freertos: Add memory hooks for static IDLE and Timer tasks

This commit adds the following hook functions to obtain memory
for the IDLE and Timer Daemon tasks when configSUPPORT_STATIC_ALLOCATION
is enabled:

- vApplicationGetIdleTaskMemory()
- vApplicationGetTimerTaskMemory()

Currently, both functions simply allocate from the same memory as
regular tasks (i.e., internal memory for both the stack and TCB)

Closes https://github.com/espressif/esp-idf/issues/7511

components/freertos/port/port_common.c

@@ -145,3 +145,54 @@ bool xPortcheckValidStackMem(const void *ptr)
     return esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr);
 #endif
 }
+
+// ------------- FreeRTOS Static Allocation ----------------
+
+/*
+This function is required by FreeRTOS when configSUPPORT_STATIC_ALLOCATION is
+enabled and is used by FreeRTOS to obtain memory for its IDLE tasks.
+
+Like the pvPortMallocTcbMem() and pvPortMallocStackMem() macros, TCB and stack
+memory MUST be placed in internal RAM.
+*/
+void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
+                                   StackType_t **ppxIdleTaskStackBuffer,
+                                   uint32_t *pulIdleTaskStackSize )
+{
+    StaticTask_t *pxTCBBufferTemp;
+    StackType_t *pxStackBufferTemp;
+    //Allocate TCB and stack buffer in internal memory
+    pxTCBBufferTemp = pvPortMallocTcbMem(sizeof(StaticTask_t));
+    pxStackBufferTemp = pvPortMallocStackMem(configIDLE_TASK_STACK_SIZE);
+    assert(pxTCBBufferTemp != NULL);
+    assert(pxStackBufferTemp != NULL);
+    //Write back pointers
+    *ppxIdleTaskTCBBuffer = pxTCBBufferTemp;
+    *ppxIdleTaskStackBuffer = pxStackBufferTemp;
+    *pulIdleTaskStackSize = configIDLE_TASK_STACK_SIZE;
+}
+
+/*
+This function is required by FreeRTOS when configSUPPORT_STATIC_ALLOCATION is
+enabled and is used by the FreeRTOS Timer to obtain memory for its daemone task.
+
+
+Like the pvPortMallocTcbMem() and pvPortMallocStackMem() macros, TCB and stack
+memory MUST be placed in internal RAM.
+*/
+void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
+                                    StackType_t **ppxTimerTaskStackBuffer,
+                                    uint32_t *pulTimerTaskStackSize )
+{
+    StaticTask_t *pxTCBBufferTemp;
+    StackType_t *pxStackBufferTemp;
+    //Allocate TCB and stack buffer in internal memory
+    pxTCBBufferTemp = pvPortMallocTcbMem(sizeof(StaticTask_t));
+    pxStackBufferTemp = pvPortMallocStackMem(configTIMER_TASK_STACK_DEPTH);
+    assert(pxTCBBufferTemp != NULL);
+    assert(pxStackBufferTemp != NULL);
+    //Write back pointers
+    *ppxTimerTaskTCBBuffer = pxTCBBufferTemp;
+    *ppxTimerTaskStackBuffer = pxStackBufferTemp;
+    *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
+}

components/freertos/tasks.c

@@ -2260,30 +2260,30 @@ void vTaskStartScheduler( void )
 {
     BaseType_t xReturn;
 
-    #if ( configSUPPORT_STATIC_ALLOCATION == 1 && configSUPPORT_STATIC_ALLOCATION == 0 )
+#ifdef ESP_PLATFORM
-    StaticTask_t *pxIdleTaskTCBBuffer[configNUM_CORES] = {NULL};
+    /* Create an IDLE task for each core */
-    StackType_t *pxIdleTaskStackBuffer[configNUM_CORES]  = {NULL};
+    for(BaseType_t xCoreID = 0; xCoreID < configNUM_CORES; xCoreID++)
-    uint32_t ulIdleTaskStackSize;
+#endif //ESP_PLATFORM
-    #endif
+    /* Add the idle task at the lowest priority. */
-
+    #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
-    for(BaseType_t i = 0; i < configNUM_CORES; i++)
-    {
-        /* Add the idle task at the lowest priority. */
-        #if( 0 ) /* configSUPPORT_STATIC_ALLOCATION == 1 ) Temporarily unsupported IDF-2243 */
         {
+            StaticTask_t * pxIdleTaskTCBBuffer = NULL;
+            StackType_t * pxIdleTaskStackBuffer = NULL;
+            uint32_t ulIdleTaskStackSize;
+
             /* The Idle task is created using user provided RAM - obtain the
             address of the RAM then create the idle task. */
-            vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer[i], &pxIdleTaskStackBuffer[i], &ulIdleTaskStackSize );
+            vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
-            xIdleTaskHandle[i] = xTaskCreateStaticPinnedToCore( prvIdleTask,
+            xIdleTaskHandle[ xCoreID ] = xTaskCreateStaticPinnedToCore( prvIdleTask,
                                                     configIDLE_TASK_NAME,
                                                     ulIdleTaskStackSize,
-                                                    ( void * ) NULL, /*lint !e961.  The cast is not redundant for all compilers. */
+                                                    ( void * ) NULL,       /*lint !e961.  The cast is not redundant for all compilers. */
-                                                    portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
+                                                    portPRIVILEGE_BIT,     /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
-                                                    pxIdleTaskStackBuffer[i],
+                                                    pxIdleTaskStackBuffer,
-                                                    pxIdleTaskTCBBuffer[i],
+                                                    pxIdleTaskTCBBuffer,
-                                                    i ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
+                                                    xCoreID ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
 
-            if( xIdleTaskHandle[i] != NULL )
+            if( xIdleTaskHandle[ xCoreID ] != NULL )
             {
                 xReturn = pdPASS;
             }
@@ -2300,10 +2300,10 @@ void vTaskStartScheduler( void )
                                     configIDLE_TASK_STACK_SIZE,
                                     ( void * ) NULL,
                                     portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
-                                    &xIdleTaskHandle[i],
+                                    &xIdleTaskHandle[ xCoreID ],
-                                    i ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
+                                    xCoreID ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
 
-            if( xIdleTaskHandle[i] != NULL )
+            if( xIdleTaskHandle[ xCoreID ] != NULL )
             {
                 xReturn = pdPASS;
             }
@@ -2313,7 +2313,6 @@ void vTaskStartScheduler( void )
             }
         }
     #endif /* configSUPPORT_STATIC_ALLOCATION */
-    }
 
     #if ( configUSE_TIMERS == 1 )
         {

components/freertos/timers.c

@@ -247,7 +247,7 @@ PRIVILEGED_DATA portMUX_TYPE xTimerMux = portMUX_INITIALIZER_UNLOCKED;
 
         if( xTimerQueue != NULL )
         {
-            #if ( configSUPPORT_STATIC_ALLOCATION == 1 && configSUPPORT_STATIC_ALLOCATION == 0 )
+            #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
                 {
                     StaticTask_t * pxTimerTaskTCBBuffer = NULL;
                     StackType_t * pxTimerTaskStackBuffer = NULL;