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aggargaggarg
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Merge branch 'main' into stack_overflow_check
2 parents d731a85 + 51a1598 commit 19661e5

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3 files changed

+92
-54
lines changed

3 files changed

+92
-54
lines changed

‎portable/ThirdParty/GCC/Posix/port.c

Lines changed: 25 additions & 21 deletions
Original file line numberDiff line numberDiff line change
@@ -48,6 +48,11 @@
4848
* stdio (printf() and friends) should be called from a single task
4949
* only or serialized with a FreeRTOS primitive such as a binary
5050
* semaphore or mutex.
51+
*
52+
* Note: When using LLDB (the default debugger on macOS) with this port,
53+
* suppress SIGUSR1 to prevent debugger interference. This can be
54+
* done by adding the following line to ~/.lldbinit:
55+
* `process handle SIGUSR1 -n true -p true -s false`
5156
*----------------------------------------------------------*/
5257
#ifdef __linux__
5358
#define _GNU_SOURCE
@@ -97,6 +102,7 @@ static inline Thread_t * prvGetThreadFromTask( TaskHandle_t xTask )
97102
/*-----------------------------------------------------------*/
98103

99104
static pthread_once_t hSigSetupThread = PTHREAD_ONCE_INIT;
105+
static pthread_once_t hThreadKeyOnce = PTHREAD_ONCE_INIT;
100106
static sigset_t xAllSignals;
101107
static sigset_t xSchedulerOriginalSignalMask;
102108
static pthread_t hMainThread = ( pthread_t ) NULL;
@@ -105,7 +111,6 @@ static BaseType_t xSchedulerEnd = pdFALSE;
105111
static pthread_t hTimerTickThread;
106112
static bool xTimerTickThreadShouldRun;
107113
static uint64_t prvStartTimeNs;
108-
static pthread_mutex_t xThreadMutex = PTHREAD_MUTEX_INITIALIZER;
109114
static pthread_key_t xThreadKey = 0;
110115
/*-----------------------------------------------------------*/
111116

@@ -134,22 +139,15 @@ static void prvThreadKeyDestructor( void * pvData )
134139

135140
static void prvInitThreadKey( void )
136141
{
137-
pthread_mutex_lock( &xThreadMutex );
138-
139-
if( xThreadKey == 0 )
140-
{
141-
pthread_key_create( &xThreadKey, prvThreadKeyDestructor );
142-
}
143-
144-
pthread_mutex_unlock( &xThreadMutex );
142+
pthread_key_create( &xThreadKey, prvThreadKeyDestructor );
145143
}
146144
/*-----------------------------------------------------------*/
147145

148146
static void prvMarkAsFreeRTOSThread( void )
149147
{
150148
uint8_t * pucThreadData = NULL;
151149

152-
prvInitThreadKey();
150+
( void ) pthread_once( &hThreadKeyOnce, prvInitThreadKey );
153151

154152
pucThreadData = malloc( 1 );
155153
configASSERT( pucThreadData != NULL );
@@ -165,7 +163,10 @@ static BaseType_t prvIsFreeRTOSThread( void )
165163
uint8_t * pucThreadData = NULL;
166164
BaseType_t xRet = pdFALSE;
167165

166+
( void ) pthread_once( &hThreadKeyOnce, prvInitThreadKey );
167+
168168
pucThreadData = ( uint8_t * ) pthread_getspecific( xThreadKey );
169+
169170
if( ( pucThreadData != NULL ) && ( *pucThreadData == 1 ) )
170171
{
171172
xRet = pdTRUE;
@@ -192,13 +193,13 @@ void prvFatalError( const char * pcCall,
192193
}
193194
/*-----------------------------------------------------------*/
194195

