chore: upgrade FreeRTOS to v2 (CMSIS-RTOS_V2), update CubeMX project config
- Remove CMSIS-RTOS v1 (cmsis_os.h/cmsis_os.c), add CMSIS-RTOS v2 (cmsis_os2.c/freertos_os2.h/mpool.h) - Update FreeRTOS kernel, port, and headers to match v2 integration - Remove unused heap implementations, keep heap_4 - Update CubeMX project config (.mxproject, .ioc, CMakeLists.txt) - Update FreeRTOSConfig.h, freertos.c, main.c, stm32h7xx_it.c - Update application modules (master_machine, dmmotor) - Add CMSIS-RTOS2 headers, mpu_syscall_numbers.h, newlib/picolibc support
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+153
-81
@@ -1,6 +1,8 @@
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/*
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* FreeRTOS Kernel V10.3.1
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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* FreeRTOS Kernel V10.6.2
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* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* SPDX-License-Identifier: MIT
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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@@ -19,83 +21,81 @@
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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* 1 tab == 4 spaces!
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*/
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/*-----------------------------------------------------------
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* Portable layer API. Each function must be defined for each port.
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*----------------------------------------------------------*/
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* Portable layer API. Each function must be defined for each port.
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*----------------------------------------------------------*/
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#ifndef PORTABLE_H
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#define PORTABLE_H
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/* Each FreeRTOS port has a unique portmacro.h header file. Originally a
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pre-processor definition was used to ensure the pre-processor found the correct
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portmacro.h file for the port being used. That scheme was deprecated in favour
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of setting the compiler's include path such that it found the correct
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portmacro.h file - removing the need for the constant and allowing the
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portmacro.h file to be located anywhere in relation to the port being used.
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Purely for reasons of backward compatibility the old method is still valid, but
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to make it clear that new projects should not use it, support for the port
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specific constants has been moved into the deprecated_definitions.h header
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file. */
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* pre-processor definition was used to ensure the pre-processor found the correct
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* portmacro.h file for the port being used. That scheme was deprecated in favour
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* of setting the compiler's include path such that it found the correct
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* portmacro.h file - removing the need for the constant and allowing the
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* portmacro.h file to be located anywhere in relation to the port being used.
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* Purely for reasons of backward compatibility the old method is still valid, but
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* to make it clear that new projects should not use it, support for the port
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* specific constants has been moved into the deprecated_definitions.h header
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* file. */
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#include "deprecated_definitions.h"
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/* If portENTER_CRITICAL is not defined then including deprecated_definitions.h
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did not result in a portmacro.h header file being included - and it should be
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included here. In this case the path to the correct portmacro.h header file
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must be set in the compiler's include path. */
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* did not result in a portmacro.h header file being included - and it should be
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* included here. In this case the path to the correct portmacro.h header file
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* must be set in the compiler's include path. */
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#ifndef portENTER_CRITICAL
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#include "portmacro.h"
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#include "portmacro.h"
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#endif
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#if portBYTE_ALIGNMENT == 32
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#define portBYTE_ALIGNMENT_MASK ( 0x001f )
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#endif
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#define portBYTE_ALIGNMENT_MASK ( 0x001f )
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#elif portBYTE_ALIGNMENT == 16
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#define portBYTE_ALIGNMENT_MASK ( 0x000f )
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#elif portBYTE_ALIGNMENT == 8
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#define portBYTE_ALIGNMENT_MASK ( 0x0007 )
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#elif portBYTE_ALIGNMENT == 4
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#define portBYTE_ALIGNMENT_MASK ( 0x0003 )
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#elif portBYTE_ALIGNMENT == 2
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#define portBYTE_ALIGNMENT_MASK ( 0x0001 )
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#elif portBYTE_ALIGNMENT == 1
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#define portBYTE_ALIGNMENT_MASK ( 0x0000 )
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#else /* if portBYTE_ALIGNMENT == 32 */
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#error "Invalid portBYTE_ALIGNMENT definition"
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#endif /* if portBYTE_ALIGNMENT == 32 */
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#if portBYTE_ALIGNMENT == 16
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#define portBYTE_ALIGNMENT_MASK ( 0x000f )
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#endif
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#if portBYTE_ALIGNMENT == 8
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#define portBYTE_ALIGNMENT_MASK ( 0x0007 )
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#endif
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#if portBYTE_ALIGNMENT == 4
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#define portBYTE_ALIGNMENT_MASK ( 0x0003 )
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#endif
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#if portBYTE_ALIGNMENT == 2
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#define portBYTE_ALIGNMENT_MASK ( 0x0001 )
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#endif
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#if portBYTE_ALIGNMENT == 1
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#define portBYTE_ALIGNMENT_MASK ( 0x0000 )
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#endif
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#ifndef portBYTE_ALIGNMENT_MASK
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#error "Invalid portBYTE_ALIGNMENT definition"
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#ifndef portUSING_MPU_WRAPPERS
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#define portUSING_MPU_WRAPPERS 0
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#endif
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#ifndef portNUM_CONFIGURABLE_REGIONS
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#define portNUM_CONFIGURABLE_REGIONS 1
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#define portNUM_CONFIGURABLE_REGIONS 1
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#endif
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#ifndef portHAS_STACK_OVERFLOW_CHECKING
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#define portHAS_STACK_OVERFLOW_CHECKING 0
