ARM-software · VladimirUmek · Mar 19, 2024 · Mar 13, 2024
diff --git a/ARM.CMSIS-FreeRTOS.pdsc b/ARM.CMSIS-FreeRTOS.pdsc
@@ -11,6 +11,7 @@
     <release version="0.0.0">
       FreeRTOS 11.0.1
       Active development...
+      - Add support for processor affinity to CMSIS-RTOS2 wrapper
       - Add memory allocation configuration options to FreeRTOSConfig.h
       - CMSIS-RTOS2 requires CMSIS:OS Tick component
       - Drop support for Arm Compiler 5
@@ -20,7 +21,7 @@
 
   <requirements>
     <packages>
-      <package vendor="ARM" name="CMSIS" version="5.9.0"/>
+      <package vendor="ARM" name="CMSIS" version="6.0.0-0"/>
     </packages>
   </requirements>
 
@@ -870,7 +871,7 @@
 
   <components>
     <!-- CMSIS-RTOS2 FreeRTOS component -->
-    <component Cclass="CMSIS" Cgroup="RTOS2" Csub="FreeRTOS" Cvariant="Cortex-M" Cversion="11.0.1" Capiversion="2.2.0" condition="CMSIS RTOS2 FreeRTOS CortexM">
+    <component Cclass="CMSIS" Cgroup="RTOS2" Csub="FreeRTOS" Cvariant="Cortex-M" Cversion="11.0.1" Capiversion="2.3.0" condition="CMSIS RTOS2 FreeRTOS CortexM">
       <description>CMSIS-RTOS2 implementation for Cortex-M based on FreeRTOS</description>
       <RTE_Components_h>
         #define RTE_CMSIS_RTOS2                 /* CMSIS-RTOS2 */
@@ -884,7 +885,7 @@
       </files>
     </component>
 
-    <component Cclass="CMSIS" Cgroup="RTOS2" Csub="FreeRTOS" Cvariant="Cortex-A" Cversion="11.0.1" Capiversion="2.2.0" condition="CMSIS RTOS2 FreeRTOS CortexA">
+    <component Cclass="CMSIS" Cgroup="RTOS2" Csub="FreeRTOS" Cvariant="Cortex-A" Cversion="11.0.1" Capiversion="2.3.0" condition="CMSIS RTOS2 FreeRTOS CortexA">
       <description>CMSIS-RTOS2 implementation for Cortex-A based on FreeRTOS</description>
       <RTE_Components_h>
         #define RTE_CMSIS_RTOS2                 /* CMSIS-RTOS2 */

diff --git a/CMSIS/RTOS2/FreeRTOS/Config/ARMCM/FreeRTOSConfig.h b/CMSIS/RTOS2/FreeRTOS/Config/ARMCM/FreeRTOSConfig.h
@@ -271,6 +271,27 @@
 #define configMINIMAL_SECURE_STACK_SIZE       ((uint32_t)128)
 // </h>
 
+// <h> Symmetric Multiprocessing Configuration
+// <i> Enable and configure FreeRTOS for Symmetric Multiprocessing (SMP).
+
+//  <q>Number of processor cores
+//  <i> Sets the number of available processor cores.
+//  <i> Default: 1
+#define configNUMBER_OF_CORES                 1
+
+//  <q>Use processor core affinity
+//  <i> Enables the control for task to run on specific processor cores.
+//  <i> Task that has no processor affinity set may run on any available core.
+//  <i> Default: 0
+#define configUSE_CORE_AFFINITY               0
+
+//  <q>Use passive idle hook
+//  <i> Enable callback function call on each idle task iteration.
+//  <i> Callback function vApplicationPassiveIdleHook implementation is required when idle hook is enabled.
+//  <i> Default: 0
+#define configUSE_PASSIVE_IDLE_HOOK           0
+// </h>
+
 //------------- <<< end of configuration section >>> ---------------------------
 
 /* Defines needed by FreeRTOS to implement CMSIS RTOS2 API. Do not change! */

diff --git a/CMSIS/RTOS2/FreeRTOS/Include/freertos_os2.h b/CMSIS/RTOS2/FreeRTOS/Include/freertos_os2.h
@@ -1,5 +1,5 @@
 /* --------------------------------------------------------------------------
- * Copyright (c) 2013-2023 Arm Limited. All rights reserved.
+ * Copyright (c) 2013-2024 Arm Limited. All rights reserved.
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -110,6 +110,12 @@
 #define configUSE_OS2_MUTEX                   configUSE_MUTEXES
 #endif
 
+/*
+  Option to exclude CMSIS-RTOS2 Processor Affinity API functions from the application image.
+*/
+#ifndef configUSE_OS2_CPU_AFFINITY
+#define configUSE_OS2_CPU_AFFINITY            configUSE_CORE_AFFINITY
+#endif
 
 /*
   CMSIS-RTOS2 FreeRTOS configuration check (FreeRTOSConfig.h).
@@ -267,6 +273,26 @@
   #endif
 #endif
 
