Merge branch 'main' into agent/timer-system-state

Author: RogerNext

History.txt

@@ -1,5 +1,140 @@
 Documentation and download available at https://www.FreeRTOS.org/
 
+Changes between FreeRTOS V11.3.0 and FreeRTOS V11.3.1 released August 2026
+
+    + Add Symmetric Multiprocessing (SMP) support to the Armv8-M ports for the
+      GCC, ArmClang and IAR toolchains. This adds per core critical nesting
+      state, spinlocks, inter-core yield and wakeup using SEV/WFE, primary and
+      secondary core bring up synchronization, and a core safe PendSV context
+      switch. Single core builds are unchanged. We thank @AhmedIsmail02 for
+      their contribution.
+    + Add new xTaskPeriodicDelay API for periodic tasks. It supersedes
+      xTaskDelayUntil by preventing run away of pxPreviousWakeTime, catching up
+      skipped periods immediately while returning the number of periods skipped,
+      and returning 0 when not enough ticks have elapsed. We thank @ntd for
+      their contribution.
+    + Add uxTaskCallForEachTask API, which invokes a caller supplied callback
+      for each task in the system, and refactor uxTaskGetSystemState to use it.
+      We thank @DRNadler for their contribution.
+    + Add configIDLE_AFFINITY configuration option, which pins each Idle task to
+      its corresponding core in SMP systems. It defaults to 0, which allows the
+      scheduler to run Idle tasks on any available core. We thank @rus084 for
+      their contribution.
+    + Add validation to SecureContext_AllocateContext in the ARMv8-M secure side
+      ports to ensure that the requested secure stack size plus the stack seal
+      size does not overflow before allocating. We thank Jordan Mecom (Block,
+      Inc.) for reporting this issue.
+    + Add assertions to vQueueDelete to check that no tasks are blocked on the
+      queue being deleted.
+    + Add a link to the FreeRTOS Kernel threat model in SECURITY.md.
+    + Add documentation clarifying that the MemoryRegion_t ulParameters macros
+      are port specific, so applications must use the tskMPU_REGION_* or
+      portMPU_REGION_* values that match their MPU port. We thank @Old-Ding for
+      their contribution.
+    + Add a comment documenting that a privileged task must revoke access
+      permissions before deleting a kernel object when using Access Control
+      Lists.
+    + Update the ARM_CRx_No_GIC port to declare vPortYield as a weak symbol so
+      that devices with a dedicated software interrupt register can substitute
+      their own yield trigger. The default behavior is unchanged. We thank
+      @maximdeclercq for their contribution.
+    + Update the FreeRTOSConfig.h template to use a 32-bit tick type, which
+      avoids compiler warnings on Windows where a 64-bit tick resolves to
+      unsigned long long.
+    + Update the deprecated CMake configuration warning to use INTERFACE rather
+      than PUBLIC for the freertos_config interface library. We thank @Isla-jq
+      for their contribution.
+    + Fix vPortFreeSecureContext in the ARMv8-M ports to read xSecureContext at
+      the correct offset. When the MPU is enabled, the first item in the TCB is
+      the stored context location rather than the top of stack, so
+      xSecureContext is located at a negative offset from that position.
+    + Fix SecureContext_AllocateContext in the ARMv8-M secure side ports to
+      reject a secure stack size smaller than the stack seal size.
+    + Fix SecureContext_FreeContext in the ARMv8-M secure side ports to refuse
+      to free the secure context that is currently loaded, as indicated by
+      PSPLIM. Freeing it left the running task referencing freed secure memory.
+      The task handle supplied by the non-secure side is untrusted, so it is
+      now used only as an additional ownership check.
+    + Fix the ARMv8-M ports to service the portSVC_START_SCHEDULER and
+      portSVC_FREE_SECURE_CONTEXT supervisor calls only when they are raised
+      from privileged code. When the MPU is enabled, both requests are now
+      ignored unless the calling program counter lies within the privileged
+      functions section.
+    + Fix a type confusion in xQueueAddToSet by verifying that the object
+      passed as the queue set really is a queue set, that is, that its item
+      size is sizeof( Queue_t * ). Passing an ordinary queue now returns
+      pdFAIL rather than allowing prvNotifyQueueSetContainer to copy item size
+      bytes from a single pointer on the stack.
