freertos: Synchronize tasks.c functions (minor changes) to v10.4.3

This commit synchronizes multiple functions in tasks.c with upstream v10.4.3
that contain minor differences.

The following functions have had their parameter names or code formatting
updated:

- xTaskCreateStaticPinnedToCore()
- xTaskCreatePinnedToCore()
- prvInitialiseNewTask()
- prvTaskIsTaskSuspended()
- vTaskStartScheduler()
- xTaskResumeAll()
- xTaskCheckForTimeOut()
- uxTaskResetEventItemValue()

The following functions have had their missing "xAlreadyYielded" restored

- xTaskDelayUntil()
- vTaskDelay()

The following functions have had their critical section/interrupt disdable
usage update

- vTaskSuspendAll()
- xTaskGetTickCountFromISR()
- xTaskGetApplicationTaskTagFromISR()

components/freertos/FreeRTOS-Kernel/portable/linux/include/freertos/portmacro.h

@@ -14,6 +14,7 @@ extern "C" {
 #endif
 
 #define portBYTE_ALIGNMENT			16
+#define portTICK_TYPE_IS_ATOMIC		1
 
 /* Type definitions. */
 #define portCHAR		uint8_t

components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h

@@ -108,6 +108,7 @@ typedef uint32_t TickType_t;
 #define portSTACK_GROWTH                (-1)
 #define portTICK_PERIOD_MS              ((TickType_t) (1000 / configTICK_RATE_HZ))
 #define portBYTE_ALIGNMENT              16
+#define portTICK_TYPE_IS_ATOMIC         1
 #define portNOP() __asm volatile        (" nop ")
 
 

components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h

@@ -140,6 +140,7 @@ typedef uint32_t TickType_t;
 #define portSTACK_GROWTH                ( -1 )
 #define portTICK_PERIOD_MS              ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
 #define portBYTE_ALIGNMENT              4
+#define portTICK_TYPE_IS_ATOMIC         1
 #define portNOP()                       XT_NOP()
 
 

components/freertos/FreeRTOS-Kernel/tasks.c

@@ -699,21 +699,21 @@ static BaseType_t prvCheckForYieldUsingPrioritySMP( UBaseType_t uxTaskPriority,
 
 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
 
-    TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pvTaskCode,
+    TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,
                                                 const char * const pcName,
                                                 const uint32_t ulStackDepth,
                                                 void * const pvParameters,
                                                 UBaseType_t uxPriority,
-                                                StackType_t * const pxStackBuffer,
+                                                StackType_t * const puxStackBuffer,
                                                 StaticTask_t * const pxTaskBuffer,
                                                 const BaseType_t xCoreID )
     {
     TCB_t *pxNewTCB;
     TaskHandle_t xReturn;
 
-        configASSERT( portVALID_TCB_MEM(pxTaskBuffer) );
-        configASSERT( portVALID_STACK_MEM(pxStackBuffer) );
-        configASSERT( (xCoreID>=0 && xCoreID<configNUM_CORES) || (xCoreID==tskNO_AFFINITY) );
+        configASSERT( portVALID_STACK_MEM( puxStackBuffer ) );
+        configASSERT( portVALID_TCB_MEM( pxTaskBuffer ) );
+        configASSERT( ( ( xCoreID >= 0 ) && ( xCoreID < configNUM_CORES ) ) || ( xCoreID == tskNO_AFFINITY ) );
 
         #if ( configASSERT_DEFINED == 1 )
             {
@@ -726,13 +726,12 @@ static BaseType_t prvCheckForYieldUsingPrioritySMP( UBaseType_t uxTaskPriority,
             }
         #endif /* configASSERT_DEFINED */
 
-
-        if( ( pxTaskBuffer != NULL ) && ( pxStackBuffer != NULL ) )
+        if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
         {
             /* The memory used for the task's TCB and stack are passed into this
              * function - use them. */
             pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
-            pxNewTCB->pxStack = ( StackType_t * ) pxStackBuffer;
+            pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
 
             #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
                 {
@@ -742,7 +741,7 @@ static BaseType_t prvCheckForYieldUsingPrioritySMP( UBaseType_t uxTaskPriority,
                 }
             #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
 
-            prvInitialiseNewTask( pvTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL, xCoreID );
+            prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL, xCoreID );
             prvAddNewTaskToReadyList( pxNewTCB );
         }
         else
@@ -857,13 +856,13 @@ static BaseType_t prvCheckForYieldUsingPrioritySMP( UBaseType_t uxTaskPriority,
 
