On the Linux port, tasks are pthreads that cannot be forcibly paused;
the scheduler "unschedules" a task only by selecting a different next
task, and the outgoing task keeps running until it next blocks itself
in event_wait (e.g. via vPortYield). If the scheduler later switches
back into such a task (event_signal) before it ever parked in
event_wait, that wake is never consumed and event_triggered stays
latched. The task's next voluntary block then returns immediately
instead of blocking (e.g. vTaskDelay(100ms) returning in 0ms), which
desynchronizes kernel and port scheduling state.
Clear the outgoing task's pending event when switching to a different
task, under s_port_mutex and atomically with the scheduling decision.
Any latched-but-unconsumed wake is stale at that point; a legitimate
wake can only be delivered later, once the scheduler selects the task
again as next_thread.
Add event_clear() to the wait_for_event helper to support this.
Verified: minimal repros (busy-wait with another ready task, and
pthread-blocked task) now measure 92-101 ms for vTaskDelay(100ms)
instead of 0 ms; linux_freertos kernel test app 18/18 pass; the
previously failing esp_linenoise host test suite passes 34/34.
Rework the syscall interposition architecture so FreeRTOS works
standalone (without VFS) and VFS optionally overrides with strong
symbols. All kernel FDs are registered with VFS via
esp_vfs_register_fd_with_local_fd, so the application only sees
VFS-allocated FD numbers, preventing numerical collisions between
kernel FDs and VFS-internal FD slots.
FreeRTOS side:
- Create linux_port_coop_internal.h with LINUX_COOP_IO_LOOP,
LINUX_COOP_RESOLVE, linux_coop_yield and FD state table functions
- Export cooperative I/O primitives (freertos_linux_coop_read/write/
open/close/fcntl/select/pread/pwrite/readv/writev/recv/send/
recvfrom/sendto/recvmsg/sendmsg/connect/accept/pselect/poll/
socket/socketpair/pipe/pipe2/dup/dup2/syscalls_init)
- Define weak POSIX symbols calling through to the cooperative
primitives; keep nanosleep/sleep/usleep as strong (not FD-related)
- Refactor freertos_linux_coop_syscalls.h into a pure public API header
VFS side:
- Register the Linux host FS with esp_vfs_register_fs_with_id() as a
proper VFS driver; register stdin/stdout/stderr at init (priority 99)
- Rewrite vfs_linux.c with strong POSIX symbols dispatching through
esp_vfs_*
- Add strong overrides for FD-creating syscalls (open, pipe, pipe2,
socket, socketpair, dup, dup2, accept) that register returned FDs
with VFS
- Add strong overrides for FD-translating syscalls (readv, writev,
recv, send, recvfrom, sendto, recvmsg, sendmsg, connect, pselect,
poll) that translate VFS FD to kernel FD
- Delete vfs_coop_syscalls.c (absorbed into FreeRTOS weak + VFS strong)
- Update CMakeLists.txt: remove vfs_coop_syscalls.c, add linker hook
Moved the linux spinlock.h stub into esp_hw_support/include/linux.
esp_hw_support's INCLUDE_DIRS already places include/linux before
include, so the correct include files are picked up for the linux
target.
- Drop the FreeRTOS-Kernel-SMP linux spinlock.h duplicate.
- rv_decode_test: use PRIV_REQUIRES esp_hw_support instead of
hardcoding component include paths.
This commit removes support for the vPortCleanUpTCB() user hook as well
as drops support for associated Kconfig option,
CONFIG_FREERTOS_STATIC_TASK_CLEAN_UP.
The following updates have been made in this commit:
- The commit places FreeRTOS code in flash memory by default.
- CONFIG_FREERTOS_PLACE_FUNCTIONS_INTO_FLASH has been removed.
- CONFIG_FREERTOS_IN_IRAM is unhidden and can be used to restore the
previous memory placement.
- A test has been added for users to conduct performance impact testing
based on memory placement configurations.
The vTaskPlaceOnEventListRestricted() did not use the correct macro when
exiting a kernel cirtical section. This does not affect the HW targets
but on the Linux port, this caused an issue as the critical nesting
count became negative, leading to deadlocks. This commit fixes the bug
and updates the linux port to prevent the nesting count from going
negative.
Following the upgrade to FreeRTOS kernel v10.5.1, this commit updates the
version numbers, licenses, and SBOM files of FreeRTOS files to reflect v10.5.1.
Note:
- Updated licenses as v10.5.1 now uses SPDX format
- Removed CVE-2021-43997 as it was fixed post v10.4.5
portBASE_TYPE is an internal macro defined by the porting layer. This commit
changes all references to BaseType_t which is the official type exposed by
FreeRTOS.
portSTACK_TYPE is an internal macro defined by the porting layer. This commit
changes all references to StackType_t which is the official type exposed by
FreeRTOS.
* Added a POSIX/Linux simulator that is compatible with the Amazon
FreeRTOS SMP API. Note that the simulator itself is still
single core, like the IDF FreeRTOS POSIX/Linux simulator.
Vanilla FreeRTOS expects applications to use one of the heap implementations
provided by FreeRTOS (i.e., heap_x.c), where functions such as pvPortMalloc()
and vPortFree() are defined in the heap implementation.
However, ESP-IDF already provides its own heap implementation
(i.e., esp_heap_caps.h). Thus, the pvPortMallc()/vPortFree() functions were
previously overriden by macro to call esp_heap functions directly.
This commit refactors the FreeRTOS port's heap as such:
- Added a heap_idf.c that implements all of the heap related functions required
by FreeRTOS source
- All dynamic memory allocated by FreeRTOS is from internal memory. Thus, the
FreeRTOS heap is the internal memory subset of the ESP-IDF heap.
- Removed some old macros to reduce diff from upstream source code.
This commit refactors port_common.c so that it only contains implementation of
FreeRTOS port functions that are common to all FreeRTOS ports (i.e., on all
architectures and on all FreeRTOS implementations).
* Added port layer from the FreeRTOS POSIX port, added
additional port code for ESP-IDF.
* Created another hello world example using that POSIX
port in tools/test_apps.
* Removed old linux app
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()
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()
This commit does the following:
- Adds SPDX license identifiers to FreeRTOS sources. Remove those FreeRTOS sources from
the copyright ignore list.
- Update xtensa port files to match FreeRTOS v10.4.3. Added SPDX license identifiers
to the port files.
- Fixed some improperly licensed files
- Removed portbenchmark.h from RISC-V port
The following changes have been made:
1. All FreeRTOS kernel source files are now placed in the
freertos/FreeRTOS-Kernel folder to match with the upstream folder structure.
2. All kernel include files are now placed in freertos/FreeRTOS-Kernel/include.
3. All port files are now placed in freertos/FreeRTOS-Kernel/portable.
4. All additions/customizations are placed in freertos/esp_additions.
5. All other miscellaneous files (README, License files etc.) are moved to
freertos/FreeRTOS-Kernel folder to match with the upstream.
6. Updated esp-cryptoauthlib to latest commit to resolve FreeRTOS
include dependencies.
Signed-off-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>
