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
This commit is contained in:
+152
-124
@@ -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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@@ -19,180 +21,206 @@
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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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#include <stdlib.h>
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/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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* all the API functions to use the MPU wrappers. That should only be done when
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* task.h is included from an application file. */
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#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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#include "FreeRTOS.h"
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#include "list.h"
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/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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* because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be
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* defined for the header files above, but not in this file, in order to
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* generate the correct privileged Vs unprivileged linkage and placement. */
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#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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/*-----------------------------------------------------------
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* PUBLIC LIST API documented in list.h
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*----------------------------------------------------------*/
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* PUBLIC LIST API documented in list.h
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*----------------------------------------------------------*/
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void vListInitialise( List_t * const pxList )
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{
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/* The list structure contains a list item which is used to mark the
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end of the list. To initialise the list the list end is inserted
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as the only list entry. */
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pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
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/* The list structure contains a list item which is used to mark the
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* end of the list. To initialise the list the list end is inserted
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* as the only list entry. */
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pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
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/* The list end value is the highest possible value in the list to
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ensure it remains at the end of the list. */
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pxList->xListEnd.xItemValue = portMAX_DELAY;
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listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( &( pxList->xListEnd ) );
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/* The list end next and previous pointers point to itself so we know
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when the list is empty. */
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pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
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pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd );/*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
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/* The list end value is the highest possible value in the list to
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* ensure it remains at the end of the list. */
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pxList->xListEnd.xItemValue = portMAX_DELAY;
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pxList->uxNumberOfItems = ( UBaseType_t ) 0U;
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/* The list end next and previous pointers point to itself so we know
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* when the list is empty. */
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pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
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pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
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/* Write known values into the list if
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configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
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listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList );
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listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList );
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/* Initialize the remaining fields of xListEnd when it is a proper ListItem_t */
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#if ( configUSE_MINI_LIST_ITEM == 0 )
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{
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pxList->xListEnd.pvOwner = NULL;
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pxList->xListEnd.pxContainer = NULL;
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listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( &( pxList->xListEnd ) );
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}
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#endif
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pxList->uxNumberOfItems = ( UBaseType_t ) 0U;
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/* Write known values into the list if
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* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
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listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList );
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listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList );
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}
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/*-----------------------------------------------------------*/
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void vListInitialiseItem( ListItem_t * const pxItem )
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{
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/* Make sure the list item is not recorded as being on a list. */
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pxItem->pxContainer = NULL;
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/* Make sure the list item is not recorded as being on a list. */
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pxItem->pxContainer = NULL;
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/* Write known values into the list item if
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configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
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listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
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listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
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/* Write known values into the list item if
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* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
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listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
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listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
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}
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/*-----------------------------------------------------------*/
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void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem )
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void vListInsertEnd( List_t * const pxList,
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ListItem_t * const pxNewListItem )
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{
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ListItem_t * const pxIndex = pxList->pxIndex;
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ListItem_t * const pxIndex = pxList->pxIndex;
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/* Only effective when configASSERT() is also defined, these tests may catch
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the list data structures being overwritten in memory. They will not catch
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data errors caused by incorrect configuration or use of FreeRTOS. */
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listTEST_LIST_INTEGRITY( pxList );
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listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
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/* Only effective when configASSERT() is also defined, these tests may catch
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* the list data structures being overwritten in memory. They will not catch
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* data errors caused by incorrect configuration or use of FreeRTOS. */
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listTEST_LIST_INTEGRITY( pxList );
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listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
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/* Insert a new list item into pxList, but rather than sort the list,
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makes the new list item the last item to be removed by a call to
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listGET_OWNER_OF_NEXT_ENTRY(). */
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pxNewListItem->pxNext = pxIndex;
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pxNewListItem->pxPrevious = pxIndex->pxPrevious;
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/* Insert a new list item into pxList, but rather than sort the list,
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* makes the new list item the last item to be removed by a call to
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* listGET_OWNER_OF_NEXT_ENTRY(). */
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pxNewListItem->pxNext = pxIndex;
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pxNewListItem->pxPrevious = pxIndex->pxPrevious;
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/* Only used during decision coverage testing. */
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mtCOVERAGE_TEST_DELAY();
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/* Only used during decision coverage testing. */
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mtCOVERAGE_TEST_DELAY();
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pxIndex->pxPrevious->pxNext = pxNewListItem;
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pxIndex->pxPrevious = pxNewListItem;
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pxIndex->pxPrevious->pxNext = pxNewListItem;
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pxIndex->pxPrevious = pxNewListItem;
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/* Remember which list the item is in. */
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pxNewListItem->pxContainer = pxList;
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/* Remember which list the item is in. */
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pxNewListItem->pxContainer = pxList;
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( pxList->uxNumberOfItems )++;
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( pxList->uxNumberOfItems )++;
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}
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/*-----------------------------------------------------------*/
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void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem )
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void vListInsert( List_t * const pxList,
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ListItem_t * const pxNewListItem )
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{
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ListItem_t *pxIterator;
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const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
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ListItem_t * pxIterator;
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const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
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/* Only effective when configASSERT() is also defined, these tests may catch
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the list data structures being overwritten in memory. They will not catch
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data errors caused by incorrect configuration or use of FreeRTOS. */
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listTEST_LIST_INTEGRITY( pxList );
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listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
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/* Only effective when configASSERT() is also defined, these tests may catch
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* the list data structures being overwritten in memory. They will not catch
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* data errors caused by incorrect configuration or use of FreeRTOS. */
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listTEST_LIST_INTEGRITY( pxList );
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listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
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/* Insert the new list item into the list, sorted in xItemValue order.
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/* Insert the new list item into the list, sorted in xItemValue order.
