feat(freertos/idf): Add taskVALID_CORE_ID() macro

This commit adds a taskVALID_CORE_ID() macro, similar to the one offered in
Amazon SMP FreeRTOS.

- Various functions have been updated to use that macro
- Removed some unecessary static asserts of CONFIG_FREERTOS_NO_AFFINITY and
added casting.
- Uncrustify changes

components/freertos/FreeRTOS-Kernel/include/freertos/task.h

@@ -204,6 +204,15 @@ typedef enum
 #define tskNO_AFFINITY      ( ( BaseType_t ) 0x7FFFFFFF )
 /* Todo: Update tskNO_AFFINITY value to -1 (IDF-7908) */
 
+/**
+ * Macro to check if an xCoreID value is valid
+ *
+ * @return pdTRUE if valid, pdFALSE otherwise.
+ *
+ * \ingroup Tasks
+ */
+#define taskVALID_CORE_ID( xCoreID )       ( ( ( ( ( BaseType_t ) xCoreID ) >= 0 && ( ( BaseType_t ) xCoreID ) < configNUMBER_OF_CORES ) || ( ( ( BaseType_t ) xCoreID ) == tskNO_AFFINITY ) ) ? pdTRUE : pdFALSE )
+
 /**
  *
  * Macro for forcing a context switch.

components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c

@@ -52,9 +52,6 @@
 
 _Static_assert(portBYTE_ALIGNMENT == 16, "portBYTE_ALIGNMENT must be set to 16");
 
-_Static_assert(tskNO_AFFINITY == CONFIG_FREERTOS_NO_AFFINITY, "incorrect tskNO_AFFINITY value");
-
-
 /* ---------------------------------------------------- Variables ------------------------------------------------------
  * - Various variables used to maintain the FreeRTOS port's state. Used from both port.c and various .S files
  * - Constant offsets are used by assembly to jump to particular TCB members or a stack area (such as the CPSA). We use

components/freertos/FreeRTOS-Kernel/tasks.c

@@ -969,7 +969,7 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
 
     #if ( configNUMBER_OF_CORES > 1 )
         /* Check that xCoreID is valid */
-        configASSERT( ( ( xCoreID >= 0 ) && ( xCoreID < configNUMBER_OF_CORES ) ) || ( xCoreID == tskNO_AFFINITY ) );
+        configASSERT( taskVALID_CORE_ID( xCoreID ) == pdTRUE );
     #else
         /* Hard code xCoreID to 0 */
         xCoreID = 0;
@@ -2220,9 +2220,9 @@ static BaseType_t prvCreateIdleTasks( void )
     BaseType_t xReturn = pdPASS;
     BaseType_t xCoreID;
 
-#if ( configNUMBER_OF_CORES > 1 )
-    char cIdleName[ configMAX_TASK_NAME_LEN ];
-#endif /* #if ( configNUMBER_OF_CORES > 1 ) */
+    #if ( configNUMBER_OF_CORES > 1 )
+        char cIdleName[ configMAX_TASK_NAME_LEN ];
+    #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
 
     /* Add each idle task at the lowest priority. */
     for( xCoreID = ( BaseType_t ) 0; xCoreID < ( BaseType_t ) configNUMBER_OF_CORES; xCoreID++ )
@@ -2328,7 +2328,6 @@ static BaseType_t prvCreateIdleTasks( void )
                                                portPRIVILEGE_BIT,           /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
                                                &xIdleTaskHandle[ xCoreID ], /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
                                                xCoreID );
-
         }
         #endif /* configSUPPORT_STATIC_ALLOCATION */
     }

components/freertos/esp_additions/freertos_tasks_c_additions.h

@@ -29,9 +29,7 @@
  */
 _Static_assert( offsetof( StaticTask_t, pxDummy6 ) == offsetof( TCB_t, pxStack ) );
 _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfStack ) );
-#if CONFIG_FREERTOS_SMP
-    _Static_assert( tskNO_AFFINITY == CONFIG_FREERTOS_NO_AFFINITY, "CONFIG_FREERTOS_NO_AFFINITY must be the same as tskNO_AFFINITY" );
-#endif /* CONFIG_FREERTOS_SMP */
+_Static_assert( tskNO_AFFINITY == ( BaseType_t ) CONFIG_FREERTOS_NO_AFFINITY, "CONFIG_FREERTOS_NO_AFFINITY must be the same as tskNO_AFFINITY" );
 
 /* ------------------------------------------------- Kernel Control ------------------------------------------------- */
 
@@ -343,7 +341,7 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
 
             configASSERT( portVALID_STACK_MEM( puxStackBuffer ) );
             configASSERT( portVALID_TCB_MEM( pxTaskBuffer ) );
-            configASSERT( ( ( xCoreID >= 0 ) && ( xCoreID < configNUM_CORES ) ) || ( xCoreID == tskNO_AFFINITY ) );
+            configASSERT( taskVALID_CORE_ID( xCoreID ) == pdTRUE );
 
             #if ( configASSERT_DEFINED == 1 )
             {
@@ -480,8 +478,7 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
         }
         #else /* CONFIG_FREERTOS_SMP */
         {
-            configASSERT( xCoreID < configNUMBER_OF_CORES );
-            configASSERT( xCoreID != tskNO_AFFINITY );
+            configASSERT( taskVALID_CORE_ID( xCoreID ) == pdTRUE );
 
             /* A critical section is not required as this function does not
              * guarantee that the TCB will still be valid when this function
@@ -502,8 +499,7 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
     {
         uint32_t ulRunTimeCounter;
 
-        configASSERT( xCoreID < configNUMBER_OF_CORES );
-        configASSERT( xCoreID != tskNO_AFFINITY );
+        configASSERT( taskVALID_CORE_ID( xCoreID ) == pdTRUE );
 
         /* For SMP, we need to take the kernel lock here as we are about to
          * access kernel data structures. */
@@ -526,8 +522,7 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
     {
         configRUN_TIME_COUNTER_TYPE ulTotalTime, ulReturn;
 
-        configASSERT( xCoreID < configNUMBER_OF_CORES );
-        configASSERT( xCoreID != tskNO_AFFINITY );
+        configASSERT( taskVALID_CORE_ID( xCoreID ) == pdTRUE );
 
         ulTotalTime = portGET_RUN_TIME_COUNTER_VALUE();