Update SMP get idle task memory for static allocation (#784)

* Add static idle task memory support for SMP
* Rename vApplicationMinimalIdleTask to vApplicationPassiveIdleTask
* Rename the macro configUSE_MINIMAL_IDLE_HOOK to configUSE_PASSIVE_IDLE_HOOK
* Update xTaskGetIdleTaskHandle for SMP
* Add more check in xTaskGetIdleTaskHandle
* Support configKERNEL_PROVIDED_STATIC_MEMORY for SMP

---------

Signed-off-by: Gaurav Aggarwal <[email protected]>
Co-authored-by: Gaurav Aggarwal <[email protected]>
Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]>

Author: chinglee-iot

include/FreeRTOS.h

@@ -175,8 +175,8 @@
 #endif
 
 #if ( configNUMBER_OF_CORES > 1 )
-    #ifndef configUSE_MINIMAL_IDLE_HOOK
-        #error Missing definition:  configUSE_MINIMAL_IDLE_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
+    #ifndef configUSE_PASSIVE_IDLE_HOOK
+        #error Missing definition:  configUSE_PASSIVE_IDLE_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
     #endif
 #endif
 
@@ -473,9 +473,9 @@
     #define configUSE_CORE_AFFINITY    0
 #endif /* configUSE_CORE_AFFINITY */
 
-#ifndef configUSE_MINIMAL_IDLE_HOOK
-    #define configUSE_MINIMAL_IDLE_HOOK    0
-#endif /* configUSE_MINIMAL_IDLE_HOOK */
+#ifndef configUSE_PASSIVE_IDLE_HOOK
+    #define configUSE_PASSIVE_IDLE_HOOK    0
+#endif /* configUSE_PASSIVE_IDLE_HOOK */
 
 /* The timers module relies on xTaskGetSchedulerState(). */
 #if configUSE_TIMERS == 1
@@ -1834,8 +1834,14 @@
     #define traceRETURN_uxTaskGetSystemState( uxTask )
 #endif
 
-#ifndef traceENTER_xTaskGetIdleTaskHandle
-    #define traceENTER_xTaskGetIdleTaskHandle()
+#if ( configNUMBER_OF_CORES == 1 )
+    #ifndef traceENTER_xTaskGetIdleTaskHandle
+        #define traceENTER_xTaskGetIdleTaskHandle()
+    #endif
+#else
+    #ifndef traceENTER_xTaskGetIdleTaskHandle
+        #define traceENTER_xTaskGetIdleTaskHandle( xCoreID )
+    #endif
 #endif
 
 #ifndef traceRETURN_xTaskGetIdleTaskHandle

include/task.h

@@ -1930,6 +1930,8 @@ configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) PRIVIL
 
 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
 
+    #if ( configNUMBER_OF_CORES == 1 )
+
 /**
  * task.h
  * @code{c}
@@ -1943,10 +1945,41 @@ configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) PRIVIL
  * @param ppxIdleTaskStackBuffer A handle to a statically allocated Stack buffer for the idle task
  * @param pulIdleTaskStackSize A pointer to the number of elements that will fit in the allocated stack buffer
  */
-    void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
-                                        StackType_t ** ppxIdleTaskStackBuffer,
-                                        uint32_t * pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
-#endif
+        void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
+                                            StackType_t ** ppxIdleTaskStackBuffer,
+                                            uint32_t * pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
+    #else /* #if ( configNUMBER_OF_CORES == 1 ) */
+
+/**
+ * task.h
+ * @code{c}
+ * void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer, StackType_t ** ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize, BaseType_t xCoreID )
+ * @endcode
+ *
+ * This function is used to provide a statically allocated block of memory to FreeRTOS to hold the Idle Tasks TCB.  This function is required when
+ * configSUPPORT_STATIC_ALLOCATION is set.  For more information see this URI: https://www.FreeRTOS.org/a00110.html#configSUPPORT_STATIC_ALLOCATION
+ *
+ * In the FreeRTOS SMP, there are a total of configNUMBER_OF_CORES idle tasks:
+ *  1. 1 Active idle task which does all the housekeeping.
+ *  2. ( configNUMBER_OF_CORES - 1 ) Passive idle tasks which do nothing.
+ * These idle tasks are created to ensure that each core has an idle task to run when
+ * no other task is available to run.
+ *
+ * The function vApplicationGetIdleTaskMemory is called with xCoreID 0 to get the
+ * memory for Active idle task. It is called with xCoreID 1, 2 ... ( configNUMBER_OF_CORES - 1 )
+ * to get memory for passive idle tasks.
+ *
+ * @param ppxIdleTaskTCBBuffer A handle to a statically allocated TCB buffer
+ * @param ppxIdleTaskStackBuffer A handle to a statically allocated Stack buffer for the idle task
+ * @param pulIdleTaskStackSize A pointer to the number of elements that will fit in the allocated stack buffer
+ * @param xCoreId The core index of the idle task buffer
+ */
+        void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
+                                            StackType_t ** ppxIdleTaskStackBuffer,
+                                            uint32_t * pulIdleTaskStackSize, /*lint !e526 Symbol not defined as it is an application callback. */
+                                            BaseType_t xCoreID );
+    #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
+#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
 
 /**
  * task.h
@@ -1970,8 +2003,22 @@ BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask,
  *
  * Simply returns the handle of the idle task.  It is not valid to call
  * xTaskGetIdleTaskHandle() before the scheduler has been started.
+ *
+ * In the FreeRTOS SMP, there are a total of configNUMBER_OF_CORES idle tasks:
+ *  1. 1 Active idle task which does all the housekeeping.
+ *  2. ( configNUMBER_OF_CORES - 1 ) Passive idle tasks which do nothing.
+ * These idle tasks are created to ensure that each core has an idle task to run when
+ * no other task is available to run.
+ *
+ * Set xCoreID to 0 to get the Active idle task handle. Set xCoreID to
+ * 1,2 ... ( configNUMBER_OF_CORES - 1 ) to get the Passive idle task
+ * handles.
  */
-TaskHandle_t xTaskGetIdleTaskHandle( void ) PRIVILEGED_FUNCTION;
+#if ( configNUMBER_OF_CORES == 1 )
+    TaskHandle_t xTaskGetIdleTaskHandle( void ) PRIVILEGED_FUNCTION;
+#else /* #if ( configNUMBER_OF_CORES == 1 ) */
+    TaskHandle_t xTaskGetIdleTaskHandle( BaseType_t xCoreID ) PRIVILEGED_FUNCTION;
+#endif /* #if ( configNUMBER_OF_CORES == 1 ) */
 
 /**
  * configUSE_TRACE_FACILITY must be defined as 1 in FreeRTOSConfig.h for