[修改] 增加freeRTOS

1. 版本FreeRTOSv202212.01，命名为kernel；

kernel/FreeRTOS/Test/CBMC/proofs/Task/TaskStartScheduler/Makefile.json

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+#
+# FreeRTOS memory safety proofs with CBMC.
+# Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+#
+# 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.
+#
+# http://aws.amazon.com/freertos
+# http://www.FreeRTOS.org
+#
+
+{
+  "ENTRY": "TaskStartScheduler",
+  "DEF":
+  [
+    "FREERTOS_MODULE_TEST",
+    "'mtCOVERAGE_TEST_MARKER()=__CPROVER_assert(1, \"Coverage marker\")'",
+    "configUSE_TRACE_FACILITY=0",
+    "configGENERATE_RUN_TIME_STATS=0"
+  ],
+  "CBMCFLAGS":
+  [
+      "--unwind 1",
+      "--unwindset prvInitialiseTaskLists.0:8,prvInitialiseNewTask.0:16,prvInitialiseNewTask.1:4"
+  ],
+  "OBJS":
+  [
+    "$(ENTRY)_harness.goto",
+    "$(FREERTOS)/Source/tasks.goto",
+    "$(FREERTOS)/Source/list.goto",
+    "$(FREERTOS)/Source/timers.goto",
+    "$(FREERTOS)/Source/queue.goto"
+  ],
+  "INC":
+  [
+    "$(FREERTOS)/Test/CBMC/proofs/Task/TaskStartScheduler/"
+  ]
+}

kernel/FreeRTOS/Test/CBMC/proofs/Task/TaskStartScheduler/README.md

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+This proof demonstrates the memory safety of the TaskStartScheduler function.
+We assume that buffers for `pxIdleTaskTCB` and `pxTimerTaskTCB` (and their
+associated stacks `pxIdleTaskStack` and `pxTimerTaskStack`) have been
+previously allocated. The arguments passed by reference to
+`vApplicationGetIdleTaskMemory` and `vApplicationGetTimerTaskMemory` are
+assigned to these pointers since both functions expect statically-allocated
+buffers to be passed.
+
+This proof is a work-in-progress.  Proof assumptions are described in
+the harness.  The proof also assumes the following functions are
+memory safe and have no side effects relevant to the memory safety of
+this function:
+
+* pxPortInitialiseStack
+* vConfigureTimerForRunTimeStats
+* vPortEnterCritical
+* vPortExitCritical
+* xPortStartScheduler

kernel/FreeRTOS/Test/CBMC/proofs/Task/TaskStartScheduler/TaskStartScheduler_harness.c

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+/*
+ * FreeRTOS memory safety proofs with CBMC.
+ * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * 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://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ */
+
+#include <stdint.h>
+
+/* FreeRTOS includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+BaseType_t xPrepareTasks( void );
+
+/*
+ * We prepare `pxCurrentTCB` and the idle/timer task buffers
+ * (TCB + stack), then we call the function if allocation was ok
+ */
+void harness()
+{
+    BaseType_t xTasksPrepared;
+
+    xTasksPrepared = xPrepareTasks();
+
+    if( xTasksPrepared != pdFAIL )
+    {
+        vTaskStartScheduler();
+    }
+}

kernel/FreeRTOS/Test/CBMC/proofs/Task/TaskStartScheduler/cbmc-viewer.json

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+{ "expected-missing-functions":
+  [
+    "vApplicationTickHook",
+
+    "pxPortInitialiseStack",
+    "vPortCloseRunningThread",
+    "vPortDeleteThread",
+    "vPortEnterCritical",
+    "vPortExitCritical",
+    "vPortGenerateSimulatedInterrupt",
+    "xPortStartScheduler",
+
+    "pvTaskIncrementMutexHeldCount",
+    "uxTaskGetTaskNumber",
+    "vTaskInternalSetTimeOutState",
+    "vTaskMissedYield",
+    "vTaskPlaceOnEventList",
+    "vTaskPriorityDisinheritAfterTimeout",
+    "vTaskSuspendAll",
+    "xTaskGetCurrentTaskHandle",
+    "xTaskPriorityDisinherit",
+    "xTaskPriorityInherit",
+    "xTaskRemoveFromEventList",
+    "xTaskResumeAll"
+  ],
+  "proof-name": "TaskStartScheduler",
+  "proof-root": "Test/CBMC/proofs"
+}

kernel/FreeRTOS/Test/CBMC/proofs/Task/TaskStartScheduler/tasks_test_access_functions.h

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+/*
+ * FreeRTOS V202212.01
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * 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
+ *
+ */
+
+/*
+ * FreeRTOS memory safety proofs with CBMC.
+ */
+
+#include "cbmc.h"
+
+/*
+ * We allocate an unconstrained TCB or return NULL if it fails
+ */
+TaskHandle_t xUnconstrainedTCB( void )
+{
+    TCB_t * pxTCB = pvPortMalloc( sizeof( TCB_t ) );
+
+    if( pxTCB == NULL )
+    {
+        return NULL;
+    }
+
+    return pxTCB;
+}
+
+StaticTask_t * pxIdleTaskTCB;
+StaticTask_t * pxTimerTaskTCB;
+StackType_t * pxIdleTaskStack;
+StackType_t * pxTimerTaskStack;
+
+/*
+ * `pxCurrentTCB` allocation is allowed to fail. The global variables above
+ * this comment are used in the stubbed functions `vApplicationGetIdleTaskMemory`
+ * and `vApplicationGetTimerTaskMemory` (at the end of this file) and buffer allocation
+ * must be successful for the proof to have no errors
+ */
+BaseType_t xPrepareTasks( void )
+{
+    __CPROVER_assert_zero_allocation();
+
+    prvInitialiseTaskLists();
+
+    pxCurrentTCB = xUnconstrainedTCB();
+
+    pxIdleTaskTCB = pvPortMalloc( sizeof( StaticTask_t ) );
+
+    if( pxIdleTaskTCB == NULL )
+    {
+        return pdFAIL;
+    }
+
+    pxIdleTaskStack = pvPortMalloc( sizeof( StackType_t ) * configMINIMAL_STACK_SIZE );
+
+    if( pxIdleTaskStack == NULL )
+    {
+        return pdFAIL;
+    }
+
+    pxTimerTaskTCB = pvPortMalloc( sizeof( StaticTask_t ) );
+
+    if( pxTimerTaskTCB == NULL )
+    {
+        return pdFAIL;
+    }
+
+    pxTimerTaskStack = pvPortMalloc( sizeof( StackType_t ) * configTIMER_TASK_STACK_DEPTH );
+
+    if( pxTimerTaskStack == NULL )
+    {
+        return pdFAIL;
+    }
+
+    return pdPASS;
+}
+
+/*
+ * The buffers used here have been successfully allocated before (global variables)
+ */
+void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
+                                    StackType_t ** ppxIdleTaskStackBuffer,
+                                    uint32_t * pulIdleTaskStackSize )
+{
+    *ppxIdleTaskTCBBuffer = pxIdleTaskTCB;
+    *ppxIdleTaskStackBuffer = pxIdleTaskStack;
+    *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
+}
+
+/*
+ * The buffers used here have been successfully allocated before (global variables)
+ */
+void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
+                                     StackType_t ** ppxTimerTaskStackBuffer,
+                                     uint32_t * pulTimerTaskStackSize )
+{
+    *ppxTimerTaskTCBBuffer = pxTimerTaskTCB;
+    *ppxTimerTaskStackBuffer = pxTimerTaskStack;
+    *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
+}