+    + Fix xTimerGenericCommandFromTask to validate the lower bound of
+      xCommandID in addition to the existing upper bound, so that only the
+      valid task command range from tmrCOMMAND_START_DONT_TRACE to
+      tmrCOMMAND_DELETE is accepted. Rejected commands return pdFAIL, and
+      behavior for valid commands and for xTimerGenericCommandFromISR is
+      unchanged.
+    + Fix a kernel object pool entry leak by adding an MPU wrapper for the
+      xTimerDelete API, so that the pool index is freed when a timer is deleted
+      with MPU wrappers version 2.
+    + Fix the MPU wrapper macro mapping for the ARMv8-M ports.
+    + Fix silently failing critical sections in unprivileged tasks by
+      disallowing configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS with MPU wrappers
+      version 2 in the ARMv7-M MPU ports. The option now defaults to 0 under
+      version 2, and explicitly setting it to 1 raises a compile time error.
+      Behavior with MPU wrappers version 1 is unchanged.
+    + Fix a time of check to time of use race condition in vTaskListTasks, where
+      reading the volatile task count twice allowed a task to be created between
+      the reads, resulting in an undersized allocation and a possible buffer
+      overflow in uxTaskGetSystemState. We thank @srpatcha for their
+      contribution.
+    + Fix a spurious heap_5 assertion when configENABLE_HEAP_PROTECTOR is 1 and
+      an allocation cannot be satisfied. The free block search reaching the end
+      marker is a normal out of memory condition, so pvPortMalloc now returns
+      NULL and invokes the malloc failed hook instead of asserting.
+    + Fix batching stream buffers to unblock a receiver only after the buffered
+      byte count exceeds, rather than reaches, the trigger level. Previously a
+      receiver could be woken early and xStreamBufferReceive could return 0
+      bytes. Stream buffer and message buffer semantics are unchanged. We thank
+      @officialasishkumar for their contribution.
+    + Fix MISRA C 2012 Rule 20.4 violation by replacing `#define static` with a
+      STATIC macro, which also keeps the static variables in
+      vApplicationGetIdleTaskMemory and vApplicationGetPassiveIdleTaskMemory
+      static when portREMOVE_STATIC_QUALIFIER is defined. We thank @elsonwei for
+      their contribution.
+    + Fix undefined behavior in the MSVC-MingW port caused by left shifting a
+      signed int by 31 or more bits.
+    + Fix a duplicate Doxygen \defgroup identifier by giving
+      uxTaskBasePriorityGet its own group instead of reusing the
+      uxTaskPriorityGet group.
+    + Fix the incorrect #endif comment after vPortSetupTimerInterrupt in the GCC
+      and IAR RISC-V ports, which duplicated configMTIME_BASE_ADDRESS and
+      omitted configMTIMECMP_BASE_ADDRESS. We thank @cuiweixie for their
+      contribution.
+    + Fix incorrect #endif comments in croutine.c and queue.c, which reversed
+      the configUSE_CO_ROUTINES condition and named the wrong configuration
+      option for configSUPPORT_DYNAMIC_ALLOCATION. We thank @Zepp-Hanzj for
+      their contribution.
+    + Fix the configLIST_VOLATILE #endif comment and the documented parameter
+      names for uxListRemove in include/list.h. We thank @rakeshr-source for
+      their contribution.
+    + Fix the type and timeout values used in the xStreamBufferSend and
+      xMessageBufferSend documentation examples. We thank @Isla-jq for their
+      contribution.
+    + Fix copy and paste comment typos in xTaskGetApplicationTaskTag and
+      xTaskGetApplicationTaskTagFromISR, and a typo in the
+      xTaskGenericNotifyWait comment. We thank @wanghengZzz for their
+      contributions.
+    + Fix comment typos in the queue.h, list.h and task.h documentation,
+      including the xQueueReceiveFromISR and xQueueGenericSend examples, the
+      listGET_ITEM_VALUE_OF_HEAD_ENTRY \page tag, and the uxIndexToCLear typo.
+      We thank @zepp-chen for their contribution.
+    + Fix the FreeRTOSConfig.h template path referenced in README.md. We thank
+      @IClementI for their contribution.
+    + Fix the missing V prefix in the release_tag and namespace-prefix inputs of
+      the auto release workflow.
+    + Fix long path failures in the Windows kernel demo builds by enabling
+      Windows long path support in CI.
+    + Remove an unnecessary const variable from the GCC and IAR RISC-V ports. We
+      thank @IClementI for their contribution.
+
 Changes between FreeRTOS V11.2.0 and FreeRTOS V11.3.0 released March 2026
 
