This commit deprecates the "freertos/xtensa_api.h" and "xtensa/xtensa_api.h"
include paths. Users should use "xtensa_api.h" instead.
- Replace legacy include paths
- Removed some unnecessary includes of "xtensa_api.h"
- Replaced some calls with "esp_cpu_..." equivalents
- Add warning to compatibility header
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
This commit makes v10.5.1 the default FreeRTOS kernel in ESP-IDF by removing
the CONFIG_FREERTOS_USE_KERNEL_10_5_1 option and v10.4.3 specific code
blocks.
This commit adds beta support for the FreeRTOS v10.5.1 kernel which can be
enabled by enabling the CONFIG_FREERTOS_USE_KERNEL_10_5_1 option.
The following changes have been made:
- Updated freertos/CMakeLists.txt to build v10.5.1 kernel with v10.4.3. ports
- Updated existing Xtensa and RISC-V ports to work with V10.5.1
- Modifications to other ESP-IDF components to work with v10.5.1
- Added some ESP-IDF specific tracing changes to v10.5.1 kernel
- Make CONFIG_FREERTOS_USE_KERNEL_10_5_1 a public option
Note: The beta release is missing some minor fixes, performance improvements,
and features. Using this beta release for production is not recommended.
Closes https://github.com/espressif/esp-idf/issues/7137
portCLEAN_UP_COPROC() was an IDF specific addition to FreeRTOS, where the
macro was called from prvDeleteTCB() to clean up the coprocessor context of a
deleted task.
This commit removes portCLEAN_UP_COPROC(). The coprocessor cleanup routine
(i.e., vPortCleanUpCoprocArea()) is now called via portCLEAN_UP_TCB()->
vPortTCBPreDeleteHook().
This removes a minor code difference between IDF FreeRTOS and upstream.
Previously, if CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP was enabled, users
would provide a definition for a vPortCleanUpTCB() hook function that is called
right before a task's memory is freed in prvDeleteTCB(). However,
vPortCleanUpTCB() will be reclaimed by ESP-IDF for internal use in v6.0.
This commit introduces the following changes...
Introduced a new CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK option:
- Provides the same pre-deletion hook functionality. But users now define
vTaskPreDeletionHook() instead.
- CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP still exists, but is marked as
deprecated. This is to maintain compatibility with existing applications
that already define vPortCleanUpTCB().
- Removed redundant --wl --wrap workaround with vPortCleanUpTCB()
- Added todo notes to remove support for user defined vPortCleanUpTCB()
completely in v6.0.
- Updated test cases to use new CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK option
Freed up portCLEAN_UP_TCB() to call a new internal vPortTCBPreDeleteHook():
- vPortTCBPreDeleteHook() now replaces the previous "wrapped" implementation
of vPortCleanUpTCB().
- vPortTCBPreDeleteHook() is an internal task pre-delete hook for IDF FreeRTOS
ports to inject some pre-deletion operations.
- Internal pre-delete hook now invokes user provided vTaskPreDeletionHook()
if enabled.
- Relocated vPortTCBPreDeleteHook() to correct section in port.c
When porting an RTOS to the Xtensa architecture, there are a few files that
are common to all Xtensa RTOS ports. These files form the Xtensa RTOS porting
layer (e.g., "xtensa_vectors.S", "xtensa_context.S"). An Xtensa RTOS port is
expected to provide an RTOS specific "xtensa_rtos.h" header to interface with
the Xtensa RTOS porting layer.
Previously, the Xtensa RTOS porting layer files were placed in the FreeRTOS
component. This commit does the following:
1. Moves the Xtensa RTOS porting layer files from the `freertos` component to
the `xtensa` component. The following files were moved:
- xtensa_asm_utils.h
- xtensa_context.S
- xtensa_loadstore_handler.S
- xtensa_vectors.S
2. Refactored xtensa component include paths to separate Xtensa RTOS porting
layer headers.
- Xtensa HAL headers included via `#include <xtensa/...h>`
- Xtensa RTOS porting layer headers included via `#include <...h>`
Note: The xtensa files in the Amazon SMP FreeRTOS port are not moved/deleted in
this commit to ensure the moved files retain a clean diff history.
This commit merges the "FreeRTOSConfig_smp.h" file into the "FreeRTOSConfig.h".
The configurations for all FreeRTOS implementations are now stored in a single
file.
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 removes the dependency on portUSING_MPU_WRAPPERS on the Xtensa port
of IDF FreeRTOS. This dependency was added due to a hack implemented in the
upstream port that required the usage of the "xMPUSettings" member of the TCB.
The "xMPUSettings" would be used as a pointer to the task's coprocessor save
area on the stack, even though FreeRTOS MPU support was not available.
