Further simplifications of FreeRTOS

examples/chapter11_07/readme.md

@@ -98,13 +98,15 @@ The port for the ATmega328P target can be found in
 This OS-portable part has been modified for this example
 via changes including switching from a C to a C++ file,
 cleaning up spaces, tabs and alignment of typing.
+In addition, some configuration macros and config checks
+have been removed simplification purposes.
 The OS tick uses `compare-match-a` from `timer1` to generate
 a tick interrupt at $100~\text{Hz}$ (i.e., approximately every $10~\text{ms}$)
 using an undecorated ISR handle named `__vector_11`.
 
 When using the simulated host (such as `_MSC_VER` or GCC on `x86_64`),
 FreeRTOS is not used, but rather the C++ `<thread>` and `<chrono>` libraries
-are used for simulated task scheduling. The `<thread>` library
+are used for task timing and scheduling. The `<thread>` library
 does not use adjustable priorities in this case, but the thread scheduler
 supports preemptive scheduling and emulates the desired timing quite well.
 

examples/chapter11_07/src/os/FreeRTOS/Source/event_groups.c

@@ -96,20 +96,9 @@ static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits,
         EventGroup_t * pxEventBits;
 
         /* A StaticEventGroup_t object must be provided. */
-        configASSERT( pxEventGroupBuffer );
-
-        #if ( configASSERT_DEFINED == 1 )
-            {
-                /* Sanity check that the size of the structure used to declare a
-                 * variable of type StaticEventGroup_t equals the size of the real
-                 * event group structure. */
-                volatile size_t xSize = sizeof( StaticEventGroup_t );
-                configASSERT( xSize == sizeof( EventGroup_t ) );
-            } /*lint !e529 xSize is referenced if configASSERT() is defined. */
-        #endif /* configASSERT_DEFINED */
 
         /* The user has provided a statically allocated event group - use it. */
-        pxEventBits = ( EventGroup_t * ) pxEventGroupBuffer; /*lint !e740 !e9087 EventGroup_t and StaticEventGroup_t are deliberately aliased for data hiding purposes and guaranteed to have the same size and alignment requirement - checked by configASSERT(). */
+        pxEventBits = ( EventGroup_t * ) pxEventGroupBuffer; /*lint !e740 !e9087 EventGroup_t and StaticEventGroup_t are deliberately aliased for data hiding purposes and guaranteed to have the same size and alignment requirement. */
 
         if( pxEventBits != NULL )
         {
@@ -199,14 +188,6 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
     BaseType_t xAlreadyYielded;
     BaseType_t xTimeoutOccurred = pdFALSE;
 
-    configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
-    configASSERT( uxBitsToWaitFor != 0 );
-    #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
-        {
-            configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
-        }
-    #endif
-
     vTaskSuspendAll();
     {
         uxOriginalBitValue = pxEventBits->uxEventBits;
@@ -325,14 +306,6 @@ EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
 
     /* Check the user is not attempting to wait on the bits used by the kernel
      * itself, and that at least one bit is being requested. */
-    configASSERT( xEventGroup );
-    configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
-    configASSERT( uxBitsToWaitFor != 0 );
-    #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
-        {
-            configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
-        }
-    #endif
 
     vTaskSuspendAll();
     {
@@ -474,11 +447,6 @@ EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup,
     EventGroup_t * pxEventBits = xEventGroup;
     EventBits_t uxReturn;
 
-    /* Check the user is not attempting to clear the bits used by the kernel
-     * itself. */
-    configASSERT( xEventGroup );
-    configASSERT( ( uxBitsToClear & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
-
     taskENTER_CRITICAL();
     {
         traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear );
@@ -538,11 +506,6 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup,
     EventGroup_t * pxEventBits = xEventGroup;
     BaseType_t xMatchFound = pdFALSE;
 
