Added INCLUDE_xSemaphoreGetMutexHolder() default.

Changed eTaskStateGet() to eTaskGetState() and added #define to ensure backward compatibility.
Added configEXPECTED_IDLE_TIME_BEFORE_SLEEP definition - was previously hard coded to 2.
Slight change to the default CM3 tickless sleep function to allow the idle time to be set to zero in the pre-sleep processing macro.
Changed stack alignment for the FreeRTOS-MPU port to ensure it didn't trigger the assert() in the generic create function.

FreeRTOS/Demo/WIN32-MSVC/FreeRTOSConfig.h

@@ -139,4 +139,6 @@ version of the Win32 simulator projects.  It will be ignored in the GCC
 version. */
 #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
 
+#define configUSE_QUEUE_SETS 1
+
 #endif /* FREERTOS_CONFIG_H */

FreeRTOS/Source/include/FreeRTOS.h

@@ -161,6 +161,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 	#define INCLUDE_xQueueGetMutexHolder 0
 #endif
 
+#ifndef INCLUDE_xSemaphoreGetMutexHolder
+	#define INCLUDE_xSemaphoreGetMutexHolder INCLUDE_xQueueGetMutexHolder
+#endif
+
 #ifndef INCLUDE_pcTaskGetTaskName
 	#define INCLUDE_pcTaskGetTaskName 0
 #endif
@@ -173,8 +177,8 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 	#define INCLUDE_uxTaskGetStackHighWaterMark 0
 #endif
 
-#ifndef INCLUDE_eTaskStateGet
+#ifndef INCLUDE_eTaskGetState
-	#define INCLUDE_eTaskStateGet 0
+	#define INCLUDE_eTaskGetState 0
 #endif
 
 #ifndef configUSE_RECURSIVE_MUTEXES
@@ -534,6 +538,14 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 	#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime )
 #endif
 
+#ifndef configEXPECTED_IDLE_TIME_BEFORE_SLEEP
+	#define configEXPECTED_IDLE_TIME_BEFORE_SLEEP 2
+#endif
+
+#if configEXPECTED_IDLE_TIME_BEFORE_SLEEP < 2
+	#error configEXPECTED_IDLE_TIME_BEFORE_SLEEP must not be less than 2
+#endif
+
 #ifndef configUSE_TICKLESS_IDLE
 	#define configUSE_TICKLESS_IDLE 0
 #endif
@@ -546,5 +558,9 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 	#define configPOST_SLEEP_PROCESSING( x )
 #endif
 
+/* For backward compatability. */
+#define eTaskStateGet eTaskGetState
+#define INCLUDE_eTaskStateGet INCLUDE_eTaskGetState
+
 #endif /* INC_FREERTOS_H */
 

FreeRTOS/Source/include/mpu_wrappers.h

@@ -85,7 +85,7 @@ only for ports that are using the MPU. */
 		#define vTaskDelay						MPU_vTaskDelay
 		#define uxTaskPriorityGet				MPU_uxTaskPriorityGet
 		#define vTaskPrioritySet				MPU_vTaskPrioritySet
-		#define eTaskStateGet					MPU_eTaskStateGet
+		#define eTaskGetState					MPU_eTaskGetState
 		#define vTaskSuspend					MPU_vTaskSuspend
 		#define xTaskIsTaskSuspended			MPU_xTaskIsTaskSuspended
 		#define vTaskResume						MPU_vTaskResume

FreeRTOS/Source/include/task.h

@@ -131,7 +131,7 @@ typedef struct xTASK_PARAMTERS
 	xMemoryRegion xRegions[ portNUM_CONFIGURABLE_REGIONS ];
 } xTaskParameters;
 
-/* Task states returned by eTaskStateGet. */
+/* Task states returned by eTaskGetState. */
 typedef enum
 {
 	eRunning = 0,	/* A task is querying the state of itself, so must be running. */
@@ -613,9 +613,9 @@ unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTI
 
