *  // if configASSERT() is defined.
  *  xQueue = xQueueCreate( 1, sizeof( uint32_t ) );

components/freertos/include/freertos/task.h

@@ -2272,7 +2272,7 @@ uint32_t ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
  *
  * eSetBits -
  * The target notification value is bitwise ORed with ulValue.
- * xTaskNofifyIndexed() always returns pdPASS in this case.
+ * xTaskNotifyIndexed() always returns pdPASS in this case.
  *
  * eIncrement -
  * The target notification value is incremented.  ulValue is not used and
@@ -2419,7 +2419,7 @@ BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
  * value, if at all.  Valid values for eAction are as follows:
  *
  * eSetBits -
- * The task's notification value is bitwise ORed with ulValue.  xTaskNofify()
+ * The task's notification value is bitwise ORed with ulValue.  xTaskNotify()
  * always returns pdPASS in this case.
  *
  * eIncrement -
@@ -2591,7 +2591,7 @@ BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
  * the Blocked state for a notification to be received, should a notification
  * not already be pending when xTaskNotifyWait() was called.  The task
  * will not consume any processing time while it is in the Blocked state.  This
- * is specified in kernel ticks, the macro pdMS_TO_TICSK( value_in_ms ) can be
+ * is specified in kernel ticks, the macro pdMS_TO_TICKS( value_in_ms ) can be
  * used to convert a time specified in milliseconds to a time specified in
  * ticks.
  *
@@ -2865,7 +2865,7 @@ void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
  * should the count not already be greater than zero when
  * ulTaskNotifyTake() was called.  The task will not consume any processing
  * time while it is in the Blocked state.  This is specified in kernel ticks,
- * the macro pdMS_TO_TICSK( value_in_ms ) can be used to convert a time
+ * the macro pdMS_TO_TICKS( value_in_ms ) can be used to convert a time
  * specified in milliseconds to a time specified in ticks.
  *
  * @return The task's notification count before it is either cleared to zero or
@@ -3050,7 +3050,7 @@ void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
  * @param pxTicksToWait The number of ticks to check for timeout i.e. if
  * pxTicksToWait ticks have passed since pxTimeOut was last updated (either by
  * vTaskSetTimeOutState() or xTaskCheckForTimeOut()), the timeout has occurred.
- * If the timeout has not occurred, pxTIcksToWait is updated to reflect the
+ * If the timeout has not occurred, pxTicksToWait is updated to reflect the
  * number of remaining ticks.
  *
  * @return If timeout has occurred, pdTRUE is returned. Otherwise pdFALSE is
@@ -3219,7 +3219,7 @@ BaseType_t xTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
  * xItemValue value, and inserts the list item at the end of the list.
  *
  * The 'ordered' version uses the existing event list item value (which is the
- * owning tasks priority) to insert the list item into the event list is task
+ * owning task's priority) to insert the list item into the event list in task
  * priority order.
  *
  * @param pxEventList The list containing tasks that are blocked waiting
@@ -3229,7 +3229,7 @@ BaseType_t xTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
  * event list is not ordered by task priority.
  *
  * @param xTicksToWait The maximum amount of time that the task should wait
- * for the event to occur.  This is specified in kernel ticks,the constant
+ * for the event to occur.  This is specified in kernel ticks, the constant
  * portTICK_PERIOD_MS can be used to convert kernel ticks into a real time
  * period.
  */

components/freertos/list.c

@@ -26,9 +26,20 @@
 
 
 #include <stdlib.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+ * all the API functions to use the MPU wrappers.  That should only be done when
+ * task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
 #include "FreeRTOS.h"
 #include "list.h"
 
+/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
+ * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be
+ * defined for the header files above, but not in this file, in order to
+ * generate the correct privileged Vs unprivileged linkage and placement. */
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
 
 /*-----------------------------------------------------------
 * PUBLIC LIST API documented in list.h
@@ -147,6 +158,9 @@ void vListInsert( List_t * const pxList,
         *   4) Using a queue or semaphore before it has been initialised or
         *      before the scheduler has been started (are interrupts firing
         *      before vTaskStartScheduler() has been called?).
+        *   5) If the FreeRTOS port supports interrupt nesting then ensure that
+        *      the priority of the tick interrupt is at or below
+        *      configMAX_SYSCALL_INTERRUPT_PRIORITY.
         **********************************************************************/
 
         for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM.  This is checked and valid. *//*lint !e440 The iterator moves to a different value, not xValueOfInsertion. */

components/freertos/queue.c

@@ -62,6 +62,7 @@
 /* Constants used with the cRxLock and cTxLock structure members. */
 #define queueUNLOCKED             ( ( int8_t ) -1 )
 #define queueLOCKED_UNMODIFIED    ( ( int8_t ) 0 )
+#define queueINT8_MAX             ( ( int8_t ) 127 )
 
 /* When the Queue_t structure is used to represent a base queue its pcHead and
  * pcTail members are used as pointers into the queue storage area.  When the
@@ -264,7 +265,7 @@ static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength,
  * accessing the queue event lists.
  */
 #define prvLockQueue( pxQueue )                            \
-    taskENTER_CRITICAL();                   \
+    taskENTER_CRITICAL();                                  \
     {                                                      \
         if( ( pxQueue )->cRxLock == queueUNLOCKED )        \
         {                                                  \
@@ -366,8 +367,10 @@ BaseType_t xQueueGenericReset( QueueHandle_t xQueue,
                  * variable of type StaticQueue_t or StaticSemaphore_t equals the size of
                  * the real queue and semaphore structures. */
                 volatile size_t xSize = sizeof( StaticQueue_t );
-                configASSERT( xSize == sizeof( Queue_t ) );
-                ( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */
+
+                /* This assertion cannot be branch covered in unit tests */
+                configASSERT( xSize == sizeof( Queue_t ) ); /* LCOV_EXCL_BR_LINE */
+                ( void ) xSize;                             /* Keeps lint quiet when configASSERT() is not defined. */
             }
         #endif /* configASSERT_DEFINED */
 