-    /* Check the user is not attempting to set the bits used by the kernel
-     * itself. */
-    configASSERT( xEventGroup );
-    configASSERT( ( uxBitsToSet & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
-
     pxList = &( pxEventBits->xTasksWaitingForBits );
     pxListEnd = listGET_END_MARKER( pxList ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
     vTaskSuspendAll();
@@ -636,7 +599,7 @@ void vEventGroupDelete( EventGroupHandle_t xEventGroup )
         {
             /* Unblock the task, returning 0 as the event list is being deleted
              * and cannot therefore have any bits set. */
-            configASSERT( pxTasksWaitingForBits->xListEnd.pxNext != ( const ListItem_t * ) &( pxTasksWaitingForBits->xListEnd ) );
+
             vTaskRemoveFromUnorderedEventList( pxTasksWaitingForBits->xListEnd.pxNext, eventUNBLOCKED_DUE_TO_BIT_SET );
         }
 

examples/chapter11_07/src/os/FreeRTOS/Source/include/FreeRTOS.h

@@ -219,25 +219,6 @@
     #error configMAX_TASK_NAME_LEN must be set to a minimum of 1 in FreeRTOSConfig.h
 #endif
 
-#ifndef configASSERT
-    #define configASSERT( x )
-    #define configASSERT_DEFINED    0
-#else
-    #define configASSERT_DEFINED    1
-#endif
-
-/* configPRECONDITION should be defined as configASSERT.
- * The CBMC proofs need a way to track assumptions and assertions.
- * A configPRECONDITION statement should express an implicit invariant or
- * assumption made.  A configASSERT statement should express an invariant that must
- * hold explicit before calling the code. */
-#ifndef configPRECONDITION
-    #define configPRECONDITION( X )    configASSERT( X )
-    #define configPRECONDITION_DEFINED    0
-#else
-    #define configPRECONDITION_DEFINED    1
-#endif
-
 #ifndef portMEMORY_BARRIER
     #define portMEMORY_BARRIER()
 #endif

examples/chapter11_07/src/os/FreeRTOS/Source/include/list.h

@@ -130,8 +130,8 @@
 
 /* Define macros that will assert if one of the structure members does not
  * contain its expected value. */
-    #define listTEST_LIST_ITEM_INTEGRITY( pxItem )                      configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
-    #define listTEST_LIST_INTEGRITY( pxList )                           configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
+    #define listTEST_LIST_ITEM_INTEGRITY( pxItem )
+    #define listTEST_LIST_INTEGRITY( pxList )
 #endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */
 
 

examples/chapter11_07/src/os/FreeRTOS/Source/include/queue.h

@@ -520,10 +520,7 @@ typedef struct QueueDefinition   * QueueSetMemberHandle_t;
  * QueueHandle_t xQueue;
  * uint32_t ulVarToSend, ulValReceived;
  *
- *  // Create a queue to hold one uint32_t value.  It is strongly
- *  // recommended *not* to use xQueueOverwrite() on queues that can
- *  // contain more than one value, and doing so will trigger an assertion
- *  // if configASSERT() is defined.
+ *  // Create a queue to hold one uint32_t value.
  *  xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
  *
  *  // Write the value 10 to the queue using xQueueOverwrite().
@@ -1123,10 +1120,7 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  *
  * void vFunction( void *pvParameters )
  * {
- *  // Create a queue to hold one uint32_t value.  It is strongly
- *  // recommended *not* to use xQueueOverwriteFromISR() on queues that can
- *  // contain more than one value, and doing so will trigger an assertion
- *  // if configASSERT() is defined.
+ *  // Create a queue to hold one uint32_t value.
  *  xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
  * }
  *

examples/chapter11_07/src/os/FreeRTOS/Source/include/task.h

@@ -227,9 +227,8 @@ typedef enum
  */
 #define taskENABLE_INTERRUPTS()            portENABLE_INTERRUPTS()
 