     + Correct minor mistakes in code comments in event_groups.c, include/queue.h,

examples/template_configuration/FreeRTOSConfig.h

@@ -577,7 +577,7 @@
 /* Defines the kernel provided implementation of
  * vApplicationGetIdleTaskMemory() and vApplicationGetTimerTaskMemory()
  * to provide the memory that is used by the Idle task and Timer task
- * respectively. The application can provide it's own implementation of
+ * respectively. The application can provide its own implementation of
  * vApplicationGetIdleTaskMemory() and vApplicationGetTimerTaskMemory() by
  * setting configKERNEL_PROVIDED_STATIC_MEMORY to 0 or leaving it undefined. */
 #define configKERNEL_PROVIDED_STATIC_MEMORY    1

include/FreeRTOS.h

@@ -1786,6 +1786,14 @@
     #define traceRETURN_vTaskDelete()
 #endif
 
+#ifndef traceENTER_xTaskPeriodicDelay
+    #define traceENTER_xTaskPeriodicDelay( pxPreviousWakeTime, xTimeIncrement )
+#endif
+
+#ifndef traceRETURN_xTaskPeriodicDelay
+    #define traceRETURN_xTaskPeriodicDelay( xIncrements )
+#endif
+
 #ifndef traceENTER_xTaskDelayUntil
     #define traceENTER_xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement )
 #endif

include/croutine.h

@@ -528,7 +528,7 @@ void vCoRoutineSchedule( void );
  * functions used by tasks.
  *
  * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
- * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
+ * pass data between a co-routine and ISR, whereas xQueueSendFromISR() and
  * xQueueReceiveFromISR() can only be used to pass data between a task and and
  * ISR.
  *
@@ -628,7 +628,7 @@ void vCoRoutineSchedule( void );
  * functions used by tasks.
  *
  * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
- * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
+ * pass data between a co-routine and ISR, whereas xQueueSendFromISR() and
  * xQueueReceiveFromISR() can only be used to pass data between a task and and
  * ISR.
  *

include/list.h

@@ -31,7 +31,7 @@
  * heavily for the schedulers needs, it is also available for use by
  * application code.
  *
- * list_ts can only store pointers to list_item_ts.  Each ListItem_t contains a
+ * List_t can only store pointers to ListItem_t.  Each ListItem_t contains a
  * numeric value (xItemValue).  Most of the time the lists are sorted in
  * ascending item value order.
  *
@@ -42,7 +42,7 @@
  * is because the tail contains a wrap back pointer to the true head of
  * the list.
  *
- * In addition to it's value, each list item contains a pointer to the next
+ * In addition to its value, each list item contains a pointer to the next
  * item in the list (pxNext), a pointer to the list it is in (pxContainer)
  * and a pointer back to the object that contains it.  These later two
  * pointers are included for efficiency of list manipulation.  There is
@@ -74,7 +74,7 @@
  * compiler's options were set for maximum optimisation has been inspected and
  * deemed to be as intended.  That said, as compiler technology advances, and
  * especially if aggressive cross module optimisation is used (a use case that
- * has not been exercised to any great extend) then it is feasible that the
+ * has not been exercised to any great extent) then it is feasible that the
  * volatile qualifier will be needed for correct optimisation.  It is expected
  * that a compiler removing essential code because, without the volatile
  * qualifier on the list structure members and with aggressive cross module
@@ -219,7 +219,7 @@ typedef struct xLIST
  * Access macro to retrieve the value of the list item at the head of a given
  * list.
  *
- * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
+ * \page listGET_ITEM_VALUE_OF_HEAD_ENTRY listGET_ITEM_VALUE_OF_HEAD_ENTRY
  * \ingroup LinkedList
  */
 #define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList )        ( ( ( pxList )->xListEnd ).pxNext->xItemValue )

include/mpu_wrappers.h

@@ -286,9 +286,17 @@
 
 #else /* portUSING_MPU_WRAPPERS */
 
-    #define PRIVILEGED_FUNCTION
-    #define PRIVILEGED_DATA
-    #define FREERTOS_SYSTEM_CALL
+    #ifndef PRIVILEGED_FUNCTION
+        #define PRIVILEGED_FUNCTION
+    #endif
+
+    #ifndef PRIVILEGED_DATA
+        #define PRIVILEGED_DATA
+    #endif
+
+    #ifndef FREERTOS_SYSTEM_CALL
+        #define FREERTOS_SYSTEM_CALL
+    #endif
 
