feat(freertos/smp): Add ESP-IDF specific modifications

- Add ESP-IDF specific modifications to FreeRTOS-Kernel-SMP source code
- Update IDF addition source files to support V11 kernel

components/freertos/FreeRTOS-Kernel-SMP/include/freertos/FreeRTOS.h

@@ -3262,4 +3262,29 @@ typedef StaticStreamBuffer_t StaticMessageBuffer_t;
 #endif
 /* *INDENT-ON* */
 
+/*-----------------------------------------------------------
+* IDF Compatibility
+*----------------------------------------------------------*/
+
+#ifdef ESP_PLATFORM
+
+/*
+ * Include ESP-IDF API additions implicitly for compatibility reasons.
+ *
+ * ESP-IDF API additions were previously added directly to FreeRTOS headers
+ * (e.g., task.h, queue.h). These APIs have now been moved to
+ * idf_additions.h.
+ *
+ * To ensure there are no breaking changes, we include idf_additions.h
+ * implicitly here so that those API additions are still accessible. Given
+ * that FreeRTOS.h must be included first before calling any FreeRTOS API,
+ * any existing source code can continue using these relocated APIs without
+ * any additional header inclusions via this implicit inclusion.
+ *
+ * Todo: Deprecate this implicit inclusion by ESP-IDF v6.0 (IDF-8126)
+ */
+    #include "freertos/idf_additions.h"
+
+#endif /* ESP_PLATFORM */
+
 #endif /* INC_FREERTOS_H */

components/freertos/FreeRTOS-Kernel-SMP/include/freertos/task.h

@@ -3578,9 +3578,7 @@ TaskHandle_t xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION;
 /*
  * Return the handle of the task running on specified core.
  */
-#if ( configNUMBER_OF_CORES > 1 )
+TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID ) PRIVILEGED_FUNCTION;
-    TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID ) PRIVILEGED_FUNCTION;
-#endif
 
 /*
  * Shortcut used by the queue implementation to prevent unnecessary call to

components/freertos/FreeRTOS-Kernel-SMP/tasks.c

@@ -483,7 +483,16 @@ PRIVILEGED_DATA static List_t xPendingReadyList;                         /**< Ta
 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
-PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
+#if ( ( ESP_PLATFORM == 1 ) && ( configNUM_CORES > 1 ) )
+
+/*
+ * Workaround for non-thread safe multi-core OS startup (see IDF-4524)
+ */
+PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunningPerCore[ configNUM_CORES ] = { pdFALSE };
+    #define xSchedulerRunning    xSchedulerRunningPerCore[ portGET_CORE_ID() ]
+#else // ( ESP_PLATFORM == 1 ) && ( configNUM_CORES > 1 )
+    PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
+#endif // ( ESP_PLATFORM == 1 ) && ( configNUM_CORES > 1 )
 PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
 PRIVILEGED_DATA static volatile BaseType_t xYieldPendings[ configNUMBER_OF_CORES ] = { pdFALSE };
 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
@@ -6552,24 +6561,28 @@ static void prvResetNextTaskUnblockTime( void )
 
             return xReturn;
         }
-
-        TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID )
-        {
-            TaskHandle_t xReturn = NULL;
-
-            traceENTER_xTaskGetCurrentTaskHandleForCore( xCoreID );
-
-            if( taskVALID_CORE_ID( xCoreID ) != pdFALSE )
-            {
-                xReturn = pxCurrentTCBs[ xCoreID ];
-            }
-
-            traceRETURN_xTaskGetCurrentTaskHandleForCore( xReturn );
-
-            return xReturn;
-        }
     #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
 
+    TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID )
+    {
+        TaskHandle_t xReturn = NULL;
+
+        traceENTER_xTaskGetCurrentTaskHandleForCore( xCoreID );
+
+        if( taskVALID_CORE_ID( xCoreID ) != pdFALSE )
+        {
+            #if ( configNUMBER_OF_CORES == 1 )
+                xReturn = pxCurrentTCB;
+            #else /* #if ( configNUMBER_OF_CORES == 1 ) */
+                xReturn = pxCurrentTCBs[ xCoreID ];
+            #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
+        }
+
+        traceRETURN_xTaskGetCurrentTaskHandleForCore( xReturn );
+
+        return xReturn;
+    }
+
 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
 /*-----------------------------------------------------------*/
 

components/freertos/esp_additions/freertos_tasks_c_additions.h

@@ -440,7 +440,7 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
 }
 /*----------------------------------------------------------*/
 