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*
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* If the list already contains a list item with the same item value then the
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* new list item should be placed after it. This ensures that TCBs which are
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* stored in ready lists (all of which have the same xItemValue value) get a
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* share of the CPU. However, if the xItemValue is the same as the back marker
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* the iteration loop below will not end. Therefore the value is checked
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* first, and the algorithm slightly modified if necessary. */
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if( xValueOfInsertion == portMAX_DELAY )
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{
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pxIterator = pxList->xListEnd.pxPrevious;
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}
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else
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{
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/* *** NOTE ***********************************************************
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* If you find your application is crashing here then likely causes are
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* listed below. In addition see https://www.FreeRTOS.org/FAQHelp.html for
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* more tips, and ensure configASSERT() is defined!
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* https://www.FreeRTOS.org/a00110.html#configASSERT
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*
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* 1) Stack overflow -
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* see https://www.FreeRTOS.org/Stacks-and-stack-overflow-checking.html
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* 2) Incorrect interrupt priority assignment, especially on Cortex-M
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* parts where numerically high priority values denote low actual
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* interrupt priorities, which can seem counter intuitive. See
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* https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html and the definition
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* of configMAX_SYSCALL_INTERRUPT_PRIORITY on
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* https://www.FreeRTOS.org/a00110.html
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* 3) Calling an API function from within a critical section or when
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* the scheduler is suspended, or calling an API function that does
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* not end in "FromISR" from an interrupt.
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* 4) Using a queue or semaphore before it has been initialised or
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* before the scheduler has been started (are interrupts firing
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* before vTaskStartScheduler() has been called?).
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* 5) If the FreeRTOS port supports interrupt nesting then ensure that
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* the priority of the tick interrupt is at or below
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* configMAX_SYSCALL_INTERRUPT_PRIORITY.
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**********************************************************************/
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If the list already contains a list item with the same item value then the
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new list item should be placed after it. This ensures that TCBs which are
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stored in ready lists (all of which have the same xItemValue value) get a
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share of the CPU. However, if the xItemValue is the same as the back marker
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the iteration loop below will not end. Therefore the value is checked
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first, and the algorithm slightly modified if necessary. */
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if( xValueOfInsertion == portMAX_DELAY )
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{
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pxIterator = pxList->xListEnd.pxPrevious;
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}
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else
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{
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/* *** NOTE ***********************************************************
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If you find your application is crashing here then likely causes are
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listed below. In addition see https://www.freertos.org/FAQHelp.html for
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more tips, and ensure configASSERT() is defined!
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https://www.freertos.org/a00110.html#configASSERT
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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. */
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{
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/* There is nothing to do here, just iterating to the wanted
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* insertion position. */
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}
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}
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1) Stack overflow -
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see https://www.freertos.org/Stacks-and-stack-overflow-checking.html
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2) Incorrect interrupt priority assignment, especially on Cortex-M
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parts where numerically high priority values denote low actual
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interrupt priorities, which can seem counter intuitive. See
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https://www.freertos.org/RTOS-Cortex-M3-M4.html and the definition
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of configMAX_SYSCALL_INTERRUPT_PRIORITY on
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https://www.freertos.org/a00110.html
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3) Calling an API function from within a critical section or when
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the scheduler is suspended, or calling an API function that does
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not end in "FromISR" from an interrupt.
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4) Using a queue or semaphore before it has been initialised or
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before the scheduler has been started (are interrupts firing
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before vTaskStartScheduler() has been called?).
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**********************************************************************/
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pxNewListItem->pxNext = pxIterator->pxNext;
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pxNewListItem->pxNext->pxPrevious = pxNewListItem;
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pxNewListItem->pxPrevious = pxIterator;
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pxIterator->pxNext = pxNewListItem;
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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. */
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{
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/* There is nothing to do here, just iterating to the wanted
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insertion position. */
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}
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}
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/* Remember which list the item is in. This allows fast removal of the
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* item later. */
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pxNewListItem->pxContainer = pxList;
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pxNewListItem->pxNext = pxIterator->pxNext;
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pxNewListItem->pxNext->pxPrevious = pxNewListItem;
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pxNewListItem->pxPrevious = pxIterator;
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pxIterator->pxNext = pxNewListItem;
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/* Remember which list the item is in. This allows fast removal of the
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item later. */
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pxNewListItem->pxContainer = pxList;
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( pxList->uxNumberOfItems )++;
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( pxList->uxNumberOfItems )++;
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}
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/*-----------------------------------------------------------*/
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UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove )
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{
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/* The list item knows which list it is in. Obtain the list from the list
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item. */
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List_t * const pxList = pxItemToRemove->pxContainer;
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* item. */
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List_t * const pxList = pxItemToRemove->pxContainer;
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pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
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pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
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pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
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pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
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/* Only used during decision coverage testing. */
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mtCOVERAGE_TEST_DELAY();
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/* Only used during decision coverage testing. */
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mtCOVERAGE_TEST_DELAY();
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/* Make sure the index is left pointing to a valid item. */
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if( pxList->pxIndex == pxItemToRemove )
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{
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pxList->pxIndex = pxItemToRemove->pxPrevious;
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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}
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/* Make sure the index is left pointing to a valid item. */
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if( pxList->pxIndex == pxItemToRemove )
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{
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pxList->pxIndex = pxItemToRemove->pxPrevious;
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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}
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pxItemToRemove->pxContainer = NULL;
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( pxList->uxNumberOfItems )--;
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pxItemToRemove->pxContainer = NULL;
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( pxList->uxNumberOfItems )--;
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return pxList->uxNumberOfItems;
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return pxList->uxNumberOfItems;
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}
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/*-----------------------------------------------------------*/
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Reference in New Issue
Block a user