-/* Definitions returned by xTaskGetSchedulerState().  taskSCHEDULER_SUSPENDED is
- * 0 to generate more optimal code when configASSERT() is defined as the constant
- * is used in assert() statements. */
+/* Definitions returned by xTaskGetSchedulerState().
+*/
 #define taskSCHEDULER_SUSPENDED      ( ( BaseType_t ) 0 )
 #define taskSCHEDULER_NOT_STARTED    ( ( BaseType_t ) 1 )
 #define taskSCHEDULER_RUNNING        ( ( BaseType_t ) 2 )
@@ -321,7 +320,6 @@ typedef enum
  *   // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
  *   // the new task attempts to access it.
  *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
- *   configASSERT( xHandle );
  *
  *   // Use the handle to delete the task.
  *   if( xHandle != NULL )
@@ -418,7 +416,6 @@ typedef enum
  *  {
  *      // The parameter value is expected to be 1 as 1 is passed in the
  *      // pvParameters value in the call to xTaskCreateStatic().
- *      configASSERT( ( uint32_t ) pvParameters == 1UL );
  *
  *      for( ;; )
  *      {
@@ -823,9 +820,6 @@ eTaskState eTaskGetState( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
  *  // Obtain the handle of a task from its name.
  *  xHandle = xTaskGetHandle( "Task_Name" );
  *
- *  // Check the handle is not NULL.
- *  configASSERT( xHandle );
- *
  *  // Use the handle to obtain further information about the task.
  *  vTaskGetInfo( xHandle,
  *                &xTaskDetails,

examples/chapter11_07/src/os/FreeRTOS/Source/list.c

@@ -87,9 +87,6 @@ void vListInsertEnd( List_t * const pxList,
 {
     ListItem_t * const pxIndex = pxList->pxIndex;
 
-    /* Only effective when configASSERT() is also defined, these tests may catch
-     * the list data structures being overwritten in memory.  They will not catch
-     * data errors caused by incorrect configuration or use of FreeRTOS. */
     listTEST_LIST_INTEGRITY( pxList );
     listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
 
@@ -118,12 +115,6 @@ void vListInsert( List_t * const pxList,
     ListItem_t * pxIterator;
     const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
 
-    /* Only effective when configASSERT() is also defined, these tests may catch
-     * the list data structures being overwritten in memory.  They will not catch
-     * data errors caused by incorrect configuration or use of FreeRTOS. */
-    listTEST_LIST_INTEGRITY( pxList );
-    listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
-
     /* Insert the new list item into the list, sorted in xItemValue order.
      *
      * If the list already contains a list item with the same item value then the
@@ -141,8 +132,7 @@ void vListInsert( List_t * const pxList,
         /* *** NOTE ***********************************************************
         *  If you find your application is crashing here then likely causes are
         *  listed below.  In addition see https://www.FreeRTOS.org/FAQHelp.html for
-        *  more tips, and ensure configASSERT() is defined!
-        *  https://www.FreeRTOS.org/a00110.html#configASSERT
+        *  more tips.
         *
         *   1) Stack overflow -
         *      see https://www.FreeRTOS.org/Stacks-and-stack-overflow-checking.html

examples/chapter11_07/src/os/FreeRTOS/Source/portable/MSVC-MingW/port.c

@@ -177,8 +177,6 @@ static DWORD WINAPI prvSimulatedPeripheralTimer( LPVOID lpParameter )
       Sleep( portTICK_PERIOD_MS );
     }
 
-    configASSERT( xPortRunning );
-
     /* Can't proceed if in a critical section as pvInterruptEventMutex won't
     be available. */
     WaitForSingleObject( pvInterruptEventMutex, INFINITE );
@@ -190,7 +188,6 @@ static DWORD WINAPI prvSimulatedPeripheralTimer( LPVOID lpParameter )
     handler thread.  Must be outside of a critical section to get here so
     the handler thread can execute immediately pvInterruptEventMutex is
     released. */
-    configASSERT( ulCriticalNesting == 0UL );
     SetEvent( pvInterruptEvent );
 
     /* Give back the mutex so the simulated interrupt handler unblocks
@@ -247,7 +244,7 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
 