195-
static void prvPortSetCurrentThreadName(char * pxThreadName)
196+
static void prvPortSetCurrentThreadName( char * pxThreadName )
196197
{
197-
#ifdef __APPLE__
198-
pthread_setname_np(pxThreadName);
199-
#else
200-
pthread_setname_np(pthread_self(), pxThreadName);
201-
#endif
198+
#ifdef __APPLE__
199+
pthread_setname_np( pxThreadName );
200+
#else
201+
pthread_setname_np( pthread_self(), pxThreadName );
202+
#endif
202203
}
203204
/*-----------------------------------------------------------*/
204205

@@ -269,7 +270,7 @@ BaseType_t xPortStartScheduler( void )
269270
sigset_t xSignals;
270271

271272
hMainThread = pthread_self();
272-
prvPortSetCurrentThreadName("Scheduler");
273+
prvPortSetCurrentThreadName( "Scheduler" );
273274

274275
/* Start the timer that generates the tick ISR(SIGALRM).
275276
* Interrupts are disabled here already. */
@@ -303,9 +304,12 @@ BaseType_t xPortStartScheduler( void )
303304
* memset the internal struct members for MacOS/Linux Compatibility */
304305
#if __APPLE__
305306
hSigSetupThread.__sig = _PTHREAD_ONCE_SIG_init;
306-
memset( ( void * ) &hSigSetupThread.__opaque, 0, sizeof(hSigSetupThread.__opaque));
307+
hThreadKeyOnce.__sig = _PTHREAD_ONCE_SIG_init;
308+
memset( ( void * ) &hSigSetupThread.__opaque, 0, sizeof( hSigSetupThread.__opaque ) );
309+
memset( ( void * ) &hThreadKeyOnce.__opaque, 0, sizeof( hThreadKeyOnce.__opaque ) );
307310
#else /* Linux PTHREAD library*/
308-
hSigSetupThread = PTHREAD_ONCE_INIT;
311+
hSigSetupThread = ( pthread_once_t ) PTHREAD_ONCE_INIT;
312+
hThreadKeyOnce = ( pthread_once_t ) PTHREAD_ONCE_INIT;
309313
#endif /* __APPLE__*/
310314

311315
/* Restore original signal mask. */
@@ -392,7 +396,7 @@ void vPortDisableInterrupts( void )
392396
{
393397
if( prvIsFreeRTOSThread() == pdTRUE )
394398
{
395-
pthread_sigmask(SIG_BLOCK, &xAllSignals, NULL);
399+
pthread_sigmask( SIG_BLOCK, &xAllSignals, NULL );
396400
}
397401
}
398402
/*-----------------------------------------------------------*/
@@ -540,7 +544,7 @@ static void * prvWaitForStart( void * pvParams )
540544
vPortEnableInterrupts();
541545

542546
/* Set thread name */
543-
prvPortSetCurrentThreadName(pcTaskGetName(xTaskGetCurrentTaskHandle()));
547+
prvPortSetCurrentThreadName( pcTaskGetName( xTaskGetCurrentTaskHandle() ) );
544548

545549
/* Call the task's entry point. */
546550
pxThread->pxCode( pxThread->pvParams );

‎portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake

Lines changed: 58 additions & 28 deletions
Original file line numberDiff line numberDiff line change
@@ -10,38 +10,68 @@ if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
1010
message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
1111
endif ()
1212

13-
set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040")
14-
# undo the above
15-
set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
13+
# first pass we look in old tree; second pass we look in new tree
14+
foreach(SEARCH_PASS RANGE 0 1)
15+
if (SEARCH_PASS)
16+
# ports may be moving to submodule in the future
17+
set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/Community-Supported-Ports/GCC")
18+
set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../../..")
19+
else()
20+
set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC")
21+
set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
22+
endif()
1623