The hack has now been removed, and the CPSA pointer is now calculated using
a combination of constant offsets values and the pxEndOfStack member of the
TCB.
Note: This impelemtation was copied from the Xtensa port of Amazon SMP FreeRTOS.
In IDF FreeRTOS, when building for SMP, there are numerous functions
which require different critical sections when compared to single-core. This
commit encapsulates those difference into a common set of macros whose
behavior depends on "configNUM_CORES > 1". As such...
- Vanilla behavior has been restored for some functions when building for
single core (i.e., used to call taskENTER_CRITICAL, now disables interrupts
mactching vanilla behavior).
- Reduces number of "#ifdef (configNUM_CORES > 1)" in functions
- Any SMP only critical sections are now wrapped by
"#ifdef (configNUM_CORES > 1)" and properly documented via comments.
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 marks all functions in interrupt_controller_hal.h, cpu_ll.h and cpu_hal.h as deprecated.
Users should use functions from esp_cpu.h instead.
This function removes the following legacy atomic CAS functions:
From compare_set.h (file removed):
- compare_and_set_native()
- compare_and_set_extram()
From portmacro.h
- uxPortCompareSet()
- uxPortCompareSetExtram()
Users should call esp_cpu_compare_and_set() instead as this function hides the details
of atomic CAS on internal and external RAM addresses.
Due to the removal of compare_set.h, some missing header includes are also fixed in this commit.
This commit makes changes to cpu_ll.h, cpu_hal.h, and interrupt_controller_hal.h:
- Moved to esp_hw_support in order to be deprecated in the future
- HAL/LL API now route their calls to esp_cpu.h functions instead
Also updated soc_hal.h as follows:
- Removed __SOC_HAL_..._OTHER_CORES() macros as they dependend on cpu_hal.h
- Made soc_hal.h and soc_ll.h interfaces always inline, and removed soc_hal.c.
This commit also updates the XCHAL_ERRATUM_572 workaround by
- Removing it's HAL function and invoking the workaround it directly the bootloader
- Added missing workaround for the ESP32-S3
esp_timer will be added as a dependency to freertos only if
CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER is enabled.
Other components are updated to add esp_timer as public or private
dependency, as needed.
This removes esp_timer from the default list of public dependencies.
This commit updates the visibility of various header files and cleans up
some unnecessary inclusions. Also, this commit removes certain header
include paths which were maintained for backward compatibility.
This commit refactors the FreeRTOS configuration headers as follows:
- Layout is now similar to FreeRTOSConfig.h found in other upstream demos
- Separate out Vanilla FreeRTOS configurations and ESP-IDF additions
- Move/remove some irrelevant/unused macros and configurations
This commit adds a CHOOSE_MACRO_VA_ARG() selector to allow selection between two
versions of a macro based on the number of arguments. This replaces the previous
portGET_ARGUMENT_COUNT() selector.
- portYIELD_FROM_ISR() now uses CHOOSE_MACRO_VA_ARG()
- portYIELD_FROM_ISR(arg) version added to risc-v port
- Old vPortEvaluateYieldFromISR() and portGET_ARGUMENT_COUNT removed
These were called from IRAM context where the caller expect them to be inlined
and accessible when cache is disabled. This was not the case when compiled with -O0.
Closes https://github.com/espressif/esp-idf/issues/8301
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 files were deleted:
- components/esp_hw_support/include/soc/cpu.h
- components/soc/esp32s3/include/soc/cpu.h
The following functions are deprecated:
- get_sp()
The following functions declared in soc/cpu.h are now moved to esp_cpu.h:
- esp_cpu_configure_region_protection()
The following functions declared in soc/cpu.h are now moved to components/xtensa/include/esp_cpu_utils.h:
- esp_cpu_process_stack_pc()
All files with soc/cpu.h inclusion are updated to include esp_cpu.h instead.
Signed-off-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>
Add TRY_ENTRY_CRITICAL() API to all for timeouts when entering critical sections.
The following port API were added:
- portTRY_ENTER_CRITICAL()
- portTRY_ENTER_CRITICAL_ISR()
- portTRY_ENTER_CRITICAL_SAFE()
Deprecated legacy spinlock API in favor of spinlock.h. The following API were deprecated:
- vPortCPUInitializeMutex()
- vPortCPUAcquireMutex()
- vPortCPUAcquireMutexTimeout()
- vPortCPUReleaseMutex()
Other Changes:
- Added portMUX_INITIALIZE() to replace vPortCPUInitializeMutex()
- The assembly of the critical section functions ends up being about 50 instructions longer,
thus the spinlock test pass threshold had to be increased to account for the extra runtime.
Closes https://github.com/espressif/esp-idf/issues/5301
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>
