feat(freertos): added option for automatically placing task stacks in PSRAM
Closes IDF-15538, IDF-15539, and IDF-15540
See merge request espressif/esp-idf!48953
The Linux LWIP port was using --wrap linker flags to intercept read,
write, close, fcntl and select, routing socket FDs (>= LWIP_SOCKET_OFFSET)
to lwip_*() functions. This conflicted with the dlsym(RTLD_NEXT)
cooperative syscall interposition used by the new FreeRTOS Linux
simulator.
Replace the --wrap approach with esp_vfs_register_fd_range(), matching
how LWIP already integrates with VFS on bare-metal ESP32 targets.
The cooperative read()/write() wrappers in vfs_coop_syscalls.c check
VFS first, so LWIP FDs are dispatched to lwip_read() etc. before the
cooperative fallback path is reached.
The Linux target's sys/lock.h provided no-op inline stubs, which was
safe only under the assumption of single-threaded execution. With the
new FreeRTOS Linux simulator using soft preemption, an outgoing task
can still run concurrently with the incoming task until it reaches a
yield point, making no-op locks unsafe.
Replace the no-op implementation with real pthread mutexes:
- Change _lock_t from `typedef int` to `typedef void *` (pointer to a
heap-allocated pthread_mutex_t).
- Implement all _lock_* functions in a new lock.c, supporting both
normal and recursive mutexes.
- Zero-initialized locks are lazily created on first acquire using
double-checked locking, preserving newlib/esp_libc semantics.
- Add lock.c unconditionally to the linux component sources and link
pthread.
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
test(pcnt): fix test failure on s31 after AXI raise to 106M
Closes IDFCI-11672, IDFCI-11678, IDFCI-11679, and IDFCI-11680
See merge request espressif/esp-idf!49224
C.S.M
Jiang Jiang Jian
Marius Vikhammer
Rahul Tank
Guillaume Souchere
Martin Vychodil
morris
Sonika Rathi
Li Shuai
Chen Ji Chang
Konstantin Kondrashov
gaoxu
Wang Meng Yang
Island
He Binglin
Alexey Lapshin
Mahavir Jain
sibeibei
yangfeng
Liu Linyan
yanzihan@espressif.com
luoxu
Konstantin Kondrashov
cjin