@@ -430,7 +433,7 @@ BaseType_t xQueueGenericReset( QueueHandle_t xQueue,
         configASSERT( ( uxItemSize == 0 ) || ( uxQueueLength == ( xQueueSizeInBytes / uxItemSize ) ) );
 
         /* Check for addition overflow. */
-        configASSERT( ( sizeof( Queue_t ) + xQueueSizeInBytes ) >  xQueueSizeInBytes );
+        configASSERT( ( sizeof( Queue_t ) + xQueueSizeInBytes ) > xQueueSizeInBytes );
 
         /* Allocate the queue and storage area.  Justification for MISRA
          * deviation as follows:  pvPortMalloc() always ensures returned memory
@@ -3087,7 +3090,10 @@ BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
 
         /* This function must be called form a critical section. */
 
-        configASSERT( pxQueueSetContainer );
+        /* The following line is not reachable in unit tests because every call
+         * to prvNotifyQueueSetContainer is preceded by a check that
+         * pxQueueSetContainer != NULL */
+        configASSERT( pxQueueSetContainer ); /* LCOV_EXCL_BR_LINE */
 
         //Acquire the Queue set's spinlock
         portENTER_CRITICAL(&(pxQueueSetContainer->mux));

components/freertos/stream_buffer.c

@@ -314,7 +314,6 @@ static void prvInitialiseNewStreamBuffer( StreamBuffer_t * const pxStreamBuffer,
             pucAllocatedMemory = NULL;
         }
 
-
         if( pucAllocatedMemory != NULL )
         {
             prvInitialiseNewStreamBuffer( ( StreamBuffer_t * ) pucAllocatedMemory,       /* Structure at the start of the allocated memory. */ /*lint !e9087 Safe cast as allocated memory is aligned. */ /*lint !e826 Area is not too small and alignment is guaranteed provided malloc() behaves as expected and returns aligned buffer. */
@@ -571,14 +570,15 @@ size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
     size_t xReturn, xSpace = 0;
     size_t xRequiredSpace = xDataLengthBytes;
     TimeOut_t xTimeOut;
-
-    /* The maximum amount of space a stream buffer will ever report is its length
-     * minus 1. */
-    const size_t xMaxReportedSpace = pxStreamBuffer->xLength - ( size_t ) 1;
+    size_t xMaxReportedSpace = 0;
 
     configASSERT( pvTxData );
     configASSERT( pxStreamBuffer );
 
+    /* The maximum amount of space a stream buffer will ever report is its length
+     * minus 1. */
+    xMaxReportedSpace = pxStreamBuffer->xLength - ( size_t ) 1;
+
     /* This send function is used to write to both message buffers and stream
      * buffers.  If this is a message buffer then the space needed must be
      * increased by the amount of bytes needed to store the length of the

components/freertos/tasks.c

@@ -155,9 +155,9 @@
         }                                                                     \
                                                                               \
         /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
-         * the same priority get an equal share of the processor time. */                    \
+         * the  same priority get an equal share of the processor time. */                    \
         listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[xPortGetCoreID()], &( pxReadyTasksLists[ uxTopPriority ] ) ); \
-        uxTopReadyPriority = uxTopPriority;                                                  \
+        uxTopReadyPriority = uxTopPriority;                                                   \
     } /* taskSELECT_HIGHEST_PRIORITY_TASK */
 
 /*-----------------------------------------------------------*/
@@ -418,8 +418,8 @@ PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended[portNUM_PROCESS
 
 #if ( configGENERATE_RUN_TIME_STATS == 1 )
 
-    /* Do not move these variables to function scope as doing so prevents the
-    code working with debuggers that need to remove the static qualifier. */
+/* Do not move these variables to function scope as doing so prevents the
+ * code working with debuggers that need to remove the static qualifier. */
     PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime[portNUM_PROCESSORS] = {0U}; /*< Holds the value of a timer/counter the last time a task was switched in. */
     PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL;                            /*< Holds the total amount of execution time as defined by the run time counter clock. */
 
@@ -483,7 +483,7 @@ static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
  * void prvIdleTask( void *pvParameters );
  *
  */
-static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
+static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
 
 /*
  * Utility to free all memory allocated by the scheduler to hold a TCB,
@@ -814,12 +814,12 @@ void taskYIELD_OTHER_CORE( BaseType_t xCoreID, UBaseType_t uxPriority )
 #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
 
     BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pvTaskCode,
-                                        const char * const pcName,
-                                        const uint32_t usStackDepth,
-                                        void * const pvParameters,
-                                        UBaseType_t uxPriority,
-                                        TaskHandle_t * const pvCreatedTask,
-                                        const BaseType_t xCoreID)
+                            const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                            const uint32_t usStackDepth,
+                            void * const pvParameters,
+                            UBaseType_t uxPriority,
+                            TaskHandle_t * const pvCreatedTask,
+                            const BaseType_t xCoreID)
     {
         TCB_t * pxNewTCB;
         BaseType_t xReturn;
@@ -1906,7 +1906,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB,
                 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
                 {
                     /* The task is currently in its ready list - remove before
-                     * adding it to it's new ready list.  As we are in a critical
+                     * adding it to its new ready list.  As we are in a critical
                      * section we can do this even if the scheduler is suspended. */
                     if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
                     {