17-
if (NOT FREERTOS_KERNEL_PATH)
18-
# check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
19-
get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
20-
get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
21-
if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
22-
get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
24+
if(PICO_PLATFORM STREQUAL "rp2040")
25+
set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2040")
26+
else()
27+
if (PICO_PLATFORM STREQUAL "rp2350-riscv")
28+
set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2350_RISC-V")
29+
else()
30+
set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2350_ARM_NTZ")
31+
endif()
2332
endif()
24-
if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
25-
get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
26-
message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
27-
elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
28-
set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
29-
message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
33+
34+
if (NOT FREERTOS_KERNEL_PATH)
35+
# check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
36+
get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
37+
get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
38+
if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
39+
get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
40+
endif()
41+
if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
42+
get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
43+
message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
44+
break()
45+
elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
46+
set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
47+
message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
48+
break()
49+
endif()
50+
endif ()
51+
52+
if (NOT FREERTOS_KERNEL_PATH)
53+
foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
54+
# check if FreeRTOS-Kernel exists under directory that included us
55+
set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
56+
get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
57+
if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
58+
get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
59+
message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
60+
break()
61+
endif()
62+
endforeach()
63+
if (FREERTOS_KERNEL_PATH)
64+
break()
65+
endif()
3066
endif()
31-
endif ()
3267

33-
if (NOT FREERTOS_KERNEL_PATH)
34-
foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
35-
# check if FreeRTOS-Kernel exists under directory that included us
36-
set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
37-
get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
38-
if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
39-
get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
40-
message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
68+
# user must have specified
69+
if (FREERTOS_KERNEL_PATH)
70+
if (EXISTS "${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
4171
break()
4272
endif()
43-
endforeach()
44-
endif()
73+
endif()
74+
endforeach ()
4575

4676
if (NOT FREERTOS_KERNEL_PATH)
4777
message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.")
@@ -54,8 +84,8 @@ if (NOT EXISTS ${FREERTOS_KERNEL_PATH})
5484
message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found")
5585
endif()
5686
if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
57-
message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
87+
message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain a '${PICO_PLATFORM}' port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
5888
endif()
5989
set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE)
6090

61-
add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)
91+
add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)

‎tasks.c

Lines changed: 9 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -156,16 +156,15 @@
156156
#define configIDLE_TASK_NAME "IDLE"
157157
#endif
158158

159+
/* Reserve space for Core ID and null termination. */
159160
#if ( configNUMBER_OF_CORES > 1 )
160-
/* Reserve space for Core ID and null termination. */
161+
/* Multi-core systems with up to 9 cores require 1 character for core ID and 1 for null termination. */
161162
#if ( configMAX_TASK_NAME_LEN < 2U )
162163
#error Minimum required task name length is 2. Please increase configMAX_TASK_NAME_LEN.
163164
#endif
164165
#define taskRESERVED_TASK_NAME_LENGTH 2U
165166

166-
#elif ( configNUMBER_OF_CORES > 9 )
167-
#warning Please increase taskRESERVED_TASK_NAME_LENGTH. 1 character is insufficient to store the core ID.
168-
#else
167+
#else /* if ( configNUMBER_OF_CORES > 1 ) */
169168
/* Reserve space for null termination. */
170169
#if ( configMAX_TASK_NAME_LEN < 1U )
171170
#error Minimum required task name length is 1. Please increase configMAX_TASK_NAME_LEN.
@@ -3597,7 +3596,12 @@ static BaseType_t prvCreateIdleTasks( void )
35973596
* only one idle task. */
35983597
#if ( configNUMBER_OF_CORES > 1 )
35993598
{
3600-
/* Append the idle task number to the end of the name. */
3599+
/* Append the idle task number to the end of the name.
3600+
*
3601+
* Note: Idle task name index only supports single-character
3602+
* core IDs (0-9). If the core ID exceeds 9, the idle task
3603+
* name will contain an incorrect ASCII character. This is
3604+
* acceptable as the task name is used mainly for debugging. */
36013605
cIdleName[ xIdleTaskNameIndex ] = ( char ) ( xCoreID + '0' );
36023606
cIdleName[ xIdleTaskNameIndex + 1 ] = '\0';
36033607
}

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