-#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
+#if ( ( !CONFIG_FREERTOS_SMP ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
 
     TaskHandle_t xTaskGetIdleTaskHandleForCore( BaseType_t xCoreID )
     {
@@ -451,10 +451,10 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
         return xIdleTaskHandle[ xCoreID ];
     }
 
-#endif /* INCLUDE_xTaskGetIdleTaskHandle */
+#endif /* ( ( !CONFIG_FREERTOS_SMP ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
 /*----------------------------------------------------------*/
 
-#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
+#if ( ( !CONFIG_FREERTOS_SMP ) && ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) )
 
     TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID )
     {
@@ -478,7 +478,7 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
         return xReturn;
     }
 
-#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
+#endif /* ( ( !CONFIG_FREERTOS_SMP ) && ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) ) */
 /*----------------------------------------------------------*/
 
 #if ( !CONFIG_FREERTOS_SMP && ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
@@ -743,7 +743,11 @@ uint8_t * pxTaskGetStackStart( TaskHandle_t xTask )
 
                         if( xYieldRequired != pdFALSE )
                         {
-                            taskYIELD_IF_USING_PREEMPTION();
+                            #if CONFIG_FREERTOS_SMP
+                                taskYIELD_TASK_CORE_IF_USING_PREEMPTION( pxTCB );
+                            #else
+                                taskYIELD_IF_USING_PREEMPTION();
+                            #endif
                         }
                     }
                 }
@@ -849,16 +853,8 @@ uint8_t * pxTaskGetStackStart( TaskHandle_t xTask )
         }
         else
         {
-            /* We have a task; return its reentrant struct. */
+            /* We have a currently executing task. Return its reentrant struct. */
-            #if ( CONFIG_FREERTOS_SMP )
+            ret = &pxCurTask->xTLSBlock;
-            {
-                ret = &pxCurTask->xNewLib_reent;
-            }
-            #else /* CONFIG_FREERTOS_SMP */
-            {
-                ret = &pxCurTask->xTLSBlock;
-            }
-            #endif /* CONFIG_FREERTOS_SMP */
         }
 
         return ret;

components/freertos/esp_additions/include/freertos/idf_additions.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -131,17 +131,21 @@
  */
 BaseType_t xTaskGetCoreID( TaskHandle_t xTask );
 
+#if ( ( !CONFIG_FREERTOS_SMP ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
+
 /**
  * @brief Get the handle of idle task for the given core.
  *
  * [refactor-todo] See if this needs to be deprecated (IDF-8145)
  *
- * @note If CONFIG_FREERTOS_SMP is enabled, please call xTaskGetIdleTaskHandle()
- * instead.
  * @param xCoreID The core to query
  * @return Handle of the idle task for the queried core
  */
-TaskHandle_t xTaskGetIdleTaskHandleForCore( BaseType_t xCoreID );
+    TaskHandle_t xTaskGetIdleTaskHandleForCore( BaseType_t xCoreID );
+
+#endif /* ( ( !CONFIG_FREERTOS_SMP ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
+
+#if ( ( !CONFIG_FREERTOS_SMP ) && ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) )
 
 /**
  * @brief Get the handle of the task currently running on a certain core
@@ -152,13 +156,12 @@ TaskHandle_t xTaskGetIdleTaskHandleForCore( BaseType_t xCoreID );
  *
  * [refactor-todo] See if this needs to be deprecated (IDF-8145)
  *
- * @note If CONFIG_FREERTOS_SMP is enabled, please call xTaskGetCurrentTaskHandleCPU()
- * instead.
  * @param xCoreID The core to query
  * @return Handle of the current task running on the queried core
  */
-TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID );
+    TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID );
 
+#endif /* ( ( !CONFIG_FREERTOS_SMP ) && ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) ) */
 
 #if ( !CONFIG_FREERTOS_SMP && ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )