Update system call entry mechanism (#896)

Earlier the System Call entry from an unprivileged task looked like:

1. SVC for entering system call.
2. System call implementation.
3. SVC for exiting system call.

Now, the system call entry needs to make only one system call
and everything else is handled internally.

This PR also makes the following small changes:

1. Add one struct param for system calls with 5 parameters. This
   removes the need for special handling for system calls with 5
   parameters.
2. Remove raise privilege SVC when MPU wrapper v2 is used.
3. Add additional run time parameter checks to MPU wrappers
   for xTaskGenericNotify and xQueueTakeMutexRecursive APIs.

These changes are tested on the following platforms:
1. STM32H743ZI (Cortex-M7)
2. STM32L152RE (Cortex-M3)
3. Nuvoton M2351 (Cortex-M23)
4. NXP LPC55S69 (Cortex-M33)

Author: aggarg

.github/workflows/unit-tests.yml

@@ -8,7 +8,7 @@ jobs:
     - name: Checkout Parent Repository
       uses: actions/checkout@v2
       with:
-        ref: main
+        ref: 80db00d98bfac8b22289a2668d9e6b0265946d24
         repository: FreeRTOS/FreeRTOS
         submodules: 'recursive'
         fetch-depth: 1

include/mpu_prototypes.h

@@ -38,6 +38,42 @@
 #ifndef MPU_PROTOTYPES_H
 #define MPU_PROTOTYPES_H
 
+typedef struct xTaskGenericNotifyParams
+{
+    TaskHandle_t xTaskToNotify;
+    UBaseType_t uxIndexToNotify;
+    uint32_t ulValue;
+    eNotifyAction eAction;
+    uint32_t * pulPreviousNotificationValue;
+} xTaskGenericNotifyParams_t;
+
+typedef struct xTaskGenericNotifyWaitParams
+{
+    UBaseType_t uxIndexToWaitOn;
+    uint32_t ulBitsToClearOnEntry;
+    uint32_t ulBitsToClearOnExit;
+    uint32_t * pulNotificationValue;
+    TickType_t xTicksToWait;
+} xTaskGenericNotifyWaitParams_t;
+
+typedef struct xTimerGenericCommandParams
+{
+    TimerHandle_t xTimer;
+    BaseType_t xCommandID;
+    TickType_t xOptionalValue;
+    BaseType_t * pxHigherPriorityTaskWoken;
+    TickType_t xTicksToWait;
+} xTimerGenericCommandParams_t;
+
+typedef struct xEventGroupWaitBitsParams
+{
+    EventGroupHandle_t xEventGroup;
+    EventBits_t uxBitsToWaitFor;
+    BaseType_t xClearOnExit;
+    BaseType_t xWaitForAllBits;
+    TickType_t xTicksToWait;
+} xEventGroupWaitBitsParams_t;
+
 /* MPU versions of task.h API functions. */
 void MPU_vTaskDelay( const TickType_t xTicksToDelay ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
@@ -77,11 +113,13 @@ BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify,
                                    uint32_t ulValue,
                                    eNotifyAction eAction,
                                    uint32_t * pulPreviousNotificationValue ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskGenericNotifyEntry( const xTaskGenericNotifyParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn,
                                        uint32_t ulBitsToClearOnEntry,
                                        uint32_t ulBitsToClearOnExit,
                                        uint32_t * pulNotificationValue,
                                        TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskGenericNotifyWaitEntry( const xTaskGenericNotifyWaitParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
 uint32_t MPU_ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn,
                                       BaseType_t xClearCountOnExit,
                                       TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
@@ -228,9 +266,10 @@ BaseType_t MPU_xTimerGenericCommand( TimerHandle_t xTimer,
                                      const TickType_t xOptionalValue,
                                      BaseType_t * const pxHigherPriorityTaskWoken,
                                      const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTimerGenericCommandEntry( const xTimerGenericCommandParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
 const char * MPU_pcTimerGetName( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
 void MPU_vTimerSetReloadMode( TimerHandle_t xTimer,
-                              const UBaseType_t uxAutoReload ) FREERTOS_SYSTEM_CALL;
+                              const BaseType_t uxAutoReload ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xTimerGetReloadMode( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
 UBaseType_t MPU_uxTimerGetReloadMode( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
 TickType_t MPU_xTimerGetPeriod( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
@@ -259,6 +298,7 @@ EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
                                      const BaseType_t xClearOnExit,
                                      const BaseType_t xWaitForAllBits,
                                      TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+EventBits_t MPU_xEventGroupWaitBitsEntry( const xEventGroupWaitBitsParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
 EventBits_t MPU_xEventGroupClearBits( EventGroupHandle_t xEventGroup,
                                       const EventBits_t uxBitsToClear ) FREERTOS_SYSTEM_CALL;
 EventBits_t MPU_xEventGroupSetBits( EventGroupHandle_t xEventGroup,

include/mpu_syscall_numbers.h

@@ -0,0 +1,106 @@
+/*
+ * FreeRTOS Kernel V10.6.1
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+#ifndef MPU_SYSCALL_NUMBERS_H
+#define MPU_SYSCALL_NUMBERS_H
+
+/* Numbers assigned to various system calls. */
+#define SYSTEM_CALL_xTaskGenericNotify                     0
+#define SYSTEM_CALL_xTaskGenericNotifyWait                 1
+#define SYSTEM_CALL_xTimerGenericCommand                   2
+#define SYSTEM_CALL_xEventGroupWaitBits                    3
+#define SYSTEM_CALL_xTaskDelayUntil                        4
+#define SYSTEM_CALL_xTaskAbortDelay                        5
+#define SYSTEM_CALL_vTaskDelay                             6
+#define SYSTEM_CALL_uxTaskPriorityGet                      7
+#define SYSTEM_CALL_eTaskGetState                          8
+#define SYSTEM_CALL_vTaskGetInfo                           9
+#define SYSTEM_CALL_xTaskGetIdleTaskHandle                 10
+#define SYSTEM_CALL_vTaskSuspend                           11
+#define SYSTEM_CALL_vTaskResume                            12
+#define SYSTEM_CALL_xTaskGetTickCount                      13
+#define SYSTEM_CALL_uxTaskGetNumberOfTasks                 14
+#define SYSTEM_CALL_pcTaskGetName                          15
+#define SYSTEM_CALL_ulTaskGetRunTimeCounter                16
+#define SYSTEM_CALL_ulTaskGetRunTimePercent                17
+#define SYSTEM_CALL_ulTaskGetIdleRunTimePercent            18
+#define SYSTEM_CALL_ulTaskGetIdleRunTimeCounter            19
+#define SYSTEM_CALL_vTaskSetApplicationTaskTag             20
+#define SYSTEM_CALL_xTaskGetApplicationTaskTag             21
+#define SYSTEM_CALL_vTaskSetThreadLocalStoragePointer      22
+#define SYSTEM_CALL_pvTaskGetThreadLocalStoragePointer     23
+#define SYSTEM_CALL_uxTaskGetSystemState                   24
+#define SYSTEM_CALL_uxTaskGetStackHighWaterMark            25
+#define SYSTEM_CALL_uxTaskGetStackHighWaterMark2           26
+#define SYSTEM_CALL_xTaskGetCurrentTaskHandle              27
+#define SYSTEM_CALL_xTaskGetSchedulerState                 28
+#define SYSTEM_CALL_vTaskSetTimeOutState                   29
+#define SYSTEM_CALL_xTaskCheckForTimeOut                   30
+#define SYSTEM_CALL_ulTaskGenericNotifyTake                31
+#define SYSTEM_CALL_xTaskGenericNotifyStateClear           32
+#define SYSTEM_CALL_ulTaskGenericNotifyValueClear          33
+#define SYSTEM_CALL_xQueueGenericSend                      34
+#define SYSTEM_CALL_uxQueueMessagesWaiting                 35
+#define SYSTEM_CALL_uxQueueSpacesAvailable                 36
+#define SYSTEM_CALL_xQueueReceive                          37
+#define SYSTEM_CALL_xQueuePeek                             38
+#define SYSTEM_CALL_xQueueSemaphoreTake                    39
+#define SYSTEM_CALL_xQueueGetMutexHolder                   40
+#define SYSTEM_CALL_xQueueTakeMutexRecursive               41
+#define SYSTEM_CALL_xQueueGiveMutexRecursive               42
+#define SYSTEM_CALL_xQueueSelectFromSet                    43
+#define SYSTEM_CALL_xQueueAddToSet                         44
+#define SYSTEM_CALL_vQueueAddToRegistry                    45
+#define SYSTEM_CALL_vQueueUnregisterQueue                  46
+#define SYSTEM_CALL_pcQueueGetName                         47
+#define SYSTEM_CALL_pvTimerGetTimerID                      48
+#define SYSTEM_CALL_vTimerSetTimerID                       49
+#define SYSTEM_CALL_xTimerIsTimerActive                    50
+#define SYSTEM_CALL_xTimerGetTimerDaemonTaskHandle         51
+#define SYSTEM_CALL_pcTimerGetName                         52
+#define SYSTEM_CALL_vTimerSetReloadMode                    53
+#define SYSTEM_CALL_xTimerGetReloadMode                    54
+#define SYSTEM_CALL_uxTimerGetReloadMode                   55
+#define SYSTEM_CALL_xTimerGetPeriod                        56
+#define SYSTEM_CALL_xTimerGetExpiryTime                    57
+#define SYSTEM_CALL_xEventGroupClearBits                   58
+#define SYSTEM_CALL_xEventGroupSetBits                     59
+#define SYSTEM_CALL_xEventGroupSync                        60
+#define SYSTEM_CALL_uxEventGroupGetNumber                  61
+#define SYSTEM_CALL_vEventGroupSetNumber                   62
+#define SYSTEM_CALL_xStreamBufferSend                      63
+#define SYSTEM_CALL_xStreamBufferReceive                   64
+#define SYSTEM_CALL_xStreamBufferIsFull                    65
+#define SYSTEM_CALL_xStreamBufferIsEmpty                   66
+#define SYSTEM_CALL_xStreamBufferSpacesAvailable           67
+#define SYSTEM_CALL_xStreamBufferBytesAvailable            68
+#define SYSTEM_CALL_xStreamBufferSetTriggerLevel           69
+#define SYSTEM_CALL_xStreamBufferNextMessageLengthBytes    70
+#define NUM_SYSTEM_CALLS                                   71  /* Total number of system calls. */
+
+#endif /* MPU_SYSCALL_NUMBERS_H */