[修改] 增加freeRTOS

1. 版本FreeRTOSv202212.01，命名为kernel；

kernel/FreeRTOS/Test/CBMC/proofs/Task/TaskSwitchContext/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": "TaskSwitchContext",
+  "DEF":
+  [
+    "FREERTOS_MODULE_TEST",
+    "'portGET_HIGHEST_PRIORITY(uxTopPriority, uxReadyPriorities)=__CPROVER_assume( uxTopPriority < configMAX_PRIORITIES )'",
+    "'mtCOVERAGE_TEST_MARKER()=__CPROVER_assert(1, \"Coverage marker\")'"
+  ],
+  "CBMCFLAGS":
+  [
+      "--unwind 1",
+      "--unwindset prvInitialiseTaskLists.0:8,xPrepareTaskLists.0:8,vListInsert.0:2"
+  ],
+  "OBJS":
+  [
+    "$(ENTRY)_harness.goto",
+    "$(FREERTOS)/Source/tasks.goto",
+    "$(FREERTOS)/Source/list.goto"
+  ],
+  "INC":
+  [
+    "$(FREERTOS)/Test/CBMC/proofs/Task/TaskSwitchContext/"
+  ]
+}

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

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+This proof demonstrates the memory safety of the TaskSwitchContext function.
+We assume task ready lists to be initialized and filled with one element each,
+and `pxCurrentTCB` to be the highest priority task.  We also set
+`uxSchedulerSuspended` to a nondeterministic value.
+
+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:
+
+* prvTraceGetCurrentTaskHandle
+* prvTraceGetTaskNumber
+* prvTraceStoreTaskswitch
+* ulGetRunTimeCounterValue

kernel/FreeRTOS/Test/CBMC/proofs/Task/TaskSwitchContext/TaskSwitchContext_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"
+
+void vSetGlobalVariables( void );
+BaseType_t xPrepareTaskLists( void );
+
+/*
+ * We prepare task lists by inserting one item in each list,
+ * and with the macro redefinition we ensure only valid ready
+ * task lists are checked in `taskSELECT_HIGHEST_PRIORITY_TASK()`
+ */
+void harness()
+{
+    BaseType_t xTasksPrepared;
+
+    vSetGlobalVariables();
+    xTasksPrepared = xPrepareTaskLists();
+
+    if( xTasksPrepared != pdFAIL )
+    {
+        vTaskSwitchContext();
+    }
+}

kernel/FreeRTOS/Test/CBMC/proofs/Task/TaskSwitchContext/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": "TaskSwitchContext",
+  "proof-root": "Test/CBMC/proofs"
+}

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

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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 "cbmc.h"
+
+/*
+ * We allocate a TCB and set some members to basic values
+ */
+TaskHandle_t xUnconstrainedTCB( UBaseType_t uxPriority )
+{
+    TCB_t * pxTCB = pvPortMalloc( sizeof( TCB_t ) );
+
+    if( pxTCB == NULL )
+    {
+        return NULL;
+    }
+
+    /* uxPriority is set to a specific priority */
+    pxTCB->uxPriority = uxPriority;
+
+    vListInitialiseItem( &( pxTCB->xStateListItem ) );
+    vListInitialiseItem( &( pxTCB->xEventListItem ) );
+
+    listSET_LIST_ITEM_OWNER( &( pxTCB->xStateListItem ), pxTCB );
+    listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
+
+    if( nondet_bool() )
+    {
+        listSET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ), pxTCB->uxPriority );
+    }
+    else
+    {
+        listSET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ), portMAX_DELAY );
+    }
+
+    if( nondet_bool() )
+    {
+        listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority );
+    }
+    else
+    {
+        listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), portMAX_DELAY );
+    }
+
+    return pxTCB;
+}
+
+/*
+ * We set the values of relevant global
+ * variables to nondeterministic values
+ */
+void vSetGlobalVariables( void )
+{
+    uxSchedulerSuspended = nondet_ubasetype();
+}
+
+/*
+ * We initialize and fill with one item each ready tasks list
+ * so that the assertion on line 175 (tasks.c) does not fail
+ */
+BaseType_t xPrepareTaskLists( void )
+{
+    TCB_t * pxTCB = NULL;
+
+    __CPROVER_assert_zero_allocation();
+
+    prvInitialiseTaskLists();
+
+    for( int i = 0; i < configMAX_PRIORITIES; ++i )
+    {
+        pxTCB = xUnconstrainedTCB( i );
+
+        if( pxTCB == NULL )
+        {
+            return pdFAIL;
+        }
+
+        vListInsert( &pxReadyTasksLists[ pxTCB->uxPriority ], &( pxTCB->xStateListItem ) );
+    }
+
+    listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &pxReadyTasksLists[ configMAX_PRIORITIES - 1 ] );
+
+    return pdPASS;
+}