+#if (configUSE_CORE_AFFINITY == 0)
+  /*
+    CMSIS-RTOS2 Processor Affinity API functions require FreeRTOS kernel support for
+    Symmetric Multiprocessing (SMP). In case if this functionality is not available
+    and the functions are not used in the application image, compiler will optimize
+    them away.
+    Set #define configUSE_CORE_AFFINITY 1 to fix this error.
+    Note: SMP is only available when #define configNUMBER_OF_CORES > 1
+
+    Alternatively, if the application does not use processor affinity functions they
+    can be excluded from the image code by setting:
+    #define configUSE_OS2_CPU_AFFINITY 0 (in FreeRTOSConfig.h)
+  */
+
+  #if (configUSE_OS2_CPU_AFFINITY == 1)
+    #error "Definitions configNUMBER_OF_CORES and configUSE_CORE_AFFINITY must equal 1 to implement Processor Affinity API."
+  #endif
+#endif
+
+
 #if (configUSE_COUNTING_SEMAPHORES == 0)
   /*
     CMSIS-RTOS2 Memory Pool functions use FreeRTOS function xSemaphoreCreateCounting

diff --git a/CMSIS/RTOS2/FreeRTOS/Source/cmsis_os2.c b/CMSIS/RTOS2/FreeRTOS/Source/cmsis_os2.c
@@ -521,6 +521,9 @@ osThreadId_t osThreadNew (osThreadFunc_t func, void *argument, const osThreadAtt
   TaskHandle_t hTask;
   UBaseType_t prio;
   int32_t mem;
+#if (configUSE_OS2_CPU_AFFINITY == 1)
+  UBaseType_t core_aff = tskNO_AFFINITY;
+#endif
 
   hTask = NULL;
 
@@ -561,23 +564,62 @@ osThreadId_t osThreadNew (osThreadFunc_t func, void *argument, const osThreadAtt
           mem = 0;
         }
       }
+
+      #if (configUSE_OS2_CPU_AFFINITY == 1)
+        if (attr->affinity_mask != 0U) {
+          core_aff = attr->affinity_mask;
+        }
+      #endif
     }
     else {
       mem = 0;
     }
 
     if (mem == 1) {
       #if (configSUPPORT_STATIC_ALLOCATION == 1)
-        hTask = xTaskCreateStatic ((TaskFunction_t)func, name, stack, argument, prio, (StackType_t  *)attr->stack_mem,
-                                                                                      (StaticTask_t *)attr->cb_mem);
+        #if (configUSE_OS2_CPU_AFFINITY == 0)
+          hTask = xTaskCreateStatic ((TaskFunction_t)func,
+                                                     name,
+                                                     stack,
+                                                     argument,
+                                                     prio,
+                                     (StackType_t  *)attr->stack_mem,
+                                     (StaticTask_t *)attr->cb_mem);
+        #else
+          hTask = xTaskCreateStaticAffinitySet ((TaskFunction_t)func,
+                                                                name,
+                                                                stack,
+                                                                argument,
+                                                                prio,
+                                                (StackType_t  *)attr->stack_mem,
+                                                (StaticTask_t *)attr->cb_mem,
+                                                                core_aff);
+        #endif
       #endif
     }
     else {
       if (mem == 0) {
         #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
-          if (xTaskCreate ((TaskFunction_t)func, name, (configSTACK_DEPTH_TYPE)stack, argument, prio, &hTask) != pdPASS) {
-            hTask = NULL;
-          }
+          #if (configUSE_OS2_CPU_AFFINITY == 0)
+            if (xTaskCreate ((TaskFunction_t        )func,
+                                                     name,
+                             (configSTACK_DEPTH_TYPE)stack,
+                                                     argument,
+                                                     prio,
+                                                     &hTask) != pdPASS) {
+              hTask = NULL;
+            }
+          #else
+            if (xTaskCreateAffinitySet ((TaskFunction_t        )func,
+                                                                name,
+                                        (configSTACK_DEPTH_TYPE)stack,
+                                                                argument,
+                                                                prio,
+                                                                core_aff,
+                                                                &hTask) != pdPASS) {
+              hTask = NULL;
+            }
+          #endif
         #endif
       }
     }
@@ -878,6 +920,50 @@ uint32_t osThreadEnumerate (osThreadId_t *thread_array, uint32_t array_items) {
 }
 #endif /* (configUSE_OS2_THREAD_ENUMERATE == 1) */
 
+#if (configUSE_OS2_CPU_AFFINITY == 1)
+/*
+  Set processor affinity mask of a thread.
+*/
+osStatus_t osThreadSetAffinityMask (osThreadId_t thread_id, uint32_t affinity_mask) {
+  TaskHandle_t hTask = (TaskHandle_t)thread_id;
+  osStatus_t stat;
+
+  if (IRQ_Context() != 0U) {
+    stat = osErrorISR;
+  }
+  else if (hTask == NULL) {
+    stat = osErrorParameter;
+  }
+  else {
+    stat = osOK;
+    vTaskCoreAffinitySet (hTask, (UBaseType_t)affinity_mask);
+  }
+
+  /* Return execution status */
+  return (stat);
+}
+
+/*
+  Get current processor affinity mask of a thread.
+*/
+uint32_t osThreadGetAffinityMask (osThreadId_t thread_id) {
+  TaskHandle_t hTask = (TaskHandle_t)thread_id;
+  UBaseType_t affinity_mask;
+
+  if (IRQ_Context() != 0U) {
+    affinity_mask = 0U;
+  }
+  else if (hTask == NULL) {
+    affinity_mask = 0U;
+  }
+  else {
+    affinity_mask = vTaskCoreAffinityGet (hTask);
+  }
+
+  /* Return current processor affinity mask */
+  return ((uint32_t)affinity_mask);
+}
+#endif /* (configUSE_OS2_CPU_AFFINITY == 1) */
 
 /* ==== Thread Flags Functions ==== */