Correct the definition of StaticTask_t and add additional configASSERT() statements to catch future errors.

FreeRTOS/Source/event_groups.c

@@ -139,6 +139,16 @@ static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, co
 		/* A StaticEventGroup_t object must be provided. */
 		configASSERT( pxEventGroupBuffer );
 
+		#if( configASSERT_DEFINED == 1 )
+		{
+			/* Sanity check that the size of the structure used to declare a
+			variable of type StaticEventGroup_t equals the size of the real
+			event group structure. */
+			volatile size_t xSize = sizeof( StaticEventGroup_t );
+			configASSERT( xSize == sizeof( EventGroup_t ) );
+		}
+		#endif /* configASSERT_DEFINED */
+
 		/* The user has provided a statically allocated event group - use it. */
 		pxEventBits = ( EventGroup_t * ) pxEventGroupBuffer; /*lint !e740 EventGroup_t and StaticEventGroup_t are guaranteed to have the same size and alignment requirement - checked by configASSERT(). */
 

FreeRTOS/Source/include/FreeRTOS.h

@@ -953,10 +953,14 @@ typedef struct xSTATIC_TCB
 		uint32_t 		ulDummy18;
 		uint8_t 		ucDummy19;
 	#endif
-	#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+	#if( ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) || ( portUSING_MPU_WRAPPERS == 1 ) )
 		uint8_t			uxDummy20;
 	#endif
 
+	#if( INCLUDE_xTaskAbortDelay == 1 )
+		uint8_t ucDummy21;
+	#endif
+
 } StaticTask_t;
 
 /*

FreeRTOS/Source/tasks.c

@@ -131,7 +131,9 @@ made to free the RAM that was allocated statically.
 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
 task to be created using either statically or dynamically allocated RAM.  Note
 that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
-a statically allocated stack and a dynamically allocated TCB. */
+a statically allocated stack and a dynamically allocated TCB.
+!!!NOTE!!! If the definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is
+changed then the definition of StaticTask_t must also be updated. */
 #define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) || ( portUSING_MPU_WRAPPERS == 1 ) )
 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB 		( ( uint8_t ) 0 )
 #define tskSTATICALLY_ALLOCATED_STACK_ONLY 			( ( uint8_t ) 1 )
@@ -436,15 +438,21 @@ PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended	= ( UBaseType_t
 
 /* Callback function prototypes. --------------------------*/
 #if(  configCHECK_FOR_STACK_OVERFLOW > 0 )
+
 	extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
+
 #endif
 
 #if( configUSE_TICK_HOOK > 0 )
+
 	extern void vApplicationTickHook( void );
+
 #endif
 
 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
+
 	extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
+
 #endif
 
 /* File private functions. --------------------------------*/
@@ -455,7 +463,9 @@ PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended	= ( UBaseType_t
  * is in any other state.
  */
 #if ( INCLUDE_vTaskSuspend == 1 )
+
 	static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
 #endif /* INCLUDE_vTaskSuspend */
 
 /*
@@ -588,6 +598,17 @@ static void prvInitialiseNewTask( 	TaskFunction_t pxTaskCode,
  */
 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
 
+/*
+ * freertos_tasks_c_additions_init() should only be called if the user definable
+ * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
+ * called by the function.
+ */
+#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
+
+	static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
+
+#endif
+
 /*-----------------------------------------------------------*/
 
 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
@@ -606,6 +627,17 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
 		configASSERT( puxStackBuffer != NULL );
 		configASSERT( pxTaskBuffer != NULL );
 
+		#if( configASSERT_DEFINED == 1 )
+		{
+			/* Sanity check that the size of the structure used to declare a
+			variable of type StaticTask_t equals the size of the real task
+			structure. */
+			volatile size_t xSize = sizeof( StaticTask_t );
+			configASSERT( xSize == sizeof( TCB_t ) );
+		}
+		#endif /* configASSERT_DEFINED */
+
+
 		if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
 		{
 			/* The memory used for the task's TCB and stack are passed into this
@@ -1897,6 +1929,15 @@ BaseType_t xReturn;
 
 	if( xReturn == pdPASS )
 	{
+		/* freertos_tasks_c_additions_init() should only be called if the user
+		definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
+		the only macro called by the function. */
+		#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
+		{
+			freertos_tasks_c_additions_init();
+		}
+		#endif
+
 		/* Interrupts are turned off here, to ensure a tick does not occur
 		before or during the call to xPortStartScheduler().  The stacks of
 		the created tasks contain a status word with interrupts switched on

FreeRTOS/Source/timers.c

@@ -356,7 +356,7 @@ BaseType_t xReturn = pdFAIL;
 		{
 			/* Sanity check that the size of the structure used to declare a
 			variable of type StaticTimer_t equals the size of the real timer
-			structures. */
+			structure. */
 			volatile size_t xSize = sizeof( StaticTimer_t );
 			configASSERT( xSize == sizeof( Timer_t ) );
 		}