   /* Create the thread itself. */
   pxThreadState->pvThread = CreateThread( NULL, xStackSize, ( LPTHREAD_START_ROUTINE ) pxCode, pvParameters, CREATE_SUSPENDED | STACK_SIZE_PARAM_IS_A_RESERVATION, NULL );
-  configASSERT( pxThreadState->pvThread ); /* See comment where TerminateThread() is called. */
+
   SetThreadAffinityMask( pxThreadState->pvThread, 0x01 );
   SetThreadPriorityBoost( pxThreadState->pvThread, TRUE );
   SetThreadPriority( pxThreadState->pvThread, portTASK_THREAD_PRIORITY );
@@ -363,7 +360,6 @@ static uint32_t prvProcessTickInterrupt( void )
   uint32_t ulSwitchRequired;
 
   /* Process the tick itself. */
-  configASSERT( xPortRunning );
   ulSwitchRequired = ( uint32_t ) xTaskIncrementTick();
 
   return ulSwitchRequired;
@@ -471,7 +467,6 @@ static void prvProcessSimulatedInterrupts( void )
 
         /* pxThreadState->pvThread can be NULL if the task deleted
         itself - but a deleted task should never be resumed here. */
-        configASSERT( pxThreadState->pvThread != NULL );
         ResumeThread( pxThreadState->pvThread );
       }
     }
@@ -496,7 +491,6 @@ void vPortDeleteThread( void *pvTaskToDelete )
   ThreadState_t *pxThreadState;
   uint32_t ulErrorCode;
 
-  /* Remove compiler warnings if configASSERT() is not defined. */
   ( void ) ulErrorCode;
 
   /* Find the handle of the thread being deleted. */
@@ -515,10 +509,8 @@ void vPortDeleteThread( void *pvTaskToDelete )
     tasks (rather than deleting themselves) as the task stacks will not be
     freed. */
     ulErrorCode = TerminateThread( pxThreadState->pvThread, 0 );
-    configASSERT( ulErrorCode );
 
     ulErrorCode = CloseHandle( pxThreadState->pvThread );
-    configASSERT( ulErrorCode );
 
     ReleaseMutex( pvInterruptEventMutex );
   }
@@ -531,7 +523,6 @@ void vPortCloseRunningThread( void *pvTaskToDelete, volatile BaseType_t *pxPendY
   void *pvThread;
   uint32_t ulErrorCode;
 
-  /* Remove compiler warnings if configASSERT() is not defined. */
   ( void ) ulErrorCode;
 
   /* Find the handle of the thread being deleted. */
@@ -554,7 +545,6 @@ void vPortCloseRunningThread( void *pvTaskToDelete, volatile BaseType_t *pxPendY
 
   /* Close the thread. */
   ulErrorCode = CloseHandle( pvThread );
-  configASSERT( ulErrorCode );
 
   /* This is called from a critical section, which must be exited before the
   thread stops. */
@@ -575,8 +565,6 @@ void vPortGenerateSimulatedInterrupt( uint32_t ulInterruptNumber )
 {
   ThreadState_t *pxThreadState = ( ThreadState_t *) *( ( size_t * ) pxCurrentTCB );
 
-  configASSERT( xPortRunning );
-
   if( ( ulInterruptNumber < portMAX_INTERRUPTS ) && ( pvInterruptEventMutex != NULL ) )
   {
     WaitForSingleObject( pvInterruptEventMutex, INFINITE );
@@ -663,8 +651,6 @@ void vPortExitCritical( void )
       {
         ThreadState_t *pxThreadState = ( ThreadState_t *) *( ( size_t * ) pxCurrentTCB );
 
-        configASSERT( xPortRunning );
-
         /* The interrupt won't actually executed until
         pvInterruptEventMutex is released as it waits on both
         pvInterruptEventMutex and pvInterruptEvent.
@@ -692,7 +678,6 @@ void vPortExitCritical( void )
   {
     if( lMutexNeedsReleasing == pdTRUE )
     {
-      configASSERT( xPortRunning );
       ReleaseMutex( pvInterruptEventMutex );
     }
   }