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#define portHAS_STACK_OVERFLOW_CHECKING 0
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#endif
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#ifndef portARCH_NAME
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#define portARCH_NAME NULL
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#define portARCH_NAME NULL
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#endif
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#ifdef __cplusplus
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extern "C" {
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#ifndef configSTACK_ALLOCATION_FROM_SEPARATE_HEAP
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/* Defaults to 0 for backward compatibility. */
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#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0
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#endif
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/* *INDENT-OFF* */
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* *INDENT-ON* */
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#include "mpu_wrappers.h"
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/*
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@@ -104,38 +104,52 @@ extern "C" {
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* the order that the port expects to find them.
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*
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*/
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#if( portUSING_MPU_WRAPPERS == 1 )
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#if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
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StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION;
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#else
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StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION;
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#endif
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#else
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#if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
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StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters ) PRIVILEGED_FUNCTION;
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#else
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StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) PRIVILEGED_FUNCTION;
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#endif
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#endif
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#if ( portUSING_MPU_WRAPPERS == 1 )
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#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
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StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
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StackType_t * pxEndOfStack,
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TaskFunction_t pxCode,
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void * pvParameters,
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BaseType_t xRunPrivileged,
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xMPU_SETTINGS * xMPUSettings ) PRIVILEGED_FUNCTION;
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#else
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StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
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TaskFunction_t pxCode,
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void * pvParameters,
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BaseType_t xRunPrivileged,
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xMPU_SETTINGS * xMPUSettings ) PRIVILEGED_FUNCTION;
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#endif /* if ( portHAS_STACK_OVERFLOW_CHECKING == 1 ) */
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#else /* if ( portUSING_MPU_WRAPPERS == 1 ) */
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#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
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StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
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StackType_t * pxEndOfStack,
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TaskFunction_t pxCode,
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void * pvParameters ) PRIVILEGED_FUNCTION;
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#else
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StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
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TaskFunction_t pxCode,
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void * pvParameters ) PRIVILEGED_FUNCTION;
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#endif
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#endif /* if ( portUSING_MPU_WRAPPERS == 1 ) */
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/* Used by heap_5.c to define the start address and size of each memory region
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that together comprise the total FreeRTOS heap space. */
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* that together comprise the total FreeRTOS heap space. */
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typedef struct HeapRegion
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{
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uint8_t *pucStartAddress;
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size_t xSizeInBytes;
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uint8_t * pucStartAddress;
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size_t xSizeInBytes;
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} HeapRegion_t;
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/* Used to pass information about the heap out of vPortGetHeapStats(). */
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typedef struct xHeapStats
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{
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size_t xAvailableHeapSpaceInBytes; /* The total heap size currently available - this is the sum of all the free blocks, not the largest block that can be allocated. */
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size_t xSizeOfLargestFreeBlockInBytes; /* The maximum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
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size_t xSizeOfSmallestFreeBlockInBytes; /* The minimum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
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size_t xNumberOfFreeBlocks; /* The number of free memory blocks within the heap at the time vPortGetHeapStats() is called. */
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size_t xMinimumEverFreeBytesRemaining; /* The minimum amount of total free memory (sum of all free blocks) there has been in the heap since the system booted. */
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size_t xNumberOfSuccessfulAllocations; /* The number of calls to pvPortMalloc() that have returned a valid memory block. */
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size_t xNumberOfSuccessfulFrees; /* The number of calls to vPortFree() that has successfully freed a block of memory. */
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size_t xAvailableHeapSpaceInBytes; /* The total heap size currently available - this is the sum of all the free blocks, not the largest block that can be allocated. */
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size_t xSizeOfLargestFreeBlockInBytes; /* The maximum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
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size_t xSizeOfSmallestFreeBlockInBytes; /* The minimum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
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size_t xNumberOfFreeBlocks; /* The number of free memory blocks within the heap at the time vPortGetHeapStats() is called. */
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size_t xMinimumEverFreeBytesRemaining; /* The minimum amount of total free memory (sum of all free blocks) there has been in the heap since the system booted. */
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size_t xNumberOfSuccessfulAllocations; /* The number of calls to pvPortMalloc() that have returned a valid memory block. */
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size_t xNumberOfSuccessfulFrees; /* The number of calls to vPortFree() that has successfully freed a block of memory. */
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} HeapStats_t;
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/*
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@@ -155,17 +169,40 @@ void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEG
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* Returns a HeapStats_t structure filled with information about the current
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* heap state.