 #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
 
-    BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pvTaskCode,
-                            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)
+    BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode,
+                                        const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                                        const configSTACK_DEPTH_TYPE usStackDepth,
+                                        void * const pvParameters,
+                                        UBaseType_t uxPriority,
+                                        TaskHandle_t * const pxCreatedTask,
+                                        const BaseType_t xCoreID)
     {
         TCB_t * pxNewTCB;
         BaseType_t xReturn;
@@ -934,7 +933,7 @@ static BaseType_t prvCheckForYieldUsingPrioritySMP( UBaseType_t uxTaskPriority,
                 }
             #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
 
-            prvInitialiseNewTask( pvTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pvCreatedTask, pxNewTCB, NULL, xCoreID );
+            prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL, xCoreID );
             prvAddNewTaskToReadyList( pxNewTCB );
             xReturn = pdPASS;
         }
@@ -962,8 +961,10 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
     StackType_t * pxTopOfStack;
     UBaseType_t x;
 
-    #if (configNUM_CORES < 2)
-    xCoreID = 0;
+    #if ( configNUM_CORES == 1 )
+    {
+        xCoreID = 0;
+    }
     #endif
 
     #if ( portUSING_MPU_WRAPPERS == 1 )
@@ -1524,11 +1525,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
                                 const TickType_t xTimeIncrement )
     {
         TickType_t xTimeToWake;
-#ifdef ESP_PLATFORM
-        BaseType_t xShouldDelay = pdFALSE;
-#else
         BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
-#endif // ESP_PLATFORM
 
         configASSERT( pxPreviousWakeTime );
         configASSERT( ( xTimeIncrement > 0U ) );
@@ -1596,15 +1593,13 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
         }
 #ifdef ESP_PLATFORM // IDF-3755
         taskEXIT_CRITICAL( &xKernelLock );
+        xAlreadyYielded = pdFALSE;
 #else
         xAlreadyYielded = xTaskResumeAll();
 #endif // ESP_PLATFORM
 
         /* Force a reschedule if xTaskResumeAll has not already done so, we may
          * have put ourselves to sleep. */
-#ifdef ESP_PLATFORM
-        portYIELD_WITHIN_API();
-#else
         if( xAlreadyYielded == pdFALSE )
         {
             portYIELD_WITHIN_API();
@@ -1613,7 +1608,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
         {
             mtCOVERAGE_TEST_MARKER();
         }
-#endif // ESP_PLATFORM
+
         return xShouldDelay;
     }
 
@@ -1624,6 +1619,8 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
 
     void vTaskDelay( const TickType_t xTicksToDelay )
     {
+        BaseType_t xAlreadyYielded = pdFALSE;
+
         /* A delay time of zero just forces a reschedule. */
         if( xTicksToDelay > ( TickType_t ) 0U )
         {
@@ -1647,6 +1644,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
             }
 #ifdef ESP_PLATFORM // IDF-3755
             taskEXIT_CRITICAL( &xKernelLock );
+            xAlreadyYielded = pdFALSE;
 #else
             xAlreadyYielded = xTaskResumeAll();
 #endif // ESP_PLATFORM
@@ -1656,8 +1654,16 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
             mtCOVERAGE_TEST_MARKER();
         }
 
-        /* Force a reschedule, we may have put ourselves to sleep. */
-        portYIELD_WITHIN_API();
+        /* Force a reschedule if xTaskResumeAll has not already done so, we may
+         * have put ourselves to sleep. */
+        if( xAlreadyYielded == pdFALSE )
+        {
+            portYIELD_WITHIN_API();
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
     }
 
 #endif /* INCLUDE_vTaskDelay */
@@ -2133,8 +2139,12 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
         if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
         {
             /* Has the task already been resumed from within an ISR? */
-            if( listIS_CONTAINED_WITHIN( &xPendingReadyList[xPortGetCoreID()], &( pxTCB->xEventListItem )) == pdFALSE &&
-                listIS_CONTAINED_WITHIN( &xPendingReadyList[!xPortGetCoreID()], &( pxTCB->xEventListItem ))  == pdFALSE )
+            #if ( configNUM_CORES > 1 )
+                if(    ( listIS_CONTAINED_WITHIN( &xPendingReadyList[ 0 ], &( pxTCB->xEventListItem ) ) == pdFALSE )
+                    && ( listIS_CONTAINED_WITHIN( &xPendingReadyList[ 1 ], &( pxTCB->xEventListItem ) ) == pdFALSE ) )
+            #else
+                if( listIS_CONTAINED_WITHIN( &xPendingReadyList[ 0 ], &( pxTCB->xEventListItem ) ) == pdFALSE )
+            #endif
             {
                 /* Is it in the suspended list because it is in the Suspended
                  * state, or because is is blocked with no timeout? */
@@ -2251,6 +2261,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
                 traceTASK_RESUME_FROM_ISR( pxTCB );
 