 /**
  * task. h
- * <pre>eTaskState eTaskStateGet( xTaskHandle pxTask );</pre>
+ * <pre>eTaskState eTaskGetState( xTaskHandle pxTask );</pre>
  *
- * INCLUDE_eTaskStateGet must be defined as 1 for this function to be available.
+ * INCLUDE_eTaskGetState must be defined as 1 for this function to be available.
  * See the configuration section for more information.
  *
  * Obtain the state of any task.  States are encoded by the eTaskState 
@@ -627,7 +627,7 @@ unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTI
  * state of the task might change between the function being called, and the
  * functions return value being tested by the calling task.
  */
-eTaskState eTaskStateGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
+eTaskState eTaskGetState( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h

FreeRTOS/Source/portable/GCC/ARM_CM3/port.c

@@ -367,6 +367,7 @@ void xPortSysTickHandler( void )
 	__attribute__((weak)) void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
 	{
 	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
+	portTickType xModifiableIdleTime;
 
 		/* Make sure the SysTick reload value does not overflow the counter. */
 		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
@@ -412,9 +413,14 @@ void xPortSysTickHandler( void )
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 
-			/* Sleep until something happens. */
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
-			configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
+			set its parameter to 0 to indicate that its implementation contains
-			if( xExpectedIdleTime > 0 )
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
 			{
 				__asm volatile( "wfi" );
 			}

FreeRTOS/Source/portable/GCC/ARM_CM3_MPU/port.c

@@ -180,7 +180,7 @@ void MPU_vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType
 void MPU_vTaskDelay( portTickType xTicksToDelay );
 unsigned portBASE_TYPE MPU_uxTaskPriorityGet( xTaskHandle pxTask );
 void MPU_vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );
-eTaskState MPU_eTaskStateGet( xTaskHandle pxTask );
+eTaskState MPU_eTaskGetState( xTaskHandle pxTask );
 void MPU_vTaskSuspend( xTaskHandle pxTaskToSuspend );
 signed portBASE_TYPE MPU_xTaskIsTaskSuspended( xTaskHandle xTask );
 void MPU_vTaskResume( xTaskHandle pxTaskToResume );
@@ -223,6 +223,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 	/* Simulate the stack frame as it would be created by a context switch
 	interrupt. */
 	pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
+	pxTopOfStack--; /* Offset added to ensure 8-byte alignment is maintained. */
 	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
 	pxTopOfStack--;
 	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;	/* PC */
@@ -736,13 +737,13 @@ portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
 #endif
 /*-----------------------------------------------------------*/
 
-#if ( INCLUDE_eTaskStateGet == 1 )
+#if ( INCLUDE_eTaskGetState == 1 )
-	eTaskState MPU_eTaskStateGet( xTaskHandle pxTask )
+	eTaskState MPU_eTaskGetState( xTaskHandle pxTask )
 	{
     portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
 	eTaskState eReturn;
 
-		eReturn = eTaskStateGet( pxTask );
+		eReturn = eTaskGetState( pxTask );
         portRESET_PRIVILEGE( xRunningPrivileged );
 		return eReturn;
 	}

FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c

@@ -399,6 +399,7 @@ void xPortSysTickHandler( void )
 	__attribute__((weak)) void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
 	{
 	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
+	portTickType xModifiableIdleTime;
 
 		/* Make sure the SysTick reload value does not overflow the counter. */
 		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
@@ -444,9 +445,14 @@ void xPortSysTickHandler( void )
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 
-			/* Sleep until something happens. */
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
-			configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
+			set its parameter to 0 to indicate that its implementation contains
-			if( xExpectedIdleTime > 0 )
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
 			{
 				__asm volatile( "wfi" );
 			}

FreeRTOS/Source/portable/IAR/ARM_CM3/port.c

@@ -265,6 +265,7 @@ void xPortSysTickHandler( void )
 	__weak void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
 	{
 	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
+	portTickType xModifiableIdleTime;
 
 		/* Make sure the SysTick reload value does not overflow the counter. */
 		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
@@ -310,9 +311,14 @@ void xPortSysTickHandler( void )
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 
-			/* Sleep until something happens. */
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
-			configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
+			set its parameter to 0 to indicate that its implementation contains
-			if( xExpectedIdleTime > 0 )
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
 			{
 				__WFI();
 			}