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*/
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void vPortGetHeapStats( HeapStats_t *pxHeapStats );
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void vPortGetHeapStats( HeapStats_t * pxHeapStats );
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/*
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* Map to the memory management routines required for the port.
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*/
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void *pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION;
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void vPortFree( void *pv ) PRIVILEGED_FUNCTION;
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void * pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION;
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void * pvPortCalloc( size_t xNum,
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size_t xSize ) PRIVILEGED_FUNCTION;
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void vPortFree( void * pv ) PRIVILEGED_FUNCTION;
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void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION;
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size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION;
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size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION;
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#if ( configSTACK_ALLOCATION_FROM_SEPARATE_HEAP == 1 )
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void * pvPortMallocStack( size_t xSize ) PRIVILEGED_FUNCTION;
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void vPortFreeStack( void * pv ) PRIVILEGED_FUNCTION;
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#else
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#define pvPortMallocStack pvPortMalloc
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#define vPortFreeStack vPortFree
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#endif
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#if ( configUSE_MALLOC_FAILED_HOOK == 1 )
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/**
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* task.h
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* @code{c}
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* void vApplicationMallocFailedHook( void )
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* @endcode
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*
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* This hook function is called when allocation failed.
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*/
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void vApplicationMallocFailedHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
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#endif
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/*
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* Setup the hardware ready for the scheduler to take control. This generally
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* sets up a tick interrupt and sets timers for the correct tick frequency.
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@@ -186,14 +223,49 @@ void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
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* Fills the xMPUSettings structure with the memory region information
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* contained in xRegions.
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*/
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#if( portUSING_MPU_WRAPPERS == 1 )
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struct xMEMORY_REGION;
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void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t ulStackDepth ) PRIVILEGED_FUNCTION;
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#if ( portUSING_MPU_WRAPPERS == 1 )
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struct xMEMORY_REGION;
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void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
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const struct xMEMORY_REGION * const xRegions,
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StackType_t * pxBottomOfStack,
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uint32_t ulStackDepth ) PRIVILEGED_FUNCTION;
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#endif
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#ifdef __cplusplus
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}
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/**
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* @brief Checks if the calling task is authorized to access the given buffer.
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*
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* @param pvBuffer The buffer which the calling task wants to access.
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* @param ulBufferLength The length of the pvBuffer.
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* @param ulAccessRequested The permissions that the calling task wants.
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*
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* @return pdTRUE if the calling task is authorized to access the buffer,
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* pdFALSE otherwise.
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*/
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#if ( portUSING_MPU_WRAPPERS == 1 )
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BaseType_t xPortIsAuthorizedToAccessBuffer( const void * pvBuffer,
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uint32_t ulBufferLength,
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uint32_t ulAccessRequested ) PRIVILEGED_FUNCTION;
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#endif
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/**
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* @brief Checks if the calling task is authorized to access the given kernel object.
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*
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* @param lInternalIndexOfKernelObject The index of the kernel object in the kernel
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* object handle pool.
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*
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* @return pdTRUE if the calling task is authorized to access the kernel object,
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* pdFALSE otherwise.
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*/
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#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
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BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) PRIVILEGED_FUNCTION;
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#endif
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/* *INDENT-OFF* */
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#ifdef __cplusplus
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}
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#endif
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/* *INDENT-ON* */
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#endif /* PORTABLE_H */
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