                 /* Check the ready lists can be accessed. */
+                /* Known issue IDF-5856. We also need to check if the other core is suspended */
                 if( uxSchedulerSuspended[ xPortGetCoreID() ] == ( UBaseType_t ) pdFALSE )
                 {
                     /* Ready lists can be accessed so move the task from the
@@ -2299,7 +2310,7 @@ void vTaskStartScheduler( void )
 
 #ifdef ESP_PLATFORM
     /* Create an IDLE task for each core */
-    for(BaseType_t xCoreID = 0; xCoreID < configNUM_CORES; xCoreID++)
+    for( BaseType_t xCoreID = 0; xCoreID < configNUM_CORES; xCoreID++ )
 #endif //ESP_PLATFORM
     /* Add the idle task at the lowest priority. */
     #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
@@ -2449,12 +2460,12 @@ void vTaskSuspendAll( void )
      * BaseType_t.  Please read Richard Barry's reply in the following link to a
      * post in the FreeRTOS support forum before reporting this as a bug! -
      * https://goo.gl/wu4acr */
-#ifdef ESP_PLATFORM
-    /* For SMP, although each core has their own uxSchedulerSuspended, we still
-     * need to disable interrupts or enter a critical section when accessing. */
-    unsigned state;
-    state = portSET_INTERRUPT_MASK_FROM_ISR();
-#endif
+
+    #if ( configNUM_CORES > 1 )
+        /* For SMP, although each core has their own uxSchedulerSuspended, we still
+         * need enter a critical section when accessing. */
+        taskENTER_CRITICAL( &xKernelLock );
+    #endif
 
     /* portSOFRWARE_BARRIER() is only implemented for emulated/simulated ports that
      * do not otherwise exhibit real time behaviour. */
@@ -2468,9 +2479,9 @@ void vTaskSuspendAll( void )
      * the above increment elsewhere. */
     portMEMORY_BARRIER();
 
-#ifdef ESP_PLATFORM
-    portCLEAR_INTERRUPT_MASK_FROM_ISR( state );
-#endif
+    #if ( configNUM_CORES > 1 )
+        taskEXIT_CRITICAL( &xKernelLock );
+    #endif
 }
 /*----------------------------------------------------------*/
 
@@ -2558,12 +2569,9 @@ BaseType_t xTaskResumeAll( void )
      * tasks from this list into their appropriate ready list. */
     taskENTER_CRITICAL( &xKernelLock );
     {
-#ifdef ESP_PLATFORM
         /* Minor optimization. Core ID can't change while inside a critical section */
         BaseType_t xCoreID = xPortGetCoreID();
-#else
-        BaseType_t xCoreID = 0;
-#endif
+
         --uxSchedulerSuspended[ xCoreID ];
 
         if( uxSchedulerSuspended[ xCoreID ] == ( UBaseType_t ) pdFALSE )
@@ -2606,11 +2614,9 @@ BaseType_t xTaskResumeAll( void )
                  * they should be processed now.  This ensures the tick count does
                  * not  slip, and that any delayed tasks are resumed at the correct
                  * time. */
-#ifdef ESP_PLATFORM
                 /* Core 0 is solely responsible for managing tick count, thus it
                  * must be the only core to unwind the pended ticks */
                 if ( xCoreID == 0 )
-#endif
                 {
                     TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
 
@@ -2668,7 +2674,12 @@ TickType_t xTaskGetTickCount( void )
 {
     TickType_t xTicks;
 
-    xTicks = xTickCount;
+    /* Critical section required if running on a 16 bit processor. */
+    portTICK_TYPE_ENTER_CRITICAL();
+    {
+        xTicks = xTickCount;
+    }
+    portTICK_TYPE_EXIT_CRITICAL();
 
     return xTicks;
 }
@@ -2677,7 +2688,6 @@ TickType_t xTaskGetTickCount( void )
 TickType_t xTaskGetTickCountFromISR( void )
 {
     TickType_t xReturn;
-    UBaseType_t uxSavedInterruptStatus;
 
     /* RTOS ports that support interrupt nesting have the concept of a maximum
      * system call (or maximum API call) interrupt priority.  Interrupts that are
@@ -2695,11 +2705,21 @@ TickType_t xTaskGetTickCountFromISR( void )
      * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
     portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
-    uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
+    #if ( configNUM_CORES > 1 )
+        /* We need a critical section here as we are about to access kernel data structures */
+        taskENTER_CRITICAL_ISR( &xKernelLock );
+    #else
+        UBaseType_t uxSavedInterruptStatus;
+        uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
+    #endif
     {
         xReturn = xTickCount;
     }
-    portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+    #if ( configNUM_CORES > 1 )
+        taskEXIT_CRITICAL_ISR( &xKernelLock );
+    #else
+        portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+    #endif
 
     return xReturn;
 }
@@ -3470,28 +3490,26 @@ BaseType_t xTaskIncrementTick( void )
     {
         TCB_t * pxTCB;
         TaskHookFunction_t xReturn;
-#ifndef ESP_PLATFORM
-        UBaseType_t uxSavedInterruptStatus;
-#endif
 