 #endif /* portUSING_MPU_WRAPPERS */
 

include/queue.h

@@ -44,7 +44,7 @@
 
 /**
  * Type by which queues are referenced.  For example, a call to xQueueCreate()
- * returns an QueueHandle_t variable that can then be used as a parameter to
+ * returns a QueueHandle_t variable that can then be used as a parameter to
  * xQueueSend(), xQueueReceive(), etc.
  */
 struct QueueDefinition; /* Using old naming convention so as not to break kernel aware debuggers. */
@@ -60,7 +60,7 @@ typedef struct QueueDefinition   * QueueSetHandle_t;
 /**
  * Queue sets can contain both queues and semaphores, so the
  * QueueSetMemberHandle_t is defined as a type to be used where a parameter or
- * return value can be either an QueueHandle_t or an SemaphoreHandle_t.
+ * return value can be either a QueueHandle_t or a SemaphoreHandle_t.
  */
 typedef struct QueueDefinition   * QueueSetMemberHandle_t;
 
@@ -185,7 +185,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
  * @param pucQueueStorage If uxItemSize is not zero then
  * pucQueueStorage must point to a uint8_t array that is at least large
  * enough to hold the maximum number of items that can be in the queue at any
- * one time - which is ( uxQueueLength * uxItemsSize ) bytes.  If uxItemSize is
+ * one time - which is ( uxQueueLength * uxItemSize ) bytes.  If uxItemSize is
  * zero then pucQueueStorage can be NULL.
  *
  * @param pxQueueBuffer Must point to a variable of type StaticQueue_t, which
@@ -604,7 +604,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
  * BaseType_t xQueueGenericSend(
  *                                  QueueHandle_t xQueue,
  *                                  const void * pvItemToQueue,
- *                                  TickType_t xTicksToWait
+ *                                  TickType_t xTicksToWait,
  *                                  BaseType_t xCopyPosition
  *                              );
  * @endcode
@@ -1189,7 +1189,7 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  *
  *  // ...
  *
- *  if( xHigherPrioritytaskWoken == pdTRUE )
+ *  if( xHigherPriorityTaskWoken == pdTRUE )
  *  {
  *      // Writing to the queue caused a task to unblock and the unblocked task
  *      // has a priority higher than or equal to the priority of the currently
@@ -1451,7 +1451,7 @@ BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue,
  *      // task will be woken.
  *  }
  *
- *  if( xHigherPrioritytaskWoken == pdTRUE );
+ *  if( xHigherPriorityTaskWoken == pdTRUE )
  *  {
  *      // As xHigherPriorityTaskWoken is now set to pdTRUE then a context
  *      // switch should be requested. The macro used is port specific and
@@ -1664,7 +1664,7 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  * Note 2:  Blocking on a queue set that contains a mutex will not cause the
  * mutex holder to inherit the priority of the blocked task.
  *
- * Note 3:  An additional 4 bytes of RAM is required for each space in a every
+ * Note 3:  An additional 4 bytes of RAM is required for each space in every
  * queue added to a queue set.  Therefore counting semaphores that have a high
  * maximum count value should not be added to a queue set.
  *
@@ -1716,7 +1716,7 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  * Note 2:  Blocking on a queue set that contains a mutex will not cause the
  * mutex holder to inherit the priority of the blocked task.
  *
- * Note 3:  An additional 4 bytes of RAM is required for each space in a every
+ * Note 3:  An additional 4 bytes of RAM is required for each space in every
  * queue added to a queue set.  Therefore counting semaphores that have a high
  * maximum count value should not be added to a queue set.
  *
@@ -1767,7 +1767,7 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  * a call to xQueueSelectFromSet() has first returned a handle to that set member.
  *
  * @param xQueueOrSemaphore The handle of the queue or semaphore being added to
- * the queue set (cast to an QueueSetMemberHandle_t type).
+ * the queue set (cast to a QueueSetMemberHandle_t type).
  *
  * @param xQueueSet The handle of the queue set to which the queue or semaphore
  * is being added.
@@ -1790,7 +1790,7 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  * function.
  *
  * @param xQueueOrSemaphore The handle of the queue or semaphore being removed
- * from the queue set (cast to an QueueSetMemberHandle_t type).
+ * from the queue set (cast to a QueueSetMemberHandle_t type).
  *
  * @param xQueueSet The handle of the queue set in which the queue or semaphore
  * is included.
@@ -1836,7 +1836,7 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  * a QueueSetMemberHandle_t type) contained in the queue set that contains data,
  * or the handle of a semaphore (cast to a QueueSetMemberHandle_t type) contained
  * in the queue set that is available, or NULL if no such queue or semaphore
- * exists before before the specified block time expires.
+ * exists before the specified block time expires.
  */
 #if ( configUSE_QUEUE_SETS == 1 )
     QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet,