Kernel updates:

- Add user configurable thread local storage array, with get/set access function.

FreeRTOS-Plus/Demo/Common/FreeRTOS_Plus_CLI_Demos/Sample-CLI-commands.c

@@ -227,7 +227,7 @@ void vRegisterSampleCLICommands( void )
 
 static BaseType_t prvTaskStatsCommand( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString )
 {
-const char *const pcHeader = "  State\tPriority\tStack\t#\r\n************************************************\r\n";
+const char *const pcHeader = "       State  Priority  Stack    #\r\n************************************************\r\n";
 BaseType_t xSpacePadding;
 
 	/* Remove compile time warnings about unused parameters, and check the

FreeRTOS/Demo/MicroBlaze_Kintex7_EthernetLite/RTOSDemo/src/FreeRTOSConfig.h

@@ -149,7 +149,6 @@ referenced anyway. */
 #define INCLUDE_vTaskPrioritySet				1
 #define INCLUDE_uxTaskPriorityGet				1
 #define INCLUDE_vTaskDelete						1
-#define INCLUDE_vTaskCleanUpResources			0
 #define INCLUDE_vTaskSuspend					1
 #define INCLUDE_vTaskDelayUntil					1
 #define INCLUDE_vTaskDelay						1

FreeRTOS/Demo/MicroBlaze_Kintex7_EthernetLite/RTOSDemo/src/lscript.ld

@@ -18,6 +18,7 @@ _HEAP_SIZE = DEFINED(_HEAP_SIZE) ? _HEAP_SIZE : 0x4;
 MEMORY
 {
    microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr : ORIGIN = 0x00000050, LENGTH = 0x0003FFB0
+   mig_7series_0 : ORIGIN = 0x80000000, LENGTH = 0x40000000
 }
 
 /* Specify the default entry point to the program */
@@ -48,15 +49,15 @@ SECTIONS
    *(.text)
    *(.text.*)
    *(.gnu.linkonce.t.*)
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .init : {
    KEEP (*(.init))
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .fini : {
    KEEP (*(.fini))
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .ctors : {
    __CTOR_LIST__ = .;
@@ -67,7 +68,7 @@ SECTIONS
    KEEP (*(.ctors))
    __CTOR_END__ = .;
    ___CTORS_END___ = .;
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .dtors : {
    __DTOR_LIST__ = .;
@@ -78,7 +79,7 @@ SECTIONS
    KEEP (*(.dtors))
    PROVIDE(__DTOR_END__ = .);
    PROVIDE(___DTORS_END___ = .);
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .rodata : {
    __rodata_start = .;
@@ -86,7 +87,7 @@ SECTIONS
    *(.rodata.*)
    *(.gnu.linkonce.r.*)
    __rodata_end = .;
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .sdata2 : {
    . = ALIGN(8);
@@ -96,7 +97,7 @@ SECTIONS
    *(.gnu.linkonce.s2.*)
    . = ALIGN(8);
    __sdata2_end = .;
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .sbss2 : {
    __sbss2_start = .;
@@ -104,7 +105,7 @@ SECTIONS
    *(.sbss2.*)
    *(.gnu.linkonce.sb2.*)
    __sbss2_end = .;
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .data : {
    . = ALIGN(4);
@@ -113,31 +114,31 @@ SECTIONS
    *(.data.*)
    *(.gnu.linkonce.d.*)
    __data_end = .;
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .got : {
    *(.got)
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .got1 : {
    *(.got1)
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .got2 : {
    *(.got2)
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .eh_frame : {
    *(.eh_frame)
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .jcr : {
    *(.jcr)
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .gcc_except_table : {
    *(.gcc_except_table)
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .sdata : {
    . = ALIGN(8);
@@ -146,7 +147,7 @@ SECTIONS
    *(.sdata.*)
    *(.gnu.linkonce.s.*)
    __sdata_end = .;
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .sbss (NOLOAD) : {
    . = ALIGN(4);
@@ -156,7 +157,7 @@ SECTIONS
    *(.gnu.linkonce.sb.*)
    . = ALIGN(8);
    __sbss_end = .;
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .tdata : {
    __tdata_start = .;
@@ -164,7 +165,7 @@ SECTIONS
    *(.tdata.*)
    *(.gnu.linkonce.td.*)
    __tdata_end = .;
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .tbss : {
    __tbss_start = .;
@@ -172,7 +173,7 @@ SECTIONS
    *(.tbss.*)
    *(.gnu.linkonce.tb.*)
    __tbss_end = .;
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .bss (NOLOAD) : {
    . = ALIGN(4);
@@ -183,7 +184,7 @@ SECTIONS
    *(COMMON)
    . = ALIGN(4);
    __bss_end = .;
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 _SDA_BASE_ = __sdata_start + ((__sbss_end - __sdata_start) / 2 );
 