         /* If xTask is NULL then set the calling task's hook. */
         pxTCB = prvGetTCBFromHandle( xTask );
 
         /* Save the hook function in the TCB.  A critical section is required as
          * the value can be accessed from an interrupt. */
-#ifdef ESP_PLATFORM
-        taskENTER_CRITICAL_ISR( &xKernelLock );
-#else
-        uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
-#endif
+        #if ( configNUM_CORES > 1 )
+            taskENTER_CRITICAL_ISR( &xKernelLock );
+        #else
+            UBaseType_t uxSavedInterruptStatus;
+            uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+        #endif
         {
             xReturn = pxTCB->pxTaskTag;
         }
-#ifdef ESP_PLATFORM
-        taskEXIT_CRITICAL_ISR( &xKernelLock );
-#else
-        portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
-#endif
+        #if ( configNUM_CORES > 1 )
+            taskEXIT_CRITICAL_ISR( &xKernelLock );
+        #else
+            portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+        #endif
 
         return xReturn;
     }
@@ -4079,6 +4097,7 @@ BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
              * around and gone past again. This passed since vTaskSetTimeout()
              * was called. */
             xReturn = pdTRUE;
+            *pxTicksToWait = ( TickType_t ) 0;
         }
         else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
         {
@@ -4089,7 +4108,7 @@ BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
         }
         else
         {
-            *pxTicksToWait = 0;
+            *pxTicksToWait = ( TickType_t ) 0;
             xReturn = pdTRUE;
         }
     }
@@ -4526,9 +4545,8 @@ static void prvCheckTasksWaitingTermination( void )
         pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
         pxTaskStatus->pxStackBase = pxTCB->pxStack;
         pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
-
         #if ( configTASKLIST_INCLUDE_COREID == 1 )
-        pxTaskStatus->xCoreID = pxTCB->xCoreID;
+            pxTaskStatus->xCoreID = pxTCB->xCoreID;
         #endif /* configTASKLIST_INCLUDE_COREID */
 
         #if ( configUSE_MUTEXES == 1 )
@@ -4907,6 +4925,7 @@ static void prvResetNextTaskUnblockTime( void )
         BaseType_t xReturn;
         unsigned state;
 
+        /* Known issue. This should use critical sections. See IDF-5889 */
         state = portSET_INTERRUPT_MASK_FROM_ISR();
         if( xSchedulerRunning == pdFALSE )
         {
@@ -5541,13 +5560,17 @@ static void prvResetNextTaskUnblockTime( void )
 TickType_t uxTaskResetEventItemValue( void )
 {
     TickType_t uxReturn;
+    TCB_t *pxCurTCB;
 
     taskENTER_CRITICAL( &xKernelLock );
-    uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB[ xPortGetCoreID() ]->xEventListItem ) );
+    pxCurTCB = pxCurrentTCB[ xPortGetCoreID() ];
+
+    uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurTCB->xEventListItem ) );
 
     /* Reset the event list item to its normal value - so it can be used with
      * queues and semaphores. */
-    listSET_LIST_ITEM_VALUE( &( pxCurrentTCB[ xPortGetCoreID() ]->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB[ xPortGetCoreID() ]->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+    listSET_LIST_ITEM_VALUE( &( pxCurTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+
     taskEXIT_CRITICAL( &xKernelLock );
 
     return uxReturn;
@@ -6189,13 +6212,15 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
     const TickType_t xConstTickCount = xTickCount;
     BaseType_t xCurCoreID = xPortGetCoreID();
 
-    if( ( configNUM_CORES > 1 ) && listIS_CONTAINED_WITHIN( &xTasksWaitingTermination, &( pxCurrentTCB[ xCurCoreID ]->xStateListItem ) ) )
-    {
-        /* vTaskDelete() has been called to delete this task. This would have happened from the other core while this task was spinning on xTaskQueueMutex,
-           so don't move the running task to the delayed list - as soon as this core re-enables interrupts this task will
-           be suspended permanently */
-        return;
-    }
+    #if ( configNUM_CORES > 1 )
+        if( listIS_CONTAINED_WITHIN( &xTasksWaitingTermination, &( pxCurrentTCB[ xCurCoreID ]->xStateListItem ) ) == pdTRUE )
+        {
+            /* vTaskDelete() has been called to delete this task. This would have happened from the other core while this task was spinning on xTaskQueueMutex,
+               so don't move the running task to the delayed list - as soon as this core re-enables interrupts this task will
+               be suspended permanently. Todo: IDF-5844. */
+            return;
+        }
+    #endif
 
     #if ( INCLUDE_xTaskAbortDelay == 1 )
         {