FreeRTOS/Source/portable/IAR/ARM_CM4F/port.c

@@ -290,6 +290,7 @@ void xPortSysTickHandler( void )
 	__weak void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
 	{
 	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
+	portTickType xModifiableIdleTime;
 
 		/* Make sure the SysTick reload value does not overflow the counter. */
 		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
@@ -335,9 +336,14 @@ void xPortSysTickHandler( void )
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 
-			/* Sleep until something happens. */
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
-			configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
+			set its parameter to 0 to indicate that its implementation contains
-			if( xExpectedIdleTime > 0 )
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
 			{
 				__WFI();
 			}

FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c

@@ -339,6 +339,7 @@ void xPortSysTickHandler( void )
 	__weak void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
 	{
 	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
+	portTickType xModifiableIdleTime;
 
 		/* Make sure the SysTick reload value does not overflow the counter. */
 		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
@@ -384,9 +385,14 @@ void xPortSysTickHandler( void )
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 
-			/* Sleep until something happens. */
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
-			configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
+			set its parameter to 0 to indicate that its implementation contains
-			if( xExpectedIdleTime > 0 )
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
 			{
 				__wfi();
 			}

FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c

@@ -402,6 +402,7 @@ void xPortSysTickHandler( void )
 	__weak void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
 	{
 	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
+	portTickType xModifiableIdleTime;
 
 		/* Make sure the SysTick reload value does not overflow the counter. */
 		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
@@ -447,9 +448,14 @@ void xPortSysTickHandler( void )
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 
-			/* Sleep until something happens. */
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
-			configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
+			set its parameter to 0 to indicate that its implementation contains
-			if( xExpectedIdleTime > 0 )
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
 			{
 				__wfi();
 			}

FreeRTOS/Source/tasks.c

@@ -840,9 +840,9 @@ tskTCB * pxNewTCB;
 #endif
 /*-----------------------------------------------------------*/
 
-#if ( INCLUDE_eTaskStateGet == 1 )
+#if ( INCLUDE_eTaskGetState == 1 )
 
-	eTaskState eTaskStateGet( xTaskHandle pxTask )
+	eTaskState eTaskGetState( xTaskHandle pxTask )
 	{
 	eTaskState eReturn;
 	xList *pxStateList;
@@ -1322,7 +1322,7 @@ void vTaskSuspendAll( void )
 
 #if ( configUSE_TICKLESS_IDLE != 0 )
 
-	portTickType prvGetExpectedIdleTime( void )
+	static portTickType prvGetExpectedIdleTime( void )
 	{
 	portTickType xReturn;
 
@@ -1645,7 +1645,7 @@ implementations require configUSE_TICKLESS_IDLE to be set to a value other than
 
 	void vTaskStepTick( portTickType xTicksToJump )
 	{
-		configASSERT( xTicksToJump <= xNextTaskUnblockTime );
+		configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
 		xTickCount += xTicksToJump;
 	}
 
@@ -2165,13 +2165,6 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 		#if ( configUSE_TICKLESS_IDLE != 0 )
 		{
 		portTickType xExpectedIdleTime;
-		/* If the expected idle time is 1 then the idle time would end at
-		the end of the current time slice.  The idle time must be at least
-		2 to ensure any pended ticks between this point and the tick being
-		stopped can be legitimately stepped over when the tick suppression
-		routines returns. */
-		const portTickType xMinimumExpectedIdleTime = ( portTickType ) 2;
-
 			/* It is not desirable to suspend then resume the scheduler on
 			each iteration of the idle task.  Therefore, a preliminary
 			test of the expected idle time is performed without the
@@ -2179,7 +2172,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 			valid. */
 			xExpectedIdleTime = prvGetExpectedIdleTime();
 
-			if( xExpectedIdleTime >= xMinimumExpectedIdleTime )
+			if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
 			{
 				vTaskSuspendAll();
 				{
@@ -2189,7 +2182,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 					configASSERT( xNextTaskUnblockTime >= xTickCount );
 					xExpectedIdleTime = prvGetExpectedIdleTime();
 
-					if( xExpectedIdleTime >= xMinimumExpectedIdleTime )
+					if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
 					{
 						portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
 					}