@@ -197,7 +198,7 @@ _SDA2_BASE_ = __sdata2_start + ((__sbss2_end - __sdata2_start) / 2 );
    _heap_start = .;
    . += _HEAP_SIZE;
    _heap_end = .;
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 .stack (NOLOAD) : {
    _stack_end = .;
@@ -205,7 +206,7 @@ _SDA2_BASE_ = __sdata2_start + ((__sbss2_end - __sdata2_start) / 2 );
    . = ALIGN(8);
    _stack = .;
    __stack = _stack;
-} > microblaze_0_local_memory_ilmb_bram_if_cntlr_microblaze_0_local_memory_dlmb_bram_if_cntlr
+} > mig_7series_0
 
 _end = .;
 }

FreeRTOS/Demo/MicroBlaze_Kintex7_EthernetLite/RTOSDemo/src/main.c

@@ -168,12 +168,14 @@ static void prvSetupHardware( void )
 
 	#if defined( XPAR_MICROBLAZE_USE_ICACHE ) && ( XPAR_MICROBLAZE_USE_ICACHE != 0 )
 	{
+		Xil_ICacheInvalidate();
 		Xil_ICacheEnable();
 	}
 	#endif
 
 	#if defined( XPAR_MICROBLAZE_USE_DCACHE ) && ( XPAR_MICROBLAZE_USE_DCACHE != 0 )
 	{
+		Xil_DCacheInvalidate();
 		Xil_DCacheEnable();
 	}
 	#endif

FreeRTOS/Source/include/FreeRTOS.h

@@ -195,6 +195,10 @@ extern "C" {
 	#define configUSE_APPLICATION_TASK_TAG 0
 #endif
 
+#ifndef configNUM_THREAD_LOCAL_STORAGE_POINTERS
+	#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0
+#endif
+
 #ifndef INCLUDE_uxTaskGetStackHighWaterMark
 	#define INCLUDE_uxTaskGetStackHighWaterMark 0
 #endif

FreeRTOS/Source/include/task.h

@@ -1158,6 +1158,18 @@ constant. */
 	#endif /* configUSE_APPLICATION_TASK_TAG ==1 */
 #endif /* ifdef configUSE_APPLICATION_TASK_TAG */
 
+#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
+
+	/* Each task contains an array of pointers that is dimensioned by the
+	configNUM_THREAD_LOCAL_STORAGE_POINTERS setting in FreeRTOSConfig.h.  The
+	kernel does not use the pointers itself, so the application writer can use
+	the pointers for any purpose they wish.  The following two functions are
+	used to set and query a pointer respectively. */	
+	void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue );
+	void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex );
+
+#endif
+
 /**
  * task.h
  * <pre>BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter );</pre>

FreeRTOS/Source/tasks.c

@@ -168,6 +168,10 @@ typedef struct tskTaskControlBlock
 		TaskHookFunction_t pxTaskTag;
 	#endif
 
+	#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
+		void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
+	#endif
+
 	#if ( configGENERATE_RUN_TIME_STATS == 1 )
 		uint32_t		ulRunTimeCounter;	/*< Stores the amount of time the task has spent in the Running state. */
 	#endif
@@ -2882,6 +2886,15 @@ UBaseType_t x;
 	}
 	#endif /* portUSING_MPU_WRAPPERS */
 
+	#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
+	{
+		for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
+		{
+			pxTCB->pvThreadLocalStoragePointers[ x ] = NULL;
+		}
+	}
+	#endif
+
 	#if ( configUSE_TASK_NOTIFICATIONS == 1 )
 	{
 		pxTCB->ulNotifiedValue = 0;
@@ -2898,6 +2911,45 @@ UBaseType_t x;
 }
 /*-----------------------------------------------------------*/
 
+#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
+
+	void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
+	{
+	TCB_t *pxTCB;
+
+		if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
+		{
+			pxTCB = prvGetTCBFromHandle( xTaskToSet );
+			pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
+		}
+	}
+
+#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
+/*-----------------------------------------------------------*/
+
+#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
+
+	void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
+	{
+	void *pvReturn = NULL;
+	TCB_t *pxTCB;
+
+		if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
+		{
+			pxTCB = prvGetTCBFromHandle( xTaskToQuery );
+			pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
+		}
+		else
+		{
+			pvReturn = NULL;
+		}
+
+		return pvReturn;
+	}
+
+#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
+/*-----------------------------------------------------------*/
+
 #if ( portUSING_MPU_WRAPPERS == 1 )
 
 	void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
@@ -4100,7 +4152,7 @@ TickType_t uxReturn;
 				{
 					/* The notified task has a priority above the currently
 					executing task so a yield is required. */
-					portYIELD_WITHIN_API();
+					taskYIELD_IF_USING_PREEMPTION();
 				}
 				else
 				{